+ python -m lidar_slam --result /working/result.json --no-model /working/550e6dec-b461-4f7d-a658-d2216d29ad11 Lidar SLAM 0.0.16 ===================================================== The recording path: /working/550e6dec-b461-4f7d-a658-d2216d29ad11 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 0.005336195 Adjusted end_distance from 9.223372036854776e+18 to 1424.425336195 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.005336195 meters Centerline goodness : 0.997152 with order 1 Centerline is valid? [0, True] SLAMing on 0.065336195 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.14, Z:-0.01 [[ 0.99953546 -0.03047719 0. 0.05931987] [ 0.03047719 0.99953546 0. -0.14299971] [ 0. 0. 1. -0.00912334] [ 0. 0. 0. 1. ]] SLAMing on 0.12533619499999998 meters Centerline goodness : 0.999483 with order 1 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.14, Z:-0.00 [[ 0.99970177 -0.02442087 0. 0.12118467] [ 0.02442087 0.99970177 0. -0.13590369] [ 0. 0. 1. -0.00151023] [ 0. 0. 0. 1. ]] SLAMing on 0.18533619499999998 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:0.18, Y:-0.13, Z:-0.01 [[ 0.99990863 -0.0135181 0. 0.18288642] [ 0.0135181 0.99990863 0. -0.13189204] [ 0. 0. 1. -0.00996228] [ 0. 0. 0. 1. ]] SLAMing on 0.24533619499999998 meters Centerline goodness : 0.999178 with order 1 Centerline is valid? [True, True] Translation: X:0.25, Y:-0.13, Z:-0.01 [[ 0.99999297 -0.00374936 0. 0.24541443] [ 0.00374936 0.99999297 0. -0.13242383] [ 0. 0. 1. -0.01207147] [ 0. 0. 0. 1. ]] SLAMing on 0.305336195 meters Centerline goodness : 0.998965 with order 1 Centerline is valid? [True, True] Translation: X:0.31, Y:-0.12, Z:-0.01 [[ 0.99996424 0.00845666 0. 0.30617191] [-0.00845666 0.99996424 0. -0.12464465] [ 0. 0. 1. -0.00719035] [ 0. 0. 0. 1. ]] SLAMing on 0.365336195 meters Centerline goodness : 0.999113 with order 1 Centerline is valid? [True, True] Translation: X:0.36, Y:-0.12, Z:-0.01 [[ 0.99992916 0.01190261 0. 0.36380964] [-0.01190261 0.99992916 0. -0.11796557] [ 0. 0. 1. -0.00547767] [ 0. 0. 0. 1. ]] SLAMing on 0.425336195 meters Centerline goodness : 0.999418 with order 1 Centerline is valid? [True, True] Translation: X:0.42, Y:-0.12, Z:-0.01 [[ 0.99998451 0.00556534 0. 0.42251462] [-0.00556534 0.99998451 0. -0.12135559] [ 0. 0. 1. -0.01115635] [ 0. 0. 0. 1. ]] SLAMing on 0.48533619499999997 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:0.48, Y:-0.11, Z:-0.01 [[ 0.99997019 -0.00772184 0. 0.4818338 ] [ 0.00772184 0.99997019 0. -0.11444562] [ 0. 0. 1. -0.00759928] [ 0. 0. 0. 1. ]] SLAMing on 0.5453361950000001 meters Centerline goodness : 0.999161 with order 1 Centerline is valid? [True, True] Translation: X:0.54, Y:-0.11, Z:-0.00 [[ 0.99986103 -0.01667075 0. 0.54381448] [ 0.01667075 0.99986103 0. -0.11065031] [ 0. 0. 1. -0.00334109] [ 0. 0. 0. 1. ]] SLAMing on 0.605336195 meters Centerline goodness : 0.999028 with order 1 Centerline is valid? [True, True] Translation: X:0.61, Y:-0.12, Z:-0.01 [[ 0.9996936 -0.02475275 0. 0.60734154] [ 0.02475275 0.9996936 0. -0.11687753] [ 0. 0. 1. -0.00766333] [ 0. 0. 0. 1. ]] SLAMing on 0.665336195 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:0.67, Y:-0.12, Z:-0.01 [[ 0.99966312 -0.02595456 0. 0.66929876] [ 0.02595456 0.99966312 0. -0.11728059] [ 0. 0. 1. -0.00831406] [ 0. 0. 0. 1. ]] SLAMing on 0.725336195 meters Centerline goodness : 0.999526 with order 1 Centerline is valid? [True, True] Translation: X:0.73, Y:-0.10, Z:-0.00 [[ 0.99972487 -0.02345617 0. 0.73271125] [ 0.02345617 0.99972487 0. -0.10239269] [ 0. 0. 1. -0.00320075] [ 0. 0. 0. 1. ]] SLAMing on 0.7853361950000001 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:0.79, Y:-0.10, Z:-0.01 [[ 0.99984787 -0.01744242 0. 0.79415832] [ 0.01744242 0.99984787 0. -0.10116233] [ 0. 0. 1. -0.00549785] [ 0. 0. 0. 1. ]] SLAMing on 0.845336195 meters Centerline goodness : 0.999528 with order 1 Centerline is valid? [True, True] Translation: X:0.86, Y:-0.10, Z:-0.01 [[ 0.99990175 -0.01401759 0. 0.85671054] [ 0.01401759 0.99990175 0. -0.10223845] [ 0. 0. 1. -0.01002692] [ 0. 0. 0. 1. ]] SLAMing on 0.905336195 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:0.92, Y:-0.09, Z:-0.00 [[ 0.99991694 -0.01288863 0. 0.92025529] [ 0.01288863 0.99991694 0. -0.09267167] [ 0. 0. 1. -0.00475615] [ 0. 0. 0. 1. ]] SLAMing on 0.965336195 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:0.98, Y:-0.09, Z:-0.00 [[ 0.99990053 -0.0141043 0. 0.98317629] [ 0.0141043 0.99990053 0. -0.09020668] [ 0. 0. 1. -0.00405522] [ 0. 0. 0. 1. ]] SLAMing on 1.025336195 meters Centerline goodness : 0.999269 with order 1 Centerline is valid? [True, True] Translation: X:1.05, Y:-0.09, Z:-0.01 [[ 0.99978134 -0.02091085 0. 1.04596253] [ 0.02091085 0.99978134 0. -0.09396569] [ 0. 0. 1. -0.00527692] [ 0. 0. 0. 1. ]] SLAMing on 1.085336195 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:1.11, Y:-0.09, Z:-0.01 [[ 0.99972069 -0.02363334 0. 1.10802151] [ 0.02363334 0.99972069 0. -0.09274731] [ 0. 0. 1. -0.00580712] [ 0. 0. 0. 1. ]] SLAMing on 1.1453361949999998 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:1.17, Y:-0.09, Z:-0.01 [[ 0.9997706 -0.02141834 0. 1.17075603] [ 0.02141834 0.9997706 0. -0.09420964] [ 0. 0. 1. -0.00952354] [ 0. 0. 0. 1. ]] SLAMing on 1.2053361949999999 meters Centerline goodness : 0.999441 with order 1 Centerline is valid? [True, True] Translation: X:1.23, Y:-0.09, Z:-0.01 [[ 0.99985757 -0.01687725 0. 1.23416523] [ 0.01687725 0.99985757 0. -0.08611102] [ 0. 0. 1. -0.01218662] [ 0. 0. 0. 1. ]] SLAMing on 1.265336195 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:1.30, Y:-0.08, Z:-0.01 [[ 0.99985811 -0.01684538 0. 1.29652105] [ 0.01684538 0.99985811 0. -0.079766 ] [ 0. 0. 1. -0.01445129] [ 0. 0. 0. 1. ]] SLAMing on 1.3253361949999998 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:1.36, Y:-0.09, Z:-0.01 [[ 0.99978566 -0.02070346 0. 1.35884134] [ 0.02070346 0.99978566 0. -0.09081483] [ 0. 0. 1. -0.01435786] [ 0. 0. 0. 1. ]] SLAMing on 1.3853361949999998 meters Centerline goodness : 0.999528 with order 1 Centerline is valid? [True, True] Translation: X:1.42, Y:-0.09, Z:-0.01 [[ 0.99964413 -0.02667591 0. 1.42116583] [ 0.02667591 0.99964413 0. -0.09053485] [ 0. 0. 1. -0.00872267] [ 0. 0. 0. 1. ]] SLAMing on 1.4453361949999999 meters Centerline goodness : 0.999571 with order 1 Centerline is valid? [True, True] Translation: X:1.48, Y:-0.09, Z:0.00 [[ 9.99357532e-01 -3.58402584e-02 0.00000000e+00 1.48400004e+00] [ 3.58402584e-02 9.99357532e-01 0.00000000e+00 -9.21627380e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19280361e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.505336195 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:1.55, Y:-0.10, Z:-0.01 [[ 0.99917762 -0.04054729 0. 1.54685393] [ 0.04054729 0.99917762 0. -0.10327739] [ 0. 0. 1. -0.00880164] [ 0. 0. 0. 1. ]] SLAMing on 1.565336195 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:1.61, Y:-0.11, Z:-0.01 [[ 0.9992194 -0.03950428 0. 1.60942047] [ 0.03950428 0.9992194 0. -0.11445446] [ 0. 0. 1. -0.00979821] [ 0. 0. 0. 1. ]] SLAMing on 1.6253361949999998 meters Centerline goodness : 0.999593 with order 1 Centerline is valid? [True, True] Translation: X:1.67, Y:-0.12, Z:-0.01 [[ 0.99955735 -0.02975053 0. 1.6719088 ] [ 0.02975053 0.99955735 0. -0.11652031] [ 0. 0. 1. -0.00705872] [ 0. 0. 0. 1. ]] SLAMing on 1.6853361949999999 meters Centerline goodness : 0.999376 with order 1 Centerline is valid? [True, True] Translation: X:1.73, Y:-0.12, Z:-0.00 [[ 0.99979091 -0.02044835 0. 1.73447766] [ 0.02044835 0.99979091 0. -0.11744935] [ 0. 0. 1. -0.00473699] [ 0. 0. 0. 1. ]] SLAMing on 1.745336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1.80, Y:-0.11, Z:-0.01 [[ 0.9999773 -0.00673837 0. 1.79735852] [ 0.00673837 0.9999773 0. -0.11449887] [ 0. 0. 1. -0.0052191 ] [ 0. 0. 0. 1. ]] SLAMing on 1.8053361949999998 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:1.86, Y:-0.12, Z:-0.01 [[ 9.99999808e-01 6.18908063e-04 0.00000000e+00 1.85898560e+00] [-6.18908063e-04 9.99999808e-01 0.00000000e+00 -1.15652208e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.28706449e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8653361949999998 meters Centerline goodness : 0.999614 with order 1 Centerline is valid? [True, True] Translation: X:1.92, Y:-0.12, Z:-0.02 [[ 0.99999173 0.00406658 0. 1.91916935] [-0.00406658 0.99999173 0. -0.11912614] [ 0. 0. 1. -0.01509503] [ 0. 0. 0. 1. ]] SLAMing on 1.9253361949999999 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:1.98, Y:-0.11, Z:-0.01 [[ 9.99999900e-01 -4.47811682e-04 0.00000000e+00 1.97832924e+00] [ 4.47811682e-04 9.99999900e-01 0.00000000e+00 -1.14558600e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15546018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.985336195 meters Centerline goodness : 0.999527 with order 1 Centerline is valid? [True, True] Translation: X:2.04, Y:-0.13, Z:-0.01 [[ 0.99992638 -0.01213441 0. 2.03843967] [ 0.01213441 0.99992638 0. -0.12702691] [ 0. 0. 1. -0.01094255] [ 0. 0. 0. 1. ]] SLAMing on 2.045336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:2.10, Y:-0.14, Z:-0.00 [[ 0.99978454 -0.02075754 0. 2.10047664] [ 0.02075754 0.99978454 0. -0.13517385] [ 0. 0. 1. -0.00460733] [ 0. 0. 0. 1. ]] SLAMing on 2.105336195 meters Centerline goodness : 0.999675 with order 1 Centerline is valid? [True, True] Translation: X:2.16, Y:-0.14, Z:-0.00 [[ 9.99570683e-01 -2.92992981e-02 0.00000000e+00 2.16367429e+00] [ 2.92992981e-02 9.99570683e-01 0.00000000e+00 -1.44834748e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.03776604e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.165336195 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:2.23, Y:-0.16, Z:0.00 [[ 9.99591066e-01 -2.85954713e-02 0.00000000e+00 2.22527248e+00] [ 2.85954713e-02 9.99591066e-01 0.00000000e+00 -1.55987539e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26975192e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2253361949999997 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:2.29, Y:-0.16, Z:-0.01 [[ 0.99976882 -0.02150145 0. 2.28860515] [ 0.02150145 0.99976882 0. -0.16482763] [ 0. 0. 1. -0.00772792] [ 0. 0. 0. 1. ]] SLAMing on 2.2853361949999997 meters Centerline goodness : 0.999614 with order 1 Centerline is valid? [True, True] Translation: X:2.35, Y:-0.16, Z:-0.01 [[ 0.99997622 -0.00689591 0. 2.3500102 ] [ 0.00689591 0.99997622 0. -0.16193111] [ 0. 0. 1. -0.01017509] [ 0. 0. 0. 1. ]] SLAMing on 2.345336195 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:2.41, Y:-0.16, Z:-0.01 [[ 0.99999324 0.00367819 0. 2.4124169 ] [-0.00367819 0.99999324 0. -0.1599241 ] [ 0. 0. 1. -0.01237274] [ 0. 0. 0. 1. ]] SLAMing on 2.405336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:2.47, Y:-0.15, Z:-0.01 [[ 0.99988484 0.01517609 0. 2.47125411] [-0.01517609 0.99988484 0. -0.14655094] [ 0. 0. 1. -0.00976562] [ 0. 0. 0. 1. ]] SLAMing on 2.465336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.14, Z:-0.01 [[ 0.99981119 0.01943175 0. 2.52959949] [-0.01943175 0.99981119 0. -0.14269923] [ 0. 0. 1. -0.00703525] [ 0. 0. 0. 1. ]] SLAMing on 2.525336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:2.59, Y:-0.13, Z:-0.01 [[ 0.99983641 0.01808721 0. 2.58759536] [-0.01808721 0.99983641 0. -0.12885952] [ 0. 0. 1. -0.01274365] [ 0. 0. 0. 1. ]] SLAMing on 2.585336195 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:2.65, Y:-0.12, Z:-0.01 [[ 0.99988225 0.01534526 0. 2.64511116] [-0.01534526 0.99988225 0. -0.11717474] [ 0. 0. 1. -0.00713353] [ 0. 0. 0. 1. ]] SLAMing on 2.6453361949999996 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.11, Z:-0.01 [[ 0.99997919 0.00645142 0. 2.70440435] [-0.00645142 0.99997919 0. -0.10977366] [ 0. 0. 1. -0.01301374] [ 0. 0. 0. 1. ]] SLAMing on 2.7053361949999997 meters Centerline goodness : 0.999223 with order 1 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.10, Z:-0.01 [[ 0.99997722 -0.00675013 0. 2.76329664] [ 0.00675013 0.99997722 0. -0.09877996] [ 0. 0. 1. -0.01199476] [ 0. 0. 0. 1. ]] SLAMing on 2.7653361949999997 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.09, Z:-0.01 [[ 0.99989797 -0.0142843 0. 2.82422107] [ 0.0142843 0.99989797 0. -0.09012165] [ 0. 0. 1. -0.01065046] [ 0. 0. 0. 1. ]] SLAMing on 2.8253361949999998 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:2.89, Y:-0.09, Z:-0.01 [[ 0.99978249 -0.02085584 0. 2.88737072] [ 0.02085584 0.99978249 0. -0.08674289] [ 0. 0. 1. -0.01141356] [ 0. 0. 0. 1. ]] SLAMing on 2.885336195 meters Centerline goodness : 0.999417 with order 1 Centerline is valid? [True, True] Translation: X:2.95, Y:-0.09, Z:-0.01 [[ 0.99958442 -0.02882683 0. 2.94990088] [ 0.02882683 0.99958442 0. -0.08855866] [ 0. 0. 1. -0.01183203] [ 0. 0. 0. 1. ]] SLAMing on 2.945336195 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:3.01, Y:-0.09, Z:-0.01 [[ 0.99932148 -0.03683177 0. 3.01226626] [ 0.03683177 0.99932148 0. -0.08826787] [ 0. 0. 1. -0.00853464] [ 0. 0. 0. 1. ]] SLAMing on 3.005336195 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:3.08, Y:-0.08, Z:-0.01 [[ 0.99893944 -0.04604346 0. 3.07503273] [ 0.04604346 0.99893944 0. -0.08155945] [ 0. 0. 1. -0.00553206] [ 0. 0. 0. 1. ]] SLAMing on 3.065336195 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:3.14, Y:-0.09, Z:-0.01 [[ 0.9990281 -0.04407778 0. 3.13712462] [ 0.04407778 0.9990281 0. -0.08870478] [ 0. 0. 1. -0.01427914] [ 0. 0. 0. 1. ]] SLAMing on 3.125336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:3.20, Y:-0.09, Z:-0.02 [[ 0.99917689 -0.04056531 0. 3.1994115 ] [ 0.04056531 0.99917689 0. -0.08947598] [ 0. 0. 1. -0.01759619] [ 0. 0. 0. 1. ]] SLAMing on 3.1853361949999996 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:3.26, Y:-0.07, Z:-0.01 [[ 0.99944854 -0.03320562 0. 3.26140378] [ 0.03320562 0.99944854 0. -0.07111669] [ 0. 0. 1. -0.01310773] [ 0. 0. 0. 1. ]] SLAMing on 3.2453361949999997 meters Centerline goodness : 0.999654 with order 1 Centerline is valid? [True, True] Translation: X:3.32, Y:-0.07, Z:-0.01 [[ 0.99965804 -0.02614953 0. 3.32352304] [ 0.02614953 0.99965804 0. -0.07026145] [ 0. 0. 1. -0.01280526] [ 0. 0. 0. 1. ]] SLAMing on 3.3053361949999998 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:3.39, Y:-0.07, Z:-0.01 [[ 0.99987623 -0.01573293 0. 3.38511997] [ 0.01573293 0.99987623 0. -0.07416383] [ 0. 0. 1. -0.01334115] [ 0. 0. 0. 1. ]] SLAMing on 3.365336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:3.45, Y:-0.07, Z:-0.01 [[ 0.99991224 -0.01324829 0. 3.44793707] [ 0.01324829 0.99991224 0. -0.06585701] [ 0. 0. 1. -0.00911293] [ 0. 0. 0. 1. ]] SLAMing on 3.425336195 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:3.51, Y:-0.07, Z:-0.01 [[ 0.99982998 -0.01843912 0. 3.50981001] [ 0.01843912 0.99982998 0. -0.06869836] [ 0. 0. 1. -0.01074419] [ 0. 0. 0. 1. ]] SLAMing on 3.485336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:3.57, Y:-0.08, Z:-0.02 [[ 0.99971369 -0.02392785 0. 3.57058641] [ 0.02392785 0.99971369 0. -0.07873525] [ 0. 0. 1. -0.01926912] [ 0. 0. 0. 1. ]] SLAMing on 3.545336195 meters Centerline goodness : 0.999307 with order 1 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.09, Z:-0.02 [[ 0.99937962 -0.03521901 0. 3.63396347] [ 0.03521901 0.99937962 0. -0.08637739] [ 0. 0. 1. -0.01676986] [ 0. 0. 0. 1. ]] SLAMing on 3.6053361949999996 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.10, Z:-0.01 [[ 0.99905461 -0.04347277 0. 3.6948034 ] [ 0.04347277 0.99905461 0. -0.10201629] [ 0. 0. 1. -0.01184298] [ 0. 0. 0. 1. ]] SLAMing on 3.6653361949999996 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:3.76, Y:-0.12, Z:-0.01 [[ 0.99904168 -0.04376885 0. 3.75790755] [ 0.04376885 0.99904168 0. -0.11727296] [ 0. 0. 1. -0.01223922] [ 0. 0. 0. 1. ]] SLAMing on 3.7253361949999997 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:3.82, Y:-0.13, Z:-0.02 [[ 0.99944967 -0.03317154 0. 3.81905448] [ 0.03317154 0.99944967 0. -0.13341297] [ 0. 0. 1. -0.01637069] [ 0. 0. 0. 1. ]] SLAMing on 3.7853361949999997 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:3.88, Y:-0.14, Z:-0.02 [[ 0.99979965 -0.02001652 0. 3.88151113] [ 0.02001652 0.99979965 0. -0.14216614] [ 0. 0. 1. -0.01824352] [ 0. 0. 0. 1. ]] SLAMing on 3.845336195 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:3.94, Y:-0.14, Z:-0.01 [[ 0.99999013 0.00444339 0. 3.94408862] [-0.00444339 0.99999013 0. -0.1430205 ] [ 0. 0. 1. -0.01025262] [ 0. 0. 0. 1. ]] SLAMing on 3.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.00, Y:-0.15, Z:-0.01 [[ 0.99958024 0.02897147 0. 4.00152341] [-0.02897147 0.99958024 0. -0.14687107] [ 0. 0. 1. -0.01146766] [ 0. 0. 0. 1. ]] SLAMing on 3.965336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:4.06, Y:-0.15, Z:-0.01 [[ 0.99917717 0.04055832 0. 4.0595847 ] [-0.04055832 0.99917717 0. -0.14739751] [ 0. 0. 1. -0.01269084] [ 0. 0. 0. 1. ]] SLAMing on 4.0253361949999995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:4.12, Y:-0.13, Z:-0.01 [[ 0.99929175 0.03762972 0. 4.11875917] [-0.03762972 0.99929175 0. -0.12999212] [ 0. 0. 1. -0.0081427 ] [ 0. 0. 0. 1. ]] SLAMing on 4.085336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:4.18, Y:-0.13, Z:-0.02 [[ 0.99979621 0.02018745 0. 4.17776946] [-0.02018745 0.99979621 0. -0.13288637] [ 0. 0. 1. -0.01888289] [ 0. 0. 0. 1. ]] SLAMing on 4.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.24, Y:-0.14, Z:-0.03 [[ 0.99997731 0.00673681 0. 4.23595719] [-0.00673681 0.99997731 0. -0.1419073 ] [ 0. 0. 1. -0.02580358] [ 0. 0. 0. 1. ]] SLAMing on 4.205336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:4.30, Y:-0.14, Z:-0.02 [[ 0.99992747 -0.01204382 0. 4.29558695] [ 0.01204382 0.99992747 0. -0.14398808] [ 0. 0. 1. -0.01857237] [ 0. 0. 0. 1. ]] SLAMing on 4.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.36, Y:-0.14, Z:-0.01 [[ 0.99976309 -0.02176597 0. 4.35790328] [ 0.02176597 0.99976309 0. -0.13990366] [ 0. 0. 1. -0.01423049] [ 0. 0. 0. 1. ]] SLAMing on 4.325336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:4.42, Y:-0.15, Z:-0.02 [[ 0.99947579 -0.03237502 0. 4.42015882] [ 0.03237502 0.99947579 0. -0.15331425] [ 0. 0. 1. -0.02128326] [ 0. 0. 0. 1. ]] SLAMing on 4.385336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:4.48, Y:-0.16, Z:-0.02 [[ 0.9993609 -0.03574635 0. 4.48182483] [ 0.03574635 0.9993609 0. -0.16309017] [ 0. 0. 1. -0.01553255] [ 0. 0. 0. 1. ]] SLAMing on 4.445336194999999 meters Centerline goodness : 0.999589 with order 1 Centerline is valid? [True, True] Translation: X:4.54, Y:-0.16, Z:-0.01 [[ 0.9994763 -0.03235923 0. 4.54381748] [ 0.03235923 0.9994763 0. -0.15586674] [ 0. 0. 1. -0.00545685] [ 0. 0. 0. 1. ]] SLAMing on 4.505336195 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:4.61, Y:-0.16, Z:-0.01 [[ 0.99971034 -0.02406742 0. 4.60618938] [ 0.02406742 0.99971034 0. -0.15943224] [ 0. 0. 1. -0.01192064] [ 0. 0. 0. 1. ]] SLAMing on 4.5653361949999995 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:4.67, Y:-0.17, Z:-0.02 [[ 0.99988464 -0.01518892 0. 4.66777686] [ 0.01518892 0.99988464 0. -0.17227888] [ 0. 0. 1. -0.02294432] [ 0. 0. 0. 1. ]] SLAMing on 4.625336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:4.73, Y:-0.16, Z:-0.02 [[ 0.99997717 -0.00675695 0. 4.72930649] [ 0.00675695 0.99997717 0. -0.16247023] [ 0. 0. 1. -0.01711598] [ 0. 0. 0. 1. ]] SLAMing on 4.685336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:4.79, Y:-0.17, Z:-0.02 [[ 9.99999838e-01 5.70025103e-04 0.00000000e+00 4.79130448e+00] [-5.70025103e-04 9.99999838e-01 0.00000000e+00 -1.69427073e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96963169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.85, Y:-0.18, Z:-0.02 [[ 0.99997331 0.00730655 0. 4.85172187] [-0.00730655 0.99997331 0. -0.17546648] [ 0. 0. 1. -0.02064993] [ 0. 0. 0. 1. ]] SLAMing on 4.805336195 meters Centerline goodness : 0.999695 with order 1 Centerline is valid? [True, True] Translation: X:4.91, Y:-0.17, Z:-0.02 [[ 0.99995293 0.00970221 0. 4.90967902] [-0.00970221 0.99995293 0. -0.17255111] [ 0. 0. 1. -0.01960306] [ 0. 0. 0. 1. ]] SLAMing on 4.865336194999999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:4.97, Y:-0.16, Z:-0.01 [[ 0.99976967 0.02146196 0. 4.96878886] [-0.02146196 0.99976967 0. -0.16062589] [ 0. 0. 1. -0.01005998] [ 0. 0. 0. 1. ]] SLAMing on 4.925336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:5.03, Y:-0.16, Z:-0.02 [[ 0.99975468 0.02214901 0. 5.02613298] [-0.02214901 0.99975468 0. -0.16379648] [ 0. 0. 1. -0.0161222 ] [ 0. 0. 0. 1. ]] SLAMing on 4.9853361949999995 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:5.08, Y:-0.15, Z:-0.01 [[ 0.99973885 0.0228524 0. 5.08496307] [-0.0228524 0.99973885 0. -0.15177458] [ 0. 0. 1. -0.00996439] [ 0. 0. 0. 1. ]] SLAMing on 5.045336195 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:5.14, Y:-0.14, Z:-0.02 [[ 0.99970253 0.02438962 0. 5.14350611] [-0.02438962 0.99970253 0. -0.13962214] [ 0. 0. 1. -0.01548432] [ 0. 0. 0. 1. ]] SLAMing on 5.105336195 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:5.20, Y:-0.14, Z:-0.02 [[ 0.99979575 0.02021035 0. 5.20264661] [-0.02021035 0.99979575 0. -0.1356787 ] [ 0. 0. 1. -0.02164508] [ 0. 0. 0. 1. ]] SLAMing on 5.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.26, Y:-0.12, Z:-0.02 [[ 0.99995936 0.00901502 0. 5.26057699] [-0.00901502 0.99995936 0. -0.1224888 ] [ 0. 0. 1. -0.01818425] [ 0. 0. 0. 1. ]] SLAMing on 5.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.32, Y:-0.12, Z:-0.02 [[ 9.99998649e-01 -1.64360943e-03 0.00000000e+00 5.31856295e+00] [ 1.64360943e-03 9.99998649e-01 0.00000000e+00 -1.19354302e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70683091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.285336194999999 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:5.38, Y:-0.12, Z:-0.01 [[ 0.99989647 -0.01438915 0. 5.37974645] [ 0.01438915 0.99989647 0. -0.11661552] [ 0. 0. 1. -0.00761018] [ 0. 0. 0. 1. ]] SLAMing on 5.345336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:5.44, Y:-0.11, Z:-0.01 [[ 0.99966969 -0.02570042 0. 5.44313425] [ 0.02570042 0.99966969 0. -0.10909351] [ 0. 0. 1. -0.00738599] [ 0. 0. 0. 1. ]] SLAMing on 5.405336194999999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:5.51, Y:-0.12, Z:-0.02 [[ 0.99961106 -0.02788779 0. 5.50570921] [ 0.02788779 0.99961106 0. -0.11982196] [ 0. 0. 1. -0.0214482 ] [ 0. 0. 0. 1. ]] SLAMing on 5.465336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:5.57, Y:-0.11, Z:-0.02 [[ 0.99977373 -0.02127164 0. 5.56685621] [ 0.02127164 0.99977373 0. -0.10792981] [ 0. 0. 1. -0.01593514] [ 0. 0. 0. 1. ]] SLAMing on 5.5253361949999995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:5.63, Y:-0.11, Z:-0.01 [[ 0.99984922 -0.01736502 0. 5.62935872] [ 0.01736502 0.99984922 0. -0.10675037] [ 0. 0. 1. -0.011552 ] [ 0. 0. 0. 1. ]] SLAMing on 5.585336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:5.69, Y:-0.11, Z:-0.02 [[ 0.99990304 -0.01392524 0. 5.69258599] [ 0.01392524 0.99990304 0. -0.11087712] [ 0. 0. 1. -0.01615005] [ 0. 0. 0. 1. ]] SLAMing on 5.645336195 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:5.75, Y:-0.10, Z:-0.02 [[ 0.9999789 -0.00649592 0. 5.75433925] [ 0.00649592 0.9999789 0. -0.10438447] [ 0. 0. 1. -0.02031416] [ 0. 0. 0. 1. ]] SLAMing on 5.705336195 meters Centerline goodness : 0.999632 with order 1 Centerline is valid? [True, True] Translation: X:5.82, Y:-0.10, Z:-0.01 [[ 9.99999603e-01 8.90839280e-04 0.00000000e+00 5.81636684e+00] [-8.90839280e-04 9.99999603e-01 0.00000000e+00 -9.63965298e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32544635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.765336195 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:5.88, Y:-0.09, Z:-0.01 [[ 9.99998599e-01 1.67416007e-03 0.00000000e+00 5.87589162e+00] [-1.67416007e-03 9.99998599e-01 0.00000000e+00 -8.95210973e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.43776475e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.825336194999999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:5.94, Y:-0.08, Z:-0.01 [[ 9.99998518e-01 -1.72160277e-03 0.00000000e+00 5.93533043e+00] [ 1.72160277e-03 9.99998518e-01 0.00000000e+00 -8.08481288e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49405631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.885336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:6.00, Y:-0.08, Z:-0.02 [[ 9.99996753e-01 -2.54826124e-03 0.00000000e+00 5.99665412e+00] [ 2.54826124e-03 9.99996753e-01 0.00000000e+00 -8.14855061e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.17163825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.945336194999999 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:6.06, Y:-0.08, Z:-0.02 [[ 0.99998074 -0.00620712 0. 6.05882597] [ 0.00620712 0.99998074 0. -0.07638288] [ 0. 0. 1. -0.02332482] [ 0. 0. 0. 1. ]] SLAMing on 6.005336195 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:6.12, Y:-0.08, Z:-0.01 [[ 0.99996664 -0.0081676 0. 6.1210022 ] [ 0.0081676 0.99996664 0. -0.07941645] [ 0. 0. 1. -0.01364719] [ 0. 0. 0. 1. ]] SLAMing on 6.0653361949999995 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:6.18, Y:-0.08, Z:-0.01 [[ 0.99991301 -0.01319017 0. 6.18227843] [ 0.01319017 0.99991301 0. -0.08314182] [ 0. 0. 1. -0.01222383] [ 0. 0. 0. 1. ]] SLAMing on 6.125336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:6.24, Y:-0.09, Z:-0.02 [[ 0.99990355 -0.01388824 0. 6.24433989] [ 0.01388824 0.99990355 0. -0.09008123] [ 0. 0. 1. -0.01913511] [ 0. 0. 0. 1. ]] SLAMing on 6.185336195 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:6.31, Y:-0.09, Z:-0.02 [[ 0.99995449 -0.00954014 0. 6.30514109] [ 0.00954014 0.99995449 0. -0.08889799] [ 0. 0. 1. -0.01989105] [ 0. 0. 0. 1. ]] SLAMing on 6.245336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:6.37, Y:-0.09, Z:-0.02 [[ 9.99996732e-01 2.55645408e-03 0.00000000e+00 6.36725307e+00] [-2.55645408e-03 9.99996732e-01 0.00000000e+00 -8.55457787e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96908846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.305336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:6.43, Y:-0.08, Z:-0.02 [[ 0.99985385 0.01709642 0. 6.42591323] [-0.01709642 0.99985385 0. -0.07987146] [ 0. 0. 1. -0.02419915] [ 0. 0. 0. 1. ]] SLAMing on 6.365336194999999 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:6.49, Y:-0.06, Z:-0.02 [[ 0.999734 0.02306375 0. 6.4851762 ] [-0.02306375 0.999734 0. -0.061016 ] [ 0. 0. 1. -0.01809771] [ 0. 0. 0. 1. ]] SLAMing on 6.425336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:6.54, Y:-0.06, Z:-0.03 [[ 0.99979174 0.02040768 0. 6.54448408] [-0.02040768 0.99979174 0. -0.05635825] [ 0. 0. 1. -0.02684612] [ 0. 0. 0. 1. ]] SLAMing on 6.4853361949999995 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:6.60, Y:-0.04, Z:-0.02 [[ 0.99994048 0.01091015 0. 6.60272034] [-0.01091015 0.99994048 0. -0.04028734] [ 0. 0. 1. -0.01851082] [ 0. 0. 0. 1. ]] SLAMing on 6.545336195 meters Centerline goodness : 0.999443 with order 1 Centerline is valid? [True, True] Translation: X:6.66, Y:-0.03, Z:-0.02 [[ 9.99993070e-01 -3.72302651e-03 0.00000000e+00 6.66192466e+00] [ 3.72302651e-03 9.99993070e-01 0.00000000e+00 -3.42503457e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75744960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.605336195 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:6.72, Y:-0.03, Z:-0.02 [[ 0.99983675 -0.01806863 0. 6.72304592] [ 0.01806863 0.99983675 0. -0.02913427] [ 0. 0. 1. -0.01521503] [ 0. 0. 0. 1. ]] SLAMing on 6.665336195 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:6.78, Y:-0.03, Z:-0.02 [[ 0.99970839 -0.024148 0. 6.78495435] [ 0.024148 0.99970839 0. -0.0324886 ] [ 0. 0. 1. -0.01892294] [ 0. 0. 0. 1. ]] SLAMing on 6.725336195 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:6.85, Y:-0.04, Z:-0.02 [[ 0.99963726 -0.02693214 0. 6.84610328] [ 0.02693214 0.99963726 0. -0.03600762] [ 0. 0. 1. -0.01538584] [ 0. 0. 0. 1. ]] SLAMing on 6.785336194999999 meters Centerline goodness : 0.999403 with order 1 Centerline is valid? [True, True] Translation: X:6.91, Y:-0.03, Z:-0.01 [[ 0.99961793 -0.02764029 0. 6.90815691] [ 0.02764029 0.99961793 0. -0.03034001] [ 0. 0. 1. -0.00769679] [ 0. 0. 0. 1. ]] SLAMing on 6.845336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:6.97, Y:-0.04, Z:-0.02 [[ 0.99970906 -0.02412029 0. 6.96995017] [ 0.02412029 0.99970906 0. -0.03662586] [ 0. 0. 1. -0.01522819] [ 0. 0. 0. 1. ]] SLAMing on 6.905336194999999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:7.03, Y:-0.04, Z:-0.02 [[ 0.9999034 -0.013899 0. 7.03226952] [ 0.013899 0.9999034 0. -0.03602146] [ 0. 0. 1. -0.01818289] [ 0. 0. 0. 1. ]] SLAMing on 6.965336195 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:7.09, Y:-0.02, Z:-0.00 [[ 9.99992069e-01 -3.98265475e-03 0.00000000e+00 7.09420819e+00] [ 3.98265475e-03 9.99992069e-01 0.00000000e+00 -2.46307626e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.27346792e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0253361949999995 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:7.16, Y:-0.03, Z:-0.01 [[ 9.99995312e-01 3.06189001e-03 0.00000000e+00 7.15590112e+00] [-3.06189001e-03 9.99995312e-01 0.00000000e+00 -2.72043568e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.10504956e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.21, Y:-0.02, Z:-0.01 [[ 9.99986121e-01 5.26865899e-03 0.00000000e+00 7.21418621e+00] [-5.26865899e-03 9.99986121e-01 0.00000000e+00 -2.37227086e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.28729545e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.145336195 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:7.27, Y:-0.02, Z:-0.01 [[ 9.99981082e-01 6.15112256e-03 0.00000000e+00 7.27308237e+00] [-6.15112256e-03 9.99981082e-01 0.00000000e+00 -2.01297774e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03172435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.205336194999999 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:7.33, Y:-0.03, Z:-0.02 [[ 0.9999598 0.00896629 0. 7.33137407] [-0.00896629 0.9999598 0. -0.02568771] [ 0. 0. 1. -0.01576346] [ 0. 0. 0. 1. ]] SLAMing on 7.265336195 meters Centerline goodness : 0.999551 with order 1 Centerline is valid? [True, True] Translation: X:7.39, Y:-0.02, Z:-0.00 [[ 9.99967689e-01 8.03877242e-03 0.00000000e+00 7.38925305e+00] [-8.03877242e-03 9.99967689e-01 0.00000000e+00 -1.95710485e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.72154048e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.325336194999999 meters Centerline goodness : 0.999357 with order 1 Centerline is valid? [True, True] Translation: X:7.45, Y:-0.02, Z:-0.00 [[ 9.99974252e-01 7.17596639e-03 0.00000000e+00 7.44703742e+00] [-7.17596639e-03 9.99974252e-01 0.00000000e+00 -1.69419465e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.03518218e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.385336195 meters Centerline goodness : 0.999527 with order 1 Centerline is valid? [True, True] Translation: X:7.50, Y:-0.02, Z:-0.01 [[ 0.99995386 0.0096061 0. 7.50497674] [-0.0096061 0.99995386 0. -0.01725101] [ 0. 0. 1. -0.0089657 ] [ 0. 0. 0. 1. ]] SLAMing on 7.445336194999999 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:7.56, Y:-0.00, Z:-0.01 [[ 9.99925295e-01 1.22230894e-02 0.00000000e+00 7.56301868e+00] [-1.22230894e-02 9.99925295e-01 0.00000000e+00 -7.18326125e-04] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.08280008e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.505336195 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:7.62, Y:0.00, Z:-0.01 [[ 9.99948706e-01 1.01284243e-02 0.00000000e+00 7.62079074e+00] [-1.01284243e-02 9.99948706e-01 0.00000000e+00 9.31065889e-06] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.88606098e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5653361949999995 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:7.68, Y:0.01, Z:-0.01 [[ 9.99999929e-01 3.76443423e-04 0.00000000e+00 7.67934682e+00] [-3.76443423e-04 9.99999929e-01 0.00000000e+00 7.76018884e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.93053988e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.625336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:7.74, Y:0.01, Z:-0.01 [[ 9.99986927e-01 -5.11321172e-03 0.00000000e+00 7.73948202e+00] [ 5.11321172e-03 9.99986927e-01 0.00000000e+00 1.11958555e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16838311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.685336195 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:7.80, Y:0.02, Z:-0.01 [[ 9.99974101e-01 -7.19699166e-03 0.00000000e+00 7.80086647e+00] [ 7.19699166e-03 9.99974101e-01 0.00000000e+00 1.65871699e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38419443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.745336194999999 meters Centerline goodness : 0.999360 with order 1 Centerline is valid? [True, True] Translation: X:7.86, Y:0.02, Z:-0.01 [[ 9.99989169e-01 -4.65430419e-03 0.00000000e+00 7.86301023e+00] [ 4.65430419e-03 9.99989169e-01 0.00000000e+00 2.44455667e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.45407144e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.805336195 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:7.93, Y:0.03, Z:-0.01 [[ 9.99999229e-01 -1.24157392e-03 0.00000000e+00 7.92546449e+00] [ 1.24157392e-03 9.99999229e-01 0.00000000e+00 2.74428945e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06060320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.865336194999999 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:7.99, Y:0.04, Z:-0.00 [[ 9.99999902e-01 4.41950555e-04 0.00000000e+00 7.98692031e+00] [-4.41950555e-04 9.99999902e-01 0.00000000e+00 4.02402559e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.60533685e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.925336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:8.05, Y:0.04, Z:-0.01 [[ 9.99999989e-01 1.47231656e-04 0.00000000e+00 8.04764218e+00] [-1.47231656e-04 9.99999989e-01 0.00000000e+00 4.19365081e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23911260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9853361949999995 meters Centerline goodness : 0.999636 with order 1 Centerline is valid? [True, True] Translation: X:8.11, Y:0.05, Z:-0.02 [[ 9.99994906e-01 -3.19200937e-03 0.00000000e+00 8.10840372e+00] [ 3.19200937e-03 9.99994906e-01 0.00000000e+00 4.51283898e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65444711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.045336194999999 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:8.17, Y:0.05, Z:-0.02 [[ 0.9999499 -0.01000966 0. 8.16957294] [ 0.01000966 0.9999499 0. 0.04654154] [ 0. 0. 1. -0.01713257] [ 0. 0. 0. 1. ]] SLAMing on 8.105336195 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:8.23, Y:0.04, Z:-0.01 [[ 0.99978922 -0.02053077 0. 8.23083829] [ 0.02053077 0.99978922 0. 0.03821098] [ 0. 0. 1. -0.01137117] [ 0. 0. 0. 1. ]] SLAMing on 8.165336195 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:8.29, Y:0.02, Z:-0.01 [[ 0.99960981 -0.02793257 0. 8.29421275] [ 0.02793257 0.99960981 0. 0.02376374] [ 0. 0. 1. -0.01348532] [ 0. 0. 0. 1. ]] SLAMing on 8.225336194999999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:8.36, Y:0.01, Z:-0.01 [[ 0.99968111 -0.02525218 0. 8.35523398] [ 0.02525218 0.99968111 0. 0.01442866] [ 0. 0. 1. -0.01405202] [ 0. 0. 0. 1. ]] SLAMing on 8.285336195 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:8.42, Y:0.01, Z:-0.02 [[ 9.99935201e-01 -1.13839283e-02 0.00000000e+00 8.41703262e+00] [ 1.13839283e-02 9.99935201e-01 0.00000000e+00 7.15189005e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76148438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.345336195 meters Centerline goodness : 0.999101 with order 1 Centerline is valid? [True, True] Translation: X:8.48, Y:0.01, Z:-0.02 [[ 0.99995802 0.00916329 0. 8.47948421] [-0.00916329 0.99995802 0. 0.01143882] [ 0. 0. 1. -0.0175325 ] [ 0. 0. 0. 1. ]] SLAMing on 8.405336195 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:8.54, Y:0.01, Z:-0.02 [[ 0.99962187 0.02749746 0. 8.53707203] [-0.02749746 0.99962187 0. 0.01130557] [ 0. 0. 1. -0.02017753] [ 0. 0. 0. 1. ]] SLAMing on 8.465336194999999 meters Centerline goodness : 0.999615 with order 1 Centerline is valid? [True, True] Translation: X:8.60, Y:0.01, Z:-0.02 [[ 0.99944255 0.03338553 0. 8.59582681] [-0.03338553 0.99944255 0. 0.01396457] [ 0. 0. 1. -0.01620888] [ 0. 0. 0. 1. ]] SLAMing on 8.525336195 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:8.65, Y:0.02, Z:-0.02 [[ 0.99982115 0.01891208 0. 8.65486622] [-0.01891208 0.99982115 0. 0.01650488] [ 0. 0. 1. -0.02088948] [ 0. 0. 0. 1. ]] SLAMing on 8.585336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:8.71, Y:0.01, Z:-0.02 [[ 0.99991244 0.01323274 0. 8.71331818] [-0.01323274 0.99991244 0. 0.01169154] [ 0. 0. 1. -0.02395821] [ 0. 0. 0. 1. ]] SLAMing on 8.645336195 meters Centerline goodness : 0.999636 with order 1 Centerline is valid? [True, True] Translation: X:8.77, Y:0.01, Z:-0.01 [[ 9.99982608e-01 -5.89782788e-03 0.00000000e+00 8.77179501e+00] [ 5.89782788e-03 9.99982608e-01 0.00000000e+00 9.42375348e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46047586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.705336195 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:8.83, Y:-0.00, Z:-0.02 [[ 9.99804246e-01 -1.97856009e-02 0.00000000e+00 8.83402579e+00] [ 1.97856009e-02 9.99804246e-01 0.00000000e+00 -1.37389180e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58785471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.765336195 meters Centerline goodness : 0.999594 with order 1 Centerline is valid? [True, True] Translation: X:8.90, Y:-0.01, Z:-0.01 [[ 9.99782535e-01 -2.08538383e-02 0.00000000e+00 8.89513494e+00] [ 2.08538383e-02 9.99782535e-01 0.00000000e+00 -7.12363402e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14327538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.825336195 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:8.96, Y:-0.01, Z:-0.01 [[ 9.99930476e-01 -1.17916471e-02 0.00000000e+00 8.95723401e+00] [ 1.17916471e-02 9.99930476e-01 0.00000000e+00 -8.18506471e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48182741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.885336194999999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:9.02, Y:-0.01, Z:-0.02 [[ 9.99993591e-01 3.58030722e-03 0.00000000e+00 9.01968747e+00] [-3.58030722e-03 9.99993591e-01 0.00000000e+00 -1.26769561e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.07911538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.945336195 meters Centerline goodness : 0.999424 with order 1 Centerline is valid? [True, True] Translation: X:9.08, Y:0.00, Z:-0.01 [[ 9.99868526e-01 1.62151383e-02 0.00000000e+00 9.07859480e+00] [-1.62151383e-02 9.99868526e-01 0.00000000e+00 2.63302405e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.64869300e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.005336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:9.14, Y:0.01, Z:-0.00 [[ 9.99802891e-01 1.98539427e-02 0.00000000e+00 9.13722405e+00] [-1.98539427e-02 9.99802891e-01 0.00000000e+00 5.69161370e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.74414077e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.065336195 meters Centerline goodness : 0.999574 with order 1 Centerline is valid? [True, True] Translation: X:9.20, Y:0.01, Z:-0.01 [[ 0.99994633 0.01036013 0. 9.19536891] [-0.01036013 0.99994633 0. 0.00920742] [ 0. 0. 1. -0.01339614] [ 0. 0. 0. 1. ]] SLAMing on 9.125336195 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:9.25, Y:0.01, Z:-0.02 [[ 9.99968127e-01 7.98409434e-03 0.00000000e+00 9.25447412e+00] [-7.98409434e-03 9.99968127e-01 0.00000000e+00 1.18200983e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70122837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.185336195 meters Centerline goodness : 0.999488 with order 1 Centerline is valid? [True, True] Translation: X:9.31, Y:0.02, Z:-0.01 [[ 9.99973456e-01 7.28603796e-03 0.00000000e+00 9.31267674e+00] [-7.28603796e-03 9.99973456e-01 0.00000000e+00 1.58650803e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05019353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.37, Y:0.01, Z:-0.00 [[ 9.99972894e-01 7.36286158e-03 0.00000000e+00 9.37174594e+00] [-7.36286158e-03 9.99972894e-01 0.00000000e+00 1.39083190e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.80315651e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.305336194999999 meters Centerline goodness : 0.999381 with order 1 Centerline is valid? [True, True] Translation: X:9.43, Y:0.02, Z:-0.00 [[ 9.99982297e-01 5.95021058e-03 0.00000000e+00 9.43094414e+00] [-5.95021058e-03 9.99982297e-01 0.00000000e+00 2.25325503e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.17252505e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.365336195 meters Centerline goodness : 0.999618 with order 1 Centerline is valid? [True, True] Translation: X:9.49, Y:0.02, Z:-0.01 [[ 9.99991187e-01 4.19843750e-03 0.00000000e+00 9.48897354e+00] [-4.19843750e-03 9.99991187e-01 0.00000000e+00 2.44019232e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.40964409e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.425336195 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:9.55, Y:0.02, Z:-0.01 [[ 9.99996436e-01 -2.66971075e-03 0.00000000e+00 9.54798189e+00] [ 2.66971075e-03 9.99996436e-01 0.00000000e+00 2.49235416e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32769928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.485336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:9.61, Y:0.03, Z:-0.00 [[ 9.99863153e-01 -1.65431231e-02 0.00000000e+00 9.61044386e+00] [ 1.65431231e-02 9.99863153e-01 0.00000000e+00 3.22831006e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.31554076e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.545336194999999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:9.67, Y:0.03, Z:-0.02 [[ 0.99960686 -0.02803798 0. 9.67283158] [ 0.02803798 0.99960686 0. 0.02652854] [ 0. 0. 1. -0.01653138] [ 0. 0. 0. 1. ]] SLAMing on 9.605336195 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:9.73, Y:0.02, Z:-0.02 [[ 0.99958461 -0.02882012 0. 9.7337924 ] [ 0.02882012 0.99958461 0. 0.01915673] [ 0. 0. 1. -0.01766263] [ 0. 0. 0. 1. ]] SLAMing on 9.665336195 meters Centerline goodness : 0.999381 with order 1 Centerline is valid? [True, True] Translation: X:9.80, Y:0.02, Z:-0.01 [[ 9.99725929e-01 -2.34108133e-02 0.00000000e+00 9.79602445e+00] [ 2.34108133e-02 9.99725929e-01 0.00000000e+00 2.07044949e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.00700940e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.725336194999999 meters Centerline goodness : 0.999637 with order 1 Centerline is valid? [True, True] Translation: X:9.86, Y:0.01, Z:-0.01 [[ 9.99836811e-01 -1.80651912e-02 0.00000000e+00 9.85822366e+00] [ 1.80651912e-02 9.99836811e-01 0.00000000e+00 6.79604076e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49654318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.785336195 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:9.92, Y:0.00, Z:-0.01 [[ 9.99882948e-01 -1.53000139e-02 0.00000000e+00 9.91989158e+00] [ 1.53000139e-02 9.99882948e-01 0.00000000e+00 9.39534705e-04] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17215045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.845336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:9.98, Y:-0.00, Z:-0.01 [[ 9.99965510e-01 -8.30530003e-03 0.00000000e+00 9.98147698e+00] [ 8.30530003e-03 9.99965510e-01 0.00000000e+00 -2.20215832e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38671840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.905336195 meters Centerline goodness : 0.999615 with order 1 Centerline is valid? [True, True] Translation: X:10.04, Y:-0.01, Z:-0.02 [[ 0.99994471 0.01051524 0. 10.04317103] [-0.01051524 0.99994471 0. -0.01129386] [ 0. 0. 1. -0.0222095 ] [ 0. 0. 0. 1. ]] SLAMing on 9.965336194999999 meters Centerline goodness : 0.999550 with order 1 Centerline is valid? [True, True] Translation: X:10.10, Y:-0.00, Z:-0.01 [[ 9.99803390e-01 1.98288194e-02 0.00000000e+00 1.00998940e+01] [-1.98288194e-02 9.99803390e-01 0.00000000e+00 -4.41625723e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42599317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.025336195 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:10.16, Y:0.01, Z:-0.01 [[ 9.99781513e-01 2.09027916e-02 0.00000000e+00 1.01575382e+01] [-2.09027916e-02 9.99781513e-01 0.00000000e+00 7.23660520e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05509639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.085336195 meters Centerline goodness : 0.999529 with order 1 Centerline is valid? [True, True] Translation: X:10.22, Y:0.00, Z:-0.02 [[ 9.99860379e-01 1.67099647e-02 0.00000000e+00 1.02157705e+01] [-1.67099647e-02 9.99860379e-01 0.00000000e+00 3.38013800e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.95666121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.145336194999999 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:10.27, Y:0.01, Z:-0.02 [[ 9.99973195e-01 7.32188278e-03 0.00000000e+00 1.02735981e+01] [-7.32188278e-03 9.99973195e-01 0.00000000e+00 1.25142515e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43398616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.205336195 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:10.33, Y:0.01, Z:-0.02 [[ 9.99969751e-01 -7.77797503e-03 0.00000000e+00 1.03326116e+01] [ 7.77797503e-03 9.99969751e-01 0.00000000e+00 8.53179616e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89508430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.265336195 meters Centerline goodness : 0.999614 with order 1 Centerline is valid? [True, True] Translation: X:10.40, Y:0.01, Z:-0.01 [[ 9.99801509e-01 -1.99234094e-02 0.00000000e+00 1.03955879e+01] [ 1.99234094e-02 9.99801509e-01 0.00000000e+00 1.42818708e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.94662601e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.325336195 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:10.46, Y:0.01, Z:-0.02 [[ 9.99552372e-01 -2.99174937e-02 0.00000000e+00 1.04572106e+01] [ 2.99174937e-02 9.99552372e-01 0.00000000e+00 1.01697265e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19369480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.385336194999999 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:10.52, Y:-0.01, Z:-0.03 [[ 9.99491136e-01 -3.18978004e-02 0.00000000e+00 1.05185979e+01] [ 3.18978004e-02 9.99491136e-01 0.00000000e+00 -7.79283066e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.08549285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.445336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:10.58, Y:-0.01, Z:-0.02 [[ 9.99614153e-01 -2.77767013e-02 0.00000000e+00 1.05805567e+01] [ 2.77767013e-02 9.99614153e-01 0.00000000e+00 -9.96057243e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05815773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.505336195 meters Centerline goodness : 0.999276 with order 1 Centerline is valid? [True, True] Translation: X:10.64, Y:-0.00, Z:-0.00 [[ 9.99858638e-01 -1.68138107e-02 0.00000000e+00 1.06429879e+01] [ 1.68138107e-02 9.99858638e-01 0.00000000e+00 -4.77129205e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.78494002e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.565336194999999 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:10.71, Y:-0.01, Z:-0.02 [[ 9.99985809e-01 -5.32745040e-03 0.00000000e+00 1.07050300e+01] [ 5.32745040e-03 9.99985809e-01 0.00000000e+00 -1.49238834e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50126912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.625336195 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:10.77, Y:-0.01, Z:-0.01 [[ 9.99997624e-01 2.17979036e-03 0.00000000e+00 1.07665760e+01] [-2.17979036e-03 9.99997624e-01 0.00000000e+00 -7.63444036e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39128366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.685336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:10.83, Y:-0.01, Z:-0.01 [[ 9.99999596e-01 8.98916674e-04 0.00000000e+00 1.08251812e+01] [-8.98916674e-04 9.99999596e-01 0.00000000e+00 -7.21183906e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08409649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.745336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:10.88, Y:-0.02, Z:-0.02 [[ 9.99998510e-01 -1.72651161e-03 0.00000000e+00 1.08844385e+01] [ 1.72651161e-03 9.99998510e-01 0.00000000e+00 -2.09554784e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30503244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.805336194999999 meters Centerline goodness : 0.999550 with order 1 Centerline is valid? [True, True] Translation: X:10.95, Y:-0.02, Z:-0.02 [[ 9.99990909e-01 -4.26408616e-03 0.00000000e+00 1.09459639e+01] [ 4.26408616e-03 9.99990909e-01 0.00000000e+00 -1.77633252e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89521604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.865336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:11.01, Y:-0.03, Z:-0.02 [[ 9.99959095e-01 -9.04477256e-03 0.00000000e+00 1.10079669e+01] [ 9.04477256e-03 9.99959095e-01 0.00000000e+00 -3.36384068e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79901894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.925336195 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:11.07, Y:-0.04, Z:-0.01 [[ 0.99983916 -0.01793482 0. 11.07107547] [ 0.01793482 0.99983916 0. -0.04294792] [ 0. 0. 1. -0.01149101] [ 0. 0. 0. 1. ]] SLAMing on 10.985336195 meters Centerline goodness : 0.999573 with order 1 Centerline is valid? [True, True] Translation: X:11.13, Y:-0.05, Z:-0.01 [[ 9.99752735e-01 -2.22366711e-02 0.00000000e+00 1.11328321e+01] [ 2.22366711e-02 9.99752735e-01 0.00000000e+00 -4.88829649e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.97568127e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.045336194999999 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:11.20, Y:-0.07, Z:-0.02 [[ 0.99993681 -0.01124126 0. 11.19522707] [ 0.01124126 0.99993681 0. -0.0654544 ] [ 0. 0. 1. -0.02109979] [ 0. 0. 0. 1. ]] SLAMing on 11.105336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:11.26, Y:-0.07, Z:-0.02 [[ 9.99999985e-01 -1.70695236e-04 0.00000000e+00 1.12576857e+01] [ 1.70695236e-04 9.99999985e-01 0.00000000e+00 -6.83409757e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55793116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.165336195 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:11.32, Y:-0.07, Z:-0.01 [[ 9.99983905e-01 5.67352977e-03 0.00000000e+00 1.13184321e+01] [-5.67352977e-03 9.99983905e-01 0.00000000e+00 -7.44490729e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.28502746e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.225336194999999 meters Centerline goodness : 0.999532 with order 1 Centerline is valid? [True, True] Translation: X:11.38, Y:-0.08, Z:-0.01 [[ 9.99953528e-01 9.64064528e-03 0.00000000e+00 1.13758978e+01] [-9.64064528e-03 9.99953528e-01 0.00000000e+00 -8.27611313e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.55200064e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.285336195 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:11.43, Y:-0.09, Z:-0.01 [[ 0.99988395 0.01523457 0. 11.43427415] [-0.01523457 0.99988395 0. -0.08723486] [ 0. 0. 1. -0.01439071] [ 0. 0. 0. 1. ]] SLAMing on 11.345336195 meters Centerline goodness : 0.999255 with order 1 Centerline is valid? [True, True] Translation: X:11.49, Y:-0.09, Z:-0.02 [[ 0.99987591 0.01575355 0. 11.4924993 ] [-0.01575355 0.99987591 0. -0.09246657] [ 0. 0. 1. -0.01509361] [ 0. 0. 0. 1. ]] SLAMing on 11.405336195 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:11.55, Y:-0.10, Z:-0.01 [[ 9.99965652e-01 8.28823835e-03 0.00000000e+00 1.15512734e+01] [-8.28823835e-03 9.99965652e-01 0.00000000e+00 -1.03191437e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10618627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.465336194999999 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:11.61, Y:-0.11, Z:-0.00 [[ 9.99998727e-01 -1.59547010e-03 0.00000000e+00 1.16096835e+01] [ 1.59547010e-03 9.99998727e-01 0.00000000e+00 -1.08131062e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.26760439e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.525336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:11.67, Y:-0.12, Z:-0.01 [[ 9.99999834e-01 5.75646098e-04 0.00000000e+00 1.16706140e+01] [-5.75646098e-04 9.99999834e-01 0.00000000e+00 -1.17696596e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.91645441e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.585336195 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:11.73, Y:-0.11, Z:-0.01 [[ 9.99978635e-01 6.53684681e-03 0.00000000e+00 1.17302675e+01] [-6.53684681e-03 9.99978635e-01 0.00000000e+00 -1.12414096e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.87325697e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.645336194999999 meters Centerline goodness : 0.999680 with order 1 Centerline is valid? [True, True] Translation: X:11.79, Y:-0.11, Z:-0.01 [[ 9.99955533e-01 9.43036745e-03 0.00000000e+00 1.17877438e+01] [-9.43036745e-03 9.99955533e-01 0.00000000e+00 -1.14604719e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.45148428e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.705336195 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:11.85, Y:-0.11, Z:-0.01 [[ 9.99951901e-01 9.80793106e-03 0.00000000e+00 1.18459282e+01] [-9.80793106e-03 9.99951901e-01 0.00000000e+00 -1.10869490e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43316479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.765336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:11.90, Y:-0.11, Z:-0.01 [[ 9.99976204e-01 6.89866737e-03 0.00000000e+00 1.19045629e+01] [-6.89866737e-03 9.99976204e-01 0.00000000e+00 -1.09113390e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31851272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.96, Y:-0.11, Z:-0.01 [[ 9.99989105e-01 -4.66790408e-03 0.00000000e+00 1.19624669e+01] [ 4.66790408e-03 9.99989105e-01 0.00000000e+00 -1.08849919e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43984409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.885336194999999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:12.02, Y:-0.12, Z:-0.02 [[ 0.99986186 -0.016621 0. 12.02472227] [ 0.016621 0.99986186 0. -0.11768368] [ 0. 0. 1. -0.02390533] [ 0. 0. 0. 1. ]] SLAMing on 11.945336195 meters Centerline goodness : 0.999551 with order 1 Centerline is valid? [True, True] Translation: X:12.09, Y:-0.12, Z:-0.01 [[ 9.99778020e-01 -2.10692121e-02 0.00000000e+00 1.20870766e+01] [ 2.10692121e-02 9.99778020e-01 0.00000000e+00 -1.20479188e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03899585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.005336195 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:12.15, Y:-0.13, Z:-0.01 [[ 0.99991542 -0.01300554 0. 12.14957842] [ 0.01300554 0.99991542 0. -0.12842033] [ 0. 0. 1. -0.01348831] [ 0. 0. 0. 1. ]] SLAMing on 12.065336194999999 meters Centerline goodness : 0.999569 with order 1 Centerline is valid? [True, True] Translation: X:12.21, Y:-0.13, Z:-0.01 [[ 9.99958706e-01 -9.08774980e-03 0.00000000e+00 1.22108619e+01] [ 9.08774980e-03 9.99958706e-01 0.00000000e+00 -1.29375234e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18306246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.125336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:12.27, Y:-0.13, Z:-0.01 [[ 9.99987000e-01 -5.09896734e-03 0.00000000e+00 1.22719352e+01] [ 5.09896734e-03 9.99987000e-01 0.00000000e+00 -1.31159672e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11935702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.185336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:12.33, Y:-0.14, Z:-0.01 [[ 9.99999204e-01 1.26135715e-03 0.00000000e+00 1.23339494e+01] [-1.26135715e-03 9.99999204e-01 0.00000000e+00 -1.38092333e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09469728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.245336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:12.39, Y:-0.14, Z:-0.01 [[ 9.99996483e-01 2.65231428e-03 0.00000000e+00 1.23937242e+01] [-2.65231428e-03 9.99996483e-01 0.00000000e+00 -1.37069633e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13017869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.305336194999999 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:12.45, Y:-0.14, Z:-0.01 [[ 9.99996326e-01 2.71084008e-03 0.00000000e+00 1.24523223e+01] [-2.71084008e-03 9.99996326e-01 0.00000000e+00 -1.35657453e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.32735160e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.365336195 meters Centerline goodness : 0.999615 with order 1 Centerline is valid? [True, True] Translation: X:12.51, Y:-0.14, Z:-0.01 [[ 9.99995930e-01 2.85294643e-03 0.00000000e+00 1.25113493e+01] [-2.85294643e-03 9.99995930e-01 0.00000000e+00 -1.37460759e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29708088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.57, Y:-0.15, Z:-0.02 [[ 9.99988299e-01 4.83754386e-03 0.00000000e+00 1.25702025e+01] [-4.83754386e-03 9.99988299e-01 0.00000000e+00 -1.47506450e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61065603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.485336195 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:12.63, Y:-0.14, Z:-0.01 [[ 9.99972454e-01 7.42240168e-03 0.00000000e+00 1.26287108e+01] [-7.42240168e-03 9.99972454e-01 0.00000000e+00 -1.35686013e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.16656419e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.545336194999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.69, Y:-0.13, Z:-0.01 [[ 9.99966528e-01 8.18185194e-03 0.00000000e+00 1.26869790e+01] [-8.18185194e-03 9.99966528e-01 0.00000000e+00 -1.30262259e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.45460361e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.605336195 meters Centerline goodness : 0.999376 with order 1 Centerline is valid? [True, True] Translation: X:12.75, Y:-0.13, Z:-0.02 [[ 9.99991580e-01 4.10356721e-03 0.00000000e+00 1.27456937e+01] [-4.10356721e-03 9.99991580e-01 0.00000000e+00 -1.29987037e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84972541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.665336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:12.80, Y:-0.12, Z:-0.01 [[ 9.99987822e-01 -4.93520108e-03 0.00000000e+00 1.28047498e+01] [ 4.93520108e-03 9.99987822e-01 0.00000000e+00 -1.15876159e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14942362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.725336194999999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:12.87, Y:-0.11, Z:-0.01 [[ 9.99877004e-01 -1.56836807e-02 0.00000000e+00 1.28672765e+01] [ 1.56836807e-02 9.99877004e-01 0.00000000e+00 -1.14513668e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.89300643e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.785336195 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:12.93, Y:-0.12, Z:-0.01 [[ 9.99819698e-01 -1.89887364e-02 0.00000000e+00 1.29285893e+01] [ 1.89887364e-02 9.99819698e-01 0.00000000e+00 -1.16881535e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20469847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.845336195 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:12.99, Y:-0.11, Z:-0.01 [[ 9.99848689e-01 -1.73953687e-02 0.00000000e+00 1.29912567e+01] [ 1.73953687e-02 9.99848689e-01 0.00000000e+00 -1.09306782e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24983952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.905336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:13.05, Y:-0.11, Z:-0.02 [[ 0.99977406 -0.02125634 0. 13.0523158 ] [ 0.02125634 0.99977406 0. -0.10926571] [ 0. 0. 1. -0.01738467] [ 0. 0. 0. 1. ]] SLAMing on 12.965336194999999 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:13.11, Y:-0.12, Z:-0.02 [[ 0.99954631 -0.03011937 0. 13.11390161] [ 0.03011937 0.99954631 0. -0.12322933] [ 0. 0. 1. -0.0169848 ] [ 0. 0. 0. 1. ]] SLAMing on 13.025336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:13.18, Y:-0.12, Z:-0.01 [[ 9.99424296e-01 -3.39275099e-02 0.00000000e+00 1.31759341e+01] [ 3.39275099e-02 9.99424296e-01 0.00000000e+00 -1.22720536e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.29746272e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.085336195 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:13.24, Y:-0.13, Z:-0.01 [[ 9.99704275e-01 -2.43179316e-02 0.00000000e+00 1.32375296e+01] [ 2.43179316e-02 9.99704275e-01 0.00000000e+00 -1.29548664e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14429773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.145336194999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.30, Y:-0.14, Z:-0.02 [[ 9.99978392e-01 -6.57384009e-03 0.00000000e+00 1.32991996e+01] [ 6.57384009e-03 9.99978392e-01 0.00000000e+00 -1.44066786e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60204409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.205336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:13.36, Y:-0.14, Z:-0.01 [[ 9.99987006e-01 5.09775888e-03 0.00000000e+00 1.33617577e+01] [-5.09775888e-03 9.99987006e-01 0.00000000e+00 -1.40446146e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.82821931e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.265336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:13.42, Y:-0.14, Z:-0.00 [[ 9.99926865e-01 1.20940145e-02 0.00000000e+00 1.34206468e+01] [-1.20940145e-02 9.99926865e-01 0.00000000e+00 -1.40762194e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.59476011e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.325336195 meters Centerline goodness : 0.999314 with order 1 Centerline is valid? [True, True] Translation: X:13.48, Y:-0.15, Z:-0.02 [[ 0.99990697 0.0136399 0. 13.47949941] [-0.0136399 0.99990697 0. -0.15371984] [ 0. 0. 1. -0.01536671] [ 0. 0. 0. 1. ]] SLAMing on 13.385336194999999 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:13.54, Y:-0.14, Z:-0.01 [[ 9.99932767e-01 1.15957935e-02 0.00000000e+00 1.35382021e+01] [-1.15957935e-02 9.99932767e-01 0.00000000e+00 -1.41650815e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.19202724e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.445336195 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:13.60, Y:-0.15, Z:-0.01 [[ 9.99976882e-01 6.79971135e-03 0.00000000e+00 1.35959272e+01] [-6.79971135e-03 9.99976882e-01 0.00000000e+00 -1.50023091e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41461388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.505336195 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:13.65, Y:-0.16, Z:-0.01 [[ 9.99997488e-01 -2.24163240e-03 0.00000000e+00 1.36545868e+01] [ 2.24163240e-03 9.99997488e-01 0.00000000e+00 -1.56482930e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.45121244e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.565336194999999 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:13.72, Y:-0.16, Z:-0.01 [[ 9.99981880e-01 -6.01998960e-03 0.00000000e+00 1.37157985e+01] [ 6.01998960e-03 9.99981880e-01 0.00000000e+00 -1.55532965e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.25061047e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.625336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:13.78, Y:-0.16, Z:-0.01 [[ 9.99996792e-01 -2.53297894e-03 0.00000000e+00 1.37778024e+01] [ 2.53297894e-03 9.99996792e-01 0.00000000e+00 -1.63704334e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36662536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.685336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:13.84, Y:-0.16, Z:-0.01 [[ 9.99992338e-01 3.91459050e-03 0.00000000e+00 1.38389619e+01] [-3.91459050e-03 9.99992338e-01 0.00000000e+00 -1.61925591e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02110485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.745336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:13.90, Y:-0.16, Z:-0.01 [[ 9.99964486e-01 8.42769713e-03 0.00000000e+00 1.38964528e+01] [-8.42769713e-03 9.99964486e-01 0.00000000e+00 -1.57657296e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02972128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.805336194999999 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:13.95, Y:-0.16, Z:-0.02 [[ 9.99985755e-01 5.33751101e-03 0.00000000e+00 1.39538122e+01] [-5.33751101e-03 9.99985755e-01 0.00000000e+00 -1.59652748e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76169383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.865336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:14.01, Y:-0.15, Z:-0.01 [[ 9.99994946e-01 3.17945255e-03 0.00000000e+00 1.40126042e+01] [-3.17945255e-03 9.99994946e-01 0.00000000e+00 -1.52136931e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31079846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.925336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:14.07, Y:-0.15, Z:-0.01 [[ 9.99996045e-01 2.81244043e-03 0.00000000e+00 1.40712041e+01] [-2.81244043e-03 9.99996045e-01 0.00000000e+00 -1.54568175e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33554990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.985336194999999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:14.13, Y:-0.14, Z:-0.00 [[ 9.99999061e-01 -1.37013375e-03 0.00000000e+00 1.41302190e+01] [ 1.37013375e-03 9.99999061e-01 0.00000000e+00 -1.44937409e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.09359341e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.045336194999999 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:14.19, Y:-0.14, Z:-0.01 [[ 9.99995409e-01 -3.03005607e-03 0.00000000e+00 1.41913320e+01] [ 3.03005607e-03 9.99995409e-01 0.00000000e+00 -1.39845956e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31818442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.105336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:14.25, Y:-0.14, Z:-0.02 [[ 9.99974459e-01 -7.14707849e-03 0.00000000e+00 1.42530796e+01] [ 7.14707849e-03 9.99974459e-01 0.00000000e+00 -1.38754075e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19044887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.165336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:14.32, Y:-0.13, Z:-0.02 [[ 0.99988801 -0.01496549 0. 14.31514911] [ 0.01496549 0.99988801 0. -0.13291082] [ 0. 0. 1. -0.01708201] [ 0. 0. 0. 1. ]] SLAMing on 14.225336194999999 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:14.38, Y:-0.14, Z:-0.02 [[ 0.99976516 -0.02167093 0. 14.37641392] [ 0.02167093 0.99976516 0. -0.13532524] [ 0. 0. 1. -0.01523122] [ 0. 0. 0. 1. ]] SLAMing on 14.285336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:14.44, Y:-0.13, Z:-0.01 [[ 9.99707218e-01 -2.41966400e-02 0.00000000e+00 1.44397845e+01] [ 2.41966400e-02 9.99707218e-01 0.00000000e+00 -1.34755145e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27223840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.345336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:14.50, Y:-0.13, Z:-0.02 [[ 0.99977348 -0.02128357 0. 14.50180188] [ 0.02128357 0.99977348 0. -0.1336792 ] [ 0. 0. 1. -0.01574259] [ 0. 0. 0. 1. ]] SLAMing on 14.405336194999999 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:14.56, Y:-0.14, Z:-0.02 [[ 0.99986673 -0.01632544 0. 14.56400401] [ 0.01632544 0.99986673 0. -0.14093853] [ 0. 0. 1. -0.01680508] [ 0. 0. 0. 1. ]] SLAMing on 14.465336194999999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:14.63, Y:-0.13, Z:-0.01 [[ 9.99920679e-01 -1.25950591e-02 0.00000000e+00 1.46260763e+01] [ 1.25950591e-02 9.99920679e-01 0.00000000e+00 -1.32509494e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42829959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.525336195 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:14.69, Y:-0.13, Z:-0.03 [[ 9.99963108e-01 -8.58966470e-03 0.00000000e+00 1.46873311e+01] [ 8.58966470e-03 9.99963108e-01 0.00000000e+00 -1.34631259e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.03429702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.585336195 meters Centerline goodness : 0.999575 with order 1 Centerline is valid? [True, True] Translation: X:14.75, Y:-0.12, Z:-0.02 [[ 9.99972103e-01 -7.46954616e-03 0.00000000e+00 1.47493928e+01] [ 7.46954616e-03 9.99972103e-01 0.00000000e+00 -1.24369148e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97137881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.645336194999999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:14.81, Y:-0.12, Z:-0.01 [[ 9.99958810e-01 -9.07620515e-03 0.00000000e+00 1.48115268e+01] [ 9.07620515e-03 9.99958810e-01 0.00000000e+00 -1.22044051e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34116816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.705336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:14.87, Y:-0.13, Z:-0.01 [[ 9.99853638e-01 -1.71085736e-02 0.00000000e+00 1.48743732e+01] [ 1.71085736e-02 9.99853638e-01 0.00000000e+00 -1.27177733e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47021949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.765336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:14.94, Y:-0.13, Z:-0.02 [[ 0.99971174 -0.02400906 0. 14.93517768] [ 0.02400906 0.99971174 0. -0.13460279] [ 0. 0. 1. -0.02430596] [ 0. 0. 0. 1. ]] SLAMing on 14.825336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:15.00, Y:-0.14, Z:-0.02 [[ 0.99960599 -0.02806876 0. 14.99735875] [ 0.02806876 0.99960599 0. -0.14041426] [ 0. 0. 1. -0.02026783] [ 0. 0. 0. 1. ]] SLAMing on 14.885336194999999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:15.06, Y:-0.15, Z:-0.02 [[ 0.99965208 -0.02637642 0. 15.058282 ] [ 0.02637642 0.99965208 0. -0.14856437] [ 0. 0. 1. -0.01984986] [ 0. 0. 0. 1. ]] SLAMing on 14.945336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:15.12, Y:-0.15, Z:-0.01 [[ 9.99912968e-01 -1.31930785e-02 0.00000000e+00 1.51206546e+01] [ 1.31930785e-02 9.99912968e-01 0.00000000e+00 -1.54142848e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16211888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.005336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:15.18, Y:-0.15, Z:-0.02 [[ 9.99997172e-01 2.37838630e-03 0.00000000e+00 1.51817579e+01] [-2.37838630e-03 9.99997172e-01 0.00000000e+00 -1.50204494e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55648380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.065336194999999 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:15.24, Y:-0.14, Z:-0.01 [[ 9.99895863e-01 1.44313132e-02 0.00000000e+00 1.52405798e+01] [-1.44313132e-02 9.99895863e-01 0.00000000e+00 -1.38461232e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24101746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.125336195 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:15.30, Y:-0.13, Z:-0.02 [[ 0.99978881 0.02055087 0. 15.2987106 ] [-0.02055087 0.99978881 0. -0.13160106] [ 0. 0. 1. -0.02273197] [ 0. 0. 0. 1. ]] SLAMing on 15.185336195 meters Centerline goodness : 0.999596 with order 1 Centerline is valid? [True, True] Translation: X:15.36, Y:-0.12, Z:-0.03 [[ 0.99981305 0.01933566 0. 15.35742901] [-0.01933566 0.99981305 0. -0.120042 ] [ 0. 0. 1. -0.02776172] [ 0. 0. 0. 1. ]] SLAMing on 15.245336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:15.42, Y:-0.10, Z:-0.02 [[ 9.99971203e-01 7.58907960e-03 0.00000000e+00 1.54161468e+01] [-7.58907960e-03 9.99971203e-01 0.00000000e+00 -1.00072624e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30133970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.305336194999999 meters Centerline goodness : 0.999552 with order 1 Centerline is valid? [True, True] Translation: X:15.47, Y:-0.10, Z:-0.02 [[ 9.99999730e-01 -7.34832787e-04 0.00000000e+00 1.54746343e+01] [ 7.34832787e-04 9.99999730e-01 0.00000000e+00 -1.00350117e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.14073622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.365336195 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:15.54, Y:-0.09, Z:-0.02 [[ 9.99927166e-01 -1.20691181e-02 0.00000000e+00 1.55358753e+01] [ 1.20691181e-02 9.99927166e-01 0.00000000e+00 -9.40681975e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.77806388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.425336195 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:15.60, Y:-0.08, Z:-0.01 [[ 9.99822402e-01 -1.88458120e-02 0.00000000e+00 1.55988610e+01] [ 1.88458120e-02 9.99822402e-01 0.00000000e+00 -8.34083610e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.58071694e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.485336194999999 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:15.66, Y:-0.08, Z:-0.01 [[ 9.99887413e-01 -1.50054098e-02 0.00000000e+00 1.56604592e+01] [ 1.50054098e-02 9.99887413e-01 0.00000000e+00 -8.01536728e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48473224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.545336194999999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:15.72, Y:-0.07, Z:-0.01 [[ 9.99936622e-01 -1.12583792e-02 0.00000000e+00 1.57233568e+01] [ 1.12583792e-02 9.99936622e-01 0.00000000e+00 -7.37772092e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32425793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.605336195 meters Centerline goodness : 0.999487 with order 1 Centerline is valid? [True, True] Translation: X:15.79, Y:-0.07, Z:-0.01 [[ 9.99952021e-01 -9.79569158e-03 0.00000000e+00 1.57854605e+01] [ 9.79569158e-03 9.99952021e-01 0.00000000e+00 -6.56769553e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35641239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.665336195 meters Centerline goodness : 0.999617 with order 1 Centerline is valid? [True, True] Translation: X:15.85, Y:-0.07, Z:-0.02 [[ 9.99920344e-01 -1.26216445e-02 0.00000000e+00 1.58470379e+01] [ 1.26216445e-02 9.99920344e-01 0.00000000e+00 -6.68352701e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30205438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.725336194999999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:15.91, Y:-0.07, Z:-0.02 [[ 0.99986556 -0.01639679 0. 15.90979152] [ 0.01639679 0.99986556 0. -0.06696202] [ 0. 0. 1. -0.02469172] [ 0. 0. 0. 1. ]] SLAMing on 15.785336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:15.97, Y:-0.07, Z:-0.02 [[ 0.9998335 -0.01824777 0. 15.97123889] [ 0.01824777 0.9998335 0. -0.067889 ] [ 0. 0. 1. -0.02070221] [ 0. 0. 0. 1. ]] SLAMing on 15.845336195 meters Centerline goodness : 0.999528 with order 1 Centerline is valid? [True, True] Translation: X:16.03, Y:-0.07, Z:-0.02 [[ 9.99875254e-01 -1.57948528e-02 0.00000000e+00 1.60333663e+01] [ 1.57948528e-02 9.99875254e-01 0.00000000e+00 -6.87735128e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85111693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.905336194999999 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:16.09, Y:-0.07, Z:-0.02 [[ 9.99938806e-01 -1.10627462e-02 0.00000000e+00 1.60948055e+01] [ 1.10627462e-02 9.99938806e-01 0.00000000e+00 -7.25429467e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91325876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.965336194999999 meters Centerline goodness : 0.999595 with order 1 Centerline is valid? [True, True] Translation: X:16.16, Y:-0.08, Z:-0.02 [[ 9.99961993e-01 -8.71847145e-03 0.00000000e+00 1.61572527e+01] [ 8.71847145e-03 9.99961993e-01 0.00000000e+00 -7.74484419e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.35145631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.025336195 meters Centerline goodness : 0.999295 with order 1 Centerline is valid? [True, True] Translation: X:16.22, Y:-0.08, Z:-0.02 [[ 9.99951732e-01 -9.82515705e-03 0.00000000e+00 1.62191496e+01] [ 9.82515705e-03 9.99951732e-01 0.00000000e+00 -7.92275353e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.20736374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.085336195 meters Centerline goodness : 0.999555 with order 1 Centerline is valid? [True, True] Translation: X:16.28, Y:-0.08, Z:-0.02 [[ 9.99919969e-01 -1.26513139e-02 0.00000000e+00 1.62813803e+01] [ 1.26513139e-02 9.99919969e-01 0.00000000e+00 -8.15683051e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.95822135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.145336195000002 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:16.34, Y:-0.09, Z:-0.02 [[ 9.99944913e-01 -1.04962639e-02 0.00000000e+00 1.63434843e+01] [ 1.04962639e-02 9.99944913e-01 0.00000000e+00 -9.11408853e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.48206417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.205336195 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:16.41, Y:-0.09, Z:-0.03 [[ 9.99971710e-01 -7.52192249e-03 0.00000000e+00 1.64059027e+01] [ 7.52192249e-03 9.99971710e-01 0.00000000e+00 -9.49350651e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.86552785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.265336195 meters Centerline goodness : 0.999381 with order 1 Centerline is valid? [True, True] Translation: X:16.47, Y:-0.09, Z:-0.02 [[ 9.99990455e-01 -4.36909013e-03 0.00000000e+00 1.64686392e+01] [ 4.36909013e-03 9.99990455e-01 0.00000000e+00 -9.03861334e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08019419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.325336195000002 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:16.53, Y:-0.09, Z:-0.02 [[ 9.99987256e-01 -5.04864280e-03 0.00000000e+00 1.65313489e+01] [ 5.04864280e-03 9.99987256e-01 0.00000000e+00 -8.81727065e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08584318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.385336195 meters Centerline goodness : 0.999615 with order 1 Centerline is valid? [True, True] Translation: X:16.59, Y:-0.10, Z:-0.02 [[ 9.99979876e-01 -6.34412166e-03 0.00000000e+00 1.65934920e+01] [ 6.34412166e-03 9.99979876e-01 0.00000000e+00 -9.52555225e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43611376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.445336195 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:16.66, Y:-0.09, Z:-0.02 [[ 9.99976374e-01 -6.87401282e-03 0.00000000e+00 1.66560460e+01] [ 6.87401282e-03 9.99976374e-01 0.00000000e+00 -9.31016934e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43107231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.505336195 meters Centerline goodness : 0.999636 with order 1 Centerline is valid? [True, True] Translation: X:16.72, Y:-0.09, Z:-0.03 [[ 9.99948619e-01 -1.01370138e-02 0.00000000e+00 1.67172403e+01] [ 1.01370138e-02 9.99948619e-01 0.00000000e+00 -9.35084620e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.50225444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.565336195 meters Centerline goodness : 0.999680 with order 1 Centerline is valid? [True, True] Translation: X:16.78, Y:-0.11, Z:-0.03 [[ 9.99911399e-01 -1.33114236e-02 0.00000000e+00 1.67785229e+01] [ 1.33114236e-02 9.99911399e-01 0.00000000e+00 -1.06564213e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.23919130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.625336195000003 meters Centerline goodness : 0.999316 with order 1 Centerline is valid? [True, True] Translation: X:16.84, Y:-0.11, Z:-0.02 [[ 0.99982383 -0.01876981 0. 16.84054165] [ 0.01876981 0.99982383 0. -0.10862993] [ 0. 0. 1. -0.02283472] [ 0. 0. 0. 1. ]] SLAMing on 16.685336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:16.90, Y:-0.12, Z:-0.02 [[ 0.99975797 -0.02200011 0. 16.90264582] [ 0.02200011 0.99975797 0. -0.11953101] [ 0. 0. 1. -0.02153367] [ 0. 0. 0. 1. ]] SLAMing on 16.745336195 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:16.96, Y:-0.13, Z:-0.02 [[ 9.99895984e-01 -1.44229328e-02 0.00000000e+00 1.69643205e+01] [ 1.44229328e-02 9.99895984e-01 0.00000000e+00 -1.28074018e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.46650534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.805336195000002 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:17.03, Y:-0.13, Z:-0.02 [[ 9.99998355e-01 1.81357485e-03 0.00000000e+00 1.70266183e+01] [-1.81357485e-03 9.99998355e-01 0.00000000e+00 -1.30226965e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47850082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.865336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:17.08, Y:-0.13, Z:-0.03 [[ 9.99864402e-01 1.64674719e-02 0.00000000e+00 1.70849961e+01] [-1.64674719e-02 9.99864402e-01 0.00000000e+00 -1.29571273e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.74300617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.925336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:17.14, Y:-0.13, Z:-0.03 [[ 0.99979036 0.02047548 0. 17.14336035] [-0.02047548 0.99979036 0. -0.13018059] [ 0. 0. 1. -0.02944349] [ 0. 0. 0. 1. ]] SLAMing on 16.985336195000002 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:17.20, Y:-0.13, Z:-0.03 [[ 0.99983934 0.01792495 0. 17.20166701] [-0.01792495 0.99983934 0. -0.13170444] [ 0. 0. 1. -0.02741906] [ 0. 0. 0. 1. ]] SLAMing on 17.045336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:17.26, Y:-0.13, Z:-0.03 [[ 9.99923422e-01 1.23753485e-02 0.00000000e+00 1.72599221e+01] [-1.23753485e-02 9.99923422e-01 0.00000000e+00 -1.31816631e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.88009530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.105336195 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:17.32, Y:-0.13, Z:-0.03 [[ 9.99998052e-01 1.97377420e-03 0.00000000e+00 1.73190668e+01] [-1.97377420e-03 9.99998052e-01 0.00000000e+00 -1.29378079e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.56548151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.165336195000002 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:17.38, Y:-0.15, Z:-0.03 [[ 0.99982408 -0.01875681 0. 17.37814341] [ 0.01875681 0.99982408 0. -0.14707557] [ 0. 0. 1. -0.03376937] [ 0. 0. 0. 1. ]] SLAMing on 17.225336195 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:17.44, Y:-0.16, Z:-0.03 [[ 0.99966708 -0.02580189 0. 17.43974522] [ 0.02580189 0.99966708 0. -0.15672246] [ 0. 0. 1. -0.02709165] [ 0. 0. 0. 1. ]] SLAMing on 17.285336195000003 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:17.50, Y:-0.17, Z:-0.03 [[ 0.99972588 -0.02341275 0. 17.50120848] [ 0.02341275 0.99972588 0. -0.17048142] [ 0. 0. 1. -0.02754343] [ 0. 0. 0. 1. ]] SLAMing on 17.345336195 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:17.56, Y:-0.19, Z:-0.03 [[ 9.99922861e-01 -1.24206503e-02 0.00000000e+00 1.75621367e+01] [ 1.24206503e-02 9.99922861e-01 0.00000000e+00 -1.88636109e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.07005802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.405336195 meters Centerline goodness : 0.999574 with order 1 Centerline is valid? [True, True] Translation: X:17.62, Y:-0.20, Z:-0.03 [[ 9.99998928e-01 1.46445014e-03 0.00000000e+00 1.76241413e+01] [-1.46445014e-03 9.99998928e-01 0.00000000e+00 -1.97843409e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.13453273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.465336195000003 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:17.68, Y:-0.21, Z:-0.03 [[ 9.99909425e-01 1.34589009e-02 0.00000000e+00 1.76839186e+01] [-1.34589009e-02 9.99909425e-01 0.00000000e+00 -2.08802711e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.07595900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.525336195 meters Centerline goodness : 0.999639 with order 1 Centerline is valid? [True, True] Translation: X:17.74, Y:-0.21, Z:-0.03 [[ 0.99980674 0.01965899 0. 17.74207788] [-0.01965899 0.99980674 0. -0.21085909] [ 0. 0. 1. -0.02519632] [ 0. 0. 0. 1. ]] SLAMing on 17.585336195 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:17.80, Y:-0.22, Z:-0.03 [[ 0.99979101 0.0204435 0. 17.80053979] [-0.0204435 0.99979101 0. -0.22034533] [ 0. 0. 1. -0.03327742] [ 0. 0. 0. 1. ]] SLAMing on 17.645336195000002 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:17.86, Y:-0.22, Z:-0.03 [[ 9.99858413e-01 1.68272040e-02 0.00000000e+00 1.78590641e+01] [-1.68272040e-02 9.99858413e-01 0.00000000e+00 -2.21436392e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.99933100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.705336195 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:17.92, Y:-0.22, Z:-0.03 [[ 9.99955751e-01 9.40726177e-03 0.00000000e+00 1.79176383e+01] [-9.40726177e-03 9.99955751e-01 0.00000000e+00 -2.18093636e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.83237347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.765336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:17.98, Y:-0.23, Z:-0.04 [[ 9.99989771e-01 4.52297906e-03 0.00000000e+00 1.79764357e+01] [-4.52297906e-03 9.99989771e-01 0.00000000e+00 -2.27978301e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.67037228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.825336195000002 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:18.03, Y:-0.23, Z:-0.03 [[ 9.99987681e-01 4.96369839e-03 0.00000000e+00 1.80341946e+01] [-4.96369839e-03 9.99987681e-01 0.00000000e+00 -2.27237037e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.23441412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.885336195 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:18.09, Y:-0.22, Z:-0.03 [[ 9.99923424e-01 1.23752188e-02 0.00000000e+00 1.80920004e+01] [-1.23752188e-02 9.99923424e-01 0.00000000e+00 -2.18067660e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.40964081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.945336195 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:18.15, Y:-0.22, Z:-0.04 [[ 9.99856175e-01 1.69596433e-02 0.00000000e+00 1.81512328e+01] [-1.69596433e-02 9.99856175e-01 0.00000000e+00 -2.17871029e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.86433192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.005336195 meters Centerline goodness : 0.999572 with order 1 Centerline is valid? [True, True] Translation: X:18.21, Y:-0.21, Z:-0.04 [[ 0.99983218 0.01831977 0. 18.20879338] [-0.01831977 0.99983218 0. -0.2096472 ] [ 0. 0. 1. -0.03892345] [ 0. 0. 0. 1. ]] SLAMing on 18.065336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:18.27, Y:-0.21, Z:-0.04 [[ 9.99850240e-01 1.73059931e-02 0.00000000e+00 1.82680347e+01] [-1.73059931e-02 9.99850240e-01 0.00000000e+00 -2.07730133e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.56143696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.125336195000003 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:18.33, Y:-0.20, Z:-0.03 [[ 9.99996584e-01 2.61393418e-03 0.00000000e+00 1.83272110e+01] [-2.61393418e-03 9.99996584e-01 0.00000000e+00 -1.97909163e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.20228532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.185336195 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:18.39, Y:-0.20, Z:-0.03 [[ 9.99946476e-01 -1.03462760e-02 0.00000000e+00 1.83864892e+01] [ 1.03462760e-02 9.99946476e-01 0.00000000e+00 -1.98954838e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.47591817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.245336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:18.45, Y:-0.20, Z:-0.04 [[ 0.99982445 -0.01873658 0. 18.44912196] [ 0.01873658 0.99982445 0. -0.20070269] [ 0. 0. 1. -0.03915805] [ 0. 0. 0. 1. ]] SLAMing on 18.305336195000002 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:18.51, Y:-0.20, Z:-0.04 [[ 0.99980874 -0.01955732 0. 18.51173499] [ 0.01955732 0.99980874 0. -0.198419 ] [ 0. 0. 1. -0.04007366] [ 0. 0. 0. 1. ]] SLAMing on 18.365336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:18.57, Y:-0.21, Z:-0.03 [[ 0.99978542 -0.02071499 0. 18.57382602] [ 0.02071499 0.99978542 0. -0.20791353] [ 0. 0. 1. -0.03488538] [ 0. 0. 0. 1. ]] SLAMing on 18.425336195 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:18.64, Y:-0.21, Z:-0.03 [[ 0.99978346 -0.02080962 0. 18.63570514] [ 0.02080962 0.99978346 0. -0.20616982] [ 0. 0. 1. -0.03294626] [ 0. 0. 0. 1. ]] SLAMing on 18.485336195000002 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:18.70, Y:-0.22, Z:-0.05 [[ 9.99897647e-01 -1.43072087e-02 0.00000000e+00 1.86981754e+01] [ 1.43072087e-02 9.99897647e-01 0.00000000e+00 -2.23905382e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.78352321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.545336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:18.76, Y:-0.23, Z:-0.05 [[ 9.99948061e-01 -1.01919707e-02 0.00000000e+00 1.87602320e+01] [ 1.01919707e-02 9.99948061e-01 0.00000000e+00 -2.34904208e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.58975300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.605336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:18.82, Y:-0.25, Z:-0.04 [[ 9.99957101e-01 -9.26264283e-03 0.00000000e+00 1.88221293e+01] [ 9.26264283e-03 9.99957101e-01 0.00000000e+00 -2.47718122e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.02070454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.665336195000002 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:18.88, Y:-0.27, Z:-0.05 [[ 9.99966069e-01 -8.23777582e-03 0.00000000e+00 1.88828946e+01] [ 8.23777582e-03 9.99966069e-01 0.00000000e+00 -2.67284718e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.88302492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.725336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:18.94, Y:-0.28, Z:-0.05 [[ 9.99996305e-01 2.71840966e-03 0.00000000e+00 1.89447300e+01] [-2.71840966e-03 9.99996305e-01 0.00000000e+00 -2.78662099e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.93245188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.785336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:19.00, Y:-0.28, Z:-0.05 [[ 0.99979391 0.02030124 0. 19.00329588] [-0.02030124 0.99979391 0. -0.28095421] [ 0. 0. 1. -0.04671899] [ 0. 0. 0. 1. ]] SLAMing on 18.845336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:19.06, Y:-0.27, Z:-0.05 [[ 0.99944495 0.03331358 0. 19.06260196] [-0.03331358 0.99944495 0. -0.27324631] [ 0. 0. 1. -0.0455751 ] [ 0. 0. 0. 1. ]] SLAMing on 18.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.12, Y:-0.28, Z:-0.05 [[ 0.99939461 0.03479093 0. 19.12021269] [-0.03479093 0.99939461 0. -0.27634735] [ 0. 0. 1. -0.04761247] [ 0. 0. 0. 1. ]] SLAMing on 18.965336195000003 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:19.18, Y:-0.27, Z:-0.05 [[ 0.99969224 0.02480795 0. 19.17936386] [-0.02480795 0.99969224 0. -0.27121193] [ 0. 0. 1. -0.04505557] [ 0. 0. 0. 1. ]] SLAMing on 19.025336195 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:19.24, Y:-0.27, Z:-0.05 [[ 9.99922414e-01 1.24565958e-02 0.00000000e+00 1.92374512e+01] [-1.24565958e-02 9.99922414e-01 0.00000000e+00 -2.67926772e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.02562250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.085336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:19.30, Y:-0.27, Z:-0.06 [[ 9.99999998e-01 -6.50653299e-05 0.00000000e+00 1.92952026e+01] [ 6.50653299e-05 9.99999998e-01 0.00000000e+00 -2.65405927e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.51019430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.145336195000002 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:19.36, Y:-0.27, Z:-0.05 [[ 9.99971085e-01 -7.60450803e-03 0.00000000e+00 1.93560911e+01] [ 7.60450803e-03 9.99971085e-01 0.00000000e+00 -2.67690615e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.40443318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.205336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:19.42, Y:-0.26, Z:-0.04 [[ 9.99888537e-01 -1.49303038e-02 0.00000000e+00 1.94177387e+01] [ 1.49303038e-02 9.99888537e-01 0.00000000e+00 -2.60219957e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.40914999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.265336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:19.48, Y:-0.27, Z:-0.04 [[ 9.99921902e-01 -1.24975873e-02 0.00000000e+00 1.94802427e+01] [ 1.24975873e-02 9.99921902e-01 0.00000000e+00 -2.67549256e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.38873444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.325336195000002 meters Centerline goodness : 0.999614 with order 1 Centerline is valid? [True, True] Translation: X:19.54, Y:-0.27, Z:-0.05 [[ 9.99999225e-01 -1.24501712e-03 0.00000000e+00 1.95410234e+01] [ 1.24501712e-03 9.99999225e-01 0.00000000e+00 -2.71624134e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.55129200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.385336195 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:19.60, Y:-0.26, Z:-0.04 [[ 9.99941988e-01 1.07713290e-02 0.00000000e+00 1.96017608e+01] [-1.07713290e-02 9.99941988e-01 0.00000000e+00 -2.58298218e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.04491352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.445336195 meters Centerline goodness : 0.999593 with order 1 Centerline is valid? [True, True] Translation: X:19.66, Y:-0.27, Z:-0.05 [[ 9.99891858e-01 1.47061849e-02 0.00000000e+00 1.96597475e+01] [-1.47061849e-02 9.99891858e-01 0.00000000e+00 -2.67281518e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.03787545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.505336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:19.72, Y:-0.27, Z:-0.06 [[ 9.99904910e-01 1.37902172e-02 0.00000000e+00 1.97179291e+01] [-1.37902172e-02 9.99904910e-01 0.00000000e+00 -2.65382042e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.94068323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.565336195 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:19.78, Y:-0.26, Z:-0.06 [[ 9.99883722e-01 1.52493150e-02 0.00000000e+00 1.97768809e+01] [-1.52493150e-02 9.99883722e-01 0.00000000e+00 -2.62427703e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.65110863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.625336195000003 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:19.84, Y:-0.26, Z:-0.05 [[ 9.99858535e-01 1.68199322e-02 0.00000000e+00 1.98351906e+01] [-1.68199322e-02 9.99858535e-01 0.00000000e+00 -2.62112646e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.34039368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.685336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:19.89, Y:-0.25, Z:-0.05 [[ 0.99979485 0.02025481 0. 19.89449366] [-0.02025481 0.99979485 0. -0.25331546] [ 0. 0. 1. -0.05298756] [ 0. 0. 0. 1. ]] SLAMing on 19.745336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:19.95, Y:-0.25, Z:-0.06 [[ 0.99978988 0.02049884 0. 19.95226911] [-0.02049884 0.99978988 0. -0.24915192] [ 0. 0. 1. -0.05947689] [ 0. 0. 0. 1. ]] SLAMing on 19.805336195000002 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:20.01, Y:-0.24, Z:-0.07 [[ 9.99895728e-01 1.44407057e-02 0.00000000e+00 2.00126395e+01] [-1.44407057e-02 9.99895728e-01 0.00000000e+00 -2.43420423e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.69205386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.07, Y:-0.24, Z:-0.07 [[ 9.99987732e-01 4.95337409e-03 0.00000000e+00 2.00701683e+01] [-4.95337409e-03 9.99987732e-01 0.00000000e+00 -2.37068167e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.66662798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.13, Y:-0.24, Z:-0.07 [[ 9.99956611e-01 -9.31536209e-03 0.00000000e+00 2.01290650e+01] [ 9.31536209e-03 9.99956611e-01 0.00000000e+00 -2.41459676e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.92151599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.985336195000002 meters Centerline goodness : 0.999592 with order 1 Centerline is valid? [True, True] Translation: X:20.19, Y:-0.24, Z:-0.06 [[ 9.99806434e-01 -1.96747199e-02 0.00000000e+00 2.01919398e+01] [ 1.96747199e-02 9.99806434e-01 0.00000000e+00 -2.36384513e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.93024179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.045336195 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:20.25, Y:-0.24, Z:-0.06 [[ 0.99977619 -0.02115568 0. 20.2537602 ] [ 0.02115568 0.99977619 0. -0.23837045] [ 0. 0. 1. -0.06129958] [ 0. 0. 0. 1. ]] SLAMing on 20.105336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:20.31, Y:-0.25, Z:-0.07 [[ 0.99975195 -0.02227194 0. 20.31445051] [ 0.02227194 0.99975195 0. -0.24992188] [ 0. 0. 1. -0.0697833 ] [ 0. 0. 0. 1. ]] SLAMing on 20.165336195000002 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:20.38, Y:-0.25, Z:-0.06 [[ 9.99873801e-01 -1.58865395e-02 0.00000000e+00 2.03762716e+01] [ 1.58865395e-02 9.99873801e-01 0.00000000e+00 -2.51576933e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.10270469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.225336195 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:20.44, Y:-0.25, Z:-0.05 [[ 9.99970699e-01 -7.65519100e-03 0.00000000e+00 2.04384818e+01] [ 7.65519100e-03 9.99970699e-01 0.00000000e+00 -2.51954072e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.42660140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.285336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:20.50, Y:-0.26, Z:-0.06 [[ 9.99999997e-01 7.30266040e-05 0.00000000e+00 2.04996654e+01] [-7.30266040e-05 9.99999997e-01 0.00000000e+00 -2.59761598e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.49203612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.345336195 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:20.56, Y:-0.26, Z:-0.07 [[ 9.99913092e-01 1.31836567e-02 0.00000000e+00 2.05593893e+01] [-1.31836567e-02 9.99913092e-01 0.00000000e+00 -2.55780679e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.90513843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.405336195 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:20.62, Y:-0.25, Z:-0.07 [[ 0.99976944 0.02147259 0. 20.61844145] [-0.02147259 0.99976944 0. -0.25313384] [ 0. 0. 1. -0.07241322] [ 0. 0. 0. 1. ]] SLAMing on 20.465336195000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.68, Y:-0.25, Z:-0.07 [[ 0.99974525 0.02257064 0. 20.67547723] [-0.02257064 0.99974525 0. -0.24746332] [ 0. 0. 1. -0.07369756] [ 0. 0. 0. 1. ]] SLAMing on 20.525336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:20.73, Y:-0.25, Z:-0.07 [[ 9.99800123e-01 1.99928620e-02 0.00000000e+00 2.07343707e+01] [-1.99928620e-02 9.99800123e-01 0.00000000e+00 -2.49821469e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.26425858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.585336195 meters Centerline goodness : 0.999614 with order 1 Centerline is valid? [True, True] Translation: X:20.79, Y:-0.24, Z:-0.07 [[ 9.99918521e-01 1.27652441e-02 0.00000000e+00 2.07932167e+01] [-1.27652441e-02 9.99918521e-01 0.00000000e+00 -2.44578274e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.39839195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.645336195000002 meters Centerline goodness : 0.999573 with order 1 Centerline is valid? [True, True] Translation: X:20.85, Y:-0.25, Z:-0.08 [[ 9.99989592e-01 4.56247809e-03 0.00000000e+00 2.08522410e+01] [-4.56247809e-03 9.99989592e-01 0.00000000e+00 -2.45738725e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.50736690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.705336195 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:20.91, Y:-0.25, Z:-0.07 [[ 9.99997968e-01 -2.01569239e-03 0.00000000e+00 2.09113975e+01] [ 2.01569239e-03 9.99997968e-01 0.00000000e+00 -2.48362198e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.04945606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.765336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:20.97, Y:-0.25, Z:-0.07 [[ 9.99990170e-01 -4.43398350e-03 0.00000000e+00 2.09730760e+01] [ 4.43398350e-03 9.99990170e-01 0.00000000e+00 -2.53552859e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.35074736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.825336195000002 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:21.03, Y:-0.26, Z:-0.07 [[ 9.99997084e-01 2.41476090e-03 0.00000000e+00 2.10343120e+01] [-2.41476090e-03 9.99997084e-01 0.00000000e+00 -2.64301943e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.42552973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.885336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:21.09, Y:-0.26, Z:-0.08 [[ 9.99953633e-01 9.62974328e-03 0.00000000e+00 2.10945392e+01] [-9.62974328e-03 9.99953633e-01 0.00000000e+00 -2.63256038e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.60627041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.945336195 meters Centerline goodness : 0.999574 with order 1 Centerline is valid? [True, True] Translation: X:21.15, Y:-0.26, Z:-0.07 [[ 9.99925823e-01 1.21798119e-02 0.00000000e+00 2.11542856e+01] [-1.21798119e-02 9.99925823e-01 0.00000000e+00 -2.60829893e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.67073088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.005336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:21.21, Y:-0.28, Z:-0.07 [[ 9.99909945e-01 1.34202029e-02 0.00000000e+00 2.12131243e+01] [-1.34202029e-02 9.99909945e-01 0.00000000e+00 -2.77111496e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.13728705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.065336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:21.27, Y:-0.27, Z:-0.07 [[ 9.99876762e-01 1.56990484e-02 0.00000000e+00 2.12709051e+01] [-1.56990484e-02 9.99876762e-01 0.00000000e+00 -2.74376227e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.00447612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.125336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:21.33, Y:-0.28, Z:-0.07 [[ 9.99822389e-01 1.88464731e-02 0.00000000e+00 2.13281833e+01] [-1.88464731e-02 9.99822389e-01 0.00000000e+00 -2.79119913e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.36525997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.185336195 meters Centerline goodness : 0.999616 with order 1 Centerline is valid? [True, True] Translation: X:21.39, Y:-0.29, Z:-0.08 [[ 9.99846914e-01 1.74971051e-02 0.00000000e+00 2.13858340e+01] [-1.74971051e-02 9.99846914e-01 0.00000000e+00 -2.87816516e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.20667677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.44, Y:-0.29, Z:-0.08 [[ 9.99842936e-01 1.77229848e-02 0.00000000e+00 2.14445576e+01] [-1.77229848e-02 9.99842936e-01 0.00000000e+00 -2.88848085e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.61103703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.305336195000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.50, Y:-0.29, Z:-0.07 [[ 9.99841506e-01 1.78034376e-02 0.00000000e+00 2.15030935e+01] [-1.78034376e-02 9.99841506e-01 0.00000000e+00 -2.91769134e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.37450495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.365336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:21.56, Y:-0.29, Z:-0.07 [[ 9.99804381e-01 1.97787519e-02 0.00000000e+00 2.15617484e+01] [-1.97787519e-02 9.99804381e-01 0.00000000e+00 -2.85704229e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.43621429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.425336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:21.62, Y:-0.29, Z:-0.08 [[ 9.99833892e-01 1.82260508e-02 0.00000000e+00 2.16207975e+01] [-1.82260508e-02 9.99833892e-01 0.00000000e+00 -2.86869654e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.59578372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.485336195000002 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:21.68, Y:-0.28, Z:-0.08 [[ 9.99922230e-01 1.24713080e-02 0.00000000e+00 2.16782827e+01] [-1.24713080e-02 9.99922230e-01 0.00000000e+00 -2.81177722e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.72091963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.545336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:21.74, Y:-0.28, Z:-0.07 [[ 9.99950444e-01 9.95540683e-03 0.00000000e+00 2.17374713e+01] [-9.95540683e-03 9.99950444e-01 0.00000000e+00 -2.81973626e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.36122785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.605336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:21.80, Y:-0.28, Z:-0.07 [[ 9.99938632e-01 1.10784373e-02 0.00000000e+00 2.17952419e+01] [-1.10784373e-02 9.99938632e-01 0.00000000e+00 -2.77799211e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.32957356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.665336195000002 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:21.85, Y:-0.26, Z:-0.07 [[ 9.99882817e-01 1.53085783e-02 0.00000000e+00 2.18544467e+01] [-1.53085783e-02 9.99882817e-01 0.00000000e+00 -2.62503701e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.94456113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.725336195 meters Centerline goodness : 0.999426 with order 1 Centerline is valid? [True, True] Translation: X:21.91, Y:-0.26, Z:-0.08 [[ 9.99894198e-01 1.45462317e-02 0.00000000e+00 2.19122800e+01] [-1.45462317e-02 9.99894198e-01 0.00000000e+00 -2.62937743e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.18841595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.785336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:21.97, Y:-0.25, Z:-0.07 [[ 9.99972537e-01 7.41115115e-03 0.00000000e+00 2.19712126e+01] [-7.41115115e-03 9.99972537e-01 0.00000000e+00 -2.49331085e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.70029684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.845336195 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:22.03, Y:-0.25, Z:-0.07 [[ 9.99998238e-01 -1.87722774e-03 0.00000000e+00 2.20289837e+01] [ 1.87722774e-03 9.99998238e-01 0.00000000e+00 -2.50808619e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.30714360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.905336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:22.09, Y:-0.26, Z:-0.08 [[ 9.99988553e-01 -4.78481727e-03 0.00000000e+00 2.20906697e+01] [ 4.78481727e-03 9.99988553e-01 0.00000000e+00 -2.57624090e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.72096093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.965336195000003 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:22.15, Y:-0.26, Z:-0.08 [[ 9.99943103e-01 -1.06672368e-02 0.00000000e+00 2.21511155e+01] [ 1.06672368e-02 9.99943103e-01 0.00000000e+00 -2.61546491e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.31981591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.025336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:22.21, Y:-0.26, Z:-0.08 [[ 9.99957374e-01 -9.23307006e-03 0.00000000e+00 2.22110860e+01] [ 9.23307006e-03 9.99957374e-01 0.00000000e+00 -2.55642652e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.31552800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.085336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:22.27, Y:-0.27, Z:-0.08 [[ 9.99991691e-01 -4.07661970e-03 0.00000000e+00 2.22722043e+01] [ 4.07661970e-03 9.99991691e-01 0.00000000e+00 -2.66379678e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.07822025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.145336195000002 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:22.33, Y:-0.27, Z:-0.07 [[ 9.99997145e-01 2.38971124e-03 0.00000000e+00 2.23329561e+01] [-2.38971124e-03 9.99997145e-01 0.00000000e+00 -2.73820924e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.28733762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.205336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:22.39, Y:-0.27, Z:-0.07 [[ 9.99957052e-01 9.26795507e-03 0.00000000e+00 2.23916920e+01] [-9.26795507e-03 9.99957052e-01 0.00000000e+00 -2.67161277e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.82390326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.265336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:22.45, Y:-0.27, Z:-0.08 [[ 9.99821265e-01 1.89060356e-02 0.00000000e+00 2.24499795e+01] [-1.89060356e-02 9.99821265e-01 0.00000000e+00 -2.72992666e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.51979161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.325336195000002 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:22.51, Y:-0.28, Z:-0.07 [[ 9.99755705e-01 2.21027124e-02 0.00000000e+00 2.25090162e+01] [-2.21027124e-02 9.99755705e-01 0.00000000e+00 -2.75474185e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.95587003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.385336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:22.57, Y:-0.27, Z:-0.07 [[ 9.99823637e-01 1.87801658e-02 0.00000000e+00 2.25672407e+01] [-1.87801658e-02 9.99823637e-01 0.00000000e+00 -2.67725171e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.68029557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.445336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:22.63, Y:-0.28, Z:-0.07 [[ 9.99914027e-01 1.31125464e-02 0.00000000e+00 2.26254482e+01] [-1.31125464e-02 9.99914027e-01 0.00000000e+00 -2.76023221e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.31216258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.505336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:22.68, Y:-0.28, Z:-0.07 [[ 9.99973650e-01 7.25945839e-03 0.00000000e+00 2.26833700e+01] [-7.25945839e-03 9.99973650e-01 0.00000000e+00 -2.79458149e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.23647167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.565336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:22.74, Y:-0.28, Z:-0.07 [[ 9.99997150e-01 2.38766461e-03 0.00000000e+00 2.27421856e+01] [-2.38766461e-03 9.99997150e-01 0.00000000e+00 -2.81768481e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.93506610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.625336195 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:22.80, Y:-0.28, Z:-0.07 [[ 9.99999811e-01 -6.15061203e-04 0.00000000e+00 2.28009397e+01] [ 6.15061203e-04 9.99999811e-01 0.00000000e+00 -2.84685492e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.33491674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.685336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:22.86, Y:-0.29, Z:-0.07 [[ 9.99999983e-01 -1.85214268e-04 0.00000000e+00 2.28608592e+01] [ 1.85214268e-04 9.99999983e-01 0.00000000e+00 -2.90234784e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.48196873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.745336195 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:22.92, Y:-0.29, Z:-0.07 [[ 9.99991577e-01 4.10434828e-03 0.00000000e+00 2.29212061e+01] [-4.10434828e-03 9.99991577e-01 0.00000000e+00 -2.91123489e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.01020675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.805336195000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.98, Y:-0.30, Z:-0.07 [[ 9.99945040e-01 1.04841300e-02 0.00000000e+00 2.29791330e+01] [-1.04841300e-02 9.99945040e-01 0.00000000e+00 -2.95931031e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.28986789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.865336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:23.04, Y:-0.29, Z:-0.07 [[ 9.99933750e-01 1.15106413e-02 0.00000000e+00 2.30385677e+01] [-1.15106413e-02 9.99933750e-01 0.00000000e+00 -2.93529117e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.38255697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.925336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:23.10, Y:-0.29, Z:-0.07 [[ 9.99926747e-01 1.21037758e-02 0.00000000e+00 2.30963055e+01] [-1.21037758e-02 9.99926747e-01 0.00000000e+00 -2.92619410e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.08178999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.985336195000002 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:23.15, Y:-0.30, Z:-0.08 [[ 9.99965504e-01 8.30607076e-03 0.00000000e+00 2.31539934e+01] [-8.30607076e-03 9.99965504e-01 0.00000000e+00 -3.02831021e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.68952555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.045336195 meters Centerline goodness : 0.999594 with order 1 Centerline is valid? [True, True] Translation: X:23.21, Y:-0.30, Z:-0.07 [[ 9.99988924e-01 4.70656751e-03 0.00000000e+00 2.32125329e+01] [-4.70656751e-03 9.99988924e-01 0.00000000e+00 -3.00623784e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.24438164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.105336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:23.27, Y:-0.31, Z:-0.08 [[ 9.99990684e-01 4.31653538e-03 0.00000000e+00 2.32711083e+01] [-4.31653538e-03 9.99990684e-01 0.00000000e+00 -3.06179254e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.52728292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.165336195000002 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:23.33, Y:-0.31, Z:-0.07 [[ 9.99995281e-01 3.07199812e-03 0.00000000e+00 2.33295100e+01] [-3.07199812e-03 9.99995281e-01 0.00000000e+00 -3.07565919e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.38260474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.225336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:23.39, Y:-0.31, Z:-0.07 [[ 9.99998069e-01 1.96514208e-03 0.00000000e+00 2.33887753e+01] [-1.96514208e-03 9.99998069e-01 0.00000000e+00 -3.07913779e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.76375472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.285336195 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:23.45, Y:-0.31, Z:-0.07 [[ 9.99988195e-01 4.85895157e-03 0.00000000e+00 2.34480191e+01] [-4.85895157e-03 9.99988195e-01 0.00000000e+00 -3.14952443e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.03086193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.345336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:23.51, Y:-0.31, Z:-0.06 [[ 9.99933237e-01 1.15551814e-02 0.00000000e+00 2.35076692e+01] [-1.15551814e-02 9.99933237e-01 0.00000000e+00 -3.14763853e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.31027778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.405336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:23.57, Y:-0.31, Z:-0.07 [[ 9.99871082e-01 1.60567828e-02 0.00000000e+00 2.35659619e+01] [-1.60567828e-02 9.99871082e-01 0.00000000e+00 -3.14332863e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.15012567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.465336195000003 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:23.62, Y:-0.32, Z:-0.07 [[ 9.99878274e-01 1.56024708e-02 0.00000000e+00 2.36248710e+01] [-1.56024708e-02 9.99878274e-01 0.00000000e+00 -3.22640404e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.48953915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.68, Y:-0.32, Z:-0.07 [[ 9.99972912e-01 7.36033908e-03 0.00000000e+00 2.36831631e+01] [-7.36033908e-03 9.99972912e-01 0.00000000e+00 -3.20093023e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.75957007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.585336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:23.74, Y:-0.33, Z:-0.07 [[ 9.99995903e-01 2.86241650e-03 0.00000000e+00 2.37407463e+01] [-2.86241650e-03 9.99995903e-01 0.00000000e+00 -3.30501701e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.01633343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.645336195000002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:23.80, Y:-0.33, Z:-0.07 [[ 9.99994226e-01 3.39826871e-03 0.00000000e+00 2.37991421e+01] [-3.39826871e-03 9.99994226e-01 0.00000000e+00 -3.34204168e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.88532621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.705336195 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:23.86, Y:-0.33, Z:-0.07 [[ 9.99971281e-01 7.57873264e-03 0.00000000e+00 2.38571402e+01] [-7.57873264e-03 9.99971281e-01 0.00000000e+00 -3.29079476e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.88894065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.765336195 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:23.92, Y:-0.34, Z:-0.08 [[ 9.99946419e-01 1.03517778e-02 0.00000000e+00 2.39153661e+01] [-1.03517778e-02 9.99946419e-01 0.00000000e+00 -3.36191885e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.69773043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.825336195000002 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:23.97, Y:-0.34, Z:-0.07 [[ 9.99948390e-01 1.01596062e-02 0.00000000e+00 2.39739945e+01] [-1.01596062e-02 9.99948390e-01 0.00000000e+00 -3.39563468e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.46266973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.885336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:24.03, Y:-0.33, Z:-0.07 [[ 9.99976802e-01 6.81148801e-03 0.00000000e+00 2.40316873e+01] [-6.81148801e-03 9.99976802e-01 0.00000000e+00 -3.34579686e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.48159724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.945336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:24.09, Y:-0.34, Z:-0.07 [[ 9.99983801e-01 5.69193184e-03 0.00000000e+00 2.40910259e+01] [-5.69193184e-03 9.99983801e-01 0.00000000e+00 -3.38901928e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.18743468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.005336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:24.15, Y:-0.34, Z:-0.07 [[ 9.99982177e-01 5.97033813e-03 0.00000000e+00 2.41499379e+01] [-5.97033813e-03 9.99982177e-01 0.00000000e+00 -3.44061751e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.79208740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.065336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:24.21, Y:-0.33, Z:-0.07 [[ 9.99994517e-01 3.31139038e-03 0.00000000e+00 2.42076439e+01] [-3.31139038e-03 9.99994517e-01 0.00000000e+00 -3.30559621e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.71797086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.125336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:24.27, Y:-0.34, Z:-0.08 [[ 9.99999863e-01 5.23994679e-04 0.00000000e+00 2.42676997e+01] [-5.23994679e-04 9.99999863e-01 0.00000000e+00 -3.40321951e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.78836718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.185336195 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:24.33, Y:-0.34, Z:-0.08 [[ 9.99999235e-01 1.23691165e-03 0.00000000e+00 2.43270841e+01] [-1.23691165e-03 9.99999235e-01 0.00000000e+00 -3.39128764e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.97290738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.245336195 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:24.39, Y:-0.33, Z:-0.07 [[ 9.99991227e-01 4.18876351e-03 0.00000000e+00 2.43873049e+01] [-4.18876351e-03 9.99991227e-01 0.00000000e+00 -3.31760194e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.72172650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.305336195000002 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:24.45, Y:-0.34, Z:-0.07 [[ 9.99987194e-01 5.06083486e-03 0.00000000e+00 2.44463892e+01] [-5.06083486e-03 9.99987194e-01 0.00000000e+00 -3.37642118e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.07457096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.365336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:24.51, Y:-0.33, Z:-0.07 [[ 9.99968786e-01 7.90104961e-03 0.00000000e+00 2.45057663e+01] [-7.90104961e-03 9.99968786e-01 0.00000000e+00 -3.28616256e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.83299204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.425336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:24.56, Y:-0.32, Z:-0.07 [[ 9.99974678e-01 7.11648496e-03 0.00000000e+00 2.45634704e+01] [-7.11648496e-03 9.99974678e-01 0.00000000e+00 -3.19276074e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.19889235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.485336195000002 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:24.62, Y:-0.32, Z:-0.07 [[ 9.99971694e-01 7.52402079e-03 0.00000000e+00 2.46221722e+01] [-7.52402079e-03 9.99971694e-01 0.00000000e+00 -3.18254116e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.39535955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.545336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:24.68, Y:-0.31, Z:-0.07 [[ 9.99964468e-01 8.42990423e-03 0.00000000e+00 2.46806788e+01] [-8.42990423e-03 9.99964468e-01 0.00000000e+00 -3.12341811e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.91337705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.605336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:24.74, Y:-0.30, Z:-0.07 [[ 9.99954339e-01 9.55617201e-03 0.00000000e+00 2.47385637e+01] [-9.55617201e-03 9.99954339e-01 0.00000000e+00 -3.04072109e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.63765617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.665336195000002 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:24.80, Y:-0.30, Z:-0.07 [[ 9.99971569e-01 7.54060834e-03 0.00000000e+00 2.47965225e+01] [-7.54060834e-03 9.99971569e-01 0.00000000e+00 -2.99620899e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.80148283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.725336195 meters Centerline goodness : 0.999590 with order 1 Centerline is valid? [True, True] Translation: X:24.85, Y:-0.30, Z:-0.07 [[ 9.99999997e-01 -8.04253222e-05 0.00000000e+00 2.48548211e+01] [ 8.04253222e-05 9.99999997e-01 0.00000000e+00 -2.99327410e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.35403354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.785336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:24.92, Y:-0.29, Z:-0.07 [[ 9.99947375e-01 -1.02590407e-02 0.00000000e+00 2.49154284e+01] [ 1.02590407e-02 9.99947375e-01 0.00000000e+00 -2.94122078e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.66704325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.845336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:24.98, Y:-0.30, Z:-0.07 [[ 9.99852816e-01 -1.71565044e-02 0.00000000e+00 2.49766533e+01] [ 1.71565044e-02 9.99852816e-01 0.00000000e+00 -3.04683401e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.76376304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.905336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:25.04, Y:-0.31, Z:-0.07 [[ 9.99868127e-01 -1.62397220e-02 0.00000000e+00 2.50386794e+01] [ 1.62397220e-02 9.99868127e-01 0.00000000e+00 -3.07693306e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.81735210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.965336195000003 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:25.10, Y:-0.30, Z:-0.06 [[ 9.99907019e-01 -1.36364624e-02 0.00000000e+00 2.51009854e+01] [ 1.36364624e-02 9.99907019e-01 0.00000000e+00 -3.02377440e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.35798083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.025336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:25.16, Y:-0.31, Z:-0.07 [[ 9.99968647e-01 -7.91862307e-03 0.00000000e+00 2.51615541e+01] [ 7.91862307e-03 9.99968647e-01 0.00000000e+00 -3.14826478e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.76491774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.085336195 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:25.22, Y:-0.31, Z:-0.07 [[ 9.99990158e-01 -4.43666826e-03 0.00000000e+00 2.52235820e+01] [ 4.43666826e-03 9.99990158e-01 0.00000000e+00 -3.11099550e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.59881561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.145336195000002 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:25.28, Y:-0.31, Z:-0.07 [[ 9.99999710e-01 -7.62098023e-04 0.00000000e+00 2.52844600e+01] [ 7.62098023e-04 9.99999710e-01 0.00000000e+00 -3.12858862e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.08116981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.205336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:25.34, Y:-0.32, Z:-0.07 [[ 9.99999951e-01 -3.11730111e-04 0.00000000e+00 2.53449131e+01] [ 3.11730111e-04 9.99999951e-01 0.00000000e+00 -3.23899616e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.40126504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.41, Y:-0.32, Z:-0.07 [[ 9.99999982e-01 -1.90557898e-04 0.00000000e+00 2.54053821e+01] [ 1.90557898e-04 9.99999982e-01 0.00000000e+00 -3.21967065e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.97859748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.325336195000002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:25.47, Y:-0.33, Z:-0.07 [[ 9.99995504e-01 -2.99854073e-03 0.00000000e+00 2.54650328e+01] [ 2.99854073e-03 9.99995504e-01 0.00000000e+00 -3.33877473e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.33192753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.385336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:25.53, Y:-0.35, Z:-0.07 [[ 9.99975763e-01 -6.96231710e-03 0.00000000e+00 2.55270917e+01] [ 6.96231710e-03 9.99975763e-01 0.00000000e+00 -3.45036544e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.01109757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.445336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:25.59, Y:-0.36, Z:-0.07 [[ 9.99966474e-01 -8.18849803e-03 0.00000000e+00 2.55878280e+01] [ 8.18849803e-03 9.99966474e-01 0.00000000e+00 -3.56497710e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.33800897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.505336195 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:25.65, Y:-0.36, Z:-0.07 [[ 9.99979553e-01 -6.39476910e-03 0.00000000e+00 2.56504546e+01] [ 6.39476910e-03 9.99979553e-01 0.00000000e+00 -3.63454641e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.42283818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.565336195 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:25.71, Y:-0.38, Z:-0.07 [[ 9.99997032e-01 -2.43634892e-03 0.00000000e+00 2.57128679e+01] [ 2.43634892e-03 9.99997032e-01 0.00000000e+00 -3.80969897e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.46942229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.625336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:25.77, Y:-0.38, Z:-0.07 [[ 1.00000000e+00 -2.00458526e-05 0.00000000e+00 2.57733296e+01] [ 2.00458526e-05 1.00000000e+00 0.00000000e+00 -3.83534846e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.00694810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.685336195 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:25.83, Y:-0.39, Z:-0.07 [[ 9.99987530e-01 4.99401279e-03 0.00000000e+00 2.58340173e+01] [-4.99401279e-03 9.99987530e-01 0.00000000e+00 -3.90951939e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.20146184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.745336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:25.89, Y:-0.39, Z:-0.07 [[ 9.99970253e-01 7.71315690e-03 0.00000000e+00 2.58923736e+01] [-7.71315690e-03 9.99970253e-01 0.00000000e+00 -3.94982985e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.27792980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.805336195000002 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:25.95, Y:-0.40, Z:-0.08 [[ 9.99823368e-01 1.87944869e-02 0.00000000e+00 2.59498927e+01] [-1.87944869e-02 9.99823368e-01 0.00000000e+00 -3.98271641e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.71196504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.865336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:26.01, Y:-0.39, Z:-0.07 [[ 0.99964708 0.02656522 0. 26.00838474] [-0.02656522 0.99964708 0. -0.3850438 ] [ 0. 0. 1. -0.06696691] [ 0. 0. 0. 1. ]] SLAMing on 25.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.07, Y:-0.38, Z:-0.08 [[ 0.99962452 0.02740115 0. 26.06645144] [-0.02740115 0.99962452 0. -0.38444934] [ 0. 0. 1. -0.07597732] [ 0. 0. 0. 1. ]] SLAMing on 25.985336195000002 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:26.13, Y:-0.39, Z:-0.08 [[ 0.99962416 0.02741413 0. 26.12529494] [-0.02741413 0.99962416 0. -0.38697106] [ 0. 0. 1. -0.0781217 ] [ 0. 0. 0. 1. ]] SLAMing on 26.045336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:26.18, Y:-0.37, Z:-0.07 [[ 0.99964937 0.02647918 0. 26.1840458 ] [-0.02647918 0.99964937 0. -0.3699855 ] [ 0. 0. 1. -0.0674842 ] [ 0. 0. 0. 1. ]] SLAMing on 26.105336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:26.24, Y:-0.37, Z:-0.07 [[ 9.99718015e-01 2.37463957e-02 0.00000000e+00 2.62415648e+01] [-2.37463957e-02 9.99718015e-01 0.00000000e+00 -3.68949367e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.20427431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.165336195000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.30, Y:-0.36, Z:-0.07 [[ 9.99918240e-01 1.27872691e-02 0.00000000e+00 2.62997717e+01] [-1.27872691e-02 9.99918240e-01 0.00000000e+00 -3.60379390e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.15088966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.225336195 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:26.36, Y:-0.36, Z:-0.07 [[ 9.99999224e-01 -1.24543735e-03 0.00000000e+00 2.63572592e+01] [ 1.24543735e-03 9.99999224e-01 0.00000000e+00 -3.62961375e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.18198297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.285336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:26.42, Y:-0.36, Z:-0.07 [[ 9.99976174e-01 -6.90302869e-03 0.00000000e+00 2.64188770e+01] [ 6.90302869e-03 9.99976174e-01 0.00000000e+00 -3.64481475e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.62388382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.345336195 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:26.48, Y:-0.36, Z:-0.07 [[ 9.99965321e-01 -8.32812308e-03 0.00000000e+00 2.64809172e+01] [ 8.32812308e-03 9.99965321e-01 0.00000000e+00 -3.63354404e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.68065118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.405336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:26.54, Y:-0.37, Z:-0.06 [[ 9.99961285e-01 -8.79934477e-03 0.00000000e+00 2.65414865e+01] [ 8.79934477e-03 9.99961285e-01 0.00000000e+00 -3.74392781e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.37802457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.465336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:26.60, Y:-0.37, Z:-0.06 [[ 9.99971480e-01 -7.55243583e-03 0.00000000e+00 2.66028752e+01] [ 7.55243583e-03 9.99971480e-01 0.00000000e+00 -3.72809462e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.18599159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.525336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:26.67, Y:-0.38, Z:-0.06 [[ 9.99998186e-01 -1.90459501e-03 0.00000000e+00 2.66651972e+01] [ 1.90459501e-03 9.99998186e-01 0.00000000e+00 -3.81534149e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.42509021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.585336195 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:26.73, Y:-0.39, Z:-0.07 [[ 9.99990157e-01 4.43683531e-03 0.00000000e+00 2.67255290e+01] [-4.43683531e-03 9.99990157e-01 0.00000000e+00 -3.90434780e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.99181515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.645336195000002 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:26.78, Y:-0.39, Z:-0.06 [[ 9.99932629e-01 1.16076589e-02 0.00000000e+00 2.67843301e+01] [-1.16076589e-02 9.99932629e-01 0.00000000e+00 -3.87185922e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.29996328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.84, Y:-0.40, Z:-0.06 [[ 9.99768962e-01 2.14947137e-02 0.00000000e+00 2.68432834e+01] [-2.14947137e-02 9.99768962e-01 0.00000000e+00 -4.01424271e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.28638200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.90, Y:-0.40, Z:-0.06 [[ 9.99664903e-01 2.58859246e-02 0.00000000e+00 2.69025823e+01] [-2.58859246e-02 9.99664903e-01 0.00000000e+00 -3.96413608e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.73525110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.825336195000002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:26.96, Y:-0.40, Z:-0.06 [[ 9.99769170e-01 2.14850299e-02 0.00000000e+00 2.69599567e+01] [-2.14850299e-02 9.99769170e-01 0.00000000e+00 -3.95458581e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.82205919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.02, Y:-0.41, Z:-0.06 [[ 9.99903108e-01 1.39203286e-02 0.00000000e+00 2.70171068e+01] [-1.39203286e-02 9.99903108e-01 0.00000000e+00 -4.09711833e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.22987807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.08, Y:-0.41, Z:-0.06 [[ 9.99972627e-01 7.39895347e-03 0.00000000e+00 2.70753315e+01] [-7.39895347e-03 9.99972627e-01 0.00000000e+00 -4.12302682e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.80120634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.005336195 meters Centerline goodness : 0.999696 with order 1 Centerline is valid? [True, True] Translation: X:27.13, Y:-0.41, Z:-0.05 [[ 9.99984993e-01 5.47848660e-03 0.00000000e+00 2.71340850e+01] [-5.47848660e-03 9.99984993e-01 0.00000000e+00 -4.07211059e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.88456182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.065336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:27.19, Y:-0.42, Z:-0.06 [[ 9.99980812e-01 6.19487494e-03 0.00000000e+00 2.71931986e+01] [-6.19487494e-03 9.99980812e-01 0.00000000e+00 -4.17597272e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.64696283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.125336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:27.25, Y:-0.42, Z:-0.05 [[ 9.99980090e-01 6.31021191e-03 0.00000000e+00 2.72507144e+01] [-6.31021191e-03 9.99980090e-01 0.00000000e+00 -4.18958412e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.44268277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.185336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:27.31, Y:-0.41, Z:-0.06 [[ 9.99980475e-01 6.24893551e-03 0.00000000e+00 2.73111305e+01] [-6.24893551e-03 9.99980475e-01 0.00000000e+00 -4.12829111e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.61498342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.245336195 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:27.37, Y:-0.42, Z:-0.06 [[ 9.99980887e-01 6.18270726e-03 0.00000000e+00 2.73697689e+01] [-6.18270726e-03 9.99980887e-01 0.00000000e+00 -4.18355701e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.19104567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.305336195000002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:27.43, Y:-0.42, Z:-0.06 [[ 9.99981867e-01 6.02206022e-03 0.00000000e+00 2.74282999e+01] [-6.02206022e-03 9.99981867e-01 0.00000000e+00 -4.15084232e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.27951351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.49, Y:-0.41, Z:-0.06 [[ 9.99993767e-01 3.53059845e-03 0.00000000e+00 2.74865079e+01] [-3.53059845e-03 9.99993767e-01 0.00000000e+00 -4.13154850e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.96157874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.425336195 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:27.55, Y:-0.41, Z:-0.05 [[ 9.99995388e-01 -3.03694696e-03 0.00000000e+00 2.75462833e+01] [ 3.03694696e-03 9.99995388e-01 0.00000000e+00 -4.11853622e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.13109547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.485336195000002 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:27.61, Y:-0.41, Z:-0.05 [[ 9.99996009e-01 -2.82519277e-03 0.00000000e+00 2.76084033e+01] [ 2.82519277e-03 9.99996009e-01 0.00000000e+00 -4.06908743e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.40475206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.545336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:27.67, Y:-0.41, Z:-0.06 [[ 9.99990759e-01 -4.29911561e-03 0.00000000e+00 2.76708108e+01] [ 4.29911561e-03 9.99990759e-01 0.00000000e+00 -4.10221437e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.69187661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.73, Y:-0.41, Z:-0.05 [[ 9.99986980e-01 -5.10286519e-03 0.00000000e+00 2.77334919e+01] [ 5.10286519e-03 9.99986980e-01 0.00000000e+00 -4.06013301e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.09821984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.665336195000002 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:27.79, Y:-0.41, Z:-0.06 [[ 9.99986632e-01 -5.17067488e-03 0.00000000e+00 2.77943850e+01] [ 5.17067488e-03 9.99986632e-01 0.00000000e+00 -4.09869119e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.81883541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.725336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:27.86, Y:-0.41, Z:-0.05 [[ 9.99994658e-01 -3.26851040e-03 0.00000000e+00 2.78552738e+01] [ 3.26851040e-03 9.99994658e-01 0.00000000e+00 -4.09623897e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.43196882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.785336195 meters Centerline goodness : 0.999503 with order 1 Centerline is valid? [True, True] Translation: X:27.92, Y:-0.41, Z:-0.06 [[ 9.99995799e-01 2.89856839e-03 0.00000000e+00 2.79158045e+01] [-2.89856839e-03 9.99995799e-01 0.00000000e+00 -4.14119192e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.74228139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.845336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:27.97, Y:-0.42, Z:-0.05 [[ 9.99938949e-01 1.10498104e-02 0.00000000e+00 2.79748118e+01] [-1.10498104e-02 9.99938949e-01 0.00000000e+00 -4.18402559e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.21673118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.905336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:28.03, Y:-0.41, Z:-0.05 [[ 9.99835424e-01 1.81417746e-02 0.00000000e+00 2.80326394e+01] [-1.81417746e-02 9.99835424e-01 0.00000000e+00 -4.09892857e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.15992302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.965336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:28.09, Y:-0.41, Z:-0.06 [[ 9.99659112e-01 2.61085993e-02 0.00000000e+00 2.80929314e+01] [-2.61085993e-02 9.99659112e-01 0.00000000e+00 -4.09061475e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.35378055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.025336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:28.15, Y:-0.40, Z:-0.06 [[ 9.99641205e-01 2.67854724e-02 0.00000000e+00 2.81522085e+01] [-2.67854724e-02 9.99641205e-01 0.00000000e+00 -4.03147135e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.11677310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.085336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:28.21, Y:-0.39, Z:-0.05 [[ 9.99724655e-01 2.34651487e-02 0.00000000e+00 2.82109161e+01] [-2.34651487e-02 9.99724655e-01 0.00000000e+00 -3.93794681e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.46025167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.145336195000002 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:28.27, Y:-0.38, Z:-0.05 [[ 9.99869439e-01 1.61587678e-02 0.00000000e+00 2.82686344e+01] [-1.61587678e-02 9.99869439e-01 0.00000000e+00 -3.83517949e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.33349364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.33, Y:-0.38, Z:-0.05 [[ 9.99961312e-01 8.79627680e-03 0.00000000e+00 2.83276817e+01] [-8.79627680e-03 9.99961312e-01 0.00000000e+00 -3.84824920e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.49265474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.265336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:28.39, Y:-0.38, Z:-0.06 [[ 9.99999559e-01 -9.39272522e-04 0.00000000e+00 2.83860158e+01] [ 9.39272522e-04 9.99999559e-01 0.00000000e+00 -3.83746777e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.97928882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.325336195000002 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:28.45, Y:-0.38, Z:-0.05 [[ 9.99922917e-01 -1.24161195e-02 0.00000000e+00 2.84470487e+01] [ 1.24161195e-02 9.99922917e-01 0.00000000e+00 -3.84602357e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.40398052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.385336195 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:28.51, Y:-0.39, Z:-0.05 [[ 9.99830421e-01 -1.84154369e-02 0.00000000e+00 2.85093255e+01] [ 1.84154369e-02 9.99830421e-01 0.00000000e+00 -3.91206818e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.80682372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.445336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:28.57, Y:-0.40, Z:-0.06 [[ 9.99827938e-01 -1.85497833e-02 0.00000000e+00 2.85701408e+01] [ 1.85497833e-02 9.99827938e-01 0.00000000e+00 -3.99860943e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.51358250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.505336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:28.63, Y:-0.40, Z:-0.06 [[ 9.99890448e-01 -1.48017502e-02 0.00000000e+00 2.86316359e+01] [ 1.48017502e-02 9.99890448e-01 0.00000000e+00 -4.04565283e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.61857444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.565336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:28.69, Y:-0.40, Z:-0.05 [[ 9.99949648e-01 -1.00350586e-02 0.00000000e+00 2.86932088e+01] [ 1.00350586e-02 9.99949648e-01 0.00000000e+00 -4.00109507e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.58124376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.625336195 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:28.76, Y:-0.42, Z:-0.05 [[ 9.99988415e-01 -4.81359973e-03 0.00000000e+00 2.87553937e+01] [ 4.81359973e-03 9.99988415e-01 0.00000000e+00 -4.17969780e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.28715513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.685336195 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:28.82, Y:-0.41, Z:-0.05 [[ 9.99999062e-01 1.36938729e-03 0.00000000e+00 2.88162539e+01] [-1.36938729e-03 9.99999062e-01 0.00000000e+00 -4.13300212e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.12127345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.745336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:28.88, Y:-0.41, Z:-0.06 [[ 9.99997985e-01 2.00759184e-03 0.00000000e+00 2.88764639e+01] [-2.00759184e-03 9.99997985e-01 0.00000000e+00 -4.09657182e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.63832625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.805336195 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:28.94, Y:-0.43, Z:-0.06 [[ 9.99999407e-01 1.08865667e-03 0.00000000e+00 2.89362997e+01] [-1.08865667e-03 9.99999407e-01 0.00000000e+00 -4.25545332e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.10769799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.865336195 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:29.00, Y:-0.42, Z:-0.04 [[ 9.99999162e-01 -1.29476368e-03 0.00000000e+00 2.89960837e+01] [ 1.29476368e-03 9.99999162e-01 0.00000000e+00 -4.23381448e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.37571224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.925336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:29.06, Y:-0.44, Z:-0.04 [[ 9.99998578e-01 1.68655868e-03 0.00000000e+00 2.90571518e+01] [-1.68655868e-03 9.99998578e-01 0.00000000e+00 -4.36235280e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.30111883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.985336195000002 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:29.12, Y:-0.44, Z:-0.05 [[ 9.99996670e-01 2.58082465e-03 0.00000000e+00 2.91165320e+01] [-2.58082465e-03 9.99996670e-01 0.00000000e+00 -4.36301374e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.59107321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.045336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:29.18, Y:-0.44, Z:-0.05 [[ 9.99997292e-01 2.32722868e-03 0.00000000e+00 2.91756139e+01] [-2.32722868e-03 9.99997292e-01 0.00000000e+00 -4.41633556e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.76789460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.105336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:29.23, Y:-0.45, Z:-0.05 [[ 9.99999312e-01 1.17312189e-03 0.00000000e+00 2.92347234e+01] [-1.17312189e-03 9.99999312e-01 0.00000000e+00 -4.50284936e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.85302878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.165336195000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.29, Y:-0.45, Z:-0.05 [[ 9.99999875e-01 -4.99708795e-04 0.00000000e+00 2.92942414e+01] [ 4.99708795e-04 9.99999875e-01 0.00000000e+00 -4.49750810e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.51327524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.225336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:29.35, Y:-0.46, Z:-0.05 [[ 9.99999194e-01 -1.26998486e-03 0.00000000e+00 2.93544608e+01] [ 1.26998486e-03 9.99999194e-01 0.00000000e+00 -4.61361739e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.81685206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.285336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:29.41, Y:-0.47, Z:-0.05 [[ 9.99985748e-01 -5.33880394e-03 0.00000000e+00 2.94146838e+01] [ 5.33880394e-03 9.99985748e-01 0.00000000e+00 -4.71264277e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.37887235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.345336195 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:29.48, Y:-0.48, Z:-0.05 [[ 9.99930280e-01 -1.18082646e-02 0.00000000e+00 2.94769402e+01] [ 1.18082646e-02 9.99930280e-01 0.00000000e+00 -4.79291333e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.15503997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.54, Y:-0.49, Z:-0.04 [[ 9.99921413e-01 -1.25366802e-02 0.00000000e+00 2.95380358e+01] [ 1.25366802e-02 9.99921413e-01 0.00000000e+00 -4.89299927e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.37944398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.465336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:29.60, Y:-0.49, Z:-0.05 [[ 9.99991507e-01 -4.12135444e-03 0.00000000e+00 2.95990134e+01] [ 4.12135444e-03 9.99991507e-01 0.00000000e+00 -4.94587196e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.52571147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.525336195 meters Centerline goodness : 0.999611 with order 1 Centerline is valid? [True, True] Translation: X:29.66, Y:-0.49, Z:-0.04 [[ 9.99999936e-01 -3.58994425e-04 0.00000000e+00 2.96609757e+01] [ 3.58994425e-04 9.99999936e-01 0.00000000e+00 -4.94187673e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.27898026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.72, Y:-0.50, Z:-0.05 [[ 9.99937234e-01 1.12039191e-02 0.00000000e+00 2.97209099e+01] [-1.12039191e-02 9.99937234e-01 0.00000000e+00 -5.01625033e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.35289076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.645336195000002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:29.78, Y:-0.50, Z:-0.05 [[ 9.99922554e-01 1.24453431e-02 0.00000000e+00 2.97799306e+01] [-1.24453431e-02 9.99922554e-01 0.00000000e+00 -5.03055201e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.03128664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.84, Y:-0.51, Z:-0.04 [[ 9.99940658e-01 1.08940484e-02 0.00000000e+00 2.98397755e+01] [-1.08940484e-02 9.99940658e-01 0.00000000e+00 -5.05338215e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.37010585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.90, Y:-0.51, Z:-0.04 [[ 9.99943781e-01 1.06035437e-02 0.00000000e+00 2.98986819e+01] [-1.06035437e-02 9.99943781e-01 0.00000000e+00 -5.13646241e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.90984303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.825336195000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.96, Y:-0.51, Z:-0.04 [[ 9.99911249e-01 1.33227294e-02 0.00000000e+00 2.99571200e+01] [-1.33227294e-02 9.99911249e-01 0.00000000e+00 -5.10656585e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.75088117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.02, Y:-0.52, Z:-0.05 [[ 9.99846378e-01 1.75277232e-02 0.00000000e+00 3.00171735e+01] [-1.75277232e-02 9.99846378e-01 0.00000000e+00 -5.18113533e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.27185032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.945336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:30.08, Y:-0.52, Z:-0.05 [[ 9.99830857e-01 1.83917545e-02 0.00000000e+00 3.00756291e+01] [-1.83917545e-02 9.99830857e-01 0.00000000e+00 -5.15919010e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.14511094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.13, Y:-0.50, Z:-0.05 [[ 9.99868386e-01 1.62237818e-02 0.00000000e+00 3.01346195e+01] [-1.62237818e-02 9.99868386e-01 0.00000000e+00 -5.03544070e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.50862757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.065336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:30.19, Y:-0.51, Z:-0.04 [[ 9.99916327e-01 1.29359670e-02 0.00000000e+00 3.01938362e+01] [-1.29359670e-02 9.99916327e-01 0.00000000e+00 -5.05711105e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.44110204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.125336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:30.25, Y:-0.50, Z:-0.05 [[ 9.99952987e-01 9.69660895e-03 0.00000000e+00 3.02520517e+01] [-9.69660895e-03 9.99952987e-01 0.00000000e+00 -4.96961418e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.67990515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.31, Y:-0.49, Z:-0.04 [[ 9.99998719e-01 1.60066249e-03 0.00000000e+00 3.03108405e+01] [-1.60066249e-03 9.99998719e-01 0.00000000e+00 -4.87656315e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.37975269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.245336195 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:30.37, Y:-0.49, Z:-0.05 [[ 9.99963790e-01 -8.50991717e-03 0.00000000e+00 3.03711912e+01] [ 8.50991717e-03 9.99963790e-01 0.00000000e+00 -4.86506148e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.70729921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.305336195 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:30.43, Y:-0.49, Z:-0.05 [[ 9.99851391e-01 -1.72393656e-02 0.00000000e+00 3.04328307e+01] [ 1.72393656e-02 9.99851391e-01 0.00000000e+00 -4.90360204e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.98659898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.50, Y:-0.49, Z:-0.04 [[ 9.99741509e-01 -2.27357527e-02 0.00000000e+00 3.04952609e+01] [ 2.27357527e-02 9.99741509e-01 0.00000000e+00 -4.87131873e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.37444518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.425336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:30.56, Y:-0.49, Z:-0.05 [[ 9.99728077e-01 -2.33188998e-02 0.00000000e+00 3.05559858e+01] [ 2.33188998e-02 9.99728077e-01 0.00000000e+00 -4.91194345e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.62091908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.485336195000002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:30.62, Y:-0.50, Z:-0.05 [[ 9.99859243e-01 -1.67777618e-02 0.00000000e+00 3.06177384e+01] [ 1.67777618e-02 9.99859243e-01 0.00000000e+00 -4.96460223e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.58144286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.545336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:30.68, Y:-0.49, Z:-0.04 [[ 9.99977922e-01 -6.64495289e-03 0.00000000e+00 3.06787548e+01] [ 6.64495289e-03 9.99977922e-01 0.00000000e+00 -4.90528338e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.33664996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.605336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:30.74, Y:-0.50, Z:-0.05 [[ 9.99999952e-01 3.08385005e-04 0.00000000e+00 3.07412308e+01] [-3.08385005e-04 9.99999952e-01 0.00000000e+00 -4.96287570e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.81028691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.665336195000002 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:30.80, Y:-0.50, Z:-0.05 [[ 9.99999181e-01 1.27995718e-03 0.00000000e+00 3.08002898e+01] [-1.27995718e-03 9.99999181e-01 0.00000000e+00 -4.95553455e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.90333340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.86, Y:-0.50, Z:-0.04 [[ 9.99997217e-01 -2.35939724e-03 0.00000000e+00 3.08596106e+01] [ 2.35939724e-03 9.99997217e-01 0.00000000e+00 -4.96183938e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.37545234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.785336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:30.92, Y:-0.50, Z:-0.04 [[ 9.99996741e-01 -2.55308310e-03 0.00000000e+00 3.09204314e+01] [ 2.55308310e-03 9.99996741e-01 0.00000000e+00 -4.98078701e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.12799104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.845336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:30.98, Y:-0.50, Z:-0.05 [[ 9.99996578e-01 -2.61614923e-03 0.00000000e+00 3.09827087e+01] [ 2.61614923e-03 9.99996578e-01 0.00000000e+00 -5.00891560e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.60029711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.905336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:31.04, Y:-0.50, Z:-0.06 [[ 9.99949137e-01 -1.00857768e-02 0.00000000e+00 3.10419367e+01] [ 1.00857768e-02 9.99949137e-01 0.00000000e+00 -5.01775547e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.73814256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.965336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:31.10, Y:-0.51, Z:-0.05 [[ 9.99904254e-01 -1.38377094e-02 0.00000000e+00 3.11035133e+01] [ 1.38377094e-02 9.99904254e-01 0.00000000e+00 -5.10032996e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.13070368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.025336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:31.17, Y:-0.52, Z:-0.05 [[ 9.99952741e-01 -9.72189438e-03 0.00000000e+00 3.11658704e+01] [ 9.72189438e-03 9.99952741e-01 0.00000000e+00 -5.23014418e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.76024161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.23, Y:-0.52, Z:-0.04 [[ 9.99999999e-01 -4.09695676e-05 0.00000000e+00 3.12266888e+01] [ 4.09695676e-05 9.99999999e-01 0.00000000e+00 -5.17614678e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.09710318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.145336195000002 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:31.29, Y:-0.53, Z:-0.05 [[ 9.99940806e-01 1.08804472e-02 0.00000000e+00 3.12859115e+01] [-1.08804472e-02 9.99940806e-01 0.00000000e+00 -5.25316061e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.58414980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.35, Y:-0.52, Z:-0.05 [[ 9.99866306e-01 1.63514632e-02 0.00000000e+00 3.13463078e+01] [-1.63514632e-02 9.99866306e-01 0.00000000e+00 -5.24598752e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.46962404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.40, Y:-0.52, Z:-0.06 [[ 9.99788711e-01 2.05556079e-02 0.00000000e+00 3.14047872e+01] [-2.05556079e-02 9.99788711e-01 0.00000000e+00 -5.18314126e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.60411234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.325336195000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.46, Y:-0.53, Z:-0.06 [[ 9.99742463e-01 2.26937946e-02 0.00000000e+00 3.14630121e+01] [-2.26937946e-02 9.99742463e-01 0.00000000e+00 -5.31755836e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.22296105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.52, Y:-0.53, Z:-0.05 [[ 9.99815031e-01 1.92328640e-02 0.00000000e+00 3.15228627e+01] [-1.92328640e-02 9.99815031e-01 0.00000000e+00 -5.26609512e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.59079420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.445336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:31.58, Y:-0.52, Z:-0.04 [[ 9.99900566e-01 1.41016932e-02 0.00000000e+00 3.15803382e+01] [-1.41016932e-02 9.99900566e-01 0.00000000e+00 -5.23244864e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.21005688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.64, Y:-0.53, Z:-0.05 [[ 9.99990231e-01 4.42014282e-03 0.00000000e+00 3.16390373e+01] [-4.42014282e-03 9.99990231e-01 0.00000000e+00 -5.34703038e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.73964042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.70, Y:-0.54, Z:-0.05 [[ 9.99999999e-01 -4.82912385e-05 0.00000000e+00 3.16987024e+01] [ 4.82912385e-05 9.99999999e-01 0.00000000e+00 -5.36644633e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.23217210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.625336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:31.76, Y:-0.53, Z:-0.05 [[ 9.99986249e-01 5.24428693e-03 0.00000000e+00 3.17591184e+01] [-5.24428693e-03 9.99986249e-01 0.00000000e+00 -5.30935800e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.10952038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.685336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:31.82, Y:-0.54, Z:-0.06 [[ 9.99930679e-01 1.17744628e-02 0.00000000e+00 3.18166720e+01] [-1.17744628e-02 9.99930679e-01 0.00000000e+00 -5.37853623e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.06488615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.745336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:31.88, Y:-0.53, Z:-0.05 [[ 9.99928583e-01 1.19511123e-02 0.00000000e+00 3.18760346e+01] [-1.19511123e-02 9.99928583e-01 0.00000000e+00 -5.25763666e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.52999395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.805336195 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:31.94, Y:-0.52, Z:-0.05 [[ 9.99966504e-01 8.18478481e-03 0.00000000e+00 3.19351660e+01] [-8.18478481e-03 9.99966504e-01 0.00000000e+00 -5.22406123e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.61788390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.865336195 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:31.99, Y:-0.53, Z:-0.06 [[ 9.99996905e-01 2.48787875e-03 0.00000000e+00 3.19943900e+01] [-2.48787875e-03 9.99996905e-01 0.00000000e+00 -5.26653092e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.54777785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.925336195 meters Centerline goodness : 0.999587 with order 1 Centerline is valid? [True, True] Translation: X:32.05, Y:-0.52, Z:-0.05 [[ 9.99994917e-01 -3.18836732e-03 0.00000000e+00 3.20539407e+01] [ 3.18836732e-03 9.99994917e-01 0.00000000e+00 -5.18601639e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.33917174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.985336195000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.12, Y:-0.52, Z:-0.05 [[ 9.99952147e-01 -9.78286134e-03 0.00000000e+00 3.21159901e+01] [ 9.78286134e-03 9.99952147e-01 0.00000000e+00 -5.15740905e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.13945071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.045336195 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:32.18, Y:-0.52, Z:-0.05 [[ 9.99889543e-01 -1.48627692e-02 0.00000000e+00 3.21779960e+01] [ 1.48627692e-02 9.99889543e-01 0.00000000e+00 -5.22776555e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.06061760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.105336195 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:32.24, Y:-0.51, Z:-0.05 [[ 9.99935769e-01 -1.13339329e-02 0.00000000e+00 3.22390635e+01] [ 1.13339329e-02 9.99935769e-01 0.00000000e+00 -5.08145704e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.12522421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.165336194999995 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:32.30, Y:-0.51, Z:-0.05 [[ 9.99989050e-01 -4.67980253e-03 0.00000000e+00 3.23013047e+01] [ 4.67980253e-03 9.99989050e-01 0.00000000e+00 -5.05735418e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.91139670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.225336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:32.36, Y:-0.51, Z:-0.05 [[ 9.99988888e-01 -4.71419826e-03 0.00000000e+00 3.23629538e+01] [ 4.71419826e-03 9.99988888e-01 0.00000000e+00 -5.05882715e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.30349434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.285336195 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:32.43, Y:-0.50, Z:-0.04 [[ 9.99975411e-01 -7.01263878e-03 0.00000000e+00 3.24253067e+01] [ 7.01263878e-03 9.99975411e-01 0.00000000e+00 -4.99876681e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.31039350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.345336194999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.49, Y:-0.50, Z:-0.05 [[ 9.99905183e-01 -1.37704733e-02 0.00000000e+00 3.24881003e+01] [ 1.37704733e-02 9.99905183e-01 0.00000000e+00 -5.04695575e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.67938350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.405336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:32.55, Y:-0.50, Z:-0.05 [[ 9.99901520e-01 -1.40338687e-02 0.00000000e+00 3.25488115e+01] [ 1.40338687e-02 9.99901520e-01 0.00000000e+00 -5.01052092e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.83892332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.61, Y:-0.50, Z:-0.05 [[ 9.99947727e-01 -1.02246317e-02 0.00000000e+00 3.26111722e+01] [ 1.02246317e-02 9.99947727e-01 0.00000000e+00 -4.99251319e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.10263694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.525336194999994 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:32.67, Y:-0.50, Z:-0.06 [[ 9.99967146e-01 -8.10601754e-03 0.00000000e+00 3.26722374e+01] [ 8.10601754e-03 9.99967146e-01 0.00000000e+00 -4.98564702e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.66689463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.585336195 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:32.73, Y:-0.50, Z:-0.05 [[ 9.99964020e-01 -8.48287281e-03 0.00000000e+00 3.27347610e+01] [ 8.48287281e-03 9.99964020e-01 0.00000000e+00 -4.97907017e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.07753153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.80, Y:-0.50, Z:-0.04 [[ 9.99963107e-01 -8.58979076e-03 0.00000000e+00 3.27952411e+01] [ 8.58979076e-03 9.99963107e-01 0.00000000e+00 -4.97707051e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.31496704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.705336194999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.86, Y:-0.50, Z:-0.05 [[ 9.99979807e-01 -6.35499938e-03 0.00000000e+00 3.28564969e+01] [ 6.35499938e-03 9.99979807e-01 0.00000000e+00 -4.97673808e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.65362897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.765336194999996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:32.92, Y:-0.49, Z:-0.05 [[ 9.99997641e-01 -2.17194889e-03 0.00000000e+00 3.29184604e+01] [ 2.17194889e-03 9.99997641e-01 0.00000000e+00 -4.94505760e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.51459842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.825336195 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:32.98, Y:-0.51, Z:-0.06 [[ 9.99999949e-01 -3.19709652e-04 0.00000000e+00 3.29780078e+01] [ 3.19709652e-04 9.99999949e-01 0.00000000e+00 -5.07270538e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.94562064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.885336194999994 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:33.04, Y:-0.50, Z:-0.05 [[ 9.99999678e-01 8.02715688e-04 0.00000000e+00 3.30387558e+01] [-8.02715688e-04 9.99999678e-01 0.00000000e+00 -5.00943557e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.97316275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.945336194999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.10, Y:-0.51, Z:-0.05 [[ 9.99991618e-01 4.09438498e-03 0.00000000e+00 3.30984755e+01] [-4.09438498e-03 9.99991618e-01 0.00000000e+00 -5.06276082e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.04080979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.16, Y:-0.52, Z:-0.05 [[ 9.99963244e-01 8.57384811e-03 0.00000000e+00 3.31563323e+01] [-8.57384811e-03 9.99963244e-01 0.00000000e+00 -5.15258306e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.26798968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.065336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:33.22, Y:-0.51, Z:-0.05 [[ 9.99925694e-01 1.21904296e-02 0.00000000e+00 3.32152760e+01] [-1.21904296e-02 9.99925694e-01 0.00000000e+00 -5.08072634e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.80231244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.125336194999996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:33.27, Y:-0.50, Z:-0.05 [[ 9.99842170e-01 1.77661158e-02 0.00000000e+00 3.32737351e+01] [-1.77661158e-02 9.99842170e-01 0.00000000e+00 -5.04146479e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.75744351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.33, Y:-0.50, Z:-0.05 [[ 9.99831424e-01 1.83608999e-02 0.00000000e+00 3.33315180e+01] [-1.83608999e-02 9.99831424e-01 0.00000000e+00 -5.02430454e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.03912604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.245336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:33.39, Y:-0.49, Z:-0.05 [[ 9.99885913e-01 1.51049759e-02 0.00000000e+00 3.33903681e+01] [-1.51049759e-02 9.99885913e-01 0.00000000e+00 -4.91027079e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.62913388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.305336194999995 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:33.45, Y:-0.49, Z:-0.04 [[ 9.99931170e-01 1.17326554e-02 0.00000000e+00 3.34492478e+01] [-1.17326554e-02 9.99931170e-01 0.00000000e+00 -4.87829312e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.35949259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.51, Y:-0.48, Z:-0.04 [[ 9.99986327e-01 5.22935690e-03 0.00000000e+00 3.35082007e+01] [-5.22935690e-03 9.99986327e-01 0.00000000e+00 -4.80669823e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.38087378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.425336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:33.57, Y:-0.47, Z:-0.05 [[ 9.99999995e-01 -9.77493235e-05 0.00000000e+00 3.35657333e+01] [ 9.77493235e-05 9.99999995e-01 0.00000000e+00 -4.69273790e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.58371671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.485336194999995 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:33.63, Y:-0.47, Z:-0.06 [[ 9.99990079e-01 -4.45446743e-03 0.00000000e+00 3.36258365e+01] [ 4.45446743e-03 9.99990079e-01 0.00000000e+00 -4.68781976e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.55538542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.545336195 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:33.69, Y:-0.45, Z:-0.05 [[ 9.99971389e-01 -7.56451127e-03 0.00000000e+00 3.36874847e+01] [ 7.56451127e-03 9.99971389e-01 0.00000000e+00 -4.53108793e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.44221900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.605336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:33.75, Y:-0.45, Z:-0.05 [[ 9.99948885e-01 -1.01107276e-02 0.00000000e+00 3.37500100e+01] [ 1.01107276e-02 9.99948885e-01 0.00000000e+00 -4.48198250e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.82210967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.665336194999995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:33.81, Y:-0.45, Z:-0.05 [[ 9.99941123e-01 -1.08512563e-02 0.00000000e+00 3.38125569e+01] [ 1.08512563e-02 9.99941123e-01 0.00000000e+00 -4.49401840e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.19027718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.725336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:33.87, Y:-0.44, Z:-0.04 [[ 9.99945258e-01 -1.04633094e-02 0.00000000e+00 3.38735091e+01] [ 1.04633094e-02 9.99945258e-01 0.00000000e+00 -4.35963263e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.47517062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.785336195 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:33.94, Y:-0.43, Z:-0.04 [[ 9.99934063e-01 -1.14834667e-02 0.00000000e+00 3.39357420e+01] [ 1.14834667e-02 9.99934063e-01 0.00000000e+00 -4.29120972e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.46617096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.845336194999994 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:34.00, Y:-0.44, Z:-0.06 [[ 9.99899153e-01 -1.42015687e-02 0.00000000e+00 3.39971779e+01] [ 1.42015687e-02 9.99899153e-01 0.00000000e+00 -4.38825075e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.66205080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.905336195 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:34.06, Y:-0.43, Z:-0.05 [[ 9.99863557e-01 -1.65186731e-02 0.00000000e+00 3.40588584e+01] [ 1.65186731e-02 9.99863557e-01 0.00000000e+00 -4.32761475e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.37128527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.965336195 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:34.12, Y:-0.44, Z:-0.05 [[ 9.99937407e-01 -1.11884496e-02 0.00000000e+00 3.41211211e+01] [ 1.11884496e-02 9.99937407e-01 0.00000000e+00 -4.36174322e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.84908861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.025336194999994 meters Centerline goodness : 0.999393 with order 1 Centerline is valid? [True, True] Translation: X:34.18, Y:-0.43, Z:-0.05 [[ 9.99995060e-01 -3.14334769e-03 0.00000000e+00 3.41827812e+01] [ 3.14334769e-03 9.99995060e-01 0.00000000e+00 -4.31172525e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.70044023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.085336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:34.24, Y:-0.43, Z:-0.05 [[ 9.99987173e-01 5.06503163e-03 0.00000000e+00 3.42441245e+01] [-5.06503163e-03 9.99987173e-01 0.00000000e+00 -4.31272864e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.08128929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.145336195 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:34.30, Y:-0.43, Z:-0.05 [[ 9.99973839e-01 7.23332123e-03 0.00000000e+00 3.43031970e+01] [-7.23332123e-03 9.99973839e-01 0.00000000e+00 -4.28324135e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.69291055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.205336194999994 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:34.36, Y:-0.42, Z:-0.05 [[ 9.99997268e-01 2.33765844e-03 0.00000000e+00 3.43611502e+01] [-2.33765844e-03 9.99997268e-01 0.00000000e+00 -4.24903405e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.03799094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.265336194999996 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:34.42, Y:-0.43, Z:-0.05 [[ 9.99983625e-01 -5.72267887e-03 0.00000000e+00 3.44206722e+01] [ 5.72267887e-03 9.99983625e-01 0.00000000e+00 -4.29893399e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.84292991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.325336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:34.48, Y:-0.44, Z:-0.05 [[ 9.99932412e-01 -1.16263415e-02 0.00000000e+00 3.44815532e+01] [ 1.16263415e-02 9.99932412e-01 0.00000000e+00 -4.36510627e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.27290406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.385336194999994 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:34.54, Y:-0.43, Z:-0.05 [[ 9.99922690e-01 -1.24344257e-02 0.00000000e+00 3.45434578e+01] [ 1.24344257e-02 9.99922690e-01 0.00000000e+00 -4.32895271e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.57751147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.445336194999996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:34.61, Y:-0.44, Z:-0.05 [[ 9.99975460e-01 -7.00568905e-03 0.00000000e+00 3.46051752e+01] [ 7.00568905e-03 9.99975460e-01 0.00000000e+00 -4.37289582e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.89700957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.67, Y:-0.44, Z:-0.05 [[ 9.99996119e-01 -2.78601526e-03 0.00000000e+00 3.46675961e+01] [ 2.78601526e-03 9.99996119e-01 0.00000000e+00 -4.39684711e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.83421352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.565336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:34.73, Y:-0.43, Z:-0.04 [[ 9.99998943e-01 1.45370925e-03 0.00000000e+00 3.47294158e+01] [-1.45370925e-03 9.99998943e-01 0.00000000e+00 -4.31399080e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.12427596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.625336194999996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:34.79, Y:-0.43, Z:-0.05 [[ 9.99968432e-01 7.94577048e-03 0.00000000e+00 3.47881068e+01] [-7.94577048e-03 9.99968432e-01 0.00000000e+00 -4.34663912e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.16268828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.685336195 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:34.85, Y:-0.43, Z:-0.05 [[ 9.99908454e-01 1.35308598e-02 0.00000000e+00 3.48473688e+01] [-1.35308598e-02 9.99908454e-01 0.00000000e+00 -4.31511159e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.37250715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.745336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:34.90, Y:-0.42, Z:-0.05 [[ 9.99870711e-01 1.60798699e-02 0.00000000e+00 3.49048898e+01] [-1.60798699e-02 9.99870711e-01 0.00000000e+00 -4.21828334e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.07665995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.805336194999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.96, Y:-0.42, Z:-0.05 [[ 9.99875197e-01 1.57984604e-02 0.00000000e+00 3.49635793e+01] [-1.57984604e-02 9.99875197e-01 0.00000000e+00 -4.21233063e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.31212604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.02, Y:-0.42, Z:-0.05 [[ 9.99920585e-01 1.26025545e-02 0.00000000e+00 3.50218334e+01] [-1.26025545e-02 9.99920585e-01 0.00000000e+00 -4.15176998e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.57641940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.925336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:35.08, Y:-0.41, Z:-0.05 [[ 9.99971197e-01 7.58980705e-03 0.00000000e+00 3.50794318e+01] [-7.58980705e-03 9.99971197e-01 0.00000000e+00 -4.08887014e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.63435857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.985336194999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.14, Y:-0.40, Z:-0.05 [[ 9.99992776e-01 3.80102274e-03 0.00000000e+00 3.51372282e+01] [-3.80102274e-03 9.99992776e-01 0.00000000e+00 -3.98347425e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.84006629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.045336195 meters Centerline goodness : 0.999523 with order 1 Centerline is valid? [True, True] Translation: X:35.20, Y:-0.39, Z:-0.05 [[ 9.99991401e-01 -4.14713090e-03 0.00000000e+00 3.51973372e+01] [ 4.14713090e-03 9.99991401e-01 0.00000000e+00 -3.90210164e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.47012775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.105336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:35.26, Y:-0.39, Z:-0.05 [[ 9.99869722e-01 -1.61412180e-02 0.00000000e+00 3.52593426e+01] [ 1.61412180e-02 9.99869722e-01 0.00000000e+00 -3.89021081e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.23537245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.165336194999995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:35.32, Y:-0.39, Z:-0.05 [[ 9.99700834e-01 -2.44589843e-02 0.00000000e+00 3.53229499e+01] [ 2.44589843e-02 9.99700834e-01 0.00000000e+00 -3.86327904e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.94836438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.225336195 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:35.38, Y:-0.39, Z:-0.05 [[ 9.99626405e-01 -2.73322069e-02 0.00000000e+00 3.53840896e+01] [ 2.73322069e-02 9.99626405e-01 0.00000000e+00 -3.86488282e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.95974204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.285336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:35.45, Y:-0.39, Z:-0.05 [[ 9.99637074e-01 -2.69391983e-02 0.00000000e+00 3.54462881e+01] [ 2.69391983e-02 9.99637074e-01 0.00000000e+00 -3.85754361e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.94513607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.345336194999994 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:35.51, Y:-0.39, Z:-0.05 [[ 9.99706353e-01 -2.42323730e-02 0.00000000e+00 3.55077828e+01] [ 2.42323730e-02 9.99706353e-01 0.00000000e+00 -3.87688647e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.47536803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.405336195 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:35.57, Y:-0.39, Z:-0.06 [[ 9.99848147e-01 -1.74265030e-02 0.00000000e+00 3.55680516e+01] [ 1.74265030e-02 9.99848147e-01 0.00000000e+00 -3.86527949e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.99659388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.465336195 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:35.63, Y:-0.39, Z:-0.06 [[ 9.99956772e-01 -9.29809202e-03 0.00000000e+00 3.56302514e+01] [ 9.29809202e-03 9.99956772e-01 0.00000000e+00 -3.90204882e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.04059325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.525336194999994 meters Centerline goodness : 0.999391 with order 1 Centerline is valid? [True, True] Translation: X:35.69, Y:-0.39, Z:-0.05 [[ 9.99986701e-01 -5.15721136e-03 0.00000000e+00 3.56927858e+01] [ 5.15721136e-03 9.99986701e-01 0.00000000e+00 -3.86647017e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.19025477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.585336195 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:35.75, Y:-0.38, Z:-0.05 [[ 9.99999081e-01 -1.35558388e-03 0.00000000e+00 3.57539029e+01] [ 1.35558388e-03 9.99999081e-01 0.00000000e+00 -3.84872889e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.28658848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.82, Y:-0.39, Z:-0.05 [[ 9.99999947e-01 -3.25636867e-04 0.00000000e+00 3.58152995e+01] [ 3.25636867e-04 9.99999947e-01 0.00000000e+00 -3.89378079e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.31366628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.705336194999994 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:35.88, Y:-0.39, Z:-0.06 [[ 9.99999107e-01 -1.33656289e-03 0.00000000e+00 3.58750870e+01] [ 1.33656289e-03 9.99999107e-01 0.00000000e+00 -3.90706494e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.56796883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.765336194999996 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:35.94, Y:-0.39, Z:-0.05 [[ 9.99983504e-01 -5.74385465e-03 0.00000000e+00 3.59368629e+01] [ 5.74385465e-03 9.99983504e-01 0.00000000e+00 -3.89656404e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.93992687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.825336195 meters Centerline goodness : 0.999588 with order 1 Centerline is valid? [True, True] Translation: X:36.00, Y:-0.40, Z:-0.05 [[ 9.99975958e-01 -6.93418043e-03 0.00000000e+00 3.59992479e+01] [ 6.93418043e-03 9.99975958e-01 0.00000000e+00 -3.96024757e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.17918166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.885336194999994 meters Centerline goodness : 0.999433 with order 1 Centerline is valid? [True, True] Translation: X:36.06, Y:-0.39, Z:-0.04 [[ 9.99974924e-01 -7.08176307e-03 0.00000000e+00 3.60613560e+01] [ 7.08176307e-03 9.99974924e-01 0.00000000e+00 -3.88601980e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.26612584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.945336194999996 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:36.12, Y:-0.39, Z:-0.05 [[ 9.99993674e-01 -3.55682596e-03 0.00000000e+00 3.61227607e+01] [ 3.55682596e-03 9.99993674e-01 0.00000000e+00 -3.92242706e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.08780461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.005336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:36.19, Y:-0.40, Z:-0.05 [[ 9.99993492e-01 -3.60785353e-03 0.00000000e+00 3.61850054e+01] [ 3.60785353e-03 9.99993492e-01 0.00000000e+00 -3.97843377e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.02357945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.06533619499999 meters Centerline goodness : 0.999568 with order 1 Centerline is valid? [True, True] Translation: X:36.25, Y:-0.39, Z:-0.04 [[ 9.99957983e-01 -9.16691432e-03 0.00000000e+00 3.62463760e+01] [ 9.16691432e-03 9.99957983e-01 0.00000000e+00 -3.89845330e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.90267818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.125336194999996 meters Centerline goodness : 0.999483 with order 1 Centerline is valid? [True, True] Translation: X:36.31, Y:-0.40, Z:-0.04 [[ 9.99954555e-01 -9.53355236e-03 0.00000000e+00 3.63082714e+01] [ 9.53355236e-03 9.99954555e-01 0.00000000e+00 -3.95774670e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.91954197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.185336195 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:36.37, Y:-0.40, Z:-0.05 [[ 9.99980788e-01 -6.19866390e-03 0.00000000e+00 3.63697856e+01] [ 6.19866390e-03 9.99980788e-01 0.00000000e+00 -3.96421115e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.81803475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.245336195 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:36.43, Y:-0.39, Z:-0.05 [[ 9.99999975e-01 2.25377920e-04 0.00000000e+00 3.64317816e+01] [-2.25377920e-04 9.99999975e-01 0.00000000e+00 -3.91381435e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.89354377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.305336194999995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:36.49, Y:-0.39, Z:-0.05 [[ 9.99996521e-01 2.63788321e-03 0.00000000e+00 3.64915163e+01] [-2.63788321e-03 9.99996521e-01 0.00000000e+00 -3.87524780e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.81972824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.365336195 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:36.55, Y:-0.39, Z:-0.04 [[ 9.99996890e-01 -2.49384110e-03 0.00000000e+00 3.65506141e+01] [ 2.49384110e-03 9.99996890e-01 0.00000000e+00 -3.85018541e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.33607572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.425336195 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:36.61, Y:-0.39, Z:-0.05 [[ 9.99963701e-01 -8.52036138e-03 0.00000000e+00 3.66116768e+01] [ 8.52036138e-03 9.99963701e-01 0.00000000e+00 -3.90261394e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.75185788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.485336194999995 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:36.67, Y:-0.39, Z:-0.05 [[ 9.99919364e-01 -1.26990407e-02 0.00000000e+00 3.66738136e+01] [ 1.26990407e-02 9.99919364e-01 0.00000000e+00 -3.92597026e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.00542050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.545336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:36.74, Y:-0.39, Z:-0.05 [[ 9.99892333e-01 -1.46738974e-02 0.00000000e+00 3.67360667e+01] [ 1.46738974e-02 9.99892333e-01 0.00000000e+00 -3.91204164e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.62805585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.605336195 meters Centerline goodness : 0.999589 with order 1 Centerline is valid? [True, True] Translation: X:36.80, Y:-0.40, Z:-0.05 [[ 9.99907842e-01 -1.35759885e-02 0.00000000e+00 3.67967206e+01] [ 1.35759885e-02 9.99907842e-01 0.00000000e+00 -3.96164240e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.95151163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.665336194999995 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:36.86, Y:-0.41, Z:-0.05 [[ 9.99885486e-01 -1.51332296e-02 0.00000000e+00 3.68582156e+01] [ 1.51332296e-02 9.99885486e-01 0.00000000e+00 -4.06465265e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.94994670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.725336195 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:36.92, Y:-0.41, Z:-0.05 [[ 9.99877006e-01 -1.56835361e-02 0.00000000e+00 3.69202016e+01] [ 1.56835361e-02 9.99877006e-01 0.00000000e+00 -4.07678002e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.54112432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.785336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:36.98, Y:-0.42, Z:-0.05 [[ 9.99938067e-01 -1.11293561e-02 0.00000000e+00 3.69818650e+01] [ 1.11293561e-02 9.99938067e-01 0.00000000e+00 -4.15454398e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.33801919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.845336194999994 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:37.04, Y:-0.42, Z:-0.05 [[ 9.99999379e-01 -1.11465537e-03 0.00000000e+00 3.70441281e+01] [ 1.11465537e-03 9.99999379e-01 0.00000000e+00 -4.21033406e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.76549822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.905336195 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:37.11, Y:-0.42, Z:-0.05 [[ 9.99986972e-01 5.10453337e-03 0.00000000e+00 3.71059227e+01] [-5.10453337e-03 9.99986972e-01 0.00000000e+00 -4.21477371e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.61798675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.965336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:37.16, Y:-0.42, Z:-0.04 [[ 9.99974434e-01 7.15064434e-03 0.00000000e+00 3.71632483e+01] [-7.15064434e-03 9.99974434e-01 0.00000000e+00 -4.19497474e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.34589043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.025336194999994 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:37.22, Y:-0.43, Z:-0.05 [[ 9.99977519e-01 6.70531807e-03 0.00000000e+00 3.72209248e+01] [-6.70531807e-03 9.99977519e-01 0.00000000e+00 -4.32652121e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.37939209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.085336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:37.28, Y:-0.43, Z:-0.04 [[ 9.99977470e-01 6.71263630e-03 0.00000000e+00 3.72807930e+01] [-6.71263630e-03 9.99977470e-01 0.00000000e+00 -4.30822078e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.30439289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.145336195 meters Centerline goodness : 0.999654 with order 1 Centerline is valid? [True, True] Translation: X:37.34, Y:-0.43, Z:-0.05 [[ 9.99982701e-01 5.88200541e-03 0.00000000e+00 3.73385662e+01] [-5.88200541e-03 9.99982701e-01 0.00000000e+00 -4.29481220e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.84391741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.205336194999994 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:37.40, Y:-0.43, Z:-0.05 [[ 9.99999815e-01 6.07515437e-04 0.00000000e+00 3.73975234e+01] [-6.07515437e-04 9.99999815e-01 0.00000000e+00 -4.34494641e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.68250183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.265336194999996 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:37.46, Y:-0.43, Z:-0.05 [[ 9.99987031e-01 -5.09296892e-03 0.00000000e+00 3.74567185e+01] [ 5.09296892e-03 9.99987031e-01 0.00000000e+00 -4.34213560e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.65146504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.325336195 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:37.52, Y:-0.44, Z:-0.05 [[ 9.99973880e-01 -7.22774635e-03 0.00000000e+00 3.75192402e+01] [ 7.22774635e-03 9.99973880e-01 0.00000000e+00 -4.37972453e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.71978211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.385336194999994 meters Centerline goodness : 0.999567 with order 1 Centerline is valid? [True, True] Translation: X:37.58, Y:-0.44, Z:-0.05 [[ 9.99977680e-01 -6.68130066e-03 0.00000000e+00 3.75799097e+01] [ 6.68130066e-03 9.99977680e-01 0.00000000e+00 -4.38101302e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.69064857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.445336194999996 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:37.64, Y:-0.43, Z:-0.05 [[ 9.99989557e-01 -4.57004222e-03 0.00000000e+00 3.76417152e+01] [ 4.57004222e-03 9.99989557e-01 0.00000000e+00 -4.28138511e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.68005366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.505336195 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:37.70, Y:-0.43, Z:-0.05 [[ 9.99987904e-01 -4.91852307e-03 0.00000000e+00 3.77034289e+01] [ 4.91852307e-03 9.99987904e-01 0.00000000e+00 -4.32400976e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.99164177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.56533619499999 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:37.77, Y:-0.43, Z:-0.05 [[ 9.99991477e-01 -4.12861044e-03 0.00000000e+00 3.77654973e+01] [ 4.12861044e-03 9.99991477e-01 0.00000000e+00 -4.30630512e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.12556103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.625336194999996 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:37.83, Y:-0.42, Z:-0.05 [[ 9.99997961e-01 -2.01947931e-03 0.00000000e+00 3.78277407e+01] [ 2.01947931e-03 9.99997961e-01 0.00000000e+00 -4.24049599e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.59012932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.685336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:37.89, Y:-0.42, Z:-0.04 [[ 9.99995807e-01 -2.89582419e-03 0.00000000e+00 3.78894746e+01] [ 2.89582419e-03 9.99995807e-01 0.00000000e+00 -4.19348071e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.92580855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.745336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:37.95, Y:-0.42, Z:-0.05 [[ 9.99990310e-01 -4.40220981e-03 0.00000000e+00 3.79516437e+01] [ 4.40220981e-03 9.99990310e-01 0.00000000e+00 -4.24710991e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.54932771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.805336194999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.01, Y:-0.42, Z:-0.05 [[ 9.99999458e-01 -1.04079283e-03 0.00000000e+00 3.80130097e+01] [ 1.04079283e-03 9.99999458e-01 0.00000000e+00 -4.19540294e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.65358708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.865336195 meters Centerline goodness : 0.999611 with order 1 Centerline is valid? [True, True] Translation: X:38.07, Y:-0.42, Z:-0.05 [[ 9.99978495e-01 6.55812823e-03 0.00000000e+00 3.80735621e+01] [-6.55812823e-03 9.99978495e-01 0.00000000e+00 -4.21016466e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.18419217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.13, Y:-0.41, Z:-0.05 [[ 9.99936156e-01 1.12996981e-02 0.00000000e+00 3.81325561e+01] [-1.12996981e-02 9.99936156e-01 0.00000000e+00 -4.13034070e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.89420015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.985336194999995 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:38.19, Y:-0.40, Z:-0.04 [[ 9.99914111e-01 1.31061579e-02 0.00000000e+00 3.81908453e+01] [-1.31061579e-02 9.99914111e-01 0.00000000e+00 -4.04637156e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.33329812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.045336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:38.25, Y:-0.40, Z:-0.04 [[ 9.99946339e-01 1.03595360e-02 0.00000000e+00 3.82492179e+01] [-1.03595360e-02 9.99946339e-01 0.00000000e+00 -4.03423433e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.42959011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.105336195 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:38.31, Y:-0.40, Z:-0.04 [[ 9.99985268e-01 5.42803420e-03 0.00000000e+00 3.83067516e+01] [-5.42803420e-03 9.99985268e-01 0.00000000e+00 -4.02008859e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.47564202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.165336194999995 meters Centerline goodness : 0.999654 with order 1 Centerline is valid? [True, True] Translation: X:38.37, Y:-0.40, Z:-0.04 [[ 9.99997317e-01 -2.31632515e-03 0.00000000e+00 3.83653020e+01] [ 2.31632515e-03 9.99997317e-01 0.00000000e+00 -3.98911273e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.03395461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.225336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:38.43, Y:-0.40, Z:-0.05 [[ 9.99978980e-01 -6.48378293e-03 0.00000000e+00 3.84266299e+01] [ 6.48378293e-03 9.99978980e-01 0.00000000e+00 -4.01482340e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.57578541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.285336195 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:38.49, Y:-0.40, Z:-0.04 [[ 9.99938447e-01 -1.10951045e-02 0.00000000e+00 3.84888275e+01] [ 1.10951045e-02 9.99938447e-01 0.00000000e+00 -3.98170669e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.27731386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.345336194999994 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:38.55, Y:-0.40, Z:-0.05 [[ 9.99921948e-01 -1.24938871e-02 0.00000000e+00 3.85509292e+01] [ 1.24938871e-02 9.99921948e-01 0.00000000e+00 -4.03951084e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.73163061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.405336195 meters Centerline goodness : 0.999610 with order 1 Centerline is valid? [True, True] Translation: X:38.61, Y:-0.41, Z:-0.04 [[ 9.99895061e-01 -1.44868108e-02 0.00000000e+00 3.86132283e+01] [ 1.44868108e-02 9.99895061e-01 0.00000000e+00 -4.06167737e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.19152272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.465336195 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:38.67, Y:-0.41, Z:-0.04 [[ 9.99898015e-01 -1.42814585e-02 0.00000000e+00 3.86748127e+01] [ 1.42814585e-02 9.99898015e-01 0.00000000e+00 -4.08530458e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.35964343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.525336194999994 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:38.74, Y:-0.41, Z:-0.05 [[ 9.99957206e-01 -9.25124696e-03 0.00000000e+00 3.87363073e+01] [ 9.25124696e-03 9.99957206e-01 0.00000000e+00 -4.14266395e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.88223545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.585336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:38.80, Y:-0.41, Z:-0.04 [[ 9.99999714e-01 -7.55892419e-04 0.00000000e+00 3.87986003e+01] [ 7.55892419e-04 9.99999714e-01 0.00000000e+00 -4.14683311e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.32498378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.645336195 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:38.86, Y:-0.41, Z:-0.05 [[ 9.99967477e-01 8.06509722e-03 0.00000000e+00 3.88584367e+01] [-8.06509722e-03 9.99967477e-01 0.00000000e+00 -4.14356770e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.61377788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.705336194999994 meters Centerline goodness : 0.999614 with order 1 Centerline is valid? [True, True] Translation: X:38.92, Y:-0.42, Z:-0.05 [[ 9.99946121e-01 1.03805562e-02 0.00000000e+00 3.89156651e+01] [-1.03805562e-02 9.99946121e-01 0.00000000e+00 -4.16986553e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.82002834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.765336194999996 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:38.97, Y:-0.42, Z:-0.04 [[ 9.99979171e-01 6.45421982e-03 0.00000000e+00 3.89741798e+01] [-6.45421982e-03 9.99979171e-01 0.00000000e+00 -4.24117784e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.35293865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.825336195 meters Centerline goodness : 0.999439 with order 1 Centerline is valid? [True, True] Translation: X:39.03, Y:-0.43, Z:-0.04 [[ 9.99998269e-01 1.86064433e-03 0.00000000e+00 3.90315830e+01] [-1.86064433e-03 9.99998269e-01 0.00000000e+00 -4.25560852e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.01908686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.885336194999994 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:39.09, Y:-0.43, Z:-0.04 [[ 9.99998642e-01 1.64815105e-03 0.00000000e+00 3.90905497e+01] [-1.64815105e-03 9.99998642e-01 0.00000000e+00 -4.34139588e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.06122921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.945336194999996 meters Centerline goodness : 0.999590 with order 1 Centerline is valid? [True, True] Translation: X:39.15, Y:-0.44, Z:-0.04 [[ 9.99996242e-01 2.74155772e-03 0.00000000e+00 3.91497162e+01] [-2.74155772e-03 9.99996242e-01 0.00000000e+00 -4.38739394e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.42675814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.005336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:39.21, Y:-0.44, Z:-0.05 [[ 9.99981061e-01 6.15441507e-03 0.00000000e+00 3.92084365e+01] [-6.15441507e-03 9.99981061e-01 0.00000000e+00 -4.42266538e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.69582243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.06533619499999 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:39.27, Y:-0.44, Z:-0.05 [[ 9.99981847e-01 6.02540849e-03 0.00000000e+00 3.92671880e+01] [-6.02540849e-03 9.99981847e-01 0.00000000e+00 -4.44042566e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.98169678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.125336194999996 meters Centerline goodness : 0.999611 with order 1 Centerline is valid? [True, True] Translation: X:39.33, Y:-0.45, Z:-0.05 [[ 9.99991776e-01 4.05553457e-03 0.00000000e+00 3.93259414e+01] [-4.05553457e-03 9.99991776e-01 0.00000000e+00 -4.49231167e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.00690173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.185336195 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:39.39, Y:-0.45, Z:-0.05 [[ 9.99991171e-01 -4.20209547e-03 0.00000000e+00 3.93857186e+01] [ 4.20209547e-03 9.99991171e-01 0.00000000e+00 -4.49809493e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.58506711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.245336195 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:39.45, Y:-0.46, Z:-0.05 [[ 9.99927636e-01 -1.20301106e-02 0.00000000e+00 3.94488074e+01] [ 1.20301106e-02 9.99927636e-01 0.00000000e+00 -4.56277453e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.72042782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.305336194999995 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:39.51, Y:-0.46, Z:-0.05 [[ 9.99916339e-01 -1.29350383e-02 0.00000000e+00 3.95103763e+01] [ 1.29350383e-02 9.99916339e-01 0.00000000e+00 -4.62669931e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.67539816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.365336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:39.57, Y:-0.47, Z:-0.05 [[ 9.99963794e-01 -8.50940872e-03 0.00000000e+00 3.95714014e+01] [ 8.50940872e-03 9.99963794e-01 0.00000000e+00 -4.69536188e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.38513778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.425336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:39.63, Y:-0.47, Z:-0.05 [[ 9.99991680e-01 -4.07926034e-03 0.00000000e+00 3.96347957e+01] [ 4.07926034e-03 9.99991680e-01 0.00000000e+00 -4.73266556e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.35145482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.485336194999995 meters Centerline goodness : 0.999654 with order 1 Centerline is valid? [True, True] Translation: X:39.70, Y:-0.47, Z:-0.05 [[ 9.99999997e-01 -8.28371403e-05 0.00000000e+00 3.96969851e+01] [ 8.28371403e-05 9.99999997e-01 0.00000000e+00 -4.73332742e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.82090852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.545336195 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:39.76, Y:-0.48, Z:-0.05 [[ 9.99991047e-01 4.23158699e-03 0.00000000e+00 3.97571634e+01] [-4.23158699e-03 9.99991047e-01 0.00000000e+00 -4.76882548e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.77806017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.605336195 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:39.81, Y:-0.48, Z:-0.05 [[ 9.99974190e-01 7.18459895e-03 0.00000000e+00 3.98146742e+01] [-7.18459895e-03 9.99974190e-01 0.00000000e+00 -4.78118093e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.24377873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.665336194999995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:39.87, Y:-0.48, Z:-0.05 [[ 9.99938468e-01 1.10932387e-02 0.00000000e+00 3.98735504e+01] [-1.10932387e-02 9.99938468e-01 0.00000000e+00 -4.81156631e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.26904537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.725336195 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:39.93, Y:-0.48, Z:-0.05 [[ 9.99916615e-01 1.29136893e-02 0.00000000e+00 3.99326578e+01] [-1.29136893e-02 9.99916615e-01 0.00000000e+00 -4.78457266e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.03716263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.785336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:39.99, Y:-0.48, Z:-0.05 [[ 9.99904939e-01 1.37881230e-02 0.00000000e+00 3.99904673e+01] [-1.37881230e-02 9.99904939e-01 0.00000000e+00 -4.84249319e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.02705660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.845336194999994 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:40.05, Y:-0.49, Z:-0.05 [[ 9.99940354e-01 1.09219497e-02 0.00000000e+00 4.00493036e+01] [-1.09219497e-02 9.99940354e-01 0.00000000e+00 -4.85664796e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.69997152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.905336195 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:40.11, Y:-0.49, Z:-0.05 [[ 9.99957266e-01 9.24482753e-03 0.00000000e+00 4.01083931e+01] [-9.24482753e-03 9.99957266e-01 0.00000000e+00 -4.92639269e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.79722986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.17, Y:-0.49, Z:-0.05 [[ 9.99950859e-01 9.91357891e-03 0.00000000e+00 4.01675130e+01] [-9.91357891e-03 9.99950859e-01 0.00000000e+00 -4.92373249e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.90667559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.025336194999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.22, Y:-0.50, Z:-0.06 [[ 9.99949267e-01 1.00729401e-02 0.00000000e+00 4.02249593e+01] [-1.00729401e-02 9.99949267e-01 0.00000000e+00 -4.98604122e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.96073898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.085336195 meters Centerline goodness : 0.999523 with order 1 Centerline is valid? [True, True] Translation: X:40.28, Y:-0.50, Z:-0.05 [[ 9.99945826e-01 1.04089036e-02 0.00000000e+00 4.02836192e+01] [-1.04089036e-02 9.99945826e-01 0.00000000e+00 -4.98058065e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.29806839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.145336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:40.34, Y:-0.50, Z:-0.05 [[ 9.99964873e-01 8.38168259e-03 0.00000000e+00 4.03423451e+01] [-8.38168259e-03 9.99964873e-01 0.00000000e+00 -4.99100337e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.16723724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.205336194999994 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:40.40, Y:-0.50, Z:-0.05 [[ 9.99983410e-01 5.76013236e-03 0.00000000e+00 4.04018911e+01] [-5.76013236e-03 9.99983410e-01 0.00000000e+00 -5.02922627e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.67055504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.265336194999996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:40.46, Y:-0.51, Z:-0.05 [[ 9.99997810e-01 -2.09275361e-03 0.00000000e+00 4.04602940e+01] [ 2.09275361e-03 9.99997810e-01 0.00000000e+00 -5.10180949e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.62590543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.325336195 meters Centerline goodness : 0.999566 with order 1 Centerline is valid? [True, True] Translation: X:40.52, Y:-0.51, Z:-0.05 [[ 9.99993244e-01 -3.67576307e-03 0.00000000e+00 4.05218724e+01] [ 3.67576307e-03 9.99993244e-01 0.00000000e+00 -5.11141725e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.61192280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.385336194999994 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:40.58, Y:-0.52, Z:-0.05 [[ 9.99998389e-01 -1.79472309e-03 0.00000000e+00 4.05833447e+01] [ 1.79472309e-03 9.99998389e-01 0.00000000e+00 -5.19129473e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.04948126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.445336194999996 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:40.64, Y:-0.52, Z:-0.05 [[ 9.99994524e-01 3.30951248e-03 0.00000000e+00 4.06449220e+01] [-3.30951248e-03 9.99994524e-01 0.00000000e+00 -5.21091214e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.98681967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.505336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:40.70, Y:-0.52, Z:-0.05 [[ 9.99977685e-01 6.68047866e-03 0.00000000e+00 4.07040344e+01] [-6.68047866e-03 9.99977685e-01 0.00000000e+00 -5.23629361e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.30809919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.56533619499999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:40.76, Y:-0.53, Z:-0.05 [[ 9.99978098e-01 6.61844880e-03 0.00000000e+00 4.07627488e+01] [-6.61844880e-03 9.99978098e-01 0.00000000e+00 -5.25870102e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.72599657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.625336194999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.82, Y:-0.53, Z:-0.05 [[ 9.99969638e-01 7.79255113e-03 0.00000000e+00 4.08205879e+01] [-7.79255113e-03 9.99969638e-01 0.00000000e+00 -5.31775516e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.11543482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.88, Y:-0.54, Z:-0.05 [[ 9.99976172e-01 6.90329161e-03 0.00000000e+00 4.08786662e+01] [-6.90329161e-03 9.99976172e-01 0.00000000e+00 -5.36863940e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.63849723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.94, Y:-0.54, Z:-0.05 [[ 9.99977815e-01 6.66111528e-03 0.00000000e+00 4.09378510e+01] [-6.66111528e-03 9.99977815e-01 0.00000000e+00 -5.41592669e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.83293025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.805336194999995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:41.00, Y:-0.54, Z:-0.05 [[ 9.99966432e-01 8.19357290e-03 0.00000000e+00 4.09957501e+01] [-8.19357290e-03 9.99966432e-01 0.00000000e+00 -5.43843216e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.02987979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.865336195 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:41.05, Y:-0.54, Z:-0.05 [[ 9.99928096e-01 1.19917548e-02 0.00000000e+00 4.10548679e+01] [-1.19917548e-02 9.99928096e-01 0.00000000e+00 -5.42897821e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.10691790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.925336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:41.11, Y:-0.55, Z:-0.05 [[ 9.99884258e-01 1.52141648e-02 0.00000000e+00 4.11130896e+01] [-1.52141648e-02 9.99884258e-01 0.00000000e+00 -5.47562731e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.31326018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.985336194999995 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:41.17, Y:-0.54, Z:-0.04 [[ 9.99862198e-01 1.66007282e-02 0.00000000e+00 4.11720805e+01] [-1.66007282e-02 9.99862198e-01 0.00000000e+00 -5.40216373e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.42442451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.045336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:41.23, Y:-0.54, Z:-0.05 [[ 9.99897977e-01 1.42840679e-02 0.00000000e+00 4.12296525e+01] [-1.42840679e-02 9.99897977e-01 0.00000000e+00 -5.37438740e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.72594203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.29, Y:-0.54, Z:-0.06 [[ 9.99947147e-01 1.02811824e-02 0.00000000e+00 4.12900071e+01] [-1.02811824e-02 9.99947147e-01 0.00000000e+00 -5.40770920e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.90852889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.165336194999995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:41.35, Y:-0.53, Z:-0.05 [[ 9.99980498e-01 6.24528784e-03 0.00000000e+00 4.13481996e+01] [-6.24528784e-03 9.99980498e-01 0.00000000e+00 -5.32778612e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.43100091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.225336195 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:41.41, Y:-0.54, Z:-0.06 [[ 9.99994377e-01 3.35349219e-03 0.00000000e+00 4.14071847e+01] [-3.35349219e-03 9.99994377e-01 0.00000000e+00 -5.36485440e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.67182685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.285336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:41.47, Y:-0.53, Z:-0.05 [[ 9.99996816e-01 2.52364733e-03 0.00000000e+00 4.14661522e+01] [-2.52364733e-03 9.99996816e-01 0.00000000e+00 -5.29240066e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.53801214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.345336194999994 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:41.52, Y:-0.52, Z:-0.05 [[ 9.99987932e-01 4.91276524e-03 0.00000000e+00 4.15245361e+01] [-4.91276524e-03 9.99987932e-01 0.00000000e+00 -5.23860094e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.04589365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.405336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:41.58, Y:-0.53, Z:-0.06 [[ 9.99981435e-01 6.09334291e-03 0.00000000e+00 4.15818948e+01] [-6.09334291e-03 9.99981435e-01 0.00000000e+00 -5.25370080e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.99205768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.465336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:41.64, Y:-0.52, Z:-0.05 [[ 9.99987743e-01 4.95114458e-03 0.00000000e+00 4.16414334e+01] [-4.95114458e-03 9.99987743e-01 0.00000000e+00 -5.15876980e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.63121133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.525336194999994 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:41.70, Y:-0.50, Z:-0.04 [[ 9.99987679e-01 4.96397415e-03 0.00000000e+00 4.17004867e+01] [-4.96397415e-03 9.99987679e-01 0.00000000e+00 -5.04774038e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.77467123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.585336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:41.76, Y:-0.51, Z:-0.05 [[ 9.99988041e-01 4.89057611e-03 0.00000000e+00 4.17593225e+01] [-4.89057611e-03 9.99988041e-01 0.00000000e+00 -5.06324263e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.81486399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.645336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:41.82, Y:-0.49, Z:-0.05 [[ 9.99999280e-01 1.19962738e-03 0.00000000e+00 4.18170761e+01] [-1.19962738e-03 9.99999280e-01 0.00000000e+00 -4.93029052e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.64655621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.705336194999994 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:41.88, Y:-0.49, Z:-0.05 [[ 9.99997229e-01 -2.35427646e-03 0.00000000e+00 4.18766305e+01] [ 2.35427646e-03 9.99997229e-01 0.00000000e+00 -4.90167647e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.80974649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.765336194999996 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:41.94, Y:-0.50, Z:-0.05 [[ 9.99975164e-01 -7.04778326e-03 0.00000000e+00 4.19367541e+01] [ 7.04778326e-03 9.99975164e-01 0.00000000e+00 -4.96198673e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.35812433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.00, Y:-0.49, Z:-0.05 [[ 9.99948215e-01 -1.01768191e-02 0.00000000e+00 4.19988848e+01] [ 1.01768191e-02 9.99948215e-01 0.00000000e+00 -4.90685528e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.56885909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.885336194999994 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:42.06, Y:-0.50, Z:-0.04 [[ 9.99913354e-01 -1.31637193e-02 0.00000000e+00 4.20616060e+01] [ 1.31637193e-02 9.99913354e-01 0.00000000e+00 -4.96840156e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.40958003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.945336194999996 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:42.12, Y:-0.51, Z:-0.05 [[ 9.99948060e-01 -1.01920182e-02 0.00000000e+00 4.21234362e+01] [ 1.01920182e-02 9.99948060e-01 0.00000000e+00 -5.09508266e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.04593442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.005336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:42.19, Y:-0.51, Z:-0.04 [[ 9.99987209e-01 -5.05793574e-03 0.00000000e+00 4.21857919e+01] [ 5.05793574e-03 9.99987209e-01 0.00000000e+00 -5.06231932e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.66837490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.06533619499999 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:42.25, Y:-0.51, Z:-0.05 [[ 9.99991368e-01 4.15490790e-03 0.00000000e+00 4.22466212e+01] [-4.15490790e-03 9.99991368e-01 0.00000000e+00 -5.11701280e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.51646402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.125336194999996 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:42.31, Y:-0.52, Z:-0.05 [[ 9.99880139e-01 1.54824974e-02 0.00000000e+00 4.23052452e+01] [-1.54824974e-02 9.99880139e-01 0.00000000e+00 -5.15659750e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.21545206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.185336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:42.36, Y:-0.51, Z:-0.05 [[ 9.99826148e-01 1.86460379e-02 0.00000000e+00 4.23636584e+01] [-1.86460379e-02 9.99826148e-01 0.00000000e+00 -5.12636088e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.51298450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.24533619499999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:42.42, Y:-0.51, Z:-0.04 [[ 9.99872209e-01 1.59864152e-02 0.00000000e+00 4.24221956e+01] [-1.59864152e-02 9.99872209e-01 0.00000000e+00 -5.06330302e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.76535955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.305336194999995 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:42.48, Y:-0.51, Z:-0.05 [[ 9.99957058e-01 9.26727295e-03 0.00000000e+00 4.24795142e+01] [-9.26727295e-03 9.99957058e-01 0.00000000e+00 -5.13826005e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.74549213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.365336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:42.54, Y:-0.52, Z:-0.06 [[ 9.99998352e-01 1.81550725e-03 0.00000000e+00 4.25380814e+01] [-1.81550725e-03 9.99998352e-01 0.00000000e+00 -5.21440855e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.67146426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.425336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:42.60, Y:-0.52, Z:-0.05 [[ 9.99990679e-01 -4.31764611e-03 0.00000000e+00 4.25980506e+01] [ 4.31764611e-03 9.99990679e-01 0.00000000e+00 -5.17688724e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.60029534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.485336194999995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:42.66, Y:-0.52, Z:-0.04 [[ 9.99994035e-01 -3.45399555e-03 0.00000000e+00 4.26606292e+01] [ 3.45399555e-03 9.99994035e-01 0.00000000e+00 -5.17303664e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.08937202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.545336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:42.72, Y:-0.52, Z:-0.05 [[ 9.99997795e-01 2.09984826e-03 0.00000000e+00 4.27213270e+01] [-2.09984826e-03 9.99997795e-01 0.00000000e+00 -5.22024427e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.77670194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.605336195 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:42.78, Y:-0.52, Z:-0.04 [[ 9.99982333e-01 5.94429552e-03 0.00000000e+00 4.27805014e+01] [-5.94429552e-03 9.99982333e-01 0.00000000e+00 -5.17814192e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.03423498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.665336194999995 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:42.84, Y:-0.51, Z:-0.04 [[ 9.99978378e-01 6.57593289e-03 0.00000000e+00 4.28405560e+01] [-6.57593289e-03 9.99978378e-01 0.00000000e+00 -5.11066766e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.46532029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.725336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:42.90, Y:-0.51, Z:-0.05 [[ 9.99989054e-01 4.67891503e-03 0.00000000e+00 4.28985721e+01] [-4.67891503e-03 9.99989054e-01 0.00000000e+00 -5.11458713e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.24060058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.785336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:42.96, Y:-0.51, Z:-0.05 [[ 9.99999134e-01 1.31570172e-03 0.00000000e+00 4.29582720e+01] [-1.31570172e-03 9.99999134e-01 0.00000000e+00 -5.10645488e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.09431463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.845336194999994 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:43.02, Y:-0.51, Z:-0.05 [[ 9.99999997e-01 7.66229852e-05 0.00000000e+00 4.30180732e+01] [-7.66229852e-05 9.99999997e-01 0.00000000e+00 -5.10932416e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.07787801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.905336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:43.08, Y:-0.51, Z:-0.04 [[ 9.99994594e-01 -3.28823152e-03 0.00000000e+00 4.30787736e+01] [ 3.28823152e-03 9.99994594e-01 0.00000000e+00 -5.05325648e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.37583779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.965336195 meters Centerline goodness : 0.999567 with order 1 Centerline is valid? [True, True] Translation: X:43.14, Y:-0.51, Z:-0.04 [[ 9.99975708e-01 -6.97015161e-03 0.00000000e+00 4.31408756e+01] [ 6.97015161e-03 9.99975708e-01 0.00000000e+00 -5.07265008e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.28330257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.025336194999994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:43.20, Y:-0.51, Z:-0.04 [[ 9.99979780e-01 -6.35915907e-03 0.00000000e+00 4.32015462e+01] [ 6.35915907e-03 9.99979780e-01 0.00000000e+00 -5.07707345e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.21361235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.085336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:43.26, Y:-0.51, Z:-0.04 [[ 9.99998473e-01 -1.74737401e-03 0.00000000e+00 4.32634622e+01] [ 1.74737401e-03 9.99998473e-01 0.00000000e+00 -5.05864458e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.44764488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.145336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:43.32, Y:-0.51, Z:-0.05 [[ 9.99996595e-01 2.60973422e-03 0.00000000e+00 4.33249018e+01] [-2.60973422e-03 9.99996595e-01 0.00000000e+00 -5.06462950e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.90116176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.205336194999994 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:43.38, Y:-0.51, Z:-0.05 [[ 9.99999999e-01 -3.22522644e-05 0.00000000e+00 4.33839860e+01] [ 3.22522644e-05 9.99999999e-01 0.00000000e+00 -5.09847046e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.91051869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.265336194999996 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:43.44, Y:-0.51, Z:-0.05 [[ 9.99999435e-01 -1.06334203e-03 0.00000000e+00 4.34447638e+01] [ 1.06334203e-03 9.99999435e-01 0.00000000e+00 -5.13692204e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.75956701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.325336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:43.51, Y:-0.52, Z:-0.05 [[ 9.99999486e-01 1.01427947e-03 0.00000000e+00 4.35054357e+01] [-1.01427947e-03 9.99999486e-01 0.00000000e+00 -5.15002545e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.68132333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.385336194999994 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:43.57, Y:-0.51, Z:-0.04 [[ 9.99995196e-01 3.09963884e-03 0.00000000e+00 4.35653530e+01] [-3.09963884e-03 9.99995196e-01 0.00000000e+00 -5.11716300e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.18512974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.445336194999996 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:43.62, Y:-0.51, Z:-0.06 [[ 9.99991237e-01 4.18646369e-03 0.00000000e+00 4.36228980e+01] [-4.18646369e-03 9.99991237e-01 0.00000000e+00 -5.14935501e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.62716550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.68, Y:-0.52, Z:-0.05 [[ 9.99994537e-01 3.30532818e-03 0.00000000e+00 4.36813417e+01] [-3.30532818e-03 9.99994537e-01 0.00000000e+00 -5.16381045e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.03526580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.56533619499999 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:43.74, Y:-0.51, Z:-0.04 [[ 9.99999985e-01 -1.72322061e-04 0.00000000e+00 4.37401950e+01] [ 1.72322061e-04 9.99999985e-01 0.00000000e+00 -5.11651064e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.18709731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.625336194999996 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:43.80, Y:-0.52, Z:-0.05 [[ 9.99999349e-01 -1.14120482e-03 0.00000000e+00 4.38008457e+01] [ 1.14120482e-03 9.99999349e-01 0.00000000e+00 -5.24893891e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.16546035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.685336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:43.86, Y:-0.52, Z:-0.04 [[ 9.99996498e-01 -2.64663092e-03 0.00000000e+00 4.38610282e+01] [ 2.64663092e-03 9.99996498e-01 0.00000000e+00 -5.20907198e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.32859928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.74533619499999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:43.92, Y:-0.52, Z:-0.05 [[ 9.99985773e-01 -5.33419523e-03 0.00000000e+00 4.39218182e+01] [ 5.33419523e-03 9.99985773e-01 0.00000000e+00 -5.23332157e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.79709515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.805336194999995 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:43.98, Y:-0.53, Z:-0.05 [[ 9.99971232e-01 -7.58520050e-03 0.00000000e+00 4.39839016e+01] [ 7.58520050e-03 9.99971232e-01 0.00000000e+00 -5.31404849e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.76131318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.865336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:44.05, Y:-0.53, Z:-0.04 [[ 9.99992311e-01 -3.92134989e-03 0.00000000e+00 4.40456935e+01] [ 3.92134989e-03 9.99992311e-01 0.00000000e+00 -5.29548278e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.89682717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.925336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:44.11, Y:-0.54, Z:-0.04 [[ 9.99997455e-01 -2.25598334e-03 0.00000000e+00 4.41081803e+01] [ 2.25598334e-03 9.99997455e-01 0.00000000e+00 -5.40919855e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.44925248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.985336194999995 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:44.17, Y:-0.54, Z:-0.04 [[ 9.99999994e-01 -1.05970404e-04 0.00000000e+00 4.41707417e+01] [ 1.05970404e-04 9.99999994e-01 0.00000000e+00 -5.43690370e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.20126733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.045336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:44.23, Y:-0.54, Z:-0.04 [[ 9.99991850e-01 4.03739167e-03 0.00000000e+00 4.42307750e+01] [-4.03739167e-03 9.99991850e-01 0.00000000e+00 -5.40084962e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.08752068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.105336195 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:44.29, Y:-0.55, Z:-0.05 [[ 9.99949417e-01 1.00580453e-02 0.00000000e+00 4.42895045e+01] [-1.00580453e-02 9.99949417e-01 0.00000000e+00 -5.47313351e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.22048685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.165336194999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.35, Y:-0.55, Z:-0.05 [[ 9.99911998e-01 1.32663670e-02 0.00000000e+00 4.43482565e+01] [-1.32663670e-02 9.99911998e-01 0.00000000e+00 -5.47360389e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.39233130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.225336195 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:44.41, Y:-0.54, Z:-0.04 [[ 9.99886879e-01 1.50409265e-02 0.00000000e+00 4.44081639e+01] [-1.50409265e-02 9.99886879e-01 0.00000000e+00 -5.43749731e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.31511158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.285336195 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:44.47, Y:-0.55, Z:-0.05 [[ 9.99923237e-01 1.23902932e-02 0.00000000e+00 4.44672912e+01] [-1.23902932e-02 9.99923237e-01 0.00000000e+00 -5.51428152e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.66973652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.345336194999994 meters Centerline goodness : 0.999675 with order 1 Centerline is valid? [True, True] Translation: X:44.52, Y:-0.55, Z:-0.04 [[ 9.99978255e-01 6.59468355e-03 0.00000000e+00 4.45249852e+01] [-6.59468355e-03 9.99978255e-01 0.00000000e+00 -5.50630837e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.48728237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.405336195 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:44.58, Y:-0.56, Z:-0.05 [[ 9.99987497e-01 5.00063020e-03 0.00000000e+00 4.45829186e+01] [-5.00063020e-03 9.99987497e-01 0.00000000e+00 -5.64662700e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.40719050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.465336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:44.64, Y:-0.57, Z:-0.05 [[ 9.99974303e-01 7.16892024e-03 0.00000000e+00 4.46417324e+01] [-7.16892024e-03 9.99974303e-01 0.00000000e+00 -5.66299425e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.75710943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.525336194999994 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:44.70, Y:-0.56, Z:-0.04 [[ 9.99966190e-01 8.22312726e-03 0.00000000e+00 4.47009716e+01] [-8.22312726e-03 9.99966190e-01 0.00000000e+00 -5.61914533e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.21252039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.585336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:44.76, Y:-0.57, Z:-0.06 [[ 9.99979381e-01 6.42165662e-03 0.00000000e+00 4.47606273e+01] [-6.42165662e-03 9.99979381e-01 0.00000000e+00 -5.67131606e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.70232377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.645336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:44.82, Y:-0.57, Z:-0.05 [[ 9.99976424e-01 6.86674710e-03 0.00000000e+00 4.48191946e+01] [-6.86674710e-03 9.99976424e-01 0.00000000e+00 -5.67613442e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.14169546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.705336194999994 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:44.88, Y:-0.57, Z:-0.06 [[ 9.99965670e-01 8.28604126e-03 0.00000000e+00 4.48779824e+01] [-8.28604126e-03 9.99965670e-01 0.00000000e+00 -5.70359646e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.67999735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.765336194999996 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:44.94, Y:-0.57, Z:-0.05 [[ 9.99968150e-01 7.98116041e-03 0.00000000e+00 4.49370984e+01] [-7.98116041e-03 9.99968150e-01 0.00000000e+00 -5.68722688e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.65865422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.825336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:45.00, Y:-0.57, Z:-0.05 [[ 9.99997249e-01 2.34575261e-03 0.00000000e+00 4.49950056e+01] [-2.34575261e-03 9.99997249e-01 0.00000000e+00 -5.71651436e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.72283077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.885336194999994 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:45.05, Y:-0.57, Z:-0.04 [[ 9.99996414e-01 -2.67800371e-03 0.00000000e+00 4.50543219e+01] [ 2.67800371e-03 9.99996414e-01 0.00000000e+00 -5.72235907e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.22295599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.945336194999996 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:45.11, Y:-0.58, Z:-0.05 [[ 9.99986479e-01 -5.20008698e-03 0.00000000e+00 4.51145163e+01] [ 5.20008698e-03 9.99986479e-01 0.00000000e+00 -5.81109616e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.29029259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.005336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:45.18, Y:-0.59, Z:-0.05 [[ 9.99996738e-01 -2.55410239e-03 0.00000000e+00 4.51756413e+01] [ 2.55410239e-03 9.99996738e-01 0.00000000e+00 -5.89969933e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.42182489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.06533619499999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:45.24, Y:-0.59, Z:-0.04 [[ 9.99991074e-01 4.22518860e-03 0.00000000e+00 4.52371540e+01] [-4.22518860e-03 9.99991074e-01 0.00000000e+00 -5.86793683e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.32875296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.125336194999996 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:45.30, Y:-0.60, Z:-0.06 [[ 9.99957108e-01 9.26190467e-03 0.00000000e+00 4.52968148e+01] [-9.26190467e-03 9.99957108e-01 0.00000000e+00 -5.96740075e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.61577296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.185336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:45.36, Y:-0.60, Z:-0.05 [[ 9.99964987e-01 8.36802910e-03 0.00000000e+00 4.53556342e+01] [-8.36802910e-03 9.99964987e-01 0.00000000e+00 -5.98276971e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.17015125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.24533619499999 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:45.41, Y:-0.60, Z:-0.05 [[ 9.99982751e-01 5.87345400e-03 0.00000000e+00 4.54133649e+01] [-5.87345400e-03 9.99982751e-01 0.00000000e+00 -5.97107332e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.39191574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.305336194999995 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:45.47, Y:-0.60, Z:-0.05 [[ 9.99996884e-01 2.49649965e-03 0.00000000e+00 4.54730459e+01] [-2.49649965e-03 9.99996884e-01 0.00000000e+00 -6.01737155e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.74506593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.365336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:45.53, Y:-0.61, Z:-0.06 [[ 9.99989383e-01 4.60804081e-03 0.00000000e+00 4.55319986e+01] [-4.60804081e-03 9.99989383e-01 0.00000000e+00 -6.07442000e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.70046654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.59, Y:-0.61, Z:-0.06 [[ 9.99983850e-01 5.68319823e-03 0.00000000e+00 4.55909602e+01] [-5.68319823e-03 9.99983850e-01 0.00000000e+00 -6.11320661e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.54656346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.485336194999995 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:45.65, Y:-0.61, Z:-0.06 [[ 9.99974764e-01 7.10427247e-03 0.00000000e+00 4.56490983e+01] [-7.10427247e-03 9.99974764e-01 0.00000000e+00 -6.11842942e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.71107805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.545336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:45.71, Y:-0.61, Z:-0.04 [[ 9.99988126e-01 4.87315432e-03 0.00000000e+00 4.57079712e+01] [-4.87315432e-03 9.99988126e-01 0.00000000e+00 -6.14798391e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.18092924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.605336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:45.77, Y:-0.61, Z:-0.04 [[ 9.99996977e-01 2.45889312e-03 0.00000000e+00 4.57653769e+01] [-2.45889312e-03 9.99996977e-01 0.00000000e+00 -6.12149625e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.94522757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.665336194999995 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:45.82, Y:-0.62, Z:-0.04 [[ 9.99998997e-01 1.41663537e-03 0.00000000e+00 4.58243219e+01] [-1.41663537e-03 9.99998997e-01 0.00000000e+00 -6.16001171e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.09931337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.725336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:45.88, Y:-0.62, Z:-0.04 [[ 9.99999929e-01 -3.77266883e-04 0.00000000e+00 4.58841625e+01] [ 3.77266883e-04 9.99999929e-01 0.00000000e+00 -6.15559800e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.35106910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.785336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:45.94, Y:-0.62, Z:-0.06 [[ 9.99999993e-01 -1.17551789e-04 0.00000000e+00 4.59445354e+01] [ 1.17551789e-04 9.99999993e-01 0.00000000e+00 -6.17411111e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.60405185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.845336194999994 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:46.00, Y:-0.62, Z:-0.06 [[ 9.99981606e-01 -6.06532932e-03 0.00000000e+00 4.60047769e+01] [ 6.06532932e-03 9.99981606e-01 0.00000000e+00 -6.24197092e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.58270116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.07, Y:-0.62, Z:-0.04 [[ 9.99940431e-01 -1.09148738e-02 0.00000000e+00 4.60670029e+01] [ 1.09148738e-02 9.99940431e-01 0.00000000e+00 -6.24929690e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.49080600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.965336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:46.13, Y:-0.63, Z:-0.04 [[ 9.99959985e-01 -8.94585656e-03 0.00000000e+00 4.61280182e+01] [ 8.94585656e-03 9.99959985e-01 0.00000000e+00 -6.32392710e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.43997743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.025336194999994 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:46.19, Y:-0.64, Z:-0.05 [[ 9.99998895e-01 -1.48691167e-03 0.00000000e+00 4.61880346e+01] [ 1.48691167e-03 9.99998895e-01 0.00000000e+00 -6.37687977e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.97341628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.25, Y:-0.64, Z:-0.05 [[ 9.99990582e-01 4.33996981e-03 0.00000000e+00 4.62493616e+01] [-4.33996981e-03 9.99990582e-01 0.00000000e+00 -6.40882775e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.96954219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.145336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:46.31, Y:-0.65, Z:-0.05 [[ 9.99956176e-01 9.36193028e-03 0.00000000e+00 4.63075464e+01] [-9.36193028e-03 9.99956176e-01 0.00000000e+00 -6.45268290e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.07203928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.205336194999994 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:46.37, Y:-0.66, Z:-0.05 [[ 9.99974358e-01 7.16126921e-03 0.00000000e+00 4.63666068e+01] [-7.16126921e-03 9.99974358e-01 0.00000000e+00 -6.55254170e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.95553229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.265336194999996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:46.42, Y:-0.66, Z:-0.05 [[ 9.99997342e-01 2.30545970e-03 0.00000000e+00 4.64242188e+01] [-2.30545970e-03 9.99997342e-01 0.00000000e+00 -6.57140163e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.33547045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.325336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:46.48, Y:-0.66, Z:-0.05 [[ 9.99995538e-01 2.98722205e-03 0.00000000e+00 4.64833694e+01] [-2.98722205e-03 9.99995538e-01 0.00000000e+00 -6.63230799e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.19536576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.385336194999994 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:46.54, Y:-0.67, Z:-0.06 [[ 9.99985842e-01 5.32117451e-03 0.00000000e+00 4.65414462e+01] [-5.32117451e-03 9.99985842e-01 0.00000000e+00 -6.74368873e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.16910656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.445336194999996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:46.60, Y:-0.67, Z:-0.05 [[ 9.99970009e-01 7.74469180e-03 0.00000000e+00 4.66010783e+01] [-7.74469180e-03 9.99970009e-01 0.00000000e+00 -6.71169491e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.59884939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.505336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:46.66, Y:-0.67, Z:-0.04 [[ 9.99966224e-01 8.21892357e-03 0.00000000e+00 4.66597762e+01] [-8.21892357e-03 9.99966224e-01 0.00000000e+00 -6.73493911e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.22344840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.56533619499999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:46.72, Y:-0.69, Z:-0.05 [[ 9.99958874e-01 9.06917819e-03 0.00000000e+00 4.67170673e+01] [-9.06917819e-03 9.99958874e-01 0.00000000e+00 -6.85166502e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.45919329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.625336194999996 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:46.78, Y:-0.68, Z:-0.05 [[ 9.99939507e-01 1.09991577e-02 0.00000000e+00 4.67754499e+01] [-1.09991577e-02 9.99939507e-01 0.00000000e+00 -6.80976606e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.89909445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.685336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:46.83, Y:-0.67, Z:-0.04 [[ 9.99906212e-01 1.36954835e-02 0.00000000e+00 4.68338351e+01] [-1.36954835e-02 9.99906212e-01 0.00000000e+00 -6.71715812e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.96166379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.74533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.89, Y:-0.67, Z:-0.05 [[ 9.99850525e-01 1.72895346e-02 0.00000000e+00 4.68941336e+01] [-1.72895346e-02 9.99850525e-01 0.00000000e+00 -6.74281770e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.15142964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.805336194999995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:46.95, Y:-0.67, Z:-0.05 [[ 9.99867657e-01 1.62686254e-02 0.00000000e+00 4.69532057e+01] [-1.62686254e-02 9.99867657e-01 0.00000000e+00 -6.72749330e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.50514196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.865336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:47.01, Y:-0.66, Z:-0.03 [[ 9.99917230e-01 1.28659523e-02 0.00000000e+00 4.70117366e+01] [-1.28659523e-02 9.99917230e-01 0.00000000e+00 -6.62154047e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.43324451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.925336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:47.07, Y:-0.67, Z:-0.04 [[ 9.99904267e-01 1.38368099e-02 0.00000000e+00 4.70707783e+01] [-1.38368099e-02 9.99904267e-01 0.00000000e+00 -6.70076552e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.39559846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.985336194999995 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:47.13, Y:-0.67, Z:-0.04 [[ 9.99851727e-01 1.72199000e-02 0.00000000e+00 4.71287148e+01] [-1.72199000e-02 9.99851727e-01 0.00000000e+00 -6.65974147e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.49696681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.19, Y:-0.66, Z:-0.05 [[ 9.99784103e-01 2.07785543e-02 0.00000000e+00 4.71882393e+01] [-2.07785543e-02 9.99784103e-01 0.00000000e+00 -6.60708779e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.79017975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.105336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:47.25, Y:-0.66, Z:-0.05 [[ 9.99784006e-01 2.07831765e-02 0.00000000e+00 4.72460784e+01] [-2.07831765e-02 9.99784006e-01 0.00000000e+00 -6.62714412e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.08471767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.165336194999995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:47.30, Y:-0.67, Z:-0.04 [[ 9.99824858e-01 1.87150560e-02 0.00000000e+00 4.73049493e+01] [-1.87150560e-02 9.99824858e-01 0.00000000e+00 -6.65982689e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.39719317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.225336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:47.36, Y:-0.66, Z:-0.04 [[ 9.99898260e-01 1.42642637e-02 0.00000000e+00 4.73643643e+01] [-1.42642637e-02 9.99898260e-01 0.00000000e+00 -6.62788226e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.07287315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.285336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:47.42, Y:-0.67, Z:-0.04 [[ 9.99949424e-01 1.00573053e-02 0.00000000e+00 4.74235411e+01] [-1.00573053e-02 9.99949424e-01 0.00000000e+00 -6.65072706e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.09259935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.345336194999994 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:47.48, Y:-0.67, Z:-0.05 [[ 9.99921102e-01 1.25614489e-02 0.00000000e+00 4.74812032e+01] [-1.25614489e-02 9.99921102e-01 0.00000000e+00 -6.72704270e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.77313761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.405336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:47.54, Y:-0.67, Z:-0.04 [[ 9.99846410e-01 1.75258560e-02 0.00000000e+00 4.75403590e+01] [-1.75258560e-02 9.99846410e-01 0.00000000e+00 -6.67727088e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.39202341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.465336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:47.60, Y:-0.66, Z:-0.03 [[ 9.99783052e-01 2.08290566e-02 0.00000000e+00 4.75989187e+01] [-2.08290566e-02 9.99783052e-01 0.00000000e+00 -6.55670323e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.21060547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.525336194999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.66, Y:-0.66, Z:-0.04 [[ 9.99792099e-01 2.03901654e-02 0.00000000e+00 4.76581203e+01] [-2.03901654e-02 9.99792099e-01 0.00000000e+00 -6.61899822e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.27558932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.72, Y:-0.66, Z:-0.05 [[ 9.99834860e-01 1.81728304e-02 0.00000000e+00 4.77164581e+01] [-1.81728304e-02 9.99834860e-01 0.00000000e+00 -6.63448099e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.70580661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.645336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:47.77, Y:-0.66, Z:-0.04 [[ 9.99894015e-01 1.45588309e-02 0.00000000e+00 4.77742892e+01] [-1.45588309e-02 9.99894015e-01 0.00000000e+00 -6.60182251e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.22639000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.705336194999994 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:47.83, Y:-0.66, Z:-0.04 [[ 9.99956841e-01 9.29061576e-03 0.00000000e+00 4.78332470e+01] [-9.29061576e-03 9.99956841e-01 0.00000000e+00 -6.62598752e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.07769252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.765336194999996 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:47.89, Y:-0.67, Z:-0.05 [[ 9.99985792e-01 5.33060719e-03 0.00000000e+00 4.78930252e+01] [-5.33060719e-03 9.99985792e-01 0.00000000e+00 -6.66294783e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.75806063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.825336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:47.95, Y:-0.66, Z:-0.05 [[ 9.99996561e-01 2.62249447e-03 0.00000000e+00 4.79503914e+01] [-2.62249447e-03 9.99996561e-01 0.00000000e+00 -6.63694684e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.50899335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.885336194999994 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:48.01, Y:-0.67, Z:-0.04 [[ 9.99995674e-01 2.94136738e-03 0.00000000e+00 4.80104636e+01] [-2.94136738e-03 9.99995674e-01 0.00000000e+00 -6.67286814e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.77221660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.945336194999996 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:48.07, Y:-0.67, Z:-0.04 [[ 9.99995553e-01 2.98221761e-03 0.00000000e+00 4.80695063e+01] [-2.98221761e-03 9.99995553e-01 0.00000000e+00 -6.70983102e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.72198896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.005336195 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:48.13, Y:-0.67, Z:-0.04 [[ 9.99969393e-01 7.82383545e-03 0.00000000e+00 4.81280930e+01] [-7.82383545e-03 9.99969393e-01 0.00000000e+00 -6.73584817e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.89947929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.06533619499999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:48.19, Y:-0.67, Z:-0.04 [[ 9.99909848e-01 1.34274533e-02 0.00000000e+00 4.81865554e+01] [-1.34274533e-02 9.99909848e-01 0.00000000e+00 -6.73517151e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.91877047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.125336194999996 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:48.24, Y:-0.67, Z:-0.04 [[ 9.99817682e-01 1.90945616e-02 0.00000000e+00 4.82447712e+01] [-1.90945616e-02 9.99817682e-01 0.00000000e+00 -6.68429553e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.00910944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.30, Y:-0.67, Z:-0.05 [[ 9.99721600e-01 2.35949736e-02 0.00000000e+00 4.83020684e+01] [-2.35949736e-02 9.99721600e-01 0.00000000e+00 -6.73084033e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.84538572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.24533619499999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:48.36, Y:-0.67, Z:-0.04 [[ 9.99610090e-01 2.79225414e-02 0.00000000e+00 4.83608453e+01] [-2.79225414e-02 9.99610090e-01 0.00000000e+00 -6.68333138e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.01795352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.305336194999995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:48.42, Y:-0.66, Z:-0.04 [[ 9.99563675e-01 2.95374192e-02 0.00000000e+00 4.84193897e+01] [-2.95374192e-02 9.99563675e-01 0.00000000e+00 -6.60651666e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.71690293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.48, Y:-0.66, Z:-0.04 [[ 9.99623158e-01 2.74507339e-02 0.00000000e+00 4.84774352e+01] [-2.74507339e-02 9.99623158e-01 0.00000000e+00 -6.56526968e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.60979582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.425336195 meters Centerline goodness : 0.999359 with order 1 Centerline is valid? [True, True] Translation: X:48.54, Y:-0.66, Z:-0.05 [[ 9.99670147e-01 2.56826187e-02 0.00000000e+00 4.85365694e+01] [-2.56826187e-02 9.99670147e-01 0.00000000e+00 -6.57121606e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.76527450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.485336194999995 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:48.60, Y:-0.65, Z:-0.04 [[ 9.99714593e-01 2.38899908e-02 0.00000000e+00 4.85952946e+01] [-2.38899908e-02 9.99714593e-01 0.00000000e+00 -6.52231188e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.23123418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.545336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:48.65, Y:-0.65, Z:-0.04 [[ 9.99720106e-01 2.36581724e-02 0.00000000e+00 4.86545382e+01] [-2.36581724e-02 9.99720106e-01 0.00000000e+00 -6.49784417e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.01173855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.605336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:48.71, Y:-0.65, Z:-0.04 [[ 9.99696167e-01 2.46490145e-02 0.00000000e+00 4.87126302e+01] [-2.46490145e-02 9.99696167e-01 0.00000000e+00 -6.48872902e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.98066550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.665336194999995 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:48.77, Y:-0.65, Z:-0.04 [[ 9.99654850e-01 2.62712756e-02 0.00000000e+00 4.87711895e+01] [-2.62712756e-02 9.99654850e-01 0.00000000e+00 -6.50459399e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.79084101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.83, Y:-0.64, Z:-0.03 [[ 9.99688514e-01 2.49574714e-02 0.00000000e+00 4.88302323e+01] [-2.49574714e-02 9.99688514e-01 0.00000000e+00 -6.43519862e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.27733317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.785336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:48.89, Y:-0.64, Z:-0.04 [[ 9.99656268e-01 2.62172955e-02 0.00000000e+00 4.88886817e+01] [-2.62172955e-02 9.99656268e-01 0.00000000e+00 -6.41710806e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.08619738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.845336194999994 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:48.95, Y:-0.64, Z:-0.05 [[ 9.99519950e-01 3.09817513e-02 0.00000000e+00 4.89476066e+01] [-3.09817513e-02 9.99519950e-01 0.00000000e+00 -6.41749913e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.60558973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.905336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:49.01, Y:-0.63, Z:-0.04 [[ 9.99542015e-01 3.02615304e-02 0.00000000e+00 4.90067635e+01] [-3.02615304e-02 9.99542015e-01 0.00000000e+00 -6.30822472e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.34466674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.965336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:49.06, Y:-0.63, Z:-0.05 [[ 9.99751320e-01 2.23001720e-02 0.00000000e+00 4.90644097e+01] [-2.23001720e-02 9.99751320e-01 0.00000000e+00 -6.27884557e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.82938096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.025336194999994 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:49.12, Y:-0.62, Z:-0.05 [[ 9.99877358e-01 1.56610798e-02 0.00000000e+00 4.91232571e+01] [-1.56610798e-02 9.99877358e-01 0.00000000e+00 -6.23804833e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.83268399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.085336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:49.18, Y:-0.62, Z:-0.05 [[ 9.99907432e-01 1.36061810e-02 0.00000000e+00 4.91820262e+01] [-1.36061810e-02 9.99907432e-01 0.00000000e+00 -6.22310486e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.45131834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.145336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:49.24, Y:-0.62, Z:-0.05 [[ 9.99917258e-01 1.28637577e-02 0.00000000e+00 4.92409182e+01] [-1.28637577e-02 9.99917258e-01 0.00000000e+00 -6.15128643e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.20115116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.205336194999994 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:49.30, Y:-0.61, Z:-0.05 [[ 9.99934377e-01 1.14560987e-02 0.00000000e+00 4.92992998e+01] [-1.14560987e-02 9.99934377e-01 0.00000000e+00 -6.07343123e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.15572556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.265336194999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.36, Y:-0.61, Z:-0.05 [[ 9.99962217e-01 8.69274000e-03 0.00000000e+00 4.93575896e+01] [-8.69274000e-03 9.99962217e-01 0.00000000e+00 -6.10718529e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.13460667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.325336195 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:49.42, Y:-0.61, Z:-0.06 [[ 9.99973469e-01 7.28428052e-03 0.00000000e+00 4.94155832e+01] [-7.28428052e-03 9.99973469e-01 0.00000000e+00 -6.09067017e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.73940784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.385336194999994 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:49.47, Y:-0.60, Z:-0.05 [[ 9.99960235e-01 8.91782330e-03 0.00000000e+00 4.94739104e+01] [-8.91782330e-03 9.99960235e-01 0.00000000e+00 -6.03838630e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.14977415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.445336194999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.53, Y:-0.60, Z:-0.05 [[ 9.99909510e-01 1.34525743e-02 0.00000000e+00 4.95323790e+01] [-1.34525743e-02 9.99909510e-01 0.00000000e+00 -5.97290961e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.88121665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.505336195 meters Centerline goodness : 0.999546 with order 1 Centerline is valid? [True, True] Translation: X:49.59, Y:-0.60, Z:-0.05 [[ 9.99801336e-01 1.99321046e-02 0.00000000e+00 4.95914544e+01] [-1.99321046e-02 9.99801336e-01 0.00000000e+00 -5.96168098e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.38283702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.56533619499999 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:49.65, Y:-0.59, Z:-0.05 [[ 9.99881575e-01 1.53894885e-02 0.00000000e+00 4.96485599e+01] [-1.53894885e-02 9.99881575e-01 0.00000000e+00 -5.90028780e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.12536061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.625336194999996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:49.71, Y:-0.58, Z:-0.05 [[ 9.99980858e-01 6.18739092e-03 0.00000000e+00 4.97079491e+01] [-6.18739092e-03 9.99980858e-01 0.00000000e+00 -5.84147808e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.89767668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.685336195 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:49.77, Y:-0.58, Z:-0.06 [[ 9.99999762e-01 6.90535605e-04 0.00000000e+00 4.97658092e+01] [-6.90535605e-04 9.99999762e-01 0.00000000e+00 -5.83849111e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.93167660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.74533619499999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:49.83, Y:-0.58, Z:-0.06 [[ 9.99999884e-01 4.82127706e-04 0.00000000e+00 4.98259331e+01] [-4.82127706e-04 9.99999884e-01 0.00000000e+00 -5.84036744e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.09805424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.805336194999995 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:49.89, Y:-0.58, Z:-0.05 [[ 9.99998988e-01 1.42245598e-03 0.00000000e+00 4.98859591e+01] [-1.42245598e-03 9.99998988e-01 0.00000000e+00 -5.75614834e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.17949132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.865336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:49.94, Y:-0.57, Z:-0.05 [[ 9.99998914e-01 1.47371678e-03 0.00000000e+00 4.99445894e+01] [-1.47371678e-03 9.99998914e-01 0.00000000e+00 -5.68931747e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.32750193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.925336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:50.00, Y:-0.57, Z:-0.06 [[ 9.99990532e-01 4.35150051e-03 0.00000000e+00 5.00036459e+01] [-4.35150051e-03 9.99990532e-01 0.00000000e+00 -5.68381458e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.04290438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.985336194999995 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:50.06, Y:-0.57, Z:-0.07 [[ 9.99989998e-01 4.47253119e-03 0.00000000e+00 5.00629882e+01] [-4.47253119e-03 9.99989998e-01 0.00000000e+00 -5.68564657e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.81653278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.045336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:50.12, Y:-0.56, Z:-0.05 [[ 9.99999620e-01 -8.72082032e-04 0.00000000e+00 5.01224508e+01] [ 8.72082032e-04 9.99999620e-01 0.00000000e+00 -5.58929076e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.19915210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.105336195 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:50.18, Y:-0.57, Z:-0.06 [[ 9.99991330e-01 -4.16424263e-03 0.00000000e+00 5.01838611e+01] [ 4.16424263e-03 9.99991330e-01 0.00000000e+00 -5.65723092e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.72782067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.165336194999995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:50.25, Y:-0.56, Z:-0.05 [[ 9.99993156e-01 -3.69982156e-03 0.00000000e+00 5.02452384e+01] [ 3.69982156e-03 9.99993156e-01 0.00000000e+00 -5.56232799e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.40078069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.225336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:50.31, Y:-0.55, Z:-0.06 [[ 1.00000000e+00 -1.42948882e-06 0.00000000e+00 5.03069089e+01] [ 1.42948882e-06 1.00000000e+00 0.00000000e+00 -5.53065639e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.79209398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.285336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:50.37, Y:-0.56, Z:-0.07 [[ 9.99997617e-01 2.18301401e-03 0.00000000e+00 5.03674166e+01] [-2.18301401e-03 9.99997617e-01 0.00000000e+00 -5.55655048e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.81007643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.345336194999994 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:50.43, Y:-0.55, Z:-0.06 [[ 9.99999630e-01 8.59659896e-04 0.00000000e+00 5.04265500e+01] [-8.59659896e-04 9.99999630e-01 0.00000000e+00 -5.52290305e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.04536582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.405336195 meters Centerline goodness : 0.999614 with order 1 Centerline is valid? [True, True] Translation: X:50.49, Y:-0.55, Z:-0.06 [[ 9.99999977e-01 2.14723762e-04 0.00000000e+00 5.04860616e+01] [-2.14723762e-04 9.99999977e-01 0.00000000e+00 -5.48177056e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.79750873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.465336195 meters Centerline goodness : 0.999651 with order 1 Centerline is valid? [True, True] Translation: X:50.55, Y:-0.55, Z:-0.06 [[ 9.99998398e-01 -1.78974413e-03 0.00000000e+00 5.05468689e+01] [ 1.78974413e-03 9.99998398e-01 0.00000000e+00 -5.48679412e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.57473180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.525336194999994 meters Centerline goodness : 0.999695 with order 1 Centerline is valid? [True, True] Translation: X:50.61, Y:-0.56, Z:-0.07 [[ 9.99981164e-01 -6.13772026e-03 0.00000000e+00 5.06085756e+01] [ 6.13772026e-03 9.99981164e-01 0.00000000e+00 -5.57774779e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.63459275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.585336195 meters Centerline goodness : 0.999632 with order 1 Centerline is valid? [True, True] Translation: X:50.67, Y:-0.56, Z:-0.07 [[ 9.99955002e-01 -9.48653676e-03 0.00000000e+00 5.06697556e+01] [ 9.48653676e-03 9.99955002e-01 0.00000000e+00 -5.55318857e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.64645914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.645336195 meters Centerline goodness : 0.999675 with order 1 Centerline is valid? [True, True] Translation: X:50.73, Y:-0.56, Z:-0.07 [[ 9.99978329e-01 -6.58347685e-03 0.00000000e+00 5.07316135e+01] [ 6.58347685e-03 9.99978329e-01 0.00000000e+00 -5.57553590e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.59379269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.705336194999994 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:50.79, Y:-0.55, Z:-0.06 [[ 9.99999990e-01 -1.43427730e-04 0.00000000e+00 5.07914509e+01] [ 1.43427730e-04 9.99999990e-01 0.00000000e+00 -5.50835891e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.72761185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.765336194999996 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:50.85, Y:-0.55, Z:-0.06 [[ 9.99994358e-01 3.35902250e-03 0.00000000e+00 5.08515322e+01] [-3.35902250e-03 9.99994358e-01 0.00000000e+00 -5.46591099e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.95453260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.825336195 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:50.91, Y:-0.54, Z:-0.05 [[ 9.99993523e-01 -3.59907332e-03 0.00000000e+00 5.09105052e+01] [ 3.59907332e-03 9.99993523e-01 0.00000000e+00 -5.39972297e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.47458181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.885336194999994 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:50.97, Y:-0.54, Z:-0.07 [[ 9.99939950e-01 -1.09588066e-02 0.00000000e+00 5.09715916e+01] [ 1.09588066e-02 9.99939950e-01 0.00000000e+00 -5.40894110e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.62449421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.945336194999996 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:51.03, Y:-0.55, Z:-0.07 [[ 9.99910077e-01 -1.34103760e-02 0.00000000e+00 5.10335478e+01] [ 1.34103760e-02 9.99910077e-01 0.00000000e+00 -5.47291604e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.97806428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.005336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:51.09, Y:-0.54, Z:-0.06 [[ 9.99927646e-01 -1.20292464e-02 0.00000000e+00 5.10949563e+01] [ 1.20292464e-02 9.99927646e-01 0.00000000e+00 -5.36684576e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.44219775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.06533619499999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:51.16, Y:-0.54, Z:-0.07 [[ 9.99981031e-01 -6.15939623e-03 0.00000000e+00 5.11572422e+01] [ 6.15939623e-03 9.99981031e-01 0.00000000e+00 -5.35722179e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.61968568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.125336194999996 meters Centerline goodness : 0.999631 with order 1 Centerline is valid? [True, True] Translation: X:51.22, Y:-0.53, Z:-0.06 [[ 9.99994659e-01 -3.26823007e-03 0.00000000e+00 5.12192188e+01] [ 3.26823007e-03 9.99994659e-01 0.00000000e+00 -5.31648459e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.26897964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.185336195 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:51.28, Y:-0.52, Z:-0.07 [[ 9.99999621e-01 -8.70778023e-04 0.00000000e+00 5.12810943e+01] [ 8.70778023e-04 9.99999621e-01 0.00000000e+00 -5.24072707e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.81129175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.24533619499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:51.34, Y:-0.53, Z:-0.07 [[ 9.99997039e-01 2.43340307e-03 0.00000000e+00 5.13421795e+01] [-2.43340307e-03 9.99997039e-01 0.00000000e+00 -5.26168239e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.77361211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.305336194999995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:51.40, Y:-0.53, Z:-0.07 [[ 9.99992607e-01 3.84525083e-03 0.00000000e+00 5.14006724e+01] [-3.84525083e-03 9.99992607e-01 0.00000000e+00 -5.27576196e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.66377736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.365336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:51.46, Y:-0.52, Z:-0.06 [[ 9.99992306e-01 3.92262165e-03 0.00000000e+00 5.14597877e+01] [-3.92262165e-03 9.99992306e-01 0.00000000e+00 -5.19925942e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.07198512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.42533619499999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:51.52, Y:-0.53, Z:-0.07 [[ 9.99999050e-01 -1.37828358e-03 0.00000000e+00 5.15189881e+01] [ 1.37828358e-03 9.99999050e-01 0.00000000e+00 -5.26790149e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.64966641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.485336194999995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:51.58, Y:-0.53, Z:-0.07 [[ 9.99993524e-01 -3.59880105e-03 0.00000000e+00 5.15802822e+01] [ 3.59880105e-03 9.99993524e-01 0.00000000e+00 -5.28095693e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.56670641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.545336195 meters Centerline goodness : 0.999391 with order 1 Centerline is valid? [True, True] Translation: X:51.64, Y:-0.53, Z:-0.07 [[ 9.99992725e-01 -3.81446882e-03 0.00000000e+00 5.16427585e+01] [ 3.81446882e-03 9.99992725e-01 0.00000000e+00 -5.32735453e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.71875556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.605336195 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:51.70, Y:-0.53, Z:-0.07 [[ 9.99997761e-01 -2.11635175e-03 0.00000000e+00 5.17035367e+01] [ 2.11635175e-03 9.99997761e-01 0.00000000e+00 -5.31423766e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.84830613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.665336194999995 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:51.77, Y:-0.53, Z:-0.07 [[ 9.99999243e-01 1.23064885e-03 0.00000000e+00 5.17653760e+01] [-1.23064885e-03 9.99999243e-01 0.00000000e+00 -5.25483700e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.65966645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.725336195 meters Centerline goodness : 0.999610 with order 1 Centerline is valid? [True, True] Translation: X:51.83, Y:-0.53, Z:-0.07 [[ 9.99999239e-01 1.23340847e-03 0.00000000e+00 5.18253641e+01] [-1.23340847e-03 9.99999239e-01 0.00000000e+00 -5.27185753e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.57154873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.785336195 meters Centerline goodness : 0.999654 with order 1 Centerline is valid? [True, True] Translation: X:51.88, Y:-0.53, Z:-0.06 [[ 9.99991019e-01 -4.23819275e-03 0.00000000e+00 5.18847615e+01] [ 4.23819275e-03 9.99991019e-01 0.00000000e+00 -5.31256467e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.49935789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.845336194999994 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:51.95, Y:-0.54, Z:-0.07 [[ 9.99904826e-01 -1.37963206e-02 0.00000000e+00 5.19455221e+01] [ 1.37963206e-02 9.99904826e-01 0.00000000e+00 -5.36067509e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.14987705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.905336195 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:52.01, Y:-0.54, Z:-0.07 [[ 9.99825648e-01 -1.86727780e-02 0.00000000e+00 5.20067175e+01] [ 1.86727780e-02 9.99825648e-01 0.00000000e+00 -5.40370712e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.31133833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.965336195 meters Centerline goodness : 0.999610 with order 1 Centerline is valid? [True, True] Translation: X:52.07, Y:-0.55, Z:-0.07 [[ 9.99808395e-01 -1.95748286e-02 0.00000000e+00 5.20674981e+01] [ 1.95748286e-02 9.99808395e-01 0.00000000e+00 -5.45526928e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.25382330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.025336194999994 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:52.13, Y:-0.55, Z:-0.08 [[ 9.99865085e-01 -1.64259738e-02 0.00000000e+00 5.21300248e+01] [ 1.64259738e-02 9.99865085e-01 0.00000000e+00 -5.54543877e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.53741608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.085336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:52.19, Y:-0.56, Z:-0.08 [[ 9.99945113e-01 -1.04771412e-02 0.00000000e+00 5.21908275e+01] [ 1.04771412e-02 9.99945113e-01 0.00000000e+00 -5.59792058e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.47934471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.145336195 meters Centerline goodness : 0.999633 with order 1 Centerline is valid? [True, True] Translation: X:52.25, Y:-0.56, Z:-0.07 [[ 9.99991234e-01 -4.18716075e-03 0.00000000e+00 5.22532371e+01] [ 4.18716075e-03 9.99991234e-01 0.00000000e+00 -5.56105895e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.30022735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.205336194999994 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:52.32, Y:-0.56, Z:-0.08 [[ 9.99999752e-01 -7.04233998e-04 0.00000000e+00 5.23158609e+01] [ 7.04233998e-04 9.99999752e-01 0.00000000e+00 -5.61834156e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.13893098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.265336194999996 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:52.38, Y:-0.57, Z:-0.08 [[ 9.99999817e-01 6.05195926e-04 0.00000000e+00 5.23773407e+01] [-6.05195926e-04 9.99999817e-01 0.00000000e+00 -5.65060522e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.48952545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.325336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:52.44, Y:-0.56, Z:-0.07 [[ 9.99990892e-01 -4.26806790e-03 0.00000000e+00 5.24375882e+01] [ 4.26806790e-03 9.99990892e-01 0.00000000e+00 -5.60274448e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.11407854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.385336194999994 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:52.50, Y:-0.56, Z:-0.07 [[ 9.99981832e-01 -6.02792643e-03 0.00000000e+00 5.24993415e+01] [ 6.02792643e-03 9.99981832e-01 0.00000000e+00 -5.62289630e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.62531387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.445336194999996 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:52.56, Y:-0.57, Z:-0.07 [[ 9.99948618e-01 -1.01371653e-02 0.00000000e+00 5.25617893e+01] [ 1.01371653e-02 9.99948618e-01 0.00000000e+00 -5.70254596e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.14133748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.505336195 meters Centerline goodness : 0.999521 with order 1 Centerline is valid? [True, True] Translation: X:52.62, Y:-0.57, Z:-0.08 [[ 9.99926189e-01 -1.21497724e-02 0.00000000e+00 5.26226723e+01] [ 1.21497724e-02 9.99926189e-01 0.00000000e+00 -5.72580991e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.73563814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.56533619499999 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:52.68, Y:-0.58, Z:-0.08 [[ 9.99923786e-01 -1.23459162e-02 0.00000000e+00 5.26833895e+01] [ 1.23459162e-02 9.99923786e-01 0.00000000e+00 -5.78479408e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.08850427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.625336194999996 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:52.74, Y:-0.58, Z:-0.09 [[ 9.99966208e-01 -8.22093692e-03 0.00000000e+00 5.27437004e+01] [ 8.22093692e-03 9.99966208e-01 0.00000000e+00 -5.77339891e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.57724883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.685336195 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:52.80, Y:-0.58, Z:-0.09 [[ 9.99981354e-01 -6.10670046e-03 0.00000000e+00 5.28028701e+01] [ 6.10670046e-03 9.99981354e-01 0.00000000e+00 -5.79975721e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.78414195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.74533619499999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:52.86, Y:-0.58, Z:-0.07 [[ 9.99995419e-01 -3.02677769e-03 0.00000000e+00 5.28635746e+01] [ 3.02677769e-03 9.99995419e-01 0.00000000e+00 -5.77051078e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.99202837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.805336194999995 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:52.93, Y:-0.58, Z:-0.08 [[ 9.99990351e-01 -4.39292927e-03 0.00000000e+00 5.29253793e+01] [ 4.39292927e-03 9.99990351e-01 0.00000000e+00 -5.82437449e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.55788259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.865336195 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:52.98, Y:-0.59, Z:-0.08 [[ 9.99944962e-01 -1.04915317e-02 0.00000000e+00 5.29847637e+01] [ 1.04915317e-02 9.99944962e-01 0.00000000e+00 -5.85988754e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.23026899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.92533619499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:53.05, Y:-0.59, Z:-0.07 [[ 9.99860821e-01 -1.66834575e-02 0.00000000e+00 5.30464453e+01] [ 1.66834575e-02 9.99860821e-01 0.00000000e+00 -5.93831791e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.41820710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.985336194999995 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:53.11, Y:-0.60, Z:-0.07 [[ 9.99839461e-01 -1.79179073e-02 0.00000000e+00 5.31081539e+01] [ 1.79179073e-02 9.99839461e-01 0.00000000e+00 -6.02398281e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.01759817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.045336195 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:53.17, Y:-0.61, Z:-0.07 [[ 9.99903057e-01 -1.39239748e-02 0.00000000e+00 5.31698294e+01] [ 1.39239748e-02 9.99903057e-01 0.00000000e+00 -6.09399466e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.80952364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.105336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:53.23, Y:-0.60, Z:-0.07 [[ 9.99978713e-01 -6.52486514e-03 0.00000000e+00 5.32300043e+01] [ 6.52486514e-03 9.99978713e-01 0.00000000e+00 -6.02035513e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.26936806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.165336194999995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:53.29, Y:-0.60, Z:-0.09 [[ 9.99998877e-01 -1.49868057e-03 0.00000000e+00 5.32915491e+01] [ 1.49868057e-03 9.99998877e-01 0.00000000e+00 -6.04877322e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.55905751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.225336195 meters Centerline goodness : 0.999566 with order 1 Centerline is valid? [True, True] Translation: X:53.35, Y:-0.60, Z:-0.09 [[ 9.99989615e-01 -4.55729871e-03 0.00000000e+00 5.33531497e+01] [ 4.55729871e-03 9.99989615e-01 0.00000000e+00 -6.03713141e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.55134863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.285336195 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:53.42, Y:-0.59, Z:-0.07 [[ 9.99962154e-01 -8.70003540e-03 0.00000000e+00 5.34159102e+01] [ 8.70003540e-03 9.99962154e-01 0.00000000e+00 -5.92828922e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.31679445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.345336194999994 meters Centerline goodness : 0.999587 with order 1 Centerline is valid? [True, True] Translation: X:53.48, Y:-0.60, Z:-0.09 [[ 9.99907291e-01 -1.36164976e-02 0.00000000e+00 5.34776760e+01] [ 1.36164976e-02 9.99907291e-01 0.00000000e+00 -6.03594868e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.55979925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.405336195 meters Centerline goodness : 0.999631 with order 1 Centerline is valid? [True, True] Translation: X:53.54, Y:-0.61, Z:-0.09 [[ 9.99864244e-01 -1.64770419e-02 0.00000000e+00 5.35388600e+01] [ 1.64770419e-02 9.99864244e-01 0.00000000e+00 -6.09549225e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.86917900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.465336195 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:53.60, Y:-0.60, Z:-0.08 [[ 9.99907408e-01 -1.36079184e-02 0.00000000e+00 5.36008692e+01] [ 1.36079184e-02 9.99907408e-01 0.00000000e+00 -6.01315612e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.86930999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.525336194999994 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:53.66, Y:-0.61, Z:-0.10 [[ 9.99948014e-01 -1.01965491e-02 0.00000000e+00 5.36609468e+01] [ 1.01965491e-02 9.99948014e-01 0.00000000e+00 -6.12392260e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.84448324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.585336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:53.72, Y:-0.61, Z:-0.09 [[ 9.99964218e-01 -8.45947384e-03 0.00000000e+00 5.37233347e+01] [ 8.45947384e-03 9.99964218e-01 0.00000000e+00 -6.10556002e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.06036895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.645336195 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:53.79, Y:-0.61, Z:-0.09 [[ 9.99966368e-01 -8.20138903e-03 0.00000000e+00 5.37858318e+01] [ 8.20138903e-03 9.99966368e-01 0.00000000e+00 -6.11992224e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.66586903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.705336194999994 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:53.85, Y:-0.61, Z:-0.08 [[ 9.99987110e-01 -5.07729545e-03 0.00000000e+00 5.38458576e+01] [ 5.07729545e-03 9.99987110e-01 0.00000000e+00 -6.11252657e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.45655141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.765336194999996 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:53.91, Y:-0.62, Z:-0.09 [[ 9.99999754e-01 7.00908259e-04 0.00000000e+00 5.39082365e+01] [-7.00908259e-04 9.99999754e-01 0.00000000e+00 -6.24568777e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.62740298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.825336195 meters Centerline goodness : 0.999631 with order 1 Centerline is valid? [True, True] Translation: X:53.97, Y:-0.62, Z:-0.09 [[ 9.99977068e-01 6.77222141e-03 0.00000000e+00 5.39680638e+01] [-6.77222141e-03 9.99977068e-01 0.00000000e+00 -6.21874805e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.05608616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.885336194999994 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:54.03, Y:-0.62, Z:-0.09 [[ 9.99983218e-01 5.79333505e-03 0.00000000e+00 5.40282039e+01] [-5.79333505e-03 9.99983218e-01 0.00000000e+00 -6.17445080e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.79417607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.945336194999996 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:54.09, Y:-0.63, Z:-0.09 [[ 9.99995803e-01 -2.89733581e-03 0.00000000e+00 5.40871273e+01] [ 2.89733581e-03 9.99995803e-01 0.00000000e+00 -6.29873171e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.74441188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.005336195 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:54.15, Y:-0.64, Z:-0.09 [[ 9.99951558e-01 -9.84284556e-03 0.00000000e+00 5.41488986e+01] [ 9.84284556e-03 9.99951558e-01 0.00000000e+00 -6.41298215e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.57608536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.06533619499999 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:54.21, Y:-0.64, Z:-0.07 [[ 9.99938227e-01 -1.11149348e-02 0.00000000e+00 5.42099211e+01] [ 1.11149348e-02 9.99938227e-01 0.00000000e+00 -6.43936764e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.16127364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.125336194999996 meters Centerline goodness : 0.999500 with order 1 Centerline is valid? [True, True] Translation: X:54.27, Y:-0.65, Z:-0.07 [[ 9.99960691e-01 -8.86657688e-03 0.00000000e+00 5.42692193e+01] [ 8.86657688e-03 9.99960691e-01 0.00000000e+00 -6.54729952e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.64821670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.185336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:54.33, Y:-0.65, Z:-0.06 [[ 9.99988686e-01 -4.75697487e-03 0.00000000e+00 5.43318239e+01] [ 4.75697487e-03 9.99988686e-01 0.00000000e+00 -6.52661764e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.71900413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.24533619499999 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:54.39, Y:-0.66, Z:-0.08 [[ 9.99989363e-01 -4.61230046e-03 0.00000000e+00 5.43930063e+01] [ 4.61230046e-03 9.99989363e-01 0.00000000e+00 -6.64832718e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.63138927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.305336194999995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:54.45, Y:-0.67, Z:-0.08 [[ 9.99995355e-01 -3.04787536e-03 0.00000000e+00 5.44540286e+01] [ 3.04787536e-03 9.99995355e-01 0.00000000e+00 -6.70369202e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.72854886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.365336195 meters Centerline goodness : 0.999696 with order 1 Centerline is valid? [True, True] Translation: X:54.52, Y:-0.66, Z:-0.06 [[ 9.99998234e-01 -1.87957051e-03 0.00000000e+00 5.45158775e+01] [ 1.87957051e-03 9.99998234e-01 0.00000000e+00 -6.64690919e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.40837764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.42533619499999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:54.58, Y:-0.67, Z:-0.07 [[ 9.99994491e-01 -3.31944387e-03 0.00000000e+00 5.45771146e+01] [ 3.31944387e-03 9.99994491e-01 0.00000000e+00 -6.71417669e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.66402756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.485336194999995 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:54.64, Y:-0.68, Z:-0.06 [[ 9.99961682e-01 -8.75416036e-03 0.00000000e+00 5.46394961e+01] [ 8.75416036e-03 9.99961682e-01 0.00000000e+00 -6.76677893e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.46036731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.545336195 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:54.70, Y:-0.69, Z:-0.07 [[ 9.99923126e-01 -1.23993118e-02 0.00000000e+00 5.47017829e+01] [ 1.23993118e-02 9.99923126e-01 0.00000000e+00 -6.87904192e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.09445989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.605336195 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:54.76, Y:-0.69, Z:-0.07 [[ 9.99954641e-01 -9.52451557e-03 0.00000000e+00 5.47626513e+01] [ 9.52451557e-03 9.99954641e-01 0.00000000e+00 -6.92936911e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.16170500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.665336194999995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:54.82, Y:-0.70, Z:-0.07 [[ 9.99993664e-01 -3.55963469e-03 0.00000000e+00 5.48235861e+01] [ 3.55963469e-03 9.99993664e-01 0.00000000e+00 -6.98911456e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.11286302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.725336195 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:54.88, Y:-0.70, Z:-0.06 [[ 9.99995778e-01 2.90598489e-03 0.00000000e+00 5.48844546e+01] [-2.90598489e-03 9.99995778e-01 0.00000000e+00 -6.96629009e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.08528478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.785336195 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:54.94, Y:-0.70, Z:-0.06 [[ 9.99972744e-01 7.38320609e-03 0.00000000e+00 5.49435289e+01] [-7.38320609e-03 9.99972744e-01 0.00000000e+00 -7.03451503e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.23531694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.845336194999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.00, Y:-0.71, Z:-0.06 [[ 9.99956029e-01 9.37758338e-03 0.00000000e+00 5.50021179e+01] [-9.37758338e-03 9.99956029e-01 0.00000000e+00 -7.05119533e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.11081276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.905336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:55.06, Y:-0.71, Z:-0.07 [[ 9.99964553e-01 8.41981409e-03 0.00000000e+00 5.50620552e+01] [-8.41981409e-03 9.99964553e-01 0.00000000e+00 -7.09764472e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.73564992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.965336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:55.12, Y:-0.71, Z:-0.06 [[ 9.99946562e-01 1.03379428e-02 0.00000000e+00 5.51220501e+01] [-1.03379428e-02 9.99946562e-01 0.00000000e+00 -7.11091449e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.37395201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.025336194999994 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:55.18, Y:-0.70, Z:-0.06 [[ 9.99886506e-01 1.50656876e-02 0.00000000e+00 5.51792645e+01] [-1.50656876e-02 9.99886506e-01 0.00000000e+00 -7.04111960e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.25773100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.085336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:55.24, Y:-0.71, Z:-0.06 [[ 9.99848892e-01 1.73837267e-02 0.00000000e+00 5.52380348e+01] [-1.73837267e-02 9.99848892e-01 0.00000000e+00 -7.06196348e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.27571056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.30, Y:-0.70, Z:-0.06 [[ 9.99869520e-01 1.61537350e-02 0.00000000e+00 5.52960406e+01] [-1.61537350e-02 9.99869520e-01 0.00000000e+00 -7.03297983e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.49997958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.205336194999994 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:55.36, Y:-0.70, Z:-0.06 [[ 9.99925605e-01 1.21977390e-02 0.00000000e+00 5.53551053e+01] [-1.21977390e-02 9.99925605e-01 0.00000000e+00 -6.99680759e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.14783103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.265336194999996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:55.41, Y:-0.70, Z:-0.06 [[ 9.99964140e-01 8.46868573e-03 0.00000000e+00 5.54128840e+01] [-8.46868573e-03 9.99964140e-01 0.00000000e+00 -6.98278396e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.31153455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.325336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:55.47, Y:-0.70, Z:-0.07 [[ 9.99978816e-01 6.50906515e-03 0.00000000e+00 5.54713021e+01] [-6.50906515e-03 9.99978816e-01 0.00000000e+00 -7.04021724e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.35563943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.385336194999994 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:55.53, Y:-0.70, Z:-0.07 [[ 9.99972263e-01 7.44807208e-03 0.00000000e+00 5.55312800e+01] [-7.44807208e-03 9.99972263e-01 0.00000000e+00 -7.01613125e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.38834902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.445336194999996 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:55.59, Y:-0.71, Z:-0.07 [[ 9.99972618e-01 7.40019040e-03 0.00000000e+00 5.55905928e+01] [-7.40019040e-03 9.99972618e-01 0.00000000e+00 -7.06374575e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.21860427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.505336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:55.65, Y:-0.71, Z:-0.07 [[ 9.99944136e-01 1.05699732e-02 0.00000000e+00 5.56483351e+01] [-1.05699732e-02 9.99944136e-01 0.00000000e+00 -7.05095448e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.29099452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56533619499999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:55.71, Y:-0.70, Z:-0.07 [[ 9.99888201e-01 1.49527996e-02 0.00000000e+00 5.57058547e+01] [-1.49527996e-02 9.99888201e-01 0.00000000e+00 -6.99464127e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.01117257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.625336194999996 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:55.77, Y:-0.70, Z:-0.07 [[ 9.99875550e-01 1.57760506e-02 0.00000000e+00 5.57655342e+01] [-1.57760506e-02 9.99875550e-01 0.00000000e+00 -6.97942101e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.60658162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.685336195 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:55.83, Y:-0.70, Z:-0.07 [[ 9.99916854e-01 1.28951215e-02 0.00000000e+00 5.58250225e+01] [-1.28951215e-02 9.99916854e-01 0.00000000e+00 -7.00625865e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.00692158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.74533619499999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:55.88, Y:-0.70, Z:-0.07 [[ 9.99944614e-01 1.05246427e-02 0.00000000e+00 5.58841188e+01] [-1.05246427e-02 9.99944614e-01 0.00000000e+00 -6.97172484e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.60759091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.805336194999995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:55.94, Y:-0.69, Z:-0.07 [[ 9.99990801e-01 4.28924158e-03 0.00000000e+00 5.59433633e+01] [-4.28924158e-03 9.99990801e-01 0.00000000e+00 -6.85583900e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.67110571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.865336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:56.00, Y:-0.69, Z:-0.07 [[ 9.99992044e-01 -3.98900197e-03 0.00000000e+00 5.60007664e+01] [ 3.98900197e-03 9.99992044e-01 0.00000000e+00 -6.86943179e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.17952270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.92533619499999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:56.06, Y:-0.68, Z:-0.07 [[ 9.99967704e-01 -8.03682917e-03 0.00000000e+00 5.60633401e+01] [ 8.03682917e-03 9.99967704e-01 0.00000000e+00 -6.79743886e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.08259301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.985336194999995 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:56.13, Y:-0.68, Z:-0.08 [[ 9.99973467e-01 -7.28464483e-03 0.00000000e+00 5.61257186e+01] [ 7.28464483e-03 9.99973467e-01 0.00000000e+00 -6.81174138e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.86749196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.045336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:56.19, Y:-0.68, Z:-0.07 [[ 9.99971200e-01 -7.58947411e-03 0.00000000e+00 5.61884154e+01] [ 7.58947411e-03 9.99971200e-01 0.00000000e+00 -6.75598036e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.73595695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.105336195 meters Centerline goodness : 0.999610 with order 1 Centerline is valid? [True, True] Translation: X:56.25, Y:-0.68, Z:-0.07 [[ 9.99964372e-01 -8.44130992e-03 0.00000000e+00 5.62496761e+01] [ 8.44130992e-03 9.99964372e-01 0.00000000e+00 -6.79909748e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.31704386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.165336194999995 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:56.31, Y:-0.68, Z:-0.07 [[ 9.99972107e-01 -7.46895019e-03 0.00000000e+00 5.63113723e+01] [ 7.46895019e-03 9.99972107e-01 0.00000000e+00 -6.83724451e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.08353704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.225336195 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:56.37, Y:-0.68, Z:-0.07 [[ 9.99992499e-01 -3.87321920e-03 0.00000000e+00 5.63723808e+01] [ 3.87321920e-03 9.99992499e-01 0.00000000e+00 -6.84263247e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.30512530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.285336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:56.43, Y:-0.68, Z:-0.07 [[ 9.99999547e-01 -9.51743696e-04 0.00000000e+00 5.64327795e+01] [ 9.51743696e-04 9.99999547e-01 0.00000000e+00 -6.81291274e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.11398565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.345336194999994 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:56.49, Y:-0.68, Z:-0.07 [[ 9.99994932e-01 -3.18365230e-03 0.00000000e+00 5.64929265e+01] [ 3.18365230e-03 9.99994932e-01 0.00000000e+00 -6.81829487e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.76817910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.405336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:56.55, Y:-0.69, Z:-0.08 [[ 9.99969465e-01 -7.81471801e-03 0.00000000e+00 5.65535223e+01] [ 7.81471801e-03 9.99969465e-01 0.00000000e+00 -6.89653519e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.43259417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.465336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:56.62, Y:-0.69, Z:-0.07 [[ 9.99945041e-01 -1.04840224e-02 0.00000000e+00 5.66152571e+01] [ 1.04840224e-02 9.99945041e-01 0.00000000e+00 -6.94587191e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.14217518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.525336194999994 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:56.68, Y:-0.70, Z:-0.07 [[ 9.99901359e-01 -1.40453887e-02 0.00000000e+00 5.66769362e+01] [ 1.40453887e-02 9.99901359e-01 0.00000000e+00 -6.96244240e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.97195560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.585336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:56.74, Y:-0.70, Z:-0.07 [[ 9.99849435e-01 -1.73524580e-02 0.00000000e+00 5.67387820e+01] [ 1.73524580e-02 9.99849435e-01 0.00000000e+00 -6.99881549e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.86652934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.645336195 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:56.80, Y:-0.71, Z:-0.07 [[ 9.99868521e-01 -1.62154277e-02 0.00000000e+00 5.68010508e+01] [ 1.62154277e-02 9.99868521e-01 0.00000000e+00 -7.09595682e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.81820665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.705336194999994 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:56.86, Y:-0.71, Z:-0.07 [[ 9.99925182e-01 -1.22323635e-02 0.00000000e+00 5.68619921e+01] [ 1.22323635e-02 9.99925182e-01 0.00000000e+00 -7.08340930e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.15582958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.765336194999996 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:56.92, Y:-0.71, Z:-0.08 [[ 9.99962283e-01 -8.68518429e-03 0.00000000e+00 5.69234736e+01] [ 8.68518429e-03 9.99962283e-01 0.00000000e+00 -7.11098653e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.80992170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.825336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:56.98, Y:-0.71, Z:-0.07 [[ 9.99950430e-01 -9.95682116e-03 0.00000000e+00 5.69845526e+01] [ 9.95682116e-03 9.99950430e-01 0.00000000e+00 -7.05999168e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.44239918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.885336194999994 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:57.05, Y:-0.71, Z:-0.07 [[ 9.99891961e-01 -1.46992248e-02 0.00000000e+00 5.70469957e+01] [ 1.46992248e-02 9.99891961e-01 0.00000000e+00 -7.08492922e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.23593961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.945336194999996 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:57.11, Y:-0.71, Z:-0.07 [[ 9.99809359e-01 -1.95255307e-02 0.00000000e+00 5.71096942e+01] [ 1.95255307e-02 9.99809359e-01 0.00000000e+00 -7.10036340e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.16381265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.005336195 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:57.17, Y:-0.72, Z:-0.08 [[ 9.99660944e-01 -2.60383837e-02 0.00000000e+00 5.71705429e+01] [ 2.60383837e-02 9.99660944e-01 0.00000000e+00 -7.15338674e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.82441621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.06533619499999 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:57.23, Y:-0.72, Z:-0.08 [[ 9.99672676e-01 -2.55839860e-02 0.00000000e+00 5.72312335e+01] [ 2.55839860e-02 9.99672676e-01 0.00000000e+00 -7.17373612e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.24605076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.125336194999996 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:57.29, Y:-0.72, Z:-0.08 [[ 9.99773382e-01 -2.12881253e-02 0.00000000e+00 5.72938081e+01] [ 2.12881253e-02 9.99773382e-01 0.00000000e+00 -7.21512746e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.21812550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.185336195 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:57.35, Y:-0.72, Z:-0.07 [[ 9.99877494e-01 -1.56523518e-02 0.00000000e+00 5.73543914e+01] [ 1.56523518e-02 9.99877494e-01 0.00000000e+00 -7.23634306e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.35296027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.24533619499999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:57.42, Y:-0.73, Z:-0.08 [[ 9.99916481e-01 -1.29240683e-02 0.00000000e+00 5.74153780e+01] [ 1.29240683e-02 9.99916481e-01 0.00000000e+00 -7.26227958e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.35767531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.305336194999995 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:57.48, Y:-0.73, Z:-0.07 [[ 9.99917726e-01 -1.28273860e-02 0.00000000e+00 5.74758400e+01] [ 1.28273860e-02 9.99917726e-01 0.00000000e+00 -7.33661002e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.44299459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.365336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:57.54, Y:-0.74, Z:-0.08 [[ 9.99884942e-01 -1.51691675e-02 0.00000000e+00 5.75355193e+01] [ 1.51691675e-02 9.99884942e-01 0.00000000e+00 -7.36155972e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.29004041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.42533619499999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:57.60, Y:-0.74, Z:-0.09 [[ 9.99772591e-01 -2.13252719e-02 0.00000000e+00 5.75974013e+01] [ 2.13252719e-02 9.99772591e-01 0.00000000e+00 -7.42474682e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.72390603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.485336194999995 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:57.66, Y:-0.75, Z:-0.09 [[ 9.99664748e-01 -2.58919216e-02 0.00000000e+00 5.76574025e+01] [ 2.58919216e-02 9.99664748e-01 0.00000000e+00 -7.50652205e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.68298087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.545336195 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:57.72, Y:-0.76, Z:-0.08 [[ 9.99552174e-01 -2.99240811e-02 0.00000000e+00 5.77177730e+01] [ 2.99240811e-02 9.99552174e-01 0.00000000e+00 -7.57187604e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.00206593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.60533619499999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:57.78, Y:-0.77, Z:-0.10 [[ 9.99538025e-01 -3.03930467e-02 0.00000000e+00 5.77769614e+01] [ 3.03930467e-02 9.99538025e-01 0.00000000e+00 -7.69823400e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.69459337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.665336194999995 meters Centerline goodness : 0.998611 with order 1 Centerline is valid? [True, True] Translation: X:57.84, Y:-0.78, Z:-0.09 [[ 9.99672783e-01 -2.55797974e-02 0.00000000e+00 5.78384624e+01] [ 2.55797974e-02 9.99672783e-01 0.00000000e+00 -7.76418615e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.28009925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.725336195 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:57.90, Y:-0.78, Z:-0.09 [[ 9.99860225e-01 -1.67191808e-02 0.00000000e+00 5.78986316e+01] [ 1.67191808e-02 9.99860225e-01 0.00000000e+00 -7.80668854e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.08969471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.785336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:57.96, Y:-0.78, Z:-0.09 [[ 9.99944975e-01 -1.04903049e-02 0.00000000e+00 5.79582419e+01] [ 1.04903049e-02 9.99944975e-01 0.00000000e+00 -7.84989233e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.55332035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.845336194999994 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:58.02, Y:-0.78, Z:-0.08 [[ 9.99952475e-01 -9.74929383e-03 0.00000000e+00 5.80204952e+01] [ 9.74929383e-03 9.99952475e-01 0.00000000e+00 -7.81275468e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.54524487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.08, Y:-0.78, Z:-0.08 [[ 9.99909283e-01 -1.34694276e-02 0.00000000e+00 5.80801279e+01] [ 1.34694276e-02 9.99909283e-01 0.00000000e+00 -7.78015594e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.90102331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.965336195 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:58.14, Y:-0.78, Z:-0.08 [[ 9.99839221e-01 -1.79313071e-02 0.00000000e+00 5.81407105e+01] [ 1.79313071e-02 9.99839221e-01 0.00000000e+00 -7.79118496e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.26185528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.025336194999994 meters Centerline goodness : 0.999696 with order 1 Centerline is valid? [True, True] Translation: X:58.20, Y:-0.79, Z:-0.10 [[ 9.99811371e-01 -1.94222191e-02 0.00000000e+00 5.82016126e+01] [ 1.94222191e-02 9.99811371e-01 0.00000000e+00 -7.93310234e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.83295261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.085336195 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:58.26, Y:-0.80, Z:-0.09 [[ 9.99846641e-01 -1.75126708e-02 0.00000000e+00 5.82621410e+01] [ 1.75126708e-02 9.99846641e-01 0.00000000e+00 -8.00120832e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.29991568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.145336195 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:58.32, Y:-0.79, Z:-0.08 [[ 9.99926827e-01 -1.20971687e-02 0.00000000e+00 5.83229800e+01] [ 1.20971687e-02 9.99926827e-01 0.00000000e+00 -7.90295016e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.75761800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.205336194999994 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:58.38, Y:-0.80, Z:-0.09 [[ 9.99996757e-01 -2.54684668e-03 0.00000000e+00 5.83829431e+01] [ 2.54684668e-03 9.99996757e-01 0.00000000e+00 -7.97057558e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.00829318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.265336194999996 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:58.44, Y:-0.81, Z:-0.08 [[ 9.99989743e-01 4.52923379e-03 0.00000000e+00 5.84442433e+01] [-4.52923379e-03 9.99989743e-01 0.00000000e+00 -8.10871756e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.17455920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.325336195 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:58.50, Y:-0.81, Z:-0.07 [[ 9.99988457e-01 4.80468189e-03 0.00000000e+00 5.85042989e+01] [-4.80468189e-03 9.99988457e-01 0.00000000e+00 -8.13771250e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.31473641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.385336194999994 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:58.56, Y:-0.81, Z:-0.07 [[ 9.99994473e-01 3.32461905e-03 0.00000000e+00 5.85629885e+01] [-3.32461905e-03 9.99994473e-01 0.00000000e+00 -8.11536899e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.97900221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.445336194999996 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:58.62, Y:-0.83, Z:-0.07 [[ 9.99999937e-01 3.55695468e-04 0.00000000e+00 5.86213072e+01] [-3.55695468e-04 9.99999937e-01 0.00000000e+00 -8.26089638e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.39685391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.505336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:58.68, Y:-0.82, Z:-0.07 [[ 9.99999611e-01 8.81682519e-04 0.00000000e+00 5.86808748e+01] [-8.81682519e-04 9.99999611e-01 0.00000000e+00 -8.24508161e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.98466212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56533619499999 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:58.74, Y:-0.83, Z:-0.06 [[ 9.99999948e-01 -3.21403784e-04 0.00000000e+00 5.87414459e+01] [ 3.21403784e-04 9.99999948e-01 0.00000000e+00 -8.26826950e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.39883295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.625336194999996 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:58.80, Y:-0.83, Z:-0.07 [[ 9.99999516e-01 -9.84086895e-04 0.00000000e+00 5.88016687e+01] [ 9.84086895e-04 9.99999516e-01 0.00000000e+00 -8.28097283e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.95101078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.685336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:58.86, Y:-0.83, Z:-0.07 [[ 9.99993847e-01 -3.50801957e-03 0.00000000e+00 5.88625447e+01] [ 3.50801957e-03 9.99993847e-01 0.00000000e+00 -8.25030405e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.63397112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74533619499999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:58.92, Y:-0.82, Z:-0.06 [[ 9.99957631e-01 -9.20524186e-03 0.00000000e+00 5.89241190e+01] [ 9.20524186e-03 9.99957631e-01 0.00000000e+00 -8.22962456e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.38345157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.805336194999995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:58.98, Y:-0.82, Z:-0.07 [[ 9.99784861e-01 -2.07420055e-02 0.00000000e+00 5.89846139e+01] [ 2.07420055e-02 9.99784861e-01 0.00000000e+00 -8.20791032e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.08992492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.865336195 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:59.05, Y:-0.82, Z:-0.07 [[ 9.99739918e-01 -2.28056353e-02 0.00000000e+00 5.90472164e+01] [ 2.28056353e-02 9.99739918e-01 0.00000000e+00 -8.23117634e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.13399048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92533619499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:59.11, Y:-0.82, Z:-0.07 [[ 9.99764875e-01 -2.16839901e-02 0.00000000e+00 5.91091706e+01] [ 2.16839901e-02 9.99764875e-01 0.00000000e+00 -8.24297702e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.87176763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.985336194999995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:59.17, Y:-0.82, Z:-0.08 [[ 9.99820446e-01 -1.89492741e-02 0.00000000e+00 5.91687347e+01] [ 1.89492741e-02 9.99820446e-01 0.00000000e+00 -8.21932172e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.96552251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.045336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:59.23, Y:-0.83, Z:-0.08 [[ 9.99885365e-01 -1.51412176e-02 0.00000000e+00 5.92299054e+01] [ 1.51412176e-02 9.99885365e-01 0.00000000e+00 -8.25298430e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.29617050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.10533619499999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:59.29, Y:-0.83, Z:-0.08 [[ 9.99943736e-01 -1.06077991e-02 0.00000000e+00 5.92898809e+01] [ 1.06077991e-02 9.99943736e-01 0.00000000e+00 -8.29914312e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.29856180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.165336194999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.35, Y:-0.82, Z:-0.06 [[ 9.99994622e-01 -3.27952053e-03 0.00000000e+00 5.93505647e+01] [ 3.27952053e-03 9.99994622e-01 0.00000000e+00 -8.24252083e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.39844351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.225336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:59.41, Y:-0.83, Z:-0.08 [[ 9.99999822e-01 5.96061014e-04 0.00000000e+00 5.94114413e+01] [-5.96061014e-04 9.99999822e-01 0.00000000e+00 -8.29788032e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.71477859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.285336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:59.47, Y:-0.82, Z:-0.07 [[ 9.99999064e-01 -1.36856266e-03 0.00000000e+00 5.94722133e+01] [ 1.36856266e-03 9.99999064e-01 0.00000000e+00 -8.22568469e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.19414594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.345336194999994 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:59.53, Y:-0.82, Z:-0.08 [[ 9.99991315e-01 -4.16768201e-03 0.00000000e+00 5.95328683e+01] [ 4.16768201e-03 9.99991315e-01 0.00000000e+00 -8.21639337e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.73804180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.405336195 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:59.59, Y:-0.81, Z:-0.07 [[ 9.99989456e-01 -4.59223404e-03 0.00000000e+00 5.95939405e+01] [ 4.59223404e-03 9.99989456e-01 0.00000000e+00 -8.13640287e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.89189746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.465336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:59.66, Y:-0.81, Z:-0.07 [[ 9.99991335e-01 -4.16296733e-03 0.00000000e+00 5.96550123e+01] [ 4.16296733e-03 9.99991335e-01 0.00000000e+00 -8.12136198e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.23160961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.525336194999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.72, Y:-0.80, Z:-0.07 [[ 9.99991639e-01 -4.08934262e-03 0.00000000e+00 5.97158152e+01] [ 4.08934262e-03 9.99991639e-01 0.00000000e+00 -8.03131360e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.51953684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.585336195 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:59.78, Y:-0.80, Z:-0.06 [[ 9.99992163e-01 -3.95899786e-03 0.00000000e+00 5.97783048e+01] [ 3.95899786e-03 9.99992163e-01 0.00000000e+00 -7.97510207e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.46986762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.645336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:59.84, Y:-0.79, Z:-0.07 [[ 9.99983650e-01 -5.71842785e-03 0.00000000e+00 5.98395894e+01] [ 5.71842785e-03 9.99983650e-01 0.00000000e+00 -7.89641072e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.25081606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.705336194999994 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:59.90, Y:-0.79, Z:-0.07 [[ 9.99963518e-01 -8.54179313e-03 0.00000000e+00 5.99015793e+01] [ 8.54179313e-03 9.99963518e-01 0.00000000e+00 -7.85837281e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.44393393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.765336194999996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:59.96, Y:-0.78, Z:-0.07 [[ 9.99934231e-01 -1.14688211e-02 0.00000000e+00 5.99642234e+01] [ 1.14688211e-02 9.99934231e-01 0.00000000e+00 -7.81533468e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.16444980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.825336195 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:60.03, Y:-0.78, Z:-0.06 [[ 9.99930492e-01 -1.17903357e-02 0.00000000e+00 6.00260330e+01] [ 1.17903357e-02 9.99930492e-01 0.00000000e+00 -7.75080705e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.21723054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.885336194999994 meters Centerline goodness : 0.999565 with order 1 Centerline is valid? [True, True] Translation: X:60.09, Y:-0.77, Z:-0.06 [[ 9.99995856e-01 -2.87881888e-03 0.00000000e+00 6.00887077e+01] [ 2.87881888e-03 9.99995856e-01 0.00000000e+00 -7.69286109e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.27949225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.945336194999996 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:60.15, Y:-0.76, Z:-0.08 [[ 9.99980851e-01 6.18846047e-03 0.00000000e+00 6.01489918e+01] [-6.18846047e-03 9.99980851e-01 0.00000000e+00 -7.63477784e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.55277048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.005336195 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:60.21, Y:-0.76, Z:-0.07 [[ 9.99969761e-01 7.77664897e-03 0.00000000e+00 6.02074273e+01] [-7.77664897e-03 9.99969761e-01 0.00000000e+00 -7.61655682e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.28893286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.06533619499999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:60.27, Y:-0.75, Z:-0.07 [[ 9.99961999e-01 8.71786908e-03 0.00000000e+00 6.02661801e+01] [-8.71786908e-03 9.99961999e-01 0.00000000e+00 -7.53412199e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.07916791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.125336194999996 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:60.32, Y:-0.75, Z:-0.07 [[ 9.99978054e-01 6.62505721e-03 0.00000000e+00 6.03242451e+01] [-6.62505721e-03 9.99978054e-01 0.00000000e+00 -7.49212620e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.49878416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.185336195 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:60.38, Y:-0.75, Z:-0.09 [[ 9.99999982e-01 -1.91092359e-04 0.00000000e+00 6.03834358e+01] [ 1.91092359e-04 9.99999982e-01 0.00000000e+00 -7.49377219e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.61910958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24533619499999 meters Centerline goodness : 0.998932 with order 1 Centerline is valid? [True, True] Translation: X:60.44, Y:-0.74, Z:-0.09 [[ 9.99996817e-01 -2.52290657e-03 0.00000000e+00 6.04442295e+01] [ 2.52290657e-03 9.99996817e-01 0.00000000e+00 -7.42072061e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.05564687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.305336194999995 meters Centerline goodness : 0.996323 with order 1 Centerline is valid? [True, True] Translation: X:60.50, Y:-0.74, Z:-0.10 [[ 9.99999979e-01 -2.02639010e-04 0.00000000e+00 6.05046250e+01] [ 2.02639010e-04 9.99999979e-01 0.00000000e+00 -7.35173920e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.75345372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.365336195 meters Centerline goodness : 0.998865 with order 1 Centerline is valid? [True, True] Translation: X:60.57, Y:-0.74, Z:-0.10 [[ 9.99996524e-01 2.63663917e-03 0.00000000e+00 6.05654678e+01] [-2.63663917e-03 9.99996524e-01 0.00000000e+00 -7.37578647e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.54210244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.42533619499999 meters Centerline goodness : 0.995632 with order 1 Centerline is valid? [True, True] Translation: X:60.62, Y:-0.73, Z:-0.11 [[ 9.99995410e-01 3.02985541e-03 0.00000000e+00 6.06245822e+01] [-3.02985541e-03 9.99995410e-01 0.00000000e+00 -7.31647217e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10465711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.485336194999995 meters Centerline goodness : 0.996102 with order 1 Centerline is valid? [True, True] Translation: X:60.68, Y:-0.73, Z:-0.10 [[ 9.99999138e-01 1.31263380e-03 0.00000000e+00 6.06829947e+01] [-1.31263380e-03 9.99999138e-01 0.00000000e+00 -7.26577760e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03302264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.545336195 meters Centerline goodness : 0.998082 with order 1 Centerline is valid? [True, True] Translation: X:60.74, Y:-0.73, Z:-0.10 [[ 9.99999795e-01 -6.39827269e-04 0.00000000e+00 6.07427556e+01] [ 6.39827269e-04 9.99999795e-01 0.00000000e+00 -7.26961447e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03178188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60533619499999 meters Centerline goodness : 0.998124 with order 1 Centerline is valid? [True, True] Translation: X:60.80, Y:-0.72, Z:-0.10 [[ 9.99999779e-01 6.64893270e-04 0.00000000e+00 6.08031628e+01] [-6.64893270e-04 9.99999779e-01 0.00000000e+00 -7.15034681e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.79395856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.665336194999995 meters Centerline goodness : 0.997641 with order 1 Centerline is valid? [True, True] Translation: X:60.86, Y:-0.72, Z:-0.11 [[ 9.99997105e-01 2.40612133e-03 0.00000000e+00 6.08630251e+01] [-2.40612133e-03 9.99997105e-01 0.00000000e+00 -7.20226985e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11268827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.725336195 meters Centerline goodness : 0.995246 with order 1 Centerline is valid? [True, True] Translation: X:60.92, Y:-0.72, Z:-0.11 [[ 9.99994620e-01 -3.28023573e-03 0.00000000e+00 6.09219238e+01] [ 3.28023573e-03 9.99994620e-01 0.00000000e+00 -7.15270013e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13454760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.785336195 meters Centerline goodness : 0.993724 with order 1 Centerline is valid? [True, True] Translation: X:60.98, Y:-0.71, Z:-0.12 [[ 9.99956837e-01 -9.29110914e-03 0.00000000e+00 6.09829121e+01] [ 9.29110914e-03 9.99956837e-01 0.00000000e+00 -7.06643146e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18879268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.845336194999994 meters Centerline goodness : 0.996181 with order 1 Centerline is valid? [True, True] Translation: X:61.05, Y:-0.71, Z:-0.11 [[ 9.99911181e-01 -1.33277951e-02 0.00000000e+00 6.10450318e+01] [ 1.33277951e-02 9.99911181e-01 0.00000000e+00 -7.11500330e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10538513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.905336195 meters Centerline goodness : 0.996055 with order 1 Centerline is valid? [True, True] Translation: X:61.11, Y:-0.70, Z:-0.11 [[ 9.99930314e-01 -1.18054170e-02 0.00000000e+00 6.11065427e+01] [ 1.18054170e-02 9.99930314e-01 0.00000000e+00 -7.04558668e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07586831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.965336195 meters Centerline goodness : 0.995424 with order 1 Centerline is valid? [True, True] Translation: X:61.17, Y:-0.70, Z:-0.11 [[ 9.99974661e-01 -7.11885493e-03 0.00000000e+00 6.11683123e+01] [ 7.11885493e-03 9.99974661e-01 0.00000000e+00 -6.98512809e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07874121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.025336194999994 meters Centerline goodness : 0.993630 with order 1 Centerline is valid? [True, True] Translation: X:61.23, Y:-0.70, Z:-0.12 [[ 9.99991745e-01 -4.06325733e-03 0.00000000e+00 6.12298985e+01] [ 4.06325733e-03 9.99991745e-01 0.00000000e+00 -6.97146154e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21141153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.085336195 meters Centerline goodness : 0.994774 with order 1 Centerline is valid? [True, True] Translation: X:61.29, Y:-0.68, Z:-0.11 [[ 9.99994738e-01 -3.24413967e-03 0.00000000e+00 6.12918897e+01] [ 3.24413967e-03 9.99994738e-01 0.00000000e+00 -6.78068656e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05732885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.145336195 meters Centerline goodness : 0.996498 with order 1 Centerline is valid? [True, True] Translation: X:61.35, Y:-0.67, Z:-0.11 [[ 9.99992895e-01 -3.76968992e-03 0.00000000e+00 6.13521590e+01] [ 3.76968992e-03 9.99992895e-01 0.00000000e+00 -6.70414890e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06776599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.205336194999994 meters Centerline goodness : 0.997468 with order 1 Centerline is valid? [True, True] Translation: X:61.41, Y:-0.68, Z:-0.11 [[ 9.99986815e-01 -5.13524305e-03 0.00000000e+00 6.14138282e+01] [ 5.13524305e-03 9.99986815e-01 0.00000000e+00 -6.77254656e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10872625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.265336194999996 meters Centerline goodness : 0.996760 with order 1 Centerline is valid? [True, True] Translation: X:61.47, Y:-0.67, Z:-0.11 [[ 9.99968669e-01 -7.91590326e-03 0.00000000e+00 6.14741589e+01] [ 7.91590326e-03 9.99968669e-01 0.00000000e+00 -6.68636034e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08597031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.325336195 meters Centerline goodness : 0.996872 with order 1 Centerline is valid? [True, True] Translation: X:61.54, Y:-0.66, Z:-0.10 [[ 9.99969029e-01 -7.87028573e-03 0.00000000e+00 6.15361486e+01] [ 7.87028573e-03 9.99969029e-01 0.00000000e+00 -6.63607741e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03243971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.385336194999994 meters Centerline goodness : 0.993264 with order 1 Centerline is valid? [True, True] Translation: X:61.60, Y:-0.66, Z:-0.11 [[ 9.99999811e-01 6.14120925e-04 0.00000000e+00 6.15974654e+01] [-6.14120925e-04 9.99999811e-01 0.00000000e+00 -6.58699684e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12126780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.445336194999996 meters Centerline goodness : 0.997001 with order 1 Centerline is valid? [True, True] Translation: X:61.66, Y:-0.65, Z:-0.11 [[ 9.99971151e-01 7.59581943e-03 0.00000000e+00 6.16572024e+01] [-7.59581943e-03 9.99971151e-01 0.00000000e+00 -6.47247461e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05330394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.505336195 meters Centerline goodness : 0.998433 with order 1 Centerline is valid? [True, True] Translation: X:61.72, Y:-0.65, Z:-0.10 [[ 9.99967244e-01 8.09383122e-03 0.00000000e+00 6.17171875e+01] [-8.09383122e-03 9.99967244e-01 0.00000000e+00 -6.47593476e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02305558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56533619499999 meters Centerline goodness : 0.999325 with order 1 Centerline is valid? [True, True] Translation: X:61.78, Y:-0.64, Z:-0.09 [[ 9.99999998e-01 -6.12636611e-05 0.00000000e+00 6.17770988e+01] [ 6.12636611e-05 9.99999998e-01 0.00000000e+00 -6.44247923e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.23733776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.625336194999996 meters Centerline goodness : 0.999324 with order 1 Centerline is valid? [True, True] Translation: X:61.84, Y:-0.64, Z:-0.10 [[ 9.99979833e-01 -6.35091649e-03 0.00000000e+00 6.18371594e+01] [ 6.35091649e-03 9.99979833e-01 0.00000000e+00 -6.40024074e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.56224535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.685336195 meters Centerline goodness : 0.998942 with order 1 Centerline is valid? [True, True] Translation: X:61.90, Y:-0.64, Z:-0.11 [[ 9.99948539e-01 -1.01449053e-02 0.00000000e+00 6.18996746e+01] [ 1.01449053e-02 9.99948539e-01 0.00000000e+00 -6.44803707e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10210282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74533619499999 meters Centerline goodness : 0.999155 with order 1 Centerline is valid? [True, True] Translation: X:61.96, Y:-0.64, Z:-0.11 [[ 9.99964485e-01 -8.42787340e-03 0.00000000e+00 6.19597572e+01] [ 8.42787340e-03 9.99964485e-01 0.00000000e+00 -6.38685122e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08772570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.805336194999995 meters Centerline goodness : 0.999351 with order 1 Centerline is valid? [True, True] Translation: X:62.02, Y:-0.62, Z:-0.09 [[ 9.99996214e-01 -2.75183902e-03 0.00000000e+00 6.20211693e+01] [ 2.75183902e-03 9.99996214e-01 0.00000000e+00 -6.21294618e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.18775124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.865336195 meters Centerline goodness : 0.998591 with order 1 Centerline is valid? [True, True] Translation: X:62.08, Y:-0.62, Z:-0.11 [[ 9.99996035e-01 -2.81607675e-03 0.00000000e+00 6.20810801e+01] [ 2.81607675e-03 9.99996035e-01 0.00000000e+00 -6.17032118e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07240550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92533619499999 meters Centerline goodness : 0.998826 with order 1 Centerline is valid? [True, True] Translation: X:62.14, Y:-0.62, Z:-0.10 [[ 9.99992615e-01 -3.84324235e-03 0.00000000e+00 6.21431761e+01] [ 3.84324235e-03 9.99992615e-01 0.00000000e+00 -6.15728281e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04493731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.985336194999995 meters Centerline goodness : 0.999237 with order 1 Centerline is valid? [True, True] Translation: X:62.21, Y:-0.61, Z:-0.10 [[ 9.99988601e-01 -4.77465857e-03 0.00000000e+00 6.22054831e+01] [ 4.77465857e-03 9.99988601e-01 0.00000000e+00 -6.07005383e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.61699752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.045336195 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:62.27, Y:-0.59, Z:-0.10 [[ 9.99981064e-01 -6.15396947e-03 0.00000000e+00 6.22652528e+01] [ 6.15396947e-03 9.99981064e-01 0.00000000e+00 -5.94857903e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.51704452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10533619499999 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:62.33, Y:-0.59, Z:-0.10 [[ 9.99976713e-01 -6.82454001e-03 0.00000000e+00 6.23277989e+01] [ 6.82454001e-03 9.99976713e-01 0.00000000e+00 -5.93999973e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02549783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.165336194999995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:62.39, Y:-0.57, Z:-0.09 [[ 9.99992123e-01 -3.96906102e-03 0.00000000e+00 6.23899644e+01] [ 3.96906102e-03 9.99992123e-01 0.00000000e+00 -5.71614565e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.85252497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.225336195 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:62.45, Y:-0.57, Z:-0.10 [[ 9.99989817e-01 -4.51277094e-03 0.00000000e+00 6.24512088e+01] [ 4.51277094e-03 9.99989817e-01 0.00000000e+00 -5.73611380e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.98853660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.285336195 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:62.51, Y:-0.57, Z:-0.10 [[ 9.99962980e-01 -8.60454222e-03 0.00000000e+00 6.25133342e+01] [ 8.60454222e-03 9.99962980e-01 0.00000000e+00 -5.70765425e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01693576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.345336194999994 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:62.57, Y:-0.55, Z:-0.08 [[ 9.99901650e-01 -1.40246493e-02 0.00000000e+00 6.25749016e+01] [ 1.40246493e-02 9.99901650e-01 0.00000000e+00 -5.53606750e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.16217930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.405336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:62.64, Y:-0.55, Z:-0.09 [[ 9.99915164e-01 -1.30255662e-02 0.00000000e+00 6.26367655e+01] [ 1.30255662e-02 9.99915164e-01 0.00000000e+00 -5.53123695e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.61036843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.465336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:62.70, Y:-0.54, Z:-0.09 [[ 9.99964044e-01 -8.48004609e-03 0.00000000e+00 6.26982284e+01] [ 8.48004609e-03 9.99964044e-01 0.00000000e+00 -5.39618074e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.54929099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.525336194999994 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:62.76, Y:-0.53, Z:-0.09 [[ 9.99980634e-01 -6.22354270e-03 0.00000000e+00 6.27593584e+01] [ 6.22354270e-03 9.99980634e-01 0.00000000e+00 -5.33464821e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.73696993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.585336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:62.82, Y:-0.53, Z:-0.09 [[ 9.99935287e-01 -1.13763740e-02 0.00000000e+00 6.28192265e+01] [ 1.13763740e-02 9.99935287e-01 0.00000000e+00 -5.30166125e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.60217921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.645336195 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:62.88, Y:-0.52, Z:-0.08 [[ 9.99887831e-01 -1.49775282e-02 0.00000000e+00 6.28818932e+01] [ 1.49775282e-02 9.99887831e-01 0.00000000e+00 -5.19436303e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.16709173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.705336194999994 meters Centerline goodness : 0.999675 with order 1 Centerline is valid? [True, True] Translation: X:62.94, Y:-0.51, Z:-0.10 [[ 9.99831738e-01 -1.83437945e-02 0.00000000e+00 6.29424325e+01] [ 1.83437945e-02 9.99831738e-01 0.00000000e+00 -5.13155884e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.53333318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.765336194999996 meters Centerline goodness : 0.999478 with order 1 Centerline is valid? [True, True] Translation: X:63.00, Y:-0.50, Z:-0.10 [[ 9.99857580e-01 -1.68765948e-02 0.00000000e+00 6.30040384e+01] [ 1.68765948e-02 9.99857580e-01 0.00000000e+00 -5.01673979e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.71353660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.825336195 meters Centerline goodness : 0.997933 with order 1 Centerline is valid? [True, True] Translation: X:63.06, Y:-0.49, Z:-0.11 [[ 9.99829355e-01 -1.84732272e-02 0.00000000e+00 6.30634389e+01] [ 1.84732272e-02 9.99829355e-01 0.00000000e+00 -4.92190304e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10484826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.885336194999994 meters Centerline goodness : 0.999543 with order 1 Centerline is valid? [True, True] Translation: X:63.12, Y:-0.49, Z:-0.10 [[ 9.99793446e-01 -2.03239906e-02 0.00000000e+00 6.31249373e+01] [ 2.03239906e-02 9.99793446e-01 0.00000000e+00 -4.86220551e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00940597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.945336194999996 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:63.19, Y:-0.47, Z:-0.09 [[ 9.99791143e-01 -2.04369780e-02 0.00000000e+00 6.31859634e+01] [ 2.04369780e-02 9.99791143e-01 0.00000000e+00 -4.70834521e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.87474270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.005336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:63.25, Y:-0.46, Z:-0.08 [[ 9.99815090e-01 -1.92298242e-02 0.00000000e+00 6.32456721e+01] [ 1.92298242e-02 9.99815090e-01 0.00000000e+00 -4.62223502e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.96275223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.31, Y:-0.46, Z:-0.07 [[ 9.99743922e-01 -2.26294338e-02 0.00000000e+00 6.33060508e+01] [ 2.26294338e-02 9.99743922e-01 0.00000000e+00 -4.60332510e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.39250799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.125336194999996 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:63.37, Y:-0.45, Z:-0.08 [[ 9.99527173e-01 -3.07478471e-02 0.00000000e+00 6.33657738e+01] [ 3.07478471e-02 9.99527173e-01 0.00000000e+00 -4.50273325e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.41712836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.185336195 meters Centerline goodness : 0.999696 with order 1 Centerline is valid? [True, True] Translation: X:63.43, Y:-0.44, Z:-0.09 [[ 9.99408746e-01 -3.43825291e-02 0.00000000e+00 6.34265805e+01] [ 3.43825291e-02 9.99408746e-01 0.00000000e+00 -4.43589089e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.20174953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.24533619499999 meters Centerline goodness : 0.999241 with order 1 Centerline is valid? [True, True] Translation: X:63.49, Y:-0.44, Z:-0.09 [[ 9.99296216e-01 -3.75109558e-02 0.00000000e+00 6.34872691e+01] [ 3.75109558e-02 9.99296216e-01 0.00000000e+00 -4.35941807e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.41387110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.305336194999995 meters Centerline goodness : 0.998966 with order 1 Centerline is valid? [True, True] Translation: X:63.55, Y:-0.43, Z:-0.10 [[ 9.99234873e-01 -3.91109838e-02 0.00000000e+00 6.35484162e+01] [ 3.91109838e-02 9.99234873e-01 0.00000000e+00 -4.32051003e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.83476292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.365336195 meters Centerline goodness : 0.997134 with order 1 Centerline is valid? [True, True] Translation: X:63.61, Y:-0.42, Z:-0.11 [[ 9.99452022e-01 -3.31006915e-02 0.00000000e+00 6.36093869e+01] [ 3.31006915e-02 9.99452022e-01 0.00000000e+00 -4.24989517e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09636442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42533619499999 meters Centerline goodness : 0.998162 with order 1 Centerline is valid? [True, True] Translation: X:63.67, Y:-0.42, Z:-0.11 [[ 9.99650109e-01 -2.64510712e-02 0.00000000e+00 6.36698197e+01] [ 2.64510712e-02 9.99650109e-01 0.00000000e+00 -4.18352264e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07668368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.485336194999995 meters Centerline goodness : 0.999393 with order 1 Centerline is valid? [True, True] Translation: X:63.73, Y:-0.41, Z:-0.10 [[ 9.99726685e-01 -2.33785052e-02 0.00000000e+00 6.37299894e+01] [ 2.33785052e-02 9.99726685e-01 0.00000000e+00 -4.11189826e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01034349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.545336195 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:63.79, Y:-0.40, Z:-0.10 [[ 9.99702134e-01 -2.44058095e-02 0.00000000e+00 6.37904173e+01] [ 2.44058095e-02 9.99702134e-01 0.00000000e+00 -4.04947520e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.66576758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60533619499999 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:63.85, Y:-0.40, Z:-0.10 [[ 9.99680128e-01 -2.52911242e-02 0.00000000e+00 6.38529574e+01] [ 2.52911242e-02 9.99680128e-01 0.00000000e+00 -3.98570172e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.89069312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.665336194999995 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:63.92, Y:-0.39, Z:-0.09 [[ 9.99662654e-01 -2.59726496e-02 0.00000000e+00 6.39155182e+01] [ 2.59726496e-02 9.99662654e-01 0.00000000e+00 -3.88755814e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.02010591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.725336195 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:63.98, Y:-0.38, Z:-0.08 [[ 9.99566480e-01 -2.94423366e-02 0.00000000e+00 6.39757365e+01] [ 2.94423366e-02 9.99566480e-01 0.00000000e+00 -3.83796246e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.04985902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.785336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:64.04, Y:-0.38, Z:-0.07 [[ 9.99540919e-01 -3.02976985e-02 0.00000000e+00 6.40377163e+01] [ 3.02976985e-02 9.99540919e-01 0.00000000e+00 -3.82685567e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.26820923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.845336194999994 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:64.10, Y:-0.38, Z:-0.08 [[ 9.99489816e-01 -3.19391241e-02 0.00000000e+00 6.40990680e+01] [ 3.19391241e-02 9.99489816e-01 0.00000000e+00 -3.79606973e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.19720798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.905336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:64.16, Y:-0.37, Z:-0.08 [[ 9.99497862e-01 -3.16863478e-02 0.00000000e+00 6.41600638e+01] [ 3.16863478e-02 9.99497862e-01 0.00000000e+00 -3.71295082e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.41131459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.965336195 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:64.22, Y:-0.37, Z:-0.08 [[ 9.99509330e-01 -3.13225196e-02 0.00000000e+00 6.42228780e+01] [ 3.13225196e-02 9.99509330e-01 0.00000000e+00 -3.68272037e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.31136065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.025336195 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:64.28, Y:-0.37, Z:-0.09 [[ 9.99626913e-01 -2.73136322e-02 0.00000000e+00 6.42830541e+01] [ 2.73136322e-02 9.99626913e-01 0.00000000e+00 -3.71314484e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.55419106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.085336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:64.34, Y:-0.36, Z:-0.07 [[ 9.99768519e-01 -2.15153106e-02 0.00000000e+00 6.43436878e+01] [ 2.15153106e-02 9.99768519e-01 0.00000000e+00 -3.61639700e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.54072164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.145336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:64.41, Y:-0.37, Z:-0.08 [[ 9.99739362e-01 -2.28299986e-02 0.00000000e+00 6.44054639e+01] [ 2.28299986e-02 9.99739362e-01 0.00000000e+00 -3.66076630e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.95649348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.205336195 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:64.47, Y:-0.37, Z:-0.09 [[ 9.99691972e-01 -2.48185485e-02 0.00000000e+00 6.44659273e+01] [ 2.48185485e-02 9.99691972e-01 0.00000000e+00 -3.69775863e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.55368156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26533619499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:64.53, Y:-0.36, Z:-0.08 [[ 9.99769073e-01 -2.14895320e-02 0.00000000e+00 6.45275036e+01] [ 2.14895320e-02 9.99769073e-01 0.00000000e+00 -3.64149895e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.56887285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32533619499999 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:64.59, Y:-0.37, Z:-0.07 [[ 9.99928132e-01 -1.19887864e-02 0.00000000e+00 6.45884944e+01] [ 1.19887864e-02 9.99928132e-01 0.00000000e+00 -3.66084087e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.07995134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.385336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:64.65, Y:-0.37, Z:-0.07 [[ 9.99993032e-01 -3.73308624e-03 0.00000000e+00 6.46498000e+01] [ 3.73308624e-03 9.99993032e-01 0.00000000e+00 -3.67059754e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.85506075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.445336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:64.71, Y:-0.36, Z:-0.06 [[ 9.99985646e-01 5.35793025e-03 0.00000000e+00 6.47121753e+01] [-5.35793025e-03 9.99985646e-01 0.00000000e+00 -3.57462603e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.01615197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.505336195 meters Centerline goodness : 0.999654 with order 1 Centerline is valid? [True, True] Translation: X:64.77, Y:-0.35, Z:-0.07 [[ 9.99954674e-01 9.52098351e-03 0.00000000e+00 6.47701370e+01] [-9.52098351e-03 9.99954674e-01 0.00000000e+00 -3.54190507e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.03044663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.565336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:64.83, Y:-0.35, Z:-0.07 [[ 9.99977522e-01 6.70490028e-03 0.00000000e+00 6.48287169e+01] [-6.70490028e-03 9.99977522e-01 0.00000000e+00 -3.47697047e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.23748267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.625336195 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:64.89, Y:-0.35, Z:-0.08 [[ 9.99995754e-01 2.91399187e-03 0.00000000e+00 6.48870395e+01] [-2.91399187e-03 9.99995754e-01 0.00000000e+00 -3.50171943e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.66324297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68533619499999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:64.95, Y:-0.34, Z:-0.06 [[ 9.99996443e-01 -2.66704326e-03 0.00000000e+00 6.49475112e+01] [ 2.66704326e-03 9.99996443e-01 0.00000000e+00 -3.43541983e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.82426806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.745336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:65.01, Y:-0.35, Z:-0.07 [[ 9.99972363e-01 -7.43454330e-03 0.00000000e+00 6.50109184e+01] [ 7.43454330e-03 9.99972363e-01 0.00000000e+00 -3.49360976e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.72215027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.805336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:65.07, Y:-0.34, Z:-0.06 [[ 9.99920037e-01 -1.26459063e-02 0.00000000e+00 6.50726847e+01] [ 1.26459063e-02 9.99920037e-01 0.00000000e+00 -3.44377857e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.25166330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.865336195 meters Centerline goodness : 0.999569 with order 1 Centerline is valid? [True, True] Translation: X:65.14, Y:-0.34, Z:-0.06 [[ 9.99924289e-01 -1.23051066e-02 0.00000000e+00 6.51357049e+01] [ 1.23051066e-02 9.99924289e-01 0.00000000e+00 -3.40248660e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.89239772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.20, Y:-0.35, Z:-0.06 [[ 9.99946921e-01 -1.03031317e-02 0.00000000e+00 6.51979260e+01] [ 1.03031317e-02 9.99946921e-01 0.00000000e+00 -3.46743178e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.21153395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.985336195 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:65.26, Y:-0.34, Z:-0.05 [[ 9.99943976e-01 -1.05851585e-02 0.00000000e+00 6.52606778e+01] [ 1.05851585e-02 9.99943976e-01 0.00000000e+00 -3.42052021e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.24969103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04533619499999 meters Centerline goodness : 0.999615 with order 1 Centerline is valid? [True, True] Translation: X:65.32, Y:-0.35, Z:-0.06 [[ 9.99913267e-01 -1.31703492e-02 0.00000000e+00 6.53218565e+01] [ 1.31703492e-02 9.99913267e-01 0.00000000e+00 -3.45100722e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.23980244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10533619499999 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:65.38, Y:-0.34, Z:-0.06 [[ 9.99892622e-01 -1.46541318e-02 0.00000000e+00 6.53841801e+01] [ 1.46541318e-02 9.99892622e-01 0.00000000e+00 -3.42771175e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.96977114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.165336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:65.45, Y:-0.34, Z:-0.06 [[ 9.99886319e-01 -1.50781264e-02 0.00000000e+00 6.54450710e+01] [ 1.50781264e-02 9.99886319e-01 0.00000000e+00 -3.40662958e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.78267465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.225336195 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:65.51, Y:-0.34, Z:-0.05 [[ 9.99921109e-01 -1.25609113e-02 0.00000000e+00 6.55072121e+01] [ 1.25609113e-02 9.99921109e-01 0.00000000e+00 -3.39926018e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.18525741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.285336195 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:65.57, Y:-0.35, Z:-0.06 [[ 9.99953721e-01 -9.62062291e-03 0.00000000e+00 6.55684473e+01] [ 9.62062291e-03 9.99953721e-01 0.00000000e+00 -3.46393297e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.85454577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.345336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:65.63, Y:-0.34, Z:-0.05 [[ 9.99996395e-01 -2.68526696e-03 0.00000000e+00 6.56301212e+01] [ 2.68526696e-03 9.99996395e-01 0.00000000e+00 -3.35500044e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.67814129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40533619499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:65.69, Y:-0.33, Z:-0.05 [[ 9.99997387e-01 2.28605867e-03 0.00000000e+00 6.56919453e+01] [-2.28605867e-03 9.99997387e-01 0.00000000e+00 -3.33105547e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.07915686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46533619499999 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:65.75, Y:-0.34, Z:-0.06 [[ 9.99998357e-01 1.81298007e-03 0.00000000e+00 6.57499203e+01] [-1.81298007e-03 9.99998357e-01 0.00000000e+00 -3.35213762e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.65885025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.525336195 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:65.81, Y:-0.32, Z:-0.05 [[ 9.99999936e-01 3.57086119e-04 0.00000000e+00 6.58099998e+01] [-3.57086119e-04 9.99999936e-01 0.00000000e+00 -3.23225086e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.13511507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.585336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:65.87, Y:-0.32, Z:-0.06 [[ 9.99998373e-01 1.80386489e-03 0.00000000e+00 6.58703008e+01] [-1.80386489e-03 9.99998373e-01 0.00000000e+00 -3.18849319e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.75266772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.645336195 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:65.93, Y:-0.31, Z:-0.06 [[ 9.99995678e-01 2.94011883e-03 0.00000000e+00 6.59287740e+01] [-2.94011883e-03 9.99995678e-01 0.00000000e+00 -3.13165190e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.74857185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.705336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:65.99, Y:-0.31, Z:-0.05 [[ 9.99999584e-01 9.12432642e-04 0.00000000e+00 6.59877834e+01] [-9.12432642e-04 9.99999584e-01 0.00000000e+00 -3.08643165e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.42523131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76533619499999 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:66.05, Y:-0.30, Z:-0.05 [[ 9.99997579e-01 -2.20043673e-03 0.00000000e+00 6.60468471e+01] [ 2.20043673e-03 9.99997579e-01 0.00000000e+00 -2.95436656e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.59504020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.11, Y:-0.29, Z:-0.06 [[ 9.99985870e-01 -5.31601475e-03 0.00000000e+00 6.61083877e+01] [ 5.31601475e-03 9.99985870e-01 0.00000000e+00 -2.92521298e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.03283464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.885336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:66.17, Y:-0.28, Z:-0.06 [[ 9.99982828e-01 -5.86041887e-03 0.00000000e+00 6.61696092e+01] [ 5.86041887e-03 9.99982828e-01 0.00000000e+00 -2.83649797e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.06869925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.945336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:66.23, Y:-0.27, Z:-0.05 [[ 9.99986622e-01 -5.17268229e-03 0.00000000e+00 6.62323346e+01] [ 5.17268229e-03 9.99986622e-01 0.00000000e+00 -2.68005783e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.66823547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.005336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:66.29, Y:-0.26, Z:-0.05 [[ 9.99974824e-01 -7.09584941e-03 0.00000000e+00 6.62945206e+01] [ 7.09584941e-03 9.99974824e-01 0.00000000e+00 -2.55550841e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.46686521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.065336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:66.36, Y:-0.24, Z:-0.05 [[ 9.99941384e-01 -1.08271790e-02 0.00000000e+00 6.63573342e+01] [ 1.08271790e-02 9.99941384e-01 0.00000000e+00 -2.40065403e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.95921088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.125336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:66.42, Y:-0.24, Z:-0.06 [[ 9.99848909e-01 -1.73827193e-02 0.00000000e+00 6.64198458e+01] [ 1.73827193e-02 9.99848909e-01 0.00000000e+00 -2.36959570e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.28314264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18533619499999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:66.48, Y:-0.22, Z:-0.05 [[ 9.99655281e-01 -2.62548757e-02 0.00000000e+00 6.64819092e+01] [ 2.62548757e-02 9.99655281e-01 0.00000000e+00 -2.20464206e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.94280280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.245336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:66.55, Y:-0.22, Z:-0.06 [[ 9.99507538e-01 -3.13796396e-02 0.00000000e+00 6.65452383e+01] [ 3.13796396e-02 9.99507538e-01 0.00000000e+00 -2.17380960e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.61935169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.305336195 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:66.61, Y:-0.21, Z:-0.06 [[ 9.99512820e-01 -3.12109307e-02 0.00000000e+00 6.66083208e+01] [ 3.12109307e-02 9.99512820e-01 0.00000000e+00 -2.11431054e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.85485388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.365336195 meters Centerline goodness : 0.999376 with order 1 Centerline is valid? [True, True] Translation: X:66.67, Y:-0.19, Z:-0.05 [[ 9.99572918e-01 -2.92229604e-02 0.00000000e+00 6.66714389e+01] [ 2.92229604e-02 9.99572918e-01 0.00000000e+00 -1.94501304e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.25127570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.425336195 meters Centerline goodness : 0.999550 with order 1 Centerline is valid? [True, True] Translation: X:66.73, Y:-0.19, Z:-0.06 [[ 9.99579779e-01 -2.89873338e-02 0.00000000e+00 6.67323428e+01] [ 2.89873338e-02 9.99579779e-01 0.00000000e+00 -1.88497416e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.69022853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.485336195 meters Centerline goodness : 0.998307 with order 1 Centerline is valid? [True, True] Translation: X:66.79, Y:-0.17, Z:-0.06 [[ 9.99680062e-01 -2.52937587e-02 0.00000000e+00 6.67924342e+01] [ 2.52937587e-02 9.99680062e-01 0.00000000e+00 -1.73787333e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.24959963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54533619499999 meters Centerline goodness : 0.998750 with order 1 Centerline is valid? [True, True] Translation: X:66.85, Y:-0.16, Z:-0.06 [[ 9.99818510e-01 -1.90511945e-02 0.00000000e+00 6.68549627e+01] [ 1.90511945e-02 9.99818510e-01 0.00000000e+00 -1.59495425e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.04519007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60533619499999 meters Centerline goodness : 0.999221 with order 1 Centerline is valid? [True, True] Translation: X:66.92, Y:-0.15, Z:-0.07 [[ 9.99840865e-01 -1.78394121e-02 0.00000000e+00 6.69173250e+01] [ 1.78394121e-02 9.99840865e-01 0.00000000e+00 -1.52793012e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.55291308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.665336195 meters Centerline goodness : 0.997001 with order 1 Centerline is valid? [True, True] Translation: X:66.98, Y:-0.14, Z:-0.07 [[ 9.99853628e-01 -1.71091439e-02 0.00000000e+00 6.69770877e+01] [ 1.71091439e-02 9.99853628e-01 0.00000000e+00 -1.35677168e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.27974736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.725336195 meters Centerline goodness : 0.994451 with order 1 Centerline is valid? [True, True] Translation: X:67.04, Y:-0.12, Z:-0.08 [[ 9.99863757e-01 -1.65065660e-02 0.00000000e+00 6.70378561e+01] [ 1.65065660e-02 9.99863757e-01 0.00000000e+00 -1.17817010e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.58911945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.785336195 meters Centerline goodness : 0.994508 with order 1 Centerline is valid? [True, True] Translation: X:67.10, Y:-0.09, Z:-0.08 [[ 9.99879649e-01 -1.55141213e-02 0.00000000e+00 6.70999729e+01] [ 1.55141213e-02 9.99879649e-01 0.00000000e+00 -9.35878612e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.01238542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.845336195 meters Centerline goodness : 0.995413 with order 1 Centerline is valid? [True, True] Translation: X:67.16, Y:-0.07, Z:-0.08 [[ 9.99876662e-01 -1.57054201e-02 0.00000000e+00 6.71615210e+01] [ 1.57054201e-02 9.99876662e-01 0.00000000e+00 -7.14056398e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.92166888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90533619499999 meters Centerline goodness : 0.993826 with order 1 Centerline is valid? [True, True] Translation: X:67.22, Y:-0.04, Z:-0.06 [[ 9.99697851e-01 -2.45806037e-02 0.00000000e+00 6.72241538e+01] [ 2.45806037e-02 9.99697851e-01 0.00000000e+00 -4.35852040e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.45766271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96533619499999 meters Centerline goodness : 0.993645 with order 1 Centerline is valid? [True, True] Translation: X:67.29, Y:-0.03, Z:-0.07 [[ 9.99415654e-01 -3.41811485e-02 0.00000000e+00 6.72865554e+01] [ 3.41811485e-02 9.99415654e-01 0.00000000e+00 -3.01921570e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.08096579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.025336195 meters Centerline goodness : 0.992720 with order 1 Centerline is valid? [True, True] Translation: X:67.35, Y:-0.01, Z:-0.07 [[ 9.99071771e-01 -4.30766355e-02 0.00000000e+00 6.73499306e+01] [ 4.30766355e-02 9.99071771e-01 0.00000000e+00 -5.76942507e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.37562275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.085336195 meters Centerline goodness : 0.989619 with order 1 Centerline is valid? [True, True] Translation: X:67.41, Y:0.01, Z:-0.08 [[ 9.98987763e-01 -4.49827620e-02 0.00000000e+00 6.74103200e+01] [ 4.49827620e-02 9.98987763e-01 0.00000000e+00 1.06352243e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.65504082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.145336195 meters Centerline goodness : 0.988455 with order 1 Centerline is valid? [True, True] Translation: X:67.47, Y:0.01, Z:-0.07 [[ 9.98271963e-01 -5.87629787e-02 0.00000000e+00 6.74728701e+01] [ 5.87629787e-02 9.98271963e-01 0.00000000e+00 1.42065363e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.52203107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.205336195 meters Centerline goodness : 0.990528 with order 1 Centerline is valid? [True, True] Translation: X:67.54, Y:-0.00, Z:-0.08 [[ 9.98455875e-01 -5.55505669e-02 0.00000000e+00 6.75350373e+01] [ 5.55505669e-02 9.98455875e-01 0.00000000e+00 -1.94647334e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.29095212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26533619499999 meters Centerline goodness : 0.993747 with order 1 Centerline is valid? [True, True] Translation: X:67.60, Y:0.01, Z:-0.07 [[ 9.99067398e-01 -4.31779396e-02 0.00000000e+00 6.75964965e+01] [ 4.31779396e-02 9.99067398e-01 0.00000000e+00 8.06488522e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.73140270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32533619499999 meters Centerline goodness : 0.994309 with order 1 Centerline is valid? [True, True] Translation: X:67.66, Y:0.02, Z:-0.06 [[ 9.99135462e-01 -4.15731829e-02 0.00000000e+00 6.76573815e+01] [ 4.15731829e-02 9.99135462e-01 0.00000000e+00 1.51818854e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.35360662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.385336195 meters Centerline goodness : 0.997517 with order 1 Centerline is valid? [True, True] Translation: X:67.72, Y:0.00, Z:-0.08 [[ 9.99032772e-01 -4.39718107e-02 0.00000000e+00 6.77184125e+01] [ 4.39718107e-02 9.99032772e-01 0.00000000e+00 3.20238726e-04] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.70320795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.445336195 meters Centerline goodness : 0.999691 with order 1 Centerline is valid? [True, True] Translation: X:67.78, Y:0.00, Z:-0.05 [[ 9.98956103e-01 -4.56804543e-02 0.00000000e+00 6.77789782e+01] [ 4.56804543e-02 9.98956103e-01 0.00000000e+00 2.47943527e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.93357284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.505336195 meters Centerline goodness : 0.998957 with order 1 Centerline is valid? [True, True] Translation: X:67.84, Y:0.01, Z:-0.06 [[ 9.99283497e-01 -3.78482839e-02 0.00000000e+00 6.78398447e+01] [ 3.78482839e-02 9.99283497e-01 0.00000000e+00 1.30717873e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.00180909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.565336195 meters Centerline goodness : 0.999262 with order 1 Centerline is valid? [True, True] Translation: X:67.90, Y:0.01, Z:-0.06 [[ 9.99195177e-01 -4.01123229e-02 0.00000000e+00 6.79022074e+01] [ 4.01123229e-02 9.99195177e-01 0.00000000e+00 1.13376794e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.78564371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.625336195 meters Centerline goodness : 0.999905 with order 1 Centerline is valid? [True, True] Translation: X:67.96, Y:-0.00, Z:-0.05 [[ 9.98872815e-01 -4.74668154e-02 0.00000000e+00 6.79628122e+01] [ 4.74668154e-02 9.98872815e-01 0.00000000e+00 -1.17212800e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.25387942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68533619499999 meters Centerline goodness : 0.999478 with order 1 Centerline is valid? [True, True] Translation: X:68.02, Y:0.01, Z:-0.06 [[ 9.99187213e-01 -4.03102111e-02 0.00000000e+00 6.80234467e+01] [ 4.03102111e-02 9.99187213e-01 0.00000000e+00 8.42195956e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.69000427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.745336195 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:68.08, Y:0.00, Z:-0.06 [[ 9.99351098e-01 -3.60192091e-02 0.00000000e+00 6.80835833e+01] [ 3.60192091e-02 9.99351098e-01 0.00000000e+00 4.25952140e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.34898378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.805336195 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:68.14, Y:-0.00, Z:-0.05 [[ 9.99247758e-01 -3.87803878e-02 0.00000000e+00 6.81444058e+01] [ 3.87803878e-02 9.99247758e-01 0.00000000e+00 -3.98980242e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.27119145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.865336195 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:68.21, Y:0.01, Z:-0.05 [[ 9.99505150e-01 -3.14556108e-02 0.00000000e+00 6.82057523e+01] [ 3.14556108e-02 9.99505150e-01 0.00000000e+00 5.33526826e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.11040509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.27, Y:-0.01, Z:-0.05 [[ 9.99296252e-01 -3.75100193e-02 0.00000000e+00 6.82674198e+01] [ 3.75100193e-02 9.99296252e-01 0.00000000e+00 -5.45997575e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.85592665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.33, Y:-0.01, Z:-0.05 [[ 9.99760467e-01 -2.18862723e-02 0.00000000e+00 6.83299590e+01] [ 2.18862723e-02 9.99760467e-01 0.00000000e+00 -9.96923440e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.24972769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04533619499999 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:68.39, Y:-0.00, Z:-0.05 [[ 9.99782761e-01 -2.08429978e-02 0.00000000e+00 6.83921629e+01] [ 2.08429978e-02 9.99782761e-01 0.00000000e+00 -1.82358843e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.57552720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.46, Y:-0.00, Z:-0.05 [[ 9.99810040e-01 -1.94906159e-02 0.00000000e+00 6.84553412e+01] [ 1.94906159e-02 9.99810040e-01 0.00000000e+00 -3.78922877e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.56732622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.52, Y:-0.01, Z:-0.05 [[ 9.99831014e-01 -1.83832318e-02 0.00000000e+00 6.85178098e+01] [ 1.83832318e-02 9.99831014e-01 0.00000000e+00 -9.01972833e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.62209264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.225336195 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:68.58, Y:-0.01, Z:-0.05 [[ 9.99780493e-01 -2.09515298e-02 0.00000000e+00 6.85800303e+01] [ 2.09515298e-02 9.99780493e-01 0.00000000e+00 -8.09862194e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.50737811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.64, Y:-0.00, Z:-0.03 [[ 9.99891856e-01 -1.47063613e-02 0.00000000e+00 6.86423174e+01] [ 1.47063613e-02 9.99891856e-01 0.00000000e+00 -4.40984049e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.16088804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.345336195 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:68.70, Y:-0.01, Z:-0.04 [[ 9.99935271e-01 -1.13777797e-02 0.00000000e+00 6.87048088e+01] [ 1.13777797e-02 9.99935271e-01 0.00000000e+00 -6.96983017e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.71714444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.77, Y:-0.01, Z:-0.05 [[ 9.99889081e-01 -1.48938186e-02 0.00000000e+00 6.87671255e+01] [ 1.48938186e-02 9.99889081e-01 0.00000000e+00 -1.44713651e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.67800425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46533619499999 meters Centerline goodness : 0.999857 with order 1 Centerline is valid? [True, True] Translation: X:68.83, Y:-0.01, Z:-0.03 [[ 9.99959336e-01 -9.01811258e-03 0.00000000e+00 6.88290874e+01] [ 9.01811258e-03 9.99959336e-01 0.00000000e+00 -6.65286914e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.48759678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.89, Y:-0.01, Z:-0.03 [[ 9.99943585e-01 -1.06220233e-02 0.00000000e+00 6.88924423e+01] [ 1.06220233e-02 9.99943585e-01 0.00000000e+00 -8.49225802e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.79760033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.585336195 meters Centerline goodness : 0.999882 with order 1 Centerline is valid? [True, True] Translation: X:68.95, Y:-0.01, Z:-0.04 [[ 9.99997263e-01 2.33981058e-03 0.00000000e+00 6.89537721e+01] [-2.33981058e-03 9.99997263e-01 0.00000000e+00 -1.05708112e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.29371430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.645336195 meters Centerline goodness : 0.999856 with order 1 Centerline is valid? [True, True] Translation: X:69.01, Y:-0.01, Z:-0.03 [[ 9.99997866e-01 2.06569144e-03 0.00000000e+00 6.90122684e+01] [-2.06569144e-03 9.99997866e-01 0.00000000e+00 -7.43678446e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.27314091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.705336195 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:69.07, Y:-0.01, Z:-0.05 [[ 9.99999823e-01 -5.94778839e-04 0.00000000e+00 6.90703108e+01] [ 5.94778839e-04 9.99999823e-01 0.00000000e+00 -1.23789414e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.67538707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76533619499999 meters Centerline goodness : 0.999641 with order 1 Centerline is valid? [True, True] Translation: X:69.13, Y:-0.01, Z:-0.04 [[ 9.99996130e-01 2.78223838e-03 0.00000000e+00 6.91315724e+01] [-2.78223838e-03 9.99996130e-01 0.00000000e+00 -1.08306301e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.11745286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.19, Y:-0.01, Z:-0.02 [[ 9.99983042e-01 -5.82368579e-03 0.00000000e+00 6.91904587e+01] [ 5.82368579e-03 9.99983042e-01 0.00000000e+00 -9.60659122e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.26448051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.885336195 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:69.25, Y:-0.01, Z:-0.02 [[ 9.99991726e-01 -4.06792685e-03 0.00000000e+00 6.92521647e+01] [ 4.06792685e-03 9.99991726e-01 0.00000000e+00 -9.53824755e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.35796589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.945336195 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:69.31, Y:-0.01, Z:-0.04 [[ 9.99999656e-01 -8.29976125e-04 0.00000000e+00 6.93135836e+01] [ 8.29976125e-04 9.99999656e-01 0.00000000e+00 -1.10900381e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.56365264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.005336195 meters Centerline goodness : 0.999858 with order 1 Centerline is valid? [True, True] Translation: X:69.37, Y:-0.01, Z:-0.04 [[ 9.99998254e-01 -1.86860299e-03 0.00000000e+00 6.93747014e+01] [ 1.86860299e-03 9.99998254e-01 0.00000000e+00 -1.39940026e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.73378896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.065336195 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:69.44, Y:-0.02, Z:-0.05 [[ 9.99995195e-01 3.10014524e-03 0.00000000e+00 6.94357853e+01] [-3.10014524e-03 9.99995195e-01 0.00000000e+00 -1.89050377e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.04423125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.125336195 meters Centerline goodness : 0.999834 with order 1 Centerline is valid? [True, True] Translation: X:69.49, Y:-0.02, Z:-0.05 [[ 9.99983446e-01 5.75399538e-03 0.00000000e+00 6.94945406e+01] [-5.75399538e-03 9.99983446e-01 0.00000000e+00 -2.09754363e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.85196247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18533619499999 meters Centerline goodness : 0.999904 with order 1 Centerline is valid? [True, True] Translation: X:69.55, Y:-0.02, Z:-0.03 [[ 9.99949952e-01 1.00046543e-02 0.00000000e+00 6.95536595e+01] [-1.00046543e-02 9.99949952e-01 0.00000000e+00 -1.54152543e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61036164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.245336195 meters Centerline goodness : 0.999904 with order 1 Centerline is valid? [True, True] Translation: X:69.61, Y:-0.02, Z:-0.02 [[ 9.99888010e-01 1.49655533e-02 0.00000000e+00 6.96120112e+01] [-1.49655533e-02 9.99888010e-01 0.00000000e+00 -1.72416598e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12532976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.305336195 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:69.67, Y:-0.02, Z:-0.02 [[ 9.99947389e-01 1.02576727e-02 0.00000000e+00 6.96701965e+01] [-1.02576727e-02 9.99947389e-01 0.00000000e+00 -2.16575016e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.36802058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.365336195 meters Centerline goodness : 0.999929 with order 1 Centerline is valid? [True, True] Translation: X:69.73, Y:-0.03, Z:-0.03 [[ 9.99993590e-01 3.58054466e-03 0.00000000e+00 6.97285226e+01] [-3.58054466e-03 9.99993590e-01 0.00000000e+00 -2.50888562e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.44569788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.425336195 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:69.79, Y:-0.03, Z:-0.04 [[ 9.99992098e-01 3.97533052e-03 0.00000000e+00 6.97865215e+01] [-3.97533052e-03 9.99992098e-01 0.00000000e+00 -2.52678222e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.62191094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.485336195 meters Centerline goodness : 0.999881 with order 1 Centerline is valid? [True, True] Translation: X:69.84, Y:-0.03, Z:-0.03 [[ 9.99989023e-01 4.68559713e-03 0.00000000e+00 6.98440926e+01] [-4.68559713e-03 9.99989023e-01 0.00000000e+00 -2.94363794e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.43420624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54533619499999 meters Centerline goodness : 0.999857 with order 1 Centerline is valid? [True, True] Translation: X:69.90, Y:-0.03, Z:-0.05 [[ 9.99985081e-01 5.46243197e-03 0.00000000e+00 6.99026678e+01] [-5.46243197e-03 9.99985081e-01 0.00000000e+00 -3.10662416e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.61307976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60533619499999 meters Centerline goodness : 0.999929 with order 1 Centerline is valid? [True, True] Translation: X:69.96, Y:-0.03, Z:-0.05 [[ 9.99994224e-01 3.39867913e-03 0.00000000e+00 6.99619028e+01] [-3.39867913e-03 9.99994224e-01 0.00000000e+00 -3.14423068e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.61444853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.665336195 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:70.02, Y:-0.03, Z:-0.04 [[ 9.99998879e-01 -1.49704442e-03 0.00000000e+00 7.00196375e+01] [ 1.49704442e-03 9.99998879e-01 0.00000000e+00 -3.09626336e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.18172238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.725336195 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:70.08, Y:-0.03, Z:-0.05 [[ 9.99999049e-01 -1.37944293e-03 0.00000000e+00 7.00817519e+01] [ 1.37944293e-03 9.99999049e-01 0.00000000e+00 -3.36737148e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.70181197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.785336195 meters Centerline goodness : 0.999858 with order 1 Centerline is valid? [True, True] Translation: X:70.14, Y:-0.04, Z:-0.05 [[ 9.99997795e-01 -2.10001935e-03 0.00000000e+00 7.01441226e+01] [ 2.10001935e-03 9.99997795e-01 0.00000000e+00 -3.82116746e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.76864067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.845336195 meters Centerline goodness : 0.999905 with order 1 Centerline is valid? [True, True] Translation: X:70.20, Y:-0.04, Z:-0.03 [[ 9.99999998e-01 6.24296017e-05 0.00000000e+00 7.02048598e+01] [-6.24296017e-05 9.99999998e-01 0.00000000e+00 -3.64039294e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.44451939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90533619499999 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:70.27, Y:-0.04, Z:-0.03 [[ 9.99999992e-01 -1.27594647e-04 0.00000000e+00 7.02650867e+01] [ 1.27594647e-04 9.99999992e-01 0.00000000e+00 -3.68473581e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.34823912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.33, Y:-0.04, Z:-0.04 [[ 9.99999185e-01 -1.27689243e-03 0.00000000e+00 7.03254908e+01] [ 1.27689243e-03 9.99999185e-01 0.00000000e+00 -4.18695481e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.76339694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.025336195 meters Centerline goodness : 0.999905 with order 1 Centerline is valid? [True, True] Translation: X:70.39, Y:-0.05, Z:-0.04 [[ 9.99999020e-01 -1.40023073e-03 0.00000000e+00 7.03868745e+01] [ 1.40023073e-03 9.99999020e-01 0.00000000e+00 -4.60050033e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.44188880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.085336195 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:70.45, Y:-0.05, Z:-0.05 [[ 9.99999780e-01 6.64016099e-04 0.00000000e+00 7.04476164e+01] [-6.64016099e-04 9.99999780e-01 0.00000000e+00 -4.87634363e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.15659659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.145336195 meters Centerline goodness : 0.999928 with order 1 Centerline is valid? [True, True] Translation: X:70.51, Y:-0.04, Z:-0.04 [[ 9.99990716e-01 4.30911124e-03 0.00000000e+00 7.05062347e+01] [-4.30911124e-03 9.99990716e-01 0.00000000e+00 -4.34045013e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.20544227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.205336195 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:70.56, Y:-0.05, Z:-0.05 [[ 9.99965558e-01 8.29962003e-03 0.00000000e+00 7.05647626e+01] [-8.29962003e-03 9.99965558e-01 0.00000000e+00 -4.87891561e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.89293039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26533619499999 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:70.62, Y:-0.05, Z:-0.06 [[ 9.99958259e-01 9.13676755e-03 0.00000000e+00 7.06223294e+01] [-9.13676755e-03 9.99958259e-01 0.00000000e+00 -5.07960610e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.54337505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32533619499999 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:70.68, Y:-0.05, Z:-0.05 [[ 9.99960076e-01 8.93566532e-03 0.00000000e+00 7.06812127e+01] [-8.93566532e-03 9.99960076e-01 0.00000000e+00 -5.03520562e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.26993151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.74, Y:-0.05, Z:-0.04 [[ 9.99929801e-01 1.18487951e-02 0.00000000e+00 7.07402480e+01] [-1.18487951e-02 9.99929801e-01 0.00000000e+00 -4.67478701e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.88886235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.80, Y:-0.05, Z:-0.05 [[ 9.99904222e-01 1.38400706e-02 0.00000000e+00 7.07978595e+01] [-1.38400706e-02 9.99904222e-01 0.00000000e+00 -4.82042837e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.53503381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.505336195 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:70.86, Y:-0.05, Z:-0.06 [[ 9.99888936e-01 1.49035430e-02 0.00000000e+00 7.08557485e+01] [-1.49035430e-02 9.99888936e-01 0.00000000e+00 -5.15522335e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.50476686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.565336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:70.91, Y:-0.04, Z:-0.04 [[ 9.99872368e-01 1.59764993e-02 0.00000000e+00 7.09145682e+01] [-1.59764993e-02 9.99872368e-01 0.00000000e+00 -4.34070801e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.87572500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.97, Y:-0.05, Z:-0.04 [[ 9.99872033e-01 1.59974252e-02 0.00000000e+00 7.09738073e+01] [-1.59974252e-02 9.99872033e-01 0.00000000e+00 -4.50261369e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.83447952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68533619499999 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:71.03, Y:-0.05, Z:-0.04 [[ 9.99795936e-01 2.02011711e-02 0.00000000e+00 7.10326679e+01] [-2.02011711e-02 9.99795936e-01 0.00000000e+00 -5.12959030e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.28042501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.745336195 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:71.09, Y:-0.04, Z:-0.02 [[ 9.99721665e-01 2.35921955e-02 0.00000000e+00 7.10902710e+01] [-2.35921955e-02 9.99721665e-01 0.00000000e+00 -4.23873077e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.22711680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.15, Y:-0.05, Z:-0.03 [[ 9.99710539e-01 2.40590677e-02 0.00000000e+00 7.11484429e+01] [-2.40590677e-02 9.99710539e-01 0.00000000e+00 -4.82919643e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.49262531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.21, Y:-0.05, Z:-0.04 [[ 9.99668664e-01 2.57402830e-02 0.00000000e+00 7.12057544e+01] [-2.57402830e-02 9.99668664e-01 0.00000000e+00 -5.02178110e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.83770714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.925336195 meters Centerline goodness : 0.999904 with order 1 Centerline is valid? [True, True] Translation: X:71.26, Y:-0.05, Z:-0.03 [[ 9.99605063e-01 2.81019137e-02 0.00000000e+00 7.12646903e+01] [-2.81019137e-02 9.99605063e-01 0.00000000e+00 -4.66236782e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.83246635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.32, Y:-0.05, Z:-0.04 [[ 9.99557186e-01 2.97561957e-02 0.00000000e+00 7.13223271e+01] [-2.97561957e-02 9.99557186e-01 0.00000000e+00 -5.17318497e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.03036200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04533619499999 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:71.38, Y:-0.05, Z:-0.04 [[ 9.99635498e-01 2.69976034e-02 0.00000000e+00 7.13797320e+01] [-2.69976034e-02 9.99635498e-01 0.00000000e+00 -5.16618900e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.01443084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.44, Y:-0.05, Z:-0.04 [[ 9.99622655e-01 2.74690231e-02 0.00000000e+00 7.14382792e+01] [-2.74690231e-02 9.99622655e-01 0.00000000e+00 -5.21397045e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.81534918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.50, Y:-0.05, Z:-0.03 [[ 9.99646938e-01 2.65706336e-02 0.00000000e+00 7.14969027e+01] [-2.65706336e-02 9.99646938e-01 0.00000000e+00 -5.12939669e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.14822548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.56, Y:-0.05, Z:-0.02 [[ 9.99804775e-01 1.97588634e-02 0.00000000e+00 7.15553774e+01] [-1.97588634e-02 9.99804775e-01 0.00000000e+00 -5.37081075e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.42220849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.61, Y:-0.05, Z:-0.03 [[ 9.99702290e-01 2.43993980e-02 0.00000000e+00 7.16137497e+01] [-2.43993980e-02 9.99702290e-01 0.00000000e+00 -5.27261613e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.15706010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.345336195 meters Centerline goodness : 0.999856 with order 1 Centerline is valid? [True, True] Translation: X:71.67, Y:-0.05, Z:-0.03 [[ 9.99729792e-01 2.32452848e-02 0.00000000e+00 7.16719604e+01] [-2.32452848e-02 9.99729792e-01 0.00000000e+00 -5.08365314e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.76405882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40533619499999 meters Centerline goodness : 0.999928 with order 1 Centerline is valid? [True, True] Translation: X:71.73, Y:-0.06, Z:-0.03 [[ 9.99794029e-01 2.02953058e-02 0.00000000e+00 7.17299426e+01] [-2.02953058e-02 9.99794029e-01 0.00000000e+00 -5.74212824e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.86557272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46533619499999 meters Centerline goodness : 0.999904 with order 1 Centerline is valid? [True, True] Translation: X:71.79, Y:-0.06, Z:-0.04 [[ 9.99631398e-01 2.71490026e-02 0.00000000e+00 7.17865843e+01] [-2.71490026e-02 9.99631398e-01 0.00000000e+00 -5.62828320e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.57576285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.85, Y:-0.06, Z:-0.03 [[ 9.99748143e-01 2.24421631e-02 0.00000000e+00 7.18453080e+01] [-2.24421631e-02 9.99748143e-01 0.00000000e+00 -5.97997835e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.70275193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.585336195 meters Centerline goodness : 0.999928 with order 1 Centerline is valid? [True, True] Translation: X:71.90, Y:-0.05, Z:-0.02 [[ 9.99574232e-01 2.91779947e-02 0.00000000e+00 7.19032199e+01] [-2.91779947e-02 9.99574232e-01 0.00000000e+00 -5.44051974e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29132962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.96, Y:-0.06, Z:-0.03 [[ 9.99587713e-01 2.87124305e-02 0.00000000e+00 7.19606513e+01] [-2.87124305e-02 9.99587713e-01 0.00000000e+00 -5.89661018e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.91910690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.705336195 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:72.02, Y:-0.06, Z:-0.03 [[ 9.99596528e-01 2.84038910e-02 0.00000000e+00 7.20187832e+01] [-2.84038910e-02 9.99596528e-01 0.00000000e+00 -5.91498497e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.17340827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.08, Y:-0.06, Z:-0.02 [[ 9.99571680e-01 2.92652824e-02 0.00000000e+00 7.20778044e+01] [-2.92652824e-02 9.99571680e-01 0.00000000e+00 -5.63572694e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.49547706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82533619499999 meters Centerline goodness : 0.999737 with order 1 Centerline is valid? [True, True] Translation: X:72.13, Y:-0.06, Z:-0.03 [[ 9.99571762e-01 2.92624937e-02 0.00000000e+00 7.21348420e+01] [-2.92624937e-02 9.99571762e-01 0.00000000e+00 -5.96065538e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.19214152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.19, Y:-0.06, Z:-0.04 [[ 9.99502863e-01 3.15281901e-02 0.00000000e+00 7.21935237e+01] [-3.15281901e-02 9.99502863e-01 0.00000000e+00 -6.24426700e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.50199490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.945336195 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:72.25, Y:-0.06, Z:-0.02 [[ 9.99435362e-01 3.35999603e-02 0.00000000e+00 7.22520001e+01] [-3.35999603e-02 9.99435362e-01 0.00000000e+00 -5.83008967e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89720329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.005336195 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:72.31, Y:-0.06, Z:-0.02 [[ 9.99408692e-01 3.43840977e-02 0.00000000e+00 7.23088369e+01] [-3.43840977e-02 9.99408692e-01 0.00000000e+00 -6.15282760e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.42152074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.065336195 meters Centerline goodness : 0.999712 with order 1 Centerline is valid? [True, True] Translation: X:72.37, Y:-0.06, Z:-0.03 [[ 9.99413550e-01 3.42426125e-02 0.00000000e+00 7.23662694e+01] [-3.42426125e-02 9.99413550e-01 0.00000000e+00 -6.38644506e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.63393027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.42, Y:-0.06, Z:-0.02 [[ 9.99525493e-01 3.08024122e-02 0.00000000e+00 7.24232182e+01] [-3.08024122e-02 9.99525493e-01 0.00000000e+00 -6.04740806e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93223067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18533619499999 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:72.48, Y:-0.06, Z:-0.01 [[ 9.99519502e-01 3.09962030e-02 0.00000000e+00 7.24807073e+01] [-3.09962030e-02 9.99519502e-01 0.00000000e+00 -5.95084683e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44229389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.54, Y:-0.06, Z:-0.02 [[ 9.99536743e-01 3.04351665e-02 0.00000000e+00 7.25374388e+01] [-3.04351665e-02 9.99536743e-01 0.00000000e+00 -6.15189856e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64431602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.60, Y:-0.07, Z:-0.03 [[ 9.99470531e-01 3.25370271e-02 0.00000000e+00 7.25952828e+01] [-3.25370271e-02 9.99470531e-01 0.00000000e+00 -6.71168216e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.58310393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.65, Y:-0.07, Z:-0.02 [[ 9.99331091e-01 3.65700874e-02 0.00000000e+00 7.26524009e+01] [-3.65700874e-02 9.99331091e-01 0.00000000e+00 -6.72917241e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30768298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.71, Y:-0.07, Z:-0.02 [[ 9.99274983e-01 3.80724154e-02 0.00000000e+00 7.27103956e+01] [-3.80724154e-02 9.99274983e-01 0.00000000e+00 -6.58755321e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01079867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.77, Y:-0.07, Z:-0.02 [[ 9.99381449e-01 3.51670298e-02 0.00000000e+00 7.27676512e+01] [-3.51670298e-02 9.99381449e-01 0.00000000e+00 -6.62222312e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.23334386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.82, Y:-0.08, Z:-0.03 [[ 9.99503415e-01 3.15106856e-02 0.00000000e+00 7.28248131e+01] [-3.15106856e-02 9.99503415e-01 0.00000000e+00 -7.71674108e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.24053256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.88, Y:-0.07, Z:-0.03 [[ 9.99569478e-01 2.93403997e-02 0.00000000e+00 7.28822569e+01] [-2.93403997e-02 9.99569478e-01 0.00000000e+00 -7.23467881e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.97010531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.665336195 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:72.94, Y:-0.07, Z:-0.04 [[ 9.99643068e-01 2.67158413e-02 0.00000000e+00 7.29410489e+01] [-2.67158413e-02 9.99643068e-01 0.00000000e+00 -7.35961349e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.50624046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.725336195 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:73.00, Y:-0.07, Z:-0.04 [[ 9.99730935e-01 2.31960753e-02 0.00000000e+00 7.29996763e+01] [-2.31960753e-02 9.99730935e-01 0.00000000e+00 -7.46568131e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.15063713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.785336195 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:73.06, Y:-0.08, Z:-0.04 [[ 9.99747968e-01 2.24499763e-02 0.00000000e+00 7.30581834e+01] [-2.24499763e-02 9.99747968e-01 0.00000000e+00 -7.59571167e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.32648940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.845336195 meters Centerline goodness : 0.999905 with order 1 Centerline is valid? [True, True] Translation: X:73.12, Y:-0.08, Z:-0.04 [[ 9.99708101e-01 2.41601289e-02 0.00000000e+00 7.31169319e+01] [-2.41601289e-02 9.99708101e-01 0.00000000e+00 -7.71412430e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.96181516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90533619499999 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:73.18, Y:-0.08, Z:-0.03 [[ 9.99658676e-01 2.61253055e-02 0.00000000e+00 7.31751941e+01] [-2.61253055e-02 9.99658676e-01 0.00000000e+00 -7.72794035e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.35563700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96533619499999 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:73.23, Y:-0.08, Z:-0.03 [[ 9.99674094e-01 2.55285361e-02 0.00000000e+00 7.32328737e+01] [-2.55285361e-02 9.99674094e-01 0.00000000e+00 -7.82298457e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.09565011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.29, Y:-0.09, Z:-0.03 [[ 9.99717986e-01 2.37475863e-02 0.00000000e+00 7.32902413e+01] [-2.37475863e-02 9.99717986e-01 0.00000000e+00 -8.88764669e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.27843813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.085336195 meters Centerline goodness : 0.999929 with order 1 Centerline is valid? [True, True] Translation: X:73.35, Y:-0.08, Z:-0.04 [[ 9.99798106e-01 2.00934598e-02 0.00000000e+00 7.33491036e+01] [-2.00934598e-02 9.99798106e-01 0.00000000e+00 -8.28379646e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.60089063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.145336195 meters Centerline goodness : 0.999905 with order 1 Centerline is valid? [True, True] Translation: X:73.41, Y:-0.09, Z:-0.05 [[ 9.99839842e-01 1.78966712e-02 0.00000000e+00 7.34074623e+01] [-1.78966712e-02 9.99839842e-01 0.00000000e+00 -8.70639839e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.56569826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.205336195 meters Centerline goodness : 0.999929 with order 1 Centerline is valid? [True, True] Translation: X:73.47, Y:-0.09, Z:-0.05 [[ 9.99816129e-01 1.91757368e-02 0.00000000e+00 7.34658993e+01] [-1.91757368e-02 9.99816129e-01 0.00000000e+00 -9.09466892e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.79046621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26533619499999 meters Centerline goodness : 0.999858 with order 1 Centerline is valid? [True, True] Translation: X:73.52, Y:-0.09, Z:-0.04 [[ 9.99779921e-01 2.09787715e-02 0.00000000e+00 7.35237078e+01] [-2.09787715e-02 9.99779921e-01 0.00000000e+00 -8.57392678e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.65399091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32533619499999 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:73.58, Y:-0.09, Z:-0.03 [[ 9.99842505e-01 1.77472360e-02 0.00000000e+00 7.35818711e+01] [-1.77472360e-02 9.99842505e-01 0.00000000e+00 -9.35403514e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.47245543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.385336195 meters Centerline goodness : 0.999881 with order 1 Centerline is valid? [True, True] Translation: X:73.64, Y:-0.09, Z:-0.05 [[ 9.99683951e-01 2.51395830e-02 0.00000000e+00 7.36410968e+01] [-2.51395830e-02 9.99683951e-01 0.00000000e+00 -9.23590300e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.58831325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.445336195 meters Centerline goodness : 0.999928 with order 1 Centerline is valid? [True, True] Translation: X:73.70, Y:-0.09, Z:-0.04 [[ 9.99592954e-01 2.85293820e-02 0.00000000e+00 7.36984958e+01] [-2.85293820e-02 9.99592954e-01 0.00000000e+00 -9.12279224e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.41484943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.505336195 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:73.76, Y:-0.10, Z:-0.04 [[ 9.99629669e-01 2.72125682e-02 0.00000000e+00 7.37572373e+01] [-2.72125682e-02 9.99629669e-01 0.00000000e+00 -9.50370526e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.55887859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.565336195 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:73.82, Y:-0.10, Z:-0.04 [[ 9.99487154e-01 3.20223256e-02 0.00000000e+00 7.38160324e+01] [-3.20223256e-02 9.99487154e-01 0.00000000e+00 -9.78682152e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.01874610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.87, Y:-0.10, Z:-0.04 [[ 9.99405034e-01 3.44902480e-02 0.00000000e+00 7.38736147e+01] [-3.44902480e-02 9.99405034e-01 0.00000000e+00 -9.69513423e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.57886996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.93, Y:-0.10, Z:-0.04 [[ 9.99235656e-01 3.90909736e-02 0.00000000e+00 7.39322652e+01] [-3.90909736e-02 9.99235656e-01 0.00000000e+00 -9.86046987e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.56500393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.99, Y:-0.10, Z:-0.03 [[ 9.99185154e-01 4.03612280e-02 0.00000000e+00 7.39898006e+01] [-4.03612280e-02 9.99185154e-01 0.00000000e+00 -9.70931945e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.33295223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.05, Y:-0.10, Z:-0.04 [[ 9.98940228e-01 4.60263039e-02 0.00000000e+00 7.40478870e+01] [-4.60263039e-02 9.98940228e-01 0.00000000e+00 -1.03684768e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.08296880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.10, Y:-0.10, Z:-0.03 [[ 9.99155456e-01 4.10898334e-02 0.00000000e+00 7.41045937e+01] [-4.10898334e-02 9.99155456e-01 0.00000000e+00 -9.71159522e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.49896950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.925336195 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:74.16, Y:-0.09, Z:-0.04 [[ 9.98834371e-01 4.82690321e-02 0.00000000e+00 7.41630730e+01] [-4.82690321e-02 9.98834371e-01 0.00000000e+00 -8.96507049e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.41486760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.22, Y:-0.10, Z:-0.04 [[ 9.99202071e-01 3.99402318e-02 0.00000000e+00 7.42203759e+01] [-3.99402318e-02 9.99202071e-01 0.00000000e+00 -9.65204936e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.95821367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.28, Y:-0.09, Z:-0.03 [[ 9.99060361e-01 4.33404467e-02 0.00000000e+00 7.42788518e+01] [-4.33404467e-02 9.99060361e-01 0.00000000e+00 -9.45640820e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.73059003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10533619499999 meters Centerline goodness : 0.999880 with order 1 Centerline is valid? [True, True] Translation: X:74.34, Y:-0.09, Z:-0.03 [[ 9.99406943e-01 3.44348961e-02 0.00000000e+00 7.43367393e+01] [-3.44348961e-02 9.99406943e-01 0.00000000e+00 -9.18150490e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.08822542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.40, Y:-0.10, Z:-0.04 [[ 9.99261064e-01 3.84359974e-02 0.00000000e+00 7.43952259e+01] [-3.84359974e-02 9.99261064e-01 0.00000000e+00 -1.03069373e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.20960104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.45, Y:-0.09, Z:-0.02 [[ 9.99438686e-01 3.35009467e-02 0.00000000e+00 7.44529030e+01] [-3.35009467e-02 9.99438686e-01 0.00000000e+00 -9.23960476e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.15436630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.51, Y:-0.09, Z:-0.02 [[ 9.99199452e-01 4.00056881e-02 0.00000000e+00 7.45109971e+01] [-4.00056881e-02 9.99199452e-01 0.00000000e+00 -9.30152121e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.14755810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.57, Y:-0.10, Z:-0.03 [[ 9.99302771e-01 3.73359331e-02 0.00000000e+00 7.45676560e+01] [-3.73359331e-02 9.99302771e-01 0.00000000e+00 -9.52794235e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.18812329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.63, Y:-0.10, Z:-0.03 [[ 9.99248786e-01 3.87538826e-02 0.00000000e+00 7.46253894e+01] [-3.87538826e-02 9.99248786e-01 0.00000000e+00 -9.63330839e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.14827163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.68, Y:-0.10, Z:-0.03 [[ 9.99256012e-01 3.85671155e-02 0.00000000e+00 7.46833893e+01] [-3.85671155e-02 9.99256012e-01 0.00000000e+00 -9.51807806e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.19303625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.74, Y:-0.09, Z:-0.02 [[ 9.99193007e-01 4.01663470e-02 0.00000000e+00 7.47418639e+01] [-4.01663470e-02 9.99193007e-01 0.00000000e+00 -9.02643839e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.34197568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.80, Y:-0.10, Z:-0.03 [[ 9.99287480e-01 3.77429891e-02 0.00000000e+00 7.47994300e+01] [-3.77429891e-02 9.99287480e-01 0.00000000e+00 -9.54341863e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.92973606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.86, Y:-0.10, Z:-0.04 [[ 9.99376406e-01 3.53100343e-02 0.00000000e+00 7.48575426e+01] [-3.53100343e-02 9.99376406e-01 0.00000000e+00 -9.78132820e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.77552534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.92, Y:-0.09, Z:-0.03 [[ 9.99382729e-01 3.51306314e-02 0.00000000e+00 7.49165642e+01] [-3.51306314e-02 9.99382729e-01 0.00000000e+00 -9.35911774e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.63729719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.97, Y:-0.09, Z:-0.02 [[ 9.99277654e-01 3.80022467e-02 0.00000000e+00 7.49747231e+01] [-3.80022467e-02 9.99277654e-01 0.00000000e+00 -9.20964723e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.37182463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82533619499999 meters Centerline goodness : 0.999881 with order 1 Centerline is valid? [True, True] Translation: X:75.03, Y:-0.09, Z:-0.03 [[ 9.99517723e-01 3.10535186e-02 0.00000000e+00 7.50325550e+01] [-3.10535186e-02 9.99517723e-01 0.00000000e+00 -9.13256833e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.69537496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.09, Y:-0.10, Z:-0.03 [[ 9.99271371e-01 3.81670977e-02 0.00000000e+00 7.50913886e+01] [-3.81670977e-02 9.99271371e-01 0.00000000e+00 -9.62611322e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.33430603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.945336195 meters Centerline goodness : 0.999881 with order 1 Centerline is valid? [True, True] Translation: X:75.15, Y:-0.09, Z:-0.04 [[ 9.99205215e-01 3.98614807e-02 0.00000000e+00 7.51487843e+01] [-3.98614807e-02 9.99205215e-01 0.00000000e+00 -9.06235673e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.53460139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.005336195 meters Centerline goodness : 0.999904 with order 1 Centerline is valid? [True, True] Translation: X:75.21, Y:-0.09, Z:-0.03 [[ 9.99150089e-01 4.12201273e-02 0.00000000e+00 7.52073211e+01] [-4.12201273e-02 9.99150089e-01 0.00000000e+00 -9.26916402e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.41626459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.065336195 meters Centerline goodness : 0.999928 with order 1 Centerline is valid? [True, True] Translation: X:75.27, Y:-0.09, Z:-0.02 [[ 9.99401324e-01 3.45975842e-02 0.00000000e+00 7.52652159e+01] [-3.45975842e-02 9.99401324e-01 0.00000000e+00 -9.26535303e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.35557414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12533619499999 meters Centerline goodness : 0.999904 with order 1 Centerline is valid? [True, True] Translation: X:75.32, Y:-0.09, Z:-0.03 [[ 9.99100593e-01 4.24028925e-02 0.00000000e+00 7.53235969e+01] [-4.24028925e-02 9.99100593e-01 0.00000000e+00 -9.05185560e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.99581216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.38, Y:-0.09, Z:-0.03 [[ 9.99261861e-01 3.84152603e-02 0.00000000e+00 7.53807510e+01] [-3.84152603e-02 9.99261861e-01 0.00000000e+00 -9.43815864e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.01640610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.245336195 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:75.44, Y:-0.09, Z:-0.02 [[ 9.99450584e-01 3.31440789e-02 0.00000000e+00 7.54380941e+01] [-3.31440789e-02 9.99450584e-01 0.00000000e+00 -8.92284539e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05950083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.305336195 meters Centerline goodness : 0.999904 with order 1 Centerline is valid? [True, True] Translation: X:75.50, Y:-0.09, Z:-0.03 [[ 9.99076519e-01 4.29663696e-02 0.00000000e+00 7.54965591e+01] [-4.29663696e-02 9.99076519e-01 0.00000000e+00 -9.06504095e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.55788665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.365336195 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:75.55, Y:-0.09, Z:-0.03 [[ 9.99110774e-01 4.21623227e-02 0.00000000e+00 7.55545133e+01] [-4.21623227e-02 9.99110774e-01 0.00000000e+00 -9.21165375e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.57130671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.425336195 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:75.61, Y:-0.09, Z:-0.03 [[ 9.99167813e-01 4.07882426e-02 0.00000000e+00 7.56121402e+01] [-4.07882426e-02 9.99167813e-01 0.00000000e+00 -9.23601235e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.65932504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.485336195 meters Centerline goodness : 0.999881 with order 1 Centerline is valid? [True, True] Translation: X:75.67, Y:-0.10, Z:-0.04 [[ 9.99132971e-01 4.16329879e-02 0.00000000e+00 7.56700572e+01] [-4.16329879e-02 9.99132971e-01 0.00000000e+00 -9.76068568e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.85984686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.73, Y:-0.09, Z:-0.01 [[ 9.99224854e-01 3.93661178e-02 0.00000000e+00 7.57290163e+01] [-3.93661178e-02 9.99224854e-01 0.00000000e+00 -9.10170205e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38421772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60533619499999 meters Centerline goodness : 0.999904 with order 1 Centerline is valid? [True, True] Translation: X:75.79, Y:-0.10, Z:-0.03 [[ 9.99033211e-01 4.39618320e-02 0.00000000e+00 7.57878603e+01] [-4.39618320e-02 9.99033211e-01 0.00000000e+00 -9.54502875e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.27650910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.85, Y:-0.10, Z:-0.03 [[ 9.99164449e-01 4.08705790e-02 0.00000000e+00 7.58466619e+01] [-4.08705790e-02 9.99164449e-01 0.00000000e+00 -9.81266300e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.70341597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.90, Y:-0.10, Z:-0.02 [[ 9.99157216e-01 4.10470283e-02 0.00000000e+00 7.59041535e+01] [-4.10470283e-02 9.99157216e-01 0.00000000e+00 -9.69127646e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.23638856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.785336195 meters Centerline goodness : 0.999928 with order 1 Centerline is valid? [True, True] Translation: X:75.96, Y:-0.09, Z:-0.02 [[ 9.98873574e-01 4.74508569e-02 0.00000000e+00 7.59629970e+01] [-4.74508569e-02 9.98873574e-01 0.00000000e+00 -9.28687500e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54592991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.02, Y:-0.10, Z:-0.02 [[ 9.98912006e-01 4.66347908e-02 0.00000000e+00 7.60217794e+01] [-4.66347908e-02 9.98912006e-01 0.00000000e+00 -9.78276250e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.44531127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90533619499999 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:76.08, Y:-0.10, Z:-0.03 [[ 9.98810045e-01 4.87698162e-02 0.00000000e+00 7.60807984e+01] [-4.87698162e-02 9.98810045e-01 0.00000000e+00 -9.95723727e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.96200197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96533619499999 meters Centerline goodness : 0.999928 with order 1 Centerline is valid? [True, True] Translation: X:76.14, Y:-0.10, Z:-0.03 [[ 9.98708534e-01 5.08061462e-02 0.00000000e+00 7.61384137e+01] [-5.08061462e-02 9.98708534e-01 0.00000000e+00 -9.89434478e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.05109810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.025336195 meters Centerline goodness : 0.999928 with order 1 Centerline is valid? [True, True] Translation: X:76.20, Y:-0.11, Z:-0.03 [[ 9.98437602e-01 5.58780398e-02 0.00000000e+00 7.61974353e+01] [-5.58780398e-02 9.98437602e-01 0.00000000e+00 -1.06962259e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.81026296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.085336195 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:76.26, Y:-0.10, Z:-0.03 [[ 9.98504971e-01 5.46609776e-02 0.00000000e+00 7.62553438e+01] [-5.46609776e-02 9.98504971e-01 0.00000000e+00 -1.02846599e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.24880656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.31, Y:-0.10, Z:-0.03 [[ 9.98419975e-01 5.61921156e-02 0.00000000e+00 7.63134969e+01] [-5.61921156e-02 9.98419975e-01 0.00000000e+00 -1.02668394e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.64232726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.37, Y:-0.11, Z:-0.02 [[ 9.98530765e-01 5.41877501e-02 0.00000000e+00 7.63721616e+01] [-5.41877501e-02 9.98530765e-01 0.00000000e+00 -1.09349217e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.14456307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26533619499999 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:76.43, Y:-0.10, Z:-0.03 [[ 9.98659954e-01 5.17522583e-02 0.00000000e+00 7.64319494e+01] [-5.17522583e-02 9.98659954e-01 0.00000000e+00 -1.04700796e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.96383474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32533619499999 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:76.49, Y:-0.11, Z:-0.02 [[ 9.98824927e-01 4.84640667e-02 0.00000000e+00 7.64900410e+01] [-4.84640667e-02 9.98824927e-01 0.00000000e+00 -1.09825469e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.20387449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.385336195 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:76.55, Y:-0.10, Z:-0.03 [[ 9.99022322e-01 4.42085927e-02 0.00000000e+00 7.65489735e+01] [-4.42085927e-02 9.99022322e-01 0.00000000e+00 -1.04701176e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.68766873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.61, Y:-0.11, Z:-0.03 [[ 9.99117011e-01 4.20142661e-02 0.00000000e+00 7.66067988e+01] [-4.20142661e-02 9.99117011e-01 0.00000000e+00 -1.07244568e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.98431746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.505336195 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:76.66, Y:-0.10, Z:-0.02 [[ 9.99021314e-01 4.42313688e-02 0.00000000e+00 7.66642122e+01] [-4.42313688e-02 9.99021314e-01 0.00000000e+00 -1.02422489e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93819865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.72, Y:-0.10, Z:-0.03 [[ 9.98982684e-01 4.50954323e-02 0.00000000e+00 7.67221119e+01] [-4.50954323e-02 9.98982684e-01 0.00000000e+00 -1.03532532e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.74907943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.78, Y:-0.11, Z:-0.03 [[ 9.99033318e-01 4.39594111e-02 0.00000000e+00 7.67811163e+01] [-4.39594111e-02 9.99033318e-01 0.00000000e+00 -1.12872157e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.16876296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.84, Y:-0.11, Z:-0.04 [[ 9.98954188e-01 4.57223229e-02 0.00000000e+00 7.68411236e+01] [-4.57223229e-02 9.98954188e-01 0.00000000e+00 -1.09327429e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.98062893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.90, Y:-0.11, Z:-0.02 [[ 9.98713422e-01 5.07099679e-02 0.00000000e+00 7.69004440e+01] [-5.07099679e-02 9.98713422e-01 0.00000000e+00 -1.09286851e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.24915533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.805336195 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:76.96, Y:-0.10, Z:-0.03 [[ 9.98553594e-01 5.37654230e-02 0.00000000e+00 7.69597711e+01] [-5.37654230e-02 9.98553594e-01 0.00000000e+00 -1.04156235e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.65547791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.02, Y:-0.11, Z:-0.03 [[ 9.98365739e-01 5.71476312e-02 0.00000000e+00 7.70183385e+01] [-5.71476312e-02 9.98365739e-01 0.00000000e+00 -1.05227942e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.77164780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.08, Y:-0.11, Z:-0.03 [[ 9.98191592e-01 6.01127725e-02 0.00000000e+00 7.70761953e+01] [-6.01127725e-02 9.98191592e-01 0.00000000e+00 -1.05578757e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.96060507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.14, Y:-0.11, Z:-0.01 [[ 9.98036580e-01 6.26337345e-02 0.00000000e+00 7.71352202e+01] [-6.26337345e-02 9.98036580e-01 0.00000000e+00 -1.05590605e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01147836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04533619499999 meters Centerline goodness : 0.999879 with order 1 Centerline is valid? [True, True] Translation: X:77.19, Y:-0.10, Z:-0.02 [[ 9.97960418e-01 6.38357545e-02 0.00000000e+00 7.71938125e+01] [-6.38357545e-02 9.97960418e-01 0.00000000e+00 -1.03630905e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85864311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.25, Y:-0.11, Z:-0.02 [[ 9.98326497e-01 5.78290967e-02 0.00000000e+00 7.72511201e+01] [-5.78290967e-02 9.98326497e-01 0.00000000e+00 -1.12580149e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01937613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.31, Y:-0.11, Z:-0.02 [[ 9.98337068e-01 5.76463176e-02 0.00000000e+00 7.73094786e+01] [-5.76463176e-02 9.98337068e-01 0.00000000e+00 -1.12380024e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74197938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.225336195 meters Centerline goodness : 0.999880 with order 1 Centerline is valid? [True, True] Translation: X:77.37, Y:-0.11, Z:-0.01 [[ 9.98580478e-01 5.32637684e-02 0.00000000e+00 7.73680300e+01] [-5.32637684e-02 9.98580478e-01 0.00000000e+00 -1.07025592e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48534616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.43, Y:-0.12, Z:-0.02 [[ 9.98905535e-01 4.67731900e-02 0.00000000e+00 7.74279061e+01] [-4.67731900e-02 9.98905535e-01 0.00000000e+00 -1.18771095e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55989463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.49, Y:-0.12, Z:-0.02 [[ 9.98713520e-01 5.07080420e-02 0.00000000e+00 7.74864996e+01] [-5.07080420e-02 9.98713520e-01 0.00000000e+00 -1.19815469e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19553154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.54, Y:-0.12, Z:-0.02 [[ 9.98607010e-01 5.27639975e-02 0.00000000e+00 7.75437148e+01] [-5.27639975e-02 9.98607010e-01 0.00000000e+00 -1.23705788e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.86227072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.60, Y:-0.13, Z:-0.01 [[ 9.98291413e-01 5.84316268e-02 0.00000000e+00 7.76026624e+01] [-5.84316268e-02 9.98291413e-01 0.00000000e+00 -1.27084334e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11817508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.66, Y:-0.13, Z:-0.01 [[ 9.98101195e-01 6.15954895e-02 0.00000000e+00 7.76599985e+01] [-6.15954895e-02 9.98101195e-01 0.00000000e+00 -1.27694087e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28142680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.72, Y:-0.13, Z:-0.02 [[ 9.97625208e-01 6.88762905e-02 0.00000000e+00 7.77188491e+01] [-6.88762905e-02 9.97625208e-01 0.00000000e+00 -1.31414074e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43344472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.78, Y:-0.13, Z:-0.01 [[ 9.96992398e-01 7.74994041e-02 0.00000000e+00 7.77771393e+01] [-7.74994041e-02 9.96992398e-01 0.00000000e+00 -1.28880861e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.16230984e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.84, Y:-0.13, Z:-0.01 [[ 9.96202390e-01 8.70677847e-02 0.00000000e+00 7.78350730e+01] [-8.70677847e-02 9.96202390e-01 0.00000000e+00 -1.27026107e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.11023414e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.89, Y:-0.12, Z:-0.00 [[ 9.95395698e-01 9.58509495e-02 0.00000000e+00 7.78940277e+01] [-9.58509495e-02 9.95395698e-01 0.00000000e+00 -1.15956104e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.09743122e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.95, Y:-0.12, Z:-0.00 [[ 9.95418912e-01 9.56095674e-02 0.00000000e+00 7.79521198e+01] [-9.56095674e-02 9.95418912e-01 0.00000000e+00 -1.15702034e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.89930816e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.01, Y:-0.11, Z:-0.01 [[ 9.95477708e-01 9.49954398e-02 0.00000000e+00 7.80100377e+01] [-9.49954398e-02 9.95477708e-01 0.00000000e+00 -1.11278973e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.90124884e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.07, Y:-0.11, Z:-0.01 [[ 9.96044895e-01 8.88513764e-02 0.00000000e+00 7.80686781e+01] [-8.88513764e-02 9.96044895e-01 0.00000000e+00 -1.09152476e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.03476364e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.13, Y:-0.11, Z:-0.00 [[ 9.96954291e-01 7.79880856e-02 0.00000000e+00 7.81254211e+01] [-7.79880856e-02 9.96954291e-01 0.00000000e+00 -1.08247304e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.83700328e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.18, Y:-0.11, Z:-0.01 [[ 9.97391660e-01 7.21794767e-02 0.00000000e+00 7.81826451e+01] [-7.21794767e-02 9.97391660e-01 0.00000000e+00 -1.08442831e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.10828724e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.24, Y:-0.11, Z:-0.01 [[ 9.97629108e-01 6.88197901e-02 0.00000000e+00 7.82393555e+01] [-6.88197901e-02 9.97629108e-01 0.00000000e+00 -1.11400240e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01391369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.30, Y:-0.11, Z:-0.00 [[ 9.97722603e-01 6.74507722e-02 0.00000000e+00 7.82975635e+01] [-6.74507722e-02 9.97722603e-01 0.00000000e+00 -1.08077275e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.89418582e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.36, Y:-0.11, Z:-0.01 [[ 9.97318518e-01 7.31831561e-02 0.00000000e+00 7.83556609e+01] [-7.31831561e-02 9.97318518e-01 0.00000000e+00 -1.08187416e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.05503639e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.41, Y:-0.11, Z:-0.01 [[ 9.97271220e-01 7.38248836e-02 0.00000000e+00 7.84145183e+01] [-7.38248836e-02 9.97271220e-01 0.00000000e+00 -1.11005859e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.98937862e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.365336195 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:78.47, Y:-0.11, Z:-0.00 [[ 9.97184755e-01 7.49837636e-02 0.00000000e+00 7.84727172e+01] [-7.49837636e-02 9.97184755e-01 0.00000000e+00 -1.08216674e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.00040356e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.425336195 meters Centerline goodness : 0.999880 with order 1 Centerline is valid? [True, True] Translation: X:78.53, Y:-0.11, Z:0.00 [[ 9.97212792e-01 7.46099674e-02 0.00000000e+00 7.85308771e+01] [-7.46099674e-02 9.97212792e-01 0.00000000e+00 -1.07912028e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.61228199e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.485336195 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:78.59, Y:-0.11, Z:-0.01 [[ 9.97197044e-01 7.48201566e-02 0.00000000e+00 7.85884192e+01] [-7.48201566e-02 9.97197044e-01 0.00000000e+00 -1.10910388e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.30501133e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54533619499999 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:78.65, Y:-0.11, Z:-0.01 [[ 9.97258849e-01 7.39918060e-02 0.00000000e+00 7.86458538e+01] [-7.39918060e-02 9.97258849e-01 0.00000000e+00 -1.14769112e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.91454652e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60533619499999 meters Centerline goodness : 0.999879 with order 1 Centerline is valid? [True, True] Translation: X:78.70, Y:-0.11, Z:0.01 [[ 9.97341607e-01 7.28678239e-02 0.00000000e+00 7.87040302e+01] [-7.28678239e-02 9.97341607e-01 0.00000000e+00 -1.08463316e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.66290709e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.665336195 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:78.76, Y:-0.11, Z:0.00 [[ 9.97614468e-01 6.90316876e-02 0.00000000e+00 7.87620019e+01] [-6.90316876e-02 9.97614468e-01 0.00000000e+00 -1.13124477e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.07729348e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.725336195 meters Centerline goodness : 0.999928 with order 1 Centerline is valid? [True, True] Translation: X:78.82, Y:-0.11, Z:0.00 [[ 9.98153091e-01 6.07487120e-02 0.00000000e+00 7.88185576e+01] [-6.07487120e-02 9.98153091e-01 0.00000000e+00 -1.11693576e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47360641e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.785336195 meters Centerline goodness : 0.999928 with order 1 Centerline is valid? [True, True] Translation: X:78.88, Y:-0.12, Z:-0.00 [[ 9.98484253e-01 5.50381424e-02 0.00000000e+00 7.88769010e+01] [-5.50381424e-02 9.98484253e-01 0.00000000e+00 -1.16133106e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.44330886e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.845336195 meters Centerline goodness : 0.999904 with order 1 Centerline is valid? [True, True] Translation: X:78.93, Y:-0.12, Z:-0.00 [[ 9.98730413e-01 5.03742169e-02 0.00000000e+00 7.89347586e+01] [-5.03742169e-02 9.98730413e-01 0.00000000e+00 -1.15381073e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.75232941e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90533619499999 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:78.99, Y:-0.11, Z:0.01 [[ 9.98995781e-01 4.48043453e-02 0.00000000e+00 7.89934577e+01] [-4.48043453e-02 9.98995781e-01 0.00000000e+00 -1.10961910e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03376650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96533619499999 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:79.05, Y:-0.12, Z:-0.00 [[ 9.99258805e-01 3.84946706e-02 0.00000000e+00 7.90509194e+01] [-3.84946706e-02 9.99258805e-01 0.00000000e+00 -1.19045833e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.54121820e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.025336195 meters Centerline goodness : 0.999856 with order 1 Centerline is valid? [True, True] Translation: X:79.11, Y:-0.12, Z:-0.00 [[ 9.99349325e-01 3.60683606e-02 0.00000000e+00 7.91083404e+01] [-3.60683606e-02 9.99349325e-01 0.00000000e+00 -1.20304918e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.58820617e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.085336195 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:79.17, Y:-0.12, Z:-0.00 [[ 9.99416576e-01 3.41541865e-02 0.00000000e+00 7.91669658e+01] [-3.41541865e-02 9.99416576e-01 0.00000000e+00 -1.23953909e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.26976012e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.23, Y:-0.12, Z:0.01 [[ 9.99392337e-01 3.48562207e-02 0.00000000e+00 7.92251819e+01] [-3.48562207e-02 9.99392337e-01 0.00000000e+00 -1.23205811e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.21825248e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.28, Y:-0.13, Z:0.01 [[ 9.99291911e-01 3.76254767e-02 0.00000000e+00 7.92830512e+01] [-3.76254767e-02 9.99291911e-01 0.00000000e+00 -1.26591920e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.77650498e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26533619499999 meters Centerline goodness : 0.999880 with order 1 Centerline is valid? [True, True] Translation: X:79.34, Y:-0.13, Z:0.00 [[ 9.99232153e-01 3.91804019e-02 0.00000000e+00 7.93404238e+01] [-3.91804019e-02 9.99232153e-01 0.00000000e+00 -1.27314873e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21622853e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32533619499999 meters Centerline goodness : 0.999928 with order 1 Centerline is valid? [True, True] Translation: X:79.40, Y:-0.13, Z:-0.00 [[ 9.99237075e-01 3.90546815e-02 0.00000000e+00 7.93991740e+01] [-3.90546815e-02 9.99237075e-01 0.00000000e+00 -1.28388902e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57499489e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.385336195 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:79.46, Y:-0.13, Z:-0.00 [[ 9.99031495e-01 4.40008090e-02 0.00000000e+00 7.94579594e+01] [-4.40008090e-02 9.99031495e-01 0.00000000e+00 -1.32750431e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.34485080e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.52, Y:-0.13, Z:0.00 [[ 9.98828559e-01 4.83891541e-02 0.00000000e+00 7.95169664e+01] [-4.83891541e-02 9.98828559e-01 0.00000000e+00 -1.33812221e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09653113e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.505336195 meters Centerline goodness : 0.999857 with order 1 Centerline is valid? [True, True] Translation: X:79.57, Y:-0.14, Z:0.00 [[ 9.98685924e-01 5.12486536e-02 0.00000000e+00 7.95745256e+01] [-5.12486536e-02 9.98685924e-01 0.00000000e+00 -1.36983020e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76432558e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.63, Y:-0.14, Z:-0.00 [[ 9.98452326e-01 5.56143147e-02 0.00000000e+00 7.96328156e+01] [-5.56143147e-02 9.98452326e-01 0.00000000e+00 -1.43929211e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.79013364e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62533619499999 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:79.69, Y:-0.14, Z:0.01 [[ 9.98347071e-01 5.74728184e-02 0.00000000e+00 7.96909033e+01] [-5.74728184e-02 9.98347071e-01 0.00000000e+00 -1.40560886e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28783183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68533619499999 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:79.75, Y:-0.14, Z:0.00 [[ 9.98253064e-01 5.90831659e-02 0.00000000e+00 7.97499960e+01] [-5.90831659e-02 9.98253064e-01 0.00000000e+00 -1.44237973e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18619821e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.745336195 meters Centerline goodness : 0.999929 with order 1 Centerline is valid? [True, True] Translation: X:79.81, Y:-0.15, Z:-0.01 [[ 9.98178810e-01 6.03246538e-02 0.00000000e+00 7.98080257e+01] [-6.03246538e-02 9.98178810e-01 0.00000000e+00 -1.47006093e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38044832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.805336195 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:79.87, Y:-0.14, Z:-0.00 [[ 9.97472530e-01 7.10531648e-02 0.00000000e+00 7.98666598e+01] [-7.10531648e-02 9.97472530e-01 0.00000000e+00 -1.44495452e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.94345631e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.93, Y:-0.14, Z:0.02 [[ 9.96505377e-01 8.35286414e-02 0.00000000e+00 7.99250866e+01] [-8.35286414e-02 9.96505377e-01 0.00000000e+00 -1.38833013e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51669991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.98, Y:-0.14, Z:0.00 [[ 9.95815506e-01 9.13864210e-02 0.00000000e+00 7.99825596e+01] [-9.13864210e-02 9.95815506e-01 0.00000000e+00 -1.39306988e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.43466856e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.985336195 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:80.04, Y:-0.14, Z:-0.01 [[ 9.95677050e-01 9.28827893e-02 0.00000000e+00 8.00406073e+01] [-9.28827893e-02 9.95677050e-01 0.00000000e+00 -1.35178735e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.43415922e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04533619499999 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:80.10, Y:-0.13, Z:0.01 [[ 9.95639121e-01 9.32884839e-02 0.00000000e+00 8.00975840e+01] [-9.32884839e-02 9.95639121e-01 0.00000000e+00 -1.29668792e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.03400816e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.16, Y:-0.13, Z:0.00 [[ 9.95964332e-01 8.97499221e-02 0.00000000e+00 8.01554321e+01] [-8.97499221e-02 9.95964332e-01 0.00000000e+00 -1.27664814e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.92061403e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.21, Y:-0.13, Z:-0.00 [[ 9.96474474e-01 8.38964968e-02 0.00000000e+00 8.02140753e+01] [-8.38964968e-02 9.96474474e-01 0.00000000e+00 -1.34633043e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.85651617e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.27, Y:-0.14, Z:0.00 [[ 9.96119164e-01 8.80148379e-02 0.00000000e+00 8.02729978e+01] [-8.80148379e-02 9.96119164e-01 0.00000000e+00 -1.35911092e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58977732e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.285336195 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:80.33, Y:-0.13, Z:0.01 [[ 9.96933488e-01 7.82535702e-02 0.00000000e+00 8.03302753e+01] [-7.82535702e-02 9.96933488e-01 0.00000000e+00 -1.30340732e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.13660045e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.39, Y:-0.13, Z:0.00 [[ 9.96629518e-01 8.20341605e-02 0.00000000e+00 8.03890151e+01] [-8.20341605e-02 9.96629518e-01 0.00000000e+00 -1.34675955e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34248883e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.45, Y:-0.14, Z:0.00 [[ 9.97131350e-01 7.56906206e-02 0.00000000e+00 8.04473972e+01] [-7.56906206e-02 9.97131350e-01 0.00000000e+00 -1.35974435e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43799446e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.51, Y:-0.13, Z:0.01 [[ 9.97075331e-01 7.64250194e-02 0.00000000e+00 8.05058874e+01] [-7.64250194e-02 9.97075331e-01 0.00000000e+00 -1.34354090e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.87314972e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.56, Y:-0.13, Z:0.01 [[ 9.96568457e-01 8.27726415e-02 0.00000000e+00 8.05624347e+01] [-8.27726415e-02 9.96568457e-01 0.00000000e+00 -1.31271770e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36186804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.62, Y:-0.13, Z:0.01 [[ 9.96452611e-01 8.41557748e-02 0.00000000e+00 8.06202173e+01] [-8.41557748e-02 9.96452611e-01 0.00000000e+00 -1.29006898e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11890467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.68, Y:-0.12, Z:0.01 [[ 9.96823902e-01 7.96373573e-02 0.00000000e+00 8.06788730e+01] [-7.96373573e-02 9.96823902e-01 0.00000000e+00 -1.24489193e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00231280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.74, Y:-0.13, Z:0.00 [[ 9.97298628e-01 7.34537079e-02 0.00000000e+00 8.07375608e+01] [-7.34537079e-02 9.97298628e-01 0.00000000e+00 -1.26126181e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11069997e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.79, Y:-0.13, Z:-0.00 [[ 9.97584827e-01 6.94587187e-02 0.00000000e+00 8.07946900e+01] [-6.94587187e-02 9.97584827e-01 0.00000000e+00 -1.34119664e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.65324573e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.85, Y:-0.12, Z:0.01 [[ 9.97451819e-01 7.13433146e-02 0.00000000e+00 8.08531153e+01] [-7.13433146e-02 9.97451819e-01 0.00000000e+00 -1.24669065e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33274892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.91, Y:-0.13, Z:0.00 [[ 9.96849775e-01 7.93128396e-02 0.00000000e+00 8.09111124e+01] [-7.93128396e-02 9.96849775e-01 0.00000000e+00 -1.30510626e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.76031502e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.97, Y:-0.13, Z:0.00 [[ 9.96858869e-01 7.91984508e-02 0.00000000e+00 8.09676544e+01] [-7.91984508e-02 9.96858869e-01 0.00000000e+00 -1.30053075e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.66466393e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.03, Y:-0.13, Z:0.00 [[ 9.96719307e-01 8.09359138e-02 0.00000000e+00 8.10258886e+01] [-8.09359138e-02 9.96719307e-01 0.00000000e+00 -1.29320248e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36587614e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.08, Y:-0.13, Z:-0.00 [[ 9.96606386e-01 8.23147041e-02 0.00000000e+00 8.10843744e+01] [-8.23147041e-02 9.96606386e-01 0.00000000e+00 -1.32472746e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.86418376e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.14, Y:-0.13, Z:0.00 [[ 9.97118153e-01 7.58642806e-02 0.00000000e+00 8.11426840e+01] [-7.58642806e-02 9.97118153e-01 0.00000000e+00 -1.28153113e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54774129e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.20, Y:-0.13, Z:0.01 [[ 9.96135257e-01 8.78325148e-02 0.00000000e+00 8.12003747e+01] [-8.78325148e-02 9.96135257e-01 0.00000000e+00 -1.28052484e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11833781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.26, Y:-0.13, Z:0.00 [[ 9.96228736e-01 8.67658108e-02 0.00000000e+00 8.12590319e+01] [-8.67658108e-02 9.96228736e-01 0.00000000e+00 -1.34618722e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.70256900e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.32, Y:-0.13, Z:0.01 [[ 9.96164030e-01 8.75055776e-02 0.00000000e+00 8.13171815e+01] [-8.75055776e-02 9.96164030e-01 0.00000000e+00 -1.30916982e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.77000419e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.38, Y:-0.13, Z:0.01 [[ 9.95259431e-01 9.72556719e-02 0.00000000e+00 8.13762418e+01] [-9.72556719e-02 9.95259431e-01 0.00000000e+00 -1.30168169e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09709533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.43, Y:-0.12, Z:0.00 [[ 9.96194132e-01 8.71622121e-02 0.00000000e+00 8.14343599e+01] [-8.71622121e-02 9.96194132e-01 0.00000000e+00 -1.24451699e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92238990e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.49, Y:-0.13, Z:0.00 [[ 9.95443544e-01 9.53527749e-02 0.00000000e+00 8.14929649e+01] [-9.53527749e-02 9.95443544e-01 0.00000000e+00 -1.34062609e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53931190e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.55, Y:-0.13, Z:0.00 [[ 9.95995787e-01 8.94001802e-02 0.00000000e+00 8.15510280e+01] [-8.94001802e-02 9.95995787e-01 0.00000000e+00 -1.32124390e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84921939e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.61, Y:-0.13, Z:0.01 [[ 9.96085666e-01 8.83931357e-02 0.00000000e+00 8.16083080e+01] [-8.83931357e-02 9.96085666e-01 0.00000000e+00 -1.26284271e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07482386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.67, Y:-0.13, Z:0.01 [[ 9.95775939e-01 9.18165477e-02 0.00000000e+00 8.16660158e+01] [-9.18165477e-02 9.95775939e-01 0.00000000e+00 -1.32019482e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17551975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.72, Y:-0.14, Z:0.01 [[ 9.95893605e-01 9.05313637e-02 0.00000000e+00 8.17240115e+01] [-9.05313637e-02 9.95893605e-01 0.00000000e+00 -1.35063207e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.79883366e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.78, Y:-0.13, Z:0.01 [[ 9.96158803e-01 8.75650623e-02 0.00000000e+00 8.17825653e+01] [-8.75650623e-02 9.96158803e-01 0.00000000e+00 -1.26100780e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.57914436e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.84, Y:-0.13, Z:0.01 [[ 9.95697334e-01 9.26650908e-02 0.00000000e+00 8.18408031e+01] [-9.26650908e-02 9.95697334e-01 0.00000000e+00 -1.34442812e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.40790691e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.90, Y:-0.13, Z:0.01 [[ 9.95465435e-01 9.51239622e-02 0.00000000e+00 8.18985368e+01] [-9.51239622e-02 9.95465435e-01 0.00000000e+00 -1.34304819e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04175782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.96, Y:-0.13, Z:0.01 [[ 9.95451608e-01 9.52685474e-02 0.00000000e+00 8.19574133e+01] [-9.52685474e-02 9.95451608e-01 0.00000000e+00 -1.33538794e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39157358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.01, Y:-0.14, Z:0.00 [[ 9.95374942e-01 9.60662553e-02 0.00000000e+00 8.20147364e+01] [-9.60662553e-02 9.95374942e-01 0.00000000e+00 -1.37019281e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96563284e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.07, Y:-0.14, Z:0.01 [[ 9.95199770e-01 9.78642820e-02 0.00000000e+00 8.20727300e+01] [-9.78642820e-02 9.95199770e-01 0.00000000e+00 -1.36875241e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.62939943e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.13, Y:-0.12, Z:0.03 [[ 9.95010707e-01 9.97681918e-02 0.00000000e+00 8.21314045e+01] [-9.97681918e-02 9.95010707e-01 0.00000000e+00 -1.24775083e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57004032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.205336195 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:82.19, Y:-0.13, Z:0.00 [[ 9.94830123e-01 1.01553071e-01 0.00000000e+00 8.21894272e+01] [-1.01553071e-01 9.94830123e-01 0.00000000e+00 -1.34320733e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.70044418e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.25, Y:-0.13, Z:0.01 [[ 9.95161107e-01 9.82566630e-02 0.00000000e+00 8.22466391e+01] [-9.82566630e-02 9.95161107e-01 0.00000000e+00 -1.28711909e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39977328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32533619499999 meters Centerline goodness : 0.999880 with order 1 Centerline is valid? [True, True] Translation: X:82.30, Y:-0.13, Z:0.01 [[ 9.95812424e-01 9.14199978e-02 0.00000000e+00 8.23038463e+01] [-9.14199978e-02 9.95812424e-01 0.00000000e+00 -1.29627157e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28482675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.385336195 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:82.36, Y:-0.13, Z:0.01 [[ 9.96368460e-01 8.51463012e-02 0.00000000e+00 8.23618298e+01] [-8.51463012e-02 9.96368460e-01 0.00000000e+00 -1.32129199e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.27922352e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.42, Y:-0.13, Z:0.02 [[ 9.97195658e-01 7.48386249e-02 0.00000000e+00 8.24195872e+01] [-7.48386249e-02 9.97195658e-01 0.00000000e+00 -1.30318465e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87533803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.48, Y:-0.13, Z:0.01 [[ 9.97465707e-01 7.11488753e-02 0.00000000e+00 8.24772646e+01] [-7.11488753e-02 9.97465707e-01 0.00000000e+00 -1.32885209e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10765844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.54, Y:-0.14, Z:0.00 [[ 9.97905188e-01 6.46934048e-02 0.00000000e+00 8.25356524e+01] [-6.46934048e-02 9.97905188e-01 0.00000000e+00 -1.36612875e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26392500e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.59, Y:-0.13, Z:0.02 [[ 9.98546826e-01 5.38909602e-02 0.00000000e+00 8.25928240e+01] [-5.38909602e-02 9.98546826e-01 0.00000000e+00 -1.34564714e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73034056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.65, Y:-0.14, Z:0.01 [[ 9.98794365e-01 4.90898844e-02 0.00000000e+00 8.26504394e+01] [-4.90898844e-02 9.98794365e-01 0.00000000e+00 -1.43654798e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.28598134e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.71, Y:-0.15, Z:0.01 [[ 9.98660852e-01 5.17349187e-02 0.00000000e+00 8.27088955e+01] [-5.17349187e-02 9.98660852e-01 0.00000000e+00 -1.47227015e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.10606444e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.77, Y:-0.15, Z:0.02 [[ 9.98569668e-01 5.34660419e-02 0.00000000e+00 8.27664463e+01] [-5.34660419e-02 9.98569668e-01 0.00000000e+00 -1.46508575e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53190148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.82, Y:-0.15, Z:0.02 [[ 9.98472142e-01 5.52574073e-02 0.00000000e+00 8.28249205e+01] [-5.52574073e-02 9.98472142e-01 0.00000000e+00 -1.46807339e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75289250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.88, Y:-0.15, Z:0.01 [[ 9.98386486e-01 5.67840107e-02 0.00000000e+00 8.28823344e+01] [-5.67840107e-02 9.98386486e-01 0.00000000e+00 -1.48841857e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42674169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.94, Y:-0.15, Z:0.01 [[ 9.98236973e-01 5.93544011e-02 0.00000000e+00 8.29407823e+01] [-5.93544011e-02 9.98236973e-01 0.00000000e+00 -1.48789680e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21545161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.00, Y:-0.16, Z:-0.00 [[ 9.97775289e-01 6.66668819e-02 0.00000000e+00 8.29992103e+01] [-6.66668819e-02 9.97775289e-01 0.00000000e+00 -1.56251027e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18381877e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.06, Y:-0.14, Z:0.03 [[ 9.97122790e-01 7.58033077e-02 0.00000000e+00 8.30576346e+01] [-7.58033077e-02 9.97122790e-01 0.00000000e+00 -1.39447052e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21949735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.12, Y:-0.14, Z:0.01 [[ 9.96690779e-01 8.12864771e-02 0.00000000e+00 8.31167038e+01] [-8.12864771e-02 9.96690779e-01 0.00000000e+00 -1.41618075e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48827473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.17, Y:-0.14, Z:0.01 [[ 9.96707288e-01 8.10837966e-02 0.00000000e+00 8.31742947e+01] [-8.10837966e-02 9.96707288e-01 0.00000000e+00 -1.38309665e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36289887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.23, Y:-0.13, Z:0.02 [[ 9.97122584e-01 7.58060153e-02 0.00000000e+00 8.32316757e+01] [-7.58060153e-02 9.97122584e-01 0.00000000e+00 -1.32573354e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65147787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.29, Y:-0.14, Z:0.01 [[ 9.97603257e-01 6.91935128e-02 0.00000000e+00 8.32887404e+01] [-6.91935128e-02 9.97603257e-01 0.00000000e+00 -1.35084707e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.28903725e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.35, Y:-0.13, Z:0.02 [[ 9.97926130e-01 6.43695445e-02 0.00000000e+00 8.33469718e+01] [-6.43695445e-02 9.97926130e-01 0.00000000e+00 -1.30446433e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05993572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.41, Y:-0.13, Z:0.01 [[ 9.98219877e-01 5.96412391e-02 0.00000000e+00 8.34056771e+01] [-5.96412391e-02 9.98219877e-01 0.00000000e+00 -1.33554125e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.03358003e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.46, Y:-0.13, Z:0.01 [[ 9.98275661e-01 5.87001291e-02 0.00000000e+00 8.34630604e+01] [-5.87001291e-02 9.98275661e-01 0.00000000e+00 -1.31194028e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27133344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.52, Y:-0.13, Z:0.01 [[ 9.98342652e-01 5.75495415e-02 0.00000000e+00 8.35210595e+01] [-5.75495415e-02 9.98342652e-01 0.00000000e+00 -1.28349800e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44535060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.58, Y:-0.13, Z:0.01 [[ 9.98413327e-01 5.63101059e-02 0.00000000e+00 8.35800307e+01] [-5.63101059e-02 9.98413327e-01 0.00000000e+00 -1.29185908e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48415999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.64, Y:-0.13, Z:0.01 [[ 9.98520506e-01 5.43764554e-02 0.00000000e+00 8.36379011e+01] [-5.43764554e-02 9.98520506e-01 0.00000000e+00 -1.32659389e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.59731635e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.70, Y:-0.13, Z:0.03 [[ 9.98520875e-01 5.43696882e-02 0.00000000e+00 8.36965566e+01] [-5.43696882e-02 9.98520875e-01 0.00000000e+00 -1.30360788e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58908807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.75, Y:-0.13, Z:0.02 [[ 9.98473621e-01 5.52306883e-02 0.00000000e+00 8.37542856e+01] [-5.52306883e-02 9.98473621e-01 0.00000000e+00 -1.31794437e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36286122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.81, Y:-0.14, Z:0.02 [[ 9.98375561e-01 5.69757731e-02 0.00000000e+00 8.38121862e+01] [-5.69757731e-02 9.98375561e-01 0.00000000e+00 -1.37667148e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52507095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.87, Y:-0.14, Z:0.01 [[ 9.98377076e-01 5.69492215e-02 0.00000000e+00 8.38707791e+01] [-5.69492215e-02 9.98377076e-01 0.00000000e+00 -1.41273910e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36281432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.93, Y:-0.15, Z:0.02 [[ 9.98436665e-01 5.58947825e-02 0.00000000e+00 8.39287613e+01] [-5.58947825e-02 9.98436665e-01 0.00000000e+00 -1.45591479e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51515070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.99, Y:-0.15, Z:0.02 [[ 9.98326638e-01 5.78266661e-02 0.00000000e+00 8.39851528e+01] [-5.78266661e-02 9.98326638e-01 0.00000000e+00 -1.47282554e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13152732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.04, Y:-0.15, Z:0.02 [[ 9.98106629e-01 6.15073680e-02 0.00000000e+00 8.40427095e+01] [-6.15073680e-02 9.98106629e-01 0.00000000e+00 -1.49969158e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52027950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.10, Y:-0.15, Z:0.01 [[ 9.97834237e-01 6.57786843e-02 0.00000000e+00 8.41001967e+01] [-6.57786843e-02 9.97834237e-01 0.00000000e+00 -1.54953424e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15480363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.16, Y:-0.16, Z:0.02 [[ 9.97313720e-01 7.32485043e-02 0.00000000e+00 8.41582011e+01] [-7.32485043e-02 9.97313720e-01 0.00000000e+00 -1.56241997e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61153870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.22, Y:-0.15, Z:0.02 [[ 9.96900298e-01 7.86752535e-02 0.00000000e+00 8.42158346e+01] [-7.86752535e-02 9.96900298e-01 0.00000000e+00 -1.53693010e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90220736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.27, Y:-0.16, Z:0.01 [[ 9.96719560e-01 8.09328022e-02 0.00000000e+00 8.42730727e+01] [-8.09328022e-02 9.96719560e-01 0.00000000e+00 -1.57694835e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47434710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.33, Y:-0.16, Z:0.02 [[ 9.96673390e-01 8.14994134e-02 0.00000000e+00 8.43303354e+01] [-8.14994134e-02 9.96673390e-01 0.00000000e+00 -1.57575987e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08393357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.39, Y:-0.16, Z:0.02 [[ 9.96618857e-01 8.21635749e-02 0.00000000e+00 8.43884767e+01] [-8.21635749e-02 9.96618857e-01 0.00000000e+00 -1.57743897e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25247372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.45, Y:-0.16, Z:0.01 [[ 9.96450885e-01 8.41762031e-02 0.00000000e+00 8.44459144e+01] [-8.41762031e-02 9.96450885e-01 0.00000000e+00 -1.62866110e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43950082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.50, Y:-0.16, Z:0.02 [[ 9.96467483e-01 8.39794982e-02 0.00000000e+00 8.45036586e+01] [-8.39794982e-02 9.96467483e-01 0.00000000e+00 -1.60088741e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04064441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.56, Y:-0.16, Z:0.01 [[ 9.96662283e-01 8.16351300e-02 0.00000000e+00 8.45618046e+01] [-8.16351300e-02 9.96662283e-01 0.00000000e+00 -1.64077414e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41594808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.62, Y:-0.17, Z:0.01 [[ 9.96882194e-01 7.89043167e-02 0.00000000e+00 8.46207414e+01] [-7.89043167e-02 9.96882194e-01 0.00000000e+00 -1.70695910e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15128393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.68, Y:-0.17, Z:0.02 [[ 9.96952562e-01 7.80101805e-02 0.00000000e+00 8.46771501e+01] [-7.80101805e-02 9.96952562e-01 0.00000000e+00 -1.67704214e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65209838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.74, Y:-0.17, Z:0.02 [[ 9.96941327e-01 7.81536380e-02 0.00000000e+00 8.47350267e+01] [-7.81536380e-02 9.96941327e-01 0.00000000e+00 -1.66696383e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95231752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.79, Y:-0.17, Z:0.01 [[ 9.96904638e-01 7.86202432e-02 0.00000000e+00 8.47926592e+01] [-7.86202432e-02 9.96904638e-01 0.00000000e+00 -1.70372641e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09227959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.85, Y:-0.17, Z:0.01 [[ 9.96987299e-01 7.75649819e-02 0.00000000e+00 8.48500924e+01] [-7.75649819e-02 9.96987299e-01 0.00000000e+00 -1.68481215e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24183509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.91, Y:-0.17, Z:0.01 [[ 9.96990036e-01 7.75297903e-02 0.00000000e+00 8.49086952e+01] [-7.75297903e-02 9.96990036e-01 0.00000000e+00 -1.70078893e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.98514184e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.97, Y:-0.17, Z:0.02 [[ 9.97223654e-01 7.44646539e-02 0.00000000e+00 8.49668191e+01] [-7.44646539e-02 9.97223654e-01 0.00000000e+00 -1.67604283e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88037670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.02, Y:-0.17, Z:0.02 [[ 9.97719056e-01 6.75032195e-02 0.00000000e+00 8.50248498e+01] [-6.75032195e-02 9.97719056e-01 0.00000000e+00 -1.68748800e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03950777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.08, Y:-0.17, Z:0.01 [[ 9.98132784e-01 6.10814716e-02 0.00000000e+00 8.50824387e+01] [-6.10814716e-02 9.98132784e-01 0.00000000e+00 -1.68348607e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15277321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.14, Y:-0.16, Z:0.02 [[ 9.98303552e-01 5.82238671e-02 0.00000000e+00 8.51397789e+01] [-5.82238671e-02 9.98303552e-01 0.00000000e+00 -1.58695903e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77725208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.20, Y:-0.15, Z:0.00 [[ 9.97941910e-01 6.41244460e-02 0.00000000e+00 8.51978570e+01] [-6.41244460e-02 9.97941910e-01 0.00000000e+00 -1.48868993e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88529729e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.25, Y:-0.14, Z:0.00 [[ 9.97775818e-01 6.66589590e-02 0.00000000e+00 8.52549496e+01] [-6.66589590e-02 9.97775818e-01 0.00000000e+00 -1.42896147e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.73316747e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.31, Y:-0.14, Z:0.00 [[ 9.97694376e-01 6.78670250e-02 0.00000000e+00 8.53117904e+01] [-6.78670250e-02 9.97694376e-01 0.00000000e+00 -1.41850789e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13413413e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.37, Y:-0.14, Z:0.00 [[ 9.97529635e-01 7.02469092e-02 0.00000000e+00 8.53703405e+01] [-7.02469092e-02 9.97529635e-01 0.00000000e+00 -1.39811300e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83404335e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.43, Y:-0.14, Z:0.01 [[ 9.97459692e-01 7.12331580e-02 0.00000000e+00 8.54286564e+01] [-7.12331580e-02 9.97459692e-01 0.00000000e+00 -1.36628379e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.39831790e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.49, Y:-0.15, Z:0.03 [[ 9.95009964e-01 9.97756100e-02 0.00000000e+00 8.54862803e+01] [-9.97756100e-02 9.95009964e-01 0.00000000e+00 -1.53720580e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52656639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.54, Y:-0.17, Z:0.03 [[ 9.95687790e-01 9.27675859e-02 0.00000000e+00 8.55437278e+01] [-9.27675859e-02 9.95687790e-01 0.00000000e+00 -1.71018308e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65329932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.60, Y:-0.18, Z:0.03 [[ 9.95894865e-01 9.05174990e-02 0.00000000e+00 8.56011405e+01] [-9.05174990e-02 9.95894865e-01 0.00000000e+00 -1.76338132e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57983556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.66, Y:-0.19, Z:0.01 [[ 9.96045441e-01 8.88452564e-02 0.00000000e+00 8.56585877e+01] [-8.88452564e-02 9.96045441e-01 0.00000000e+00 -1.87730138e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42974948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.72, Y:-0.19, Z:0.01 [[ 9.96089942e-01 8.83449324e-02 0.00000000e+00 8.57155202e+01] [-8.83449324e-02 9.96089942e-01 0.00000000e+00 -1.92997154e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.47103089e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.77, Y:-0.20, Z:0.01 [[ 9.96126492e-01 8.79318557e-02 0.00000000e+00 8.57729191e+01] [-8.79318557e-02 9.96126492e-01 0.00000000e+00 -1.96145688e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.93877614e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.83, Y:-0.20, Z:0.01 [[ 9.96196306e-01 8.71373613e-02 0.00000000e+00 8.58301254e+01] [-8.71373613e-02 9.96196306e-01 0.00000000e+00 -1.96315229e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33962555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.89, Y:-0.20, Z:0.01 [[ 9.96213346e-01 8.69423354e-02 0.00000000e+00 8.58883016e+01] [-8.69423354e-02 9.96213346e-01 0.00000000e+00 -1.95395597e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33962555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.95, Y:-0.19, Z:0.02 [[ 9.96266744e-01 8.63283023e-02 0.00000000e+00 8.59455219e+01] [-8.63283023e-02 9.96266744e-01 0.00000000e+00 -1.94952077e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15373353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.00, Y:-0.20, Z:0.03 [[ 9.96369280e-01 8.51367063e-02 0.00000000e+00 8.60035509e+01] [-8.51367063e-02 9.96369280e-01 0.00000000e+00 -1.95793121e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81338254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.06, Y:-0.20, Z:0.03 [[ 9.96477823e-01 8.38567167e-02 0.00000000e+00 8.60605768e+01] [-8.38567167e-02 9.96477823e-01 0.00000000e+00 -2.00242148e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88243791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.285336195 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:86.12, Y:-0.21, Z:0.02 [[ 9.96671141e-01 8.15269024e-02 0.00000000e+00 8.61182716e+01] [-8.15269024e-02 9.96671141e-01 0.00000000e+00 -2.07536728e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44604244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.18, Y:-0.21, Z:0.02 [[ 9.96870797e-01 7.90481737e-02 0.00000000e+00 8.61762898e+01] [-7.90481737e-02 9.96870797e-01 0.00000000e+00 -2.14611817e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04694386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.23, Y:-0.21, Z:0.02 [[ 9.96886049e-01 7.88556022e-02 0.00000000e+00 8.62344739e+01] [-7.88556022e-02 9.96886049e-01 0.00000000e+00 -2.13624182e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04694386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46533619499999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:86.29, Y:-0.22, Z:0.02 [[ 9.97184076e-01 7.49927921e-02 0.00000000e+00 8.62926657e+01] [-7.49927921e-02 9.97184076e-01 0.00000000e+00 -2.22617785e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36289856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.525336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:86.35, Y:-0.22, Z:0.02 [[ 9.97199153e-01 7.47920467e-02 0.00000000e+00 8.63508392e+01] [-7.47920467e-02 9.97199153e-01 0.00000000e+00 -2.21621677e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36289856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.41, Y:-0.23, Z:0.03 [[ 9.97496332e-01 7.07182235e-02 0.00000000e+00 8.64091559e+01] [-7.07182235e-02 9.97496332e-01 0.00000000e+00 -2.26905102e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93718839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.47, Y:-0.24, Z:0.02 [[ 9.97797109e-01 6.63395007e-02 0.00000000e+00 8.64675308e+01] [-6.63395007e-02 9.97797109e-01 0.00000000e+00 -2.39681116e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68929663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.705336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:86.53, Y:-0.26, Z:0.01 [[ 9.98122647e-01 6.12468940e-02 0.00000000e+00 8.65252482e+01] [-6.12468940e-02 9.98122647e-01 0.00000000e+00 -2.61378521e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19565041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.58, Y:-0.27, Z:0.02 [[ 9.98269133e-01 5.88110324e-02 0.00000000e+00 8.65831482e+01] [-5.88110324e-02 9.98269133e-01 0.00000000e+00 -2.69295181e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96851737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82533619499999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:86.64, Y:-0.29, Z:0.02 [[ 9.98367940e-01 5.71091603e-02 0.00000000e+00 8.66404225e+01] [-5.71091603e-02 9.98367940e-01 0.00000000e+00 -2.88620425e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25634486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.885336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:86.70, Y:-0.30, Z:0.02 [[ 9.98429933e-01 5.60148974e-02 0.00000000e+00 8.66972867e+01] [-5.60148974e-02 9.98429933e-01 0.00000000e+00 -3.03065017e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54077482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.945336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:86.75, Y:-0.31, Z:0.02 [[ 9.98367408e-01 5.71184663e-02 0.00000000e+00 8.67547404e+01] [-5.71184663e-02 9.98367408e-01 0.00000000e+00 -3.09808385e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27848686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.81, Y:-0.32, Z:0.02 [[ 9.98326628e-01 5.78268442e-02 0.00000000e+00 8.68123332e+01] [-5.78268442e-02 9.98326628e-01 0.00000000e+00 -3.22678739e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65025500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.87, Y:-0.34, Z:0.01 [[ 9.98313305e-01 5.80563934e-02 0.00000000e+00 8.68704235e+01] [-5.80563934e-02 9.98313305e-01 0.00000000e+00 -3.36167439e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.88356124e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12533619499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:86.93, Y:-0.34, Z:0.01 [[ 9.98240284e-01 5.92986930e-02 0.00000000e+00 8.69289588e+01] [-5.92986930e-02 9.98240284e-01 0.00000000e+00 -3.38178082e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31168118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18533619499999 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:86.99, Y:-0.35, Z:0.00 [[ 9.98158808e-01 6.06547194e-02 0.00000000e+00 8.69865211e+01] [-6.06547194e-02 9.98158808e-01 0.00000000e+00 -3.46284199e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36184858e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.245336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:87.05, Y:-0.36, Z:-0.01 [[ 9.98196044e-01 6.00388080e-02 0.00000000e+00 8.70450149e+01] [-6.00388080e-02 9.98196044e-01 0.00000000e+00 -3.61627570e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.07191923e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.305336195 meters Centerline goodness : 0.999381 with order 1 Centerline is valid? [True, True] Translation: X:87.11, Y:-0.73, Z:0.01 [[ 9.96214363e-01 8.69306802e-02 0.00000000e+00 8.71090619e+01] [-8.69306802e-02 9.96214363e-01 0.00000000e+00 -7.26072567e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12595001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.365336195 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:87.17, Y:-0.73, Z:0.02 [[ 9.96747188e-01 8.05918362e-02 0.00000000e+00 8.71679847e+01] [-8.05918362e-02 9.96747188e-01 0.00000000e+00 -7.29320913e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96296796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.425336195 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:87.23, Y:-0.75, Z:0.01 [[ 9.97083350e-01 7.63203325e-02 0.00000000e+00 8.72268591e+01] [-7.63203325e-02 9.97083350e-01 0.00000000e+00 -7.46306942e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24181830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48533619499999 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:87.28, Y:-0.75, Z:0.02 [[ 9.96791566e-01 8.00410753e-02 0.00000000e+00 8.72842615e+01] [-8.00410753e-02 9.96791566e-01 0.00000000e+00 -7.51348668e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70452581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54533619499999 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:87.34, Y:-0.75, Z:0.02 [[ 9.95820689e-01 9.13299303e-02 0.00000000e+00 8.73422814e+01] [-9.13299303e-02 9.95820689e-01 0.00000000e+00 -7.51069351e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28713465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60533619499999 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:87.40, Y:-0.75, Z:0.02 [[ 9.94414204e-01 1.05548053e-01 0.00000000e+00 8.74003682e+01] [-1.05548053e-01 9.94414204e-01 0.00000000e+00 -7.54720472e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03027045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.665336195 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:87.46, Y:-0.75, Z:0.02 [[ 9.92996879e-01 1.18140584e-01 0.00000000e+00 8.74574484e+01] [-1.18140584e-01 9.92996879e-01 0.00000000e+00 -7.50963361e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05785467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.725336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:87.52, Y:-0.74, Z:0.03 [[ 9.92444506e-01 1.22694347e-01 0.00000000e+00 8.75154984e+01] [-1.22694347e-01 9.92444506e-01 0.00000000e+00 -7.41280449e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43820984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.785336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:87.57, Y:-0.75, Z:0.02 [[ 9.93169999e-01 1.16676275e-01 0.00000000e+00 8.75737907e+01] [-1.16676275e-01 9.93169999e-01 0.00000000e+00 -7.50079936e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31469720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.845336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:87.63, Y:-0.75, Z:0.03 [[ 9.94373929e-01 1.05926814e-01 0.00000000e+00 8.76321802e+01] [-1.05926814e-01 9.94373929e-01 0.00000000e+00 -7.46016787e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07824712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90533619499999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:87.69, Y:-0.75, Z:0.03 [[ 9.95362995e-01 9.61899543e-02 0.00000000e+00 8.76904366e+01] [-9.61899543e-02 9.95362995e-01 0.00000000e+00 -7.51180338e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54341561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96533619499999 meters Centerline goodness : 0.999550 with order 1 Centerline is valid? [True, True] Translation: X:87.75, Y:-0.75, Z:0.03 [[ 9.95957683e-01 8.98236764e-02 0.00000000e+00 8.77486778e+01] [-8.98236764e-02 9.95957683e-01 0.00000000e+00 -7.54059158e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91897921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.025336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:87.81, Y:-0.76, Z:0.03 [[ 9.96233357e-01 8.67127352e-02 0.00000000e+00 8.78064889e+01] [-8.67127352e-02 9.96233357e-01 0.00000000e+00 -7.55975529e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24197830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.085336195 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:87.86, Y:-0.76, Z:0.03 [[ 9.96171626e-01 8.74190598e-02 0.00000000e+00 8.78636760e+01] [-8.74190598e-02 9.96171626e-01 0.00000000e+00 -7.62512312e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78781549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.145336195 meters Centerline goodness : 0.999637 with order 1 Centerline is valid? [True, True] Translation: X:87.92, Y:-0.77, Z:0.03 [[ 9.96236183e-01 8.66802589e-02 0.00000000e+00 8.79218907e+01] [-8.66802589e-02 9.96236183e-01 0.00000000e+00 -7.65150074e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26358458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.205336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:87.98, Y:-0.77, Z:0.03 [[ 9.96273863e-01 8.62460981e-02 0.00000000e+00 8.79796778e+01] [-8.62460981e-02 9.96273863e-01 0.00000000e+00 -7.73792140e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72417823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26533619499999 meters Centerline goodness : 0.999267 with order 1 Centerline is valid? [True, True] Translation: X:88.04, Y:-0.78, Z:0.03 [[ 9.96066156e-01 8.86127095e-02 0.00000000e+00 8.80373355e+01] [-8.86127095e-02 9.96066156e-01 0.00000000e+00 -7.83355014e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81446374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32533619499999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:88.10, Y:-0.79, Z:0.04 [[ 9.95503703e-01 9.47226386e-02 0.00000000e+00 8.80957929e+01] [-9.47226386e-02 9.95503703e-01 0.00000000e+00 -7.91236256e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58269234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.385336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:88.15, Y:-0.80, Z:0.03 [[ 9.95098385e-01 9.88898607e-02 0.00000000e+00 8.81547065e+01] [-9.88898607e-02 9.95098385e-01 0.00000000e+00 -7.95036038e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80251362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.445336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:88.21, Y:-0.80, Z:0.03 [[ 9.94803411e-01 1.01814405e-01 0.00000000e+00 8.82139494e+01] [-1.01814405e-01 9.94803411e-01 0.00000000e+00 -7.99556257e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20220985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.505336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:88.27, Y:-0.81, Z:0.02 [[ 9.94534235e-01 1.04410992e-01 0.00000000e+00 8.82721357e+01] [-1.04410992e-01 9.94534235e-01 0.00000000e+00 -8.13368942e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46578692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.565336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:88.33, Y:-0.81, Z:0.03 [[ 9.94546085e-01 1.04298055e-01 0.00000000e+00 8.83303496e+01] [-1.04298055e-01 9.94546085e-01 0.00000000e+00 -8.14460549e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58991277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62533619499999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:88.39, Y:-0.82, Z:0.03 [[ 9.94734751e-01 1.02483050e-01 0.00000000e+00 8.83884048e+01] [-1.02483050e-01 9.94734751e-01 0.00000000e+00 -8.15993246e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93056390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68533619499999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:88.45, Y:-0.83, Z:0.02 [[ 9.95023229e-01 9.96432339e-02 0.00000000e+00 8.84468091e+01] [-9.96432339e-02 9.95023229e-01 0.00000000e+00 -8.27443746e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35959964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.745336195 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:88.51, Y:-0.84, Z:0.02 [[ 9.95110095e-01 9.87719514e-02 0.00000000e+00 8.85060268e+01] [-9.87719514e-02 9.95110095e-01 0.00000000e+00 -8.35855305e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40738464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.805336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:88.56, Y:-0.84, Z:0.03 [[ 9.95018760e-01 9.96878447e-02 0.00000000e+00 8.85636435e+01] [-9.96878447e-02 9.95018760e-01 0.00000000e+00 -8.40666243e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69731467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.62, Y:-0.85, Z:0.03 [[ 9.95050712e-01 9.93684095e-02 0.00000000e+00 8.86210298e+01] [-9.93684095e-02 9.95050712e-01 0.00000000e+00 -8.52305234e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56245794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.925336195 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:88.68, Y:-0.86, Z:0.02 [[ 9.95567197e-01 9.40529400e-02 0.00000000e+00 8.86801783e+01] [-9.40529400e-02 9.95567197e-01 0.00000000e+00 -8.60370235e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97433561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.74, Y:-0.88, Z:0.01 [[ 9.95891577e-01 9.05536676e-02 0.00000000e+00 8.87387799e+01] [-9.05536676e-02 9.95891577e-01 0.00000000e+00 -8.78477817e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13805845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04533619499999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:88.80, Y:-0.88, Z:0.03 [[ 9.96004025e-01 8.93083508e-02 0.00000000e+00 8.87975696e+01] [-8.93083508e-02 9.96004025e-01 0.00000000e+00 -8.79758374e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16547293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10533619499999 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:88.85, Y:-0.89, Z:0.03 [[ 9.95923947e-01 9.01969650e-02 0.00000000e+00 8.88545450e+01] [-9.01969650e-02 9.95923947e-01 0.00000000e+00 -8.89598436e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84864037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.165336195 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:88.91, Y:-0.91, Z:0.02 [[ 9.95690120e-01 9.27425786e-02 0.00000000e+00 8.89123227e+01] [-9.27425786e-02 9.95690120e-01 0.00000000e+00 -9.05757300e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95122552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.97, Y:-0.91, Z:0.03 [[ 9.95250486e-01 9.73471653e-02 0.00000000e+00 8.89700834e+01] [-9.73471653e-02 9.95250486e-01 0.00000000e+00 -9.07696777e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92752187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.285336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:89.03, Y:-0.92, Z:0.02 [[ 9.95232290e-01 9.75330136e-02 0.00000000e+00 8.90285094e+01] [-9.75330136e-02 9.95232290e-01 0.00000000e+00 -9.17587192e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35534161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.345336195 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:89.09, Y:-0.93, Z:0.02 [[ 9.95017563e-01 9.96997920e-02 0.00000000e+00 8.90867748e+01] [-9.96997920e-02 9.95017563e-01 0.00000000e+00 -9.26142700e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34265914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.14, Y:-0.92, Z:0.03 [[ 9.94564648e-01 1.04120896e-01 0.00000000e+00 8.91432708e+01] [-1.04120896e-01 9.94564648e-01 0.00000000e+00 -9.21234425e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82837393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46533619499999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:89.20, Y:-0.92, Z:0.03 [[ 9.94141310e-01 1.08088189e-01 0.00000000e+00 8.92015055e+01] [-1.08088189e-01 9.94141310e-01 0.00000000e+00 -9.23746451e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54221893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.26, Y:-0.92, Z:0.02 [[ 9.94679385e-01 1.03019033e-01 0.00000000e+00 8.92597008e+01] [-1.03019033e-01 9.94679385e-01 0.00000000e+00 -9.21440446e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46176462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.585336195 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:89.32, Y:-0.92, Z:0.02 [[ 9.95640614e-01 9.32725496e-02 0.00000000e+00 8.93180221e+01] [-9.32725496e-02 9.95640614e-01 0.00000000e+00 -9.20184209e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22916577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.645336195 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:89.37, Y:-0.92, Z:0.02 [[ 9.96467207e-01 8.39827683e-02 0.00000000e+00 8.93744913e+01] [-8.39827683e-02 9.96467207e-01 0.00000000e+00 -9.18139466e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22929828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.43, Y:-0.91, Z:0.03 [[ 9.96848718e-01 7.93261189e-02 0.00000000e+00 8.94331779e+01] [-7.93261189e-02 9.96848718e-01 0.00000000e+00 -9.11431247e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25434469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76533619499999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:89.49, Y:-0.91, Z:0.02 [[ 9.97294633e-01 7.35079181e-02 0.00000000e+00 8.94907091e+01] [-7.35079181e-02 9.97294633e-01 0.00000000e+00 -9.08969647e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45544865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82533619499999 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:89.55, Y:-0.90, Z:0.03 [[ 9.97652240e-01 6.84836396e-02 0.00000000e+00 8.95481912e+01] [-6.84836396e-02 9.97652240e-01 0.00000000e+00 -9.04901398e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67478053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.61, Y:-0.90, Z:0.03 [[ 9.97691341e-01 6.79116139e-02 0.00000000e+00 8.96067737e+01] [-6.79116139e-02 9.97691341e-01 0.00000000e+00 -8.99647958e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02899268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.66, Y:-0.90, Z:0.02 [[ 9.97592094e-01 6.93542631e-02 0.00000000e+00 8.96642284e+01] [-6.93542631e-02 9.97592094e-01 0.00000000e+00 -9.00872547e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47375218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.72, Y:-0.89, Z:0.02 [[ 9.97377080e-01 7.23806631e-02 0.00000000e+00 8.97230208e+01] [-7.23806631e-02 9.97377080e-01 0.00000000e+00 -8.87315887e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79117630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.065336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:89.78, Y:-0.88, Z:0.02 [[ 9.97020329e-01 7.71392539e-02 0.00000000e+00 8.97807597e+01] [-7.71392539e-02 9.97020329e-01 0.00000000e+00 -8.83970748e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64125673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12533619499999 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:89.84, Y:-0.87, Z:0.03 [[ 9.97000779e-01 7.73915179e-02 0.00000000e+00 8.98389089e+01] [-7.73915179e-02 9.97000779e-01 0.00000000e+00 -8.67465346e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71279318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18533619499999 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:89.90, Y:-0.86, Z:0.02 [[ 9.97497068e-01 7.07078487e-02 0.00000000e+00 8.98970350e+01] [-7.07078487e-02 9.97497068e-01 0.00000000e+00 -8.58112657e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46335246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.245336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:89.95, Y:-0.86, Z:0.03 [[ 9.98752115e-01 4.99420985e-02 0.00000000e+00 8.99544363e+01] [-4.99420985e-02 9.98752115e-01 0.00000000e+00 -8.58242633e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50792935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.305336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:90.01, Y:-0.86, Z:0.03 [[ 9.99403728e-01 3.45280893e-02 0.00000000e+00 9.00118179e+01] [-3.45280893e-02 9.99403728e-01 0.00000000e+00 -8.56773964e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90946637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.365336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:90.07, Y:-0.86, Z:0.03 [[ 9.99719774e-01 2.36722270e-02 0.00000000e+00 9.00699124e+01] [-2.36722270e-02 9.99719774e-01 0.00000000e+00 -8.62816302e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84290468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.425336195 meters Centerline goodness : 0.999594 with order 1 Centerline is valid? [True, True] Translation: X:90.13, Y:-0.87, Z:0.02 [[ 9.99767718e-01 2.15524736e-02 0.00000000e+00 9.01274730e+01] [-2.15524736e-02 9.99767718e-01 0.00000000e+00 -8.72016945e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31400960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.19, Y:-0.88, Z:0.03 [[ 9.99674766e-01 2.55021885e-02 0.00000000e+00 9.01850691e+01] [-2.55021885e-02 9.99674766e-01 0.00000000e+00 -8.75405684e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80987778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54533619499999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:90.24, Y:-0.88, Z:0.03 [[ 9.99475029e-01 3.23985478e-02 0.00000000e+00 9.02429117e+01] [-3.23985478e-02 9.99475029e-01 0.00000000e+00 -8.83665053e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05534366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.30, Y:-0.89, Z:0.03 [[ 9.99185174e-01 4.03607362e-02 0.00000000e+00 9.02997776e+01] [-4.03607362e-02 9.99185174e-01 0.00000000e+00 -8.93983994e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86232532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.36, Y:-0.91, Z:0.02 [[ 9.98806506e-01 4.88422370e-02 0.00000000e+00 9.03575980e+01] [-4.88422370e-02 9.98806506e-01 0.00000000e+00 -9.08270516e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32224914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.725336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:90.42, Y:-0.92, Z:0.03 [[ 9.97806251e-01 6.62018537e-02 0.00000000e+00 9.04154408e+01] [-6.62018537e-02 9.97806251e-01 0.00000000e+00 -9.15394779e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06609274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.785336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:90.47, Y:-0.92, Z:0.03 [[ 9.96837269e-01 7.94698623e-02 0.00000000e+00 9.04735016e+01] [-7.94698623e-02 9.96837269e-01 0.00000000e+00 -9.16879901e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35179560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.53, Y:-0.93, Z:0.02 [[ 9.96077169e-01 8.84888299e-02 0.00000000e+00 9.05319548e+01] [-8.84888299e-02 9.96077169e-01 0.00000000e+00 -9.25092430e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49283832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90533619499999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:90.59, Y:-0.93, Z:0.03 [[ 9.95889069e-01 9.05812479e-02 0.00000000e+00 9.05886039e+01] [-9.05812479e-02 9.95889069e-01 0.00000000e+00 -9.25362615e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89286112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96533619499999 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:90.65, Y:-0.92, Z:0.03 [[ 9.96397818e-01 8.48020573e-02 0.00000000e+00 9.06463282e+01] [-8.48020573e-02 9.96397818e-01 0.00000000e+00 -9.21962533e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00831247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.025336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:90.70, Y:-0.94, Z:0.02 [[ 9.96934920e-01 7.82353259e-02 0.00000000e+00 9.07045754e+01] [-7.82353259e-02 9.96934920e-01 0.00000000e+00 -9.41607943e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62877421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.085336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:90.76, Y:-0.93, Z:0.03 [[ 9.97573387e-01 6.96228223e-02 0.00000000e+00 9.07619826e+01] [-6.96228223e-02 9.97573387e-01 0.00000000e+00 -9.30283034e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16604357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.82, Y:-0.94, Z:0.03 [[ 9.98081589e-01 6.19123698e-02 0.00000000e+00 9.08202877e+01] [-6.19123698e-02 9.98081589e-01 0.00000000e+00 -9.38465238e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34839752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.205336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:90.88, Y:-0.95, Z:0.03 [[ 9.98235154e-01 5.93849893e-02 0.00000000e+00 9.08780521e+01] [-5.93849893e-02 9.98235154e-01 0.00000000e+00 -9.52107723e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25264476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.94, Y:-0.94, Z:0.04 [[ 9.98109787e-01 6.14561055e-02 0.00000000e+00 9.09354519e+01] [-6.14561055e-02 9.98109787e-01 0.00000000e+00 -9.44739750e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93109591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32533619499999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:90.99, Y:-0.96, Z:0.03 [[ 9.98161143e-01 6.06162767e-02 0.00000000e+00 9.09943041e+01] [-6.06162767e-02 9.98161143e-01 0.00000000e+00 -9.62965396e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63695628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.385336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:91.05, Y:-0.97, Z:0.03 [[ 9.98338493e-01 5.76216446e-02 0.00000000e+00 9.10513613e+01] [-5.76216446e-02 9.98338493e-01 0.00000000e+00 -9.67382571e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15211001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.445336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:91.11, Y:-0.97, Z:0.03 [[ 9.98367005e-01 5.71255032e-02 0.00000000e+00 9.11081744e+01] [-5.71255032e-02 9.98367005e-01 0.00000000e+00 -9.72442779e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37278162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.505336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:91.17, Y:-1.00, Z:0.03 [[ 9.98153414e-01 6.07434164e-02 0.00000000e+00 9.11663271e+01] [-6.07434164e-02 9.98153414e-01 0.00000000e+00 -9.97930607e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59212259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.22, Y:-1.00, Z:0.03 [[ 9.97457941e-01 7.12576703e-02 0.00000000e+00 9.12247363e+01] [-7.12576703e-02 9.97457941e-01 0.00000000e+00 -1.00432127e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85914072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.28, Y:-1.01, Z:0.03 [[ 9.96605492e-01 8.23255283e-02 0.00000000e+00 9.12841431e+01] [-8.23255283e-02 9.96605492e-01 0.00000000e+00 -1.01314666e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28404944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68533619499999 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:91.34, Y:-1.02, Z:0.03 [[ 9.95853906e-01 9.09670195e-02 0.00000000e+00 9.13424105e+01] [-9.09670195e-02 9.95853906e-01 0.00000000e+00 -1.02104563e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00409593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.40, Y:-1.02, Z:0.02 [[ 9.95173806e-01 9.81279567e-02 0.00000000e+00 9.14011200e+01] [-9.81279567e-02 9.95173806e-01 0.00000000e+00 -1.02284749e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26297426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.46, Y:-1.02, Z:0.03 [[ 9.94623745e-01 1.03554844e-01 0.00000000e+00 9.14587219e+01] [-1.03554844e-01 9.94623745e-01 0.00000000e+00 -1.01707818e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68611456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.52, Y:-1.01, Z:0.03 [[ 9.94185717e-01 1.07678971e-01 0.00000000e+00 9.15166370e+01] [-1.07678971e-01 9.94185717e-01 0.00000000e+00 -1.01118402e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05878693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.925336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:91.57, Y:-0.99, Z:0.03 [[ 9.94390369e-01 1.05772368e-01 0.00000000e+00 9.15741182e+01] [-1.05772368e-01 9.94390369e-01 0.00000000e+00 -9.94557753e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19596209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98533619499999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:91.63, Y:-0.98, Z:0.03 [[ 9.94925407e-01 1.00615277e-01 0.00000000e+00 9.16319560e+01] [-1.00615277e-01 9.94925407e-01 0.00000000e+00 -9.81271210e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57541035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04533619499999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:91.69, Y:-0.97, Z:0.03 [[ 9.95897726e-01 9.04860226e-02 0.00000000e+00 9.16896146e+01] [-9.04860226e-02 9.95897726e-01 0.00000000e+00 -9.65968540e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80169087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.75, Y:-0.96, Z:0.02 [[ 9.97130831e-01 7.56974629e-02 0.00000000e+00 9.17484123e+01] [-7.56974629e-02 9.97130831e-01 0.00000000e+00 -9.59441462e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02064942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.165336195 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:91.81, Y:-0.94, Z:0.03 [[ 9.98291285e-01 5.84338059e-02 0.00000000e+00 9.18059580e+01] [-5.84338059e-02 9.98291285e-01 0.00000000e+00 -9.38798102e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36999827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.225336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:91.86, Y:-0.94, Z:0.03 [[ 9.99075949e-01 4.29796177e-02 0.00000000e+00 9.18643899e+01] [-4.29796177e-02 9.99075949e-01 0.00000000e+00 -9.38041536e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08016568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.92, Y:-0.93, Z:0.03 [[ 9.99245112e-01 3.88485042e-02 0.00000000e+00 9.19212033e+01] [-3.88485042e-02 9.99245112e-01 0.00000000e+00 -9.32061550e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21047493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.345336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:91.98, Y:-0.92, Z:0.04 [[ 9.99325242e-01 3.67295604e-02 0.00000000e+00 9.19785981e+01] [-3.67295604e-02 9.99325242e-01 0.00000000e+00 -9.20604897e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60992546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40533619499999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:92.04, Y:-0.92, Z:0.03 [[ 9.99282148e-01 3.78838941e-02 0.00000000e+00 9.20365212e+01] [-3.78838941e-02 9.99282148e-01 0.00000000e+00 -9.23437670e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17948855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.09, Y:-0.93, Z:0.03 [[ 9.99110747e-01 4.21629630e-02 0.00000000e+00 9.20948037e+01] [-4.21629630e-02 9.99110747e-01 0.00000000e+00 -9.25821739e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93126560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.15, Y:-0.92, Z:0.03 [[ 9.98476800e-01 5.51731800e-02 0.00000000e+00 9.21528674e+01] [-5.51731800e-02 9.98476800e-01 0.00000000e+00 -9.19288820e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08518698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.585336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:92.21, Y:-0.92, Z:0.03 [[ 9.98097229e-01 6.16597213e-02 0.00000000e+00 9.22108765e+01] [-6.16597213e-02 9.98097229e-01 0.00000000e+00 -9.19769132e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60240229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.645336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:92.27, Y:-0.91, Z:0.03 [[ 9.97488724e-01 7.08254637e-02 0.00000000e+00 9.22693211e+01] [-7.08254637e-02 9.97488724e-01 0.00000000e+00 -9.12915108e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49673448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.33, Y:-0.91, Z:0.03 [[ 9.96967805e-01 7.78151384e-02 0.00000000e+00 9.23262882e+01] [-7.78151384e-02 9.96967805e-01 0.00000000e+00 -9.08839608e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39900691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76533619499999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:92.38, Y:-0.90, Z:0.03 [[ 9.96690363e-01 8.12915725e-02 0.00000000e+00 9.23839622e+01] [-8.12915725e-02 9.96690363e-01 0.00000000e+00 -8.97570977e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26517682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82533619499999 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:92.44, Y:-0.89, Z:0.03 [[ 9.96587794e-01 8.25394963e-02 0.00000000e+00 9.24419312e+01] [-8.25394963e-02 9.96587794e-01 0.00000000e+00 -8.89976225e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25005169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.885336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:92.50, Y:-0.87, Z:0.03 [[ 9.96754048e-01 8.05069473e-02 0.00000000e+00 9.24998400e+01] [-8.05069473e-02 9.96754048e-01 0.00000000e+00 -8.70308775e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18299671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.945336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:92.56, Y:-0.86, Z:0.04 [[ 9.97228493e-01 7.43998215e-02 0.00000000e+00 9.25571990e+01] [-7.43998215e-02 9.97228493e-01 0.00000000e+00 -8.57385978e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71215531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.005336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:92.61, Y:-0.85, Z:0.03 [[ 9.97875520e-01 6.51494225e-02 0.00000000e+00 9.26145647e+01] [-6.51494225e-02 9.97875520e-01 0.00000000e+00 -8.48615846e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33890429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.065336195 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:92.67, Y:-0.83, Z:0.04 [[ 9.98643911e-01 5.20609126e-02 0.00000000e+00 9.26719292e+01] [-5.20609126e-02 9.98643911e-01 0.00000000e+00 -8.31257535e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71594628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12533619499999 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:92.73, Y:-0.84, Z:0.03 [[ 9.99260359e-01 3.84543229e-02 0.00000000e+00 9.27304403e+01] [-3.84543229e-02 9.99260359e-01 0.00000000e+00 -8.38832238e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65626459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.79, Y:-0.84, Z:0.04 [[ 9.99571718e-01 2.92639802e-02 0.00000000e+00 9.27886692e+01] [-2.92639802e-02 9.99571718e-01 0.00000000e+00 -8.37765468e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50562707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.245336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:92.85, Y:-0.84, Z:0.04 [[ 9.99674547e-01 2.55107834e-02 0.00000000e+00 9.28462175e+01] [-2.55107834e-02 9.99674547e-01 0.00000000e+00 -8.41918430e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.02072492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.305336195 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:92.90, Y:-0.84, Z:0.04 [[ 9.99497150e-01 3.17088022e-02 0.00000000e+00 9.29035022e+01] [-3.17088022e-02 9.99497150e-01 0.00000000e+00 -8.43766625e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.04152972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.96, Y:-0.85, Z:0.03 [[ 9.99146543e-01 4.13059938e-02 0.00000000e+00 9.29621810e+01] [-4.13059938e-02 9.99146543e-01 0.00000000e+00 -8.47325613e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17852696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.425336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:93.02, Y:-0.84, Z:0.04 [[ 9.98781020e-01 4.93606497e-02 0.00000000e+00 9.30202921e+01] [-4.93606497e-02 9.98781020e-01 0.00000000e+00 -8.41684970e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.90026491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48533619499999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:93.08, Y:-0.85, Z:0.04 [[ 9.98401651e-01 5.65167574e-02 0.00000000e+00 9.30794899e+01] [-5.65167574e-02 9.98401651e-01 0.00000000e+00 -8.50538353e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71073594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.14, Y:-0.85, Z:0.04 [[ 9.98095501e-01 6.16876882e-02 0.00000000e+00 9.31369516e+01] [-6.16876882e-02 9.98095501e-01 0.00000000e+00 -8.50642692e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.18524727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.19, Y:-0.86, Z:0.03 [[ 9.98194312e-01 6.00675987e-02 0.00000000e+00 9.31947185e+01] [-6.00675987e-02 9.98194312e-01 0.00000000e+00 -8.58074615e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38462027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.665336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:93.25, Y:-0.86, Z:0.04 [[ 9.98504238e-01 5.46743771e-02 0.00000000e+00 9.32528704e+01] [-5.46743771e-02 9.98504238e-01 0.00000000e+00 -8.59656311e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50697177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.725336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:93.31, Y:-0.87, Z:0.03 [[ 9.98640587e-01 5.21246306e-02 0.00000000e+00 9.33108085e+01] [-5.21246306e-02 9.98640587e-01 0.00000000e+00 -8.70810149e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30432487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.785336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:93.37, Y:-0.88, Z:0.03 [[ 9.98549554e-01 5.38403875e-02 0.00000000e+00 9.33693099e+01] [-5.38403875e-02 9.98549554e-01 0.00000000e+00 -8.84121947e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46755128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.43, Y:-0.88, Z:0.04 [[ 9.98438684e-01 5.58587073e-02 0.00000000e+00 9.34272740e+01] [-5.58587073e-02 9.98438684e-01 0.00000000e+00 -8.84890894e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60071178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.49, Y:-0.90, Z:0.03 [[ 9.98414917e-01 5.62819155e-02 0.00000000e+00 9.34853182e+01] [-5.62819155e-02 9.98414917e-01 0.00000000e+00 -8.98670149e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05428211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96533619499999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:93.54, Y:-0.91, Z:0.03 [[ 9.98451037e-01 5.56374549e-02 0.00000000e+00 9.35439061e+01] [-5.56374549e-02 9.98451037e-01 0.00000000e+00 -9.09445779e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20184853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.60, Y:-0.91, Z:0.04 [[ 9.98384495e-01 5.68190129e-02 0.00000000e+00 9.36017979e+01] [-5.68190129e-02 9.98384495e-01 0.00000000e+00 -9.13386323e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79609053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.66, Y:-0.93, Z:0.03 [[ 9.98413309e-01 5.63104237e-02 0.00000000e+00 9.36603661e+01] [-5.63104237e-02 9.98413309e-01 0.00000000e+00 -9.25119928e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31143401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.145336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:93.72, Y:-0.94, Z:0.04 [[ 9.98560632e-01 5.36345342e-02 0.00000000e+00 9.37190774e+01] [-5.36345342e-02 9.98560632e-01 0.00000000e+00 -9.35827766e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80570054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.205336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:93.78, Y:-0.95, Z:0.04 [[ 9.98515337e-01 5.44712961e-02 0.00000000e+00 9.37762168e+01] [-5.44712961e-02 9.98515337e-01 0.00000000e+00 -9.48572966e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.09500733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26533619499999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:93.83, Y:-0.95, Z:0.04 [[ 9.98490254e-01 5.49291622e-02 0.00000000e+00 9.38342595e+01] [-5.49291622e-02 9.98490254e-01 0.00000000e+00 -9.48394277e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15142842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.89, Y:-0.96, Z:0.03 [[ 9.98402420e-01 5.65031679e-02 0.00000000e+00 9.38930759e+01] [-5.65031679e-02 9.98402420e-01 0.00000000e+00 -9.56944224e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91350268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.95, Y:-0.97, Z:0.03 [[ 9.98293921e-01 5.83887581e-02 0.00000000e+00 9.39518509e+01] [-5.83887581e-02 9.98293921e-01 0.00000000e+00 -9.72382002e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70015986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.445336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:94.01, Y:-0.98, Z:0.05 [[ 9.98169770e-01 6.04740472e-02 0.00000000e+00 9.40101090e+01] [-6.04740472e-02 9.98169770e-01 0.00000000e+00 -9.77970637e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.83472846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.505336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:94.07, Y:-0.98, Z:0.05 [[ 9.98031729e-01 6.27109813e-02 0.00000000e+00 9.40686502e+01] [-6.27109813e-02 9.98031729e-01 0.00000000e+00 -9.82544693e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.80783254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.13, Y:-1.00, Z:0.03 [[ 9.97831134e-01 6.58257402e-02 0.00000000e+00 9.41271788e+01] [-6.58257402e-02 9.97831134e-01 0.00000000e+00 -9.99358171e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72742874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62533619499999 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:94.19, Y:-0.99, Z:0.04 [[ 9.97774254e-01 6.66823680e-02 0.00000000e+00 9.41857924e+01] [-6.66823680e-02 9.97774254e-01 0.00000000e+00 -9.91547211e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88708016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.24, Y:-1.01, Z:0.03 [[ 9.97799000e-01 6.63110554e-02 0.00000000e+00 9.42443511e+01] [-6.63110554e-02 9.97799000e-01 0.00000000e+00 -1.00818333e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19636887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.30, Y:-1.02, Z:0.03 [[ 9.98018217e-01 6.29256515e-02 0.00000000e+00 9.43024988e+01] [-6.29256515e-02 9.98018217e-01 0.00000000e+00 -1.01620332e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57762431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.36, Y:-1.02, Z:0.03 [[ 9.98535943e-01 5.40922380e-02 0.00000000e+00 9.43611948e+01] [-5.40922380e-02 9.98535943e-01 0.00000000e+00 -1.01690581e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82943052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.865336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:94.42, Y:-1.03, Z:0.04 [[ 9.98794721e-01 4.90826395e-02 0.00000000e+00 9.44202637e+01] [-4.90826395e-02 9.98794721e-01 0.00000000e+00 -1.03373056e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51929708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.48, Y:-1.05, Z:0.03 [[ 9.98781975e-01 4.93413352e-02 0.00000000e+00 9.44791272e+01] [-4.93413352e-02 9.98781975e-01 0.00000000e+00 -1.04655941e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47062349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.54, Y:-1.05, Z:0.03 [[ 9.98416267e-01 5.62579522e-02 0.00000000e+00 9.45384458e+01] [-5.62579522e-02 9.98416267e-01 0.00000000e+00 -1.04775407e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46192096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.60, Y:-1.06, Z:0.02 [[ 9.97965478e-01 6.37566099e-02 0.00000000e+00 9.45969535e+01] [-6.37566099e-02 9.97965478e-01 0.00000000e+00 -1.06097613e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39484869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.66, Y:-1.06, Z:0.03 [[ 9.97507674e-01 7.05580663e-02 0.00000000e+00 9.46554769e+01] [-7.05580663e-02 9.97507674e-01 0.00000000e+00 -1.06288781e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26094914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.71, Y:-1.05, Z:0.04 [[ 9.97300402e-01 7.34296128e-02 0.00000000e+00 9.47142531e+01] [-7.34296128e-02 9.97300402e-01 0.00000000e+00 -1.05459539e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.21078640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.77, Y:-1.06, Z:0.03 [[ 9.97335572e-01 7.29503782e-02 0.00000000e+00 9.47729074e+01] [-7.29503782e-02 9.97335572e-01 0.00000000e+00 -1.06347272e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82456860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.83, Y:-1.06, Z:0.02 [[ 9.97689372e-01 6.79405335e-02 0.00000000e+00 9.48313873e+01] [-6.79405335e-02 9.97689372e-01 0.00000000e+00 -1.06178692e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34918445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.89, Y:-1.05, Z:0.03 [[ 9.98022203e-01 6.28624129e-02 0.00000000e+00 9.48893715e+01] [-6.28624129e-02 9.98022203e-01 0.00000000e+00 -1.05097231e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35948374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.95, Y:-1.05, Z:0.04 [[ 9.98429775e-01 5.60177186e-02 0.00000000e+00 9.49469204e+01] [-5.60177186e-02 9.98429775e-01 0.00000000e+00 -1.05281917e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55630406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.01, Y:-1.05, Z:0.03 [[ 9.98923949e-01 4.63782692e-02 0.00000000e+00 9.50057955e+01] [-4.63782692e-02 9.98923949e-01 0.00000000e+00 -1.05324136e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14278967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.06, Y:-1.05, Z:0.03 [[ 9.99250620e-01 3.87065675e-02 0.00000000e+00 9.50638296e+01] [-3.87065675e-02 9.99250620e-01 0.00000000e+00 -1.04549572e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10071304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.12, Y:-1.05, Z:0.03 [[ 9.99399647e-01 3.46459972e-02 0.00000000e+00 9.51225807e+01] [-3.46459972e-02 9.99399647e-01 0.00000000e+00 -1.05206873e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11466855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.18, Y:-1.05, Z:0.03 [[ 9.99285895e-01 3.77849138e-02 0.00000000e+00 9.51805522e+01] [-3.77849138e-02 9.99285895e-01 0.00000000e+00 -1.05441687e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12370406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.24, Y:-1.05, Z:0.04 [[ 9.99200621e-01 3.99764729e-02 0.00000000e+00 9.52370497e+01] [-3.99764729e-02 9.99200621e-01 0.00000000e+00 -1.04810613e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52174442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.29, Y:-1.05, Z:0.03 [[ 9.99147468e-01 4.12836109e-02 0.00000000e+00 9.52948122e+01] [-4.12836109e-02 9.99147468e-01 0.00000000e+00 -1.05264574e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85193940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.35, Y:-1.06, Z:0.03 [[ 9.98976924e-01 4.52228353e-02 0.00000000e+00 9.53540815e+01] [-4.52228353e-02 9.98976924e-01 0.00000000e+00 -1.05827554e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92666074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.41, Y:-1.05, Z:0.04 [[ 9.98837559e-01 4.82030158e-02 0.00000000e+00 9.54121179e+01] [-4.82030158e-02 9.98837559e-01 0.00000000e+00 -1.05390726e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57302978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.47, Y:-1.05, Z:0.03 [[ 9.98867675e-01 4.75748650e-02 0.00000000e+00 9.54712061e+01] [-4.75748650e-02 9.98867675e-01 0.00000000e+00 -1.04992806e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77448620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.53, Y:-1.05, Z:0.02 [[ 9.98971790e-01 4.53361168e-02 0.00000000e+00 9.55304194e+01] [-4.53361168e-02 9.98971790e-01 0.00000000e+00 -1.05197819e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87480893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.59, Y:-1.05, Z:0.03 [[ 9.99221582e-01 3.94490754e-02 0.00000000e+00 9.55888252e+01] [-3.94490754e-02 9.99221582e-01 0.00000000e+00 -1.04605733e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75177186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12533619499999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:95.65, Y:-1.04, Z:0.04 [[ 9.99513074e-01 3.12027988e-02 0.00000000e+00 9.56470779e+01] [-3.12027988e-02 9.99513074e-01 0.00000000e+00 -1.04464374e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.87096095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.71, Y:-1.05, Z:0.03 [[ 9.99687399e-01 2.50020746e-02 0.00000000e+00 9.57056226e+01] [-2.50020746e-02 9.99687399e-01 0.00000000e+00 -1.04818453e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43476848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.76, Y:-1.05, Z:0.03 [[ 9.99863213e-01 1.65394899e-02 0.00000000e+00 9.57641287e+01] [-1.65394899e-02 9.99863213e-01 0.00000000e+00 -1.05056849e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72002324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.305336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:95.82, Y:-1.06, Z:0.02 [[ 9.99952359e-01 9.76117826e-03 0.00000000e+00 9.58238024e+01] [-9.76117826e-03 9.99952359e-01 0.00000000e+00 -1.05990780e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40369429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.365336195 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:95.88, Y:-1.07, Z:0.03 [[ 9.99974639e-01 7.12184834e-03 0.00000000e+00 9.58816520e+01] [-7.12184834e-03 9.99974639e-01 0.00000000e+00 -1.06812148e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01331625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.94, Y:-1.08, Z:0.04 [[ 9.99930848e-01 1.17601033e-02 0.00000000e+00 9.59412098e+01] [-1.17601033e-02 9.99930848e-01 0.00000000e+00 -1.07910366e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57790933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.00, Y:-1.09, Z:0.03 [[ 9.99632881e-01 2.70943423e-02 0.00000000e+00 9.60006796e+01] [-2.70943423e-02 9.99632881e-01 0.00000000e+00 -1.09330147e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11143590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.06, Y:-1.10, Z:0.03 [[ 9.99355171e-01 3.59060080e-02 0.00000000e+00 9.60599967e+01] [-3.59060080e-02 9.99355171e-01 0.00000000e+00 -1.10160385e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91262831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.12, Y:-1.11, Z:0.03 [[ 9.99111416e-01 4.21471162e-02 0.00000000e+00 9.61180702e+01] [-4.21471162e-02 9.99111416e-01 0.00000000e+00 -1.11429355e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22942148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.18, Y:-1.12, Z:0.04 [[ 9.98988009e-01 4.49773076e-02 0.00000000e+00 9.61773410e+01] [-4.49773076e-02 9.98988009e-01 0.00000000e+00 -1.12422984e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65909361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.24, Y:-1.13, Z:0.04 [[ 9.98921334e-01 4.64345532e-02 0.00000000e+00 9.62357406e+01] [-4.64345532e-02 9.98921334e-01 0.00000000e+00 -1.13324797e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77535413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.785336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:96.30, Y:-1.15, Z:0.03 [[ 9.98914498e-01 4.65813828e-02 0.00000000e+00 9.62957487e+01] [-4.65813828e-02 9.98914498e-01 0.00000000e+00 -1.15160266e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44423874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.845336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:96.35, Y:-1.16, Z:0.03 [[ 9.99065757e-01 4.32158980e-02 0.00000000e+00 9.63540487e+01] [-4.32158980e-02 9.99065757e-01 0.00000000e+00 -1.16328905e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44242709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90533619499999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:96.41, Y:-1.18, Z:0.03 [[ 9.99024040e-01 4.41697526e-02 0.00000000e+00 9.64131745e+01] [-4.41697526e-02 9.99024040e-01 0.00000000e+00 -1.17673771e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92909431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.47, Y:-1.19, Z:0.03 [[ 9.98858699e-01 4.77629517e-02 0.00000000e+00 9.64724660e+01] [-4.77629517e-02 9.98858699e-01 0.00000000e+00 -1.18720570e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77950526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.53, Y:-1.20, Z:0.04 [[ 9.98146330e-01 6.08596987e-02 0.00000000e+00 9.65312982e+01] [-6.08596987e-02 9.98146330e-01 0.00000000e+00 -1.19609495e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75590788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.59, Y:-1.20, Z:0.03 [[ 9.97576866e-01 6.95729510e-02 0.00000000e+00 9.65902157e+01] [-6.95729510e-02 9.97576866e-01 0.00000000e+00 -1.19686694e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01812198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.65, Y:-1.20, Z:0.03 [[ 9.97255251e-01 7.40402947e-02 0.00000000e+00 9.66480761e+01] [-7.40402947e-02 9.97255251e-01 0.00000000e+00 -1.19510594e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06111091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.71, Y:-1.19, Z:0.03 [[ 9.97599973e-01 6.92408432e-02 0.00000000e+00 9.67064471e+01] [-6.92408432e-02 9.97599973e-01 0.00000000e+00 -1.19437131e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14049992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.77, Y:-1.20, Z:0.04 [[ 9.98590733e-01 5.30711689e-02 0.00000000e+00 9.67655834e+01] [-5.30711689e-02 9.98590733e-01 0.00000000e+00 -1.19503533e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53525039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.82, Y:-1.19, Z:0.03 [[ 9.99020785e-01 4.42433172e-02 0.00000000e+00 9.68230541e+01] [-4.42433172e-02 9.99020785e-01 0.00000000e+00 -1.19280793e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18554440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.88, Y:-1.20, Z:0.03 [[ 9.99211042e-01 3.97151461e-02 0.00000000e+00 9.68824768e+01] [-3.97151461e-02 9.99211042e-01 0.00000000e+00 -1.19534124e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21679195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.94, Y:-1.19, Z:0.03 [[ 9.99109129e-01 4.22012742e-02 0.00000000e+00 9.69408821e+01] [-4.22012742e-02 9.99109129e-01 0.00000000e+00 -1.18801097e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66228576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.00, Y:-1.18, Z:0.03 [[ 9.98949075e-01 4.58338956e-02 0.00000000e+00 9.69981758e+01] [-4.58338956e-02 9.98949075e-01 0.00000000e+00 -1.18238707e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94250861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.06, Y:-1.17, Z:0.03 [[ 9.98444506e-01 5.57545354e-02 0.00000000e+00 9.70564034e+01] [-5.57545354e-02 9.98444506e-01 0.00000000e+00 -1.16796301e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81465593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.11, Y:-1.16, Z:0.02 [[ 9.98281029e-01 5.86087668e-02 0.00000000e+00 9.71137976e+01] [-5.86087668e-02 9.98281029e-01 0.00000000e+00 -1.15546997e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32671619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.17, Y:-1.14, Z:0.03 [[ 9.98725500e-01 5.04715294e-02 0.00000000e+00 9.71717785e+01] [-5.04715294e-02 9.98725500e-01 0.00000000e+00 -1.14300860e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88821100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.23, Y:-1.14, Z:0.03 [[ 9.99342722e-01 3.62508416e-02 0.00000000e+00 9.72289216e+01] [-3.62508416e-02 9.99342722e-01 0.00000000e+00 -1.13529579e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30964624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.29, Y:-1.13, Z:0.04 [[ 9.99760023e-01 2.19065423e-02 0.00000000e+00 9.72880826e+01] [-2.19065423e-02 9.99760023e-01 0.00000000e+00 -1.13364442e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70253756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.35, Y:-1.13, Z:0.03 [[ 9.99885690e-01 1.51197460e-02 0.00000000e+00 9.73467898e+01] [-1.51197460e-02 9.99885690e-01 0.00000000e+00 -1.12638593e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38838747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.40, Y:-1.13, Z:0.03 [[ 9.99918088e-01 1.27991496e-02 0.00000000e+00 9.74049589e+01] [-1.27991496e-02 9.99918088e-01 0.00000000e+00 -1.13341788e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95608723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.46, Y:-1.13, Z:0.03 [[ 9.99950369e-01 9.96291859e-03 0.00000000e+00 9.74633558e+01] [-9.96291859e-03 9.99950369e-01 0.00000000e+00 -1.12750985e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29858674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.52, Y:-1.14, Z:0.04 [[ 9.99942465e-01 1.07268810e-02 0.00000000e+00 9.75228361e+01] [-1.07268810e-02 9.99942465e-01 0.00000000e+00 -1.13894931e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.82813870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.58, Y:-1.14, Z:0.04 [[ 9.99903828e-01 1.38684822e-02 0.00000000e+00 9.75806467e+01] [-1.38684822e-02 9.99903828e-01 0.00000000e+00 -1.14313476e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78750788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.64, Y:-1.14, Z:0.03 [[ 9.99709514e-01 2.41016219e-02 0.00000000e+00 9.76390812e+01] [-2.41016219e-02 9.99709514e-01 0.00000000e+00 -1.14027338e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09246570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.70, Y:-1.14, Z:0.03 [[ 9.99617110e-01 2.76700960e-02 0.00000000e+00 9.76969633e+01] [-2.76700960e-02 9.99617110e-01 0.00000000e+00 -1.14272389e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18455082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.76, Y:-1.15, Z:0.04 [[ 9.99519335e-01 3.10016055e-02 0.00000000e+00 9.77566101e+01] [-3.10016055e-02 9.99519335e-01 0.00000000e+00 -1.15253504e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.90236781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.81, Y:-1.15, Z:0.03 [[ 9.99619459e-01 2.75850942e-02 0.00000000e+00 9.78145254e+01] [-2.75850942e-02 9.99619459e-01 0.00000000e+00 -1.15110369e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22958475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.87, Y:-1.16, Z:0.02 [[ 9.99754829e-01 2.21423318e-02 0.00000000e+00 9.78727147e+01] [-2.21423318e-02 9.99754829e-01 0.00000000e+00 -1.16401692e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44267874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.93, Y:-1.18, Z:0.03 [[ 9.99823044e-01 1.88117267e-02 0.00000000e+00 9.79321009e+01] [-1.88117267e-02 9.99823044e-01 0.00000000e+00 -1.17798945e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01971247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.99, Y:-1.18, Z:0.04 [[ 9.99636304e-01 2.69677549e-02 0.00000000e+00 9.79898086e+01] [-2.69677549e-02 9.99636304e-01 0.00000000e+00 -1.18045495e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61113880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.05, Y:-1.19, Z:0.03 [[ 9.99070141e-01 4.31144144e-02 0.00000000e+00 9.80484418e+01] [-4.31144144e-02 9.99070141e-01 0.00000000e+00 -1.18600227e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43756262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.11, Y:-1.17, Z:0.03 [[ 9.98255888e-01 5.90354318e-02 0.00000000e+00 9.81064883e+01] [-5.90354318e-02 9.98255888e-01 0.00000000e+00 -1.17481510e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09994167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.16, Y:-1.17, Z:0.03 [[ 9.97464320e-01 7.11683172e-02 0.00000000e+00 9.81643169e+01] [-7.11683172e-02 9.97464320e-01 0.00000000e+00 -1.16943221e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96059195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.22, Y:-1.16, Z:0.04 [[ 9.97629080e-01 6.88201944e-02 0.00000000e+00 9.82229884e+01] [-6.88201944e-02 9.97629080e-01 0.00000000e+00 -1.15586682e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52020825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.28, Y:-1.15, Z:0.03 [[ 9.98295813e-01 5.83564019e-02 0.00000000e+00 9.82806153e+01] [-5.83564019e-02 9.98295813e-01 0.00000000e+00 -1.14921120e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98160620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.34, Y:-1.14, Z:0.03 [[ 9.98942824e-01 4.59699285e-02 0.00000000e+00 9.83394622e+01] [-4.59699285e-02 9.98942824e-01 0.00000000e+00 -1.13737077e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54106858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.40, Y:-1.14, Z:0.02 [[ 9.99321503e-01 3.68311633e-02 0.00000000e+00 9.83970889e+01] [-3.68311633e-02 9.99321503e-01 0.00000000e+00 -1.13559279e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10851255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.46, Y:-1.12, Z:0.03 [[ 9.99637111e-01 2.69378224e-02 0.00000000e+00 9.84557689e+01] [-2.69378224e-02 9.99637111e-01 0.00000000e+00 -1.12400753e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29234577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.51, Y:-1.12, Z:0.03 [[ 9.99855636e-01 1.69913650e-02 0.00000000e+00 9.85129182e+01] [-1.69913650e-02 9.99855636e-01 0.00000000e+00 -1.11724216e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30619974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.57, Y:-1.13, Z:0.03 [[ 9.99979880e-01 6.34348162e-03 0.00000000e+00 9.85722150e+01] [-6.34348162e-03 9.99979880e-01 0.00000000e+00 -1.12684474e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16167028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.63, Y:-1.11, Z:0.03 [[ 9.99972509e-01 7.41487653e-03 0.00000000e+00 9.86315634e+01] [-7.41487653e-03 9.99972509e-01 0.00000000e+00 -1.11494959e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22734922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.69, Y:-1.12, Z:0.02 [[ 9.99947764e-01 1.02210699e-02 0.00000000e+00 9.86914619e+01] [-1.02210699e-02 9.99947764e-01 0.00000000e+00 -1.11941600e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35174930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.75, Y:-1.12, Z:0.03 [[ 9.99947255e-01 1.02706967e-02 0.00000000e+00 9.87517061e+01] [-1.02706967e-02 9.99947255e-01 0.00000000e+00 -1.12272282e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94196090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.81, Y:-1.13, Z:0.04 [[ 9.99959558e-01 8.99349639e-03 0.00000000e+00 9.88118669e+01] [-8.99349639e-03 9.99959558e-01 0.00000000e+00 -1.12549631e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56274961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.87, Y:-1.14, Z:0.03 [[ 9.99966937e-01 8.13175480e-03 0.00000000e+00 9.88709693e+01] [-8.13175480e-03 9.99966937e-01 0.00000000e+00 -1.13568300e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32764012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.93, Y:-1.13, Z:0.03 [[ 9.99945761e-01 1.04151481e-02 0.00000000e+00 9.89304256e+01] [-1.04151481e-02 9.99945761e-01 0.00000000e+00 -1.13456280e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37521321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.99, Y:-1.15, Z:0.03 [[ 9.99879827e-01 1.55026432e-02 0.00000000e+00 9.89902239e+01] [-1.55026432e-02 9.99879827e-01 0.00000000e+00 -1.15056719e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74292502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.05, Y:-1.15, Z:0.03 [[ 9.99821998e-01 1.88672168e-02 0.00000000e+00 9.90502726e+01] [-1.88672168e-02 9.99821998e-01 0.00000000e+00 -1.15489051e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22328359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.11, Y:-1.17, Z:0.03 [[ 9.99749324e-01 2.23894666e-02 0.00000000e+00 9.91090536e+01] [-2.23894666e-02 9.99749324e-01 0.00000000e+00 -1.16654426e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80136075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.17, Y:-1.18, Z:0.03 [[ 9.99535353e-01 3.04807701e-02 0.00000000e+00 9.91687545e+01] [-3.04807701e-02 9.99535353e-01 0.00000000e+00 -1.17765991e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77237107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.23, Y:-1.19, Z:0.03 [[ 9.99223338e-01 3.94045803e-02 0.00000000e+00 9.92274187e+01] [-3.94045803e-02 9.99223338e-01 0.00000000e+00 -1.18532525e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84909451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.29, Y:-1.20, Z:0.03 [[ 9.98924826e-01 4.63593895e-02 0.00000000e+00 9.92867053e+01] [-4.63593895e-02 9.98924826e-01 0.00000000e+00 -1.19616472e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08566927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.35, Y:-1.20, Z:0.03 [[ 9.98817477e-01 4.86173513e-02 0.00000000e+00 9.93455353e+01] [-4.86173513e-02 9.98817477e-01 0.00000000e+00 -1.19747442e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84964010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.40, Y:-1.20, Z:0.03 [[ 9.98610074e-01 5.27059782e-02 0.00000000e+00 9.94044633e+01] [-5.27059782e-02 9.98610074e-01 0.00000000e+00 -1.20151928e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92538283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.46, Y:-1.20, Z:0.03 [[ 9.98486531e-01 5.49968003e-02 0.00000000e+00 9.94631375e+01] [-5.49968003e-02 9.98486531e-01 0.00000000e+00 -1.20241555e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82004765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.52, Y:-1.20, Z:0.02 [[ 9.98378832e-01 5.69184324e-02 0.00000000e+00 9.95206460e+01] [-5.69184324e-02 9.98378832e-01 0.00000000e+00 -1.20185438e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76084473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.58, Y:-1.19, Z:0.02 [[ 9.98403568e-01 5.64828708e-02 0.00000000e+00 9.95788501e+01] [-5.64828708e-02 9.98403568e-01 0.00000000e+00 -1.19092283e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48742883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.64, Y:-1.19, Z:0.02 [[ 9.98960199e-01 4.55908007e-02 0.00000000e+00 9.96370564e+01] [-4.55908007e-02 9.98960199e-01 0.00000000e+00 -1.18933759e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31293119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.70, Y:-1.18, Z:0.02 [[ 9.99576654e-01 2.90948864e-02 0.00000000e+00 9.96968973e+01] [-2.90948864e-02 9.99576654e-01 0.00000000e+00 -1.18388724e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16541524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.76, Y:-1.19, Z:0.02 [[ 9.99912754e-01 1.32092199e-02 0.00000000e+00 9.97576753e+01] [-1.32092199e-02 9.99912754e-01 0.00000000e+00 -1.18714211e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14333301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.82, Y:-1.19, Z:0.04 [[ 9.99994750e-01 3.24044934e-03 0.00000000e+00 9.98181014e+01] [-3.24044934e-03 9.99994750e-01 0.00000000e+00 -1.19372154e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53553396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.88, Y:-1.19, Z:0.03 [[ 9.99976365e-01 6.87534921e-03 0.00000000e+00 9.98789247e+01] [-6.87534921e-03 9.99976365e-01 0.00000000e+00 -1.19250612e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29638659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.94, Y:-1.20, Z:0.03 [[ 9.99893976e-01 1.45614917e-02 0.00000000e+00 9.99389780e+01] [-1.45614917e-02 9.99893976e-01 0.00000000e+00 -1.20019126e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89158478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.00, Y:-1.19, Z:0.03 [[ 9.99684997e-01 2.50979257e-02 0.00000000e+00 9.99978465e+01] [-2.50979257e-02 9.99684997e-01 0.00000000e+00 -1.19292176e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78328075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.06, Y:-1.19, Z:0.03 [[ 9.99453593e-01 3.30532349e-02 0.00000000e+00 1.00057035e+02] [-3.30532349e-02 9.99453593e-01 0.00000000e+00 -1.19101254e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40700084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.12, Y:-1.19, Z:0.03 [[ 9.99361784e-01 3.57214979e-02 0.00000000e+00 1.00117133e+02] [-3.57214979e-02 9.99361784e-01 0.00000000e+00 -1.19267505e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36905665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.18, Y:-1.19, Z:0.03 [[ 9.99493150e-01 3.18346329e-02 0.00000000e+00 1.00177238e+02] [-3.18346329e-02 9.99493150e-01 0.00000000e+00 -1.19299083e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03925187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.24, Y:-1.19, Z:0.03 [[ 9.99730110e-01 2.32315822e-02 0.00000000e+00 1.00236714e+02] [-2.32315822e-02 9.99730110e-01 0.00000000e+00 -1.18647136e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08320661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.30, Y:-1.20, Z:0.03 [[ 9.99871025e-01 1.60602832e-02 0.00000000e+00 1.00296659e+02] [-1.60602832e-02 9.99871025e-01 0.00000000e+00 -1.19684338e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35378839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.36, Y:-1.20, Z:0.03 [[ 9.99941390e-01 1.08266821e-02 0.00000000e+00 1.00356097e+02] [-1.08266821e-02 9.99941390e-01 0.00000000e+00 -1.20189850e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08639445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.42, Y:-1.20, Z:0.03 [[ 9.99928515e-01 1.19567846e-02 0.00000000e+00 1.00416100e+02] [-1.19567846e-02 9.99928515e-01 0.00000000e+00 -1.19766200e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99098716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.48, Y:-1.20, Z:0.04 [[ 9.99808446e-01 1.95722159e-02 0.00000000e+00 1.00475867e+02] [-1.95722159e-02 9.99808446e-01 0.00000000e+00 -1.20205847e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52213552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.53, Y:-1.20, Z:0.03 [[ 9.99562537e-01 2.95759192e-02 0.00000000e+00 1.00534014e+02] [-2.95759192e-02 9.99562537e-01 0.00000000e+00 -1.19817359e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37672782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.59, Y:-1.19, Z:0.03 [[ 9.99426945e-01 3.38494005e-02 0.00000000e+00 1.00591792e+02] [-3.38494005e-02 9.99426945e-01 0.00000000e+00 -1.18800634e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49350173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.65, Y:-1.19, Z:0.04 [[ 9.99433558e-01 3.36535609e-02 0.00000000e+00 1.00651646e+02] [-3.36535609e-02 9.99433558e-01 0.00000000e+00 -1.18652176e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50011859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.71, Y:-1.18, Z:0.03 [[ 9.99507195e-01 3.13905631e-02 0.00000000e+00 1.00710470e+02] [-3.13905631e-02 9.99507195e-01 0.00000000e+00 -1.17998709e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46333706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.77, Y:-1.17, Z:0.03 [[ 9.99559064e-01 2.96930719e-02 0.00000000e+00 1.00769622e+02] [-2.96930719e-02 9.99559064e-01 0.00000000e+00 -1.17081394e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22846074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.83, Y:-1.17, Z:0.03 [[ 9.99691239e-01 2.48480611e-02 0.00000000e+00 1.00828877e+02] [-2.48480611e-02 9.99691239e-01 0.00000000e+00 -1.16939691e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84637574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.89, Y:-1.16, Z:0.04 [[ 9.99802298e-01 1.98837924e-02 0.00000000e+00 1.00888397e+02] [-1.98837924e-02 9.99802298e-01 0.00000000e+00 -1.15621702e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86824270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.95, Y:-1.16, Z:0.03 [[ 9.99865785e-01 1.63832969e-02 0.00000000e+00 1.00947960e+02] [-1.63832969e-02 9.99865785e-01 0.00000000e+00 -1.15790666e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27675054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.01, Y:-1.15, Z:0.04 [[ 9.99910768e-01 1.33587808e-02 0.00000000e+00 1.01008163e+02] [-1.33587808e-02 9.99910768e-01 0.00000000e+00 -1.15074540e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62810579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.07, Y:-1.15, Z:0.03 [[ 9.99920287e-01 1.26261772e-02 0.00000000e+00 1.01068225e+02] [-1.26261772e-02 9.99920287e-01 0.00000000e+00 -1.14762627e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44433459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.13, Y:-1.15, Z:0.03 [[ 9.99927348e-01 1.20539714e-02 0.00000000e+00 1.01127611e+02] [-1.20539714e-02 9.99927348e-01 0.00000000e+00 -1.14940895e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13785676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.19, Y:-1.14, Z:0.04 [[ 9.99945134e-01 1.04751220e-02 0.00000000e+00 1.01186690e+02] [-1.04751220e-02 9.99945134e-01 0.00000000e+00 -1.14158538e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77215785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.25, Y:-1.15, Z:0.03 [[ 9.99945092e-01 1.04791284e-02 0.00000000e+00 1.01246574e+02] [-1.04791284e-02 9.99945092e-01 0.00000000e+00 -1.15066663e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86987771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.31, Y:-1.14, Z:0.03 [[ 9.99914820e-01 1.30519553e-02 0.00000000e+00 1.01306176e+02] [-1.30519553e-02 9.99914820e-01 0.00000000e+00 -1.14464339e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20936397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.36, Y:-1.14, Z:0.03 [[ 9.99860140e-01 1.67242443e-02 0.00000000e+00 1.01364998e+02] [-1.67242443e-02 9.99860140e-01 0.00000000e+00 -1.13708136e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13624560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.43, Y:-1.15, Z:0.03 [[ 9.99888383e-01 1.49405767e-02 0.00000000e+00 1.01425001e+02] [-1.49405767e-02 9.99888383e-01 0.00000000e+00 -1.14657490e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19247668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.48, Y:-1.14, Z:0.03 [[ 9.99893778e-01 1.45750737e-02 0.00000000e+00 1.01483872e+02] [-1.45750737e-02 9.99893778e-01 0.00000000e+00 -1.13992835e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80720726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.54, Y:-1.14, Z:0.03 [[ 9.99813657e-01 1.93041934e-02 0.00000000e+00 1.01543261e+02] [-1.93041934e-02 9.99813657e-01 0.00000000e+00 -1.13740898e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04501199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.60, Y:-1.14, Z:0.03 [[ 9.99671957e-01 2.56120637e-02 0.00000000e+00 1.01603234e+02] [-2.56120637e-02 9.99671957e-01 0.00000000e+00 -1.13575319e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90164012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.66, Y:-1.13, Z:0.03 [[ 9.99649260e-01 2.64831315e-02 0.00000000e+00 1.01662588e+02] [-2.64831315e-02 9.99649260e-01 0.00000000e+00 -1.13120529e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08290624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.72, Y:-1.13, Z:0.03 [[ 9.99704877e-01 2.42931745e-02 0.00000000e+00 1.01722031e+02] [-2.42931745e-02 9.99704877e-01 0.00000000e+00 -1.13395037e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01484336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.78, Y:-1.13, Z:0.03 [[ 9.99755449e-01 2.21142930e-02 0.00000000e+00 1.01781821e+02] [-2.21142930e-02 9.99755449e-01 0.00000000e+00 -1.13239564e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21727558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.84, Y:-1.13, Z:0.03 [[ 9.99727938e-01 2.33248970e-02 0.00000000e+00 1.01841151e+02] [-2.33248970e-02 9.99727938e-01 0.00000000e+00 -1.12860701e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80388894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.90, Y:-1.13, Z:0.03 [[ 9.99648459e-01 2.65133649e-02 0.00000000e+00 1.01901031e+02] [-2.65133649e-02 9.99648459e-01 0.00000000e+00 -1.13195016e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69886763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.96, Y:-1.13, Z:0.03 [[ 9.99709624e-01 2.40970671e-02 0.00000000e+00 1.01960148e+02] [-2.40970671e-02 9.99709624e-01 0.00000000e+00 -1.12676789e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53370604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.02, Y:-1.13, Z:0.01 [[ 9.99814840e-01 1.92428302e-02 0.00000000e+00 1.02020348e+02] [-1.92428302e-02 9.99814840e-01 0.00000000e+00 -1.12865859e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38651538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.08, Y:-1.13, Z:0.02 [[ 9.99924918e-01 1.22539052e-02 0.00000000e+00 1.02081129e+02] [-1.22539052e-02 9.99924918e-01 0.00000000e+00 -1.13301683e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08317682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.725336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:102.14, Y:-1.13, Z:0.03 [[ 9.99986304e-01 5.23377276e-03 0.00000000e+00 1.02140194e+02] [-5.23377276e-03 9.99986304e-01 0.00000000e+00 -1.12748475e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94890822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.20, Y:-1.13, Z:0.04 [[ 9.99995725e-01 -2.92391962e-03 0.00000000e+00 1.02200801e+02] [ 2.92391962e-03 9.99995725e-01 0.00000000e+00 -1.13268462e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59573328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.26, Y:-1.14, Z:0.03 [[ 9.99986544e-01 -5.18773790e-03 0.00000000e+00 1.02261911e+02] [ 5.18773790e-03 9.99986544e-01 0.00000000e+00 -1.13839784e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69353919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.32, Y:-1.13, Z:0.03 [[ 9.99997928e-01 2.03569520e-03 0.00000000e+00 1.02321491e+02] [-2.03569520e-03 9.99997928e-01 0.00000000e+00 -1.13466302e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66857099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.38, Y:-1.14, Z:0.03 [[ 9.99946929e-01 1.03023940e-02 0.00000000e+00 1.02382373e+02] [-1.03023940e-02 9.99946929e-01 0.00000000e+00 -1.14158041e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99190683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.44, Y:-1.14, Z:0.03 [[ 9.99834760e-01 1.81783395e-02 0.00000000e+00 1.02442329e+02] [-1.81783395e-02 9.99834760e-01 0.00000000e+00 -1.13539338e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98560970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.50, Y:-1.14, Z:0.03 [[ 9.99765257e-01 2.16663393e-02 0.00000000e+00 1.02502484e+02] [-2.16663393e-02 9.99765257e-01 0.00000000e+00 -1.13663229e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90906381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.56, Y:-1.14, Z:0.03 [[ 9.99687660e-01 2.49916423e-02 0.00000000e+00 1.02562047e+02] [-2.49916423e-02 9.99687660e-01 0.00000000e+00 -1.14357741e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83325327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.62, Y:-1.14, Z:0.03 [[ 9.99762117e-01 2.18107806e-02 0.00000000e+00 1.02623225e+02] [-2.18107806e-02 9.99762117e-01 0.00000000e+00 -1.14156181e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41558544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.68, Y:-1.15, Z:0.03 [[ 9.99907236e-01 1.36205446e-02 0.00000000e+00 1.02684814e+02] [-1.36205446e-02 9.99907236e-01 0.00000000e+00 -1.14765028e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01966853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.75, Y:-1.16, Z:0.03 [[ 9.99967449e-01 8.06849143e-03 0.00000000e+00 1.02746001e+02] [-8.06849143e-03 9.99967449e-01 0.00000000e+00 -1.16161542e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28557803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.81, Y:-1.17, Z:0.03 [[ 9.99887012e-01 1.50321035e-02 0.00000000e+00 1.02807083e+02] [-1.50321035e-02 9.99887012e-01 0.00000000e+00 -1.16592880e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08981906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.87, Y:-1.17, Z:0.03 [[ 9.99654720e-01 2.62762295e-02 0.00000000e+00 1.02867727e+02] [-2.62762295e-02 9.99654720e-01 0.00000000e+00 -1.16530358e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04103636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.93, Y:-1.16, Z:0.03 [[ 9.99334783e-01 3.64690572e-02 0.00000000e+00 1.02927846e+02] [-3.64690572e-02 9.99334783e-01 0.00000000e+00 -1.16359808e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08415911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.99, Y:-1.16, Z:0.03 [[ 9.98906433e-01 4.67540164e-02 0.00000000e+00 1.02987830e+02] [-4.67540164e-02 9.98906433e-01 0.00000000e+00 -1.15561314e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30373840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.05, Y:-1.14, Z:0.03 [[ 9.98949286e-01 4.58292931e-02 0.00000000e+00 1.03047555e+02] [-4.58292931e-02 9.98949286e-01 0.00000000e+00 -1.14138576e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80539487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.11, Y:-1.14, Z:0.03 [[ 9.99314629e-01 3.70171762e-02 0.00000000e+00 1.03108728e+02] [-3.70171762e-02 9.99314629e-01 0.00000000e+00 -1.13872023e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06450197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.17, Y:-1.13, Z:0.03 [[ 9.99839879e-01 1.78946130e-02 0.00000000e+00 1.03169555e+02] [-1.78946130e-02 9.99839879e-01 0.00000000e+00 -1.13129898e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83290716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.23, Y:-1.13, Z:0.03 [[ 9.99904751e-01 1.38017714e-02 0.00000000e+00 1.03230327e+02] [-1.38017714e-02 9.99904751e-01 0.00000000e+00 -1.12903478e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12701869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.29, Y:-1.13, Z:0.03 [[ 9.99991534e-01 4.11484945e-03 0.00000000e+00 1.03290843e+02] [-4.11484945e-03 9.99991534e-01 0.00000000e+00 -1.12795292e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46350113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.35, Y:-1.13, Z:0.03 [[ 9.99974908e-01 -7.08406106e-03 0.00000000e+00 1.03351235e+02] [ 7.08406106e-03 9.99974908e-01 0.00000000e+00 -1.12930354e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25692551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.41, Y:-1.13, Z:0.03 [[ 9.99893969e-01 -1.45619405e-02 0.00000000e+00 1.03412204e+02] [ 1.45619405e-02 9.99893969e-01 0.00000000e+00 -1.13384383e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86038178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.47, Y:-1.14, Z:0.03 [[ 9.99879069e-01 -1.55514743e-02 0.00000000e+00 1.03472153e+02] [ 1.55514743e-02 9.99879069e-01 0.00000000e+00 -1.14049275e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25201823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.53, Y:-1.14, Z:0.03 [[ 9.99949496e-01 -1.00501445e-02 0.00000000e+00 1.03531547e+02] [ 1.00501445e-02 9.99949496e-01 0.00000000e+00 -1.13701021e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24097746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.59, Y:-1.14, Z:0.03 [[ 9.99995888e-01 -2.86767646e-03 0.00000000e+00 1.03592658e+02] [ 2.86767646e-03 9.99995888e-01 0.00000000e+00 -1.14360863e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22460164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.65, Y:-1.15, Z:0.04 [[ 9.99993969e-01 3.47298574e-03 0.00000000e+00 1.03653696e+02] [-3.47298574e-03 9.99993969e-01 0.00000000e+00 -1.14523224e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63721116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.71, Y:-1.15, Z:0.03 [[ 9.99962912e-01 8.61249014e-03 0.00000000e+00 1.03714448e+02] [-8.61249014e-03 9.99962912e-01 0.00000000e+00 -1.14965886e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40802232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.78, Y:-1.16, Z:0.04 [[ 9.99953955e-01 9.59621269e-03 0.00000000e+00 1.03775158e+02] [-9.59621269e-03 9.99953955e-01 0.00000000e+00 -1.15683610e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50396214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.84, Y:-1.17, Z:0.03 [[ 9.99951652e-01 9.83327380e-03 0.00000000e+00 1.03836702e+02] [-9.83327380e-03 9.99951652e-01 0.00000000e+00 -1.16897965e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17658118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.90, Y:-1.16, Z:0.03 [[ 9.99882649e-01 1.53195420e-02 0.00000000e+00 1.03897211e+02] [-1.53195420e-02 9.99882649e-01 0.00000000e+00 -1.16493449e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35888590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.96, Y:-1.18, Z:0.04 [[ 9.99655371e-01 2.62514801e-02 0.00000000e+00 1.03957979e+02] [-2.62514801e-02 9.99655371e-01 0.00000000e+00 -1.18101258e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77419681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.02, Y:-1.17, Z:0.03 [[ 9.99366131e-01 3.55996591e-02 0.00000000e+00 1.04018764e+02] [-3.55996591e-02 9.99366131e-01 0.00000000e+00 -1.17375198e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03296432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.08, Y:-1.17, Z:0.03 [[ 9.99001151e-01 4.46844435e-02 0.00000000e+00 1.04081113e+02] [-4.46844435e-02 9.99001151e-01 0.00000000e+00 -1.17050051e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81361430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.14, Y:-1.17, Z:0.03 [[ 9.98745426e-01 5.00756793e-02 0.00000000e+00 1.04142691e+02] [-5.00756793e-02 9.98745426e-01 0.00000000e+00 -1.16502528e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23481435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.20, Y:-1.15, Z:0.03 [[ 9.98708962e-01 5.07977236e-02 0.00000000e+00 1.04203062e+02] [-5.07977236e-02 9.98708962e-01 0.00000000e+00 -1.14539597e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08612981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.27, Y:-1.13, Z:0.03 [[ 9.99085838e-01 4.27491433e-02 0.00000000e+00 1.04265371e+02] [-4.27491433e-02 9.99085838e-01 0.00000000e+00 -1.13494218e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07510027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.33, Y:-1.13, Z:0.03 [[ 9.99537875e-01 3.03979781e-02 0.00000000e+00 1.04326288e+02] [-3.03979781e-02 9.99537875e-01 0.00000000e+00 -1.12598311e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09744788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.39, Y:-1.12, Z:0.03 [[ 9.99891921e-01 1.47019082e-02 0.00000000e+00 1.04387727e+02] [-1.47019082e-02 9.99891921e-01 0.00000000e+00 -1.11726370e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26781476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.45, Y:-1.11, Z:0.03 [[ 9.99976501e-01 6.85541642e-03 0.00000000e+00 1.04448841e+02] [-6.85541642e-03 9.99976501e-01 0.00000000e+00 -1.10963587e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24635044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.51, Y:-1.11, Z:0.03 [[ 9.99995743e-01 2.91777898e-03 0.00000000e+00 1.04508855e+02] [-2.91777898e-03 9.99995743e-01 0.00000000e+00 -1.10869306e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82033972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.57, Y:-1.11, Z:0.03 [[ 9.99999997e-01 7.52550548e-05 0.00000000e+00 1.04569535e+02] [-7.52550548e-05 9.99999997e-01 0.00000000e+00 -1.10503553e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65229241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.63, Y:-1.10, Z:0.03 [[ 9.99999829e-01 -5.84998497e-04 0.00000000e+00 1.04629413e+02] [ 5.84998497e-04 9.99999829e-01 0.00000000e+00 -1.10426070e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82429592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.69, Y:-1.11, Z:0.03 [[ 9.99999744e-01 7.15966128e-04 0.00000000e+00 1.04689720e+02] [-7.15966128e-04 9.99999744e-01 0.00000000e+00 -1.10621758e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73044510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.75, Y:-1.11, Z:0.03 [[ 9.99966572e-01 8.17645192e-03 0.00000000e+00 1.04748883e+02] [-8.17645192e-03 9.99966572e-01 0.00000000e+00 -1.10701063e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83177167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.81, Y:-1.11, Z:0.03 [[ 9.99879251e-01 1.55397109e-02 0.00000000e+00 1.04809228e+02] [-1.55397109e-02 9.99879251e-01 0.00000000e+00 -1.11056780e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54049334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.87, Y:-1.11, Z:0.02 [[ 9.99788278e-01 2.05766571e-02 0.00000000e+00 1.04870033e+02] [-2.05766571e-02 9.99788278e-01 0.00000000e+00 -1.10666482e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48430337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.93, Y:-1.11, Z:0.03 [[ 9.99745441e-01 2.25621942e-02 0.00000000e+00 1.04931188e+02] [-2.25621942e-02 9.99745441e-01 0.00000000e+00 -1.10657448e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74296434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.99, Y:-1.11, Z:0.04 [[ 9.99718042e-01 2.37452265e-02 0.00000000e+00 1.04993011e+02] [-2.37452265e-02 9.99718042e-01 0.00000000e+00 -1.10666096e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70299406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60533619499999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:105.05, Y:-1.11, Z:0.03 [[ 9.99763424e-01 2.17507702e-02 0.00000000e+00 1.05054101e+02] [-2.17507702e-02 9.99763424e-01 0.00000000e+00 -1.11273330e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57996949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.12, Y:-1.11, Z:0.03 [[ 9.99877130e-01 1.56756107e-02 0.00000000e+00 1.05115606e+02] [-1.56756107e-02 9.99877130e-01 0.00000000e+00 -1.11279508e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57255519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.18, Y:-1.11, Z:0.02 [[ 9.99921418e-01 1.25362291e-02 0.00000000e+00 1.05176710e+02] [-1.25362291e-02 9.99921418e-01 0.00000000e+00 -1.11223862e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15980523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.24, Y:-1.13, Z:0.02 [[ 9.99945971e-01 1.03949261e-02 0.00000000e+00 1.05238988e+02] [-1.03949261e-02 9.99945971e-01 0.00000000e+00 -1.13032434e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25810005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.30, Y:-1.14, Z:0.02 [[ 9.99930424e-01 1.17960397e-02 0.00000000e+00 1.05299272e+02] [-1.17960397e-02 9.99930424e-01 0.00000000e+00 -1.13627181e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22569128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.36, Y:-1.14, Z:0.02 [[ 9.99831235e-01 1.83712190e-02 0.00000000e+00 1.05361248e+02] [-1.83712190e-02 9.99831235e-01 0.00000000e+00 -1.14239206e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48459695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.42, Y:-1.16, Z:0.03 [[ 9.99762141e-01 2.18096481e-02 0.00000000e+00 1.05423202e+02] [-2.18096481e-02 9.99762141e-01 0.00000000e+00 -1.15904274e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13365742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.48, Y:-1.16, Z:0.03 [[ 9.99632581e-01 2.71054092e-02 0.00000000e+00 1.05484980e+02] [-2.71054092e-02 9.99632581e-01 0.00000000e+00 -1.15729795e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84915205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.55, Y:-1.17, Z:0.03 [[ 9.99487385e-01 3.20151183e-02 0.00000000e+00 1.05548068e+02] [-3.20151183e-02 9.99487385e-01 0.00000000e+00 -1.16679924e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66317767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.61, Y:-1.17, Z:0.02 [[ 9.99395655e-01 3.47609668e-02 0.00000000e+00 1.05609647e+02] [-3.47609668e-02 9.99395655e-01 0.00000000e+00 -1.17441589e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43496633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.67, Y:-1.19, Z:0.03 [[ 9.99361623e-01 3.57260025e-02 0.00000000e+00 1.05672323e+02] [-3.57260025e-02 9.99361623e-01 0.00000000e+00 -1.18678070e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45701708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.73, Y:-1.19, Z:0.03 [[ 9.99388079e-01 3.49780913e-02 0.00000000e+00 1.05734745e+02] [-3.49780913e-02 9.99388079e-01 0.00000000e+00 -1.19074240e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48472225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.80, Y:-1.20, Z:0.03 [[ 9.99382371e-01 3.51407976e-02 0.00000000e+00 1.05797168e+02] [-3.51407976e-02 9.99382371e-01 0.00000000e+00 -1.19964348e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04165439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.86, Y:-1.21, Z:0.03 [[ 9.99387292e-01 3.50005809e-02 0.00000000e+00 1.05858758e+02] [-3.50005809e-02 9.99387292e-01 0.00000000e+00 -1.20995520e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62069377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.92, Y:-1.21, Z:0.03 [[ 9.99366781e-01 3.55814216e-02 0.00000000e+00 1.05921343e+02] [-3.55814216e-02 9.99366781e-01 0.00000000e+00 -1.21129928e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31982335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.98, Y:-1.22, Z:0.03 [[ 9.99232419e-01 3.91736245e-02 0.00000000e+00 1.05983862e+02] [-3.91736245e-02 9.99232419e-01 0.00000000e+00 -1.22229443e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43829870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.05, Y:-1.22, Z:0.03 [[ 9.99210397e-01 3.97313780e-02 0.00000000e+00 1.06046484e+02] [-3.97313780e-02 9.99210397e-01 0.00000000e+00 -1.21692086e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49398242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.11, Y:-1.22, Z:0.03 [[ 9.99456314e-01 3.29708361e-02 0.00000000e+00 1.06108825e+02] [-3.29708361e-02 9.99456314e-01 0.00000000e+00 -1.22168743e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73053312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.17, Y:-1.23, Z:0.03 [[ 9.99711893e-01 2.40027164e-02 0.00000000e+00 1.06171607e+02] [-2.40027164e-02 9.99711893e-01 0.00000000e+00 -1.22884534e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44765693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.23, Y:-1.23, Z:0.04 [[ 9.99821651e-01 1.88855816e-02 0.00000000e+00 1.06232340e+02] [-1.88855816e-02 9.99821651e-01 0.00000000e+00 -1.22917296e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69618627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.29, Y:-1.24, Z:0.03 [[ 9.99804369e-01 1.97793846e-02 0.00000000e+00 1.06294655e+02] [-1.97793846e-02 9.99804369e-01 0.00000000e+00 -1.24123876e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31296245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.36, Y:-1.25, Z:0.03 [[ 9.99773494e-01 2.12828935e-02 0.00000000e+00 1.06356047e+02] [-2.12828935e-02 9.99773494e-01 0.00000000e+00 -1.24722417e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83246546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.42, Y:-1.25, Z:0.02 [[ 9.99693055e-01 2.47749122e-02 0.00000000e+00 1.06418611e+02] [-2.47749122e-02 9.99693055e-01 0.00000000e+00 -1.25344246e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06559014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.48, Y:-1.27, Z:0.03 [[ 9.99360936e-01 3.57452002e-02 0.00000000e+00 1.06480832e+02] [-3.57452002e-02 9.99360936e-01 0.00000000e+00 -1.26606038e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03060352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.54, Y:-1.25, Z:0.03 [[ 9.98565440e-01 5.35449613e-02 0.00000000e+00 1.06541848e+02] [-5.35449613e-02 9.98565440e-01 0.00000000e+00 -1.25157722e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14064644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.60, Y:-1.24, Z:0.03 [[ 9.97837510e-01 6.57290200e-02 0.00000000e+00 1.06603432e+02] [-6.57290200e-02 9.97837510e-01 0.00000000e+00 -1.23869475e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10496856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.66, Y:-1.24, Z:0.03 [[ 9.98080897e-01 6.19235195e-02 0.00000000e+00 1.06664999e+02] [-6.19235195e-02 9.98080897e-01 0.00000000e+00 -1.23998697e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96128694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.73, Y:-1.23, Z:0.03 [[ 9.98552751e-01 5.37810731e-02 0.00000000e+00 1.06727007e+02] [-5.37810731e-02 9.98552751e-01 0.00000000e+00 -1.22719811e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00848582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.79, Y:-1.22, Z:0.03 [[ 9.99062943e-01 4.32808875e-02 0.00000000e+00 1.06787864e+02] [-4.32808875e-02 9.99062943e-01 0.00000000e+00 -1.21719239e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58796453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.85, Y:-1.22, Z:0.02 [[ 9.99470570e-01 3.25358145e-02 0.00000000e+00 1.06849810e+02] [-3.25358145e-02 9.99470570e-01 0.00000000e+00 -1.21907322e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17100087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.91, Y:-1.21, Z:0.03 [[ 9.99867898e-01 1.62538257e-02 0.00000000e+00 1.06911870e+02] [-1.62538257e-02 9.99867898e-01 0.00000000e+00 -1.20848009e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79398339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.97, Y:-1.21, Z:0.03 [[ 9.99958862e-01 9.07052187e-03 0.00000000e+00 1.06973733e+02] [-9.07052187e-03 9.99958862e-01 0.00000000e+00 -1.20764043e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42175257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.04, Y:-1.21, Z:0.03 [[ 9.99970317e-01 7.70485654e-03 0.00000000e+00 1.07035919e+02] [-7.70485654e-03 9.99970317e-01 0.00000000e+00 -1.20574224e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24386632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.10, Y:-1.20, Z:0.03 [[ 9.99935652e-01 1.13442565e-02 0.00000000e+00 1.07097242e+02] [-1.13442565e-02 9.99935652e-01 0.00000000e+00 -1.19612761e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85811414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.16, Y:-1.19, Z:0.03 [[ 9.99866996e-01 1.63092023e-02 0.00000000e+00 1.07158599e+02] [-1.63092023e-02 9.99866996e-01 0.00000000e+00 -1.19357439e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61285036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.22, Y:-1.19, Z:0.03 [[ 9.99752123e-01 2.22641580e-02 0.00000000e+00 1.07220268e+02] [-2.22641580e-02 9.99752123e-01 0.00000000e+00 -1.18671240e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20132458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.28, Y:-1.18, Z:0.04 [[ 9.99653885e-01 2.63080043e-02 0.00000000e+00 1.07281034e+02] [-2.63080043e-02 9.99653885e-01 0.00000000e+00 -1.17503138e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57282054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.34, Y:-1.17, Z:0.03 [[ 9.99582213e-01 2.89032628e-02 0.00000000e+00 1.07343501e+02] [-2.89032628e-02 9.99582213e-01 0.00000000e+00 -1.17064675e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50178647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.41, Y:-1.16, Z:0.02 [[ 9.99602857e-01 2.81802982e-02 0.00000000e+00 1.07405448e+02] [-2.81802982e-02 9.99602857e-01 0.00000000e+00 -1.16492368e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49881642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.47, Y:-1.16, Z:0.03 [[ 9.99754683e-01 2.21488828e-02 0.00000000e+00 1.07467599e+02] [-2.21488828e-02 9.99754683e-01 0.00000000e+00 -1.15956393e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22685595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.53, Y:-1.16, Z:0.04 [[ 9.99923286e-01 1.23863322e-02 0.00000000e+00 1.07528453e+02] [-1.23863322e-02 9.99923286e-01 0.00000000e+00 -1.15787756e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58960372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.59, Y:-1.16, Z:0.03 [[ 9.99973817e-01 7.23645429e-03 0.00000000e+00 1.07590805e+02] [-7.23645429e-03 9.99973817e-01 0.00000000e+00 -1.15713830e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96202815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.65, Y:-1.15, Z:0.03 [[ 9.99994795e-01 3.22639702e-03 0.00000000e+00 1.07652781e+02] [-3.22639702e-03 9.99994795e-01 0.00000000e+00 -1.15385852e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86357380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.71, Y:-1.16, Z:0.03 [[ 9.99998263e-01 1.86361411e-03 0.00000000e+00 1.07713482e+02] [-1.86361411e-03 9.99998263e-01 0.00000000e+00 -1.15730248e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05054229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.77, Y:-1.17, Z:0.03 [[ 9.99997318e-01 2.31582971e-03 0.00000000e+00 1.07774345e+02] [-2.31582971e-03 9.99997318e-01 0.00000000e+00 -1.16669524e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30399094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.84, Y:-1.16, Z:0.03 [[ 9.99996347e-01 2.70292149e-03 0.00000000e+00 1.07835564e+02] [-2.70292149e-03 9.99996347e-01 0.00000000e+00 -1.16422631e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40521499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.90, Y:-1.18, Z:0.03 [[ 9.99991143e-01 4.20889291e-03 0.00000000e+00 1.07896104e+02] [-4.20889291e-03 9.99991143e-01 0.00000000e+00 -1.17545051e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32937124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.96, Y:-1.19, Z:0.03 [[ 9.99980470e-01 6.24972158e-03 0.00000000e+00 1.07958426e+02] [-6.24972158e-03 9.99980470e-01 0.00000000e+00 -1.18808222e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80022087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.02, Y:-1.19, Z:0.03 [[ 9.99948838e-01 1.01153541e-02 0.00000000e+00 1.08020405e+02] [-1.01153541e-02 9.99948838e-01 0.00000000e+00 -1.19163192e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16999777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.08, Y:-1.21, Z:0.04 [[ 9.99893527e-01 1.45922586e-02 0.00000000e+00 1.08081612e+02] [-1.45922586e-02 9.99893527e-01 0.00000000e+00 -1.20591712e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61713801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.14, Y:-1.21, Z:0.03 [[ 9.99759649e-01 2.19235926e-02 0.00000000e+00 1.08144383e+02] [-2.19235926e-02 9.99759649e-01 0.00000000e+00 -1.21239521e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83377384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.21, Y:-1.22, Z:0.03 [[ 9.99561156e-01 2.96225357e-02 0.00000000e+00 1.08206414e+02] [-2.96225357e-02 9.99561156e-01 0.00000000e+00 -1.21813418e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41111689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.27, Y:-1.23, Z:0.03 [[ 9.99358863e-01 3.58031001e-02 0.00000000e+00 1.08269032e+02] [-3.58031001e-02 9.99358863e-01 0.00000000e+00 -1.22798014e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16469697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.33, Y:-1.24, Z:0.03 [[ 9.99253753e-01 3.86255990e-02 0.00000000e+00 1.08330315e+02] [-3.86255990e-02 9.99253753e-01 0.00000000e+00 -1.23673287e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47593652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.39, Y:-1.24, Z:0.03 [[ 9.99349048e-01 3.60760310e-02 0.00000000e+00 1.08393390e+02] [-3.60760310e-02 9.99349048e-01 0.00000000e+00 -1.24291873e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35309926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.46, Y:-1.25, Z:0.03 [[ 9.99424767e-01 3.39136415e-02 0.00000000e+00 1.08455015e+02] [-3.39136415e-02 9.99424767e-01 0.00000000e+00 -1.24900885e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93983760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.52, Y:-1.25, Z:0.03 [[ 9.99363173e-01 3.56826047e-02 0.00000000e+00 1.08517998e+02] [-3.56826047e-02 9.99363173e-01 0.00000000e+00 -1.25408317e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10045517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.58, Y:-1.25, Z:0.03 [[ 9.99339606e-01 3.63366346e-02 0.00000000e+00 1.08580691e+02] [-3.63366346e-02 9.99339606e-01 0.00000000e+00 -1.25372992e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90793801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.64, Y:-1.26, Z:0.03 [[ 9.99567616e-01 2.94037726e-02 0.00000000e+00 1.08642195e+02] [-2.94037726e-02 9.99567616e-01 0.00000000e+00 -1.25713970e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10318603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.70, Y:-1.27, Z:0.03 [[ 9.99649174e-01 2.64863970e-02 0.00000000e+00 1.08703392e+02] [-2.64863970e-02 9.99649174e-01 0.00000000e+00 -1.26861280e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07491054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.77, Y:-1.26, Z:0.02 [[ 9.99627649e-01 2.72866800e-02 0.00000000e+00 1.08765010e+02] [-2.72866800e-02 9.99627649e-01 0.00000000e+00 -1.26391564e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37869897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.83, Y:-1.26, Z:0.03 [[ 9.99500892e-01 3.15906100e-02 0.00000000e+00 1.08826381e+02] [-3.15906100e-02 9.99500892e-01 0.00000000e+00 -1.26192053e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65377913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.89, Y:-1.27, Z:0.03 [[ 9.99355133e-01 3.59070738e-02 0.00000000e+00 1.08889637e+02] [-3.59070738e-02 9.99355133e-01 0.00000000e+00 -1.26522749e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01698424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.95, Y:-1.25, Z:0.02 [[ 9.99212112e-01 3.96882273e-02 0.00000000e+00 1.08951442e+02] [-3.96882273e-02 9.99212112e-01 0.00000000e+00 -1.25238131e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05933867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.01, Y:-1.24, Z:0.02 [[ 9.99128163e-01 4.17482248e-02 0.00000000e+00 1.09012113e+02] [-4.17482248e-02 9.99128163e-01 0.00000000e+00 -1.24147288e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77513658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.07, Y:-1.24, Z:0.02 [[ 9.99214622e-01 3.96249889e-02 0.00000000e+00 1.09073756e+02] [-3.96249889e-02 9.99214622e-01 0.00000000e+00 -1.24033456e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46355662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.14, Y:-1.23, Z:0.03 [[ 9.99433149e-01 3.36657312e-02 0.00000000e+00 1.09135840e+02] [-3.36657312e-02 9.99433149e-01 0.00000000e+00 -1.23173861e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21866486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.20, Y:-1.22, Z:0.02 [[ 9.99696062e-01 2.46532753e-02 0.00000000e+00 1.09197642e+02] [-2.46532753e-02 9.99696062e-01 0.00000000e+00 -1.21848977e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44513007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.26, Y:-1.22, Z:0.02 [[ 9.99918833e-01 1.27407748e-02 0.00000000e+00 1.09260010e+02] [-1.27407748e-02 9.99918833e-01 0.00000000e+00 -1.22340460e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00577068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.32, Y:-1.21, Z:0.02 [[ 9.99956234e-01 9.35577367e-03 0.00000000e+00 1.09321438e+02] [-9.35577367e-03 9.99956234e-01 0.00000000e+00 -1.21306209e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55471984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.38, Y:-1.22, Z:0.01 [[ 9.99940666e-01 1.08933608e-02 0.00000000e+00 1.09384299e+02] [-1.08933608e-02 9.99940666e-01 0.00000000e+00 -1.21727033e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49695185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.44, Y:-1.21, Z:0.02 [[ 9.99882808e-01 1.53091536e-02 0.00000000e+00 1.09444930e+02] [-1.53091536e-02 9.99882808e-01 0.00000000e+00 -1.21239465e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94093256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.51, Y:-1.21, Z:0.02 [[ 9.99876432e-01 1.57200445e-02 0.00000000e+00 1.09507309e+02] [-1.57200445e-02 9.99876432e-01 0.00000000e+00 -1.21375448e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19923348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.57, Y:-1.22, Z:0.02 [[ 9.99930999e-01 1.17472549e-02 0.00000000e+00 1.09570370e+02] [-1.17472549e-02 9.99930999e-01 0.00000000e+00 -1.21901749e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25343779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.63, Y:-1.22, Z:0.02 [[ 9.99934011e-01 1.14879848e-02 0.00000000e+00 1.09632455e+02] [-1.14879848e-02 9.99934011e-01 0.00000000e+00 -1.22228095e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16199351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.69, Y:-1.23, Z:0.02 [[ 9.99897978e-01 1.42840489e-02 0.00000000e+00 1.09693561e+02] [-1.42840489e-02 9.99897978e-01 0.00000000e+00 -1.22750934e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01101859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.75, Y:-1.23, Z:0.02 [[ 9.99685873e-01 2.50630357e-02 0.00000000e+00 1.09754303e+02] [-2.50630357e-02 9.99685873e-01 0.00000000e+00 -1.22732335e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06327599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.82, Y:-1.23, Z:0.02 [[ 9.99511905e-01 3.12402194e-02 0.00000000e+00 1.09816127e+02] [-3.12402194e-02 9.99511905e-01 0.00000000e+00 -1.22688564e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92746372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.88, Y:-1.23, Z:0.02 [[ 9.99500984e-01 3.15877128e-02 0.00000000e+00 1.09876860e+02] [-3.15877128e-02 9.99500984e-01 0.00000000e+00 -1.22992100e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46135018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.94, Y:-1.22, Z:0.03 [[ 9.99628251e-01 2.72646427e-02 0.00000000e+00 1.09938846e+02] [-2.72646427e-02 9.99628251e-01 0.00000000e+00 -1.22468574e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61001536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.00, Y:-1.22, Z:0.02 [[ 9.99713618e-01 2.39307608e-02 0.00000000e+00 1.10000346e+02] [-2.39307608e-02 9.99713618e-01 0.00000000e+00 -1.22221505e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39966168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.06, Y:-1.22, Z:0.02 [[ 9.99692905e-01 2.47809549e-02 0.00000000e+00 1.10062379e+02] [-2.47809549e-02 9.99692905e-01 0.00000000e+00 -1.22357939e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21142211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.12, Y:-1.22, Z:0.02 [[ 9.99660329e-01 2.60619773e-02 0.00000000e+00 1.10124352e+02] [-2.60619773e-02 9.99660329e-01 0.00000000e+00 -1.21964800e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11515725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.19, Y:-1.21, Z:0.02 [[ 9.99685920e-01 2.50611654e-02 0.00000000e+00 1.10187497e+02] [-2.50611654e-02 9.99685920e-01 0.00000000e+00 -1.21395703e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04276316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.25, Y:-1.22, Z:0.02 [[ 9.99779395e-01 2.10038522e-02 0.00000000e+00 1.10249142e+02] [-2.10038522e-02 9.99779395e-01 0.00000000e+00 -1.22086530e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42363947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.31, Y:-1.22, Z:0.02 [[ 9.99821894e-01 1.88727268e-02 0.00000000e+00 1.10311379e+02] [-1.88727268e-02 9.99821894e-01 0.00000000e+00 -1.22225289e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30146442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.37, Y:-1.23, Z:0.02 [[ 9.99855848e-01 1.69789326e-02 0.00000000e+00 1.10373520e+02] [-1.69789326e-02 9.99855848e-01 0.00000000e+00 -1.22637547e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02308073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.44, Y:-1.23, Z:0.02 [[ 9.99790530e-01 2.04669298e-02 0.00000000e+00 1.10435268e+02] [-2.04669298e-02 9.99790530e-01 0.00000000e+00 -1.23040291e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20151340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.50, Y:-1.23, Z:0.03 [[ 9.99450049e-01 3.31602037e-02 0.00000000e+00 1.10496551e+02] [-3.31602037e-02 9.99450049e-01 0.00000000e+00 -1.22734238e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52272702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.56, Y:-1.22, Z:0.02 [[ 9.99024492e-01 4.41595347e-02 0.00000000e+00 1.10557537e+02] [-4.41595347e-02 9.99024492e-01 0.00000000e+00 -1.21716614e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05007419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.62, Y:-1.22, Z:0.02 [[ 9.98849673e-01 4.79513278e-02 0.00000000e+00 1.10620458e+02] [-4.79513278e-02 9.98849673e-01 0.00000000e+00 -1.21548162e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21642953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.68, Y:-1.21, Z:0.03 [[ 9.99065751e-01 4.32160187e-02 0.00000000e+00 1.10682179e+02] [-4.32160187e-02 9.99065751e-01 0.00000000e+00 -1.20659382e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63342198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.74, Y:-1.21, Z:0.03 [[ 9.99664377e-01 2.59062574e-02 0.00000000e+00 1.10743527e+02] [-2.59062574e-02 9.99664377e-01 0.00000000e+00 -1.20661990e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78781776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.81, Y:-1.21, Z:0.03 [[ 9.99930037e-01 1.18287974e-02 0.00000000e+00 1.10806458e+02] [-1.18287974e-02 9.99930037e-01 0.00000000e+00 -1.20527248e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61010216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.87, Y:-1.21, Z:0.03 [[ 9.99987755e-01 4.94872052e-03 0.00000000e+00 1.10868529e+02] [-4.94872052e-03 9.99987755e-01 0.00000000e+00 -1.20938378e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62607399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.93, Y:-1.21, Z:0.03 [[ 9.99980723e-01 6.20917332e-03 0.00000000e+00 1.10930497e+02] [-6.20917332e-03 9.99980723e-01 0.00000000e+00 -1.21005584e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77233216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.99, Y:-1.21, Z:0.03 [[ 9.99967268e-01 8.09086437e-03 0.00000000e+00 1.10992250e+02] [-8.09086437e-03 9.99967268e-01 0.00000000e+00 -1.21206109e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91541039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.05, Y:-1.21, Z:0.02 [[ 9.99951708e-01 9.82759577e-03 0.00000000e+00 1.11053078e+02] [-9.82759577e-03 9.99951708e-01 0.00000000e+00 -1.21291189e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43020344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.12, Y:-1.21, Z:0.02 [[ 9.99935183e-01 1.13854866e-02 0.00000000e+00 1.11116549e+02] [-1.13854866e-02 9.99935183e-01 0.00000000e+00 -1.21498944e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37359844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.18, Y:-1.22, Z:0.02 [[ 9.99842086e-01 1.77708403e-02 0.00000000e+00 1.11178648e+02] [-1.77708403e-02 9.99842086e-01 0.00000000e+00 -1.21909269e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33114607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.24, Y:-1.21, Z:0.02 [[ 9.99600087e-01 2.82783500e-02 0.00000000e+00 1.11240961e+02] [-2.82783500e-02 9.99600087e-01 0.00000000e+00 -1.21147942e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27649148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.30, Y:-1.22, Z:0.03 [[ 9.99448003e-01 3.32218076e-02 0.00000000e+00 1.11303155e+02] [-3.32218076e-02 9.99448003e-01 0.00000000e+00 -1.21593736e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84859908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.37, Y:-1.22, Z:0.03 [[ 9.99504391e-01 3.14797201e-02 0.00000000e+00 1.11365892e+02] [-3.14797201e-02 9.99504391e-01 0.00000000e+00 -1.22088268e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78201177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.43, Y:-1.22, Z:0.02 [[ 9.99523631e-01 3.08627620e-02 0.00000000e+00 1.11427927e+02] [-3.08627620e-02 9.99523631e-01 0.00000000e+00 -1.21677091e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38131289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.49, Y:-1.22, Z:0.02 [[ 9.99458141e-01 3.29154206e-02 0.00000000e+00 1.11489859e+02] [-3.29154206e-02 9.99458141e-01 0.00000000e+00 -1.22098669e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38935980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.55, Y:-1.22, Z:0.02 [[ 9.99356329e-01 3.58737728e-02 0.00000000e+00 1.11551797e+02] [-3.58737728e-02 9.99356329e-01 0.00000000e+00 -1.22204012e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49246640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.61, Y:-1.21, Z:0.02 [[ 9.99293390e-01 3.75861639e-02 0.00000000e+00 1.11613270e+02] [-3.75861639e-02 9.99293390e-01 0.00000000e+00 -1.21416481e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35373099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.68, Y:-1.22, Z:0.03 [[ 9.99223510e-01 3.94002043e-02 0.00000000e+00 1.11675764e+02] [-3.94002043e-02 9.99223510e-01 0.00000000e+00 -1.21669337e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87650040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.74, Y:-1.20, Z:0.02 [[ 9.99313985e-01 3.70345586e-02 0.00000000e+00 1.11737820e+02] [-3.70345586e-02 9.99313985e-01 0.00000000e+00 -1.20354811e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31798561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.80, Y:-1.20, Z:0.02 [[ 9.99435443e-01 3.35975373e-02 0.00000000e+00 1.11799584e+02] [-3.35975373e-02 9.99435443e-01 0.00000000e+00 -1.20074385e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27239923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.86, Y:-1.21, Z:0.03 [[ 9.99574327e-01 2.91747373e-02 0.00000000e+00 1.11861554e+02] [-2.91747373e-02 9.99574327e-01 0.00000000e+00 -1.20560419e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49814393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.92, Y:-1.19, Z:0.03 [[ 9.99702012e-01 2.44107868e-02 0.00000000e+00 1.11923343e+02] [-2.44107868e-02 9.99702012e-01 0.00000000e+00 -1.18814353e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20974198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.99, Y:-1.19, Z:0.03 [[ 9.99773867e-01 2.12653250e-02 0.00000000e+00 1.11986150e+02] [-2.12653250e-02 9.99773867e-01 0.00000000e+00 -1.19162762e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61662908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.05, Y:-1.18, Z:0.02 [[ 9.99781505e-01 2.09031854e-02 0.00000000e+00 1.12046736e+02] [-2.09031854e-02 9.99781505e-01 0.00000000e+00 -1.18363655e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89270005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.11, Y:-1.18, Z:0.02 [[ 9.99699497e-01 2.45135767e-02 0.00000000e+00 1.12108907e+02] [-2.45135767e-02 9.99699497e-01 0.00000000e+00 -1.17825554e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88908046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.17, Y:-1.17, Z:0.02 [[ 9.99623107e-01 2.74525592e-02 0.00000000e+00 1.12169375e+02] [-2.74525592e-02 9.99623107e-01 0.00000000e+00 -1.17060343e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15965157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.23, Y:-1.17, Z:0.03 [[ 9.99641926e-01 2.67585584e-02 0.00000000e+00 1.12230489e+02] [-2.67585584e-02 9.99641926e-01 0.00000000e+00 -1.16719879e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84543922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.29, Y:-1.16, Z:0.03 [[ 9.99819460e-01 1.90012736e-02 0.00000000e+00 1.12292697e+02] [-1.90012736e-02 9.99819460e-01 0.00000000e+00 -1.16450521e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50211632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.36, Y:-1.17, Z:0.03 [[ 9.99927309e-01 1.20572192e-02 0.00000000e+00 1.12355160e+02] [-1.20572192e-02 9.99927309e-01 0.00000000e+00 -1.16687252e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81880418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.42, Y:-1.18, Z:0.03 [[ 9.99987809e-01 4.93772820e-03 0.00000000e+00 1.12417559e+02] [-4.93772820e-03 9.99987809e-01 0.00000000e+00 -1.17784071e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76434302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.48, Y:-1.18, Z:0.03 [[ 9.99995527e-01 2.99113197e-03 0.00000000e+00 1.12479367e+02] [-2.99113197e-03 9.99995527e-01 0.00000000e+00 -1.18200608e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67039613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.54, Y:-1.19, Z:0.03 [[ 9.99996728e-01 2.55800040e-03 0.00000000e+00 1.12540811e+02] [-2.55800040e-03 9.99996728e-01 0.00000000e+00 -1.19008911e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24566710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.60, Y:-1.20, Z:0.03 [[ 9.99952054e-01 9.79229873e-03 0.00000000e+00 1.12601452e+02] [-9.79229873e-03 9.99952054e-01 0.00000000e+00 -1.19673751e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71244145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.66, Y:-1.20, Z:0.03 [[ 9.99722770e-01 2.35453402e-02 0.00000000e+00 1.12663249e+02] [-2.35453402e-02 9.99722770e-01 0.00000000e+00 -1.20139288e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79942131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.72, Y:-1.20, Z:0.03 [[ 9.99275087e-01 3.80696845e-02 0.00000000e+00 1.12724605e+02] [-3.80696845e-02 9.99275087e-01 0.00000000e+00 -1.20051118e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71536900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.79, Y:-1.20, Z:0.02 [[ 9.99249427e-01 3.87373672e-02 0.00000000e+00 1.12786861e+02] [-3.87373672e-02 9.99249427e-01 0.00000000e+00 -1.20409722e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09152810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.85, Y:-1.21, Z:0.02 [[ 9.99407567e-01 3.44167751e-02 0.00000000e+00 1.12850563e+02] [-3.44167751e-02 9.99407567e-01 0.00000000e+00 -1.21489039e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32027832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.91, Y:-1.22, Z:0.02 [[ 9.99494456e-01 3.17935836e-02 0.00000000e+00 1.12913155e+02] [-3.17935836e-02 9.99494456e-01 0.00000000e+00 -1.21906385e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29421234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.97, Y:-1.21, Z:0.01 [[ 9.99373020e-01 3.54057521e-02 0.00000000e+00 1.12974606e+02] [-3.54057521e-02 9.99373020e-01 0.00000000e+00 -1.21471591e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46646565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.04, Y:-1.22, Z:0.02 [[ 9.99214875e-01 3.96185940e-02 0.00000000e+00 1.13037468e+02] [-3.96185940e-02 9.99214875e-01 0.00000000e+00 -1.21653158e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68572025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.10, Y:-1.22, Z:0.02 [[ 9.99004224e-01 4.46156951e-02 0.00000000e+00 1.13099589e+02] [-4.46156951e-02 9.99004224e-01 0.00000000e+00 -1.21895100e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47835365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.16, Y:-1.21, Z:0.02 [[ 9.98980769e-01 4.51378259e-02 0.00000000e+00 1.13161343e+02] [-4.51378259e-02 9.98980769e-01 0.00000000e+00 -1.20828973e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99959337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.22, Y:-1.20, Z:0.02 [[ 9.99051825e-01 4.35367661e-02 0.00000000e+00 1.13223282e+02] [-4.35367661e-02 9.99051825e-01 0.00000000e+00 -1.19825382e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08676960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.29, Y:-1.20, Z:0.03 [[ 9.99256766e-01 3.85475657e-02 0.00000000e+00 1.13285758e+02] [-3.85475657e-02 9.99256766e-01 0.00000000e+00 -1.19779160e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94581122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.35, Y:-1.19, Z:0.03 [[ 9.99429697e-01 3.37680429e-02 0.00000000e+00 1.13348128e+02] [-3.37680429e-02 9.99429697e-01 0.00000000e+00 -1.19189857e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52869408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.41, Y:-1.18, Z:0.03 [[ 9.99652486e-01 2.63611104e-02 0.00000000e+00 1.13410015e+02] [-2.63611104e-02 9.99652486e-01 0.00000000e+00 -1.18315655e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54156865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.47, Y:-1.19, Z:0.02 [[ 9.99912720e-01 1.32118217e-02 0.00000000e+00 1.13471314e+02] [-1.32118217e-02 9.99912720e-01 0.00000000e+00 -1.19079158e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10728030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.53, Y:-1.19, Z:0.03 [[ 9.99958905e-01 9.06578257e-03 0.00000000e+00 1.13533234e+02] [-9.06578257e-03 9.99958905e-01 0.00000000e+00 -1.18651483e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67053804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.60, Y:-1.19, Z:0.03 [[ 9.99955304e-01 9.45467554e-03 0.00000000e+00 1.13595706e+02] [-9.45467554e-03 9.99955304e-01 0.00000000e+00 -1.19185637e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92854424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.66, Y:-1.20, Z:0.03 [[ 9.99932126e-01 1.16509180e-02 0.00000000e+00 1.13658545e+02] [-1.16509180e-02 9.99932126e-01 0.00000000e+00 -1.19704134e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12117333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.72, Y:-1.20, Z:0.02 [[ 9.99883939e-01 1.52350827e-02 0.00000000e+00 1.13720007e+02] [-1.52350827e-02 9.99883939e-01 0.00000000e+00 -1.19634794e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33371393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.78, Y:-1.19, Z:0.02 [[ 9.99761550e-01 2.18367383e-02 0.00000000e+00 1.13781499e+02] [-2.18367383e-02 9.99761550e-01 0.00000000e+00 -1.19428500e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14572473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.84, Y:-1.19, Z:0.03 [[ 9.99441151e-01 3.34273189e-02 0.00000000e+00 1.13843317e+02] [-3.34273189e-02 9.99441151e-01 0.00000000e+00 -1.19165431e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97582575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.91, Y:-1.18, Z:0.03 [[ 9.99189987e-01 4.02413930e-02 0.00000000e+00 1.13905004e+02] [-4.02413930e-02 9.99189987e-01 0.00000000e+00 -1.18312075e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19643756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.97, Y:-1.17, Z:0.03 [[ 9.99350944e-01 3.60234834e-02 0.00000000e+00 1.13966984e+02] [-3.60234834e-02 9.99350944e-01 0.00000000e+00 -1.16963948e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17819196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.03, Y:-1.17, Z:0.04 [[ 9.99681444e-01 2.52390687e-02 0.00000000e+00 1.14027750e+02] [-2.52390687e-02 9.99681444e-01 0.00000000e+00 -1.16818550e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77449440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.09, Y:-1.16, Z:0.04 [[ 9.99897245e-01 1.43352284e-02 0.00000000e+00 1.14088346e+02] [-1.43352284e-02 9.99897245e-01 0.00000000e+00 -1.16026857e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.18571629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.15, Y:-1.16, Z:0.04 [[ 9.99990296e-01 4.40550078e-03 0.00000000e+00 1.14150983e+02] [-4.40550078e-03 9.99990296e-01 0.00000000e+00 -1.16280762e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.91767690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.21, Y:-1.16, Z:0.04 [[ 9.99994202e-01 -3.40524248e-03 0.00000000e+00 1.14211962e+02] [ 3.40524248e-03 9.99994202e-01 0.00000000e+00 -1.16046749e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68247994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.27, Y:-1.17, Z:0.04 [[ 9.99995072e-01 -3.13949112e-03 0.00000000e+00 1.14271729e+02] [ 3.13949112e-03 9.99995072e-01 0.00000000e+00 -1.17043872e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.26517265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.33, Y:-1.16, Z:0.05 [[ 9.99999278e-01 1.20145582e-03 0.00000000e+00 1.14330483e+02] [-1.20145582e-03 9.99999278e-01 0.00000000e+00 -1.16478757e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.57380011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.39, Y:-1.16, Z:0.05 [[ 9.99903822e-01 1.38689260e-02 0.00000000e+00 1.14390904e+02] [-1.38689260e-02 9.99903822e-01 0.00000000e+00 -1.15754086e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.55515298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.45, Y:-1.16, Z:0.05 [[ 9.99593007e-01 2.85275448e-02 0.00000000e+00 1.14453085e+02] [-2.85275448e-02 9.99593007e-01 0.00000000e+00 -1.15702219e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.72069281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.52, Y:-1.15, Z:0.05 [[ 9.99370669e-01 3.54720539e-02 0.00000000e+00 1.14515138e+02] [-3.54720539e-02 9.99370669e-01 0.00000000e+00 -1.15075214e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.62019533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.58, Y:-1.15, Z:0.05 [[ 9.99235757e-01 3.90883740e-02 0.00000000e+00 1.14577555e+02] [-3.90883740e-02 9.99235757e-01 0.00000000e+00 -1.14532312e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.60364845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.64, Y:-1.14, Z:0.05 [[ 9.99222145e-01 3.94348222e-02 0.00000000e+00 1.14638677e+02] [-3.94348222e-02 9.99222145e-01 0.00000000e+00 -1.13980406e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.74449544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.70, Y:-1.14, Z:0.05 [[ 9.99258673e-01 3.84981188e-02 0.00000000e+00 1.14700741e+02] [-3.84981188e-02 9.99258673e-01 0.00000000e+00 -1.14100033e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.64042902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.76, Y:-1.13, Z:0.04 [[ 9.99234940e-01 3.91092688e-02 0.00000000e+00 1.14762425e+02] [-3.91092688e-02 9.99234940e-01 0.00000000e+00 -1.13145534e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.39823316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.82, Y:-1.13, Z:0.04 [[ 9.99161494e-01 4.09427436e-02 0.00000000e+00 1.14824567e+02] [-4.09427436e-02 9.99161494e-01 0.00000000e+00 -1.12701932e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58075593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.89, Y:-1.12, Z:0.04 [[ 9.99174752e-01 4.06179219e-02 0.00000000e+00 1.14886525e+02] [-4.06179219e-02 9.99174752e-01 0.00000000e+00 -1.11767976e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.20754141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.95, Y:-1.10, Z:0.03 [[ 9.99095799e-01 4.25156958e-02 0.00000000e+00 1.14947242e+02] [-4.25156958e-02 9.99095799e-01 0.00000000e+00 -1.10074599e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04107819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.01, Y:-1.10, Z:0.03 [[ 9.99067018e-01 4.31867249e-02 0.00000000e+00 1.15010447e+02] [-4.31867249e-02 9.99067018e-01 0.00000000e+00 -1.09618857e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99747161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.07, Y:-1.08, Z:0.04 [[ 9.99101282e-01 4.23866607e-02 0.00000000e+00 1.15071045e+02] [-4.23866607e-02 9.99101282e-01 0.00000000e+00 -1.08283493e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61416477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.13, Y:-1.07, Z:0.03 [[ 9.99273111e-01 3.81215197e-02 0.00000000e+00 1.15132800e+02] [-3.81215197e-02 9.99273111e-01 0.00000000e+00 -1.06865218e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28637940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.19, Y:-1.06, Z:0.03 [[ 9.99612741e-01 2.78274565e-02 0.00000000e+00 1.15194526e+02] [-2.78274565e-02 9.99612741e-01 0.00000000e+00 -1.05711878e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18855120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.26, Y:-1.04, Z:0.04 [[ 9.99778551e-01 2.10439776e-02 0.00000000e+00 1.15255090e+02] [-2.10439776e-02 9.99778551e-01 0.00000000e+00 -1.04427711e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74166664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.32, Y:-1.03, Z:0.04 [[ 9.99897278e-01 1.43329671e-02 0.00000000e+00 1.15317119e+02] [-1.43329671e-02 9.99897278e-01 0.00000000e+00 -1.03451743e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67402899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.38, Y:-1.03, Z:0.04 [[ 9.99977243e-01 6.74629591e-03 0.00000000e+00 1.15380131e+02] [-6.74629591e-03 9.99977243e-01 0.00000000e+00 -1.02584253e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70176356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.44, Y:-1.02, Z:0.03 [[ 9.99998280e-01 1.85463269e-03 0.00000000e+00 1.15442464e+02] [-1.85463269e-03 9.99998280e-01 0.00000000e+00 -1.02396385e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34382094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.50, Y:-1.02, Z:0.03 [[ 9.99999964e-01 2.67819835e-04 0.00000000e+00 1.15503146e+02] [-2.67819835e-04 9.99999964e-01 0.00000000e+00 -1.02340827e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78322257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.56, Y:-1.02, Z:0.03 [[ 9.99999996e-01 8.79442363e-05 0.00000000e+00 1.15563399e+02] [-8.79442363e-05 9.99999996e-01 0.00000000e+00 -1.02208101e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90697423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.62, Y:-1.02, Z:0.03 [[ 9.99995677e-01 2.94037390e-03 0.00000000e+00 1.15623207e+02] [-2.94037390e-03 9.99995677e-01 0.00000000e+00 -1.01763916e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85275228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.68, Y:-1.03, Z:0.04 [[ 9.99947034e-01 1.02921729e-02 0.00000000e+00 1.15684280e+02] [-1.02921729e-02 9.99947034e-01 0.00000000e+00 -1.02922048e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67440638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.75, Y:-1.03, Z:0.03 [[ 9.99887614e-01 1.49919661e-02 0.00000000e+00 1.15745531e+02] [-1.49919661e-02 9.99887614e-01 0.00000000e+00 -1.02731281e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46090437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.81, Y:-1.03, Z:0.03 [[ 9.99856501e-01 1.69403858e-02 0.00000000e+00 1.15808043e+02] [-1.69403858e-02 9.99856501e-01 0.00000000e+00 -1.02771703e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88719216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.87, Y:-1.04, Z:0.04 [[ 9.99829363e-01 1.84728285e-02 0.00000000e+00 1.15870209e+02] [-1.84728285e-02 9.99829363e-01 0.00000000e+00 -1.04255047e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.21986818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.93, Y:-1.04, Z:0.04 [[ 9.99736101e-01 2.29723485e-02 0.00000000e+00 1.15933602e+02] [-2.29723485e-02 9.99736101e-01 0.00000000e+00 -1.04489305e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.26094046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.00, Y:-1.04, Z:0.03 [[ 9.99556948e-01 2.97642107e-02 0.00000000e+00 1.15995696e+02] [-2.97642107e-02 9.99556948e-01 0.00000000e+00 -1.04316639e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02470876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.06, Y:-1.06, Z:0.03 [[ 9.99381738e-01 3.51587959e-02 0.00000000e+00 1.16057878e+02] [-3.51587959e-02 9.99381738e-01 0.00000000e+00 -1.06078109e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13718212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.12, Y:-1.06, Z:0.03 [[ 9.99172361e-01 4.06766880e-02 0.00000000e+00 1.16119577e+02] [-4.06766880e-02 9.99172361e-01 0.00000000e+00 -1.06098198e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43594073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.18, Y:-1.06, Z:0.04 [[ 9.98907621e-01 4.67286370e-02 0.00000000e+00 1.16181614e+02] [-4.67286370e-02 9.98907621e-01 0.00000000e+00 -1.05848236e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54433701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.24, Y:-1.06, Z:0.04 [[ 9.98529662e-01 5.42080691e-02 0.00000000e+00 1.16244737e+02] [-5.42080691e-02 9.98529662e-01 0.00000000e+00 -1.06357075e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.02558113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.31, Y:-1.06, Z:0.04 [[ 9.98268851e-01 5.88158271e-02 0.00000000e+00 1.16306191e+02] [-5.88158271e-02 9.98268851e-01 0.00000000e+00 -1.05508095e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79596571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.37, Y:-1.05, Z:0.04 [[ 9.98326091e-01 5.78361092e-02 0.00000000e+00 1.16368633e+02] [-5.78361092e-02 9.98326091e-01 0.00000000e+00 -1.04930311e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.16679732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.43, Y:-1.05, Z:0.04 [[ 9.98877721e-01 4.73634666e-02 0.00000000e+00 1.16430384e+02] [-4.73634666e-02 9.98877721e-01 0.00000000e+00 -1.04610525e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.42514026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.49, Y:-1.05, Z:0.04 [[ 9.99156028e-01 4.10759144e-02 0.00000000e+00 1.16492307e+02] [-4.10759144e-02 9.99156028e-01 0.00000000e+00 -1.04577861e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.41905145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.56, Y:-1.04, Z:0.04 [[ 9.99327872e-01 3.66579467e-02 0.00000000e+00 1.16555273e+02] [-3.66579467e-02 9.99327872e-01 0.00000000e+00 -1.03783999e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.31180476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.62, Y:-1.03, Z:0.05 [[ 9.99421080e-01 3.40221219e-02 0.00000000e+00 1.16617444e+02] [-3.40221219e-02 9.99421080e-01 0.00000000e+00 -1.03254557e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.71365419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.68, Y:-1.03, Z:0.05 [[ 9.99422875e-01 3.39693435e-02 0.00000000e+00 1.16680120e+02] [-3.39693435e-02 9.99422875e-01 0.00000000e+00 -1.02760830e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.78891137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.74, Y:-1.02, Z:0.05 [[ 9.99373739e-01 3.53854495e-02 0.00000000e+00 1.16740692e+02] [-3.53854495e-02 9.99373739e-01 0.00000000e+00 -1.01870255e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.67473883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.80, Y:-1.01, Z:0.04 [[ 9.99426536e-01 3.38614788e-02 0.00000000e+00 1.16802755e+02] [-3.38614788e-02 9.99426536e-01 0.00000000e+00 -1.01181670e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.07988785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.87, Y:-1.00, Z:0.04 [[ 9.99498913e-01 3.16531785e-02 0.00000000e+00 1.16865500e+02] [-3.16531785e-02 9.99498913e-01 0.00000000e+00 -1.00156235e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.05193453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.93, Y:-1.00, Z:0.04 [[ 9.99518197e-01 3.10382515e-02 0.00000000e+00 1.16926710e+02] [-3.10382515e-02 9.99518197e-01 0.00000000e+00 -9.95138516e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.38626553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.99, Y:-0.99, Z:0.05 [[ 9.99549463e-01 3.00145177e-02 0.00000000e+00 1.16989604e+02] [-3.00145177e-02 9.99549463e-01 0.00000000e+00 -9.91060907e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.51296826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.05, Y:-0.99, Z:0.05 [[ 9.99665404e-01 2.58665979e-02 0.00000000e+00 1.17051952e+02] [-2.58665979e-02 9.99665404e-01 0.00000000e+00 -9.86403694e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.92882280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.11, Y:-0.98, Z:0.04 [[ 9.99796375e-01 2.01794222e-02 0.00000000e+00 1.17113096e+02] [-2.01794222e-02 9.99796375e-01 0.00000000e+00 -9.82467814e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.05476132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.18, Y:-0.99, Z:0.03 [[ 9.99806704e-01 1.96609689e-02 0.00000000e+00 1.17175790e+02] [-1.96609689e-02 9.99806704e-01 0.00000000e+00 -9.86174864e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14298697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.24, Y:-0.98, Z:0.04 [[ 9.99716137e-01 2.38252939e-02 0.00000000e+00 1.17237975e+02] [-2.38252939e-02 9.99716137e-01 0.00000000e+00 -9.80383428e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51082214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.30, Y:-0.97, Z:0.03 [[ 9.99524566e-01 3.08324784e-02 0.00000000e+00 1.17299193e+02] [-3.08324784e-02 9.99524566e-01 0.00000000e+00 -9.71783156e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48693350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.36, Y:-0.97, Z:0.04 [[ 9.99314546e-01 3.70194323e-02 0.00000000e+00 1.17361443e+02] [-3.70194323e-02 9.99314546e-01 0.00000000e+00 -9.73520520e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.91294684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.42, Y:-0.97, Z:0.04 [[ 9.99362605e-01 3.56985112e-02 0.00000000e+00 1.17422494e+02] [-3.56985112e-02 9.99362605e-01 0.00000000e+00 -9.66606495e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.95716186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.48, Y:-0.96, Z:0.03 [[ 9.99494996e-01 3.17766058e-02 0.00000000e+00 1.17484469e+02] [-3.17766058e-02 9.99494996e-01 0.00000000e+00 -9.63752454e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47836284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.55, Y:-0.97, Z:0.04 [[ 9.99598756e-01 2.83253598e-02 0.00000000e+00 1.17547036e+02] [-2.83253598e-02 9.99598756e-01 0.00000000e+00 -9.67839741e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71971794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.61, Y:-0.96, Z:0.04 [[ 9.99656719e-01 2.62000863e-02 0.00000000e+00 1.17608201e+02] [-2.62000863e-02 9.99656719e-01 0.00000000e+00 -9.60679772e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71079435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.67, Y:-0.97, Z:0.04 [[ 9.99729045e-01 2.32773654e-02 0.00000000e+00 1.17671160e+02] [-2.32773654e-02 9.99729045e-01 0.00000000e+00 -9.65807945e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.02583637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.73, Y:-0.96, Z:0.03 [[ 9.99781146e-01 2.09203441e-02 0.00000000e+00 1.17733682e+02] [-2.09203441e-02 9.99781146e-01 0.00000000e+00 -9.63647146e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26532339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.80, Y:-0.97, Z:0.04 [[ 9.99802903e-01 1.98533433e-02 0.00000000e+00 1.17795790e+02] [-1.98533433e-02 9.99802903e-01 0.00000000e+00 -9.73790568e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80304682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.86, Y:-0.97, Z:0.04 [[ 9.99751083e-01 2.23108196e-02 0.00000000e+00 1.17857828e+02] [-2.23108196e-02 9.99751083e-01 0.00000000e+00 -9.74532710e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65968988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.92, Y:-0.97, Z:0.03 [[ 9.99596478e-01 2.84056397e-02 0.00000000e+00 1.17920478e+02] [-2.84056397e-02 9.99596478e-01 0.00000000e+00 -9.73374070e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12127337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.98, Y:-0.98, Z:0.04 [[ 9.99358569e-01 3.58113187e-02 0.00000000e+00 1.17982638e+02] [-3.58113187e-02 9.99358569e-01 0.00000000e+00 -9.83393284e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56661191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.04, Y:-0.98, Z:0.03 [[ 9.99222853e-01 3.94168862e-02 0.00000000e+00 1.18044442e+02] [-3.94168862e-02 9.99222853e-01 0.00000000e+00 -9.75701852e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04624290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.11, Y:-0.98, Z:0.03 [[ 9.99203785e-01 3.98973195e-02 0.00000000e+00 1.18107015e+02] [-3.98973195e-02 9.99203785e-01 0.00000000e+00 -9.80443552e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26028267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.17, Y:-0.98, Z:0.04 [[ 9.99211081e-01 3.97141706e-02 0.00000000e+00 1.18169047e+02] [-3.97141706e-02 9.99211081e-01 0.00000000e+00 -9.83820514e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.99923106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.23, Y:-0.98, Z:0.04 [[ 9.99217232e-01 3.95591125e-02 0.00000000e+00 1.18232037e+02] [-3.95591125e-02 9.99217232e-01 0.00000000e+00 -9.79549286e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68737129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.30, Y:-0.98, Z:0.04 [[ 9.99306582e-01 3.72337812e-02 0.00000000e+00 1.18295143e+02] [-3.72337812e-02 9.99306582e-01 0.00000000e+00 -9.82923963e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76161494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.36, Y:-0.98, Z:0.03 [[ 9.99464591e-01 3.27189636e-02 0.00000000e+00 1.18356554e+02] [-3.27189636e-02 9.99464591e-01 0.00000000e+00 -9.84416629e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42555607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.42, Y:-0.99, Z:0.03 [[ 9.99552220e-01 2.99225719e-02 0.00000000e+00 1.18419064e+02] [-2.99225719e-02 9.99552220e-01 0.00000000e+00 -9.88786475e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33917184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.48, Y:-0.99, Z:0.04 [[ 9.99532564e-01 3.05720892e-02 0.00000000e+00 1.18480116e+02] [-3.05720892e-02 9.99532564e-01 0.00000000e+00 -9.87059990e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55848004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.54, Y:-0.99, Z:0.03 [[ 9.99460963e-01 3.28296144e-02 0.00000000e+00 1.18542134e+02] [-3.28296144e-02 9.99460963e-01 0.00000000e+00 -9.88599909e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29916899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.60, Y:-0.99, Z:0.04 [[ 9.99334329e-01 3.64814765e-02 0.00000000e+00 1.18603732e+02] [-3.64814765e-02 9.99334329e-01 0.00000000e+00 -9.88256342e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96896592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.67, Y:-0.99, Z:0.04 [[ 9.99263034e-01 3.83847361e-02 0.00000000e+00 1.18665801e+02] [-3.83847361e-02 9.99263034e-01 0.00000000e+00 -9.87739222e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36492870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.73, Y:-0.99, Z:0.04 [[ 9.99232774e-01 3.91645655e-02 0.00000000e+00 1.18726797e+02] [-3.91645655e-02 9.99232774e-01 0.00000000e+00 -9.85795048e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96360437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.79, Y:-0.99, Z:0.04 [[ 9.99294810e-01 3.75483936e-02 0.00000000e+00 1.18788573e+02] [-3.75483936e-02 9.99294810e-01 0.00000000e+00 -9.86976231e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93015635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.85, Y:-0.98, Z:0.04 [[ 9.99320240e-01 3.68654119e-02 0.00000000e+00 1.18850282e+02] [-3.68654119e-02 9.99320240e-01 0.00000000e+00 -9.83539603e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59405766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.91, Y:-0.98, Z:0.03 [[ 9.99326604e-01 3.66924904e-02 0.00000000e+00 1.18911399e+02] [-3.66924904e-02 9.99326604e-01 0.00000000e+00 -9.82115413e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33944326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.97, Y:-0.98, Z:0.04 [[ 9.99392350e-01 3.48558610e-02 0.00000000e+00 1.18974452e+02] [-3.48558610e-02 9.99392350e-01 0.00000000e+00 -9.81541719e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56199261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.165336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:119.04, Y:-0.98, Z:0.04 [[ 9.99623731e-01 2.74298593e-02 0.00000000e+00 1.19036871e+02] [-2.74298593e-02 9.99623731e-01 0.00000000e+00 -9.78707838e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15078592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.10, Y:-0.98, Z:0.04 [[ 9.99676655e-01 2.54280485e-02 0.00000000e+00 1.19098033e+02] [-2.54280485e-02 9.99676655e-01 0.00000000e+00 -9.79205086e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.33854936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.16, Y:-0.98, Z:0.04 [[ 9.99791748e-01 2.04073715e-02 0.00000000e+00 1.19160733e+02] [-2.04073715e-02 9.99791748e-01 0.00000000e+00 -9.79999543e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.28554556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.22, Y:-0.98, Z:0.04 [[ 9.99867691e-01 1.62665241e-02 0.00000000e+00 1.19222945e+02] [-1.62665241e-02 9.99867691e-01 0.00000000e+00 -9.84599490e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.87036349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.29, Y:-0.99, Z:0.04 [[ 9.99911729e-01 1.32866242e-02 0.00000000e+00 1.19285845e+02] [-1.32866242e-02 9.99911729e-01 0.00000000e+00 -9.88730701e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80480157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.35, Y:-0.99, Z:0.04 [[ 9.99903757e-01 1.38735826e-02 0.00000000e+00 1.19348077e+02] [-1.38735826e-02 9.99903757e-01 0.00000000e+00 -9.92486044e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15767212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.41, Y:-1.00, Z:0.04 [[ 9.99812589e-01 1.93594359e-02 0.00000000e+00 1.19410107e+02] [-1.93594359e-02 9.99812589e-01 0.00000000e+00 -9.95922226e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11627605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.47, Y:-1.00, Z:0.04 [[ 9.99707950e-01 2.41663957e-02 0.00000000e+00 1.19471764e+02] [-2.41663957e-02 9.99707950e-01 0.00000000e+00 -1.00272222e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.45314138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.53, Y:-1.01, Z:0.04 [[ 9.99732734e-01 2.31184109e-02 0.00000000e+00 1.19533969e+02] [-2.31184109e-02 9.99732734e-01 0.00000000e+00 -1.00531494e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64846855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.60, Y:-1.02, Z:0.04 [[ 9.99791749e-01 2.04073011e-02 0.00000000e+00 1.19595898e+02] [-2.04073011e-02 9.99791749e-01 0.00000000e+00 -1.02003813e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64926302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.66, Y:-1.03, Z:0.04 [[ 9.99838892e-01 1.79496326e-02 0.00000000e+00 1.19658430e+02] [-1.79496326e-02 9.99838892e-01 0.00000000e+00 -1.03282419e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.85132192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.72, Y:-1.04, Z:0.02 [[ 9.99829762e-01 1.84512321e-02 0.00000000e+00 1.19719898e+02] [-1.84512321e-02 9.99829762e-01 0.00000000e+00 -1.03627035e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45519845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.78, Y:-1.05, Z:0.03 [[ 9.99789149e-01 2.05342846e-02 0.00000000e+00 1.19781948e+02] [-2.05342846e-02 9.99789149e-01 0.00000000e+00 -1.05443256e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37003343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.84, Y:-1.07, Z:0.04 [[ 9.99749261e-01 2.23923029e-02 0.00000000e+00 1.19843738e+02] [-2.23923029e-02 9.99749261e-01 0.00000000e+00 -1.07121840e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93167748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.91, Y:-1.08, Z:0.03 [[ 9.99715565e-01 2.38493153e-02 0.00000000e+00 1.19905893e+02] [-2.38493153e-02 9.99715565e-01 0.00000000e+00 -1.07667289e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14271606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.97, Y:-1.10, Z:0.03 [[ 9.99725181e-01 2.34427452e-02 0.00000000e+00 1.19968142e+02] [-2.34427452e-02 9.99725181e-01 0.00000000e+00 -1.10201828e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15070378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.03, Y:-1.12, Z:0.04 [[ 9.99609467e-01 2.79448369e-02 0.00000000e+00 1.20029078e+02] [-2.79448369e-02 9.99609467e-01 0.00000000e+00 -1.12258471e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84231483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.09, Y:-1.12, Z:0.03 [[ 9.99215657e-01 3.95988746e-02 0.00000000e+00 1.20089919e+02] [-3.95988746e-02 9.99215657e-01 0.00000000e+00 -1.12124472e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67171829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.15, Y:-1.14, Z:0.03 [[ 9.98647586e-01 5.19903833e-02 0.00000000e+00 1.20152449e+02] [-5.19903833e-02 9.98647586e-01 0.00000000e+00 -1.14286080e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04458692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.21, Y:-1.14, Z:0.03 [[ 9.97995143e-01 6.32905554e-02 0.00000000e+00 1.20214783e+02] [-6.32905554e-02 9.97995143e-01 0.00000000e+00 -1.14495642e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28164239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.28, Y:-1.14, Z:0.03 [[ 9.97231960e-01 7.43533375e-02 0.00000000e+00 1.20275810e+02] [-7.43533375e-02 9.97231960e-01 0.00000000e+00 -1.13962710e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22530266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.34, Y:-1.15, Z:0.04 [[ 9.96960501e-01 7.79086573e-02 0.00000000e+00 1.20338398e+02] [-7.79086573e-02 9.96960501e-01 0.00000000e+00 -1.14510468e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53404606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.40, Y:-1.14, Z:0.03 [[ 9.97638569e-01 6.86824977e-02 0.00000000e+00 1.20400504e+02] [-6.86824977e-02 9.97638569e-01 0.00000000e+00 -1.13858265e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14250339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.46, Y:-1.14, Z:0.03 [[ 9.98192905e-01 6.00909606e-02 0.00000000e+00 1.20462656e+02] [-6.00909606e-02 9.98192905e-01 0.00000000e+00 -1.13707664e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94434243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.53, Y:-1.14, Z:0.03 [[ 9.98820866e-01 4.85476755e-02 0.00000000e+00 1.20525345e+02] [-4.85476755e-02 9.98820866e-01 0.00000000e+00 -1.14343949e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30246389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.59, Y:-1.14, Z:0.03 [[ 9.99286445e-01 3.77703816e-02 0.00000000e+00 1.20586202e+02] [-3.77703816e-02 9.99286445e-01 0.00000000e+00 -1.14057739e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05478546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.65, Y:-1.13, Z:0.02 [[ 9.99440750e-01 3.34393127e-02 0.00000000e+00 1.20648788e+02] [-3.34393127e-02 9.99440750e-01 0.00000000e+00 -1.13398769e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41975671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.71, Y:-1.14, Z:0.04 [[ 9.99449751e-01 3.31691764e-02 0.00000000e+00 1.20710941e+02] [-3.31691764e-02 9.99449751e-01 0.00000000e+00 -1.13784635e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60301357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.77, Y:-1.13, Z:0.04 [[ 9.99376245e-01 3.53146038e-02 0.00000000e+00 1.20773584e+02] [-3.53146038e-02 9.99376245e-01 0.00000000e+00 -1.13272616e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60452027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.84, Y:-1.12, Z:0.03 [[ 9.99340716e-01 3.63061035e-02 0.00000000e+00 1.20836540e+02] [-3.63061035e-02 9.99340716e-01 0.00000000e+00 -1.12337635e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26214150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.90, Y:-1.12, Z:0.03 [[ 9.99365075e-01 3.56292950e-02 0.00000000e+00 1.20898861e+02] [-3.56292950e-02 9.99365075e-01 0.00000000e+00 -1.12403810e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09026719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.96, Y:-1.12, Z:0.04 [[ 9.99503196e-01 3.15176365e-02 0.00000000e+00 1.20960558e+02] [-3.15176365e-02 9.99503196e-01 0.00000000e+00 -1.12483172e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62100336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.02, Y:-1.12, Z:0.04 [[ 9.99577345e-01 2.90711390e-02 0.00000000e+00 1.21021726e+02] [-2.90711390e-02 9.99577345e-01 0.00000000e+00 -1.12050759e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61342130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.08, Y:-1.12, Z:0.03 [[ 9.99624999e-01 2.73835998e-02 0.00000000e+00 1.21084387e+02] [-2.73835998e-02 9.99624999e-01 0.00000000e+00 -1.12393471e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42178025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.15, Y:-1.12, Z:0.04 [[ 9.99550674e-01 2.99741408e-02 0.00000000e+00 1.21146165e+02] [-2.99741408e-02 9.99550674e-01 0.00000000e+00 -1.12424551e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.91920469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.21, Y:-1.11, Z:0.04 [[ 9.99330513e-01 3.65858708e-02 0.00000000e+00 1.21208027e+02] [-3.65858708e-02 9.99330513e-01 0.00000000e+00 -1.11487885e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.99069908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.27, Y:-1.11, Z:0.04 [[ 9.98865511e-01 4.76202876e-02 0.00000000e+00 1.21269733e+02] [-4.76202876e-02 9.98865511e-01 0.00000000e+00 -1.11393233e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08788245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.33, Y:-1.11, Z:0.03 [[ 9.98667563e-01 5.16052154e-02 0.00000000e+00 1.21331561e+02] [-5.16052154e-02 9.98667563e-01 0.00000000e+00 -1.10659149e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26921470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.39, Y:-1.10, Z:0.04 [[ 9.98745073e-01 5.00827289e-02 0.00000000e+00 1.21392372e+02] [-5.00827289e-02 9.98745073e-01 0.00000000e+00 -1.09658666e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57772831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.45, Y:-1.10, Z:0.04 [[ 9.99089238e-01 4.26696075e-02 0.00000000e+00 1.21454770e+02] [-4.26696075e-02 9.99089238e-01 0.00000000e+00 -1.10012933e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24433573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.52, Y:-1.09, Z:0.04 [[ 9.99418787e-01 3.40894113e-02 0.00000000e+00 1.21516389e+02] [-3.40894113e-02 9.99418787e-01 0.00000000e+00 -1.09253546e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.26700567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.58, Y:-1.09, Z:0.04 [[ 9.99565546e-01 2.94740430e-02 0.00000000e+00 1.21578480e+02] [-2.94740430e-02 9.99565546e-01 0.00000000e+00 -1.09301162e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.05014505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.64, Y:-1.10, Z:0.04 [[ 9.99604818e-01 2.81106381e-02 0.00000000e+00 1.21639996e+02] [-2.81106381e-02 9.99604818e-01 0.00000000e+00 -1.09647007e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61021487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.70, Y:-1.09, Z:0.03 [[ 9.99565074e-01 2.94900547e-02 0.00000000e+00 1.21701729e+02] [-2.94900547e-02 9.99565074e-01 0.00000000e+00 -1.09051035e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15562297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.76, Y:-1.10, Z:0.04 [[ 9.99547336e-01 3.00852724e-02 0.00000000e+00 1.21762486e+02] [-3.00852724e-02 9.99547336e-01 0.00000000e+00 -1.09959591e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.06881011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.82, Y:-1.09, Z:0.04 [[ 9.99389445e-01 3.49390368e-02 0.00000000e+00 1.21824346e+02] [-3.49390368e-02 9.99389445e-01 0.00000000e+00 -1.09120740e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.92295150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.89, Y:-1.09, Z:0.03 [[ 9.99152071e-01 4.11720607e-02 0.00000000e+00 1.21885167e+02] [-4.11720607e-02 9.99152071e-01 0.00000000e+00 -1.08900050e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78357068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.95, Y:-1.08, Z:0.03 [[ 9.98863841e-01 4.76552877e-02 0.00000000e+00 1.21947624e+02] [-4.76552877e-02 9.98863841e-01 0.00000000e+00 -1.08417375e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36862977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.01, Y:-1.08, Z:0.04 [[ 9.98886629e-01 4.71752373e-02 0.00000000e+00 1.22010022e+02] [-4.71752373e-02 9.98886629e-01 0.00000000e+00 -1.07952330e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96079168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.07, Y:-1.08, Z:0.04 [[ 9.99028100e-01 4.40778357e-02 0.00000000e+00 1.22071645e+02] [-4.40778357e-02 9.99028100e-01 0.00000000e+00 -1.07672802e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.21098682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.13, Y:-1.08, Z:0.04 [[ 9.99279043e-01 3.79656860e-02 0.00000000e+00 1.22133262e+02] [-3.79656860e-02 9.99279043e-01 0.00000000e+00 -1.07779549e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79207414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.20, Y:-1.08, Z:0.03 [[ 9.99518764e-01 3.10199890e-02 0.00000000e+00 1.22195194e+02] [-3.10199890e-02 9.99518764e-01 0.00000000e+00 -1.07911873e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34577683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.26, Y:-1.08, Z:0.03 [[ 9.99727611e-01 2.33389112e-02 0.00000000e+00 1.22258070e+02] [-2.33389112e-02 9.99727611e-01 0.00000000e+00 -1.08098765e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17478591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.32, Y:-1.09, Z:0.04 [[ 9.99754365e-01 2.21632672e-02 0.00000000e+00 1.22320087e+02] [-2.21632672e-02 9.99754365e-01 0.00000000e+00 -1.08707758e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59163486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.38, Y:-1.09, Z:0.03 [[ 9.99640719e-01 2.68035822e-02 0.00000000e+00 1.22381341e+02] [-2.68035822e-02 9.99640719e-01 0.00000000e+00 -1.08959779e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13099080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.44, Y:-1.09, Z:0.03 [[ 9.99388120e-01 3.49769153e-02 0.00000000e+00 1.22442913e+02] [-3.49769153e-02 9.99388120e-01 0.00000000e+00 -1.08697847e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10940568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.51, Y:-1.09, Z:0.03 [[ 9.99011912e-01 4.44432158e-02 0.00000000e+00 1.22505576e+02] [-4.44432158e-02 9.99011912e-01 0.00000000e+00 -1.08633723e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24554347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.57, Y:-1.08, Z:0.03 [[ 9.98705633e-01 5.08631276e-02 0.00000000e+00 1.22567324e+02] [-5.08631276e-02 9.98705633e-01 0.00000000e+00 -1.08292083e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06345938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.63, Y:-1.07, Z:0.04 [[ 9.98495451e-01 5.48346086e-02 0.00000000e+00 1.22629383e+02] [-5.48346086e-02 9.98495451e-01 0.00000000e+00 -1.06893448e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.73668135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.69, Y:-1.06, Z:0.03 [[ 9.98584586e-01 5.31866921e-02 0.00000000e+00 1.22691455e+02] [-5.31866921e-02 9.98584586e-01 0.00000000e+00 -1.06197373e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46623903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.75, Y:-1.05, Z:0.03 [[ 9.98961871e-01 4.55541405e-02 0.00000000e+00 1.22752066e+02] [-4.55541405e-02 9.98961871e-01 0.00000000e+00 -1.05134911e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38117258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.81, Y:-1.05, Z:0.03 [[ 9.99436821e-01 3.35565445e-02 0.00000000e+00 1.22814711e+02] [-3.35565445e-02 9.99436821e-01 0.00000000e+00 -1.04788316e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24949868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.88, Y:-1.05, Z:0.03 [[ 9.99587356e-01 2.87248498e-02 0.00000000e+00 1.22877867e+02] [-2.87248498e-02 9.99587356e-01 0.00000000e+00 -1.04936254e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41754965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.94, Y:-1.05, Z:0.04 [[ 9.99926149e-01 1.21530832e-02 0.00000000e+00 1.22938902e+02] [-1.21530832e-02 9.99926149e-01 0.00000000e+00 -1.04976255e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63584329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.00, Y:-1.05, Z:0.04 [[ 9.99973823e-01 7.23562409e-03 0.00000000e+00 1.23002329e+02] [-7.23562409e-03 9.99973823e-01 0.00000000e+00 -1.05226319e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58399929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.06, Y:-1.06, Z:0.03 [[ 9.99959807e-01 8.96575072e-03 0.00000000e+00 1.23063459e+02] [-8.96575072e-03 9.99959807e-01 0.00000000e+00 -1.06240553e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13798922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.12, Y:-1.06, Z:0.03 [[ 9.99848391e-01 1.74124927e-02 0.00000000e+00 1.23124814e+02] [-1.74124927e-02 9.99848391e-01 0.00000000e+00 -1.06240843e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86220046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.19, Y:-1.06, Z:0.03 [[ 9.99576784e-01 2.90904248e-02 0.00000000e+00 1.23187152e+02] [-2.90904248e-02 9.99576784e-01 0.00000000e+00 -1.06057601e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33575088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.25, Y:-1.06, Z:0.03 [[ 9.99189423e-01 4.02553938e-02 0.00000000e+00 1.23248244e+02] [-4.02553938e-02 9.99189423e-01 0.00000000e+00 -1.06422288e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36726617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.31, Y:-1.06, Z:0.04 [[ 9.98763992e-01 4.97040055e-02 0.00000000e+00 1.23310807e+02] [-4.97040055e-02 9.98763992e-01 0.00000000e+00 -1.05844588e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64985529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.37, Y:-1.06, Z:0.03 [[ 9.98532516e-01 5.41554601e-02 0.00000000e+00 1.23371482e+02] [-5.41554601e-02 9.98532516e-01 0.00000000e+00 -1.05739923e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36999510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.43, Y:-1.06, Z:0.03 [[ 9.98688565e-01 5.11971782e-02 0.00000000e+00 1.23434405e+02] [-5.11971782e-02 9.98688565e-01 0.00000000e+00 -1.05710425e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49465390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.50, Y:-1.05, Z:0.04 [[ 9.99003403e-01 4.46340712e-02 0.00000000e+00 1.23496720e+02] [-4.46340712e-02 9.99003403e-01 0.00000000e+00 -1.05087821e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66776069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.56, Y:-1.06, Z:0.04 [[ 9.99301403e-01 3.73725388e-02 0.00000000e+00 1.23559053e+02] [-3.73725388e-02 9.99301403e-01 0.00000000e+00 -1.05807668e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60451626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.62, Y:-1.06, Z:0.03 [[ 9.99554911e-01 2.98325336e-02 0.00000000e+00 1.23621536e+02] [-2.98325336e-02 9.99554911e-01 0.00000000e+00 -1.05923299e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05111464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.68, Y:-1.06, Z:0.03 [[ 9.99656938e-01 2.61917340e-02 0.00000000e+00 1.23682274e+02] [-2.61917340e-02 9.99656938e-01 0.00000000e+00 -1.06089102e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16917730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.75, Y:-1.07, Z:0.04 [[ 9.99646893e-01 2.65723334e-02 0.00000000e+00 1.23745428e+02] [-2.65723334e-02 9.99646893e-01 0.00000000e+00 -1.06632210e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50975506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.81, Y:-1.06, Z:0.03 [[ 9.99537653e-01 3.04052814e-02 0.00000000e+00 1.23806824e+02] [-3.04052814e-02 9.99537653e-01 0.00000000e+00 -1.06261912e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33092132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.87, Y:-1.06, Z:0.04 [[ 9.99304773e-01 3.72823025e-02 0.00000000e+00 1.23869135e+02] [-3.72823025e-02 9.99304773e-01 0.00000000e+00 -1.06246506e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57526760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.93, Y:-1.07, Z:0.04 [[ 9.99176581e-01 4.05728993e-02 0.00000000e+00 1.23930728e+02] [-4.05728993e-02 9.99176581e-01 0.00000000e+00 -1.06662217e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.91156734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.99, Y:-1.06, Z:0.04 [[ 9.99218694e-01 3.95221535e-02 0.00000000e+00 1.23993010e+02] [-3.95221535e-02 9.99218694e-01 0.00000000e+00 -1.05601550e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60577193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.06, Y:-1.06, Z:0.03 [[ 9.99390141e-01 3.49191253e-02 0.00000000e+00 1.24055323e+02] [-3.49191253e-02 9.99390141e-01 0.00000000e+00 -1.06234907e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45579120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.12, Y:-1.07, Z:0.03 [[ 9.99554948e-01 2.98312968e-02 0.00000000e+00 1.24117795e+02] [-2.98312968e-02 9.99554948e-01 0.00000000e+00 -1.07028978e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45155752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.18, Y:-1.07, Z:0.03 [[ 9.99579897e-01 2.89832779e-02 0.00000000e+00 1.24180425e+02] [-2.89832779e-02 9.99579897e-01 0.00000000e+00 -1.06546649e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79340029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.24, Y:-1.07, Z:0.03 [[ 9.99344409e-01 3.62042987e-02 0.00000000e+00 1.24242716e+02] [-3.62042987e-02 9.99344409e-01 0.00000000e+00 -1.06921249e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99119613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.30, Y:-1.06, Z:0.03 [[ 9.98795288e-01 4.90710952e-02 0.00000000e+00 1.24304649e+02] [-4.90710952e-02 9.98795288e-01 0.00000000e+00 -1.06185995e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35439511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.37, Y:-1.06, Z:0.03 [[ 9.98550454e-01 5.38237052e-02 0.00000000e+00 1.24368094e+02] [-5.38237052e-02 9.98550454e-01 0.00000000e+00 -1.05856886e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44830918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.43, Y:-1.06, Z:0.04 [[ 9.98690853e-01 5.11525171e-02 0.00000000e+00 1.24429722e+02] [-5.11525171e-02 9.98690853e-01 0.00000000e+00 -1.05853299e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96829636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.49, Y:-1.05, Z:0.03 [[ 9.99048924e-01 4.36033004e-02 0.00000000e+00 1.24491920e+02] [-4.36033004e-02 9.99048924e-01 0.00000000e+00 -1.05429453e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38124072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.55, Y:-1.06, Z:0.03 [[ 9.99322470e-01 3.68049022e-02 0.00000000e+00 1.24553378e+02] [-3.68049022e-02 9.99322470e-01 0.00000000e+00 -1.06441448e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11287940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.62, Y:-1.07, Z:0.03 [[ 9.99422260e-01 3.39874442e-02 0.00000000e+00 1.24615486e+02] [-3.39874442e-02 9.99422260e-01 0.00000000e+00 -1.06616242e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04511401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.68, Y:-1.07, Z:0.03 [[ 9.99321129e-01 3.68413086e-02 0.00000000e+00 1.24678738e+02] [-3.68413086e-02 9.99321129e-01 0.00000000e+00 -1.06733168e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86613242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.74, Y:-1.08, Z:0.03 [[ 9.99005814e-01 4.45800719e-02 0.00000000e+00 1.24739769e+02] [-4.45800719e-02 9.99005814e-01 0.00000000e+00 -1.08100672e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43003126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.80, Y:-1.08, Z:0.03 [[ 9.98906966e-01 4.67426321e-02 0.00000000e+00 1.24803112e+02] [-4.67426321e-02 9.98906966e-01 0.00000000e+00 -1.08211757e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45219721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.87, Y:-1.08, Z:0.03 [[ 9.98651164e-01 5.19216002e-02 0.00000000e+00 1.24865265e+02] [-5.19216002e-02 9.98651164e-01 0.00000000e+00 -1.07825005e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69019184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.93, Y:-1.09, Z:0.04 [[ 9.98398058e-01 5.65801805e-02 0.00000000e+00 1.24927335e+02] [-5.65801805e-02 9.98398058e-01 0.00000000e+00 -1.08931554e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53287903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.99, Y:-1.09, Z:0.04 [[ 9.98305522e-01 5.81900747e-02 0.00000000e+00 1.24990555e+02] [-5.81900747e-02 9.98305522e-01 0.00000000e+00 -1.09352660e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72717195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.05, Y:-1.09, Z:0.03 [[ 9.98106144e-01 6.15152386e-02 0.00000000e+00 1.25052650e+02] [-6.15152386e-02 9.98106144e-01 0.00000000e+00 -1.09251210e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31380134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.12, Y:-1.10, Z:0.04 [[ 9.97680988e-01 6.80635461e-02 0.00000000e+00 1.25115514e+02] [-6.80635461e-02 9.97680988e-01 0.00000000e+00 -1.09691279e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71199729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.18, Y:-1.10, Z:0.03 [[ 9.97412011e-01 7.18977068e-02 0.00000000e+00 1.25178217e+02] [-7.18977068e-02 9.97412011e-01 0.00000000e+00 -1.09580075e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28713247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.24, Y:-1.09, Z:0.03 [[ 9.97456521e-01 7.12775508e-02 0.00000000e+00 1.25240746e+02] [-7.12775508e-02 9.97456521e-01 0.00000000e+00 -1.08872914e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89193565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.30, Y:-1.09, Z:0.03 [[ 9.97868041e-01 6.52638673e-02 0.00000000e+00 1.25303050e+02] [-6.52638673e-02 9.97868041e-01 0.00000000e+00 -1.08882029e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28066229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.36, Y:-1.08, Z:0.04 [[ 9.98256745e-01 5.90209369e-02 0.00000000e+00 1.25364187e+02] [-5.90209369e-02 9.98256745e-01 0.00000000e+00 -1.08428656e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56770946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.43, Y:-1.08, Z:0.04 [[ 9.98556637e-01 5.37088620e-02 0.00000000e+00 1.25426790e+02] [-5.37088620e-02 9.98556637e-01 0.00000000e+00 -1.08406728e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76886467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.49, Y:-1.08, Z:0.04 [[ 9.98889095e-01 4.71229873e-02 0.00000000e+00 1.25488817e+02] [-4.71229873e-02 9.98889095e-01 0.00000000e+00 -1.07806357e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63573578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.55, Y:-1.08, Z:0.03 [[ 9.99204818e-01 3.98714379e-02 0.00000000e+00 1.25550116e+02] [-3.98714379e-02 9.99204818e-01 0.00000000e+00 -1.07509116e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54213223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.61, Y:-1.08, Z:0.03 [[ 9.99349431e-01 3.60654259e-02 0.00000000e+00 1.25613253e+02] [-3.60654259e-02 9.99349431e-01 0.00000000e+00 -1.08274093e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27538404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.68, Y:-1.07, Z:0.03 [[ 9.99292809e-01 3.76016122e-02 0.00000000e+00 1.25675770e+02] [-3.76016122e-02 9.99292809e-01 0.00000000e+00 -1.07109256e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07145898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.74, Y:-1.07, Z:0.03 [[ 9.99178607e-01 4.05229637e-02 0.00000000e+00 1.25737460e+02] [-4.05229637e-02 9.99178607e-01 0.00000000e+00 -1.06847398e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32352161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.80, Y:-1.07, Z:0.03 [[ 9.99134031e-01 4.16075376e-02 0.00000000e+00 1.25798389e+02] [-4.16075376e-02 9.99134031e-01 0.00000000e+00 -1.06758041e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43743313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.86, Y:-1.05, Z:0.03 [[ 9.98938915e-01 4.60548047e-02 0.00000000e+00 1.25860445e+02] [-4.60548047e-02 9.98938915e-01 0.00000000e+00 -1.05303185e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92688272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.92, Y:-1.05, Z:0.03 [[ 9.99027056e-01 4.41014905e-02 0.00000000e+00 1.25922950e+02] [-4.41014905e-02 9.99027056e-01 0.00000000e+00 -1.05223850e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93978359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.99, Y:-1.05, Z:0.03 [[ 9.99136904e-01 4.15384991e-02 0.00000000e+00 1.25985143e+02] [-4.15384991e-02 9.99136904e-01 0.00000000e+00 -1.05031908e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33549887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.05, Y:-1.05, Z:0.03 [[ 9.99247442e-01 3.87885145e-02 0.00000000e+00 1.26045783e+02] [-3.87885145e-02 9.99247442e-01 0.00000000e+00 -1.04677037e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28080930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.11, Y:-1.05, Z:0.03 [[ 9.99272070e-01 3.81487849e-02 0.00000000e+00 1.26108312e+02] [-3.81487849e-02 9.99272070e-01 0.00000000e+00 -1.04564622e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05952413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.17, Y:-1.05, Z:0.03 [[ 9.99175000e-01 4.06118243e-02 0.00000000e+00 1.26169570e+02] [-4.06118243e-02 9.99175000e-01 0.00000000e+00 -1.04870190e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69712690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.23, Y:-1.05, Z:0.03 [[ 9.98849292e-01 4.79592640e-02 0.00000000e+00 1.26232080e+02] [-4.79592640e-02 9.98849292e-01 0.00000000e+00 -1.04602924e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78247128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.29, Y:-1.04, Z:0.03 [[ 9.98664212e-01 5.16700247e-02 0.00000000e+00 1.26292737e+02] [-5.16700247e-02 9.98664212e-01 0.00000000e+00 -1.03953424e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91702322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.35, Y:-1.04, Z:0.03 [[ 9.98589987e-01 5.30852006e-02 0.00000000e+00 1.26354855e+02] [-5.30852006e-02 9.98589987e-01 0.00000000e+00 -1.04473945e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03604016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.42, Y:-1.05, Z:0.03 [[ 9.98559365e-01 5.36581258e-02 0.00000000e+00 1.26416776e+02] [-5.36581258e-02 9.98559365e-01 0.00000000e+00 -1.04709984e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09513995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.48, Y:-1.03, Z:0.03 [[ 9.98449404e-01 5.56667544e-02 0.00000000e+00 1.26479970e+02] [-5.56667544e-02 9.98449404e-01 0.00000000e+00 -1.03207975e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65604761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.54, Y:-1.04, Z:0.03 [[ 9.98419559e-01 5.61994952e-02 0.00000000e+00 1.26541438e+02] [-5.61994952e-02 9.98419559e-01 0.00000000e+00 -1.03570069e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12011515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.60, Y:-1.03, Z:0.03 [[ 9.98488374e-01 5.49633208e-02 0.00000000e+00 1.26603014e+02] [-5.49633208e-02 9.98488374e-01 0.00000000e+00 -1.03278691e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76552723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.66, Y:-1.03, Z:0.02 [[ 9.98631475e-01 5.22989305e-02 0.00000000e+00 1.26664091e+02] [-5.22989305e-02 9.98631475e-01 0.00000000e+00 -1.02822528e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89814957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.73, Y:-1.03, Z:0.03 [[ 9.98683093e-01 5.13038035e-02 0.00000000e+00 1.26726525e+02] [-5.13038035e-02 9.98683093e-01 0.00000000e+00 -1.03052887e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53901326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.79, Y:-1.03, Z:0.02 [[ 9.98687933e-01 5.12095056e-02 0.00000000e+00 1.26788718e+02] [-5.12095056e-02 9.98687933e-01 0.00000000e+00 -1.02756406e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19037642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.85, Y:-1.02, Z:0.03 [[ 9.98709252e-01 5.07920288e-02 0.00000000e+00 1.26851142e+02] [-5.07920288e-02 9.98709252e-01 0.00000000e+00 -1.02483946e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70760603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.91, Y:-1.02, Z:0.02 [[ 9.98816154e-01 4.86445335e-02 0.00000000e+00 1.26913591e+02] [-4.86445335e-02 9.98816154e-01 0.00000000e+00 -1.02085926e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36176798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.98, Y:-1.02, Z:0.03 [[ 9.98841751e-01 4.81160811e-02 0.00000000e+00 1.26975078e+02] [-4.81160811e-02 9.98841751e-01 0.00000000e+00 -1.01886685e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59389519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.04, Y:-1.02, Z:0.03 [[ 9.99012054e-01 4.44400183e-02 0.00000000e+00 1.27037532e+02] [-4.44400183e-02 9.99012054e-01 0.00000000e+00 -1.02138478e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02254830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.10, Y:-1.02, Z:0.04 [[ 9.99123951e-01 4.18489103e-02 0.00000000e+00 1.27098595e+02] [-4.18489103e-02 9.99123951e-01 0.00000000e+00 -1.01766115e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52464554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.16, Y:-1.03, Z:0.03 [[ 9.99131774e-01 4.16617159e-02 0.00000000e+00 1.27160870e+02] [-4.16617159e-02 9.99131774e-01 0.00000000e+00 -1.02570374e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29706207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.22, Y:-1.03, Z:0.03 [[ 9.99118387e-01 4.19815237e-02 0.00000000e+00 1.27221994e+02] [-4.19815237e-02 9.99118387e-01 0.00000000e+00 -1.02526115e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98350571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.28, Y:-1.03, Z:0.03 [[ 9.98991413e-01 4.49016240e-02 0.00000000e+00 1.27284621e+02] [-4.49016240e-02 9.98991413e-01 0.00000000e+00 -1.02514699e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66877846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.35, Y:-1.03, Z:0.03 [[ 9.98923201e-01 4.63943904e-02 0.00000000e+00 1.27345161e+02] [-4.63943904e-02 9.98923201e-01 0.00000000e+00 -1.03142222e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28980448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.41, Y:-1.03, Z:0.03 [[ 9.98857042e-01 4.77975908e-02 0.00000000e+00 1.27407471e+02] [-4.77975908e-02 9.98857042e-01 0.00000000e+00 -1.02923576e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12898368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.47, Y:-1.03, Z:0.03 [[ 9.98883253e-01 4.72466653e-02 0.00000000e+00 1.27469052e+02] [-4.72466653e-02 9.98883253e-01 0.00000000e+00 -1.03475916e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04000225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.53, Y:-1.04, Z:0.03 [[ 9.98809910e-01 4.87725643e-02 0.00000000e+00 1.27531929e+02] [-4.87725643e-02 9.98809910e-01 0.00000000e+00 -1.03669549e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27957267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.59, Y:-1.04, Z:0.03 [[ 9.98597084e-01 5.29515279e-02 0.00000000e+00 1.27593936e+02] [-5.29515279e-02 9.98597084e-01 0.00000000e+00 -1.03850034e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93474988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.65, Y:-1.04, Z:0.03 [[ 9.98469154e-01 5.53113713e-02 0.00000000e+00 1.27654968e+02] [-5.53113713e-02 9.98469154e-01 0.00000000e+00 -1.04094862e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40799605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.72, Y:-1.05, Z:0.03 [[ 9.98544310e-01 5.39375593e-02 0.00000000e+00 1.27717286e+02] [-5.39375593e-02 9.98544310e-01 0.00000000e+00 -1.04632029e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76777342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.78, Y:-1.05, Z:0.03 [[ 9.98728940e-01 5.04034149e-02 0.00000000e+00 1.27779513e+02] [-5.04034149e-02 9.98728940e-01 0.00000000e+00 -1.05342010e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19892809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.84, Y:-1.05, Z:0.03 [[ 9.98798252e-01 4.90107397e-02 0.00000000e+00 1.27840568e+02] [-4.90107397e-02 9.98798252e-01 0.00000000e+00 -1.05367303e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61468312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.90, Y:-1.06, Z:0.03 [[ 9.98738367e-01 5.02162711e-02 0.00000000e+00 1.27903016e+02] [-5.02162711e-02 9.98738367e-01 0.00000000e+00 -1.05637386e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83374497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.97, Y:-1.07, Z:0.03 [[ 9.98625638e-01 5.24102540e-02 0.00000000e+00 1.27966000e+02] [-5.24102540e-02 9.98625638e-01 0.00000000e+00 -1.06806419e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12972712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.03, Y:-1.07, Z:0.03 [[ 9.98668217e-01 5.15925666e-02 0.00000000e+00 1.28027338e+02] [-5.15925666e-02 9.98668217e-01 0.00000000e+00 -1.06743563e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63625993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.09, Y:-1.07, Z:0.03 [[ 9.98635046e-01 5.22306879e-02 0.00000000e+00 1.28089628e+02] [-5.22306879e-02 9.98635046e-01 0.00000000e+00 -1.07077114e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85176496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.15, Y:-1.08, Z:0.03 [[ 9.98548074e-01 5.38678337e-02 0.00000000e+00 1.28150628e+02] [-5.38678337e-02 9.98548074e-01 0.00000000e+00 -1.07759575e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33097094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.21, Y:-1.08, Z:0.04 [[ 9.98460419e-01 5.54688340e-02 0.00000000e+00 1.28213306e+02] [-5.54688340e-02 9.98460419e-01 0.00000000e+00 -1.08156496e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61271624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.27, Y:-1.08, Z:0.03 [[ 9.98238413e-01 5.93301820e-02 0.00000000e+00 1.28274634e+02] [-5.93301820e-02 9.98238413e-01 0.00000000e+00 -1.08030410e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95788474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.34, Y:-1.09, Z:0.04 [[ 9.98026850e-01 6.27885945e-02 0.00000000e+00 1.28336981e+02] [-6.27885945e-02 9.98026850e-01 0.00000000e+00 -1.08703979e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64679975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.40, Y:-1.09, Z:0.03 [[ 9.97887633e-01 6.49636154e-02 0.00000000e+00 1.28398863e+02] [-6.49636154e-02 9.97887633e-01 0.00000000e+00 -1.08591672e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03393089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.46, Y:-1.08, Z:0.03 [[ 9.97868608e-01 6.52551979e-02 0.00000000e+00 1.28459983e+02] [-6.52551979e-02 9.97868608e-01 0.00000000e+00 -1.08275080e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15728917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.34533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.52, Y:-1.09, Z:0.03 [[ 9.97921715e-01 6.44379647e-02 0.00000000e+00 1.28522125e+02] [-6.44379647e-02 9.97921715e-01 0.00000000e+00 -1.08587282e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94099571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.40533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.58, Y:-1.08, Z:0.03 [[ 9.98126542e-01 6.11833867e-02 0.00000000e+00 1.28582896e+02] [-6.11833867e-02 9.98126542e-01 0.00000000e+00 -1.08471441e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25868273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.46533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.65, Y:-1.08, Z:0.03 [[ 9.98319785e-01 5.79448588e-02 0.00000000e+00 1.28646209e+02] [-5.79448588e-02 9.98319785e-01 0.00000000e+00 -1.08397089e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15497258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.71, Y:-1.09, Z:0.04 [[ 9.98474935e-01 5.52069270e-02 0.00000000e+00 1.28708147e+02] [-5.52069270e-02 9.98474935e-01 0.00000000e+00 -1.09002755e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55642589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.77, Y:-1.09, Z:0.03 [[ 9.98617539e-01 5.25643526e-02 0.00000000e+00 1.28770303e+02] [-5.25643526e-02 9.98617539e-01 0.00000000e+00 -1.09198369e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37332532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.83, Y:-1.09, Z:0.03 [[ 9.98781937e-01 4.93420980e-02 0.00000000e+00 1.28832358e+02] [-4.93420980e-02 9.98781937e-01 0.00000000e+00 -1.09322965e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17513919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.90, Y:-1.10, Z:0.03 [[ 9.98683387e-01 5.12980677e-02 0.00000000e+00 1.28895383e+02] [-5.12980677e-02 9.98683387e-01 0.00000000e+00 -1.09782083e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47908126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.96, Y:-1.10, Z:0.03 [[ 9.98338484e-01 5.76217917e-02 0.00000000e+00 1.28957400e+02] [-5.76217917e-02 9.98338484e-01 0.00000000e+00 -1.10207907e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39948030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.02, Y:-1.10, Z:0.03 [[ 9.97901339e-01 6.47527486e-02 0.00000000e+00 1.29019036e+02] [-6.47527486e-02 9.97901339e-01 0.00000000e+00 -1.09981129e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35254491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.08, Y:-1.10, Z:0.03 [[ 9.97690522e-01 6.79236484e-02 0.00000000e+00 1.29080868e+02] [-6.79236484e-02 9.97690522e-01 0.00000000e+00 -1.10471457e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10234305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.14, Y:-1.10, Z:0.03 [[ 9.97647318e-01 6.85552999e-02 0.00000000e+00 1.29142401e+02] [-6.85552999e-02 9.97647318e-01 0.00000000e+00 -1.10252630e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11731124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.21, Y:-1.10, Z:0.03 [[ 9.97551726e-01 6.99324926e-02 0.00000000e+00 1.29205104e+02] [-6.99324926e-02 9.97551726e-01 0.00000000e+00 -1.09923715e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03536556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.06533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.27, Y:-1.10, Z:0.03 [[ 9.97309819e-01 7.33016019e-02 0.00000000e+00 1.29267148e+02] [-7.33016019e-02 9.97309819e-01 0.00000000e+00 -1.09603621e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18220126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.12533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.33, Y:-1.09, Z:0.03 [[ 9.97508355e-01 7.05484330e-02 0.00000000e+00 1.29329823e+02] [-7.05484330e-02 9.97508355e-01 0.00000000e+00 -1.08657841e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94925502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.18533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.39, Y:-1.08, Z:0.03 [[ 9.97991873e-01 6.33421018e-02 0.00000000e+00 1.29392173e+02] [-6.33421018e-02 9.97991873e-01 0.00000000e+00 -1.07872053e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01555389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.45, Y:-1.08, Z:0.03 [[ 9.98671806e-01 5.15230513e-02 0.00000000e+00 1.29453583e+02] [-5.15230513e-02 9.98671806e-01 0.00000000e+00 -1.07711958e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43405979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.52, Y:-1.07, Z:0.04 [[ 9.99169496e-01 4.07470034e-02 0.00000000e+00 1.29515344e+02] [-4.07470034e-02 9.99169496e-01 0.00000000e+00 -1.07009350e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61535970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.58, Y:-1.07, Z:0.04 [[ 9.99540998e-01 3.02950877e-02 0.00000000e+00 1.29578139e+02] [-3.02950877e-02 9.99540998e-01 0.00000000e+00 -1.07082489e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71551873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.64, Y:-1.07, Z:0.03 [[ 9.99712671e-01 2.39702881e-02 0.00000000e+00 1.29639142e+02] [-2.39702881e-02 9.99712671e-01 0.00000000e+00 -1.06995944e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47462926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.70, Y:-1.06, Z:0.03 [[ 9.99644543e-01 2.66605843e-02 0.00000000e+00 1.29701948e+02] [-2.66605843e-02 9.99644543e-01 0.00000000e+00 -1.06108068e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27585132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.76, Y:-1.06, Z:0.03 [[ 9.99548024e-01 3.00623892e-02 0.00000000e+00 1.29764072e+02] [-3.00623892e-02 9.99548024e-01 0.00000000e+00 -1.06310300e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18156423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.83, Y:-1.06, Z:0.03 [[ 9.99474483e-01 3.24153840e-02 0.00000000e+00 1.29826258e+02] [-3.24153840e-02 9.99474483e-01 0.00000000e+00 -1.06321344e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05037926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.89, Y:-1.07, Z:0.03 [[ 9.99542421e-01 3.02481093e-02 0.00000000e+00 1.29887784e+02] [-3.02481093e-02 9.99542421e-01 0.00000000e+00 -1.06725254e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38776049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.95, Y:-1.07, Z:0.04 [[ 9.99581819e-01 2.89168876e-02 0.00000000e+00 1.29948307e+02] [-2.89168876e-02 9.99581819e-01 0.00000000e+00 -1.07376392e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74724265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.01, Y:-1.08, Z:0.04 [[ 9.99533064e-01 3.05557451e-02 0.00000000e+00 1.30010997e+02] [-3.05557451e-02 9.99533064e-01 0.00000000e+00 -1.07931152e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50331327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.84533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.07, Y:-1.09, Z:0.04 [[ 9.99288516e-01 3.77155478e-02 0.00000000e+00 1.30073194e+02] [-3.77155478e-02 9.99288516e-01 0.00000000e+00 -1.09380827e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57651187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.90533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.13, Y:-1.10, Z:0.03 [[ 9.98848072e-01 4.79846741e-02 0.00000000e+00 1.30134989e+02] [-4.79846741e-02 9.98848072e-01 0.00000000e+00 -1.09619096e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05123588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.96533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.20, Y:-1.10, Z:0.02 [[ 9.98296718e-01 5.83409244e-02 0.00000000e+00 1.30196534e+02] [-5.83409244e-02 9.98296718e-01 0.00000000e+00 -1.09515428e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18358225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.26, Y:-1.10, Z:0.03 [[ 9.97794999e-01 6.63712357e-02 0.00000000e+00 1.30258064e+02] [-6.63712357e-02 9.97794999e-01 0.00000000e+00 -1.10025980e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01343287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.32, Y:-1.09, Z:0.03 [[ 9.97369121e-01 7.24902447e-02 0.00000000e+00 1.30319910e+02] [-7.24902447e-02 9.97369121e-01 0.00000000e+00 -1.09126716e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65861649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.38, Y:-1.08, Z:0.02 [[ 9.97235105e-01 7.43111394e-02 0.00000000e+00 1.30382265e+02] [-7.43111394e-02 9.97235105e-01 0.00000000e+00 -1.08274580e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13153565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.44, Y:-1.07, Z:0.04 [[ 9.97872672e-01 6.51930302e-02 0.00000000e+00 1.30443744e+02] [-6.51930302e-02 9.97872672e-01 0.00000000e+00 -1.07465707e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.82848567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.51, Y:-1.07, Z:0.03 [[ 9.98554136e-01 5.37553410e-02 0.00000000e+00 1.30505037e+02] [-5.37553410e-02 9.98554136e-01 0.00000000e+00 -1.06984617e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30812006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.57, Y:-1.07, Z:0.03 [[ 9.99243620e-01 3.88868654e-02 0.00000000e+00 1.30566821e+02] [-3.88868654e-02 9.99243620e-01 0.00000000e+00 -1.06819513e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64751342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.63, Y:-1.07, Z:0.02 [[ 9.99668358e-01 2.57521699e-02 0.00000000e+00 1.30629153e+02] [-2.57521699e-02 9.99668358e-01 0.00000000e+00 -1.06742014e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14350433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.69, Y:-1.07, Z:0.03 [[ 9.99772008e-01 2.13525569e-02 0.00000000e+00 1.30692010e+02] [-2.13525569e-02 9.99772008e-01 0.00000000e+00 -1.07231614e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66349977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.75, Y:-1.07, Z:0.03 [[ 9.99707039e-01 2.42040669e-02 0.00000000e+00 1.30754903e+02] [-2.42040669e-02 9.99707039e-01 0.00000000e+00 -1.07160427e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83061163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.56533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.82, Y:-1.07, Z:0.02 [[ 9.99490964e-01 3.19031755e-02 0.00000000e+00 1.30817076e+02] [-3.19031755e-02 9.99490964e-01 0.00000000e+00 -1.07066932e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45441888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.62533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.88, Y:-1.07, Z:0.03 [[ 9.99221706e-01 3.94459344e-02 0.00000000e+00 1.30880267e+02] [-3.94459344e-02 9.99221706e-01 0.00000000e+00 -1.07112620e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67418393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.68533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.94, Y:-1.07, Z:0.03 [[ 9.99001909e-01 4.46675083e-02 0.00000000e+00 1.30941197e+02] [-4.46675083e-02 9.99001909e-01 0.00000000e+00 -1.06847948e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54309862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.00, Y:-1.07, Z:0.03 [[ 9.98861005e-01 4.77146972e-02 0.00000000e+00 1.31003707e+02] [-4.77146972e-02 9.98861005e-01 0.00000000e+00 -1.07380690e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89860510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.07, Y:-1.07, Z:0.03 [[ 9.98788003e-01 4.92191523e-02 0.00000000e+00 1.31066015e+02] [-4.92191523e-02 9.98788003e-01 0.00000000e+00 -1.06900258e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33302586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.13, Y:-1.07, Z:0.03 [[ 9.98701161e-01 5.09508766e-02 0.00000000e+00 1.31128105e+02] [-5.09508766e-02 9.98701161e-01 0.00000000e+00 -1.06981449e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70247307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.19, Y:-1.07, Z:0.03 [[ 9.98655243e-01 5.18430798e-02 0.00000000e+00 1.31189386e+02] [-5.18430798e-02 9.98655243e-01 0.00000000e+00 -1.07346098e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30669347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.25, Y:-1.07, Z:0.03 [[ 9.98748413e-01 5.00160755e-02 0.00000000e+00 1.31251983e+02] [-5.00160755e-02 9.98748413e-01 0.00000000e+00 -1.06730083e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87049554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.31, Y:-1.08, Z:0.03 [[ 9.98974761e-01 4.52705911e-02 0.00000000e+00 1.31313196e+02] [-4.52705911e-02 9.98974761e-01 0.00000000e+00 -1.07803521e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38137270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.38, Y:-1.08, Z:0.03 [[ 9.99135418e-01 4.15742400e-02 0.00000000e+00 1.31375368e+02] [-4.15742400e-02 9.99135418e-01 0.00000000e+00 -1.08145878e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10117870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.44, Y:-1.08, Z:0.03 [[ 9.99138642e-01 4.14966637e-02 0.00000000e+00 1.31437645e+02] [-4.14966637e-02 9.99138642e-01 0.00000000e+00 -1.08346661e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67760268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.50, Y:-1.09, Z:0.03 [[ 9.99087262e-01 4.27158403e-02 0.00000000e+00 1.31500827e+02] [-4.27158403e-02 9.99087262e-01 0.00000000e+00 -1.09199206e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16534646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.56, Y:-1.09, Z:0.03 [[ 9.98877055e-01 4.73775235e-02 0.00000000e+00 1.31562448e+02] [-4.73775235e-02 9.98877055e-01 0.00000000e+00 -1.09087157e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81695709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.34533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.63, Y:-1.10, Z:0.03 [[ 9.98671256e-01 5.15337021e-02 0.00000000e+00 1.31625308e+02] [-5.15337021e-02 9.98671256e-01 0.00000000e+00 -1.09584548e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21437224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.40533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.69, Y:-1.10, Z:0.03 [[ 9.98658628e-01 5.17778393e-02 0.00000000e+00 1.31686670e+02] [-5.17778393e-02 9.98658628e-01 0.00000000e+00 -1.09878857e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53470908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.46533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.75, Y:-1.10, Z:0.03 [[ 9.98762510e-01 4.97337746e-02 0.00000000e+00 1.31749317e+02] [-4.97337746e-02 9.98762510e-01 0.00000000e+00 -1.09944420e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89348823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.81, Y:-1.10, Z:0.03 [[ 9.98788299e-01 4.92131536e-02 0.00000000e+00 1.31811195e+02] [-4.92131536e-02 9.98788299e-01 0.00000000e+00 -1.10087766e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91199378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.87, Y:-1.11, Z:0.03 [[ 9.98842427e-01 4.81020392e-02 0.00000000e+00 1.31871890e+02] [-4.81020392e-02 9.98842427e-01 0.00000000e+00 -1.10603587e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17881470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.93, Y:-1.11, Z:0.03 [[ 9.99135461e-01 4.15732056e-02 0.00000000e+00 1.31934794e+02] [-4.15732056e-02 9.99135461e-01 0.00000000e+00 -1.11221035e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22296777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.00, Y:-1.12, Z:0.02 [[ 9.99435781e-01 3.35874942e-02 0.00000000e+00 1.31996987e+02] [-3.35874942e-02 9.99435781e-01 0.00000000e+00 -1.11759244e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39697852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.06, Y:-1.13, Z:0.03 [[ 9.99465502e-01 3.26911347e-02 0.00000000e+00 1.32059182e+02] [-3.26911347e-02 9.99465502e-01 0.00000000e+00 -1.13317335e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14424651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.12, Y:-1.14, Z:0.03 [[ 9.99214339e-01 3.96321288e-02 0.00000000e+00 1.32121776e+02] [-3.96321288e-02 9.99214339e-01 0.00000000e+00 -1.13887994e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37887700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.18, Y:-1.15, Z:0.03 [[ 9.98686745e-01 5.12326572e-02 0.00000000e+00 1.32182760e+02] [-5.12326572e-02 9.98686745e-01 0.00000000e+00 -1.14669527e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76931201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.24, Y:-1.15, Z:0.02 [[ 9.98188911e-01 6.01572817e-02 0.00000000e+00 1.32244710e+02] [-6.01572817e-02 9.98188911e-01 0.00000000e+00 -1.15041028e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45220148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.31, Y:-1.16, Z:0.02 [[ 9.97965757e-01 6.37522371e-02 0.00000000e+00 1.32307049e+02] [-6.37522371e-02 9.97965757e-01 0.00000000e+00 -1.15652570e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34690290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.06533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.37, Y:-1.16, Z:0.02 [[ 9.97775518e-01 6.66634453e-02 0.00000000e+00 1.32368433e+02] [-6.66634453e-02 9.97775518e-01 0.00000000e+00 -1.16121890e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35817125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.12533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.43, Y:-1.16, Z:0.02 [[ 9.97597422e-01 6.92775851e-02 0.00000000e+00 1.32430403e+02] [-6.92775851e-02 9.97597422e-01 0.00000000e+00 -1.16394122e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86978246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.18533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.49, Y:-1.17, Z:0.02 [[ 9.97710845e-01 6.76244771e-02 0.00000000e+00 1.32492199e+02] [-6.76244771e-02 9.97710845e-01 0.00000000e+00 -1.17123379e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29170497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.55, Y:-1.17, Z:0.02 [[ 9.98102527e-01 6.15738961e-02 0.00000000e+00 1.32553891e+02] [-6.15738961e-02 9.98102527e-01 0.00000000e+00 -1.16958708e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07119522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.61, Y:-1.18, Z:0.02 [[ 9.98281751e-01 5.85964611e-02 0.00000000e+00 1.32614370e+02] [-5.85964611e-02 9.98281751e-01 0.00000000e+00 -1.17695358e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30968477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.68, Y:-1.18, Z:0.02 [[ 9.98321649e-01 5.79127312e-02 0.00000000e+00 1.32676329e+02] [-5.79127312e-02 9.98321649e-01 0.00000000e+00 -1.18269912e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12423346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.74, Y:-1.18, Z:0.02 [[ 9.98298477e-01 5.83108127e-02 0.00000000e+00 1.32737535e+02] [-5.83108127e-02 9.98298477e-01 0.00000000e+00 -1.17988796e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72347537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.80, Y:-1.18, Z:0.01 [[ 9.98279782e-01 5.86300025e-02 0.00000000e+00 1.32798587e+02] [-5.86300025e-02 9.98279782e-01 0.00000000e+00 -1.17989681e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05686550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.86, Y:-1.18, Z:0.02 [[ 9.98119699e-01 6.12949219e-02 0.00000000e+00 1.32860377e+02] [-6.12949219e-02 9.98119699e-01 0.00000000e+00 -1.18229024e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79766667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.92, Y:-1.18, Z:0.02 [[ 9.97979922e-01 6.35301146e-02 0.00000000e+00 1.32922255e+02] [-6.35301146e-02 9.97979922e-01 0.00000000e+00 -1.17696294e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29940479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.98, Y:-1.18, Z:0.02 [[ 9.98130197e-01 6.11237256e-02 0.00000000e+00 1.32983915e+02] [-6.11237256e-02 9.98130197e-01 0.00000000e+00 -1.17546116e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20307930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.05, Y:-1.18, Z:0.02 [[ 9.98372598e-01 5.70276658e-02 0.00000000e+00 1.33045858e+02] [-5.70276658e-02 9.98372598e-01 0.00000000e+00 -1.17565059e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65401267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.11, Y:-1.18, Z:0.01 [[ 9.98560258e-01 5.36415000e-02 0.00000000e+00 1.33106680e+02] [-5.36415000e-02 9.98560258e-01 0.00000000e+00 -1.17608167e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27178014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.84533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.17, Y:-1.18, Z:0.01 [[ 9.98539376e-01 5.40288341e-02 0.00000000e+00 1.33169001e+02] [-5.40288341e-02 9.98539376e-01 0.00000000e+00 -1.17549166e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39064952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.90533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.23, Y:-1.17, Z:0.02 [[ 9.98408564e-01 5.63944948e-02 0.00000000e+00 1.33230684e+02] [-5.63944948e-02 9.98408564e-01 0.00000000e+00 -1.17271379e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88057350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.96533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.29, Y:-1.17, Z:0.02 [[ 9.98204186e-01 5.99032860e-02 0.00000000e+00 1.33292904e+02] [-5.99032860e-02 9.98204186e-01 0.00000000e+00 -1.17076114e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06023040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.36, Y:-1.17, Z:0.02 [[ 9.97969459e-01 6.36942590e-02 0.00000000e+00 1.33356307e+02] [-6.36942590e-02 9.97969459e-01 0.00000000e+00 -1.17003861e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13131997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.42, Y:-1.16, Z:0.02 [[ 9.97898063e-01 6.48032023e-02 0.00000000e+00 1.33419118e+02] [-6.48032023e-02 9.97898063e-01 0.00000000e+00 -1.16413775e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79927710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.48, Y:-1.17, Z:0.02 [[ 9.98192615e-01 6.00957911e-02 0.00000000e+00 1.33481353e+02] [-6.00957911e-02 9.98192615e-01 0.00000000e+00 -1.17189633e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03133877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.54, Y:-1.17, Z:0.02 [[ 9.98535073e-01 5.41083049e-02 0.00000000e+00 1.33542912e+02] [-5.41083049e-02 9.98535073e-01 0.00000000e+00 -1.17238322e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87804236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.61, Y:-1.18, Z:0.02 [[ 9.98639621e-01 5.21431525e-02 0.00000000e+00 1.33605316e+02] [-5.21431525e-02 9.98639621e-01 0.00000000e+00 -1.17886666e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99340264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.67, Y:-1.18, Z:0.02 [[ 9.98523431e-01 5.43227235e-02 0.00000000e+00 1.33666915e+02] [-5.43227235e-02 9.98523431e-01 0.00000000e+00 -1.18362282e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04797032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.73, Y:-1.19, Z:0.02 [[ 9.98257410e-01 5.90096915e-02 0.00000000e+00 1.33728769e+02] [-5.90096915e-02 9.98257410e-01 0.00000000e+00 -1.18801708e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96482576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.79, Y:-1.19, Z:0.02 [[ 9.98142220e-01 6.09270784e-02 0.00000000e+00 1.33790170e+02] [-6.09270784e-02 9.98142220e-01 0.00000000e+00 -1.19118378e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48821672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.85, Y:-1.19, Z:0.02 [[ 9.98077306e-01 6.19813707e-02 0.00000000e+00 1.33851511e+02] [-6.19813707e-02 9.98077306e-01 0.00000000e+00 -1.19465295e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82049047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.56533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.91, Y:-1.20, Z:0.03 [[ 9.98036342e-01 6.26375232e-02 0.00000000e+00 1.33913700e+02] [-6.26375232e-02 9.98036342e-01 0.00000000e+00 -1.20452308e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57532355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.62533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.98, Y:-1.21, Z:0.02 [[ 9.98198434e-01 5.99990538e-02 0.00000000e+00 1.33975242e+02] [-5.99990538e-02 9.98198434e-01 0.00000000e+00 -1.20683895e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26752993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.68533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.04, Y:-1.22, Z:0.03 [[ 9.98383774e-01 5.68316884e-02 0.00000000e+00 1.34036880e+02] [-5.68316884e-02 9.98383774e-01 0.00000000e+00 -1.21765942e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59997284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.10, Y:-1.23, Z:0.03 [[ 9.98468302e-01 5.53267472e-02 0.00000000e+00 1.34099348e+02] [-5.53267472e-02 9.98468302e-01 0.00000000e+00 -1.22843908e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90906762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.16, Y:-1.23, Z:0.03 [[ 9.98425166e-01 5.60997987e-02 0.00000000e+00 1.34161827e+02] [-5.60997987e-02 9.98425166e-01 0.00000000e+00 -1.23173115e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64096270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.22, Y:-1.25, Z:0.03 [[ 9.98372597e-01 5.70276912e-02 0.00000000e+00 1.34224124e+02] [-5.70276912e-02 9.98372597e-01 0.00000000e+00 -1.24517833e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88144491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.29, Y:-1.25, Z:0.03 [[ 9.98230659e-01 5.94605070e-02 0.00000000e+00 1.34286064e+02] [-5.94605070e-02 9.98230659e-01 0.00000000e+00 -1.25491462e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85104013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.35, Y:-1.26, Z:0.02 [[ 9.97933867e-01 6.42494907e-02 0.00000000e+00 1.34348137e+02] [-6.42494907e-02 9.97933867e-01 0.00000000e+00 -1.25905110e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48583662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.41, Y:-1.27, Z:0.03 [[ 9.97679294e-01 6.80883709e-02 0.00000000e+00 1.34410398e+02] [-6.80883709e-02 9.97679294e-01 0.00000000e+00 -1.26632426e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50233103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.47, Y:-1.27, Z:0.03 [[ 9.97533744e-01 7.01885290e-02 0.00000000e+00 1.34472085e+02] [-7.01885290e-02 9.97533744e-01 0.00000000e+00 -1.26797080e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91732388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.53, Y:-1.28, Z:0.04 [[ 9.97907790e-01 6.46532454e-02 0.00000000e+00 1.34533184e+02] [-6.46532454e-02 9.97907790e-01 0.00000000e+00 -1.27528022e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64252682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.60, Y:-1.28, Z:0.04 [[ 9.98455452e-01 5.55581729e-02 0.00000000e+00 1.34596319e+02] [-5.55581729e-02 9.98455452e-01 0.00000000e+00 -1.27821968e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52664154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.66, Y:-1.29, Z:0.03 [[ 9.98827071e-01 4.84198568e-02 0.00000000e+00 1.34656734e+02] [-4.84198568e-02 9.98827071e-01 0.00000000e+00 -1.29146478e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30219591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.34533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.72, Y:-1.29, Z:0.03 [[ 9.98935103e-01 4.61374003e-02 0.00000000e+00 1.34717501e+02] [-4.61374003e-02 9.98935103e-01 0.00000000e+00 -1.29483095e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02741200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.40533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.78, Y:-1.30, Z:0.02 [[ 9.98921668e-01 4.64273819e-02 0.00000000e+00 1.34779658e+02] [-4.64273819e-02 9.98921668e-01 0.00000000e+00 -1.29507752e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43903404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.46533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.84, Y:-1.31, Z:0.03 [[ 9.98743201e-01 5.01200493e-02 0.00000000e+00 1.34841742e+02] [-5.01200493e-02 9.98743201e-01 0.00000000e+00 -1.30782172e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81777396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.90, Y:-1.31, Z:0.03 [[ 9.98402290e-01 5.65054684e-02 0.00000000e+00 1.34903842e+02] [-5.65054684e-02 9.98402290e-01 0.00000000e+00 -1.30680466e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34433595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.97, Y:-1.32, Z:0.03 [[ 9.98184823e-01 6.02250726e-02 0.00000000e+00 1.34965557e+02] [-6.02250726e-02 9.98184823e-01 0.00000000e+00 -1.31541542e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74682854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.03, Y:-1.32, Z:0.03 [[ 9.97959671e-01 6.38474358e-02 0.00000000e+00 1.35026235e+02] [-6.38474358e-02 9.97959671e-01 0.00000000e+00 -1.31886540e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41282020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.09, Y:-1.33, Z:0.03 [[ 9.97614614e-01 6.90295688e-02 0.00000000e+00 1.35087466e+02] [-6.90295688e-02 9.97614614e-01 0.00000000e+00 -1.32593634e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64852227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.15, Y:-1.33, Z:0.03 [[ 9.97314339e-01 7.32400741e-02 0.00000000e+00 1.35149595e+02] [-7.32400741e-02 9.97314339e-01 0.00000000e+00 -1.32808452e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74361914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.21, Y:-1.33, Z:0.03 [[ 9.96974932e-01 7.77237723e-02 0.00000000e+00 1.35212340e+02] [-7.77237723e-02 9.96974932e-01 0.00000000e+00 -1.32671373e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62374602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.27, Y:-1.33, Z:0.03 [[ 9.96828932e-01 7.95743745e-02 0.00000000e+00 1.35273455e+02] [-7.95743745e-02 9.96828932e-01 0.00000000e+00 -1.33053581e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47883180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.33, Y:-1.32, Z:0.03 [[ 9.97419830e-01 7.17891590e-02 0.00000000e+00 1.35334416e+02] [-7.17891590e-02 9.97419830e-01 0.00000000e+00 -1.32426438e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87108207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.40, Y:-1.33, Z:0.03 [[ 9.98187927e-01 6.01736051e-02 0.00000000e+00 1.35396644e+02] [-6.01736051e-02 9.98187927e-01 0.00000000e+00 -1.32955243e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42353716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.06533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.46, Y:-1.33, Z:0.03 [[ 9.98680812e-01 5.13481822e-02 0.00000000e+00 1.35458480e+02] [-5.13481822e-02 9.98680812e-01 0.00000000e+00 -1.32824269e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36496148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.12533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.52, Y:-1.33, Z:0.03 [[ 9.98778491e-01 4.94117987e-02 0.00000000e+00 1.35521473e+02] [-4.94117987e-02 9.98778491e-01 0.00000000e+00 -1.32883973e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48573816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.18533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.58, Y:-1.33, Z:0.03 [[ 9.98762824e-01 4.97274686e-02 0.00000000e+00 1.35582200e+02] [-4.97274686e-02 9.98762824e-01 0.00000000e+00 -1.33379525e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11451893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.64, Y:-1.33, Z:0.03 [[ 9.98645974e-01 5.20213222e-02 0.00000000e+00 1.35644785e+02] [-5.20213222e-02 9.98645974e-01 0.00000000e+00 -1.33173758e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68365281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.71, Y:-1.34, Z:0.04 [[ 9.98421793e-01 5.61597976e-02 0.00000000e+00 1.35706654e+02] [-5.61597976e-02 9.98421793e-01 0.00000000e+00 -1.34012155e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55409595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.77, Y:-1.34, Z:0.03 [[ 9.98267169e-01 5.88443727e-02 0.00000000e+00 1.35768489e+02] [-5.88443727e-02 9.98267169e-01 0.00000000e+00 -1.33660986e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93217498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.83, Y:-1.34, Z:0.03 [[ 9.98165670e-01 6.05416741e-02 0.00000000e+00 1.35831429e+02] [-6.05416741e-02 9.98165670e-01 0.00000000e+00 -1.34371214e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14270716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.89, Y:-1.35, Z:0.03 [[ 9.98043899e-01 6.25170100e-02 0.00000000e+00 1.35892389e+02] [-6.25170100e-02 9.98043899e-01 0.00000000e+00 -1.34765100e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68338995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.96, Y:-1.34, Z:0.02 [[ 9.97977575e-01 6.35669643e-02 0.00000000e+00 1.35955117e+02] [-6.35669643e-02 9.97977575e-01 0.00000000e+00 -1.34458270e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29425382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.02, Y:-1.35, Z:0.03 [[ 9.97919861e-01 6.44666607e-02 0.00000000e+00 1.36017478e+02] [-6.44666607e-02 9.97919861e-01 0.00000000e+00 -1.34889595e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09809040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.08, Y:-1.35, Z:0.04 [[ 9.97958708e-01 6.38624880e-02 0.00000000e+00 1.36079135e+02] [-6.38624880e-02 9.97958708e-01 0.00000000e+00 -1.34977622e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50683269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.14, Y:-1.35, Z:0.03 [[ 9.97990537e-01 6.33631470e-02 0.00000000e+00 1.36141921e+02] [-6.33631470e-02 9.97990537e-01 0.00000000e+00 -1.35243911e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43545265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.20, Y:-1.35, Z:0.03 [[ 9.98002910e-01 6.31679568e-02 0.00000000e+00 1.36203736e+02] [-6.31679568e-02 9.98002910e-01 0.00000000e+00 -1.35477626e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49146044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.84533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.27, Y:-1.35, Z:0.03 [[ 9.97920537e-01 6.44562007e-02 0.00000000e+00 1.36266096e+02] [-6.44562007e-02 9.97920537e-01 0.00000000e+00 -1.35324190e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35928773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.90533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.33, Y:-1.36, Z:0.04 [[ 9.97783386e-01 6.65455892e-02 0.00000000e+00 1.36327482e+02] [-6.65455892e-02 9.97783386e-01 0.00000000e+00 -1.35758223e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78428786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.96533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.39, Y:-1.35, Z:0.04 [[ 9.97718704e-01 6.75084285e-02 0.00000000e+00 1.36389389e+02] [-6.75084285e-02 9.97718704e-01 0.00000000e+00 -1.35448137e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79400560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.45, Y:-1.35, Z:0.03 [[ 9.97775444e-01 6.66645531e-02 0.00000000e+00 1.36451456e+02] [-6.66645531e-02 9.97775444e-01 0.00000000e+00 -1.35394360e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23030457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.51, Y:-1.36, Z:0.04 [[ 9.97939769e-01 6.41577585e-02 0.00000000e+00 1.36513925e+02] [-6.41577585e-02 9.97939769e-01 0.00000000e+00 -1.35534242e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.82609436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.58, Y:-1.35, Z:0.04 [[ 9.98080422e-01 6.19311822e-02 0.00000000e+00 1.36577169e+02] [-6.19311822e-02 9.98080422e-01 0.00000000e+00 -1.35289216e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76888281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.64, Y:-1.36, Z:0.04 [[ 9.98236064e-01 5.93696856e-02 0.00000000e+00 1.36638988e+02] [-5.93696856e-02 9.98236064e-01 0.00000000e+00 -1.35792127e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80010607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.70, Y:-1.36, Z:0.04 [[ 9.98368730e-01 5.70953521e-02 0.00000000e+00 1.36701931e+02] [-5.70953521e-02 9.98368730e-01 0.00000000e+00 -1.35786261e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.73498521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.76, Y:-1.35, Z:0.04 [[ 9.98276505e-01 5.86857684e-02 0.00000000e+00 1.36764433e+02] [-5.86857684e-02 9.98276505e-01 0.00000000e+00 -1.35409137e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58987546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.83, Y:-1.36, Z:0.04 [[ 9.97827230e-01 6.58848879e-02 0.00000000e+00 1.36826761e+02] [-6.58848879e-02 9.97827230e-01 0.00000000e+00 -1.35533520e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53085496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.89, Y:-1.35, Z:0.04 [[ 9.97703525e-01 6.77323892e-02 0.00000000e+00 1.36889635e+02] [-6.77323892e-02 9.97703525e-01 0.00000000e+00 -1.35123777e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57496556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.95, Y:-1.35, Z:0.03 [[ 9.97839335e-01 6.57013011e-02 0.00000000e+00 1.36951949e+02] [-6.57013011e-02 9.97839335e-01 0.00000000e+00 -1.35047627e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30367051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.56533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.02, Y:-1.35, Z:0.03 [[ 9.98095172e-01 6.16930127e-02 0.00000000e+00 1.37015212e+02] [-6.16930127e-02 9.98095172e-01 0.00000000e+00 -1.35177183e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33339807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.62533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.08, Y:-1.35, Z:0.03 [[ 9.98153763e-01 6.07376720e-02 0.00000000e+00 1.37077657e+02] [-6.07376720e-02 9.98153763e-01 0.00000000e+00 -1.34562783e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04448077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.68533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.14, Y:-1.34, Z:0.03 [[ 9.98149944e-01 6.08004005e-02 0.00000000e+00 1.37140155e+02] [-6.08004005e-02 9.98149944e-01 0.00000000e+00 -1.34486847e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72779327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.74533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.20, Y:-1.34, Z:0.04 [[ 9.98208319e-01 5.98343778e-02 0.00000000e+00 1.37201062e+02] [-5.98343778e-02 9.98208319e-01 0.00000000e+00 -1.34430483e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52855924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.26, Y:-1.33, Z:0.03 [[ 9.98160470e-01 6.06273554e-02 0.00000000e+00 1.37263790e+02] [-6.06273554e-02 9.98160470e-01 0.00000000e+00 -1.33491707e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43532312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.33, Y:-1.34, Z:0.03 [[ 9.98134838e-01 6.10478935e-02 0.00000000e+00 1.37326329e+02] [-6.10478935e-02 9.98134838e-01 0.00000000e+00 -1.33727862e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26032984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.39, Y:-1.33, Z:0.03 [[ 9.98048127e-01 6.24494653e-02 0.00000000e+00 1.37388758e+02] [-6.24494653e-02 9.98048127e-01 0.00000000e+00 -1.33025301e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95361380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.45, Y:-1.33, Z:0.03 [[ 9.98043805e-01 6.25185109e-02 0.00000000e+00 1.37450997e+02] [-6.25185109e-02 9.98043805e-01 0.00000000e+00 -1.32728853e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90165295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.51, Y:-1.33, Z:0.03 [[ 9.98172904e-01 6.04222952e-02 0.00000000e+00 1.37512837e+02] [-6.04222952e-02 9.98172904e-01 0.00000000e+00 -1.32537699e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10672509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.58, Y:-1.32, Z:0.03 [[ 9.98177750e-01 6.03421917e-02 0.00000000e+00 1.37575181e+02] [-6.03421917e-02 9.98177750e-01 0.00000000e+00 -1.31806466e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86527783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.64, Y:-1.32, Z:0.03 [[ 9.98280243e-01 5.86221455e-02 0.00000000e+00 1.37638415e+02] [-5.86221455e-02 9.98280243e-01 0.00000000e+00 -1.32143012e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10608295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.70, Y:-1.31, Z:0.03 [[ 9.98629940e-01 5.23282283e-02 0.00000000e+00 1.37701362e+02] [-5.23282283e-02 9.98629940e-01 0.00000000e+00 -1.31444484e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56978966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.76, Y:-1.31, Z:0.03 [[ 9.98696981e-01 5.10327397e-02 0.00000000e+00 1.37763939e+02] [-5.10327397e-02 9.98696981e-01 0.00000000e+00 -1.30894775e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17273527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.34533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.83, Y:-1.32, Z:0.04 [[ 9.98495824e-01 5.48278255e-02 0.00000000e+00 1.37826270e+02] [-5.48278255e-02 9.98495824e-01 0.00000000e+00 -1.31754752e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.01463510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.40533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.89, Y:-1.31, Z:0.03 [[ 9.98415861e-01 5.62651600e-02 0.00000000e+00 1.37889235e+02] [-5.62651600e-02 9.98415861e-01 0.00000000e+00 -1.30730826e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16793620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.46533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.95, Y:-1.31, Z:0.03 [[ 9.98494316e-01 5.48552733e-02 0.00000000e+00 1.37952188e+02] [-5.48552733e-02 9.98494316e-01 0.00000000e+00 -1.31281876e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10280780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.01, Y:-1.32, Z:0.03 [[ 9.98541227e-01 5.39946179e-02 0.00000000e+00 1.38013287e+02] [-5.39946179e-02 9.98541227e-01 0.00000000e+00 -1.32369914e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30820723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.08, Y:-1.32, Z:0.03 [[ 9.98148856e-01 6.08182719e-02 0.00000000e+00 1.38075851e+02] [-6.08182719e-02 9.98148856e-01 0.00000000e+00 -1.32382494e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28901554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.14, Y:-1.33, Z:0.03 [[ 9.97826508e-01 6.58958189e-02 0.00000000e+00 1.38138254e+02] [-6.58958189e-02 9.97826508e-01 0.00000000e+00 -1.32970341e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30609785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.20, Y:-1.34, Z:0.04 [[ 9.97552590e-01 6.99201705e-02 0.00000000e+00 1.38200213e+02] [-6.99201705e-02 9.97552590e-01 0.00000000e+00 -1.34161741e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59901037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.26, Y:-1.35, Z:0.03 [[ 9.97506132e-01 7.05798601e-02 0.00000000e+00 1.38262772e+02] [-7.05798601e-02 9.97506132e-01 0.00000000e+00 -1.34541988e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10734605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.32, Y:-1.36, Z:0.04 [[ 9.97253834e-01 7.40593727e-02 0.00000000e+00 1.38324161e+02] [-7.40593727e-02 9.97253834e-01 0.00000000e+00 -1.35636637e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68695411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.39, Y:-1.36, Z:0.04 [[ 9.97116419e-01 7.58870625e-02 0.00000000e+00 1.38386680e+02] [-7.58870625e-02 9.97116419e-01 0.00000000e+00 -1.36394660e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83555483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.45, Y:-1.37, Z:0.04 [[ 9.97316859e-01 7.32057570e-02 0.00000000e+00 1.38449167e+02] [-7.32057570e-02 9.97316859e-01 0.00000000e+00 -1.36727569e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68289849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.51, Y:-1.38, Z:0.03 [[ 9.97762291e-01 6.68611280e-02 0.00000000e+00 1.38509482e+02] [-6.68611280e-02 9.97762291e-01 0.00000000e+00 -1.38083261e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34860422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.06533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.57, Y:-1.38, Z:0.03 [[ 9.97977396e-01 6.35697803e-02 0.00000000e+00 1.38571240e+02] [-6.35697803e-02 9.97977396e-01 0.00000000e+00 -1.38475376e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94720509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.12533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.63, Y:-1.39, Z:0.03 [[ 9.97953276e-01 6.39473142e-02 0.00000000e+00 1.38633872e+02] [-6.39473142e-02 9.97953276e-01 0.00000000e+00 -1.38937811e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06528755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.18533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.70, Y:-1.40, Z:0.03 [[ 9.97848903e-01 6.55558280e-02 0.00000000e+00 1.38696393e+02] [-6.55558280e-02 9.97848903e-01 0.00000000e+00 -1.40264103e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28120234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.76, Y:-1.41, Z:0.03 [[ 9.97759897e-01 6.68968413e-02 0.00000000e+00 1.38758897e+02] [-6.68968413e-02 9.97759897e-01 0.00000000e+00 -1.40637932e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01303005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.82, Y:-1.42, Z:0.03 [[ 9.97620426e-01 6.89455263e-02 0.00000000e+00 1.38821018e+02] [-6.89455263e-02 9.97620426e-01 0.00000000e+00 -1.41928562e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06731662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.88, Y:-1.43, Z:0.03 [[ 9.97770479e-01 6.67388353e-02 0.00000000e+00 1.38882869e+02] [-6.67388353e-02 9.97770479e-01 0.00000000e+00 -1.42911596e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00966725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.95, Y:-1.44, Z:0.03 [[ 9.97908400e-01 6.46438411e-02 0.00000000e+00 1.38945310e+02] [-6.46438411e-02 9.97908400e-01 0.00000000e+00 -1.43955347e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25804854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.01, Y:-1.45, Z:0.03 [[ 9.97984369e-01 6.34602181e-02 0.00000000e+00 1.39006474e+02] [-6.34602181e-02 9.97984369e-01 0.00000000e+00 -1.45063554e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46795957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.07, Y:-1.45, Z:0.03 [[ 9.97775819e-01 6.66589525e-02 0.00000000e+00 1.39069333e+02] [-6.66589525e-02 9.97775819e-01 0.00000000e+00 -1.45495592e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05851886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.13, Y:-1.46, Z:0.03 [[ 9.97771243e-01 6.67274049e-02 0.00000000e+00 1.39132168e+02] [-6.67274049e-02 9.97771243e-01 0.00000000e+00 -1.46226975e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24411820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.19, Y:-1.46, Z:0.03 [[ 9.97752058e-01 6.70136642e-02 0.00000000e+00 1.39194395e+02] [-6.70136642e-02 9.97752058e-01 0.00000000e+00 -1.46040506e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13720984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.26, Y:-1.47, Z:0.04 [[ 9.97592466e-01 6.93489136e-02 0.00000000e+00 1.39257501e+02] [-6.93489136e-02 9.97592466e-01 0.00000000e+00 -1.46843177e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78271573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.32, Y:-1.47, Z:0.03 [[ 9.97749468e-01 6.70522091e-02 0.00000000e+00 1.39320855e+02] [-6.70522091e-02 9.97749468e-01 0.00000000e+00 -1.46789143e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32220713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.84533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.38, Y:-1.48, Z:0.03 [[ 9.98082135e-01 6.19035659e-02 0.00000000e+00 1.39383324e+02] [-6.19035659e-02 9.98082135e-01 0.00000000e+00 -1.47550135e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01586531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.90533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.44, Y:-1.49, Z:0.02 [[ 9.98328172e-01 5.78001868e-02 0.00000000e+00 1.39443820e+02] [-5.78001868e-02 9.98328172e-01 0.00000000e+00 -1.48612621e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17821949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.96533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.51, Y:-1.49, Z:0.02 [[ 9.98268137e-01 5.88279384e-02 0.00000000e+00 1.39506168e+02] [-5.88279384e-02 9.98268137e-01 0.00000000e+00 -1.49238732e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37479287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.57, Y:-1.50, Z:0.03 [[ 9.97672100e-01 6.81937062e-02 0.00000000e+00 1.39568181e+02] [-6.81937062e-02 9.97672100e-01 0.00000000e+00 -1.49926324e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50981918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.63, Y:-1.50, Z:0.02 [[ 9.97104735e-01 7.60404336e-02 0.00000000e+00 1.39628979e+02] [-7.60404336e-02 9.97104735e-01 0.00000000e+00 -1.49854691e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91272969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.69, Y:-1.50, Z:0.02 [[ 9.96834214e-01 7.95081778e-02 0.00000000e+00 1.39692186e+02] [-7.95081778e-02 9.96834214e-01 0.00000000e+00 -1.49728626e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15471139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.75, Y:-1.50, Z:0.02 [[ 9.96822119e-01 7.96596642e-02 0.00000000e+00 1.39754819e+02] [-7.96596642e-02 9.96822119e-01 0.00000000e+00 -1.49694273e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30387197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.82, Y:-1.49, Z:0.02 [[ 9.97196301e-01 7.48300605e-02 0.00000000e+00 1.39816961e+02] [-7.48300605e-02 9.97196301e-01 0.00000000e+00 -1.48777844e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23269150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.88, Y:-1.48, Z:0.02 [[ 9.97440980e-01 7.14946966e-02 0.00000000e+00 1.39878270e+02] [-7.14946966e-02 9.97440980e-01 0.00000000e+00 -1.48394051e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74947302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.94, Y:-1.48, Z:0.03 [[ 9.97845657e-01 6.56052130e-02 0.00000000e+00 1.39940083e+02] [-6.56052130e-02 9.97845657e-01 0.00000000e+00 -1.48212330e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61476995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.00, Y:-1.47, Z:0.02 [[ 9.98350629e-01 5.74109805e-02 0.00000000e+00 1.40001329e+02] [-5.74109805e-02 9.98350629e-01 0.00000000e+00 -1.47216497e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82255301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.06, Y:-1.47, Z:0.02 [[ 9.98613831e-01 5.26347397e-02 0.00000000e+00 1.40063296e+02] [-5.26347397e-02 9.98613831e-01 0.00000000e+00 -1.47159906e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08029371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.56533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.12, Y:-1.47, Z:0.02 [[ 9.98733867e-01 5.03056901e-02 0.00000000e+00 1.40124235e+02] [-5.03056901e-02 9.98733867e-01 0.00000000e+00 -1.46745283e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50415117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.62533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.19, Y:-1.46, Z:0.02 [[ 9.98745046e-01 5.00832615e-02 0.00000000e+00 1.40185259e+02] [-5.00832615e-02 9.98745046e-01 0.00000000e+00 -1.46476885e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19228930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.68533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.25, Y:-1.46, Z:0.02 [[ 9.98661431e-01 5.17237480e-02 0.00000000e+00 1.40248351e+02] [-5.17237480e-02 9.98661431e-01 0.00000000e+00 -1.46159177e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26281793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.31, Y:-1.46, Z:0.02 [[ 9.98604044e-01 5.28201075e-02 0.00000000e+00 1.40311098e+02] [-5.28201075e-02 9.98604044e-01 0.00000000e+00 -1.45674949e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85101828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.37, Y:-1.45, Z:0.01 [[ 9.98412478e-01 5.63251652e-02 0.00000000e+00 1.40373230e+02] [-5.63251652e-02 9.98412478e-01 0.00000000e+00 -1.45360419e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34438992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.43, Y:-1.45, Z:0.02 [[ 9.98295506e-01 5.83616468e-02 0.00000000e+00 1.40434095e+02] [-5.83616468e-02 9.98295506e-01 0.00000000e+00 -1.44987079e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58997537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.50, Y:-1.45, Z:0.02 [[ 9.98246439e-01 5.91949866e-02 0.00000000e+00 1.40496774e+02] [-5.91949866e-02 9.98246439e-01 0.00000000e+00 -1.44868559e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87650742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.56, Y:-1.45, Z:0.02 [[ 9.98230037e-01 5.94709383e-02 0.00000000e+00 1.40559721e+02] [-5.94709383e-02 9.98230037e-01 0.00000000e+00 -1.44880279e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92194950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.62, Y:-1.44, Z:0.02 [[ 9.98238246e-01 5.93330027e-02 0.00000000e+00 1.40622382e+02] [-5.93330027e-02 9.98238246e-01 0.00000000e+00 -1.44205128e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65143758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.69, Y:-1.44, Z:0.01 [[ 9.98270509e-01 5.87876834e-02 0.00000000e+00 1.40685061e+02] [-5.87876834e-02 9.98270509e-01 0.00000000e+00 -1.43852131e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05372317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.75, Y:-1.44, Z:0.01 [[ 9.98236851e-01 5.93564640e-02 0.00000000e+00 1.40747915e+02] [-5.93564640e-02 9.98236851e-01 0.00000000e+00 -1.43513585e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32067770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.81, Y:-1.43, Z:0.01 [[ 9.98131956e-01 6.10949880e-02 0.00000000e+00 1.40811422e+02] [-6.10949880e-02 9.98131956e-01 0.00000000e+00 -1.42585973e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17171012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.87, Y:-1.42, Z:0.01 [[ 9.98258280e-01 5.89949689e-02 0.00000000e+00 1.40873622e+02] [-5.89949689e-02 9.98258280e-01 0.00000000e+00 -1.42176489e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11002572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.34533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.94, Y:-1.42, Z:0.01 [[ 9.98301413e-01 5.82605292e-02 0.00000000e+00 1.40936358e+02] [-5.82605292e-02 9.98301413e-01 0.00000000e+00 -1.41699941e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.23815222e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.40533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.00, Y:-1.41, Z:0.01 [[ 9.98347268e-01 5.74694098e-02 0.00000000e+00 1.40998340e+02] [-5.74694098e-02 9.98347268e-01 0.00000000e+00 -1.40953975e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.62156082e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.46533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.06, Y:-1.40, Z:0.01 [[ 9.98380493e-01 5.68892804e-02 0.00000000e+00 1.41062162e+02] [-5.68892804e-02 9.98380493e-01 0.00000000e+00 -1.40071953e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.62882924e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.13, Y:-1.39, Z:0.01 [[ 9.98558911e-01 5.36665702e-02 0.00000000e+00 1.41125017e+02] [-5.36665702e-02 9.98558911e-01 0.00000000e+00 -1.39486057e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05636572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.19, Y:-1.39, Z:0.01 [[ 9.98740641e-01 5.01710339e-02 0.00000000e+00 1.41186670e+02] [-5.01710339e-02 9.98740641e-01 0.00000000e+00 -1.39028677e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.59448377e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.25, Y:-1.38, Z:0.01 [[ 9.98792707e-01 4.91235945e-02 0.00000000e+00 1.41249442e+02] [-4.91235945e-02 9.98792707e-01 0.00000000e+00 -1.38466979e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.64142362e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.31, Y:-1.37, Z:0.00 [[ 9.98754261e-01 4.98991611e-02 0.00000000e+00 1.41312599e+02] [-4.98991611e-02 9.98754261e-01 0.00000000e+00 -1.37323412e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.08794363e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.38, Y:-1.37, Z:0.00 [[ 9.98649063e-01 5.19619962e-02 0.00000000e+00 1.41375754e+02] [-5.19619962e-02 9.98649063e-01 0.00000000e+00 -1.37215891e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88275395e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.44, Y:-1.36, Z:0.00 [[ 9.98607841e-01 5.27482651e-02 0.00000000e+00 1.41438057e+02] [-5.27482651e-02 9.98607841e-01 0.00000000e+00 -1.36247622e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54572305e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.50, Y:-1.35, Z:0.00 [[ 9.98416356e-01 5.62563822e-02 0.00000000e+00 1.41501178e+02] [-5.62563822e-02 9.98416356e-01 0.00000000e+00 -1.35326884e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44896092e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.56, Y:-1.34, Z:-0.00 [[ 9.98453066e-01 5.56010316e-02 0.00000000e+00 1.41564128e+02] [-5.56010316e-02 9.98453066e-01 0.00000000e+00 -1.34368382e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.32439163e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.63, Y:-1.33, Z:0.00 [[ 9.98505456e-01 5.46521214e-02 0.00000000e+00 1.41626521e+02] [-5.46521214e-02 9.98505456e-01 0.00000000e+00 -1.33068164e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34838248e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.06533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.69, Y:-1.32, Z:-0.01 [[ 9.98534766e-01 5.41139693e-02 0.00000000e+00 1.41689533e+02] [-5.41139693e-02 9.98534766e-01 0.00000000e+00 -1.32274374e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.31816480e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.12533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.75, Y:-1.31, Z:-0.01 [[ 9.98515183e-01 5.44741248e-02 0.00000000e+00 1.41751752e+02] [-5.44741248e-02 9.98515183e-01 0.00000000e+00 -1.30704189e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.14731977e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.18533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.81, Y:-1.29, Z:-0.01 [[ 9.98542986e-01 5.39620784e-02 0.00000000e+00 1.41814627e+02] [-5.39620784e-02 9.98542986e-01 0.00000000e+00 -1.29307880e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04775121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.88, Y:-1.28, Z:-0.01 [[ 9.98775195e-01 4.94783690e-02 0.00000000e+00 1.41877112e+02] [-4.94783690e-02 9.98775195e-01 0.00000000e+00 -1.28361301e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.92583180e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.94, Y:-1.27, Z:-0.01 [[ 9.98965809e-01 4.54677094e-02 0.00000000e+00 1.41939865e+02] [-4.54677094e-02 9.98965809e-01 0.00000000e+00 -1.27043273e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.27314669e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.00, Y:-1.26, Z:-0.01 [[ 9.98913610e-01 4.66004312e-02 0.00000000e+00 1.42002014e+02] [-4.66004312e-02 9.98913610e-01 0.00000000e+00 -1.26224664e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36588138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.06, Y:-1.26, Z:-0.02 [[ 9.98800951e-01 4.89557001e-02 0.00000000e+00 1.42063670e+02] [-4.89557001e-02 9.98800951e-01 0.00000000e+00 -1.25840958e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55894136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.13, Y:-1.24, Z:-0.01 [[ 9.98648308e-01 5.19764967e-02 0.00000000e+00 1.42126987e+02] [-5.19764967e-02 9.98648308e-01 0.00000000e+00 -1.23771591e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42185676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.19, Y:-1.23, Z:-0.01 [[ 9.98485980e-01 5.50068018e-02 0.00000000e+00 1.42189350e+02] [-5.50068018e-02 9.98485980e-01 0.00000000e+00 -1.22991469e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.50920821e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.25, Y:-1.22, Z:-0.02 [[ 9.98263737e-01 5.89025549e-02 0.00000000e+00 1.42250424e+02] [-5.89025549e-02 9.98263737e-01 0.00000000e+00 -1.21777988e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71678889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.31, Y:-1.20, Z:-0.01 [[ 9.98231341e-01 5.94490564e-02 0.00000000e+00 1.42313022e+02] [-5.94490564e-02 9.98231341e-01 0.00000000e+00 -1.20158972e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49767510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.38, Y:-1.19, Z:-0.02 [[ 9.98418593e-01 5.62166706e-02 0.00000000e+00 1.42375798e+02] [-5.62166706e-02 9.98418593e-01 0.00000000e+00 -1.19478356e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79910925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.44, Y:-1.19, Z:-0.02 [[ 9.98505993e-01 5.46423067e-02 0.00000000e+00 1.42436795e+02] [-5.46423067e-02 9.98505993e-01 0.00000000e+00 -1.18952173e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75729161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.84533619500002 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:142.50, Y:-1.18, Z:-0.02 [[ 9.98407421e-01 5.64147354e-02 0.00000000e+00 1.42497102e+02] [-5.64147354e-02 9.98407421e-01 0.00000000e+00 -1.17766610e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56853456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.90533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.56, Y:-1.17, Z:-0.02 [[ 9.98270802e-01 5.87827040e-02 0.00000000e+00 1.42558303e+02] [-5.87827040e-02 9.98270802e-01 0.00000000e+00 -1.16826345e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54130568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.96533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.62, Y:-1.16, Z:-0.02 [[ 9.98194456e-01 6.00652025e-02 0.00000000e+00 1.42618026e+02] [-6.00652025e-02 9.98194456e-01 0.00000000e+00 -1.16200610e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71035984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.68, Y:-1.15, Z:-0.01 [[ 9.98248630e-01 5.91580237e-02 0.00000000e+00 1.42678579e+02] [-5.91580237e-02 9.98248630e-01 0.00000000e+00 -1.15369650e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28243572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.74, Y:-1.14, Z:-0.02 [[ 9.98268493e-01 5.88218952e-02 0.00000000e+00 1.42737668e+02] [-5.88218952e-02 9.98268493e-01 0.00000000e+00 -1.14391040e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65495594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.80, Y:-1.13, Z:-0.01 [[ 9.98285874e-01 5.85261878e-02 0.00000000e+00 1.42798124e+02] [-5.85261878e-02 9.98285874e-01 0.00000000e+00 -1.13285382e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21136045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.86, Y:-1.12, Z:-0.01 [[ 9.98301838e-01 5.82532384e-02 0.00000000e+00 1.42858471e+02] [-5.82532384e-02 9.98301838e-01 0.00000000e+00 -1.11976957e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40128054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.92, Y:-1.11, Z:-0.02 [[ 9.98362606e-01 5.72023350e-02 0.00000000e+00 1.42917304e+02] [-5.72023350e-02 9.98362606e-01 0.00000000e+00 -1.10943165e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.82746778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.98, Y:-1.10, Z:-0.02 [[ 9.98482882e-01 5.50629949e-02 0.00000000e+00 1.42976292e+02] [-5.50629949e-02 9.98482882e-01 0.00000000e+00 -1.09797641e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58663227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.03, Y:-1.09, Z:-0.02 [[ 9.98398699e-01 5.65688727e-02 0.00000000e+00 1.43034434e+02] [-5.65688727e-02 9.98398699e-01 0.00000000e+00 -1.08675236e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71250299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.09, Y:-1.08, Z:-0.02 [[ 9.98333918e-01 5.77008520e-02 0.00000000e+00 1.43093138e+02] [-5.77008520e-02 9.98333918e-01 0.00000000e+00 -1.07962449e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57216436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.15, Y:-1.07, Z:-0.01 [[ 9.98353572e-01 5.73597951e-02 0.00000000e+00 1.43153041e+02] [-5.73597951e-02 9.98353572e-01 0.00000000e+00 -1.06660464e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33494895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.56533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.21, Y:-1.06, Z:-0.02 [[ 9.98444915e-01 5.57472051e-02 0.00000000e+00 1.43210815e+02] [-5.57472051e-02 9.98444915e-01 0.00000000e+00 -1.06412703e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75680076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.62533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.27, Y:-1.06, Z:-0.02 [[ 9.98429653e-01 5.60198967e-02 0.00000000e+00 1.43269792e+02] [-5.60198967e-02 9.98429653e-01 0.00000000e+00 -1.05902508e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.45579135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.68533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.33, Y:-1.05, Z:-0.03 [[ 9.98198379e-01 5.99999618e-02 0.00000000e+00 1.43329236e+02] [-5.99999618e-02 9.98198379e-01 0.00000000e+00 -1.04675147e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.75273407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.39, Y:-1.05, Z:-0.03 [[ 9.98038554e-01 6.26022739e-02 0.00000000e+00 1.43388551e+02] [-6.26022739e-02 9.98038554e-01 0.00000000e+00 -1.04724739e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61489199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.45, Y:-1.04, Z:-0.02 [[ 9.97776420e-01 6.66499494e-02 0.00000000e+00 1.43447747e+02] [-6.66499494e-02 9.97776420e-01 0.00000000e+00 -1.03658424e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.33361175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.51, Y:-1.03, Z:-0.02 [[ 9.97376982e-01 7.23820081e-02 0.00000000e+00 1.43506316e+02] [-7.23820081e-02 9.97376982e-01 0.00000000e+00 -1.03428669e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.44495539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.56, Y:-1.03, Z:-0.02 [[ 9.97186114e-01 7.49656907e-02 0.00000000e+00 1.43564952e+02] [-7.49656907e-02 9.97186114e-01 0.00000000e+00 -1.03145074e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21779295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.62, Y:-1.03, Z:-0.02 [[ 9.97205841e-01 7.47028129e-02 0.00000000e+00 1.43622703e+02] [-7.47028129e-02 9.97205841e-01 0.00000000e+00 -1.02514285e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.39138939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.045336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:143.68, Y:-1.02, Z:-0.02 [[ 9.97311835e-01 7.32741648e-02 0.00000000e+00 1.43681452e+02] [-7.32741648e-02 9.97311835e-01 0.00000000e+00 -1.02306956e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11182635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.74, Y:-1.02, Z:-0.03 [[ 9.97388737e-01 7.22198484e-02 0.00000000e+00 1.43739342e+02] [-7.22198484e-02 9.97388737e-01 0.00000000e+00 -1.02370253e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.15998028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.165336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:143.80, Y:-1.02, Z:-0.02 [[ 9.97452111e-01 7.13392302e-02 0.00000000e+00 1.43798410e+02] [-7.13392302e-02 9.97452111e-01 0.00000000e+00 -1.02339855e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.36278540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.86, Y:-1.02, Z:-0.02 [[ 9.97574327e-01 6.96093479e-02 0.00000000e+00 1.43857719e+02] [-6.96093479e-02 9.97574327e-01 0.00000000e+00 -1.02093933e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85720533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.92, Y:-1.02, Z:-0.02 [[ 9.97635620e-01 6.87253167e-02 0.00000000e+00 1.43915151e+02] [-6.87253167e-02 9.97635620e-01 0.00000000e+00 -1.02299304e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41933725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.34533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.97, Y:-1.02, Z:-0.03 [[ 9.97557445e-01 6.98508737e-02 0.00000000e+00 1.43973202e+02] [-6.98508737e-02 9.97557445e-01 0.00000000e+00 -1.02188261e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.36308660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.40533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.03, Y:-1.02, Z:-0.02 [[ 9.97266915e-01 7.38830140e-02 0.00000000e+00 1.44031686e+02] [-7.38830140e-02 9.97266915e-01 0.00000000e+00 -1.02234051e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.40622563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.46533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.09, Y:-1.02, Z:-0.03 [[ 9.96986427e-01 7.75761838e-02 0.00000000e+00 1.44090517e+02] [-7.75761838e-02 9.96986427e-01 0.00000000e+00 -1.02356077e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.71558541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.15, Y:-1.02, Z:-0.02 [[ 9.97047529e-01 7.67868810e-02 0.00000000e+00 1.44149523e+02] [-7.67868810e-02 9.97047529e-01 0.00000000e+00 -1.01547619e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12431841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.21, Y:-1.02, Z:-0.02 [[ 9.97204258e-01 7.47239466e-02 0.00000000e+00 1.44207362e+02] [-7.47239466e-02 9.97204258e-01 0.00000000e+00 -1.02213876e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43721991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.27, Y:-1.02, Z:-0.02 [[ 9.97154802e-01 7.53810426e-02 0.00000000e+00 1.44266178e+02] [-7.53810426e-02 9.97154802e-01 0.00000000e+00 -1.02180144e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41769096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.32, Y:-1.02, Z:-0.03 [[ 9.97183080e-01 7.50060382e-02 0.00000000e+00 1.44324804e+02] [-7.50060382e-02 9.97183080e-01 0.00000000e+00 -1.02084226e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.74861173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.38, Y:-1.03, Z:-0.03 [[ 9.97204571e-01 7.47197641e-02 0.00000000e+00 1.44381843e+02] [-7.47197641e-02 9.97204571e-01 0.00000000e+00 -1.02663520e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.85041370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.44, Y:-1.03, Z:-0.03 [[ 9.97315761e-01 7.32207098e-02 0.00000000e+00 1.44440100e+02] [-7.32207098e-02 9.97315761e-01 0.00000000e+00 -1.03027288e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.63380521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.50, Y:-1.03, Z:-0.02 [[ 9.97249425e-01 7.41187213e-02 0.00000000e+00 1.44497760e+02] [-7.41187213e-02 9.97249425e-01 0.00000000e+00 -1.02776752e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.25718896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.56, Y:-1.04, Z:-0.03 [[ 9.97149270e-01 7.54541863e-02 0.00000000e+00 1.44555786e+02] [-7.54541863e-02 9.97149270e-01 0.00000000e+00 -1.03600473e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.82209669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.62, Y:-1.03, Z:-0.03 [[ 9.97027801e-01 7.70426125e-02 0.00000000e+00 1.44615291e+02] [-7.70426125e-02 9.97027801e-01 0.00000000e+00 -1.03269674e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.74112229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.06533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.67, Y:-1.03, Z:-0.03 [[ 9.96998368e-01 7.74225683e-02 0.00000000e+00 1.44674537e+02] [-7.74225683e-02 9.96998368e-01 0.00000000e+00 -1.03480499e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.83699358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.12533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.73, Y:-1.04, Z:-0.03 [[ 9.97056164e-01 7.66746722e-02 0.00000000e+00 1.44732491e+02] [-7.66746722e-02 9.97056164e-01 0.00000000e+00 -1.03845706e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.05345474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.18533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.79, Y:-1.04, Z:-0.03 [[ 9.97140927e-01 7.55643600e-02 0.00000000e+00 1.44791489e+02] [-7.55643600e-02 9.97140927e-01 0.00000000e+00 -1.04115589e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.79177683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.85, Y:-1.04, Z:-0.03 [[ 9.97338871e-01 7.29052543e-02 0.00000000e+00 1.44850010e+02] [-7.29052543e-02 9.97338871e-01 0.00000000e+00 -1.04416854e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.59854665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.91, Y:-1.05, Z:-0.03 [[ 9.97333402e-01 7.29800315e-02 0.00000000e+00 1.44906866e+02] [-7.29800315e-02 9.97333402e-01 0.00000000e+00 -1.04914408e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.70527882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.96, Y:-1.05, Z:-0.03 [[ 9.97262696e-01 7.39399454e-02 0.00000000e+00 1.44964619e+02] [-7.39399454e-02 9.97262696e-01 0.00000000e+00 -1.05107309e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.38517996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.02, Y:-1.05, Z:-0.03 [[ 9.97151066e-01 7.54304374e-02 0.00000000e+00 1.45023857e+02] [-7.54304374e-02 9.97151066e-01 0.00000000e+00 -1.04879149e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.19131514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.08, Y:-1.05, Z:-0.03 [[ 9.96890900e-01 7.87942495e-02 0.00000000e+00 1.45082644e+02] [-7.87942495e-02 9.96890900e-01 0.00000000e+00 -1.05457456e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.09205076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.14, Y:-1.05, Z:-0.03 [[ 9.96421255e-01 8.45262187e-02 0.00000000e+00 1.45140779e+02] [-8.45262187e-02 9.96421255e-01 0.00000000e+00 -1.05081068e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.85518984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.20, Y:-1.05, Z:-0.03 [[ 9.96443074e-01 8.42686193e-02 0.00000000e+00 1.45199548e+02] [-8.42686193e-02 9.96443074e-01 0.00000000e+00 -1.04904663e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.09387846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.26, Y:-1.05, Z:-0.03 [[ 9.96747329e-01 8.05900828e-02 0.00000000e+00 1.45258492e+02] [-8.05900828e-02 9.96747329e-01 0.00000000e+00 -1.05281449e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.96321958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.32, Y:-1.05, Z:-0.03 [[ 9.97050449e-01 7.67489530e-02 0.00000000e+00 1.45316863e+02] [-7.67489530e-02 9.97050449e-01 0.00000000e+00 -1.04853972e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.46268549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.38, Y:-1.05, Z:-0.03 [[ 9.97320486e-01 7.31563261e-02 0.00000000e+00 1.45375807e+02] [-7.31563261e-02 9.97320486e-01 0.00000000e+00 -1.05312457e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.23759593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.84533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.43, Y:-1.05, Z:-0.03 [[ 9.97591426e-01 6.93638700e-02 0.00000000e+00 1.45434900e+02] [-6.93638700e-02 9.97591426e-01 0.00000000e+00 -1.05447073e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.75853784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.90533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.49, Y:-1.06, Z:-0.03 [[ 9.97514264e-01 7.04648394e-02 0.00000000e+00 1.45492383e+02] [-7.04648394e-02 9.97514264e-01 0.00000000e+00 -1.05810674e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.20789293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.96533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.55, Y:-1.06, Z:-0.03 [[ 9.97306181e-01 7.33510760e-02 0.00000000e+00 1.45551735e+02] [-7.33510760e-02 9.97306181e-01 0.00000000e+00 -1.05700033e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.02171540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.61, Y:-1.06, Z:-0.03 [[ 9.97306753e-01 7.33433033e-02 0.00000000e+00 1.45609213e+02] [-7.33433033e-02 9.97306753e-01 0.00000000e+00 -1.05888625e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.44721011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.67, Y:-1.07, Z:-0.04 [[ 9.97341515e-01 7.28690803e-02 0.00000000e+00 1.45667928e+02] [-7.28690803e-02 9.97341515e-01 0.00000000e+00 -1.06585819e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.63998925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.73, Y:-1.07, Z:-0.03 [[ 9.97298595e-01 7.34541452e-02 0.00000000e+00 1.45726140e+02] [-7.34541452e-02 9.97298595e-01 0.00000000e+00 -1.06886606e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.37064265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.78, Y:-1.07, Z:-0.03 [[ 9.97299712e-01 7.34389866e-02 0.00000000e+00 1.45784767e+02] [-7.34389866e-02 9.97299712e-01 0.00000000e+00 -1.07416970e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.99405141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.84, Y:-1.08, Z:-0.03 [[ 9.97308194e-01 7.33237141e-02 0.00000000e+00 1.45843702e+02] [-7.33237141e-02 9.97308194e-01 0.00000000e+00 -1.07811128e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.28356932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.90, Y:-1.09, Z:-0.04 [[ 9.97420350e-01 7.17819350e-02 0.00000000e+00 1.45901602e+02] [-7.17819350e-02 9.97420350e-01 0.00000000e+00 -1.08679071e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.78129452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.96, Y:-1.10, Z:-0.03 [[ 9.97334238e-01 7.29686047e-02 0.00000000e+00 1.45959484e+02] [-7.29686047e-02 9.97334238e-01 0.00000000e+00 -1.09979833e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.39042629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.02, Y:-1.10, Z:-0.03 [[ 9.97024095e-01 7.70905559e-02 0.00000000e+00 1.46018167e+02] [-7.70905559e-02 9.97024095e-01 0.00000000e+00 -1.10376159e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.01872549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.08, Y:-1.11, Z:-0.03 [[ 9.96837084e-01 7.94721878e-02 0.00000000e+00 1.46077141e+02] [-7.94721878e-02 9.96837084e-01 0.00000000e+00 -1.10642867e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.22826624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.56533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.14, Y:-1.12, Z:-0.04 [[ 9.96814810e-01 7.97510815e-02 0.00000000e+00 1.46136919e+02] [-7.97510815e-02 9.96814810e-01 0.00000000e+00 -1.12046465e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.82829527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.62533619500002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:146.19, Y:-1.12, Z:-0.04 [[ 9.96806497e-01 7.98549192e-02 0.00000000e+00 1.46194285e+02] [-7.98549192e-02 9.96806497e-01 0.00000000e+00 -1.12256585e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.60543604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.68533619500002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:146.25, Y:-1.13, Z:-0.03 [[ 9.96689683e-01 8.12999137e-02 0.00000000e+00 1.46253170e+02] [-8.12999137e-02 9.96689683e-01 0.00000000e+00 -1.12996689e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.24204716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.31, Y:-1.13, Z:-0.03 [[ 9.96586443e-01 8.25558106e-02 0.00000000e+00 1.46311980e+02] [-8.25558106e-02 9.96586443e-01 0.00000000e+00 -1.13311554e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.31171264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.37, Y:-1.14, Z:-0.03 [[ 9.96505713e-01 8.35246318e-02 0.00000000e+00 1.46370299e+02] [-8.35246318e-02 9.96505713e-01 0.00000000e+00 -1.13703471e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.87081854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.43, Y:-1.14, Z:-0.02 [[ 9.96695303e-01 8.12309902e-02 0.00000000e+00 1.46428659e+02] [-8.12309902e-02 9.96695303e-01 0.00000000e+00 -1.14051880e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.39977895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.49, Y:-1.15, Z:-0.02 [[ 9.96899122e-01 7.86901498e-02 0.00000000e+00 1.46487814e+02] [-7.86901498e-02 9.96899122e-01 0.00000000e+00 -1.15194078e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16285524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.55, Y:-1.16, Z:-0.03 [[ 9.97033723e-01 7.69659361e-02 0.00000000e+00 1.46545775e+02] [-7.69659361e-02 9.97033723e-01 0.00000000e+00 -1.16113598e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.53695881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.60, Y:-1.17, Z:-0.03 [[ 9.97124449e-01 7.57814767e-02 0.00000000e+00 1.46604847e+02] [-7.57814767e-02 9.97124449e-01 0.00000000e+00 -1.16932172e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.50633212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.66, Y:-1.17, Z:-0.03 [[ 9.96940429e-01 7.81650858e-02 0.00000000e+00 1.46662614e+02] [-7.81650858e-02 9.96940429e-01 0.00000000e+00 -1.17340183e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.56192836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.72, Y:-1.18, Z:-0.03 [[ 9.96518564e-01 8.33711670e-02 0.00000000e+00 1.46720975e+02] [-8.33711670e-02 9.96518564e-01 0.00000000e+00 -1.18182779e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.70085617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.78, Y:-1.18, Z:-0.03 [[ 9.96270692e-01 8.62827177e-02 0.00000000e+00 1.46778420e+02] [-8.62827177e-02 9.96270692e-01 0.00000000e+00 -1.18364098e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.05476563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.84, Y:-1.19, Z:-0.02 [[ 9.96448024e-01 8.42100728e-02 0.00000000e+00 1.46837224e+02] [-8.42100728e-02 9.96448024e-01 0.00000000e+00 -1.19148302e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.23794936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.34533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.90, Y:-1.20, Z:-0.02 [[ 9.96738412e-01 8.07002953e-02 0.00000000e+00 1.46895614e+02] [-8.07002953e-02 9.96738412e-01 0.00000000e+00 -1.19849746e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12598185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.40533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.95, Y:-1.20, Z:-0.02 [[ 9.97042233e-01 7.68556200e-02 0.00000000e+00 1.46953582e+02] [-7.68556200e-02 9.97042233e-01 0.00000000e+00 -1.20213898e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28143474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.46533619500002 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:147.01, Y:-1.22, Z:-0.02 [[ 9.97432134e-01 7.16180027e-02 0.00000000e+00 1.47011951e+02] [-7.16180027e-02 9.97432134e-01 0.00000000e+00 -1.21747874e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12112932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.07, Y:-1.22, Z:-0.03 [[ 9.97554254e-01 6.98964226e-02 0.00000000e+00 1.47072090e+02] [-6.98964226e-02 9.97554254e-01 0.00000000e+00 -1.22251919e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.74427972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.13, Y:-1.23, Z:-0.02 [[ 9.97398591e-01 7.20836435e-02 0.00000000e+00 1.47130195e+02] [-7.20836435e-02 9.97398591e-01 0.00000000e+00 -1.22840889e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.32972533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.19, Y:-1.24, Z:-0.03 [[ 9.97178710e-01 7.50641078e-02 0.00000000e+00 1.47187374e+02] [-7.50641078e-02 9.97178710e-01 0.00000000e+00 -1.23700676e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.69818574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.25, Y:-1.24, Z:-0.02 [[ 9.97065457e-01 7.65537384e-02 0.00000000e+00 1.47245812e+02] [-7.65537384e-02 9.97065457e-01 0.00000000e+00 -1.24109268e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.14817964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.30, Y:-1.25, Z:-0.03 [[ 9.96923423e-01 7.83816888e-02 0.00000000e+00 1.47303915e+02] [-7.83816888e-02 9.96923423e-01 0.00000000e+00 -1.24704063e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.27416641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.36, Y:-1.26, Z:-0.03 [[ 9.96632171e-01 8.20019278e-02 0.00000000e+00 1.47362125e+02] [-8.20019278e-02 9.96632171e-01 0.00000000e+00 -1.25835154e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.66780451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.42, Y:-1.26, Z:-0.03 [[ 9.96460860e-01 8.40580374e-02 0.00000000e+00 1.47419835e+02] [-8.40580374e-02 9.96460860e-01 0.00000000e+00 -1.26249046e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.59220893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.48, Y:-1.27, Z:-0.02 [[ 9.96500935e-01 8.35816217e-02 0.00000000e+00 1.47480077e+02] [-8.35816217e-02 9.96500935e-01 0.00000000e+00 -1.26972040e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60140971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.54, Y:-1.28, Z:-0.02 [[ 9.96693064e-01 8.12584500e-02 0.00000000e+00 1.47538688e+02] [-8.12584500e-02 9.96693064e-01 0.00000000e+00 -1.28134629e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59500136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.06533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.60, Y:-1.29, Z:-0.02 [[ 9.96915135e-01 7.84870344e-02 0.00000000e+00 1.47597930e+02] [-7.84870344e-02 9.96915135e-01 0.00000000e+00 -1.28640293e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.98166217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.12533619500002 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:147.66, Y:-1.29, Z:-0.02 [[ 9.97211273e-01 7.46302664e-02 0.00000000e+00 1.47656184e+02] [-7.46302664e-02 9.97211273e-01 0.00000000e+00 -1.29382448e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68315921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.18533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.71, Y:-1.30, Z:-0.02 [[ 9.97417496e-01 7.18215779e-02 0.00000000e+00 1.47714678e+02] [-7.18215779e-02 9.97417496e-01 0.00000000e+00 -1.30477340e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51898410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.77, Y:-1.31, Z:-0.01 [[ 9.97138690e-01 7.55938669e-02 0.00000000e+00 1.47773631e+02] [-7.55938669e-02 9.97138690e-01 0.00000000e+00 -1.30878005e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.96471332e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.83, Y:-1.32, Z:-0.02 [[ 9.96746269e-01 8.06031954e-02 0.00000000e+00 1.47832062e+02] [-8.06031954e-02 9.96746269e-01 0.00000000e+00 -1.31860112e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80805189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.89, Y:-1.32, Z:-0.02 [[ 9.96641531e-01 8.18880811e-02 0.00000000e+00 1.47890624e+02] [-8.18880811e-02 9.96641531e-01 0.00000000e+00 -1.32086162e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80766539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.95, Y:-1.33, Z:-0.01 [[ 9.96757189e-01 8.04680408e-02 0.00000000e+00 1.47949623e+02] [-8.04680408e-02 9.96757189e-01 0.00000000e+00 -1.32912049e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14138646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.01, Y:-1.33, Z:-0.01 [[ 9.96827526e-01 7.95919819e-02 0.00000000e+00 1.48006822e+02] [-7.95919819e-02 9.96827526e-01 0.00000000e+00 -1.33415559e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46823451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.07, Y:-1.34, Z:-0.01 [[ 9.96821105e-01 7.96723561e-02 0.00000000e+00 1.48065431e+02] [-7.96723561e-02 9.96821105e-01 0.00000000e+00 -1.33926033e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49909429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.12, Y:-1.35, Z:-0.02 [[ 9.97019473e-01 7.71503116e-02 0.00000000e+00 1.48124616e+02] [-7.71503116e-02 9.97019473e-01 0.00000000e+00 -1.34817797e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.95237037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.18, Y:-1.35, Z:-0.02 [[ 9.97191093e-01 7.48994327e-02 0.00000000e+00 1.48183596e+02] [-7.48994327e-02 9.97191093e-01 0.00000000e+00 -1.34805874e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56885261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.24, Y:-1.35, Z:-0.02 [[ 9.97381266e-01 7.23229565e-02 0.00000000e+00 1.48241529e+02] [-7.23229565e-02 9.97381266e-01 0.00000000e+00 -1.35491131e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74563060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.30, Y:-1.37, Z:-0.01 [[ 9.97566969e-01 6.97147256e-02 0.00000000e+00 1.48300274e+02] [-6.97147256e-02 9.97566969e-01 0.00000000e+00 -1.36950115e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10063262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.84533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.36, Y:-1.37, Z:-0.01 [[ 9.97722954e-01 6.74455831e-02 0.00000000e+00 1.48359292e+02] [-6.74455831e-02 9.97722954e-01 0.00000000e+00 -1.37143790e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.00148815e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.90533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.42, Y:-1.38, Z:-0.02 [[ 9.97702635e-01 6.77454890e-02 0.00000000e+00 1.48417944e+02] [-6.77454890e-02 9.97702635e-01 0.00000000e+00 -1.37600013e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60178669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.96533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.48, Y:-1.39, Z:-0.01 [[ 9.97576004e-01 6.95853155e-02 0.00000000e+00 1.48476987e+02] [-6.95853155e-02 9.97576004e-01 0.00000000e+00 -1.39266021e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28542198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.54, Y:-1.39, Z:-0.01 [[ 9.97283483e-01 7.36590488e-02 0.00000000e+00 1.48535929e+02] [-7.36590488e-02 9.97283483e-01 0.00000000e+00 -1.38835665e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08545503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.59, Y:-1.39, Z:-0.01 [[ 9.96968324e-01 7.78084942e-02 0.00000000e+00 1.48594350e+02] [-7.78084942e-02 9.96968324e-01 0.00000000e+00 -1.39324905e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.48856497e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.65, Y:-1.40, Z:-0.00 [[ 9.96877683e-01 7.89612915e-02 0.00000000e+00 1.48653332e+02] [-7.89612915e-02 9.96877683e-01 0.00000000e+00 -1.39934276e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.68368875e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.71, Y:-1.40, Z:-0.00 [[ 9.96699128e-01 8.11840413e-02 0.00000000e+00 1.48710832e+02] [-8.11840413e-02 9.96699128e-01 0.00000000e+00 -1.39845270e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.39562783e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.77, Y:-1.40, Z:-0.01 [[ 9.96616983e-01 8.21863065e-02 0.00000000e+00 1.48769989e+02] [-8.21863065e-02 9.96616983e-01 0.00000000e+00 -1.39954665e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.00470391e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.83, Y:-1.40, Z:-0.00 [[ 9.96930149e-01 7.82960983e-02 0.00000000e+00 1.48828722e+02] [-7.82960983e-02 9.96930149e-01 0.00000000e+00 -1.39749829e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.49498113e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.385336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:148.89, Y:-1.40, Z:0.00 [[ 9.97443206e-01 7.14636390e-02 0.00000000e+00 1.48888000e+02] [-7.14636390e-02 9.97443206e-01 0.00000000e+00 -1.40150818e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.99664675e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.95, Y:-1.40, Z:0.00 [[ 9.97817169e-01 6.60370877e-02 0.00000000e+00 1.48946900e+02] [-6.60370877e-02 9.97817169e-01 0.00000000e+00 -1.40473574e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51301851e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.01, Y:-1.41, Z:0.00 [[ 9.97894755e-01 6.48541269e-02 0.00000000e+00 1.49006083e+02] [-6.48541269e-02 9.97894755e-01 0.00000000e+00 -1.41154367e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90469525e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.56533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.06, Y:-1.42, Z:0.00 [[ 9.97688108e-01 6.79591024e-02 0.00000000e+00 1.49064552e+02] [-6.79591024e-02 9.97688108e-01 0.00000000e+00 -1.41740417e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42215691e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.62533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.12, Y:-1.42, Z:0.00 [[ 9.97181977e-01 7.50206989e-02 0.00000000e+00 1.49123533e+02] [-7.50206989e-02 9.97181977e-01 0.00000000e+00 -1.42108896e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.90562836e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.68533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.18, Y:-1.43, Z:0.00 [[ 9.96728530e-01 8.08222602e-02 0.00000000e+00 1.49182536e+02] [-8.08222602e-02 9.96728530e-01 0.00000000e+00 -1.43107086e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36400057e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.745336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:149.24, Y:-1.43, Z:0.00 [[ 9.96383408e-01 8.49712004e-02 0.00000000e+00 1.49241933e+02] [-8.49712004e-02 9.96383408e-01 0.00000000e+00 -1.42939696e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65324242e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.30, Y:-1.44, Z:0.00 [[ 9.96274268e-01 8.62414226e-02 0.00000000e+00 1.49300541e+02] [-8.62414226e-02 9.96274268e-01 0.00000000e+00 -1.43603827e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.94330765e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.36, Y:-1.45, Z:0.00 [[ 9.96559088e-01 8.28853688e-02 0.00000000e+00 1.49359947e+02] [-8.28853688e-02 9.96559088e-01 0.00000000e+00 -1.44670010e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06691495e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.42, Y:-1.45, Z:0.01 [[ 9.96614313e-01 8.22186825e-02 0.00000000e+00 1.49419795e+02] [-8.22186825e-02 9.96614313e-01 0.00000000e+00 -1.44933526e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.81576791e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.48, Y:-1.46, Z:0.00 [[ 9.96457190e-01 8.41015358e-02 0.00000000e+00 1.49479190e+02] [-8.41015358e-02 9.96457190e-01 0.00000000e+00 -1.45892458e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.82724093e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.54, Y:-1.46, Z:0.01 [[ 9.96297562e-01 8.59719068e-02 0.00000000e+00 1.49537376e+02] [-8.59719068e-02 9.96297562e-01 0.00000000e+00 -1.46206446e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.49381144e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.60, Y:-1.46, Z:0.01 [[ 9.96288425e-01 8.60777239e-02 0.00000000e+00 1.49596918e+02] [-8.60777239e-02 9.96288425e-01 0.00000000e+00 -1.46408352e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.26022395e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.66, Y:-1.46, Z:0.00 [[ 9.96460935e-01 8.40571591e-02 0.00000000e+00 1.49655920e+02] [-8.40571591e-02 9.96460935e-01 0.00000000e+00 -1.46484570e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.97801546e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.72, Y:-1.47, Z:0.00 [[ 9.96488468e-01 8.37301205e-02 0.00000000e+00 1.49715752e+02] [-8.37301205e-02 9.96488468e-01 0.00000000e+00 -1.46984851e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.95112167e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.77, Y:-1.47, Z:-0.00 [[ 9.96440401e-01 8.43002208e-02 0.00000000e+00 1.49774946e+02] [-8.43002208e-02 9.96440401e-01 0.00000000e+00 -1.46677051e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.19744848e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.34533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.83, Y:-1.46, Z:-0.00 [[ 9.96585183e-01 8.25710133e-02 0.00000000e+00 1.49834335e+02] [-8.25710133e-02 9.96585183e-01 0.00000000e+00 -1.46319853e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05369160e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.40533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.89, Y:-1.46, Z:0.00 [[ 9.96832341e-01 7.95316518e-02 0.00000000e+00 1.49894109e+02] [-7.95316518e-02 9.96832341e-01 0.00000000e+00 -1.46499013e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11576373e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.46533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.95, Y:-1.46, Z:0.00 [[ 9.97115758e-01 7.58957525e-02 0.00000000e+00 1.49953713e+02] [-7.58957525e-02 9.97115758e-01 0.00000000e+00 -1.45991232e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50578111e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.01, Y:-1.46, Z:0.00 [[ 9.97174913e-01 7.51145372e-02 0.00000000e+00 1.50013148e+02] [-7.51145372e-02 9.97174913e-01 0.00000000e+00 -1.46211491e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.72242374e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.07, Y:-1.46, Z:0.00 [[ 9.97296644e-01 7.34806402e-02 0.00000000e+00 1.50072069e+02] [-7.34806402e-02 9.97296644e-01 0.00000000e+00 -1.46447898e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32003745e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.13, Y:-1.47, Z:0.01 [[ 9.97324127e-01 7.31066674e-02 0.00000000e+00 1.50131259e+02] [-7.31066674e-02 9.97324127e-01 0.00000000e+00 -1.46537457e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.02041440e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.19, Y:-1.47, Z:0.01 [[ 9.97111184e-01 7.59558242e-02 0.00000000e+00 1.50189400e+02] [-7.59558242e-02 9.97111184e-01 0.00000000e+00 -1.46740830e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.22491204e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.25, Y:-1.47, Z:0.01 [[ 9.96789322e-01 8.00690193e-02 0.00000000e+00 1.50247739e+02] [-8.00690193e-02 9.96789322e-01 0.00000000e+00 -1.46658801e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.29447026e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.31, Y:-1.47, Z:0.00 [[ 9.96468237e-01 8.39705508e-02 0.00000000e+00 1.50306091e+02] [-8.39705508e-02 9.96468237e-01 0.00000000e+00 -1.46505586e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62199987e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.36, Y:-1.47, Z:0.00 [[ 9.96358657e-01 8.52609325e-02 0.00000000e+00 1.50364660e+02] [-8.52609325e-02 9.96358657e-01 0.00000000e+00 -1.46678829e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50703619e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.42, Y:-1.47, Z:0.00 [[ 9.96551623e-01 8.29750690e-02 0.00000000e+00 1.50423092e+02] [-8.29750690e-02 9.96551623e-01 0.00000000e+00 -1.47422332e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.97507143e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.48, Y:-1.48, Z:0.00 [[ 9.96922537e-01 7.83929559e-02 0.00000000e+00 1.50481976e+02] [-7.83929559e-02 9.96922537e-01 0.00000000e+00 -1.47556633e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.57149496e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.06533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.54, Y:-1.48, Z:0.01 [[ 9.97100514e-01 7.60957587e-02 0.00000000e+00 1.50540614e+02] [-7.60957587e-02 9.97100514e-01 0.00000000e+00 -1.47730019e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.95703665e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.12533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.60, Y:-1.49, Z:0.01 [[ 9.97225306e-01 7.44425229e-02 0.00000000e+00 1.50600037e+02] [-7.44425229e-02 9.97225306e-01 0.00000000e+00 -1.48859947e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17202770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.18533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.66, Y:-1.48, Z:0.00 [[ 9.97199442e-01 7.47881904e-02 0.00000000e+00 1.50659379e+02] [-7.47881904e-02 9.97199442e-01 0.00000000e+00 -1.48375100e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12484448e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.72, Y:-1.49, Z:0.01 [[ 9.97116980e-01 7.58796990e-02 0.00000000e+00 1.50718584e+02] [-7.58796990e-02 9.97116980e-01 0.00000000e+00 -1.49417513e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.23309988e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.78, Y:-1.49, Z:0.01 [[ 9.97133431e-01 7.56632048e-02 0.00000000e+00 1.50777206e+02] [-7.56632048e-02 9.97133431e-01 0.00000000e+00 -1.49306463e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.23331384e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.84, Y:-1.50, Z:0.01 [[ 9.97118394e-01 7.58611119e-02 0.00000000e+00 1.50837098e+02] [-7.58611119e-02 9.97118394e-01 0.00000000e+00 -1.49824066e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49281449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.90, Y:-1.51, Z:0.01 [[ 9.97248137e-01 7.41360449e-02 0.00000000e+00 1.50895512e+02] [-7.41360449e-02 9.97248137e-01 0.00000000e+00 -1.50913012e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42692241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.95, Y:-1.51, Z:0.01 [[ 9.97119045e-01 7.58525585e-02 0.00000000e+00 1.50954807e+02] [-7.58525585e-02 9.97119045e-01 0.00000000e+00 -1.50677320e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10121899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.01, Y:-1.52, Z:0.01 [[ 9.96695846e-01 8.12243164e-02 0.00000000e+00 1.51013852e+02] [-8.12243164e-02 9.96695846e-01 0.00000000e+00 -1.51628431e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21522196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.07, Y:-1.52, Z:0.02 [[ 9.95935116e-01 9.00735463e-02 0.00000000e+00 1.51073257e+02] [-9.00735463e-02 9.95935116e-01 0.00000000e+00 -1.51832331e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71931938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.13, Y:-1.52, Z:0.02 [[ 9.95374712e-01 9.60686362e-02 0.00000000e+00 1.51131356e+02] [-9.60686362e-02 9.95374712e-01 0.00000000e+00 -1.52062554e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72033180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.19, Y:-1.53, Z:0.02 [[ 9.95353936e-01 9.62836564e-02 0.00000000e+00 1.51190535e+02] [-9.62836564e-02 9.95353936e-01 0.00000000e+00 -1.52512970e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70011579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.25, Y:-1.52, Z:0.02 [[ 9.95625089e-01 9.34381227e-02 0.00000000e+00 1.51249153e+02] [-9.34381227e-02 9.95625089e-01 0.00000000e+00 -1.52186797e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66101599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.84533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.31, Y:-1.52, Z:0.02 [[ 9.96069079e-01 8.85798504e-02 0.00000000e+00 1.51307770e+02] [-8.85798504e-02 9.96069079e-01 0.00000000e+00 -1.52292077e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55223917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.90533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.37, Y:-1.53, Z:0.02 [[ 9.96495286e-01 8.36489432e-02 0.00000000e+00 1.51367205e+02] [-8.36489432e-02 9.96495286e-01 0.00000000e+00 -1.52870849e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75468264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.96533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.43, Y:-1.53, Z:0.02 [[ 9.96844084e-01 7.93843366e-02 0.00000000e+00 1.51426368e+02] [-7.93843366e-02 9.96844084e-01 0.00000000e+00 -1.52637107e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57725466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.025336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:151.49, Y:-1.53, Z:0.02 [[ 9.97224629e-01 7.44515845e-02 0.00000000e+00 1.51485672e+02] [-7.44515845e-02 9.97224629e-01 0.00000000e+00 -1.52880325e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59705329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.55, Y:-1.53, Z:0.02 [[ 9.97375300e-01 7.24051890e-02 0.00000000e+00 1.51545024e+02] [-7.24051890e-02 9.97375300e-01 0.00000000e+00 -1.53190727e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58659215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.60, Y:-1.54, Z:0.02 [[ 9.97583149e-01 6.94828116e-02 0.00000000e+00 1.51603971e+02] [-6.94828116e-02 9.97583149e-01 0.00000000e+00 -1.53568262e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76542454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.66, Y:-1.54, Z:0.02 [[ 9.97737660e-01 6.72276871e-02 0.00000000e+00 1.51662470e+02] [-6.72276871e-02 9.97737660e-01 0.00000000e+00 -1.54238420e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66729402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.72, Y:-1.55, Z:0.01 [[ 9.97612715e-01 6.90570133e-02 0.00000000e+00 1.51722212e+02] [-6.90570133e-02 9.97612715e-01 0.00000000e+00 -1.54987213e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40842100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.78, Y:-1.56, Z:0.01 [[ 9.97260500e-01 7.39695605e-02 0.00000000e+00 1.51781136e+02] [-7.39695605e-02 9.97260500e-01 0.00000000e+00 -1.55651731e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47109032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.84, Y:-1.56, Z:0.01 [[ 9.96766186e-01 8.03565231e-02 0.00000000e+00 1.51840331e+02] [-8.03565231e-02 9.96766186e-01 0.00000000e+00 -1.55613752e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49508935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.90, Y:-1.56, Z:0.02 [[ 9.96462148e-01 8.40427702e-02 0.00000000e+00 1.51899143e+02] [-8.40427702e-02 9.96462148e-01 0.00000000e+00 -1.56123699e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50080194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.96, Y:-1.57, Z:0.02 [[ 9.96006188e-01 8.92842246e-02 0.00000000e+00 1.51958593e+02] [-8.92842246e-02 9.96006188e-01 0.00000000e+00 -1.56814755e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77948914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.56533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.02, Y:-1.56, Z:0.01 [[ 9.95829796e-01 9.12305748e-02 0.00000000e+00 1.52017853e+02] [-9.12305748e-02 9.95829796e-01 0.00000000e+00 -1.56469329e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49333290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.62533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.08, Y:-1.57, Z:0.01 [[ 9.95723348e-01 9.23851371e-02 0.00000000e+00 1.52076938e+02] [-9.23851371e-02 9.95723348e-01 0.00000000e+00 -1.56622059e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20594979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.68533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.14, Y:-1.57, Z:0.01 [[ 9.95674800e-01 9.29068992e-02 0.00000000e+00 1.52136345e+02] [-9.29068992e-02 9.95674800e-01 0.00000000e+00 -1.57185935e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31826005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.20, Y:-1.56, Z:0.02 [[ 9.95884596e-01 9.06304073e-02 0.00000000e+00 1.52196489e+02] [-9.06304073e-02 9.95884596e-01 0.00000000e+00 -1.56043119e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93603508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.26, Y:-1.56, Z:0.01 [[ 9.96429911e-01 8.44241188e-02 0.00000000e+00 1.52255477e+02] [-8.44241188e-02 9.96429911e-01 0.00000000e+00 -1.56392899e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26372004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.32, Y:-1.57, Z:0.02 [[ 9.96744821e-01 8.06211058e-02 0.00000000e+00 1.52315198e+02] [-8.06211058e-02 9.96744821e-01 0.00000000e+00 -1.56519144e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88443856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.37, Y:-1.55, Z:0.01 [[ 9.97231435e-01 7.43603706e-02 0.00000000e+00 1.52374716e+02] [-7.43603706e-02 9.97231435e-01 0.00000000e+00 -1.55014128e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20910330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.43, Y:-1.56, Z:0.01 [[ 9.97733417e-01 6.72906349e-02 0.00000000e+00 1.52434386e+02] [-6.72906349e-02 9.97733417e-01 0.00000000e+00 -1.55855834e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43231678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.49, Y:-1.55, Z:0.02 [[ 9.98057028e-01 6.23070471e-02 0.00000000e+00 1.52493956e+02] [-6.23070471e-02 9.98057028e-01 0.00000000e+00 -1.55354118e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76744646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.55, Y:-1.56, Z:0.01 [[ 9.97996134e-01 6.32749320e-02 0.00000000e+00 1.52552986e+02] [-6.32749320e-02 9.97996134e-01 0.00000000e+00 -1.55673893e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05429038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.61, Y:-1.56, Z:0.01 [[ 9.97823869e-01 6.59357738e-02 0.00000000e+00 1.52612516e+02] [-6.59357738e-02 9.97823869e-01 0.00000000e+00 -1.56082045e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13031993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.67, Y:-1.56, Z:0.01 [[ 9.97609932e-01 6.90972003e-02 0.00000000e+00 1.52672127e+02] [-6.90972003e-02 9.97609932e-01 0.00000000e+00 -1.55687686e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01027461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.73, Y:-1.57, Z:0.02 [[ 9.97369668e-01 7.24827178e-02 0.00000000e+00 1.52730812e+02] [-7.24827178e-02 9.97369668e-01 0.00000000e+00 -1.56955641e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61060282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.34533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.79, Y:-1.57, Z:0.02 [[ 9.97210723e-01 7.46376193e-02 0.00000000e+00 1.52790955e+02] [-7.46376193e-02 9.97210723e-01 0.00000000e+00 -1.56668939e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81172011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.40533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.85, Y:-1.56, Z:0.01 [[ 9.96552792e-01 8.29610341e-02 0.00000000e+00 1.52850458e+02] [-8.29610341e-02 9.96552792e-01 0.00000000e+00 -1.56342643e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27458640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.46533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.91, Y:-1.56, Z:0.01 [[ 9.96196245e-01 8.71380644e-02 0.00000000e+00 1.52908256e+02] [-8.71380644e-02 9.96196245e-01 0.00000000e+00 -1.56482396e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.05105314e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.97, Y:-1.56, Z:0.02 [[ 9.96260318e-01 8.64024201e-02 0.00000000e+00 1.52968286e+02] [-8.64024201e-02 9.96260318e-01 0.00000000e+00 -1.55935236e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52232144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.03, Y:-1.56, Z:0.02 [[ 9.96668535e-01 8.15587573e-02 0.00000000e+00 1.53026686e+02] [-8.15587573e-02 9.96668535e-01 0.00000000e+00 -1.55637864e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69204286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.09, Y:-1.55, Z:0.02 [[ 9.97090260e-01 7.62300036e-02 0.00000000e+00 1.53085571e+02] [-7.62300036e-02 9.97090260e-01 0.00000000e+00 -1.55490631e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71667418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.14, Y:-1.56, Z:0.01 [[ 9.97468004e-01 7.11166659e-02 0.00000000e+00 1.53144088e+02] [-7.11166659e-02 9.97468004e-01 0.00000000e+00 -1.55700337e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.70794176e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.20, Y:-1.55, Z:0.02 [[ 9.97749866e-01 6.70462952e-02 0.00000000e+00 1.53202629e+02] [-6.70462952e-02 9.97749866e-01 0.00000000e+00 -1.55294164e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52102827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.26, Y:-1.55, Z:0.02 [[ 9.97821824e-01 6.59667224e-02 0.00000000e+00 1.53260365e+02] [-6.59667224e-02 9.97821824e-01 0.00000000e+00 -1.55487858e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52624684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.32, Y:-1.56, Z:0.02 [[ 9.97639075e-01 6.86751459e-02 0.00000000e+00 1.53319261e+02] [-6.86751459e-02 9.97639075e-01 0.00000000e+00 -1.55573509e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65331695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.38, Y:-1.55, Z:0.01 [[ 9.97396141e-01 7.21175298e-02 0.00000000e+00 1.53378796e+02] [-7.21175298e-02 9.97396141e-01 0.00000000e+00 -1.55199362e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31193217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.44, Y:-1.55, Z:0.01 [[ 9.97447273e-01 7.14068519e-02 0.00000000e+00 1.53437644e+02] [-7.14068519e-02 9.97447273e-01 0.00000000e+00 -1.55184412e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48901686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.06533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.50, Y:-1.56, Z:0.02 [[ 9.97745222e-01 6.71153678e-02 0.00000000e+00 1.53496706e+02] [-6.71153678e-02 9.97745222e-01 0.00000000e+00 -1.55647943e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95184252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.12533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.56, Y:-1.57, Z:0.02 [[ 9.98064535e-01 6.21866820e-02 0.00000000e+00 1.53555268e+02] [-6.21866820e-02 9.98064535e-01 0.00000000e+00 -1.56638846e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72603495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.18533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.61, Y:-1.57, Z:0.01 [[ 9.98134995e-01 6.10453197e-02 0.00000000e+00 1.53614121e+02] [-6.10453197e-02 9.98134995e-01 0.00000000e+00 -1.56943208e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25452929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.67, Y:-1.57, Z:0.01 [[ 9.98047746e-01 6.24555585e-02 0.00000000e+00 1.53672704e+02] [-6.24555585e-02 9.98047746e-01 0.00000000e+00 -1.57455332e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.25474776e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.73, Y:-1.58, Z:0.01 [[ 9.97599682e-01 6.92450347e-02 0.00000000e+00 1.53731557e+02] [-6.92450347e-02 9.97599682e-01 0.00000000e+00 -1.58209412e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38999376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.79, Y:-1.58, Z:0.02 [[ 9.97270853e-01 7.38298411e-02 0.00000000e+00 1.53790653e+02] [-7.38298411e-02 9.97270853e-01 0.00000000e+00 -1.58425987e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80105914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.85, Y:-1.59, Z:0.02 [[ 9.96867816e-01 7.90857643e-02 0.00000000e+00 1.53848241e+02] [-7.90857643e-02 9.96867816e-01 0.00000000e+00 -1.59294761e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62260955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.91, Y:-1.59, Z:0.01 [[ 9.96801431e-01 7.99181302e-02 0.00000000e+00 1.53907530e+02] [-7.99181302e-02 9.96801431e-01 0.00000000e+00 -1.59367373e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12998348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.97, Y:-1.60, Z:0.01 [[ 9.96894155e-01 7.87530555e-02 0.00000000e+00 1.53966194e+02] [-7.87530555e-02 9.96894155e-01 0.00000000e+00 -1.59654064e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22954999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.02, Y:-1.60, Z:0.01 [[ 9.97116340e-01 7.58881107e-02 0.00000000e+00 1.54024726e+02] [-7.58881107e-02 9.97116340e-01 0.00000000e+00 -1.60430630e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23246523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.08, Y:-1.60, Z:0.01 [[ 9.97321213e-01 7.31464201e-02 0.00000000e+00 1.54083773e+02] [-7.31464201e-02 9.97321213e-01 0.00000000e+00 -1.60268356e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44410018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.14, Y:-1.61, Z:0.02 [[ 9.97664566e-01 6.83038290e-02 0.00000000e+00 1.54142739e+02] [-6.83038290e-02 9.97664566e-01 0.00000000e+00 -1.61246014e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65162736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.20, Y:-1.61, Z:0.02 [[ 9.97884743e-01 6.50079911e-02 0.00000000e+00 1.54201934e+02] [-6.50079911e-02 9.97884743e-01 0.00000000e+00 -1.61471954e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68301066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.84533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.26, Y:-1.62, Z:0.01 [[ 9.97932186e-01 6.42755943e-02 0.00000000e+00 1.54261819e+02] [-6.42755943e-02 9.97932186e-01 0.00000000e+00 -1.62308511e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34290514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.90533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.32, Y:-1.63, Z:0.02 [[ 9.97893575e-01 6.48722831e-02 0.00000000e+00 1.54321105e+02] [-6.48722831e-02 9.97893575e-01 0.00000000e+00 -1.62838341e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59167523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.96533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.38, Y:-1.64, Z:0.01 [[ 9.97929285e-01 6.43206244e-02 0.00000000e+00 1.54379210e+02] [-6.43206244e-02 9.97929285e-01 0.00000000e+00 -1.63648371e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44976168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.44, Y:-1.64, Z:0.01 [[ 9.97792305e-01 6.64117142e-02 0.00000000e+00 1.54438781e+02] [-6.64117142e-02 9.97792305e-01 0.00000000e+00 -1.64058837e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42202308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.50, Y:-1.65, Z:0.01 [[ 9.97571368e-01 6.96517496e-02 0.00000000e+00 1.54498320e+02] [-6.96517496e-02 9.97571368e-01 0.00000000e+00 -1.65044858e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49198004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.56, Y:-1.65, Z:0.02 [[ 9.97285630e-01 7.36299726e-02 0.00000000e+00 1.54557167e+02] [-7.36299726e-02 9.97285630e-01 0.00000000e+00 -1.64795735e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54715363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.62, Y:-1.65, Z:0.02 [[ 9.97352537e-01 7.27180636e-02 0.00000000e+00 1.54616819e+02] [-7.27180636e-02 9.97352537e-01 0.00000000e+00 -1.65241336e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10608562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.68, Y:-1.66, Z:0.02 [[ 9.97662536e-01 6.83334769e-02 0.00000000e+00 1.54676992e+02] [-6.83334769e-02 9.97662536e-01 0.00000000e+00 -1.65828620e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06739983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.74, Y:-1.66, Z:0.02 [[ 9.98015625e-01 6.29667622e-02 0.00000000e+00 1.54736470e+02] [-6.29667622e-02 9.98015625e-01 0.00000000e+00 -1.66275154e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99861135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.80, Y:-1.67, Z:0.02 [[ 9.98262353e-01 5.89260114e-02 0.00000000e+00 1.54797210e+02] [-5.89260114e-02 9.98262353e-01 0.00000000e+00 -1.66736050e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76547054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.86, Y:-1.67, Z:0.01 [[ 9.98183641e-01 6.02446548e-02 0.00000000e+00 1.54857573e+02] [-6.02446548e-02 9.98183641e-01 0.00000000e+00 -1.67334316e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41616167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.92, Y:-1.68, Z:0.02 [[ 9.97951904e-01 6.39687213e-02 0.00000000e+00 1.54918286e+02] [-6.39687213e-02 9.97951904e-01 0.00000000e+00 -1.67768297e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01596063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.56533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.98, Y:-1.68, Z:0.02 [[ 9.97644677e-01 6.85937202e-02 0.00000000e+00 1.54977338e+02] [-6.85937202e-02 9.97644677e-01 0.00000000e+00 -1.67664302e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31185802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.62533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.04, Y:-1.68, Z:0.02 [[ 9.97660211e-01 6.83674112e-02 0.00000000e+00 1.55037603e+02] [-6.83674112e-02 9.97660211e-01 0.00000000e+00 -1.68157922e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35109571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.68533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.10, Y:-1.68, Z:0.02 [[ 9.97926436e-01 6.43648022e-02 0.00000000e+00 1.55097898e+02] [-6.43648022e-02 9.97926436e-01 0.00000000e+00 -1.68445373e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25494426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.16, Y:-1.69, Z:0.02 [[ 9.98158342e-01 6.06623759e-02 0.00000000e+00 1.55157600e+02] [-6.06623759e-02 9.98158342e-01 0.00000000e+00 -1.68720784e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98067514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.22, Y:-1.70, Z:0.02 [[ 9.98165628e-01 6.05423698e-02 0.00000000e+00 1.55218122e+02] [-6.05423698e-02 9.98165628e-01 0.00000000e+00 -1.69782976e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96329046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.28, Y:-1.70, Z:0.02 [[ 9.97961403e-01 6.38203545e-02 0.00000000e+00 1.55277743e+02] [-6.38203545e-02 9.97961403e-01 0.00000000e+00 -1.69579161e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95564952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.34, Y:-1.70, Z:0.02 [[ 9.97872282e-01 6.51990013e-02 0.00000000e+00 1.55338383e+02] [-6.51990013e-02 9.97872282e-01 0.00000000e+00 -1.70173442e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39264264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.40, Y:-1.71, Z:0.02 [[ 9.97943637e-01 6.40975538e-02 0.00000000e+00 1.55398769e+02] [-6.40975538e-02 9.97943637e-01 0.00000000e+00 -1.70772360e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43887071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.46, Y:-1.71, Z:0.03 [[ 9.98032733e-01 6.26950143e-02 0.00000000e+00 1.55458498e+02] [-6.26950143e-02 9.98032733e-01 0.00000000e+00 -1.71020511e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73604958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.52, Y:-1.72, Z:0.02 [[ 9.98051739e-01 6.23917085e-02 0.00000000e+00 1.55518486e+02] [-6.23917085e-02 9.98051739e-01 0.00000000e+00 -1.71574084e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25820683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.58, Y:-1.72, Z:0.02 [[ 9.97893079e-01 6.48799135e-02 0.00000000e+00 1.55577965e+02] [-6.48799135e-02 9.97893079e-01 0.00000000e+00 -1.71747194e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16884302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.64, Y:-1.72, Z:0.02 [[ 9.97809664e-01 6.61503886e-02 0.00000000e+00 1.55638794e+02] [-6.61503886e-02 9.97809664e-01 0.00000000e+00 -1.71789286e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94293400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.70, Y:-1.72, Z:0.02 [[ 9.97823638e-01 6.59392695e-02 0.00000000e+00 1.55699220e+02] [-6.59392695e-02 9.97823638e-01 0.00000000e+00 -1.71924686e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14161800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.34533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.76, Y:-1.73, Z:0.02 [[ 9.98052195e-01 6.23844204e-02 0.00000000e+00 1.55759414e+02] [-6.23844204e-02 9.98052195e-01 0.00000000e+00 -1.72910557e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94038996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.40533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.82, Y:-1.73, Z:0.02 [[ 9.98225271e-01 5.95508893e-02 0.00000000e+00 1.55820839e+02] [-5.95508893e-02 9.98225271e-01 0.00000000e+00 -1.73345563e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91420451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.46533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.88, Y:-1.74, Z:0.02 [[ 9.98273635e-01 5.87345688e-02 0.00000000e+00 1.55881058e+02] [-5.87345688e-02 9.98273635e-01 0.00000000e+00 -1.73532151e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01657902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.94, Y:-1.75, Z:0.02 [[ 9.98182807e-01 6.02584829e-02 0.00000000e+00 1.55942225e+02] [-6.02584829e-02 9.98182807e-01 0.00000000e+00 -1.74820226e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86846196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.00, Y:-1.75, Z:0.02 [[ 9.97995212e-01 6.32894641e-02 0.00000000e+00 1.56003170e+02] [-6.32894641e-02 9.97995212e-01 0.00000000e+00 -1.75084738e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17689270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.06, Y:-1.75, Z:0.02 [[ 9.97894397e-01 6.48596430e-02 0.00000000e+00 1.56063025e+02] [-6.48596430e-02 9.97894397e-01 0.00000000e+00 -1.75464950e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28414510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.12, Y:-1.76, Z:0.02 [[ 9.97939633e-01 6.41598745e-02 0.00000000e+00 1.56124021e+02] [-6.41598745e-02 9.97939633e-01 0.00000000e+00 -1.76301772e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21487565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.19, Y:-1.77, Z:0.02 [[ 9.97924931e-01 6.43881326e-02 0.00000000e+00 1.56186087e+02] [-6.43881326e-02 9.97924931e-01 0.00000000e+00 -1.77198398e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30424565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.25, Y:-1.77, Z:0.02 [[ 9.97859686e-01 6.53914974e-02 0.00000000e+00 1.56248403e+02] [-6.53914974e-02 9.97859686e-01 0.00000000e+00 -1.77419709e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09388943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.31, Y:-1.78, Z:0.02 [[ 9.97773913e-01 6.66874682e-02 0.00000000e+00 1.56309734e+02] [-6.66874682e-02 9.97773913e-01 0.00000000e+00 -1.77934099e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03655259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.37, Y:-1.79, Z:0.02 [[ 9.97717574e-01 6.75251286e-02 0.00000000e+00 1.56371791e+02] [-6.75251286e-02 9.97717574e-01 0.00000000e+00 -1.79317973e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55079994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.43, Y:-1.80, Z:0.01 [[ 9.97536160e-01 7.01541865e-02 0.00000000e+00 1.56433015e+02] [-7.01541865e-02 9.97536160e-01 0.00000000e+00 -1.80058939e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46379614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.06533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.49, Y:-1.80, Z:0.02 [[ 9.97350119e-01 7.27512227e-02 0.00000000e+00 1.56494815e+02] [-7.27512227e-02 9.97350119e-01 0.00000000e+00 -1.80119501e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61027419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.12533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.56, Y:-1.81, Z:0.02 [[ 9.97058117e-01 7.66492779e-02 0.00000000e+00 1.56555348e+02] [-7.66492779e-02 9.97058117e-01 0.00000000e+00 -1.81010407e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16274572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.18533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.62, Y:-1.82, Z:0.02 [[ 9.97123143e-01 7.57986627e-02 0.00000000e+00 1.56617427e+02] [-7.57986627e-02 9.97123143e-01 0.00000000e+00 -1.81531702e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74005967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.68, Y:-1.82, Z:0.02 [[ 9.97293275e-01 7.35263436e-02 0.00000000e+00 1.56679231e+02] [-7.35263436e-02 9.97293275e-01 0.00000000e+00 -1.82177693e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94956629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.74, Y:-1.83, Z:0.02 [[ 9.97455412e-01 7.12930691e-02 0.00000000e+00 1.56739663e+02] [-7.12930691e-02 9.97455412e-01 0.00000000e+00 -1.83039084e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77524099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.80, Y:-1.83, Z:0.02 [[ 9.97543161e-01 7.00545599e-02 0.00000000e+00 1.56802127e+02] [-7.00545599e-02 9.97543161e-01 0.00000000e+00 -1.83442840e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89668679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.86, Y:-1.84, Z:0.02 [[ 9.97490539e-01 7.07998865e-02 0.00000000e+00 1.56863610e+02] [-7.07998865e-02 9.97490539e-01 0.00000000e+00 -1.84325301e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51269575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.93, Y:-1.85, Z:0.02 [[ 9.97253298e-01 7.40665842e-02 0.00000000e+00 1.56925402e+02] [-7.40665842e-02 9.97253298e-01 0.00000000e+00 -1.84889741e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98702393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.99, Y:-1.85, Z:0.02 [[ 9.96981704e-01 7.76368605e-02 0.00000000e+00 1.56988286e+02] [-7.76368605e-02 9.96981704e-01 0.00000000e+00 -1.85129070e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98893641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.05, Y:-1.85, Z:0.02 [[ 9.96742954e-01 8.06441812e-02 0.00000000e+00 1.57049982e+02] [-8.06441812e-02 9.96742954e-01 0.00000000e+00 -1.85270028e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55806111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.11, Y:-1.86, Z:0.02 [[ 9.96792481e-01 8.00296867e-02 0.00000000e+00 1.57111733e+02] [-8.00296867e-02 9.96792481e-01 0.00000000e+00 -1.85972013e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58955779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.17, Y:-1.86, Z:0.01 [[ 9.97100908e-01 7.60906048e-02 0.00000000e+00 1.57172692e+02] [-7.60906048e-02 9.97100908e-01 0.00000000e+00 -1.85614471e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20652796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.23, Y:-1.86, Z:0.01 [[ 9.97330114e-01 7.30249501e-02 0.00000000e+00 1.57234481e+02] [-7.30249501e-02 9.97330114e-01 0.00000000e+00 -1.86491592e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.89628565e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.84533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.30, Y:-1.87, Z:0.01 [[ 9.97611529e-01 6.90741437e-02 0.00000000e+00 1.57296276e+02] [-6.90741437e-02 9.97611529e-01 0.00000000e+00 -1.87156969e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37927550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.90533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.36, Y:-1.87, Z:0.02 [[ 9.97732765e-01 6.73002960e-02 0.00000000e+00 1.57358059e+02] [-6.73002960e-02 9.97732765e-01 0.00000000e+00 -1.87099426e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53612100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.96533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.42, Y:-1.88, Z:0.02 [[ 9.97600466e-01 6.92337380e-02 0.00000000e+00 1.57418320e+02] [-6.92337380e-02 9.97600466e-01 0.00000000e+00 -1.88060866e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96725371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.48, Y:-1.88, Z:0.02 [[ 9.97420782e-01 7.17759216e-02 0.00000000e+00 1.57480318e+02] [-7.17759216e-02 9.97420782e-01 0.00000000e+00 -1.88347825e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75908890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.54, Y:-1.89, Z:0.02 [[ 9.97432835e-01 7.16082382e-02 0.00000000e+00 1.57542030e+02] [-7.16082382e-02 9.97432835e-01 0.00000000e+00 -1.88645190e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89145086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.60, Y:-1.89, Z:0.02 [[ 9.97499931e-01 7.06674496e-02 0.00000000e+00 1.57604032e+02] [-7.06674496e-02 9.97499931e-01 0.00000000e+00 -1.88817309e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80145248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.67, Y:-1.90, Z:0.02 [[ 9.97642223e-01 6.86294066e-02 0.00000000e+00 1.57666260e+02] [-6.86294066e-02 9.97642223e-01 0.00000000e+00 -1.89527999e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95579818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.73, Y:-1.90, Z:0.02 [[ 9.97694728e-01 6.78618413e-02 0.00000000e+00 1.57727748e+02] [-6.78618413e-02 9.97694728e-01 0.00000000e+00 -1.89724098e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91979216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.79, Y:-1.90, Z:0.02 [[ 9.97638642e-01 6.86814366e-02 0.00000000e+00 1.57789391e+02] [-6.86814366e-02 9.97638642e-01 0.00000000e+00 -1.90071402e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76242761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.85, Y:-1.91, Z:0.02 [[ 9.97568096e-01 6.96985957e-02 0.00000000e+00 1.57851213e+02] [-6.96985957e-02 9.97568096e-01 0.00000000e+00 -1.90666651e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60170606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.91, Y:-1.91, Z:0.02 [[ 9.97320523e-01 7.31558253e-02 0.00000000e+00 1.57913665e+02] [-7.31558253e-02 9.97320523e-01 0.00000000e+00 -1.90844233e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94859424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.97, Y:-1.91, Z:0.02 [[ 9.96974426e-01 7.77302693e-02 0.00000000e+00 1.57974241e+02] [-7.77302693e-02 9.96974426e-01 0.00000000e+00 -1.91222953e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60767095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.56533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.04, Y:-1.91, Z:0.02 [[ 9.96634669e-01 8.19715555e-02 0.00000000e+00 1.58036653e+02] [-8.19715555e-02 9.96634669e-01 0.00000000e+00 -1.90862098e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58508474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.62533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.10, Y:-1.91, Z:0.02 [[ 9.96479703e-01 8.38343655e-02 0.00000000e+00 1.58098679e+02] [-8.38343655e-02 9.96479703e-01 0.00000000e+00 -1.91194839e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64615550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.68533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.16, Y:-1.91, Z:0.01 [[ 9.96662814e-01 8.16286478e-02 0.00000000e+00 1.58160027e+02] [-8.16286478e-02 9.96662814e-01 0.00000000e+00 -1.90976474e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12543640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.22, Y:-1.91, Z:0.02 [[ 9.96805976e-01 7.98614211e-02 0.00000000e+00 1.58222429e+02] [-7.98614211e-02 9.96805976e-01 0.00000000e+00 -1.90755436e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94162313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.28, Y:-1.91, Z:0.02 [[ 9.97028884e-01 7.70285899e-02 0.00000000e+00 1.58284423e+02] [-7.70285899e-02 9.97028884e-01 0.00000000e+00 -1.90922200e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80504183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.35, Y:-1.91, Z:0.02 [[ 9.97165024e-01 7.52457021e-02 0.00000000e+00 1.58346761e+02] [-7.52457021e-02 9.97165024e-01 0.00000000e+00 -1.90682419e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04346549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.41, Y:-1.90, Z:0.02 [[ 9.97382274e-01 7.23090519e-02 0.00000000e+00 1.58409663e+02] [-7.23090519e-02 9.97382274e-01 0.00000000e+00 -1.90016710e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76843909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.985336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:158.47, Y:-1.90, Z:0.02 [[ 9.97528744e-01 7.02595604e-02 0.00000000e+00 1.58472014e+02] [-7.02595604e-02 9.97528744e-01 0.00000000e+00 -1.90077786e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06272697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.53, Y:-1.90, Z:0.02 [[ 9.97677439e-01 6.81155433e-02 0.00000000e+00 1.58533887e+02] [-6.81155433e-02 9.97677439e-01 0.00000000e+00 -1.89877417e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64852164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.60, Y:-1.90, Z:0.02 [[ 9.97856078e-01 6.54465215e-02 0.00000000e+00 1.58595654e+02] [-6.54465215e-02 9.97856078e-01 0.00000000e+00 -1.90058922e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05257728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.66, Y:-1.91, Z:0.02 [[ 9.98037738e-01 6.26152821e-02 0.00000000e+00 1.58658039e+02] [-6.26152821e-02 9.98037738e-01 0.00000000e+00 -1.90735386e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93561684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.72, Y:-1.91, Z:0.02 [[ 9.98183585e-01 6.02455914e-02 0.00000000e+00 1.58719640e+02] [-6.02455914e-02 9.98183585e-01 0.00000000e+00 -1.91452055e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87783399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.78, Y:-1.92, Z:0.02 [[ 9.98082491e-01 6.18978309e-02 0.00000000e+00 1.58780573e+02] [-6.18978309e-02 9.98082491e-01 0.00000000e+00 -1.92376898e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97067977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.34533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.84, Y:-1.93, Z:0.02 [[ 9.97790118e-01 6.64445696e-02 0.00000000e+00 1.58842169e+02] [-6.64445696e-02 9.97790118e-01 0.00000000e+00 -1.93133503e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79849047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.40533619500002 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:158.90, Y:-1.94, Z:0.02 [[ 9.97482908e-01 7.09073172e-02 0.00000000e+00 1.58904422e+02] [-7.09073172e-02 9.97482908e-01 0.00000000e+00 -1.94027153e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13065814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.46533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.97, Y:-1.95, Z:0.02 [[ 9.97243834e-01 7.41938984e-02 0.00000000e+00 1.58966292e+02] [-7.41938984e-02 9.97243834e-01 0.00000000e+00 -1.94873789e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42217944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.03, Y:-1.96, Z:0.02 [[ 9.96889243e-01 7.88152059e-02 0.00000000e+00 1.59027525e+02] [-7.88152059e-02 9.96889243e-01 0.00000000e+00 -1.95898857e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13567763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.09, Y:-1.96, Z:0.02 [[ 9.96334379e-01 8.55441726e-02 0.00000000e+00 1.59090517e+02] [-8.55441726e-02 9.96334379e-01 0.00000000e+00 -1.96370940e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29606255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.15, Y:-1.97, Z:0.02 [[ 9.95980449e-01 8.95708972e-02 0.00000000e+00 1.59152108e+02] [-8.95708972e-02 9.95980449e-01 0.00000000e+00 -1.96873403e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06111307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.21, Y:-1.98, Z:0.02 [[ 9.96142175e-01 8.77540209e-02 0.00000000e+00 1.59213024e+02] [-8.77540209e-02 9.96142175e-01 0.00000000e+00 -1.97547000e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09326207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.28, Y:-1.98, Z:0.02 [[ 9.96592484e-01 8.24828563e-02 0.00000000e+00 1.59275336e+02] [-8.24828563e-02 9.96592484e-01 0.00000000e+00 -1.98060380e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99951062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.34, Y:-1.99, Z:0.02 [[ 9.96928933e-01 7.83115750e-02 0.00000000e+00 1.59337461e+02] [-7.83115750e-02 9.96928933e-01 0.00000000e+00 -1.99029031e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03480334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.40, Y:-2.00, Z:0.03 [[ 9.97139025e-01 7.55894516e-02 0.00000000e+00 1.59399454e+02] [-7.55894516e-02 9.97139025e-01 0.00000000e+00 -1.99700318e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60388810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.46, Y:-2.01, Z:0.03 [[ 9.97322467e-01 7.31293143e-02 0.00000000e+00 1.59459950e+02] [-7.31293143e-02 9.97322467e-01 0.00000000e+00 -2.00735096e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72386799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.52, Y:-2.02, Z:0.02 [[ 9.97220951e-01 7.45008410e-02 0.00000000e+00 1.59520693e+02] [-7.45008410e-02 9.97220951e-01 0.00000000e+00 -2.01673196e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20903103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.06533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.58, Y:-2.03, Z:0.02 [[ 9.97085499e-01 7.62922577e-02 0.00000000e+00 1.59582637e+02] [-7.62922577e-02 9.97085499e-01 0.00000000e+00 -2.02507693e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87959678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.12533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.65, Y:-2.03, Z:0.02 [[ 9.96907910e-01 7.85787435e-02 0.00000000e+00 1.59645129e+02] [-7.85787435e-02 9.96907910e-01 0.00000000e+00 -2.02796808e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22005148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.18533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.71, Y:-2.03, Z:0.02 [[ 9.96844432e-01 7.93799589e-02 0.00000000e+00 1.59706513e+02] [-7.93799589e-02 9.96844432e-01 0.00000000e+00 -2.03301400e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22047519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.77, Y:-2.04, Z:0.02 [[ 9.96864771e-01 7.91241332e-02 0.00000000e+00 1.59768693e+02] [-7.91241332e-02 9.96864771e-01 0.00000000e+00 -2.03901493e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14262738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.83, Y:-2.04, Z:0.02 [[ 9.96596566e-01 8.24335192e-02 0.00000000e+00 1.59831408e+02] [-8.24335192e-02 9.96596566e-01 0.00000000e+00 -2.04229405e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12977100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.89, Y:-2.05, Z:0.02 [[ 9.96454728e-01 8.41307037e-02 0.00000000e+00 1.59892124e+02] [-8.41307037e-02 9.96454728e-01 0.00000000e+00 -2.04665028e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14850126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.95, Y:-2.05, Z:0.02 [[ 9.96363550e-01 8.52037295e-02 0.00000000e+00 1.59954832e+02] [-8.52037295e-02 9.96363550e-01 0.00000000e+00 -2.04694995e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82882046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.02, Y:-2.05, Z:0.02 [[ 9.96332764e-01 8.55629786e-02 0.00000000e+00 1.60017260e+02] [-8.55629786e-02 9.96332764e-01 0.00000000e+00 -2.05049851e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99521301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.08, Y:-2.05, Z:0.02 [[ 9.96575209e-01 8.26913068e-02 0.00000000e+00 1.60078914e+02] [-8.26913068e-02 9.96575209e-01 0.00000000e+00 -2.04993106e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95499094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.14, Y:-2.05, Z:0.02 [[ 9.96833888e-01 7.95122606e-02 0.00000000e+00 1.60140607e+02] [-7.95122606e-02 9.96833888e-01 0.00000000e+00 -2.05354967e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62680558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.20, Y:-2.06, Z:0.01 [[ 9.96773866e-01 8.02611941e-02 0.00000000e+00 1.60201412e+02] [-8.02611941e-02 9.96773866e-01 0.00000000e+00 -2.05714016e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49235113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.26, Y:-2.06, Z:0.01 [[ 9.96604210e-01 8.23410535e-02 0.00000000e+00 1.60262242e+02] [-8.23410535e-02 9.96604210e-01 0.00000000e+00 -2.05607002e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08266036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.32, Y:-2.06, Z:0.02 [[ 9.96406190e-01 8.47036299e-02 0.00000000e+00 1.60323889e+02] [-8.47036299e-02 9.96406190e-01 0.00000000e+00 -2.05690209e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57981553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.84533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.39, Y:-2.06, Z:0.02 [[ 9.96244408e-01 8.65856827e-02 0.00000000e+00 1.60386371e+02] [-8.65856827e-02 9.96244408e-01 0.00000000e+00 -2.06078952e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90900595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.90533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.45, Y:-2.05, Z:0.02 [[ 9.96084701e-01 8.84040117e-02 0.00000000e+00 1.60448405e+02] [-8.84040117e-02 9.96084701e-01 0.00000000e+00 -2.05473402e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59969723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.96533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.51, Y:-2.06, Z:0.02 [[ 9.96198301e-01 8.71145543e-02 0.00000000e+00 1.60511077e+02] [-8.71145543e-02 9.96198301e-01 0.00000000e+00 -2.05561774e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59117492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.57, Y:-2.06, Z:0.02 [[ 9.96277737e-01 8.62013338e-02 0.00000000e+00 1.60571897e+02] [-8.62013338e-02 9.96277737e-01 0.00000000e+00 -2.05630558e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82327383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.63, Y:-2.06, Z:0.02 [[ 9.96342270e-01 8.54522158e-02 0.00000000e+00 1.60634542e+02] [-8.54522158e-02 9.96342270e-01 0.00000000e+00 -2.05628582e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95198661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.70, Y:-2.06, Z:0.02 [[ 9.96400140e-01 8.47747634e-02 0.00000000e+00 1.60695657e+02] [-8.47747634e-02 9.96400140e-01 0.00000000e+00 -2.05787478e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63067659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.76, Y:-2.06, Z:0.02 [[ 9.96414455e-01 8.46063440e-02 0.00000000e+00 1.60757524e+02] [-8.46063440e-02 9.96414455e-01 0.00000000e+00 -2.06341790e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84279071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.82, Y:-2.06, Z:0.02 [[ 9.96257826e-01 8.64311571e-02 0.00000000e+00 1.60820814e+02] [-8.64311571e-02 9.96257826e-01 0.00000000e+00 -2.06128297e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15802544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.88, Y:-2.06, Z:0.02 [[ 9.96140178e-01 8.77766765e-02 0.00000000e+00 1.60882561e+02] [-8.77766765e-02 9.96140178e-01 0.00000000e+00 -2.06472167e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13345169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.94, Y:-2.07, Z:0.02 [[ 9.96041969e-01 8.88841747e-02 0.00000000e+00 1.60943593e+02] [-8.88841747e-02 9.96041969e-01 0.00000000e+00 -2.06661644e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79585351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.01, Y:-2.07, Z:0.02 [[ 9.95945742e-01 8.99559842e-02 0.00000000e+00 1.61005996e+02] [-8.99559842e-02 9.95945742e-01 0.00000000e+00 -2.06532494e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69881625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.07, Y:-2.07, Z:0.02 [[ 9.95966753e-01 8.97230551e-02 0.00000000e+00 1.61067536e+02] [-8.97230551e-02 9.95966753e-01 0.00000000e+00 -2.06658998e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89309611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.56533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.13, Y:-2.07, Z:0.02 [[ 9.96262636e-01 8.63756937e-02 0.00000000e+00 1.61130160e+02] [-8.63756937e-02 9.96262636e-01 0.00000000e+00 -2.06505151e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04220305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.62533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.19, Y:-2.07, Z:0.02 [[ 9.96558190e-01 8.28961657e-02 0.00000000e+00 1.61191804e+02] [-8.28961657e-02 9.96558190e-01 0.00000000e+00 -2.06592688e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03904506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.68533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.25, Y:-2.07, Z:0.03 [[ 9.96751647e-01 8.05366625e-02 0.00000000e+00 1.61253444e+02] [-8.05366625e-02 9.96751647e-01 0.00000000e+00 -2.06692774e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54476102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.31, Y:-2.07, Z:0.02 [[ 9.96693946e-01 8.12476356e-02 0.00000000e+00 1.61314264e+02] [-8.12476356e-02 9.96693946e-01 0.00000000e+00 -2.06733366e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74618301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.38, Y:-2.07, Z:0.01 [[ 9.96563804e-01 8.28286513e-02 0.00000000e+00 1.61375675e+02] [-8.28286513e-02 9.96563804e-01 0.00000000e+00 -2.07348131e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21109684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.44, Y:-2.07, Z:0.02 [[ 9.96243857e-01 8.65920191e-02 0.00000000e+00 1.61437437e+02] [-8.65920191e-02 9.96243857e-01 0.00000000e+00 -2.07323841e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23796297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.50, Y:-2.08, Z:0.03 [[ 9.95990273e-01 8.94615895e-02 0.00000000e+00 1.61498319e+02] [-8.94615895e-02 9.95990273e-01 0.00000000e+00 -2.07745928e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57346684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.56, Y:-2.08, Z:0.02 [[ 9.95826692e-01 9.12644449e-02 0.00000000e+00 1.61559827e+02] [-9.12644449e-02 9.95826692e-01 0.00000000e+00 -2.08014242e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02301887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.62, Y:-2.08, Z:0.02 [[ 9.95577553e-01 9.39432562e-02 0.00000000e+00 1.61621477e+02] [-9.39432562e-02 9.95577553e-01 0.00000000e+00 -2.08084240e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72294447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.68, Y:-2.09, Z:0.01 [[ 9.95493714e-01 9.48275549e-02 0.00000000e+00 1.61682357e+02] [-9.48275549e-02 9.95493714e-01 0.00000000e+00 -2.08602677e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31178171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.74, Y:-2.09, Z:0.02 [[ 9.95663911e-01 9.30235253e-02 0.00000000e+00 1.61744949e+02] [-9.30235253e-02 9.95663911e-01 0.00000000e+00 -2.08765208e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55984788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.81, Y:-2.09, Z:0.01 [[ 9.95972412e-01 8.96602181e-02 0.00000000e+00 1.61805586e+02] [-8.96602181e-02 9.95972412e-01 0.00000000e+00 -2.09091189e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33992679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.87, Y:-2.10, Z:0.02 [[ 9.96379383e-01 8.50183758e-02 0.00000000e+00 1.61867460e+02] [-8.50183758e-02 9.96379383e-01 0.00000000e+00 -2.10027818e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33560720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.34533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.93, Y:-2.10, Z:0.02 [[ 9.96476498e-01 8.38724524e-02 0.00000000e+00 1.61928913e+02] [-8.38724524e-02 9.96476498e-01 0.00000000e+00 -2.10340891e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08702617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.40533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.99, Y:-2.11, Z:0.02 [[ 9.96310645e-01 8.58201482e-02 0.00000000e+00 1.61991198e+02] [-8.58201482e-02 9.96310645e-01 0.00000000e+00 -2.10905737e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88986865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.46533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.05, Y:-2.11, Z:0.02 [[ 9.96042253e-01 8.88809852e-02 0.00000000e+00 1.62053258e+02] [-8.88809852e-02 9.96042253e-01 0.00000000e+00 -2.11405142e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87368277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.12, Y:-2.11, Z:0.02 [[ 9.95781136e-01 9.17601743e-02 0.00000000e+00 1.62115918e+02] [-9.17601743e-02 9.95781136e-01 0.00000000e+00 -2.11431646e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13258252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.18, Y:-2.12, Z:0.02 [[ 9.95805326e-01 9.14972840e-02 0.00000000e+00 1.62178376e+02] [-9.14972840e-02 9.95805326e-01 0.00000000e+00 -2.12068521e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38292246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.24, Y:-2.12, Z:0.03 [[ 9.95964228e-01 8.97510813e-02 0.00000000e+00 1.62240688e+02] [-8.97510813e-02 9.95964228e-01 0.00000000e+00 -2.12379018e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52080475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.30, Y:-2.13, Z:0.02 [[ 9.95827922e-01 9.12510300e-02 0.00000000e+00 1.62301476e+02] [-9.12510300e-02 9.95827922e-01 0.00000000e+00 -2.12619820e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24970011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.36, Y:-2.13, Z:0.02 [[ 9.95593895e-01 9.37699146e-02 0.00000000e+00 1.62364311e+02] [-9.37699146e-02 9.95593895e-01 0.00000000e+00 -2.12527293e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11240812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.43, Y:-2.12, Z:0.02 [[ 9.95406824e-01 9.57353332e-02 0.00000000e+00 1.62425522e+02] [-9.57353332e-02 9.95406824e-01 0.00000000e+00 -2.12363777e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02584003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.49, Y:-2.12, Z:0.02 [[ 9.95478034e-01 9.49920152e-02 0.00000000e+00 1.62487482e+02] [-9.49920152e-02 9.95478034e-01 0.00000000e+00 -2.12384359e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36138452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.55, Y:-2.12, Z:0.02 [[ 9.95662666e-01 9.30368513e-02 0.00000000e+00 1.62549460e+02] [-9.30368513e-02 9.95662666e-01 0.00000000e+00 -2.12046050e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28264917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.61, Y:-2.12, Z:0.02 [[ 9.95893587e-01 9.05315645e-02 0.00000000e+00 1.62612564e+02] [-9.05315645e-02 9.95893587e-01 0.00000000e+00 -2.11530190e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15784455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.06533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.67, Y:-2.11, Z:0.03 [[ 9.96215241e-01 8.69206175e-02 0.00000000e+00 1.62674311e+02] [-8.69206175e-02 9.96215241e-01 0.00000000e+00 -2.11489384e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50791191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.12533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.74, Y:-2.11, Z:0.03 [[ 9.96592623e-01 8.24811682e-02 0.00000000e+00 1.62736780e+02] [-8.24811682e-02 9.96592623e-01 0.00000000e+00 -2.10996388e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52065329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.18533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.80, Y:-2.11, Z:0.03 [[ 9.96830882e-01 7.95499385e-02 0.00000000e+00 1.62799496e+02] [-7.95499385e-02 9.96830882e-01 0.00000000e+00 -2.11019092e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68883473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.86, Y:-2.11, Z:0.02 [[ 9.96859601e-01 7.91892380e-02 0.00000000e+00 1.62861656e+02] [-7.91892380e-02 9.96859601e-01 0.00000000e+00 -2.11219378e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27914310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.92, Y:-2.11, Z:0.02 [[ 9.96755667e-01 8.04868911e-02 0.00000000e+00 1.62923523e+02] [-8.04868911e-02 9.96755667e-01 0.00000000e+00 -2.10757879e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11852524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.99, Y:-2.11, Z:0.02 [[ 9.96592610e-01 8.24813300e-02 0.00000000e+00 1.62985127e+02] [-8.24813300e-02 9.96592610e-01 0.00000000e+00 -2.11051745e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31512168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.05, Y:-2.11, Z:0.02 [[ 9.96643340e-01 8.18660620e-02 0.00000000e+00 1.63045880e+02] [-8.18660620e-02 9.96643340e-01 0.00000000e+00 -2.10900978e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42957036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.11, Y:-2.11, Z:0.02 [[ 9.96687025e-01 8.13324881e-02 0.00000000e+00 1.63106116e+02] [-8.13324881e-02 9.96687025e-01 0.00000000e+00 -2.11126718e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04735725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.17, Y:-2.12, Z:0.02 [[ 9.96561111e-01 8.28610387e-02 0.00000000e+00 1.63167061e+02] [-8.28610387e-02 9.96561111e-01 0.00000000e+00 -2.11662360e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43669649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.23, Y:-2.11, Z:0.02 [[ 9.96063569e-01 8.86417905e-02 0.00000000e+00 1.63226525e+02] [-8.86417905e-02 9.96063569e-01 0.00000000e+00 -2.11390054e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99661637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.29, Y:-2.12, Z:0.02 [[ 9.95603551e-01 9.36673343e-02 0.00000000e+00 1.63286977e+02] [-9.36673343e-02 9.95603551e-01 0.00000000e+00 -2.11944056e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01436206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.35, Y:-2.12, Z:0.02 [[ 9.95238426e-01 9.74703784e-02 0.00000000e+00 1.63347658e+02] [-9.74703784e-02 9.95238426e-01 0.00000000e+00 -2.11764849e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22780533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.41, Y:-2.11, Z:0.02 [[ 9.94820563e-01 1.01646679e-01 0.00000000e+00 1.63408566e+02] [-1.01646679e-01 9.94820563e-01 0.00000000e+00 -2.11482102e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31233533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.84533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.47, Y:-2.12, Z:0.03 [[ 9.94998579e-01 9.98890795e-02 0.00000000e+00 1.63468956e+02] [-9.98890795e-02 9.94998579e-01 0.00000000e+00 -2.11863385e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52121116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.90533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.53, Y:-2.12, Z:0.02 [[ 9.95105176e-01 9.88214958e-02 0.00000000e+00 1.63528686e+02] [-9.88214958e-02 9.95105176e-01 0.00000000e+00 -2.11772727e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28246006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.96533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.59, Y:-2.11, Z:0.02 [[ 9.95124817e-01 9.86235219e-02 0.00000000e+00 1.63588829e+02] [-9.86235219e-02 9.95124817e-01 0.00000000e+00 -2.11197870e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14335350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.65, Y:-2.11, Z:0.02 [[ 9.95341097e-01 9.64162879e-02 0.00000000e+00 1.63648341e+02] [-9.64162879e-02 9.95341097e-01 0.00000000e+00 -2.11225155e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23849385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.71, Y:-2.11, Z:0.02 [[ 9.95639377e-01 9.32857454e-02 0.00000000e+00 1.63708677e+02] [-9.32857454e-02 9.95639377e-01 0.00000000e+00 -2.10877634e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06127617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.77, Y:-2.11, Z:0.02 [[ 9.96081252e-01 8.84428553e-02 0.00000000e+00 1.63767681e+02] [-8.84428553e-02 9.96081252e-01 0.00000000e+00 -2.10502314e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95719786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.83, Y:-2.11, Z:0.02 [[ 9.96866299e-01 7.91048813e-02 0.00000000e+00 1.63827616e+02] [-7.91048813e-02 9.96866299e-01 0.00000000e+00 -2.10913333e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11292956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.89, Y:-2.11, Z:0.02 [[ 9.97279677e-01 7.37105530e-02 0.00000000e+00 1.63887450e+02] [-7.37105530e-02 9.97279677e-01 0.00000000e+00 -2.11081817e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96320707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.95, Y:-2.12, Z:0.02 [[ 9.97480546e-01 7.09405356e-02 0.00000000e+00 1.63946213e+02] [-7.09405356e-02 9.97480546e-01 0.00000000e+00 -2.12097193e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36324091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.01, Y:-2.13, Z:0.02 [[ 9.97185028e-01 7.49801304e-02 0.00000000e+00 1.64005559e+02] [-7.49801304e-02 9.97185028e-01 0.00000000e+00 -2.12662040e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49075964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.06, Y:-2.13, Z:0.02 [[ 9.96186415e-01 8.72503675e-02 0.00000000e+00 1.64064831e+02] [-8.72503675e-02 9.96186415e-01 0.00000000e+00 -2.13169772e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45677480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.12, Y:-2.13, Z:0.02 [[ 9.95150902e-01 9.83599632e-02 0.00000000e+00 1.64123227e+02] [-9.83599632e-02 9.95150902e-01 0.00000000e+00 -2.13340995e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80046305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.56533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.18, Y:-2.13, Z:0.02 [[ 9.94301835e-01 1.06601412e-01 0.00000000e+00 1.64181730e+02] [-1.06601412e-01 9.94301835e-01 0.00000000e+00 -2.13469653e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14767717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.62533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.24, Y:-2.13, Z:0.03 [[ 9.93751810e-01 1.11612453e-01 0.00000000e+00 1.64240396e+02] [-1.11612453e-01 9.93751810e-01 0.00000000e+00 -2.12768283e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68307314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.68533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.30, Y:-2.13, Z:0.02 [[ 9.94215048e-01 1.07407815e-01 0.00000000e+00 1.64299525e+02] [-1.07407815e-01 9.94215048e-01 0.00000000e+00 -2.12668835e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47751801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.36, Y:-2.13, Z:0.02 [[ 9.95213183e-01 9.77277842e-02 0.00000000e+00 1.64358706e+02] [-9.77277842e-02 9.95213183e-01 0.00000000e+00 -2.12598678e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32348851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.42, Y:-2.13, Z:0.03 [[ 9.96107931e-01 8.81418749e-02 0.00000000e+00 1.64418521e+02] [-8.81418749e-02 9.96107931e-01 0.00000000e+00 -2.12767071e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51444402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.48, Y:-2.13, Z:0.02 [[ 9.96954978e-01 7.79792990e-02 0.00000000e+00 1.64478335e+02] [-7.79792990e-02 9.96954978e-01 0.00000000e+00 -2.13150002e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46255405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.54, Y:-2.13, Z:0.03 [[ 9.97308860e-01 7.33146432e-02 0.00000000e+00 1.64538085e+02] [-7.33146432e-02 9.97308860e-01 0.00000000e+00 -2.13415761e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77076388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.60, Y:-2.14, Z:0.03 [[ 9.97422344e-01 7.17542194e-02 0.00000000e+00 1.64597054e+02] [-7.17542194e-02 9.97422344e-01 0.00000000e+00 -2.13888233e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64372572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.66, Y:-2.15, Z:0.03 [[ 9.96985480e-01 7.75883513e-02 0.00000000e+00 1.64655532e+02] [-7.75883513e-02 9.96985480e-01 0.00000000e+00 -2.14563003e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63712122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.72, Y:-2.14, Z:0.03 [[ 9.96279677e-01 8.61789144e-02 0.00000000e+00 1.64715388e+02] [-8.61789144e-02 9.96279677e-01 0.00000000e+00 -2.14402553e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67629169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.77, Y:-2.15, Z:0.03 [[ 9.95556027e-01 9.41711056e-02 0.00000000e+00 1.64772965e+02] [-9.41711056e-02 9.95556027e-01 0.00000000e+00 -2.14762371e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77821261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.83, Y:-2.14, Z:0.03 [[ 9.95221166e-01 9.76464550e-02 0.00000000e+00 1.64831441e+02] [-9.76464550e-02 9.95221166e-01 0.00000000e+00 -2.14476647e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84644370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.89, Y:-2.15, Z:0.02 [[ 9.95347904e-01 9.63459893e-02 0.00000000e+00 1.64889440e+02] [-9.63459893e-02 9.95347904e-01 0.00000000e+00 -2.14822595e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47553495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.34533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.95, Y:-2.15, Z:0.03 [[ 9.95547652e-01 9.42596013e-02 0.00000000e+00 1.64947937e+02] [-9.42596013e-02 9.95547652e-01 0.00000000e+00 -2.15263596e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69002535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.40533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.01, Y:-2.15, Z:0.02 [[ 9.95755330e-01 9.20397923e-02 0.00000000e+00 1.65005513e+02] [-9.20397923e-02 9.95755330e-01 0.00000000e+00 -2.15358733e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48144421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.46533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.07, Y:-2.16, Z:0.02 [[ 9.95980325e-01 8.95722734e-02 0.00000000e+00 1.65065367e+02] [-8.95722734e-02 9.95980325e-01 0.00000000e+00 -2.15967510e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25790219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.12, Y:-2.16, Z:0.03 [[ 9.96307587e-01 8.58556451e-02 0.00000000e+00 1.65124472e+02] [-8.58556451e-02 9.96307587e-01 0.00000000e+00 -2.16105138e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60522060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.18, Y:-2.17, Z:0.02 [[ 9.96408585e-01 8.46754497e-02 0.00000000e+00 1.65183603e+02] [-8.46754497e-02 9.96408585e-01 0.00000000e+00 -2.16871038e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44987049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.24, Y:-2.17, Z:0.02 [[ 9.96322342e-01 8.56842538e-02 0.00000000e+00 1.65243537e+02] [-8.56842538e-02 9.96322342e-01 0.00000000e+00 -2.17406788e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38813521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.30, Y:-2.18, Z:0.02 [[ 9.96311042e-01 8.58155442e-02 0.00000000e+00 1.65301870e+02] [-8.58155442e-02 9.96311042e-01 0.00000000e+00 -2.17523413e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17209118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.36, Y:-2.18, Z:0.02 [[ 9.96232544e-01 8.67220775e-02 0.00000000e+00 1.65361097e+02] [-8.67220775e-02 9.96232544e-01 0.00000000e+00 -2.18153698e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47234206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.42, Y:-2.19, Z:0.03 [[ 9.96116265e-01 8.80476394e-02 0.00000000e+00 1.65420811e+02] [-8.80476394e-02 9.96116265e-01 0.00000000e+00 -2.18583952e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00013324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.48, Y:-2.18, Z:0.03 [[ 9.96050984e-01 8.87830912e-02 0.00000000e+00 1.65480478e+02] [-8.87830912e-02 9.96050984e-01 0.00000000e+00 -2.18499439e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06162321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.54, Y:-2.19, Z:0.02 [[ 9.96018881e-01 8.91425220e-02 0.00000000e+00 1.65539470e+02] [-8.91425220e-02 9.96018881e-01 0.00000000e+00 -2.18976773e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35990743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.60, Y:-2.19, Z:0.03 [[ 9.96239956e-01 8.66368822e-02 0.00000000e+00 1.65598598e+02] [-8.66368822e-02 9.96239956e-01 0.00000000e+00 -2.19313878e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88079510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.06533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.66, Y:-2.20, Z:0.03 [[ 9.96437399e-01 8.43357010e-02 0.00000000e+00 1.65656887e+02] [-8.43357010e-02 9.96437399e-01 0.00000000e+00 -2.19813417e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05838031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.12533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.72, Y:-2.20, Z:0.03 [[ 9.96544710e-01 8.30580632e-02 0.00000000e+00 1.65715110e+02] [-8.30580632e-02 9.96544710e-01 0.00000000e+00 -2.20145242e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41134299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.18533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.77, Y:-2.21, Z:0.03 [[ 9.96315580e-01 8.57628421e-02 0.00000000e+00 1.65774345e+02] [-8.57628421e-02 9.96315580e-01 0.00000000e+00 -2.20819108e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20593404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.83, Y:-2.21, Z:0.02 [[ 9.96133574e-01 8.78515922e-02 0.00000000e+00 1.65833417e+02] [-8.78515922e-02 9.96133574e-01 0.00000000e+00 -2.21217643e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48147940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.89, Y:-2.21, Z:0.03 [[ 9.95895096e-01 9.05149614e-02 0.00000000e+00 1.65893056e+02] [-9.05149614e-02 9.95895096e-01 0.00000000e+00 -2.21161712e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99897311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.95, Y:-2.22, Z:0.03 [[ 9.95851048e-01 9.09982978e-02 0.00000000e+00 1.65951858e+02] [-9.09982978e-02 9.95851048e-01 0.00000000e+00 -2.21631464e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74575214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.01, Y:-2.22, Z:0.03 [[ 9.96031111e-01 8.90057630e-02 0.00000000e+00 1.66011557e+02] [-8.90057630e-02 9.96031111e-01 0.00000000e+00 -2.21911063e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56724738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.07, Y:-2.22, Z:0.02 [[ 9.96306064e-01 8.58733221e-02 0.00000000e+00 1.66069835e+02] [-8.58733221e-02 9.96306064e-01 0.00000000e+00 -2.22087692e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29172196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.13, Y:-2.22, Z:0.03 [[ 9.96535454e-01 8.31690429e-02 0.00000000e+00 1.66128153e+02] [-8.31690429e-02 9.96535454e-01 0.00000000e+00 -2.22440759e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69093165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.19, Y:-2.23, Z:0.03 [[ 9.96623489e-01 8.21073735e-02 0.00000000e+00 1.66187627e+02] [-8.21073735e-02 9.96623489e-01 0.00000000e+00 -2.22681700e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90375923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.25, Y:-2.23, Z:0.03 [[ 9.96680474e-01 8.14127340e-02 0.00000000e+00 1.66246834e+02] [-8.14127340e-02 9.96680474e-01 0.00000000e+00 -2.23277397e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74954483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.31, Y:-2.24, Z:0.03 [[ 9.96677622e-01 8.14476334e-02 0.00000000e+00 1.66305947e+02] [-8.14476334e-02 9.96677622e-01 0.00000000e+00 -2.23880160e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91393953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.37, Y:-2.24, Z:0.03 [[ 9.96428848e-01 8.44366728e-02 0.00000000e+00 1.66365877e+02] [-8.44366728e-02 9.96428848e-01 0.00000000e+00 -2.24150496e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68793504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.84533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.42, Y:-2.25, Z:0.02 [[ 9.96131653e-01 8.78733771e-02 0.00000000e+00 1.66424699e+02] [-8.78733771e-02 9.96131653e-01 0.00000000e+00 -2.24655086e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42468058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.90533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.48, Y:-2.25, Z:0.02 [[ 9.95880178e-01 9.06789474e-02 0.00000000e+00 1.66484419e+02] [-9.06789474e-02 9.95880178e-01 0.00000000e+00 -2.24774271e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08292092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.96533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.54, Y:-2.25, Z:0.02 [[ 9.95894299e-01 9.05237243e-02 0.00000000e+00 1.66543539e+02] [-9.05237243e-02 9.95894299e-01 0.00000000e+00 -2.25275886e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48407565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.60, Y:-2.26, Z:0.02 [[ 9.95935457e-01 9.00697805e-02 0.00000000e+00 1.66601957e+02] [-9.00697805e-02 9.95935457e-01 0.00000000e+00 -2.25552278e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17187076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.66, Y:-2.26, Z:0.03 [[ 9.96169451e-01 8.74438399e-02 0.00000000e+00 1.66661037e+02] [-8.74438399e-02 9.96169451e-01 0.00000000e+00 -2.26243488e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58640759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.72, Y:-2.26, Z:0.02 [[ 9.96351788e-01 8.53411703e-02 0.00000000e+00 1.66720362e+02] [-8.53411703e-02 9.96351788e-01 0.00000000e+00 -2.26447925e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42187942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.78, Y:-2.27, Z:0.03 [[ 9.96315800e-01 8.57602890e-02 0.00000000e+00 1.66779710e+02] [-8.57602890e-02 9.96315800e-01 0.00000000e+00 -2.26692436e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52284412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.84, Y:-2.27, Z:0.02 [[ 9.96102345e-01 8.82049800e-02 0.00000000e+00 1.66838163e+02] [-8.82049800e-02 9.96102345e-01 0.00000000e+00 -2.27308132e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91117679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.90, Y:-2.27, Z:0.02 [[ 9.95945935e-01 8.99538426e-02 0.00000000e+00 1.66896836e+02] [-8.99538426e-02 9.95945935e-01 0.00000000e+00 -2.27304252e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31574917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.96, Y:-2.28, Z:0.03 [[ 9.96053952e-01 8.87497818e-02 0.00000000e+00 1.66956638e+02] [-8.87497818e-02 9.96053952e-01 0.00000000e+00 -2.27869138e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68447571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.02, Y:-2.29, Z:0.03 [[ 9.96190724e-01 8.72011594e-02 0.00000000e+00 1.67015408e+02] [-8.72011594e-02 9.96190724e-01 0.00000000e+00 -2.28866172e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54453273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.07, Y:-2.29, Z:0.03 [[ 9.96053930e-01 8.87500298e-02 0.00000000e+00 1.67074762e+02] [-8.87500298e-02 9.96053930e-01 0.00000000e+00 -2.29371291e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59793627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.56533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.13, Y:-2.30, Z:0.03 [[ 9.95720584e-01 9.24149281e-02 0.00000000e+00 1.67134413e+02] [-9.24149281e-02 9.95720584e-01 0.00000000e+00 -2.29952556e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62336402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.62533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.19, Y:-2.31, Z:0.03 [[ 9.95156057e-01 9.83077969e-02 0.00000000e+00 1.67193543e+02] [-9.83077969e-02 9.95156057e-01 0.00000000e+00 -2.30714263e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75543318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.68533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.25, Y:-2.31, Z:0.03 [[ 9.95048729e-01 9.93882606e-02 0.00000000e+00 1.67252088e+02] [-9.93882606e-02 9.95048729e-01 0.00000000e+00 -2.30928862e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56761634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.31, Y:-2.31, Z:0.03 [[ 9.94623768e-01 1.03554621e-01 0.00000000e+00 1.67312164e+02] [-1.03554621e-01 9.94623768e-01 0.00000000e+00 -2.31166202e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71269649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.37, Y:-2.32, Z:0.02 [[ 9.94547045e-01 1.04288899e-01 0.00000000e+00 1.67372330e+02] [-1.04288899e-01 9.94547045e-01 0.00000000e+00 -2.31539136e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95662474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.43, Y:-2.31, Z:0.02 [[ 9.94626391e-01 1.03529427e-01 0.00000000e+00 1.67431066e+02] [-1.03529427e-01 9.94626391e-01 0.00000000e+00 -2.31194804e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33477522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.49, Y:-2.32, Z:0.02 [[ 9.95199124e-01 9.78708554e-02 0.00000000e+00 1.67491760e+02] [-9.78708554e-02 9.95199124e-01 0.00000000e+00 -2.31701424e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01835159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.55, Y:-2.32, Z:0.02 [[ 9.95896497e-01 9.04995422e-02 0.00000000e+00 1.67551656e+02] [-9.04995422e-02 9.95896497e-01 0.00000000e+00 -2.31592378e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12363122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.61, Y:-2.32, Z:0.02 [[ 9.96411077e-01 8.46461187e-02 0.00000000e+00 1.67611309e+02] [-8.46461187e-02 9.96411077e-01 0.00000000e+00 -2.32043559e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32904408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.67, Y:-2.32, Z:0.03 [[ 9.96797129e-01 7.99717623e-02 0.00000000e+00 1.67671608e+02] [-7.99717623e-02 9.96797129e-01 0.00000000e+00 -2.32397640e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74142401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.73, Y:-2.33, Z:0.02 [[ 9.96763993e-01 8.03837234e-02 0.00000000e+00 1.67731002e+02] [-8.03837234e-02 9.96763993e-01 0.00000000e+00 -2.32891708e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38227563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.79, Y:-2.34, Z:0.02 [[ 9.96587477e-01 8.25433312e-02 0.00000000e+00 1.67790068e+02] [-8.25433312e-02 9.96587477e-01 0.00000000e+00 -2.33663354e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01200444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.85, Y:-2.34, Z:0.02 [[ 9.96334684e-01 8.55406190e-02 0.00000000e+00 1.67850055e+02] [-8.55406190e-02 9.96334684e-01 0.00000000e+00 -2.33897671e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15200597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.34533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.91, Y:-2.34, Z:0.02 [[ 9.96031255e-01 8.90041470e-02 0.00000000e+00 1.67909742e+02] [-8.90041470e-02 9.96031255e-01 0.00000000e+00 -2.34446621e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41412478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.40533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.97, Y:-2.35, Z:0.02 [[ 9.95638587e-01 9.32941817e-02 0.00000000e+00 1.67969458e+02] [-9.32941817e-02 9.95638587e-01 0.00000000e+00 -2.34751404e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49817291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.46533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.03, Y:-2.35, Z:0.02 [[ 9.95363712e-01 9.61825380e-02 0.00000000e+00 1.68028744e+02] [-9.61825380e-02 9.95363712e-01 0.00000000e+00 -2.35178778e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23842267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.09, Y:-2.36, Z:0.02 [[ 9.95130483e-01 9.85663274e-02 0.00000000e+00 1.68087883e+02] [-9.85663274e-02 9.95130483e-01 0.00000000e+00 -2.35755678e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74897083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.15, Y:-2.36, Z:0.02 [[ 9.95124843e-01 9.86232607e-02 0.00000000e+00 1.68148386e+02] [-9.86232607e-02 9.95124843e-01 0.00000000e+00 -2.35769426e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12729956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.21, Y:-2.36, Z:0.02 [[ 9.95350886e-01 9.63151819e-02 0.00000000e+00 1.68208071e+02] [-9.63151819e-02 9.95350886e-01 0.00000000e+00 -2.36099861e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13017195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.27, Y:-2.36, Z:0.02 [[ 9.95645126e-01 9.32243653e-02 0.00000000e+00 1.68267667e+02] [-9.32243653e-02 9.95645126e-01 0.00000000e+00 -2.36261918e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17713410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.33, Y:-2.36, Z:0.02 [[ 9.95929850e-01 9.01317551e-02 0.00000000e+00 1.68328153e+02] [-9.01317551e-02 9.95929850e-01 0.00000000e+00 -2.36440697e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43535754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.39, Y:-2.37, Z:0.03 [[ 9.96275370e-01 8.62286914e-02 0.00000000e+00 1.68388452e+02] [-8.62286914e-02 9.96275370e-01 0.00000000e+00 -2.36720961e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58650584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.45, Y:-2.37, Z:0.02 [[ 9.96342249e-01 8.54524627e-02 0.00000000e+00 1.68449308e+02] [-8.54524627e-02 9.96342249e-01 0.00000000e+00 -2.37010121e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37241258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.51, Y:-2.38, Z:0.03 [[ 9.96198139e-01 8.71164078e-02 0.00000000e+00 1.68508093e+02] [-8.71164078e-02 9.96198139e-01 0.00000000e+00 -2.37619599e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52785398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.57, Y:-2.38, Z:0.03 [[ 9.96103599e-01 8.81908178e-02 0.00000000e+00 1.68567612e+02] [-8.81908178e-02 9.96103599e-01 0.00000000e+00 -2.38176296e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73974149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.06533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.63, Y:-2.39, Z:0.02 [[ 9.95935298e-01 9.00715410e-02 0.00000000e+00 1.68628318e+02] [-9.00715410e-02 9.95935298e-01 0.00000000e+00 -2.38892996e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44641998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.12533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.69, Y:-2.39, Z:0.02 [[ 9.95292482e-01 9.69168503e-02 0.00000000e+00 1.68687779e+02] [-9.69168503e-02 9.95292482e-01 0.00000000e+00 -2.39082308e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24181606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.18533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.75, Y:-2.39, Z:0.02 [[ 9.94607796e-01 1.03707914e-01 0.00000000e+00 1.68746843e+02] [-1.03707914e-01 9.94607796e-01 0.00000000e+00 -2.39184156e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86045745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.81, Y:-2.39, Z:0.02 [[ 9.94368388e-01 1.05978817e-01 0.00000000e+00 1.68806359e+02] [-1.05978817e-01 9.94368388e-01 0.00000000e+00 -2.39452183e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30383329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.87, Y:-2.39, Z:0.02 [[ 9.94899239e-01 1.00873709e-01 0.00000000e+00 1.68866062e+02] [-1.00873709e-01 9.94899239e-01 0.00000000e+00 -2.39465153e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37078152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.93, Y:-2.40, Z:0.02 [[ 9.95557850e-01 9.41518291e-02 0.00000000e+00 1.68925650e+02] [-9.41518291e-02 9.95557850e-01 0.00000000e+00 -2.40146650e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04262831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.99, Y:-2.41, Z:0.02 [[ 9.95893159e-01 9.05362667e-02 0.00000000e+00 1.68985649e+02] [-9.05362667e-02 9.95893159e-01 0.00000000e+00 -2.40714902e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01580317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.05, Y:-2.41, Z:0.02 [[ 9.96016177e-01 8.91727295e-02 0.00000000e+00 1.69046286e+02] [-8.91727295e-02 9.96016177e-01 0.00000000e+00 -2.40957408e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27883729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.11, Y:-2.42, Z:0.02 [[ 9.95930070e-01 9.01293296e-02 0.00000000e+00 1.69106477e+02] [-9.01293296e-02 9.95930070e-01 0.00000000e+00 -2.41961697e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13479528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.17, Y:-2.42, Z:0.02 [[ 9.95800379e-01 9.15511122e-02 0.00000000e+00 1.69167177e+02] [-9.15511122e-02 9.95800379e-01 0.00000000e+00 -2.42318586e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31522762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.23, Y:-2.43, Z:0.03 [[ 9.95554894e-01 9.41830836e-02 0.00000000e+00 1.69226912e+02] [-9.41830836e-02 9.95554894e-01 0.00000000e+00 -2.42769162e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51383825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.29, Y:-2.43, Z:0.02 [[ 9.95442259e-01 9.53661855e-02 0.00000000e+00 1.69286192e+02] [-9.53661855e-02 9.95442259e-01 0.00000000e+00 -2.43308273e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96173380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.35, Y:-2.44, Z:0.02 [[ 9.95418082e-01 9.56182121e-02 0.00000000e+00 1.69346019e+02] [-9.56182121e-02 9.95418082e-01 0.00000000e+00 -2.43927357e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86501998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.84533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.41, Y:-2.44, Z:0.02 [[ 9.95430193e-01 9.54920506e-02 0.00000000e+00 1.69405720e+02] [-9.54920506e-02 9.95430193e-01 0.00000000e+00 -2.43829018e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86564423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.90533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.47, Y:-2.45, Z:0.02 [[ 9.95297896e-01 9.68612282e-02 0.00000000e+00 1.69465513e+02] [-9.68612282e-02 9.95297896e-01 0.00000000e+00 -2.44630874e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76762492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.53, Y:-2.45, Z:0.02 [[ 9.95018021e-01 9.96952293e-02 0.00000000e+00 1.69525511e+02] [-9.96952293e-02 9.95018021e-01 0.00000000e+00 -2.45217649e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75674053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.59, Y:-2.45, Z:0.02 [[ 9.94817289e-01 1.01678718e-01 0.00000000e+00 1.69585576e+02] [-1.01678718e-01 9.94817289e-01 0.00000000e+00 -2.45316999e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69077543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.65, Y:-2.46, Z:0.02 [[ 9.94851699e-01 1.01341488e-01 0.00000000e+00 1.69645649e+02] [-1.01341488e-01 9.94851699e-01 0.00000000e+00 -2.45865033e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63983927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.71, Y:-2.46, Z:0.01 [[ 9.94857349e-01 1.01286010e-01 0.00000000e+00 1.69706586e+02] [-1.01286010e-01 9.94857349e-01 0.00000000e+00 -2.46023858e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26554788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.77, Y:-2.46, Z:0.02 [[ 9.94873157e-01 1.01130613e-01 0.00000000e+00 1.69767483e+02] [-1.01130613e-01 9.94873157e-01 0.00000000e+00 -2.46324097e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50736188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.83, Y:-2.46, Z:0.01 [[ 9.95071017e-01 9.91648663e-02 0.00000000e+00 1.69828566e+02] [-9.91648663e-02 9.95071017e-01 0.00000000e+00 -2.46433803e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32263613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.89, Y:-2.47, Z:0.01 [[ 9.95550700e-01 9.42274021e-02 0.00000000e+00 1.69889331e+02] [-9.42274021e-02 9.95550700e-01 0.00000000e+00 -2.46793952e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16791855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.95, Y:-2.47, Z:0.01 [[ 9.96102358e-01 8.82048317e-02 0.00000000e+00 1.69949990e+02] [-8.82048317e-02 9.96102358e-01 0.00000000e+00 -2.47079764e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.75313093e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.01, Y:-2.47, Z:0.00 [[ 9.96366641e-01 8.51675844e-02 0.00000000e+00 1.70010439e+02] [-8.51675844e-02 9.96366641e-01 0.00000000e+00 -2.46967618e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.23722896e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.07, Y:-2.47, Z:0.01 [[ 9.96372641e-01 8.50973541e-02 0.00000000e+00 1.70070898e+02] [-8.50973541e-02 9.96372641e-01 0.00000000e+00 -2.47252028e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.01259166e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.56533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.13, Y:-2.47, Z:0.00 [[ 9.96325275e-01 8.56501402e-02 0.00000000e+00 1.70131345e+02] [-8.56501402e-02 9.96325275e-01 0.00000000e+00 -2.47305002e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16551268e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.62533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.19, Y:-2.47, Z:-0.00 [[ 9.96311962e-01 8.58048584e-02 0.00000000e+00 1.70190708e+02] [-8.58048584e-02 9.96311962e-01 0.00000000e+00 -2.47218097e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.83003270e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.68533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.25, Y:-2.48, Z:0.01 [[ 9.96198747e-01 8.71094544e-02 0.00000000e+00 1.70251217e+02] [-8.71094544e-02 9.96198747e-01 0.00000000e+00 -2.47551472e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.01948215e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.31, Y:-2.48, Z:0.00 [[ 9.96098016e-01 8.82538543e-02 0.00000000e+00 1.70310361e+02] [-8.82538543e-02 9.96098016e-01 0.00000000e+00 -2.47638645e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75203544e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.37, Y:-2.48, Z:0.01 [[ 9.96122845e-01 8.79731655e-02 0.00000000e+00 1.70370401e+02] [-8.79731655e-02 9.96122845e-01 0.00000000e+00 -2.48217601e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.28516581e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.43, Y:-2.49, Z:0.01 [[ 9.96420250e-01 8.45380734e-02 0.00000000e+00 1.70431131e+02] [-8.45380734e-02 9.96420250e-01 0.00000000e+00 -2.49077212e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.90202160e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.49, Y:-2.49, Z:0.01 [[ 9.96327957e-01 8.56189404e-02 0.00000000e+00 1.70491395e+02] [-8.56189404e-02 9.96327957e-01 0.00000000e+00 -2.49484160e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.75472952e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.985336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:170.55, Y:-2.50, Z:0.01 [[ 9.95856237e-01 9.09414915e-02 0.00000000e+00 1.70551623e+02] [-9.09414915e-02 9.95856237e-01 0.00000000e+00 -2.50187100e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09723823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.045336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:170.61, Y:-2.50, Z:0.01 [[ 9.95194306e-01 9.79198328e-02 0.00000000e+00 1.70611708e+02] [-9.79198328e-02 9.95194306e-01 0.00000000e+00 -2.50436638e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.55197470e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.67, Y:-2.50, Z:0.01 [[ 9.94697388e-01 1.02845060e-01 0.00000000e+00 1.70671948e+02] [-1.02845060e-01 9.94697388e-01 0.00000000e+00 -2.50219766e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.04914025e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.165336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:170.73, Y:-2.50, Z:0.01 [[ 9.94526405e-01 1.04485552e-01 0.00000000e+00 1.70731293e+02] [-1.04485552e-01 9.94526405e-01 0.00000000e+00 -2.50152858e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.52707066e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.225336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:170.79, Y:-2.51, Z:0.01 [[ 9.94656402e-01 1.03240696e-01 0.00000000e+00 1.70791437e+02] [-1.03240696e-01 9.94656402e-01 0.00000000e+00 -2.50536782e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11052729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.85, Y:-2.51, Z:0.01 [[ 9.94970666e-01 1.00166728e-01 0.00000000e+00 1.70850864e+02] [-1.00166728e-01 9.94970666e-01 0.00000000e+00 -2.50604393e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.92694616e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.34533619500002 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:170.91, Y:-2.51, Z:0.01 [[ 9.95570122e-01 9.40219724e-02 0.00000000e+00 1.70910860e+02] [-9.40219724e-02 9.95570122e-01 0.00000000e+00 -2.50922583e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.40145763e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.40533619500002 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:170.97, Y:-2.51, Z:0.01 [[ 9.96109198e-01 8.81275511e-02 0.00000000e+00 1.70971333e+02] [-8.81275511e-02 9.96109198e-01 0.00000000e+00 -2.51185516e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14785448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.03, Y:-2.52, Z:0.01 [[ 9.96402757e-01 8.47440040e-02 0.00000000e+00 1.71031615e+02] [-8.47440040e-02 9.96402757e-01 0.00000000e+00 -2.51680806e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33559951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.525336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:171.09, Y:-2.52, Z:0.01 [[ 9.96634523e-01 8.19733368e-02 0.00000000e+00 1.71091517e+02] [-8.19733368e-02 9.96634523e-01 0.00000000e+00 -2.52451063e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38714145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.585336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:171.15, Y:-2.53, Z:0.02 [[ 9.96404903e-01 8.47187702e-02 0.00000000e+00 1.71152404e+02] [-8.47187702e-02 9.96404903e-01 0.00000000e+00 -2.52612770e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56213882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.645336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:171.21, Y:-2.53, Z:0.01 [[ 9.95899968e-01 9.04613426e-02 0.00000000e+00 1.71212058e+02] [-9.04613426e-02 9.95899968e-01 0.00000000e+00 -2.53277741e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06077321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.705336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:171.27, Y:-2.53, Z:0.01 [[ 9.95657849e-01 9.30883907e-02 0.00000000e+00 1.71272108e+02] [-9.30883907e-02 9.95657849e-01 0.00000000e+00 -2.53464761e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20621579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.765336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:171.33, Y:-2.54, Z:0.01 [[ 9.95654215e-01 9.31272418e-02 0.00000000e+00 1.71331736e+02] [-9.31272418e-02 9.95654215e-01 0.00000000e+00 -2.54039081e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.04759828e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.825336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:171.39, Y:-2.55, Z:0.01 [[ 9.95767103e-01 9.19123289e-02 0.00000000e+00 1.71391693e+02] [-9.19123289e-02 9.95767103e-01 0.00000000e+00 -2.54627747e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05828692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.885336195 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:171.45, Y:-2.55, Z:0.01 [[ 9.95756517e-01 9.20269456e-02 0.00000000e+00 1.71452248e+02] [-9.20269456e-02 9.95756517e-01 0.00000000e+00 -2.55228693e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.74908771e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.945336195 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:171.51, Y:-2.56, Z:0.01 [[ 9.95583980e-01 9.38751197e-02 0.00000000e+00 1.71511996e+02] [-9.38751197e-02 9.95583980e-01 0.00000000e+00 -2.55954786e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.53584513e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.005336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:171.57, Y:-2.56, Z:0.00 [[ 9.95323754e-01 9.65951621e-02 0.00000000e+00 1.71571724e+02] [-9.65951621e-02 9.95323754e-01 0.00000000e+00 -2.56484187e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51658445e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.06533619500001 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:171.63, Y:-2.57, Z:0.01 [[ 9.95197329e-01 9.78891055e-02 0.00000000e+00 1.71632969e+02] [-9.78891055e-02 9.95197329e-01 0.00000000e+00 -2.57269511e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.05444444e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.12533619500002 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:171.69, Y:-2.57, Z:0.01 [[ 9.95450445e-01 9.52806992e-02 0.00000000e+00 1.71694120e+02] [-9.52806992e-02 9.95450445e-01 0.00000000e+00 -2.57206628e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.87149789e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.18533619500002 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:171.76, Y:-2.58, Z:0.00 [[ 9.95828712e-01 9.12424015e-02 0.00000000e+00 1.71755013e+02] [-9.12424015e-02 9.95828712e-01 0.00000000e+00 -2.57959427e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23924328e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.245336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:171.82, Y:-2.58, Z:-0.00 [[ 9.96031828e-01 8.89977375e-02 0.00000000e+00 1.71815679e+02] [-8.89977375e-02 9.96031828e-01 0.00000000e+00 -2.58431628e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.22367377e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.305336195 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:171.88, Y:-2.58, Z:0.00 [[ 9.96091046e-01 8.83324844e-02 0.00000000e+00 1.71876738e+02] [-8.83324844e-02 9.96091046e-01 0.00000000e+00 -2.58144926e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29330136e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.365336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:171.94, Y:-2.59, Z:0.00 [[ 9.96100489e-01 8.82259306e-02 0.00000000e+00 1.71937868e+02] [-8.82259306e-02 9.96100489e-01 0.00000000e+00 -2.58671844e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48309928e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.425336195 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:172.00, Y:-2.59, Z:0.00 [[ 9.96058890e-01 8.86943512e-02 0.00000000e+00 1.71999304e+02] [-8.86943512e-02 9.96058890e-01 0.00000000e+00 -2.58798177e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25306213e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.485336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:172.06, Y:-2.58, Z:-0.00 [[ 9.95926815e-01 9.01652906e-02 0.00000000e+00 1.72060893e+02] [-9.01652906e-02 9.95926815e-01 0.00000000e+00 -2.57981471e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.94552464e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.545336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:172.12, Y:-2.59, Z:-0.00 [[ 9.95955549e-01 8.98473392e-02 0.00000000e+00 1.72121416e+02] [-8.98473392e-02 9.95955549e-01 0.00000000e+00 -2.58823118e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.15040477e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.605336195 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:172.18, Y:-2.58, Z:0.00 [[ 9.96308797e-01 8.58416008e-02 0.00000000e+00 1.72182646e+02] [-8.58416008e-02 9.96308797e-01 0.00000000e+00 -2.58277824e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84352787e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.665336195 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:172.24, Y:-2.59, Z:0.00 [[ 9.96632778e-01 8.19945509e-02 0.00000000e+00 1.72243674e+02] [-8.19945509e-02 9.96632778e-01 0.00000000e+00 -2.58508319e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64683243e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.725336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:172.30, Y:-2.59, Z:-0.00 [[ 9.97124853e-01 7.57761635e-02 0.00000000e+00 1.72303647e+02] [-7.57761635e-02 9.97124853e-01 0.00000000e+00 -2.58881910e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.12942634e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.785336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:172.37, Y:-2.59, Z:-0.00 [[ 9.97339514e-01 7.28964531e-02 0.00000000e+00 1.72365404e+02] [-7.28964531e-02 9.97339514e-01 0.00000000e+00 -2.58855627e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17161478e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.84533619500002 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:172.43, Y:-2.60, Z:0.00 [[ 9.97499115e-01 7.06789630e-02 0.00000000e+00 1.72426657e+02] [-7.06789630e-02 9.97499115e-01 0.00000000e+00 -2.59738554e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.92336635e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.90533619500002 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:172.49, Y:-2.60, Z:0.01 [[ 9.97594165e-01 6.93244727e-02 0.00000000e+00 1.72488295e+02] [-6.93244727e-02 9.97594165e-01 0.00000000e+00 -2.59927638e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.21269659e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.965336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:172.55, Y:-2.61, Z:0.00 [[ 9.97461847e-01 7.12029785e-02 0.00000000e+00 1.72547774e+02] [-7.12029785e-02 9.97461847e-01 0.00000000e+00 -2.60933765e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.97868931e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.025336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:172.61, Y:-2.61, Z:0.00 [[ 9.97226299e-01 7.44292140e-02 0.00000000e+00 1.72609216e+02] [-7.44292140e-02 9.97226299e-01 0.00000000e+00 -2.61492318e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76139572e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.085336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:172.67, Y:-2.62, Z:-0.00 [[ 9.96857099e-01 7.92207281e-02 0.00000000e+00 1.72669546e+02] [-7.92207281e-02 9.96857099e-01 0.00000000e+00 -2.62164171e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.02351826e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.145336195 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:172.73, Y:-2.63, Z:-0.00 [[ 9.96533188e-01 8.31961849e-02 0.00000000e+00 1.72729754e+02] [-8.31961849e-02 9.96533188e-01 0.00000000e+00 -2.62661436e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61983152e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.205336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:172.79, Y:-2.63, Z:-0.00 [[ 9.96306508e-01 8.58681716e-02 0.00000000e+00 1.72789581e+02] [-8.58681716e-02 9.96306508e-01 0.00000000e+00 -2.62846734e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.68470673e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.265336195 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:172.85, Y:-2.63, Z:-0.00 [[ 9.96243435e-01 8.65968720e-02 0.00000000e+00 1.72851337e+02] [-8.65968720e-02 9.96243435e-01 0.00000000e+00 -2.63051935e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.67765765e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.325336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:172.91, Y:-2.63, Z:-0.00 [[ 9.96418841e-01 8.45546751e-02 0.00000000e+00 1.72912379e+02] [-8.45546751e-02 9.96418841e-01 0.00000000e+00 -2.63460756e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.59440707e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.385336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:172.97, Y:-2.64, Z:0.00 [[ 9.96734285e-01 8.07512587e-02 0.00000000e+00 1.72973953e+02] [-8.07512587e-02 9.96734285e-01 0.00000000e+00 -2.63618093e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82942223e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.445336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:173.03, Y:-2.64, Z:0.00 [[ 9.96945239e-01 7.81037196e-02 0.00000000e+00 1.73034256e+02] [-7.81037196e-02 9.96945239e-01 0.00000000e+00 -2.63732009e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39720088e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.505336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:173.10, Y:-2.64, Z:0.01 [[ 9.97409477e-01 7.19328531e-02 0.00000000e+00 1.73096695e+02] [-7.19328531e-02 9.97409477e-01 0.00000000e+00 -2.64241231e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.24287113e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.56533619500001 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:173.16, Y:-2.65, Z:0.00 [[ 9.97733480e-01 6.72896907e-02 0.00000000e+00 1.73158148e+02] [-6.72896907e-02 9.97733480e-01 0.00000000e+00 -2.64656041e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96110577e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.62533619500002 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:173.22, Y:-2.65, Z:0.01 [[ 9.97816796e-01 6.60427233e-02 0.00000000e+00 1.73218899e+02] [-6.60427233e-02 9.97816796e-01 0.00000000e+00 -2.65147019e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.07337162e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.68533619500002 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:173.28, Y:-2.66, Z:0.00 [[ 9.97804728e-01 6.62247996e-02 0.00000000e+00 1.73279574e+02] [-6.62247996e-02 9.97804728e-01 0.00000000e+00 -2.65915000e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.76368123e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.745336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:173.34, Y:-2.66, Z:0.00 [[ 9.97749669e-01 6.70492275e-02 0.00000000e+00 1.73340976e+02] [-6.70492275e-02 9.97749669e-01 0.00000000e+00 -2.65731863e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.71656422e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.805336195 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:173.40, Y:-2.67, Z:-0.00 [[ 9.97597729e-01 6.92731617e-02 0.00000000e+00 1.73401287e+02] [-6.92731617e-02 9.97597729e-01 0.00000000e+00 -2.66992209e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19861367e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.865336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:173.46, Y:-2.67, Z:0.00 [[ 9.97346166e-01 7.28053967e-02 0.00000000e+00 1.73462205e+02] [-7.28053967e-02 9.97346166e-01 0.00000000e+00 -2.67365765e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.62904739e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.925336195 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:173.52, Y:-2.68, Z:0.00 [[ 9.97046856e-01 7.67956236e-02 0.00000000e+00 1.73523574e+02] [-7.67956236e-02 9.97046856e-01 0.00000000e+00 -2.67728322e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21823485e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.985336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:173.59, Y:-2.69, Z:0.01 [[ 9.96766083e-01 8.03577990e-02 0.00000000e+00 1.73585222e+02] [-8.03577990e-02 9.96766083e-01 0.00000000e+00 -2.68712208e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.47812762e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.045336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:173.65, Y:-2.69, Z:0.01 [[ 9.96545814e-01 8.30448092e-02 0.00000000e+00 1.73646653e+02] [-8.30448092e-02 9.96545814e-01 0.00000000e+00 -2.69059127e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.41002669e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.105336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:173.71, Y:-2.70, Z:0.01 [[ 9.96625011e-01 8.20889028e-02 0.00000000e+00 1.73707390e+02] [-8.20889028e-02 9.96625011e-01 0.00000000e+00 -2.69948233e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.28551668e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.165336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:173.77, Y:-2.71, Z:0.01 [[ 9.96763380e-01 8.03913219e-02 0.00000000e+00 1.73769521e+02] [-8.03913219e-02 9.96763380e-01 0.00000000e+00 -2.70533577e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.67077838e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.225336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:173.83, Y:-2.71, Z:-0.00 [[ 9.96760490e-01 8.04271446e-02 0.00000000e+00 1.73831155e+02] [-8.04271446e-02 9.96760490e-01 0.00000000e+00 -2.71053113e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.77727137e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.285336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:173.89, Y:-2.72, Z:0.00 [[ 9.96718673e-01 8.09437219e-02 0.00000000e+00 1.73892730e+02] [-8.09437219e-02 9.96718673e-01 0.00000000e+00 -2.71521234e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11133091e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.34533619500002 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:173.95, Y:-2.71, Z:0.00 [[ 9.96764677e-01 8.03752363e-02 0.00000000e+00 1.73954056e+02] [-8.03752363e-02 9.96764677e-01 0.00000000e+00 -2.71443971e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.32304197e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.40533619500002 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:174.02, Y:-2.72, Z:-0.00 [[ 9.96781270e-01 8.01691916e-02 0.00000000e+00 1.74015815e+02] [-8.01691916e-02 9.96781270e-01 0.00000000e+00 -2.71577243e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.64193235e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.465336195 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:174.08, Y:-2.72, Z:-0.00 [[ 9.96861161e-01 7.91695976e-02 0.00000000e+00 1.74077789e+02] [-7.91695976e-02 9.96861161e-01 0.00000000e+00 -2.71718669e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.14531849e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.525336195 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:174.14, Y:-2.71, Z:-0.00 [[ 9.97010554e-01 7.72654865e-02 0.00000000e+00 1.74139507e+02] [-7.72654865e-02 9.97010554e-01 0.00000000e+00 -2.71375378e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.91364910e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.585336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:174.20, Y:-2.72, Z:0.00 [[ 9.97401824e-01 7.20388892e-02 0.00000000e+00 1.74201685e+02] [-7.20388892e-02 9.97401824e-01 0.00000000e+00 -2.71509820e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.12633177e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.645336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:174.26, Y:-2.72, Z:-0.00 [[ 9.97760098e-01 6.68938523e-02 0.00000000e+00 1.74264006e+02] [-6.68938523e-02 9.97760098e-01 0.00000000e+00 -2.71825732e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.46822107e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.705336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:174.33, Y:-2.72, Z:0.00 [[ 9.97881750e-01 6.50539231e-02 0.00000000e+00 1.74325879e+02] [-6.50539231e-02 9.97881750e-01 0.00000000e+00 -2.72384265e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09309491e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.765336195 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:174.39, Y:-2.72, Z:0.00 [[ 9.97743658e-01 6.71386142e-02 0.00000000e+00 1.74386846e+02] [-6.71386142e-02 9.97743658e-01 0.00000000e+00 -2.72337756e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01196073e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.825336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:174.45, Y:-2.73, Z:0.00 [[ 9.97260738e-01 7.39663496e-02 0.00000000e+00 1.74447803e+02] [-7.39663496e-02 9.97260738e-01 0.00000000e+00 -2.72767432e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35907303e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.885336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:174.51, Y:-2.73, Z:0.00 [[ 9.96900070e-01 7.86781433e-02 0.00000000e+00 1.74508601e+02] [-7.86781433e-02 9.96900070e-01 0.00000000e+00 -2.72978241e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.28785142e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.945336195 meters Centerline goodness : 0.999577 with order 1 Centerline is valid? [True, True] Translation: X:174.57, Y:-2.73, Z:0.00 [[ 9.96734923e-01 8.07433826e-02 0.00000000e+00 1.74569107e+02] [-8.07433826e-02 9.96734923e-01 0.00000000e+00 -2.73117953e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28209889e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.005336195 meters Centerline goodness : 0.999401 with order 1 Centerline is valid? [True, True] Translation: X:174.63, Y:-2.73, Z:0.00 [[ 9.96789610e-01 8.00654295e-02 0.00000000e+00 1.74630800e+02] [-8.00654295e-02 9.96789610e-01 0.00000000e+00 -2.73278228e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28509782e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.06533619500001 meters Centerline goodness : 0.998177 with order 1 Centerline is valid? [True, True] Translation: X:174.69, Y:-2.74, Z:0.01 [[ 9.96998764e-01 7.74174714e-02 0.00000000e+00 1.74691301e+02] [-7.74174714e-02 9.96998764e-01 0.00000000e+00 -2.73791297e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.10299331e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.12533619500002 meters Centerline goodness : 0.997247 with order 1 Centerline is valid? [True, True] Translation: X:174.75, Y:-2.74, Z:-0.00 [[ 9.97040485e-01 7.68782906e-02 0.00000000e+00 1.74752558e+02] [-7.68782906e-02 9.97040485e-01 0.00000000e+00 -2.73723890e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.10600832e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.18533619500002 meters Centerline goodness : 0.995949 with order 1 Centerline is valid? [True, True] Translation: X:174.81, Y:-2.74, Z:-0.01 [[ 9.96980890e-01 7.76473146e-02 0.00000000e+00 1.74814042e+02] [-7.76473146e-02 9.96980890e-01 0.00000000e+00 -2.74003525e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.78448751e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.245336195 meters Centerline goodness : 0.992716 with order 1 Centerline is valid? [True, True] Translation: X:174.88, Y:-2.74, Z:-0.01 [[ 9.96884272e-01 7.88780628e-02 0.00000000e+00 1.74875354e+02] [-7.88780628e-02 9.96884272e-01 0.00000000e+00 -2.73521689e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.81008131e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.305336195 meters Centerline goodness : 0.993110 with order 1 Centerline is valid? [True, True] Translation: X:174.94, Y:-2.73, Z:-0.01 [[ 9.97005381e-01 7.73322063e-02 0.00000000e+00 1.74935947e+02] [-7.73322063e-02 9.97005381e-01 0.00000000e+00 -2.73314222e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49100716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.365336195 meters Centerline goodness : 0.990483 with order 1 Centerline is valid? [True, True] Translation: X:175.00, Y:-2.73, Z:-0.02 [[ 9.97046768e-01 7.67967566e-02 0.00000000e+00 1.74996242e+02] [-7.67967566e-02 9.97046768e-01 0.00000000e+00 -2.73261260e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78201765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.425336195 meters Centerline goodness : 0.100062 with order 1 Centerline is valid? [True, False] Translation: X:175.00, Y:-2.73, Z:-0.02 [[ 9.97393540e-01 7.21534191e-02 -1.00973576e-04 1.74995863e+02] [-7.21530238e-02 9.97381094e-01 -4.98952669e-03 -2.72940154e+00] [-2.59302275e-04 4.98380724e-03 9.99987547e-01 -1.81001502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.485336195 meters Centerline goodness : 0.980741 with order 1 Centerline is valid? [False, True] Translation: X:175.02, Y:-2.73, Z:-0.02 [[ 9.97788043e-01 6.62435024e-02 5.55163255e-03 1.75016500e+02] [-6.62385057e-02 9.97803235e-01 -1.07933514e-03 -2.73358293e+00] [-5.61093586e-03 7.09215850e-04 9.99984007e-01 -2.31141050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.545336195 meters Centerline goodness : 0.976356 with order 1 Centerline is valid? [True, True] Translation: X:175.08, Y:-2.74, Z:-0.03 [[ 9.97999644e-01 6.29715471e-02 5.59421763e-03 1.75078634e+02] [-6.29708020e-02 9.98015322e-01 -3.09406358e-04 -2.73782791e+00] [-5.60259871e-03 -4.34849362e-05 9.99984304e-01 -2.61592051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.605336195 meters Centerline goodness : 0.973514 with order 1 Centerline is valid? [True, True] Translation: X:175.14, Y:-2.75, Z:-0.03 [[ 9.98057397e-01 6.20494745e-02 5.59419494e-03 1.75138737e+02] [-6.20487126e-02 9.98073074e-01 -3.09816070e-04 -2.75029141e+00] [-5.60263927e-03 -3.78983739e-05 9.99984304e-01 -2.70065130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.665336195 meters Centerline goodness : 0.146583 with order 1 Centerline is valid? [True, False] Translation: X:175.14, Y:-2.75, Z:-0.03 [[ 9.98040222e-01 6.23258075e-02 5.58658659e-03 1.75139457e+02] [-6.23268619e-02 9.98055791e-01 1.46662553e-05 -2.75181679e+00] [-5.57481102e-03 -3.62831924e-04 9.99984395e-01 -2.78374717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.725336195 meters Centerline goodness : 0.964096 with order 1 Centerline is valid? [False, True] Translation: X:175.14, Y:-2.75, Z:-0.03 [[ 9.97999494e-01 6.29795394e-02 5.53057905e-03 1.75140201e+02] [-6.29800412e-02 9.98014783e-01 -8.35448035e-05 -2.75054092e+00] [-5.52486126e-03 -2.64938425e-04 9.99984703e-01 -2.80909650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.785336195 meters Centerline goodness : 0.131346 with order 1 Centerline is valid? [True, False] Translation: X:175.18, Y:-2.76, Z:-0.03 [[ 9.97758134e-01 6.66387356e-02 6.16316948e-03 1.75183740e+02] [-6.66454864e-02 9.97776316e-01 8.96307611e-04 -2.75608191e+00] [-6.08973572e-03 -1.30504564e-03 9.99980606e-01 -2.99123931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.84533619500002 meters Centerline goodness : 0.128870 with order 1 Centerline is valid? [False, False] Translation: X:175.18, Y:-2.75, Z:-0.03 [[ 9.97650222e-01 6.82146063e-02 6.38759706e-03 1.75183932e+02] [-6.82211653e-02 9.97669890e-01 8.14394311e-04 -2.75098423e+00] [-6.31715967e-03 -1.24824998e-03 9.99979267e-01 -3.02021468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.90533619500002 meters Centerline goodness : 0.129724 with order 1 Centerline is valid? [False, False] Translation: X:175.23, Y:-2.75, Z:-0.03 [[ 9.97756411e-01 6.64146167e-02 8.44061057e-03 1.75225310e+02] [-6.63978256e-02 9.97790682e-01 -2.25453471e-03 -2.75480313e+00] [-8.57169664e-03 1.68903827e-03 9.99961836e-01 -3.08477206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.965336195 meters Centerline goodness : 0.133807 with order 1 Centerline is valid? [False, False] Translation: X:175.22, Y:-2.75, Z:-0.03 [[ 9.98030238e-01 6.21004082e-02 8.89845314e-03 1.75223377e+02] [-6.20417441e-02 9.98050906e-01 -6.72387460e-03 -2.75370397e+00] [-9.29866458e-03 6.15855462e-03 9.99937802e-01 -3.11265238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.025336195 meters Centerline goodness : 0.085213 with order 1 Centerline is valid? [False, False] Translation: X:175.27, Y:-2.77, Z:-0.03 [[ 9.98303885e-01 5.71947154e-02 1.08682106e-02 1.75268722e+02] [-5.72344664e-02 9.98355035e-01 3.38215264e-03 -2.76682487e+00] [-1.06568915e-02 -3.99845235e-03 9.99935219e-01 -3.41636889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.085336195 meters Centerline goodness : 0.085017 with order 1 Centerline is valid? [False, False] Translation: X:175.27, Y:-2.77, Z:-0.04 [[ 9.98504601e-01 5.36122972e-02 1.06903028e-02 1.75270817e+02] [-5.36134425e-02 9.98561749e-01 -1.79618629e-04 -2.77047467e+00] [-1.06845572e-02 -3.93793906e-04 9.99942841e-01 -3.71596806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.145336195 meters Centerline goodness : 0.084996 with order 1 Centerline is valid? [False, False] Translation: X:175.27, Y:-2.77, Z:-0.04 [[ 9.98697262e-01 4.98953932e-02 1.06877648e-02 1.75272119e+02] [-4.98451065e-02 9.98744837e-01 -4.92104934e-03 -2.76643255e+00] [-1.09198876e-02 4.38190573e-03 9.99930775e-01 -3.97586376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.205336195 meters Centerline goodness : 0.087089 with order 1 Centerline is valid? [False, False] Translation: X:175.27, Y:-2.76, Z:-0.04 [[ 9.98875740e-01 4.62710459e-02 1.03075539e-02 1.75274456e+02] [-4.61738458e-02 9.98888468e-01 -9.47652151e-03 -2.76354415e+00] [-1.07345853e-02 8.98992803e-03 9.99901970e-01 -4.19376213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.265336195 meters Centerline goodness : 0.086707 with order 1 Centerline is valid? [False, False] Translation: X:175.27, Y:-2.77, Z:-0.04 [[ 9.98836081e-01 4.70209396e-02 1.07477515e-02 1.75274207e+02] [-4.69327372e-02 9.98863430e-01 -8.31668886e-03 -2.77000530e+00] [-1.11265945e-02 7.80258751e-03 9.99907655e-01 -4.32666066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.325336195 meters Centerline goodness : 0.088434 with order 1 Centerline is valid? [False, False] Translation: X:175.27, Y:-2.77, Z:-0.05 [[ 9.98824863e-01 4.71172039e-02 1.13517296e-02 1.75274175e+02] [-4.70250539e-02 9.98859621e-01 -8.25243117e-03 -2.77000763e+00] [-1.17276158e-02 7.70891774e-03 9.99901513e-01 -4.52397824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.385336195 meters Centerline goodness : 0.072760 with order 1 Centerline is valid? [False, False] Translation: X:175.27, Y:-2.77, Z:-0.05 [[ 9.98982552e-01 4.36324567e-02 1.14047618e-02 1.75274707e+02] [-4.34911734e-02 9.98977403e-01 -1.23557973e-02 -2.76978108e+00] [-1.19322131e-02 1.18472194e-02 9.99858623e-01 -4.64866247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.445336195 meters Centerline goodness : 0.073239 with order 1 Centerline is valid? [False, False] Translation: X:175.27, Y:-2.77, Z:-0.05 [[ 9.98973608e-01 4.36964302e-02 1.19311739e-02 1.75274132e+02] [-4.35500999e-02 9.98976007e-01 -1.22607338e-02 -2.76986188e+00] [-1.24547068e-02 1.17285457e-02 9.99853650e-01 -4.75502750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.505336195 meters Centerline goodness : 0.073976 with order 1 Centerline is valid? [False, False] Translation: X:175.28, Y:-2.77, Z:-0.05 [[ 9.98950076e-01 4.41662243e-02 1.21692757e-02 1.75275618e+02] [-4.40256034e-02 9.98963163e-01 -1.15907636e-02 -2.77408189e+00] [-1.26685784e-02 1.10428345e-02 9.99858771e-01 -5.02633960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.56533619500001 meters Centerline goodness : 0.256659 with order 2 Centerline is valid? [False, False] Translation: X:175.28, Y:-2.78, Z:-0.05 [[ 9.98929012e-01 4.44368943e-02 1.28915362e-02 1.75277122e+02] [-4.42934234e-02 9.98955679e-01 -1.12090817e-02 -2.77610656e+00] [-1.33761701e-02 1.06260666e-02 9.99854072e-01 -5.40167258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.62533619500002 meters Centerline goodness : 0.067435 with order 1 Centerline is valid? [False, False] Translation: X:175.28, Y:-2.78, Z:-0.06 [[ 9.98926996e-01 4.43755179e-02 1.32540727e-02 1.75278687e+02] [-4.42274913e-02 9.98958025e-01 -1.12602932e-02 -2.77541403e+00] [-1.37399436e-02 1.06620164e-02 9.99848756e-01 -5.67720589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.68533619500002 meters Centerline goodness : 0.832961 with order 1 Centerline is valid? [False, False] Translation: X:175.28, Y:-2.77, Z:-0.06 [[ 9.99073129e-01 4.09646277e-02 1.32205150e-02 1.75280048e+02] [-4.07570459e-02 9.99047195e-01 -1.56065816e-02 -2.77376737e+00] [-1.38472362e-02 1.50532872e-02 9.99790804e-01 -5.87110510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.745336195 meters Centerline goodness : 0.824369 with order 1 Centerline is valid? [False, False] Translation: X:175.29, Y:-2.77, Z:-0.06 [[ 9.98981073e-01 4.32989923e-02 1.27284266e-02 1.75287317e+02] [-4.31358367e-02 9.98986897e-01 -1.28249563e-02 -2.77195183e+00] [-1.32708391e-02 1.22628373e-02 9.99836740e-01 -6.38832304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.805336195 meters Centerline goodness : 0.810245 with order 1 Centerline is valid? [False, False] Translation: X:175.29, Y:-2.77, Z:-0.06 [[ 9.99115842e-01 3.98078680e-02 1.35228304e-02 1.75286077e+02] [-3.95769410e-02 9.99072996e-01 -1.69355958e-02 -2.77208830e+00] [-1.41844646e-02 1.63854298e-02 9.99765132e-01 -6.47678977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.865336195 meters Centerline goodness : 0.798846 with order 1 Centerline is valid? [False, False] Translation: X:175.31, Y:-2.78, Z:-0.07 [[ 9.99151622e-01 3.63974993e-02 1.92680430e-02 1.75310854e+02] [-3.62088553e-02 9.99293703e-01 -1.00505948e-02 -2.77516972e+00] [-1.96202505e-02 9.34439431e-03 9.99763836e-01 -7.37338811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.925336195 meters Centerline goodness : 0.790606 with order 3 Centerline is valid? [False, False] Translation: X:175.31, Y:-2.78, Z:-0.08 [[ 9.99287309e-01 3.24897867e-02 1.92168598e-02 1.75312466e+02] [-3.22287368e-02 9.99386049e-01 -1.37416798e-02 -2.77867515e+00] [-1.96515259e-02 1.31125511e-02 9.99720900e-01 -7.54481780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.985336195 meters Centerline goodness : 0.777842 with order 3 Centerline is valid? [False, False] Translation: X:175.32, Y:-2.78, Z:-0.08 [[ 9.99313525e-01 3.19644630e-02 1.87283811e-02 1.75322006e+02] [-3.17119128e-02 9.99404108e-01 -1.36302372e-02 -2.78297237e+00] [-1.91529042e-02 1.30269676e-02 9.99731696e-01 -8.39833647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.045336195 meters Centerline goodness : 0.766049 with order 3 Centerline is valid? [False, False] Translation: X:175.33, Y:-2.79, Z:-0.09 [[ 9.99232499e-01 3.46266482e-02 1.83141451e-02 1.75329828e+02] [-3.44369875e-02 9.99350953e-01 -1.05719798e-02 -2.78561614e+00] [-1.86683306e-02 9.93318184e-03 9.99776388e-01 -8.97917512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.105336195 meters Centerline goodness : 0.762719 with order 2 Centerline is valid? [False, False] Translation: X:175.34, Y:-2.79, Z:-0.09 [[ 9.99167932e-01 3.65967850e-02 1.80033260e-02 1.75335719e+02] [-3.64356095e-02 9.99293648e-01 -9.20064439e-03 -2.79090765e+00] [-1.83273234e-02 8.53702667e-03 9.99795593e-01 -9.42149091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.165336195 meters Centerline goodness : 0.747535 with order 3 Centerline is valid? [False, False] Translation: X:175.34, Y:-2.79, Z:-0.10 [[ 9.99111411e-01 3.81343758e-02 1.79487744e-02 1.75338861e+02] [-3.79793364e-02 9.99238881e-01 -8.90103458e-03 -2.78995880e+00] [-1.82745486e-02 8.21144268e-03 9.99799286e-01 -9.66737962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.225336195 meters Centerline goodness : 0.746476 with order 2 Centerline is valid? [False, False] Translation: X:175.34, Y:-2.79, Z:-0.10 [[ 9.98933168e-01 4.24791455e-02 1.81121146e-02 1.75340877e+02] [-4.24062892e-02 9.99090813e-01 -4.38795976e-03 -2.79165529e+00] [-1.82820441e-02 3.61521097e-03 9.99826333e-01 -9.80275641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.285336195 meters Centerline goodness : 0.733200 with order 3 Centerline is valid? [False, False] Translation: X:175.34, Y:-2.79, Z:-0.10 [[ 9.98925170e-01 4.25362477e-02 1.84166095e-02 1.75343475e+02] [-4.24557660e-02 9.99087106e-01 -4.73937763e-03 -2.79206144e+00] [-1.86013925e-02 3.95239234e-03 9.99819167e-01 -1.01170828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.34533619500002 meters Centerline goodness : 0.525519 with order 2 Centerline is valid? [False, False] Translation: X:175.34, Y:-2.79, Z:-0.10 [[ 9.99096142e-01 3.81563873e-02 1.87346798e-02 1.75344732e+02] [-3.79807251e-02 9.99231930e-01 -9.64439344e-03 -2.78619977e+00] [-1.90882855e-02 8.92411956e-03 9.99777974e-01 -1.01863026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.40533619500002 meters Centerline goodness : 0.719890 with order 3 Centerline is valid? [False, False] Translation: X:175.37, Y:-2.78, Z:-0.10 [[ 9.99347172e-01 3.26108555e-02 1.55487236e-02 1.75366313e+02] [-3.24793185e-02 9.99435075e-01 -8.63851093e-03 -2.78358137e+00] [-1.58216489e-02 8.12785952e-03 9.99841794e-01 -9.67156744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.465336195 meters Centerline goodness : 0.710628 with order 3 Centerline is valid? [False, False] Translation: X:175.37, Y:-2.78, Z:-0.10 [[ 9.99469671e-01 2.85591231e-02 1.56445987e-02 1.75367679e+02] [-2.83603936e-02 9.99516054e-01 -1.27806933e-02 -2.78466324e+00] [-1.60020329e-02 1.23302283e-02 9.99795929e-01 -9.76774495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.525336195 meters Centerline goodness : 0.491055 with order 3 Centerline is valid? [False, False] Translation: X:175.38, Y:-2.78, Z:-0.10 [[ 9.99517241e-01 2.72772306e-02 1.48740664e-02 1.75376926e+02] [-2.70765055e-02 9.99541750e-01 -1.35334061e-02 -2.78423754e+00] [-1.52364042e-02 1.31241350e-02 9.99797784e-01 -1.03543544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.585336195 meters Centerline goodness : 0.698735 with order 1 Centerline is valid? [False, False] Translation: X:175.39, Y:-2.79, Z:-0.11 [[ 9.99550610e-01 2.63762060e-02 1.42433969e-02 1.75388235e+02] [-2.61865068e-02 9.99568001e-01 -1.33446132e-02 -2.78987911e+00] [-1.45892240e-02 1.29656315e-02 9.99809505e-01 -1.11702046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.645336195 meters Centerline goodness : 0.426431 with order 3 Centerline is valid? [False, False] Translation: X:175.40, Y:-2.79, Z:-0.12 [[ 9.99555793e-01 2.65614225e-02 1.35169496e-02 1.75399240e+02] [-2.63854958e-02 9.99566901e-01 -1.30313112e-02 -2.79237475e+00] [-1.38572256e-02 1.26688712e-02 9.99823723e-01 -1.19699309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.705336195 meters Centerline goodness : 0.433968 with order 3 Centerline is valid? [False, False] Translation: X:175.41, Y:-2.79, Z:-0.13 [[ 9.99515614e-01 2.83428442e-02 1.28538128e-02 1.75409441e+02] [-2.81841663e-02 9.99526300e-01 -1.23623907e-02 -2.79030895e+00] [-1.31981092e-02 1.19941286e-02 9.99840963e-01 -1.26417218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.765336195 meters Centerline goodness : 0.329013 with order 3 Centerline is valid? [False, False] Translation: X:175.41, Y:-2.79, Z:-0.13 [[ 9.99489837e-01 2.92842729e-02 1.27474084e-02 1.75413273e+02] [-2.91262280e-02 9.99498675e-01 -1.24121741e-02 -2.78923395e+00] [-1.31044993e-02 1.20345579e-02 9.99841708e-01 -1.28062583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.825336195 meters Centerline goodness : 0.385654 with order 3 Centerline is valid? [False, False] Translation: X:175.46, Y:-2.79, Z:-0.14 [[ 9.99265636e-01 3.38633187e-02 1.79294214e-02 1.75463961e+02] [-3.37455584e-02 9.99407116e-01 -6.83037764e-03 -2.79268213e+00] [-1.81500906e-02 6.22032332e-03 9.99815924e-01 -1.40047861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.885336195 meters Centerline goodness : 0.455745 with order 3 Centerline is valid? [False, False] Translation: X:175.46, Y:-2.80, Z:-0.14 [[ 9.99253166e-01 3.40359814e-02 1.82937621e-02 1.75464138e+02] [-3.39219313e-02 9.99403290e-01 -6.50902294e-03 -2.79591125e+00] [-1.85043870e-02 5.88360204e-03 9.99811468e-01 -1.39025456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.945336195 meters Centerline goodness : 0.498999 with order 3 Centerline is valid? [False, False] Translation: X:175.47, Y:-2.79, Z:-0.14 [[ 9.99284799e-01 3.32672964e-02 1.79771595e-02 1.75470844e+02] [-3.31450636e-02 9.99425650e-01 -7.05513059e-03 -2.79469288e+00] [-1.82015395e-02 6.45423065e-03 9.99813506e-01 -1.43046827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.005336195 meters Centerline goodness : 0.366164 with order 3 Centerline is valid? [False, False] Translation: X:175.48, Y:-2.80, Z:-0.15 [[ 9.99316926e-01 3.24973527e-02 1.75955418e-02 1.75479303e+02] [-3.23678081e-02 9.99447146e-01 -7.59782916e-03 -2.79616579e+00] [-1.78327234e-02 7.02311016e-03 9.99816318e-01 -1.48912481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.06533619500001 meters Centerline goodness : 0.450980 with order 2 Centerline is valid? [False, False] Translation: X:175.49, Y:-2.80, Z:-0.16 [[ 9.99323754e-01 3.25412124e-02 1.71202843e-02 1.75489078e+02] [-3.24156245e-02 9.99445862e-01 -7.56275671e-03 -2.79509836e+00] [-1.73568986e-02 7.00267772e-03 9.99824835e-01 -1.55801290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.12533619500002 meters Centerline goodness : 0.212658 with order 3 Centerline is valid? [False, False] Translation: X:175.49, Y:-2.80, Z:-0.16 [[ 9.99315471e-01 3.26897089e-02 1.73196829e-02 1.75491241e+02] [-3.25665013e-02 9.99442554e-01 -7.34872079e-03 -2.79717706e+00] [-1.75502556e-02 6.77964890e-03 9.99822997e-01 -1.56578137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.18533619500002 meters Centerline goodness : 0.156294 with order 3 Centerline is valid? [False, False] Translation: X:175.52, Y:-2.79, Z:-0.16 [[ 9.99494501e-01 2.88266080e-02 1.34077872e-02 1.75521957e+02] [-2.87433058e-02 9.99566562e-01 -6.36476043e-03 -2.79240922e+00] [-1.35854502e-02 5.97615892e-03 9.99889854e-01 -1.60265110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.245336195 meters SLAMing on 177.305336195 meters Centerline goodness : 0.512822 with order 3 Centerline is valid? [False, False] Translation: X:175.58, Y:-2.79, Z:-0.16 [[ 9.99533156e-01 2.98259529e-02 6.62436190e-03 1.75575187e+02] [-2.97779640e-02 9.99530400e-01 -7.22851216e-03 -2.79132684e+00] [-6.83684837e-03 7.02787757e-03 9.99951932e-01 -1.57385825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.365336195 meters Centerline goodness : 0.283100 with order 3 Centerline is valid? [False, False] Translation: X:175.58, Y:-2.79, Z:-0.16 [[ 9.99537632e-01 2.96748665e-02 6.62757264e-03 1.75579522e+02] [-2.96228232e-02 9.99530579e-01 -7.81732309e-03 -2.78622639e+00] [-6.85643954e-03 7.61738120e-03 9.99947481e-01 -1.59475779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.425336195 meters Centerline goodness : 0.328879 with order 2 Centerline is valid? [False, False] Translation: X:175.59, Y:-2.79, Z:-0.17 [[ 9.99540345e-01 2.96547068e-02 6.30054961e-03 1.75589115e+02] [-2.96031130e-02 9.99528668e-01 -8.13004635e-03 -2.78568020e+00] [-6.53867410e-03 7.93979345e-03 9.99947101e-01 -1.65773338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.485336195 meters Centerline goodness : 0.276262 with order 2 Centerline is valid? [False, False] Translation: X:175.60, Y:-2.79, Z:-0.17 [[ 9.99545705e-01 2.95114604e-02 6.12029714e-03 1.75599038e+02] [-2.94609045e-02 9.99532362e-01 -8.19227124e-03 -2.78624863e+00] [-6.35920094e-03 8.00824004e-03 9.99947713e-01 -1.72898445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.545336195 meters Centerline goodness : 0.573450 with order 2 Centerline is valid? [False, False] Translation: X:175.60, Y:-2.78, Z:-0.17 [[ 9.99546771e-01 2.93978510e-02 6.48215869e-03 1.75601296e+02] [-2.93423622e-02 9.99533319e-01 -8.49534061e-03 -2.78114055e+00] [-6.72887834e-03 8.30128843e-03 9.99942904e-01 -1.73259289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.605336195 meters Centerline goodness : 0.561967 with order 2 Centerline is valid? [False, False] Translation: X:175.61, Y:-2.78, Z:-0.18 [[ 9.99532066e-01 3.00579925e-02 5.67157100e-03 1.75612985e+02] [-3.00076743e-02 9.99511301e-01 -8.75780392e-03 -2.78036322e+00] [-5.93204131e-03 8.58351519e-03 9.99945566e-01 -1.79369877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.665336195 meters Centerline goodness : 0.327565 with order 2 Centerline is valid? [False, False] Translation: X:175.64, Y:-2.78, Z:-0.18 [[ 9.99538267e-01 3.03151010e-02 2.06116550e-03 1.75641078e+02] [-3.03060402e-02 9.99531445e-01 -4.29358359e-03 -2.77559821e+00] [-2.19036015e-03 4.22913534e-03 9.99988658e-01 -1.79168222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.725336195 meters Centerline goodness : 0.291310 with order 2 Centerline is valid? [False, False] Translation: X:175.64, Y:-2.77, Z:-0.18 [[ 9.99661937e-01 2.59101802e-02 2.16190379e-03 1.75644042e+02] [-2.58897780e-02 9.99624429e-01 -8.98443033e-03 -2.77141045e+00] [-2.39388005e-03 8.92542182e-03 9.99957302e-01 -1.79525219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.785336195 meters Centerline goodness : 0.342085 with order 2 Centerline is valid? [False, False] Translation: X:175.66, Y:-2.77, Z:-0.17 [[ 9.99832450e-01 1.82869994e-02 -8.10341379e-04 1.75662318e+02] [-1.82957508e-02 9.99753472e-01 -1.25801742e-02 -2.76835313e+00] [ 5.80087969e-04 1.25928922e-02 9.99920538e-01 -1.74419276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.84533619500002 meters Centerline goodness : 0.276770 with order 2 Centerline is valid? [False, False] Translation: X:175.70, Y:-2.76, Z:-0.19 [[ 9.99903934e-01 1.37524291e-02 1.73030664e-03 1.75696498e+02] [-1.37405868e-02 9.99883285e-01 -6.67930803e-03 -2.76327745e+00] [-1.82196140e-03 6.65489095e-03 9.99976196e-01 -1.86841637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.90533619500002 meters Centerline goodness : 0.273794 with order 2 Centerline is valid? [False, False] Translation: X:175.70, Y:-2.77, Z:-0.19 [[ 9.99900405e-01 1.40072267e-02 1.72536341e-03 1.75701475e+02] [-1.39954576e-02 9.99879917e-01 -6.65423160e-03 -2.76754911e+00] [-1.81836356e-03 6.62942163e-03 9.99976372e-01 -1.88422701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.965336195 meters Centerline goodness : 0.286143 with order 2 Centerline is valid? [False, False] Translation: X:175.73, Y:-2.77, Z:-0.19 [[ 9.99892102e-01 1.45646256e-02 -1.91203984e-03 1.75728212e+02] [-1.45671935e-02 9.99893000e-01 -1.33604981e-03 -2.76716970e+00] [ 1.89237618e-03 1.36375871e-03 9.99997280e-01 -1.87286744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.025336195 meters Centerline goodness : 0.260427 with order 2 Centerline is valid? [False, False] Translation: X:175.74, Y:-2.76, Z:-0.19 [[ 9.99871253e-01 1.57803925e-02 -2.90786782e-03 1.75741940e+02] [-1.57840882e-02 9.99874639e-01 -1.25239572e-03 -2.76444219e+00] [ 2.88773999e-03 1.29813252e-03 9.99994988e-01 -1.93904933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.085336195 meters Centerline goodness : 0.263701 with order 2 Centerline is valid? [False, False] Translation: X:175.75, Y:-2.77, Z:-0.20 [[ 9.99868527e-01 1.58226751e-02 -3.54568684e-03 1.75750939e+02] [-1.58279928e-02 9.99873639e-01 -1.47677238e-03 -2.76537140e+00] [ 3.52187231e-03 1.53269933e-03 9.99992624e-01 -1.99811833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.145336195 meters Centerline goodness : 0.263563 with order 2 Centerline is valid? [False, False] Translation: X:175.77, Y:-2.76, Z:-0.20 [[ 9.99839749e-01 1.66409987e-02 -6.59951192e-03 1.75772140e+02] [-1.66176256e-02 9.99855506e-01 3.58079510e-03 -2.76186916e+00] [ 6.65814634e-03 -3.47055305e-03 9.99971812e-01 -1.95508600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.205336195 meters Centerline goodness : 0.237404 with order 2 Centerline is valid? [False, False] Translation: X:175.82, Y:-2.76, Z:-0.20 [[ 9.99862884e-01 1.65565034e-02 -3.10327605e-04 1.75818351e+02] [-1.65556959e-02 9.99859954e-01 2.44561763e-03 -2.76201700e+00] [ 3.50775022e-04 -2.44014461e-03 9.99996961e-01 -2.02169901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.265336195 meters Centerline goodness : 0.246873 with order 2 Centerline is valid? [False, False] Translation: X:175.83, Y:-2.76, Z:-0.21 [[ 9.99854621e-01 1.70268553e-02 -9.07677619e-04 1.75829491e+02] [-1.70246731e-02 9.99852285e-01 2.35992807e-03 -2.76323215e+00] [ 9.47725695e-04 -2.34413207e-03 9.99996803e-01 -2.07999945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.325336195 meters Centerline goodness : 0.142351 with order 1 Centerline is valid? [False, False] Translation: X:175.84, Y:-2.76, Z:-0.21 [[ 9.99757436e-01 2.19968070e-02 -1.09977397e-03 1.75838892e+02] [-2.19888984e-02 9.99735433e-01 6.74923150e-03 -2.76091043e+00] [ 1.24794455e-03 -6.72341156e-03 9.99976619e-01 -2.12214835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.385336195 meters Centerline goodness : 0.224175 with order 1 Centerline is valid? [False, False] Translation: X:175.85, Y:-2.76, Z:-0.22 [[ 9.99796243e-01 2.01175865e-02 -1.65965857e-03 1.75851565e+02] [-2.01125798e-02 9.99793280e-01 2.98015062e-03 -2.75764416e+00] [ 1.71926892e-03 -2.94616338e-03 9.99994182e-01 -2.18569774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.445336195 meters Centerline goodness : 0.145768 with order 1 Centerline is valid? [False, False] Translation: X:175.88, Y:-2.76, Z:-0.22 [[ 9.99805678e-01 1.88956692e-02 -5.61787863e-03 1.75884036e+02] [-1.88480591e-02 9.99786987e-01 8.41023454e-03 -2.75729711e+00] [ 5.77559896e-03 -8.30271414e-03 9.99948852e-01 -2.19875247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.505336195 meters Centerline goodness : 0.114400 with order 1 Centerline is valid? [False, False] Translation: X:175.89, Y:-2.76, Z:-0.22 [[ 9.99874916e-01 1.47923947e-02 -5.59795803e-03 1.75888435e+02] [-1.47697594e-02 9.99882664e-01 4.06345146e-03 -2.75696113e+00] [ 5.65740937e-03 -3.98026270e-03 9.99976075e-01 -2.20991718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.56533619500001 meters Centerline goodness : 0.155070 with order 1 Centerline is valid? [False, False] Translation: X:175.92, Y:-2.75, Z:-0.22 [[ 9.99897236e-01 1.09914407e-02 -9.20353763e-03 1.75916661e+02] [-1.09417942e-02 9.99925408e-01 5.42737417e-03 -2.75414164e+00] [ 9.26250578e-03 -5.32611322e-03 9.99942918e-01 -2.20481199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.62533619500002 meters Centerline goodness : 0.157465 with order 1 Centerline is valid? [False, False] Translation: X:175.96, Y:-2.75, Z:-0.23 [[ 9.99936777e-01 1.10356808e-02 -2.15767128e-03 1.75959734e+02] [-1.10253381e-02 9.99927947e-01 4.74795088e-03 -2.75018643e+00] [ 2.20991268e-03 -4.72386164e-03 9.99986401e-01 -2.25762059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.68533619500002 meters Centerline goodness : 0.162335 with order 1 Centerline is valid? [False, False] Translation: X:175.96, Y:-2.75, Z:-0.23 [[ 9.99938128e-01 1.09507998e-02 -1.95456171e-03 1.75962884e+02] [-1.09417251e-02 9.99929581e-01 4.59463863e-03 -2.74913043e+00] [ 2.00473904e-03 -4.57296807e-03 9.99987534e-01 -2.26275051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.745336195 meters Centerline goodness : 0.106299 with order 1 Centerline is valid? [False, False] Translation: X:175.97, Y:-2.75, Z:-0.23 [[ 9.99941338e-01 1.06777850e-02 -1.81802108e-03 1.75966424e+02] [-1.06700615e-02 9.99934226e-01 4.20625307e-03 -2.74577407e+00] [ 1.86281496e-03 -4.18660792e-03 9.99989501e-01 -2.27180623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.805336195 meters Centerline goodness : 0.169732 with order 1 Centerline is valid? [False, False] Translation: X:176.00, Y:-2.74, Z:-0.23 [[ 9.99959585e-01 6.58570249e-03 -6.12026151e-03 1.75997604e+02] [-6.55790977e-03 9.99968145e-01 4.55012824e-03 -2.74182666e+00] [ 6.15003234e-03 -4.50980822e-03 9.99970919e-01 -2.30267827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.865336195 meters Centerline goodness : 0.113581 with order 1 Centerline is valid? [False, False] Translation: X:176.05, Y:-2.74, Z:-0.24 [[ 9.99983309e-01 5.73518046e-03 -7.00224376e-04 1.76049438e+02] [-5.73299326e-03 9.99978803e-01 3.08660779e-03 -2.73608385e+00] [ 7.17911785e-04 -3.08254188e-03 9.99994991e-01 -2.41143599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.925336195 meters Centerline goodness : 0.177349 with order 1 Centerline is valid? [False, False] Translation: X:176.05, Y:-2.73, Z:-0.24 [[ 9.99985444e-01 5.36371318e-03 -5.85273590e-04 1.76053482e+02] [-5.36224349e-03 9.99982537e-01 2.48443004e-03 -2.73111134e+00] [ 5.98589139e-04 -2.48125550e-03 9.99996743e-01 -2.42278344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.985336195 meters Centerline goodness : 0.111707 with order 1 Centerline is valid? [False, False] Translation: X:176.07, Y:-2.73, Z:-0.25 [[ 9.99989011e-01 4.42654142e-03 -1.54396347e-03 1.76067237e+02] [-4.42330608e-03 9.99988028e-01 2.09263261e-03 -2.73099338e+00] [ 1.55320811e-03 -2.08578019e-03 9.99996619e-01 -2.49083346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.045336195 meters Centerline goodness : 0.111462 with order 1 Centerline is valid? [False, False] Translation: X:176.07, Y:-2.74, Z:-0.25 [[ 9.99992528e-01 3.49398957e-03 -1.65404228e-03 1.76072289e+02] [-3.49003841e-03 9.99991064e-01 2.38567810e-03 -2.73510339e+00] [ 1.66236304e-03 -2.37988761e-03 9.99995786e-01 -2.50153172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.105336195 meters Centerline goodness : 0.111280 with order 1 Centerline is valid? [False, False] Translation: X:176.08, Y:-2.74, Z:-0.25 [[ 9.99993031e-01 3.34096600e-03 -1.66600242e-03 1.76076632e+02] [-3.33644672e-03 9.99990767e-01 2.70808938e-03 -2.73624586e+00] [ 1.67503467e-03 -2.70251198e-03 9.99994945e-01 -2.50924328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.165336195 meters Centerline goodness : 0.110028 with order 1 Centerline is valid? [False, False] Translation: X:176.09, Y:-2.74, Z:-0.26 [[ 9.99996015e-01 9.68166414e-04 -2.65172966e-03 1.76087310e+02] [-9.69246745e-04 9.99999448e-01 -4.06151468e-04 -2.74137999e+00] [ 2.65133497e-03 4.08720030e-04 9.99996402e-01 -2.55606054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.225336195 meters Centerline goodness : 0.090835 with order 1 Centerline is valid? [False, False] Translation: X:176.10, Y:-2.74, Z:-0.26 [[ 9.99982481e-01 4.94220103e-03 -3.25779237e-03 1.76095757e+02] [-4.92980836e-03 9.99980624e-01 3.80112447e-03 -2.74344139e+00] [ 3.27651517e-03 -3.78499758e-03 9.99987469e-01 -2.59481041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.285336195 meters Centerline goodness : 0.090696 with order 1 Centerline is valid? [False, False] Translation: X:176.11, Y:-2.75, Z:-0.27 [[ 9.99939305e-01 1.01031362e-02 -4.39464364e-03 1.76108814e+02] [-1.00658302e-02 9.99913805e-01 8.42982989e-03 -2.74541820e+00] [ 4.47943256e-03 -8.38508250e-03 9.99954812e-01 -2.66166542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.34533619500002 meters Centerline goodness : 0.091614 with order 1 Centerline is valid? [False, False] Translation: X:176.12, Y:-2.75, Z:-0.27 [[ 9.99916719e-01 1.16451223e-02 -5.56296671e-03 1.76121924e+02] [-1.15959773e-02 9.99894161e-01 8.78635463e-03 -2.74592482e+00] [ 5.66469611e-03 -8.72111485e-03 9.99945925e-01 -2.73295974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.40533619500002 meters Centerline goodness : 0.094641 with order 1 Centerline is valid? [False, False] Translation: X:176.13, Y:-2.75, Z:-0.27 [[ 9.99857309e-01 1.60257884e-02 -5.34190953e-03 1.76125858e+02] [-1.59538622e-02 9.99784990e-01 1.32456436e-02 -2.74703812e+00] [ 5.55303285e-03 -1.31585294e-02 9.99898003e-01 -2.73106148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.465336195 meters Centerline goodness : 0.157366 with order 1 Centerline is valid? [False, False] Translation: X:176.13, Y:-2.75, Z:-0.27 [[ 9.99911346e-01 1.21077542e-02 -5.54092588e-03 1.76129390e+02] [-1.20568799e-02 9.99885680e-01 9.12465003e-03 -2.74779982e+00] [ 5.65077146e-03 -9.05703482e-03 9.99943018e-01 -2.73788704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.525336195 meters Centerline goodness : 0.109537 with order 1 Centerline is valid? [False, False] Translation: X:176.14, Y:-2.75, Z:-0.28 [[ 9.99935725e-01 8.96030095e-03 -6.94685304e-03 1.76143022e+02] [-8.92338477e-03 9.99945997e-01 5.32699426e-03 -2.74741538e+00] [ 6.99420936e-03 -5.26466243e-03 9.99961681e-01 -2.81220056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.585336195 meters Centerline goodness : 0.109469 with order 1 Centerline is valid? [False, False] Translation: X:176.16, Y:-2.74, Z:-0.29 [[ 9.99914008e-01 1.01059737e-02 -8.35737570e-03 1.76156337e+02] [-1.00593900e-02 9.99933737e-01 5.59734117e-03 -2.74421943e+00] [ 8.41338849e-03 -5.51278974e-03 9.99949411e-01 -2.88096250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.645336195 meters Centerline goodness : 0.108566 with order 1 Centerline is valid? [False, False] Translation: X:176.17, Y:-2.74, Z:-0.29 [[ 9.99923204e-01 8.21939320e-03 -9.27508361e-03 1.76166401e+02] [-8.19773549e-03 9.99963588e-01 2.37065053e-03 -2.74477376e+00] [ 9.29423119e-03 -2.29443379e-03 9.99954175e-01 -2.92768937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.705336195 meters Centerline goodness : 0.109191 with order 1 Centerline is valid? [False, False] Translation: X:176.17, Y:-2.75, Z:-0.29 [[ 9.99923509e-01 8.26619779e-03 -9.20034899e-03 1.76169298e+02] [-8.24012002e-03 9.99961935e-01 2.86874023e-03 -2.74808820e+00] [ 9.22371235e-03 -2.79270881e-03 9.99953561e-01 -2.92627266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.765336195 meters Centerline goodness : 0.082675 with order 1 Centerline is valid? [False, False] Translation: X:176.17, Y:-2.75, Z:-0.29 [[ 9.99922064e-01 8.27601809e-03 -9.34732802e-03 1.76172677e+02] [-8.24715335e-03 9.99961117e-01 3.12235614e-03 -2.74934720e+00] [ 9.37280524e-03 -3.04502395e-03 9.99951438e-01 -2.92465842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.825336195 meters Centerline goodness : 0.082017 with order 1 Centerline is valid? [False, False] Translation: X:176.18, Y:-2.75, Z:-0.29 [[ 9.99946276e-01 4.83388575e-03 -9.16941740e-03 1.76176315e+02] [-4.84204028e-03 9.99987901e-01 -8.67326661e-04 -2.74976505e+00] [ 9.16511390e-03 9.11678753e-04 9.99957584e-01 -2.92767328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.885336195 meters Centerline goodness : 0.081719 with order 1 Centerline is valid? [False, False] Translation: X:176.18, Y:-2.75, Z:-0.29 [[ 9.99941177e-01 4.88744968e-03 -9.68268744e-03 1.76180175e+02] [-4.89596533e-03 9.99987648e-01 -8.55963170e-04 -2.74948446e+00] [ 9.67838437e-03 9.03318922e-04 9.99952755e-01 -2.93425304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.945336195 meters Centerline goodness : 0.081658 with order 1 Centerline is valid? [False, False] Translation: X:176.18, Y:-2.75, Z:-0.29 [[ 9.99936509e-01 5.05750287e-03 -1.00697633e-02 1.76183423e+02] [-5.06522749e-03 9.99986897e-01 -7.41754670e-04 -2.75009488e+00] [ 1.00658799e-02 7.92713217e-04 9.99949024e-01 -2.93607160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.005336195 meters Centerline goodness : 0.082171 with order 1 Centerline is valid? [False, False] Translation: X:176.19, Y:-2.75, Z:-0.29 [[ 9.99929233e-01 5.28483263e-03 -1.06582640e-02 1.76187471e+02] [-5.29463855e-03 9.99985585e-01 -8.92022999e-04 -2.74883827e+00] [ 1.06533962e-02 9.48391530e-04 9.99942801e-01 -2.94906368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.06533619500001 meters Centerline goodness : 0.082281 with order 1 Centerline is valid? [False, False] Translation: X:176.19, Y:-2.75, Z:-0.30 [[ 9.99926794e-01 5.24170542e-03 -1.09055749e-02 1.76188933e+02] [-5.25448102e-03 9.99985542e-01 -1.14315146e-03 -2.74706074e+00] [ 1.08994252e-02 1.20037091e-03 9.99939879e-01 -2.95323895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.12533619500002 meters Centerline goodness : 0.082321 with order 1 Centerline is valid? [False, False] Translation: X:176.19, Y:-2.74, Z:-0.30 [[ 9.99918228e-01 5.61042760e-03 -1.14917493e-02 1.76192252e+02] [-5.62822552e-03 9.99983011e-01 -1.51700182e-03 -2.74309340e+00] [ 1.14830430e-02 1.58155593e-03 9.99932817e-01 -2.95313447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.18533619500002 meters Centerline goodness : 0.088791 with order 1 Centerline is valid? [False, False] Translation: X:176.19, Y:-2.74, Z:-0.29 [[ 9.99921029e-01 5.38289087e-03 -1.13560416e-02 1.76194426e+02] [-5.39956785e-03 9.99984388e-01 -1.43840709e-03 -2.74386751e+00] [ 1.13481215e-02 1.49961122e-03 9.99934484e-01 -2.94928579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.245336195 meters Centerline goodness : 0.082480 with order 1 Centerline is valid? [False, False] Translation: X:176.22, Y:-2.75, Z:-0.31 [[ 9.99996707e-01 3.52273208e-04 -2.54212394e-03 1.76217509e+02] [-3.49063819e-04 9.99999142e-01 1.26281649e-03 -2.74827965e+00] [ 2.54256662e-03 -1.26192497e-03 9.99995971e-01 -3.05495785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.305336195 meters Centerline goodness : 0.111446 with order 1 Centerline is valid? [False, False] Translation: X:176.22, Y:-2.75, Z:-0.31 [[ 9.99995579e-01 2.23628160e-04 -2.96505045e-03 1.76220454e+02] [-2.21104983e-04 9.99999613e-01 8.51273211e-04 -2.74542080e+00] [ 2.96523967e-03 -8.50613861e-04 9.99995242e-01 -3.06585796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.365336195 meters Centerline goodness : 0.149423 with order 1 Centerline is valid? [False, False] Translation: X:176.22, Y:-2.75, Z:-0.31 [[ 9.99994118e-01 1.42104361e-04 -3.42683001e-03 1.76223301e+02] [-1.38348318e-04 9.99999390e-01 1.09628129e-03 -2.74731366e+00] [ 3.42698370e-03 -1.09580075e-03 9.99993527e-01 -3.07233780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.425336195 meters Centerline goodness : 0.116796 with order 1 Centerline is valid? [False, False] Translation: X:176.23, Y:-2.75, Z:-0.31 [[ 9.99992541e-01 2.53898819e-04 -3.85398590e-03 1.76225916e+02] [-2.50570399e-04 9.99999595e-01 8.64089030e-04 -2.74555065e+00] [ 3.85420373e-03 -8.63116890e-04 9.99992200e-01 -3.07192942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.485336195 meters Centerline goodness : 0.115850 with order 1 Centerline is valid? [False, False] Translation: X:176.22, Y:-2.74, Z:-0.30 [[ 9.99990788e-01 1.61658248e-03 -3.97625197e-03 1.76223735e+02] [-1.61041519e-03 9.99997496e-01 1.55374573e-03 -2.74202502e+00] [ 3.97875377e-03 -1.54732801e-03 9.99990888e-01 -3.03545414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.545336195 meters Centerline goodness : 0.114764 with order 1 Centerline is valid? [False, False] Translation: X:176.22, Y:-2.74, Z:-0.30 [[ 9.99990908e-01 -2.82887734e-04 -4.25487087e-03 1.76221947e+02] [ 2.83936672e-04 9.99999929e-01 2.45924447e-04 -2.74410258e+00] [ 4.25480100e-03 -2.47130325e-04 9.99990918e-01 -2.99813525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.605336195 meters Centerline goodness : 0.106055 with order 1 Centerline is valid? [False, False] Translation: X:176.22, Y:-2.74, Z:-0.30 [[ 9.99978905e-01 -4.73671565e-03 -4.44436043e-03 1.76224140e+02] [ 4.71757010e-03 9.99979591e-01 -4.30847127e-03 -2.74232264e+00] [ 4.46467773e-03 4.28741380e-03 9.99980842e-01 -2.99895301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.665336195 meters Centerline goodness : 0.099192 with order 1 Centerline is valid? [False, False] Translation: X:176.23, Y:-2.75, Z:-0.30 [[ 9.99971982e-01 -5.35015482e-03 -5.23564048e-03 1.76227951e+02] [ 5.33135760e-03 9.99979317e-01 -3.59763652e-03 -2.74947321e+00] [ 5.25478010e-03 3.56962265e-03 9.99979822e-01 -3.00098521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.725336195 meters Centerline goodness : 0.099149 with order 1 Centerline is valid? [False, False] Translation: X:176.23, Y:-2.75, Z:-0.30 [[ 9.99971163e-01 -5.07764970e-03 -5.64715969e-03 1.76230258e+02] [ 5.06084781e-03 9.99982737e-01 -2.98560227e-03 -2.75281756e+00] [ 5.66222205e-03 2.95693675e-03 9.99979598e-01 -3.00631932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.785336195 meters Centerline goodness : 0.101414 with order 1 Centerline is valid? [False, False] Translation: X:176.23, Y:-2.75, Z:-0.30 [[ 9.99972529e-01 -4.30108657e-03 -6.03673040e-03 1.76232154e+02] [ 4.28446510e-03 9.99987003e-01 -2.76362539e-03 -2.75226984e+00] [ 6.04853854e-03 2.73768531e-03 9.99977960e-01 -3.00720620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.84533619500002 meters Centerline goodness : 0.101201 with order 1 Centerline is valid? [False, False] Translation: X:176.24, Y:-2.76, Z:-0.30 [[ 9.99976472e-01 -9.30190977e-04 -6.79626339e-03 1.76238988e+02] [ 9.34575188e-04 9.99999357e-01 6.41944138e-04 -2.75524626e+00] [ 6.79566190e-03 -6.48280654e-04 9.99976699e-01 -3.04528079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.90533619500002 meters Centerline goodness : 0.102777 with order 1 Centerline is valid? [False, False] Translation: X:176.19, Y:-2.76, Z:-0.31 [[ 9.99994627e-01 3.15964067e-03 -8.73678676e-04 1.76190236e+02] [-3.15479848e-03 9.99979958e-01 5.48922385e-03 -2.75727597e+00] [ 8.91005140e-04 -5.48643807e-03 9.99984552e-01 -3.05528428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.965336195 meters Centerline goodness : 0.105675 with order 1 Centerline is valid? [False, False] Translation: X:176.14, Y:-2.76, Z:-0.31 [[ 9.99971541e-01 6.41515444e-03 3.97034898e-03 1.76143253e+02] [-6.45430706e-03 9.99929883e-01 9.92828187e-03 -2.76023767e+00] [-3.90637913e-03 -9.95362517e-03 9.99942831e-01 -3.06603149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.025336195 meters Centerline goodness : 0.102654 with order 1 Centerline is valid? [False, False] Translation: X:176.15, Y:-2.76, Z:-0.31 [[ 9.99972230e-01 6.65055041e-03 3.36298044e-03 1.76145871e+02] [-6.68198174e-03 9.99933276e-01 9.42304534e-03 -2.75664710e+00] [-3.30008761e-03 -9.44525503e-03 9.99949947e-01 -3.07165324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.085336195 meters Centerline goodness : 0.102702 with order 1 Centerline is valid? [False, False] Translation: X:176.15, Y:-2.75, Z:-0.31 [[ 9.99973887e-01 6.54834218e-03 3.05698656e-03 1.76147471e+02] [-6.57562590e-03 9.99937861e-01 9.00197584e-03 -2.75437625e+00] [-2.99784859e-03 -9.02184237e-03 9.99954809e-01 -3.07840559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.145336195 meters Centerline goodness : 0.100846 with order 1 Centerline is valid? [False, False] Translation: X:176.15, Y:-2.75, Z:-0.31 [[ 9.99993405e-01 2.14176393e-03 2.93311130e-03 1.76148351e+02] [-2.15327420e-03 9.99989972e-01 3.92673229e-03 -2.74990127e+00] [-2.92467176e-03 -3.93302218e-03 9.99987989e-01 -3.07195499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.205336195 meters Centerline goodness : 0.196275 with order 3 Centerline is valid? [False, False] Translation: X:176.14, Y:-2.75, Z:-0.30 [[ 9.99994021e-01 -2.14435109e-04 3.45138554e-03 1.76144052e+02] [ 2.09373920e-04 9.99998902e-01 1.46671670e-03 -2.74626596e+00] [-3.45169627e-03 -1.46598530e-03 9.99992968e-01 -3.03909973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.265336195 meters Centerline goodness : 0.217700 with order 3 Centerline is valid? [False, False] Translation: X:176.10, Y:-2.75, Z:-0.30 [[ 9.99968837e-01 -4.03310275e-03 6.78666205e-03 1.76095661e+02] [ 4.04457538e-03 9.99990414e-01 -1.67759144e-03 -2.74674887e+00] [-6.77983109e-03 1.70498832e-03 9.99975563e-01 -3.02702421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.325336195 meters Centerline goodness : 0.209694 with order 3 Centerline is valid? [False, False] Translation: X:176.11, Y:-2.75, Z:-0.31 [[ 9.99906545e-01 -6.56529748e-03 1.19916106e-02 1.76110927e+02] [ 6.47277724e-03 9.99949112e-01 7.73799883e-03 -2.74796566e+00] [-1.20418026e-02 -7.65965665e-03 9.99898157e-01 -3.06075806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.385336195 meters Centerline goodness : 0.835806 with order 3 Centerline is valid? [False, False] Translation: X:176.09, Y:-2.74, Z:-0.30 [[ 9.99943373e-01 -5.77508817e-03 8.93858734e-03 1.76089720e+02] [ 5.80158488e-03 9.99978845e-01 -2.94122128e-03 -2.74141887e+00] [-8.92141243e-03 2.99291271e-03 9.99955724e-01 -3.02608001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.445336195 meters Centerline goodness : 0.212021 with order 3 Centerline is valid? [False, False] Translation: X:176.11, Y:-2.74, Z:-0.31 [[ 9.99889398e-01 -6.57763650e-03 1.33388812e-02 1.76107110e+02] [ 6.47300281e-03 9.99948062e-01 7.87232294e-03 -2.74052279e+00] [-1.33899697e-02 -7.78510963e-03 9.99880043e-01 -3.06557801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.505336195 meters Centerline goodness : 0.866862 with order 1 Centerline is valid? [False, False] Translation: X:176.06, Y:-2.73, Z:-0.30 [[ 9.99948273e-01 -2.33251537e-03 9.90006556e-03 1.76064646e+02] [ 2.39604088e-03 9.99976587e-01 -6.40967297e-03 -2.73142945e+00] [-9.88488311e-03 6.43306238e-03 9.99930450e-01 -3.04585443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.56533619500001 meters Centerline goodness : 0.893757 with order 3 Centerline is valid? [False, False] Translation: X:176.04, Y:-2.73, Z:-0.30 [[ 9.99956854e-01 -6.38023900e-03 6.75143601e-03 1.76042275e+02] [ 6.37913003e-03 9.99979636e-01 1.85778580e-04 -2.72882222e+00] [-6.75248383e-03 -1.42702276e-04 9.99977192e-01 -2.99291446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.62533619500002 meters Centerline goodness : 0.091986 with order 1 Centerline is valid? [False, False] Translation: X:176.00, Y:-2.71, Z:-0.30 [[ 9.99904849e-01 -1.12285190e-02 8.01336447e-03 1.75997142e+02] [ 1.12907014e-02 9.99906168e-01 -7.75724729e-03 -2.71374824e+00] [-7.92551016e-03 7.84698568e-03 9.99937804e-01 -2.98336861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.68533619500002 meters Centerline goodness : 0.089160 with order 1 Centerline is valid? [False, False] Translation: X:175.95, Y:-2.70, Z:-0.29 [[ 9.99938240e-01 -1.04744765e-02 3.71516187e-03 1.75952544e+02] [ 1.05675546e-02 9.99606408e-01 -2.59875945e-02 -2.70309888e+00] [-3.44149317e-03 2.60252496e-02 9.99655362e-01 -2.94324434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.745336195 meters Centerline goodness : 0.090913 with order 1 Centerline is valid? [False, False] Translation: X:175.91, Y:-2.70, Z:-0.30 [[ 9.99918689e-01 -1.21906186e-02 3.74230763e-03 1.75909803e+02] [ 1.22927940e-02 9.99514889e-01 -2.86159631e-02 -2.69538779e+00] [-3.39164590e-03 2.86596398e-02 9.99583474e-01 -2.95373543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.805336195 meters Centerline goodness : 0.993911 with order 1 Centerline is valid? [False, True] Translation: X:175.89, Y:-2.70, Z:-0.29 [[ 9.99890729e-01 -1.47719161e-02 5.66624888e-04 1.75888733e+02] [ 1.47802862e-02 9.99691374e-01 -1.99674525e-02 -2.69595246e+00] [-2.71492481e-04 1.99736455e-02 9.99800470e-01 -2.91874920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.865336195 meters Centerline goodness : 0.990827 with order 1 Centerline is valid? [True, True] Translation: X:175.95, Y:-2.70, Z:-0.27 [[ 9.99818737e-01 -1.90385295e-02 -1.63766377e-04 1.75949404e+02] [ 1.90385287e-02 9.99818751e-01 -5.99195500e-06 -2.70215053e+00] [ 1.63850773e-04 2.87299801e-06 9.99999987e-01 -2.72578059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.925336195 meters Centerline goodness : 0.995611 with order 1 Centerline is valid? [True, True] Translation: X:176.01, Y:-2.70, Z:-0.30 [[ 9.99809715e-01 -1.95065696e-02 -1.63766349e-04 1.76008205e+02] [ 1.95065689e-02 9.99809729e-01 -5.99272863e-06 -2.69620960e+00] [ 1.63852086e-04 2.79706873e-06 9.99999987e-01 -2.99636230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.985336195 meters Centerline goodness : 0.996660 with order 1 Centerline is valid? [True, True] Translation: X:176.07, Y:-2.69, Z:-0.30 [[ 9.99800625e-01 -1.99670686e-02 -1.63766077e-04 1.76067288e+02] [ 1.99670679e-02 9.99800638e-01 -6.00014489e-06 -2.68843597e+00] [ 1.63853234e-04 2.72902024e-06 9.99999987e-01 -3.00114371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.045336195 meters Centerline goodness : 0.997507 with order 1 Centerline is valid? [True, True] Translation: X:176.13, Y:-2.68, Z:-0.31 [[ 9.99794611e-01 -2.02659337e-02 -1.63765200e-04 1.76128138e+02] [ 2.02659329e-02 9.99794625e-01 -6.02398959e-06 -2.68464387e+00] [ 1.63853649e-04 2.70389777e-06 9.99999987e-01 -3.11636928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.105336195 meters Centerline goodness : 0.996406 with order 1 Centerline is valid? [True, True] Translation: X:176.19, Y:-2.68, Z:-0.28 [[ 9.99722685e-01 -2.35483742e-02 -1.63765181e-04 1.76188550e+02] [ 2.35483736e-02 9.99722699e-01 -6.02450809e-06 -2.67543200e+00] [ 1.63861636e-04 2.16643375e-06 9.99999987e-01 -2.77041423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.165336195 meters Centerline goodness : 0.998570 with order 1 Centerline is valid? [True, True] Translation: X:176.25, Y:-2.67, Z:-0.29 [[ 9.99740895e-01 -2.27621813e-02 -1.63765145e-04 1.76246801e+02] [ 2.27621806e-02 9.99740908e-01 -6.02548952e-06 -2.67366965e+00] [ 1.63859868e-04 2.29627649e-06 9.99999987e-01 -2.88064965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.225336195 meters Centerline goodness : 0.998470 with order 1 Centerline is valid? [True, True] Translation: X:176.30, Y:-2.67, Z:-0.29 [[ 9.99827261e-01 -1.85855272e-02 -1.63764902e-04 1.76304768e+02] [ 1.85855264e-02 9.99827274e-01 -6.03209347e-06 -2.66887361e+00] [ 1.63848725e-04 2.98739458e-06 9.99999987e-01 -2.86715257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.285336195 meters Centerline goodness : 0.998874 with order 1 Centerline is valid? [True, True] Translation: X:176.36, Y:-2.66, Z:-0.28 [[ 9.99941349e-01 -1.08291902e-02 -1.63764610e-04 1.76363096e+02] [ 1.08291893e-02 9.99941363e-01 -6.04000995e-06 -2.66019464e+00] [ 1.63820415e-04 4.26621774e-06 9.99999987e-01 -2.83923895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.34533619500002 meters Centerline goodness : 0.998944 with order 1 Centerline is valid? [True, True] Translation: X:176.42, Y:-2.66, Z:-0.28 [[ 9.99988488e-01 -4.79560194e-03 -1.63763609e-04 1.76423257e+02] [ 4.79560101e-03 9.99988501e-01 -6.06701999e-06 -2.65953135e+00] [ 1.63790821e-04 5.28160521e-06 9.99999987e-01 -2.84248737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.40533619500002 meters Centerline goodness : 0.999275 with order 1 Centerline is valid? [True, True] Translation: X:176.48, Y:-2.65, Z:-0.28 [[ 9.99999728e-01 -7.19115917e-04 -1.63763537e-04 1.76482701e+02] [ 7.19114933e-04 9.99999741e-01 -6.06896229e-06 -2.65177496e+00] [ 1.63767859e-04 5.95119583e-06 9.99999987e-01 -2.84302000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.465336195 meters Centerline goodness : 0.999236 with order 1 Centerline is valid? [True, True] Translation: X:176.54, Y:-2.65, Z:-0.28 [[ 9.99999984e-01 -7.08463627e-05 -1.63763466e-04 1.76542952e+02] [ 7.08453695e-05 9.99999997e-01 -6.07087887e-06 -2.65215466e+00] [ 1.63763896e-04 6.05927689e-06 9.99999987e-01 -2.80228122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.525336195 meters Centerline goodness : 0.999413 with order 1 Centerline is valid? [True, True] Translation: X:176.60, Y:-2.65, Z:-0.28 [[ 9.99999778e-01 -6.46145820e-04 -1.63763466e-04 1.76603160e+02] [ 6.46144834e-04 9.99999791e-01 -6.07087887e-06 -2.64898229e+00] [ 1.63767354e-04 5.96506260e-06 9.99999987e-01 -2.82593366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.585336195 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:176.66, Y:-2.64, Z:-0.28 [[ 9.99999285e-01 -1.18420647e-03 -1.63763466e-04 1.76663810e+02] [ 1.18420549e-03 9.99999299e-01 -6.07087887e-06 -2.64157682e+00] [ 1.63770540e-04 5.87694493e-06 9.99999987e-01 -2.82557901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.645336195 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:176.72, Y:-2.64, Z:-0.28 [[ 9.99995796e-01 -2.89493152e-03 -1.63763466e-04 1.76724579e+02] [ 2.89493057e-03 9.99995810e-01 -6.07087887e-06 -2.63949644e+00] [ 1.63780355e-04 5.59676948e-06 9.99999987e-01 -2.80255505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.705336195 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:176.78, Y:-2.63, Z:-0.28 [[ 9.99984626e-01 -5.54261603e-03 -1.63763466e-04 1.76784631e+02] [ 5.54261511e-03 9.99984640e-01 -6.07087887e-06 -2.63231976e+00] [ 1.63794599e-04 5.16310767e-06 9.99999987e-01 -2.79189310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.765336195 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:176.85, Y:-2.63, Z:-0.28 [[ 9.99963743e-01 -8.51389334e-03 -1.63763466e-04 1.76845242e+02] [ 8.51389246e-03 9.99963756e-01 -6.07087887e-06 -2.62706330e+00] [ 1.63809217e-04 4.67639421e-06 9.99999987e-01 -2.82357729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.825336195 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:176.91, Y:-2.62, Z:-0.28 [[ 9.99930897e-01 -1.17547375e-02 -1.63763466e-04 1.76905905e+02] [ 1.17547366e-02 9.99930911e-01 -6.07087887e-06 -2.62224447e+00] [ 1.63823513e-04 4.14546294e-06 9.99999987e-01 -2.77814334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.97, Y:-2.61, Z:-0.28 [[ 9.99952356e-01 -9.76009842e-03 -1.63763466e-04 1.76965659e+02] [ 9.76009756e-03 9.99952369e-01 -6.07087887e-06 -2.61194058e+00] [ 1.63814918e-04 4.47224222e-06 9.99999987e-01 -2.78274039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.03, Y:-2.61, Z:-0.28 [[ 9.99976854e-01 -6.80185546e-03 -1.63763466e-04 1.77025609e+02] [ 6.80185455e-03 9.99976867e-01 -6.07087887e-06 -2.60989756e+00] [ 1.63800971e-04 4.95684307e-06 9.99999987e-01 -2.79024856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.09, Y:-2.59, Z:-0.28 [[ 9.99995936e-01 -2.84636162e-03 -1.63763398e-04 1.77085984e+02] [ 2.84636066e-03 9.99995949e-01 -6.07272497e-06 -2.59409616e+00] [ 1.63780019e-04 5.60657060e-06 9.99999987e-01 -2.77067938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.06533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.15, Y:-2.58, Z:-0.28 [[ 9.99999953e-01 -2.57321283e-04 -1.63763398e-04 1.77146183e+02] [ 2.57320292e-04 9.99999967e-01 -6.07272497e-06 -2.58219997e+00] [ 1.63764955e-04 6.03058505e-06 9.99999987e-01 -2.75323979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.12533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.21, Y:-2.57, Z:-0.28 [[ 9.99993378e-01 -3.63553861e-03 -1.63763398e-04 1.77206105e+02] [ 3.63553767e-03 9.99993391e-01 -6.07272497e-06 -2.57184919e+00] [ 1.63784393e-04 5.47731676e-06 9.99999987e-01 -2.77090517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.18533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.27, Y:-2.56, Z:-0.28 [[ 9.99945953e-01 -1.03954018e-02 -1.63763398e-04 1.77265521e+02] [ 1.03954009e-02 9.99945966e-01 -6.07272497e-06 -2.55540713e+00] [ 1.63817677e-04 4.37001059e-06 9.99999987e-01 -2.75531616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.33, Y:-2.55, Z:-0.28 [[ 9.99827218e-01 -1.85878045e-02 -1.63763463e-04 1.77326014e+02] [ 1.85878037e-02 9.99827232e-01 -6.07094635e-06 -2.55362223e+00] [ 1.63848016e-04 3.02589429e-06 9.99999987e-01 -2.80317833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.39, Y:-2.55, Z:-0.28 [[ 9.99724396e-01 -2.34756404e-02 -1.63763529e-04 1.77386181e+02] [ 2.34756397e-02 9.99724409e-01 -6.06918682e-06 -2.54553201e+00] [ 1.63860875e-04 2.22306053e-06 9.99999987e-01 -2.76902032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.45, Y:-2.54, Z:-0.28 [[ 9.99617437e-01 -2.76577640e-02 -1.63763529e-04 1.77445939e+02] [ 2.76577634e-02 9.99617451e-01 -6.06918682e-06 -2.53983643e+00] [ 1.63868741e-04 1.53753205e-06 9.99999987e-01 -2.77958570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.51, Y:-2.53, Z:-0.28 [[ 9.99492296e-01 -3.18610168e-02 -1.63763544e-04 1.77505999e+02] [ 3.18610163e-02 9.99492309e-01 -6.06876768e-06 -2.53469228e+00] [ 1.63873760e-04 8.48013594e-07 9.99999987e-01 -2.81556428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.57, Y:-2.53, Z:-0.27 [[ 9.99390407e-01 -3.49111245e-02 -1.63763544e-04 1.77566642e+02] [ 3.49111239e-02 9.99390421e-01 -6.06876768e-06 -2.53217198e+00] [ 1.63875585e-04 3.47898816e-07 9.99999987e-01 -2.68323022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.63, Y:-2.53, Z:-0.27 [[ 9.99435660e-01 -3.35906860e-02 -1.63763544e-04 1.77627527e+02] [ 3.35906854e-02 9.99435674e-01 -6.06876768e-06 -2.53118563e+00] [ 1.63874982e-04 5.64413135e-07 9.99999987e-01 -2.68452086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.69, Y:-2.53, Z:-0.27 [[ 9.99634745e-01 -2.70249828e-02 -1.63763622e-04 1.77687471e+02] [ 2.70249822e-02 9.99634758e-01 -6.06666460e-06 -2.52717888e+00] [ 1.63867760e-04 1.63873975e-06 9.99999987e-01 -2.72617807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.665336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:177.75, Y:-2.52, Z:-0.29 [[ 9.99772803e-01 -2.13146811e-02 -1.63763622e-04 1.77746611e+02] [ 2.13146804e-02 9.99772816e-01 -6.06666460e-06 -2.52186707e+00] [ 1.63855727e-04 2.57471701e-06 9.99999987e-01 -2.85168221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.81, Y:-2.52, Z:-0.28 [[ 9.99863585e-01 -1.65161924e-02 -1.63763548e-04 1.77807288e+02] [ 1.65161916e-02 9.99863598e-01 -6.06867711e-06 -2.51653150e+00] [ 1.63841441e-04 3.36309911e-06 9.99999987e-01 -2.76019182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.87, Y:-2.51, Z:-0.28 [[ 9.99895989e-01 -1.44216586e-02 -1.63763548e-04 1.77868064e+02] [ 1.44216578e-02 9.99896002e-01 -6.06867711e-06 -2.51177252e+00] [ 1.63834037e-04 3.70630405e-06 9.99999987e-01 -2.77047417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.84533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.93, Y:-2.51, Z:-0.27 [[ 9.99881688e-01 -1.53812632e-02 -1.63763548e-04 1.77929617e+02] [ 1.53812624e-02 9.99881701e-01 -6.06867711e-06 -2.51144374e+00] [ 1.63837518e-04 3.54906902e-06 9.99999987e-01 -2.70811278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.90533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.99, Y:-2.51, Z:-0.27 [[ 9.99787668e-01 -2.06056289e-02 -1.63763698e-04 1.77990649e+02] [ 2.06056282e-02 9.99787681e-01 -6.06460454e-06 -2.50822997e+00] [ 1.63853893e-04 2.68886295e-06 9.99999987e-01 -2.67975776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.05, Y:-2.51, Z:-0.27 [[ 9.99688792e-01 -2.49457975e-02 -1.63763849e-04 1.78051016e+02] [ 2.49457968e-02 9.99688805e-01 -6.06053492e-06 -2.50625550e+00] [ 1.63864071e-04 1.97342913e-06 9.99999987e-01 -2.69281808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.11, Y:-2.51, Z:-0.27 [[ 9.99692962e-01 -2.47780983e-02 -1.63763923e-04 1.78111713e+02] [ 2.47780976e-02 9.99692976e-01 -6.05852513e-06 -2.51136631e+00] [ 1.63863763e-04 1.99890646e-06 9.99999987e-01 -2.72061910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.17, Y:-2.51, Z:-0.28 [[ 9.99775483e-01 -2.11886184e-02 -1.63763923e-04 1.78171556e+02] [ 2.11886177e-02 9.99775496e-01 -6.05852513e-06 -2.51108711e+00] [ 1.63855529e-04 2.58723373e-06 9.99999987e-01 -2.76911121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.23, Y:-2.51, Z:-0.27 [[ 9.99898619e-01 -1.42381633e-02 -1.63763851e-04 1.78232069e+02] [ 1.42381624e-02 9.99898632e-01 -6.06047907e-06 -2.50900127e+00] [ 1.63833541e-04 3.72816834e-06 9.99999987e-01 -2.74425596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.29, Y:-2.51, Z:-0.27 [[ 9.99956169e-01 -9.36126408e-03 -1.63763851e-04 1.78292442e+02] [ 9.36126321e-03 9.99956182e-01 -6.06047907e-06 -2.51201545e+00] [ 1.63813409e-04 4.52717692e-06 9.99999987e-01 -2.67556235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.35, Y:-2.51, Z:-0.27 [[ 9.99975448e-01 -7.00548075e-03 -1.63763851e-04 1.78352794e+02] [ 7.00547985e-03 9.99975461e-01 -6.06047907e-06 -2.50770120e+00] [ 1.63802289e-04 4.91308591e-06 9.99999987e-01 -2.66074181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.41, Y:-2.51, Z:-0.27 [[ 9.99969090e-01 -7.86084469e-03 -1.63763851e-04 1.78413297e+02] [ 7.86084380e-03 9.99969103e-01 -6.06047907e-06 -2.50984259e+00] [ 1.63806432e-04 4.77296968e-06 9.99999987e-01 -2.73563588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.47, Y:-2.51, Z:-0.27 [[ 9.99967699e-01 -8.03581089e-03 -1.63763926e-04 1.78473484e+02] [ 8.03581001e-03 9.99967712e-01 -6.05846112e-06 -2.50724115e+00] [ 1.63807323e-04 4.74228964e-06 9.99999987e-01 -2.74130984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.53, Y:-2.50, Z:-0.27 [[ 9.99970589e-01 -7.66779961e-03 -1.63763926e-04 1.78533741e+02] [ 7.66779872e-03 9.99970602e-01 -6.05846112e-06 -2.50215006e+00] [ 1.63805566e-04 4.80257412e-06 9.99999987e-01 -2.68351125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.59, Y:-2.50, Z:-0.27 [[ 9.99961059e-01 -8.82346204e-03 -1.63763926e-04 1.78594130e+02] [ 8.82346116e-03 9.99961072e-01 -6.05846112e-06 -2.49735366e+00] [ 1.63811007e-04 4.61326057e-06 9.99999987e-01 -2.67520172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.56533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.65, Y:-2.49, Z:-0.27 [[ 9.99903206e-01 -1.39122918e-02 -1.63763926e-04 1.78653994e+02] [ 1.39122910e-02 9.99903219e-01 -6.05846112e-06 -2.49160885e+00] [ 1.63832364e-04 3.77954332e-06 9.99999987e-01 -2.72743891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.62533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.71, Y:-2.49, Z:-0.27 [[ 9.99833952e-01 -1.82220057e-02 -1.63763926e-04 1.78714524e+02] [ 1.82220049e-02 9.99833965e-01 -6.05846112e-06 -2.48662900e+00] [ 1.63847132e-04 3.07334807e-06 9.99999987e-01 -2.73011214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.68533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.78, Y:-2.48, Z:-0.27 [[ 9.99724115e-01 -2.34875918e-02 -1.63763926e-04 1.78775203e+02] [ 2.34875911e-02 9.99724128e-01 -6.05846112e-06 -2.48054939e+00] [ 1.63861046e-04 2.21036956e-06 9.99999987e-01 -2.69415968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.84, Y:-2.48, Z:-0.27 [[ 9.99606807e-01 -2.80393444e-02 -1.63764133e-04 1.78836332e+02] [ 2.80393438e-02 9.99606820e-01 -6.05285288e-06 -2.47577778e+00] [ 1.63869462e-04 1.45863412e-06 9.99999987e-01 -2.70102488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.90, Y:-2.48, Z:-0.28 [[ 9.99549175e-01 -3.00236520e-02 -1.63764286e-04 1.78896388e+02] [ 3.00236514e-02 9.99549189e-01 -6.04870047e-06 -2.47611208e+00] [ 1.63872064e-04 1.12917172e-06 9.99999987e-01 -2.75167797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.96, Y:-2.47, Z:-0.27 [[ 9.99544853e-01 -3.01672137e-02 -1.63764286e-04 1.78956116e+02] [ 3.01672131e-02 9.99544866e-01 -6.04870047e-06 -2.47111361e+00] [ 1.63872224e-04 1.10563529e-06 9.99999987e-01 -2.72426836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.02, Y:-2.47, Z:-0.27 [[ 9.99562063e-01 -2.95914723e-02 -1.63764654e-04 1.79016257e+02] [ 2.95914717e-02 9.99562076e-01 -6.03872546e-06 -2.47009187e+00] [ 1.63871632e-04 1.19004375e-06 9.99999987e-01 -2.71779730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.08, Y:-2.47, Z:-0.27 [[ 9.99619607e-01 -2.75792319e-02 -1.63764654e-04 1.79076472e+02] [ 2.75792313e-02 9.99619621e-01 -6.03872546e-06 -2.47318311e+00] [ 1.63868905e-04 1.51992510e-06 9.99999987e-01 -2.71242408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.14, Y:-2.47, Z:-0.27 [[ 9.99722723e-01 -2.35467679e-02 -1.63764729e-04 1.79136529e+02] [ 2.35467672e-02 9.99722736e-01 -6.03670678e-06 -2.47080821e+00] [ 1.63861467e-04 2.17890300e-06 9.99999987e-01 -2.70094628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.20, Y:-2.47, Z:-0.27 [[ 9.99776810e-01 -2.11259066e-02 -1.63764729e-04 1.79196751e+02] [ 2.11259059e-02 9.99776823e-01 -6.03670678e-06 -2.47042776e+00] [ 1.63855711e-04 2.57568120e-06 9.99999987e-01 -2.70464927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.26, Y:-2.47, Z:-0.27 [[ 9.99874298e-01 -1.58544008e-02 -1.63764803e-04 1.79257471e+02] [ 1.58544000e-02 9.99874311e-01 -6.03469451e-06 -2.47366626e+00] [ 1.63839896e-04 3.43754325e-06 9.99999987e-01 -2.71828753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.32, Y:-2.47, Z:-0.27 [[ 9.99907813e-01 -1.35771173e-02 -1.63764803e-04 1.79316650e+02] [ 1.35771165e-02 9.99907827e-01 -6.03469451e-06 -2.46863474e+00] [ 1.63831642e-04 3.81068439e-06 9.99999987e-01 -2.71181020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.285336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:179.38, Y:-2.47, Z:-0.27 [[ 9.99917569e-01 -1.28385552e-02 -1.63764729e-04 1.79378320e+02] [ 1.28385544e-02 9.99917582e-01 -6.03670268e-06 -2.47019562e+00] [ 1.63828734e-04 3.93370268e-06 9.99999987e-01 -2.70771872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.34533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.44, Y:-2.47, Z:-0.27 [[ 9.99878492e-01 -1.55876151e-02 -1.63764877e-04 1.79438392e+02] [ 1.55876144e-02 9.99878506e-01 -6.03268265e-06 -2.47129933e+00] [ 1.63839015e-04 3.47924588e-06 9.99999987e-01 -2.72497423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.40533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.50, Y:-2.46, Z:-0.27 [[ 9.99885202e-01 -1.51510737e-02 -1.63764950e-04 1.79498645e+02] [ 1.51510729e-02 9.99885216e-01 -6.03070311e-06 -2.46368493e+00] [ 1.63837524e-04 3.54879611e-06 9.99999987e-01 -2.72508097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.56, Y:-2.46, Z:-0.27 [[ 9.99947892e-01 -1.02072034e-02 -1.63764950e-04 1.79558724e+02] [ 1.02072025e-02 9.99947905e-01 -6.03070311e-06 -2.46001107e+00] [ 1.63817975e-04 4.35880685e-06 9.99999987e-01 -2.74447739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.62, Y:-2.46, Z:-0.28 [[ 9.99971249e-01 -7.58113934e-03 -1.63764950e-04 1.79619562e+02] [ 7.58113846e-03 9.99971263e-01 -6.03070311e-06 -2.45567838e+00] [ 1.63805963e-04 4.78900497e-06 9.99999987e-01 -2.77312811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.68, Y:-2.45, Z:-0.27 [[ 9.99954413e-01 -9.54701361e-03 -1.63765021e-04 1.79679853e+02] [ 9.54701275e-03 9.99954426e-01 -6.02877793e-06 -2.44550120e+00] [ 1.63815114e-04 4.46503635e-06 9.99999987e-01 -2.73645823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.74, Y:-2.44, Z:-0.27 [[ 9.99899839e-01 -1.41522105e-02 -1.63765021e-04 1.79740760e+02] [ 1.41522097e-02 9.99899852e-01 -6.02877793e-06 -2.44226295e+00] [ 1.63833940e-04 3.71053716e-06 9.99999987e-01 -2.74176313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.80, Y:-2.44, Z:-0.27 [[ 9.99856397e-01 -1.69457493e-02 -1.63765021e-04 1.79802173e+02] [ 1.69457486e-02 9.99856410e-01 -6.02877793e-06 -2.44010281e+00] [ 1.63843668e-04 3.25279131e-06 9.99999987e-01 -2.74661097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.86, Y:-2.43, Z:-0.27 [[ 9.99808454e-01 -1.95711231e-02 -1.63765165e-04 1.79861926e+02] [ 1.95711224e-02 9.99808467e-01 -6.02485357e-06 -2.43260659e+00] [ 1.63851712e-04 2.81863144e-06 9.99999987e-01 -2.73827999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.92, Y:-2.42, Z:-0.27 [[ 9.99835443e-01 -1.81400022e-02 -1.63765236e-04 1.79922082e+02] [ 1.81400014e-02 9.99835457e-01 -6.02290884e-06 -2.42458312e+00] [ 1.63847546e-04 3.05121611e-06 9.99999987e-01 -2.70781160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.98, Y:-2.42, Z:-0.27 [[ 9.99872213e-01 -1.59853563e-02 -1.63765236e-04 1.79982030e+02] [ 1.59853555e-02 9.99872226e-01 -6.02290884e-06 -2.42082645e+00] [ 1.63840590e-04 3.40429366e-06 9.99999987e-01 -2.73038711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.04, Y:-2.41, Z:-0.27 [[ 9.99848029e-01 -1.74325160e-02 -1.63765310e-04 1.80041969e+02] [ 1.74325152e-02 9.99848042e-01 -6.02089714e-06 -2.40869854e+00] [ 1.63845384e-04 3.16514087e-06 9.99999987e-01 -2.73903066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.10, Y:-2.40, Z:-0.27 [[ 9.99730142e-01 -2.32296365e-02 -1.63765550e-04 1.80102926e+02] [ 2.32296358e-02 9.99730156e-01 -6.01437722e-06 -2.40389282e+00] [ 1.63861070e-04 2.20854010e-06 9.99999987e-01 -2.71543198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.06533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.16, Y:-2.40, Z:-0.27 [[ 9.99581326e-01 -2.89334720e-02 -1.63765694e-04 1.80164312e+02] [ 2.89334714e-02 9.99581339e-01 -6.01046112e-06 -2.40189416e+00] [ 1.63871035e-04 1.26963468e-06 9.99999987e-01 -2.67079533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.12533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.23, Y:-2.40, Z:-0.27 [[ 9.99520200e-01 -3.09732573e-02 -1.63765837e-04 1.80225479e+02] [ 3.09732567e-02 9.99520214e-01 -6.00654255e-06 -2.39872954e+00] [ 1.63873307e-04 9.31299284e-07 9.99999987e-01 -2.65722311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.18533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.29, Y:-2.39, Z:-0.27 [[ 9.99527842e-01 -3.07256482e-02 -1.63765981e-04 1.80286846e+02] [ 3.07256476e-02 9.99527856e-01 -6.00262865e-06 -2.39361413e+00] [ 1.63873094e-04 9.67978649e-07 9.99999987e-01 -2.67145199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.35, Y:-2.39, Z:-0.27 [[ 9.99549133e-01 -3.00250416e-02 -1.63766123e-04 1.80347034e+02] [ 3.00250410e-02 9.99549147e-01 -5.99875475e-06 -2.39364583e+00] [ 1.63872401e-04 1.07896556e-06 9.99999987e-01 -2.70914186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.41, Y:-2.39, Z:-0.27 [[ 9.99551376e-01 -2.99503007e-02 -1.63766377e-04 1.80408419e+02] [ 2.99503001e-02 9.99551389e-01 -5.99179519e-06 -2.39185881e+00] [ 1.63872366e-04 1.08425498e-06 9.99999987e-01 -2.72020830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.47, Y:-2.39, Z:-0.28 [[ 9.99560520e-01 -2.96435415e-02 -1.63766517e-04 1.80469462e+02] [ 2.96435409e-02 9.99560534e-01 -5.98798328e-06 -2.38907138e+00] [ 1.63872052e-04 1.13073224e-06 9.99999987e-01 -2.75288661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.53, Y:-2.39, Z:-0.27 [[ 9.99606319e-01 -2.80567409e-02 -1.63766655e-04 1.80530773e+02] [ 2.80567402e-02 9.99606332e-01 -5.98419726e-06 -2.38975720e+00] [ 1.63870082e-04 1.38708289e-06 9.99999987e-01 -2.73057636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.59, Y:-2.39, Z:-0.27 [[ 9.99611270e-01 -2.78797623e-02 -1.63766799e-04 1.80592253e+02] [ 2.78797617e-02 9.99611284e-01 -5.98024503e-06 -2.38645834e+00] [ 1.63869868e-04 1.41214099e-06 9.99999987e-01 -2.71920995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.65, Y:-2.39, Z:-0.28 [[ 9.99650230e-01 -2.64460062e-02 -1.63766944e-04 1.80653323e+02] [ 2.64460056e-02 9.99650243e-01 -5.97627055e-06 -2.38725563e+00] [ 1.63867714e-04 1.64319870e-06 9.99999987e-01 -2.75646402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.71, Y:-2.39, Z:-0.28 [[ 9.99702373e-01 -2.43954770e-02 -1.63767016e-04 1.80714145e+02] [ 2.43954764e-02 9.99702386e-01 -5.97430000e-06 -2.38964526e+00] [ 1.63864023e-04 1.97734751e-06 9.99999987e-01 -2.78320672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.77, Y:-2.39, Z:-0.27 [[ 9.99709387e-01 -2.41063288e-02 -1.63767087e-04 1.80774954e+02] [ 2.41063281e-02 9.99709400e-01 -5.97234995e-06 -2.38503970e+00] [ 1.63863468e-04 2.02279116e-06 9.99999987e-01 -2.74888379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.83, Y:-2.39, Z:-0.27 [[ 9.99733900e-01 -2.30673379e-02 -1.63767232e-04 1.80834897e+02] [ 2.30673372e-02 9.99733914e-01 -5.96836720e-06 -2.38685476e+00] [ 1.63861331e-04 2.18910505e-06 9.99999987e-01 -2.73575715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.90, Y:-2.38, Z:-0.27 [[ 9.99779830e-01 -2.09824958e-02 -1.63767232e-04 1.80896588e+02] [ 2.09824951e-02 9.99779843e-01 -5.96836720e-06 -2.38476342e+00] [ 1.63856409e-04 2.53080799e-06 9.99999987e-01 -2.70032746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.84533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.96, Y:-2.38, Z:-0.28 [[ 9.99772902e-01 -2.13100388e-02 -1.63767378e-04 1.80956326e+02] [ 2.13100381e-02 9.99772915e-01 -5.96437448e-06 -2.37863499e+00] [ 1.63857290e-04 2.47313091e-06 9.99999987e-01 -2.75334508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.90533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.02, Y:-2.38, Z:-0.28 [[ 9.99681423e-01 -2.52393549e-02 -1.63767450e-04 1.81017244e+02] [ 2.52393543e-02 9.99681437e-01 -5.96239068e-06 -2.37732304e+00] [ 1.63865767e-04 1.82710651e-06 9.99999987e-01 -2.77649221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.08, Y:-2.37, Z:-0.27 [[ 9.99614176e-01 -2.77753940e-02 -1.63767593e-04 1.81077811e+02] [ 2.77753934e-02 9.99614189e-01 -5.95846985e-06 -2.37287753e+00] [ 1.63869908e-04 1.40746162e-06 9.99999987e-01 -2.74963826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.14, Y:-2.36, Z:-0.27 [[ 9.99654862e-01 -2.62703256e-02 -1.63767663e-04 1.81138546e+02] [ 2.62703250e-02 9.99654875e-01 -5.95653616e-06 -2.36404232e+00] [ 1.63867623e-04 1.65225060e-06 9.99999987e-01 -2.70937011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.20, Y:-2.36, Z:-0.27 [[ 9.99692986e-01 -2.47771588e-02 -1.63767802e-04 1.81199997e+02] [ 2.47771582e-02 9.99692999e-01 -5.95270720e-06 -2.35696769e+00] [ 1.63865017e-04 1.89317889e-06 9.99999987e-01 -2.71388494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.26, Y:-2.35, Z:-0.27 [[ 9.99692843e-01 -2.47828967e-02 -1.63767946e-04 1.81259561e+02] [ 2.47828961e-02 9.99692857e-01 -5.94875243e-06 -2.34565551e+00] [ 1.63865073e-04 1.88828124e-06 9.99999987e-01 -2.74390120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.32, Y:-2.34, Z:-0.27 [[ 9.99608973e-01 -2.79620049e-02 -1.63768017e-04 1.81320504e+02] [ 2.79620043e-02 9.99608987e-01 -5.94679400e-06 -2.33933666e+00] [ 1.63870266e-04 1.36518665e-06 9.99999987e-01 -2.73874915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.38, Y:-2.33, Z:-0.27 [[ 9.99493202e-01 -3.18325532e-02 -1.63768154e-04 1.81382071e+02] [ 3.18325526e-02 9.99493216e-01 -5.94301819e-06 -2.33405529e+00] [ 1.63874340e-04 7.26847905e-07 9.99999987e-01 -2.70679077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.44, Y:-2.32, Z:-0.27 [[ 9.99287193e-01 -3.77502130e-02 -1.63768295e-04 1.81442176e+02] [ 3.77502125e-02 9.99287207e-01 -5.93913640e-06 -2.32030959e+00] [ 1.63875766e-04 -2.47384987e-07 9.99999987e-01 -2.74521884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.50, Y:-2.32, Z:-0.27 [[ 9.99085918e-01 -4.27469591e-02 -1.63768364e-04 1.81503139e+02] [ 4.27469587e-02 9.99085931e-01 -5.93722617e-06 -2.31567786e+00] [ 1.63872467e-04 -1.06880044e-06 9.99999987e-01 -2.74795938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.56, Y:-2.31, Z:-0.27 [[ 9.98928321e-01 -4.62837260e-02 -1.63768494e-04 1.81564673e+02] [ 4.62837256e-02 9.98928334e-01 -5.93363155e-06 -2.31212396e+00] [ 1.63867620e-04 -1.65254346e-06 9.99999987e-01 -2.73205101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.505336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:181.63, Y:-2.31, Z:-0.27 [[ 9.98783700e-01 -4.93061326e-02 -1.63768623e-04 1.81625588e+02] [ 4.93061323e-02 9.98783713e-01 -5.93006613e-06 -2.31079360e+00] [ 1.63861822e-04 -2.15194403e-06 9.99999987e-01 -2.68145279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.56533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.69, Y:-2.31, Z:-0.27 [[ 9.98830437e-01 -4.83500915e-02 -1.63768764e-04 1.81687150e+02] [ 4.83500912e-02 9.98830450e-01 -5.92618298e-06 -2.30714628e+00] [ 1.63863760e-04 -1.99898274e-06 9.99999987e-01 -2.69482258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.62533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.75, Y:-2.30, Z:-0.27 [[ 9.99115658e-01 -4.20460979e-02 -1.63768903e-04 1.81747161e+02] [ 4.20460975e-02 9.99115672e-01 -5.92233681e-06 -2.30443801e+00] [ 1.63873089e-04 -9.68743827e-07 9.99999987e-01 -2.74890669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.68533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.81, Y:-2.30, Z:-0.27 [[ 9.99296447e-01 -3.75044574e-02 -1.63768972e-04 1.81808801e+02] [ 3.75044569e-02 9.99296460e-01 -5.92043569e-06 -2.30339636e+00] [ 1.63875797e-04 -2.25795999e-07 9.99999987e-01 -2.72184165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.87, Y:-2.30, Z:-0.27 [[ 9.99481615e-01 -3.21943285e-02 -1.63769111e-04 1.81869720e+02] [ 3.21943279e-02 9.99481628e-01 -5.91656871e-06 -2.30047884e+00] [ 1.63874698e-04 6.41065163e-07 9.99999987e-01 -2.72341451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.93, Y:-2.30, Z:-0.27 [[ 9.99643971e-01 -2.66815398e-02 -1.63769547e-04 1.81930960e+02] [ 2.66815392e-02 9.99643984e-01 -5.90448578e-06 -2.29694631e+00] [ 1.63868783e-04 1.53276002e-06 9.99999987e-01 -2.68255870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.99, Y:-2.30, Z:-0.27 [[ 9.99705006e-01 -2.42873278e-02 -1.63769691e-04 1.81991082e+02] [ 2.42873272e-02 9.99705019e-01 -5.90048527e-06 -2.29824175e+00] [ 1.63864689e-04 1.92121659e-06 9.99999987e-01 -2.70432050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.05, Y:-2.30, Z:-0.27 [[ 9.99647922e-01 -2.65330837e-02 -1.63769935e-04 1.82052156e+02] [ 2.65330831e-02 9.99647936e-01 -5.89369978e-06 -2.29922768e+00] [ 1.63868656e-04 1.54630344e-06 9.99999987e-01 -2.65721679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.11, Y:-2.30, Z:-0.26 [[ 9.99563441e-01 -2.95449001e-02 -1.63770077e-04 1.82113770e+02] [ 2.95448995e-02 9.99563454e-01 -5.88976062e-06 -2.30073504e+00] [ 1.63872596e-04 1.04861891e-06 9.99999987e-01 -2.64738223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.17, Y:-2.30, Z:-0.27 [[ 9.99514923e-01 -3.11431028e-02 -1.63770287e-04 1.82174737e+02] [ 3.11431022e-02 9.99514936e-01 -5.88391559e-06 -2.30315318e+00] [ 1.63874091e-04 7.80746645e-07 9.99999987e-01 -2.65296259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.24, Y:-2.31, Z:-0.26 [[ 9.99549182e-01 -3.00234153e-02 -1.63770423e-04 1.82236287e+02] [ 3.00234148e-02 9.99549196e-01 -5.88013719e-06 -2.30579669e+00] [ 1.63873136e-04 9.60538983e-07 9.99999987e-01 -2.64684256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.30, Y:-2.31, Z:-0.26 [[ 9.99597729e-01 -2.83611192e-02 -1.63770559e-04 1.82297540e+02] [ 2.83611187e-02 9.99597743e-01 -5.87635466e-06 -2.30519034e+00] [ 1.63871341e-04 1.22927453e-06 9.99999987e-01 -2.64328404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.36, Y:-2.31, Z:-0.27 [[ 9.99548013e-01 -3.00623089e-02 -1.63770694e-04 1.82358527e+02] [ 3.00623083e-02 9.99548027e-01 -5.87256648e-06 -2.30964089e+00] [ 1.63873217e-04 9.46587048e-07 9.99999987e-01 -2.67673787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.42, Y:-2.31, Z:-0.27 [[ 9.99438031e-01 -3.35200865e-02 -1.63770762e-04 1.82418615e+02] [ 3.35200860e-02 9.99438044e-01 -5.87069143e-06 -2.30990330e+00] [ 1.63875516e-04 3.77782275e-07 9.99999987e-01 -2.70103744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.34533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.48, Y:-2.31, Z:-0.27 [[ 9.99461092e-01 -3.28252835e-02 -1.63770997e-04 1.82479847e+02] [ 3.28252830e-02 9.99461105e-01 -5.86410857e-06 -2.31074538e+00] [ 1.63875233e-04 4.85119027e-07 9.99999987e-01 -2.71122019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.40533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.54, Y:-2.31, Z:-0.27 [[ 9.99569245e-01 -2.93478881e-02 -1.63771136e-04 1.82540071e+02] [ 2.93478875e-02 9.99569258e-01 -5.86024502e-06 -2.31314245e+00] [ 1.63872578e-04 1.05138382e-06 9.99999987e-01 -2.68729814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.60, Y:-2.31, Z:-0.27 [[ 9.99649349e-01 -2.64792844e-02 -1.63771136e-04 1.82600891e+02] [ 2.64792838e-02 9.99649362e-01 -5.86024502e-06 -2.30717427e+00] [ 1.63868886e-04 1.52164774e-06 9.99999987e-01 -2.66294894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.66, Y:-2.30, Z:-0.26 [[ 9.99617100e-01 -2.76699500e-02 -1.63771273e-04 1.82662198e+02] [ 2.76699494e-02 9.99617114e-01 -5.85640569e-06 -2.30402764e+00] [ 1.63870613e-04 1.32262044e-06 9.99999987e-01 -2.63816756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.72, Y:-2.31, Z:-0.26 [[ 9.99497069e-01 -3.17109271e-02 -1.63771415e-04 1.82723493e+02] [ 3.17109266e-02 9.99497082e-01 -5.85243732e-06 -2.30814134e+00] [ 1.63874637e-04 6.56150641e-07 9.99999987e-01 -2.63202253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.78, Y:-2.30, Z:-0.27 [[ 9.99340579e-01 -3.63095041e-02 -1.63771556e-04 1.82784869e+02] [ 3.63095036e-02 9.99340593e-01 -5.84847655e-06 -2.30407208e+00] [ 1.63875919e-04 -1.01843970e-07 9.99999987e-01 -2.65835134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.85, Y:-2.30, Z:-0.27 [[ 9.99278645e-01 -3.79758167e-02 -1.63771697e-04 1.82846411e+02] [ 3.79758163e-02 9.99278659e-01 -5.84451551e-06 -2.30458621e+00] [ 1.63875512e-04 -3.79064354e-07 9.99999987e-01 -2.68709295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.91, Y:-2.30, Z:-0.27 [[ 9.99293512e-01 -3.75825724e-02 -1.63771839e-04 1.82906539e+02] [ 3.75825720e-02 9.99293526e-01 -5.84055559e-06 -2.30358292e+00] [ 1.63875641e-04 -3.18537606e-07 9.99999987e-01 -2.67661146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.97, Y:-2.30, Z:-0.27 [[ 9.99405953e-01 -3.44632250e-02 -1.63771908e-04 1.82967718e+02] [ 3.44632245e-02 9.99405967e-01 -5.83860069e-06 -2.30174783e+00] [ 1.63875839e-04 1.91024244e-07 9.99999987e-01 -2.69579830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.03, Y:-2.30, Z:-0.27 [[ 9.99462675e-01 -3.27770270e-02 -1.63772049e-04 1.83027954e+02] [ 3.27770264e-02 9.99462689e-01 -5.83464834e-06 -2.29971787e+00] [ 1.63875295e-04 4.63552451e-07 9.99999987e-01 -2.66880176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.09, Y:-2.29, Z:-0.27 [[ 9.99471315e-01 -3.25125242e-02 -1.63772119e-04 1.83089057e+02] [ 3.25125237e-02 9.99471328e-01 -5.83269521e-06 -2.29449912e+00] [ 1.63875173e-04 5.04966668e-07 9.99999987e-01 -2.67251250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.15, Y:-2.29, Z:-0.27 [[ 9.99475977e-01 -3.23688920e-02 -1.63772255e-04 1.83149404e+02] [ 3.23688915e-02 9.99475990e-01 -5.82886534e-06 -2.29354165e+00] [ 1.63875111e-04 5.24684534e-07 9.99999987e-01 -2.71863131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.06533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.21, Y:-2.29, Z:-0.27 [[ 9.99535673e-01 -3.04698551e-02 -1.63772323e-04 1.83210499e+02] [ 3.04698545e-02 9.99535686e-01 -5.82696755e-06 -2.28564964e+00] [ 1.63873828e-04 8.34143089e-07 9.99999987e-01 -2.71930117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.12533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.27, Y:-2.28, Z:-0.27 [[ 9.99576780e-01 -2.90901182e-02 -1.63772459e-04 1.83271442e+02] [ 2.90901176e-02 9.99576793e-01 -5.82313848e-06 -2.27684927e+00] [ 1.63872545e-04 1.05651392e-06 9.99999987e-01 -2.73258051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.18533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.33, Y:-2.27, Z:-0.27 [[ 9.99509844e-01 -3.13056672e-02 -1.63772598e-04 1.83331505e+02] [ 3.13056667e-02 9.99509857e-01 -5.81922936e-06 -2.26944264e+00] [ 1.63874501e-04 6.89366672e-07 9.99999987e-01 -2.71569315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.39, Y:-2.26, Z:-0.27 [[ 9.99356457e-01 -3.58698299e-02 -1.63772667e-04 1.83392124e+02] [ 3.58698294e-02 9.99356471e-01 -5.81728807e-06 -2.26253593e+00] [ 1.63875939e-04 -6.09532228e-08 9.99999987e-01 -2.66332397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.45, Y:-2.26, Z:-0.26 [[ 9.99151721e-01 -4.11802382e-02 -1.63772737e-04 1.83453530e+02] [ 4.11802378e-02 9.99151734e-01 -5.81530237e-06 -2.25965407e+00] [ 1.63873290e-04 -9.33830887e-07 9.99999987e-01 -2.62995880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.51, Y:-2.26, Z:-0.26 [[ 9.99072001e-01 -4.30709983e-02 -1.63773152e-04 1.83514310e+02] [ 4.30709979e-02 9.99072014e-01 -5.80360576e-06 -2.25611779e+00] [ 1.63871139e-04 -1.25565305e-06 9.99999987e-01 -2.63356452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.58, Y:-2.25, Z:-0.27 [[ 9.99260371e-01 -3.84536561e-02 -1.63773285e-04 1.83575497e+02] [ 3.84536557e-02 9.99260385e-01 -5.79984411e-06 -2.25100261e+00] [ 1.63875181e-04 -5.02127125e-07 9.99999987e-01 -2.68574660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.64, Y:-2.24, Z:-0.27 [[ 9.99411519e-01 -3.43014554e-02 -1.63773422e-04 1.83636667e+02] [ 3.43014549e-02 9.99411532e-01 -5.79595598e-06 -2.24227765e+00] [ 1.63875857e-04 1.74878504e-07 9.99999987e-01 -2.67000012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.70, Y:-2.24, Z:-0.27 [[ 9.99442278e-01 -3.33932057e-02 -1.63773849e-04 1.83698397e+02] [ 3.33932052e-02 9.99442291e-01 -5.78387423e-06 -2.23851799e+00] [ 1.63875653e-04 3.11714690e-07 9.99999987e-01 -2.65957566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.76, Y:-2.24, Z:-0.27 [[ 9.99492486e-01 -3.18550507e-02 -1.63774124e-04 1.83760464e+02] [ 3.18550501e-02 9.99492499e-01 -5.77606470e-06 -2.23628050e+00] [ 1.63875006e-04 5.56100316e-07 9.99999987e-01 -2.67755568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.665336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:183.82, Y:-2.23, Z:-0.27 [[ 9.99476164e-01 -3.23631007e-02 -1.63774403e-04 1.83821050e+02] [ 3.23631002e-02 9.99476178e-01 -5.76814417e-06 -2.23066096e+00] [ 1.63875290e-04 4.64875184e-07 9.99999987e-01 -2.68858586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.88, Y:-2.23, Z:-0.27 [[ 9.99307320e-01 -3.72136208e-02 -1.63774611e-04 1.83882529e+02] [ 3.72136204e-02 9.99307333e-01 -5.76225452e-06 -2.22729517e+00] [ 1.63875604e-04 -3.36383067e-07 9.99999987e-01 -2.70898508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.94, Y:-2.23, Z:-0.27 [[ 9.99161537e-01 -4.09413772e-02 -1.63774753e-04 1.83943449e+02] [ 4.09413768e-02 9.99161550e-01 -5.75821621e-06 -2.22678067e+00] [ 1.63873185e-04 -9.51775701e-07 9.99999987e-01 -2.73185184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.84533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.00, Y:-2.23, Z:-0.27 [[ 9.99083184e-01 -4.28108030e-02 -1.63775225e-04 1.84004289e+02] [ 4.28108027e-02 9.99083197e-01 -5.74475467e-06 -2.22803779e+00] [ 1.63871013e-04 -1.27186104e-06 9.99999987e-01 -2.72941733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.90533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.07, Y:-2.22, Z:-0.28 [[ 9.99098284e-01 -4.24569418e-02 -1.63775429e-04 1.84065404e+02] [ 4.24569414e-02 9.99098298e-01 -5.73891844e-06 -2.22394847e+00] [ 1.63871410e-04 -1.21966024e-06 9.99999987e-01 -2.75994791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.13, Y:-2.23, Z:-0.28 [[ 9.99173519e-01 -4.06479115e-02 -1.63775568e-04 1.84126037e+02] [ 4.06479112e-02 9.99173532e-01 -5.73494657e-06 -2.22849999e+00] [ 1.63873327e-04 -9.26928011e-07 9.99999987e-01 -2.75190845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.19, Y:-2.23, Z:-0.27 [[ 9.99250183e-01 -3.87175119e-02 -1.63775637e-04 1.84186335e+02] [ 3.87175114e-02 9.99250196e-01 -5.73298916e-06 -2.22846615e+00] [ 1.63874804e-04 -6.12294636e-07 9.99999987e-01 -2.72592352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.25, Y:-2.22, Z:-0.27 [[ 9.99324313e-01 -3.67544584e-02 -1.63775704e-04 1.84247908e+02] [ 3.67544580e-02 9.99324327e-01 -5.73107148e-06 -2.22382295e+00] [ 1.63875688e-04 -2.92288167e-07 9.99999987e-01 -2.73767215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.31, Y:-2.23, Z:-0.28 [[ 9.99460864e-01 -3.28322202e-02 -1.63775840e-04 1.84309694e+02] [ 3.28322197e-02 9.99460877e-01 -5.72718572e-06 -2.22992666e+00] [ 1.63875581e-04 3.46973639e-07 9.99999987e-01 -2.79678541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.37, Y:-2.23, Z:-0.28 [[ 9.99511895e-01 -3.12401109e-02 -1.63775976e-04 1.84370597e+02] [ 3.12401104e-02 9.99511909e-01 -5.72328009e-06 -2.22712935e+00] [ 1.63874835e-04 6.04106943e-07 9.99999987e-01 -2.77388226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.43, Y:-2.23, Z:-0.27 [[ 9.99414500e-01 -3.42144825e-02 -1.63776180e-04 1.84432235e+02] [ 3.42144820e-02 9.99414513e-01 -5.71745237e-06 -2.22611620e+00] [ 1.63875911e-04 1.10587635e-07 9.99999987e-01 -2.73735540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.325336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:184.49, Y:-2.23, Z:-0.28 [[ 9.99337948e-01 -3.63818457e-02 -1.63776317e-04 1.84493516e+02] [ 3.63818452e-02 9.99337962e-01 -5.71353465e-06 -2.22835045e+00] [ 1.63875759e-04 -2.48732604e-07 9.99999987e-01 -2.76252381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.55, Y:-2.23, Z:-0.28 [[ 9.99342021e-01 -3.62698037e-02 -1.63776455e-04 1.84554441e+02] [ 3.62698032e-02 9.99342034e-01 -5.70955652e-06 -2.22701850e+00] [ 1.63875780e-04 -2.34340056e-07 9.99999987e-01 -2.78271553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.62, Y:-2.22, Z:-0.28 [[ 9.99350538e-01 -3.60343500e-02 -1.63776661e-04 1.84616153e+02] [ 3.60343496e-02 9.99350552e-01 -5.70364305e-06 -2.22372995e+00] [ 1.63875824e-04 -2.01646710e-07 9.99999987e-01 -2.76939239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.68, Y:-2.22, Z:-0.28 [[ 9.99332041e-01 -3.65437342e-02 -1.63776795e-04 1.84677240e+02] [ 3.65437338e-02 9.99332055e-01 -5.69980596e-06 -2.22209990e+00] [ 1.63875693e-04 -2.89016864e-07 9.99999987e-01 -2.76007735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.56533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.74, Y:-2.22, Z:-0.28 [[ 9.99299420e-01 -3.74251676e-02 -1.63776929e-04 1.84738840e+02] [ 3.74251672e-02 9.99299433e-01 -5.69595854e-06 -2.22083613e+00] [ 1.63875364e-04 -4.37410868e-07 9.99999987e-01 -2.81211349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.62533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.80, Y:-2.22, Z:-0.28 [[ 9.99353390e-01 -3.59551820e-02 -1.63777065e-04 1.84798897e+02] [ 3.59551816e-02 9.99353403e-01 -5.69202394e-06 -2.22086393e+00] [ 1.63875825e-04 -2.00290706e-07 9.99999987e-01 -2.82021753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.68533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.86, Y:-2.22, Z:-0.28 [[ 9.99429315e-01 -3.37789603e-02 -1.63777133e-04 1.84859968e+02] [ 3.37789598e-02 9.99429328e-01 -5.69007730e-06 -2.21761081e+00] [ 1.63875875e-04 1.54608873e-07 9.99999987e-01 -2.82959857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.92, Y:-2.22, Z:-0.29 [[ 9.99474743e-01 -3.24069519e-02 -1.63777267e-04 1.84920407e+02] [ 3.24069514e-02 9.99474757e-01 -5.68621601e-06 -2.21598885e+00] [ 1.63875517e-04 3.75707363e-07 9.99999987e-01 -2.86956131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.98, Y:-2.21, Z:-0.28 [[ 9.99514234e-01 -3.11652007e-02 -1.63777333e-04 1.84981685e+02] [ 3.11652002e-02 9.99514247e-01 -5.68430751e-06 -2.21380266e+00] [ 1.63874930e-04 5.77392880e-07 9.99999987e-01 -2.84979833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.04, Y:-2.21, Z:-0.29 [[ 9.99580986e-01 -2.89452058e-02 -1.63777470e-04 1.85041899e+02] [ 2.89452053e-02 9.99581000e-01 -5.68035025e-06 -2.20602503e+00] [ 1.63873267e-04 9.37397599e-07 9.99999987e-01 -2.86828289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.10, Y:-2.20, Z:-0.28 [[ 9.99532443e-01 -3.05756341e-02 -1.63777705e-04 1.85102181e+02] [ 3.05756336e-02 9.99532456e-01 -5.67357673e-06 -2.19725836e+00] [ 1.63874605e-04 6.63316904e-07 9.99999987e-01 -2.84948305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.16, Y:-2.19, Z:-0.28 [[ 9.99378265e-01 -3.52570016e-02 -1.63777771e-04 1.85163950e+02] [ 3.52570011e-02 9.99378279e-01 -5.67166809e-06 -2.19126011e+00] [ 1.63875913e-04 -1.06171247e-07 9.99999987e-01 -2.83688891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.22, Y:-2.18, Z:-0.29 [[ 9.99230166e-01 -3.92307060e-02 -1.63778044e-04 1.85224680e+02] [ 3.92307056e-02 9.99230180e-01 -5.66378157e-06 -2.18374742e+00] [ 1.63874158e-04 -7.65706816e-07 9.99999987e-01 -2.91303502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.29, Y:-2.18, Z:-0.29 [[ 9.99175817e-01 -4.05913674e-02 -1.63778179e-04 1.85286792e+02] [ 4.05913670e-02 9.99175831e-01 -5.65987528e-06 -2.17719170e+00] [ 1.63872940e-04 -9.92769653e-07 9.99999987e-01 -2.92885276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.35, Y:-2.17, Z:-0.29 [[ 9.99231709e-01 -3.91913784e-02 -1.63778447e-04 1.85346851e+02] [ 3.91913780e-02 9.99231723e-01 -5.65210799e-06 -2.17158853e+00] [ 1.63874134e-04 -7.70937493e-07 9.99999987e-01 -2.90336345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.41, Y:-2.16, Z:-0.29 [[ 9.99253342e-01 -3.86358795e-02 -1.63778513e-04 1.85408167e+02] [ 3.86358791e-02 9.99253356e-01 -5.65019265e-06 -2.16261263e+00] [ 1.63874529e-04 -6.81752937e-07 9.99999987e-01 -2.85034861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.47, Y:-2.16, Z:-0.29 [[ 9.99211463e-01 -3.97042185e-02 -1.63778648e-04 1.85468344e+02] [ 3.97042181e-02 9.99211477e-01 -5.64627871e-06 -2.15755506e+00] [ 1.63873686e-04 -8.60876744e-07 9.99999987e-01 -2.91925303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.34533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.53, Y:-2.15, Z:-0.29 [[ 9.99282939e-01 -3.78626611e-02 -1.63778908e-04 1.85530327e+02] [ 3.78626607e-02 9.99282952e-01 -5.63873849e-06 -2.15155825e+00] [ 1.63874968e-04 -5.66410035e-07 9.99999987e-01 -2.89940289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.40533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.59, Y:-2.14, Z:-0.29 [[ 9.99406096e-01 -3.44590836e-02 -1.63779178e-04 1.85591002e+02] [ 3.44590831e-02 9.99406109e-01 -5.63086584e-06 -2.13845365e+00] [ 1.63875946e-04 -1.61586673e-08 9.99999987e-01 -2.94583276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.65, Y:-2.13, Z:-0.30 [[ 9.99431797e-01 -3.37054350e-02 -1.63779669e-04 1.85652145e+02] [ 3.37054345e-02 9.99431810e-01 -5.61654610e-06 -2.13413048e+00] [ 1.63875920e-04 9.30898423e-08 9.99999987e-01 -2.96551618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.71, Y:-2.13, Z:-0.30 [[ 9.99363305e-01 -3.56785325e-02 -1.63779803e-04 1.85713949e+02] [ 3.56785320e-02 9.99363318e-01 -5.61265075e-06 -2.13398065e+00] [ 1.63875778e-04 -2.34345738e-07 9.99999987e-01 -2.98297971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.77, Y:-2.13, Z:-0.30 [[ 9.99286321e-01 -3.77733037e-02 -1.63780075e-04 1.85774661e+02] [ 3.77733033e-02 9.99286334e-01 -5.60469035e-06 -2.12968673e+00] [ 1.63874899e-04 -5.85824054e-07 9.99999987e-01 -2.98620178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.84, Y:-2.13, Z:-0.30 [[ 9.99298617e-01 -3.74466017e-02 -1.63780276e-04 1.85836305e+02] [ 3.74466013e-02 9.99298630e-01 -5.59880381e-06 -2.12526250e+00] [ 1.63875062e-04 -5.38137802e-07 9.99999987e-01 -2.95728621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.90, Y:-2.13, Z:-0.30 [[ 9.99351058e-01 -3.60199472e-02 -1.63780405e-04 1.85898291e+02] [ 3.60199467e-02 9.99351071e-01 -5.59504530e-06 -2.12723730e+00] [ 1.63875656e-04 -3.07947026e-07 9.99999987e-01 -2.96410232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.96, Y:-2.12, Z:-0.30 [[ 9.99365408e-01 -3.56195846e-02 -1.63780660e-04 1.85960797e+02] [ 3.56195842e-02 9.99365421e-01 -5.58757060e-06 -2.12457225e+00] [ 1.63875755e-04 -2.49774225e-07 9.99999987e-01 -2.95940824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.02, Y:-2.12, Z:-0.31 [[ 9.99417820e-01 -3.41173643e-02 -1.63780920e-04 1.86021572e+02] [ 3.41173638e-02 9.99417833e-01 -5.57992309e-06 -2.12139521e+00] [ 1.63875945e-04 -1.10986860e-08 9.99999987e-01 -3.06168193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.08, Y:-2.12, Z:-0.31 [[ 9.99569791e-01 -2.93292720e-02 -1.63781049e-04 1.86083254e+02] [ 2.93292715e-02 9.99569804e-01 -5.57613615e-06 -2.11976705e+00] [ 1.63874135e-04 7.70158387e-07 9.99999987e-01 -3.08179121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.14, Y:-2.11, Z:-0.31 [[ 9.99684489e-01 -2.51176417e-02 -1.63781174e-04 1.86144870e+02] [ 2.51176412e-02 9.99684502e-01 -5.57247994e-06 -2.11109803e+00] [ 1.63869469e-04 1.45692501e-06 9.99999987e-01 -3.09020243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.21, Y:-2.10, Z:-0.31 [[ 9.99725849e-01 -2.34136807e-02 -1.63781388e-04 1.86206081e+02] [ 2.34136801e-02 9.99725862e-01 -5.56617658e-06 -2.10191962e+00] [ 1.63866814e-04 1.72992558e-06 9.99999987e-01 -3.11084465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.06533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.27, Y:-2.09, Z:-0.31 [[ 9.99748552e-01 -2.24233442e-02 -1.63781854e-04 1.86267800e+02] [ 2.24233436e-02 9.99748565e-01 -5.55242679e-06 -2.09257510e+00] [ 1.63865178e-04 1.87849385e-06 9.99999987e-01 -3.07446355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.12533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.33, Y:-2.08, Z:-0.31 [[ 9.99675681e-01 -2.54657981e-02 -1.63782128e-04 1.86329039e+02] [ 2.54657976e-02 9.99675694e-01 -5.54434627e-06 -2.08362398e+00] [ 1.63870203e-04 1.37170562e-06 9.99999987e-01 -3.10600522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.18533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.39, Y:-2.07, Z:-0.31 [[ 9.99559120e-01 -2.96907080e-02 -1.63782330e-04 1.86389758e+02] [ 2.96907075e-02 9.99559134e-01 -5.53836832e-06 -2.07156482e+00] [ 1.63874562e-04 6.73113317e-07 9.99999987e-01 -3.08785885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.45, Y:-2.06, Z:-0.31 [[ 9.99466214e-01 -3.26689548e-02 -1.63782528e-04 1.86451621e+02] [ 3.26689544e-02 9.99466227e-01 -5.53249246e-06 -2.06393344e+00] [ 1.63875846e-04 1.78935347e-07 9.99999987e-01 -3.05973589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.51, Y:-2.06, Z:-0.30 [[ 9.99302013e-01 -3.73558485e-02 -1.63782787e-04 1.86513785e+02] [ 3.73558481e-02 9.99302027e-01 -5.52482434e-06 -2.05509742e+00] [ 1.63874855e-04 -5.97276833e-07 9.99999987e-01 -3.04102553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.58, Y:-2.05, Z:-0.31 [[ 9.99145866e-01 -4.13220506e-02 -1.63783049e-04 1.86575463e+02] [ 4.13220503e-02 9.99145879e-01 -5.51705195e-06 -2.04563045e+00] [ 1.63871134e-04 -1.25551173e-06 9.99999987e-01 -3.10371115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.64, Y:-2.04, Z:-0.31 [[ 9.99025032e-01 -4.41470120e-02 -1.63783243e-04 1.86637315e+02] [ 4.41470117e-02 9.99025045e-01 -5.51127088e-06 -2.04103681e+00] [ 1.63866868e-04 -1.72464318e-06 9.99999987e-01 -3.11255611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.70, Y:-2.03, Z:-0.31 [[ 9.99009760e-01 -4.44912539e-02 -1.63783509e-04 1.86698221e+02] [ 4.44912536e-02 9.99009774e-01 -5.50336900e-06 -2.03137206e+00] [ 1.63866178e-04 -1.78901427e-06 9.99999987e-01 -3.13725620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.76, Y:-2.03, Z:-0.31 [[ 9.99030638e-01 -4.40199712e-02 -1.63783896e-04 1.86760105e+02] [ 4.40199709e-02 9.99030651e-01 -5.49182706e-06 -2.02699750e+00] [ 1.63866882e-04 -1.72325884e-06 9.99999987e-01 -3.09596875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.82, Y:-2.03, Z:-0.31 [[ 9.99081870e-01 -4.28414539e-02 -1.63784154e-04 1.86821053e+02] [ 4.28414536e-02 9.99081883e-01 -5.48412922e-06 -2.02627792e+00] [ 1.63868729e-04 -1.53765714e-06 9.99999987e-01 -3.13747169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.88, Y:-2.03, Z:-0.32 [[ 9.99205372e-01 -3.98572084e-02 -1.63784346e-04 1.86883251e+02] [ 3.98572080e-02 9.99205386e-01 -5.47838648e-06 -2.02667074e+00] [ 1.63872553e-04 -1.05395353e-06 9.99999987e-01 -3.16778642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.95, Y:-2.02, Z:-0.31 [[ 9.99437095e-01 -3.35479611e-02 -1.63784592e-04 1.86945351e+02] [ 3.35479607e-02 9.99437109e-01 -5.47101053e-06 -2.02446008e+00] [ 1.63875940e-04 -2.67081832e-08 9.99999987e-01 -3.14771711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.01, Y:-2.02, Z:-0.31 [[ 9.99701221e-01 -2.44426204e-02 -1.63784845e-04 1.87006944e+02] [ 2.44426198e-02 9.99701235e-01 -5.46343712e-06 -2.02110274e+00] [ 1.63869452e-04 1.45847408e-06 9.99999987e-01 -3.13842006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.84533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.07, Y:-2.02, Z:-0.31 [[ 9.99884480e-01 -1.51986804e-02 -1.63785033e-04 1.87068667e+02] [ 1.51986797e-02 9.99884493e-01 -5.45778023e-06 -2.01588338e+00] [ 1.63849066e-04 2.96783348e-06 9.99999987e-01 -3.13202730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.90533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.13, Y:-2.01, Z:-0.31 [[ 9.99907663e-01 -1.35881792e-02 -1.63785293e-04 1.87129322e+02] [ 1.35881784e-02 9.99907676e-01 -5.44996524e-06 -2.01152079e+00] [ 1.63844227e-04 3.22391821e-06 9.99999987e-01 -3.10072602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.19, Y:-2.01, Z:-0.31 [[ 9.99876234e-01 -1.57318206e-02 -1.63785744e-04 1.87191007e+02] [ 1.57318199e-02 9.99876247e-01 -5.43639533e-06 -2.01065387e+00] [ 1.63850999e-04 2.85907466e-06 9.99999987e-01 -3.07317626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.25, Y:-2.01, Z:-0.31 [[ 9.99785267e-01 -2.07218123e-02 -1.63786139e-04 1.87252788e+02] [ 2.07218117e-02 9.99785280e-01 -5.42445516e-06 -2.00836284e+00] [ 1.63863375e-04 2.02934481e-06 9.99999987e-01 -3.09148765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.31, Y:-2.01, Z:-0.31 [[ 9.99683146e-01 -2.51710170e-02 -1.63786395e-04 1.87314530e+02] [ 2.51710164e-02 9.99683160e-01 -5.41671069e-06 -2.00835495e+00] [ 1.63870845e-04 1.29232434e-06 9.99999987e-01 -3.05058841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.38, Y:-2.01, Z:-0.31 [[ 9.99636191e-01 -2.69714570e-02 -1.63786590e-04 1.87375614e+02] [ 2.69714565e-02 9.99636204e-01 -5.41082061e-06 -2.01361553e+00] [ 1.63872943e-04 9.91289229e-07 9.99999987e-01 -3.08055165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.44, Y:-2.01, Z:-0.31 [[ 9.99675944e-01 -2.54554588e-02 -1.63786781e-04 1.87436628e+02] [ 2.54554583e-02 9.99675957e-01 -5.40502042e-06 -2.01009101e+00] [ 1.63871295e-04 1.23400131e-06 9.99999987e-01 -3.12473838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.50, Y:-2.01, Z:-0.32 [[ 9.99730161e-01 -2.32288231e-02 -1.63786907e-04 1.87498699e+02] [ 2.32288225e-02 9.99730174e-01 -5.40120639e-06 -2.01448690e+00] [ 1.63868177e-04 1.59517194e-06 9.99999987e-01 -3.17393957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.56, Y:-2.02, Z:-0.31 [[ 9.99751477e-01 -2.22925468e-02 -1.63787156e-04 1.87561278e+02] [ 2.22925462e-02 9.99751490e-01 -5.39365494e-06 -2.01543617e+00] [ 1.63866691e-04 1.74108176e-06 9.99999987e-01 -3.14726341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.62, Y:-2.02, Z:-0.32 [[ 9.99733656e-01 -2.30779039e-02 -1.63787409e-04 1.87622152e+02] [ 2.30779033e-02 9.99733670e-01 -5.38594737e-06 -2.01646839e+00] [ 1.63868084e-04 1.60464286e-06 9.99999987e-01 -3.18368234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.68, Y:-2.02, Z:-0.32 [[ 9.99691024e-01 -2.48561609e-02 -1.63787846e-04 1.87683673e+02] [ 2.48561603e-02 9.99691038e-01 -5.37261904e-06 -2.02261200e+00] [ 1.63870785e-04 1.29982206e-06 9.99999987e-01 -3.19937154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.74, Y:-2.02, Z:-0.32 [[ 9.99728755e-01 -2.32892459e-02 -1.63787974e-04 1.87744427e+02] [ 2.32892453e-02 9.99728769e-01 -5.36873191e-06 -2.02379018e+00] [ 1.63868583e-04 1.55277737e-06 9.99999987e-01 -3.17815627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.56533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.81, Y:-2.02, Z:-0.32 [[ 9.99831395e-01 -1.83617580e-02 -1.63788101e-04 1.87805483e+02] [ 1.83617573e-02 9.99831409e-01 -5.36485274e-06 -2.02398813e+00] [ 1.63858996e-04 2.35651084e-06 9.99999987e-01 -3.20135378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.62533619500002 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:187.87, Y:-2.02, Z:-0.32 [[ 9.99920092e-01 -1.26405358e-02 -1.63788229e-04 1.87867540e+02] [ 1.26405351e-02 9.99920105e-01 -5.36094017e-06 -2.02033722e+00] [ 1.63842908e-04 3.29014093e-06 9.99999987e-01 -3.21694960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.68533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.93, Y:-2.02, Z:-0.32 [[ 9.99897518e-01 -1.43152572e-02 -1.63788488e-04 1.87929231e+02] [ 1.43152565e-02 9.99897531e-01 -5.35301896e-06 -2.01880237e+00] [ 1.63848334e-04 3.00779616e-06 9.99999987e-01 -3.19509180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.99, Y:-2.01, Z:-0.32 [[ 9.99807815e-01 -1.96037513e-02 -1.63788684e-04 1.87991556e+02] [ 1.96037507e-02 9.99807828e-01 -5.34700380e-06 -2.01409284e+00] [ 1.63862030e-04 2.13510366e-06 9.99999987e-01 -3.19237980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.05, Y:-2.02, Z:-0.33 [[ 9.99670457e-01 -2.56700479e-02 -1.63788949e-04 1.88052812e+02] [ 2.56700473e-02 9.99670470e-01 -5.33887226e-06 -2.01557084e+00] [ 1.63872025e-04 1.13264279e-06 9.99999987e-01 -3.28206874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.11, Y:-2.01, Z:-0.33 [[ 9.99530418e-01 -3.06417344e-02 -1.63789145e-04 1.88114047e+02] [ 3.06417339e-02 9.99530432e-01 -5.33285144e-06 -2.01425047e+00] [ 1.63875643e-04 3.11563831e-07 9.99999987e-01 -3.26444119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.18, Y:-2.01, Z:-0.33 [[ 9.99452944e-01 -3.30724233e-02 -1.63789272e-04 1.88176717e+02] [ 3.30724229e-02 9.99452958e-01 -5.32894460e-06 -2.01132008e+00] [ 1.63875914e-04 -9.08787051e-08 9.99999987e-01 -3.25249903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.24, Y:-2.01, Z:-0.32 [[ 9.99424479e-01 -3.39217224e-02 -1.63789593e-04 1.88238839e+02] [ 3.39217220e-02 9.99424493e-01 -5.31908245e-06 -2.00955584e+00] [ 1.63875763e-04 -2.40003820e-07 9.99999987e-01 -3.20684909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.30, Y:-2.01, Z:-0.33 [[ 9.99327065e-01 -3.66795611e-02 -1.63789849e-04 1.88300245e+02] [ 3.66795607e-02 9.99327078e-01 -5.31116849e-06 -2.00941382e+00] [ 1.63874443e-04 -7.00145304e-07 9.99999987e-01 -3.28069352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.36, Y:-2.01, Z:-0.32 [[ 9.99212202e-01 -3.96856141e-02 -1.63790039e-04 1.88361300e+02] [ 3.96856137e-02 9.99212216e-01 -5.30530307e-06 -2.00798130e+00] [ 1.63871552e-04 -1.19898466e-06 9.99999987e-01 -3.17721682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.42, Y:-2.02, Z:-0.32 [[ 9.99129583e-01 -4.17139027e-02 -1.63790214e-04 1.88422597e+02] [ 4.17139024e-02 9.99129596e-01 -5.29990482e-06 -2.01730906e+00] [ 1.63868730e-04 -1.53703730e-06 9.99999987e-01 -3.16434383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.48, Y:-2.02, Z:-0.32 [[ 9.99236750e-01 -3.90626447e-02 -1.63790555e-04 1.88482098e+02] [ 3.90626444e-02 9.99236764e-01 -5.28933863e-06 -2.01732568e+00] [ 1.63872160e-04 -1.11279067e-06 9.99999987e-01 -3.23216997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.54, Y:-2.02, Z:-0.32 [[ 9.99417683e-01 -3.41213605e-02 -1.63790493e-04 1.88543547e+02] [ 3.41213601e-02 9.99417697e-01 -5.29125381e-06 -2.01720571e+00] [ 1.63875662e-04 -3.00581771e-07 9.99999987e-01 -3.17158865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.34533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.60, Y:-2.02, Z:-0.31 [[ 9.99564822e-01 -2.94981401e-02 -1.63790617e-04 1.88604376e+02] [ 2.94981397e-02 9.99564835e-01 -5.28742114e-06 -2.02110857e+00] [ 1.63875310e-04 4.53601675e-07 9.99999987e-01 -3.14149793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.40533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.67, Y:-2.02, Z:-0.31 [[ 9.99690699e-01 -2.48692294e-02 -1.63790678e-04 1.88665691e+02] [ 2.48692288e-02 9.99690713e-01 -5.28551691e-06 -2.01993567e+00] [ 1.63871467e-04 1.21053423e-06 9.99999987e-01 -3.08215497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.73, Y:-2.02, Z:-0.31 [[ 9.99663753e-01 -2.59297753e-02 -1.63790807e-04 1.88726823e+02] [ 2.59297747e-02 9.99663767e-01 -5.28151358e-06 -2.01932115e+00] [ 1.63872684e-04 1.03267894e-06 9.99999987e-01 -3.13223532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.79, Y:-2.02, Z:-0.32 [[ 9.99631952e-01 -2.71281053e-02 -1.63791278e-04 1.88788619e+02] [ 2.71281048e-02 9.99631965e-01 -5.26688450e-06 -2.02011863e+00] [ 1.63873878e-04 8.21599086e-07 9.99999987e-01 -3.19327724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.85, Y:-2.02, Z:-0.32 [[ 9.99739737e-01 -2.28129648e-02 -1.63791468e-04 1.88848874e+02] [ 2.28129642e-02 9.99739750e-01 -5.26096646e-06 -2.01514213e+00] [ 1.63868860e-04 1.52302833e-06 9.99999987e-01 -3.20913459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.91, Y:-2.01, Z:-0.32 [[ 9.99816576e-01 -1.91516739e-02 -1.63791531e-04 1.88911114e+02] [ 1.91516733e-02 9.99816590e-01 -5.25901598e-06 -2.00920334e+00] [ 1.63862209e-04 2.12116947e-06 9.99999987e-01 -3.22163133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.97, Y:-2.00, Z:-0.33 [[ 9.99840800e-01 -1.78423179e-02 -1.63791780e-04 1.88971450e+02] [ 1.78423173e-02 9.99840813e-01 -5.25124968e-06 -1.99993479e+00] [ 1.63859401e-04 2.32798878e-06 9.99999987e-01 -3.27532080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.03, Y:-1.99, Z:-0.32 [[ 9.99792680e-01 -2.03610078e-02 -1.63791841e-04 1.89032718e+02] [ 2.03610072e-02 9.99792693e-01 -5.24932730e-06 -1.98907559e+00] [ 1.63864768e-04 1.91327216e-06 9.99999987e-01 -3.21966972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.825336195 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:189.09, Y:-1.98, Z:-0.32 [[ 9.99649566e-01 -2.64710852e-02 -1.63792027e-04 1.89093230e+02] [ 2.64710847e-02 9.99649579e-01 -5.24352168e-06 -1.98081355e+00] [ 1.63873433e-04 9.05931553e-07 9.99999987e-01 -3.21183436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.16, Y:-1.98, Z:-0.31 [[ 9.99435221e-01 -3.36037496e-02 -1.63792150e-04 1.89155311e+02] [ 3.36037492e-02 9.99435235e-01 -5.23968752e-06 -1.97501054e+00] [ 1.63875719e-04 -2.67302070e-07 9.99999987e-01 -3.13905142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.22, Y:-1.97, Z:-0.31 [[ 9.99181294e-01 -4.04563346e-02 -1.63792399e-04 1.89217618e+02] [ 4.04563343e-02 9.99181307e-01 -5.23189077e-06 -1.96918850e+00] [ 1.63869966e-04 -1.39883265e-06 9.99999987e-01 -3.08008651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.28, Y:-1.97, Z:-0.31 [[ 9.98940008e-01 -4.60307858e-02 -1.63792662e-04 1.89278616e+02] [ 4.60307856e-02 9.98940022e-01 -5.22364476e-06 -1.97035374e+00] [ 1.63859494e-04 -2.32139716e-06 9.99999987e-01 -3.09677493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.06533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.34, Y:-1.97, Z:-0.31 [[ 9.98916859e-01 -4.65304376e-02 -1.63792856e-04 1.89340429e+02] [ 4.65304373e-02 9.98916873e-01 -5.21755940e-06 -1.97004643e+00] [ 1.63858222e-04 -2.40944516e-06 9.99999987e-01 -3.09176603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.12533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.40, Y:-1.97, Z:-0.30 [[ 9.99199579e-01 -4.00021850e-02 -1.63793099e-04 1.89402593e+02] [ 4.00021847e-02 9.99199592e-01 -5.20990659e-06 -1.96701439e+00] [ 1.63870405e-04 -1.34634532e-06 9.99999987e-01 -3.04174179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.18533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.46, Y:-1.97, Z:-0.31 [[ 9.99523658e-01 -3.08614805e-02 -1.63793352e-04 1.89464949e+02] [ 3.08614800e-02 9.99523671e-01 -5.20195123e-06 -1.96612817e+00] [ 1.63875872e-04 1.44568070e-07 9.99999987e-01 -3.06756917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.53, Y:-1.96, Z:-0.31 [[ 9.99561756e-01 -2.96018441e-02 -1.63793603e-04 1.89526376e+02] [ 2.96018437e-02 9.99561769e-01 -5.19402245e-06 -1.96448816e+00] [ 1.63875576e-04 3.43153566e-07 9.99999987e-01 -3.09956334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.59, Y:-1.96, Z:-0.31 [[ 9.99573382e-01 -2.92066208e-02 -1.63793790e-04 1.89586963e+02] [ 2.92066203e-02 9.99573396e-01 -5.18813003e-06 -1.96063569e+00] [ 1.63875442e-04 4.02053654e-07 9.99999987e-01 -3.10473516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.65, Y:-1.96, Z:-0.31 [[ 9.99486989e-01 -3.20270611e-02 -1.63793912e-04 1.89649094e+02] [ 3.20270607e-02 9.99487002e-01 -5.18426713e-06 -1.96084781e+00] [ 1.63875923e-04 -6.42300244e-08 9.99999987e-01 -3.07447710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.71, Y:-1.96, Z:-0.31 [[ 9.99426159e-01 -3.38721978e-02 -1.63794170e-04 1.89710640e+02] [ 3.38721974e-02 9.99426172e-01 -5.17609958e-06 -1.96083558e+00] [ 1.63875506e-04 -3.74939132e-07 9.99999987e-01 -3.10926589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.77, Y:-1.96, Z:-0.31 [[ 9.99356224e-01 -3.58763229e-02 -1.63794361e-04 1.89773157e+02] [ 3.58763225e-02 9.99356238e-01 -5.17005943e-06 -1.95884998e+00] [ 1.63874399e-04 -7.09608235e-07 9.99999987e-01 -3.09256926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.84, Y:-1.96, Z:-0.31 [[ 9.99278259e-01 -3.79859688e-02 -1.63794604e-04 1.89835234e+02] [ 3.79859684e-02 9.99278273e-01 -5.16232640e-06 -1.95699188e+00] [ 1.63872485e-04 -1.06329614e-06 9.99999987e-01 -3.06070166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.90, Y:-1.96, Z:-0.31 [[ 9.99282215e-01 -3.78817550e-02 -1.63794850e-04 1.89897388e+02] [ 3.78817546e-02 9.99282229e-01 -5.15451752e-06 -1.95939153e+00] [ 1.63872545e-04 -1.05401864e-06 9.99999987e-01 -3.07575533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.96, Y:-1.96, Z:-0.31 [[ 9.99281682e-01 -3.78958316e-02 -1.63795096e-04 1.89958938e+02] [ 3.78958313e-02 9.99281695e-01 -5.14670917e-06 -1.96169955e+00] [ 1.63872480e-04 -1.06413911e-06 9.99999987e-01 -3.10167913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.02, Y:-1.97, Z:-0.31 [[ 9.99338571e-01 -3.63647382e-02 -1.63795278e-04 1.90020226e+02] [ 3.63647379e-02 9.99338584e-01 -5.14090867e-06 -1.96614606e+00] [ 1.63873889e-04 -8.18864006e-07 9.99999987e-01 -3.09998792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.08, Y:-1.97, Z:-0.30 [[ 9.99452825e-01 -3.30760385e-02 -1.63795626e-04 1.90082778e+02] [ 3.30760381e-02 9.99452838e-01 -5.12979811e-06 -1.97093721e+00] [ 1.63875676e-04 -2.90719141e-07 9.99999987e-01 -3.02154497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.84533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.14, Y:-1.98, Z:-0.31 [[ 9.99636369e-01 -2.69648407e-02 -1.63795878e-04 1.90144482e+02] [ 2.69648402e-02 9.99636383e-01 -5.12171750e-06 -1.97517356e+00] [ 1.63874426e-04 7.03125406e-07 9.99999987e-01 -3.06839891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.90533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.21, Y:-1.98, Z:-0.30 [[ 9.99772866e-01 -2.13117141e-02 -1.63796066e-04 1.90206256e+02] [ 2.13117136e-02 9.99772880e-01 -5.11570596e-06 -1.97772041e+00] [ 1.63867889e-04 1.62376917e-06 9.99999987e-01 -3.02330358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.27, Y:-1.98, Z:-0.30 [[ 9.99825182e-01 -1.86970168e-02 -1.63796256e-04 1.90267526e+02] [ 1.86970162e-02 9.99825196e-01 -5.10962976e-06 -1.98423893e+00] [ 1.63863158e-04 2.04623525e-06 9.99999987e-01 -3.02892180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.33, Y:-1.98, Z:-0.30 [[ 9.99834831e-01 -1.81737411e-02 -1.63796384e-04 1.90328966e+02] [ 1.81737406e-02 9.99834844e-01 -5.10551731e-06 -1.98431474e+00] [ 1.63862118e-04 2.12788105e-06 9.99999987e-01 -3.04458532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.39, Y:-1.99, Z:-0.31 [[ 9.99884027e-01 -1.52284535e-02 -1.63796575e-04 1.90390406e+02] [ 1.52284529e-02 9.99884040e-01 -5.09936554e-06 -1.98742556e+00] [ 1.63855237e-04 2.60440572e-06 9.99999987e-01 -3.06528018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.45, Y:-1.99, Z:-0.31 [[ 9.99919693e-01 -1.26720496e-02 -1.63796699e-04 1.90450836e+02] [ 1.26720489e-02 9.99919706e-01 -5.09540163e-06 -1.98719259e+00] [ 1.63848116e-04 3.01935265e-06 9.99999987e-01 -3.08909327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.51, Y:-1.98, Z:-0.31 [[ 9.99933513e-01 -1.15300715e-02 -1.63796932e-04 1.90511987e+02] [ 1.15300709e-02 9.99933527e-01 -5.08789800e-06 -1.98087002e+00] [ 1.63844707e-04 3.19896950e-06 9.99999987e-01 -3.09559723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.57, Y:-1.98, Z:-0.31 [[ 9.99898860e-01 -1.42212362e-02 -1.63797054e-04 1.90574079e+02] [ 1.42212356e-02 9.99898873e-01 -5.08395957e-06 -1.98135259e+00] [ 1.63852790e-04 2.75404888e-06 9.99999987e-01 -3.09343814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.64, Y:-1.98, Z:-0.31 [[ 9.99811748e-01 -1.94021014e-02 -1.63797297e-04 1.90635658e+02] [ 1.94021009e-02 9.99811762e-01 -5.07610048e-06 -1.97715877e+00] [ 1.63864951e-04 1.89713321e-06 9.99999987e-01 -3.05127627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.385336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:190.70, Y:-1.97, Z:-0.31 [[ 9.99678449e-01 -2.53568894e-02 -1.63797485e-04 1.90695768e+02] [ 2.53568889e-02 9.99678462e-01 -5.07003172e-06 -1.97121221e+00] [ 1.63873378e-04 9.15006815e-07 9.99999987e-01 -3.10794729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.76, Y:-1.97, Z:-0.31 [[ 9.99536539e-01 -3.04414278e-02 -1.63797547e-04 1.90758200e+02] [ 3.04414273e-02 9.99536552e-01 -5.06804147e-06 -1.96635116e+00] [ 1.63875914e-04 7.94615068e-08 9.99999987e-01 -3.08819079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.82, Y:-1.96, Z:-0.31 [[ 9.99448143e-01 -3.32171888e-02 -1.63797795e-04 1.90818866e+02] [ 3.32171884e-02 9.99448157e-01 -5.06002064e-06 -1.96079843e+00] [ 1.63875484e-04 -3.83673966e-07 9.99999987e-01 -3.12804100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.56533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.88, Y:-1.95, Z:-0.31 [[ 9.99361489e-01 -3.57293717e-02 -1.63798284e-04 1.90880308e+02] [ 3.57293714e-02 9.99361502e-01 -5.04413674e-06 -1.95211078e+00] [ 1.63873923e-04 -8.11493711e-07 9.99999987e-01 -3.14220600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.62533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.94, Y:-1.94, Z:-0.31 [[ 9.99304361e-01 -3.72929886e-02 -1.63798466e-04 1.90941024e+02] [ 3.72929883e-02 9.99304375e-01 -5.03821844e-06 -1.94435675e+00] [ 1.63872414e-04 -1.07382060e-06 9.99999987e-01 -3.08525219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.68533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.00, Y:-1.94, Z:-0.31 [[ 9.99306795e-01 -3.72277144e-02 -1.63798527e-04 1.91000977e+02] [ 3.72277141e-02 9.99306808e-01 -5.03623977e-06 -1.93759537e+00] [ 1.63872471e-04 -1.06509609e-06 9.99999987e-01 -3.14096224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.06, Y:-1.93, Z:-0.31 [[ 9.99358914e-01 -3.58013161e-02 -1.63798587e-04 1.91062462e+02] [ 3.58013158e-02 9.99358927e-01 -5.03428633e-06 -1.92522299e+00] [ 1.63873814e-04 -8.33146011e-07 9.99999987e-01 -3.10128119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.12, Y:-1.92, Z:-0.31 [[ 9.99361036e-01 -3.57420459e-02 -1.63798826e-04 1.91124692e+02] [ 3.57420455e-02 9.99361049e-01 -5.02649908e-06 -1.91965124e+00] [ 1.63873824e-04 -8.31217759e-07 9.99999987e-01 -3.07575888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.19, Y:-1.92, Z:-0.31 [[ 9.99277661e-01 -3.80016907e-02 -1.63799069e-04 1.91185383e+02] [ 3.80016904e-02 9.99277675e-01 -5.01856270e-06 -1.91892267e+00] [ 1.63871467e-04 -1.20970390e-06 9.99999987e-01 -3.06489787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.25, Y:-1.91, Z:-0.31 [[ 9.99176775e-01 -4.05677844e-02 -1.63799188e-04 1.91247697e+02] [ 4.05677841e-02 9.99176789e-01 -5.01465607e-06 -1.91276957e+00] [ 1.63867781e-04 -1.63444223e-06 9.99999987e-01 -3.05176713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.31, Y:-1.91, Z:-0.31 [[ 9.99152004e-01 -4.11733548e-02 -1.63799433e-04 1.91309269e+02] [ 4.11733545e-02 9.99152018e-01 -5.00664784e-06 -1.91367697e+00] [ 1.63866675e-04 -1.74176991e-06 9.99999987e-01 -3.06502585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.37, Y:-1.91, Z:-0.31 [[ 9.99135855e-01 -4.15634020e-02 -1.63799614e-04 1.91370746e+02] [ 4.15634018e-02 9.99135868e-01 -5.00071718e-06 -1.91159458e+00] [ 1.63865917e-04 -1.81167334e-06 9.99999987e-01 -3.05841298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.43, Y:-1.91, Z:-0.30 [[ 9.99198522e-01 -4.00285754e-02 -1.63799791e-04 1.91433024e+02] [ 4.00285752e-02 9.99198535e-01 -4.99491491e-06 -1.91186666e+00] [ 1.63868451e-04 -1.56576065e-06 9.99999987e-01 -3.00160404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.49, Y:-1.91, Z:-0.30 [[ 9.99267274e-01 -3.82738612e-02 -1.63800028e-04 1.91494491e+02] [ 3.82738609e-02 9.99267287e-01 -4.98713684e-06 -1.91356064e+00] [ 1.63870887e-04 -1.28577685e-06 9.99999987e-01 -3.00100424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.56, Y:-1.91, Z:-0.30 [[ 9.99352868e-01 -3.59696812e-02 -1.63800356e-04 1.91555271e+02] [ 3.59696809e-02 9.99352882e-01 -4.97633186e-06 -1.90678307e+00] [ 1.63873355e-04 -9.18735026e-07 9.99999987e-01 -2.98458455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.62, Y:-1.90, Z:-0.30 [[ 9.99434210e-01 -3.36338217e-02 -1.63800529e-04 1.91617231e+02] [ 3.36338214e-02 9.99434223e-01 -4.97062929e-06 -1.90394666e+00] [ 1.63875036e-04 -5.41420784e-07 9.99999987e-01 -2.97393124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.34533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.68, Y:-1.90, Z:-0.30 [[ 9.99489772e-01 -3.19400814e-02 -1.63800757e-04 1.91678891e+02] [ 3.19400810e-02 9.99489785e-01 -4.96310372e-06 -1.90209781e+00] [ 1.63875706e-04 -2.71238049e-07 9.99999987e-01 -3.01804009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.40533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.74, Y:-1.90, Z:-0.30 [[ 9.99470050e-01 -3.25513799e-02 -1.63800983e-04 1.91740768e+02] [ 3.25513795e-02 9.99470063e-01 -4.95564361e-06 -1.89671929e+00] [ 1.63875492e-04 -3.78930595e-07 9.99999987e-01 -2.96551249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.80, Y:-1.90, Z:-0.30 [[ 9.99465025e-01 -3.27053001e-02 -1.63801221e-04 1.91801641e+02] [ 3.27052998e-02 9.99465039e-01 -4.94775095e-06 -1.89954000e+00] [ 1.63875412e-04 -4.12064026e-07 9.99999987e-01 -2.99581906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.525336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:191.86, Y:-1.90, Z:-0.30 [[ 9.99408621e-01 -3.43857738e-02 -1.63801398e-04 1.91863783e+02] [ 3.43857734e-02 9.99408634e-01 -4.94188348e-06 -1.89555948e+00] [ 1.63874462e-04 -6.93476819e-07 9.99999987e-01 -2.96418751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.93, Y:-1.90, Z:-0.30 [[ 9.99461574e-01 -3.28106050e-02 -1.63801632e-04 1.91926466e+02] [ 3.28106046e-02 9.99461587e-01 -4.93413829e-06 -1.89819999e+00] [ 1.63875331e-04 -4.42948955e-07 9.99999987e-01 -2.96612182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.99, Y:-1.89, Z:-0.29 [[ 9.99545774e-01 -3.01366708e-02 -1.63801866e-04 1.91986924e+02] [ 3.01366703e-02 9.99545787e-01 -4.92635579e-06 -1.89389035e+00] [ 1.63875929e-04 -1.23247202e-08 9.99999987e-01 -2.92308550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.05, Y:-1.89, Z:-0.30 [[ 9.99559646e-01 -2.96730176e-02 -1.63802270e-04 1.92047975e+02] [ 2.96730172e-02 9.99559659e-01 -4.91289607e-06 -1.89478704e+00] [ 1.63875921e-04 5.02250886e-08 9.99999987e-01 -2.97029191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.11, Y:-1.89, Z:-0.29 [[ 9.99585946e-01 -2.87734367e-02 -1.63802386e-04 1.92110189e+02] [ 2.87734363e-02 9.99585959e-01 -4.90901504e-06 -1.89386371e+00] [ 1.63875814e-04 1.93824920e-07 9.99999987e-01 -2.93170999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.17, Y:-1.89, Z:-0.29 [[ 9.99583009e-01 -2.88752681e-02 -1.63802616e-04 1.92172215e+02] [ 2.88752677e-02 9.99583023e-01 -4.90131793e-06 -1.89048180e+00] [ 1.63875841e-04 1.69429737e-07 9.99999987e-01 -2.93073115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.23, Y:-1.90, Z:-0.30 [[ 9.99495690e-01 -3.17543628e-02 -1.63802847e-04 1.92234431e+02] [ 3.17543624e-02 9.99495703e-01 -4.89358182e-06 -1.89638048e+00] [ 1.63875635e-04 -3.10341036e-07 9.99999987e-01 -2.97122877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.30, Y:-1.90, Z:-0.30 [[ 9.99446857e-01 -3.32558724e-02 -1.63803080e-04 1.92296326e+02] [ 3.32558721e-02 9.99446870e-01 -4.88578456e-06 -1.89826064e+00] [ 1.63874957e-04 -5.64332245e-07 9.99999987e-01 -2.95273078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.36, Y:-1.90, Z:-0.29 [[ 9.99511003e-01 -3.12686448e-02 -1.63803315e-04 1.92357522e+02] [ 3.12686444e-02 9.99511016e-01 -4.87788172e-06 -1.90305989e+00] [ 1.63875743e-04 -2.46411163e-07 9.99999987e-01 -2.93258698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.06533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.42, Y:-1.91, Z:-0.29 [[ 9.99629098e-01 -2.72330556e-02 -1.63803490e-04 1.92419770e+02] [ 2.72330552e-02 9.99629112e-01 -4.87199061e-06 -1.90588789e+00] [ 1.63875417e-04 4.09314090e-07 9.99999987e-01 -2.91686212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.12533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.48, Y:-1.91, Z:-0.30 [[ 9.99740029e-01 -2.28001567e-02 -1.63803721e-04 1.92480615e+02] [ 2.28001562e-02 9.99740043e-01 -4.86420965e-06 -1.91230754e+00] [ 1.63872044e-04 1.12819466e-06 9.99999987e-01 -2.96388459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.18533619500002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:192.54, Y:-1.91, Z:-0.29 [[ 9.99797265e-01 -2.01345762e-02 -1.63803779e-04 1.92542833e+02] [ 2.01345757e-02 9.99797279e-01 -4.86228595e-06 -1.90962332e+00] [ 1.63868472e-04 1.56318061e-06 9.99999987e-01 -2.94754408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.60, Y:-1.91, Z:-0.30 [[ 9.99781876e-01 -2.08847562e-02 -1.63804005e-04 1.92604897e+02] [ 2.08847557e-02 9.99781890e-01 -4.85464208e-06 -1.91318146e+00] [ 1.63869666e-04 1.43257654e-06 9.99999987e-01 -3.00840261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.67, Y:-1.92, Z:-0.29 [[ 9.99724965e-01 -2.34514024e-02 -1.63804168e-04 1.92665874e+02] [ 2.34514020e-02 9.99724978e-01 -4.84913480e-06 -1.91872686e+00] [ 1.63872837e-04 1.00636373e-06 9.99999987e-01 -2.91674950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.73, Y:-1.92, Z:-0.29 [[ 9.99691906e-01 -2.48207009e-02 -1.63804334e-04 1.92726710e+02] [ 2.48207004e-02 9.99691919e-01 -4.84352084e-06 -1.91900576e+00] [ 1.63874089e-04 7.76290271e-07 9.99999987e-01 -2.92271257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.79, Y:-1.92, Z:-0.29 [[ 9.99646454e-01 -2.65883622e-02 -1.63804511e-04 1.92788790e+02] [ 2.65883618e-02 9.99646467e-01 -4.83753138e-06 -1.91990283e+00] [ 1.63875223e-04 4.80527492e-07 9.99999987e-01 -2.93544627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.485336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:192.85, Y:-1.92, Z:-0.30 [[ 9.99706793e-01 -2.42136612e-02 -1.63804749e-04 1.92849699e+02] [ 2.42136608e-02 9.99706806e-01 -4.82947020e-06 -1.91823649e+00] [ 1.63873661e-04 8.61741547e-07 9.99999987e-01 -2.96397857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.91, Y:-1.91, Z:-0.29 [[ 9.99768889e-01 -2.14975048e-02 -1.63804925e-04 1.92910292e+02] [ 2.14975043e-02 9.99768902e-01 -4.82347470e-06 -1.91255204e+00] [ 1.63870763e-04 1.30096286e-06 9.99999987e-01 -2.94606153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.97, Y:-1.91, Z:-0.30 [[ 9.99774447e-01 -2.12374468e-02 -1.63804982e-04 1.92971299e+02] [ 2.12374463e-02 9.99774460e-01 -4.82153059e-06 -1.91142278e+00] [ 1.63870435e-04 1.34164357e-06 9.99999987e-01 -2.98610759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.03, Y:-1.91, Z:-0.30 [[ 9.99742346e-01 -2.26983572e-02 -1.63805095e-04 1.93032870e+02] [ 2.26983567e-02 9.99742359e-01 -4.81768702e-06 -1.90544729e+00] [ 1.63872246e-04 1.09833923e-06 9.99999987e-01 -3.00596201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.09, Y:-1.90, Z:-0.29 [[ 9.99634073e-01 -2.70498458e-02 -1.63805209e-04 1.93094007e+02] [ 2.70498454e-02 9.99634086e-01 -4.81382508e-06 -1.90193252e+00] [ 1.63875484e-04 3.81157986e-07 9.99999987e-01 -2.94832717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.16, Y:-1.90, Z:-0.30 [[ 9.99393528e-01 -3.48216886e-02 -1.63805323e-04 1.93155005e+02] [ 3.48216883e-02 9.99393541e-01 -4.80994349e-06 -1.90304137e+00] [ 1.63873472e-04 -8.96951497e-07 9.99999987e-01 -3.00169290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.84533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.22, Y:-1.91, Z:-0.30 [[ 9.99060660e-01 -4.33332509e-02 -1.63805492e-04 1.93217004e+02] [ 4.33332507e-02 9.99060674e-01 -4.80418418e-06 -1.90709518e+00] [ 1.63859806e-04 -2.29855302e-06 9.99999987e-01 -2.97978751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.90533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.28, Y:-1.91, Z:-0.30 [[ 9.99020517e-01 -4.42490623e-02 -1.63805725e-04 1.93279030e+02] [ 4.42490621e-02 9.99020531e-01 -4.79622765e-06 -1.91058909e+00] [ 1.63857511e-04 -2.45671986e-06 9.99999987e-01 -2.96396156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.34, Y:-1.91, Z:-0.29 [[ 9.99082301e-01 -4.28313920e-02 -1.63805955e-04 1.93341648e+02] [ 4.28313918e-02 9.99082315e-01 -4.78833923e-06 -1.91322942e+00] [ 1.63860724e-04 -2.23209208e-06 9.99999987e-01 -2.94483954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.40, Y:-1.92, Z:-0.29 [[ 9.99229141e-01 -3.92567992e-02 -1.63806185e-04 1.93404322e+02] [ 3.92567989e-02 9.99229155e-01 -4.78045637e-06 -1.91881974e+00] [ 1.63867582e-04 -1.65373517e-06 9.99999987e-01 -2.93523468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.47, Y:-1.92, Z:-0.30 [[ 9.99269387e-01 -3.82186392e-02 -1.63806420e-04 1.93465656e+02] [ 3.82186389e-02 9.99269401e-01 -4.77240035e-06 -1.91972777e+00] [ 1.63869138e-04 -1.49154485e-06 9.99999987e-01 -2.96034732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.53, Y:-1.92, Z:-0.30 [[ 9.99346496e-01 -3.61462907e-02 -1.63806594e-04 1.93527391e+02] [ 3.61462904e-02 9.99346509e-01 -4.76642195e-06 -1.92241237e+00] [ 1.63871837e-04 -1.15769365e-06 9.99999987e-01 -2.97222810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.205336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:193.59, Y:-1.93, Z:-0.30 [[ 9.99452072e-01 -3.30987715e-02 -1.63806967e-04 1.93589255e+02] [ 3.30987712e-02 9.99452086e-01 -4.75358786e-06 -1.92717131e+00] [ 1.63874552e-04 -6.70826066e-07 9.99999987e-01 -2.95045490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.65, Y:-1.93, Z:-0.30 [[ 9.99559662e-01 -2.96724525e-02 -1.63807081e-04 1.93651581e+02] [ 2.96724522e-02 9.99559676e-01 -4.74965142e-06 -1.93248069e+00] [ 1.63875886e-04 -1.12997793e-07 9.99999987e-01 -2.96149635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.71, Y:-1.93, Z:-0.30 [[ 9.99627201e-01 -2.73026058e-02 -1.63807313e-04 1.93712995e+02] [ 2.73026054e-02 9.99627214e-01 -4.74162262e-06 -1.93170889e+00] [ 1.63875707e-04 2.67488520e-07 9.99999987e-01 -2.95154499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.77, Y:-1.93, Z:-0.30 [[ 9.99636968e-01 -2.69426446e-02 -1.63807429e-04 1.93773060e+02] [ 2.69426442e-02 9.99636981e-01 -4.73761398e-06 -1.93093878e+00] [ 1.63875608e-04 3.22488799e-07 9.99999987e-01 -2.98633745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.83, Y:-1.93, Z:-0.30 [[ 9.99558231e-01 -2.97206468e-02 -1.63807486e-04 1.93834598e+02] [ 2.97206465e-02 9.99558244e-01 -4.73563210e-06 -1.93066209e+00] [ 1.63875869e-04 -1.34924342e-07 9.99999987e-01 -2.96745355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.90, Y:-1.93, Z:-0.30 [[ 9.99452320e-01 -3.30912801e-02 -1.63807599e-04 1.93895018e+02] [ 3.30912798e-02 9.99452334e-01 -4.73172435e-06 -1.92878113e+00] [ 1.63874466e-04 -6.91470224e-07 9.99999987e-01 -2.98001070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.56533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.96, Y:-1.92, Z:-0.30 [[ 9.99443414e-01 -3.33591893e-02 -1.63807655e-04 1.93956344e+02] [ 3.33591889e-02 9.99443427e-01 -4.72979474e-06 -1.92447124e+00] [ 1.63874266e-04 -7.37328307e-07 9.99999987e-01 -2.95170857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.62533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.02, Y:-1.92, Z:-0.30 [[ 9.99431053e-01 -3.37274953e-02 -1.63807767e-04 1.94018165e+02] [ 3.37274950e-02 9.99431066e-01 -4.72592685e-06 -1.92248758e+00] [ 1.63873964e-04 -8.01587577e-07 9.99999987e-01 -2.95937075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.68533619500002 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:194.08, Y:-1.92, Z:-0.29 [[ 9.99420711e-01 -3.40325643e-02 -1.63807935e-04 1.94079528e+02] [ 3.40325639e-02 9.99420725e-01 -4.72006460e-06 -1.91930084e+00] [ 1.63873681e-04 -8.57473721e-07 9.99999987e-01 -2.91676055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.14, Y:-1.91, Z:-0.30 [[ 9.99353535e-01 -3.59511575e-02 -1.63808050e-04 1.94140137e+02] [ 3.59511572e-02 9.99353548e-01 -4.71607945e-06 -1.91459088e+00] [ 1.63871705e-04 -1.17605830e-06 9.99999987e-01 -2.95128007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.20, Y:-1.92, Z:-0.29 [[ 9.99341604e-01 -3.62812806e-02 -1.63808220e-04 1.94202628e+02] [ 3.62812803e-02 9.99341618e-01 -4.71016149e-06 -1.91590768e+00] [ 1.63871263e-04 -1.23611162e-06 9.99999987e-01 -2.94215977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.27, Y:-1.92, Z:-0.29 [[ 9.99312411e-01 -3.70766545e-02 -1.63808441e-04 1.94265319e+02] [ 3.70766542e-02 9.99312424e-01 -4.70249217e-06 -1.91692328e+00] [ 1.63870163e-04 -1.37421011e-06 9.99999987e-01 -2.91534253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.925336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:194.33, Y:-1.92, Z:-0.30 [[ 9.99362773e-01 -3.56934314e-02 -1.63808669e-04 1.94326064e+02] [ 3.56934311e-02 9.99362786e-01 -4.69453323e-06 -1.91600990e+00] [ 1.63871852e-04 -1.15535169e-06 9.99999987e-01 -2.95178674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.39, Y:-1.92, Z:-0.30 [[ 9.99501577e-01 -3.15685173e-02 -1.63808781e-04 1.94386744e+02] [ 3.15685170e-02 9.99501590e-01 -4.69061500e-06 -1.91684010e+00] [ 1.63875213e-04 -4.82923196e-07 9.99999987e-01 -2.95972603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.45, Y:-1.92, Z:-0.30 [[ 9.99527979e-01 -3.07212136e-02 -1.63808835e-04 1.94447837e+02] [ 3.07212132e-02 9.99527992e-01 -4.68871225e-06 -1.91534652e+00] [ 1.63875559e-04 -3.45907079e-07 9.99999987e-01 -3.00172097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.105336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:194.51, Y:-1.92, Z:-0.30 [[ 9.99403828e-01 -3.45248037e-02 -1.63808947e-04 1.94509410e+02] [ 3.45248034e-02 9.99403841e-01 -4.68482049e-06 -1.91722849e+00] [ 1.63873033e-04 -9.73444138e-07 9.99999987e-01 -3.00768617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.57, Y:-1.92, Z:-0.31 [[ 9.99236792e-01 -3.90615746e-02 -1.63809057e-04 1.94569981e+02] [ 3.90615743e-02 9.99236805e-01 -4.68095846e-06 -1.92230054e+00] [ 1.63866884e-04 -1.72125375e-06 9.99999987e-01 -3.05587803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.63, Y:-1.93, Z:-0.30 [[ 9.99093591e-01 -4.25672374e-02 -1.63809112e-04 1.94631670e+02] [ 4.25672372e-02 9.99093604e-01 -4.67904840e-06 -1.92893437e+00] [ 1.63859810e-04 -2.29809404e-06 9.99999987e-01 -2.97345454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.69, Y:-1.93, Z:-0.30 [[ 9.99041876e-01 -4.37641828e-02 -1.63809225e-04 1.94692360e+02] [ 4.37641826e-02 9.99041889e-01 -4.67507061e-06 -1.93411550e+00] [ 1.63856878e-04 -2.49838552e-06 9.99999987e-01 -2.98756300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.34533619500002 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:194.75, Y:-1.94, Z:-0.30 [[ 9.99133747e-01 -4.16140476e-02 -1.63809281e-04 1.94753447e+02] [ 4.16140474e-02 9.99133760e-01 -4.67311225e-06 -1.94225873e+00] [ 1.63861850e-04 -2.14770303e-06 9.99999987e-01 -2.99974419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.40533619500002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:194.81, Y:-1.95, Z:-0.30 [[ 9.99383548e-01 -3.51069473e-02 -1.63809281e-04 1.94814812e+02] [ 3.51069470e-02 9.99383561e-01 -4.67311225e-06 -1.95382513e+00] [ 1.63872361e-04 -1.08061224e-06 9.99999987e-01 -2.96261159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.87, Y:-1.95, Z:-0.29 [[ 9.99595219e-01 -2.84494443e-02 -1.63809340e-04 1.94874543e+02] [ 2.84494439e-02 9.99595233e-01 -4.67105416e-06 -1.95492456e+00] [ 1.63875924e-04 8.87878175e-09 9.99999987e-01 -2.94625886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.94, Y:-1.96, Z:-0.30 [[ 9.99720954e-01 -2.36217707e-02 -1.63809304e-04 1.94935335e+02] [ 2.36217703e-02 9.99720967e-01 -4.67230904e-06 -1.96248517e+00] [ 1.63873964e-04 8.01539499e-07 9.99999987e-01 -3.01086760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.99, Y:-1.97, Z:-0.30 [[ 9.99754394e-01 -2.21613378e-02 -1.63809304e-04 1.94994879e+02] [ 2.21613373e-02 9.99754407e-01 -4.67230904e-06 -1.97099834e+00] [ 1.63872618e-04 1.04092825e-06 9.99999987e-01 -3.03469353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.05, Y:-1.97, Z:-0.30 [[ 9.99811161e-01 -1.94323539e-02 -1.63809247e-04 1.95054525e+02] [ 1.94323534e-02 9.99811174e-01 -4.67429231e-06 -1.97151559e+00] [ 1.63869148e-04 1.49021044e-06 9.99999987e-01 -2.99311444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.12, Y:-1.97, Z:-0.30 [[ 9.99858373e-01 -1.68287499e-02 -1.63809193e-04 1.95115248e+02] [ 1.68287494e-02 9.99858387e-01 -4.67620494e-06 -1.97225989e+00] [ 1.63864690e-04 1.91883882e-06 9.99999987e-01 -2.97223574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.18, Y:-1.97, Z:-0.30 [[ 9.99804023e-01 -1.97961683e-02 -1.63809193e-04 1.95176141e+02] [ 1.97961678e-02 9.99804037e-01 -4.67620494e-06 -1.97235583e+00] [ 1.63869663e-04 1.43249425e-06 9.99999987e-01 -2.97789077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.24, Y:-1.97, Z:-0.30 [[ 9.99693698e-01 -2.47483995e-02 -1.63809193e-04 1.95236340e+02] [ 2.47483991e-02 9.99693711e-01 -4.67620494e-06 -1.97170317e+00] [ 1.63874748e-04 6.20757340e-07 9.99999987e-01 -3.01393355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.30, Y:-1.97, Z:-0.30 [[ 9.99615368e-01 -2.77324581e-02 -1.63809250e-04 1.95296360e+02] [ 2.77324577e-02 9.99615381e-01 -4.67418703e-06 -1.97244126e+00] [ 1.63875873e-04 1.29556083e-07 9.99999987e-01 -2.96454154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.36, Y:-1.98, Z:-0.30 [[ 9.99430126e-01 -3.37549578e-02 -1.63809192e-04 1.95356240e+02] [ 3.37549575e-02 9.99430139e-01 -4.67623349e-06 -1.97675215e+00] [ 1.63873689e-04 -8.55803673e-07 9.99999987e-01 -3.01449446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.42, Y:-1.98, Z:-0.30 [[ 9.99342670e-01 -3.62518984e-02 -1.63809134e-04 1.95416308e+02] [ 3.62518981e-02 9.99342684e-01 -4.67825796e-06 -1.97943213e+00] [ 1.63871055e-04 -1.26320923e-06 9.99999987e-01 -3.02670934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.06533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.48, Y:-1.98, Z:-0.30 [[ 9.99319694e-01 -3.68798389e-02 -1.63809021e-04 1.95476575e+02] [ 3.68798387e-02 9.99319707e-01 -4.68222679e-06 -1.98381816e+00] [ 1.63870262e-04 -1.36220880e-06 9.99999987e-01 -3.00686773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.12533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.54, Y:-1.98, Z:-0.30 [[ 9.99567350e-01 -2.94123473e-02 -1.63808905e-04 1.95535931e+02] [ 2.94123469e-02 9.99567363e-01 -4.68627930e-06 -1.98189541e+00] [ 1.63875869e-04 -1.33752545e-07 9.99999987e-01 -3.03903423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.60, Y:-1.98, Z:-0.31 [[ 9.99713260e-01 -2.39451610e-02 -1.63808847e-04 1.95595959e+02] [ 2.39451606e-02 9.99713274e-01 -4.68828051e-06 -1.98075269e+00] [ 1.63874141e-04 7.64507037e-07 9.99999987e-01 -3.07868845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.66, Y:-1.98, Z:-0.30 [[ 9.99675304e-01 -2.54805753e-02 -1.63808644e-04 1.95656224e+02] [ 2.54805749e-02 9.99675317e-01 -4.69536650e-06 -1.97636064e+00] [ 1.63875099e-04 5.19903509e-07 9.99999987e-01 -3.02458138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.72, Y:-1.98, Z:-0.30 [[ 9.99570215e-01 -2.93148095e-02 -1.63808644e-04 1.95716969e+02] [ 2.93148092e-02 9.99570229e-01 -4.69536650e-06 -1.97833224e+00] [ 1.63875888e-04 -1.08670643e-07 9.99999987e-01 -2.97721374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.365336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:195.78, Y:-1.98, Z:-0.30 [[ 9.99416355e-01 -3.41602459e-02 -1.63808644e-04 1.95777504e+02] [ 3.41602456e-02 9.99416368e-01 -4.69536650e-06 -1.97594236e+00] [ 1.63873435e-04 -9.03117449e-07 9.99999987e-01 -2.99379175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.84, Y:-1.97, Z:-0.30 [[ 9.99362017e-01 -3.57145931e-02 -1.63808644e-04 1.95835822e+02] [ 3.57145928e-02 9.99362030e-01 -4.69536650e-06 -1.97498906e+00] [ 1.63871832e-04 -1.15798809e-06 9.99999987e-01 -3.04130174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.90, Y:-1.97, Z:-0.30 [[ 9.99437273e-01 -3.35426697e-02 -1.63808469e-04 1.95895002e+02] [ 3.35426694e-02 9.99437286e-01 -4.70146510e-06 -1.97457583e+00] [ 1.63873992e-04 -7.95753868e-07 9.99999987e-01 -3.02659555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.95, Y:-1.97, Z:-0.30 [[ 9.99471533e-01 -3.25058227e-02 -1.63808295e-04 1.95954630e+02] [ 3.25058224e-02 9.99471546e-01 -4.70751034e-06 -1.97143642e+00] [ 1.63874752e-04 -6.19700779e-07 9.99999987e-01 -2.99628173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.01, Y:-1.97, Z:-0.30 [[ 9.99366743e-01 -3.55820959e-02 -1.63808238e-04 1.96014738e+02] [ 3.55820957e-02 9.99366757e-01 -4.70950653e-06 -1.96929502e+00] [ 1.63872082e-04 -1.12211619e-06 9.99999987e-01 -3.00529023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.07, Y:-1.97, Z:-0.29 [[ 9.99187152e-01 -4.03113850e-02 -1.63808125e-04 1.96074378e+02] [ 4.03113848e-02 9.99187166e-01 -4.71343783e-06 -1.97480730e+00] [ 1.63864981e-04 -1.89372583e-06 9.99999987e-01 -2.93377629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.13, Y:-1.97, Z:-0.30 [[ 9.99058892e-01 -4.33739916e-02 -1.63808008e-04 1.96132978e+02] [ 4.33739914e-02 9.99058906e-01 -4.71748649e-06 -1.97468393e+00] [ 1.63858466e-04 -2.39196031e-06 9.99999987e-01 -2.98799616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.785336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:196.19, Y:-1.98, Z:-0.30 [[ 9.99151551e-01 -4.11843606e-02 -1.63807835e-04 1.96191473e+02] [ 4.11843603e-02 9.99151564e-01 -4.72348446e-06 -1.97615452e+00] [ 1.63863389e-04 -2.02684409e-06 9.99999987e-01 -3.00967721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.84533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.25, Y:-1.98, Z:-0.31 [[ 9.99280446e-01 -3.79284035e-02 -1.63807018e-04 1.96250488e+02] [ 3.79284032e-02 9.99280459e-01 -4.75165526e-06 -1.97772317e+00] [ 1.63869375e-04 -1.46470244e-06 9.99999987e-01 -3.06590289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.90533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.31, Y:-1.97, Z:-0.30 [[ 9.99470094e-01 -3.25500283e-02 -1.63806844e-04 1.96309733e+02] [ 3.25500280e-02 9.99470107e-01 -4.75764417e-06 -1.97309362e+00] [ 1.63874906e-04 -5.76794304e-07 9.99999987e-01 -3.04655639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.37, Y:-1.97, Z:-0.30 [[ 9.99629472e-01 -2.72193377e-02 -1.63806732e-04 1.96368993e+02] [ 2.72193373e-02 9.99629485e-01 -4.76150573e-06 -1.97206977e+00] [ 1.63875644e-04 3.01030763e-07 9.99999987e-01 -3.01657897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.025336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:196.43, Y:-1.96, Z:-0.30 [[ 9.99600060e-01 -2.82788435e-02 -1.63806614e-04 1.96427611e+02] [ 2.82788431e-02 9.99600074e-01 -4.76556970e-06 -1.96395127e+00] [ 1.63875868e-04 1.31402230e-07 9.99999987e-01 -3.04755856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.49, Y:-1.97, Z:-0.31 [[ 9.99355463e-01 -3.58975263e-02 -1.63806444e-04 1.96486944e+02] [ 3.58975260e-02 9.99355476e-01 -4.77141251e-06 -1.96770388e+00] [ 1.63872148e-04 -1.11190891e-06 9.99999987e-01 -3.08313230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.55, Y:-1.97, Z:-0.30 [[ 9.99096351e-01 -4.25024067e-02 -1.63806386e-04 1.96546341e+02] [ 4.25024065e-02 9.99096364e-01 -4.77340070e-06 -1.97135092e+00] [ 1.63861245e-04 -2.19307837e-06 9.99999987e-01 -3.04435862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.61, Y:-1.98, Z:-0.30 [[ 9.99089378e-01 -4.26659957e-02 -1.63806215e-04 1.96605448e+02] [ 4.26659955e-02 9.99089392e-01 -4.77923539e-06 -1.97551916e+00] [ 1.63860963e-04 -2.21407193e-06 9.99999987e-01 -3.01808951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.66, Y:-1.97, Z:-0.31 [[ 9.99360399e-01 -3.57598406e-02 -1.63805383e-04 1.96664863e+02] [ 3.57598403e-02 9.99360412e-01 -4.80759664e-06 -1.97466696e+00] [ 1.63872534e-04 -1.05313264e-06 9.99999987e-01 -3.05595866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.72, Y:-1.98, Z:-0.31 [[ 9.99608471e-01 -2.79799649e-02 -1.63804584e-04 1.96723209e+02] [ 2.79799645e-02 9.99608484e-01 -4.83468502e-06 -1.97573067e+00] [ 1.63875726e-04 2.49545667e-07 9.99999987e-01 -3.07689148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.78, Y:-1.98, Z:-0.30 [[ 9.99600191e-01 -2.82742165e-02 -1.63804339e-04 1.96783129e+02] [ 2.82742161e-02 9.99600204e-01 -4.84294668e-06 -1.97631034e+00] [ 1.63875782e-04 2.09571140e-07 9.99999987e-01 -3.03986373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.84, Y:-1.98, Z:-0.30 [[ 9.99547845e-01 -3.00679081e-02 -1.63804226e-04 1.96842557e+02] [ 3.00679077e-02 9.99547858e-01 -4.84678743e-06 -1.98027645e+00] [ 1.63875896e-04 -8.06544109e-08 9.99999987e-01 -3.01139506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.505336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:196.90, Y:-1.98, Z:-0.30 [[ 9.99485706e-01 -3.20670641e-02 -1.63804112e-04 1.96902312e+02] [ 3.20670637e-02 9.99485719e-01 -4.85061472e-06 -1.98014505e+00] [ 1.63875416e-04 -4.04596830e-07 9.99999987e-01 -3.01502931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.56533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.96, Y:-1.98, Z:-0.30 [[ 9.99412466e-01 -3.42738509e-02 -1.63803997e-04 1.96961365e+02] [ 3.42738506e-02 9.99412479e-01 -4.85449368e-06 -1.98330219e+00] [ 1.63874141e-04 -7.62552232e-07 9.99999987e-01 -3.04025031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.62533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.02, Y:-1.99, Z:-0.30 [[ 9.99292616e-01 -3.76063843e-02 -1.63803756e-04 1.97020384e+02] [ 3.76063840e-02 9.99292630e-01 -4.86261459e-06 -1.99057140e+00] [ 1.63870752e-04 -1.30089210e-06 9.99999987e-01 -3.03223405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.08, Y:-1.99, Z:-0.30 [[ 9.99351919e-01 -3.59960380e-02 -1.63802910e-04 1.97079384e+02] [ 3.59960376e-02 9.99351933e-01 -4.89093978e-06 -1.98838898e+00] [ 1.63872810e-04 -1.00848567e-06 9.99999987e-01 -3.00724352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.14, Y:-1.99, Z:-0.30 [[ 9.99454215e-01 -3.30339963e-02 -1.63802056e-04 1.97138019e+02] [ 3.30339959e-02 9.99454229e-01 -4.91937661e-06 -1.98861190e+00] [ 1.63875165e-04 -4.94344776e-07 9.99999987e-01 -3.02555808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.20, Y:-1.98, Z:-0.31 [[ 9.99575568e-01 -2.91317195e-02 -1.63801204e-04 1.97196083e+02] [ 2.91317190e-02 9.99575581e-01 -4.94759499e-06 -1.98153774e+00] [ 1.63875816e-04 1.73684415e-07 9.99999987e-01 -3.10074676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.25, Y:-1.98, Z:-0.31 [[ 9.99630555e-01 -2.71795413e-02 -1.63800962e-04 1.97254509e+02] [ 2.71795408e-02 9.99630568e-01 -4.95558196e-06 -1.97602481e+00] [ 1.63875140e-04 5.01716195e-07 9.99999987e-01 -3.08993857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.31, Y:-1.98, Z:-0.31 [[ 9.99624387e-01 -2.74054431e-02 -1.63800105e-04 1.97314050e+02] [ 2.74054426e-02 9.99624400e-01 -4.98377804e-06 -1.97518155e+00] [ 1.63875164e-04 4.92891702e-07 9.99999987e-01 -3.14250024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.37, Y:-1.96, Z:-0.31 [[ 9.99465795e-01 -3.26817800e-02 -1.63799982e-04 1.97373644e+02] [ 3.26817796e-02 9.99465808e-01 -4.98779643e-06 -1.96320999e+00] [ 1.63875492e-04 -3.68142997e-07 9.99999987e-01 -3.12997871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.43, Y:-1.96, Z:-0.31 [[ 9.99372632e-01 -3.54163045e-02 -1.63799861e-04 1.97432412e+02] [ 3.54163042e-02 9.99372646e-01 -4.99177609e-06 -1.95924268e+00] [ 1.63873891e-04 -8.12541290e-07 9.99999987e-01 -3.13327190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.49, Y:-1.96, Z:-0.31 [[ 9.99323012e-01 -3.67898092e-02 -1.63799681e-04 1.97490825e+02] [ 3.67898089e-02 9.99323026e-01 -4.99766023e-06 -1.95757567e+00] [ 1.63872656e-04 -1.03188210e-06 9.99999987e-01 -3.11293164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.55, Y:-1.94, Z:-0.32 [[ 9.99395559e-01 -3.47633324e-02 -1.63798830e-04 1.97550094e+02] [ 3.47633320e-02 9.99395573e-01 -5.02541290e-06 -1.94302406e+00] [ 1.63874526e-04 -6.71817779e-07 9.99999987e-01 -3.23821638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.61, Y:-1.94, Z:-0.32 [[ 9.99478439e-01 -3.22927808e-02 -1.63798741e-04 1.97609326e+02] [ 3.22927804e-02 9.99478452e-01 -5.02830192e-06 -1.94256263e+00] [ 1.63875690e-04 -2.63837419e-07 9.99999987e-01 -3.20743749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.67, Y:-1.93, Z:-0.31 [[ 9.99563834e-01 -2.95315953e-02 -1.63798301e-04 1.97668388e+02] [ 2.95315948e-02 9.99563847e-01 -5.04261356e-06 -1.92811015e+00] [ 1.63875776e-04 2.03189093e-07 9.99999987e-01 -3.14851066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.34533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.73, Y:-1.92, Z:-0.32 [[ 9.99589407e-01 -2.86529221e-02 -1.63798226e-04 1.97726790e+02] [ 2.86529216e-02 9.99589421e-01 -5.04504940e-06 -1.92014935e+00] [ 1.63875529e-04 3.49680218e-07 9.99999987e-01 -3.21284347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.40533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.79, Y:-1.91, Z:-0.32 [[ 9.99495945e-01 -3.17463173e-02 -1.63798042e-04 1.97786244e+02] [ 3.17463169e-02 9.99495959e-01 -5.05099330e-06 -1.91490357e+00] [ 1.63875832e-04 -1.51537233e-07 9.99999987e-01 -3.20626836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.465336195 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:197.85, Y:-1.90, Z:-0.31 [[ 9.99445625e-01 -3.32928673e-02 -1.63797921e-04 1.97845457e+02] [ 3.32928669e-02 9.99445639e-01 -5.05491606e-06 -1.89856718e+00] [ 1.63875411e-04 -4.01188660e-07 9.99999987e-01 -3.14339968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.91, Y:-1.90, Z:-0.31 [[ 9.99403777e-01 -3.45262779e-02 -1.63797799e-04 1.97905928e+02] [ 3.45262775e-02 9.99403790e-01 -5.05886019e-06 -1.89644747e+00] [ 1.63874805e-04 -5.99484299e-07 9.99999987e-01 -3.10959897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.97, Y:-1.89, Z:-0.31 [[ 9.99254812e-01 -3.85978577e-02 -1.63797799e-04 1.97965133e+02] [ 3.85978574e-02 9.99254825e-01 -5.05886019e-06 -1.89451736e+00] [ 1.63871003e-04 -1.26715371e-06 9.99999987e-01 -3.10504603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.02, Y:-1.89, Z:-0.31 [[ 9.99161362e-01 -4.09456341e-02 -1.63797739e-04 1.98024922e+02] [ 4.09456339e-02 9.99161376e-01 -5.06080269e-06 -1.88652175e+00] [ 1.63867593e-04 -1.65024376e-06 9.99999987e-01 -3.13094338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.08, Y:-1.89, Z:-0.31 [[ 9.99154262e-01 -4.11185337e-02 -1.63797621e-04 1.98084892e+02] [ 4.11185334e-02 9.99154275e-01 -5.06462380e-06 -1.88785410e+00] [ 1.63867344e-04 -1.67477751e-06 9.99999987e-01 -3.14241758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.765336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:198.14, Y:-1.88, Z:-0.30 [[ 9.99219546e-01 -3.95002851e-02 -1.63797646e-04 1.98144964e+02] [ 3.95002848e-02 9.99219559e-01 -5.06383022e-06 -1.88299743e+00] [ 1.63869834e-04 -1.41017554e-06 9.99999987e-01 -3.04470305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.20, Y:-1.88, Z:-0.30 [[ 9.99365314e-01 -3.56222245e-02 -1.63797597e-04 1.98203871e+02] [ 3.56222242e-02 9.99365327e-01 -5.06540042e-06 -1.87934477e+00] [ 1.63874080e-04 -7.72649250e-07 9.99999987e-01 -3.04437448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.26, Y:-1.88, Z:-0.31 [[ 9.99326668e-01 -3.66903674e-02 -1.63797478e-04 1.98263862e+02] [ 3.66903671e-02 9.99326682e-01 -5.06926198e-06 -1.88222551e+00] [ 1.63873183e-04 -9.43940906e-07 9.99999987e-01 -3.06670038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.32, Y:-1.88, Z:-0.30 [[ 9.99225504e-01 -3.93492769e-02 -1.63797357e-04 1.98323740e+02] [ 3.93492766e-02 9.99225517e-01 -5.07315487e-06 -1.88056789e+00] [ 1.63870124e-04 -1.37608179e-06 9.99999987e-01 -3.00842086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.005336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:198.38, Y:-1.88, Z:-0.30 [[ 9.99198438e-01 -4.00306634e-02 -1.63797299e-04 1.98383579e+02] [ 4.00306631e-02 9.99198452e-01 -5.07503023e-06 -1.88490806e+00] [ 1.63869165e-04 -1.48595221e-06 9.99999987e-01 -2.98301251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.06533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.44, Y:-1.88, Z:-0.30 [[ 9.99389340e-01 -3.49416568e-02 -1.63797174e-04 1.98443369e+02] [ 3.49416565e-02 9.99389354e-01 -5.07906339e-06 -1.88303347e+00] [ 1.63874623e-04 -6.47382780e-07 9.99999987e-01 -3.02951931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.12533619500002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:198.50, Y:-1.88, Z:-0.30 [[ 9.99583110e-01 -2.88717667e-02 -1.63797050e-04 1.98503678e+02] [ 2.88717662e-02 9.99583124e-01 -5.08305409e-06 -1.87884254e+00] [ 1.63875524e-04 3.51824878e-07 9.99999987e-01 -3.02275543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.185336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:198.56, Y:-1.88, Z:-0.31 [[ 9.99585298e-01 -2.87959150e-02 -1.63797050e-04 1.98563500e+02] [ 2.87959145e-02 9.99585312e-01 -5.08305409e-06 -1.87800120e+00] [ 1.63875497e-04 3.64260282e-07 9.99999987e-01 -3.05870751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.62, Y:-1.87, Z:-0.30 [[ 9.99536660e-01 -3.04374377e-02 -1.63796989e-04 1.98623049e+02] [ 3.04374372e-02 9.99536674e-01 -5.08503792e-06 -1.87217296e+00] [ 1.63875873e-04 9.71212595e-08 9.99999987e-01 -3.04641437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.68, Y:-1.87, Z:-0.31 [[ 9.99526684e-01 -3.07633021e-02 -1.63796865e-04 1.98682094e+02] [ 3.07633016e-02 9.99526698e-01 -5.08903119e-06 -1.86699599e+00] [ 1.63875895e-04 4.76901220e-08 9.99999987e-01 -3.10117157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.74, Y:-1.86, Z:-0.31 [[ 9.99540320e-01 -3.03170262e-02 -1.63796803e-04 1.98742280e+02] [ 3.03170257e-02 9.99540333e-01 -5.09100588e-06 -1.85563818e+00] [ 1.63875855e-04 1.22833747e-07 9.99999987e-01 -3.12463399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.80, Y:-1.85, Z:-0.31 [[ 9.99536962e-01 -3.04275309e-02 -1.63796803e-04 1.98802553e+02] [ 3.04275305e-02 9.99536975e-01 -5.09100588e-06 -1.84605812e+00] [ 1.63875868e-04 1.04716328e-07 9.99999987e-01 -3.13470218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.485336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:198.86, Y:-1.84, Z:-0.31 [[ 9.99434559e-01 -3.36234276e-02 -1.63796865e-04 1.98862382e+02] [ 3.36234272e-02 9.99434573e-01 -5.08900622e-06 -1.83768893e+00] [ 1.63875360e-04 -4.21283298e-07 9.99999987e-01 -3.11626797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.92, Y:-1.84, Z:-0.31 [[ 9.99195990e-01 -4.00917232e-02 -1.63796865e-04 1.98922919e+02] [ 4.00917229e-02 9.99196004e-01 -5.08900622e-06 -1.83722903e+00] [ 1.63869200e-04 -1.48198392e-06 9.99999987e-01 -3.08171953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.605336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:198.98, Y:-1.84, Z:-0.31 [[ 9.98957794e-01 -4.56431592e-02 -1.63796865e-04 1.98983165e+02] [ 4.56431589e-02 9.98957808e-01 -5.08900622e-06 -1.83582009e+00] [ 1.63858436e-04 -2.39250393e-06 9.99999987e-01 -3.11049205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.04, Y:-1.83, Z:-0.31 [[ 9.98911602e-01 -4.66431607e-02 -1.63796927e-04 1.99043979e+02] [ 4.66431605e-02 9.98911615e-01 -5.08701398e-06 -1.83393798e+00] [ 1.63855928e-04 -2.55852908e-06 9.99999987e-01 -3.09158607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.10, Y:-1.83, Z:-0.31 [[ 9.99057843e-01 -4.33981541e-02 -1.63796927e-04 1.99104785e+02] [ 4.33981538e-02 9.99057856e-01 -5.08701398e-06 -1.83380457e+00] [ 1.63863374e-04 -2.02626302e-06 9.99999987e-01 -3.06850223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.17, Y:-1.83, Z:-0.31 [[ 9.99068331e-01 -4.31560369e-02 -1.63796927e-04 1.99165227e+02] [ 4.31560366e-02 9.99068344e-01 -5.08701398e-06 -1.83080198e+00] [ 1.63863860e-04 -1.98655161e-06 9.99999987e-01 -3.08747620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.84533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.22, Y:-1.83, Z:-0.31 [[ 9.99055277e-01 -4.34571816e-02 -1.63796927e-04 1.99224442e+02] [ 4.34571814e-02 9.99055290e-01 -5.08701398e-06 -1.83265779e+00] [ 1.63863254e-04 -2.03594461e-06 9.99999987e-01 -3.10326447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.90533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.29, Y:-1.83, Z:-0.30 [[ 9.99029082e-01 -4.40552698e-02 -1.63796866e-04 1.99285101e+02] [ 4.40552695e-02 9.99029095e-01 -5.08899894e-06 -1.83099004e+00] [ 1.63862032e-04 -2.13205712e-06 9.99999987e-01 -3.02890233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.34, Y:-1.83, Z:-0.31 [[ 9.98930399e-01 -4.62388571e-02 -1.63796866e-04 1.99344763e+02] [ 4.62388569e-02 9.98930412e-01 -5.08899894e-06 -1.83215932e+00] [ 1.63856980e-04 -2.49022408e-06 9.99999987e-01 -3.06646150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.41, Y:-1.83, Z:-0.31 [[ 9.98829733e-01 -4.83646277e-02 -1.63796876e-04 1.99405095e+02] [ 4.83646275e-02 9.98829747e-01 -5.08864805e-06 -1.83390206e+00] [ 1.63851303e-04 -2.83928195e-06 9.99999987e-01 -3.05110432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.46, Y:-1.83, Z:-0.31 [[ 9.98895009e-01 -4.69971670e-02 -1.63796876e-04 1.99464631e+02] [ 4.69971668e-02 9.98895023e-01 -5.08864805e-06 -1.83159587e+00] [ 1.63855037e-04 -2.61496398e-06 9.99999987e-01 -3.07007455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.145336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:199.52, Y:-1.83, Z:-0.31 [[ 9.99020892e-01 -4.42405907e-02 -1.63796755e-04 1.99524811e+02] [ 4.42405905e-02 9.99020906e-01 -5.09255867e-06 -1.83478671e+00] [ 1.63861680e-04 -2.15889264e-06 9.99999987e-01 -3.05642810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.58, Y:-1.83, Z:-0.32 [[ 9.99083774e-01 -4.27970189e-02 -1.63796755e-04 1.99584343e+02] [ 4.27970186e-02 9.99083788e-01 -5.09255867e-06 -1.83094974e+00] [ 1.63864629e-04 -1.92212003e-06 9.99999987e-01 -3.15283697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.265336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:199.64, Y:-1.83, Z:-0.30 [[ 9.98940724e-01 -4.60152479e-02 -1.63796832e-04 1.99644527e+02] [ 4.60152476e-02 9.98940737e-01 -5.09008310e-06 -1.83018358e+00] [ 1.63857549e-04 -2.45246048e-06 9.99999987e-01 -3.02355419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.70, Y:-1.83, Z:-0.31 [[ 9.98862524e-01 -4.76826037e-02 -1.63796776e-04 1.99704490e+02] [ 4.76826035e-02 9.98862538e-01 -5.09187404e-06 -1.83307054e+00] [ 1.63853257e-04 -2.72417457e-06 9.99999987e-01 -3.11668156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.76, Y:-1.83, Z:-0.31 [[ 9.98988904e-01 -4.49571288e-02 -1.63796776e-04 1.99764612e+02] [ 4.49571286e-02 9.98988917e-01 -5.09187404e-06 -1.82627980e+00] [ 1.63860080e-04 -2.27710707e-06 9.99999987e-01 -3.06828489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.82, Y:-1.82, Z:-0.31 [[ 9.99239182e-01 -3.90003865e-02 -1.63796776e-04 1.99824217e+02] [ 3.90003862e-02 9.99239196e-01 -5.09187404e-06 -1.82072423e+00] [ 1.63870744e-04 -1.30013748e-06 9.99999987e-01 -3.05511019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.88, Y:-1.82, Z:-0.30 [[ 9.99593991e-01 -2.84925743e-02 -1.63796713e-04 1.99882858e+02] [ 2.84925738e-02 9.99594004e-01 -5.09388884e-06 -1.81547899e+00] [ 1.63875351e-04 4.24830727e-07 9.99999987e-01 -3.04613610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.56533619500001 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:199.94, Y:-1.81, Z:-0.30 [[ 9.99699900e-01 -2.44966094e-02 -1.63796528e-04 1.99942631e+02] [ 2.44966089e-02 9.99699913e-01 -5.09984369e-06 -1.80501912e+00] [ 1.63872304e-04 1.08585374e-06 9.99999987e-01 -3.02537739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.62533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.00, Y:-1.80, Z:-0.30 [[ 9.99722314e-01 -2.35641230e-02 -1.63796528e-04 2.00002661e+02] [ 2.35641224e-02 9.99722328e-01 -5.09984369e-06 -1.80243653e+00] [ 1.63871220e-04 1.23870609e-06 9.99999987e-01 -3.02118411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.06, Y:-1.79, Z:-0.31 [[ 9.99735674e-01 -2.29903338e-02 -1.63796528e-04 2.00063016e+02] [ 2.29903333e-02 9.99735687e-01 -5.09984369e-06 -1.79083115e+00] [ 1.63870482e-04 1.33275890e-06 9.99999987e-01 -3.05690153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.12, Y:-1.78, Z:-0.30 [[ 9.99676044e-01 -2.54515326e-02 -1.63796774e-04 2.00123442e+02] [ 2.54515321e-02 9.99676057e-01 -5.09193990e-06 -1.78104361e+00] [ 1.63873311e-04 9.21411490e-07 9.99999987e-01 -2.97486993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.18, Y:-1.78, Z:-0.29 [[ 9.99653895e-01 -2.63071164e-02 -1.63796909e-04 2.00183934e+02] [ 2.63071159e-02 9.99653908e-01 -5.08759999e-06 -1.77544144e+00] [ 1.63874060e-04 7.76814883e-07 9.99999987e-01 -2.93357183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.865336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:200.24, Y:-1.76, Z:-0.29 [[ 9.99530456e-01 -3.06405138e-02 -1.63797059e-04 2.00244744e+02] [ 3.06405134e-02 9.99530469e-01 -5.08274589e-06 -1.75783339e+00] [ 1.63875889e-04 6.15333321e-08 9.99999987e-01 -2.93249234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.30, Y:-1.75, Z:-0.30 [[ 9.99399901e-01 -3.46382789e-02 -1.63797185e-04 2.00304683e+02] [ 3.46382786e-02 9.99399915e-01 -5.07869703e-06 -1.75155924e+00] [ 1.63874810e-04 -5.98003195e-07 9.99999987e-01 -3.01047142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.985336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:200.37, Y:-1.74, Z:-0.30 [[ 9.99260721e-01 -3.84445557e-02 -1.63797438e-04 2.00365853e+02] [ 3.84445554e-02 9.99260735e-01 -5.07050352e-06 -1.74068395e+00] [ 1.63871282e-04 -1.23036469e-06 9.99999987e-01 -2.97492414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.43, Y:-1.73, Z:-0.30 [[ 9.98984866e-01 -4.50467697e-02 -1.63797562e-04 2.00426624e+02] [ 4.50467695e-02 9.98984879e-01 -5.06649137e-06 -1.72898251e+00] [ 1.63859517e-04 -2.31720284e-06 9.99999987e-01 -3.03984507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.105336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:200.49, Y:-1.73, Z:-0.30 [[ 9.98843205e-01 -4.80856086e-02 -1.63797687e-04 2.00488287e+02] [ 4.80856084e-02 9.98843218e-01 -5.06246991e-06 -1.72502542e+00] [ 1.63851640e-04 -2.81969775e-06 9.99999987e-01 -3.00514701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.165336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:200.55, Y:-1.72, Z:-0.30 [[ 9.98869012e-01 -4.75465045e-02 -1.63797810e-04 2.00548822e+02] [ 4.75465043e-02 9.98869025e-01 -5.05846525e-06 -1.71898032e+00] [ 1.63853072e-04 -2.73526911e-06 9.99999987e-01 -2.98983231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.61, Y:-1.71, Z:-0.30 [[ 9.99019964e-01 -4.42615541e-02 -1.63797933e-04 2.00610041e+02] [ 4.42615538e-02 9.99019977e-01 -5.05450341e-06 -1.71178886e+00] [ 1.63861127e-04 -2.20040120e-06 9.99999987e-01 -2.99095245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.67, Y:-1.71, Z:-0.30 [[ 9.99103672e-01 -4.23299633e-02 -1.63798054e-04 2.00670932e+02] [ 4.23299630e-02 9.99103685e-01 -5.05056134e-06 -1.70625863e+00] [ 1.63865030e-04 -1.88753120e-06 9.99999987e-01 -3.03602131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.34533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.73, Y:-1.70, Z:-0.30 [[ 9.99066667e-01 -4.31945335e-02 -1.63798487e-04 2.00732558e+02] [ 4.31945333e-02 9.99066681e-01 -5.03647035e-06 -1.70270217e+00] [ 1.63863159e-04 -2.04342958e-06 9.99999987e-01 -2.99148234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.40533619500002 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:200.79, Y:-1.70, Z:-0.30 [[ 9.99019387e-01 -4.42745786e-02 -1.63798667e-04 2.00793122e+02] [ 4.42745784e-02 9.99019400e-01 -5.03061694e-06 -1.70494572e+00] [ 1.63860775e-04 -2.22643308e-06 9.99999987e-01 -3.02154828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.465336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:200.85, Y:-1.70, Z:-0.30 [[ 9.99104991e-01 -4.22988275e-02 -1.63798726e-04 2.00854608e+02] [ 4.22988272e-02 9.99105004e-01 -5.02869329e-06 -1.70367735e+00] [ 1.63864835e-04 -1.90430146e-06 9.99999987e-01 -3.01155530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.92, Y:-1.70, Z:-0.30 [[ 9.99355051e-01 -3.59089733e-02 -1.63798847e-04 2.00916098e+02] [ 3.59089730e-02 9.99355065e-01 -5.02474254e-06 -1.69839102e+00] [ 1.63873641e-04 -8.60346548e-07 9.99999987e-01 -2.96865537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.98, Y:-1.70, Z:-0.30 [[ 9.99444074e-01 -3.33394185e-02 -1.63798969e-04 2.00976760e+02] [ 3.33394181e-02 9.99444087e-01 -5.02077097e-06 -1.69664179e+00] [ 1.63875301e-04 -4.42982534e-07 9.99999987e-01 -3.00993513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.04, Y:-1.69, Z:-0.30 [[ 9.99472480e-01 -3.24766966e-02 -1.63799030e-04 2.01039068e+02] [ 3.24766962e-02 9.99472493e-01 -5.01879900e-06 -1.69041160e+00] [ 1.63875619e-04 -3.03499842e-07 9.99999987e-01 -2.99306457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.10, Y:-1.68, Z:-0.30 [[ 9.99497635e-01 -3.16930813e-02 -1.63799265e-04 2.01100624e+02] [ 3.16930809e-02 9.99497648e-01 -5.01111160e-06 -1.68440146e+00] [ 1.63875798e-04 -1.82709156e-07 9.99999987e-01 -3.00164159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.16, Y:-1.68, Z:-0.30 [[ 9.99500835e-01 -3.15919822e-02 -1.63799384e-04 2.01163133e+02] [ 3.15919818e-02 9.99500849e-01 -5.00719717e-06 -1.68080827e+00] [ 1.63875811e-04 -1.70049425e-07 9.99999987e-01 -3.01911865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.22, Y:-1.67, Z:-0.30 [[ 9.99497086e-01 -3.17103686e-02 -1.63799628e-04 2.01224062e+02] [ 3.17103682e-02 9.99497100e-01 -4.99923412e-06 -1.66845453e+00] [ 1.63875780e-04 -1.97426555e-07 9.99999987e-01 -3.03617976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.29, Y:-1.66, Z:-0.30 [[ 9.99377286e-01 -3.52847403e-02 -1.63799808e-04 2.01285818e+02] [ 3.52847400e-02 9.99377300e-01 -4.99332525e-06 -1.65891330e+00] [ 1.63873998e-04 -7.89417786e-07 9.99999987e-01 -3.04487701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.945336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:201.35, Y:-1.65, Z:-0.30 [[ 9.99003521e-01 -4.46311367e-02 -1.63800045e-04 2.01347800e+02] [ 4.46311364e-02 9.99003534e-01 -4.98552377e-06 -1.64670787e+00] [ 1.63859334e-04 -2.33002636e-06 9.99999987e-01 -3.02767440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.41, Y:-1.64, Z:-0.31 [[ 9.98739925e-01 -5.01850081e-02 -1.63800280e-04 2.01408305e+02] [ 5.01850079e-02 9.98739939e-01 -4.97778295e-06 -1.64157014e+00] [ 1.63843692e-04 -3.24880780e-06 9.99999987e-01 -3.12323483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.06533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.47, Y:-1.64, Z:-0.31 [[ 9.98469085e-01 -5.53123779e-02 -1.63800396e-04 2.01469877e+02] [ 5.53123779e-02 9.98469099e-01 -4.97396757e-06 -1.63612540e+00] [ 1.63824756e-04 -4.09383656e-06 9.99999987e-01 -3.09709238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.12533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.53, Y:-1.63, Z:-0.31 [[ 9.97950349e-01 -6.39927609e-02 -1.63800563e-04 2.01532322e+02] [ 6.39927610e-02 9.97950363e-01 -4.96845994e-06 -1.63466212e+00] [ 1.63782777e-04 -5.52377396e-06 9.99999987e-01 -3.06956679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.60, Y:-1.64, Z:-0.30 [[ 9.97760262e-01 -6.68912082e-02 -1.63800788e-04 2.01595097e+02] [ 6.68912083e-02 9.97760275e-01 -4.96103659e-06 -1.63528845e+00] [ 1.63765769e-04 -6.00690746e-06 9.99999987e-01 -3.04100892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.66, Y:-1.63, Z:-0.30 [[ 9.98125979e-01 -6.11923480e-02 -1.63801079e-04 2.01656404e+02] [ 6.11923480e-02 9.98125992e-01 -4.95140417e-06 -1.63293986e+00] [ 1.63797103e-04 -5.08124752e-06 9.99999987e-01 -3.03410571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.72, Y:-1.63, Z:-0.30 [[ 9.98664057e-01 -5.16727576e-02 -1.63801252e-04 2.01718274e+02] [ 5.16727575e-02 9.98664071e-01 -4.94568088e-06 -1.62930593e+00] [ 1.63837982e-04 -3.52498864e-06 9.99999987e-01 -3.02675104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.78, Y:-1.62, Z:-0.30 [[ 9.99165180e-01 -4.08523814e-02 -1.63801426e-04 2.01780714e+02] [ 4.08523812e-02 9.99165193e-01 -4.93991113e-06 -1.62186254e+00] [ 1.63866491e-04 -1.75589110e-06 9.99999987e-01 -3.03808118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.425336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:201.84, Y:-1.61, Z:-0.30 [[ 9.99356936e-01 -3.58564840e-02 -1.63801658e-04 2.01841265e+02] [ 3.58564837e-02 9.99356950e-01 -4.93221938e-06 -1.61496503e+00] [ 1.63873177e-04 -9.44303819e-07 9.99999987e-01 -2.96593945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.485336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:201.90, Y:-1.61, Z:-0.29 [[ 9.99202230e-01 -3.99358981e-02 -1.63801797e-04 2.01903442e+02] [ 3.99358978e-02 9.99202244e-01 -4.92758888e-06 -1.61215112e+00] [ 1.63867911e-04 -1.61791402e-06 9.99999987e-01 -2.94959616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.545336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:201.97, Y:-1.61, Z:-0.30 [[ 9.98991350e-01 -4.49027308e-02 -1.63802039e-04 2.01965497e+02] [ 4.49027306e-02 9.98991364e-01 -4.91953016e-06 -1.61386592e+00] [ 1.63857723e-04 -2.44059076e-06 9.99999987e-01 -2.99174493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.03, Y:-1.61, Z:-0.30 [[ 9.98993291e-01 -4.48595273e-02 -1.63802222e-04 2.02026480e+02] [ 4.48595271e-02 9.98993305e-01 -4.91343795e-06 -1.61326172e+00] [ 1.63857737e-04 -2.43959866e-06 9.99999987e-01 -2.95813741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.09, Y:-1.62, Z:-0.29 [[ 9.99121940e-01 -4.18965668e-02 -1.63802529e-04 2.02088820e+02] [ 4.18965665e-02 9.99121953e-01 -4.90318446e-06 -1.61729742e+00] [ 1.63864129e-04 -1.96388437e-06 9.99999987e-01 -2.94034925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.15, Y:-1.62, Z:-0.29 [[ 9.99232775e-01 -3.91641952e-02 -1.63802758e-04 2.02150780e+02] [ 3.91641949e-02 9.99232789e-01 -4.89550801e-06 -1.61663673e+00] [ 1.63868815e-04 -1.52345109e-06 9.99999987e-01 -2.92552025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.785336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:202.21, Y:-1.61, Z:-0.30 [[ 9.99442819e-01 -3.33769974e-02 -1.63802993e-04 2.02211013e+02] [ 3.33769971e-02 9.99442833e-01 -4.88763477e-06 -1.61266832e+00] [ 1.63874862e-04 -5.82340540e-07 9.99999987e-01 -3.00004946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.84533619500002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:202.27, Y:-1.61, Z:-0.29 [[ 9.99628903e-01 -2.72402143e-02 -1.63803052e-04 2.02272969e+02] [ 2.72402138e-02 9.99628917e-01 -4.88567058e-06 -1.61072309e+00] [ 1.63875354e-04 4.21827366e-07 9.99999987e-01 -2.89605377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.90533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.33, Y:-1.60, Z:-0.29 [[ 9.99702597e-01 -2.43862844e-02 -1.63803293e-04 2.02333610e+02] [ 2.43862840e-02 9.99702610e-01 -4.87756374e-06 -1.60229436e+00] [ 1.63873525e-04 8.81559524e-07 9.99999987e-01 -2.93826493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.40, Y:-1.60, Z:-0.29 [[ 9.99556735e-01 -2.97708897e-02 -1.63803473e-04 2.02395734e+02] [ 2.97708893e-02 9.99556749e-01 -4.87152371e-06 -1.60331341e+00] [ 1.63875896e-04 -7.21071647e-09 9.99999987e-01 -2.94536795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.46, Y:-1.60, Z:-0.29 [[ 9.99385838e-01 -3.50416962e-02 -1.63803707e-04 2.02456440e+02] [ 3.50416959e-02 9.99385851e-01 -4.86361861e-06 -1.60004139e+00] [ 1.63873537e-04 -8.79328137e-07 9.99999987e-01 -2.92902365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.085336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:202.52, Y:-1.60, Z:-0.29 [[ 9.99316275e-01 -3.69723749e-02 -1.63803881e-04 2.02518986e+02] [ 3.69723746e-02 9.99316288e-01 -4.85775434e-06 -1.59856840e+00] [ 1.63871489e-04 -1.20178548e-06 9.99999987e-01 -2.88497928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.58, Y:-1.60, Z:-0.29 [[ 9.99353559e-01 -3.59504941e-02 -1.63804115e-04 2.02580753e+02] [ 3.59504938e-02 9.99353572e-01 -4.84984474e-06 -1.59758762e+00] [ 1.63872582e-04 -1.04212923e-06 9.99999987e-01 -2.86815096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.64, Y:-1.60, Z:-0.29 [[ 9.99499045e-01 -3.16485872e-02 -1.63804347e-04 2.02643409e+02] [ 3.16485868e-02 9.99499058e-01 -4.84200025e-06 -1.59814220e+00] [ 1.63875533e-04 -3.44601490e-07 9.99999987e-01 -2.87475575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.70, Y:-1.60, Z:-0.29 [[ 9.99691125e-01 -2.48521236e-02 -1.63804577e-04 2.02704331e+02] [ 2.48521231e-02 9.99691138e-01 -4.83422900e-06 -1.59719028e+00] [ 1.63874125e-04 7.61844326e-07 9.99999987e-01 -2.91620419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.77, Y:-1.60, Z:-0.29 [[ 9.99705677e-01 -2.42596780e-02 -1.63804975e-04 2.02766223e+02] [ 2.42596775e-02 9.99705691e-01 -4.82068659e-06 -1.59592314e+00] [ 1.63873714e-04 8.45411877e-07 9.99999987e-01 -2.90819640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.83, Y:-1.60, Z:-0.29 [[ 9.99657542e-01 -2.61681481e-02 -1.63805207e-04 2.02828607e+02] [ 2.61681477e-02 9.99657555e-01 -4.81279374e-06 -1.59656344e+00] [ 1.63875055e-04 5.24666707e-07 9.99999987e-01 -2.87881006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.89, Y:-1.60, Z:-0.29 [[ 9.99567251e-01 -2.94157241e-02 -1.63805439e-04 2.02889871e+02] [ 2.94157237e-02 9.99567264e-01 -4.80488856e-06 -1.60042539e+00] [ 1.63875894e-04 -1.56462836e-08 9.99999987e-01 -2.89487325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.95, Y:-1.60, Z:-0.28 [[ 9.99510205e-01 -3.12941274e-02 -1.63805801e-04 2.02951956e+02] [ 3.12941270e-02 9.99510219e-01 -4.79250579e-06 -1.60013552e+00] [ 1.63875550e-04 -3.36001108e-07 9.99999987e-01 -2.84878039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.56533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.01, Y:-1.60, Z:-0.29 [[ 9.99501723e-01 -3.15638964e-02 -1.63806036e-04 2.03013313e+02] [ 3.15638961e-02 9.99501736e-01 -4.78445270e-06 -1.60123097e+00] [ 1.63875434e-04 -3.88287997e-07 9.99999987e-01 -2.85658939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.62533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.07, Y:-1.60, Z:-0.29 [[ 9.99534736e-01 -3.05005843e-02 -1.63806211e-04 2.03074442e+02] [ 3.05005839e-02 9.99534749e-01 -4.77848540e-06 -1.60188382e+00] [ 1.63875746e-04 -2.19922927e-07 9.99999987e-01 -2.89250468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.14, Y:-1.60, Z:-0.29 [[ 9.99690237e-01 -2.48878016e-02 -1.63806613e-04 2.03136067e+02] [ 2.48878012e-02 9.99690251e-01 -4.76463611e-06 -1.60236297e+00] [ 1.63874456e-04 6.86373772e-07 9.99999987e-01 -2.91067041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.20, Y:-1.60, Z:-0.29 [[ 9.99852021e-01 -1.72019877e-02 -1.63806727e-04 2.03196001e+02] [ 1.72019872e-02 9.99852035e-01 -4.76074038e-06 -1.59809634e+00] [ 1.63864383e-04 1.94223468e-06 9.99999987e-01 -2.94982187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.26, Y:-1.59, Z:-0.29 [[ 9.99922745e-01 -1.24288876e-02 -1.63806783e-04 2.03256622e+02] [ 1.24288869e-02 9.99922758e-01 -4.75880797e-06 -1.59065224e+00] [ 1.63853277e-04 2.72250435e-06 9.99999987e-01 -2.89254326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.32, Y:-1.59, Z:-0.28 [[ 9.99937341e-01 -1.11932208e-02 -1.63806839e-04 2.03317525e+02] [ 1.11932202e-02 9.99937354e-01 -4.75686452e-06 -1.58801326e+00] [ 1.63849822e-04 2.92304044e-06 9.99999987e-01 -2.84184458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.38, Y:-1.58, Z:-0.28 [[ 9.99913062e-01 -1.31849377e-02 -1.63806897e-04 2.03378609e+02] [ 1.31849371e-02 9.99913075e-01 -4.75486659e-06 -1.58251280e+00] [ 1.63855351e-04 2.59466958e-06 9.99999987e-01 -2.83319782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.44, Y:-1.58, Z:-0.28 [[ 9.99829746e-01 -1.84513703e-02 -1.63807259e-04 2.03441058e+02] [ 1.84513698e-02 9.99829759e-01 -4.74237794e-06 -1.57681129e+00] [ 1.63866875e-04 1.71910222e-06 9.99999987e-01 -2.83805656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.50, Y:-1.58, Z:-0.29 [[ 9.99702656e-01 -2.43838627e-02 -1.63807487e-04 2.03501955e+02] [ 2.43838623e-02 9.99702669e-01 -4.73448944e-06 -1.57631285e+00] [ 1.63874227e-04 7.38822469e-07 9.99999987e-01 -2.85944126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.56, Y:-1.57, Z:-0.29 [[ 9.99607902e-01 -2.80002739e-02 -1.63807844e-04 2.03564054e+02] [ 2.80002736e-02 9.99607915e-01 -4.72211400e-06 -1.57439107e+00] [ 1.63875837e-04 1.33598037e-07 9.99999987e-01 -2.86993943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.63, Y:-1.57, Z:-0.28 [[ 9.99438168e-01 -3.35160018e-02 -1.63808067e-04 2.03625722e+02] [ 3.35160015e-02 9.99438181e-01 -4.71436150e-06 -1.57237582e+00] [ 1.63874043e-04 -7.78478586e-07 9.99999987e-01 -2.83278015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.69, Y:-1.58, Z:-0.29 [[ 9.99269849e-01 -3.82065785e-02 -1.63808234e-04 2.03687686e+02] [ 3.82065783e-02 9.99269862e-01 -4.70854157e-06 -1.57519083e+00] [ 1.63868529e-04 -1.55344849e-06 9.99999987e-01 -2.88863679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.285336195 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:203.75, Y:-1.58, Z:-0.28 [[ 9.99293050e-01 -3.75948483e-02 -1.63808401e-04 2.03750135e+02] [ 3.75948481e-02 9.99293064e-01 -4.70273351e-06 -1.58068301e+00] [ 1.63869397e-04 -1.45894302e-06 9.99999987e-01 -2.84382971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.34533619500002 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:203.81, Y:-1.58, Z:-0.29 [[ 9.99337235e-01 -3.64014271e-02 -1.63808635e-04 2.03811553e+02] [ 3.64014269e-02 9.99337248e-01 -4.69454665e-06 -1.58332670e+00] [ 1.63870959e-04 -1.27143279e-06 9.99999987e-01 -2.86732950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.40533619500002 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:203.87, Y:-1.60, Z:-0.29 [[ 9.99410225e-01 -3.43391295e-02 -1.63809026e-04 2.03873308e+02] [ 3.43391292e-02 9.99410238e-01 -4.68087889e-06 -1.59506374e+00] [ 1.63873155e-04 -9.46941081e-07 9.99999987e-01 -2.87410403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.94, Y:-1.60, Z:-0.29 [[ 9.99477037e-01 -3.23361349e-02 -1.63809362e-04 2.03935118e+02] [ 3.23361346e-02 9.99477050e-01 -4.66908575e-06 -1.60077290e+00] [ 1.63874678e-04 -6.30317589e-07 9.99999987e-01 -2.91705972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.525336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:204.00, Y:-1.61, Z:-0.29 [[ 9.99671601e-01 -2.56254317e-02 -1.63809467e-04 2.03997351e+02] [ 2.56254313e-02 9.99671615e-01 -4.66539110e-06 -1.60915426e+00] [ 1.63875227e-04 4.66170745e-07 9.99999987e-01 -2.94633809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.585336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:204.06, Y:-1.61, Z:-0.29 [[ 9.99802881e-01 -1.98537927e-02 -1.63809625e-04 2.04058347e+02] [ 1.98537922e-02 9.99802894e-01 -4.65982723e-06 -1.61194576e+00] [ 1.63869853e-04 1.40666642e-06 9.99999987e-01 -2.86517796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.12, Y:-1.62, Z:-0.29 [[ 9.99831809e-01 -1.83392192e-02 -1.63809741e-04 2.04119325e+02] [ 1.83392187e-02 9.99831822e-01 -4.65575648e-06 -1.62035650e+00] [ 1.63867575e-04 1.65083075e-06 9.99999987e-01 -2.93591399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.705336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:204.18, Y:-1.62, Z:-0.29 [[ 9.99891692e-01 -1.47165945e-02 -1.63809799e-04 2.04180854e+02] [ 1.47165939e-02 9.99891705e-01 -4.65373284e-06 -1.61735332e+00] [ 1.63860546e-04 2.24250652e-06 9.99999987e-01 -2.89373396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.24, Y:-1.62, Z:-0.28 [[ 9.99952574e-01 -9.73772321e-03 -1.63809909e-04 2.04241904e+02] [ 9.73772258e-03 9.99952587e-01 -4.64984628e-06 -1.61824810e+00] [ 1.63847421e-04 3.05449031e-06 9.99999987e-01 -2.84567057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.30, Y:-1.62, Z:-0.28 [[ 9.99922303e-01 -1.24644304e-02 -1.63810021e-04 2.04303615e+02] [ 1.24644298e-02 9.99922316e-01 -4.64589274e-06 -1.62115819e+00] [ 1.63855204e-04 2.60373326e-06 9.99999987e-01 -2.84526879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.37, Y:-1.62, Z:-0.28 [[ 9.99808447e-01 -1.95714533e-02 -1.63810133e-04 2.04365353e+02] [ 1.95714528e-02 9.99808461e-01 -4.64192738e-06 -1.62340545e+00] [ 1.63869607e-04 1.43503591e-06 9.99999987e-01 -2.79692551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.43, Y:-1.63, Z:-0.28 [[ 9.99747382e-01 -2.24754280e-02 -1.63810863e-04 2.04427201e+02] [ 2.24754275e-02 9.99747396e-01 -4.61602827e-06 -1.62502400e+00] [ 1.63873231e-04 9.33142994e-07 9.99999987e-01 -2.84474393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.49, Y:-1.63, Z:-0.29 [[ 9.99858062e-01 -1.68472262e-02 -1.63811030e-04 2.04488142e+02] [ 1.68472257e-02 9.99858075e-01 -4.61009693e-06 -1.62552116e+00] [ 1.63865449e-04 1.84968120e-06 9.99999987e-01 -2.88003134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.06533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.55, Y:-1.62, Z:-0.29 [[ 9.99968901e-01 -7.88483002e-03 -1.63811085e-04 2.04547649e+02] [ 7.88482937e-03 9.99968914e-01 -4.60814491e-06 -1.62244456e+00] [ 1.63842327e-04 3.31637915e-06 9.99999987e-01 -2.93509795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.12533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.61, Y:-1.61, Z:-0.30 [[ 9.99995700e-01 -2.92789668e-03 -1.63811030e-04 2.04607931e+02] [ 2.92789596e-03 9.99995714e-01 -4.61009054e-06 -1.61439436e+00] [ 1.63823826e-04 4.13044907e-06 9.99999987e-01 -2.95536515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.67, Y:-1.61, Z:-0.29 [[ 9.99986928e-01 -5.11044385e-03 -1.63811030e-04 2.04667873e+02] [ 5.11044317e-03 9.99986942e-01 -4.61009054e-06 -1.60959246e+00] [ 1.63832451e-04 3.77288332e-06 9.99999987e-01 -2.94195688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.73, Y:-1.61, Z:-0.29 [[ 9.99971887e-01 -7.49657912e-03 -1.63811030e-04 2.04729194e+02] [ 7.49657847e-03 9.99971900e-01 -4.61009054e-06 -1.60611415e+00] [ 1.63840987e-04 3.38193870e-06 9.99999987e-01 -2.94801068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.79, Y:-1.60, Z:-0.29 [[ 9.99949539e-01 -1.00444854e-02 -1.63811143e-04 2.04789621e+02] [ 1.00444848e-02 9.99949553e-01 -4.60610276e-06 -1.59979616e+00] [ 1.63849145e-04 2.96047180e-06 9.99999987e-01 -2.91504221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.365336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:204.85, Y:-1.59, Z:-0.29 [[ 9.99926880e-01 -1.20916295e-02 -1.63811530e-04 2.04850678e+02] [ 1.20916289e-02 9.99926894e-01 -4.59227011e-06 -1.59205182e+00] [ 1.63855083e-04 2.61118609e-06 9.99999987e-01 -2.90661970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.91, Y:-1.59, Z:-0.30 [[ 9.99828106e-01 -1.85400006e-02 -1.63811641e-04 2.04911857e+02] [ 1.85400001e-02 9.99828119e-01 -4.58831653e-06 -1.58934824e+00] [ 1.63868552e-04 1.55045998e-06 9.99999987e-01 -2.97071689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.97, Y:-1.59, Z:-0.29 [[ 9.99779452e-01 -2.10004850e-02 -1.63811805e-04 2.04973410e+02] [ 2.10004845e-02 9.99779465e-01 -4.58244663e-06 -1.58884275e+00] [ 1.63871913e-04 1.14130870e-06 9.99999987e-01 -2.92162873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.03, Y:-1.58, Z:-0.28 [[ 9.99649155e-01 -2.64866012e-02 -1.63811916e-04 2.05034827e+02] [ 2.64866008e-02 9.99649168e-01 -4.57846764e-06 -1.58372397e+00] [ 1.63875714e-04 2.38040470e-07 9.99999987e-01 -2.84523373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.605336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:205.10, Y:-1.58, Z:-0.29 [[ 9.99591842e-01 -2.85678423e-02 -1.63812030e-04 2.05096361e+02] [ 2.85678419e-02 9.99591856e-01 -4.57441723e-06 -1.58309236e+00] [ 1.63875852e-04 -1.07206018e-07 9.99999987e-01 -2.86679848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.16, Y:-1.58, Z:-0.29 [[ 9.99583113e-01 -2.88716700e-02 -1.63812197e-04 2.05156899e+02] [ 2.88716697e-02 9.99583126e-01 -4.56840466e-06 -1.58030599e+00] [ 1.63875806e-04 -1.63031493e-07 9.99999987e-01 -2.87362484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.22, Y:-1.58, Z:-0.29 [[ 9.99621001e-01 -2.75286555e-02 -1.63812252e-04 2.05218005e+02] [ 2.75286551e-02 9.99621015e-01 -4.56644928e-06 -1.57814220e+00] [ 1.63875878e-04 5.51876259e-08 9.99999987e-01 -2.86905990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.785336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:205.28, Y:-1.58, Z:-0.29 [[ 9.99608376e-01 -2.79833609e-02 -1.63812363e-04 2.05279101e+02] [ 2.79833605e-02 9.99608389e-01 -4.56247000e-06 -1.57981680e+00] [ 1.63875885e-04 -2.33371633e-08 9.99999987e-01 -2.87343754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.84533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.34, Y:-1.58, Z:-0.29 [[ 9.99618161e-01 -2.76316096e-02 -1.63812527e-04 2.05340571e+02] [ 2.76316092e-02 9.99618174e-01 -4.55654266e-06 -1.57747117e+00] [ 1.63875884e-04 2.83990506e-08 9.99999987e-01 -2.86961489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.90533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.40, Y:-1.58, Z:-0.28 [[ 9.99704458e-01 -2.43098632e-02 -1.63812639e-04 2.05400851e+02] [ 2.43098628e-02 9.99704472e-01 -4.55254396e-06 -1.57627691e+00] [ 1.63874899e-04 5.68935728e-07 9.99999987e-01 -2.83633532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.46, Y:-1.58, Z:-0.29 [[ 9.99792380e-01 -2.03757467e-02 -1.63812694e-04 2.05461984e+02] [ 2.03757462e-02 9.99792393e-01 -4.55056441e-06 -1.57981150e+00] [ 1.63871406e-04 1.21181375e-06 9.99999987e-01 -2.90045705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.52, Y:-1.57, Z:-0.29 [[ 9.99911087e-01 -1.33338644e-02 -1.63812800e-04 2.05523072e+02] [ 1.33338638e-02 9.99911100e-01 -4.54674194e-06 -1.57302622e+00] [ 1.63858862e-04 2.36208011e-06 9.99999987e-01 -2.88762136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.58, Y:-1.57, Z:-0.28 [[ 9.99974281e-01 -7.17006735e-03 -1.63812908e-04 2.05582795e+02] [ 7.17006670e-03 9.99974295e-01 -4.54284471e-06 -1.56748962e+00] [ 1.63841269e-04 3.36817840e-06 9.99999987e-01 -2.84279595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.64, Y:-1.57, Z:-0.28 [[ 9.99985364e-01 -5.40787041e-03 -1.63813120e-04 2.05644509e+02] [ 5.40786973e-03 9.99985377e-01 -4.53517082e-06 -1.56792426e+00] [ 1.63835250e-04 3.64922443e-06 9.99999987e-01 -2.83151916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.71, Y:-1.57, Z:-0.29 [[ 9.99991615e-01 -4.09194506e-03 -1.63813226e-04 2.05706268e+02] [ 4.09194437e-03 9.99991628e-01 -4.53133182e-06 -1.56609499e+00] [ 1.63830397e-04 3.86097921e-06 9.99999987e-01 -2.85114007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.77, Y:-1.56, Z:-0.28 [[ 9.99988836e-01 -4.72238821e-03 -1.63813333e-04 2.05766690e+02] [ 4.72238753e-03 9.99988849e-01 -4.52745947e-06 -1.56050452e+00] [ 1.63832887e-04 3.75381889e-06 9.99999987e-01 -2.84237592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.325336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:205.83, Y:-1.56, Z:-0.28 [[ 9.99961767e-01 -8.74291529e-03 -1.63813333e-04 2.05827632e+02] [ 8.74291467e-03 9.99961780e-01 -4.52745947e-06 -1.55963007e+00] [ 1.63846656e-04 3.09508038e-06 9.99999987e-01 -2.82540891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.89, Y:-1.56, Z:-0.28 [[ 9.99844741e-01 -1.76200798e-02 -1.63813441e-04 2.05888754e+02] [ 1.76200793e-02 9.99844754e-01 -4.52355404e-06 -1.56047425e+00] [ 1.63867715e-04 1.63644590e-06 9.99999987e-01 -2.81897954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.95, Y:-1.56, Z:-0.28 [[ 9.99755606e-01 -2.21066145e-02 -1.63813548e-04 2.05949851e+02] [ 2.21066141e-02 9.99755619e-01 -4.51968626e-06 -1.56113911e+00] [ 1.63873430e-04 8.97218787e-07 9.99999987e-01 -2.81142203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.01, Y:-1.56, Z:-0.29 [[ 9.99745640e-01 -2.25527722e-02 -1.63813658e-04 2.06010725e+02] [ 2.25527717e-02 9.99745654e-01 -4.51569585e-06 -1.56410234e+00] [ 1.63873834e-04 8.20095204e-07 9.99999987e-01 -2.87465329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.56533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.07, Y:-1.56, Z:-0.29 [[ 9.99795464e-01 -2.02238186e-02 -1.63813767e-04 2.06071975e+02] [ 2.02238181e-02 9.99795478e-01 -4.51175027e-06 -1.56358592e+00] [ 1.63871508e-04 1.19788763e-06 9.99999987e-01 -2.88406950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.62533619500002 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:206.13, Y:-1.56, Z:-0.29 [[ 9.99879562e-01 -1.55188370e-02 -1.63813874e-04 2.06133616e+02] [ 1.55188365e-02 9.99879576e-01 -4.50784126e-06 -1.56370190e+00] [ 1.63864103e-04 1.96509762e-06 9.99999987e-01 -2.85755116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.19, Y:-1.56, Z:-0.29 [[ 9.99913794e-01 -1.31292679e-02 -1.63813984e-04 2.06193980e+02] [ 1.31292673e-02 9.99913807e-01 -4.50383621e-06 -1.56438157e+00] [ 1.63858997e-04 2.35269036e-06 9.99999987e-01 -2.87733851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.25, Y:-1.56, Z:-0.29 [[ 9.99947029e-01 -1.02913523e-02 -1.63814039e-04 2.06254530e+02] [ 1.02913517e-02 9.99947043e-01 -4.50185298e-06 -1.56273283e+00] [ 1.63851694e-04 2.81574662e-06 9.99999987e-01 -2.90278674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.32, Y:-1.56, Z:-0.28 [[ 9.99950486e-01 -9.94985263e-03 -1.63814093e-04 2.06315490e+02] [ 9.94985203e-03 9.99950499e-01 -4.49989813e-06 -1.56321134e+00] [ 1.63850757e-04 2.86974934e-06 9.99999987e-01 -2.83788296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.38, Y:-1.56, Z:-0.29 [[ 9.99933906e-01 -1.14959562e-02 -1.63814202e-04 2.06377025e+02] [ 1.14959556e-02 9.99933919e-01 -4.49590398e-06 -1.56279604e+00] [ 1.63855062e-04 2.61240604e-06 9.99999987e-01 -2.85699960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.44, Y:-1.57, Z:-0.28 [[ 9.99863237e-01 -1.65372722e-02 -1.63814364e-04 2.06438609e+02] [ 1.65372717e-02 9.99863250e-01 -4.48998581e-06 -1.56856179e+00] [ 1.63866215e-04 1.78032909e-06 9.99999987e-01 -2.83497607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.50, Y:-1.57, Z:-0.28 [[ 9.99752390e-01 -2.22515570e-02 -1.63814472e-04 2.06499807e+02] [ 2.22515566e-02 9.99752403e-01 -4.48603720e-06 -1.57309197e+00] [ 1.63873734e-04 8.39799406e-07 9.99999987e-01 -2.82629592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.56, Y:-1.57, Z:-0.28 [[ 9.99670411e-01 -2.56718404e-02 -1.63814634e-04 2.06561471e+02] [ 2.56718400e-02 9.99670424e-01 -4.48012945e-06 -1.57371659e+00] [ 1.63875658e-04 2.73229781e-07 9.99999987e-01 -2.79296282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.62, Y:-1.58, Z:-0.28 [[ 9.99593209e-01 -2.85199727e-02 -1.63814741e-04 2.06623503e+02] [ 2.85199724e-02 9.99593223e-01 -4.47620115e-06 -1.58052503e+00] [ 1.63875766e-04 -1.97611624e-07 9.99999987e-01 -2.78865116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.68, Y:-1.59, Z:-0.28 [[ 9.99647463e-01 -2.65503852e-02 -1.63814905e-04 2.06683919e+02] [ 2.65503848e-02 9.99647476e-01 -4.47019637e-06 -1.58761180e+00] [ 1.63875842e-04 1.19271683e-07 9.99999987e-01 -2.79025381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.74, Y:-1.59, Z:-0.28 [[ 9.99755903e-01 -2.20931765e-02 -1.63814959e-04 2.06744958e+02] [ 2.20931761e-02 9.99755916e-01 -4.46822044e-06 -1.58795399e+00] [ 1.63873692e-04 8.47937020e-07 9.99999987e-01 -2.75565801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.80, Y:-1.59, Z:-0.28 [[ 9.99923276e-01 -1.23860676e-02 -1.63815068e-04 2.06804500e+02] [ 1.23860671e-02 9.99923290e-01 -4.46423741e-06 -1.59156689e+00] [ 1.63857796e-04 2.43487048e-06 9.99999987e-01 -2.81172279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.34533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.87, Y:-1.59, Z:-0.28 [[ 9.99980450e-01 -6.25087397e-03 -1.63815014e-04 2.06865413e+02] [ 6.25087332e-03 9.99980463e-01 -4.46621539e-06 -1.58982920e+00] [ 1.63839731e-04 3.44214118e-06 9.99999987e-01 -2.80064198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.40533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.93, Y:-1.59, Z:-0.28 [[ 9.99997552e-01 -2.20649677e-03 -1.63815014e-04 2.06925648e+02] [ 2.20649607e-03 9.99997566e-01 -4.46621539e-06 -1.58699106e+00] [ 1.63824470e-04 4.10474728e-06 9.99999987e-01 -2.82947006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.99, Y:-1.59, Z:-0.28 [[ 9.99999795e-01 -6.19722547e-04 -1.63815068e-04 2.06985940e+02] [ 6.19721824e-04 9.99999808e-01 -4.46423032e-06 -1.58513133e+00] [ 1.63817803e-04 4.36270963e-06 9.99999987e-01 -2.79619064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.05, Y:-1.58, Z:-0.28 [[ 9.99997488e-01 -2.23564204e-03 -1.63815068e-04 2.07045002e+02] [ 2.23564134e-03 9.99997501e-01 -4.46423032e-06 -1.58374674e+00] [ 1.63824639e-04 4.09798737e-06 9.99999987e-01 -2.81067980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.11, Y:-1.58, Z:-0.28 [[ 9.99988499e-01 -4.79325331e-03 -1.63815012e-04 2.07105655e+02] [ 4.79325264e-03 9.99988512e-01 -4.46627881e-06 -1.58104177e+00] [ 1.63834538e-04 3.68102070e-06 9.99999987e-01 -2.79253840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.17, Y:-1.58, Z:-0.28 [[ 9.99958490e-01 -9.10991170e-03 -1.63815012e-04 2.07165663e+02] [ 9.10991109e-03 9.99958504e-01 -4.46627881e-06 -1.57801259e+00] [ 1.63848902e-04 2.97375322e-06 9.99999987e-01 -2.84014451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.23, Y:-1.58, Z:-0.28 [[ 9.99898436e-01 -1.42509806e-02 -1.63815012e-04 2.07226082e+02] [ 1.42509800e-02 9.99898450e-01 -4.46627881e-06 -1.57538704e+00] [ 1.63862025e-04 2.13130073e-06 9.99999987e-01 -2.83798896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.29, Y:-1.57, Z:-0.28 [[ 9.99841069e-01 -1.78272179e-02 -1.63815066e-04 2.07286953e+02] [ 1.78272174e-02 9.99841083e-01 -4.46430050e-06 -1.57383315e+00] [ 1.63868619e-04 1.54322419e-06 9.99999987e-01 -2.81025371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.35, Y:-1.57, Z:-0.28 [[ 9.99769621e-01 -2.14634220e-02 -1.63815173e-04 2.07347076e+02] [ 2.14634216e-02 9.99769634e-01 -4.46035048e-06 -1.57011550e+00] [ 1.63873170e-04 9.43288773e-07 9.99999987e-01 -2.84920141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.41, Y:-1.57, Z:-0.29 [[ 9.99752403e-01 -2.22509543e-02 -1.63815382e-04 2.07408336e+02] [ 2.22509538e-02 9.99752417e-01 -4.45269502e-06 -1.57174801e+00] [ 1.63873900e-04 8.06544057e-07 9.99999987e-01 -2.87781317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.945336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:207.47, Y:-1.57, Z:-0.28 [[ 9.99798963e-01 -2.00501039e-02 -1.63815488e-04 2.07469355e+02] [ 2.00501034e-02 9.99798976e-01 -4.44879111e-06 -1.56827111e+00] [ 1.63871756e-04 1.16337927e-06 9.99999987e-01 -2.83623026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.53, Y:-1.56, Z:-0.28 [[ 9.99850115e-01 -1.73124352e-02 -1.63815593e-04 2.07529298e+02] [ 1.73124347e-02 9.99850129e-01 -4.44490224e-06 -1.56495552e+00] [ 1.63867994e-04 1.60818927e-06 9.99999987e-01 -2.83050569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.06533619500001 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:207.59, Y:-1.56, Z:-0.28 [[ 9.99852342e-01 -1.71833728e-02 -1.63815645e-04 2.07590157e+02] [ 1.71833723e-02 9.99852355e-01 -4.44298119e-06 -1.56045627e+00] [ 1.63867804e-04 1.62741992e-06 9.99999987e-01 -2.81049588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.12533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.65, Y:-1.56, Z:-0.28 [[ 9.99808589e-01 -1.95641964e-02 -1.63815645e-04 2.07651195e+02] [ 1.95641960e-02 9.99808603e-01 -4.44298119e-06 -1.56447819e+00] [ 1.63871215e-04 1.23720937e-06 9.99999987e-01 -2.81034936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.185336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:207.71, Y:-1.56, Z:-0.28 [[ 9.99763081e-01 -2.17658992e-02 -1.63815755e-04 2.07712882e+02] [ 2.17658988e-02 9.99763095e-01 -4.43894096e-06 -1.56435701e+00] [ 1.63873563e-04 8.72292166e-07 9.99999987e-01 -2.78094929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.77, Y:-1.56, Z:-0.28 [[ 9.99694420e-01 -2.47192186e-02 -1.63815865e-04 2.07772918e+02] [ 2.47192182e-02 9.99694433e-01 -4.43487896e-06 -1.56157536e+00] [ 1.63875435e-04 3.84123646e-07 9.99999987e-01 -2.78115745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.305336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:207.83, Y:-1.56, Z:-0.28 [[ 9.99705350e-01 -2.42731726e-02 -1.63816025e-04 2.07833941e+02] [ 2.42731722e-02 9.99705363e-01 -4.42895913e-06 -1.56081456e+00] [ 1.63875263e-04 4.51319562e-07 9.99999987e-01 -2.78482015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.365336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:207.89, Y:-1.56, Z:-0.28 [[ 9.99721302e-01 -2.36070406e-02 -1.63816079e-04 2.07893906e+02] [ 2.36070402e-02 9.99721315e-01 -4.42696715e-06 -1.56255166e+00] [ 1.63874933e-04 5.58520612e-07 9.99999987e-01 -2.79426350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.95, Y:-1.56, Z:-0.28 [[ 9.99714685e-01 -2.38855834e-02 -1.63816245e-04 2.07954989e+02] [ 2.38855830e-02 9.99714699e-01 -4.42079170e-06 -1.56148661e+00] [ 1.63875101e-04 5.06683856e-07 9.99999987e-01 -2.81104079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.02, Y:-1.56, Z:-0.28 [[ 9.99793836e-01 -2.03041674e-02 -1.63816352e-04 2.08015980e+02] [ 2.03041670e-02 9.99793849e-01 -4.41681488e-06 -1.55819977e+00] [ 1.63872261e-04 1.08974971e-06 9.99999987e-01 -2.80641387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.08, Y:-1.56, Z:-0.29 [[ 9.99887735e-01 -1.49830157e-02 -1.63816462e-04 2.08076155e+02] [ 1.49830152e-02 9.99887748e-01 -4.41276172e-06 -1.55920815e+00] [ 1.63864189e-04 1.95780179e-06 9.99999987e-01 -2.85097933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.14, Y:-1.55, Z:-0.28 [[ 9.99970138e-01 -7.72634929e-03 -1.63816515e-04 2.08135807e+02] [ 7.72634867e-03 9.99970151e-01 -4.41076195e-06 -1.55296465e+00] [ 1.63845705e-04 3.14492672e-06 9.99999987e-01 -2.81852920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.20, Y:-1.55, Z:-0.28 [[ 9.99987539e-01 -4.98954133e-03 -1.63816515e-04 2.08196608e+02] [ 4.98954068e-03 9.99987552e-01 -4.41076195e-06 -1.54649087e+00] [ 1.63836484e-04 3.59333782e-06 9.99999987e-01 -2.79480060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.725336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:208.26, Y:-1.54, Z:-0.28 [[ 9.99985443e-01 -5.39318622e-03 -1.63816624e-04 2.08257194e+02] [ 5.39318557e-03 9.99985457e-01 -4.40673804e-06 -1.53833852e+00] [ 1.63838008e-04 3.52318044e-06 9.99999987e-01 -2.75779951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.32, Y:-1.54, Z:-0.27 [[ 9.99932665e-01 -1.16034306e-02 -1.63816624e-04 2.08317743e+02] [ 1.16034300e-02 9.99932678e-01 -4.40673804e-06 -1.53913784e+00] [ 1.63856728e-04 2.50560659e-06 9.99999987e-01 -2.73623854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.84533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.38, Y:-1.54, Z:-0.27 [[ 9.99858418e-01 -1.68260833e-02 -1.63816677e-04 2.08378711e+02] [ 1.68260828e-02 9.99858431e-01 -4.40474200e-06 -1.53603484e+00] [ 1.63867601e-04 1.64772539e-06 9.99999987e-01 -2.71436697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.90533619500002 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:208.44, Y:-1.53, Z:-0.27 [[ 9.99641613e-01 -2.67697512e-02 -1.63816782e-04 2.08440331e+02] [ 2.67697508e-02 9.99641626e-01 -4.40083182e-06 -1.53344660e+00] [ 1.63875884e-04 1.39201763e-08 9.99999987e-01 -2.70791594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.965336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:208.50, Y:-1.54, Z:-0.27 [[ 9.99435373e-01 -3.35992406e-02 -1.63816886e-04 2.08500821e+02] [ 3.35992404e-02 9.99435386e-01 -4.39695590e-06 -1.53918799e+00] [ 1.63872127e-04 -1.10964969e-06 9.99999987e-01 -2.72541558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.025336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:208.56, Y:-1.54, Z:-0.27 [[ 9.99438182e-01 -3.35155676e-02 -1.63816938e-04 2.08562629e+02] [ 3.35155674e-02 9.99438196e-01 -4.39504797e-06 -1.54298974e+00] [ 1.63872207e-04 -1.09783885e-06 9.99999987e-01 -2.71781413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.085336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:208.62, Y:-1.54, Z:-0.28 [[ 9.99627312e-01 -2.72985418e-02 -1.63817045e-04 2.08622718e+02] [ 2.72985414e-02 9.99627325e-01 -4.39105404e-06 -1.54455685e+00] [ 1.63875864e-04 -8.25488399e-08 9.99999987e-01 -2.77770536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.145336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:208.68, Y:-1.55, Z:-0.28 [[ 9.99855768e-01 -1.69828506e-02 -1.63817045e-04 2.08682887e+02] [ 1.69828501e-02 9.99855781e-01 -4.39105404e-06 -1.54590559e+00] [ 1.63867992e-04 1.60834040e-06 9.99999987e-01 -2.76608687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.74, Y:-1.55, Z:-0.28 [[ 9.99932893e-01 -1.15837625e-02 -1.63817045e-04 2.08742944e+02] [ 1.15837620e-02 9.99932906e-01 -4.39105404e-06 -1.54903701e+00] [ 1.63856918e-04 2.49314171e-06 9.99999987e-01 -2.77964584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.80, Y:-1.55, Z:-0.28 [[ 9.99981799e-01 -6.03114382e-03 -1.63817098e-04 2.08803950e+02] [ 6.03114319e-03 9.99981812e-01 -4.38904547e-06 -1.54642446e+00] [ 1.63840590e-04 3.40096121e-06 9.99999987e-01 -2.80691795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.86, Y:-1.54, Z:-0.28 [[ 9.99990354e-01 -4.38925256e-03 -1.63817153e-04 2.08864644e+02] [ 4.38925190e-03 9.99990367e-01 -4.38701960e-06 -1.54319065e+00] [ 1.63834830e-04 3.66794254e-06 9.99999987e-01 -2.82821590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.93, Y:-1.54, Z:-0.28 [[ 9.99998360e-01 -1.80350462e-03 -1.63817207e-04 2.08925169e+02] [ 1.80350392e-03 9.99998374e-01 -4.38500916e-06 -1.54395964e+00] [ 1.63824848e-04 4.08955699e-06 9.99999987e-01 -2.81337875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.99, Y:-1.54, Z:-0.28 [[ 9.99997039e-01 -2.42792669e-03 -1.63817207e-04 2.08985265e+02] [ 2.42792601e-03 9.99997053e-01 -4.38500916e-06 -1.54209865e+00] [ 1.63827370e-04 3.98726012e-06 9.99999987e-01 -2.83151742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.05, Y:-1.54, Z:-0.28 [[ 9.99971658e-01 -7.52709183e-03 -1.63817260e-04 2.09046208e+02] [ 7.52709122e-03 9.99971671e-01 -4.38302108e-06 -1.54332519e+00] [ 1.63845610e-04 3.14982940e-06 9.99999987e-01 -2.76222950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.56533619500001 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:209.11, Y:-1.54, Z:-0.27 [[ 9.99881538e-01 -1.53910362e-02 -1.63817435e-04 2.09106351e+02] [ 1.53910356e-02 9.99881551e-01 -4.37645769e-06 -1.54260588e+00] [ 1.63865389e-04 1.85461926e-06 9.99999987e-01 -2.73201130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.62533619500002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:209.17, Y:-1.54, Z:-0.27 [[ 9.99758620e-01 -2.19698509e-02 -1.63817435e-04 2.09167047e+02] [ 2.19698504e-02 9.99758634e-01 -4.37645769e-06 -1.54314350e+00] [ 1.63874045e-04 7.76356756e-07 9.99999987e-01 -2.73004465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.23, Y:-1.55, Z:-0.27 [[ 9.99565021e-01 -2.94913923e-02 -1.63817488e-04 2.09228689e+02] [ 2.94913920e-02 9.99565034e-01 -4.37447935e-06 -1.55190341e+00] [ 1.63875242e-04 -4.58629205e-07 9.99999987e-01 -2.71294172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.29, Y:-1.55, Z:-0.27 [[ 9.99487475e-01 -3.20118859e-02 -1.63817594e-04 2.09289649e+02] [ 3.20118856e-02 9.99487488e-01 -4.37048884e-06 -1.55254528e+00] [ 1.63873544e-04 -8.75861238e-07 9.99999987e-01 -2.72420279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.35, Y:-1.55, Z:-0.27 [[ 9.99492649e-01 -3.18499328e-02 -1.63817594e-04 2.09349912e+02] [ 3.18499325e-02 9.99492662e-01 -4.37048884e-06 -1.55428063e+00] [ 1.63873683e-04 -8.49307856e-07 9.99999987e-01 -2.71810195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.41, Y:-1.56, Z:-0.28 [[ 9.99618117e-01 -2.76332027e-02 -1.63817594e-04 2.09410618e+02] [ 2.76332024e-02 9.99618130e-01 -4.37048884e-06 -1.55839754e+00] [ 1.63875808e-04 -1.57984913e-07 9.99999987e-01 -2.77391480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.47, Y:-1.56, Z:-0.28 [[ 9.99750803e-01 -2.23227570e-02 -1.63817594e-04 2.09471505e+02] [ 2.23227566e-02 9.99750816e-01 -4.37048884e-06 -1.55718304e+00] [ 1.63874335e-04 7.12539441e-07 9.99999987e-01 -2.76612465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.53, Y:-1.55, Z:-0.28 [[ 9.99903048e-01 -1.39236514e-02 -1.63817594e-04 2.09532078e+02] [ 1.39236509e-02 9.99903061e-01 -4.37048884e-06 -1.55350407e+00] [ 1.63862567e-04 2.08912611e-06 9.99999987e-01 -2.76504242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.59, Y:-1.55, Z:-0.28 [[ 9.99979989e-01 -6.32415036e-03 -1.63817594e-04 2.09591981e+02] [ 6.32414973e-03 9.99980002e-01 -4.37048884e-06 -1.55011134e+00] [ 1.63841958e-04 3.33439439e-06 9.99999987e-01 -2.79973694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.65, Y:-1.55, Z:-0.28 [[ 9.99993116e-01 -3.70694512e-03 -1.63817594e-04 2.09652652e+02] [ 3.70694446e-03 9.99993129e-01 -4.37048884e-06 -1.54517157e+00] [ 1.63832670e-04 3.76319603e-06 9.99999987e-01 -2.76976137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.71, Y:-1.54, Z:-0.28 [[ 9.99995746e-01 -2.91213039e-03 -1.63817594e-04 2.09712783e+02] [ 2.91212971e-03 9.99995760e-01 -4.37048884e-06 -1.53609659e+00] [ 1.63829627e-04 3.89341217e-06 9.99999987e-01 -2.78082740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.77, Y:-1.53, Z:-0.27 [[ 9.99991095e-01 -4.21706356e-03 -1.63817647e-04 2.09773261e+02] [ 4.21706290e-03 9.99991108e-01 -4.36853216e-06 -1.53173159e+00] [ 1.63834612e-04 3.67766394e-06 9.99999987e-01 -2.72455107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.83, Y:-1.53, Z:-0.28 [[ 9.99965943e-01 -8.25147006e-03 -1.63817647e-04 2.09833206e+02] [ 8.25146946e-03 9.99965956e-01 -4.36853216e-06 -1.52757063e+00] [ 1.63848116e-04 3.01664707e-06 9.99999987e-01 -2.76104836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.34533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.89, Y:-1.52, Z:-0.28 [[ 9.99900268e-01 -1.41218852e-02 -1.63817700e-04 2.09893580e+02] [ 1.41218847e-02 9.99900281e-01 -4.36654223e-06 -1.52116400e+00] [ 1.63863028e-04 2.05269209e-06 9.99999987e-01 -2.76218544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.40533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.95, Y:-1.52, Z:-0.28 [[ 9.99872417e-01 -1.59725684e-02 -1.63817700e-04 2.09953439e+02] [ 1.59725679e-02 9.99872430e-01 -4.36654223e-06 -1.51826293e+00] [ 1.63866546e-04 1.74939581e-06 9.99999987e-01 -2.78279097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.01, Y:-1.51, Z:-0.28 [[ 9.99880346e-01 -1.54682389e-02 -1.63817889e-04 2.10014331e+02] [ 1.54682384e-02 9.99880360e-01 -4.35943337e-06 -1.51401098e+00] [ 1.63865722e-04 1.82493759e-06 9.99999987e-01 -2.78629704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.08, Y:-1.51, Z:-0.28 [[ 9.99890007e-01 -1.48306324e-02 -1.63817942e-04 2.10075926e+02] [ 1.48306319e-02 9.99890020e-01 -4.35742833e-06 -1.50772811e+00] [ 1.63864549e-04 1.92742545e-06 9.99999987e-01 -2.77074773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.585336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:210.14, Y:-1.50, Z:-0.28 [[ 9.99917600e-01 -1.28361125e-02 -1.63818050e-04 2.10135703e+02] [ 1.28361120e-02 9.99917614e-01 -4.35337778e-06 -1.49991336e+00] [ 1.63860434e-04 2.25023223e-06 9.99999987e-01 -2.76570706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.20, Y:-1.50, Z:-0.28 [[ 9.99928647e-01 -1.19446369e-02 -1.63818217e-04 2.10196318e+02] [ 1.19446363e-02 9.99928660e-01 -4.34708261e-06 -1.49827407e+00] [ 1.63858454e-04 2.39002341e-06 9.99999987e-01 -2.78064793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.705336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:210.26, Y:-1.49, Z:-0.28 [[ 9.99937625e-01 -1.11677704e-02 -1.63818269e-04 2.10257417e+02] [ 1.11677698e-02 9.99937639e-01 -4.34511571e-06 -1.48842511e+00] [ 1.63856578e-04 2.51535996e-06 9.99999987e-01 -2.76449818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.32, Y:-1.48, Z:-0.28 [[ 9.99946572e-01 -1.03356856e-02 -1.63818375e-04 2.10318690e+02] [ 1.03356851e-02 9.99946585e-01 -4.34112518e-06 -1.48364009e+00] [ 1.63854493e-04 2.64771811e-06 9.99999987e-01 -2.78760331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.825336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:210.38, Y:-1.48, Z:-0.28 [[ 9.99959305e-01 -9.02005887e-03 -1.63818479e-04 2.10380036e+02] [ 9.02005829e-03 9.99959318e-01 -4.33718485e-06 -1.47713991e+00] [ 1.63850936e-04 2.85935612e-06 9.99999987e-01 -2.79627728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.44, Y:-1.47, Z:-0.28 [[ 9.99955535e-01 -9.42879251e-03 -1.63818585e-04 2.10440992e+02] [ 9.42879193e-03 9.99955548e-01 -4.33318715e-06 -1.47386100e+00] [ 1.63852159e-04 2.78838312e-06 9.99999987e-01 -2.79416424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.50, Y:-1.47, Z:-0.28 [[ 9.99939364e-01 -1.10109465e-02 -1.63818690e-04 2.10501785e+02] [ 1.10109460e-02 9.99939378e-01 -4.32919574e-06 -1.46694723e+00] [ 1.63856428e-04 2.52513449e-06 9.99999987e-01 -2.78567426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.005336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:210.56, Y:-1.46, Z:-0.28 [[ 9.99911972e-01 -1.32673429e-02 -1.63818796e-04 2.10562850e+02] [ 1.32673424e-02 9.99911985e-01 -4.32518539e-06 -1.46233877e+00] [ 1.63861761e-04 2.15136459e-06 9.99999987e-01 -2.80495814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.06533619500001 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:210.62, Y:-1.46, Z:-0.28 [[ 9.99855290e-01 -1.70109326e-02 -1.63819148e-04 2.10623713e+02] [ 1.70109321e-02 9.99855304e-01 -4.31181614e-06 -1.45875617e+00] [ 1.63868792e-04 1.52447577e-06 9.99999987e-01 -2.81004581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.12533619500002 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:210.69, Y:-1.46, Z:-0.28 [[ 9.99773387e-01 -2.12872853e-02 -1.63819299e-04 2.10685159e+02] [ 2.12872849e-02 9.99773400e-01 -4.30606862e-06 -1.45899012e+00] [ 1.63873842e-04 8.17824718e-07 9.99999987e-01 -2.75002958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.185336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:210.75, Y:-1.46, Z:-0.27 [[ 9.99732225e-01 -2.31398411e-02 -1.63819401e-04 2.10746422e+02] [ 2.31398407e-02 9.99732238e-01 -4.30218535e-06 -1.45649020e+00] [ 1.63875088e-04 5.10278491e-07 9.99999987e-01 -2.73025044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.245336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:210.81, Y:-1.46, Z:-0.27 [[ 9.99630804e-01 -2.71703674e-02 -1.63819507e-04 2.10807421e+02] [ 2.71703671e-02 9.99630817e-01 -4.29816398e-06 -1.45534541e+00] [ 1.63875810e-04 -1.54459015e-07 9.99999987e-01 -2.74629318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.305336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:210.87, Y:-1.46, Z:-0.27 [[ 9.99610517e-01 -2.79067599e-02 -1.63819664e-04 2.10868718e+02] [ 2.79067596e-02 9.99610531e-01 -4.29217397e-06 -1.45591037e+00] [ 1.63875641e-04 -2.81173723e-07 9.99999987e-01 -2.67995270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.365336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:210.93, Y:-1.46, Z:-0.27 [[ 9.99633538e-01 -2.70695803e-02 -1.63819771e-04 2.10928660e+02] [ 2.70695800e-02 9.99633552e-01 -4.28808326e-06 -1.45512900e+00] [ 1.63875816e-04 -1.48020545e-07 9.99999987e-01 -2.72622967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.425336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:210.99, Y:-1.46, Z:-0.27 [[ 9.99673941e-01 -2.55339914e-02 -1.63819824e-04 2.10990268e+02] [ 2.55339911e-02 9.99673954e-01 -4.28605877e-06 -1.45587753e+00] [ 1.63875851e-04 1.01687347e-07 9.99999987e-01 -2.74889099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.485336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:211.05, Y:-1.46, Z:-0.28 [[ 9.99683153e-01 -2.51707701e-02 -1.63819928e-04 2.11052124e+02] [ 2.51707697e-02 9.99683166e-01 -4.28206449e-06 -1.45822023e+00] [ 1.63875807e-04 1.57234042e-07 9.99999987e-01 -2.76759741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.11, Y:-1.46, Z:-0.27 [[ 9.99676220e-01 -2.54446048e-02 -1.63820084e-04 2.11113463e+02] [ 2.54446044e-02 9.99676234e-01 -4.27607070e-06 -1.45515425e+00] [ 1.63875848e-04 1.06348954e-07 9.99999987e-01 -2.74596887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.605336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:211.18, Y:-1.46, Z:-0.28 [[ 9.99656901e-01 -2.61926322e-02 -1.63820189e-04 2.11175019e+02] [ 2.61926319e-02 9.99656914e-01 -4.27205772e-06 -1.45854600e+00] [ 1.63875881e-04 -2.02899231e-08 9.99999987e-01 -2.77445231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.665336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:211.24, Y:-1.46, Z:-0.27 [[ 9.99652800e-01 -2.63486588e-02 -1.63820294e-04 2.11235004e+02] [ 2.63486584e-02 9.99652814e-01 -4.26803256e-06 -1.46370297e+00] [ 1.63875875e-04 -4.98942702e-08 9.99999987e-01 -2.74823428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.30, Y:-1.46, Z:-0.28 [[ 9.99669614e-01 -2.57028462e-02 -1.63820294e-04 2.11295526e+02] [ 2.57028459e-02 9.99669627e-01 -4.26803256e-06 -1.46434223e+00] [ 1.63875873e-04 5.59746899e-08 9.99999987e-01 -2.75325838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.785336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:211.36, Y:-1.47, Z:-0.27 [[ 9.99756205e-01 -2.20794905e-02 -1.63820345e-04 2.11357363e+02] [ 2.20794901e-02 9.99756218e-01 -4.26606936e-06 -1.46825056e+00] [ 1.63874601e-04 6.47959624e-07 9.99999987e-01 -2.69962370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.84533619500002 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:211.42, Y:-1.47, Z:-0.27 [[ 9.99887100e-01 -1.50253397e-02 -1.63820450e-04 2.11417854e+02] [ 1.50253392e-02 9.99887113e-01 -4.26204913e-06 -1.47165190e+00] [ 1.63865995e-04 1.80011012e-06 9.99999987e-01 -2.73416168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.90533619500002 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:211.48, Y:-1.47, Z:-0.27 [[ 9.99960255e-01 -8.91414097e-03 -1.63820450e-04 2.11478448e+02] [ 8.91414039e-03 9.99960268e-01 -4.26204913e-06 -1.47101005e+00] [ 1.63851933e-04 2.80156125e-06 9.99999987e-01 -2.74453189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.965336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:211.54, Y:-1.47, Z:-0.28 [[ 9.99999796e-01 6.17577184e-04 -1.63820501e-04 2.11538481e+02] [-6.17577890e-04 9.99999809e-01 -4.26006766e-06 -1.47116166e+00] [ 1.63817839e-04 4.36123871e-06 9.99999987e-01 -2.78457091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.025336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:211.60, Y:-1.47, Z:-0.27 [[ 9.99977012e-01 6.77858211e-03 -1.63820501e-04 2.11598854e+02] [-6.77858290e-03 9.99977025e-01 -4.26006766e-06 -1.46990556e+00] [ 1.63787860e-04 5.37044058e-06 9.99999987e-01 -2.73786765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.085336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:211.66, Y:-1.47, Z:-0.27 [[ 9.99970256e-01 7.71108388e-03 -1.63820501e-04 2.11658353e+02] [-7.71108468e-03 9.99970269e-01 -4.26006766e-06 -1.46632101e+00] [ 1.63782781e-04 5.52317471e-06 9.99999987e-01 -2.74563165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.145336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:211.72, Y:-1.47, Z:-0.27 [[ 9.99992618e-01 3.83879946e-03 -1.63820450e-04 2.11718036e+02] [-3.83880021e-03 9.99992632e-01 -4.26204445e-06 -1.46597963e+00] [ 1.63802882e-04 4.89088697e-06 9.99999987e-01 -2.74306346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.205336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:211.78, Y:-1.47, Z:-0.27 [[ 9.99999781e-01 -6.41691326e-04 -1.63820347e-04 2.11777408e+02] [ 6.41690636e-04 9.99999794e-01 -4.26600284e-06 -1.46762199e+00] [ 1.63823050e-04 4.16087993e-06 9.99999987e-01 -2.73419689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.265336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:211.84, Y:-1.47, Z:-0.28 [[ 9.99965394e-01 -8.31767800e-03 -1.63820296e-04 2.11838150e+02] [ 8.31767741e-03 9.99965408e-01 -4.26796516e-06 -1.46883362e+00] [ 1.63850128e-04 2.90521309e-06 9.99999987e-01 -2.76079495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.325336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:211.90, Y:-1.47, Z:-0.28 [[ 9.99878813e-01 -1.55670209e-02 -1.63820296e-04 2.11898107e+02] [ 1.55670204e-02 9.99878827e-01 -4.26796516e-06 -1.47185698e+00] [ 1.63866884e-04 1.71725406e-06 9.99999987e-01 -2.75590603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.385336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:211.96, Y:-1.47, Z:-0.27 [[ 9.99832527e-01 -1.83000474e-02 -1.63820296e-04 2.11959892e+02] [ 1.83000469e-02 9.99832540e-01 -4.26796516e-06 -1.47471757e+00] [ 1.63870966e-04 1.26933129e-06 9.99999987e-01 -2.74423524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.445336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:212.02, Y:-1.47, Z:-0.28 [[ 9.99834737e-01 -1.81789088e-02 -1.63820402e-04 2.12019335e+02] [ 1.81789083e-02 9.99834750e-01 -4.26388759e-06 -1.47373665e+00] [ 1.63870843e-04 1.28510686e-06 9.99999987e-01 -2.75360191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.505336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:212.08, Y:-1.47, Z:-0.28 [[ 9.99877658e-01 -1.56410258e-02 -1.63820403e-04 2.12079428e+02] [ 1.56410253e-02 9.99877672e-01 -4.26382722e-06 -1.47249053e+00] [ 1.63867054e-04 1.70098650e-06 9.99999987e-01 -2.78728644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.56533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.14, Y:-1.48, Z:-0.28 [[ 9.99912420e-01 -1.32335182e-02 -1.63820455e-04 2.12140396e+02] [ 1.32335177e-02 9.99912433e-01 -4.26184392e-06 -1.47505194e+00] [ 1.63862509e-04 2.09354978e-06 9.99999987e-01 -2.79334369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.62533619500002 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:212.20, Y:-1.47, Z:-0.28 [[ 9.99922976e-01 -1.24102678e-02 -1.63820455e-04 2.12201962e+02] [ 1.24102672e-02 9.99922990e-01 -4.26184392e-06 -1.47120071e+00] [ 1.63860730e-04 2.22846003e-06 9.99999987e-01 -2.76468873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.685336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:212.26, Y:-1.47, Z:-0.28 [[ 9.99914451e-01 -1.30791690e-02 -1.63820560e-04 2.12261822e+02] [ 1.30791684e-02 9.99914464e-01 -4.25780827e-06 -1.46821584e+00] [ 1.63862236e-04 2.11480733e-06 9.99999987e-01 -2.78521302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.745336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:212.32, Y:-1.47, Z:-0.27 [[ 9.99901200e-01 -1.40557243e-02 -1.63820817e-04 2.12323215e+02] [ 1.40557238e-02 9.99901213e-01 -4.24787506e-06 -1.46967853e+00] [ 1.63864341e-04 1.94483522e-06 9.99999987e-01 -2.71706534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.805336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:212.38, Y:-1.47, Z:-0.28 [[ 9.99904847e-01 -1.37938573e-02 -1.63820921e-04 2.12383074e+02] [ 1.37938567e-02 9.99904860e-01 -4.24386609e-06 -1.46859679e+00] [ 1.63863875e-04 1.98373996e-06 9.99999987e-01 -2.81050386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.865336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:212.44, Y:-1.47, Z:-0.28 [[ 9.99926755e-01 -1.21019971e-02 -1.63820921e-04 2.12443209e+02] [ 1.21019965e-02 9.99926768e-01 -4.24386609e-06 -1.46830072e+00] [ 1.63860284e-04 2.26099503e-06 9.99999987e-01 -2.79555236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.925336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:212.50, Y:-1.47, Z:-0.28 [[ 9.99950417e-01 -9.95673344e-03 -1.63820921e-04 2.12504327e+02] [ 9.95673288e-03 9.99950430e-01 -4.24386609e-06 -1.47417507e+00] [ 1.63855056e-04 2.61253452e-06 9.99999987e-01 -2.81439975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.985336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:212.56, Y:-1.47, Z:-0.28 [[ 9.99989656e-01 -4.54548767e-03 -1.63820974e-04 2.12564812e+02] [ 4.54548703e-03 9.99989669e-01 -4.24183575e-06 -1.46856338e+00] [ 1.63838563e-04 3.49714576e-06 9.99999987e-01 -2.80406849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.045336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:212.62, Y:-1.47, Z:-0.28 [[ 9.99999951e-01 2.67751827e-04 -1.63820974e-04 2.12624878e+02] [-2.67752526e-04 9.99999964e-01 -4.24183575e-06 -1.46643477e+00] [ 1.63819832e-04 4.28569902e-06 9.99999987e-01 -2.84960803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.105336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:212.69, Y:-1.46, Z:-0.28 [[ 9.99971479e-01 7.55083239e-03 -1.63821026e-04 2.12685028e+02] [-7.55083319e-03 9.99971492e-01 -4.23983205e-06 -1.46078454e+00] [ 1.63784341e-04 5.47669636e-06 9.99999987e-01 -2.76643326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.165336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:212.74, Y:-1.46, Z:-0.28 [[ 9.99956453e-01 9.33092503e-03 -1.63821026e-04 2.12744982e+02] [-9.33092585e-03 9.99956466e-01 -4.23983205e-06 -1.45926219e+00] [ 1.63774332e-04 5.76824926e-06 9.99999987e-01 -2.77028207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.225336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:212.81, Y:-1.45, Z:-0.28 [[ 9.99928660e-01 1.19435315e-02 -1.63820975e-04 2.12805016e+02] [-1.19435323e-02 9.99928673e-01 -4.24179369e-06 -1.45389195e+00] [ 1.63758628e-04 6.19809219e-06 9.99999987e-01 -2.80987106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.285336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:212.86, Y:-1.45, Z:-0.28 [[ 9.99955492e-01 9.43326654e-03 -1.63820833e-04 2.12864256e+02] [-9.43326736e-03 9.99955506e-01 -4.24728024e-06 -1.44975895e+00] [ 1.63773478e-04 5.79245691e-06 9.99999987e-01 -2.82612794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.34533619500002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:212.92, Y:-1.44, Z:-0.27 [[ 9.99997217e-01 2.35365117e-03 -1.63820865e-04 2.12924259e+02] [-2.35365189e-03 9.99997230e-01 -4.24604443e-06 -1.43903125e+00] [ 1.63810417e-04 4.63160990e-06 9.99999987e-01 -2.74093598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.40533619500002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:212.98, Y:-1.44, Z:-0.28 [[ 9.99990592e-01 -4.33464690e-03 -1.63820865e-04 2.12984032e+02] [ 4.33464626e-03 9.99990605e-01 -4.24604443e-06 -1.43808160e+00] [ 1.63837731e-04 3.53589898e-06 9.99999987e-01 -2.79182949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.465336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:213.04, Y:-1.43, Z:-0.28 [[ 9.99974522e-01 -7.13645164e-03 -1.63820813e-04 2.13044504e+02] [ 7.13645104e-03 9.99974535e-01 -4.24803649e-06 -1.43219474e+00] [ 1.63846957e-04 3.07882904e-06 9.99999987e-01 -2.77935295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.525336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:213.10, Y:-1.42, Z:-0.28 [[ 9.99938891e-01 -1.10538037e-02 -1.63820813e-04 2.13104305e+02] [ 1.10538032e-02 9.99938905e-01 -4.24803648e-06 -1.41930795e+00] [ 1.63857761e-04 2.43693387e-06 9.99999987e-01 -2.78730638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.585336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:213.17, Y:-1.42, Z:-0.28 [[ 9.99891094e-01 -1.47571599e-02 -1.63820813e-04 2.13165639e+02] [ 1.47571594e-02 9.99891107e-01 -4.24803649e-06 -1.41789633e+00] [ 1.63865663e-04 1.83004399e-06 9.99999987e-01 -2.84239446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.645336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:213.23, Y:-1.42, Z:-0.28 [[ 9.99811676e-01 -1.94058192e-02 -1.63820915e-04 2.13226731e+02] [ 1.94058187e-02 9.99811689e-01 -4.24411129e-06 -1.41518508e+00] [ 1.63872426e-04 1.06423305e-06 9.99999987e-01 -2.76387943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.705336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:213.29, Y:-1.41, Z:-0.27 [[ 9.99793807e-01 -2.03055851e-02 -1.63821019e-04 2.13286905e+02] [ 2.03055847e-02 9.99793820e-01 -4.24007943e-06 -1.41401819e+00] [ 1.63873340e-04 9.12723574e-07 9.99999987e-01 -2.73596244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.765336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:213.35, Y:-1.41, Z:-0.27 [[ 9.99801910e-01 -1.99025924e-02 -1.63821070e-04 2.13347926e+02] [ 1.99025919e-02 9.99801924e-01 -4.23809187e-06 -1.41361797e+00] [ 1.63872970e-04 9.76788437e-07 9.99999987e-01 -2.69937433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.825336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:213.41, Y:-1.41, Z:-0.27 [[ 9.99841258e-01 -1.78166344e-02 -1.63821171e-04 2.13408973e+02] [ 1.78166339e-02 9.99841271e-01 -4.23418049e-06 -1.41338961e+00] [ 1.63870607e-04 1.31476651e-06 9.99999987e-01 -2.73877434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.47, Y:-1.42, Z:-0.27 [[ 9.99868684e-01 -1.62045646e-02 -1.63821222e-04 2.13469469e+02] [ 1.62045642e-02 9.99868697e-01 -4.23224192e-06 -1.41597221e+00] [ 1.63868293e-04 1.57703467e-06 9.99999987e-01 -2.72055483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.945336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:213.53, Y:-1.42, Z:-0.27 [[ 9.99897817e-01 -1.42943517e-02 -1.63821222e-04 2.13529808e+02] [ 1.42943512e-02 9.99897831e-01 -4.23224192e-06 -1.41644594e+00] [ 1.63864981e-04 1.89009138e-06 9.99999987e-01 -2.74442674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.005336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:213.59, Y:-1.41, Z:-0.27 [[ 9.99913134e-01 -1.31794625e-02 -1.63821222e-04 2.13590437e+02] [ 1.31794620e-02 9.99913147e-01 -4.23224192e-06 -1.41467031e+00] [ 1.63862772e-04 2.07279872e-06 9.99999987e-01 -2.70517873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.06533619500001 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:213.65, Y:-1.42, Z:-0.27 [[ 9.99947903e-01 -1.02061267e-02 -1.63821222e-04 2.13650121e+02] [ 1.02061261e-02 9.99947916e-01 -4.23224192e-06 -1.41735386e+00] [ 1.63855884e-04 2.56004139e-06 9.99999987e-01 -2.73453925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.12533619500002 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:213.71, Y:-1.42, Z:-0.28 [[ 9.99973875e-01 -7.22655231e-03 -1.63821170e-04 2.13709415e+02] [ 7.22655171e-03 9.99973888e-01 -4.23424199e-06 -1.41720519e+00] [ 1.63847491e-04 3.05026921e-06 9.99999987e-01 -2.77789526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.185336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:213.77, Y:-1.42, Z:-0.27 [[ 9.99977063e-01 -6.77099660e-03 -1.63821119e-04 2.13769921e+02] [ 6.77099600e-03 9.99977077e-01 -4.23621515e-06 -1.41795603e+00] [ 1.63846047e-04 3.12688585e-06 9.99999987e-01 -2.72235696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.245336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:213.83, Y:-1.42, Z:-0.27 [[ 9.99960405e-01 -8.89724415e-03 -1.63821119e-04 2.13830432e+02] [ 8.89724358e-03 9.99960419e-01 -4.23621515e-06 -1.41891843e+00] [ 1.63852325e-04 2.77849102e-06 9.99999987e-01 -2.67016860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.305336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:213.89, Y:-1.42, Z:-0.27 [[ 9.99955156e-01 -9.46881932e-03 -1.63821119e-04 2.13891029e+02] [ 9.46881875e-03 9.99955170e-01 -4.23621515e-06 -1.41796346e+00] [ 1.63853887e-04 2.68483270e-06 9.99999987e-01 -2.72837099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.95, Y:-1.42, Z:-0.27 [[ 9.99966350e-01 -8.20189254e-03 -1.63821171e-04 2.13951948e+02] [ 8.20189196e-03 9.99966364e-01 -4.23421346e-06 -1.42301534e+00] [ 1.63850389e-04 2.89042744e-06 9.99999987e-01 -2.73204653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.01, Y:-1.43, Z:-0.27 [[ 9.99976280e-01 -6.88561920e-03 -1.63821171e-04 2.14013013e+02] [ 6.88561859e-03 9.99976294e-01 -4.23421346e-06 -1.42579742e+00] [ 1.63846442e-04 3.10610293e-06 9.99999987e-01 -2.72342419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.485336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:214.07, Y:-1.43, Z:-0.27 [[ 9.99993056e-01 -3.72295158e-03 -1.63821222e-04 2.14073275e+02] [ 3.72295094e-03 9.99993070e-01 -4.23222753e-06 -1.42850395e+00] [ 1.63835843e-04 3.62229977e-06 9.99999987e-01 -2.74745387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.545336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:214.13, Y:-1.43, Z:-0.28 [[ 9.99999813e-01 -5.89324080e-04 -1.63821222e-04 2.14133517e+02] [ 5.89323395e-04 9.99999826e-01 -4.23222753e-06 -1.42862417e+00] [ 1.63823688e-04 4.13568306e-06 9.99999987e-01 -2.75161807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.19, Y:-1.43, Z:-0.27 [[ 9.99984567e-01 5.55324664e-03 -1.63821272e-04 2.14194173e+02] [-5.55324740e-03 9.99984581e-01 -4.23027682e-06 -1.43223578e+00] [ 1.63795254e-04 5.13995159e-06 9.99999987e-01 -2.72680302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.25, Y:-1.43, Z:-0.27 [[ 9.99948573e-01 1.01402704e-02 -1.63821272e-04 2.14253210e+02] [-1.01402712e-02 9.99948586e-01 -4.23027682e-06 -1.42834893e+00] [ 1.63769953e-04 5.89125140e-06 9.99999987e-01 -2.71028456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.31, Y:-1.43, Z:-0.26 [[ 9.99930555e-01 1.17838370e-02 -1.63821171e-04 2.14312607e+02] [-1.17838378e-02 9.99930568e-01 -4.23421339e-06 -1.42729267e+00] [ 1.63759901e-04 6.16436145e-06 9.99999987e-01 -2.64685629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.37, Y:-1.42, Z:-0.26 [[ 9.99921738e-01 1.25096654e-02 -1.63821071e-04 2.14372237e+02] [-1.25096663e-02 9.99921751e-01 -4.23804767e-06 -1.42477087e+00] [ 1.63755236e-04 6.28706292e-06 9.99999987e-01 -2.64484157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.84533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.43, Y:-1.43, Z:-0.27 [[ 9.99931601e-01 1.16947550e-02 -1.63820969e-04 2.14432069e+02] [-1.16947558e-02 9.99931614e-01 -4.24198427e-06 -1.42519302e+00] [ 1.63760157e-04 6.15754035e-06 9.99999987e-01 -2.67874270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.90533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.49, Y:-1.42, Z:-0.27 [[ 9.99968362e-01 7.95288834e-03 -1.63820919e-04 2.14492157e+02] [-7.95288914e-03 9.99968375e-01 -4.24393288e-06 -1.42155837e+00] [ 1.63781987e-04 5.54664822e-06 9.99999987e-01 -2.68532667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.55, Y:-1.42, Z:-0.27 [[ 9.99997687e-01 2.14457610e-03 -1.63820919e-04 2.14552464e+02] [-2.14457682e-03 9.99997700e-01 -4.24393288e-06 -1.42123947e+00] [ 1.63811441e-04 4.59524961e-06 9.99999987e-01 -2.68506274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.61, Y:-1.42, Z:-0.27 [[ 9.99999662e-01 8.06261630e-04 -1.63820919e-04 2.14612771e+02] [-8.06262336e-04 9.99999675e-01 -4.24393288e-06 -1.42078784e+00] [ 1.63817444e-04 4.37601408e-06 9.99999987e-01 -2.66963062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.67, Y:-1.42, Z:-0.26 [[ 9.99999752e-01 -6.84404873e-04 -1.63820919e-04 2.14672294e+02] [ 6.84404187e-04 9.99999766e-01 -4.24393288e-06 -1.42263470e+00] [ 1.63823785e-04 4.13181210e-06 9.99999987e-01 -2.62574573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.73, Y:-1.42, Z:-0.26 [[ 9.99998594e-01 -1.66860160e-03 -1.63820868e-04 2.14732671e+02] [ 1.66860093e-03 9.99998608e-01 -4.24591389e-06 -1.41908918e+00] [ 1.63827724e-04 3.97255627e-06 9.99999987e-01 -2.57988197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.79, Y:-1.42, Z:-0.26 [[ 9.99993077e-01 -3.71746966e-03 -1.63820868e-04 2.14792252e+02] [ 3.71746901e-03 9.99993090e-01 -4.24591389e-06 -1.41756421e+00] [ 1.63835520e-04 3.63688550e-06 9.99999987e-01 -2.60289370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.85, Y:-1.42, Z:-0.26 [[ 9.99983123e-01 -5.80742313e-03 -1.63820815e-04 2.14853190e+02] [ 5.80742252e-03 9.99983137e-01 -4.24792782e-06 -1.42157096e+00] [ 1.63842722e-04 3.29647944e-06 9.99999987e-01 -2.57425050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.91, Y:-1.42, Z:-0.26 [[ 9.99964900e-01 -8.37681916e-03 -1.63820815e-04 2.14913890e+02] [ 8.37681857e-03 9.99964914e-01 -4.24792782e-06 -1.42413594e+00] [ 1.63850652e-04 2.87548147e-06 9.99999987e-01 -2.56103830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.97, Y:-1.42, Z:-0.26 [[ 9.99968657e-01 -7.91564235e-03 -1.63820815e-04 2.14974688e+02] [ 7.91564176e-03 9.99968671e-01 -4.24792782e-06 -1.42401891e+00] [ 1.63849308e-04 2.95104779e-06 9.99999987e-01 -2.59832687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.04, Y:-1.43, Z:-0.26 [[ 9.99975365e-01 -7.01731829e-03 -1.63820868e-04 2.15035088e+02] [ 7.01731768e-03 9.99975378e-01 -4.24590273e-06 -1.42585872e+00] [ 1.63846629e-04 3.09621506e-06 9.99999987e-01 -2.60050211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.10, Y:-1.43, Z:-0.26 [[ 9.99964120e-01 -8.46944464e-03 -1.63820868e-04 2.15096131e+02] [ 8.46944406e-03 9.99964134e-01 -4.24590273e-06 -1.42978513e+00] [ 1.63850953e-04 2.85827871e-06 9.99999987e-01 -2.57241750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.56533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.16, Y:-1.43, Z:-0.25 [[ 9.99953404e-01 -9.65211478e-03 -1.63820868e-04 2.15156555e+02] [ 9.65211422e-03 9.99953417e-01 -4.24590273e-06 -1.43189845e+00] [ 1.63854219e-04 2.66448716e-06 9.99999987e-01 -2.54615511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.62533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.22, Y:-1.43, Z:-0.25 [[ 9.99940293e-01 -1.09263054e-02 -1.63820868e-04 2.15216718e+02] [ 1.09263049e-02 9.99940306e-01 -4.24590273e-06 -1.43375584e+00] [ 1.63857481e-04 2.45569247e-06 9.99999987e-01 -2.54539574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.28, Y:-1.44, Z:-0.25 [[ 9.99913620e-01 -1.31424909e-02 -1.63820919e-04 2.15277583e+02] [ 1.31424904e-02 9.99913634e-01 -4.24392308e-06 -1.44395639e+00] [ 1.63862546e-04 2.09054163e-06 9.99999987e-01 -2.52080606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.34, Y:-1.45, Z:-0.25 [[ 9.99920191e-01 -1.26326675e-02 -1.63820919e-04 2.15338299e+02] [ 1.26326670e-02 9.99920205e-01 -4.24392308e-06 -1.45006217e+00] [ 1.63861459e-04 2.17408926e-06 9.99999987e-01 -2.54736142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.40, Y:-1.45, Z:-0.26 [[ 9.99951809e-01 -9.81593246e-03 -1.63820919e-04 2.15398249e+02] [ 9.81593190e-03 9.99951823e-01 -4.24392308e-06 -1.45266042e+00] [ 1.63854685e-04 2.63566358e-06 9.99999987e-01 -2.59112354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.46, Y:-1.46, Z:-0.26 [[ 9.99985372e-01 -5.40642395e-03 -1.63820867e-04 2.15458054e+02] [ 5.40642333e-03 9.99985385e-01 -4.24591571e-06 -1.45612308e+00] [ 1.63841428e-04 3.36016864e-06 9.99999987e-01 -2.62022908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.52, Y:-1.46, Z:-0.26 [[ 9.99997592e-01 -2.18852053e-03 -1.63820818e-04 2.15518116e+02] [ 2.18851986e-03 9.99997605e-01 -4.24782442e-06 -1.45668623e+00] [ 1.63829722e-04 3.88928908e-06 9.99999987e-01 -2.60520638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.58, Y:-1.46, Z:-0.26 [[ 9.99997320e-01 2.30945945e-03 -1.63820818e-04 2.15578653e+02] [-2.30946018e-03 9.99997333e-01 -4.24782442e-06 -1.45888342e+00] [ 1.63810571e-04 4.62615070e-06 9.99999987e-01 -2.64530884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.64, Y:-1.46, Z:-0.26 [[ 9.99985498e-01 5.38305550e-03 -1.63820818e-04 2.15637819e+02] [-5.38305626e-03 9.99985511e-01 -4.24782443e-06 -1.45627648e+00] [ 1.63795578e-04 5.12961950e-06 9.99999987e-01 -2.61505935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.70, Y:-1.45, Z:-0.26 [[ 9.99981518e-01 6.07759795e-03 -1.63820788e-04 2.15697835e+02] [-6.07759873e-03 9.99981531e-01 -4.24896548e-06 -1.45278894e+00] [ 1.63791939e-04 5.24452397e-06 9.99999987e-01 -2.60572753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.76, Y:-1.45, Z:-0.26 [[ 9.99993225e-01 3.67726832e-03 -1.63820788e-04 2.15758700e+02] [-3.67726907e-03 9.99993239e-01 -4.24896548e-06 -1.45206313e+00] [ 1.63804056e-04 4.85134982e-06 9.99999987e-01 -2.61664435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.82, Y:-1.45, Z:-0.26 [[ 9.99999093e-01 1.33650991e-03 -1.63820788e-04 2.15818471e+02] [-1.33651063e-03 9.99999107e-01 -4.24896548e-06 -1.44970008e+00] [ 1.63814963e-04 4.46790986e-06 9.99999987e-01 -2.64822719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.88, Y:-1.45, Z:-0.26 [[ 9.99996196e-01 -2.75335164e-03 -1.63820737e-04 2.15878556e+02] [ 2.75335098e-03 9.99996210e-01 -4.25092836e-06 -1.44571073e+00] [ 1.63831821e-04 3.79985620e-06 9.99999987e-01 -2.62603871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.34533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.94, Y:-1.44, Z:-0.26 [[ 9.99982922e-01 -5.84201619e-03 -1.63820737e-04 2.15939331e+02] [ 5.84201557e-03 9.99982935e-01 -4.25092836e-06 -1.44220844e+00] [ 1.63842776e-04 3.29381246e-06 9.99999987e-01 -2.61589553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.40533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.00, Y:-1.45, Z:-0.26 [[ 9.99954688e-01 -9.51809552e-03 -1.63820737e-04 2.15999717e+02] [ 9.51809495e-03 9.99954702e-01 -4.25092836e-06 -1.44595433e+00] [ 1.63853777e-04 2.69147441e-06 9.99999987e-01 -2.62785708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.06, Y:-1.44, Z:-0.26 [[ 9.99932557e-01 -1.16126920e-02 -1.63820737e-04 2.16059347e+02] [ 1.16126915e-02 9.99932570e-01 -4.25092836e-06 -1.44080784e+00] [ 1.63859056e-04 2.34824199e-06 9.99999987e-01 -2.64080648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.12, Y:-1.44, Z:-0.26 [[ 9.99942648e-01 -1.07086270e-02 -1.63820685e-04 2.16119803e+02] [ 1.07086265e-02 9.99942661e-01 -4.25294916e-06 -1.43872416e+00] [ 1.63856835e-04 2.49841071e-06 9.99999987e-01 -2.60533327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.18, Y:-1.44, Z:-0.26 [[ 9.99960939e-01 -8.83706544e-03 -1.63820685e-04 2.16180706e+02] [ 8.83706486e-03 9.99960952e-01 -4.25294916e-06 -1.44032832e+00] [ 1.63851872e-04 2.80508901e-06 9.99999987e-01 -2.56439624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.24, Y:-1.44, Z:-0.26 [[ 9.99974468e-01 -7.14401386e-03 -1.63820685e-04 2.16240570e+02] [ 7.14401326e-03 9.99974481e-01 -4.25294916e-06 -1.43723544e+00] [ 1.63846888e-04 3.08250342e-06 9.99999987e-01 -2.59000896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.30, Y:-1.43, Z:-0.26 [[ 9.99989733e-01 -4.52845455e-03 -1.63820635e-04 2.16300725e+02] [ 4.52845391e-03 9.99989746e-01 -4.25486127e-06 -1.43248106e+00] [ 1.63838224e-04 3.51296339e-06 9.99999987e-01 -2.63131827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.36, Y:-1.43, Z:-0.26 [[ 9.99997338e-01 -2.30143611e-03 -1.63820635e-04 2.16360741e+02] [ 2.30143544e-03 9.99997352e-01 -4.25486127e-06 -1.43106675e+00] [ 1.63829994e-04 3.87782733e-06 9.99999987e-01 -2.61784168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.42, Y:-1.43, Z:-0.27 [[ 9.99999147e-01 -1.29593349e-03 -1.63820635e-04 2.16420637e+02] [ 1.29593281e-03 9.99999160e-01 -4.25486127e-06 -1.42866275e+00] [ 1.63826012e-04 4.04255711e-06 9.99999987e-01 -2.65514263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.48, Y:-1.43, Z:-0.26 [[ 9.99999714e-01 -7.38826607e-04 -1.63820652e-04 2.16480713e+02] [ 7.38825920e-04 9.99999727e-01 -4.25423544e-06 -1.42929059e+00] [ 1.63823750e-04 4.13319928e-06 9.99999987e-01 -2.60308875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.54, Y:-1.43, Z:-0.26 [[ 9.99999424e-01 -1.06112079e-03 -1.63820602e-04 2.16541409e+02] [ 1.06112010e-03 9.99999437e-01 -4.25615216e-06 -1.42834213e+00] [ 1.63825026e-04 4.08231637e-06 9.99999987e-01 -2.58928890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.60, Y:-1.42, Z:-0.26 [[ 9.99995831e-01 -2.88276939e-03 -1.63820602e-04 2.16600886e+02] [ 2.88276873e-03 9.99995845e-01 -4.25615216e-06 -1.42465929e+00] [ 1.63832191e-04 3.78387751e-06 9.99999987e-01 -2.60727862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.06533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.66, Y:-1.43, Z:-0.26 [[ 9.99976640e-01 -6.83325778e-03 -1.63820552e-04 2.16661112e+02] [ 6.83325717e-03 9.99976653e-01 -4.25806993e-06 -1.42710219e+00] [ 1.63845824e-04 3.13854250e-06 9.99999987e-01 -2.59596017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.12533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.72, Y:-1.43, Z:-0.26 [[ 9.99933232e-01 -1.15544131e-02 -1.63820552e-04 2.16721303e+02] [ 1.15544125e-02 9.99933246e-01 -4.25806993e-06 -1.42958430e+00] [ 1.63858816e-04 2.36493539e-06 9.99999987e-01 -2.61944739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.78, Y:-1.43, Z:-0.26 [[ 9.99893603e-01 -1.45861416e-02 -1.63820502e-04 2.16781198e+02] [ 1.45861411e-02 9.99893617e-01 -4.25998331e-06 -1.43166329e+00] [ 1.63865211e-04 1.87002110e-06 9.99999987e-01 -2.62174950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.245336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:216.84, Y:-1.43, Z:-0.26 [[ 9.99910822e-01 -1.33537015e-02 -1.63820453e-04 2.16841384e+02] [ 1.33537010e-02 9.99910835e-01 -4.26188084e-06 -1.43291751e+00] [ 1.63862758e-04 2.07389143e-06 9.99999987e-01 -2.57644014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.90, Y:-1.43, Z:-0.26 [[ 9.99955869e-01 -9.39326396e-03 -1.63820453e-04 2.16901928e+02] [ 9.39326338e-03 9.99955882e-01 -4.26188084e-06 -1.43343444e+00] [ 1.63853258e-04 2.72288410e-06 9.99999987e-01 -2.60816288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.96, Y:-1.43, Z:-0.26 [[ 9.99996092e-01 -2.79080484e-03 -1.63820453e-04 2.16962410e+02] [ 2.79080418e-03 9.99996106e-01 -4.26188084e-06 -1.42931219e+00] [ 1.63831709e-04 3.80467338e-06 9.99999987e-01 -2.60106033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.02, Y:-1.43, Z:-0.26 [[ 9.99999891e-01 4.36113590e-04 -1.63820453e-04 2.17021874e+02] [-4.36114294e-04 9.99999905e-01 -4.26188084e-06 -1.42724321e+00] [ 1.63818579e-04 4.33332482e-06 9.99999987e-01 -2.63416815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.485336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:217.08, Y:-1.42, Z:-0.27 [[ 9.99998379e-01 1.79303817e-03 -1.63820402e-04 2.17082049e+02] [-1.79303889e-03 9.99998392e-01 -4.26384551e-06 -1.42375276e+00] [ 1.63812493e-04 4.55757495e-06 9.99999987e-01 -2.66738053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.14, Y:-1.42, Z:-0.26 [[ 9.99998961e-01 1.43214121e-03 -1.63820352e-04 2.17142169e+02] [-1.43214193e-03 9.99998974e-01 -4.26576468e-06 -1.41968001e+00] [ 1.63814075e-04 4.50037424e-06 9.99999987e-01 -2.62983647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.20, Y:-1.42, Z:-0.27 [[ 9.99999056e-01 1.36397180e-03 -1.63820352e-04 2.17202333e+02] [-1.36397252e-03 9.99999070e-01 -4.26576468e-06 -1.41762213e+00] [ 1.63814381e-04 4.48920711e-06 9.99999987e-01 -2.65834597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.26, Y:-1.41, Z:-0.26 [[ 9.99999986e-01 -4.00238749e-05 -1.63820301e-04 2.17261652e+02] [ 4.00231762e-05 9.99999999e-01 -4.26771459e-06 -1.41147864e+00] [ 1.63820472e-04 4.26115792e-06 9.99999987e-01 -2.63357307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.32, Y:-1.41, Z:-0.26 [[ 9.99997131e-01 -2.38961159e-03 -1.63820251e-04 2.17321701e+02] [ 2.38961092e-03 9.99997145e-01 -4.26964097e-06 -1.40777168e+00] [ 1.63829986e-04 3.87816207e-06 9.99999987e-01 -2.62696000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.38, Y:-1.41, Z:-0.27 [[ 9.99969247e-01 -7.84083111e-03 -1.63820251e-04 2.17381511e+02] [ 7.84083051e-03 9.99969260e-01 -4.26964097e-06 -1.40643251e+00] [ 1.63848692e-04 2.98502285e-06 9.99999987e-01 -2.65326162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.84533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.44, Y:-1.41, Z:-0.26 [[ 9.99928285e-01 -1.19748998e-02 -1.63820201e-04 2.17441617e+02] [ 1.19748992e-02 9.99928298e-01 -4.27153838e-06 -1.40529217e+00] [ 1.63859606e-04 2.30950164e-06 9.99999987e-01 -2.61089976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.90533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.50, Y:-1.40, Z:-0.26 [[ 9.99903558e-01 -1.38869528e-02 -1.63820201e-04 2.17502015e+02] [ 1.38869523e-02 9.99903572e-01 -4.27153838e-06 -1.40469814e+00] [ 1.63863723e-04 1.99616310e-06 9.99999987e-01 -2.63966450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.56, Y:-1.41, Z:-0.27 [[ 9.99892549e-01 -1.46582203e-02 -1.63820201e-04 2.17562956e+02] [ 1.46582198e-02 9.99892563e-01 -4.27153838e-06 -1.40608766e+00] [ 1.63865214e-04 1.86976689e-06 9.99999987e-01 -2.66953818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.62, Y:-1.40, Z:-0.27 [[ 9.99904600e-01 -1.38117585e-02 -1.63820201e-04 2.17622704e+02] [ 1.38117580e-02 9.99904613e-01 -4.27153838e-06 -1.40490514e+00] [ 1.63863572e-04 2.00848591e-06 9.99999987e-01 -2.70123096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.68, Y:-1.41, Z:-0.27 [[ 9.99942388e-01 -1.07328301e-02 -1.63820151e-04 2.17682828e+02] [ 1.07328295e-02 9.99942402e-01 -4.27347063e-06 -1.40551307e+00] [ 1.63856581e-04 2.51497068e-06 9.99999987e-01 -2.69684896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.74, Y:-1.41, Z:-0.27 [[ 9.99974189e-01 -7.18287692e-03 -1.63820151e-04 2.17743442e+02] [ 7.18287632e-03 9.99974203e-01 -4.27347063e-06 -1.40594693e+00] [ 1.63846621e-04 3.09666045e-06 9.99999987e-01 -2.65431898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.80, Y:-1.40, Z:-0.26 [[ 9.99998100e-01 1.94240293e-03 -1.63820151e-04 2.17803322e+02] [-1.94240365e-03 9.99998114e-01 -4.27347063e-06 -1.39918080e+00] [ 1.63811541e-04 4.59166737e-06 9.99999987e-01 -2.63167106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.86, Y:-1.39, Z:-0.26 [[ 9.99970303e-01 7.70493567e-03 -1.63820098e-04 2.17864021e+02] [-7.70493648e-03 9.99970317e-01 -4.27547818e-06 -1.39494036e+00] [ 1.63782293e-04 5.53757466e-06 9.99999987e-01 -2.60223820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.92, Y:-1.38, Z:-0.26 [[ 9.99914002e-01 1.31133922e-02 -1.63820098e-04 2.17923726e+02] [-1.31133931e-02 9.99914016e-01 -4.27547818e-06 -1.38437197e+00] [ 1.63749946e-04 6.42334784e-06 9.99999987e-01 -2.61931342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.98, Y:-1.38, Z:-0.27 [[ 9.99947841e-01 1.02121946e-02 -1.63820047e-04 2.17984034e+02] [-1.02121954e-02 9.99947854e-01 -4.27744340e-06 -1.37643149e+00] [ 1.63767822e-04 5.95018263e-06 9.99999987e-01 -2.65319251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.04, Y:-1.37, Z:-0.27 [[ 9.99980100e-01 6.30651862e-03 -1.63820047e-04 2.18042965e+02] [-6.30651940e-03 9.99980114e-01 -4.27744340e-06 -1.37023369e+00] [ 1.63789814e-04 5.31049259e-06 9.99999987e-01 -2.65135555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.10, Y:-1.36, Z:-0.26 [[ 9.99998755e-01 1.56973156e-03 -1.63819996e-04 2.18102913e+02] [-1.56973228e-03 9.99998768e-01 -4.27939255e-06 -1.35997162e+00] [ 1.63813077e-04 4.53654076e-06 9.99999987e-01 -2.62600130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.56533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.16, Y:-1.35, Z:-0.26 [[ 9.99999435e-01 -1.05048330e-03 -1.63819996e-04 2.18162642e+02] [ 1.05048261e-03 9.99999448e-01 -4.27939255e-06 -1.35201381e+00] [ 1.63824401e-04 4.10730007e-06 9.99999987e-01 -2.61430451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.62533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.22, Y:-1.34, Z:-0.26 [[ 9.99984289e-01 -5.60314420e-03 -1.63819945e-04 2.18223179e+02] [ 5.60314357e-03 9.99984302e-01 -4.28136626e-06 -1.34095732e+00] [ 1.63841362e-04 3.36339232e-06 9.99999987e-01 -2.63531875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.28, Y:-1.33, Z:-0.26 [[ 9.99967901e-01 -8.01060619e-03 -1.63819945e-04 2.18283874e+02] [ 8.01060559e-03 9.99967915e-01 -4.28136626e-06 -1.33451302e+00] [ 1.63848985e-04 2.96893187e-06 9.99999987e-01 -2.62907198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.34, Y:-1.32, Z:-0.26 [[ 9.99961651e-01 -8.75611766e-03 -1.63819945e-04 2.18344325e+02] [ 8.75611708e-03 9.99961664e-01 -4.28136626e-06 -1.32360890e+00] [ 1.63851153e-04 2.84677546e-06 9.99999987e-01 -2.57941004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.40, Y:-1.32, Z:-0.26 [[ 9.99959279e-01 -9.02297728e-03 -1.63819945e-04 2.18404751e+02] [ 9.02297670e-03 9.99959292e-01 -4.28136626e-06 -1.31988696e+00] [ 1.63851907e-04 2.80304837e-06 9.99999987e-01 -2.59339212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.46, Y:-1.31, Z:-0.26 [[ 9.99951887e-01 -9.80801956e-03 -1.63819996e-04 2.18464881e+02] [ 9.80801899e-03 9.99951900e-01 -4.27940183e-06 -1.30949569e+00] [ 1.63854089e-04 2.67244630e-06 9.99999987e-01 -2.57562491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.53, Y:-1.30, Z:-0.25 [[ 9.99947761e-01 -1.02200321e-02 -1.63819996e-04 2.18525569e+02] [ 1.02200316e-02 9.99947774e-01 -4.27940183e-06 -1.30376036e+00] [ 1.63855176e-04 2.60493274e-06 9.99999987e-01 -2.54381098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.59, Y:-1.30, Z:-0.25 [[ 9.99939304e-01 -1.10164399e-02 -1.63820048e-04 2.18585713e+02] [ 1.10164394e-02 9.99939317e-01 -4.27738874e-06 -1.30026416e+00] [ 1.63857229e-04 2.47241548e-06 9.99999987e-01 -2.54548055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.65, Y:-1.30, Z:-0.25 [[ 9.99929267e-01 -1.18926002e-02 -1.63820100e-04 2.18646521e+02] [ 1.18925996e-02 9.99929281e-01 -4.27539750e-06 -1.29704840e+00] [ 1.63859361e-04 2.32684822e-06 9.99999987e-01 -2.54182282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.71, Y:-1.29, Z:-0.26 [[ 9.99914455e-01 -1.30788408e-02 -1.63820205e-04 2.18706975e+02] [ 1.30788402e-02 9.99914468e-01 -4.27139460e-06 -1.28928674e+00] [ 1.63862058e-04 2.12845092e-06 9.99999987e-01 -2.59721541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.77, Y:-1.29, Z:-0.26 [[ 9.99923547e-01 -1.23641681e-02 -1.63820405e-04 2.18768529e+02] [ 1.23641676e-02 9.99923561e-01 -4.26370780e-06 -1.28846700e+00] [ 1.63860600e-04 2.23787889e-06 9.99999987e-01 -2.59626574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.83, Y:-1.28, Z:-0.26 [[ 9.99932180e-01 -1.16451193e-02 -1.63820508e-04 2.18828287e+02] [ 1.16451188e-02 9.99932193e-01 -4.25972491e-06 -1.28436539e+00] [ 1.63859005e-04 2.35172674e-06 9.99999987e-01 -2.58202543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.89, Y:-1.28, Z:-0.26 [[ 9.99940530e-01 -1.09045572e-02 -1.63820764e-04 2.18888531e+02] [ 1.09045566e-02 9.99940544e-01 -4.24989289e-06 -1.28035599e+00] [ 1.63857367e-04 2.46324737e-06 9.99999987e-01 -2.60469109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.34533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.95, Y:-1.28, Z:-0.26 [[ 9.99954537e-01 -9.53395436e-03 -1.63820813e-04 2.18950253e+02] [ 9.53395379e-03 9.99954551e-01 -4.24797191e-06 -1.27859406e+00] [ 1.63853868e-04 2.68591872e-06 9.99999987e-01 -2.59294897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.40533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.01, Y:-1.27, Z:-0.26 [[ 9.99976271e-01 -6.88701916e-03 -1.63820914e-04 2.19010285e+02] [ 6.88701855e-03 9.99976284e-01 -4.24408995e-06 -1.27224416e+00] [ 1.63846258e-04 3.11575157e-06 9.99999987e-01 -2.59034217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.07, Y:-1.27, Z:-0.26 [[ 9.99986335e-01 -5.22513501e-03 -1.63820964e-04 2.19071631e+02] [ 5.22513438e-03 9.99986349e-01 -4.24217055e-06 -1.26686294e+00] [ 1.63840893e-04 3.38612604e-06 9.99999987e-01 -2.56985522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.13, Y:-1.26, Z:-0.27 [[ 9.99995784e-01 -2.89907106e-03 -1.63821070e-04 2.19131317e+02] [ 2.89907040e-03 9.99995798e-01 -4.23807591e-06 -1.25774901e+00] [ 1.63832668e-04 3.76312923e-06 9.99999987e-01 -2.65924421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.19, Y:-1.25, Z:-0.26 [[ 9.99984648e-01 -5.53865918e-03 -1.63821070e-04 2.19191293e+02] [ 5.53865856e-03 9.99984662e-01 -4.23807591e-06 -1.25147072e+00] [ 1.63842030e-04 3.33066187e-06 9.99999987e-01 -2.63967985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.25, Y:-1.24, Z:-0.26 [[ 9.99945097e-01 -1.04773879e-02 -1.63821070e-04 2.19251397e+02] [ 1.04773874e-02 9.99945111e-01 -4.23807591e-06 -1.24409297e+00] [ 1.63856481e-04 2.52142642e-06 9.99999987e-01 -2.61170185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.31, Y:-1.24, Z:-0.25 [[ 9.99803406e-01 -1.98272969e-02 -1.63821070e-04 2.19311929e+02] [ 1.98272965e-02 9.99803420e-01 -4.23807591e-06 -1.23913898e+00] [ 1.63872895e-04 9.89113816e-07 9.99999987e-01 -2.54355221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.765336195 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:219.37, Y:-1.24, Z:-0.26 [[ 9.99705172e-01 -2.42804826e-02 -1.63821121e-04 2.19372239e+02] [ 2.42804822e-02 9.99705186e-01 -4.23608523e-06 -1.23696141e+00] [ 1.63875678e-04 2.57180503e-07 9.99999987e-01 -2.55814747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.825336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:219.43, Y:-1.24, Z:-0.25 [[ 9.99656468e-01 -2.62091578e-02 -1.63821171e-04 2.19433291e+02] [ 2.62091575e-02 9.99656481e-01 -4.23415265e-06 -1.23805792e+00] [ 1.63875869e-04 -6.09167802e-08 9.99999987e-01 -2.53760824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.49, Y:-1.24, Z:-0.25 [[ 9.99761135e-01 -2.18551159e-02 -1.63821273e-04 2.19493885e+02] [ 2.18551155e-02 9.99761148e-01 -4.23018675e-06 -1.23521471e+00] [ 1.63874596e-04 6.48843445e-07 9.99999987e-01 -2.52976915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.55, Y:-1.23, Z:-0.25 [[ 9.99850503e-01 -1.72900172e-02 -1.63821324e-04 2.19554474e+02] [ 1.72900168e-02 9.99850516e-01 -4.22823002e-06 -1.23266446e+00] [ 1.63869941e-04 1.39512447e-06 9.99999987e-01 -2.54041873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.62, Y:-1.23, Z:-0.25 [[ 9.99922920e-01 -1.24148090e-02 -1.63821494e-04 2.19615560e+02] [ 1.24148085e-02 9.99922933e-01 -4.22163905e-06 -1.23019805e+00] [ 1.63861279e-04 2.18750118e-06 9.99999987e-01 -2.53910701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.06533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.68, Y:-1.23, Z:-0.26 [[ 9.99943441e-01 -1.06342556e-02 -1.63821593e-04 2.19675595e+02] [ 1.06342550e-02 9.99943455e-01 -4.21777805e-06 -1.22872805e+00] [ 1.63857183e-04 2.47541890e-06 9.99999987e-01 -2.56841493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.12533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.74, Y:-1.23, Z:-0.26 [[ 9.99956465e-01 -9.32964093e-03 -1.63821642e-04 2.19737144e+02] [ 9.32964037e-03 9.99956478e-01 -4.21586379e-06 -1.22877743e+00] [ 1.63853845e-04 2.68728324e-06 9.99999987e-01 -2.57397073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.80, Y:-1.23, Z:-0.26 [[ 9.99957306e-01 -9.23899143e-03 -1.63821740e-04 2.19797435e+02] [ 9.23899086e-03 9.99957320e-01 -4.21207339e-06 -1.22664394e+00] [ 1.63853663e-04 2.69834600e-06 9.99999987e-01 -2.57615118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.86, Y:-1.22, Z:-0.25 [[ 9.99940505e-01 -1.09068953e-02 -1.63821788e-04 2.19858912e+02] [ 1.09068948e-02 9.99940518e-01 -4.21019435e-06 -1.22469210e+00] [ 1.63857964e-04 2.42315686e-06 9.99999987e-01 -2.54160944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.92, Y:-1.22, Z:-0.26 [[ 9.99915012e-01 -1.30361581e-02 -1.63821890e-04 2.19919699e+02] [ 1.30361576e-02 9.99915026e-01 -4.20622616e-06 -1.22315272e+00] [ 1.63862802e-04 2.07026072e-06 9.99999987e-01 -2.58418679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.98, Y:-1.23, Z:-0.26 [[ 9.99878816e-01 -1.55668545e-02 -1.63822041e-04 2.19981530e+02] [ 1.55668540e-02 9.99878829e-01 -4.20034020e-06 -1.22529268e+00] [ 1.63867577e-04 1.64963739e-06 9.99999987e-01 -2.60750430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.04, Y:-1.23, Z:-0.26 [[ 9.99875863e-01 -1.57553530e-02 -1.63822134e-04 2.20043328e+02] [ 1.57553525e-02 9.99875877e-01 -4.19670478e-06 -1.22517104e+00] [ 1.63867920e-04 1.61510834e-06 9.99999987e-01 -2.57977246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.10, Y:-1.22, Z:-0.25 [[ 9.99928547e-01 -1.19530283e-02 -1.63822231e-04 2.20104421e+02] [ 1.19530277e-02 9.99928560e-01 -4.19291206e-06 -1.21523942e+00] [ 1.63860646e-04 2.23444079e-06 9.99999987e-01 -2.52151748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.17, Y:-1.21, Z:-0.25 [[ 9.99953571e-01 -9.63477599e-03 -1.63822329e-04 2.20165670e+02] [ 9.63477544e-03 9.99953584e-01 -4.18909100e-06 -1.21101395e+00] [ 1.63855086e-04 2.61050516e-06 9.99999987e-01 -2.48328566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.23, Y:-1.21, Z:-0.25 [[ 9.99944157e-01 -1.05667368e-02 -1.63822428e-04 2.20227265e+02] [ 1.05667362e-02 9.99944170e-01 -4.18522517e-06 -1.20930041e+00] [ 1.63857506e-04 2.45392307e-06 9.99999987e-01 -2.52814640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.29, Y:-1.20, Z:-0.25 [[ 9.99922763e-01 -1.24274127e-02 -1.63822526e-04 2.20288695e+02] [ 1.24274122e-02 9.99922777e-01 -4.18138145e-06 -1.20404273e+00] [ 1.63861839e-04 2.14516843e-06 9.99999987e-01 -2.54623417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.35, Y:-1.20, Z:-0.25 [[ 9.99852110e-01 -1.71968559e-02 -1.63822628e-04 2.20349649e+02] [ 1.71968554e-02 9.99852123e-01 -4.17737359e-06 -1.20043494e+00] [ 1.63870240e-04 1.35952175e-06 9.99999987e-01 -2.53655783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.41, Y:-1.20, Z:-0.25 [[ 9.99786756e-01 -2.06498358e-02 -1.63822780e-04 2.20411199e+02] [ 2.06498354e-02 9.99786769e-01 -4.17139801e-06 -1.19892805e+00] [ 1.63873987e-04 7.87595044e-07 9.99999987e-01 -2.51955292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.84533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.47, Y:-1.20, Z:-0.25 [[ 9.99687238e-01 -2.50079870e-02 -1.63822879e-04 2.20472839e+02] [ 2.50079867e-02 9.99687251e-01 -4.16752169e-06 -1.19776149e+00] [ 1.63875865e-04 6.93378767e-08 9.99999987e-01 -2.52618247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.90533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.53, Y:-1.20, Z:-0.25 [[ 9.99592498e-01 -2.85449134e-02 -1.63823207e-04 2.20534665e+02] [ 2.85449131e-02 9.99592511e-01 -4.15458944e-06 -1.19611443e+00] [ 1.63875043e-04 -5.23422767e-07 9.99999987e-01 -2.51685599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.59, Y:-1.19, Z:-0.25 [[ 9.99574573e-01 -2.91658312e-02 -1.63823410e-04 2.20594535e+02] [ 2.91658309e-02 9.99574587e-01 -4.14653550e-06 -1.19390224e+00] [ 1.63874655e-04 -6.33274439e-07 9.99999987e-01 -2.54935900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.66, Y:-1.19, Z:-0.26 [[ 9.99505804e-01 -3.14343751e-02 -1.63823461e-04 2.20655486e+02] [ 3.14343748e-02 9.99505818e-01 -4.14455582e-06 -1.19309614e+00] [ 1.63872783e-04 -1.00718046e-06 9.99999987e-01 -2.55359861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.72, Y:-1.20, Z:-0.26 [[ 9.99419297e-01 -3.40740784e-02 -1.63823557e-04 2.20717218e+02] [ 3.40740782e-02 9.99419310e-01 -4.14073919e-06 -1.19505428e+00] [ 1.63869518e-04 -1.44380205e-06 9.99999987e-01 -2.55895303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.78, Y:-1.20, Z:-0.25 [[ 9.99296923e-01 -3.74917743e-02 -1.63823654e-04 2.20778271e+02] [ 3.74917742e-02 9.99296936e-01 -4.13688615e-06 -1.20359303e+00] [ 1.63863575e-04 -2.00806186e-06 9.99999987e-01 -2.53108166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.84, Y:-1.21, Z:-0.25 [[ 9.99341329e-01 -3.62888678e-02 -1.63823703e-04 2.20839513e+02] [ 3.62888676e-02 9.99341342e-01 -4.13494059e-06 -1.21048732e+00] [ 1.63865852e-04 -1.81275966e-06 9.99999987e-01 -2.54732032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.90, Y:-1.22, Z:-0.26 [[ 9.99448511e-01 -3.32061183e-02 -1.63823801e-04 2.20900507e+02] [ 3.32061180e-02 9.99448525e-01 -4.13107124e-06 -1.21650635e+00] [ 1.63870633e-04 -1.31115947e-06 9.99999987e-01 -2.55192820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.96, Y:-1.23, Z:-0.25 [[ 9.99604100e-01 -2.81356819e-02 -1.63823849e-04 2.20961418e+02] [ 2.81356816e-02 9.99604113e-01 -4.12915707e-06 -1.22656617e+00] [ 1.63875170e-04 -4.81773318e-07 9.99999987e-01 -2.54892484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.02, Y:-1.23, Z:-0.26 [[ 9.99704507e-01 -2.43078657e-02 -1.63823849e-04 2.21021890e+02] [ 2.43078653e-02 9.99704520e-01 -4.12915707e-06 -1.22924807e+00] [ 1.63875814e-04 1.45728875e-07 9.99999987e-01 -2.57843986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.08, Y:-1.24, Z:-0.25 [[ 9.99792632e-01 -2.03633329e-02 -1.63823899e-04 2.21082541e+02] [ 2.03633325e-02 9.99792646e-01 -4.12718230e-06 -1.23689543e+00] [ 1.63873973e-04 7.90325922e-07 9.99999987e-01 -2.47746269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.14, Y:-1.24, Z:-0.25 [[ 9.99803035e-01 -1.98459990e-02 -1.63823899e-04 2.21143020e+02] [ 1.98459986e-02 9.99803049e-01 -4.12718230e-06 -1.24162671e+00] [ 1.63873542e-04 8.75120524e-07 9.99999987e-01 -2.51484804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.56533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.20, Y:-1.25, Z:-0.25 [[ 9.99819037e-01 -1.90227777e-02 -1.63823948e-04 2.21204098e+02] [ 1.90227773e-02 9.99819051e-01 -4.12523334e-06 -1.25017847e+00] [ 1.63872778e-04 1.00810034e-06 9.99999987e-01 -2.52785399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.62533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.27, Y:-1.25, Z:-0.25 [[ 9.99823384e-01 -1.87929124e-02 -1.63823948e-04 2.21265161e+02] [ 1.87929120e-02 9.99823398e-01 -4.12523334e-06 -1.25429272e+00] [ 1.63872542e-04 1.04577572e-06 9.99999987e-01 -2.52602093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.32, Y:-1.26, Z:-0.25 [[ 9.99824494e-01 -1.87337644e-02 -1.63823948e-04 2.21324938e+02] [ 1.87337640e-02 9.99824508e-01 -4.12523334e-06 -1.26250805e+00] [ 1.63872479e-04 1.05547015e-06 9.99999987e-01 -2.53696853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.38, Y:-1.27, Z:-0.26 [[ 9.99832235e-01 -1.83159827e-02 -1.63823898e-04 2.21384339e+02] [ 1.83159822e-02 9.99832248e-01 -4.12720653e-06 -1.26944616e+00] [ 1.63872010e-04 1.12591852e-06 9.99999987e-01 -2.55757188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.44, Y:-1.28, Z:-0.26 [[ 9.99886890e-01 -1.50393014e-02 -1.63823850e-04 2.21444246e+02] [ 1.50393009e-02 9.99886903e-01 -4.12912500e-06 -1.27555379e+00] [ 1.63867421e-04 1.66486178e-06 9.99999987e-01 -2.58249731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.50, Y:-1.28, Z:-0.26 [[ 9.99926670e-01 -1.21090102e-02 -1.63823753e-04 2.21503435e+02] [ 1.21090097e-02 9.99926683e-01 -4.13296727e-06 -1.27855235e+00] [ 1.63861788e-04 2.14892079e-06 9.99999987e-01 -2.59857969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.56, Y:-1.28, Z:-0.26 [[ 9.99948268e-01 -1.01702596e-02 -1.63823705e-04 2.21564094e+02] [ 1.01702591e-02 9.99948282e-01 -4.13486821e-06 -1.28061130e+00] [ 1.63857285e-04 2.46852477e-06 9.99999987e-01 -2.57769070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.63, Y:-1.28, Z:-0.25 [[ 9.99967927e-01 -8.00740400e-03 -1.63823705e-04 2.21625021e+02] [ 8.00740343e-03 9.99967940e-01 -4.13486821e-06 -1.28282329e+00] [ 1.63851563e-04 2.82293309e-06 9.99999987e-01 -2.53573197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.69, Y:-1.28, Z:-0.25 [[ 9.99965645e-01 -8.28743465e-03 -1.63823705e-04 2.21685732e+02] [ 8.28743409e-03 9.99965659e-01 -4.13486821e-06 -1.28410341e+00] [ 1.63852347e-04 2.77704800e-06 9.99999987e-01 -2.48863803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.74, Y:-1.29, Z:-0.25 [[ 9.99951422e-01 -9.85530443e-03 -1.63823705e-04 2.21744856e+02] [ 9.85530388e-03 9.99951435e-01 -4.13486821e-06 -1.28579564e+00] [ 1.63856499e-04 2.52013495e-06 9.99999987e-01 -2.51062883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.81, Y:-1.29, Z:-0.26 [[ 9.99945687e-01 -1.04209776e-02 -1.63823655e-04 2.21805623e+02] [ 1.04209771e-02 9.99945700e-01 -4.13686902e-06 -1.28976838e+00] [ 1.63857869e-04 2.42944178e-06 9.99999987e-01 -2.55537235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.87, Y:-1.29, Z:-0.26 [[ 9.99948432e-01 -1.01541449e-02 -1.63823655e-04 2.21865291e+02] [ 1.01541444e-02 9.99948445e-01 -4.13686902e-06 -1.28908711e+00] [ 1.63857215e-04 2.47316665e-06 9.99999987e-01 -2.59810273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.93, Y:-1.29, Z:-0.26 [[ 9.99958483e-01 -9.11068244e-03 -1.63823605e-04 2.21925476e+02] [ 9.11068189e-03 9.99958497e-01 -4.13883082e-06 -1.28894711e+00] [ 1.63854513e-04 2.64611424e-06 9.99999987e-01 -2.59742554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.34533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.99, Y:-1.29, Z:-0.26 [[ 9.99981875e-01 -6.01845875e-03 -1.63823605e-04 2.21986342e+02] [ 6.01845815e-03 9.99981889e-01 -4.13883082e-06 -1.29084429e+00] [ 1.63845547e-04 3.15279030e-06 9.99999987e-01 -2.58133732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.40533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.05, Y:-1.29, Z:-0.25 [[ 9.99987976e-01 -4.90105402e-03 -1.63823605e-04 2.22046372e+02] [ 4.90105341e-03 9.99987990e-01 -4.13883082e-06 -1.29003802e+00] [ 1.63841922e-04 3.33587282e-06 9.99999987e-01 -2.53894195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.11, Y:-1.29, Z:-0.25 [[ 9.99987811e-01 -4.93474937e-03 -1.63823556e-04 2.22107311e+02] [ 4.93474876e-03 9.99987824e-01 -4.14077132e-06 -1.28853942e+00] [ 1.63841995e-04 3.33229276e-06 9.99999987e-01 -2.54568385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.525336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:222.17, Y:-1.29, Z:-0.26 [[ 9.99975544e-01 -6.99180684e-03 -1.63823556e-04 2.22167599e+02] [ 6.99180625e-03 9.99975557e-01 -4.14077132e-06 -1.28967791e+00] [ 1.63848503e-04 2.99524749e-06 9.99999987e-01 -2.56795324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.23, Y:-1.29, Z:-0.26 [[ 9.99970974e-01 -7.61734487e-03 -1.63823556e-04 2.22228144e+02] [ 7.61734430e-03 9.99970988e-01 -4.14077132e-06 -1.28993292e+00] [ 1.63850345e-04 2.89275070e-06 9.99999987e-01 -2.56279844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.29, Y:-1.29, Z:-0.25 [[ 9.99970851e-01 -7.63350087e-03 -1.63823556e-04 2.22288601e+02] [ 7.63350030e-03 9.99970864e-01 -4.14077132e-06 -1.29074696e+00] [ 1.63850391e-04 2.89010346e-06 9.99999987e-01 -2.54754969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.35, Y:-1.29, Z:-0.26 [[ 9.99971721e-01 -7.51862808e-03 -1.63823556e-04 2.22348315e+02] [ 7.51862751e-03 9.99971735e-01 -4.14077132e-06 -1.29156373e+00] [ 1.63850058e-04 2.90892593e-06 9.99999987e-01 -2.56445763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.41, Y:-1.29, Z:-0.26 [[ 9.99972985e-01 -7.34867409e-03 -1.63823506e-04 2.22408485e+02] [ 7.34867351e-03 9.99972998e-01 -4.14273672e-06 -1.29128122e+00] [ 1.63849526e-04 2.93873934e-06 9.99999987e-01 -2.57597350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.47, Y:-1.29, Z:-0.26 [[ 9.99985215e-01 -5.43534846e-03 -1.63823457e-04 2.22468820e+02] [ 5.43534785e-03 9.99985228e-01 -4.14467960e-06 -1.28948487e+00] [ 1.63843565e-04 3.25418085e-06 9.99999987e-01 -2.56307183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.53, Y:-1.29, Z:-0.25 [[ 9.99996335e-01 -2.70258961e-03 -1.63823457e-04 2.22529513e+02] [ 2.70258896e-03 9.99996348e-01 -4.14467960e-06 -1.28983760e+00] [ 1.63834060e-04 3.70191694e-06 9.99999987e-01 -2.54071918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.59, Y:-1.29, Z:-0.26 [[ 9.99998337e-01 -1.81629717e-03 -1.63823457e-04 2.22588499e+02] [ 1.81629652e-03 9.99998351e-01 -4.14467960e-06 -1.28729173e+00] [ 1.63830715e-04 3.84712073e-06 9.99999987e-01 -2.57720604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.65, Y:-1.28, Z:-0.26 [[ 9.99998718e-01 -1.59263453e-03 -1.63823406e-04 2.22648403e+02] [ 1.59263387e-03 9.99998732e-01 -4.14669037e-06 -1.28308519e+00] [ 1.63829803e-04 3.88577435e-06 9.99999987e-01 -2.60836051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.06533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.71, Y:-1.28, Z:-0.26 [[ 9.99999743e-01 -6.98338719e-04 -1.63823406e-04 2.22709066e+02] [ 6.98338049e-04 9.99999756e-01 -4.14669037e-06 -1.28210100e+00] [ 1.63826262e-04 4.03228518e-06 9.99999987e-01 -2.58712616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.12533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.77, Y:-1.28, Z:-0.26 [[ 9.99998844e-01 -1.51160944e-03 -1.63823406e-04 2.22768277e+02] [ 1.51160879e-03 9.99998858e-01 -4.14669037e-06 -1.28170895e+00] [ 1.63829487e-04 3.89904868e-06 9.99999987e-01 -2.60928011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.83, Y:-1.28, Z:-0.26 [[ 9.99998069e-01 -1.95833040e-03 -1.63823472e-04 2.22828389e+02] [ 1.95832975e-03 9.99998082e-01 -4.14409130e-06 -1.27999957e+00] [ 1.63831273e-04 3.82326291e-06 9.99999987e-01 -2.58103627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.89, Y:-1.28, Z:-0.26 [[ 9.99997695e-01 -2.14074223e-03 -1.63823472e-04 2.22887943e+02] [ 2.14074158e-03 9.99997709e-01 -4.14409130e-06 -1.28056150e+00] [ 1.63831968e-04 3.79337803e-06 9.99999987e-01 -2.58017277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.95, Y:-1.28, Z:-0.26 [[ 9.99999797e-01 -6.16036330e-04 -1.63823422e-04 2.22948411e+02] [ 6.16035659e-04 9.99999810e-01 -4.14605062e-06 -1.28220333e+00] [ 1.63825945e-04 4.04512871e-06 9.99999987e-01 -2.56524691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.01, Y:-1.28, Z:-0.26 [[ 9.99986197e-01 5.25157510e-03 -1.63823422e-04 2.23008409e+02] [-5.25157585e-03 9.99986210e-01 -4.14605062e-06 -1.27721367e+00] [ 1.63799390e-04 5.00632452e-06 9.99999987e-01 -2.60142563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.07, Y:-1.27, Z:-0.26 [[ 9.99963892e-01 8.49637608e-03 -1.63823374e-04 2.23069108e+02] [-8.49637688e-03 9.99963905e-01 -4.14796916e-06 -1.27316308e+00] [ 1.63782218e-04 5.53972451e-06 9.99999987e-01 -2.61189211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.13, Y:-1.27, Z:-0.26 [[ 9.99932627e-01 1.16066384e-02 -1.63823374e-04 2.23128328e+02] [-1.16066392e-02 9.99932641e-01 -4.14796916e-06 -1.27314041e+00] [ 1.63764195e-04 6.04912850e-06 9.99999987e-01 -2.62679212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.19, Y:-1.27, Z:-0.26 [[ 9.99917422e-01 1.28500208e-02 -1.63823438e-04 2.23188783e+02] [-1.28500216e-02 9.99917435e-01 -4.14542479e-06 -1.26724670e+00] [ 1.63756643e-04 6.25021720e-06 9.99999987e-01 -2.60021534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.25, Y:-1.26, Z:-0.26 [[ 9.99923130e-01 1.23978550e-02 -1.63823438e-04 2.23248053e+02] [-1.23978559e-02 9.99923144e-01 -4.14542479e-06 -1.26297026e+00] [ 1.63759453e-04 6.17616551e-06 9.99999987e-01 -2.60934264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.31, Y:-1.26, Z:-0.27 [[ 9.99965640e-01 8.28807360e-03 -1.63823388e-04 2.23307376e+02] [-8.28807439e-03 9.99965653e-01 -4.14738950e-06 -1.25933143e+00] [ 1.63783388e-04 5.50502743e-06 9.99999987e-01 -2.65220068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.37, Y:-1.26, Z:-0.26 [[ 9.99988425e-01 4.80859628e-03 -1.63823460e-04 2.23368116e+02] [-4.80859702e-03 9.99988439e-01 -4.14457560e-06 -1.25731248e+00] [ 1.63801636e-04 4.93228862e-06 9.99999987e-01 -2.63817755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.43, Y:-1.25, Z:-0.26 [[ 9.99999746e-01 -6.94376593e-04 -1.63823460e-04 2.23428919e+02] [ 6.94375923e-04 9.99999759e-01 -4.14457560e-06 -1.25101444e+00] [ 1.63826298e-04 4.03081948e-06 9.99999987e-01 -2.61557118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.84533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.49, Y:-1.25, Z:-0.26 [[ 9.99959023e-01 -9.05131578e-03 -1.63823460e-04 2.23489624e+02] [ 9.05131522e-03 9.99959036e-01 -4.14457560e-06 -1.25233732e+00] [ 1.63854263e-04 2.66158799e-06 9.99999987e-01 -2.61885360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.90533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.55, Y:-1.25, Z:-0.26 [[ 9.99883345e-01 -1.52731827e-02 -1.63823460e-04 2.23550326e+02] [ 1.52731822e-02 9.99883358e-01 -4.14457560e-06 -1.25229782e+00] [ 1.63867652e-04 1.64198656e-06 9.99999987e-01 -2.63024319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.61, Y:-1.25, Z:-0.26 [[ 9.99788626e-01 -2.05590807e-02 -1.63823460e-04 2.23611217e+02] [ 2.05590803e-02 9.99788640e-01 -4.14457560e-06 -1.25165421e+00] [ 1.63874043e-04 7.75639886e-07 9.99999987e-01 -2.62096151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.67, Y:-1.25, Z:-0.26 [[ 9.99824778e-01 -1.87186226e-02 -1.63823460e-04 2.23670546e+02] [ 1.87186221e-02 9.99824791e-01 -4.14457560e-06 -1.25016304e+00] [ 1.63872337e-04 1.07729994e-06 9.99999987e-01 -2.61561759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.73, Y:-1.25, Z:-0.26 [[ 9.99944718e-01 -1.05135394e-02 -1.63823361e-04 2.23730576e+02] [ 1.05135388e-02 9.99944731e-01 -4.14845502e-06 -1.24882621e+00] [ 1.63857922e-04 2.42586241e-06 9.99999987e-01 -2.63378160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.79, Y:-1.24, Z:-0.26 [[ 9.99999502e-01 9.84911168e-04 -1.63823262e-04 2.23790360e+02] [-9.84911862e-04 9.99999515e-01 -4.15237838e-06 -1.24342682e+00] [ 1.63819093e-04 4.31372779e-06 9.99999987e-01 -2.62015410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.85, Y:-1.24, Z:-0.26 [[ 9.99981704e-01 6.04691826e-03 -1.63823213e-04 2.23850422e+02] [-6.04691902e-03 9.99981717e-01 -4.15431470e-06 -1.23818005e+00] [ 1.63795097e-04 5.14486440e-06 9.99999987e-01 -2.60212852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.91, Y:-1.23, Z:-0.26 [[ 9.99973557e-01 7.27032262e-03 -1.63823213e-04 2.23910534e+02] [-7.27032340e-03 9.99973571e-01 -4.15431470e-06 -1.23411251e+00] [ 1.63788680e-04 5.34525259e-06 9.99999987e-01 -2.59366566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.97, Y:-1.23, Z:-0.26 [[ 9.99985686e-01 5.34802329e-03 -1.63823213e-04 2.23970595e+02] [-5.34802404e-03 9.99985699e-01 -4.15431470e-06 -1.23249019e+00] [ 1.63798653e-04 5.03038572e-06 9.99999987e-01 -2.56960184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.03, Y:-1.23, Z:-0.26 [[ 9.99999680e-01 7.82485330e-04 -1.63823213e-04 2.24030224e+02] [-7.82486021e-04 9.99999694e-01 -4.15431470e-06 -1.23375475e+00] [ 1.63819912e-04 4.28250275e-06 9.99999987e-01 -2.57891764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.09, Y:-1.23, Z:-0.26 [[ 9.99997757e-01 -2.11162169e-03 -1.63823163e-04 2.24091148e+02] [ 2.11162104e-03 9.99997771e-01 -4.15627223e-06 -1.23395321e+00] [ 1.63831574e-04 3.81033047e-06 9.99999987e-01 -2.57442100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.15, Y:-1.24, Z:-0.26 [[ 9.99992637e-01 -3.83396629e-03 -1.63823163e-04 2.24150753e+02] [ 3.83396566e-03 9.99992650e-01 -4.15627223e-06 -1.23724252e+00] [ 1.63837894e-04 3.52814925e-06 9.99999987e-01 -2.60193825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.56533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.21, Y:-1.24, Z:-0.26 [[ 9.99993589e-01 -3.57691539e-03 -1.63823113e-04 2.24211017e+02] [ 3.57691476e-03 9.99993603e-01 -4.15825215e-06 -1.23669797e+00] [ 1.63836939e-04 3.57224418e-06 9.99999987e-01 -2.59785083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.62533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.27, Y:-1.24, Z:-0.26 [[ 9.99997318e-01 -2.31009939e-03 -1.63823113e-04 2.24271433e+02] [ 2.31009874e-03 9.99997332e-01 -4.15825215e-06 -1.24120753e+00] [ 1.63832282e-04 3.77979343e-06 9.99999987e-01 -2.57757145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.33, Y:-1.24, Z:-0.26 [[ 9.99998277e-01 -1.84933694e-03 -1.63823113e-04 2.24331488e+02] [ 1.84933628e-03 9.99998290e-01 -4.15825215e-06 -1.24251792e+00] [ 1.63830523e-04 3.85528095e-06 9.99999987e-01 -2.61594424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.39, Y:-1.24, Z:-0.26 [[ 9.99999756e-01 -6.79273506e-04 -1.63823113e-04 2.24391998e+02] [ 6.79272834e-04 9.99999769e-01 -4.15825215e-06 -1.24464636e+00] [ 1.63825900e-04 4.04697054e-06 9.99999987e-01 -2.58011826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.45, Y:-1.25, Z:-0.26 [[ 9.99996302e-01 2.71451643e-03 -1.63823113e-04 2.24452563e+02] [-2.71451714e-03 9.99996316e-01 -4.15825215e-06 -1.24779713e+00] [ 1.63811222e-04 4.60293742e-06 9.99999987e-01 -2.56933817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.51, Y:-1.24, Z:-0.26 [[ 9.99950290e-01 9.96944713e-03 -1.63823113e-04 2.24512466e+02] [-9.96944795e-03 9.99950304e-01 -4.15825215e-06 -1.24378140e+00] [ 1.63773516e-04 5.79127144e-06 9.99999987e-01 -2.58851293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.57, Y:-1.24, Z:-0.27 [[ 9.99894753e-01 1.45071255e-02 -1.63823113e-04 2.24572103e+02] [-1.45071263e-02 9.99894766e-01 -4.15825215e-06 -1.24017947e+00] [ 1.63745549e-04 6.53441710e-06 9.99999987e-01 -2.66443741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.63, Y:-1.23, Z:-0.26 [[ 9.99841739e-01 1.77896336e-02 -1.63823065e-04 2.24632313e+02] [-1.77896345e-02 9.99841752e-01 -4.16012750e-06 -1.23444381e+00] [ 1.63723133e-04 7.07382156e-06 9.99999987e-01 -2.61784650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.69, Y:-1.23, Z:-0.26 [[ 9.99861768e-01 1.66258505e-02 -1.63823065e-04 2.24692307e+02] [-1.66258514e-02 9.99861781e-01 -4.16012750e-06 -1.23105383e+00] [ 1.63731256e-04 6.88325038e-06 9.99999987e-01 -2.59903285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.75, Y:-1.22, Z:-0.25 [[ 9.99932760e-01 1.15952019e-02 -1.63823065e-04 2.24752786e+02] [-1.15952027e-02 9.99932773e-01 -4.16012750e-06 -1.22013866e+00] [ 1.63763815e-04 6.05940943e-06 9.99999987e-01 -2.53278054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.81, Y:-1.22, Z:-0.25 [[ 9.99973409e-01 7.29070777e-03 -1.63823114e-04 2.24813260e+02] [-7.29070855e-03 9.99973422e-01 -4.15822406e-06 -1.21627920e+00] [ 1.63788443e-04 5.35250007e-06 9.99999987e-01 -2.50572948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.87, Y:-1.21, Z:-0.25 [[ 9.99996503e-01 2.63950025e-03 -1.63823114e-04 2.24873915e+02] [-2.63950096e-03 9.99996517e-01 -4.15822406e-06 -1.21047767e+00] [ 1.63811567e-04 4.59062079e-06 9.99999987e-01 -2.47069360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.93, Y:-1.20, Z:-0.25 [[ 9.99998954e-01 -1.43705931e-03 -1.63823114e-04 2.24934520e+02] [ 1.43705865e-03 9.99998967e-01 -4.15822406e-06 -1.20446638e+00] [ 1.63828920e-04 3.92279629e-06 9.99999987e-01 -2.53272127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.34533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.99, Y:-1.21, Z:-0.25 [[ 9.99992431e-01 -3.88732405e-03 -1.63823114e-04 2.24994356e+02] [ 3.88732342e-03 9.99992444e-01 -4.15822406e-06 -1.20594111e+00] [ 1.63838040e-04 3.52135916e-06 9.99999987e-01 -2.54771664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.05, Y:-1.20, Z:-0.26 [[ 9.99987829e-01 -4.93110123e-03 -1.63823065e-04 2.25054831e+02] [ 4.93110062e-03 9.99987842e-01 -4.16013450e-06 -1.20035627e+00] [ 1.63841587e-04 3.35225585e-06 9.99999987e-01 -2.58704232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.11, Y:-1.19, Z:-0.26 [[ 9.99982314e-01 -5.94507051e-03 -1.63823065e-04 2.25114426e+02] [ 5.94506991e-03 9.99982328e-01 -4.16013450e-06 -1.19232355e+00] [ 1.63844902e-04 3.18612135e-06 9.99999987e-01 -2.60517065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.17, Y:-1.19, Z:-0.25 [[ 9.99971894e-01 -7.49566202e-03 -1.63823016e-04 2.25174910e+02] [ 7.49566144e-03 9.99971907e-01 -4.16205059e-06 -1.19191368e+00] [ 1.63849611e-04 2.93397174e-06 9.99999987e-01 -2.54269247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.23, Y:-1.19, Z:-0.25 [[ 9.99963344e-01 -8.56053908e-03 -1.63823016e-04 2.25234340e+02] [ 8.56053851e-03 9.99963358e-01 -4.16205059e-06 -1.18828444e+00] [ 1.63852643e-04 2.75948479e-06 9.99999987e-01 -2.50353536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.29, Y:-1.18, Z:-0.25 [[ 9.99968310e-01 -7.95934865e-03 -1.63822965e-04 2.25294580e+02] [ 7.95934807e-03 9.99968324e-01 -4.16406383e-06 -1.18247570e+00] [ 1.63850919e-04 2.86000787e-06 9.99999987e-01 -2.48852360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.36, Y:-1.18, Z:-0.25 [[ 9.99978775e-01 -6.51320346e-03 -1.63822965e-04 2.25355214e+02] [ 6.51320286e-03 9.99978789e-01 -4.16406383e-06 -1.17918211e+00] [ 1.63846612e-04 3.09696324e-06 9.99999987e-01 -2.52510013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.42, Y:-1.17, Z:-0.25 [[ 9.99962888e-01 -8.61366932e-03 -1.63823016e-04 2.25416053e+02] [ 8.61366875e-03 9.99962902e-01 -4.16207383e-06 -1.17446755e+00] [ 1.63852789e-04 2.75080218e-06 9.99999987e-01 -2.54752322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.48, Y:-1.17, Z:-0.26 [[ 9.99916329e-01 -1.29347806e-02 -1.63823065e-04 2.25476892e+02] [ 1.29347801e-02 9.99916342e-01 -4.16013457e-06 -1.17466759e+00] [ 1.63863170e-04 2.04077116e-06 9.99999987e-01 -2.59218177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.54, Y:-1.18, Z:-0.26 [[ 9.99774658e-01 -2.12274679e-02 -1.63823065e-04 2.25537638e+02] [ 2.12274675e-02 9.99774672e-01 -4.16013457e-06 -1.17839087e+00] [ 1.63874460e-04 6.81648331e-07 9.99999987e-01 -2.55777746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.60, Y:-1.18, Z:-0.26 [[ 9.99647777e-01 -2.65385651e-02 -1.63823065e-04 2.25597892e+02] [ 2.65385647e-02 9.99647790e-01 -4.16013457e-06 -1.18099708e+00] [ 1.63875769e-04 -1.88959743e-07 9.99999987e-01 -2.56703734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.66, Y:-1.19, Z:-0.26 [[ 9.99670942e-01 -2.56511430e-02 -1.63823065e-04 2.25658089e+02] [ 2.56511427e-02 9.99670955e-01 -4.16013457e-06 -1.18722735e+00] [ 1.63875872e-04 -4.34831713e-08 9.99999987e-01 -2.57314901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.06533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.72, Y:-1.19, Z:-0.25 [[ 9.99763430e-01 -2.17498780e-02 -1.63822964e-04 2.25718039e+02] [ 2.17498776e-02 9.99763443e-01 -4.16409415e-06 -1.19172752e+00] [ 1.63874780e-04 5.99979634e-07 9.99999987e-01 -2.53591529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.12533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.78, Y:-1.19, Z:-0.25 [[ 9.99906546e-01 -1.36701226e-02 -1.63822861e-04 2.25776450e+02] [ 1.36701221e-02 9.99906560e-01 -4.16814847e-06 -1.19315510e+00] [ 1.63864533e-04 1.92828042e-06 9.99999987e-01 -2.54086514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.84, Y:-1.19, Z:-0.25 [[ 9.99986935e-01 -5.10903231e-03 -1.63822707e-04 2.25835952e+02] [ 5.10903169e-03 9.99986949e-01 -4.17419032e-06 -1.19483225e+00] [ 1.63841895e-04 3.33716038e-06 9.99999987e-01 -2.53280240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.90, Y:-1.20, Z:-0.26 [[ 9.99998918e-01 1.46169973e-03 -1.63822608e-04 2.25896444e+02] [-1.46170044e-03 9.99998932e-01 -4.17807567e-06 -1.20202602e+00] [ 1.63816326e-04 4.41753072e-06 9.99999987e-01 -2.56731289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.96, Y:-1.20, Z:-0.26 [[ 9.99986415e-01 5.20996155e-03 -1.63822608e-04 2.25956635e+02] [-5.20996230e-03 9.99986428e-01 -4.17807567e-06 -1.20100142e+00] [ 1.63798617e-04 5.03152852e-06 9.99999987e-01 -2.60834643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.02, Y:-1.20, Z:-0.26 [[ 9.99926183e-01 1.21491118e-02 -1.63822608e-04 2.26017453e+02] [-1.21491126e-02 9.99926197e-01 -4.17807567e-06 -1.19702429e+00] [ 1.63759758e-04 6.16806657e-06 9.99999987e-01 -2.61761580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.08, Y:-1.20, Z:-0.26 [[ 9.99893301e-01 1.46068073e-02 -1.63822608e-04 2.26077146e+02] [-1.46068082e-02 9.99893315e-01 -4.17807567e-06 -1.19667294e+00] [ 1.63744102e-04 6.57055528e-06 9.99999987e-01 -2.62483249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.14, Y:-1.20, Z:-0.26 [[ 9.99826974e-01 1.86009441e-02 -1.63822660e-04 2.26137783e+02] [-1.86009450e-02 9.99826987e-01 -4.17604317e-06 -1.19652081e+00] [ 1.63716638e-04 7.22257690e-06 9.99999987e-01 -2.58482888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.20, Y:-1.19, Z:-0.26 [[ 9.99811938e-01 1.93923212e-02 -1.63822660e-04 2.26197135e+02] [-1.93923221e-02 9.99811951e-01 -4.17604317e-06 -1.18916849e+00] [ 1.63710870e-04 7.35215961e-06 9.99999987e-01 -2.57601084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.26, Y:-1.18, Z:-0.26 [[ 9.99844507e-01 1.76333520e-02 -1.63822611e-04 2.26257995e+02] [-1.76333530e-02 9.99844520e-01 -4.17796281e-06 -1.18257911e+00] [ 1.63723469e-04 7.06605509e-06 9.99999987e-01 -2.59226355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.32, Y:-1.18, Z:-0.27 [[ 9.99918120e-01 1.27955952e-02 -1.63822660e-04 2.26318975e+02] [-1.27955960e-02 9.99918133e-01 -4.17606151e-06 -1.18105585e+00] [ 1.63755813e-04 6.27192814e-06 9.99999987e-01 -2.67136571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.38, Y:-1.18, Z:-0.27 [[ 9.99963603e-01 8.53033174e-03 -1.63822708e-04 2.26379674e+02] [-8.53033254e-03 9.99963616e-01 -4.17416629e-06 -1.17595379e+00] [ 1.63781140e-04 5.57147653e-06 9.99999987e-01 -2.68579436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.44, Y:-1.16, Z:-0.26 [[ 9.99998033e-01 1.97683702e-03 -1.63822708e-04 2.26439621e+02] [-1.97683773e-03 9.99998046e-01 -4.17416629e-06 -1.16273708e+00] [ 1.63814136e-04 4.49800898e-06 9.99999987e-01 -2.63809116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.84533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.50, Y:-1.16, Z:-0.26 [[ 9.99994599e-01 -3.28265031e-03 -1.63822708e-04 2.26499222e+02] [ 3.28264967e-03 9.99994612e-01 -4.17416629e-06 -1.15941467e+00] [ 1.63835528e-04 3.63637118e-06 9.99999987e-01 -2.61666899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.56, Y:-1.16, Z:-0.26 [[ 9.99976069e-01 -6.91628466e-03 -1.63822708e-04 2.26559900e+02] [ 6.91628407e-03 9.99976082e-01 -4.17416629e-06 -1.15591854e+00] [ 1.63847659e-04 3.04102201e-06 9.99999987e-01 -2.57345442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.62, Y:-1.15, Z:-0.26 [[ 9.99898474e-01 -1.42483100e-02 -1.63822708e-04 2.26619913e+02] [ 1.42483095e-02 9.99898488e-01 -4.17416629e-06 -1.14675469e+00] [ 1.63865553e-04 1.83954585e-06 9.99999987e-01 -2.56325988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.68, Y:-1.14, Z:-0.26 [[ 9.99829078e-01 -1.84875135e-02 -1.63822708e-04 2.26680292e+02] [ 1.84875130e-02 9.99829091e-01 -4.17416629e-06 -1.14298613e+00] [ 1.63871879e-04 1.14477838e-06 9.99999987e-01 -2.56341560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.74, Y:-1.14, Z:-0.26 [[ 9.99773552e-01 -2.12794999e-02 -1.63822708e-04 2.26740420e+02] [ 2.12794995e-02 9.99773566e-01 -4.17416629e-06 -1.14359238e+00] [ 1.63874437e-04 6.87155818e-07 9.99999987e-01 -2.63749744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.80, Y:-1.14, Z:-0.26 [[ 9.99834103e-01 -1.82137145e-02 -1.63822708e-04 2.26800045e+02] [ 1.82137141e-02 9.99834117e-01 -4.17416629e-06 -1.13875305e+00] [ 1.63871559e-04 1.18965384e-06 9.99999987e-01 -2.58729291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.86, Y:-1.14, Z:-0.26 [[ 9.99887091e-01 -1.50259505e-02 -1.63822605e-04 2.26859663e+02] [ 1.50259501e-02 9.99887104e-01 -4.17820415e-06 -1.13732063e+00] [ 1.63866891e-04 1.71614211e-06 9.99999987e-01 -2.57499603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.92, Y:-1.13, Z:-0.25 [[ 9.99928602e-01 -1.19484065e-02 -1.63822554e-04 2.26919839e+02] [ 1.19484060e-02 9.99928615e-01 -4.18020682e-06 -1.13278926e+00] [ 1.63860806e-04 2.22248998e-06 9.99999987e-01 -2.48249873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.98, Y:-1.13, Z:-0.25 [[ 9.99952201e-01 -9.77590014e-03 -1.63822554e-04 2.26980453e+02] [ 9.77589959e-03 9.99952215e-01 -4.18020682e-06 -1.13209252e+00] [ 1.63855591e-04 2.57849417e-06 9.99999987e-01 -2.51742264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.04, Y:-1.13, Z:-0.25 [[ 9.99982188e-01 -5.96624235e-03 -1.63822606e-04 2.27039689e+02] [ 5.96624175e-03 9.99982202e-01 -4.17817595e-06 -1.12735032e+00] [ 1.63844618e-04 3.20069626e-06 9.99999987e-01 -2.54637890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.10, Y:-1.13, Z:-0.25 [[ 9.99990870e-01 -4.27012934e-03 -1.63822557e-04 2.27100037e+02] [ 4.27012871e-03 9.99990883e-01 -4.18009268e-06 -1.12704911e+00] [ 1.63838913e-04 3.48051111e-06 9.99999987e-01 -2.54488352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.16, Y:-1.12, Z:-0.25 [[ 9.99986670e-01 -5.16080164e-03 -1.63822557e-04 2.27160387e+02] [ 5.16080102e-03 9.99986683e-01 -4.18009268e-06 -1.12413394e+00] [ 1.63841948e-04 3.33458134e-06 9.99999987e-01 -2.52598691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.56533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.22, Y:-1.13, Z:-0.25 [[ 9.99976406e-01 -6.86734142e-03 -1.63822557e-04 2.27220776e+02] [ 6.86734083e-03 9.99976420e-01 -4.18009268e-06 -1.12560476e+00] [ 1.63847400e-04 3.05496873e-06 9.99999987e-01 -2.48992211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.62533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.28, Y:-1.13, Z:-0.24 [[ 9.99942797e-01 -1.06946705e-02 -1.63822557e-04 2.27280928e+02] [ 1.06946699e-02 9.99942810e-01 -4.18009268e-06 -1.12507681e+00] [ 1.63857892e-04 2.42782540e-06 9.99999987e-01 -2.44316142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.34, Y:-1.13, Z:-0.25 [[ 9.99890008e-01 -1.48305595e-02 -1.63822557e-04 2.27341232e+02] [ 1.48305590e-02 9.99890021e-01 -4.18009268e-06 -1.13093083e+00] [ 1.63866533e-04 1.75005281e-06 9.99999987e-01 -2.49147036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.40, Y:-1.13, Z:-0.25 [[ 9.99881408e-01 -1.53994374e-02 -1.63822557e-04 2.27402216e+02] [ 1.53994369e-02 9.99881422e-01 -4.18009268e-06 -1.13292850e+00] [ 1.63867502e-04 1.65682184e-06 9.99999987e-01 -2.49097740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.46, Y:-1.14, Z:-0.25 [[ 9.99896014e-01 -1.44199362e-02 -1.63822557e-04 2.27461835e+02] [ 1.44199357e-02 9.99896027e-01 -4.18009268e-06 -1.13507929e+00] [ 1.63865800e-04 1.81734728e-06 9.99999987e-01 -2.51716052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.52, Y:-1.14, Z:-0.25 [[ 9.99947560e-01 -1.02396703e-02 -1.63822506e-04 2.27522437e+02] [ 1.02396697e-02 9.99947573e-01 -4.18209090e-06 -1.13758544e+00] [ 1.63856740e-04 2.50438324e-06 9.99999987e-01 -2.53279974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.58, Y:-1.14, Z:-0.26 [[ 9.99984553e-01 -5.55574724e-03 -1.63822506e-04 2.27581660e+02] [ 5.55574663e-03 9.99984567e-01 -4.18209090e-06 -1.14284234e+00] [ 1.63843212e-04 3.27186997e-06 9.99999987e-01 -2.57254147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.64, Y:-1.15, Z:-0.26 [[ 9.99998266e-01 -1.85491045e-03 -1.63822455e-04 2.27642197e+02] [ 1.85490979e-03 9.99998280e-01 -4.18406772e-06 -1.14560484e+00] [ 1.63829934e-04 3.88018459e-06 9.99999987e-01 -2.57768165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.70, Y:-1.14, Z:-0.26 [[ 9.99999691e-01 7.68265722e-04 -1.63822455e-04 2.27701425e+02] [-7.68266418e-04 9.99999705e-01 -4.18406772e-06 -1.14359750e+00] [ 1.63819192e-04 4.30992572e-06 9.99999987e-01 -2.61522471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.76, Y:-1.14, Z:-0.26 [[ 9.99987600e-01 4.97720347e-03 -1.63822404e-04 2.27761671e+02] [-4.97720422e-03 9.99987614e-01 -4.18606479e-06 -1.13979770e+00] [ 1.63799540e-04 5.00139044e-06 9.99999987e-01 -2.56970364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.82, Y:-1.14, Z:-0.25 [[ 9.99982239e-01 5.95779488e-03 -1.63822404e-04 2.27822426e+02] [-5.95779565e-03 9.99982252e-01 -4.18606479e-06 -1.13849342e+00] [ 1.63794557e-04 5.16201085e-06 9.99999987e-01 -2.54277880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.88, Y:-1.13, Z:-0.26 [[ 9.99990482e-01 4.35991271e-03 -1.63822404e-04 2.27881852e+02] [-4.35991345e-03 9.99990496e-01 -4.18606479e-06 -1.13284146e+00] [ 1.63802596e-04 4.90027645e-06 9.99999987e-01 -2.56804583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.94, Y:-1.13, Z:-0.26 [[ 9.99999931e-01 -3.33712223e-04 -1.63822353e-04 2.27942655e+02] [ 3.33711542e-04 9.99999944e-01 -4.18805203e-06 -1.12736350e+00] [ 1.63823742e-04 4.13338233e-06 9.99999987e-01 -2.57054650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.34533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.00, Y:-1.13, Z:-0.26 [[ 9.99991574e-01 -4.10192197e-03 -1.63822353e-04 2.28002523e+02] [ 4.10192134e-03 9.99991587e-01 -4.18805203e-06 -1.12534504e+00] [ 1.63838154e-04 3.51603033e-06 9.99999987e-01 -2.59702947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.06, Y:-1.12, Z:-0.26 [[ 9.99982830e-01 -5.85767133e-03 -1.63822305e-04 2.28063106e+02] [ 5.85767073e-03 9.99982844e-01 -4.18995399e-06 -1.12252038e+00] [ 1.63844037e-04 3.23026493e-06 9.99999987e-01 -2.60236278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.12, Y:-1.12, Z:-0.26 [[ 9.99969602e-01 -7.79536092e-03 -1.63822305e-04 2.28123201e+02] [ 7.79536034e-03 9.99969616e-01 -4.18995399e-06 -1.12065871e+00] [ 1.63849989e-04 2.91277273e-06 9.99999987e-01 -2.61316856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.18, Y:-1.12, Z:-0.26 [[ 9.99952235e-01 -9.77241776e-03 -1.63822253e-04 2.28183491e+02] [ 9.77241721e-03 9.99952249e-01 -4.19195861e-06 -1.11558949e+00] [ 1.63855396e-04 2.59081898e-06 9.99999987e-01 -2.62170153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.24, Y:-1.11, Z:-0.26 [[ 9.99953698e-01 -9.62163523e-03 -1.63822253e-04 2.28243210e+02] [ 9.62163467e-03 9.99953711e-01 -4.19195861e-06 -1.11192271e+00] [ 1.63855004e-04 2.61552664e-06 9.99999987e-01 -2.62188354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.30, Y:-1.11, Z:-0.26 [[ 9.99958326e-01 -9.12798123e-03 -1.63822202e-04 2.28303146e+02] [ 9.12798067e-03 9.99958339e-01 -4.19395069e-06 -1.10892338e+00] [ 1.63853660e-04 2.69841001e-06 9.99999987e-01 -2.59188912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.36, Y:-1.10, Z:-0.26 [[ 9.99959821e-01 -8.96268697e-03 -1.63822184e-04 2.28363297e+02] [ 8.96268640e-03 9.99959834e-01 -4.19465624e-06 -1.10282597e+00] [ 1.63853200e-04 2.72620084e-06 9.99999987e-01 -2.61028116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.42, Y:-1.10, Z:-0.26 [[ 9.99957089e-01 -9.26246072e-03 -1.63822234e-04 2.28424086e+02] [ 9.26246016e-03 9.99957102e-01 -4.19270784e-06 -1.09952266e+00] [ 1.63854041e-04 2.67513101e-06 9.99999987e-01 -2.58931143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.48, Y:-1.10, Z:-0.26 [[ 9.99946060e-01 -1.03850875e-02 -1.63822234e-04 2.28483836e+02] [ 1.03850869e-02 9.99946074e-01 -4.19270784e-06 -1.09592519e+00] [ 1.63856941e-04 2.49117355e-06 9.99999987e-01 -2.57187807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.54, Y:-1.09, Z:-0.26 [[ 9.99890103e-01 -1.48241052e-02 -1.63822234e-04 2.28544377e+02] [ 1.48241047e-02 9.99890117e-01 -4.19270784e-06 -1.09134203e+00] [ 1.63866386e-04 1.76372913e-06 9.99999987e-01 -2.56893898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.61, Y:-1.09, Z:-0.25 [[ 9.99810830e-01 -1.94493333e-02 -1.63822284e-04 2.28605038e+02] [ 1.94493329e-02 9.99810844e-01 -4.19074214e-06 -1.08860915e+00] [ 1.63872804e-04 1.00371523e-06 9.99999987e-01 -2.54399509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.67, Y:-1.09, Z:-0.25 [[ 9.99576477e-01 -2.91005061e-02 -1.63822284e-04 2.28665556e+02] [ 2.91005058e-02 9.99576491e-01 -4.19074214e-06 -1.08940664e+00] [ 1.63874857e-04 -5.78344080e-07 9.99999987e-01 -2.54043434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.06533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.73, Y:-1.09, Z:-0.25 [[ 9.99389643e-01 -3.49329986e-02 -1.63822284e-04 2.28725679e+02] [ 3.49329983e-02 9.99389657e-01 -4.19074214e-06 -1.09045558e+00] [ 1.63868692e-04 -1.53461930e-06 9.99999987e-01 -2.53543746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.12533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.79, Y:-1.09, Z:-0.25 [[ 9.99370596e-01 -3.54737199e-02 -1.63822284e-04 2.28785314e+02] [ 3.54737197e-02 9.99370610e-01 -4.19074214e-06 -1.09281253e+00] [ 1.63867837e-04 -1.62328132e-06 9.99999987e-01 -2.52371685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.85, Y:-1.09, Z:-0.26 [[ 9.99425025e-01 -3.39056522e-02 -1.63822182e-04 2.28845077e+02] [ 3.39056520e-02 9.99425038e-01 -4.19473745e-06 -1.09343960e+00] [ 1.63870216e-04 -1.36217232e-06 9.99999987e-01 -2.55820009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.90, Y:-1.10, Z:-0.26 [[ 9.99579206e-01 -2.90066206e-02 -1.63822080e-04 2.28903445e+02] [ 2.90066203e-02 9.99579219e-01 -4.19873764e-06 -1.09679103e+00] [ 1.63874938e-04 -5.54954020e-07 9.99999987e-01 -2.57105885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.96, Y:-1.10, Z:-0.26 [[ 9.99683754e-01 -2.51468742e-02 -1.63821927e-04 2.28962172e+02] [ 2.51468739e-02 9.99683767e-01 -4.20467901e-06 -1.10005324e+00] [ 1.63875856e-04 8.37399633e-08 9.99999987e-01 -2.60164938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.02, Y:-1.10, Z:-0.26 [[ 9.99820291e-01 -1.89567784e-02 -1.63821780e-04 2.29022139e+02] [ 1.89567780e-02 9.99820304e-01 -4.21039500e-06 -1.10355923e+00] [ 1.63872158e-04 1.10410523e-06 9.99999987e-01 -2.55368924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.08, Y:-1.10, Z:-0.25 [[ 9.99924196e-01 -1.23115986e-02 -1.63821682e-04 2.29081371e+02] [ 1.23115981e-02 9.99924209e-01 -4.21421929e-06 -1.10408855e+00] [ 1.63861149e-04 2.19699312e-06 9.99999987e-01 -2.52833170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.14, Y:-1.11, Z:-0.25 [[ 9.99976332e-01 -6.87807717e-03 -1.63821581e-04 2.29141018e+02] [ 6.87807657e-03 9.99976346e-01 -4.21814261e-06 -1.10789073e+00] [ 1.63846718e-04 3.09126540e-06 9.99999987e-01 -2.54217089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.20, Y:-1.11, Z:-0.25 [[ 9.99990580e-01 -4.33748547e-03 -1.63821531e-04 2.29201280e+02] [ 4.33748483e-03 9.99990593e-01 -4.22008309e-06 -1.10811279e+00] [ 1.63838294e-04 3.50946993e-06 9.99999987e-01 -2.53905177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.26, Y:-1.11, Z:-0.26 [[ 9.99993352e-01 -3.64278825e-03 -1.63821531e-04 2.29261738e+02] [ 3.64278760e-03 9.99993365e-01 -4.22008309e-06 -1.10657761e+00] [ 1.63835817e-04 3.62328799e-06 9.99999987e-01 -2.56249651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.32, Y:-1.11, Z:-0.26 [[ 9.99985409e-01 -5.39959327e-03 -1.63821531e-04 2.29321615e+02] [ 5.39959265e-03 9.99985422e-01 -4.22008309e-06 -1.10696723e+00] [ 1.63841929e-04 3.33545198e-06 9.99999987e-01 -2.56547344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.38, Y:-1.11, Z:-0.25 [[ 9.99968714e-01 -7.90845841e-03 -1.63821482e-04 2.29381709e+02] [ 7.90845782e-03 9.99968728e-01 -4.22197381e-06 -1.11017010e+00] [ 1.63849748e-04 2.92626644e-06 9.99999987e-01 -2.49405986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.44, Y:-1.11, Z:-0.25 [[ 9.99960538e-01 -8.88232983e-03 -1.63821430e-04 2.29441521e+02] [ 8.88232925e-03 9.99960551e-01 -4.22399096e-06 -1.10992571e+00] [ 1.63852486e-04 2.76870839e-06 9.99999987e-01 -2.49777069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.84533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.50, Y:-1.11, Z:-0.25 [[ 9.99959355e-01 -9.01451470e-03 -1.63821378e-04 2.29500836e+02] [ 9.01451413e-03 9.99959368e-01 -4.22599548e-06 -1.11032596e+00] [ 1.63852817e-04 2.74905358e-06 9.99999987e-01 -2.53104331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.56, Y:-1.12, Z:-0.25 [[ 9.99978314e-01 -6.58367283e-03 -1.63821329e-04 2.29561214e+02] [ 6.58367223e-03 9.99978327e-01 -4.22789302e-06 -1.11672131e+00] [ 1.63845614e-04 3.14925540e-06 9.99999987e-01 -2.51877479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.62, Y:-1.12, Z:-0.26 [[ 9.99999884e-01 -4.52886469e-04 -1.63821329e-04 2.29621547e+02] [ 4.52885782e-04 9.99999897e-01 -4.22789302e-06 -1.11797615e+00] [ 1.63823227e-04 4.15370018e-06 9.99999987e-01 -2.55482902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.68, Y:-1.12, Z:-0.26 [[ 9.99989622e-01 4.55298008e-03 -1.63821329e-04 2.29680662e+02] [-4.55298084e-03 9.99989635e-01 -4.22789302e-06 -1.11569234e+00] [ 1.63800382e-04 4.97372452e-06 9.99999987e-01 -2.56093044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.74, Y:-1.11, Z:-0.25 [[ 9.99956081e-01 9.37065219e-03 -1.63821279e-04 2.29741559e+02] [-9.37065301e-03 9.99956094e-01 -4.22985826e-06 -1.11452198e+00] [ 1.63774449e-04 5.76478485e-06 9.99999987e-01 -2.54486176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.80, Y:-1.11, Z:-0.26 [[ 9.99940129e-01 1.09412563e-02 -1.63821279e-04 2.29801534e+02] [-1.09412572e-02 9.99940143e-01 -4.22985826e-06 -1.11143709e+00] [ 1.63765193e-04 6.02201575e-06 9.99999987e-01 -2.55689854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.86, Y:-1.11, Z:-0.26 [[ 9.99935809e-01 1.13292515e-02 -1.63821508e-04 2.29861602e+02] [-1.13292524e-02 9.99935822e-01 -4.22094280e-06 -1.10575707e+00] [ 1.63763175e-04 6.07664706e-06 9.99999987e-01 -2.59786265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.92, Y:-1.10, Z:-0.26 [[ 9.99938131e-01 1.11223567e-02 -1.63821556e-04 2.29921730e+02] [-1.11223575e-02 9.99938145e-01 -4.21907634e-06 -1.10323609e+00] [ 1.63764497e-04 6.04089724e-06 9.99999987e-01 -2.56428599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.98, Y:-1.10, Z:-0.26 [[ 9.99952594e-01 9.73562789e-03 -1.63821556e-04 2.29982225e+02] [-9.73562872e-03 9.99952608e-01 -4.21907634e-06 -1.09938927e+00] [ 1.63772717e-04 5.81378218e-06 9.99999987e-01 -2.62504870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.04, Y:-1.10, Z:-0.26 [[ 9.99988070e-01 4.88200336e-03 -1.63821608e-04 2.30042681e+02] [-4.88200412e-03 9.99988083e-01 -4.21709119e-06 -1.09628395e+00] [ 1.63799067e-04 5.01681864e-06 9.99999987e-01 -2.57621745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.10, Y:-1.09, Z:-0.26 [[ 9.99999945e-01 2.87236093e-04 -1.63821608e-04 2.30102339e+02] [-2.87236788e-04 9.99999959e-01 -4.21709119e-06 -1.08774092e+00] [ 1.63820390e-04 4.26414655e-06 9.99999987e-01 -2.59213252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.16, Y:-1.09, Z:-0.26 [[ 9.99979061e-01 -6.46920110e-03 -1.63821608e-04 2.30163294e+02] [ 6.46920050e-03 9.99979074e-01 -4.21709119e-06 -1.08821343e+00] [ 1.63845461e-04 3.15720806e-06 9.99999987e-01 -2.60363488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.56533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.22, Y:-1.09, Z:-0.26 [[ 9.99933272e-01 -1.15509282e-02 -1.63821608e-04 2.30223311e+02] [ 1.15509277e-02 9.99933286e-01 -4.21709119e-06 -1.08705068e+00] [ 1.63859390e-04 2.32451825e-06 9.99999987e-01 -2.55810634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.62533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.28, Y:-1.08, Z:-0.26 [[ 9.99901972e-01 -1.40006888e-02 -1.63821608e-04 2.30282975e+02] [ 1.40006883e-02 9.99901986e-01 -4.21709119e-06 -1.08000421e+00] [ 1.63864593e-04 1.92306253e-06 9.99999987e-01 -2.55665095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.34, Y:-1.08, Z:-0.25 [[ 9.99901480e-01 -1.40358238e-02 -1.63821608e-04 2.30343837e+02] [ 1.40358233e-02 9.99901493e-01 -4.21709119e-06 -1.08115264e+00] [ 1.63864660e-04 1.91730459e-06 9.99999987e-01 -2.52816821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.40, Y:-1.08, Z:-0.25 [[ 9.99920786e-01 -1.25854742e-02 -1.63821608e-04 2.30403238e+02] [ 1.25854737e-02 9.99920800e-01 -4.21709119e-06 -1.08358803e+00] [ 1.63861707e-04 2.15498461e-06 9.99999987e-01 -2.48864516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.46, Y:-1.08, Z:-0.25 [[ 9.99935004e-01 -1.14000732e-02 -1.63821556e-04 2.30463362e+02] [ 1.14000727e-02 9.99935017e-01 -4.21910382e-06 -1.08162494e+00] [ 1.63859008e-04 2.35125195e-06 9.99999987e-01 -2.51283931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.52, Y:-1.08, Z:-0.25 [[ 9.99939988e-01 -1.09541939e-02 -1.63821506e-04 2.30524212e+02] [ 1.09541934e-02 9.99940001e-01 -4.22103336e-06 -1.08394565e+00] [ 1.63857915e-04 2.42624759e-06 9.99999987e-01 -2.54604300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.59, Y:-1.09, Z:-0.25 [[ 9.99958971e-01 -9.05700098e-03 -1.63821506e-04 2.30585022e+02] [ 9.05700041e-03 9.99958985e-01 -4.22103336e-06 -1.08905261e+00] [ 1.63853017e-04 2.73712873e-06 9.99999987e-01 -2.53241426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.64, Y:-1.09, Z:-0.25 [[ 9.99975369e-01 -7.01674137e-03 -1.63821506e-04 2.30644205e+02] [ 7.01674078e-03 9.99975382e-01 -4.22103336e-06 -1.08749201e+00] [ 1.63847091e-04 3.07143635e-06 9.99999987e-01 -2.53890976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.70, Y:-1.09, Z:-0.25 [[ 9.99993593e-01 -3.57604438e-03 -1.63821457e-04 2.30704903e+02] [ 3.57604374e-03 9.99993606e-01 -4.22294326e-06 -1.09175072e+00] [ 1.63835511e-04 3.63708351e-06 9.99999987e-01 -2.51310228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.105336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:230.76, Y:-1.10, Z:-0.25 [[ 9.99999909e-01 -3.93021467e-04 -1.63821457e-04 2.30764249e+02] [ 3.93020780e-04 9.99999923e-01 -4.22294326e-06 -1.09581634e+00] [ 1.63823104e-04 4.15855764e-06 9.99999987e-01 -2.50612253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.82, Y:-1.10, Z:-0.25 [[ 9.99999937e-01 3.16065206e-04 -1.63821407e-04 2.30824499e+02] [-3.16065902e-04 9.99999950e-01 -4.22487313e-06 -1.09949992e+00] [ 1.63820063e-04 4.27665122e-06 9.99999987e-01 -2.51503203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.89, Y:-1.10, Z:-0.25 [[ 9.99999288e-01 -1.18197608e-03 -1.63821407e-04 2.30885576e+02] [ 1.18197540e-03 9.99999301e-01 -4.22487313e-06 -1.10268105e+00] [ 1.63826286e-04 4.03123724e-06 9.99999987e-01 -2.50816740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.95, Y:-1.11, Z:-0.25 [[ 9.99986108e-01 -5.26853574e-03 -1.63821407e-04 2.30945916e+02] [ 5.26853512e-03 9.99986121e-01 -4.22487313e-06 -1.10976763e+00] [ 1.63841392e-04 3.36171560e-06 9.99999987e-01 -2.49818191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.34533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.01, Y:-1.11, Z:-0.25 [[ 9.99978376e-01 -6.57424961e-03 -1.63821407e-04 2.31005351e+02] [ 6.57424901e-03 9.99978389e-01 -4.22487313e-06 -1.11274865e+00] [ 1.63845642e-04 3.14777904e-06 9.99999987e-01 -2.50823163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.07, Y:-1.12, Z:-0.25 [[ 9.99987583e-01 -4.98071035e-03 -1.63821356e-04 2.31065388e+02] [ 4.98070972e-03 9.99987596e-01 -4.22686647e-06 -1.11818441e+00] [ 1.63840376e-04 3.41086736e-06 9.99999987e-01 -2.53415144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.13, Y:-1.12, Z:-0.25 [[ 9.99999565e-01 -9.18440281e-04 -1.63821383e-04 2.31125638e+02] [ 9.18439601e-04 9.99999578e-01 -4.22580129e-06 -1.11514632e+00] [ 1.63825195e-04 4.07533941e-06 9.99999987e-01 -2.54396282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.19, Y:-1.12, Z:-0.25 [[ 9.99993980e-01 3.46612864e-03 -1.63821383e-04 2.31186427e+02] [-3.46612938e-03 9.99993993e-01 -4.22580129e-06 -1.11549939e+00] [ 1.63805752e-04 4.79360196e-06 9.99999987e-01 -2.53320979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.25, Y:-1.12, Z:-0.25 [[ 9.99984351e-01 5.59209089e-03 -1.63821383e-04 2.31247274e+02] [-5.59209165e-03 9.99984364e-01 -4.22580129e-06 -1.11632603e+00] [ 1.63795191e-04 5.14183935e-06 9.99999987e-01 -2.52565793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.31, Y:-1.12, Z:-0.25 [[ 9.99981042e-01 6.15532361e-03 -1.63821432e-04 2.31307276e+02] [-6.15532439e-03 9.99981056e-01 -4.22389956e-06 -1.11519960e+00] [ 1.63792329e-04 5.23219354e-06 9.99999987e-01 -2.51004686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.37, Y:-1.12, Z:-0.25 [[ 9.99996408e-01 2.67530997e-03 -1.63821480e-04 2.31367848e+02] [-2.67531070e-03 9.99996421e-01 -4.22202608e-06 -1.11512096e+00] [ 1.63809599e-04 4.66028427e-06 9.99999987e-01 -2.46125679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.43, Y:-1.12, Z:-0.25 [[ 9.99999852e-01 -5.18721204e-04 -1.63821480e-04 2.31428623e+02] [ 5.18720519e-04 9.99999865e-01 -4.22202608e-06 -1.11539540e+00] [ 1.63823648e-04 4.13704789e-06 9.99999987e-01 -2.45660872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.49, Y:-1.11, Z:-0.25 [[ 9.99987673e-01 -4.96252472e-03 -1.63821480e-04 2.31488680e+02] [ 4.96252410e-03 9.99987687e-01 -4.22202608e-06 -1.11333012e+00] [ 1.63840415e-04 3.40900599e-06 9.99999987e-01 -2.47876072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.55, Y:-1.12, Z:-0.25 [[ 9.99966512e-01 -8.18222640e-03 -1.63821480e-04 2.31548199e+02] [ 8.18222582e-03 9.99966525e-01 -4.22202608e-06 -1.11972725e+00] [ 1.63850542e-04 2.88146035e-06 9.99999987e-01 -2.48794699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.61, Y:-1.12, Z:-0.25 [[ 9.99957225e-01 -9.24773182e-03 -1.63821379e-04 2.31607832e+02] [ 9.24773125e-03 9.99957239e-01 -4.22595051e-06 -1.12338130e+00] [ 1.63853454e-04 2.71079366e-06 9.99999987e-01 -2.53834522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.67, Y:-1.13, Z:-0.25 [[ 9.99945254e-01 -1.04624337e-02 -1.63821329e-04 2.31667151e+02] [ 1.04624331e-02 9.99945267e-01 -4.22789505e-06 -1.12501932e+00] [ 1.63856597e-04 2.51369389e-06 9.99999987e-01 -2.52186205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.06533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.73, Y:-1.13, Z:-0.25 [[ 9.99929793e-01 -1.18482883e-02 -1.63821231e-04 2.31726576e+02] [ 1.18482878e-02 9.99929807e-01 -4.23168655e-06 -1.13044442e+00] [ 1.63859870e-04 2.29038837e-06 9.99999987e-01 -2.50981467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.12533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.79, Y:-1.14, Z:-0.25 [[ 9.99893540e-01 -1.45904643e-02 -1.63821131e-04 2.31786195e+02] [ 1.45904638e-02 9.99893554e-01 -4.23553937e-06 -1.14101404e+00] [ 1.63865492e-04 1.84486217e-06 9.99999987e-01 -2.48034064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.85, Y:-1.14, Z:-0.25 [[ 9.99887011e-01 -1.50312327e-02 -1.63821031e-04 2.31845199e+02] [ 1.50312323e-02 9.99887025e-01 -4.23940609e-06 -1.14241447e+00] [ 1.63866247e-04 1.77649511e-06 9.99999987e-01 -2.48656294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.90, Y:-1.15, Z:-0.25 [[ 9.99907765e-01 -1.35806588e-02 -1.63820319e-04 2.31903843e+02] [ 1.35806582e-02 9.99907779e-01 -4.26677443e-06 -1.15153126e+00] [ 1.63863156e-04 2.04159312e-06 9.99999987e-01 -2.53562755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.96, Y:-1.16, Z:-0.25 [[ 9.99949778e-01 -1.00207327e-02 -1.63819609e-04 2.31962448e+02] [ 1.00207322e-02 9.99949791e-01 -4.29385862e-06 -1.15655348e+00] [ 1.63854411e-04 2.65205055e-06 9.99999987e-01 -2.50461814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.02, Y:-1.16, Z:-0.25 [[ 9.99987303e-01 -5.03649282e-03 -1.63818905e-04 2.32022199e+02] [ 5.03649218e-03 9.99987317e-01 -4.32053356e-06 -1.16345148e+00] [ 1.63838588e-04 3.49540607e-06 9.99999987e-01 -2.48204144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.08, Y:-1.16, Z:-0.25 [[ 9.99999983e-01 -8.90195455e-05 -1.63818800e-04 2.32082001e+02] [ 8.90188381e-05 9.99999996e-01 -4.32450264e-06 -1.16350062e+00] [ 1.63819185e-04 4.30991960e-06 9.99999987e-01 -2.49486892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.14, Y:-1.16, Z:-0.25 [[ 9.99983026e-01 5.82423312e-03 -1.63818748e-04 2.32141564e+02] [-5.82423390e-03 9.99983039e-01 -4.32646853e-06 -1.16486691e+00] [ 1.63790772e-04 5.28051380e-06 9.99999987e-01 -2.51336404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.20, Y:-1.16, Z:-0.25 [[ 9.99979763e-01 6.35980786e-03 -1.63818698e-04 2.32203167e+02] [-6.35980865e-03 9.99979776e-01 -4.32836605e-06 -1.16420593e+00] [ 1.63787858e-04 5.37013403e-06 9.99999987e-01 -2.51960859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.26, Y:-1.17, Z:-0.25 [[ 9.99991731e-01 4.06328959e-03 -1.63818799e-04 2.32264921e+02] [-4.06329035e-03 9.99991745e-01 -4.32456643e-06 -1.16650718e+00] [ 1.63799874e-04 4.99017402e-06 9.99999987e-01 -2.53486598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.33, Y:-1.16, Z:-0.25 [[ 9.99999691e-01 7.69366210e-04 -1.63818899e-04 2.32325193e+02] [-7.69366928e-04 9.99999704e-01 -4.32076345e-06 -1.16440047e+00] [ 1.63815526e-04 4.44679895e-06 9.99999987e-01 -2.49555231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.39, Y:-1.16, Z:-0.24 [[ 9.99998710e-01 -1.59806128e-03 -1.63818949e-04 2.32386060e+02] [ 1.59806060e-03 9.99998723e-01 -4.31887463e-06 -1.16285646e+00] [ 1.63825641e-04 4.05707645e-06 9.99999987e-01 -2.43908977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.45, Y:-1.17, Z:-0.24 [[ 9.99996080e-01 -2.79525267e-03 -1.63818949e-04 2.32446581e+02] [ 2.79525200e-03 9.99996093e-01 -4.31887463e-06 -1.16562955e+00] [ 1.63830381e-04 3.86094246e-06 9.99999987e-01 -2.41990303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.84533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.51, Y:-1.17, Z:-0.24 [[ 9.99979188e-01 -6.44950450e-03 -1.63818949e-04 2.32506862e+02] [ 6.44950388e-03 9.99979202e-01 -4.31887463e-06 -1.16799515e+00] [ 1.63843396e-04 3.26223380e-06 9.99999987e-01 -2.44198190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.57, Y:-1.17, Z:-0.25 [[ 9.99936966e-01 -1.12266206e-02 -1.63818898e-04 2.32566373e+02] [ 1.12266201e-02 9.99936980e-01 -4.32077897e-06 -1.17128931e+00] [ 1.63857082e-04 2.48137408e-06 9.99999987e-01 -2.48192359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.63, Y:-1.18, Z:-0.25 [[ 9.99937726e-01 -1.11587299e-02 -1.63818629e-04 2.32625956e+02] [ 1.11587293e-02 9.99937739e-01 -4.33098017e-06 -1.18034861e+00] [ 1.63856758e-04 2.50270273e-06 9.99999987e-01 -2.52427543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.68, Y:-1.18, Z:-0.25 [[ 9.99974061e-01 -7.20074409e-03 -1.63817948e-04 2.32684528e+02] [ 7.20074347e-03 9.99974074e-01 -4.35658537e-06 -1.18464294e+00] [ 1.63845071e-04 3.17686135e-06 9.99999987e-01 -2.54990882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.74, Y:-1.18, Z:-0.25 [[ 9.99998680e-01 1.61629070e-03 -1.63817216e-04 2.32744059e+02] [-1.61629144e-03 9.99998694e-01 -4.38393239e-06 -1.18238744e+00] [ 1.63809916e-04 4.64870297e-06 9.99999987e-01 -2.51947687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.80, Y:-1.18, Z:-0.25 [[ 9.99972699e-01 7.38742263e-03 -1.63817112e-04 2.32804811e+02] [-7.38742345e-03 9.99972713e-01 -4.38780842e-06 -1.18258753e+00] [ 1.63780227e-04 5.59787500e-06 9.99999987e-01 -2.49856604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.87, Y:-1.18, Z:-0.25 [[ 9.99964562e-01 8.41712619e-03 -1.63817112e-04 2.32865444e+02] [-8.41712702e-03 9.99964575e-01 -4.38780842e-06 -1.18074516e+00] [ 1.63774376e-04 5.76652237e-06 9.99999987e-01 -2.51165340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.93, Y:-1.18, Z:-0.25 [[ 9.99959341e-01 9.01605402e-03 -1.63817463e-04 2.32927069e+02] [-9.01605486e-03 9.99959355e-01 -4.37465417e-06 -1.17752187e+00] [ 1.63771363e-04 5.85146354e-06 9.99999987e-01 -2.52845597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.99, Y:-1.17, Z:-0.26 [[ 9.99965583e-01 8.29494140e-03 -1.63817562e-04 2.32988521e+02] [-8.29494223e-03 9.99965596e-01 -4.37094779e-06 -1.17498745e+00] [ 1.63775670e-04 5.72965458e-06 9.99999987e-01 -2.55161756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.05, Y:-1.17, Z:-0.25 [[ 9.99975747e-01 6.96272412e-03 -1.63817661e-04 2.33049565e+02] [-6.96272493e-03 9.99975760e-01 -4.36725638e-06 -1.17068509e+00] [ 1.63783282e-04 5.50776777e-06 9.99999987e-01 -2.54978141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.11, Y:-1.17, Z:-0.26 [[ 9.99975247e-01 7.03404234e-03 -1.63817764e-04 2.33110458e+02] [-7.03404315e-03 9.99975261e-01 -4.36337315e-06 -1.16762739e+00] [ 1.63783019e-04 5.51556637e-06 9.99999987e-01 -2.58723749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.17, Y:-1.17, Z:-0.25 [[ 9.99988656e-01 4.76033463e-03 -1.63818429e-04 2.33171941e+02] [-4.76033540e-03 9.99988670e-01 -4.33826952e-06 -1.16555211e+00] [ 1.63795921e-04 5.11805098e-06 9.99999987e-01 -2.51718380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.56533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.23, Y:-1.16, Z:-0.25 [[ 9.99999113e-01 1.32143547e-03 -1.63818529e-04 2.33232811e+02] [-1.32143619e-03 9.99999127e-01 -4.33447224e-06 -1.15793823e+00] [ 1.63812659e-04 4.55094413e-06 9.99999987e-01 -2.49794975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.62533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.29, Y:-1.15, Z:-0.25 [[ 9.99969549e-01 -7.80217668e-03 -1.63818631e-04 2.33293163e+02] [ 7.80217608e-03 9.99969563e-01 -4.33062410e-06 -1.15445520e+00] [ 1.63847433e-04 3.05235042e-06 9.99999987e-01 -2.46536989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.35, Y:-1.15, Z:-0.25 [[ 9.99845794e-01 -1.75602349e-02 -1.63818631e-04 2.33351825e+02] [ 1.75602344e-02 9.99845807e-01 -4.33062410e-06 -1.15497518e+00] [ 1.63869418e-04 1.45326272e-06 9.99999987e-01 -2.51335901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.41, Y:-1.15, Z:-0.25 [[ 9.99736303e-01 -2.29629764e-02 -1.63818477e-04 2.33410418e+02] [ 2.29629760e-02 9.99736316e-01 -4.33646086e-06 -1.15372317e+00] [ 1.63874858e-04 5.73557593e-07 9.99999987e-01 -2.46248450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.47, Y:-1.15, Z:-0.24 [[ 9.99744426e-01 -2.26065365e-02 -1.63817744e-04 2.33469467e+02] [ 2.26065361e-02 9.99744440e-01 -4.36395409e-06 -1.15070128e+00] [ 1.63874533e-04 6.59487036e-07 9.99999987e-01 -2.44339426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.53, Y:-1.15, Z:-0.25 [[ 9.99832396e-01 -1.83071658e-02 -1.63817004e-04 2.33526864e+02] [ 1.83071653e-02 9.99832410e-01 -4.39156092e-06 -1.14880410e+00] [ 1.63869947e-04 1.39179990e-06 9.99999987e-01 -2.45492629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.58, Y:-1.14, Z:-0.24 [[ 9.99931759e-01 -1.16811725e-02 -1.63816743e-04 2.33584954e+02] [ 1.16811720e-02 9.99931773e-01 -4.40129780e-06 -1.14052701e+00] [ 1.63856978e-04 2.48742591e-06 9.99999987e-01 -2.39992187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.64, Y:-1.13, Z:-0.24 [[ 9.99990592e-01 -4.33469689e-03 -1.63816330e-04 2.33643357e+02] [ 4.33469622e-03 9.99990605e-01 -4.41660402e-06 -1.13260033e+00] [ 1.63833936e-04 3.70646844e-06 9.99999987e-01 -2.44807499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.70, Y:-1.13, Z:-0.24 [[ 9.99999861e-01 -5.00215135e-04 -1.63816167e-04 2.33703129e+02] [ 5.00214417e-04 9.99999875e-01 -4.42264171e-06 -1.12937995e+00] [ 1.63818359e-04 4.34069789e-06 9.99999987e-01 -2.41843816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.76, Y:-1.12, Z:-0.24 [[ 9.99999764e-01 6.66979664e-04 -1.63816061e-04 2.33763154e+02] [-6.66980398e-04 9.99999778e-01 -4.42654677e-06 -1.12367767e+00] [ 1.63813073e-04 4.53580783e-06 9.99999987e-01 -2.41935958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.82, Y:-1.12, Z:-0.25 [[ 9.99999800e-01 -6.10878408e-04 -1.63816009e-04 2.33822580e+02] [ 6.10877690e-04 9.99999813e-01 -4.42847973e-06 -1.11619720e+00] [ 1.63818684e-04 4.32840730e-06 9.99999987e-01 -2.46436681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.88, Y:-1.11, Z:-0.25 [[ 9.99992250e-01 -3.93355192e-03 -1.63815957e-04 2.33883236e+02] [ 3.93355124e-03 9.99992264e-01 -4.43039232e-06 -1.10958273e+00] [ 1.63832117e-04 3.78597952e-06 9.99999987e-01 -2.45673447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.94, Y:-1.11, Z:-0.24 [[ 9.99959444e-01 -9.00465341e-03 -1.63815957e-04 2.33942262e+02] [ 9.00465281e-03 9.99959457e-01 -4.43039232e-06 -1.10750456e+00] [ 1.63849210e-04 2.95510682e-06 9.99999987e-01 -2.40849891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.34533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.00, Y:-1.10, Z:-0.24 [[ 9.99910405e-01 -1.33848989e-02 -1.63815855e-04 2.34001243e+02] [ 1.33848984e-02 9.99910418e-01 -4.43417928e-06 -1.10355306e+00] [ 1.63860531e-04 2.24112342e-06 9.99999987e-01 -2.40805816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.405336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:234.06, Y:-1.11, Z:-0.24 [[ 9.99743664e-01 -2.26402273e-02 -1.63815658e-04 2.34060124e+02] [ 2.26402269e-02 9.99743677e-01 -4.44144652e-06 -1.10563896e+00] [ 1.63874224e-04 7.31484349e-07 9.99999987e-01 -2.38801910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.12, Y:-1.11, Z:-0.24 [[ 9.99564007e-01 -2.95257469e-02 -1.63815434e-04 2.34118446e+02] [ 2.95257466e-02 9.99564020e-01 -4.44968445e-06 -1.10720738e+00] [ 1.63875394e-04 -3.89028579e-07 9.99999987e-01 -2.38949942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.18, Y:-1.11, Z:-0.24 [[ 9.99518901e-01 -3.10151689e-02 -1.63815156e-04 2.34175987e+02] [ 3.10151686e-02 9.99518914e-01 -4.45990386e-06 -1.10772320e+00] [ 1.63874671e-04 -6.22996472e-07 9.99999987e-01 -2.40396261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.24, Y:-1.11, Z:-0.24 [[ 9.99684814e-01 -2.51047083e-02 -1.63814313e-04 2.34235103e+02] [ 2.51047079e-02 9.99684827e-01 -4.49064638e-06 -1.10757401e+00] [ 1.63875420e-04 3.76720510e-07 9.99999987e-01 -2.37601030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.29, Y:-1.11, Z:-0.24 [[ 9.99907469e-01 -1.36024490e-02 -1.63813552e-04 2.34293813e+02] [ 1.36024484e-02 9.99907482e-01 -4.51824000e-06 -1.10744862e+00] [ 1.63859856e-04 2.28955654e-06 9.99999987e-01 -2.42094001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.35, Y:-1.10, Z:-0.24 [[ 9.99984350e-01 -5.59216444e-03 -1.63812794e-04 2.34353032e+02] [ 5.59216377e-03 9.99984364e-01 -4.54555316e-06 -1.09986215e+00] [ 1.63835652e-04 3.62941405e-06 9.99999987e-01 -2.44395488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.41, Y:-1.09, Z:-0.25 [[ 9.99995073e-01 3.13483382e-03 -1.63812062e-04 2.34412671e+02] [-3.13483461e-03 9.99995086e-01 -4.57180096e-06 -1.08879417e+00] [ 1.63796925e-04 5.08530216e-06 9.99999987e-01 -2.47141880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.47, Y:-1.08, Z:-0.25 [[ 9.99984269e-01 5.60669673e-03 -1.63812006e-04 2.34472407e+02] [-5.60669755e-03 9.99984282e-01 -4.57379163e-06 -1.08212619e+00] [ 1.63783787e-04 5.49216405e-06 9.99999987e-01 -2.47091098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.53, Y:-1.07, Z:-0.24 [[ 9.99998703e-01 1.60228955e-03 -1.63812177e-04 2.34533780e+02] [-1.60229032e-03 9.99998716e-01 -4.56766602e-06 -1.07164773e+00] [ 1.63804648e-04 4.83013476e-06 9.99999987e-01 -2.43567152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.59, Y:-1.06, Z:-0.25 [[ 9.99943613e-01 -1.06180724e-02 -1.63812290e-04 2.34594131e+02] [ 1.06180718e-02 9.99943627e-01 -4.56361032e-06 -1.06376730e+00] [ 1.63851512e-04 2.82398233e-06 9.99999987e-01 -2.49980773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.65, Y:-1.07, Z:-0.24 [[ 9.99680407e-01 -2.52795867e-02 -1.63812346e-04 2.34654291e+02] [ 2.52795863e-02 9.99680420e-01 -4.56160051e-06 -1.06511336e+00] [ 1.63875310e-04 4.19034330e-07 9.99999987e-01 -2.43231919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.06533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.71, Y:-1.06, Z:-0.24 [[ 9.99348405e-01 -3.60934721e-02 -1.63812236e-04 2.34712903e+02] [ 3.60934718e-02 9.99348418e-01 -4.56554276e-06 -1.05501545e+00] [ 1.63870285e-04 -1.34998445e-06 9.99999987e-01 -2.39825854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.12533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.77, Y:-1.05, Z:-0.24 [[ 9.99262988e-01 -3.83856051e-02 -1.63811449e-04 2.34771423e+02] [ 3.83856049e-02 9.99263001e-01 -4.59361331e-06 -1.05338109e+00] [ 1.63867049e-04 -1.69777378e-06 9.99999987e-01 -2.39263037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.83, Y:-1.05, Z:-0.24 [[ 9.99359803e-01 -3.57764993e-02 -1.63810658e-04 2.34829824e+02] [ 3.57764990e-02 9.99359816e-01 -4.62164015e-06 -1.05282436e+00] [ 1.63871135e-04 -1.24189046e-06 9.99999987e-01 -2.40852380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.89, Y:-1.04, Z:-0.25 [[ 9.99621510e-01 -2.75101772e-02 -1.63809865e-04 2.34887471e+02] [ 2.75101768e-02 9.99621523e-01 -4.64958856e-06 -1.04243749e+00] [ 1.63875778e-04 1.41390398e-07 9.99999987e-01 -2.45983740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.94, Y:-1.03, Z:-0.25 [[ 9.99774064e-01 -2.12554566e-02 -1.63809461e-04 2.34944796e+02] [ 2.12554561e-02 9.99774077e-01 -4.66377550e-06 -1.03453421e+00] [ 1.63871583e-04 1.18087698e-06 9.99999987e-01 -2.47603306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.00, Y:-1.03, Z:-0.24 [[ 9.99891769e-01 -1.47113471e-02 -1.63809184e-04 2.35003879e+02] [ 1.47113466e-02 9.99891782e-01 -4.67348547e-06 -1.03309925e+00] [ 1.63860210e-04 2.26312598e-06 9.99999987e-01 -2.43736439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.06, Y:-1.02, Z:-0.24 [[ 9.99929794e-01 -1.18482439e-02 -1.63808381e-04 2.35062234e+02] [ 1.18482432e-02 9.99929807e-01 -4.70144226e-06 -1.02323068e+00] [ 1.63852587e-04 2.76027064e-06 9.99999987e-01 -2.41992318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.12, Y:-1.02, Z:-0.25 [[ 9.99919086e-01 -1.27198697e-02 -1.63808157e-04 2.35120871e+02] [ 1.27198691e-02 9.99919099e-01 -4.70924293e-06 -1.01828145e+00] [ 1.63854806e-04 2.62524357e-06 9.99999987e-01 -2.48368842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.18, Y:-1.01, Z:-0.25 [[ 9.99901041e-01 -1.40670546e-02 -1.63807991e-04 2.35180743e+02] [ 1.40670540e-02 9.99901054e-01 -4.71501127e-06 -1.01406872e+00] [ 1.63858109e-04 2.41024882e-06 9.99999987e-01 -2.48223050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.24, Y:-1.01, Z:-0.24 [[ 9.99850011e-01 -1.73184282e-02 -1.63807877e-04 2.35239403e+02] [ 1.73184276e-02 9.99850025e-01 -4.71897754e-06 -1.00931837e+00] [ 1.63865035e-04 1.88137489e-06 9.99999987e-01 -2.44440704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.30, Y:-1.01, Z:-0.24 [[ 9.99766068e-01 -2.16282741e-02 -1.63807707e-04 2.35298425e+02] [ 2.16282736e-02 9.99766082e-01 -4.72486197e-06 -1.00666000e+00] [ 1.63871580e-04 1.18087877e-06 9.99999987e-01 -2.43414607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.725336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:235.36, Y:-1.00, Z:-0.24 [[ 9.99722491e-01 -2.35566297e-02 -1.63806885e-04 2.35356958e+02] [ 2.35566293e-02 9.99722504e-01 -4.75318785e-06 -1.00341309e+00] [ 1.63873399e-04 8.93130730e-07 9.99999987e-01 -2.44302894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.42, Y:-1.00, Z:-0.24 [[ 9.99699842e-01 -2.44989518e-02 -1.63806711e-04 2.35415548e+02] [ 2.44989513e-02 9.99699856e-01 -4.75919311e-06 -1.00013892e+00] [ 1.63874140e-04 7.44671967e-07 9.99999987e-01 -2.39452603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.84533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.47, Y:-1.00, Z:-0.24 [[ 9.99681660e-01 -2.52299951e-02 -1.63805913e-04 2.35474531e+02] [ 2.52299946e-02 9.99681673e-01 -4.78648851e-06 -1.00151979e+00] [ 1.63874532e-04 6.52142469e-07 9.99999987e-01 -2.39745498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.53, Y:-1.00, Z:-0.24 [[ 9.99710529e-01 -2.40589269e-02 -1.63805088e-04 2.35533212e+02] [ 2.40589265e-02 9.99710542e-01 -4.81455363e-06 -9.99722663e-01] [ 1.63873507e-04 8.72185378e-07 9.99999987e-01 -2.40899001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.59, Y:-1.00, Z:-0.24 [[ 9.99786703e-01 -2.06524026e-02 -1.63804241e-04 2.35590617e+02] [ 2.06524021e-02 9.99786716e-01 -4.84321254e-06 -9.95321203e-01] [ 1.63869328e-04 1.45922845e-06 9.99999987e-01 -2.43105761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.65, Y:-0.99, Z:-0.24 [[ 9.99880981e-01 -1.54271769e-02 -1.63803801e-04 2.35649651e+02] [ 1.54271763e-02 9.99880994e-01 -4.85805904e-06 -9.92683984e-01] [ 1.63859253e-04 2.33045073e-06 9.99999987e-01 -2.43590464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.71, Y:-0.99, Z:-0.24 [[ 9.99909396e-01 -1.34600482e-02 -1.63803624e-04 2.35708952e+02] [ 1.34600476e-02 9.99909409e-01 -4.86400905e-06 -9.92422405e-01] [ 1.63854255e-04 2.65876378e-06 9.99999987e-01 -2.42856355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.77, Y:-0.99, Z:-0.24 [[ 9.99903561e-01 -1.38867821e-02 -1.63803504e-04 2.35767878e+02] [ 1.38867815e-02 9.99903574e-01 -4.86804644e-06 -9.91619593e-01] [ 1.63855310e-04 2.59287350e-06 9.99999987e-01 -2.41247075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.83, Y:-0.99, Z:-0.24 [[ 9.99833034e-01 -1.82722852e-02 -1.63803610e-04 2.35827067e+02] [ 1.82722846e-02 9.99833048e-01 -4.86447420e-06 -9.92402142e-01] [ 1.63865148e-04 1.87059581e-06 9.99999987e-01 -2.36154659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.89, Y:-0.99, Z:-0.24 [[ 9.99786008e-01 -2.06860014e-02 -1.63803436e-04 2.35886143e+02] [ 2.06860008e-02 9.99786022e-01 -4.87033741e-06 -9.94237108e-01] [ 1.63869133e-04 1.48085719e-06 9.99999987e-01 -2.35830323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.94, Y:-1.00, Z:-0.24 [[ 9.99776750e-01 -2.11287488e-02 -1.63802590e-04 2.35944025e+02] [ 2.11287483e-02 9.99776763e-01 -4.89862700e-06 -1.00004401e+00] [ 1.63869525e-04 1.43658969e-06 9.99999987e-01 -2.40693364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.00, Y:-1.00, Z:-0.24 [[ 9.99892428e-01 -1.46664539e-02 -1.63802290e-04 2.36003101e+02] [ 1.46664533e-02 9.99892442e-01 -4.90862995e-06 -9.98165324e-01] [ 1.63856664e-04 2.50570329e-06 9.99999987e-01 -2.43805627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.06, Y:-1.00, Z:-0.25 [[ 9.99969577e-01 -7.79863946e-03 -1.63801462e-04 2.36062924e+02] [ 7.79863875e-03 9.99969590e-01 -4.93609114e-06 -9.98959815e-01] [ 1.63834976e-04 3.65851253e-06 9.99999987e-01 -2.45278036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.12, Y:-1.00, Z:-0.25 [[ 9.99994767e-01 3.23085713e-03 -1.63801341e-04 2.36121115e+02] [-3.23085798e-03 9.99994781e-01 -4.94010840e-06 -9.97358282e-01] [ 1.63784525e-04 5.46930142e-06 9.99999987e-01 -2.45823258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.56533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.18, Y:-0.99, Z:-0.24 [[ 9.99961899e-01 8.72773793e-03 -1.63801101e-04 2.36181585e+02] [-8.72773886e-03 9.99961913e-01 -4.94805362e-06 -9.92035438e-01] [ 1.63751677e-04 6.37747833e-06 9.99999987e-01 -2.43762165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.62533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.24, Y:-0.99, Z:-0.24 [[ 9.99900289e-01 1.41203668e-02 -1.63801101e-04 2.36242096e+02] [-1.41203678e-02 9.99900303e-01 -4.94805361e-06 -9.89081580e-01] [ 1.63714902e-04 7.26049204e-06 9.99999987e-01 -2.42297419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.30, Y:-0.98, Z:-0.24 [[ 9.99908151e-01 1.35522098e-02 -1.63801158e-04 2.36303633e+02] [-1.35522108e-02 9.99908165e-01 -4.94616603e-06 -9.84375316e-01] [ 1.63719084e-04 7.16557955e-06 9.99999987e-01 -2.42228443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.36, Y:-0.98, Z:-0.24 [[ 9.99965951e-01 8.25046765e-03 -1.63801276e-04 2.36363689e+02] [-8.25046857e-03 9.99965964e-01 -4.94227017e-06 -9.78033209e-01] [ 1.63754925e-04 6.29353917e-06 9.99999987e-01 -2.41240747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.42, Y:-0.97, Z:-0.24 [[ 9.99992939e-01 3.75434185e-03 -1.63801521e-04 2.36424467e+02] [-3.75434270e-03 9.99992952e-01 -4.93411462e-06 -9.74332633e-01] [ 1.63781843e-04 5.54904683e-06 9.99999987e-01 -2.42313822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.48, Y:-0.97, Z:-0.24 [[ 9.99999226e-01 -1.23311592e-03 -1.63801636e-04 2.36484438e+02] [ 1.23311513e-03 9.99999240e-01 -4.93029405e-06 -9.69999241e-01] [ 1.63807591e-04 4.72830396e-06 9.99999987e-01 -2.44421276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.55, Y:-0.96, Z:-0.24 [[ 9.99991491e-01 -4.12202345e-03 -1.63801636e-04 2.36545110e+02] [ 4.12202270e-03 9.99991504e-01 -4.93029405e-06 -9.61625422e-01] [ 1.63820568e-04 4.25505804e-06 9.99999987e-01 -2.44812308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.60, Y:-0.95, Z:-0.25 [[ 9.99982989e-01 -5.83055325e-03 -1.63801636e-04 2.36604951e+02] [ 5.83055252e-03 9.99983002e-01 -4.93029405e-06 -9.49588191e-01] [ 1.63827598e-04 3.97515614e-06 9.99999987e-01 -2.50471587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.66, Y:-0.94, Z:-0.25 [[ 9.99974503e-01 -7.13906877e-03 -1.63801413e-04 2.36664793e+02] [ 7.13906806e-03 9.99974517e-01 -4.93770461e-06 -9.42205671e-01] [ 1.63832489e-04 3.76818927e-06 9.99999987e-01 -2.50803230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.73, Y:-0.93, Z:-0.25 [[ 9.99950343e-01 -9.96416869e-03 -1.63801413e-04 2.36725195e+02] [ 9.96416801e-03 9.99950356e-01 -4.93770461e-06 -9.28565071e-01] [ 1.63842481e-04 3.30531461e-06 9.99999987e-01 -2.48527591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.79, Y:-0.92, Z:-0.25 [[ 9.99917744e-01 -1.28248831e-02 -1.63801413e-04 2.36785750e+02] [ 1.28248825e-02 9.99917758e-01 -4.93770461e-06 -9.17281850e-01] [ 1.63851267e-04 2.83656458e-06 9.99999987e-01 -2.48585199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.85, Y:-0.90, Z:-0.24 [[ 9.99865045e-01 -1.64275626e-02 -1.63801413e-04 2.36845964e+02] [ 1.64275620e-02 9.99865058e-01 -4.93770461e-06 -8.99417819e-01] [ 1.63860424e-04 2.24618036e-06 9.99999987e-01 -2.44547437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.90, Y:-0.89, Z:-0.25 [[ 9.99799371e-01 -2.00297534e-02 -1.63801413e-04 2.36904939e+02] [ 2.00297529e-02 9.99799384e-01 -4.93770461e-06 -8.86043284e-01] [ 1.63867453e-04 1.65581214e-06 9.99999987e-01 -2.45943486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.34533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.96, Y:-0.87, Z:-0.24 [[ 9.99691315e-01 -2.48444831e-02 -1.63801350e-04 2.36964710e+02] [ 2.48444826e-02 9.99691328e-01 -4.93978799e-06 -8.66908114e-01] [ 1.63873516e-04 8.68703352e-07 9.99999987e-01 -2.36783333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.03, Y:-0.86, Z:-0.23 [[ 9.99582158e-01 -2.89047087e-02 -1.63801350e-04 2.37025237e+02] [ 2.89047083e-02 9.99582172e-01 -4.93978799e-06 -8.56417277e-01] [ 1.63875692e-04 2.03093702e-07 9.99999987e-01 -2.34361032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.09, Y:-0.85, Z:-0.24 [[ 9.99243337e-01 -3.88937927e-02 -1.63801350e-04 2.37085012e+02] [ 3.88937924e-02 9.99243350e-01 -4.93978799e-06 -8.46663032e-01] [ 1.63869537e-04 -1.43480548e-06 9.99999987e-01 -2.35064108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.15, Y:-0.85, Z:-0.24 [[ 9.98783175e-01 -4.93167594e-02 -1.63801350e-04 2.37145602e+02] [ 4.93167592e-02 9.98783188e-01 -4.93978799e-06 -8.45125733e-01] [ 1.63845649e-04 -3.14437462e-06 9.99999987e-01 -2.40782145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.20, Y:-0.84, Z:-0.25 [[ 9.98555810e-01 -5.37239951e-02 -1.63801350e-04 2.37204267e+02] [ 5.37239950e-02 9.98555823e-01 -4.93978799e-06 -8.41667245e-01] [ 1.63830177e-04 -3.86740892e-06 9.99999987e-01 -2.46028887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.26, Y:-0.84, Z:-0.25 [[ 9.98631155e-01 -5.23047724e-02 -1.63801169e-04 2.37262937e+02] [ 5.23047723e-02 9.98631169e-01 -4.94577841e-06 -8.39044637e-01] [ 1.63835641e-04 -3.62857446e-06 9.99999987e-01 -2.46892998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.32, Y:-0.84, Z:-0.24 [[ 9.99035084e-01 -4.39189481e-02 -1.63800345e-04 2.37321540e+02] [ 4.39189479e-02 9.99035097e-01 -4.97292477e-06 -8.36433682e-01] [ 1.63860699e-04 -2.22581250e-06 9.99999987e-01 -2.44102295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.38, Y:-0.83, Z:-0.24 [[ 9.99307384e-01 -3.72118919e-02 -1.63800171e-04 2.37381138e+02] [ 3.72118916e-02 9.99307398e-01 -4.97866709e-06 -8.34869382e-01] [ 1.63871988e-04 -1.12009540e-06 9.99999987e-01 -2.40911507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.44, Y:-0.83, Z:-0.24 [[ 9.99596637e-01 -2.83995764e-02 -1.63800055e-04 2.37440683e+02] [ 2.83995759e-02 9.99596651e-01 -4.98246715e-06 -8.29922796e-01] [ 1.63875486e-04 3.28605310e-07 9.99999987e-01 -2.38576227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.50, Y:-0.83, Z:-0.24 [[ 9.99698212e-01 -2.45653707e-02 -1.63799934e-04 2.37500865e+02] [ 2.45653703e-02 9.99698226e-01 -4.98643604e-06 -8.29540600e-01] [ 1.63872997e-04 9.61125163e-07 9.99999987e-01 -2.37958519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.56, Y:-0.83, Z:-0.24 [[ 9.99728650e-01 -2.32937610e-02 -1.63799934e-04 2.37560305e+02] [ 2.32937605e-02 9.99728664e-01 -4.98643604e-06 -8.30276501e-01] [ 1.63871642e-04 1.16956654e-06 9.99999987e-01 -2.37818313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.005336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:237.62, Y:-0.83, Z:-0.24 [[ 9.99707565e-01 -2.41817467e-02 -1.63799875e-04 2.37620858e+02] [ 2.41817462e-02 9.99707579e-01 -4.98838740e-06 -8.33570576e-01] [ 1.63872604e-04 1.02596162e-06 9.99999987e-01 -2.36753038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.06533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.68, Y:-0.84, Z:-0.24 [[ 9.99653168e-01 -2.63347237e-02 -1.63799875e-04 2.37681722e+02] [ 2.63347232e-02 9.99653181e-01 -4.98838740e-06 -8.37265230e-01] [ 1.63874434e-04 6.73032898e-07 9.99999987e-01 -2.38299378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.12533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.74, Y:-0.84, Z:-0.24 [[ 9.99570782e-01 -2.92954779e-02 -1.63799875e-04 2.37741124e+02] [ 2.92954775e-02 9.99570795e-01 -4.98838740e-06 -8.41844824e-01] [ 1.63875708e-04 1.87650748e-07 9.99999987e-01 -2.39406054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.80, Y:-0.85, Z:-0.24 [[ 9.99463796e-01 -3.27428302e-02 -1.63799815e-04 2.37801611e+02] [ 3.27428298e-02 9.99463810e-01 -4.99036338e-06 -8.51660028e-01] [ 1.63875385e-04 -3.75581926e-07 9.99999987e-01 -2.40341144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.86, Y:-0.86, Z:-0.25 [[ 9.99564037e-01 -2.95247084e-02 -1.63799754e-04 2.37860708e+02] [ 2.95247080e-02 9.99564051e-01 -4.99234183e-06 -8.58339125e-01] [ 1.63875743e-04 1.54025452e-07 9.99999987e-01 -2.46688340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.92, Y:-0.86, Z:-0.24 [[ 9.99697875e-01 -2.45790820e-02 -1.63799576e-04 2.37919641e+02] [ 2.45790815e-02 9.99697889e-01 -4.99817465e-06 -8.59043050e-01] [ 1.63872941e-04 9.70621438e-07 9.99999987e-01 -2.44216908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.98, Y:-0.86, Z:-0.24 [[ 9.99894206e-01 -1.45447714e-02 -1.63798754e-04 2.37979015e+02] [ 1.45447708e-02 9.99894219e-01 -5.02498134e-06 -8.61208068e-01] [ 1.63854514e-04 2.64203440e-06 9.99999987e-01 -2.40688653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.04, Y:-0.86, Z:-0.24 [[ 9.99969481e-01 -7.81084609e-03 -1.63798635e-04 2.38038261e+02] [ 7.81084537e-03 9.99969495e-01 -5.02886503e-06 -8.63799305e-01] [ 1.63832918e-04 3.74930575e-06 9.99999987e-01 -2.37660804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.10, Y:-0.86, Z:-0.24 [[ 9.99980973e-01 -6.16654597e-03 -1.63798456e-04 2.38097587e+02] [ 6.16654523e-03 9.99980987e-01 -5.03466625e-06 -8.64762434e-01] [ 1.63826389e-04 4.02449986e-06 9.99999987e-01 -2.40722637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.16, Y:-0.87, Z:-0.24 [[ 9.99968369e-01 -7.95195218e-03 -1.63798398e-04 2.38158567e+02] [ 7.95195147e-03 9.99968383e-01 -5.03656845e-06 -8.66307749e-01] [ 1.63833270e-04 3.73389223e-06 9.99999987e-01 -2.42659606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.22, Y:-0.87, Z:-0.25 [[ 9.99902419e-01 -1.39687611e-02 -1.63798398e-04 2.38219478e+02] [ 1.39687605e-02 9.99902432e-01 -5.03656845e-06 -8.72913283e-01] [ 1.63852771e-04 2.74801639e-06 9.99999987e-01 -2.46274420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.28, Y:-0.87, Z:-0.25 [[ 9.99819171e-01 -1.90157307e-02 -1.63798398e-04 2.38279414e+02] [ 1.90157301e-02 9.99819185e-01 -5.03656845e-06 -8.73744728e-01] [ 1.63864555e-04 1.92091156e-06 9.99999987e-01 -2.45102900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.34, Y:-0.88, Z:-0.25 [[ 9.99671530e-01 -2.56282217e-02 -1.63798277e-04 2.38338095e+02] [ 2.56282212e-02 9.99671543e-01 -5.04050812e-06 -8.76801956e-01] [ 1.63873655e-04 8.40993995e-07 9.99999987e-01 -2.48382894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.40, Y:-0.88, Z:-0.25 [[ 9.99605989e-01 -2.80684969e-02 -1.63798096e-04 2.38396889e+02] [ 2.80684965e-02 9.99606002e-01 -5.04635844e-06 -8.80388554e-01] [ 1.63875204e-04 4.46803827e-07 9.99999987e-01 -2.48880958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.84533619500002 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:238.46, Y:-0.88, Z:-0.25 [[ 9.99664631e-01 -2.58959042e-02 -1.63797276e-04 2.38455920e+02] [ 2.58959038e-02 9.99664645e-01 -5.07285335e-06 -8.77710176e-01] [ 1.63873712e-04 8.29473585e-07 9.99999987e-01 -2.45702082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.51, Y:-0.88, Z:-0.25 [[ 9.99745660e-01 -2.25519195e-02 -1.63796413e-04 2.38513534e+02] [ 2.25519190e-02 9.99745673e-01 -5.10055438e-06 -8.75950545e-01] [ 1.63869783e-04 1.40533366e-06 9.99999987e-01 -2.47666611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.57, Y:-0.87, Z:-0.25 [[ 9.99724276e-01 -2.34807450e-02 -1.63796107e-04 2.38572709e+02] [ 2.34807445e-02 9.99724289e-01 -5.11035575e-06 -8.73886849e-01] [ 1.63870942e-04 1.26289216e-06 9.99999987e-01 -2.48843853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.63, Y:-0.88, Z:-0.25 [[ 9.99593267e-01 -2.85179647e-02 -1.63795986e-04 2.38631669e+02] [ 2.85179643e-02 9.99593280e-01 -5.11423804e-06 -8.75662940e-01] [ 1.63875215e-04 4.41029820e-07 9.99999987e-01 -2.51760125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.69, Y:-0.88, Z:-0.25 [[ 9.99361077e-01 -3.57408993e-02 -1.63795104e-04 2.38689693e+02] [ 3.57408989e-02 9.99361090e-01 -5.14235402e-06 -8.79668371e-01] [ 1.63874246e-04 -7.15115793e-07 9.99999987e-01 -2.49686693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.75, Y:-0.88, Z:-0.25 [[ 9.99207160e-01 -3.98123678e-02 -1.63794792e-04 2.38747372e+02] [ 3.98123675e-02 9.99207173e-01 -5.15227038e-06 -8.81523867e-01] [ 1.63870055e-04 -1.37287298e-06 9.99999987e-01 -2.46977645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.81, Y:-0.88, Z:-0.25 [[ 9.99171278e-01 -4.07029619e-02 -1.63793772e-04 2.38805333e+02] [ 4.07029616e-02 9.99171291e-01 -5.18448667e-06 -8.84777507e-01] [ 1.63869058e-04 -1.48670143e-06 9.99999987e-01 -2.48758891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.86, Y:-0.89, Z:-0.25 [[ 9.99279283e-01 -3.79590270e-02 -1.63793458e-04 2.38863631e+02] [ 3.79590267e-02 9.99279296e-01 -5.19438747e-06 -8.87894671e-01] [ 1.63872585e-04 -1.02679646e-06 9.99999987e-01 -2.48009398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.92, Y:-0.89, Z:-0.25 [[ 9.99596151e-01 -2.84166861e-02 -1.63793147e-04 2.38922085e+02] [ 2.84166856e-02 9.99596164e-01 -5.20417629e-06 -8.89827125e-01] [ 1.63874887e-04 5.47616219e-07 9.99999987e-01 -2.49465535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.98, Y:-0.89, Z:-0.25 [[ 9.99790261e-01 -2.04794255e-02 -1.63792284e-04 2.38980391e+02] [ 2.04794250e-02 9.99790275e-01 -5.23120315e-06 -8.88851744e-01] [ 1.63865064e-04 1.87573418e-06 9.99999987e-01 -2.49899452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.04, Y:-0.89, Z:-0.25 [[ 9.99937458e-01 -1.11827217e-02 -1.63791296e-04 2.39038085e+02] [ 1.11827210e-02 9.99937471e-01 -5.26194641e-06 -8.85922545e-01] [ 1.63839897e-04 3.42998495e-06 9.99999987e-01 -2.48290953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.10, Y:-0.88, Z:-0.25 [[ 9.99964842e-01 -8.38383313e-03 -1.63790991e-04 2.39097994e+02] [ 8.38383238e-03 9.99964855e-01 -5.27142675e-06 -8.82653910e-01] [ 1.63829429e-04 3.89804520e-06 9.99999987e-01 -2.47017890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.56533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.16, Y:-0.88, Z:-0.25 [[ 9.99945907e-01 -1.03998480e-02 -1.63790866e-04 2.39157797e+02] [ 1.03998473e-02 9.99945920e-01 -5.27531731e-06 -8.81601302e-01] [ 1.63836870e-04 3.57163196e-06 9.99999987e-01 -2.47849984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.62533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.22, Y:-0.88, Z:-0.25 [[ 9.99885805e-01 -1.51112597e-02 -1.63790803e-04 2.39217645e+02] [ 1.51112590e-02 9.99885818e-01 -5.27724681e-06 -8.80643565e-01] [ 1.63851847e-04 2.80155892e-06 9.99999987e-01 -2.45095958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.28, Y:-0.88, Z:-0.24 [[ 9.99830376e-01 -1.84171576e-02 -1.63790678e-04 2.39275932e+02] [ 1.84171570e-02 9.99830390e-01 -5.28112572e-06 -8.77477096e-01] [ 1.63860161e-04 2.26367128e-06 9.99999987e-01 -2.43356970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.33, Y:-0.87, Z:-0.24 [[ 9.99655092e-01 -2.62615625e-02 -1.63790492e-04 2.39334770e+02] [ 2.62615620e-02 9.99655106e-01 -5.28689702e-06 -8.72168953e-01] [ 1.63872844e-04 9.83679365e-07 9.99999987e-01 -2.41251284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.39, Y:-0.87, Z:-0.24 [[ 9.99547798e-01 -3.00694734e-02 -1.63789623e-04 2.39394046e+02] [ 3.00694729e-02 9.99547811e-01 -5.31367434e-06 -8.70808521e-01] [ 1.63875339e-04 3.86203836e-07 9.99999987e-01 -2.39755021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.45, Y:-0.87, Z:-0.24 [[ 9.99231456e-01 -3.91978277e-02 -1.63788714e-04 2.39452882e+02] [ 3.91978273e-02 9.99231470e-01 -5.34155418e-06 -8.71145129e-01] [ 1.63872215e-04 -1.08271278e-06 9.99999987e-01 -2.40223974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.51, Y:-0.87, Z:-0.24 [[ 9.99256226e-01 -3.85612232e-02 -1.63787783e-04 2.39510592e+02] [ 3.85612229e-02 9.99256239e-01 -5.36996607e-06 -8.68715635e-01] [ 1.63873036e-04 -9.49885160e-07 9.99999987e-01 -2.43624785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.57, Y:-0.87, Z:-0.25 [[ 9.99361333e-01 -3.57337178e-02 -1.63787453e-04 2.39568387e+02] [ 3.57337174e-02 9.99361347e-01 -5.38000200e-06 -8.65490964e-01] [ 1.63875097e-04 -4.76168590e-07 9.99999987e-01 -2.45013112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.63, Y:-0.86, Z:-0.25 [[ 9.99523067e-01 -3.08806167e-02 -1.63787132e-04 2.39625801e+02] [ 3.08806162e-02 9.99523080e-01 -5.38974597e-06 -8.57446623e-01] [ 1.63875458e-04 3.29327841e-07 9.99999987e-01 -2.45141836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.68, Y:-0.85, Z:-0.24 [[ 9.99659185e-01 -2.61053222e-02 -1.63786099e-04 2.39683543e+02] [ 2.61053217e-02 9.99659198e-01 -5.42095868e-06 -8.52874186e-01] [ 1.63871797e-04 1.14342233e-06 9.99999987e-01 -2.44186013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.74, Y:-0.84, Z:-0.24 [[ 9.99802792e-01 -1.98582408e-02 -1.63785780e-04 2.39742095e+02] [ 1.98582402e-02 9.99802806e-01 -5.43059743e-06 -8.43704076e-01] [ 1.63861324e-04 2.17702912e-06 9.99999987e-01 -2.35661586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.80, Y:-0.83, Z:-0.24 [[ 9.99815057e-01 -1.92308199e-02 -1.63784838e-04 2.39800052e+02] [ 1.92308192e-02 9.99815071e-01 -5.45885731e-06 -8.32533708e-01] [ 1.63859527e-04 2.30813113e-06 9.99999987e-01 -2.36948311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.86, Y:-0.83, Z:-0.24 [[ 9.99719794e-01 -2.36708059e-02 -1.63784639e-04 2.39859684e+02] [ 2.36708054e-02 9.99719807e-01 -5.46481766e-06 -8.27304141e-01] [ 1.63868104e-04 1.58637207e-06 9.99999987e-01 -2.37870467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.34533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.92, Y:-0.82, Z:-0.24 [[ 9.99420751e-01 -3.40313873e-02 -1.63784507e-04 2.39918989e+02] [ 3.40313869e-02 9.99420765e-01 -5.46875700e-06 -8.19996171e-01] [ 1.63875747e-04 -1.08224703e-07 9.99999987e-01 -2.36540545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.98, Y:-0.82, Z:-0.24 [[ 9.99146282e-01 -4.13119812e-02 -1.63784374e-04 2.39977038e+02] [ 4.13119808e-02 9.99146296e-01 -5.47274997e-06 -8.15699113e-01] [ 1.63870641e-04 -1.29817913e-06 9.99999987e-01 -2.38152922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.04, Y:-0.82, Z:-0.24 [[ 9.98714579e-01 -5.06869055e-02 -1.63784043e-04 2.40035566e+02] [ 5.06869053e-02 9.98714593e-01 -5.48263194e-06 -8.18803102e-01] [ 1.63851412e-04 -2.82612184e-06 9.99999987e-01 -2.36990628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.09, Y:-0.82, Z:-0.24 [[ 9.98522466e-01 -5.43402081e-02 -1.63782957e-04 2.40093268e+02] [ 5.43402079e-02 9.98522479e-01 -5.51488445e-06 -8.18337289e-01] [ 1.63840644e-04 -3.39326392e-06 9.99999987e-01 -2.41060597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.585336195 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:240.15, Y:-0.81, Z:-0.24 [[ 9.98663125e-01 -5.16907771e-02 -1.63782623e-04 2.40152512e+02] [ 5.16907769e-02 9.98663138e-01 -5.52479657e-06 -8.13408342e-01] [ 1.63849249e-04 -2.94864041e-06 9.99999987e-01 -2.42410700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.21, Y:-0.81, Z:-0.25 [[ 9.98985376e-01 -4.50354499e-02 -1.63781747e-04 2.40210285e+02] [ 4.50354496e-02 9.98985389e-01 -5.55065000e-06 -8.07795249e-01] [ 1.63865548e-04 -1.83096643e-06 9.99999987e-01 -2.45753955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.27, Y:-0.80, Z:-0.24 [[ 9.99462012e-01 -3.27972480e-02 -1.63781413e-04 2.40268767e+02] [ 3.27972475e-02 9.99462026e-01 -5.56047745e-06 -8.04978193e-01] [ 1.63875671e-04 1.85906439e-07 9.99999987e-01 -2.41306694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.33, Y:-0.80, Z:-0.24 [[ 9.99665692e-01 -2.58549472e-02 -1.63780470e-04 2.40327781e+02] [ 2.58549467e-02 9.99665705e-01 -5.58811209e-06 -7.96264092e-01] [ 1.63870199e-04 1.35170862e-06 9.99999987e-01 -2.38788164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.39, Y:-0.79, Z:-0.24 [[ 9.99649307e-01 -2.64808691e-02 -1.63779506e-04 2.40386350e+02] [ 2.64808685e-02 9.99649320e-01 -5.61622103e-06 -7.90205820e-01] [ 1.63870794e-04 1.27722788e-06 9.99999987e-01 -2.37814530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.45, Y:-0.79, Z:-0.24 [[ 9.99417595e-01 -3.41239603e-02 -1.63779303e-04 2.40446128e+02] [ 3.41239598e-02 9.99417608e-01 -5.62215159e-06 -7.90515925e-01] [ 1.63875769e-04 3.00788769e-08 9.99999987e-01 -2.35777175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.50, Y:-0.79, Z:-0.24 [[ 9.99187883e-01 -4.02932814e-02 -1.63779165e-04 2.40504626e+02] [ 4.02932810e-02 9.99187896e-01 -5.62617063e-06 -7.90650496e-01] [ 1.63872856e-04 -9.77598376e-07 9.99999987e-01 -2.39675025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.56, Y:-0.79, Z:-0.24 [[ 9.98939551e-01 -4.60407161e-02 -1.63778960e-04 2.40563246e+02] [ 4.60407158e-02 9.98939564e-01 -5.63211594e-06 -7.90482062e-01] [ 1.63864590e-04 -1.91435720e-06 9.99999987e-01 -2.43254415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.06533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.62, Y:-0.79, Z:-0.25 [[ 9.98907459e-01 -4.67318088e-02 -1.63778031e-04 2.40622316e+02] [ 4.67318085e-02 9.98907472e-01 -5.65901533e-06 -7.91924849e-01] [ 1.63863555e-04 -2.00081095e-06 9.99999987e-01 -2.46528826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.12533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.68, Y:-0.79, Z:-0.24 [[ 9.99004861e-01 -4.46011362e-02 -1.63777111e-04 2.40680941e+02] [ 4.46011359e-02 9.99004874e-01 -5.68551085e-06 -7.92291219e-01] [ 1.63867712e-04 -1.62479220e-06 9.99999987e-01 -2.43629104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.74, Y:-0.79, Z:-0.25 [[ 9.99232678e-01 -3.91666636e-02 -1.63776166e-04 2.40740048e+02] [ 3.91666632e-02 9.99232692e-01 -5.71260420e-06 -7.88419375e-01] [ 1.63874243e-04 -7.06345129e-07 9.99999987e-01 -2.45582016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.80, Y:-0.79, Z:-0.25 [[ 9.99405401e-01 -3.44792446e-02 -1.63775175e-04 2.40798065e+02] [ 3.44792441e-02 9.99405414e-01 -5.74087125e-06 -7.86154478e-01] [ 1.63875737e-04 9.06134943e-08 9.99999987e-01 -2.46351572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.86, Y:-0.79, Z:-0.25 [[ 9.99485986e-01 -3.20583369e-02 -1.63774038e-04 2.40855921e+02] [ 3.20583364e-02 9.99485999e-01 -5.77311394e-06 -7.86398127e-01] [ 1.63874935e-04 5.19823267e-07 9.99999987e-01 -2.49443410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.91, Y:-0.78, Z:-0.24 [[ 9.99581698e-01 -2.89206249e-02 -1.63773510e-04 2.40914337e+02] [ 2.89206243e-02 9.99581711e-01 -5.78806532e-06 -7.81989787e-01] [ 1.63872400e-04 1.04921200e-06 9.99999987e-01 -2.43971206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.97, Y:-0.77, Z:-0.24 [[ 9.99639962e-01 -2.68313108e-02 -1.63772500e-04 2.40974099e+02] [ 2.68313102e-02 9.99639976e-01 -5.81649701e-06 -7.74569409e-01] [ 1.63869602e-04 1.42017210e-06 9.99999987e-01 -2.40253383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.03, Y:-0.77, Z:-0.24 [[ 9.99650607e-01 -2.64317437e-02 -1.63772356e-04 2.41032809e+02] [ 2.64317431e-02 9.99650620e-01 -5.82055155e-06 -7.74075044e-01] [ 1.63868985e-04 1.48972904e-06 9.99999987e-01 -2.41547386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.09, Y:-0.78, Z:-0.24 [[ 9.99635215e-01 -2.70075879e-02 -1.63772142e-04 2.41092658e+02] [ 2.70075873e-02 9.99635229e-01 -5.82656330e-06 -7.76542893e-01] [ 1.63869764e-04 1.40134742e-06 9.99999987e-01 -2.44195926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.15, Y:-0.78, Z:-0.25 [[ 9.99603604e-01 -2.81533085e-02 -1.63772003e-04 2.41151351e+02] [ 2.81533079e-02 9.99603617e-01 -5.83047113e-06 -7.75219420e-01] [ 1.63871234e-04 1.21743632e-06 9.99999987e-01 -2.47366354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.21, Y:-0.78, Z:-0.25 [[ 9.99581645e-01 -2.89224358e-02 -1.63771018e-04 2.41210507e+02] [ 2.89224353e-02 9.99581659e-01 -5.85800697e-06 -7.76246469e-01] [ 1.63871934e-04 1.11889957e-06 9.99999987e-01 -2.51198123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.27, Y:-0.78, Z:-0.25 [[ 9.99564738e-01 -2.95009690e-02 -1.63770040e-04 2.41269406e+02] [ 2.95009684e-02 9.99564752e-01 -5.88523034e-06 -7.78289131e-01] [ 1.63872379e-04 1.05129395e-06 9.99999987e-01 -2.50176319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.33, Y:-0.78, Z:-0.26 [[ 9.99558942e-01 -2.96967242e-02 -1.63769021e-04 2.41327977e+02] [ 2.96967237e-02 9.99558955e-01 -5.91343438e-06 -7.84560909e-01] [ 1.63872402e-04 1.04742283e-06 9.99999987e-01 -2.55738131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.84533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.39, Y:-0.79, Z:-0.25 [[ 9.99592275e-01 -2.85526981e-02 -1.63768014e-04 2.41386783e+02] [ 2.85526975e-02 9.99592289e-01 -5.94121176e-06 -7.85190286e-01] [ 1.63870881e-04 1.26277082e-06 9.99999987e-01 -2.52141534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.45, Y:-0.79, Z:-0.25 [[ 9.99654246e-01 -2.62937735e-02 -1.63767040e-04 2.41445265e+02] [ 2.62937728e-02 9.99654259e-01 -5.96794559e-06 -7.90807976e-01] [ 1.63867338e-04 1.65982881e-06 9.99999987e-01 -2.45436850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.50, Y:-0.80, Z:-0.24 [[ 9.99686763e-01 -2.50269835e-02 -1.63766685e-04 2.41503966e+02] [ 2.50269829e-02 9.99686776e-01 -5.97765500e-06 -7.96122196e-01] [ 1.63864992e-04 1.87719655e-06 9.99999987e-01 -2.42154980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.56, Y:-0.80, Z:-0.24 [[ 9.99738446e-01 -2.28694602e-02 -1.63765667e-04 2.41562725e+02] [ 2.28694596e-02 9.99738460e-01 -6.00541495e-06 -7.96535773e-01] [ 1.63860176e-04 2.25861191e-06 9.99999987e-01 -2.40822982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.62, Y:-0.80, Z:-0.24 [[ 9.99826358e-01 -1.86340094e-02 -1.63764649e-04 2.41622015e+02] [ 1.86340086e-02 9.99826372e-01 -6.03304692e-06 -7.98757659e-01] [ 1.63848635e-04 2.98040745e-06 9.99999987e-01 -2.41124647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.68, Y:-0.80, Z:-0.24 [[ 9.99864163e-01 -1.64811572e-02 -1.63763611e-04 2.41681109e+02] [ 1.64811564e-02 9.99864177e-01 -6.06110928e-06 -8.00048199e-01] [ 1.63841262e-04 3.36127228e-06 9.99999987e-01 -2.42269654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.74, Y:-0.80, Z:-0.25 [[ 9.99848593e-01 -1.74001097e-02 -1.63762558e-04 2.41739765e+02] [ 1.74001089e-02 9.99848607e-01 -6.08941863e-06 -7.99263777e-01] [ 1.63843722e-04 3.23901031e-06 9.99999987e-01 -2.49261998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.80, Y:-0.80, Z:-0.24 [[ 9.99840016e-01 -1.78861797e-02 -1.63762336e-04 2.41798485e+02] [ 1.78861789e-02 9.99840029e-01 -6.09538328e-06 -7.98107638e-01] [ 1.63845162e-04 3.16532568e-06 9.99999987e-01 -2.43742619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.86, Y:-0.80, Z:-0.24 [[ 9.99861789e-01 -1.66245698e-02 -1.63761276e-04 2.41856898e+02] [ 1.66245691e-02 9.99861802e-01 -6.12373246e-06 -8.00204757e-01] [ 1.63840449e-04 3.40042545e-06 9.99999987e-01 -2.44255573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.92, Y:-0.80, Z:-0.25 [[ 9.99930583e-01 -1.17814140e-02 -1.63760990e-04 2.41915833e+02] [ 1.17814131e-02 9.99930597e-01 -6.13137633e-06 -7.97730705e-01] [ 1.63821860e-04 4.20161484e-06 9.99999987e-01 -2.45594427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.98, Y:-0.79, Z:-0.24 [[ 9.99953357e-01 -9.65696718e-03 -1.63760702e-04 2.41975379e+02] [ 9.65696631e-03 9.99953370e-01 -6.13905308e-06 -7.93816946e-01] [ 1.63812350e-04 4.55733516e-06 9.99999987e-01 -2.43736966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.03, Y:-0.79, Z:-0.25 [[ 9.99925993e-01 -1.21647948e-02 -1.63760557e-04 2.42034653e+02] [ 1.21647940e-02 9.99926006e-01 -6.14292078e-06 -7.87608321e-01] [ 1.63823167e-04 4.15035272e-06 9.99999987e-01 -2.45539738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.56533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.09, Y:-0.79, Z:-0.24 [[ 9.99799405e-01 -2.00280479e-02 -1.63760485e-04 2.42093969e+02] [ 2.00280472e-02 9.99799419e-01 -6.14482826e-06 -7.85927037e-01] [ 1.63850707e-04 2.86379292e-06 9.99999987e-01 -2.44738832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.62533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.15, Y:-0.78, Z:-0.24 [[ 9.99694420e-01 -2.47192278e-02 -1.63760261e-04 2.42153069e+02] [ 2.47192272e-02 9.99694433e-01 -6.15080191e-06 -7.81654798e-01] [ 1.63862264e-04 2.10089526e-06 9.99999987e-01 -2.41480061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.21, Y:-0.78, Z:-0.24 [[ 9.99597670e-01 -2.83632073e-02 -1.63759216e-04 2.42211026e+02] [ 2.83632067e-02 9.99597683e-01 -6.17848818e-06 -7.75148864e-01] [ 1.63868575e-04 1.53126589e-06 9.99999987e-01 -2.40459007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.27, Y:-0.77, Z:-0.24 [[ 9.99604016e-01 -2.81386673e-02 -1.63758920e-04 2.42268627e+02] [ 2.81386666e-02 9.99604029e-01 -6.18631763e-06 -7.69495846e-01] [ 1.63868151e-04 1.57591028e-06 9.99999987e-01 -2.42074703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.33, Y:-0.76, Z:-0.24 [[ 9.99578115e-01 -2.90441838e-02 -1.63758555e-04 2.42327175e+02] [ 2.90441832e-02 9.99578129e-01 -6.19598687e-06 -7.62886544e-01] [ 1.63869427e-04 1.43713943e-06 9.99999987e-01 -2.43817159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.39, Y:-0.75, Z:-0.24 [[ 9.99458883e-01 -3.28924623e-02 -1.63757537e-04 2.42385314e+02] [ 3.28924617e-02 9.99458897e-01 -6.22276686e-06 -7.53557106e-01] [ 1.63873609e-04 8.33011100e-07 9.99999987e-01 -2.39047071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.44, Y:-0.75, Z:-0.24 [[ 9.99388319e-01 -3.49708592e-02 -1.63756469e-04 2.42442940e+02] [ 3.49708587e-02 9.99388332e-01 -6.25074517e-06 -7.46804663e-01] [ 1.63874898e-04 5.20217376e-07 9.99999987e-01 -2.39995715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.50, Y:-0.74, Z:-0.24 [[ 9.99460019e-01 -3.28579333e-02 -1.63756090e-04 2.42501920e+02] [ 3.28579327e-02 9.99460032e-01 -6.26065285e-06 -7.38666191e-01] [ 1.63873379e-04 8.76585626e-07 9.99999987e-01 -2.41293095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.56, Y:-0.73, Z:-0.24 [[ 9.99594041e-01 -2.84908113e-02 -1.63755019e-04 2.42559358e+02] [ 2.84908106e-02 9.99594054e-01 -6.28853998e-06 -7.29459251e-01] [ 1.63867709e-04 1.62047384e-06 9.99999987e-01 -2.41011453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.62, Y:-0.72, Z:-0.24 [[ 9.99592131e-01 -2.85577404e-02 -1.63754640e-04 2.42618031e+02] [ 2.85577397e-02 9.99592145e-01 -6.29841388e-06 -7.19311626e-01] [ 1.63867720e-04 1.61938258e-06 9.99999987e-01 -2.37344361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.68, Y:-0.71, Z:-0.24 [[ 9.99518276e-01 -3.10352821e-02 -1.63753599e-04 2.42677124e+02] [ 3.10352815e-02 9.99518290e-01 -6.32536157e-06 -7.07149237e-01] [ 1.63871026e-04 1.24017547e-06 9.99999987e-01 -2.36605972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.74, Y:-0.70, Z:-0.24 [[ 9.99443306e-01 -3.33624320e-02 -1.63753451e-04 2.42736513e+02] [ 3.33624314e-02 9.99443319e-01 -6.32918166e-06 -6.98301447e-01] [ 1.63873449e-04 8.62444964e-07 9.99999987e-01 -2.35602499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.79, Y:-0.69, Z:-0.24 [[ 9.99265441e-01 -3.83216835e-02 -1.63753300e-04 2.42794629e+02] [ 3.83216830e-02 9.99265455e-01 -6.33307594e-06 -6.85536591e-01] [ 1.63875710e-04 5.31218678e-08 9.99999987e-01 -2.35560038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.34533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.85, Y:-0.68, Z:-0.23 [[ 9.99009278e-01 -4.45020943e-02 -1.63753077e-04 2.42853938e+02] [ 4.45020938e-02 9.99009291e-01 -6.33884951e-06 -6.75693280e-01] [ 1.63872937e-04 -9.54785321e-07 9.99999987e-01 -2.31182240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.91, Y:-0.67, Z:-0.24 [[ 9.98614593e-01 -5.26200357e-02 -1.63752922e-04 2.42912823e+02] [ 5.26200354e-02 9.98614606e-01 -6.34285521e-06 -6.69433516e-01] [ 1.63859821e-04 -2.28261676e-06 9.99999987e-01 -2.36236527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.97, Y:-0.66, Z:-0.24 [[ 9.98344252e-01 -5.75215463e-02 -1.63751833e-04 2.42970144e+02] [ 5.75215460e-02 9.98344265e-01 -6.37083272e-06 -6.64211467e-01] [ 1.63847164e-04 -3.05897438e-06 9.99999987e-01 -2.38024353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.03, Y:-0.66, Z:-0.24 [[ 9.98188646e-01 -6.01614555e-02 -1.63750600e-04 2.43029100e+02] [ 6.01614553e-02 9.98188659e-01 -6.40238319e-06 -6.59555309e-01] [ 1.63839168e-04 -3.46068817e-06 9.99999987e-01 -2.39039998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.09, Y:-0.66, Z:-0.24 [[ 9.98178708e-01 -6.03261205e-02 -1.63749526e-04 2.43086570e+02] [ 6.03261202e-02 9.98178721e-01 -6.42971891e-06 -6.56220043e-01] [ 1.63839173e-04 -3.46036509e-06 9.99999987e-01 -2.38595441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.14, Y:-0.65, Z:-0.24 [[ 9.98290538e-01 -5.84463448e-02 -1.63748300e-04 2.43144139e+02] [ 5.84463445e-02 9.98290551e-01 -6.46079574e-06 -6.52654484e-01] [ 1.63845991e-04 -3.12073831e-06 9.99999987e-01 -2.39285323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.20, Y:-0.65, Z:-0.24 [[ 9.98448680e-01 -5.56795028e-02 -1.63747921e-04 2.43202113e+02] [ 5.56795025e-02 9.98448693e-01 -6.47038648e-06 -6.49404806e-01] [ 1.63854166e-04 -2.65705395e-06 9.99999987e-01 -2.38436160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.26, Y:-0.65, Z:-0.24 [[ 9.98801264e-01 -4.89490388e-02 -1.63747356e-04 2.43260782e+02] [ 4.89490384e-02 9.98801277e-01 -6.48466986e-06 -6.45986013e-01] [ 1.63868486e-04 -1.53837914e-06 9.99999987e-01 -2.41891444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.32, Y:-0.64, Z:-0.24 [[ 9.99185838e-01 -4.03439561e-02 -1.63746280e-04 2.43319270e+02] [ 4.03439556e-02 9.99185851e-01 -6.51171753e-06 -6.42463227e-01] [ 1.63875675e-04 -9.97567144e-08 9.99999987e-01 -2.39333263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.38, Y:-0.64, Z:-0.24 [[ 9.99357012e-01 -3.58543811e-02 -1.63745175e-04 2.43378450e+02] [ 3.58543805e-02 9.99357025e-01 -6.53938013e-06 -6.37604383e-01] [ 1.63874357e-04 6.64193568e-07 9.99999987e-01 -2.35827362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.44, Y:-0.64, Z:-0.24 [[ 9.99275910e-01 -3.80477165e-02 -1.63745015e-04 2.43437657e+02] [ 3.80477159e-02 9.99275923e-01 -6.54339457e-06 -6.37760148e-01] [ 1.63875412e-04 3.08532759e-07 9.99999987e-01 -2.37312718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.50, Y:-0.64, Z:-0.24 [[ 9.99097659e-01 -4.24716481e-02 -1.63744733e-04 2.43497006e+02] [ 4.24716476e-02 9.99097672e-01 -6.55043309e-06 -6.42108394e-01] [ 1.63875189e-04 -4.09986237e-07 9.99999987e-01 -2.42332202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.06533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.56, Y:-0.65, Z:-0.24 [[ 9.99081544e-01 -4.28490543e-02 -1.63743645e-04 2.43555974e+02] [ 4.28490538e-02 9.99081558e-01 -6.57752107e-06 -6.47073969e-01] [ 1.63875096e-04 -4.44780349e-07 9.99999987e-01 -2.43344803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.12533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.62, Y:-0.65, Z:-0.24 [[ 9.99251189e-01 -3.86915244e-02 -1.63742555e-04 2.43615057e+02] [ 3.86915239e-02 9.99251203e-01 -6.60453569e-06 -6.51657012e-01] [ 1.63875485e-04 2.64141156e-07 9.99999987e-01 -2.42983652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.67, Y:-0.65, Z:-0.24 [[ 9.99312078e-01 -3.70856217e-02 -1.63741447e-04 2.43672845e+02] [ 3.70856211e-02 9.99312092e-01 -6.63189499e-06 -6.53498521e-01] [ 1.63874756e-04 5.54879497e-07 9.99999987e-01 -2.43716091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.73, Y:-0.66, Z:-0.24 [[ 9.99240936e-01 -3.89554295e-02 -1.63741054e-04 2.43732003e+02] [ 3.89554289e-02 9.99240949e-01 -6.64159550e-06 -6.61385775e-01] [ 1.63875492e-04 2.57951123e-07 9.99999987e-01 -2.44462178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.79, Y:-0.67, Z:-0.25 [[ 9.99175191e-01 -4.06067885e-02 -1.63739911e-04 2.43790551e+02] [ 4.06067880e-02 9.99175204e-01 -6.66964945e-06 -6.71228674e-01] [ 1.63875692e-04 1.51964061e-08 9.99999987e-01 -2.47348802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.85, Y:-0.67, Z:-0.25 [[ 9.99232424e-01 -3.91731516e-02 -1.63739507e-04 2.43848533e+02] [ 3.91731511e-02 9.99232438e-01 -6.67956530e-06 -6.74237707e-01] [ 1.63875486e-04 2.60245799e-07 9.99999987e-01 -2.47465903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.91, Y:-0.68, Z:-0.25 [[ 9.99435175e-01 -3.36051063e-02 -1.63738212e-04 2.43906363e+02] [ 3.36051056e-02 9.99435189e-01 -6.71116085e-06 -6.76695865e-01] [ 1.63871260e-04 1.20493033e-06 9.99999987e-01 -2.47415019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.96, Y:-0.68, Z:-0.25 [[ 9.99586598e-01 -2.87507474e-02 -1.63737811e-04 2.43964238e+02] [ 2.87507467e-02 9.99586612e-01 -6.72092303e-06 -6.76270030e-01] [ 1.63863355e-04 2.01056026e-06 9.99999987e-01 -2.48417701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.02, Y:-0.67, Z:-0.25 [[ 9.99774759e-01 -2.12227576e-02 -1.63736541e-04 2.44022749e+02] [ 2.12227568e-02 9.99774772e-01 -6.75172871e-06 -6.73354781e-01] [ 1.63842953e-04 3.27526716e-06 9.99999987e-01 -2.52062323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.08, Y:-0.67, Z:-0.25 [[ 9.99837286e-01 -1.80381606e-02 -1.63735431e-04 2.44082693e+02] [ 1.80381597e-02 9.99837299e-01 -6.77852503e-06 -6.71379242e-01] [ 1.63831063e-04 3.82393621e-06 9.99999987e-01 -2.52129696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.14, Y:-0.67, Z:-0.25 [[ 9.99802946e-01 -1.98504971e-02 -1.63735271e-04 2.44142525e+02] [ 1.98504962e-02 9.99802959e-01 -6.78239187e-06 -6.65672278e-01] [ 1.63837642e-04 3.53082900e-06 9.99999987e-01 -2.51212986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.20, Y:-0.66, Z:-0.25 [[ 9.99723807e-01 -2.35007163e-02 -1.63735112e-04 2.44202254e+02] [ 2.35007155e-02 9.99723820e-01 -6.78623815e-06 -6.56178347e-01] [ 1.63849373e-04 2.93647155e-06 9.99999987e-01 -2.50957414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.26, Y:-0.65, Z:-0.25 [[ 9.99691947e-01 -2.48190503e-02 -1.63734950e-04 2.44262185e+02] [ 2.48190496e-02 9.99691960e-01 -6.79012711e-06 -6.51881275e-01] [ 1.63853038e-04 2.72428954e-06 9.99999987e-01 -2.54277509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.84533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.32, Y:-0.65, Z:-0.26 [[ 9.99670087e-01 -2.56844437e-02 -1.63734786e-04 2.44320463e+02] [ 2.56844429e-02 9.99670100e-01 -6.79409810e-06 -6.47975731e-01] [ 1.63855272e-04 2.58641988e-06 9.99999987e-01 -2.56956129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.38, Y:-0.64, Z:-0.26 [[ 9.99552701e-01 -2.99060239e-02 -1.63734540e-04 2.44379937e+02] [ 2.99060232e-02 9.99552715e-01 -6.80001781e-06 -6.38961317e-01] [ 1.63864665e-04 1.90032722e-06 9.99999987e-01 -2.57306656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.44, Y:-0.64, Z:-0.26 [[ 9.99428487e-01 -3.38034316e-02 -1.63734383e-04 2.44438499e+02] [ 3.38034309e-02 9.99428501e-01 -6.80379959e-06 -6.35346263e-01] [ 1.63870800e-04 1.26512723e-06 9.99999987e-01 -2.59027626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.50, Y:-0.63, Z:-0.26 [[ 9.99259314e-01 -3.84811139e-02 -1.63733262e-04 2.44497075e+02] [ 3.84811133e-02 9.99259328e-01 -6.83065956e-06 -6.32555863e-01] [ 1.63874841e-04 5.24961978e-07 9.99999987e-01 -2.58439724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.085336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:244.56, Y:-0.63, Z:-0.26 [[ 9.99197954e-01 -4.00427497e-02 -1.63732124e-04 2.44555460e+02] [ 4.00427492e-02 9.99197967e-01 -6.85782326e-06 -6.30138638e-01] [ 1.63875412e-04 2.96038590e-07 9.99999987e-01 -2.63483019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.61, Y:-0.63, Z:-0.27 [[ 9.99249825e-01 -3.87267320e-02 -1.63730987e-04 2.44614275e+02] [ 3.87267314e-02 9.99249839e-01 -6.88486032e-06 -6.27935074e-01] [ 1.63874791e-04 5.38929507e-07 9.99999987e-01 -2.67560238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.67, Y:-0.63, Z:-0.27 [[ 9.99389902e-01 -3.49255943e-02 -1.63729845e-04 2.44672733e+02] [ 3.49255936e-02 9.99389915e-01 -6.91192563e-06 -6.26556203e-01] [ 1.63871359e-04 1.18934666e-06 9.99999987e-01 -2.65881958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.73, Y:-0.62, Z:-0.26 [[ 9.99422367e-01 -3.39839031e-02 -1.63728709e-04 2.44731825e+02] [ 3.39839024e-02 9.99422380e-01 -6.93872482e-06 -6.24547691e-01] [ 1.63869941e-04 1.37057631e-06 9.99999987e-01 -2.61913467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.79, Y:-0.63, Z:-0.25 [[ 9.99277683e-01 -3.80011307e-02 -1.63727557e-04 2.44790717e+02] [ 3.80011301e-02 9.99277696e-01 -6.96580608e-06 -6.25543120e-01] [ 1.63874004e-04 7.38942361e-07 9.99999987e-01 -2.54282612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.85, Y:-0.63, Z:-0.26 [[ 9.99063817e-01 -4.32604067e-02 -1.63726355e-04 2.44849447e+02] [ 4.32604062e-02 9.99063830e-01 -6.99394987e-06 -6.26425301e-01] [ 1.63875640e-04 -9.54663467e-08 9.99999987e-01 -2.59565475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.91, Y:-0.63, Z:-0.27 [[ 9.98829562e-01 -4.83681710e-02 -1.63725147e-04 2.44907422e+02] [ 4.83681705e-02 9.98829575e-01 -7.02209784e-06 -6.34939899e-01] [ 1.63873166e-04 -9.05206938e-07 9.99999987e-01 -2.68027808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.97, Y:-0.64, Z:-0.27 [[ 9.98684829e-01 -5.12697357e-02 -1.63724720e-04 2.44966883e+02] [ 5.12697352e-02 9.98684842e-01 -7.03204677e-06 -6.40735283e-01] [ 1.63869928e-04 -1.37132463e-06 9.99999987e-01 -2.68627514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.56533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.03, Y:-0.64, Z:-0.28 [[ 9.98785012e-01 -4.92795351e-02 -1.63724371e-04 2.45025024e+02] [ 4.92795346e-02 9.98785026e-01 -7.04017382e-06 -6.40842405e-01] [ 1.63872386e-04 -1.03664070e-06 9.99999987e-01 -2.75171348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.62533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.08, Y:-0.65, Z:-0.27 [[ 9.99152230e-01 -4.11678811e-02 -1.63723730e-04 2.45084593e+02] [ 4.11678805e-02 9.99152243e-01 -7.05504472e-06 -6.48859112e-01] [ 1.63875373e-04 3.08904719e-07 9.99999987e-01 -2.69492160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.14, Y:-0.65, Z:-0.28 [[ 9.99400312e-01 -3.46264227e-02 -1.63722471e-04 2.45142394e+02] [ 3.46264220e-02 9.99400326e-01 -7.08413370e-06 -6.53024661e-01] [ 1.63869589e-04 1.41076205e-06 9.99999987e-01 -2.75639573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.20, Y:-0.65, Z:-0.28 [[ 9.99504082e-01 -3.14891056e-02 -1.63722026e-04 2.45201208e+02] [ 3.14891049e-02 9.99504095e-01 -7.09440983e-06 -6.54474496e-01] [ 1.63864232e-04 1.93543153e-06 9.99999987e-01 -2.77439277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.26, Y:-0.66, Z:-0.28 [[ 9.99665982e-01 -2.58437095e-02 -1.63720846e-04 2.45259163e+02] [ 2.58437086e-02 9.99665996e-01 -7.12154302e-06 -6.55448085e-01] [ 1.63850209e-04 2.88801047e-06 9.99999987e-01 -2.80652468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.32, Y:-0.65, Z:-0.27 [[ 9.99748499e-01 -2.24256956e-02 -1.63720429e-04 2.45318078e+02] [ 2.24256947e-02 9.99748512e-01 -7.13110057e-06 -6.52624627e-01] [ 1.63839176e-04 3.45776272e-06 9.99999987e-01 -2.74378140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.38, Y:-0.65, Z:-0.28 [[ 9.99742854e-01 -2.26759599e-02 -1.63719184e-04 2.45376060e+02] [ 2.26759591e-02 9.99742867e-01 -7.15957249e-06 -6.50153981e-01] [ 1.63839437e-04 3.44524191e-06 9.99999987e-01 -2.81355715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.43, Y:-0.65, Z:-0.28 [[ 9.99686220e-01 -2.50486662e-02 -1.63718527e-04 2.45434378e+02] [ 2.50486653e-02 9.99686233e-01 -7.17456522e-06 -6.45135649e-01] [ 1.63846871e-04 3.07138338e-06 9.99999987e-01 -2.75969103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.045336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:245.49, Y:-0.64, Z:-0.29 [[ 9.99553259e-01 -2.98873719e-02 -1.63717305e-04 2.45492703e+02] [ 2.98873711e-02 9.99553273e-01 -7.20234266e-06 -6.38711998e-01] [ 1.63859427e-04 2.30604523e-06 9.99999987e-01 -2.86253819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.55, Y:-0.64, Z:-0.28 [[ 9.99398911e-01 -3.46668456e-02 -1.63717047e-04 2.45551402e+02] [ 3.46668449e-02 9.99398924e-01 -7.20821886e-06 -6.36069872e-01] [ 1.63868526e-04 1.52833262e-06 9.99999987e-01 -2.83682140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.61, Y:-0.63, Z:-0.28 [[ 9.99174026e-01 -4.06354423e-02 -1.63715845e-04 2.45609597e+02] [ 4.06354417e-02 9.99174039e-01 -7.23541686e-06 -6.31252253e-01] [ 1.63874636e-04 5.76774935e-07 9.99999987e-01 -2.81589642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.67, Y:-0.63, Z:-0.28 [[ 9.99072250e-01 -4.30652123e-02 -1.63715412e-04 2.45666190e+02] [ 4.30652117e-02 9.99072263e-01 -7.24518045e-06 -6.30549798e-01] [ 1.63875543e-04 1.88019839e-07 9.99999987e-01 -2.83889284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.73, Y:-0.63, Z:-0.28 [[ 9.98877768e-01 -4.73621922e-02 -1.63714425e-04 2.45725336e+02] [ 4.73621917e-02 9.98877782e-01 -7.26742804e-06 -6.31202522e-01] [ 1.63874903e-04 -4.94601668e-07 9.99999987e-01 -2.83318633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.34533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.78, Y:-0.63, Z:-0.28 [[ 9.98547006e-01 -5.38873857e-02 -1.63714060e-04 2.45784740e+02] [ 5.38873853e-02 9.98547019e-01 -7.27562936e-06 -6.34295646e-01] [ 1.63868252e-04 -1.55706473e-06 9.99999987e-01 -2.82613794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.84, Y:-0.64, Z:-0.28 [[ 9.98333561e-01 -5.77067967e-02 -1.63712776e-04 2.45843589e+02] [ 5.77067963e-02 9.98333574e-01 -7.30440966e-06 -6.39886107e-01] [ 1.63861475e-04 -2.15510252e-06 9.99999987e-01 -2.81586893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.90, Y:-0.65, Z:-0.28 [[ 9.98218335e-01 -5.96668133e-02 -1.63711505e-04 2.45903142e+02] [ 5.96668129e-02 9.98218349e-01 -7.33279942e-06 -6.49537819e-01] [ 1.63857353e-04 -2.44840889e-06 9.99999987e-01 -2.82652569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.96, Y:-0.65, Z:-0.29 [[ 9.98340055e-01 -5.75943331e-02 -1.63710235e-04 2.45962188e+02] [ 5.75943326e-02 9.98340069e-01 -7.36103747e-06 -6.54463173e-01] [ 1.63862441e-04 -2.07996317e-06 9.99999987e-01 -2.91801399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.02, Y:-0.65, Z:-0.29 [[ 9.98518651e-01 -5.44102666e-02 -1.63709966e-04 2.46020989e+02] [ 5.44102661e-02 9.98518664e-01 -7.36700958e-06 -6.54824557e-01] [ 1.63868298e-04 -1.55140636e-06 9.99999987e-01 -2.93567123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.08, Y:-0.66, Z:-0.29 [[ 9.98904086e-01 -4.68038579e-02 -1.63708701e-04 2.46080454e+02] [ 4.68038573e-02 9.98904099e-01 -7.39502331e-06 -6.56756971e-01] [ 1.63875408e-04 -2.75279679e-07 9.99999987e-01 -2.94598380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.14, Y:-0.65, Z:-0.29 [[ 9.99327388e-01 -3.66707635e-02 -1.63707512e-04 2.46139094e+02] [ 3.66707628e-02 9.99327401e-01 -7.42125054e-06 -6.52632927e-01] [ 1.63869545e-04 1.41297958e-06 9.99999987e-01 -2.92484210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.20, Y:-0.65, Z:-0.29 [[ 9.99588784e-01 -2.86746443e-02 -1.63707242e-04 2.46198240e+02] [ 2.86746434e-02 9.99588798e-01 -7.42720595e-06 -6.50883798e-01] [ 1.63852897e-04 2.72990499e-06 9.99999987e-01 -2.87547776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.26, Y:-0.64, Z:-0.29 [[ 9.99752527e-01 -2.22454085e-02 -1.63705979e-04 2.46256797e+02] [ 2.22454076e-02 9.99752540e-01 -7.45494289e-06 -6.41806478e-01] [ 1.63831306e-04 3.81139177e-06 9.99999987e-01 -2.85674385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.32, Y:-0.63, Z:-0.28 [[ 9.99655567e-01 -2.62434852e-02 -1.63704702e-04 2.46315177e+02] [ 2.62434843e-02 9.99655580e-01 -7.48287336e-06 -6.34448682e-01] [ 1.63844695e-04 3.18411423e-06 9.99999987e-01 -2.83788392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.37, Y:-0.63, Z:-0.28 [[ 9.99444712e-01 -3.33202807e-02 -1.63704431e-04 2.46373124e+02] [ 3.33202800e-02 9.99444725e-01 -7.48878862e-06 -6.32906978e-01] [ 1.63863059e-04 2.02995270e-06 9.99999987e-01 -2.81715816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.43, Y:-0.64, Z:-0.29 [[ 9.99047739e-01 -4.36301379e-02 -1.63702972e-04 2.46432777e+02] [ 4.36301372e-02 9.99047752e-01 -7.52056378e-06 -6.35603402e-01] [ 1.63875209e-04 3.71019125e-07 9.99999987e-01 -2.86855962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.06533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.49, Y:-0.63, Z:-0.29 [[ 9.98781824e-01 -4.93441027e-02 -1.63702787e-04 2.46491460e+02] [ 4.93441021e-02 9.98781838e-01 -7.52457574e-06 -6.34916254e-01] [ 1.63874664e-04 -5.62357562e-07 9.99999987e-01 -2.86109897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.12533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.55, Y:-0.64, Z:-0.29 [[ 9.98648198e-01 -5.19783530e-02 -1.63701475e-04 2.46550115e+02] [ 5.19783525e-02 9.98648212e-01 -7.55300865e-06 -6.42082002e-01] [ 1.63872779e-04 -9.66134506e-07 9.99999987e-01 -2.92334841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.61, Y:-0.64, Z:-0.28 [[ 9.98571750e-01 -5.34269002e-02 -1.63701104e-04 2.46608751e+02] [ 5.34268997e-02 9.98571763e-01 -7.56104314e-06 -6.40381771e-01] [ 1.63871263e-04 -1.19579840e-06 9.99999987e-01 -2.82394574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.67, Y:-0.64, Z:-0.29 [[ 9.98678743e-01 -5.13881439e-02 -1.63699740e-04 2.46666976e+02] [ 5.13881433e-02 9.98678756e-01 -7.59045612e-06 -6.42038534e-01] [ 1.63873513e-04 -8.31798546e-07 9.99999987e-01 -2.88997475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.73, Y:-0.65, Z:-0.29 [[ 9.98666917e-01 -5.16174631e-02 -1.63699060e-04 2.46726357e+02] [ 5.16174625e-02 9.98666930e-01 -7.60509084e-06 -6.45527921e-01] [ 1.63873394e-04 -8.54777500e-07 9.99999987e-01 -2.90310423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.79, Y:-0.65, Z:-0.29 [[ 9.98623643e-01 -5.24480012e-02 -1.63697786e-04 2.46785383e+02] [ 5.24480006e-02 9.98623656e-01 -7.63242205e-06 -6.47311896e-01] [ 1.63872787e-04 -9.63704478e-07 9.99999987e-01 -2.90487629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.84, Y:-0.65, Z:-0.29 [[ 9.98604051e-01 -5.28197221e-02 -1.63696489e-04 2.46843519e+02] [ 5.28197216e-02 9.98604064e-01 -7.66014463e-06 -6.45519692e-01] [ 1.63872586e-04 -9.96951508e-07 9.99999987e-01 -2.94156993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.90, Y:-0.65, Z:-0.29 [[ 9.98531491e-01 -5.41741058e-02 -1.63696032e-04 2.46902059e+02] [ 5.41741053e-02 9.98531505e-01 -7.66990432e-06 -6.45457896e-01] [ 1.63871155e-04 -1.20944505e-06 9.99999987e-01 -2.92685932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.96, Y:-0.65, Z:-0.29 [[ 9.98447058e-01 -5.57085788e-02 -1.63694738e-04 2.46961366e+02] [ 5.57085783e-02 9.98447071e-01 -7.69740627e-06 -6.45739837e-01] [ 1.63869344e-04 -1.43374851e-06 9.99999987e-01 -2.88093530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.02, Y:-0.65, Z:-0.28 [[ 9.98312244e-01 -5.80744136e-02 -1.63694364e-04 2.47019764e+02] [ 5.80744131e-02 9.98312257e-01 -7.70536502e-06 -6.45706968e-01] [ 1.63865574e-04 -1.81409386e-06 9.99999987e-01 -2.84662029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.08, Y:-0.65, Z:-0.28 [[ 9.98066086e-01 -6.21615673e-02 -1.63693641e-04 2.47078356e+02] [ 6.21615669e-02 9.98066100e-01 -7.72069882e-06 -6.48255474e-01] [ 1.63857004e-04 -2.46968553e-06 9.99999987e-01 -2.80869903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.14, Y:-0.65, Z:-0.29 [[ 9.97939906e-01 -6.41554199e-02 -1.63693259e-04 2.47137436e+02] [ 6.41554195e-02 9.97939919e-01 -7.72878354e-06 -6.48422633e-01] [ 1.63851881e-04 -2.78894817e-06 9.99999987e-01 -2.85523807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.20, Y:-0.65, Z:-0.28 [[ 9.97966180e-01 -6.37453989e-02 -1.63692880e-04 2.47196103e+02] [ 6.37453985e-02 9.97966194e-01 -7.73679222e-06 -6.52136514e-01] [ 1.63853146e-04 -2.71361090e-06 9.99999987e-01 -2.80789916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.84533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.25, Y:-0.65, Z:-0.29 [[ 9.98246374e-01 -5.91958546e-02 -1.63691299e-04 2.47253802e+02] [ 5.91958541e-02 9.98246388e-01 -7.77009720e-06 -6.52520981e-01] [ 1.63864206e-04 -1.93337492e-06 9.99999987e-01 -2.93529508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.31, Y:-0.65, Z:-0.30 [[ 9.98540452e-01 -5.40086975e-02 -1.63690813e-04 2.47313086e+02] [ 5.40086970e-02 9.98540465e-01 -7.78033171e-06 -6.53220684e-01] [ 1.63872106e-04 -1.07175157e-06 9.99999987e-01 -2.95560096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.37, Y:-0.65, Z:-0.30 [[ 9.98680955e-01 -5.13451482e-02 -1.63689628e-04 2.47372658e+02] [ 5.13451476e-02 9.98680968e-01 -7.80518627e-06 -6.54610423e-01] [ 1.63874474e-04 -6.09777227e-07 9.99999987e-01 -2.95402868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.43, Y:-0.65, Z:-0.30 [[ 9.98852981e-01 -4.78821102e-02 -1.63688392e-04 2.47433077e+02] [ 4.78821096e-02 9.98852994e-01 -7.83102124e-06 -6.53945893e-01] [ 1.63875606e-04 -1.57065989e-08 9.99999987e-01 -2.99007731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.49, Y:-0.66, Z:-0.30 [[ 9.98876461e-01 -4.73897583e-02 -1.63688294e-04 2.47490630e+02] [ 4.73897577e-02 9.98876474e-01 -7.83306374e-06 -6.56320256e-01] [ 1.63875593e-04 6.71143976e-08 9.99999987e-01 -3.01591646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.55, Y:-0.66, Z:-0.30 [[ 9.98818504e-01 -4.85959856e-02 -1.63687809e-04 2.47549353e+02] [ 4.85959850e-02 9.98818517e-01 -7.84318540e-06 -6.55902369e-01] [ 1.63875562e-04 -1.20651604e-07 9.99999987e-01 -3.01725435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.61, Y:-0.66, Z:-0.30 [[ 9.98771639e-01 -4.95498376e-02 -1.63686462e-04 2.47607896e+02] [ 4.95498369e-02 9.98771652e-01 -7.87119532e-06 -6.61726821e-01] [ 1.63875415e-04 -2.49110863e-07 9.99999987e-01 -2.99702055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.67, Y:-0.66, Z:-0.30 [[ 9.98926964e-01 -4.63130009e-02 -1.63686076e-04 2.47667362e+02] [ 4.63130002e-02 9.98926977e-01 -7.87921574e-06 -6.59065421e-01] [ 1.63875347e-04 2.89967781e-07 9.99999987e-01 -3.03280567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.325336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:247.73, Y:-0.66, Z:-0.30 [[ 9.99114221e-01 -4.20802489e-02 -1.63685886e-04 2.47725797e+02] [ 4.20802481e-02 9.99114234e-01 -7.88317174e-06 -6.57060105e-01] [ 1.63872624e-04 9.88246308e-07 9.99999987e-01 -3.03248450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.78, Y:-0.65, Z:-0.30 [[ 9.99187512e-01 -4.03024722e-02 -1.63684533e-04 2.47784943e+02] [ 4.03024714e-02 9.99187525e-01 -7.91115087e-06 -6.52081399e-01] [ 1.63870383e-04 1.30783193e-06 9.99999987e-01 -3.00713578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.84, Y:-0.65, Z:-0.29 [[ 9.99200233e-01 -3.99858326e-02 -1.63684343e-04 2.47844521e+02] [ 3.99858318e-02 9.99200247e-01 -7.91508054e-06 -6.48380280e-01] [ 1.63869927e-04 1.36369570e-06 9.99999987e-01 -2.93908598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.90, Y:-0.65, Z:-0.29 [[ 9.99073714e-01 -4.30312416e-02 -1.63684156e-04 2.47903471e+02] [ 4.30312409e-02 9.99073727e-01 -7.91894643e-06 -6.48432514e-01] [ 1.63873302e-04 8.68078862e-07 9.99999987e-01 -2.88926067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.56533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.96, Y:-0.65, Z:-0.29 [[ 9.99080445e-01 -4.28746682e-02 -1.63682808e-04 2.47962105e+02] [ 4.28746675e-02 9.99080459e-01 -7.94670937e-06 -6.45784606e-01] [ 1.63873008e-04 9.21555950e-07 9.99999987e-01 -2.91846388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.62533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.02, Y:-0.64, Z:-0.29 [[ 9.99333003e-01 -3.65174244e-02 -1.63681470e-04 2.48020005e+02] [ 3.65174236e-02 9.99333016e-01 -7.97418807e-06 -6.40853444e-01] [ 1.63863494e-04 1.99164375e-06 9.99999987e-01 -2.89261630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.08, Y:-0.64, Z:-0.30 [[ 9.99501751e-01 -3.15630042e-02 -1.63679874e-04 2.48078218e+02] [ 3.15630033e-02 9.99501764e-01 -8.00680521e-06 -6.36672724e-01] [ 1.63851042e-04 2.83658742e-06 9.99999987e-01 -2.95173799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.14, Y:-0.63, Z:-0.30 [[ 9.99638542e-01 -2.68841523e-02 -1.63678495e-04 2.48136125e+02] [ 2.68841514e-02 9.99638556e-01 -8.03489681e-06 -6.29035259e-01] [ 1.63835346e-04 3.63163510e-06 9.99999987e-01 -3.00722776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.20, Y:-0.63, Z:-0.29 [[ 9.99633271e-01 -2.70794594e-02 -1.63677211e-04 2.48195358e+02] [ 2.70794584e-02 9.99633284e-01 -8.06097559e-06 -6.26820159e-01] [ 1.63835475e-04 3.62572917e-06 9.99999987e-01 -2.91827526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.25, Y:-0.62, Z:-0.29 [[ 9.99633431e-01 -2.70735321e-02 -1.63676925e-04 2.48253465e+02] [ 2.70735311e-02 9.99633445e-01 -8.06678298e-06 -6.18660630e-01] [ 1.63835324e-04 3.63251364e-06 9.99999987e-01 -2.87797795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.31, Y:-0.61, Z:-0.29 [[ 9.99676931e-01 -2.54166471e-02 -1.63676443e-04 2.48312226e+02] [ 2.54166461e-02 9.99676945e-01 -8.07653876e-06 -6.14482774e-01] [ 1.63828845e-04 3.91382325e-06 9.99999987e-01 -2.86647493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.37, Y:-0.60, Z:-0.28 [[ 9.99729372e-01 -2.32627688e-02 -1.63675095e-04 2.48371471e+02] [ 2.32627677e-02 9.99729385e-01 -8.10376285e-06 -6.02532234e-01] [ 1.63819318e-04 4.29403402e-06 9.99999987e-01 -2.84678085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.43, Y:-0.59, Z:-0.29 [[ 9.99701355e-01 -2.44371393e-02 -1.63674905e-04 2.48428756e+02] [ 2.44371383e-02 9.99701369e-01 -8.10759371e-06 -5.92612320e-01] [ 1.63824153e-04 4.10542611e-06 9.99999987e-01 -2.88191257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.105336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:248.49, Y:-0.59, Z:-0.28 [[ 9.99579408e-01 -2.89996498e-02 -1.63674432e-04 2.48486294e+02] [ 2.89996488e-02 9.99579422e-01 -8.11713743e-06 -5.88367458e-01] [ 1.63840988e-04 3.36722238e-06 9.99999987e-01 -2.78157825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.54, Y:-0.58, Z:-0.28 [[ 9.99276180e-01 -3.80406182e-02 -1.63672824e-04 2.48543300e+02] [ 3.80406174e-02 9.99276194e-01 -8.14943457e-06 -5.77581882e-01] [ 1.63864366e-04 1.91732057e-06 9.99999987e-01 -2.81900454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.60, Y:-0.57, Z:-0.29 [[ 9.98901781e-01 -4.68530243e-02 -1.63672125e-04 2.48600945e+02] [ 4.68530236e-02 9.98901794e-01 -8.16344506e-06 -5.67509671e-01] [ 1.63874862e-04 4.85945864e-07 9.99999987e-01 -2.87476543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.66, Y:-0.56, Z:-0.28 [[ 9.98584683e-01 -5.31846211e-02 -1.63671639e-04 2.48659310e+02] [ 5.31846205e-02 9.98584696e-01 -8.17318216e-06 -5.63679421e-01] [ 1.63874682e-04 -5.43199486e-07 9.99999987e-01 -2.81634833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.34533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.72, Y:-0.56, Z:-0.29 [[ 9.98358009e-01 -5.72822728e-02 -1.63670222e-04 2.48716891e+02] [ 5.72822723e-02 9.98358023e-01 -8.20146214e-06 -5.59859094e-01] [ 1.63871277e-04 -1.18740680e-06 9.99999987e-01 -2.90112011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.77, Y:-0.55, Z:-0.29 [[ 9.98281161e-01 -5.86062891e-02 -1.63669720e-04 2.48774029e+02] [ 5.86062886e-02 9.98281174e-01 -8.21145700e-06 -5.52218379e-01] [ 1.63869644e-04 -1.39473204e-06 9.99999987e-01 -2.87628013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.83, Y:-0.54, Z:-0.28 [[ 9.98413787e-01 -5.63017211e-02 -1.63669147e-04 2.48832331e+02] [ 5.63017205e-02 9.98413800e-01 -8.22286749e-06 -5.43761211e-01] [ 1.63872497e-04 -1.00503031e-06 9.99999987e-01 -2.83263055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.89, Y:-0.54, Z:-0.28 [[ 9.98601400e-01 -5.28698127e-02 -1.63667745e-04 2.48890752e+02] [ 5.28698120e-02 9.98601413e-01 -8.25068805e-06 -5.36091753e-01] [ 1.63875054e-04 -4.13934265e-07 9.99999987e-01 -2.83453993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.95, Y:-0.53, Z:-0.28 [[ 9.98617755e-01 -5.25599946e-02 -1.63666347e-04 2.48948433e+02] [ 5.25599940e-02 9.98617768e-01 -8.27832030e-06 -5.28229143e-01] [ 1.63875231e-04 -3.35424582e-07 9.99999987e-01 -2.84114736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.01, Y:-0.52, Z:-0.28 [[ 9.98444367e-01 -5.57567936e-02 -1.63665590e-04 2.49007437e+02] [ 5.57567930e-02 9.98444380e-01 -8.29326960e-06 -5.23976095e-01] [ 1.63873394e-04 -8.45100085e-07 9.99999987e-01 -2.84223227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.07, Y:-0.52, Z:-0.28 [[ 9.98185149e-01 -6.02194444e-02 -1.63664230e-04 2.49066445e+02] [ 6.02194439e-02 9.98185162e-01 -8.32001047e-06 -5.24589968e-01] [ 1.63868233e-04 -1.55085803e-06 9.99999987e-01 -2.76583707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.13, Y:-0.52, Z:-0.28 [[ 9.98021448e-01 -6.28741835e-02 -1.63662794e-04 2.49125430e+02] [ 6.28741830e-02 9.98021461e-01 -8.34816975e-06 -5.23827154e-01] [ 1.63863865e-04 -1.95851199e-06 9.99999987e-01 -2.76531621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.18, Y:-0.53, Z:-0.28 [[ 9.97913285e-01 -6.45681784e-02 -1.63661342e-04 2.49184628e+02] [ 6.45681779e-02 9.97913298e-01 -8.37654190e-06 -5.26547590e-01] [ 1.63860687e-04 -2.20825218e-06 9.99999987e-01 -2.76173192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.24, Y:-0.53, Z:-0.27 [[ 9.97923798e-01 -6.44054806e-02 -1.63661034e-04 2.49243424e+02] [ 6.44054801e-02 9.97923812e-01 -8.38255346e-06 -5.27606319e-01] [ 1.63861125e-04 -2.17551786e-06 9.99999987e-01 -2.66908840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.30, Y:-0.53, Z:-0.27 [[ 9.98121633e-01 -6.12631957e-02 -1.63659531e-04 2.49301226e+02] [ 6.12631951e-02 9.98121646e-01 -8.41179196e-06 -5.26969095e-01] [ 1.63867454e-04 -1.63031426e-06 9.99999987e-01 -2.74412594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.36, Y:-0.53, Z:-0.27 [[ 9.98546818e-01 -5.38908677e-02 -1.63659000e-04 2.49359340e+02] [ 5.38908670e-02 9.98546831e-01 -8.42210982e-06 -5.25419153e-01] [ 1.63875051e-04 -4.09854441e-07 9.99999987e-01 -2.70087074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.06533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.42, Y:-0.52, Z:-0.27 [[ 9.98824650e-01 -4.84694859e-02 -1.63657288e-04 2.49416856e+02] [ 4.84694851e-02 9.98824664e-01 -8.45524691e-06 -5.24457962e-01] [ 1.63874757e-04 5.12924553e-07 9.99999987e-01 -2.71746008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.12533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.48, Y:-0.52, Z:-0.28 [[ 9.99162080e-01 -4.09281313e-02 -1.63656494e-04 2.49475492e+02] [ 4.09281305e-02 9.99162093e-01 -8.47059636e-06 -5.16859060e-01] [ 1.63866050e-04 1.76534435e-06 9.99999987e-01 -2.75155368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.53, Y:-0.51, Z:-0.27 [[ 9.99451758e-01 -3.31082549e-02 -1.63656086e-04 2.49534029e+02] [ 3.31082540e-02 9.99451771e-01 -8.47845465e-06 -5.08421847e-01] [ 1.63847072e-04 3.05543913e-06 9.99999987e-01 -2.71576794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.59, Y:-0.50, Z:-0.27 [[ 9.99606189e-01 -2.80613643e-02 -1.63654651e-04 2.49591498e+02] [ 2.80613632e-02 9.99606202e-01 -8.50606806e-06 -5.02095233e-01] [ 1.63828896e-04 3.91034567e-06 9.99999987e-01 -2.70804281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.65, Y:-0.49, Z:-0.27 [[ 9.99782813e-01 -2.08398556e-02 -1.63653895e-04 2.49649876e+02] [ 2.08398545e-02 9.99782827e-01 -8.52059422e-06 -4.88766566e-01] [ 1.63795922e-04 5.10822030e-06 9.99999987e-01 -2.74541840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.71, Y:-0.48, Z:-0.28 [[ 9.99816627e-01 -1.91490619e-02 -1.63653491e-04 2.49706967e+02] [ 1.91490608e-02 9.99816640e-01 -8.52834039e-06 -4.76216731e-01] [ 1.63786793e-04 5.39296587e-06 9.99999987e-01 -2.78572294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.77, Y:-0.47, Z:-0.27 [[ 9.99766447e-01 -2.16107593e-02 -1.63652767e-04 2.49765254e+02] [ 2.16107582e-02 9.99766460e-01 -8.54221502e-06 -4.66304957e-01] [ 1.63799151e-04 5.00355959e-06 9.99999987e-01 -2.72462662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.82, Y:-0.45, Z:-0.27 [[ 9.99657528e-01 -2.61686776e-02 -1.63651384e-04 2.49823694e+02] [ 2.61686765e-02 9.99657542e-01 -8.56862413e-06 -4.53067860e-01] [ 1.63819570e-04 4.28314948e-06 9.99999987e-01 -2.72142770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.88, Y:-0.44, Z:-0.28 [[ 9.99538503e-01 -3.03768846e-02 -1.63649978e-04 2.49881755e+02] [ 3.03768836e-02 9.99538516e-01 -8.59539049e-06 -4.41953681e-01] [ 1.63835558e-04 3.62024740e-06 9.99999987e-01 -2.76022820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.94, Y:-0.42, Z:-0.27 [[ 9.99299686e-01 -3.74180410e-02 -1.63649571e-04 2.49939220e+02] [ 3.74180401e-02 9.99299700e-01 -8.60313647e-06 -4.24813819e-01] [ 1.63856880e-04 2.47366537e-06 9.99999987e-01 -2.73525152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.00, Y:-0.42, Z:-0.27 [[ 9.99059694e-01 -4.33555091e-02 -1.63648787e-04 2.49997168e+02] [ 4.33555082e-02 9.99059708e-01 -8.61803476e-06 -4.15026791e-01] [ 1.63868548e-04 1.51485486e-06 9.99999987e-01 -2.68840744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.05, Y:-0.40, Z:-0.27 [[ 9.98537410e-01 -5.40649118e-02 -1.63647060e-04 2.50054305e+02] [ 5.40649111e-02 9.98537423e-01 -8.65069611e-06 -4.01662931e-01] [ 1.63875413e-04 -2.09520080e-07 9.99999987e-01 -2.73663007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.785336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:250.11, Y:-0.39, Z:-0.28 [[ 9.97747464e-01 -6.70818210e-02 -1.63646526e-04 2.50111929e+02] [ 6.70818204e-02 9.97747478e-01 -8.66078904e-06 -3.91062361e-01] [ 1.63858890e-04 -2.33642656e-06 9.99999987e-01 -2.78550713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.84533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.17, Y:-0.38, Z:-0.27 [[ 9.97148597e-01 -7.54628991e-02 -1.63645737e-04 2.50170709e+02] [ 7.54628987e-02 9.97148610e-01 -8.67566387e-06 -3.81911964e-01] [ 1.63833810e-04 -3.69825564e-06 9.99999987e-01 -2.71548045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.905336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:250.23, Y:-0.38, Z:-0.27 [[ 9.96444114e-01 -8.42561645e-02 -1.63645416e-04 2.50229501e+02] [ 8.42561642e-02 9.96444127e-01 -8.68171623e-06 -3.78122024e-01] [ 1.63795002e-04 -5.13729002e-06 9.99999987e-01 -2.67610694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.965336195 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:250.29, Y:-0.37, Z:-0.27 [[ 9.96276805e-01 -8.62119484e-02 -1.63643924e-04 2.50287999e+02] [ 8.62119482e-02 9.96276819e-01 -8.70974505e-06 -3.73492961e-01] [ 1.63785533e-04 -5.43074456e-06 9.99999987e-01 -2.67692009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.35, Y:-0.37, Z:-0.27 [[ 9.96685962e-01 -8.13453484e-02 -1.63642430e-04 2.50346355e+02] [ 8.13453481e-02 9.96685976e-01 -8.73772563e-06 -3.67337396e-01] [ 1.63810889e-04 -4.60278198e-06 9.99999987e-01 -2.69786344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08533619499997 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:250.40, Y:-0.37, Z:-0.27 [[ 9.97316713e-01 -7.32075572e-02 -1.63640942e-04 2.50404644e+02] [ 7.32075567e-02 9.97316727e-01 -8.76551585e-06 -3.69673183e-01] [ 1.63843550e-04 -3.23775806e-06 9.99999987e-01 -2.68753850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.46, Y:-0.37, Z:-0.26 [[ 9.97735868e-01 -6.72540790e-02 -1.63640519e-04 2.50463692e+02] [ 6.72540785e-02 9.97735881e-01 -8.77339723e-06 -3.69150147e-01] [ 1.63860064e-04 -2.25195923e-06 9.99999987e-01 -2.61528560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.52, Y:-0.37, Z:-0.26 [[ 9.98118555e-01 -6.13133260e-02 -1.63639039e-04 2.50521655e+02] [ 6.13133253e-02 9.98118568e-01 -8.80091787e-06 -3.67176135e-01] [ 1.63870777e-04 -1.24889422e-06 9.99999987e-01 -2.61587262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.58, Y:-0.37, Z:-0.26 [[ 9.98716023e-01 -5.06584460e-02 -1.63638513e-04 2.50579804e+02] [ 5.06584452e-02 9.98716037e-01 -8.81069745e-06 -3.69157371e-01] [ 1.63874743e-04 5.09712096e-07 9.99999987e-01 -2.64918466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.64, Y:-0.37, Z:-0.26 [[ 9.99063791e-01 -4.32610129e-02 -1.63637992e-04 2.50638477e+02] [ 4.32610120e-02 9.99063804e-01 -8.82035688e-06 -3.69011835e-01] [ 1.63866372e-04 1.73295404e-06 9.99999987e-01 -2.58997632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.70, Y:-0.37, Z:-0.26 [[ 9.99354639e-01 -3.59204397e-02 -1.63636494e-04 2.50696445e+02] [ 3.59204387e-02 9.99354653e-01 -8.84805218e-06 -3.67996659e-01] [ 1.63848718e-04 2.96444733e-06 9.99999987e-01 -2.56291175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.76, Y:-0.37, Z:-0.27 [[ 9.99616286e-01 -2.76993666e-02 -1.63635683e-04 2.50757139e+02] [ 2.76993656e-02 9.99616299e-01 -8.86303816e-06 -3.66435973e-01] [ 1.63818396e-04 4.32703269e-06 9.99999987e-01 -2.70360846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.505336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:250.82, Y:-0.37, Z:-0.27 [[ 9.99634970e-01 -2.70166577e-02 -1.63635666e-04 2.50815800e+02] [ 2.70166566e-02 9.99634983e-01 -8.86335550e-06 -3.67413464e-01] [ 1.63815394e-04 4.43923152e-06 9.99999987e-01 -2.65043272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.87, Y:-0.37, Z:-0.27 [[ 9.99596060e-01 -2.84198984e-02 -1.63634126e-04 2.50873904e+02] [ 2.84198974e-02 9.99596073e-01 -8.89168266e-06 -3.65396520e-01] [ 1.63820731e-04 4.23762588e-06 9.99999987e-01 -2.68751789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.93, Y:-0.36, Z:-0.27 [[ 9.99553950e-01 -2.98642615e-02 -1.63633584e-04 2.50931437e+02] [ 2.98642605e-02 9.99553963e-01 -8.90164456e-06 -3.58174768e-01] [ 1.63826439e-04 4.01087799e-06 9.99999987e-01 -2.73874803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.99, Y:-0.35, Z:-0.26 [[ 9.99480236e-01 -3.22371201e-02 -1.63633056e-04 2.50991191e+02] [ 3.22371191e-02 9.99480249e-01 -8.91133867e-06 -3.54994770e-01] [ 1.63835284e-04 3.63164855e-06 9.99999987e-01 -2.62110504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.05, Y:-0.35, Z:-0.26 [[ 9.99424692e-01 -3.39154494e-02 -1.63632842e-04 2.51048543e+02] [ 3.39154484e-02 9.99424706e-01 -8.91527884e-06 -3.53208977e-01] [ 1.63841070e-04 3.36046861e-06 9.99999987e-01 -2.63054281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.11, Y:-0.34, Z:-0.26 [[ 9.99298896e-01 -3.74391413e-02 -1.63631659e-04 2.51106778e+02] [ 3.74391403e-02 9.99298910e-01 -8.93694224e-06 -3.40693953e-01] [ 1.63851529e-04 2.80444789e-06 9.99999987e-01 -2.62898136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.17, Y:-0.33, Z:-0.26 [[ 9.99181292e-01 -4.04563786e-02 -1.63630121e-04 2.51165165e+02] [ 4.04563776e-02 9.99181306e-01 -8.96500797e-06 -3.32784133e-01] [ 1.63858850e-04 2.33778628e-06 9.99999987e-01 -2.62099885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.22, Y:-0.33, Z:-0.26 [[ 9.98897714e-01 -4.69396400e-02 -1.63629793e-04 2.51224150e+02] [ 4.69396392e-02 9.98897728e-01 -8.97098099e-06 -3.29256538e-01] [ 1.63870523e-04 1.28036894e-06 9.99999987e-01 -2.63497753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.28, Y:-0.32, Z:-0.26 [[ 9.98732453e-01 -5.03334979e-02 -1.63628340e-04 2.51281528e+02] [ 5.03334971e-02 9.98732466e-01 -8.99740613e-06 -3.24066705e-01] [ 1.63873807e-04 7.50014892e-07 9.99999987e-01 -2.63788827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.34, Y:-0.32, Z:-0.26 [[ 9.98690238e-01 -5.11642533e-02 -1.63627453e-04 2.51340019e+02] [ 5.11642525e-02 9.98690252e-01 -9.01352355e-06 -3.16165088e-01] [ 1.63874312e-04 6.29841681e-07 9.99999987e-01 -2.64531993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.40, Y:-0.31, Z:-0.26 [[ 9.98507277e-01 -5.46185917e-02 -1.63625943e-04 2.51398278e+02] [ 5.46185910e-02 9.98507291e-01 -9.04084689e-06 -3.10124266e-01] [ 1.63875495e-04 9.03329723e-08 9.99999987e-01 -2.60819149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.46, Y:-0.31, Z:-0.26 [[ 9.98208278e-01 -5.98348371e-02 -1.63624367e-04 2.51457548e+02] [ 5.98348364e-02 9.98208291e-01 -9.06927981e-06 -3.10708020e-01] [ 1.63873858e-04 -7.37407049e-07 9.99999987e-01 -2.60031553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.52, Y:-0.31, Z:-0.27 [[ 9.98116206e-01 -6.13515549e-02 -1.63622787e-04 2.51515085e+02] [ 6.13515542e-02 9.98116219e-01 -9.09768998e-06 -3.08297146e-01] [ 1.63872715e-04 -9.57960503e-07 9.99999987e-01 -2.66545632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.57, Y:-0.30, Z:-0.26 [[ 9.98116858e-01 -6.13409444e-02 -1.63622229e-04 2.51573765e+02] [ 6.13409437e-02 9.98116871e-01 -9.10770999e-06 -3.02681853e-01] [ 1.63872783e-04 -9.46183090e-07 9.99999987e-01 -2.59654312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.63, Y:-0.30, Z:-0.26 [[ 9.98204677e-01 -5.98948792e-02 -1.63620621e-04 2.51631784e+02] [ 5.98948785e-02 9.98204690e-01 -9.13652021e-06 -3.02941819e-01] [ 1.63874102e-04 -6.79920001e-07 9.99999987e-01 -2.59224269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.40533619499996 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:251.69, Y:-0.30, Z:-0.26 [[ 9.98410496e-01 -5.63600461e-02 -1.63618792e-04 2.51688834e+02] [ 5.63600454e-02 9.98410509e-01 -9.16914482e-06 -2.96089426e-01] [ 1.63875495e-04 -6.69921321e-08 9.99999987e-01 -2.60690904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.75, Y:-0.29, Z:-0.25 [[ 9.98962617e-01 -4.55374855e-02 -1.63617533e-04 2.51748356e+02] [ 4.55374846e-02 9.98962631e-01 -9.19155590e-06 -2.92552800e-01] [ 1.63866362e-04 1.73128982e-06 9.99999987e-01 -2.54149879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.81, Y:-0.29, Z:-0.26 [[ 9.99424030e-01 -3.39349710e-02 -1.63617422e-04 2.51806894e+02] [ 3.39349699e-02 9.99424043e-01 -9.19353445e-06 -2.85978699e-01] [ 1.63835168e-04 3.63588694e-06 9.99999987e-01 -2.58325963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.87, Y:-0.28, Z:-0.26 [[ 9.99544696e-01 -3.01724147e-02 -1.63616991e-04 2.51865520e+02] [ 3.01724136e-02 9.99544709e-01 -9.20120102e-06 -2.77735499e-01] [ 1.63820120e-04 4.26029215e-06 9.99999987e-01 -2.58668341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.92, Y:-0.26, Z:-0.26 [[ 9.99573822e-01 -2.91915762e-02 -1.63615477e-04 2.51923756e+02] [ 2.91915750e-02 9.99573835e-01 -9.22804965e-06 -2.63481128e-01] [ 1.63815131e-04 4.44792339e-06 9.99999987e-01 -2.58561877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.98, Y:-0.26, Z:-0.26 [[ 9.99517694e-01 -3.10540321e-02 -1.63615025e-04 2.51982573e+02] [ 3.10540310e-02 9.99517707e-01 -9.23605739e-06 -2.58451295e-01] [ 1.63822931e-04 4.15069674e-06 9.99999987e-01 -2.58731996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.04, Y:-0.25, Z:-0.25 [[ 9.99218715e-01 -3.95212870e-02 -1.63614689e-04 2.52040958e+02] [ 3.95212861e-02 9.99218729e-01 -9.24199463e-06 -2.48898535e-01] [ 1.63852118e-04 2.76851106e-06 9.99999987e-01 -2.50275168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.10, Y:-0.25, Z:-0.25 [[ 9.98500671e-01 -5.47392299e-02 -1.63614474e-04 2.52099541e+02] [ 5.47392291e-02 9.98500684e-01 -9.24580151e-06 -2.47127028e-01] [ 1.63875273e-04 2.75808820e-07 9.99999987e-01 -2.53779848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.16, Y:-0.24, Z:-0.26 [[ 9.97971326e-01 -6.36647993e-02 -1.63612893e-04 2.52157709e+02] [ 6.36647986e-02 9.97971339e-01 -9.27370326e-06 -2.44389527e-01] [ 1.63871386e-04 -1.16149194e-06 9.99999987e-01 -2.58538508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.22, Y:-0.25, Z:-0.26 [[ 9.97447562e-01 -7.14026212e-02 -1.63611313e-04 2.52216558e+02] [ 7.14026206e-02 9.97447575e-01 -9.30148844e-06 -2.48202126e-01] [ 1.63857858e-04 -2.40452956e-06 9.99999987e-01 -2.62875009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.28, Y:-0.25, Z:-0.26 [[ 9.97452011e-01 -7.13404483e-02 -1.63610877e-04 2.52275683e+02] [ 7.13404478e-02 9.97452024e-01 -9.30916160e-06 -2.45993324e-01] [ 1.63858120e-04 -2.38663124e-06 9.99999987e-01 -2.61319726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.33, Y:-0.25, Z:-0.27 [[ 9.97921326e-01 -6.44437763e-02 -1.63610085e-04 2.52333544e+02] [ 6.44437757e-02 9.97921339e-01 -9.32305337e-06 -2.45024665e-01] [ 1.63870808e-04 -1.23997784e-06 9.99999987e-01 -2.67017306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.39, Y:-0.24, Z:-0.26 [[ 9.98138525e-01 -6.09873667e-02 -1.63609515e-04 2.52392208e+02] [ 6.09873660e-02 9.98138538e-01 -9.33304167e-06 -2.43302294e-01] [ 1.63874160e-04 -6.62444946e-07 9.99999987e-01 -2.60265779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.45, Y:-0.24, Z:-0.26 [[ 9.98884450e-01 -4.72210665e-02 -1.63607883e-04 2.52449938e+02] [ 4.72210656e-02 9.98884463e-01 -9.36156647e-06 -2.41032125e-01] [ 1.63867436e-04 1.62538460e-06 9.99999987e-01 -2.62991659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.51, Y:-0.23, Z:-0.25 [[ 9.99504635e-01 -3.14715309e-02 -1.63607307e-04 2.52509409e+02] [ 3.14715298e-02 9.99504649e-01 -9.37162612e-06 -2.31288122e-01] [ 1.63821203e-04 4.21801153e-06 9.99999987e-01 -2.54901754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.57, Y:-0.23, Z:-0.26 [[ 9.99730745e-01 -2.32036680e-02 -1.63607083e-04 2.52567776e+02] [ 2.32036668e-02 9.99730759e-01 -9.37552511e-06 -2.25006221e-01] [ 1.63780580e-04 5.57671647e-06 9.99999987e-01 -2.55113810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.63, Y:-0.22, Z:-0.26 [[ 9.99909121e-01 -1.34804699e-02 -1.63605535e-04 2.52626404e+02] [ 1.34804685e-02 9.99909134e-01 -9.40246862e-06 -2.21088294e-01] [ 1.63717419e-04 7.19613487e-06 9.99999987e-01 -2.56462523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.69, Y:-0.21, Z:-0.25 [[ 9.99959059e-01 -9.04731527e-03 -1.63605207e-04 2.52685421e+02] [ 9.04731385e-03 9.99959072e-01 -9.40816886e-06 -2.10755077e-01] [ 1.63683630e-04 7.92759602e-06 9.99999987e-01 -2.49611493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.74, Y:-0.19, Z:-0.25 [[ 9.99972702e-01 -7.38710388e-03 -1.63604989e-04 2.52744561e+02] [ 7.38710244e-03 9.99972715e-01 -9.41196776e-06 -1.92374026e-01] [ 1.63670052e-04 8.20314402e-06 9.99999987e-01 -2.48410268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.80, Y:-0.18, Z:-0.25 [[ 9.99813265e-01 -1.93237611e-02 -1.63604989e-04 2.52804488e+02] [ 1.93237598e-02 9.99813279e-01 -9.41196776e-06 -1.79191992e-01] [ 1.63756315e-04 6.24874671e-06 9.99999987e-01 -2.53105823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.86, Y:-0.18, Z:-0.25 [[ 9.99418617e-01 -3.40940038e-02 -1.63604989e-04 2.52864269e+02] [ 3.40940027e-02 9.99418630e-01 -9.41196776e-06 -1.75159596e-01] [ 1.63830765e-04 3.82854688e-06 9.99999987e-01 -2.49497620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.92, Y:-0.17, Z:-0.25 [[ 9.98428624e-01 -5.60379853e-02 -1.63604875e-04 2.52923771e+02] [ 5.60379845e-02 9.98428638e-01 -9.41394856e-06 -1.65512858e-01] [ 1.63875331e-04 2.31068272e-07 9.99999987e-01 -2.49061434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.98, Y:-0.17, Z:-0.26 [[ 9.97282165e-01 -7.36767007e-02 -1.63604643e-04 2.52981463e+02] [ 7.36767001e-02 9.97282179e-01 -9.41797842e-06 -1.68168426e-01] [ 1.63853880e-04 -2.66146828e-06 9.99999987e-01 -2.56660141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.04, Y:-0.17, Z:-0.26 [[ 9.96653812e-01 -8.17383214e-02 -1.63604069e-04 2.53040637e+02] [ 8.17383210e-02 9.96653825e-01 -9.42793852e-06 -1.70803633e-01] [ 1.63827245e-04 -3.97633101e-06 9.99999987e-01 -2.59645175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.10, Y:-0.17, Z:-0.26 [[ 9.96289073e-01 -8.60700602e-02 -1.63603630e-04 2.53099083e+02] [ 8.60700598e-02 9.96289087e-01 -9.43555206e-06 -1.65017601e-01] [ 1.63808629e-04 -4.68083676e-06 9.99999987e-01 -2.58278932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.16, Y:-0.17, Z:-0.26 [[ 9.96449155e-01 -8.41965204e-02 -1.63602002e-04 2.53157740e+02] [ 8.41965200e-02 9.96449169e-01 -9.46368323e-06 -1.66664709e-01] [ 1.63817888e-04 -4.34464010e-06 9.99999987e-01 -2.61892964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.22, Y:-0.17, Z:-0.26 [[ 9.96997819e-01 -7.74294608e-02 -1.63600382e-04 2.53215569e+02] [ 7.74294603e-02 9.96997833e-01 -9.49160884e-06 -1.70218622e-01] [ 1.63844157e-04 -3.20437598e-06 9.99999987e-01 -2.61499658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.27, Y:-0.17, Z:-0.26 [[ 9.97775527e-01 -6.66631193e-02 -1.63599809e-04 2.53274130e+02] [ 6.66631186e-02 9.97775540e-01 -9.50148598e-06 -1.68652509e-01] [ 1.63869286e-04 -1.42572325e-06 9.99999987e-01 -2.59850680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.33, Y:-0.17, Z:-0.26 [[ 9.98325120e-01 -5.78526443e-02 -1.63598216e-04 2.53332171e+02] [ 5.78526435e-02 9.98325133e-01 -9.52882135e-06 -1.72685221e-01] [ 1.63875479e-04 4.82724318e-08 9.99999987e-01 -2.56294313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.39, Y:-0.17, Z:-0.25 [[ 9.98598214e-01 -5.29299562e-02 -1.63597652e-04 2.53390967e+02] [ 5.29299554e-02 9.98598227e-01 -9.53849855e-06 -1.74585506e-01] [ 1.63873198e-04 8.65911190e-07 9.99999987e-01 -2.52566397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.45, Y:-0.17, Z:-0.26 [[ 9.99096268e-01 -4.25043598e-02 -1.63596052e-04 2.53448720e+02] [ 4.25043588e-02 9.99096281e-01 -9.56586264e-06 -1.68852548e-01] [ 1.63854798e-04 2.60367237e-06 9.99999987e-01 -2.56054748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.51, Y:-0.16, Z:-0.25 [[ 9.99446524e-01 -3.32658929e-02 -1.63595209e-04 2.53506346e+02] [ 3.32658918e-02 9.99446537e-01 -9.58026145e-06 -1.64758767e-01] [ 1.63823361e-04 4.13281848e-06 9.99999987e-01 -2.52820335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.56, Y:-0.16, Z:-0.26 [[ 9.99529603e-01 -3.06683234e-02 -1.63593331e-04 2.53564021e+02] [ 3.06683222e-02 9.99529616e-01 -9.61222268e-06 -1.61264059e-01] [ 1.63811170e-04 4.59056814e-06 9.99999987e-01 -2.58176763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.62, Y:-0.16, Z:-0.25 [[ 9.99482799e-01 -3.21575410e-02 -1.63592476e-04 2.53623067e+02] [ 3.21575398e-02 9.99482813e-01 -9.62674958e-06 -1.57265085e-01] [ 1.63817441e-04 4.36103905e-06 9.99999987e-01 -2.53381004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.68, Y:-0.15, Z:-0.25 [[ 9.99375617e-01 -3.53319744e-02 -1.63590874e-04 2.53681067e+02] [ 3.53319733e-02 9.99375631e-01 -9.65389859e-06 -1.48688570e-01] [ 1.63829824e-04 3.86788247e-06 9.99999987e-01 -2.50770479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.74, Y:-0.14, Z:-0.25 [[ 9.99173231e-01 -4.06549780e-02 -1.63589198e-04 2.53739707e+02] [ 4.06549770e-02 9.99173245e-01 -9.68221354e-06 -1.41660968e-01] [ 1.63847580e-04 3.02349351e-06 9.99999987e-01 -2.54365008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.80, Y:-0.14, Z:-0.26 [[ 9.98930775e-01 -4.62307253e-02 -1.63588764e-04 2.53798820e+02] [ 4.62307244e-02 9.98930788e-01 -9.68955053e-06 -1.36414509e-01] [ 1.63861807e-04 2.11636318e-06 9.99999987e-01 -2.55477493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.86, Y:-0.13, Z:-0.25 [[ 9.98717273e-01 -5.06337945e-02 -1.63587216e-04 2.53857267e+02] [ 5.06337936e-02 9.98717287e-01 -9.71561504e-06 -1.31393724e-01] [ 1.63869318e-04 1.42011126e-06 9.99999987e-01 -2.54206106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.685336195 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:253.92, Y:-0.13, Z:-0.25 [[ 9.98272318e-01 -5.87567141e-02 -1.63585552e-04 2.53915365e+02] [ 5.87567133e-02 9.98272332e-01 -9.74353812e-06 -1.28730792e-01] [ 1.63875429e-04 1.14954993e-07 9.99999987e-01 -2.52309193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.97, Y:-0.13, Z:-0.25 [[ 9.97814279e-01 -6.60805383e-02 -1.63584965e-04 2.53974110e+02] [ 6.60805376e-02 9.97814293e-01 -9.75338365e-06 -1.28317439e-01] [ 1.63871925e-04 -1.07771698e-06 9.99999987e-01 -2.52655193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.03, Y:-0.13, Z:-0.25 [[ 9.97615437e-01 -6.90174833e-02 -1.63583331e-04 2.54032342e+02] [ 6.90174826e-02 9.97615450e-01 -9.78071239e-06 -1.25665071e-01] [ 1.63868299e-04 -1.53272005e-06 9.99999987e-01 -2.50572285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.09, Y:-0.13, Z:-0.26 [[ 9.97349435e-01 -7.27604184e-02 -1.63582754e-04 2.54091942e+02] [ 7.27604178e-02 9.97349448e-01 -9.79036523e-06 -1.31548915e-01] [ 1.63861520e-04 -2.13793427e-06 9.99999987e-01 -2.60299733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.15, Y:-0.13, Z:-0.26 [[ 9.97289254e-01 -7.35806904e-02 -1.63582525e-04 2.54149409e+02] [ 7.35806898e-02 9.97289267e-01 -9.79418499e-06 -1.32847217e-01] [ 1.63859759e-04 -2.26887959e-06 9.99999987e-01 -2.56933281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.21, Y:-0.13, Z:-0.26 [[ 9.97721180e-01 -6.74716184e-02 -1.63581849e-04 2.54207103e+02] [ 6.74716177e-02 9.97721194e-01 -9.80546741e-06 -1.31768585e-01] [ 1.63870668e-04 -1.25400943e-06 9.99999987e-01 -2.60467969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.27, Y:-0.13, Z:-0.26 [[ 9.97908987e-01 -6.46345582e-02 -1.63581292e-04 2.54265330e+02] [ 6.46345575e-02 9.97909001e-01 -9.81475182e-06 -1.27924696e-01] [ 1.63873615e-04 -7.78775340e-07 9.99999987e-01 -2.61155550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.33, Y:-0.13, Z:-0.26 [[ 9.98241430e-01 -5.92791761e-02 -1.63579731e-04 2.54325115e+02] [ 5.92791753e-02 9.98241443e-01 -9.84069247e-06 -1.25479938e-01] [ 1.63875415e-04 1.26515373e-07 9.99999987e-01 -2.57137521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.38, Y:-0.12, Z:-0.26 [[ 9.98561404e-01 -5.36199203e-02 -1.63579509e-04 2.54383165e+02] [ 5.36199194e-02 9.98561417e-01 -9.84439012e-06 -1.23120797e-01] [ 1.63872041e-04 1.05910796e-06 9.99999987e-01 -2.56278647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.44, Y:-0.12, Z:-0.26 [[ 9.98646845e-01 -5.20043520e-02 -1.63578955e-04 2.54442489e+02] [ 5.20043511e-02 9.98646858e-01 -9.85357090e-06 -1.19522598e-01] [ 1.63870039e-04 1.33342005e-06 9.99999987e-01 -2.63660124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.50, Y:-0.11, Z:-0.25 [[ 9.98613303e-01 -5.26445055e-02 -1.63577541e-04 2.54500888e+02] [ 5.26445046e-02 9.98613317e-01 -9.87699808e-06 -1.12957602e-01] [ 1.63870680e-04 1.25184308e-06 9.99999987e-01 -2.54240124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.56, Y:-0.11, Z:-0.26 [[ 9.98469753e-01 -5.53003222e-02 -1.63575841e-04 2.54558978e+02] [ 5.53003214e-02 9.98469766e-01 -9.90506335e-06 -1.12024323e-01] [ 1.63873285e-04 8.44109557e-07 9.99999987e-01 -2.64076755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.62, Y:-0.11, Z:-0.26 [[ 9.98421279e-01 -5.61686932e-02 -1.63574935e-04 2.54616285e+02] [ 5.61686923e-02 9.98421293e-01 -9.92000544e-06 -1.09001537e-01] [ 1.63873892e-04 7.16554309e-07 9.99999987e-01 -2.60405310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.67, Y:-0.11, Z:-0.25 [[ 9.98369469e-01 -5.70821934e-02 -1.63574298e-04 2.54674256e+02] [ 5.70821926e-02 9.98369482e-01 -9.93050895e-06 -1.08352522e-01] [ 1.63874442e-04 5.77137388e-07 9.99999987e-01 -2.50676857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.73, Y:-0.10, Z:-0.26 [[ 9.98301912e-01 -5.82517402e-02 -1.63572319e-04 2.54733516e+02] [ 5.82517393e-02 9.98301926e-01 -9.96298671e-06 -1.04526486e-01] [ 1.63874923e-04 4.17696570e-07 9.99999987e-01 -2.57593094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.79, Y:-0.10, Z:-0.26 [[ 9.98287964e-01 -5.84902981e-02 -1.63572072e-04 2.54791610e+02] [ 5.84902973e-02 9.98287977e-01 -9.96705018e-06 -1.00437892e-01] [ 1.63875008e-04 3.82607119e-07 9.99999987e-01 -2.55612247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.85, Y:-0.10, Z:-0.26 [[ 9.98269344e-01 -5.88072203e-02 -1.63571453e-04 2.54849287e+02] [ 5.88072195e-02 9.98269358e-01 -9.97719044e-06 -1.01513383e-01] [ 1.63875101e-04 3.40740999e-07 9.99999987e-01 -2.56571582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.91, Y:-0.10, Z:-0.26 [[ 9.98167622e-01 -6.05092726e-02 -1.63570842e-04 2.54908287e+02] [ 6.05092718e-02 9.98167635e-01 -9.98720082e-06 -9.81408924e-02] [ 1.63875439e-04 7.13479526e-08 9.99999987e-01 -2.59722031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.97, Y:-0.10, Z:-0.25 [[ 9.98118593e-01 -6.13127077e-02 -1.63570342e-04 2.54968254e+02] [ 6.13127069e-02 9.98118606e-01 -9.99539310e-06 -9.98276032e-02] [ 1.63875446e-04 -5.23527159e-08 9.99999987e-01 -2.53391363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.03, Y:-0.10, Z:-0.25 [[ 9.98293118e-01 -5.84022518e-02 -1.63570090e-04 2.55026456e+02] [ 5.84022509e-02 9.98293132e-01 -9.99950850e-06 -9.98387522e-02] [ 1.63874891e-04 4.29579085e-07 9.99999987e-01 -2.54061114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.09, Y:-0.10, Z:-0.25 [[ 9.98495220e-01 -5.48385797e-02 -1.63569593e-04 2.55085627e+02] [ 5.48385788e-02 9.98495233e-01 -1.00076230e-05 -9.63472661e-02] [ 1.63872263e-04 1.02263971e-06 9.99999987e-01 -2.51141506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.14, Y:-0.09, Z:-0.26 [[ 9.98805996e-01 -4.88523946e-02 -1.63567982e-04 2.55143681e+02] [ 4.88523936e-02 9.98806009e-01 -1.00338888e-05 -9.19296429e-02] [ 1.63862863e-04 2.03122089e-06 9.99999987e-01 -2.58847174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.005336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:255.20, Y:-0.09, Z:-0.26 [[ 9.98965812e-01 -4.54673496e-02 -1.63567370e-04 2.55202458e+02] [ 4.54673486e-02 9.98965825e-01 -1.00438553e-05 -8.53327729e-02] [ 1.63854880e-04 2.59649343e-06 9.99999987e-01 -2.62103079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.26, Y:-0.08, Z:-0.26 [[ 9.99030286e-01 -4.40279579e-02 -1.63566897e-04 2.55260482e+02] [ 4.40279568e-02 9.99030299e-01 -1.00515582e-05 -8.24198709e-02] [ 1.63850836e-04 2.84029484e-06 9.99999987e-01 -2.63930990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.125336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:255.32, Y:-0.08, Z:-0.25 [[ 9.99035301e-01 -4.39140106e-02 -1.63566311e-04 2.55319207e+02] [ 4.39140095e-02 9.99035315e-01 -1.00610787e-05 -7.94350223e-02] [ 1.63850344e-04 2.86852025e-06 9.99999987e-01 -2.54972177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.38, Y:-0.07, Z:-0.26 [[ 9.98995783e-01 -4.48040050e-02 -1.63564600e-04 2.55376419e+02] [ 4.48040039e-02 9.98995796e-01 -1.00888302e-05 -7.19018062e-02] [ 1.63852367e-04 2.75034991e-06 9.99999987e-01 -2.55646209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.44, Y:-0.06, Z:-0.26 [[ 9.98747402e-01 -5.00359898e-02 -1.63563667e-04 2.55435037e+02] [ 5.00359888e-02 9.98747415e-01 -1.01039340e-05 -6.46849223e-02] [ 1.63864350e-04 1.90720806e-06 9.99999987e-01 -2.55793011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.49, Y:-0.06, Z:-0.25 [[ 9.98414405e-01 -5.62907612e-02 -1.63561916e-04 2.55493774e+02] [ 5.62907603e-02 9.98414418e-01 -1.01321909e-05 -6.21928180e-02] [ 1.63872924e-04 9.09100696e-07 9.99999987e-01 -2.54032630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.55, Y:-0.05, Z:-0.25 [[ 9.98249500e-01 -5.91431293e-02 -1.63561402e-04 2.55551402e+02] [ 5.91431284e-02 9.98249513e-01 -1.01404811e-05 -5.40364531e-02] [ 1.63874830e-04 4.49197161e-07 9.99999987e-01 -2.50940548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.61, Y:-0.05, Z:-0.25 [[ 9.98146159e-01 -6.08622927e-02 -1.63559387e-04 2.55609844e+02] [ 6.08622918e-02 9.98146172e-01 -1.01728723e-05 -4.86840273e-02] [ 1.63875321e-04 1.99414264e-07 9.99999987e-01 -2.48976566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.67, Y:-0.05, Z:-0.25 [[ 9.97951596e-01 -6.39733211e-02 -1.63559013e-04 2.55668763e+02] [ 6.39733203e-02 9.97951609e-01 -1.01788966e-05 -4.70787571e-02] [ 1.63875158e-04 -3.05366976e-07 9.99999987e-01 -2.52318951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.73, Y:-0.04, Z:-0.25 [[ 9.97716449e-01 -6.75415486e-02 -1.63558510e-04 2.55727701e+02] [ 6.75415478e-02 9.97716462e-01 -1.01869672e-05 -4.14474198e-02] [ 1.63873061e-04 -8.83290216e-07 9.99999987e-01 -2.52894238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.79, Y:-0.04, Z:-0.26 [[ 9.97571767e-01 -6.96458411e-02 -1.63556738e-04 2.55785904e+02] [ 6.96458404e-02 9.97571780e-01 -1.02153390e-05 -3.83425695e-02] [ 1.63871042e-04 -1.20051270e-06 9.99999987e-01 -2.58171261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.84, Y:-0.03, Z:-0.25 [[ 9.97628075e-01 -6.88345696e-02 -1.63554983e-04 2.55844712e+02] [ 6.88345688e-02 9.97628088e-01 -1.02433569e-05 -3.13848615e-02] [ 1.63872142e-04 -1.03917632e-06 9.99999987e-01 -2.54593530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.90, Y:-0.03, Z:-0.26 [[ 9.97981188e-01 -6.35100094e-02 -1.63553215e-04 2.55902647e+02] [ 6.35100085e-02 9.97981202e-01 -1.02715061e-05 -2.60772102e-02] [ 1.63875378e-04 -1.36496243e-07 9.99999987e-01 -2.61176910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.96, Y:-0.02, Z:-0.26 [[ 9.98174674e-01 -6.03928322e-02 -1.63552588e-04 2.55961725e+02] [ 6.03928313e-02 9.98174687e-01 -1.02814781e-05 -1.90375830e-02] [ 1.63874981e-04 3.85307124e-07 9.99999987e-01 -2.57938645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.02, Y:-0.01, Z:-0.26 [[ 9.98290055e-01 -5.84545858e-02 -1.63550969e-04 2.56018748e+02] [ 5.84545849e-02 9.98290069e-01 -1.03071795e-05 -1.00272529e-02] [ 1.63873810e-04 7.29250847e-07 9.99999987e-01 -2.56469658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.08, Y:-0.00, Z:-0.25 [[ 9.98288902e-01 -5.84742722e-02 -1.63549883e-04 2.56076843e+02] [ 5.84742713e-02 9.98288916e-01 -1.03243794e-05 -3.92420165e-03] [ 1.63873746e-04 7.43253157e-07 9.99999987e-01 -2.52162982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.14, Y:0.01, Z:-0.25 [[ 9.98169870e-01 -6.04721756e-02 -1.63549265e-04 2.56135388e+02] [ 6.04721747e-02 9.98169883e-01 -1.03341660e-05 6.76742151e-03] [ 1.63874880e-04 4.25073442e-07 9.99999987e-01 -2.54351394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.19, Y:0.01, Z:-0.26 [[ 9.97833767e-01 -6.57856184e-02 -1.63547514e-04 2.56193601e+02] [ 6.57856176e-02 9.97833780e-01 -1.03617910e-05 1.27785012e-02] [ 1.63874891e-04 -4.19729297e-07 9.99999987e-01 -2.55719400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.25, Y:0.02, Z:-0.25 [[ 9.97595235e-01 -6.93088728e-02 -1.63545774e-04 2.56250863e+02] [ 6.93088720e-02 9.97595249e-01 -1.03891884e-05 1.72369864e-02] [ 1.63872550e-04 -9.70968271e-07 9.99999987e-01 -2.54277392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.31, Y:0.03, Z:-0.25 [[ 9.97349438e-01 -7.27603693e-02 -1.63545161e-04 2.56309566e+02] [ 7.27603686e-02 9.97349452e-01 -1.03988276e-05 2.64021149e-02] [ 1.63868299e-04 -1.52834128e-06 9.99999987e-01 -2.51450009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.37, Y:0.03, Z:-0.25 [[ 9.97312720e-01 -7.32619339e-02 -1.63543366e-04 2.56367970e+02] [ 7.32619331e-02 9.97312734e-01 -1.04269751e-05 3.30815146e-02] [ 1.63867782e-04 -1.58254823e-06 9.99999987e-01 -2.50498877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.265336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:256.43, Y:0.04, Z:-0.25 [[ 9.97180456e-01 -7.50407364e-02 -1.63541555e-04 2.56427209e+02] [ 7.50407357e-02 9.97180469e-01 -1.04553131e-05 3.51101743e-02] [ 1.63865019e-04 -1.84644475e-06 9.99999987e-01 -2.52669397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.48, Y:0.04, Z:-0.25 [[ 9.96786991e-01 -8.00978662e-02 -1.63539744e-04 2.56484799e+02] [ 8.00978656e-02 9.96787004e-01 -1.04835572e-05 3.63891776e-02] [ 1.63854002e-04 -2.64931096e-06 9.99999987e-01 -2.51489991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.54, Y:0.04, Z:-0.26 [[ 9.96552911e-01 -8.29594350e-02 -1.63539105e-04 2.56544388e+02] [ 8.29594344e-02 9.96552925e-01 -1.04935220e-05 3.95123173e-02] [ 1.63845910e-04 -3.10976176e-06 9.99999987e-01 -2.57194950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.445336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:256.60, Y:0.04, Z:-0.26 [[ 9.96678846e-01 -8.14324971e-02 -1.63538859e-04 2.56603358e+02] [ 8.14324965e-02 9.96678859e-01 -1.04973499e-05 3.71484656e-02] [ 1.63850549e-04 -2.85489099e-06 9.99999987e-01 -2.55023107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.66, Y:0.04, Z:-0.25 [[ 9.97298212e-01 -7.34591635e-02 -1.63537115e-04 2.56661097e+02] [ 7.34591627e-02 9.97298226e-01 -1.05244445e-05 3.63124743e-02] [ 1.63868392e-04 -1.51728987e-06 9.99999987e-01 -2.49745601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.72, Y:0.05, Z:-0.26 [[ 9.98023123e-01 -6.28475835e-02 -1.63534986e-04 2.56717731e+02] [ 6.28475826e-02 9.98023137e-01 -1.05574235e-05 4.78550214e-02] [ 1.63875209e-04 2.58774163e-07 9.99999987e-01 -2.56628047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.78, Y:0.05, Z:-0.26 [[ 9.98415301e-01 -5.62748547e-02 -1.63534061e-04 2.56776564e+02] [ 5.62748537e-02 9.98415315e-01 -1.05717390e-05 5.00599810e-02] [ 1.63869834e-04 1.35213062e-06 9.99999987e-01 -2.56608873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.83, Y:0.05, Z:-0.26 [[ 9.98722225e-01 -5.05360374e-02 -1.63532264e-04 2.56834210e+02] [ 5.05360364e-02 9.98722238e-01 -1.05994636e-05 5.21086529e-02] [ 1.63858964e-04 2.32164745e-06 9.99999987e-01 -2.55322489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.89, Y:0.07, Z:-0.25 [[ 9.98640714e-01 -5.21219576e-02 -1.63530183e-04 2.56892113e+02] [ 5.21219565e-02 9.98640727e-01 -1.06314659e-05 6.57680530e-02] [ 1.63862034e-04 2.09350163e-06 9.99999987e-01 -2.52088724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.95, Y:0.07, Z:-0.26 [[ 9.98230115e-01 -5.94694062e-02 -1.63528337e-04 2.56949907e+02] [ 5.94694053e-02 9.98230129e-01 -1.06597882e-05 6.75674560e-02] [ 1.63872844e-04 9.15988690e-07 9.99999987e-01 -2.55837659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.01, Y:0.07, Z:-0.25 [[ 9.97867917e-01 -6.52655575e-02 -1.63527685e-04 2.57008968e+02] [ 6.52655566e-02 9.97867931e-01 -1.06697838e-05 6.63437227e-02] [ 1.63875402e-04 -2.56904915e-08 9.99999987e-01 -2.53981665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.07, Y:0.07, Z:-0.25 [[ 9.97521255e-01 -7.03656030e-02 -1.63525850e-04 2.57067924e+02] [ 7.03656022e-02 9.97521269e-01 -1.06978404e-05 7.08565336e-02] [ 1.63873273e-04 -8.35271639e-07 9.99999987e-01 -2.51018934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.985336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:257.13, Y:0.07, Z:-0.25 [[ 9.97497758e-01 -7.06979255e-02 -1.63523996e-04 2.57126357e+02] [ 7.06979247e-02 9.97497771e-01 -1.07260952e-05 7.24845494e-02] [ 1.63873134e-04 -8.61551288e-07 9.99999987e-01 -2.49106316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.18, Y:0.07, Z:-0.25 [[ 9.97708600e-01 -6.76573878e-02 -1.63522119e-04 2.57184153e+02] [ 6.76573870e-02 9.97708614e-01 -1.07546367e-05 7.35152325e-02] [ 1.63875057e-04 -3.33485792e-07 9.99999987e-01 -2.47787240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.24, Y:0.08, Z:-0.25 [[ 9.97877038e-01 -6.51259638e-02 -1.63521457e-04 2.57243071e+02] [ 6.51259630e-02 9.97877051e-01 -1.07646940e-05 7.77198191e-02] [ 1.63875370e-04 9.23485675e-08 9.99999987e-01 -2.49057057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.30, Y:0.08, Z:-0.25 [[ 9.97868546e-01 -6.52559432e-02 -1.63519560e-04 2.57300644e+02] [ 6.52559423e-02 9.97868559e-01 -1.07934312e-05 7.67513150e-02] [ 1.63875363e-04 9.98024739e-08 9.99999987e-01 -2.53482998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.36, Y:0.07, Z:-0.25 [[ 9.97938937e-01 -6.41704796e-02 -1.63518888e-04 2.57358917e+02] [ 6.41704787e-02 9.97938951e-01 -1.08036037e-05 7.48840459e-02] [ 1.63875140e-04 2.88251492e-07 9.99999987e-01 -2.50060323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.42, Y:0.08, Z:-0.25 [[ 9.97971841e-01 -6.36567173e-02 -1.63518239e-04 2.57417628e+02] [ 6.36567163e-02 9.97971854e-01 -1.08134154e-05 7.52438698e-02] [ 1.63874947e-04 3.82449882e-07 9.99999987e-01 -2.50933188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.48, Y:0.08, Z:-0.25 [[ 9.98055120e-01 -6.23373871e-02 -1.63516433e-04 2.57476700e+02] [ 6.23373861e-02 9.98055134e-01 -1.08406625e-05 7.76183285e-02] [ 1.63874194e-04 6.26391749e-07 9.99999987e-01 -2.48408570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.54, Y:0.08, Z:-0.25 [[ 9.98323901e-01 -5.78736792e-02 -1.63514557e-04 2.57535380e+02] [ 5.78736782e-02 9.98323914e-01 -1.08688890e-05 7.94912974e-02] [ 1.63869515e-04 1.38748284e-06 9.99999987e-01 -2.46404924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.59, Y:0.09, Z:-0.25 [[ 9.98565187e-01 -5.35494155e-02 -1.63512688e-04 2.57592655e+02] [ 5.35494144e-02 9.98565201e-01 -1.08969346e-05 8.83761436e-02] [ 1.63861604e-04 2.12529088e-06 9.99999987e-01 -2.49399612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.65, Y:0.09, Z:-0.25 [[ 9.98589550e-01 -5.30931684e-02 -1.63512026e-04 2.57651603e+02] [ 5.30931673e-02 9.98589563e-01 -1.09068550e-05 9.35991836e-02] [ 1.63860482e-04 2.21010011e-06 9.99999987e-01 -2.52238702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.71, Y:0.10, Z:-0.25 [[ 9.98451904e-01 -5.56216567e-02 -1.63510214e-04 2.57710702e+02] [ 5.56216556e-02 9.98451917e-01 -1.09339533e-05 9.75781088e-02] [ 1.63865251e-04 1.82231770e-06 9.99999987e-01 -2.46015819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.77, Y:0.10, Z:-0.25 [[ 9.98176212e-01 -6.03673942e-02 -1.63509829e-04 2.57768874e+02] [ 6.03673932e-02 9.98176226e-01 -1.09397028e-05 1.04989420e-01] [ 1.63872025e-04 1.04908898e-06 9.99999987e-01 -2.47454395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.83, Y:0.11, Z:-0.24 [[ 9.98008092e-01 -6.30858201e-02 -1.63508019e-04 2.57827237e+02] [ 6.30858191e-02 9.98008106e-01 -1.09666950e-05 1.09307069e-01] [ 1.63874171e-04 6.29813063e-07 9.99999987e-01 -2.43270389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.89, Y:0.11, Z:-0.24 [[ 9.97755016e-01 -6.69694057e-02 -1.63506103e-04 2.57885347e+02] [ 6.69694048e-02 9.97755029e-01 -1.09951750e-05 1.13023086e-01] [ 1.63875377e-04 2.05845318e-08 9.99999987e-01 -2.35659112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.94, Y:0.12, Z:-0.24 [[ 9.97704332e-01 -6.77203012e-02 -1.63505561e-04 2.57943891e+02] [ 6.77203003e-02 9.97704345e-01 -1.10032381e-05 1.18592849e-01] [ 1.63875351e-04 -9.46673602e-08 9.99999987e-01 -2.37193632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.00, Y:0.12, Z:-0.24 [[ 9.97651326e-01 -6.84967586e-02 -1.63503660e-04 2.58001967e+02] [ 6.84967577e-02 9.97651339e-01 -1.10314140e-05 1.24875984e-01] [ 1.63875261e-04 -1.93965767e-07 9.99999987e-01 -2.38853955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.06, Y:0.13, Z:-0.24 [[ 9.97569319e-01 -6.96808995e-02 -1.63501481e-04 2.58059776e+02] [ 6.96808986e-02 9.97569332e-01 -1.10636111e-05 1.28786418e-01] [ 1.63874986e-04 -3.56211162e-07 9.99999987e-01 -2.42087278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.12, Y:0.13, Z:-0.24 [[ 9.97431773e-01 -7.16228483e-02 -1.63500809e-04 2.58118366e+02] [ 7.16228474e-02 9.97431786e-01 -1.10735400e-05 1.33598059e-01] [ 1.63874022e-04 -6.65292804e-07 9.99999987e-01 -2.38791008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.18, Y:0.14, Z:-0.24 [[ 9.97278507e-01 -7.37262045e-02 -1.63498895e-04 2.58176703e+02] [ 7.37262037e-02 9.97278520e-01 -1.11017241e-05 1.37896868e-01] [ 1.63872424e-04 -9.82642051e-07 9.99999987e-01 -2.42880981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.23, Y:0.14, Z:-0.24 [[ 9.97310280e-01 -7.32951503e-02 -1.63496970e-04 2.58234164e+02] [ 7.32951494e-02 9.97310293e-01 -1.11300008e-05 1.42295501e-01] [ 1.63872986e-04 -8.83470677e-07 9.99999987e-01 -2.38598977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.29, Y:0.14, Z:-0.24 [[ 9.97363329e-01 -7.25697189e-02 -1.63496290e-04 2.58291084e+02] [ 7.25697180e-02 9.97363342e-01 -1.11399850e-05 1.41038906e-01] [ 1.63873632e-04 -7.54267097e-07 9.99999987e-01 -2.38064104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.35, Y:0.14, Z:-0.24 [[ 9.97512595e-01 -7.04882661e-02 -1.63494836e-04 2.58349758e+02] [ 7.04882653e-02 9.97512609e-01 -1.11612763e-05 1.43351779e-01] [ 1.63874900e-04 -3.90953736e-07 9.99999987e-01 -2.42087978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.41, Y:0.15, Z:-0.24 [[ 9.97537685e-01 -7.01323063e-02 -1.63492992e-04 2.58408300e+02] [ 7.01323054e-02 9.97537698e-01 -1.11882335e-05 1.45924621e-01] [ 1.63875079e-04 -3.05455872e-07 9.99999987e-01 -2.39961381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.47, Y:0.14, Z:-0.23 [[ 9.97543812e-01 -7.00451044e-02 -1.63491136e-04 2.58467519e+02] [ 7.00451035e-02 9.97543825e-01 -1.12152837e-05 1.42736519e-01] [ 1.63875149e-04 -2.64016637e-07 9.99999987e-01 -2.33271325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.53, Y:0.14, Z:-0.24 [[ 9.97651229e-01 -6.84981587e-02 -1.63489192e-04 2.58526406e+02] [ 6.84981578e-02 9.97651243e-01 -1.12435547e-05 1.38189639e-01] [ 1.63875358e-04 1.84377018e-08 9.99999987e-01 -2.41227368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.59, Y:0.13, Z:-0.24 [[ 9.97969474e-01 -6.36938167e-02 -1.63488641e-04 2.58585847e+02] [ 6.36938158e-02 9.97969487e-01 -1.12515591e-05 1.34471722e-01] [ 1.63873330e-04 8.15497151e-07 9.99999987e-01 -2.37178113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.64, Y:0.14, Z:-0.24 [[ 9.98164459e-01 -6.05614160e-02 -1.63486733e-04 2.58643017e+02] [ 6.05614150e-02 9.98164473e-01 -1.12792078e-05 1.35706656e-01] [ 1.63869734e-04 1.35751641e-06 9.99999987e-01 -2.37272951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.70, Y:0.14, Z:-0.24 [[ 9.98460296e-01 -5.54708164e-02 -1.63485790e-04 2.58701045e+02] [ 5.54708153e-02 9.98460309e-01 -1.12928580e-05 1.35841462e-01] [ 1.63860497e-04 2.20678022e-06 9.99999987e-01 -2.37263153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.76, Y:0.14, Z:-0.24 [[ 9.98622794e-01 -5.24641713e-02 -1.63483656e-04 2.58759839e+02] [ 5.24641701e-02 9.98622807e-01 -1.13236714e-05 1.36190942e-01] [ 1.63852595e-04 2.73104204e-06 9.99999987e-01 -2.39448689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.82, Y:0.14, Z:-0.24 [[ 9.98703306e-01 -5.09085393e-02 -1.63481773e-04 2.58819012e+02] [ 5.09085381e-02 9.98703320e-01 -1.13507895e-05 1.39827505e-01] [ 1.63847642e-04 3.01345294e-06 9.99999987e-01 -2.39146466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.88, Y:0.14, Z:-0.24 [[ 9.98545995e-01 -5.39061189e-02 -1.63479884e-04 2.58877625e+02] [ 5.39061178e-02 9.98546008e-01 -1.13779400e-05 1.36368259e-01] [ 1.63855526e-04 2.54883059e-06 9.99999987e-01 -2.42480731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.94, Y:0.14, Z:-0.25 [[ 9.98233860e-01 -5.94065144e-02 -1.63479215e-04 2.58935176e+02] [ 5.94065134e-02 9.98233873e-01 -1.13875322e-05 1.36903746e-01] [ 1.63866984e-04 1.65569002e-06 9.99999987e-01 -2.46142298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.99, Y:0.14, Z:-0.24 [[ 9.97961044e-01 -6.38257562e-02 -1.63478555e-04 2.58993580e+02] [ 6.38257552e-02 9.97961058e-01 -1.13970002e-05 1.39756130e-01] [ 1.63872654e-04 9.39620012e-07 9.99999987e-01 -2.40401200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.05, Y:0.14, Z:-0.24 [[ 9.97662129e-01 -6.83392184e-02 -1.63476589e-04 2.59052009e+02] [ 6.83392174e-02 9.97662143e-01 -1.14251406e-05 1.35757851e-01] [ 1.63875189e-04 2.26567986e-07 9.99999987e-01 -2.42402858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.11, Y:0.14, Z:-0.24 [[ 9.97450673e-01 -7.13591511e-02 -1.63475544e-04 2.59110749e+02] [ 7.13591502e-02 9.97450686e-01 -1.14400740e-05 1.38324556e-01] [ 1.63875147e-04 -2.54566312e-07 9.99999987e-01 -2.38244723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.17, Y:0.14, Z:-0.24 [[ 9.97443456e-01 -7.14599506e-02 -1.63473597e-04 2.59168791e+02] [ 7.14599497e-02 9.97443470e-01 -1.14678229e-05 1.40327516e-01] [ 1.63875162e-04 -2.43310086e-07 9.99999987e-01 -2.38522114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.23, Y:0.14, Z:-0.24 [[ 9.97782524e-01 -6.65583075e-02 -1.63472909e-04 2.59228015e+02] [ 6.65583065e-02 9.97782537e-01 -1.14776194e-05 1.39985197e-01] [ 1.63874345e-04 5.71688103e-07 9.99999987e-01 -2.36499540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.29, Y:0.14, Z:-0.24 [[ 9.98312182e-01 -5.80754646e-02 -1.63470933e-04 2.59286176e+02] [ 5.80754634e-02 9.98312196e-01 -1.15056974e-05 1.42742485e-01] [ 1.63863225e-04 1.99262765e-06 9.99999987e-01 -2.36876828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.34, Y:0.15, Z:-0.24 [[ 9.98638390e-01 -5.21664639e-02 -1.63470237e-04 2.59343671e+02] [ 5.21664627e-02 9.98638403e-01 -1.15155786e-05 1.49657062e-01] [ 1.63848383e-04 2.97223487e-06 9.99999987e-01 -2.38636918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.40, Y:0.15, Z:-0.23 [[ 9.98854800e-01 -4.78441328e-02 -1.63469554e-04 2.59402475e+02] [ 4.78441316e-02 9.98854814e-01 -1.15252603e-05 1.50048609e-01] [ 1.63833767e-04 3.69100275e-06 9.99999987e-01 -2.34850260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.46, Y:0.16, Z:-0.24 [[ 9.98935837e-01 -4.61212259e-02 -1.63467658e-04 2.59460312e+02] [ 4.61212246e-02 9.98935850e-01 -1.15520887e-05 1.57752341e-01] [ 1.63826501e-04 4.00046679e-06 9.99999987e-01 -2.38131466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.52, Y:0.17, Z:-0.24 [[ 9.99065952e-01 -4.32110705e-02 -1.63466989e-04 2.59518896e+02] [ 4.32110692e-02 9.99065965e-01 -1.15615529e-05 1.69002842e-01] [ 1.63813892e-04 4.48717044e-06 9.99999987e-01 -2.37380812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.505336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:259.58, Y:0.18, Z:-0.24 [[ 9.99100427e-01 -4.24064913e-02 -1.63465141e-04 2.59577350e+02] [ 4.24064899e-02 9.99100440e-01 -1.15876223e-05 1.78178183e-01] [ 1.63809485e-04 4.64521556e-06 9.99999987e-01 -2.37978887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.63, Y:0.19, Z:-0.24 [[ 9.98619487e-01 -5.25270775e-02 -1.63463141e-04 2.59634399e+02] [ 5.25270763e-02 9.98619500e-01 -1.16157648e-05 1.89478873e-01] [ 1.63847623e-04 3.01348818e-06 9.99999987e-01 -2.38132109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.69, Y:0.20, Z:-0.23 [[ 9.97842529e-01 -6.56525725e-02 -1.63462434e-04 2.59692194e+02] [ 6.56525714e-02 9.97842543e-01 -1.16257070e-05 1.95812189e-01] [ 1.63873028e-04 8.68895763e-07 9.99999987e-01 -2.34132287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.75, Y:0.19, Z:-0.23 [[ 9.96246432e-01 -8.65622336e-02 -1.63461874e-04 2.59750292e+02] [ 8.65622328e-02 9.96246445e-01 -1.16335776e-05 1.94993408e-01] [ 1.63855339e-04 -2.55971466e-06 9.99999987e-01 -2.32167527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.81, Y:0.20, Z:-0.23 [[ 9.95740419e-01 -9.22008186e-02 -1.63461177e-04 2.59809535e+02] [ 9.22008179e-02 9.95740433e-01 -1.16433555e-05 1.98653983e-01] [ 1.63838430e-04 -3.47749461e-06 9.99999987e-01 -2.32890539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.87, Y:0.20, Z:-0.23 [[ 9.94768315e-01 -1.02156607e-01 -1.63459347e-04 2.59868922e+02] [ 1.02156606e-01 9.94768329e-01 -1.16689915e-05 1.95174646e-01] [ 1.63796246e-04 -5.09050919e-06 9.99999987e-01 -2.34248301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.93, Y:0.20, Z:-0.23 [[ 9.94701971e-01 -1.02800592e-01 -1.63457328e-04 2.59927645e+02] [ 1.02800592e-01 9.94701985e-01 -1.16972037e-05 1.95280825e-01] [ 1.63793808e-04 -5.16827847e-06 9.99999987e-01 -2.34118979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.99, Y:0.20, Z:-0.24 [[ 9.95278096e-01 -9.70643328e-02 -1.63455332e-04 2.59985562e+02] [ 9.70643322e-02 9.95278110e-01 -1.17250311e-05 1.96270922e-01] [ 1.63821596e-04 -4.19601607e-06 9.99999987e-01 -2.41153544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.04, Y:0.20, Z:-0.24 [[ 9.96370633e-01 -8.51207052e-02 -1.63454627e-04 2.60044559e+02] [ 8.51207044e-02 9.96370647e-01 -1.17348569e-05 1.95083079e-01] [ 1.63860272e-04 -2.22110614e-06 9.99999987e-01 -2.36791549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.10, Y:0.19, Z:-0.24 [[ 9.97443585e-01 -7.14581604e-02 -1.63452616e-04 2.60103857e+02] [ 7.14581594e-02 9.97443598e-01 -1.17627964e-05 1.93073649e-01] [ 1.63875313e-04 5.27027292e-08 9.99999987e-01 -2.36134365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.16, Y:0.19, Z:-0.24 [[ 9.97820651e-01 -6.59842491e-02 -1.63450573e-04 2.60161728e+02] [ 6.59842480e-02 9.97820665e-01 -1.17911141e-05 1.93521886e-01] [ 1.63872388e-04 9.80254007e-07 9.99999987e-01 -2.36155853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.22, Y:0.20, Z:-0.24 [[ 9.98149910e-01 -6.08007383e-02 -1.63449858e-04 2.60218656e+02] [ 6.08007372e-02 9.98149924e-01 -1.18010273e-05 1.97698197e-01] [ 1.63864974e-04 1.84132248e-06 9.99999987e-01 -2.36918826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.28, Y:0.20, Z:-0.24 [[ 9.98278434e-01 -5.86527145e-02 -1.63448871e-04 2.60276668e+02] [ 5.86527133e-02 9.98278448e-01 -1.18146792e-05 1.97039117e-01] [ 1.63860448e-04 2.20761964e-06 9.99999987e-01 -2.38768503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.34, Y:0.20, Z:-0.24 [[ 9.98284465e-01 -5.85499789e-02 -1.63446618e-04 2.60335843e+02] [ 5.85499777e-02 9.98284478e-01 -1.18457602e-05 1.99276603e-01] [ 1.63859791e-04 2.25564256e-06 9.99999987e-01 -2.38381989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.40, Y:0.20, Z:-0.24 [[ 9.98349216e-01 -5.74353155e-02 -1.63444657e-04 2.60395559e+02] [ 5.74353143e-02 9.98349230e-01 -1.18727663e-05 1.96835124e-01] [ 1.63856763e-04 2.46567169e-06 9.99999987e-01 -2.39473607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.45, Y:0.20, Z:-0.24 [[ 9.98519385e-01 -5.43967892e-02 -1.63442804e-04 2.60453813e+02] [ 5.43967880e-02 9.98519399e-01 -1.18982193e-05 2.02858400e-01] [ 1.63848035e-04 2.98983910e-06 9.99999987e-01 -2.42648501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.51, Y:0.21, Z:-0.24 [[ 9.98634118e-01 -5.22481693e-02 -1.63440820e-04 2.60512615e+02] [ 5.22481681e-02 9.98634132e-01 -1.19254004e-05 2.10715832e-01] [ 1.63840662e-04 3.36962823e-06 9.99999987e-01 -2.40396628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.57, Y:0.22, Z:-0.24 [[ 9.98619607e-01 -5.25247845e-02 -1.63438828e-04 2.60571074e+02] [ 5.25247833e-02 9.98619621e-01 -1.19526428e-05 2.16400273e-01] [ 1.63841031e-04 3.35155445e-06 9.99999987e-01 -2.38309414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.63, Y:0.22, Z:-0.24 [[ 9.98351812e-01 -5.73901776e-02 -1.63436834e-04 2.60628966e+02] [ 5.73901764e-02 9.98351826e-01 -1.19798520e-05 2.19828051e-01] [ 1.63854987e-04 2.58043820e-06 9.99999987e-01 -2.36002746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.69, Y:0.23, Z:-0.24 [[ 9.97826939e-01 -6.58890901e-02 -1.63435761e-04 2.60687193e+02] [ 6.58890890e-02 9.97826953e-01 -1.19944616e-05 2.26451924e-01] [ 1.63870912e-04 1.19976351e-06 9.99999987e-01 -2.39437928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.75, Y:0.23, Z:-0.24 [[ 9.97375593e-01 -7.24009686e-02 -1.63433776e-04 2.60746304e+02] [ 7.24009676e-02 9.97375606e-01 -1.20214577e-05 2.30274025e-01] [ 1.63875226e-04 1.57144979e-07 9.99999987e-01 -2.38477616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.80, Y:0.24, Z:-0.24 [[ 9.96798794e-01 -7.99508476e-02 -1.63431780e-04 2.60804141e+02] [ 7.99508467e-02 9.96798807e-01 -1.20485348e-05 2.37126906e-01] [ 1.63871894e-04 -1.05654415e-06 9.99999987e-01 -2.37731514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.86, Y:0.24, Z:-0.24 [[ 9.96381803e-01 -8.49898629e-02 -1.63429494e-04 2.60862804e+02] [ 8.49898621e-02 9.96381816e-01 -1.20794596e-05 2.39186334e-01] [ 1.63864807e-04 -1.85409637e-06 9.99999987e-01 -2.40699483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.92, Y:0.24, Z:-0.24 [[ 9.96257109e-01 -8.64392571e-02 -1.63427420e-04 2.60921209e+02] [ 8.64392563e-02 9.96257123e-01 -1.21074470e-05 2.41955747e-01] [ 1.63862290e-04 -2.06441449e-06 9.99999987e-01 -2.38987740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.98, Y:0.25, Z:-0.24 [[ 9.96247467e-01 -8.65503181e-02 -1.63425340e-04 2.60979136e+02] [ 8.65503173e-02 9.96247481e-01 -1.21354646e-05 2.47121234e-01] [ 1.63862411e-04 -2.05458916e-06 9.99999987e-01 -2.36110040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.04, Y:0.25, Z:-0.24 [[ 9.96433379e-01 -8.43830281e-02 -1.63424230e-04 2.61037445e+02] [ 8.43830272e-02 9.96433392e-01 -1.21503926e-05 2.49306533e-01] [ 1.63866647e-04 -1.68317453e-06 9.99999987e-01 -2.42843733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.10, Y:0.25, Z:-0.24 [[ 9.96699899e-01 -8.11744028e-02 -1.63423654e-04 2.61095063e+02] [ 8.11744018e-02 9.96699913e-01 -1.21581327e-05 2.52709126e-01] [ 1.63871271e-04 -1.14780774e-06 9.99999987e-01 -2.43967136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.15, Y:0.26, Z:-0.24 [[ 9.97229815e-01 -7.43819211e-02 -1.63421360e-04 2.61153311e+02] [ 7.43819201e-02 9.97229828e-01 -1.21888892e-05 2.55983377e-01] [ 1.63875288e-04 -4.70822734e-10 9.99999987e-01 -2.41327942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.21, Y:0.26, Z:-0.24 [[ 9.97419324e-01 -7.17959929e-02 -1.63419025e-04 2.61212019e+02] [ 7.17959918e-02 9.97419338e-01 -1.22201225e-05 2.61819706e-01] [ 1.63874651e-04 4.55755325e-07 9.99999987e-01 -2.40104851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.27, Y:0.26, Z:-0.24 [[ 9.97091557e-01 -7.62128577e-02 -1.63416992e-04 2.61269880e+02] [ 7.62128567e-02 9.97091571e-01 -1.22472462e-05 2.60557562e-01] [ 1.63875103e-04 -2.42849981e-07 9.99999987e-01 -2.40662735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.33, Y:0.25, Z:-0.24 [[ 9.96322617e-01 -8.56808990e-02 -1.63416275e-04 2.61329726e+02] [ 8.56808982e-02 9.96322630e-01 -1.22568037e-05 2.54021314e-01] [ 1.63865507e-04 -1.78992249e-06 9.99999987e-01 -2.37205258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.39, Y:0.25, Z:-0.23 [[ 9.96146973e-01 -8.76993862e-02 -1.63414295e-04 2.61388946e+02] [ 8.76993853e-02 9.96146986e-01 -1.22831475e-05 2.49080524e-01] [ 1.63861882e-04 -2.09551303e-06 9.99999987e-01 -2.33278757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.45, Y:0.24, Z:-0.23 [[ 9.96348950e-01 -8.53741419e-02 -1.63412265e-04 2.61448144e+02] [ 8.53741410e-02 9.96348963e-01 -1.23100914e-05 2.44899481e-01] [ 1.63866604e-04 -1.68603512e-06 9.99999987e-01 -2.32967971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.51, Y:0.24, Z:-0.24 [[ 9.96934916e-01 -7.82351985e-02 -1.63410074e-04 2.61506629e+02] [ 7.82351976e-02 9.96934930e-01 -1.23391156e-05 2.38383624e-01] [ 1.63874563e-04 -4.83124254e-07 9.99999987e-01 -2.41150627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.57, Y:0.24, Z:-0.24 [[ 9.97711723e-01 -6.76113188e-02 -1.63409299e-04 2.61565909e+02] [ 6.76113177e-02 9.97711737e-01 -1.23493592e-05 2.38325005e-01] [ 1.63870332e-04 1.27278239e-06 9.99999987e-01 -2.40927477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.62, Y:0.24, Z:-0.24 [[ 9.98127242e-01 -6.11717391e-02 -1.63407211e-04 2.61624272e+02] [ 6.11717379e-02 9.98127256e-01 -1.23769309e-05 2.38562217e-01] [ 1.63858309e-04 2.35784878e-06 9.99999987e-01 -2.38260203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.68, Y:0.24, Z:-0.24 [[ 9.98399388e-01 -5.65564721e-02 -1.63406480e-04 2.61683483e+02] [ 5.65564708e-02 9.98399402e-01 -1.23865793e-05 2.40739831e-01] [ 1.63845473e-04 3.12505941e-06 9.99999987e-01 -2.35063011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.74, Y:0.24, Z:-0.23 [[ 9.98561977e-01 -5.36092414e-02 -1.63404433e-04 2.61741215e+02] [ 5.36092401e-02 9.98561991e-01 -1.24135179e-05 2.43120399e-01] [ 1.63834935e-04 3.63567952e-06 9.99999987e-01 -2.33457292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.80, Y:0.25, Z:-0.24 [[ 9.98463555e-01 -5.54121077e-02 -1.63402046e-04 2.61799375e+02] [ 5.54121064e-02 9.98463569e-01 -1.24448623e-05 2.46734305e-01] [ 1.63840586e-04 3.37128994e-06 9.99999987e-01 -2.37872603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.86, Y:0.24, Z:-0.23 [[ 9.98063782e-01 -6.21985612e-02 -1.63401312e-04 2.61858249e+02] [ 6.21985600e-02 9.98063795e-01 -1.24544958e-05 2.41613426e-01] [ 1.63859585e-04 2.26705488e-06 9.99999987e-01 -2.30952929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.92, Y:0.25, Z:-0.23 [[ 9.97667994e-01 -6.82535463e-02 -1.63400557e-04 2.61915414e+02] [ 6.82535451e-02 9.97668008e-01 -1.24643876e-05 2.47350459e-01] [ 1.63870247e-04 1.28265328e-06 9.99999987e-01 -2.32847427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.97, Y:0.25, Z:-0.23 [[ 9.97452077e-01 -7.13395164e-02 -1.63399810e-04 2.61973006e+02] [ 7.13395153e-02 9.97452091e-01 -1.24741742e-05 2.49364790e-01] [ 1.63873384e-04 7.85527736e-07 9.99999987e-01 -2.31892170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.03, Y:0.25, Z:-0.23 [[ 9.97426407e-01 -7.16975291e-02 -1.63397329e-04 2.62031064e+02] [ 7.16975280e-02 9.97426421e-01 -1.25065947e-05 2.46419866e-01] [ 1.63873504e-04 7.59223250e-07 9.99999987e-01 -2.31037023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.09, Y:0.25, Z:-0.23 [[ 9.97405768e-01 -7.19840701e-02 -1.63396562e-04 2.62088056e+02] [ 7.19840690e-02 9.97405782e-01 -1.25166038e-05 2.48433114e-01] [ 1.63873672e-04 7.22183406e-07 9.99999987e-01 -2.30816546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.15, Y:0.25, Z:-0.23 [[ 9.97211886e-01 -7.46219019e-02 -1.63395523e-04 2.62146650e+02] [ 7.46219008e-02 9.97211899e-01 -1.25301524e-05 2.54426268e-01] [ 1.63874983e-04 3.02332373e-07 9.99999987e-01 -2.33657627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.21, Y:0.25, Z:-0.23 [[ 9.96889407e-01 -7.88129709e-02 -1.63393428e-04 2.62205942e+02] [ 7.88129699e-02 9.96889420e-01 -1.25574120e-05 2.54763345e-01] [ 1.63874866e-04 -3.59170256e-07 9.99999987e-01 -2.33190635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.26, Y:0.25, Z:-0.23 [[ 9.96690687e-01 -8.12874363e-02 -1.63391309e-04 2.62264060e+02] [ 8.12874353e-02 9.96690701e-01 -1.25849176e-05 2.49620089e-01] [ 1.63873594e-04 -7.38390269e-07 9.99999987e-01 -2.31985445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.32, Y:0.25, Z:-0.23 [[ 9.96700826e-01 -8.11630296e-02 -1.63388897e-04 2.62321454e+02] [ 8.11630286e-02 9.96700839e-01 -1.26161632e-05 2.50448724e-01] [ 1.63873816e-04 -6.86597439e-07 9.99999987e-01 -2.30214349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.38, Y:0.25, Z:-0.23 [[ 9.96993656e-01 -7.74830540e-02 -1.63388003e-04 2.62379665e+02] [ 7.74830530e-02 9.96993669e-01 -1.26277267e-05 2.51534968e-01] [ 1.63875239e-04 -7.00378452e-08 9.99999987e-01 -2.32651456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.44, Y:0.25, Z:-0.24 [[ 9.97236556e-01 -7.42914805e-02 -1.63386904e-04 2.62439555e+02] [ 7.42914794e-02 9.97236570e-01 -1.26419294e-05 2.47047618e-01] [ 1.63874583e-04 4.68739288e-07 9.99999987e-01 -2.35942053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.50, Y:0.25, Z:-0.24 [[ 9.97498444e-01 -7.06882472e-02 -1.63384929e-04 2.62498670e+02] [ 7.06882461e-02 9.97498457e-01 -1.26673967e-05 2.50743289e-01] [ 1.63871651e-04 1.08631439e-06 9.99999987e-01 -2.36097504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.56, Y:0.25, Z:-0.23 [[ 9.97663781e-01 -6.83151070e-02 -1.63382819e-04 2.62557535e+02] [ 6.83151059e-02 9.97663794e-01 -1.26945557e-05 2.54019268e-01] [ 1.63868353e-04 1.50338384e-06 9.99999987e-01 -2.33785990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.62, Y:0.26, Z:-0.24 [[ 9.97815774e-01 -6.60579560e-02 -1.63380663e-04 2.62616368e+02] [ 6.60579548e-02 9.97815788e-01 -1.27222418e-05 2.58141679e-01] [ 1.63864211e-04 1.90186103e-06 9.99999987e-01 -2.35288867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.67, Y:0.26, Z:-0.23 [[ 9.97641598e-01 -6.86382946e-02 -1.63378467e-04 2.62674116e+02] [ 6.86382934e-02 9.97641611e-01 -1.27503873e-05 2.57511626e-01] [ 1.63868322e-04 1.50629763e-06 9.99999987e-01 -2.33201050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.73, Y:0.26, Z:-0.23 [[ 9.97387734e-01 -7.22335131e-02 -1.63377692e-04 2.62733018e+02] [ 7.22335120e-02 9.97387748e-01 -1.27603060e-05 2.63170768e-01] [ 1.63872630e-04 9.25628153e-07 9.99999987e-01 -2.28561798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.79, Y:0.27, Z:-0.23 [[ 9.96797139e-01 -7.99714704e-02 -1.63375595e-04 2.62791685e+02] [ 7.99714694e-02 9.96797153e-01 -1.27870952e-05 2.66081261e-01] [ 1.63874931e-04 -3.19246511e-07 9.99999987e-01 -2.32881162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.865336195 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:262.85, Y:0.26, Z:-0.23 [[ 9.96353645e-01 -8.53193215e-02 -1.63373465e-04 2.62850970e+02] [ 8.53193206e-02 9.96353659e-01 -1.28142526e-05 2.61341343e-01] [ 1.63871053e-04 -1.17138572e-06 9.99999987e-01 -2.29555174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.91, Y:0.25, Z:-0.23 [[ 9.96093440e-01 -8.83053330e-02 -1.63371234e-04 2.62910418e+02] [ 8.83053320e-02 9.96093454e-01 -1.28426371e-05 2.52521267e-01] [ 1.63867090e-04 -1.63408448e-06 9.99999987e-01 -2.31172667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.97, Y:0.26, Z:-0.24 [[ 9.96482265e-01 -8.38037510e-02 -1.63368966e-04 2.62968652e+02] [ 8.38037501e-02 9.96482278e-01 -1.28714261e-05 2.55371168e-01] [ 1.63872953e-04 -8.64784142e-07 9.99999987e-01 -2.40256555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.03, Y:0.25, Z:-0.24 [[ 9.97221209e-01 -7.44972030e-02 -1.63367772e-04 2.63028094e+02] [ 7.44972019e-02 9.97221223e-01 -1.28865653e-05 2.49376636e-01] [ 1.63873822e-04 6.80314379e-07 9.99999987e-01 -2.38737958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.09, Y:0.25, Z:-0.24 [[ 9.98110281e-01 -6.14478601e-02 -1.63365653e-04 2.63087199e+02] [ 6.14478588e-02 9.98110295e-01 -1.29133690e-05 2.48550210e-01] [ 1.63850439e-04 2.85049676e-06 9.99999987e-01 -2.36624670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.15, Y:0.26, Z:-0.24 [[ 9.98663749e-01 -5.16787194e-02 -1.63363452e-04 2.63146056e+02] [ 5.16787180e-02 9.98663762e-01 -1.29411506e-05 2.55303099e-01] [ 1.63813942e-04 4.48144421e-06 9.99999987e-01 -2.36830478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.20, Y:0.27, Z:-0.24 [[ 9.99258728e-01 -3.84963464e-02 -1.63361285e-04 2.63203606e+02] [ 3.84963448e-02 9.99258741e-01 -1.29684546e-05 2.69084915e-01] [ 1.63739430e-04 6.67002915e-06 9.99999987e-01 -2.35858213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.26, Y:0.28, Z:-0.23 [[ 9.99440105e-01 -3.34581715e-02 -1.63360685e-04 2.63262129e+02] [ 3.34581699e-02 9.99440119e-01 -1.29760092e-05 2.77226540e-01] [ 1.63703375e-04 7.50299448e-06 9.99999987e-01 -2.30819418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.32, Y:0.29, Z:-0.23 [[ 9.99476317e-01 -3.23583707e-02 -1.63358575e-04 2.63319709e+02] [ 3.23583690e-02 9.99476331e-01 -1.30025072e-05 2.92480129e-01] [ 1.63693769e-04 7.70968095e-06 9.99999987e-01 -2.34155919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.38, Y:0.31, Z:-0.23 [[ 9.99281139e-01 -3.79101426e-02 -1.63356452e-04 2.63377177e+02] [ 3.79101410e-02 9.99281152e-01 -1.30291305e-05 3.09207140e-01] [ 1.63732960e-04 6.82689824e-06 9.99999987e-01 -2.34287480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.43, Y:0.33, Z:-0.24 [[ 9.98861851e-01 -4.76967069e-02 -1.63354323e-04 2.63434417e+02] [ 4.76967054e-02 9.98861864e-01 -1.30557693e-05 3.28903199e-01] [ 1.63791121e-04 5.24944687e-06 9.99999987e-01 -2.36744212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.49, Y:0.34, Z:-0.24 [[ 9.98635355e-01 -5.22245276e-02 -1.63352187e-04 2.63492434e+02] [ 5.22245261e-02 9.98635368e-01 -1.30824393e-05 3.38216037e-01] [ 1.63812496e-04 4.53359589e-06 9.99999987e-01 -2.36296098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.55, Y:0.35, Z:-0.24 [[ 9.98079994e-01 -6.19378696e-02 -1.63349949e-04 2.63549521e+02] [ 6.19378683e-02 9.98080007e-01 -1.31103179e-05 3.49660895e-01] [ 1.63848344e-04 2.96759833e-06 9.99999987e-01 -2.42936683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.61, Y:0.37, Z:-0.24 [[ 9.96877274e-01 -7.89662816e-02 -1.63349157e-04 2.63605906e+02] [ 7.89662805e-02 9.96877288e-01 -1.31201883e-05 3.67452185e-01] [ 1.63875117e-04 1.80142253e-07 9.99999987e-01 -2.40892313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.66, Y:0.38, Z:-0.24 [[ 9.95117292e-01 -9.86992860e-02 -1.63347060e-04 2.63664243e+02] [ 9.86992852e-02 9.95117305e-01 -1.31462424e-05 3.79012321e-01] [ 1.63847011e-04 -3.04018486e-06 9.99999987e-01 -2.35660913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.72, Y:0.39, Z:-0.23 [[ 9.93225672e-01 -1.16201285e-01 -1.63344951e-04 2.63722630e+02] [ 1.16201284e-01 9.93225685e-01 -1.31723948e-05 3.90830809e-01] [ 1.63769050e-04 -5.89773233e-06 9.99999987e-01 -2.32827113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.78, Y:0.39, Z:-0.24 [[ 9.92057806e-01 -1.25782678e-01 -1.63342694e-04 2.63780190e+02] [ 1.25782678e-01 9.92057820e-01 -1.32003155e-05 3.94341844e-01] [ 1.63705768e-04 -7.45020541e-06 9.99999987e-01 -2.37384775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.84, Y:0.40, Z:-0.24 [[ 9.91452937e-01 -1.30464733e-01 -1.63341898e-04 2.63839283e+02] [ 1.30464732e-01 9.91452951e-01 -1.32101589e-05 3.98645954e-01] [ 1.63669267e-04 -8.21310619e-06 9.99999987e-01 -2.37481773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.90, Y:0.40, Z:-0.23 [[ 9.91849129e-01 -1.27417732e-01 -1.63339675e-04 2.63897880e+02] [ 1.27417731e-01 9.91849143e-01 -1.32375929e-05 4.03891072e-01] [ 1.63695021e-04 -7.68267582e-06 9.99999987e-01 -2.34330096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.96, Y:0.41, Z:-0.24 [[ 9.93103105e-01 -1.17244172e-01 -1.63337323e-04 2.63955289e+02] [ 1.17244172e-01 9.93103119e-01 -1.32665526e-05 4.11009727e-01] [ 1.63766231e-04 -5.97529454e-06 9.99999987e-01 -2.41142542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.01, Y:0.42, Z:-0.24 [[ 9.94500916e-01 -1.04727748e-01 -1.63336106e-04 2.64014062e+02] [ 1.04727747e-01 9.94500929e-01 -1.32815198e-05 4.17904112e-01] [ 1.63828853e-04 -3.89733879e-06 9.99999987e-01 -2.38983305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.07, Y:0.42, Z:-0.25 [[ 9.95088905e-01 -9.89850679e-02 -1.63333772e-04 2.64072315e+02] [ 9.89850671e-02 9.95088919e-01 -1.33101604e-05 4.18372607e-01] [ 1.63849134e-04 -2.92281147e-06 9.99999987e-01 -2.45242781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.13, Y:0.42, Z:-0.25 [[ 9.95659451e-01 -9.30711091e-02 -1.63332543e-04 2.64131797e+02] [ 9.30711082e-02 9.95659464e-01 -1.33252193e-05 4.20322610e-01] [ 1.63863786e-04 -1.93416032e-06 9.99999987e-01 -2.49689330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.19, Y:0.42, Z:-0.24 [[ 9.96036103e-01 -8.89497289e-02 -1.63330470e-04 2.64190721e+02] [ 8.89497279e-02 9.96036117e-01 -1.33505816e-05 4.22612915e-01] [ 1.63870578e-04 -1.23053964e-06 9.99999987e-01 -2.43084422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.25, Y:0.42, Z:-0.24 [[ 9.96654512e-01 -8.17297845e-02 -1.63328149e-04 2.64248425e+02] [ 8.17297834e-02 9.96654525e-01 -1.33789138e-05 4.22359026e-01] [ 1.63875195e-04 -1.46195285e-08 9.99999987e-01 -2.41662886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.31, Y:0.42, Z:-0.23 [[ 9.97266029e-01 -7.38947909e-02 -1.63327332e-04 2.64308348e+02] [ 7.38947897e-02 9.97266043e-01 -1.33888877e-05 4.22922120e-01] [ 1.63870171e-04 1.28324404e-06 9.99999987e-01 -2.33531532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.37, Y:0.43, Z:-0.23 [[ 9.97549735e-01 -6.99607022e-02 -1.63327012e-04 2.64366559e+02] [ 6.99607010e-02 9.97549748e-01 -1.33927885e-05 4.26251610e-01] [ 1.63863789e-04 1.93350035e-06 9.99999987e-01 -2.32726542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.43, Y:0.43, Z:-0.23 [[ 9.97599177e-01 -6.92521164e-02 -1.63326224e-04 2.64425673e+02] [ 6.92521152e-02 9.97599190e-01 -1.34023889e-05 4.28474264e-01] [ 1.63862253e-04 2.05952563e-06 9.99999987e-01 -2.32893073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.48, Y:0.43, Z:-0.24 [[ 9.97562780e-01 -6.97744528e-02 -1.63323974e-04 2.64483959e+02] [ 6.97744516e-02 9.97562793e-01 -1.34297491e-05 4.34668811e-01] [ 1.63862973e-04 2.00117713e-06 9.99999987e-01 -2.39314513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.54, Y:0.44, Z:-0.24 [[ 9.97521641e-01 -7.03601421e-02 -1.63323334e-04 2.64541443e+02] [ 7.03601408e-02 9.97521654e-01 -1.34375387e-05 4.36821725e-01] [ 1.63864029e-04 1.91278291e-06 9.99999987e-01 -2.39828059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.60, Y:0.44, Z:-0.23 [[ 9.97370742e-01 -7.24677621e-02 -1.63322389e-04 2.64599704e+02] [ 7.24677608e-02 9.97370755e-01 -1.34490079e-05 4.41483049e-01] [ 1.63867594e-04 1.57803912e-06 9.99999987e-01 -2.32472736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.66, Y:0.45, Z:-0.24 [[ 9.96920363e-01 -7.84204282e-02 -1.63320145e-04 2.64657766e+02] [ 7.84204270e-02 9.96920376e-01 -1.34762017e-05 4.47891465e-01] [ 1.63873990e-04 6.27064360e-07 9.99999987e-01 -2.40154013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.72, Y:0.45, Z:-0.24 [[ 9.96207166e-01 -8.70129574e-02 -1.63317914e-04 2.64716101e+02] [ 8.70129563e-02 9.96207180e-01 -1.35031908e-05 4.52064132e-01] [ 1.63873431e-04 -7.58799010e-07 9.99999987e-01 -2.36976595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.77, Y:0.45, Z:-0.24 [[ 9.95719776e-01 -9.24234901e-02 -1.63315232e-04 2.64773820e+02] [ 9.24234891e-02 9.95719789e-01 -1.35355449e-05 4.52219054e-01] [ 1.63867211e-04 -1.61655381e-06 9.99999987e-01 -2.37870620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.83, Y:0.45, Z:-0.24 [[ 9.95277333e-01 -9.70721552e-02 -1.63313987e-04 2.64832860e+02] [ 9.70721542e-02 9.95277347e-01 -1.35505568e-05 4.54077781e-01] [ 1.63858093e-04 -2.36667850e-06 9.99999987e-01 -2.42187530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.89, Y:0.46, Z:-0.25 [[ 9.95214867e-01 -9.77105045e-02 -1.63313329e-04 2.64891900e+02] [ 9.77105036e-02 9.95214880e-01 -1.35584802e-05 4.56849140e-01] [ 1.63856661e-04 -2.46382650e-06 9.99999987e-01 -2.45165196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.95, Y:0.46, Z:-0.24 [[ 9.95825538e-01 -9.12768941e-02 -1.63311013e-04 2.64949147e+02] [ 9.12768931e-02 9.95825551e-01 -1.35863176e-05 4.61701980e-01] [ 1.63869396e-04 -1.37691981e-06 9.99999987e-01 -2.44410638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.01, Y:0.47, Z:-0.24 [[ 9.96884781e-01 -7.88714517e-02 -1.63310037e-04 2.65007882e+02] [ 7.88714505e-02 9.96884795e-01 -1.35980373e-05 4.67033971e-01] [ 1.63873790e-04 6.75176977e-07 9.99999987e-01 -2.38626701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.07, Y:0.47, Z:-0.23 [[ 9.97532299e-01 -7.02088795e-02 -1.63307739e-04 2.65066570e+02] [ 7.02088782e-02 9.97532312e-01 -1.36255753e-05 4.74855902e-01] [ 1.63861383e-04 2.12629824e-06 9.99999987e-01 -2.34669366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.12, Y:0.49, Z:-0.24 [[ 9.97952216e-01 -6.39636524e-02 -1.63305365e-04 2.65123186e+02] [ 6.39636510e-02 9.97952229e-01 -1.36539708e-05 4.87640969e-01] [ 1.63844311e-04 3.18040297e-06 9.99999987e-01 -2.36648299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.18, Y:0.49, Z:-0.24 [[ 9.97840333e-01 -6.56859476e-02 -1.63304532e-04 2.65181156e+02] [ 6.56859462e-02 9.97840346e-01 -1.36639247e-05 4.93684751e-01] [ 1.63849379e-04 2.90760248e-06 9.99999987e-01 -2.37223159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.24, Y:0.50, Z:-0.24 [[ 9.97452898e-01 -7.13280466e-02 -1.63303736e-04 2.65239054e+02] [ 7.13280453e-02 9.97452911e-01 -1.36734416e-05 4.96460266e-01] [ 1.63863086e-04 1.99047770e-06 9.99999987e-01 -2.35197040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.30, Y:0.50, Z:-0.24 [[ 9.96781505e-01 -8.01661071e-02 -1.63302960e-04 2.65298153e+02] [ 8.01661060e-02 9.96781518e-01 -1.36826973e-05 5.03544551e-01] [ 1.63874261e-04 5.47297151e-07 9.99999987e-01 -2.37586920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.445336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:265.36, Y:0.51, Z:-0.24 [[ 9.96536013e-01 -8.31621845e-02 -1.63301884e-04 2.65356874e+02] [ 8.31621834e-02 9.96536026e-01 -1.36955319e-05 5.10010356e-01] [ 1.63875161e-04 6.75495952e-08 9.99999987e-01 -2.41173051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.42, Y:0.51, Z:-0.23 [[ 9.95963666e-01 -8.97571645e-02 -1.63299576e-04 2.65416839e+02] [ 8.97571634e-02 9.95963680e-01 -1.37229885e-05 5.10896191e-01] [ 1.63872184e-04 -9.89708814e-07 9.99999987e-01 -2.33819775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.47, Y:0.51, Z:-0.24 [[ 9.95692111e-01 -9.27210487e-02 -1.63299228e-04 2.65474630e+02] [ 9.27210477e-02 9.95692125e-01 -1.37271382e-05 5.14566348e-01] [ 1.63868550e-04 -1.47327224e-06 9.99999987e-01 -2.35091972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.53, Y:0.52, Z:-0.24 [[ 9.95334671e-01 -9.64824601e-02 -1.63298361e-04 2.65533053e+02] [ 9.64824591e-02 9.95334685e-01 -1.37374341e-05 5.19599058e-01] [ 1.63861945e-04 -2.08208305e-06 9.99999987e-01 -2.36133261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.59, Y:0.52, Z:-0.23 [[ 9.95133022e-01 -9.85405633e-02 -1.63295941e-04 2.65592111e+02] [ 9.85405624e-02 9.95133035e-01 -1.37661504e-05 5.19786339e-01] [ 1.63857709e-04 -2.39212299e-06 9.99999987e-01 -2.30860523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.65, Y:0.52, Z:-0.24 [[ 9.95199675e-01 -9.78651086e-02 -1.63293491e-04 2.65650948e+02] [ 9.78651077e-02 9.95199689e-01 -1.37951445e-05 5.24302725e-01] [ 1.63859695e-04 -2.25181176e-06 9.99999987e-01 -2.41320032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.71, Y:0.53, Z:-0.24 [[ 9.95462572e-01 -9.51537777e-02 -1.63293146e-04 2.65708706e+02] [ 9.51537767e-02 9.95462585e-01 -1.37992297e-05 5.30012452e-01] [ 1.63865266e-04 -1.80134288e-06 9.99999987e-01 -2.41111029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.77, Y:0.53, Z:-0.24 [[ 9.95783666e-01 -9.17325652e-02 -1.63292316e-04 2.65767364e+02] [ 9.17325642e-02 9.95783680e-01 -1.38090423e-05 5.28841162e-01] [ 1.63870562e-04 -1.22840407e-06 9.99999987e-01 -2.36243312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.83, Y:0.53, Z:-0.23 [[ 9.95692615e-01 -9.27156413e-02 -1.63291063e-04 2.65825334e+02] [ 9.27156403e-02 9.95692628e-01 -1.38238487e-05 5.28999277e-01] [ 1.63869394e-04 -1.37533134e-06 9.99999987e-01 -2.34372552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.88, Y:0.53, Z:-0.24 [[ 9.95468535e-01 -9.50913746e-02 -1.63288307e-04 2.65883414e+02] [ 9.50913736e-02 9.95468548e-01 -1.38563204e-05 5.33638484e-01] [ 1.63865991e-04 -1.73377849e-06 9.99999987e-01 -2.39762445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.94, Y:0.53, Z:-0.24 [[ 9.95470170e-01 -9.50742550e-02 -1.63285917e-04 2.65941849e+02] [ 9.50742540e-02 9.95470183e-01 -1.38844236e-05 5.26719899e-01] [ 1.63866313e-04 -1.70275733e-06 9.99999987e-01 -2.37044576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.00, Y:0.53, Z:-0.23 [[ 9.96109897e-01 -8.81194991e-02 -1.63285086e-04 2.66001023e+02] [ 8.81194980e-02 9.96109911e-01 -1.38941943e-05 5.26754041e-01] [ 1.63874242e-04 -5.48455319e-07 9.99999987e-01 -2.30436182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.06, Y:0.53, Z:-0.23 [[ 9.96643484e-01 -8.18641472e-02 -1.63282628e-04 2.66058759e+02] [ 8.18641460e-02 9.96643498e-01 -1.39230190e-05 5.32796601e-01] [ 1.63874366e-04 5.09293210e-07 9.99999987e-01 -2.32686465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.12, Y:0.53, Z:-0.23 [[ 9.97068957e-01 -7.65079577e-02 -1.63281327e-04 2.66118322e+02] [ 7.65079565e-02 9.97068971e-01 -1.39382655e-05 5.32370422e-01] [ 1.63869133e-04 1.40509120e-06 9.99999987e-01 -2.34186450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.18, Y:0.53, Z:-0.23 [[ 9.97088831e-01 -7.62485140e-02 -1.63279256e-04 2.66177763e+02] [ 7.62485127e-02 9.97088845e-01 -1.39624858e-05 5.32026214e-01] [ 1.63868543e-04 1.47203822e-06 9.99999987e-01 -2.32741965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.24, Y:0.53, Z:-0.23 [[ 9.96971786e-01 -7.77639394e-02 -1.63276871e-04 2.66236857e+02] [ 7.77639382e-02 9.96971800e-01 -1.39903173e-05 5.34714050e-01] [ 1.63870378e-04 1.25089917e-06 9.99999987e-01 -2.30044372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.29, Y:0.54, Z:-0.24 [[ 9.96776706e-01 -8.02257532e-02 -1.63274440e-04 2.66294568e+02] [ 8.02257520e-02 9.96776719e-01 -1.40186268e-05 5.40106229e-01] [ 1.63872816e-04 8.74625944e-07 9.99999987e-01 -2.37131250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.35, Y:0.54, Z:-0.23 [[ 9.96572639e-01 -8.27221202e-02 -1.63273584e-04 2.66353670e+02] [ 8.27221191e-02 9.96572652e-01 -1.40285940e-05 5.36818085e-01] [ 1.63874463e-04 4.74176055e-07 9.99999987e-01 -2.29041278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.41, Y:0.54, Z:-0.23 [[ 9.96512403e-01 -8.34446151e-02 -1.63271242e-04 2.66412364e+02] [ 8.34446139e-02 9.96512416e-01 -1.40557921e-05 5.40509669e-01] [ 1.63874700e-04 3.82665344e-07 9.99999987e-01 -2.26806976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.47, Y:0.55, Z:-0.23 [[ 9.96700409e-01 -8.11681514e-02 -1.63268838e-04 2.66469801e+02] [ 8.11681502e-02 9.96700422e-01 -1.40836654e-05 5.47995824e-01] [ 1.63873265e-04 7.84965471e-07 9.99999987e-01 -2.27089036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.53, Y:0.55, Z:-0.23 [[ 9.97002982e-01 -7.73629556e-02 -1.63267989e-04 2.66527724e+02] [ 7.73629543e-02 9.97002996e-01 -1.40935037e-05 5.54525735e-01] [ 1.63868989e-04 1.42037123e-06 9.99999987e-01 -2.29114593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.59, Y:0.56, Z:-0.23 [[ 9.97212105e-01 -7.46189766e-02 -1.63267159e-04 2.66586714e+02] [ 7.46189753e-02 9.97212118e-01 -1.41031152e-05 5.59486889e-01] [ 1.63864349e-04 1.88096912e-06 9.99999987e-01 -2.32038351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.65, Y:0.57, Z:-0.23 [[ 9.96949094e-01 -7.80543181e-02 -1.63266006e-04 2.66645558e+02] [ 7.80543168e-02 9.96949108e-01 -1.41164448e-05 5.66837800e-01] [ 1.63869748e-04 1.32976032e-06 9.99999987e-01 -2.29660928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.70, Y:0.57, Z:-0.23 [[ 9.96461043e-01 -8.40557165e-02 -1.63265487e-04 2.66703987e+02] [ 8.40557153e-02 9.96461056e-01 -1.41224471e-05 5.67807627e-01] [ 1.63874772e-04 3.49071042e-07 9.99999987e-01 -2.34123200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.76, Y:0.57, Z:-0.23 [[ 9.96033318e-01 -8.89809156e-02 -1.63263077e-04 2.66761406e+02] [ 8.89809145e-02 9.96033331e-01 -1.41502504e-05 5.69010707e-01] [ 1.63874569e-04 -4.33177043e-07 9.99999987e-01 -2.30533001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.945336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:266.82, Y:0.57, Z:-0.23 [[ 9.95297749e-01 -9.68626084e-02 -1.63261607e-04 2.66820358e+02] [ 9.68626074e-02 9.95297762e-01 -1.41671900e-05 5.68572958e-01] [ 1.63866183e-04 -1.71337266e-06 9.99999987e-01 -2.32399277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.88, Y:0.57, Z:-0.23 [[ 9.94908826e-01 -1.00778977e-01 -1.63259433e-04 2.66880147e+02] [ 1.00778976e-01 9.94908839e-01 -1.41921954e-05 5.65881954e-01] [ 1.63858528e-04 -2.33317806e-06 9.99999987e-01 -2.33264764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.94, Y:0.56, Z:-0.23 [[ 9.94805417e-01 -1.01794671e-01 -1.63258127e-04 2.66940056e+02] [ 1.01794670e-01 9.94805431e-01 -1.42072030e-05 5.61425867e-01] [ 1.63856289e-04 -2.48540474e-06 9.99999987e-01 -2.30134404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.00, Y:0.56, Z:-0.23 [[ 9.95241845e-01 -9.74353294e-02 -1.63255721e-04 2.66999355e+02] [ 9.74353283e-02 9.95241858e-01 -1.42347999e-05 5.55708781e-01] [ 1.63865900e-04 -1.73980627e-06 9.99999987e-01 -2.25848013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.06, Y:0.55, Z:-0.23 [[ 9.95675070e-01 -9.29038699e-02 -1.63253276e-04 2.67056453e+02] [ 9.29038688e-02 9.95675083e-01 -1.42627880e-05 5.53330446e-01] [ 1.63872287e-04 -9.65758523e-07 9.99999987e-01 -2.27447556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.12, Y:0.55, Z:-0.23 [[ 9.96236899e-01 -8.66718834e-02 -1.63252071e-04 2.67116152e+02] [ 8.66718823e-02 9.96236912e-01 -1.42765606e-05 5.47064023e-01] [ 1.63875116e-04 7.34721271e-08 9.99999987e-01 -2.31968723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.18, Y:0.54, Z:-0.24 [[ 9.96575532e-01 -8.26872610e-02 -1.63249689e-04 2.67175758e+02] [ 8.26872597e-02 9.96575545e-01 -1.43037468e-05 5.37477756e-01] [ 1.63873386e-04 7.56094583e-07 9.99999987e-01 -2.35155248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.23, Y:0.54, Z:-0.23 [[ 9.96679183e-01 -8.14283711e-02 -1.63247317e-04 2.67233934e+02] [ 8.14283699e-02 9.96679196e-01 -1.43307730e-05 5.39726093e-01] [ 1.63872136e-04 9.90220228e-07 9.99999987e-01 -2.32368610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.29, Y:0.54, Z:-0.23 [[ 9.97277126e-01 -7.37448806e-02 -1.63244511e-04 2.67293230e+02] [ 7.37448792e-02 9.97277139e-01 -1.43626606e-05 5.39848769e-01] [ 1.63859192e-04 2.28510615e-06 9.99999987e-01 -2.33722133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.35, Y:0.54, Z:-0.23 [[ 9.97637371e-01 -6.86997109e-02 -1.63242065e-04 2.67351681e+02] [ 6.86997094e-02 9.97637384e-01 -1.43904131e-05 5.38293396e-01] [ 1.63845004e-04 3.14173146e-06 9.99999987e-01 -2.31461063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.41, Y:0.54, Z:-0.23 [[ 9.97917253e-01 -6.45068226e-02 -1.63241205e-04 2.67410356e+02] [ 6.45068211e-02 9.97917266e-01 -1.44001600e-05 5.39705232e-01] [ 1.63830126e-04 3.83999692e-06 9.99999987e-01 -2.27876286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.47, Y:0.55, Z:-0.23 [[ 9.97944152e-01 -6.40893372e-02 -1.63238816e-04 2.67466704e+02] [ 6.40893357e-02 9.97944165e-01 -1.44271889e-05 5.46982429e-01] [ 1.63827853e-04 3.93566149e-06 9.99999987e-01 -2.31187129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.53, Y:0.55, Z:-0.23 [[ 9.97567303e-01 -6.97097444e-02 -1.63237638e-04 2.67525739e+02] [ 6.97097430e-02 9.97567317e-01 -1.44405111e-05 5.50055588e-01] [ 1.63847177e-04 3.02612797e-06 9.99999987e-01 -2.30416872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.58, Y:0.55, Z:-0.24 [[ 9.96897949e-01 -7.87048432e-02 -1.63235213e-04 2.67583855e+02] [ 7.87048418e-02 9.96897963e-01 -1.44678648e-05 5.52439017e-01] [ 1.63867543e-04 1.57558310e-06 9.99999987e-01 -2.35192732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.64, Y:0.55, Z:-0.23 [[ 9.95939759e-01 -9.00220561e-02 -1.63234358e-04 2.67643344e+02] [ 9.00220549e-02 9.95939772e-01 -1.44775118e-05 5.50359638e-01] [ 1.63874884e-04 -2.75962721e-07 9.99999987e-01 -2.31642697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.70, Y:0.55, Z:-0.24 [[ 9.95448890e-01 -9.52968071e-02 -1.63231860e-04 2.67701136e+02] [ 9.52968060e-02 9.95448903e-01 -1.45056233e-05 5.54444011e-01] [ 1.63871315e-04 -1.11586823e-06 9.99999987e-01 -2.35188426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.76, Y:0.56, Z:-0.24 [[ 9.95286068e-01 -9.69825564e-02 -1.63230975e-04 2.67759668e+02] [ 9.69825554e-02 9.95286081e-01 -1.45155664e-05 5.62065688e-01] [ 1.63869275e-04 -1.38341607e-06 9.99999987e-01 -2.41876052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.82, Y:0.56, Z:-0.23 [[ 9.95527414e-01 -9.44729704e-02 -1.63230304e-04 2.67818027e+02] [ 9.44729693e-02 9.95527427e-01 -1.45231131e-05 5.62451270e-01] [ 1.63872286e-04 -9.62694302e-07 9.99999987e-01 -2.34631324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.88, Y:0.57, Z:-0.23 [[ 9.96027578e-01 -8.90451418e-02 -1.63229636e-04 2.67876136e+02] [ 8.90451407e-02 9.96027591e-01 -1.45306117e-05 5.71268251e-01] [ 1.63875102e-04 -6.19159590e-08 9.99999987e-01 -2.27447812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.93, Y:0.58, Z:-0.23 [[ 9.96479366e-01 -8.38382153e-02 -1.63227172e-04 2.67933067e+02] [ 8.38382140e-02 9.96479379e-01 -1.45582420e-05 5.82288566e-01] [ 1.63873048e-04 8.22313134e-07 9.99999987e-01 -2.33978019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.99, Y:0.59, Z:-0.23 [[ 9.96984476e-01 -7.76010765e-02 -1.63226307e-04 2.67991952e+02] [ 7.76010752e-02 9.96984490e-01 -1.45679383e-05 5.89232892e-01] [ 1.63864584e-04 1.85747145e-06 9.99999987e-01 -2.25667247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.05, Y:0.60, Z:-0.23 [[ 9.97298096e-01 -7.34607393e-02 -1.63223802e-04 2.68048824e+02] [ 7.34607379e-02 9.97298110e-01 -1.45959432e-05 6.01743534e-01] [ 1.63855018e-04 2.56596537e-06 9.99999987e-01 -2.32295794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.11, Y:0.61, Z:-0.23 [[ 9.97380194e-01 -7.23375506e-02 -1.63222926e-04 2.68106067e+02] [ 7.23375492e-02 9.97380208e-01 -1.46057311e-05 6.14129957e-01] [ 1.63851859e-04 2.76032047e-06 9.99999987e-01 -2.34337470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.16, Y:0.63, Z:-0.23 [[ 9.97108170e-01 -7.59952069e-02 -1.63222063e-04 2.68163925e+02] [ 7.59952055e-02 9.97108183e-01 -1.46153747e-05 6.26911468e-01] [ 1.63860753e-04 2.16901529e-06 9.99999987e-01 -2.34693343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.22, Y:0.64, Z:-0.23 [[ 9.96337083e-01 -8.55125169e-02 -1.63219639e-04 2.68222410e+02] [ 8.55125156e-02 9.96337096e-01 -1.46423963e-05 6.37273363e-01] [ 1.63873889e-04 6.31440533e-07 9.99999987e-01 -2.34995942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.28, Y:0.65, Z:-0.24 [[ 9.95803716e-01 -9.15146543e-02 -1.63217181e-04 2.68278964e+02] [ 9.15146531e-02 9.95803730e-01 -1.46697387e-05 6.50806061e-01] [ 1.63874774e-04 -3.28583431e-07 9.99999987e-01 -2.37423304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.34, Y:0.66, Z:-0.23 [[ 9.95141109e-01 -9.84588522e-02 -1.63214396e-04 2.68337339e+02] [ 9.84588511e-02 9.95141123e-01 -1.47006684e-05 6.62487363e-01] [ 1.63868768e-04 -1.44066238e-06 9.99999987e-01 -2.34850962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.40, Y:0.67, Z:-0.23 [[ 9.94638228e-01 -1.03415517e-01 -1.63211949e-04 2.68395829e+02] [ 1.03415516e-01 9.94638241e-01 -1.47277827e-05 6.72418460e-01] [ 1.63859927e-04 -2.22983224e-06 9.99999987e-01 -2.28307748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.45, Y:0.69, Z:-0.23 [[ 9.94303315e-01 -1.06587478e-01 -1.63209442e-04 2.68453375e+02] [ 1.06587477e-01 9.94303329e-01 -1.47555124e-05 6.87110790e-01] [ 1.63852444e-04 -2.72462768e-06 9.99999987e-01 -2.31647039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.51, Y:0.69, Z:-0.23 [[ 9.94172534e-01 -1.07800491e-01 -1.63206952e-04 2.68511313e+02] [ 1.07800490e-01 9.94172548e-01 -1.47830039e-05 6.94358142e-01] [ 1.63849486e-04 -2.89693287e-06 9.99999987e-01 -2.31946771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.57, Y:0.70, Z:-0.23 [[ 9.94172302e-01 -1.07802629e-01 -1.63206067e-04 2.68569617e+02] [ 1.07802628e-01 9.94172316e-01 -1.47927638e-05 6.99578843e-01] [ 1.63849652e-04 -2.88748701e-06 9.99999987e-01 -2.30448284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.63, Y:0.71, Z:-0.23 [[ 9.94381651e-01 -1.05854169e-01 -1.63203415e-04 2.68627207e+02] [ 1.05854168e-01 9.94381665e-01 -1.48219686e-05 7.12536583e-01] [ 1.63855450e-04 -2.53706814e-06 9.99999987e-01 -2.31705448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.68, Y:0.73, Z:-0.23 [[ 9.94836704e-01 -1.01488447e-01 -1.63200583e-04 2.68684659e+02] [ 1.01488446e-01 9.94836718e-01 -1.48530876e-05 7.26845694e-01] [ 1.63865349e-04 -1.78657678e-06 9.99999987e-01 -2.28918758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.74, Y:0.73, Z:-0.23 [[ 9.95194999e-01 -9.79126475e-02 -1.63197980e-04 2.68741973e+02] [ 9.79126464e-02 9.95195013e-01 -1.48816314e-05 7.32677217e-01] [ 1.63870915e-04 -1.16902088e-06 9.99999987e-01 -2.30270197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.80, Y:0.75, Z:-0.24 [[ 9.95413228e-01 -9.56685913e-02 -1.63197065e-04 2.68798802e+02] [ 9.56685902e-02 9.95413241e-01 -1.48916565e-05 7.46717908e-01] [ 1.63873183e-04 -7.89481303e-07 9.99999987e-01 -2.38259409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.86, Y:0.75, Z:-0.24 [[ 9.95498503e-01 -9.47771324e-02 -1.63196186e-04 2.68857569e+02] [ 9.47771312e-02 9.95498516e-01 -1.49012865e-05 7.54046693e-01] [ 1.63873862e-04 -6.33057913e-07 9.99999987e-01 -2.37706593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.91, Y:0.76, Z:-0.24 [[ 9.95539047e-01 -9.43503044e-02 -1.63193621e-04 2.68914901e+02] [ 9.43503032e-02 9.95539060e-01 -1.49293255e-05 7.59796622e-01] [ 1.63874210e-04 -5.34641122e-07 9.99999987e-01 -2.36279323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.97, Y:0.77, Z:-0.24 [[ 9.95422574e-01 -9.55712979e-02 -1.63192714e-04 2.68972248e+02] [ 9.55712967e-02 9.95422587e-01 -1.49392322e-05 7.69671887e-01] [ 1.63873475e-04 -7.25690273e-07 9.99999987e-01 -2.37369506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.03, Y:0.78, Z:-0.23 [[ 9.95166580e-01 -9.82010756e-02 -1.63191855e-04 2.69030300e+02] [ 9.82010745e-02 9.95166593e-01 -1.49486084e-05 7.76536677e-01] [ 1.63871052e-04 -1.14926002e-06 9.99999987e-01 -2.30454091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.09, Y:0.78, Z:-0.23 [[ 9.94798195e-01 -1.01865224e-01 -1.63189247e-04 2.69087491e+02] [ 1.01865223e-01 9.94798209e-01 -1.49770196e-05 7.82174502e-01] [ 1.63866008e-04 -1.72419709e-06 9.99999987e-01 -2.33079746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.15, Y:0.78, Z:-0.23 [[ 9.94286246e-01 -1.06746585e-01 -1.63187866e-04 2.69146548e+02] [ 1.06746584e-01 9.94286260e-01 -1.49920572e-05 7.84752007e-01] [ 1.63855804e-04 -2.51335096e-06 9.99999987e-01 -2.28944139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.20, Y:0.79, Z:-0.23 [[ 9.93796545e-01 -1.11213309e-01 -1.63185337e-04 2.69204193e+02] [ 1.11213308e-01 9.93796559e-01 -1.50195323e-05 7.88687291e-01] [ 1.63843398e-04 -3.22202180e-06 9.99999987e-01 -2.33784414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.26, Y:0.79, Z:-0.23 [[ 9.93850797e-01 -1.10727447e-01 -1.63184442e-04 2.69263329e+02] [ 1.10727446e-01 9.93850810e-01 -1.50292465e-05 7.92303033e-01] [ 1.63845140e-04 -3.13216797e-06 9.99999987e-01 -2.30985742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.32, Y:0.79, Z:-0.23 [[ 9.94273161e-01 -1.06868403e-01 -1.63181901e-04 2.69322776e+02] [ 1.06868402e-01 9.94273174e-01 -1.50567928e-05 7.93431058e-01] [ 1.63856482e-04 -2.46842398e-06 9.99999987e-01 -2.30492314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.38, Y:0.80, Z:-0.24 [[ 9.94735742e-01 -1.02473295e-01 -1.63179346e-04 2.69382404e+02] [ 1.02473294e-01 9.94735756e-01 -1.50844320e-05 7.95690044e-01] [ 1.63866081e-04 -1.71650130e-06 9.99999987e-01 -2.37919371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.44, Y:0.80, Z:-0.24 [[ 9.95823176e-01 -9.13026536e-02 -1.63178984e-04 2.69439512e+02] [ 9.13026524e-02 9.95823190e-01 -1.50883435e-05 8.02171081e-01] [ 1.63875022e-04 1.26648143e-07 9.99999987e-01 -2.40078200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.50, Y:0.81, Z:-0.24 [[ 9.96537908e-01 -8.31394730e-02 -1.63178087e-04 2.69498297e+02] [ 8.31394717e-02 9.96537921e-01 -1.50980343e-05 8.10530598e-01] [ 1.63868394e-04 1.47922355e-06 9.99999987e-01 -2.38898040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.56, Y:0.82, Z:-0.24 [[ 9.97287932e-01 -7.35985968e-02 -1.63175601e-04 2.69555881e+02] [ 7.35985953e-02 9.97287946e-01 -1.51248628e-05 8.16689468e-01] [ 1.63846228e-04 3.07434814e-06 9.99999987e-01 -2.36789452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.61, Y:0.82, Z:-0.24 [[ 9.97454566e-01 -7.13047186e-02 -1.63174725e-04 2.69614500e+02] [ 7.13047171e-02 9.97454579e-01 -1.51343075e-05 8.22103764e-01] [ 1.63838524e-04 3.46065649e-06 9.99999987e-01 -2.35781288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.67, Y:0.83, Z:-0.23 [[ 9.97206266e-01 -7.46969698e-02 -1.63172190e-04 2.69673038e+02] [ 7.46969683e-02 9.97206279e-01 -1.51615883e-05 8.29784050e-01] [ 1.63848857e-04 2.93076293e-06 9.99999987e-01 -2.32339771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.73, Y:0.83, Z:-0.23 [[ 9.96919723e-01 -7.84285606e-02 -1.63171653e-04 2.69731904e+02] [ 7.84285592e-02 9.96919736e-01 -1.51673653e-05 8.33485938e-01] [ 1.63858596e-04 2.32332797e-06 9.99999987e-01 -2.34365033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.79, Y:0.84, Z:-0.23 [[ 9.96700182e-01 -8.11709347e-02 -1.63169161e-04 2.69790485e+02] [ 8.11709333e-02 9.96700195e-01 -1.51941247e-05 8.36308648e-01] [ 1.63864056e-04 1.89939373e-06 9.99999987e-01 -2.29479562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.85, Y:0.84, Z:-0.23 [[ 9.96602954e-01 -8.23560854e-02 -1.63166563e-04 2.69847892e+02] [ 8.23560840e-02 9.96602968e-01 -1.52219762e-05 8.42895154e-01] [ 1.63865903e-04 1.73250731e-06 9.99999987e-01 -2.26782997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.91, Y:0.85, Z:-0.23 [[ 9.96456274e-01 -8.41122344e-02 -1.63165185e-04 2.69906065e+02] [ 8.41122330e-02 9.96456287e-01 -1.52367258e-05 8.52246005e-01] [ 1.63868570e-04 1.45854290e-06 9.99999987e-01 -2.30442325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.97, Y:0.85, Z:-0.23 [[ 9.96435763e-01 -8.43548646e-02 -1.63162649e-04 2.69965090e+02] [ 8.43548633e-02 9.96435777e-01 -1.52638400e-05 8.52784747e-01] [ 1.63868680e-04 1.44587316e-06 9.99999987e-01 -2.30515031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.02, Y:0.86, Z:-0.23 [[ 9.96459664e-01 -8.40720629e-02 -1.63160093e-04 2.70023818e+02] [ 8.40720616e-02 9.96459677e-01 -1.52911104e-05 8.58966654e-01] [ 1.63868009e-04 1.51976937e-06 9.99999987e-01 -2.32785517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.08, Y:0.87, Z:-0.23 [[ 9.96357643e-01 -8.52726285e-02 -1.63157524e-04 2.70082558e+02] [ 8.52726271e-02 9.96357656e-01 -1.53184761e-05 8.65988894e-01] [ 1.63869495e-04 1.34981006e-06 9.99999987e-01 -2.33141465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.14, Y:0.87, Z:-0.24 [[ 9.96049401e-01 -8.88006958e-02 -1.63154897e-04 2.70140145e+02] [ 8.88006945e-02 9.96049415e-01 -1.53464037e-05 8.68176794e-01] [ 1.63873111e-04 7.97508087e-07 9.99999987e-01 -2.35234000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.20, Y:0.87, Z:-0.23 [[ 9.95716753e-01 -9.24560530e-02 -1.63153971e-04 2.70198554e+02] [ 9.24560518e-02 9.95716766e-01 -1.53562414e-05 8.71511630e-01] [ 1.63874922e-04 2.05894836e-07 9.99999987e-01 -2.32702923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.485336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:270.26, Y:0.88, Z:-0.23 [[ 9.95698317e-01 -9.26543812e-02 -1.63151313e-04 2.70257254e+02] [ 9.26543799e-02 9.95698331e-01 -1.53844317e-05 8.80488036e-01] [ 1.63874925e-04 2.01569061e-07 9.99999987e-01 -2.34476065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.31, Y:0.88, Z:-0.23 [[ 9.95825046e-01 -9.12822621e-02 -1.63148628e-04 2.70314657e+02] [ 9.12822608e-02 9.95825059e-01 -1.54128494e-05 8.84969189e-01] [ 1.63874412e-04 4.55925860e-07 9.99999987e-01 -2.32661208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.37, Y:0.89, Z:-0.24 [[ 9.95982673e-01 -8.95460120e-02 -1.63145523e-04 2.70372642e+02] [ 8.95460107e-02 9.95982686e-01 -1.54456409e-05 8.90997711e-01] [ 1.63873212e-04 7.74559899e-07 9.99999987e-01 -2.38173396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.43, Y:0.90, Z:-0.23 [[ 9.95915450e-01 -9.02905826e-02 -1.63144567e-04 2.70431411e+02] [ 9.02905813e-02 9.95915464e-01 -1.54557385e-05 8.97923368e-01] [ 1.63873705e-04 6.62190972e-07 9.99999987e-01 -2.33633824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.49, Y:0.91, Z:-0.23 [[ 9.95439138e-01 -9.53986139e-02 -1.63142012e-04 2.70489253e+02] [ 9.53986127e-02 9.95439152e-01 -1.54826581e-05 9.07738522e-01] [ 1.63874970e-04 -1.51477839e-07 9.99999987e-01 -2.31866655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.55, Y:0.91, Z:-0.23 [[ 9.94744716e-01 -1.02386147e-01 -1.63139450e-04 2.70548414e+02] [ 1.02386146e-01 9.94744730e-01 -1.55096055e-05 9.07940041e-01] [ 1.63870077e-04 -1.27512146e-06 9.99999987e-01 -2.33463428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.60, Y:0.91, Z:-0.23 [[ 9.94403532e-01 -1.05648420e-01 -1.63136812e-04 2.70604955e+02] [ 1.05648419e-01 9.94403546e-01 -1.55373101e-05 9.10604891e-01] [ 1.63865316e-04 -1.78479013e-06 9.99999987e-01 -2.34580304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.66, Y:0.92, Z:-0.23 [[ 9.94387124e-01 -1.05802748e-01 -1.63135506e-04 2.70663563e+02] [ 1.05802746e-01 9.94387137e-01 -1.55510021e-05 9.15711765e-01] [ 1.63865188e-04 -1.79646841e-06 9.99999987e-01 -2.31786898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.72, Y:0.92, Z:-0.23 [[ 9.94911381e-01 -1.00753744e-01 -1.63132810e-04 2.70721283e+02] [ 1.00753743e-01 9.94911395e-01 -1.55792380e-05 9.20123891e-01] [ 1.63872358e-04 -9.36279967e-07 9.99999987e-01 -2.31979343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.78, Y:0.93, Z:-0.23 [[ 9.95857433e-01 -9.09282547e-02 -1.63131856e-04 2.70779672e+02] [ 9.09282534e-02 9.95857446e-01 -1.55892158e-05 9.29622020e-01] [ 1.63873574e-04 6.91341624e-07 9.99999987e-01 -2.34024609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.84, Y:0.94, Z:-0.23 [[ 9.96515733e-01 -8.34048448e-02 -1.63129230e-04 2.70837638e+02] [ 8.34048433e-02 9.96515746e-01 -1.56166479e-05 9.39055036e-01] [ 1.63863351e-04 1.95646740e-06 9.99999987e-01 -2.31132147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.90, Y:0.95, Z:-0.23 [[ 9.96594890e-01 -8.24536101e-02 -1.63126606e-04 2.70896483e+02] [ 8.24536086e-02 9.96594904e-01 -1.56440084e-05 9.46876691e-01] [ 1.63861050e-04 2.14036145e-06 9.99999987e-01 -2.29045850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.95, Y:0.96, Z:-0.23 [[ 9.96501199e-01 -8.35783118e-02 -1.63123925e-04 2.70953785e+02] [ 8.35783103e-02 9.96501212e-01 -1.56719220e-05 9.55017193e-01] [ 1.63863021e-04 1.98346710e-06 9.99999987e-01 -2.31424013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.265336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:271.01, Y:0.96, Z:-0.23 [[ 9.95864695e-01 -9.08486772e-02 -1.63122979e-04 2.71012180e+02] [ 9.08486759e-02 9.95864709e-01 -1.56817606e-05 9.63270631e-01] [ 1.63873085e-04 7.97405156e-07 9.99999987e-01 -2.28302477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.07, Y:0.97, Z:-0.23 [[ 9.95109916e-01 -9.87736222e-02 -1.63120260e-04 2.71070348e+02] [ 9.87736209e-02 9.95109929e-01 -1.57099944e-05 9.68355260e-01] [ 1.63874323e-04 -4.78807457e-07 9.99999987e-01 -2.31514103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.13, Y:0.98, Z:-0.23 [[ 9.94645756e-01 -1.03343091e-01 -1.63117555e-04 2.71128212e+02] [ 1.03343089e-01 9.94645769e-01 -1.57380247e-05 9.75511929e-01] [ 1.63870602e-04 -1.20331260e-06 9.99999987e-01 -2.34311428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.19, Y:0.98, Z:-0.23 [[ 9.94551948e-01 -1.04242010e-01 -1.63116628e-04 2.71186562e+02] [ 1.04242009e-01 9.94551961e-01 -1.57476334e-05 9.81455776e-01] [ 1.63869527e-04 -1.34176553e-06 9.99999987e-01 -2.31379190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.24, Y:0.99, Z:-0.24 [[ 9.94548877e-01 -1.04271300e-01 -1.63113826e-04 2.71243562e+02] [ 1.04271299e-01 9.94548891e-01 -1.57766002e-05 9.88249194e-01] [ 1.63869721e-04 -1.31749047e-06 9.99999987e-01 -2.35548440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.565336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:271.30, Y:0.99, Z:-0.23 [[ 9.94567833e-01 -1.04090339e-01 -1.63112832e-04 2.71300893e+02] [ 1.04090338e-01 9.94567846e-01 -1.57868639e-05 9.94340615e-01] [ 1.63870039e-04 -1.27736289e-06 9.99999987e-01 -2.33571041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.625336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:271.36, Y:1.00, Z:-0.23 [[ 9.94564874e-01 -1.04118605e-01 -1.63111889e-04 2.71358958e+02] [ 1.04118604e-01 9.94564888e-01 -1.57966065e-05 1.00255029e+00] [ 1.63870078e-04 -1.27223216e-06 9.99999987e-01 -2.29730349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.42, Y:1.01, Z:-0.23 [[ 9.94582732e-01 -1.03947889e-01 -1.63109114e-04 2.71416846e+02] [ 1.03947887e-01 9.94582745e-01 -1.58252076e-05 1.00947836e+00] [ 1.63870507e-04 -1.21536959e-06 9.99999987e-01 -2.34499633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.48, Y:1.01, Z:-0.23 [[ 9.94542919e-01 -1.04328116e-01 -1.63108136e-04 2.71476055e+02] [ 1.04328115e-01 9.94542932e-01 -1.58352810e-05 1.01217953e+00] [ 1.63870109e-04 -1.26789776e-06 9.99999987e-01 -2.30856318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.53, Y:1.02, Z:-0.23 [[ 9.94692699e-01 -1.02890269e-01 -1.63105500e-04 2.71533701e+02] [ 1.02890267e-01 9.94692713e-01 -1.58623817e-05 1.01942017e+00] [ 1.63871937e-04 -1.00377332e-06 9.99999987e-01 -2.28028153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.59, Y:1.03, Z:-0.23 [[ 9.95284626e-01 -9.69973573e-02 -1.63102381e-04 2.71591116e+02] [ 9.69973560e-02 9.95284639e-01 -1.58943963e-05 1.02814067e+00] [ 1.63875008e-04 -1.05140051e-09 9.99999987e-01 -2.29363788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.65, Y:1.03, Z:-0.23 [[ 9.95692035e-01 -9.27218711e-02 -1.63101418e-04 2.71649404e+02] [ 9.27218697e-02 9.95692048e-01 -1.59042700e-05 1.03346954e+00] [ 1.63873458e-04 7.12686566e-07 9.99999987e-01 -2.25721239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.71, Y:1.04, Z:-0.23 [[ 9.95736764e-01 -9.22402832e-02 -1.63098687e-04 2.71707446e+02] [ 9.22402818e-02 9.95736778e-01 -1.59322272e-05 1.03773196e+00] [ 1.63872954e-04 8.20035566e-07 9.99999987e-01 -2.29017285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.77, Y:1.05, Z:-0.23 [[ 9.95674200e-01 -9.29131936e-02 -1.63097267e-04 2.71765886e+02] [ 9.29131922e-02 9.95674213e-01 -1.59467447e-05 1.04735270e+00] [ 1.63873406e-04 7.23874485e-07 9.99999987e-01 -2.33725744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.82, Y:1.05, Z:-0.23 [[ 9.95699862e-01 -9.26377756e-02 -1.63094582e-04 2.71823959e+02] [ 9.26377742e-02 9.95699876e-01 -1.59741668e-05 1.05380413e+00] [ 1.63873066e-04 7.96756632e-07 9.99999987e-01 -2.32420205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.88, Y:1.06, Z:-0.23 [[ 9.95896512e-01 -9.04992309e-02 -1.63091484e-04 2.71881937e+02] [ 9.04992295e-02 9.95896525e-01 -1.60057301e-05 1.06038280e+00] [ 1.63870748e-04 1.18039716e-06 9.99999987e-01 -2.31321322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.94, Y:1.07, Z:-0.23 [[ 9.95913972e-01 -9.03068882e-02 -1.63088325e-04 2.71939539e+02] [ 9.03068868e-02 9.95913985e-01 -1.60378514e-05 1.06988828e+00] [ 1.63870272e-04 1.24432135e-06 9.99999987e-01 -2.27807447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.00, Y:1.08, Z:-0.23 [[ 9.95580124e-01 -9.39158713e-02 -1.63087544e-04 2.71997961e+02] [ 9.39158699e-02 9.95580137e-01 -1.60457864e-05 1.07735714e+00] [ 1.63873674e-04 6.58357410e-07 9.99999987e-01 -2.25702138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.06, Y:1.08, Z:-0.23 [[ 9.94846451e-01 -1.01392863e-01 -1.63084896e-04 2.72056973e+02] [ 1.01392862e-01 9.94846464e-01 -1.60726643e-05 1.08413977e+00] [ 1.63874085e-04 -5.45811192e-07 9.99999987e-01 -2.28938974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.11, Y:1.09, Z:-0.23 [[ 9.94122960e-01 -1.08256705e-01 -1.63082385e-04 2.72114161e+02] [ 1.08256704e-01 9.94122973e-01 -1.60981006e-05 1.08917633e+00] [ 1.63866672e-04 -1.65127006e-06 9.99999987e-01 -2.27431198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.17, Y:1.10, Z:-0.23 [[ 9.93462708e-01 -1.14157005e-01 -1.63081424e-04 2.72171992e+02] [ 1.14157004e-01 9.93462721e-01 -1.61078236e-05 1.09528695e+00] [ 1.63854136e-04 -2.61436477e-06 9.99999987e-01 -2.29960702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.23, Y:1.10, Z:-0.23 [[ 9.93038811e-01 -1.17787491e-01 -1.63079999e-04 2.72230275e+02] [ 1.17787490e-01 9.93038825e-01 -1.61222381e-05 1.10070864e+00] [ 1.63843769e-04 -3.19877557e-06 9.99999987e-01 -2.26500563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.29, Y:1.11, Z:-0.23 [[ 9.92193209e-01 -1.24710103e-01 -1.63077299e-04 2.72288226e+02] [ 1.24710102e-01 9.92193222e-01 -1.61495072e-05 1.10813871e+00] [ 1.63818197e-04 -4.31395523e-06 9.99999987e-01 -2.28385944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.35, Y:1.11, Z:-0.23 [[ 9.91558279e-01 -1.29661686e-01 -1.63074171e-04 2.72346065e+02] [ 1.29661685e-01 9.91558292e-01 -1.61810327e-05 1.10942810e+00] [ 1.63795606e-04 -5.10003491e-06 9.99999987e-01 -2.27067058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.41, Y:1.11, Z:-0.23 [[ 9.91183690e-01 -1.32494777e-01 -1.63073202e-04 2.72405520e+02] [ 1.32494776e-01 9.91183703e-01 -1.61907874e-05 1.11167883e+00] [ 1.63780695e-04 -5.55830302e-06 9.99999987e-01 -2.27553369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.46, Y:1.11, Z:-0.23 [[ 9.91838324e-01 -1.27501812e-01 -1.63070608e-04 2.72463404e+02] [ 1.27501812e-01 9.91838338e-01 -1.62168711e-05 1.11279615e+00] [ 1.63807361e-04 -4.70728375e-06 9.99999987e-01 -2.28534889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.52, Y:1.12, Z:-0.23 [[ 9.92496861e-01 -1.22270009e-01 -1.63069621e-04 2.72520800e+02] [ 1.22270008e-01 9.92496874e-01 -1.62267922e-05 1.12110500e+00] [ 1.63830139e-04 -3.83348353e-06 9.99999987e-01 -2.28016343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.58, Y:1.12, Z:-0.23 [[ 9.93078395e-01 -1.17453288e-01 -1.63066459e-04 2.72578849e+02] [ 1.17453287e-01 9.93078408e-01 -1.62585080e-05 1.12494105e+00] [ 1.63847395e-04 -3.00671850e-06 9.99999987e-01 -2.26738656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.64, Y:1.12, Z:-0.23 [[ 9.93340564e-01 -1.15215001e-01 -1.63063168e-04 2.72637432e+02] [ 1.15214999e-01 9.93340578e-01 -1.62914468e-05 1.12438566e+00] [ 1.63854281e-04 -2.60436782e-06 9.99999987e-01 -2.29121929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.70, Y:1.13, Z:-0.23 [[ 9.93544083e-01 -1.13446587e-01 -1.63061639e-04 2.72695692e+02] [ 1.13446585e-01 9.93544097e-01 -1.63067310e-05 1.13001268e+00] [ 1.63858872e-04 -2.29733012e-06 9.99999987e-01 -2.30705509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.75, Y:1.14, Z:-0.23 [[ 9.93671170e-01 -1.12328001e-01 -1.63058700e-04 2.72753568e+02] [ 1.12327999e-01 9.93671183e-01 -1.63360703e-05 1.13616879e+00] [ 1.63861730e-04 -2.08337543e-06 9.99999987e-01 -2.31529011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.125336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:272.81, Y:1.14, Z:-0.23 [[ 9.94137941e-01 -1.08119047e-01 -1.63057730e-04 2.72812294e+02] [ 1.08119046e-01 9.94137954e-01 -1.63457452e-05 1.13763964e+00] [ 1.63869165e-04 -1.37972081e-06 9.99999987e-01 -2.32507363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.87, Y:1.14, Z:-0.23 [[ 9.94962392e-01 -1.00248751e-01 -1.63054926e-04 2.72870155e+02] [ 1.00248749e-01 9.94962405e-01 -1.63736688e-05 1.14229969e+00] [ 1.63874961e-04 -5.48677600e-08 9.99999987e-01 -2.28889746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.93, Y:1.15, Z:-0.23 [[ 9.95606109e-01 -9.36400014e-02 -1.63053443e-04 2.72928853e+02] [ 9.36400000e-02 9.95606122e-01 -1.63884263e-05 1.14955559e+00] [ 1.63871618e-04 1.04809290e-06 9.99999987e-01 -2.28431627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.99, Y:1.16, Z:-0.23 [[ 9.96525824e-01 -8.32841806e-02 -1.63050703e-04 2.72986039e+02] [ 8.32841790e-02 9.96525838e-01 -1.64156453e-05 1.15881355e+00] [ 1.63851402e-04 2.77907059e-06 9.99999987e-01 -2.27628778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.04, Y:1.17, Z:-0.23 [[ 9.96846113e-01 -7.93586772e-02 -1.63047512e-04 2.73042725e+02] [ 7.93586756e-02 9.96846127e-01 -1.64472771e-05 1.16879448e+00] [ 1.63838515e-04 3.45616969e-06 9.99999987e-01 -2.32063256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.10, Y:1.18, Z:-0.23 [[ 9.96187544e-01 -8.72373240e-02 -1.63046046e-04 2.73100432e+02] [ 8.72373225e-02 9.96187557e-01 -1.64617929e-05 1.18016724e+00] [ 1.63860525e-04 2.17533257e-06 9.99999987e-01 -2.32504649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.16, Y:1.19, Z:-0.24 [[ 9.95467685e-01 -9.51002714e-02 -1.63043222e-04 2.73158260e+02] [ 9.51002699e-02 9.95467698e-01 -1.64897189e-05 1.18609439e+00] [ 1.63872437e-04 9.09527862e-07 9.99999987e-01 -2.36785633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.22, Y:1.19, Z:-0.23 [[ 9.94404526e-01 -1.05639069e-01 -1.63041722e-04 2.73215938e+02] [ 1.05639068e-01 9.94404539e-01 -1.65045391e-05 1.19264042e+00] [ 1.63872952e-04 -8.11387116e-07 9.99999987e-01 -2.30435621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.27, Y:1.21, Z:-0.23 [[ 9.93825529e-01 -1.10954002e-01 -1.63038396e-04 2.73272177e+02] [ 1.10954000e-01 9.93825543e-01 -1.65373232e-05 1.20651119e+00] [ 1.63866605e-04 -1.65454827e-06 9.99999987e-01 -2.32188918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.33, Y:1.21, Z:-0.23 [[ 9.93459738e-01 -1.14182848e-01 -1.63037159e-04 2.73329940e+02] [ 1.14182847e-01 9.93459751e-01 -1.65495135e-05 1.21169203e+00] [ 1.63860526e-04 -2.17477161e-06 9.99999987e-01 -2.29883287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.72533619499995 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:273.39, Y:1.22, Z:-0.23 [[ 9.92928217e-01 -1.18716167e-01 -1.63033842e-04 2.73387820e+02] [ 1.18716166e-01 9.92928231e-01 -1.65821203e-05 1.22110592e+00] [ 1.63849470e-04 -2.88989754e-06 9.99999987e-01 -2.29001729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.44, Y:1.23, Z:-0.23 [[ 9.92052751e-01 -1.25822541e-01 -1.63030924e-04 2.73444879e+02] [ 1.25822540e-01 9.92052765e-01 -1.66107671e-05 1.22993179e+00] [ 1.63825287e-04 -4.03420767e-06 9.99999987e-01 -2.32396417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84533619499996 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:273.50, Y:1.23, Z:-0.23 [[ 9.91453029e-01 -1.30464038e-01 -1.63029890e-04 2.73503882e+02] [ 1.30464037e-01 9.91453042e-01 -1.66209092e-05 1.23430366e+00] [ 1.63804911e-04 -4.79068676e-06 9.99999987e-01 -2.34601824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.56, Y:1.23, Z:-0.24 [[ 9.90828702e-01 -1.35123856e-01 -1.63026956e-04 2.73562212e+02] [ 1.35123855e-01 9.90828716e-01 -1.66496334e-05 1.23188708e+00] [ 1.63781552e-04 -5.53189616e-06 9.99999987e-01 -2.36281619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.62, Y:1.24, Z:-0.23 [[ 9.91152016e-01 -1.32731515e-01 -1.63025918e-04 2.73621016e+02] [ 1.32731514e-01 9.91152029e-01 -1.66597879e-05 1.23847227e+00] [ 1.63794749e-04 -5.12629456e-06 9.99999987e-01 -2.31578706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.68, Y:1.24, Z:-0.23 [[ 9.92116559e-01 -1.25318423e-01 -1.63023004e-04 2.73679102e+02] [ 1.25318422e-01 9.92116572e-01 -1.66882558e-05 1.23751757e+00] [ 1.63829170e-04 -3.87309081e-06 9.99999987e-01 -2.29228319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.74, Y:1.24, Z:-0.23 [[ 9.92950086e-01 -1.18533115e-01 -1.63019622e-04 2.73737227e+02] [ 1.18533113e-01 9.92950100e-01 -1.67212318e-05 1.24160728e+00] [ 1.63852369e-04 -2.71987471e-06 9.99999987e-01 -2.30298744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14533619499997 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:273.80, Y:1.25, Z:-0.23 [[ 9.93881853e-01 -1.10448342e-01 -1.63018582e-04 2.73796041e+02] [ 1.10448341e-01 9.93881866e-01 -1.67313600e-05 1.24746566e+00] [ 1.63869164e-04 -1.37613693e-06 9.99999987e-01 -2.31166611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.85, Y:1.25, Z:-0.24 [[ 9.94651851e-01 -1.03284404e-01 -1.63015617e-04 2.73852644e+02] [ 1.03284403e-01 9.94651865e-01 -1.67602022e-05 1.25174979e+00] [ 1.63874855e-04 -1.66404475e-07 9.99999987e-01 -2.35437361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.91, Y:1.25, Z:-0.23 [[ 9.95168184e-01 -9.81848245e-02 -1.63014156e-04 2.73910952e+02] [ 9.81848231e-02 9.95168197e-01 -1.67743951e-05 1.25273547e+00] [ 1.63873495e-04 6.87828172e-07 9.99999987e-01 -2.32936028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.97, Y:1.26, Z:-0.23 [[ 9.95268284e-01 -9.71648874e-02 -1.63010954e-04 2.73969075e+02] [ 9.71648860e-02 9.95268298e-01 -1.68054601e-05 1.25677579e+00] [ 1.63872535e-04 8.87000681e-07 9.99999987e-01 -2.30379228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.03, Y:1.26, Z:-0.24 [[ 9.95391018e-01 -9.58993966e-02 -1.63007656e-04 2.74026614e+02] [ 9.58993951e-02 9.95391032e-01 -1.68373853e-05 1.26011391e+00] [ 1.63871054e-04 1.12744647e-06 9.99999987e-01 -2.37295326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.09, Y:1.26, Z:-0.23 [[ 9.95771398e-01 -9.18656446e-02 -1.63006639e-04 2.74086285e+02] [ 9.18656430e-02 9.95771411e-01 -1.68472295e-05 1.26166021e+00] [ 1.63865032e-04 1.80127953e-06 9.99999987e-01 -2.29077056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.14, Y:1.27, Z:-0.22 [[ 9.96264066e-01 -8.63590448e-02 -1.63006237e-04 2.74143338e+02] [ 8.63590432e-02 9.96264079e-01 -1.68511179e-05 1.26908906e+00] [ 1.63852505e-04 2.71110061e-06 9.99999987e-01 -2.24931561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.20, Y:1.28, Z:-0.23 [[ 9.96907637e-01 -7.85820409e-02 -1.63005244e-04 2.74200433e+02] [ 7.85820391e-02 9.96907650e-01 -1.68607140e-05 1.28040498e+00] [ 1.63826124e-04 3.99929010e-06 9.99999987e-01 -2.28270117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.26, Y:1.29, Z:-0.23 [[ 9.97108728e-01 -7.59878743e-02 -1.63003808e-04 2.74258634e+02] [ 7.59878726e-02 9.97108742e-01 -1.68745910e-05 1.29215773e+00] [ 1.63814786e-04 4.43948943e-06 9.99999987e-01 -2.25398197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.32, Y:1.30, Z:-0.23 [[ 9.96948276e-01 -7.80647750e-02 -1.63000926e-04 2.74315874e+02] [ 7.80647732e-02 9.96948289e-01 -1.69023841e-05 1.30140786e+00] [ 1.63822975e-04 4.12617240e-06 9.99999987e-01 -2.30149093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.37, Y:1.31, Z:-0.23 [[ 9.96388290e-01 -8.49137755e-02 -1.62999906e-04 2.74372642e+02] [ 8.49137739e-02 9.96388303e-01 -1.69122069e-05 1.31468300e+00] [ 1.63847280e-04 3.01018773e-06 9.99999987e-01 -2.30828997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.43, Y:1.32, Z:-0.23 [[ 9.95372771e-01 -9.60886039e-02 -1.62998954e-04 2.74431329e+02] [ 9.60886024e-02 9.95372785e-01 -1.69213818e-05 1.32257771e+00] [ 1.63870675e-04 1.18074096e-06 9.99999987e-01 -2.30677422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.49, Y:1.33, Z:-0.23 [[ 9.93834865e-01 -1.10870347e-01 -1.62996109e-04 2.74490527e+02] [ 1.10870346e-01 9.93834879e-01 -1.69487412e-05 1.32659708e+00] [ 1.63870331e-04 -1.22718503e-06 9.99999987e-01 -2.29240989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.55, Y:1.33, Z:-0.23 [[ 9.92802639e-01 -1.19761816e-01 -1.62993252e-04 2.74549628e+02] [ 1.19761815e-01 9.92802653e-01 -1.69761757e-05 1.33103544e+00] [ 1.63853230e-04 -2.66637564e-06 9.99999987e-01 -2.29268980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.98533619499995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:274.61, Y:1.34, Z:-0.23 [[ 9.92332281e-01 -1.23598615e-01 -1.62990388e-04 2.74607895e+02] [ 1.23598614e-01 9.92332294e-01 -1.70036264e-05 1.33653037e+00] [ 1.63842250e-04 -3.27213863e-06 9.99999987e-01 -2.29254556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.67, Y:1.34, Z:-0.23 [[ 9.91593045e-01 -1.29395543e-01 -1.62987040e-04 2.74666201e+02] [ 1.29395542e-01 9.91593058e-01 -1.70356620e-05 1.33556662e+00] [ 1.63821156e-04 -4.19735244e-06 9.99999987e-01 -2.30765364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.10533619499995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:274.73, Y:1.34, Z:-0.23 [[ 9.92171474e-01 -1.24882905e-01 -1.62986004e-04 2.74725017e+02] [ 1.24882904e-01 9.92171487e-01 -1.70455653e-05 1.34267694e+00] [ 1.63838766e-04 -3.44204181e-06 9.99999987e-01 -2.31047626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.78, Y:1.35, Z:-0.23 [[ 9.93618066e-01 -1.12796770e-01 -1.62983100e-04 2.74783585e+02] [ 1.12796769e-01 9.93618080e-01 -1.70732866e-05 1.35102649e+00] [ 1.63868766e-04 -1.41964107e-06 9.99999987e-01 -2.29818924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.84, Y:1.36, Z:-0.23 [[ 9.94458412e-01 -1.05130586e-01 -1.62980165e-04 2.74841597e+02] [ 1.05130585e-01 9.94458425e-01 -1.71012540e-05 1.35703155e+00] [ 1.63874863e-04 -1.27714180e-07 9.99999987e-01 -2.29304461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.90, Y:1.37, Z:-0.22 [[ 9.95146309e-01 -9.84062838e-02 -1.62978615e-04 2.74899888e+02] [ 9.84062823e-02 9.95146323e-01 -1.71160138e-05 1.36921451e+00] [ 1.63871893e-04 9.94818306e-07 9.99999987e-01 -2.24429500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.96, Y:1.38, Z:-0.23 [[ 9.95053899e-01 -9.93363542e-02 -1.62975629e-04 2.74957275e+02] [ 9.93363527e-02 9.95053912e-01 -1.71444013e-05 1.38114222e+00] [ 1.63872600e-04 8.70198821e-07 9.99999987e-01 -2.27025139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.02, Y:1.39, Z:-0.23 [[ 9.94388491e-01 -1.05789894e-01 -1.62974050e-04 2.75015035e+02] [ 1.05789893e-01 9.94388505e-01 -1.71594006e-05 1.38646467e+00] [ 1.63874813e-04 -1.77896743e-07 9.99999987e-01 -2.25466576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.07, Y:1.39, Z:-0.23 [[ 9.93774656e-01 -1.11408734e-01 -1.62970668e-04 2.75072926e+02] [ 1.11408733e-01 9.93774670e-01 -1.71914630e-05 1.39153284e+00] [ 1.63871400e-04 -1.07191531e-06 9.99999987e-01 -2.28543402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.13, Y:1.40, Z:-0.23 [[ 9.93008759e-01 -1.18040580e-01 -1.62969114e-04 2.75131020e+02] [ 1.18040578e-01 9.93008772e-01 -1.72061751e-05 1.39891891e+00] [ 1.63860787e-04 -2.15108597e-06 9.99999987e-01 -2.29760172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.19, Y:1.40, Z:-0.22 [[ 9.92672635e-01 -1.20834649e-01 -1.62966091e-04 2.75189467e+02] [ 1.20834648e-01 9.92672649e-01 -1.72347602e-05 1.39866047e+00] [ 1.63854538e-04 -2.58347546e-06 9.99999987e-01 -2.24649334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64533619499997 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:275.25, Y:1.40, Z:-0.23 [[ 9.92615328e-01 -1.21304508e-01 -1.62965234e-04 2.75247349e+02] [ 1.21304506e-01 9.92615342e-01 -1.72428654e-05 1.40153259e+00] [ 1.63853428e-04 -2.65288475e-06 9.99999987e-01 -2.25273066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.31, Y:1.41, Z:-0.23 [[ 9.92756485e-01 -1.20143813e-01 -1.62964172e-04 2.75306435e+02] [ 1.20143812e-01 9.92756498e-01 -1.72528920e-05 1.40604280e+00] [ 1.63856569e-04 -2.45121643e-06 9.99999987e-01 -2.26889674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.37, Y:1.40, Z:-0.23 [[ 9.93054679e-01 -1.17653636e-01 -1.62961236e-04 2.75366421e+02] [ 1.17653635e-01 9.93054692e-01 -1.72805838e-05 1.40259744e+00] [ 1.63862543e-04 -2.01241715e-06 9.99999987e-01 -2.31664928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.43, Y:1.40, Z:-0.23 [[ 9.93710333e-01 -1.11981015e-01 -1.62958521e-04 2.75425991e+02] [ 1.11981013e-01 9.93710346e-01 -1.73061486e-05 1.39942351e+00] [ 1.63871528e-04 -1.05096159e-06 9.99999987e-01 -2.29382199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.49, Y:1.40, Z:-0.23 [[ 9.94410454e-01 -1.05583247e-01 -1.62955628e-04 2.75485067e+02] [ 1.05583246e-01 9.94410468e-01 -1.73333436e-05 1.40455551e+00] [ 1.63874893e-04 3.10739819e-08 9.99999987e-01 -2.28737878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.54, Y:1.41, Z:-0.23 [[ 9.95396860e-01 -9.58387443e-02 -1.62952646e-04 2.75543157e+02] [ 9.58387428e-02 9.95396873e-01 -1.73613368e-05 1.40737662e+00] [ 1.63866443e-04 1.66424348e-06 9.99999987e-01 -2.32489954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.60, Y:1.41, Z:-0.23 [[ 9.96167260e-01 -8.74686420e-02 -1.62951597e-04 2.75600785e+02] [ 8.74686403e-02 9.96167273e-01 -1.73711686e-05 1.41118049e+00] [ 1.63846481e-04 3.05143473e-06 9.99999987e-01 -2.30745304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.66, Y:1.42, Z:-0.23 [[ 9.96552260e-01 -8.29672650e-02 -1.62948268e-04 2.75659530e+02] [ 8.29672632e-02 9.96552273e-01 -1.74023479e-05 1.41679143e+00] [ 1.63830292e-04 3.82297727e-06 9.99999987e-01 -2.26291606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.72, Y:1.42, Z:-0.23 [[ 9.96971770e-01 -7.77641531e-02 -1.62945329e-04 2.75717399e+02] [ 7.77641512e-02 9.96971783e-01 -1.74298163e-05 1.42294535e+00] [ 1.63807310e-04 4.70572956e-06 9.99999987e-01 -2.28560309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.78, Y:1.43, Z:-0.23 [[ 9.97045976e-01 -7.68068656e-02 -1.62944295e-04 2.75775558e+02] [ 7.68068638e-02 9.97045990e-01 -1.74394811e-05 1.43197936e+00] [ 1.63802428e-04 4.87272415e-06 9.99999987e-01 -2.29609322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.83, Y:1.44, Z:-0.23 [[ 9.96813743e-01 -7.97642444e-02 -1.62941455e-04 2.75833304e+02] [ 7.97642426e-02 9.96813757e-01 -1.74659740e-05 1.43944731e+00] [ 1.63815444e-04 4.41342114e-06 9.99999987e-01 -2.27934229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.89, Y:1.44, Z:-0.23 [[ 9.96162475e-01 -8.75231252e-02 -1.62938074e-04 2.75890597e+02] [ 8.75231235e-02 9.96162488e-01 -1.74974548e-05 1.44289005e+00] [ 1.63844230e-04 3.16945863e-06 9.99999987e-01 -2.27860687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.95, Y:1.45, Z:-0.22 [[ 9.95745915e-01 -9.21414484e-02 -1.62936818e-04 2.75949520e+02] [ 9.21414468e-02 9.95745928e-01 -1.75091510e-05 1.44733615e+00] [ 1.63856991e-04 2.42143148e-06 9.99999987e-01 -2.24905852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.01, Y:1.46, Z:-0.23 [[ 9.95417252e-01 -9.56267061e-02 -1.62933797e-04 2.76007234e+02] [ 9.56267045e-02 9.95417266e-01 -1.75372156e-05 1.45502072e+00] [ 1.63864141e-04 1.87602490e-06 9.99999987e-01 -2.31375765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.07, Y:1.46, Z:-0.23 [[ 9.95471675e-01 -9.50584949e-02 -1.62932730e-04 2.76065793e+02] [ 9.50584933e-02 9.95471688e-01 -1.75471221e-05 1.46340531e+00] [ 1.63862923e-04 1.97952318e-06 9.99999987e-01 -2.30712421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.12, Y:1.47, Z:-0.23 [[ 9.95773056e-01 -9.18476663e-02 -1.62929821e-04 2.76124140e+02] [ 9.18476646e-02 9.95773070e-01 -1.75740917e-05 1.47257004e+00] [ 1.63855267e-04 2.53508344e-06 9.99999987e-01 -2.26476653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.18, Y:1.49, Z:-0.23 [[ 9.96308346e-01 -8.58466784e-02 -1.62926768e-04 2.76180963e+02] [ 8.58466766e-02 9.96308360e-01 -1.76023498e-05 1.48591837e+00] [ 1.63836404e-04 3.55064644e-06 9.99999987e-01 -2.34736079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.24, Y:1.50, Z:-0.23 [[ 9.96319457e-01 -8.57176394e-02 -1.62925692e-04 2.76238675e+02] [ 8.57176377e-02 9.96319470e-01 -1.76123047e-05 1.49737855e+00] [ 1.63835724e-04 3.58187642e-06 9.99999987e-01 -2.31691616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.30, Y:1.51, Z:-0.23 [[ 9.95201110e-01 -9.78505190e-02 -1.62922782e-04 2.76295555e+02] [ 9.78505174e-02 9.95201123e-01 -1.76391841e-05 1.50883516e+00] [ 1.63866939e-04 1.61245708e-06 9.99999987e-01 -2.32668691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.35, Y:1.52, Z:-0.23 [[ 9.93949234e-01 -1.09840310e-01 -1.62921752e-04 2.76354427e+02] [ 1.09840308e-01 9.93949247e-01 -1.76486924e-05 1.51596329e+00] [ 1.63874490e-04 -3.53471167e-07 9.99999987e-01 -2.34248326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.41, Y:1.52, Z:-0.23 [[ 9.92104460e-01 -1.25414166e-01 -1.62919029e-04 2.76412884e+02] [ 1.25414165e-01 9.92104474e-01 -1.76737882e-05 1.51957370e+00] [ 1.63849241e-04 -2.89810988e-06 9.99999987e-01 -2.30933558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.47, Y:1.53, Z:-0.23 [[ 9.91635129e-01 -1.29072635e-01 -1.62916000e-04 2.76471100e+02] [ 1.29072634e-01 9.91635142e-01 -1.77016706e-05 1.52505677e+00] [ 1.63838032e-04 -3.47439871e-06 9.99999987e-01 -2.31058655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.53, Y:1.53, Z:-0.23 [[ 9.91499519e-01 -1.30110252e-01 -1.62912945e-04 2.76529037e+02] [ 1.30110251e-01 9.91499532e-01 -1.77297360e-05 1.53157664e+00] [ 1.63834930e-04 -3.61761945e-06 9.99999987e-01 -2.29188995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.59, Y:1.54, Z:-0.23 [[ 9.92552202e-01 -1.21819951e-01 -1.62909370e-04 2.76587632e+02] [ 1.21819950e-01 9.92552215e-01 -1.77625256e-05 1.53679496e+00] [ 1.63859886e-04 -2.21537737e-06 9.99999987e-01 -2.26760803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.65, Y:1.54, Z:-0.22 [[ 9.93312208e-01 -1.15459218e-01 -1.62906248e-04 2.76646038e+02] [ 1.15459216e-01 9.93312221e-01 -1.77911185e-05 1.54487198e+00] [ 1.63870915e-04 -1.13689245e-06 9.99999987e-01 -2.24292148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.70, Y:1.55, Z:-0.23 [[ 9.94236939e-01 -1.07204864e-01 -1.62903146e-04 2.76703202e+02] [ 1.07204862e-01 9.94236952e-01 -1.78194754e-05 1.55153086e+00] [ 1.63874662e-04 2.52771432e-07 9.99999987e-01 -2.26839967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.76, Y:1.56, Z:-0.22 [[ 9.94516900e-01 -1.04575851e-01 -1.62902054e-04 2.76761221e+02] [ 1.04575850e-01 9.94516914e-01 -1.78294542e-05 1.55829444e+00] [ 1.63873378e-04 6.96072861e-07 9.99999987e-01 -2.23832530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.82, Y:1.57, Z:-0.23 [[ 9.94802598e-01 -1.01822219e-01 -1.62898968e-04 2.76818449e+02] [ 1.01822218e-01 9.94802611e-01 -1.78576009e-05 1.56586501e+00] [ 1.63870619e-04 1.17805365e-06 9.99999987e-01 -2.26613865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.88, Y:1.58, Z:-0.22 [[ 9.95177521e-01 -9.80901341e-02 -1.62897879e-04 2.76876580e+02] [ 9.80901325e-02 9.95177535e-01 -1.78675301e-05 1.57708141e+00] [ 1.63864938e-04 1.80268983e-06 9.99999987e-01 -2.24638853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.93, Y:1.58, Z:-0.23 [[ 9.95121426e-01 -9.86575941e-02 -1.62894833e-04 2.76933926e+02] [ 9.86575925e-02 9.95121439e-01 -1.78952536e-05 1.58426432e+00] [ 1.63865644e-04 1.73713816e-06 9.99999987e-01 -2.26615801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.99, Y:1.60, Z:-0.23 [[ 9.94687158e-01 -1.02943828e-01 -1.62893759e-04 2.76992202e+02] [ 1.02943827e-01 9.94687171e-01 -1.79050250e-05 1.59638142e+00] [ 1.63871544e-04 1.04099147e-06 9.99999987e-01 -2.31988098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.05, Y:1.60, Z:-0.23 [[ 9.93942912e-01 -1.09897507e-01 -1.62890793e-04 2.77050949e+02] [ 1.09897505e-01 9.93942925e-01 -1.79319719e-05 1.60386494e+00] [ 1.63874830e-04 -7.79354588e-08 9.99999987e-01 -2.29610926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.11, Y:1.61, Z:-0.22 [[ 9.93500302e-01 -1.13829362e-01 -1.62887789e-04 2.77109918e+02] [ 1.13829360e-01 9.93500315e-01 -1.79592134e-05 1.60999080e+00] [ 1.63873356e-04 -6.98928939e-07 9.99999987e-01 -2.19007936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.17, Y:1.62, Z:-0.22 [[ 9.93293990e-01 -1.15615846e-01 -1.62887123e-04 2.77167553e+02] [ 1.15615844e-01 9.93294003e-01 -1.79652526e-05 1.61596210e+00] [ 1.63871870e-04 -9.87554855e-07 9.99999987e-01 -2.19426198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.23, Y:1.63, Z:-0.22 [[ 9.93055806e-01 -1.17644125e-01 -1.62886023e-04 2.77225870e+02] [ 1.17644123e-01 9.93055819e-01 -1.79752182e-05 1.62816787e+00] [ 1.63869592e-04 -1.31218867e-06 9.99999987e-01 -2.22685500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.28, Y:1.63, Z:-0.22 [[ 9.93001467e-01 -1.18101901e-01 -1.62882846e-04 2.77284505e+02] [ 1.18101900e-01 9.93001481e-01 -1.80039629e-05 1.63392580e+00] [ 1.63869210e-04 -1.35881207e-06 9.99999987e-01 -2.24247104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.34, Y:1.64, Z:-0.23 [[ 9.92891345e-01 -1.19024160e-01 -1.62879680e-04 2.77341850e+02] [ 1.19024159e-01 9.92891358e-01 -1.80325647e-05 1.63961801e+00] [ 1.63868137e-04 -1.48223944e-06 9.99999987e-01 -2.27232771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.40, Y:1.64, Z:-0.23 [[ 9.92563330e-01 -1.21729243e-01 -1.62878000e-04 2.77400910e+02] [ 1.21729242e-01 9.92563344e-01 -1.80477257e-05 1.64315980e+00] [ 1.63863668e-04 -1.91350468e-06 9.99999987e-01 -2.32192858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.46, Y:1.65, Z:-0.23 [[ 9.92253318e-01 -1.24230943e-01 -1.62877139e-04 2.77458824e+02] [ 1.24230941e-01 9.92253331e-01 -1.80554940e-05 1.65030046e+00] [ 1.63858434e-04 -2.31875641e-06 9.99999987e-01 -2.28393208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.52, Y:1.66, Z:-0.23 [[ 9.91889980e-01 -1.27099332e-01 -1.62875974e-04 2.77516402e+02] [ 1.27099331e-01 9.91889994e-01 -1.80659960e-05 1.65531910e+00] [ 1.63851225e-04 -2.78194685e-06 9.99999987e-01 -2.32380223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.58, Y:1.66, Z:-0.22 [[ 9.92343574e-01 -1.23507910e-01 -1.62874815e-04 2.77576143e+02] [ 1.23507909e-01 9.92343588e-01 -1.80764322e-05 1.65587450e+00] [ 1.63860361e-04 -2.17829649e-06 9.99999987e-01 -2.20530040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.63, Y:1.66, Z:-0.22 [[ 9.93190860e-01 -1.16498455e-01 -1.62874359e-04 2.77634140e+02] [ 1.16498453e-01 9.93190873e-01 -1.80805407e-05 1.66353612e+00] [ 1.63871682e-04 -1.01718315e-06 9.99999987e-01 -2.21832554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.69, Y:1.68, Z:-0.23 [[ 9.94513493e-01 -1.04608251e-01 -1.62871201e-04 2.77690806e+02] [ 1.04608249e-01 9.94513506e-01 -1.81089460e-05 1.67695341e+00] [ 1.63871954e-04 9.71920010e-07 9.99999987e-01 -2.28616141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.75, Y:1.69, Z:-0.22 [[ 9.95076797e-01 -9.91067162e-02 -1.62870088e-04 2.77748879e+02] [ 9.91067146e-02 9.95076811e-01 -1.81189510e-05 1.68534014e+00] [ 1.63863958e-04 1.88822835e-06 9.99999987e-01 -2.23841903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.81, Y:1.70, Z:-0.23 [[ 9.95117294e-01 -9.86992617e-02 -1.62867037e-04 2.77805582e+02] [ 9.86992601e-02 9.95117308e-01 -1.81463348e-05 1.69505188e+00] [ 1.63862837e-04 1.98287554e-06 9.99999987e-01 -2.27851857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.86, Y:1.70, Z:-0.23 [[ 9.94783602e-01 -1.02007636e-01 -1.62865960e-04 2.77864530e+02] [ 1.02007634e-01 9.94783616e-01 -1.81559976e-05 1.70121634e+00] [ 1.63868439e-04 1.44771748e-06 9.99999987e-01 -2.29336662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.92, Y:1.71, Z:-0.23 [[ 9.94170051e-01 -1.07823388e-01 -1.62862949e-04 2.77922952e+02] [ 1.07823386e-01 9.94170064e-01 -1.81829642e-05 1.70752598e+00] [ 1.63874017e-04 5.16523807e-07 9.99999987e-01 -2.30212203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.98, Y:1.72, Z:-0.23 [[ 9.93837894e-01 -1.10843198e-01 -1.62859911e-04 2.77981362e+02] [ 1.10843197e-01 9.93837907e-01 -1.82101308e-05 1.71633580e+00] [ 1.63874823e-04 4.60048383e-08 9.99999987e-01 -2.31677253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.04, Y:1.72, Z:-0.23 [[ 9.93761129e-01 -1.11529335e-01 -1.62856842e-04 2.78039380e+02] [ 1.11529334e-01 9.93761142e-01 -1.82375423e-05 1.72073050e+00] [ 1.63874822e-04 -3.95544978e-08 9.99999987e-01 -2.31282187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.10, Y:1.73, Z:-0.23 [[ 9.93731307e-01 -1.11794735e-01 -1.62855753e-04 2.78096971e+02] [ 1.11794733e-01 9.93731320e-01 -1.82472580e-05 1.72989418e+00] [ 1.63874810e-04 -7.35439481e-08 9.99999987e-01 -2.31336010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.15, Y:1.74, Z:-0.23 [[ 9.93667064e-01 -1.12364319e-01 -1.62854237e-04 2.78154228e+02] [ 1.12364317e-01 9.93667077e-01 -1.82607837e-05 1.73909602e+00] [ 1.63874754e-04 -1.53865769e-07 9.99999987e-01 -2.28443506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.21, Y:1.75, Z:-0.23 [[ 9.93674757e-01 -1.12296261e-01 -1.62850788e-04 2.78212576e+02] [ 1.12296259e-01 9.93674771e-01 -1.82914880e-05 1.75095360e+00] [ 1.63874785e-04 -1.11744433e-07 9.99999987e-01 -2.29930679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.27, Y:1.76, Z:-0.23 [[ 9.93606051e-01 -1.12902565e-01 -1.62847972e-04 2.78270691e+02] [ 1.12902563e-01 9.93606064e-01 -1.83165241e-05 1.75806234e+00] [ 1.63874715e-04 -1.86544280e-07 9.99999987e-01 -2.28553361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.33, Y:1.77, Z:-0.22 [[ 9.93035669e-01 -1.17813975e-01 -1.62844876e-04 2.78328671e+02] [ 1.17813974e-01 9.93035683e-01 -1.83440051e-05 1.76824468e+00] [ 1.63871953e-04 -9.69150623e-07 9.99999987e-01 -2.24914305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.39, Y:1.78, Z:-0.22 [[ 9.92333049e-01 -1.23592452e-01 -1.62841805e-04 2.78385735e+02] [ 1.23592451e-01 9.92333062e-01 -1.83712306e-05 1.77773136e+00] [ 1.63863852e-04 -1.89563848e-06 9.99999987e-01 -2.24769158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.44, Y:1.78, Z:-0.23 [[ 9.91428822e-01 -1.30647867e-01 -1.62838280e-04 2.78444954e+02] [ 1.30647866e-01 9.91428835e-01 -1.84024198e-05 1.78230328e+00] [ 1.63846803e-04 -3.02978442e-06 9.99999987e-01 -2.29307737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.50, Y:1.79, Z:-0.23 [[ 9.90968841e-01 -1.34092241e-01 -1.62836653e-04 2.78502979e+02] [ 1.34092240e-01 9.90968855e-01 -1.84168024e-05 1.78788571e+00] [ 1.63835602e-04 -3.58465436e-06 9.99999987e-01 -2.32312508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.56, Y:1.79, Z:-0.23 [[ 9.90848962e-01 -1.34975214e-01 -1.62835011e-04 2.78560119e+02] [ 1.34975213e-01 9.90848975e-01 -1.84313162e-05 1.79469470e+00] [ 1.63832674e-04 -3.71603968e-06 9.99999987e-01 -2.32334219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.62, Y:1.80, Z:-0.23 [[ 9.91132439e-01 -1.32877620e-01 -1.62833919e-04 2.78619509e+02] [ 1.32877618e-01 9.91132452e-01 -1.84409509e-05 1.79799339e+00] [ 1.63840372e-04 -3.35955873e-06 9.99999987e-01 -2.33940039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.68, Y:1.80, Z:-0.23 [[ 9.91463087e-01 -1.30387581e-01 -1.62831010e-04 2.78678185e+02] [ 1.30387580e-01 9.91463100e-01 -1.84666030e-05 1.80429047e+00] [ 1.63848754e-04 -2.92218619e-06 9.99999987e-01 -2.31300750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.73, Y:1.82, Z:-0.23 [[ 9.92244936e-01 -1.24297869e-01 -1.62827704e-04 2.78734711e+02] [ 1.24297867e-01 9.92244949e-01 -1.84957119e-05 1.81690181e+00] [ 1.63863944e-04 -1.88685991e-06 9.99999987e-01 -2.30338484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.79, Y:1.82, Z:-0.23 [[ 9.92775082e-01 -1.19990038e-01 -1.62826539e-04 2.78792334e+02] [ 1.19990036e-01 9.92775096e-01 -1.85059582e-05 1.82363127e+00] [ 1.63870664e-04 -1.16530817e-06 9.99999987e-01 -2.30308447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.85, Y:1.83, Z:-0.23 [[ 9.93107253e-01 -1.17209030e-01 -1.62825396e-04 2.78850349e+02] [ 1.17209028e-01 9.93107267e-01 -1.85160076e-05 1.83314907e+00] [ 1.63873328e-04 -6.96225070e-07 9.99999987e-01 -2.27267657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.91, Y:1.84, Z:-0.22 [[ 9.93837643e-01 -1.10845443e-01 -1.62822253e-04 2.78908402e+02] [ 1.10845441e-01 9.93837657e-01 -1.85436118e-05 1.84318417e+00] [ 1.63874361e-04 3.81235082e-07 9.99999987e-01 -2.24712527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.97, Y:1.86, Z:-0.23 [[ 9.94285105e-01 -1.06757215e-01 -1.62819109e-04 2.78965657e+02] [ 1.06757214e-01 9.94285119e-01 -1.85711730e-05 1.85600662e+00] [ 1.63871224e-04 1.08292628e-06 9.99999987e-01 -2.31611588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.02, Y:1.87, Z:-0.24 [[ 9.94200171e-01 -1.07545313e-01 -1.62816013e-04 2.79024115e+02] [ 1.07545311e-01 9.94200184e-01 -1.85982788e-05 1.86788920e+00] [ 1.63871867e-04 9.80313187e-07 9.99999987e-01 -2.36761084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.08, Y:1.87, Z:-0.23 [[ 9.93853154e-01 -1.10706285e-01 -1.62813281e-04 2.79082376e+02] [ 1.10706284e-01 9.93853167e-01 -1.86221625e-05 1.87493581e+00] [ 1.63874085e-04 4.83241728e-07 9.99999987e-01 -2.34811491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.14, Y:1.88, Z:-0.23 [[ 9.93463385e-01 -1.14151111e-01 -1.62810159e-04 2.79141212e+02] [ 1.14151110e-01 9.93463398e-01 -1.86494201e-05 1.88110428e+00] [ 1.63874786e-04 -5.74442868e-08 9.99999987e-01 -2.32087185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.20, Y:1.89, Z:-0.23 [[ 9.93365118e-01 -1.15003114e-01 -1.62807046e-04 2.79198885e+02] [ 1.15003113e-01 9.93365131e-01 -1.86765531e-05 1.89061919e+00] [ 1.63874704e-04 -1.70680736e-07 9.99999987e-01 -2.31863983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.26, Y:1.90, Z:-0.23 [[ 9.93359409e-01 -1.15052416e-01 -1.62803880e-04 2.79255634e+02] [ 1.15052414e-01 9.93359422e-01 -1.87041117e-05 1.90118829e+00] [ 1.63874721e-04 -1.51074068e-07 9.99999987e-01 -2.30344722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.31, Y:1.91, Z:-0.23 [[ 9.93175667e-01 -1.16627908e-01 -1.62802758e-04 2.79313729e+02] [ 1.16627907e-01 9.93175680e-01 -1.87138681e-05 1.91262146e+00] [ 1.63874300e-04 -4.01186523e-07 9.99999987e-01 -2.29000354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.37, Y:1.92, Z:-0.23 [[ 9.92814335e-01 -1.19664821e-01 -1.62799599e-04 2.79371930e+02] [ 1.19664819e-01 9.92814349e-01 -1.87413161e-05 1.91914163e+00] [ 1.63872454e-04 -8.74737236e-07 9.99999987e-01 -2.31534618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.43, Y:1.93, Z:-0.23 [[ 9.92200127e-01 -1.24655050e-01 -1.62796408e-04 2.79428893e+02] [ 1.24655049e-01 9.92200140e-01 -1.87689928e-05 1.92652410e+00] [ 1.63866268e-04 -1.67079712e-06 9.99999987e-01 -2.32139586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.49, Y:1.93, Z:-0.23 [[ 9.91392942e-01 -1.30919855e-01 -1.62795275e-04 2.79487111e+02] [ 1.30919854e-01 9.91392955e-01 -1.87788123e-05 1.92846965e+00] [ 1.63852608e-04 -2.69595167e-06 9.99999987e-01 -2.29527461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.54, Y:1.93, Z:-0.23 [[ 9.90731528e-01 -1.35834509e-01 -1.62791663e-04 2.79544452e+02] [ 1.35834508e-01 9.90731541e-01 -1.88100759e-05 1.93313598e+00] [ 1.63837892e-04 -3.47699014e-06 9.99999987e-01 -2.32173400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.60, Y:1.94, Z:-0.23 [[ 9.90605090e-01 -1.36753533e-01 -1.62790548e-04 2.79602667e+02] [ 1.36753532e-01 9.90605104e-01 -1.88197174e-05 1.93928926e+00] [ 1.63834811e-04 -3.61927450e-06 9.99999987e-01 -2.32049179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.66, Y:1.94, Z:-0.23 [[ 9.90837235e-01 -1.35061276e-01 -1.62787214e-04 2.79660725e+02] [ 1.35061274e-01 9.90837248e-01 -1.88485112e-05 1.94287194e+00] [ 1.63841339e-04 -3.31044188e-06 9.99999987e-01 -2.30946001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.72, Y:1.94, Z:-0.23 [[ 9.91339084e-01 -1.31327050e-01 -1.62783540e-04 2.79719487e+02] [ 1.31327049e-01 9.91339097e-01 -1.88801852e-05 1.94233832e+00] [ 1.63853167e-04 -2.66121654e-06 9.99999987e-01 -2.25269316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.78, Y:1.95, Z:-0.23 [[ 9.91862279e-01 -1.27315330e-01 -1.62781829e-04 2.79777698e+02] [ 1.27315328e-01 9.91862292e-01 -1.88949272e-05 1.94900073e+00] [ 1.63862772e-04 -1.98345652e-06 9.99999987e-01 -2.28412814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.84, Y:1.95, Z:-0.23 [[ 9.92223790e-01 -1.24466561e-01 -1.62778653e-04 2.79835493e+02] [ 1.24466559e-01 9.92223803e-01 -1.89222543e-05 1.95123500e+00] [ 1.63868042e-04 -1.48538793e-06 9.99999987e-01 -2.29663748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.90, Y:1.95, Z:-0.23 [[ 9.92938861e-01 -1.18627113e-01 -1.62777536e-04 2.79895157e+02] [ 1.18627111e-01 9.92938874e-01 -1.89318570e-05 1.95007591e+00] [ 1.63873975e-04 -5.11652390e-07 9.99999987e-01 -2.32347479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.95, Y:1.95, Z:-0.23 [[ 9.93854464e-01 -1.10694525e-01 -1.62774464e-04 2.79954035e+02] [ 1.10694523e-01 9.93854477e-01 -1.89582291e-05 1.95374530e+00] [ 1.63872702e-04 8.23478884e-07 9.99999987e-01 -2.28709001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.01, Y:1.96, Z:-0.23 [[ 9.94478909e-01 -1.04936515e-01 -1.62771130e-04 2.80012287e+02] [ 1.04936513e-01 9.94478923e-01 -1.89868119e-05 1.95669814e+00] [ 1.63864868e-04 1.80134915e-06 9.99999987e-01 -2.33274085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.07, Y:1.96, Z:-0.23 [[ 9.95415366e-01 -9.56463466e-02 -1.62769376e-04 2.80070708e+02] [ 9.56463448e-02 9.95415379e-01 -1.90018394e-05 1.95765808e+00] [ 1.63840596e-04 3.34642703e-06 9.99999987e-01 -2.29732820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.13, Y:1.97, Z:-0.23 [[ 9.96048296e-01 -8.88130932e-02 -1.62765733e-04 2.80128159e+02] [ 8.88130913e-02 9.96048309e-01 -1.90329942e-05 1.96558683e+00] [ 1.63812912e-04 4.50205353e-06 9.99999987e-01 -2.30100181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.18, Y:1.98, Z:-0.24 [[ 9.96546881e-01 -8.30318431e-02 -1.62762072e-04 2.80184802e+02] [ 8.30318411e-02 9.96546895e-01 -1.90642521e-05 1.97584542e+00] [ 1.63782977e-04 5.48398648e-06 9.99999987e-01 -2.38612387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.24, Y:1.98, Z:-0.24 [[ 9.96831130e-01 -7.95466592e-02 -1.62760943e-04 2.80241765e+02] [ 7.95466571e-02 9.96831144e-01 -1.90738858e-05 1.98239851e+00] [ 1.63762440e-04 6.06635425e-06 9.99999987e-01 -2.35491019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.30, Y:1.99, Z:-0.23 [[ 9.96284523e-01 -8.61227217e-02 -1.62759710e-04 2.80299805e+02] [ 8.61227198e-02 9.96284536e-01 -1.90844005e-05 1.99237328e+00] [ 1.63798582e-04 4.99618395e-06 9.99999987e-01 -2.28825398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.36, Y:2.00, Z:-0.23 [[ 9.95488941e-01 -9.48775130e-02 -1.62756556e-04 2.80357999e+02] [ 9.48775111e-02 9.95488954e-01 -1.91112604e-05 2.00171945e+00] [ 1.63835582e-04 3.58311149e-06 9.99999987e-01 -2.31383883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.42, Y:2.01, Z:-0.24 [[ 9.94044830e-01 -1.08971780e-01 -1.62753277e-04 2.80416187e+02] [ 1.08971779e-01 9.94044844e-01 -1.91391410e-05 2.00715406e+00] [ 1.63869682e-04 1.28965009e-06 9.99999987e-01 -2.37781011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.47, Y:2.02, Z:-0.24 [[ 9.92731372e-01 -1.20351142e-01 -1.62750025e-04 2.80474815e+02] [ 1.20351140e-01 9.92731385e-01 -1.91667544e-05 2.01513037e+00] [ 1.63873799e-04 -5.59712785e-07 9.99999987e-01 -2.38077348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.53, Y:2.02, Z:-0.24 [[ 9.92115356e-01 -1.25327944e-01 -1.62748259e-04 2.80532303e+02] [ 1.25327943e-01 9.92115369e-01 -1.91817368e-05 2.02007360e+00] [ 1.63869057e-04 -1.36640890e-06 9.99999987e-01 -2.40317404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.59, Y:2.03, Z:-0.23 [[ 9.91394740e-01 -1.30906238e-01 -1.62746507e-04 2.80591870e+02] [ 1.30906237e-01 9.91394753e-01 -1.91965944e-05 2.02681453e+00] [ 1.63858987e-04 -2.27313002e-06 9.99999987e-01 -2.31538401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.65, Y:2.03, Z:-0.23 [[ 9.91198857e-01 -1.32381268e-01 -1.62746035e-04 2.80649563e+02] [ 1.32381267e-01 9.91198870e-01 -1.92005968e-05 2.03287452e+00] [ 1.63855485e-04 -2.51291667e-06 9.99999987e-01 -2.34098893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.71, Y:2.04, Z:-0.23 [[ 9.91476669e-01 -1.30284257e-01 -1.62744864e-04 2.80707942e+02] [ 1.30284255e-01 9.91476683e-01 -1.92105103e-05 2.03811119e+00] [ 1.63860565e-04 -2.15632073e-06 9.99999987e-01 -2.31327766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.76, Y:2.05, Z:-0.23 [[ 9.92602043e-01 -1.21413167e-01 -1.62741577e-04 2.80764094e+02] [ 1.21413165e-01 9.92602057e-01 -1.92383152e-05 2.05301559e+00] [ 1.63873409e-04 -6.62979077e-07 9.99999987e-01 -2.29755096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.82, Y:2.06, Z:-0.23 [[ 9.93532995e-01 -1.13543657e-01 -1.62739841e-04 2.80820894e+02] [ 1.13543655e-01 9.93533008e-01 -1.92529902e-05 2.06338692e+00] [ 1.63873459e-04 6.50404610e-07 9.99999987e-01 -2.27475681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.88, Y:2.07, Z:-0.23 [[ 9.93842569e-01 -1.10801268e-01 -1.62738714e-04 2.80878868e+02] [ 1.10801266e-01 9.93842583e-01 -1.92625107e-05 2.07413483e+00] [ 1.63870975e-04 1.11224753e-06 9.99999987e-01 -2.26308779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.94, Y:2.08, Z:-0.23 [[ 9.94038613e-01 -1.09028484e-01 -1.62735525e-04 2.80936169e+02] [ 1.09028482e-01 9.94038626e-01 -1.92894157e-05 2.08308247e+00] [ 1.63868494e-04 1.43161675e-06 9.99999987e-01 -2.33369444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.99, Y:2.09, Z:-0.23 [[ 9.94092827e-01 -1.08533057e-01 -1.62734400e-04 2.80994101e+02] [ 1.08533055e-01 9.94092840e-01 -1.92989072e-05 2.08867430e+00] [ 1.63867671e-04 1.52284361e-06 9.99999987e-01 -2.28541919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.05, Y:2.10, Z:-0.23 [[ 9.94127821e-01 -1.08212058e-01 -1.62730516e-04 2.81050800e+02] [ 1.08212057e-01 9.94127834e-01 -1.93315980e-05 2.09714575e+00] [ 1.63866848e-04 1.60867558e-06 9.99999987e-01 -2.34517628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.11, Y:2.10, Z:-0.23 [[ 9.93669696e-01 -1.12341042e-01 -1.62728841e-04 2.81109320e+02] [ 1.12341040e-01 9.93669709e-01 -1.93456898e-05 2.10121498e+00] [ 1.63872035e-04 9.42098474e-07 9.99999987e-01 -2.34103814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.17, Y:2.10, Z:-0.23 [[ 9.93190151e-01 -1.16504498e-01 -1.62725781e-04 2.81167664e+02] [ 1.16504497e-01 9.93190164e-01 -1.93713950e-05 2.10478362e+00] [ 1.63874500e-04 2.81193513e-07 9.99999987e-01 -2.33213529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.23, Y:2.11, Z:-0.23 [[ 9.92687159e-01 -1.20715276e-01 -1.62724680e-04 2.81225864e+02] [ 1.20715275e-01 9.92687172e-01 -1.93806388e-05 2.10708529e+00] [ 1.63874242e-04 -4.04443167e-07 9.99999987e-01 -2.31129130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.28, Y:2.11, Z:-0.23 [[ 9.92832770e-01 -1.19511779e-01 -1.62720972e-04 2.81284873e+02] [ 1.19511777e-01 9.92832783e-01 -1.94117230e-05 2.10819586e+00] [ 1.63874645e-04 -1.74477817e-07 9.99999987e-01 -2.31349871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.34, Y:2.11, Z:-0.23 [[ 9.93547473e-01 -1.13416895e-01 -1.62717709e-04 2.81343912e+02] [ 1.13416893e-01 9.93547487e-01 -1.94390316e-05 2.11128090e+00] [ 1.63872486e-04 8.58663722e-07 9.99999987e-01 -2.26858316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.40, Y:2.12, Z:-0.23 [[ 9.94102526e-01 -1.08444188e-01 -1.62714432e-04 2.81401422e+02] [ 1.08444186e-01 9.94102539e-01 -1.94664233e-05 2.11708664e+00] [ 1.63865851e-04 1.70618634e-06 9.99999987e-01 -2.26012354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.46, Y:2.13, Z:-0.23 [[ 9.94960905e-01 -1.00263503e-01 -1.62710734e-04 2.81458831e+02] [ 1.00263501e-01 9.94960919e-01 -1.94972906e-05 2.12673266e+00] [ 1.63845688e-04 3.08509407e-06 9.99999987e-01 -2.27258861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.52, Y:2.13, Z:-0.23 [[ 9.95461474e-01 -9.51652674e-02 -1.62709028e-04 2.81517011e+02] [ 9.51652655e-02 9.95461487e-01 -1.95115101e-05 2.13254693e+00] [ 1.63827389e-04 3.93870869e-06 9.99999987e-01 -2.27308882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.58, Y:2.14, Z:-0.23 [[ 9.95795872e-01 -9.15999694e-02 -1.62705815e-04 2.81575295e+02] [ 9.15999674e-02 9.95795886e-01 -1.95382734e-05 2.14247779e+00] [ 1.63811486e-04 4.55228467e-06 9.99999987e-01 -2.26295572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.63, Y:2.15, Z:-0.22 [[ 9.95838667e-01 -9.11335390e-02 -1.62702525e-04 2.81632580e+02] [ 9.11335370e-02 9.95838681e-01 -1.95656254e-05 2.15359006e+00] [ 1.63808553e-04 4.65654971e-06 9.99999987e-01 -2.23849159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.69, Y:2.16, Z:-0.22 [[ 9.95286773e-01 -9.69753252e-02 -1.62701366e-04 2.81691055e+02] [ 9.69753233e-02 9.95286786e-01 -1.95752610e-05 2.16416545e+00] [ 1.63832837e-04 3.70498076e-06 9.99999987e-01 -2.24847839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.75, Y:2.17, Z:-0.22 [[ 9.94592215e-01 -1.03857114e-01 -1.62699606e-04 2.81749223e+02] [ 1.03857112e-01 9.94592228e-01 -1.95898799e-05 2.17359875e+00] [ 1.63854312e-04 2.58643092e-06 9.99999987e-01 -2.22784349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.81, Y:2.18, Z:-0.22 [[ 9.93445614e-01 -1.14305668e-01 -1.62696226e-04 2.81805616e+02] [ 1.14305666e-01 9.93445627e-01 -1.96179080e-05 2.17993268e+00] [ 1.63872293e-04 8.92224078e-07 9.99999987e-01 -2.24119556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.86, Y:2.18, Z:-0.22 [[ 9.92452756e-01 -1.22627484e-01 -1.62693593e-04 2.81863801e+02] [ 1.22627483e-01 9.92452770e-01 -1.96397229e-05 2.18482682e+00] [ 1.63874077e-04 -4.59208689e-07 9.99999987e-01 -2.22143548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.92, Y:2.19, Z:-0.22 [[ 9.91785422e-01 -1.27912663e-01 -1.62692422e-04 2.81921097e+02] [ 1.27912662e-01 9.91785436e-01 -1.96494200e-05 2.19102923e+00] [ 1.63869384e-04 -1.32241240e-06 9.99999987e-01 -2.23245873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.98, Y:2.20, Z:-0.22 [[ 9.91620204e-01 -1.29187249e-01 -1.62688637e-04 2.81978695e+02] [ 1.29187247e-01 9.91620217e-01 -1.96807030e-05 2.19633847e+00] [ 1.63867838e-04 -1.50151447e-06 9.99999987e-01 -2.22977484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.04, Y:2.20, Z:-0.22 [[ 9.91745477e-01 -1.28222003e-01 -1.62684746e-04 2.82037377e+02] [ 1.28222001e-01 9.91745491e-01 -1.97128163e-05 2.19888226e+00] [ 1.63869480e-04 -1.30966738e-06 9.99999987e-01 -2.24906492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.10, Y:2.20, Z:-0.23 [[ 9.92614467e-01 -1.21311554e-01 -1.62681321e-04 2.82095730e+02] [ 1.21311553e-01 9.92614480e-01 -1.97410452e-05 2.20135282e+00] [ 1.63874651e-04 -1.39876506e-07 9.99999987e-01 -2.30225162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.15, Y:2.21, Z:-0.23 [[ 9.93852796e-01 -1.10709497e-01 -1.62680113e-04 2.82154151e+02] [ 1.10709495e-01 9.93852810e-01 -1.97509954e-05 2.20766588e+00] [ 1.63866710e-04 1.61934880e-06 9.99999987e-01 -2.28131181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.21, Y:2.21, Z:-0.22 [[ 9.94802616e-01 -1.01822043e-01 -1.62676828e-04 2.82212804e+02] [ 1.01822042e-01 9.94802629e-01 -1.97780125e-05 2.21375769e+00] [ 1.63845174e-04 3.11113186e-06 9.99999987e-01 -2.24913901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.27, Y:2.22, Z:-0.23 [[ 9.96000086e-01 -8.93521256e-02 -1.62673539e-04 2.82269483e+02] [ 8.93521236e-02 9.96000099e-01 -1.98050291e-05 2.22221679e+00] [ 1.63792482e-04 5.19058455e-06 9.99999987e-01 -2.25113588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.33, Y:2.23, Z:-0.22 [[ 9.96153062e-01 -8.76301919e-02 -1.62671922e-04 2.82327277e+02] [ 8.76301899e-02 9.96153075e-01 -1.98183006e-05 2.23340845e+00] [ 1.63782817e-04 5.48708947e-06 9.99999987e-01 -2.21039528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.39, Y:2.24, Z:-0.23 [[ 9.95897619e-01 -9.04870503e-02 -1.62668566e-04 2.82385028e+02] [ 9.04870483e-02 9.95897632e-01 -1.98458067e-05 2.24220084e+00] [ 1.63797028e-04 5.04499326e-06 9.99999987e-01 -2.25975145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.44, Y:2.25, Z:-0.23 [[ 9.95101208e-01 -9.88613091e-02 -1.62665245e-04 2.82442777e+02] [ 9.88613072e-02 9.95101222e-01 -1.98729862e-05 2.24859530e+00] [ 1.63833054e-04 3.69433378e-06 9.99999987e-01 -2.25229447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.50, Y:2.26, Z:-0.23 [[ 9.94313159e-01 -1.06495615e-01 -1.62664118e-04 2.82500553e+02] [ 1.06495613e-01 9.94313172e-01 -1.98822111e-05 2.25721597e+00] [ 1.63856443e-04 2.44612921e-06 9.99999987e-01 -2.26352857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.56, Y:2.26, Z:-0.22 [[ 9.93828758e-01 -1.10925083e-01 -1.62660543e-04 2.82558619e+02] [ 1.10925081e-01 9.93828771e-01 -1.99114143e-05 2.26119757e+00] [ 1.63865403e-04 1.74540216e-06 9.99999987e-01 -2.23706101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.62, Y:2.27, Z:-0.23 [[ 9.93229544e-01 -1.16168181e-01 -1.62656750e-04 2.82617407e+02] [ 1.16168179e-01 9.93229557e-01 -1.99423555e-05 2.26684359e+00] [ 1.63872159e-04 9.11798233e-07 9.99999987e-01 -2.26585246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.68, Y:2.27, Z:-0.23 [[ 9.92923212e-01 -1.18758025e-01 -1.62653438e-04 2.82675275e+02] [ 1.18758023e-01 9.92923225e-01 -1.99693280e-05 2.27222041e+00] [ 1.63873894e-04 5.11608557e-07 9.99999987e-01 -2.26806050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.73, Y:2.27, Z:-0.22 [[ 9.92926172e-01 -1.18733278e-01 -1.62652266e-04 2.82734498e+02] [ 1.18733276e-01 9.92926185e-01 -1.99788743e-05 2.27389631e+00] [ 1.63873851e-04 5.25310895e-07 9.99999987e-01 -2.23746759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.79, Y:2.28, Z:-0.23 [[ 9.93051712e-01 -1.17678677e-01 -1.62648796e-04 2.82791242e+02] [ 1.17678675e-01 9.93051725e-01 -2.00070798e-05 2.28137309e+00] [ 1.63873074e-04 7.27770072e-07 9.99999987e-01 -2.27783053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.85, Y:2.29, Z:-0.23 [[ 9.93540012e-01 -1.13482240e-01 -1.62646108e-04 2.82848201e+02] [ 1.13482238e-01 9.93540025e-01 -2.00289068e-05 2.28847620e+00] [ 1.63868344e-04 1.44207588e-06 9.99999987e-01 -2.30601404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.565336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:282.91, Y:2.29, Z:-0.23 [[ 9.94171725e-01 -1.07807957e-01 -1.62644934e-04 2.82906124e+02] [ 1.07807956e-01 9.94171738e-01 -2.00384329e-05 2.29221125e+00] [ 1.63857300e-04 2.38722557e-06 9.99999987e-01 -2.25971215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.96, Y:2.30, Z:-0.23 [[ 9.94874098e-01 -1.01121225e-01 -1.62641110e-04 2.82963348e+02] [ 1.01121223e-01 9.94874112e-01 -2.00694275e-05 2.30264651e+00] [ 1.63836875e-04 3.52008560e-06 9.99999987e-01 -2.25197910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.02, Y:2.31, Z:-0.23 [[ 9.95117960e-01 -9.86925444e-02 -1.62637308e-04 2.83021050e+02] [ 9.86925424e-02 9.95117974e-01 -2.01001870e-05 2.31335701e+00] [ 1.63827047e-04 3.95096769e-06 9.99999987e-01 -2.27716476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.08, Y:2.32, Z:-0.22 [[ 9.94912351e-01 -1.00744165e-01 -1.62633898e-04 2.83079044e+02] [ 1.00744163e-01 9.94912365e-01 -2.01277423e-05 2.32024718e+00] [ 1.63834229e-04 3.64092355e-06 9.99999987e-01 -2.24683842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.14, Y:2.33, Z:-0.22 [[ 9.94087571e-01 -1.08581186e-01 -1.62633178e-04 2.83137695e+02] [ 1.08581184e-01 9.94087585e-01 -2.01335600e-05 2.32622080e+00] [ 1.63857749e-04 2.35561869e-06 9.99999987e-01 -2.22802810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.20, Y:2.33, Z:-0.23 [[ 9.93172551e-01 -1.16654433e-01 -1.62629849e-04 2.83196606e+02] [ 1.16654431e-01 9.93172565e-01 -2.01604152e-05 2.33434910e+00] [ 1.63871306e-04 1.05127857e-06 9.99999987e-01 -2.31038720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.26, Y:2.34, Z:-0.23 [[ 9.92679567e-01 -1.20777693e-01 -1.62626762e-04 2.83255204e+02] [ 1.20777691e-01 9.92679580e-01 -2.01852860e-05 2.33830161e+00] [ 1.63874198e-04 3.95836110e-07 9.99999987e-01 -2.29045331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.31, Y:2.34, Z:-0.23 [[ 9.92398230e-01 -1.23067975e-01 -1.62623343e-04 2.83314090e+02] [ 1.23067973e-01 9.92398243e-01 -2.02127928e-05 2.34089440e+00] [ 1.63874667e-04 4.54145919e-08 9.99999987e-01 -2.28831129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.37, Y:2.35, Z:-0.23 [[ 9.92541293e-01 -1.21908799e-01 -1.62619821e-04 2.83372942e+02] [ 1.21908798e-01 9.92541306e-01 -2.02410915e-05 2.34530657e+00] [ 1.63874456e-04 2.65332291e-07 9.99999987e-01 -2.26884973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.43, Y:2.35, Z:-0.23 [[ 9.92790944e-01 -1.19858727e-01 -1.62618850e-04 2.83430074e+02] [ 1.19858725e-01 9.92790958e-01 -2.02488850e-05 2.35036071e+00] [ 1.63873530e-04 6.11621526e-07 9.99999987e-01 -2.26988170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.49, Y:2.35, Z:-0.22 [[ 9.93229921e-01 -1.16164961e-01 -1.62617431e-04 2.83488052e+02] [ 1.16164959e-01 9.93229934e-01 -2.02602771e-05 2.35353598e+00] [ 1.63870034e-04 1.23266621e-06 9.99999987e-01 -2.24977551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.55, Y:2.36, Z:-0.23 [[ 9.93933501e-01 -1.09982581e-01 -1.62613670e-04 2.83547495e+02] [ 1.09982579e-01 9.93933515e-01 -2.02904211e-05 2.35648005e+00] [ 1.63858769e-04 2.28265851e-06 9.99999987e-01 -2.26638568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.61, Y:2.37, Z:-0.23 [[ 9.94612013e-01 -1.03667337e-01 -1.62610578e-04 2.83605586e+02] [ 1.03667335e-01 9.94612027e-01 -2.03151678e-05 2.36524964e+00] [ 1.63840456e-04 3.34830480e-06 9.99999987e-01 -2.27866656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.66, Y:2.37, Z:-0.23 [[ 9.94882090e-01 -1.01042564e-01 -1.62607171e-04 2.83663813e+02] [ 1.01042562e-01 9.94882104e-01 -2.03424039e-05 2.37237760e+00] [ 1.63830413e-04 3.80804818e-06 9.99999987e-01 -2.27494221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.72, Y:2.38, Z:-0.23 [[ 9.94958233e-01 -1.00290022e-01 -1.62603737e-04 2.83721856e+02] [ 1.00290020e-01 9.94958246e-01 -2.03698147e-05 2.37876212e+00] [ 1.63826818e-04 3.95958281e-06 9.99999987e-01 -2.32340874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.78, Y:2.39, Z:-0.23 [[ 9.95041175e-01 -9.94637271e-02 -1.62600347e-04 2.83780143e+02] [ 9.94637251e-02 9.95041189e-01 -2.03968396e-05 2.38761692e+00] [ 1.63822788e-04 4.12285907e-06 9.99999987e-01 -2.27166148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.84, Y:2.40, Z:-0.23 [[ 9.95102026e-01 -9.88530843e-02 -1.62596809e-04 2.83837497e+02] [ 9.88530823e-02 9.95102039e-01 -2.04250050e-05 2.39642757e+00] [ 1.63819491e-04 4.25176812e-06 9.99999987e-01 -2.31322349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.89, Y:2.41, Z:-0.23 [[ 9.95173174e-01 -9.81342310e-02 -1.62595558e-04 2.83893943e+02] [ 9.81342290e-02 9.95173187e-01 -2.04349592e-05 2.40837849e+00] [ 1.63816108e-04 4.38013357e-06 9.99999987e-01 -2.33141519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.95, Y:2.42, Z:-0.23 [[ 9.94758554e-01 -1.02251612e-01 -1.62593787e-04 2.83951516e+02] [ 1.02251610e-01 9.94758568e-01 -2.04490349e-05 2.42057082e+00] [ 1.63832510e-04 3.71637585e-06 9.99999987e-01 -2.30497660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.01, Y:2.44, Z:-0.23 [[ 9.94004443e-01 -1.09339562e-01 -1.62590370e-04 2.84009546e+02] [ 1.09339560e-01 9.94004457e-01 -2.04761690e-05 2.43525534e+00] [ 1.63854408e-04 2.57584334e-06 9.99999987e-01 -2.34753472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.07, Y:2.45, Z:-0.23 [[ 9.93550707e-01 -1.13388560e-01 -1.62587161e-04 2.84067486e+02] [ 1.13388558e-01 9.93550721e-01 -2.05016213e-05 2.44550283e+00] [ 1.63863240e-04 1.93387658e-06 9.99999987e-01 -2.30013130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.12, Y:2.46, Z:-0.23 [[ 9.92864195e-01 -1.19250428e-01 -1.62583649e-04 2.84123264e+02] [ 1.19250426e-01 9.92864208e-01 -2.05294295e-05 2.46154624e+00] [ 1.63871630e-04 9.94765938e-07 9.99999987e-01 -2.27599735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.18, Y:2.48, Z:-0.23 [[ 9.91977942e-01 -1.26410980e-01 -1.62581471e-04 2.84178892e+02] [ 1.26410978e-01 9.91977956e-01 -2.05466656e-05 2.47847571e+00] [ 1.63874559e-04 -1.70243686e-07 9.99999987e-01 -2.27880214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.24, Y:2.49, Z:-0.23 [[ 9.90917247e-01 -1.34472984e-01 -1.62580019e-04 2.84236661e+02] [ 1.34472982e-01 9.90917260e-01 -2.05581473e-05 2.49274301e+00] [ 1.63867863e-04 -1.49119726e-06 9.99999987e-01 -2.26193437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.30, Y:2.50, Z:-0.22 [[ 9.90177556e-01 -1.39815528e-01 -1.62576630e-04 2.84295615e+02] [ 1.39815527e-01 9.90177569e-01 -2.05849134e-05 2.49923995e+00] [ 1.63857823e-04 -2.34801799e-06 9.99999987e-01 -2.22689199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.35, Y:2.51, Z:-0.23 [[ 9.89388301e-01 -1.45295434e-01 -1.62573221e-04 2.84353882e+02] [ 1.45295433e-01 9.89388314e-01 -2.06117997e-05 2.51019175e+00] [ 1.63842846e-04 -3.22807304e-06 9.99999987e-01 -2.26529626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.41, Y:2.52, Z:-0.23 [[ 9.89521457e-01 -1.44385801e-01 -1.62569744e-04 2.84412069e+02] [ 1.44385799e-01 9.89521470e-01 -2.06391880e-05 2.51933409e+00] [ 1.63846258e-04 -3.04984310e-06 9.99999987e-01 -2.31475466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.47, Y:2.53, Z:-0.23 [[ 9.90092960e-01 -1.40413336e-01 -1.62566252e-04 2.84470411e+02] [ 1.40413334e-01 9.90092973e-01 -2.06666596e-05 2.52749565e+00] [ 1.63857578e-04 -2.36455528e-06 9.99999987e-01 -2.33596498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.53, Y:2.54, Z:-0.24 [[ 9.91194188e-01 -1.32416217e-01 -1.62562720e-04 2.84529062e+02] [ 1.32416215e-01 9.91194202e-01 -2.06944081e-05 2.53570737e+00] [ 1.63871500e-04 -1.01376300e-06 9.99999987e-01 -2.35453841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.59, Y:2.55, Z:-0.23 [[ 9.92311558e-01 -1.23764881e-01 -1.62559455e-04 2.84587352e+02] [ 1.23764879e-01 9.92311571e-01 -2.07200174e-05 2.54854427e+00] [ 1.63874039e-04 4.41561365e-07 9.99999987e-01 -2.30691725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.65, Y:2.56, Z:-0.23 [[ 9.92942020e-01 -1.18600671e-01 -1.62558962e-04 2.84645166e+02] [ 1.18600669e-01 9.92942033e-01 -2.07238903e-05 2.55978092e+00] [ 1.63869493e-04 1.29801984e-06 9.99999987e-01 -2.28554164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.70, Y:2.57, Z:-0.23 [[ 9.93673703e-01 -1.12305591e-01 -1.62555520e-04 2.84702562e+02] [ 1.12305589e-01 9.93673716e-01 -2.07508507e-05 2.57251400e+00] [ 1.63857584e-04 2.36368127e-06 9.99999987e-01 -2.25356062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.76, Y:2.59, Z:-0.23 [[ 9.94093223e-01 -1.08529434e-01 -1.62552017e-04 2.84758138e+02] [ 1.08529432e-01 9.94093236e-01 -2.07782570e-05 2.58589374e+00] [ 1.63846913e-04 3.01384649e-06 9.99999987e-01 -2.25794384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.82, Y:2.60, Z:-0.22 [[ 9.93995349e-01 -1.09422208e-01 -1.62549313e-04 2.84815424e+02] [ 1.09422206e-01 9.93995362e-01 -2.07993906e-05 2.60007142e+00] [ 1.63849178e-04 2.88799319e-06 9.99999987e-01 -2.23035072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.87, Y:2.61, Z:-0.22 [[ 9.93638381e-01 -1.12617681e-01 -1.62545846e-04 2.84872527e+02] [ 1.12617679e-01 9.93638394e-01 -2.08264474e-05 2.61059844e+00] [ 1.63857219e-04 2.38842158e-06 9.99999987e-01 -2.24523652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.93, Y:2.62, Z:-0.23 [[ 9.93066167e-01 -1.17556635e-01 -1.62544623e-04 2.84929567e+02] [ 1.17556633e-01 9.93066180e-01 -2.08359873e-05 2.61956342e+00] [ 1.63866976e-04 1.58331550e-06 9.99999987e-01 -2.28690011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.99, Y:2.63, Z:-0.23 [[ 9.92750151e-01 -1.20196135e-01 -1.62543413e-04 2.84987681e+02] [ 1.20196133e-01 9.92750165e-01 -2.08454231e-05 2.63306171e+00] [ 1.63870539e-04 1.15720725e-06 9.99999987e-01 -2.26929185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.05, Y:2.64, Z:-0.23 [[ 9.92540163e-01 -1.21917995e-01 -1.62540137e-04 2.85046041e+02] [ 1.21917993e-01 9.92540177e-01 -2.08709385e-05 2.64212301e+00] [ 1.63872159e-04 8.98677435e-07 9.99999987e-01 -2.29794347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.10, Y:2.66, Z:-0.23 [[ 9.92805598e-01 -1.19737286e-01 -1.62536579e-04 2.85102682e+02] [ 1.19737284e-01 9.92805612e-01 -2.08986052e-05 2.65560106e+00] [ 1.63869570e-04 1.28656373e-06 9.99999987e-01 -2.30589502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.16, Y:2.67, Z:-0.23 [[ 9.93314372e-01 -1.15440600e-01 -1.62535320e-04 2.85160590e+02] [ 1.15440598e-01 9.93314385e-01 -2.09083938e-05 2.67005814e+00] [ 1.63862349e-04 2.00543351e-06 9.99999987e-01 -2.27898463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.22, Y:2.69, Z:-0.22 [[ 9.93952810e-01 -1.09807945e-01 -1.62531842e-04 2.85218369e+02] [ 1.09807943e-01 9.93952823e-01 -2.09353991e-05 2.68513050e+00] [ 1.63847856e-04 2.96151154e-06 9.99999987e-01 -2.23265308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.27, Y:2.70, Z:-0.22 [[ 9.93887633e-01 -1.10396320e-01 -1.62528368e-04 2.85274922e+02] [ 1.10396318e-01 9.93887646e-01 -2.09623307e-05 2.70217817e+00] [ 1.63849101e-04 2.89166774e-06 9.99999987e-01 -2.15852391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.33, Y:2.72, Z:-0.22 [[ 9.93342563e-01 -1.15197767e-01 -1.62527065e-04 2.85331404e+02] [ 1.15197765e-01 9.93342577e-01 -2.09724253e-05 2.71611909e+00] [ 1.63861031e-04 2.11004802e-06 9.99999987e-01 -2.19429654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.39, Y:2.72, Z:-0.22 [[ 9.92902992e-01 -1.18926965e-01 -1.62525769e-04 2.85389727e+02] [ 1.18926963e-01 9.92903005e-01 -2.09824692e-05 2.72407815e+00] [ 1.63867706e-04 1.50486041e-06 9.99999987e-01 -2.18300317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.45, Y:2.74, Z:-0.22 [[ 9.92526088e-01 -1.22032527e-01 -1.62522256e-04 2.85446195e+02] [ 1.22032525e-01 9.92526102e-01 -2.10096455e-05 2.73839026e+00] [ 1.63871441e-04 1.01962000e-06 9.99999987e-01 -2.20712345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.50, Y:2.75, Z:-0.22 [[ 9.92475981e-01 -1.22439376e-01 -1.62521013e-04 2.85503826e+02] [ 1.22439374e-01 9.92475994e-01 -2.10192536e-05 2.75134646e+00] [ 1.63871788e-04 9.62133265e-07 9.99999987e-01 -2.20293505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.56, Y:2.76, Z:-0.22 [[ 9.92313318e-01 -1.23750765e-01 -1.62517417e-04 2.85562675e+02] [ 1.23750763e-01 9.92313332e-01 -2.10470203e-05 2.75706324e+00] [ 1.63872784e-04 7.73584075e-07 9.99999987e-01 -2.21061877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.62, Y:2.77, Z:-0.22 [[ 9.92250746e-01 -1.24251482e-01 -1.62513833e-04 2.85620343e+02] [ 1.24251481e-01 9.92250759e-01 -2.10746574e-05 2.76747987e+00] [ 1.63873032e-04 7.18760168e-07 9.99999987e-01 -2.19725836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.68, Y:2.78, Z:-0.22 [[ 9.92413261e-01 -1.22946711e-01 -1.62510200e-04 2.85677241e+02] [ 1.22946709e-01 9.92413274e-01 -2.11026358e-05 2.78115947e+00] [ 1.63871779e-04 9.62441393e-07 9.99999987e-01 -2.22204880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.74, Y:2.79, Z:-0.23 [[ 9.92512122e-01 -1.22146065e-01 -1.62508916e-04 2.85735930e+02] [ 1.22146064e-01 9.92512135e-01 -2.11125165e-05 2.78980448e+00] [ 1.63870882e-04 1.10460416e-06 9.99999987e-01 -2.25209674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.79, Y:2.80, Z:-0.23 [[ 9.92868848e-01 -1.19211675e-01 -1.62505583e-04 2.85793419e+02] [ 1.19211673e-01 9.92868862e-01 -2.11381447e-05 2.80159446e+00] [ 1.63866647e-04 1.61484302e-06 9.99999987e-01 -2.26696480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.85, Y:2.82, Z:-0.23 [[ 9.93221919e-01 -1.16233357e-01 -1.62502026e-04 2.85849918e+02] [ 1.16233355e-01 9.93221932e-01 -2.11654505e-05 2.81638522e+00] [ 1.63860708e-04 2.13383363e-06 9.99999987e-01 -2.25991157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.91, Y:2.83, Z:-0.22 [[ 9.92851735e-01 -1.19354117e-01 -1.62497978e-04 2.85907658e+02] [ 1.19354115e-01 9.92851749e-01 -2.11964869e-05 2.82893837e+00] [ 1.63866289e-04 1.65016644e-06 9.99999987e-01 -2.23049887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.97, Y:2.84, Z:-0.22 [[ 9.92306710e-01 -1.23803746e-01 -1.62494415e-04 2.85965368e+02] [ 1.23803744e-01 9.92306723e-01 -2.12237663e-05 2.83753567e+00] [ 1.63871882e-04 9.43068716e-07 9.99999987e-01 -2.19516197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.02, Y:2.84, Z:-0.22 [[ 9.91336079e-01 -1.31349729e-01 -1.62493120e-04 2.86022611e+02] [ 1.31349727e-01 9.91336093e-01 -2.12336765e-05 2.84323813e+00] [ 1.63874332e-04 -2.93717332e-07 9.99999987e-01 -2.18829893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.08, Y:2.85, Z:-0.22 [[ 9.90618150e-01 -1.36658895e-01 -1.62491836e-04 2.86080762e+02] [ 1.36658894e-01 9.90618164e-01 -2.12434958e-05 2.84887003e+00] [ 1.63870477e-04 -1.16176196e-06 9.99999987e-01 -2.19668429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.14, Y:2.85, Z:-0.22 [[ 9.90297914e-01 -1.38960481e-01 -1.62488260e-04 2.86139671e+02] [ 1.38960479e-01 9.90297927e-01 -2.12708118e-05 2.85381547e+00] [ 1.63867589e-04 -1.51500592e-06 9.99999987e-01 -2.22063235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.20, Y:2.86, Z:-0.22 [[ 9.90275753e-01 -1.39118322e-01 -1.62484590e-04 2.86197101e+02] [ 1.39118320e-01 9.90275766e-01 -2.12988078e-05 2.85762665e+00] [ 1.63867607e-04 -1.51289043e-06 9.99999987e-01 -2.23086513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.26, Y:2.86, Z:-0.22 [[ 9.90623850e-01 -1.36617573e-01 -1.62483294e-04 2.86256242e+02] [ 1.36617572e-01 9.90623863e-01 -2.13086961e-05 2.85834067e+00] [ 1.63870970e-04 -1.08917040e-06 9.99999987e-01 -2.23211063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.31, Y:2.87, Z:-0.22 [[ 9.91713073e-01 -1.28472388e-01 -1.62479658e-04 2.86313647e+02] [ 1.28472386e-01 9.91713086e-01 -2.13363831e-05 2.86792765e+00] [ 1.63874339e-04 2.85420667e-07 9.99999987e-01 -2.24631456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.37, Y:2.88, Z:-0.22 [[ 9.92596391e-01 -1.21459366e-01 -1.62478376e-04 2.86371851e+02] [ 1.21459364e-01 9.92596405e-01 -2.13461386e-05 2.87501769e+00] [ 1.63868140e-04 1.45357981e-06 9.99999987e-01 -2.23833841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.43, Y:2.89, Z:-0.22 [[ 9.93764442e-01 -1.11499808e-01 -1.62474700e-04 2.86428574e+02] [ 1.11499806e-01 9.93764455e-01 -2.13740846e-05 2.88571335e+00] [ 1.63844788e-04 3.12490769e-06 9.99999987e-01 -2.24361109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.49, Y:2.90, Z:-0.22 [[ 9.94491068e-01 -1.04821223e-01 -1.62473399e-04 2.86486318e+02] [ 1.04821220e-01 9.94491082e-01 -2.13839660e-05 2.89782447e+00] [ 1.63819840e-04 4.23550317e-06 9.99999987e-01 -2.20035979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.54, Y:2.91, Z:-0.22 [[ 9.94667784e-01 -1.03130851e-01 -1.62469819e-04 2.86544322e+02] [ 1.03130849e-01 9.94667798e-01 -2.14111294e-05 2.90847860e+00] [ 1.63811645e-04 4.54131014e-06 9.99999987e-01 -2.18186888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.60, Y:2.92, Z:-0.22 [[ 9.94115505e-01 -1.08325143e-01 -1.62466235e-04 2.86601053e+02] [ 1.08325141e-01 9.94115518e-01 -2.14382921e-05 2.91823616e+00] [ 1.63832512e-04 3.71296071e-06 9.99999987e-01 -2.18411842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.66, Y:2.93, Z:-0.22 [[ 9.93048705e-01 -1.17704051e-01 -1.62464969e-04 2.86659264e+02] [ 1.17704049e-01 9.93048718e-01 -2.14478797e-05 2.92501069e+00] [ 1.63860132e-04 2.17600443e-06 9.99999987e-01 -2.18799095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.72, Y:2.93, Z:-0.22 [[ 9.91992911e-01 -1.26293458e-01 -1.62461405e-04 2.86718371e+02] [ 1.26293457e-01 9.91992925e-01 -2.14748489e-05 2.92669432e+00] [ 1.63872697e-04 7.85085488e-07 9.99999987e-01 -2.19360211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.78, Y:2.93, Z:-0.22 [[ 9.91490387e-01 -1.30179821e-01 -1.62457779e-04 2.86776127e+02] [ 1.30179819e-01 9.91490400e-01 -2.15022393e-05 2.93178079e+00] [ 1.63874486e-04 1.70539251e-07 9.99999987e-01 -2.18528589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.83, Y:2.94, Z:-0.22 [[ 9.91432942e-01 -1.30616599e-01 -1.62453654e-04 2.86834802e+02] [ 1.30616597e-01 9.91432955e-01 -2.15333628e-05 2.94139803e+00] [ 1.63874521e-04 1.29741822e-07 9.99999987e-01 -2.21305094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.89, Y:2.94, Z:-0.22 [[ 9.91800066e-01 -1.27799071e-01 -1.62450275e-04 2.86893545e+02] [ 1.27799070e-01 9.91800079e-01 -2.15588244e-05 2.94449562e+00] [ 1.63873393e-04 6.21049482e-07 9.99999987e-01 -2.23030184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.95, Y:2.95, Z:-0.22 [[ 9.92215177e-01 -1.24535203e-01 -1.62446672e-04 2.86951574e+02] [ 1.24535201e-01 9.92215190e-01 -2.15859344e-05 2.95158924e+00] [ 1.63870265e-04 1.18756279e-06 9.99999987e-01 -2.23528981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.01, Y:2.96, Z:-0.22 [[ 9.92448625e-01 -1.22660918e-01 -1.62442561e-04 2.87009777e+02] [ 1.22660916e-01 9.92448638e-01 -2.16168297e-05 2.96155564e+00] [ 1.63867439e-04 1.52823955e-06 9.99999987e-01 -2.22721803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.07, Y:2.96, Z:-0.23 [[ 9.92483611e-01 -1.22377513e-01 -1.62438811e-04 2.87067306e+02] [ 1.22377511e-01 9.92483624e-01 -2.16449766e-05 2.96475452e+00] [ 1.63866718e-04 1.60342724e-06 9.99999987e-01 -2.25028512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.13, Y:2.97, Z:-0.22 [[ 9.92224168e-01 -1.24463548e-01 -1.62437487e-04 2.87126402e+02] [ 1.24463546e-01 9.92224181e-01 -2.16549019e-05 2.96889224e+00] [ 1.63869649e-04 1.26897135e-06 9.99999987e-01 -2.22035491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.18, Y:2.97, Z:-0.22 [[ 9.92023517e-01 -1.26052830e-01 -1.62433813e-04 2.87183733e+02] [ 1.26052828e-01 9.92023530e-01 -2.16824275e-05 2.97309637e+00] [ 1.63871296e-04 1.03423650e-06 9.99999987e-01 -2.21085935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.24, Y:2.98, Z:-0.22 [[ 9.92137749e-01 -1.25150548e-01 -1.62432256e-04 2.87242875e+02] [ 1.25150547e-01 9.92137763e-01 -2.16940842e-05 2.97783955e+00] [ 1.63870202e-04 1.19503425e-06 9.99999987e-01 -2.18835865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.30, Y:2.98, Z:-0.22 [[ 9.92624045e-01 -1.21233160e-01 -1.62428509e-04 2.87300469e+02] [ 1.21233158e-01 9.92624058e-01 -2.17221012e-05 2.98234356e+00] [ 1.63863885e-04 1.87015875e-06 9.99999987e-01 -2.19040982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.36, Y:2.99, Z:-0.22 [[ 9.93539522e-01 -1.13486528e-01 -1.62426529e-04 2.87358396e+02] [ 1.13486526e-01 9.93539535e-01 -2.17369021e-05 2.99369704e+00] [ 1.63844023e-04 3.16324880e-06 9.99999987e-01 -2.15605488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.42, Y:3.00, Z:-0.21 [[ 9.94129181e-01 -1.08199566e-01 -1.62422947e-04 2.87416156e+02] [ 1.08199564e-01 9.94129194e-01 -2.17636308e-05 3.00200634e+00] [ 1.63824209e-04 4.06176843e-06 9.99999987e-01 -2.09811020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.47, Y:3.01, Z:-0.21 [[ 9.94515575e-01 -1.04588453e-01 -1.62421638e-04 2.87472866e+02] [ 1.04588450e-01 9.94515588e-01 -2.17733974e-05 3.01227284e+00] [ 1.63808097e-04 4.66655537e-06 9.99999987e-01 -2.09164399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.53, Y:3.02, Z:-0.22 [[ 9.94461344e-01 -1.05102845e-01 -1.62417405e-04 2.87529428e+02] [ 1.05102843e-01 9.94461358e-01 -2.18049283e-05 3.02483380e+00] [ 1.63809593e-04 4.61362738e-06 9.99999987e-01 -2.16853951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.59, Y:3.03, Z:-0.22 [[ 9.93891095e-01 -1.10365139e-01 -1.62416097e-04 2.87587890e+02] [ 1.10365137e-01 9.93891109e-01 -2.18146622e-05 3.03476532e+00] [ 1.63831493e-04 3.75632360e-06 9.99999987e-01 -2.17247573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.65, Y:3.04, Z:-0.22 [[ 9.92468486e-01 -1.22500110e-01 -1.62414193e-04 2.87645789e+02] [ 1.22500108e-01 9.92468500e-01 -2.18288334e-05 3.04025665e+00] [ 1.63865005e-04 1.76867296e-06 9.99999987e-01 -2.16635661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.70, Y:3.05, Z:-0.22 [[ 9.90911266e-01 -1.34517049e-01 -1.62412920e-04 2.87702799e+02] [ 1.34517047e-01 9.90911279e-01 -2.18383009e-05 3.04865444e+00] [ 1.63874418e-04 -2.07487942e-07 9.99999987e-01 -2.19424314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.76, Y:3.05, Z:-0.21 [[ 9.89781471e-01 -1.42592474e-01 -1.62411653e-04 2.87761211e+02] [ 1.42592472e-01 9.89781484e-01 -2.18477155e-05 3.05171945e+00] [ 1.63867367e-04 -1.53421514e-06 9.99999987e-01 -2.14288266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.82, Y:3.06, Z:-0.21 [[ 9.89370253e-01 -1.45418280e-01 -1.62410358e-04 2.87818760e+02] [ 1.45418278e-01 9.89370266e-01 -2.18573426e-05 3.05699564e+00] [ 1.63862436e-04 -1.99243003e-06 9.99999987e-01 -2.14644280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.88, Y:3.06, Z:-0.21 [[ 9.89438058e-01 -1.44956210e-01 -1.62406183e-04 2.87877314e+02] [ 1.44956208e-01 9.89438071e-01 -2.18883153e-05 3.06383952e+00] [ 1.63863708e-04 -1.88465231e-06 9.99999987e-01 -2.12502031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.94, Y:3.07, Z:-0.21 [[ 9.90221464e-01 -1.39504211e-01 -1.62402499e-04 2.87935973e+02] [ 1.39504210e-01 9.90221478e-01 -2.19156169e-05 3.07226460e+00] [ 1.63871764e-04 -9.54518007e-07 9.99999987e-01 -2.10446930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.99, Y:3.08, Z:-0.21 [[ 9.91328993e-01 -1.31403204e-01 -1.62398815e-04 2.87994154e+02] [ 1.31403202e-01 9.91329006e-01 -2.19428803e-05 3.07781286e+00] [ 1.63874021e-04 4.12889055e-07 9.99999987e-01 -2.09621942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.05, Y:3.09, Z:-0.21 [[ 9.92093318e-01 -1.25502282e-01 -1.62395030e-04 2.88049816e+02] [ 1.25502280e-01 9.92093331e-01 -2.19708564e-05 3.08886676e+00] [ 1.63868419e-04 1.41619329e-06 9.99999987e-01 -2.11566197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.11, Y:3.10, Z:-0.21 [[ 9.92894361e-01 -1.18998995e-01 -1.62393164e-04 2.88107642e+02] [ 1.18998993e-01 9.92894375e-01 -2.19846415e-05 3.09886415e+00] [ 1.63855409e-04 2.50380357e-06 9.99999987e-01 -2.13712452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.16, Y:3.11, Z:-0.21 [[ 9.93283539e-01 -1.15705597e-01 -1.62389506e-04 2.88164726e+02] [ 1.15705595e-01 9.93283552e-01 -2.20116273e-05 3.10999741e+00] [ 1.63845694e-04 3.07441258e-06 9.99999987e-01 -2.14925289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.22, Y:3.13, Z:-0.22 [[ 9.93753590e-01 -1.11596490e-01 -1.62388220e-04 2.88221932e+02] [ 1.11596488e-01 9.93753603e-01 -2.20211103e-05 3.12651087e+00] [ 1.63831358e-04 3.76160232e-06 9.99999987e-01 -2.17472206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.28, Y:3.14, Z:-0.21 [[ 9.93760671e-01 -1.11533411e-01 -1.62384646e-04 2.88279304e+02] [ 1.11533409e-01 9.93760685e-01 -2.20474347e-05 3.14175812e+00] [ 1.63830503e-04 3.79856042e-06 9.99999987e-01 -2.13759512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.34, Y:3.15, Z:-0.21 [[ 9.93496509e-01 -1.13862459e-01 -1.62380825e-04 2.88335594e+02] [ 1.13862457e-01 9.93496523e-01 -2.20755449e-05 3.15390928e+00] [ 1.63838360e-04 3.44289720e-06 9.99999987e-01 -2.13541801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.39, Y:3.17, Z:-0.21 [[ 9.93250092e-01 -1.15992359e-01 -1.62379476e-04 2.88393282e+02] [ 1.15992357e-01 9.93250106e-01 -2.20854575e-05 3.16841410e+00] [ 1.63845176e-04 3.10160445e-06 9.99999987e-01 -2.07653889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.45, Y:3.19, Z:-0.21 [[ 9.92647317e-01 -1.21042461e-01 -1.62375883e-04 2.88450290e+02] [ 1.21042459e-01 9.92647330e-01 -2.21118467e-05 3.18743718e+00] [ 1.63858459e-04 2.29488915e-06 9.99999987e-01 -2.07706802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.51, Y:3.20, Z:-0.21 [[ 9.91573011e-01 -1.29548980e-01 -1.62372088e-04 2.88507462e+02] [ 1.29548978e-01 9.91573024e-01 -2.21396793e-05 3.20079798e+00] [ 1.63871955e-04 9.17970413e-07 9.99999987e-01 -2.12029560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.56, Y:3.22, Z:-0.22 [[ 9.90440568e-01 -1.37940038e-01 -1.62368299e-04 2.88564123e+02] [ 1.37940036e-01 9.90440582e-01 -2.21674335e-05 3.21684991e+00] [ 1.63873929e-04 -4.41563539e-07 9.99999987e-01 -2.17279373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.62, Y:3.23, Z:-0.21 [[ 9.89683677e-01 -1.43269651e-01 -1.62364536e-04 2.88621226e+02] [ 1.43269649e-01 9.89683690e-01 -2.21949559e-05 3.22988212e+00] [ 1.63869397e-04 -1.29592453e-06 9.99999987e-01 -2.13513306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.68, Y:3.24, Z:-0.21 [[ 9.89170746e-01 -1.46769235e-01 -1.62359986e-04 2.88677710e+02] [ 1.46769233e-01 9.89170760e-01 -2.22281956e-05 3.24131210e+00] [ 1.63864166e-04 -1.84196977e-06 9.99999987e-01 -2.13637215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.73, Y:3.25, Z:-0.22 [[ 9.88625917e-01 -1.50395379e-01 -1.62358581e-04 2.88734534e+02] [ 1.50395377e-01 9.88625930e-01 -2.22384482e-05 3.25450045e+00] [ 1.63856463e-04 -2.43247379e-06 9.99999987e-01 -2.15721975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.79, Y:3.27, Z:-0.22 [[ 9.89228209e-01 -1.46381434e-01 -1.62357196e-04 2.88790708e+02] [ 1.46381432e-01 9.89228222e-01 -2.22485581e-05 3.27037959e+00] [ 1.63865096e-04 -1.75717754e-06 9.99999987e-01 -2.18775590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.85, Y:3.28, Z:-0.22 [[ 9.90239107e-01 -1.39378923e-01 -1.62355872e-04 2.88847083e+02] [ 1.39378921e-01 9.90239121e-01 -2.22582169e-05 3.28490018e+00] [ 1.63873462e-04 -5.88029365e-07 9.99999987e-01 -2.15036247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.90, Y:3.30, Z:-0.21 [[ 9.90555120e-01 -1.37115014e-01 -1.62351650e-04 2.88904561e+02] [ 1.37115012e-01 9.90555134e-01 -2.22889656e-05 3.29972165e+00] [ 1.63874413e-04 -1.82399491e-07 9.99999987e-01 -2.14094816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.96, Y:3.32, Z:-0.21 [[ 9.90191140e-01 -1.39719290e-01 -1.62347803e-04 2.88960225e+02] [ 1.39719288e-01 9.90191153e-01 -2.23169511e-05 3.31593325e+00] [ 1.63873467e-04 -5.85072144e-07 9.99999987e-01 -2.12462086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.02, Y:3.33, Z:-0.21 [[ 9.89372112e-01 -1.45405631e-01 -1.62345417e-04 2.89017820e+02] [ 1.45405630e-01 9.89372125e-01 -2.23342949e-05 3.32531654e+00] [ 1.63867563e-04 -1.50900912e-06 9.99999987e-01 -2.12282832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.08, Y:3.33, Z:-0.21 [[ 9.88125360e-01 -1.53649750e-01 -1.62341077e-04 2.89076380e+02] [ 1.53649749e-01 9.88125374e-01 -2.23658004e-05 3.33303336e+00] [ 1.63849837e-04 -2.84345110e-06 9.99999987e-01 -2.07987193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.13, Y:3.34, Z:-0.21 [[ 9.87604436e-01 -1.56963220e-01 -1.62337155e-04 2.89133993e+02] [ 1.56963219e-01 9.87604449e-01 -2.23942297e-05 3.34292956e+00] [ 1.63839967e-04 -3.36432175e-06 9.99999987e-01 -2.07474179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.19, Y:3.35, Z:-0.21 [[ 9.87675761e-01 -1.56513785e-01 -1.62332729e-04 2.89192755e+02] [ 1.56513783e-01 9.87675774e-01 -2.24262680e-05 3.35131947e+00] [ 1.63842124e-04 -3.25742823e-06 9.99999987e-01 -2.08793992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.25, Y:3.36, Z:-0.21 [[ 9.87992337e-01 -1.54502802e-01 -1.62329090e-04 2.89250589e+02] [ 1.54502800e-01 9.87992350e-01 -2.24525793e-05 3.35872990e+00] [ 1.63848885e-04 -2.89732255e-06 9.99999987e-01 -2.13699165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.22533619499995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:289.31, Y:3.37, Z:-0.21 [[ 9.88525572e-01 -1.51053525e-01 -1.62325213e-04 2.89308497e+02] [ 1.51053523e-01 9.88525585e-01 -2.24805741e-05 3.36817525e+00] [ 1.63858396e-04 -2.29717289e-06 9.99999987e-01 -2.12007650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.37, Y:3.38, Z:-0.21 [[ 9.89141856e-01 -1.46963814e-01 -1.62321360e-04 2.89366729e+02] [ 1.46963812e-01 9.89141869e-01 -2.25083590e-05 3.37895298e+00] [ 1.63866768e-04 -1.59140579e-06 9.99999987e-01 -2.13117908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.42, Y:3.39, Z:-0.22 [[ 9.89944543e-01 -1.41455911e-01 -1.62317452e-04 2.89423485e+02] [ 1.41455909e-01 9.89944557e-01 -2.25365026e-05 3.39176591e+00] [ 1.63873200e-04 -6.50874924e-07 9.99999987e-01 -2.15140164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.48, Y:3.40, Z:-0.22 [[ 9.90222875e-01 -1.39494196e-01 -1.62316072e-04 2.89480139e+02] [ 1.39494194e-01 9.90222889e-01 -2.25464426e-05 3.40165238e+00] [ 1.63874187e-04 -3.16146314e-07 9.99999987e-01 -2.15490364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.54, Y:3.41, Z:-0.21 [[ 9.89970109e-01 -1.41276880e-01 -1.62314706e-04 2.89538158e+02] [ 1.41276878e-01 9.89970122e-01 -2.25562659e-05 3.41255640e+00] [ 1.63873389e-04 -6.01285996e-07 9.99999987e-01 -2.11759841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.60, Y:3.42, Z:-0.21 [[ 9.89009547e-01 -1.47851580e-01 -1.62310793e-04 2.89595929e+02] [ 1.47851578e-01 9.89009560e-01 -2.25843950e-05 3.41788669e+00] [ 1.63866064e-04 -1.66172463e-06 9.99999987e-01 -2.10979434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.66, Y:3.42, Z:-0.21 [[ 9.87764146e-01 -1.55955014e-01 -1.62308722e-04 2.89655203e+02] [ 1.55955012e-01 9.87764159e-01 -2.25992680e-05 3.42169208e+00] [ 1.63847207e-04 -2.99011200e-06 9.99999987e-01 -2.08764743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.71, Y:3.42, Z:-0.21 [[ 9.86825256e-01 -1.61789642e-01 -1.62304816e-04 2.89713518e+02] [ 1.61789641e-01 9.86825269e-01 -2.26272813e-05 3.42200307e+00] [ 1.63827354e-04 -3.93006532e-06 9.99999987e-01 -2.08453831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.77, Y:3.43, Z:-0.21 [[ 9.86883033e-01 -1.61436841e-01 -1.62300384e-04 2.89771735e+02] [ 1.61436839e-01 9.86883046e-01 -2.26590249e-05 3.42652309e+00] [ 1.63829499e-04 -3.83945387e-06 9.99999987e-01 -2.10444565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.83, Y:3.44, Z:-0.21 [[ 9.87798817e-01 -1.55735257e-01 -1.62299015e-04 2.89830151e+02] [ 1.55735255e-01 9.87798831e-01 -2.26688263e-05 3.43576229e+00] [ 1.63849113e-04 -2.88343871e-06 9.99999987e-01 -2.12564638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.89, Y:3.44, Z:-0.22 [[ 9.88758060e-01 -1.49524152e-01 -1.62295063e-04 2.89887442e+02] [ 1.49524150e-01 9.88758074e-01 -2.26970863e-05 3.43971944e+00] [ 1.63864317e-04 -1.82510437e-06 9.99999987e-01 -2.15583009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.95, Y:3.45, Z:-0.22 [[ 9.89856233e-01 -1.42072557e-01 -1.62293095e-04 2.89946430e+02] [ 1.42072555e-01 9.89856246e-01 -2.27111496e-05 3.44600166e+00] [ 1.63873465e-04 -5.76621813e-07 9.99999987e-01 -2.18330591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.00, Y:3.46, Z:-0.22 [[ 9.90423388e-01 -1.38063344e-01 -1.62289607e-04 2.90004887e+02] [ 1.38063342e-01 9.90423401e-01 -2.27360478e-05 3.45631463e+00] [ 1.63874439e-04 1.12068000e-07 9.99999987e-01 -2.18192796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.06, Y:3.46, Z:-0.21 [[ 9.90307739e-01 -1.38890442e-01 -1.62286006e-04 2.90063287e+02] [ 1.38890440e-01 9.90307753e-01 -2.27617202e-05 3.45980592e+00] [ 1.63874476e-04 1.13280108e-09 9.99999987e-01 -2.12389683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.12, Y:3.47, Z:-0.21 [[ 9.89792115e-01 -1.42518571e-01 -1.62284895e-04 2.90121568e+02] [ 1.42518569e-01 9.89792128e-01 -2.27696445e-05 3.46660842e+00] [ 1.63873408e-04 -5.91396421e-07 9.99999987e-01 -2.10148389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.18, Y:3.47, Z:-0.21 [[ 9.88957288e-01 -1.48200730e-01 -1.62281063e-04 2.90178864e+02] [ 1.48200728e-01 9.88957301e-01 -2.27969172e-05 3.47298024e+00] [ 1.63867562e-04 -1.50499428e-06 9.99999987e-01 -2.09829188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.24, Y:3.47, Z:-0.21 [[ 9.88739602e-01 -1.49646160e-01 -1.62276478e-04 2.90236173e+02] [ 1.49646158e-01 9.88739615e-01 -2.28295085e-05 3.47386268e+00] [ 1.63865531e-04 -1.71161245e-06 9.99999987e-01 -2.11075623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.29, Y:3.48, Z:-0.21 [[ 9.89171122e-01 -1.46766704e-01 -1.62274496e-04 2.90293254e+02] [ 1.46766703e-01 9.89171135e-01 -2.28435886e-05 3.48464165e+00] [ 1.63869926e-04 -1.22027461e-06 9.99999987e-01 -2.14091228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.35, Y:3.49, Z:-0.21 [[ 9.89718393e-01 -1.43029632e-01 -1.62272436e-04 2.90351328e+02] [ 1.43029630e-01 9.89718407e-01 -2.28582116e-05 3.49388928e+00] [ 1.63873419e-04 -5.86574073e-07 9.99999987e-01 -2.14554164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.41, Y:3.50, Z:-0.22 [[ 9.90525063e-01 -1.37331985e-01 -1.62268539e-04 2.90409768e+02] [ 1.37331983e-01 9.90525076e-01 -2.28858456e-05 3.50332268e+00] [ 1.63874016e-04 3.84343301e-07 9.99999987e-01 -2.16312439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.47, Y:3.51, Z:-0.22 [[ 9.90550090e-01 -1.37151349e-01 -1.62264616e-04 2.90467886e+02] [ 1.37151347e-01 9.90550103e-01 -2.29136251e-05 3.51363559e+00] [ 1.63873867e-04 4.42282648e-07 9.99999987e-01 -2.15507460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.52, Y:3.53, Z:-0.21 [[ 9.89431331e-01 -1.45002119e-01 -1.62260687e-04 2.90524197e+02] [ 1.45002117e-01 9.89431344e-01 -2.29414170e-05 3.52661235e+00] [ 1.63872364e-04 -8.29186412e-07 9.99999987e-01 -2.12394026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.58, Y:3.53, Z:-0.22 [[ 9.86942016e-01 -1.61075851e-01 -1.62259298e-04 2.90581758e+02] [ 1.61075850e-01 9.86942030e-01 -2.29512369e-05 3.52795895e+00] [ 1.63837411e-04 -3.48451423e-06 9.99999987e-01 -2.15289917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.64, Y:3.53, Z:-0.21 [[ 9.84475761e-01 -1.75520510e-01 -1.62257414e-04 2.90641074e+02] [ 1.75520509e-01 9.84475774e-01 -2.29645486e-05 3.52581231e+00] [ 1.63769242e-04 -5.87146246e-06 9.99999987e-01 -2.12554113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.70, Y:3.53, Z:-0.22 [[ 9.83858676e-01 -1.78947141e-01 -1.62253518e-04 2.90700183e+02] [ 1.78947140e-01 9.83858689e-01 -2.29920394e-05 3.52764408e+00] [ 1.63748894e-04 -6.41388558e-06 9.99999987e-01 -2.15070115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.76, Y:3.53, Z:-0.22 [[ 9.85159694e-01 -1.71640181e-01 -1.62249505e-04 2.90758434e+02] [ 1.71640180e-01 9.85159707e-01 -2.30203274e-05 3.52935500e+00] [ 1.63792888e-04 -5.16983546e-06 9.99999987e-01 -2.19376843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.82, Y:3.53, Z:-0.22 [[ 9.87977280e-01 -1.54599056e-01 -1.62248093e-04 2.90817892e+02] [ 1.54599054e-01 9.87977293e-01 -2.30302725e-05 3.53217848e+00] [ 1.63857890e-04 -2.33001568e-06 9.99999987e-01 -2.19876933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.88, Y:3.54, Z:-0.22 [[ 9.90929697e-01 -1.34381208e-01 -1.62244191e-04 2.90875377e+02] [ 1.34381206e-01 9.90929710e-01 -2.30577322e-05 3.53832379e+00] [ 1.63871115e-04 1.04602162e-06 9.99999987e-01 -2.16934799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.93, Y:3.55, Z:-0.22 [[ 9.92506827e-01 -1.22189083e-01 -1.62242799e-04 2.90932572e+02] [ 1.22189081e-01 9.92506840e-01 -2.30675177e-05 3.55105064e+00] [ 1.63845687e-04 3.07037034e-06 9.99999987e-01 -2.16736830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.99, Y:3.56, Z:-0.22 [[ 9.93932438e-01 -1.09992188e-01 -1.62238362e-04 2.90989132e+02] [ 1.09992186e-01 9.93932452e-01 -2.30986803e-05 3.56451392e+00] [ 1.63794648e-04 5.11357552e-06 9.99999987e-01 -2.20848550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.05, Y:3.58, Z:-0.22 [[ 9.94177495e-01 -1.07754735e-01 -1.62237000e-04 2.91047432e+02] [ 1.07754733e-01 9.94177508e-01 -2.31082424e-05 3.57504032e+00] [ 1.63782399e-04 5.49188996e-06 9.99999987e-01 -2.21316663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.10, Y:3.59, Z:-0.23 [[ 9.93430904e-01 -1.14433438e-01 -1.62233115e-04 2.91104397e+02] [ 1.14433436e-01 9.93430918e-01 -2.31354905e-05 3.58903848e+00] [ 1.63814866e-04 4.41861861e-06 9.99999987e-01 -2.25218062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.16, Y:3.60, Z:-0.23 [[ 9.92335336e-01 -1.23574082e-01 -1.62229255e-04 2.91161571e+02] [ 1.23574080e-01 9.92335350e-01 -2.31625273e-05 3.59892848e+00] [ 1.63848112e-04 2.93766343e-06 9.99999987e-01 -2.26200548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.22, Y:3.61, Z:-0.23 [[ 9.91113815e-01 -1.33016460e-01 -1.62227900e-04 2.91219856e+02] [ 1.33016458e-01 9.91113829e-01 -2.31720120e-05 3.60844077e+00] [ 1.63868574e-04 1.38712062e-06 9.99999987e-01 -2.26560855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.28, Y:3.62, Z:-0.22 [[ 9.89573593e-01 -1.44028043e-01 -1.62224087e-04 2.91276077e+02] [ 1.44028041e-01 9.89573607e-01 -2.31986761e-05 3.62261164e+00] [ 1.63873934e-04 -4.08020100e-07 9.99999987e-01 -2.24189463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.33, Y:3.63, Z:-0.23 [[ 9.88763356e-01 -1.49489127e-01 -1.62219412e-04 2.91333234e+02] [ 1.49489125e-01 9.88763370e-01 -2.32313185e-05 3.63335243e+00] [ 1.63869442e-04 -1.27976144e-06 9.99999987e-01 -2.25107634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.39, Y:3.64, Z:-0.23 [[ 9.88392398e-01 -1.51922484e-01 -1.62217955e-04 2.91390335e+02] [ 1.51922482e-01 9.88392411e-01 -2.32414868e-05 3.64367155e+00] [ 1.63865900e-04 -1.67284548e-06 9.99999987e-01 -2.25001313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.45, Y:3.65, Z:-0.22 [[ 9.88024571e-01 -1.54296534e-01 -1.62216568e-04 2.91448233e+02] [ 1.54296532e-01 9.88024585e-01 -2.32511671e-05 3.65489226e+00] [ 1.63861531e-04 -2.05672943e-06 9.99999987e-01 -2.24837338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.51, Y:3.66, Z:-0.22 [[ 9.87705050e-01 -1.56328843e-01 -1.62212727e-04 2.91505850e+02] [ 1.56328841e-01 9.87705064e-01 -2.32779293e-05 3.66453120e+00] [ 1.63857344e-04 -2.36679936e-06 9.99999987e-01 -2.23667980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.56, Y:3.67, Z:-0.22 [[ 9.87912794e-01 -1.55010600e-01 -1.62208092e-04 2.91563213e+02] [ 1.55010598e-01 9.87912807e-01 -2.33101861e-05 3.67392908e+00] [ 1.63860777e-04 -2.11554222e-06 9.99999987e-01 -2.24588164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.62, Y:3.68, Z:-0.23 [[ 9.88400697e-01 -1.51868483e-01 -1.62206657e-04 2.91619535e+02] [ 1.51868482e-01 9.88400710e-01 -2.33201662e-05 3.68471177e+00] [ 1.63866773e-04 -1.58441021e-06 9.99999987e-01 -2.25655828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.68, Y:3.70, Z:-0.22 [[ 9.89315239e-01 -1.45792086e-01 -1.62204703e-04 2.91677157e+02] [ 1.45792085e-01 9.89315252e-01 -2.33337465e-05 3.69989261e+00] [ 1.63873463e-04 -5.63730819e-07 9.99999987e-01 -2.22960618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.73, Y:3.71, Z:-0.23 [[ 9.89706784e-01 -1.43109942e-01 -1.62200691e-04 2.91734347e+02] [ 1.43109940e-01 9.89706797e-01 -2.33616063e-05 3.71194302e+00] [ 1.63874404e-04 -9.13909436e-08 9.99999987e-01 -2.26559383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.79, Y:3.72, Z:-0.23 [[ 9.89664789e-01 -1.43400069e-01 -1.62196725e-04 2.91791844e+02] [ 1.43400067e-01 9.89664802e-01 -2.33891045e-05 3.72295263e+00] [ 1.63874389e-04 -1.11648099e-07 9.99999987e-01 -2.25978165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.85, Y:3.73, Z:-0.22 [[ 9.89664415e-01 -1.43402645e-01 -1.62192707e-04 2.91849413e+02] [ 1.43402643e-01 9.89664429e-01 -2.34169368e-05 3.73384498e+00] [ 1.63874403e-04 -8.39538567e-08 9.99999987e-01 -2.22681608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.91, Y:3.75, Z:-0.22 [[ 9.89733682e-01 -1.42923801e-01 -1.62188676e-04 2.91905655e+02] [ 1.42923799e-01 9.89733695e-01 -2.34448249e-05 3.74964697e+00] [ 1.63874421e-04 2.35111642e-08 9.99999987e-01 -2.22433851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.96, Y:3.76, Z:-0.23 [[ 9.89514996e-01 -1.44430072e-01 -1.62187256e-04 2.91963662e+02] [ 1.44430070e-01 9.89515010e-01 -2.34546440e-05 3.75927888e+00] [ 1.63874280e-04 -2.15994861e-07 9.99999987e-01 -2.25577916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.02, Y:3.77, Z:-0.22 [[ 9.89297379e-01 -1.45913224e-01 -1.62183261e-04 2.92021053e+02] [ 1.45913222e-01 9.89297393e-01 -2.34822378e-05 3.77181509e+00] [ 1.63873846e-04 -4.33765834e-07 9.99999987e-01 -2.23944461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.08, Y:3.79, Z:-0.22 [[ 9.89332764e-01 -1.45673113e-01 -1.62179223e-04 2.92077324e+02] [ 1.45673111e-01 9.89332777e-01 -2.35100895e-05 3.78717702e+00] [ 1.63874009e-04 -3.65850208e-07 9.99999987e-01 -2.23959046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.14, Y:3.80, Z:-0.23 [[ 9.89361546e-01 -1.45477510e-01 -1.62177797e-04 2.92135062e+02] [ 1.45477508e-01 9.89361559e-01 -2.35199199e-05 3.80244385e+00] [ 1.63874098e-04 -3.23517601e-07 9.99999987e-01 -2.26326700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.19, Y:3.82, Z:-0.22 [[ 9.89099332e-01 -1.47249736e-01 -1.62174198e-04 2.92192015e+02] [ 1.47249734e-01 9.89099346e-01 -2.35447110e-05 3.81588228e+00] [ 1.63873346e-04 -5.92049587e-07 9.99999987e-01 -2.22020255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.25, Y:3.83, Z:-0.22 [[ 9.87983788e-01 -1.54557459e-01 -1.62172786e-04 2.92247770e+02] [ 1.54557457e-01 9.87983801e-01 -2.35544330e-05 3.83123880e+00] [ 1.63864599e-04 -1.79361550e-06 9.99999987e-01 -2.20330392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.31, Y:3.84, Z:-0.22 [[ 9.86371790e-01 -1.64531653e-01 -1.62171391e-04 2.92306197e+02] [ 1.64531651e-01 9.86371804e-01 -2.35640319e-05 3.83995252e+00] [ 1.63838317e-04 -3.43943053e-06 9.99999987e-01 -2.17573740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.36, Y:3.85, Z:-0.22 [[ 9.84877437e-01 -1.73252439e-01 -1.62167394e-04 2.92363640e+02] [ 1.73252438e-01 9.84877450e-01 -2.35915123e-05 3.84874486e+00] [ 1.63802296e-04 -4.86114810e-06 9.99999987e-01 -2.18258340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.42, Y:3.86, Z:-0.22 [[ 9.84430085e-01 -1.75776508e-01 -1.62162877e-04 2.92420529e+02] [ 1.75776506e-01 9.84430099e-01 -2.36225182e-05 3.85626820e+00] [ 1.63790301e-04 -5.24970631e-06 9.99999987e-01 -2.19869986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.48, Y:3.86, Z:-0.22 [[ 9.84709626e-01 -1.74203691e-01 -1.62161487e-04 2.92479513e+02] [ 1.74203690e-01 9.84709639e-01 -2.36320528e-05 3.85848873e+00] [ 1.63798771e-04 -4.97841957e-06 9.99999987e-01 -2.24812988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.54, Y:3.86, Z:-0.22 [[ 9.85705320e-01 -1.68478472e-01 -1.62157610e-04 2.92538168e+02] [ 1.68478470e-01 9.85705334e-01 -2.36586305e-05 3.86351472e+00] [ 1.63825591e-04 -3.99962803e-06 9.99999987e-01 -2.21439551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.60, Y:3.87, Z:-0.22 [[ 9.87399708e-01 -1.58245981e-01 -1.62153610e-04 2.92597008e+02] [ 1.58245980e-01 9.87399721e-01 -2.36860159e-05 3.86699939e+00] [ 1.63858646e-04 -2.27259164e-06 9.99999987e-01 -2.17911705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.66, Y:3.87, Z:-0.21 [[ 9.88591964e-01 -1.50618402e-01 -1.62149579e-04 2.92655296e+02] [ 1.50618401e-01 9.88591977e-01 -2.37135783e-05 3.86864195e+00] [ 1.63871474e-04 -9.79657203e-07 9.99999987e-01 -2.14180490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.71, Y:3.88, Z:-0.21 [[ 9.90373949e-01 -1.38417540e-01 -1.62148148e-04 2.92712600e+02] [ 1.38417538e-01 9.90373962e-01 -2.37233582e-05 3.87520880e+00] [ 1.63871032e-04 1.05084850e-06 9.99999987e-01 -2.13592471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.77, Y:3.88, Z:-0.22 [[ 9.91690974e-01 -1.28642859e-01 -1.62143688e-04 2.92771254e+02] [ 1.28642857e-01 9.91690988e-01 -2.37537994e-05 3.87860455e+00] [ 1.63852191e-04 2.69780125e-06 9.99999987e-01 -2.19129495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.83, Y:3.88, Z:-0.22 [[ 9.92325697e-01 -1.23651468e-01 -1.62139615e-04 2.92829287e+02] [ 1.23651466e-01 9.92325710e-01 -2.37815706e-05 3.88346293e+00] [ 1.63835935e-04 3.55026258e-06 9.99999987e-01 -2.23112885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.89, Y:3.89, Z:-0.22 [[ 9.92571810e-01 -1.21660083e-01 -1.62138185e-04 2.92886456e+02] [ 1.21660080e-01 9.92571823e-01 -2.37913145e-05 3.89103455e+00] [ 1.63828247e-04 3.88884348e-06 9.99999987e-01 -2.21345573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.94, Y:3.90, Z:-0.22 [[ 9.92826108e-01 -1.19567109e-01 -1.62136110e-04 2.92944719e+02] [ 1.19567107e-01 9.92826121e-01 -2.38054504e-05 3.89996895e+00] [ 1.63819314e-04 4.24852702e-06 9.99999987e-01 -2.16700582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.00, Y:3.91, Z:-0.22 [[ 9.92803954e-01 -1.19750921e-01 -1.62132052e-04 2.93001440e+02] [ 1.19750919e-01 9.92803967e-01 -2.38330524e-05 3.90998971e+00] [ 1.63819375e-04 4.24608643e-06 9.99999987e-01 -2.16283993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.06, Y:3.92, Z:-0.22 [[ 9.92364872e-01 -1.23336674e-01 -1.62127361e-04 2.93057783e+02] [ 1.23336672e-01 9.92364885e-01 -2.38649245e-05 3.92092310e+00] [ 1.63832920e-04 3.68646370e-06 9.99999987e-01 -2.16022683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.12, Y:3.93, Z:-0.21 [[ 9.91169536e-01 -1.32600623e-01 -1.62124799e-04 2.93116372e+02] [ 1.32600621e-01 9.91169549e-01 -2.38823153e-05 3.92975601e+00] [ 1.63859974e-04 2.17357433e-06 9.99999987e-01 -2.14581936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.17, Y:3.94, Z:-0.22 [[ 9.90081480e-01 -1.40494257e-01 -1.62120797e-04 2.93173842e+02] [ 1.40494255e-01 9.90081494e-01 -2.39094492e-05 3.93880798e+00] [ 1.63871941e-04 8.95262281e-07 9.99999987e-01 -2.17329112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.23, Y:3.95, Z:-0.21 [[ 9.89570348e-01 -1.44050336e-01 -1.62119376e-04 2.93230952e+02] [ 1.44050334e-01 9.89570362e-01 -2.39190798e-05 3.94946151e+00] [ 1.63874081e-04 3.16261886e-07 9.99999987e-01 -2.14023749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.29, Y:3.96, Z:-0.22 [[ 9.89357600e-01 -1.45504340e-01 -1.62114714e-04 2.93288052e+02] [ 1.45504338e-01 9.89357613e-01 -2.39506344e-05 3.95928165e+00] [ 1.63874348e-04 1.07347942e-07 9.99999987e-01 -2.17937681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.35, Y:3.97, Z:-0.22 [[ 9.88911402e-01 -1.48506606e-01 -1.62113271e-04 2.93346359e+02] [ 1.48506604e-01 9.88911416e-01 -2.39604031e-05 3.96654296e+00] [ 1.63873942e-04 -3.80175449e-07 9.99999987e-01 -2.21308968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.40, Y:3.98, Z:-0.22 [[ 9.88281267e-01 -1.52643736e-01 -1.62109270e-04 2.93404576e+02] [ 1.52643734e-01 9.88281281e-01 -2.39874404e-05 3.97526806e+00] [ 1.63871089e-04 -1.03862633e-06 9.99999987e-01 -2.18675330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.46, Y:3.98, Z:-0.22 [[ 9.87708843e-01 -1.56304876e-01 -1.62105268e-04 2.93461994e+02] [ 1.56304874e-01 9.87708857e-01 -2.40144524e-05 3.98293628e+00] [ 1.63866385e-04 -1.61855659e-06 9.99999987e-01 -2.17823536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.52, Y:3.99, Z:-0.22 [[ 9.86740995e-01 -1.62302748e-01 -1.62100731e-04 2.93520441e+02] [ 1.62302746e-01 9.86741009e-01 -2.40450429e-05 3.98715893e+00] [ 1.63854015e-04 -2.58316424e-06 9.99999987e-01 -2.16042596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.58, Y:3.99, Z:-0.21 [[ 9.86447651e-01 -1.64076221e-01 -1.62096722e-04 2.93580054e+02] [ 1.64076219e-01 9.86447664e-01 -2.40720371e-05 3.98854857e+00] [ 1.63849582e-04 -2.85041285e-06 9.99999987e-01 -2.14513055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.64, Y:3.99, Z:-0.22 [[ 9.87466546e-01 -1.57828370e-01 -1.62092635e-04 2.93637285e+02] [ 1.57828368e-01 9.87466559e-01 -2.40995261e-05 3.99367899e+00] [ 1.63864645e-04 -1.78534030e-06 9.99999987e-01 -2.16074619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.70, Y:4.00, Z:-0.22 [[ 9.88515532e-01 -1.51119213e-01 -1.62091195e-04 2.93695500e+02] [ 1.51119211e-01 9.88515545e-01 -2.41092043e-05 4.00251184e+00] [ 1.63873030e-04 -6.62770632e-07 9.99999987e-01 -2.20282237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.75, Y:4.01, Z:-0.22 [[ 9.89981458e-01 -1.41197332e-01 -1.62087027e-04 2.93752619e+02] [ 1.41197330e-01 9.89981471e-01 -2.41371976e-05 4.01096204e+00] [ 1.63871261e-04 1.00912273e-06 9.99999987e-01 -2.23872649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.81, Y:4.02, Z:-0.22 [[ 9.90968865e-01 -1.34092065e-01 -1.62084797e-04 2.93809646e+02] [ 1.34092062e-01 9.90968879e-01 -2.41521610e-05 4.02170631e+00] [ 1.63859603e-04 2.19975481e-06 9.99999987e-01 -2.19619212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.87, Y:4.03, Z:-0.22 [[ 9.91306127e-01 -1.31575591e-01 -1.62083446e-04 2.93867617e+02] [ 1.31575589e-01 9.91306140e-01 -2.41612267e-05 4.03173483e+00] [ 1.63853343e-04 2.62494719e-06 9.99999987e-01 -2.18581976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.93, Y:4.04, Z:-0.22 [[ 9.91013564e-01 -1.33761315e-01 -1.62079517e-04 2.93926145e+02] [ 1.33761313e-01 9.91013577e-01 -2.41875561e-05 4.03827755e+00] [ 1.63858361e-04 2.29022724e-06 9.99999987e-01 -2.20662992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08533619499997 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:293.98, Y:4.05, Z:-0.23 [[ 9.89976070e-01 -1.41235106e-01 -1.62075510e-04 2.93983387e+02] [ 1.41235104e-01 9.89976083e-01 -2.42143721e-05 4.04712098e+00] [ 1.63870798e-04 1.08089743e-06 9.99999987e-01 -2.26154883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.04, Y:4.05, Z:-0.22 [[ 9.88845033e-01 -1.48947891e-01 -1.62074098e-04 2.94042650e+02] [ 1.48947889e-01 9.88845046e-01 -2.42238200e-05 4.05025790e+00] [ 1.63874256e-04 -1.86990741e-07 9.99999987e-01 -2.24621906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.10, Y:4.06, Z:-0.22 [[ 9.88303762e-01 -1.52498024e-01 -1.62070021e-04 2.94099639e+02] [ 1.52498022e-01 9.88303775e-01 -2.42510698e-05 4.05867078e+00] [ 1.63872654e-04 -7.47934123e-07 9.99999987e-01 -2.18372530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.16, Y:4.07, Z:-0.22 [[ 9.88347232e-01 -1.52216040e-01 -1.62068568e-04 2.94157435e+02] [ 1.52216038e-01 9.88347245e-01 -2.42607767e-05 4.06789356e+00] [ 1.63872902e-04 -6.91363716e-07 9.99999987e-01 -2.16093966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.22, Y:4.07, Z:-0.22 [[ 9.88643533e-01 -1.50279531e-01 -1.62064501e-04 2.94215821e+02] [ 1.50279529e-01 9.88643547e-01 -2.42879093e-05 4.07342912e+00] [ 1.63873999e-04 -3.42892411e-07 9.99999987e-01 -2.17667211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.27, Y:4.08, Z:-0.22 [[ 9.89063237e-01 -1.47491987e-01 -1.62060231e-04 2.94272710e+02] [ 1.47491985e-01 9.89063251e-01 -2.43163718e-05 4.08236313e+00] [ 1.63874289e-04 1.47844354e-07 9.99999987e-01 -2.22825252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.33, Y:4.10, Z:-0.22 [[ 9.89308830e-01 -1.45835567e-01 -1.62058723e-04 2.94330277e+02] [ 1.45835565e-01 9.89308843e-01 -2.43264154e-05 4.09576423e+00] [ 1.63873784e-04 4.32412028e-07 9.99999987e-01 -2.24602012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.39, Y:4.11, Z:-0.22 [[ 9.89448261e-01 -1.44886548e-01 -1.62054531e-04 2.94388331e+02] [ 1.44886546e-01 9.89448275e-01 -2.43543110e-05 4.10606441e+00] [ 1.63873188e-04 6.17809411e-07 9.99999987e-01 -2.23420271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.45, Y:4.11, Z:-0.22 [[ 9.89361799e-01 -1.45475783e-01 -1.62050355e-04 2.94445402e+02] [ 1.45475781e-01 9.89361813e-01 -2.43820668e-05 4.11260999e+00] [ 1.63873433e-04 5.48283559e-07 9.99999987e-01 -2.22078859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.50, Y:4.12, Z:-0.22 [[ 9.88664444e-01 -1.50141899e-01 -1.62048590e-04 2.94503885e+02] [ 1.50141897e-01 9.88664458e-01 -2.43937891e-05 4.12228941e+00] [ 1.63874211e-04 -2.13010807e-07 9.99999987e-01 -2.19842027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.56, Y:4.13, Z:-0.22 [[ 9.88055916e-01 -1.54095687e-01 -1.62044590e-04 2.94560869e+02] [ 1.54095685e-01 9.88055929e-01 -2.44203285e-05 4.12948209e+00] [ 1.63872186e-04 -8.41722191e-07 9.99999987e-01 -2.21895670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.62, Y:4.13, Z:-0.22 [[ 9.86763167e-01 -1.62167893e-01 -1.62042603e-04 2.94619885e+02] [ 1.62167891e-01 9.86763181e-01 -2.44335099e-05 4.13236552e+00] [ 1.63860005e-04 -2.16801966e-06 9.99999987e-01 -2.23152321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.68, Y:4.14, Z:-0.22 [[ 9.86576202e-01 -1.63301476e-01 -1.62038485e-04 2.94676505e+02] [ 1.63301474e-01 9.86576215e-01 -2.44607877e-05 4.13988372e+00] [ 1.63857798e-04 -2.32869241e-06 9.99999987e-01 -2.24287409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.73, Y:4.14, Z:-0.22 [[ 9.86804219e-01 -1.61917900e-01 -1.62036463e-04 2.94734477e+02] [ 1.61917898e-01 9.86804233e-01 -2.44741789e-05 4.14479311e+00] [ 1.63861075e-04 -2.08538047e-06 9.99999987e-01 -2.24495743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.79, Y:4.15, Z:-0.22 [[ 9.86931247e-01 -1.61141822e-01 -1.62031884e-04 2.94791784e+02] [ 1.61141821e-01 9.86931261e-01 -2.45044513e-05 4.15210013e+00] [ 1.63863024e-04 -1.92590415e-06 9.99999987e-01 -2.24266329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.85, Y:4.16, Z:-0.23 [[ 9.87542782e-01 -1.57350650e-01 -1.62027271e-04 2.94849724e+02] [ 1.57350648e-01 9.87542795e-01 -2.45349181e-05 4.16244274e+00] [ 1.63869449e-04 -1.26581485e-06 9.99999987e-01 -2.28370745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.91, Y:4.17, Z:-0.23 [[ 9.87945116e-01 -1.54804464e-01 -1.62023121e-04 2.94908614e+02] [ 1.54804463e-01 9.87945129e-01 -2.45622897e-05 4.16727269e+00] [ 1.63872306e-04 -8.15708050e-07 9.99999987e-01 -2.26773348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.97, Y:4.17, Z:-0.23 [[ 9.88278058e-01 -1.52664516e-01 -1.62018858e-04 2.94966158e+02] [ 1.52664514e-01 9.88278071e-01 -2.45903816e-05 4.17241602e+00] [ 1.63873763e-04 -4.32395598e-07 9.99999987e-01 -2.28306153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.02, Y:4.18, Z:-0.23 [[ 9.88745283e-01 -1.49608618e-01 -1.62017353e-04 2.95022740e+02] [ 1.49608616e-01 9.88745296e-01 -2.46002905e-05 4.18005968e+00] [ 1.63874311e-04 8.42291160e-08 9.99999987e-01 -2.30198373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.08, Y:4.19, Z:-0.23 [[ 9.89188360e-01 -1.46650474e-01 -1.62015272e-04 2.95080933e+02] [ 1.46650472e-01 9.89188374e-01 -2.46139888e-05 4.18672106e+00] [ 1.63873277e-04 5.88255072e-07 9.99999987e-01 -2.32980851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.14, Y:4.19, Z:-0.23 [[ 9.89591783e-01 -1.43903015e-01 -1.62011184e-04 2.95138397e+02] [ 1.43903013e-01 9.89591796e-01 -2.46408670e-05 4.19306702e+00] [ 1.63870834e-04 1.07050195e-06 9.99999987e-01 -2.31294397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.20, Y:4.20, Z:-0.23 [[ 9.89791148e-01 -1.42525285e-01 -1.62009741e-04 2.95196117e+02] [ 1.42525283e-01 9.89791161e-01 -2.46503507e-05 4.20323484e+00] [ 1.63869108e-04 1.30821471e-06 9.99999987e-01 -2.29510183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.25, Y:4.21, Z:-0.23 [[ 9.89959577e-01 -1.41350659e-01 -1.62005716e-04 2.95254049e+02] [ 1.41350657e-01 9.89959591e-01 -2.46767735e-05 4.21139485e+00] [ 1.63867191e-04 1.52939379e-06 9.99999987e-01 -2.31849347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.31, Y:4.22, Z:-0.23 [[ 9.89935248e-01 -1.41520950e-01 -1.62001660e-04 2.95311395e+02] [ 1.41520948e-01 9.89935261e-01 -2.47033732e-05 4.22078976e+00] [ 1.63867201e-04 1.52811129e-06 9.99999987e-01 -2.29326019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.37, Y:4.23, Z:-0.23 [[ 9.89801344e-01 -1.42454461e-01 -1.61996881e-04 2.95368710e+02] [ 1.42454459e-01 9.89801357e-01 -2.47346769e-05 4.23387805e+00] [ 1.63868297e-04 1.40523840e-06 9.99999987e-01 -2.27805521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.43, Y:4.24, Z:-0.23 [[ 9.89315879e-01 -1.45787741e-01 -1.61992695e-04 2.95426065e+02] [ 1.45787739e-01 9.89315892e-01 -2.47620603e-05 4.24472176e+00] [ 1.63871952e-04 8.80950734e-07 9.99999987e-01 -2.31783192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.48, Y:4.25, Z:-0.23 [[ 9.88808187e-01 -1.49192302e-01 -1.61988560e-04 2.95484504e+02] [ 1.49192300e-01 9.88808200e-01 -2.47890815e-05 4.25456549e+00] [ 1.63873956e-04 3.44200992e-07 9.99999987e-01 -2.30731483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.54, Y:4.27, Z:-0.24 [[ 9.88391505e-01 -1.51928297e-01 -1.61984339e-04 2.95541122e+02] [ 1.51928295e-01 9.88391518e-01 -2.48166329e-05 4.26802710e+00] [ 1.63874295e-04 -8.14553644e-08 9.99999987e-01 -2.37678531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.60, Y:4.28, Z:-0.24 [[ 9.87893356e-01 -1.55134430e-01 -1.61982846e-04 2.95598969e+02] [ 1.55134428e-01 9.87893369e-01 -2.48263758e-05 4.27766206e+00] [ 1.63873205e-04 -6.03304484e-07 9.99999987e-01 -2.41256754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.66, Y:4.29, Z:-0.24 [[ 9.87894755e-01 -1.55125521e-01 -1.61978595e-04 2.95655848e+02] [ 1.55125519e-01 9.87894768e-01 -2.48540804e-05 4.29076102e+00] [ 1.63873308e-04 -5.73797850e-07 9.99999987e-01 -2.39450536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.71, Y:4.30, Z:-0.24 [[ 9.87941206e-01 -1.54829416e-01 -1.61977093e-04 2.95713412e+02] [ 1.54829414e-01 9.87941219e-01 -2.48638596e-05 4.30319271e+00] [ 1.63873504e-04 -5.14787093e-07 9.99999987e-01 -2.40299114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.77, Y:4.32, Z:-0.24 [[ 9.87583223e-01 -1.57096628e-01 -1.61972901e-04 2.95769835e+02] [ 1.57096626e-01 9.87583237e-01 -2.48911432e-05 4.31835572e+00] [ 1.63872036e-04 -8.63320776e-07 9.99999987e-01 -2.42622988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.83, Y:4.33, Z:-0.24 [[ 9.86619562e-01 -1.63039299e-01 -1.61971414e-04 2.95827610e+02] [ 1.63039297e-01 9.86619576e-01 -2.49008116e-05 4.32709897e+00] [ 1.63863979e-04 -1.84007778e-06 9.99999987e-01 -2.43664076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.88, Y:4.34, Z:-0.25 [[ 9.85962362e-01 -1.66967643e-01 -1.61967217e-04 2.95884879e+02] [ 1.66967641e-01 9.85962376e-01 -2.49280816e-05 4.33782911e+00] [ 1.63855765e-04 -2.46513396e-06 9.99999987e-01 -2.47351730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.94, Y:4.35, Z:-0.25 [[ 9.85536134e-01 -1.69465341e-01 -1.61965739e-04 2.95942630e+02] [ 1.69465339e-01 9.85536148e-01 -2.49376829e-05 4.34952562e+00] [ 1.63849163e-04 -2.87059120e-06 9.99999987e-01 -2.46260754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.00, Y:4.36, Z:-0.25 [[ 9.85574100e-01 -1.69244400e-01 -1.61961451e-04 2.95999260e+02] [ 1.69244398e-01 9.85574113e-01 -2.49654973e-05 4.36433907e+00] [ 1.63850285e-04 -2.80572087e-06 9.99999987e-01 -2.50890430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.06, Y:4.37, Z:-0.24 [[ 9.85456939e-01 -1.69925265e-01 -1.61957225e-04 2.96057177e+02] [ 1.69925263e-01 9.85456952e-01 -2.49928873e-05 4.37439584e+00] [ 1.63848796e-04 -2.89120985e-06 9.99999987e-01 -2.44858596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.11, Y:4.39, Z:-0.24 [[ 9.85655040e-01 -1.68772381e-01 -1.61952946e-04 2.96114430e+02] [ 1.68772379e-01 9.85655053e-01 -2.50205832e-05 4.38895200e+00] [ 1.63852523e-04 -2.67151994e-06 9.99999987e-01 -2.42284236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.17, Y:4.40, Z:-0.24 [[ 9.85981182e-01 -1.66856473e-01 -1.61948658e-04 2.96171256e+02] [ 1.66856471e-01 9.85981195e-01 -2.50483044e-05 4.39817844e+00] [ 1.63857803e-04 -2.32502486e-06 9.99999987e-01 -2.42009077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.23, Y:4.41, Z:-0.24 [[ 9.86500107e-01 -1.63760535e-01 -1.61943687e-04 2.96228656e+02] [ 1.63760533e-01 9.86500120e-01 -2.50804060e-05 4.41235576e+00] [ 1.63864647e-04 -1.77816132e-06 9.99999987e-01 -2.40840169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.29, Y:4.43, Z:-0.25 [[ 9.86721435e-01 -1.62421622e-01 -1.61939227e-04 2.96285332e+02] [ 1.62421620e-01 9.86721448e-01 -2.51091689e-05 4.42504310e+00] [ 1.63867180e-04 -1.52667646e-06 9.99999987e-01 -2.48688378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.34, Y:4.44, Z:-0.25 [[ 9.86546817e-01 -1.63478900e-01 -1.61937639e-04 2.96343275e+02] [ 1.63478898e-01 9.86546831e-01 -2.51194078e-05 4.43565054e+00] [ 1.63865557e-04 -1.69191488e-06 9.99999987e-01 -2.47124975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.40, Y:4.44, Z:-0.25 [[ 9.86308714e-01 -1.64909349e-01 -1.61933384e-04 2.96401716e+02] [ 1.64909347e-01 9.86308728e-01 -2.51468065e-05 4.44319030e+00] [ 1.63863253e-04 -1.90181429e-06 9.99999987e-01 -2.46800071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.46, Y:4.45, Z:-0.25 [[ 9.86861282e-01 -1.61569750e-01 -1.61929074e-04 2.96459027e+02] [ 1.61569748e-01 9.86861295e-01 -2.51745286e-05 4.45146262e+00] [ 1.63868978e-04 -1.31907222e-06 9.99999987e-01 -2.53776310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.52, Y:4.46, Z:-0.26 [[ 9.87408838e-01 -1.58189005e-01 -1.61927554e-04 2.96515389e+02] [ 1.58189003e-01 9.87408851e-01 -2.51843041e-05 4.46413062e+00] [ 1.63872580e-04 -7.47953817e-07 9.99999987e-01 -2.57642087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.57, Y:4.47, Z:-0.26 [[ 9.88062486e-01 -1.54053556e-01 -1.61926104e-04 2.96573661e+02] [ 1.54053553e-01 9.88062499e-01 -2.51936188e-05 4.47465850e+00] [ 1.63874278e-04 -5.24221519e-08 9.99999987e-01 -2.59344608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.63, Y:4.49, Z:-0.26 [[ 9.88566509e-01 -1.50785379e-01 -1.61922224e-04 2.96630674e+02] [ 1.50785377e-01 9.88566522e-01 -2.52185316e-05 4.48947129e+00] [ 1.63873476e-04 5.14692052e-07 9.99999987e-01 -2.60706701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.69, Y:4.50, Z:-0.26 [[ 9.88800155e-01 -1.49245529e-01 -1.61917991e-04 2.96688550e+02] [ 1.49245527e-01 9.88800168e-01 -2.52456811e-05 4.50105750e+00] [ 1.63872342e-04 7.97397524e-07 9.99999987e-01 -2.59321138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.74, Y:4.52, Z:-0.26 [[ 9.88896600e-01 -1.48605145e-01 -1.61913715e-04 2.96743627e+02] [ 1.48605143e-01 9.88896613e-01 -2.52730807e-05 4.52126645e+00] [ 1.63871634e-04 9.31252874e-07 9.99999987e-01 -2.59117841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.80, Y:4.54, Z:-0.26 [[ 9.88220740e-01 -1.53035102e-01 -1.61912202e-04 2.96799398e+02] [ 1.53035100e-01 9.88220754e-01 -2.52827693e-05 4.53786363e+00] [ 1.63874149e-04 2.06707093e-07 9.99999987e-01 -2.59759120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.86, Y:4.55, Z:-0.26 [[ 9.87522916e-01 -1.57475283e-01 -1.61907341e-04 2.96855825e+02] [ 1.57475281e-01 9.87522929e-01 -2.53138555e-05 4.55111703e+00] [ 1.63873519e-04 -4.98391673e-07 9.99999987e-01 -2.61327305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.91, Y:4.56, Z:-0.26 [[ 9.86685590e-01 -1.62639231e-01 -1.61905101e-04 2.96911883e+02] [ 1.62639229e-01 9.86685604e-01 -2.53281742e-05 4.56488003e+00] [ 1.63868788e-04 -1.34117635e-06 9.99999987e-01 -2.58829286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.97, Y:4.58, Z:-0.26 [[ 9.86506846e-01 -1.63719935e-01 -1.61900095e-04 2.96968684e+02] [ 1.63719933e-01 9.86506859e-01 -2.53601381e-05 4.58285544e+00] [ 1.63867514e-04 -1.48832271e-06 9.99999987e-01 -2.60211995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.265336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:297.02, Y:4.60, Z:-0.27 [[ 9.86306310e-01 -1.64923732e-01 -1.61895757e-04 2.97024959e+02] [ 1.64923730e-01 9.86306323e-01 -2.53877985e-05 4.59664160e+00] [ 1.63865859e-04 -1.66030620e-06 9.99999987e-01 -2.65510344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.08, Y:4.60, Z:-0.26 [[ 9.85593698e-01 -1.69130237e-01 -1.61894219e-04 2.97082902e+02] [ 1.69130235e-01 9.85593711e-01 -2.53976026e-05 4.60487968e+00] [ 1.63857427e-04 -2.34949025e-06 9.99999987e-01 -2.59922385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.14, Y:4.61, Z:-0.26 [[ 9.84345846e-01 -1.76247638e-01 -1.61889818e-04 2.97141400e+02] [ 1.76247636e-01 9.84345859e-01 -2.54256234e-05 4.60892453e+00] [ 1.63836778e-04 -3.50509093e-06 9.99999987e-01 -2.58002029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.20, Y:4.61, Z:-0.26 [[ 9.84233794e-01 -1.76872307e-01 -1.61885448e-04 2.97200860e+02] [ 1.76872305e-01 9.84233807e-01 -2.54534159e-05 4.61129580e+00] [ 1.63835135e-04 -3.58094022e-06 9.99999987e-01 -2.57492132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.26, Y:4.62, Z:-0.26 [[ 9.85357052e-01 -1.70503532e-01 -1.61881039e-04 2.97259487e+02] [ 1.70503531e-01 9.85357065e-01 -2.54814265e-05 4.61500794e+00] [ 1.63855299e-04 -2.49298548e-06 9.99999987e-01 -2.60150300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.32, Y:4.62, Z:-0.26 [[ 9.86468924e-01 -1.63948270e-01 -1.61876684e-04 2.97316841e+02] [ 1.63948268e-01 9.86468938e-01 -2.55090621e-05 4.62190665e+00] [ 1.63868487e-04 -1.37550491e-06 9.99999987e-01 -2.64577806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.37, Y:4.63, Z:-0.27 [[ 9.88115289e-01 -1.53714507e-01 -1.61875140e-04 2.97374219e+02] [ 1.53714505e-01 9.88115302e-01 -2.55188560e-05 4.63090655e+00] [ 1.63873922e-04 3.33014751e-07 9.99999987e-01 -2.69030655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.43, Y:4.64, Z:-0.27 [[ 9.88992441e-01 -1.47965959e-01 -1.61873621e-04 2.97432409e+02] [ 1.47965957e-01 9.88992454e-01 -2.55284895e-05 4.64011849e+00] [ 1.63869137e-04 1.29569790e-06 9.99999987e-01 -2.70939273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.49, Y:4.65, Z:-0.27 [[ 9.89847174e-01 -1.42135658e-01 -1.61869364e-04 2.97488862e+02] [ 1.42135655e-01 9.89847188e-01 -2.55554540e-05 4.65183584e+00] [ 1.63858276e-04 2.28858584e-06 9.99999987e-01 -2.69083294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.55, Y:4.66, Z:-0.27 [[ 9.89900158e-01 -1.41766184e-01 -1.61867105e-04 2.97546165e+02] [ 1.41766182e-01 9.89900171e-01 -2.55697526e-05 4.66420627e+00] [ 1.63857201e-04 2.36422069e-06 9.99999987e-01 -2.67066246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.865336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:297.60, Y:4.67, Z:-0.27 [[ 9.89086589e-01 -1.47335306e-01 -1.61862882e-04 2.97604622e+02] [ 1.47335304e-01 9.89086603e-01 -2.55964612e-05 4.67239391e+00] [ 1.63867670e-04 1.46899954e-06 9.99999987e-01 -2.68762122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.66, Y:4.68, Z:-0.27 [[ 9.88286162e-01 -1.52612045e-01 -1.61858477e-04 2.97661947e+02] [ 1.52612043e-01 9.88286175e-01 -2.56242839e-05 4.68166727e+00] [ 1.63873069e-04 6.22572354e-07 9.99999987e-01 -2.73449551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.72, Y:4.70, Z:-0.27 [[ 9.87849015e-01 -1.55416530e-01 -1.61856915e-04 2.97718741e+02] [ 1.55416528e-01 9.87849028e-01 -2.56341461e-05 4.69789916e+00] [ 1.63874166e-04 1.67426180e-07 9.99999987e-01 -2.74967681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.78, Y:4.70, Z:-0.27 [[ 9.88290625e-01 -1.52583138e-01 -1.61852573e-04 2.97777281e+02] [ 1.52583135e-01 9.88290639e-01 -2.56615353e-05 4.70409304e+00] [ 1.63872900e-04 6.65081771e-07 9.99999987e-01 -2.73787871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.83, Y:4.72, Z:-0.27 [[ 9.88968003e-01 -1.48129211e-01 -1.61848118e-04 2.97834518e+02] [ 1.48129209e-01 9.88968016e-01 -2.56895975e-05 4.71660769e+00] [ 1.63867992e-04 1.43175617e-06 9.99999987e-01 -2.74074444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.89, Y:4.74, Z:-0.29 [[ 9.90307494e-01 -1.38892190e-01 -1.61843668e-04 2.97891334e+02] [ 1.38892188e-01 9.90307508e-01 -2.57176016e-05 4.74046907e+00] [ 1.63846974e-04 2.98951239e-06 9.99999987e-01 -2.85583831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.95, Y:4.75, Z:-0.29 [[ 9.90107631e-01 -1.40309848e-01 -1.61843354e-04 2.97948615e+02] [ 1.40309845e-01 9.90107644e-01 -2.57195821e-05 4.74685338e+00] [ 1.63851052e-04 2.75693859e-06 9.99999987e-01 -2.88159292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.01, Y:4.76, Z:-0.28 [[ 9.89288319e-01 -1.45974638e-01 -1.61841796e-04 2.98006451e+02] [ 1.45974635e-01 9.89288333e-01 -2.57293796e-05 4.75570389e+00] [ 1.63864037e-04 1.82897750e-06 9.99999987e-01 -2.80664850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.34533619499996 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:298.06, Y:4.77, Z:-0.28 [[ 9.88911293e-01 -1.48507333e-01 -1.61837429e-04 2.98063456e+02] [ 1.48507331e-01 9.88911306e-01 -2.57568169e-05 4.77114334e+00] [ 1.63867940e-04 1.43716238e-06 9.99999987e-01 -2.80212647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.12, Y:4.78, Z:-0.28 [[ 9.88603650e-01 -1.50541681e-01 -1.61833078e-04 2.98121223e+02] [ 1.50541678e-01 9.88603663e-01 -2.57841271e-05 4.77935965e+00] [ 1.63870360e-04 1.12765894e-06 9.99999987e-01 -2.78924696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.18, Y:4.79, Z:-0.28 [[ 9.88554991e-01 -1.50860877e-01 -1.61831532e-04 2.98179860e+02] [ 1.50860875e-01 9.88555004e-01 -2.57938286e-05 4.78830606e+00] [ 1.63870650e-04 1.08457152e-06 9.99999987e-01 -2.77152010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.24, Y:4.80, Z:-0.27 [[ 9.88970070e-01 -1.48115407e-01 -1.61827356e-04 2.98238034e+02] [ 1.48115405e-01 9.88970084e-01 -2.58200011e-05 4.79596425e+00] [ 1.63866754e-04 1.56608395e-06 9.99999987e-01 -2.72760112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.30, Y:4.81, Z:-0.28 [[ 9.89490841e-01 -1.44595465e-01 -1.61822844e-04 2.98295305e+02] [ 1.44595463e-01 9.89490855e-01 -2.58482460e-05 4.80653616e+00] [ 1.63859764e-04 2.17775365e-06 9.99999987e-01 -2.78334889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.35, Y:4.82, Z:-0.27 [[ 9.90243907e-01 -1.39344816e-01 -1.61821567e-04 2.98354887e+02] [ 1.39344814e-01 9.90243921e-01 -2.58562407e-05 4.81792285e+00] [ 1.63845756e-04 3.05498873e-06 9.99999987e-01 -2.67639847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.41, Y:4.83, Z:-0.27 [[ 9.90930092e-01 -1.34378297e-01 -1.61821567e-04 2.98412844e+02] [ 1.34378295e-01 9.90930105e-01 -2.58562407e-05 4.83168685e+00] [ 1.63828380e-04 3.87642073e-06 9.99999987e-01 -2.69834178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.47, Y:4.84, Z:-0.27 [[ 9.91102329e-01 -1.33102021e-01 -1.61817474e-04 2.98469942e+02] [ 1.33102018e-01 9.91102342e-01 -2.58818315e-05 4.84418570e+00] [ 1.63822601e-04 4.11331116e-06 9.99999987e-01 -2.72243580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.53, Y:4.86, Z:-0.27 [[ 9.91367635e-01 -1.31111350e-01 -1.61813108e-04 2.98527267e+02] [ 1.31111348e-01 9.91367648e-01 -2.59090965e-05 4.85943986e+00] [ 1.63813257e-04 4.46990500e-06 9.99999987e-01 -2.69218046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.58, Y:4.87, Z:-0.28 [[ 9.91421412e-01 -1.30704088e-01 -1.61808650e-04 2.98583621e+02] [ 1.30704085e-01 9.91421425e-01 -2.59369106e-05 4.87094065e+00] [ 1.63810622e-04 4.56535700e-06 9.99999987e-01 -2.75632634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.64, Y:4.89, Z:-0.27 [[ 9.91187081e-01 -1.32469412e-01 -1.61803608e-04 2.98639027e+02] [ 1.32469410e-01 9.91187094e-01 -2.59683225e-05 4.89148931e+00] [ 1.63817657e-04 4.30543721e-06 9.99999987e-01 -2.66625511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.70, Y:4.91, Z:-0.27 [[ 9.89984274e-01 -1.41177586e-01 -1.61798493e-04 2.98695361e+02] [ 1.41177583e-01 9.89984287e-01 -2.60001543e-05 4.90524470e+00] [ 1.63848605e-04 2.89742360e-06 9.99999987e-01 -2.71452688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.065336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:298.75, Y:4.92, Z:-0.27 [[ 9.88132054e-01 -1.53606698e-01 -1.61796912e-04 2.98753342e+02] [ 1.53606695e-01 9.88132067e-01 -2.60099889e-05 4.91556938e+00] [ 1.63872026e-04 8.48214713e-07 9.99999987e-01 -2.69459937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.81, Y:4.92, Z:-0.27 [[ 9.87012690e-01 -1.60642220e-01 -1.61796003e-04 2.98811835e+02] [ 1.60642218e-01 9.87012704e-01 -2.60156442e-05 4.92300839e+00] [ 1.63873921e-04 -3.13497770e-07 9.99999987e-01 -2.67498377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.87, Y:4.93, Z:-0.27 [[ 9.85828881e-01 -1.67753959e-01 -1.61791543e-04 2.98869804e+02] [ 1.67753957e-01 9.85828894e-01 -2.60433515e-05 4.92680217e+00] [ 1.63867653e-04 -1.46688353e-06 9.99999987e-01 -2.72468412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.93, Y:4.93, Z:-0.27 [[ 9.85541627e-01 -1.69433392e-01 -1.61789973e-04 2.98928360e+02] [ 1.69433390e-01 9.85541641e-01 -2.60531014e-05 4.93183984e+00] [ 1.63865021e-04 -1.73620771e-06 9.99999987e-01 -2.67499370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.99, Y:4.94, Z:-0.27 [[ 9.86538101e-01 -1.63531491e-01 -1.61785463e-04 2.98987604e+02] [ 1.63531489e-01 9.86538115e-01 -2.60810777e-05 4.93501566e+00] [ 1.63872603e-04 -7.27040701e-07 9.99999987e-01 -2.66364203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.05, Y:4.94, Z:-0.26 [[ 9.87696441e-01 -1.56383226e-01 -1.61784180e-04 2.99046592e+02] [ 1.56383224e-01 9.87696455e-01 -2.60890355e-05 4.94087092e+00] [ 1.63873548e-04 4.67715958e-07 9.99999987e-01 -2.61725071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.10, Y:4.95, Z:-0.26 [[ 9.89591116e-01 -1.43907600e-01 -1.61779715e-04 2.99103749e+02] [ 1.43907598e-01 9.89591129e-01 -2.61166933e-05 4.94694451e+00] [ 1.63854161e-04 2.56351749e-06 9.99999987e-01 -2.64439038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.16, Y:4.95, Z:-0.27 [[ 9.91251023e-01 -1.31990087e-01 -1.61777350e-04 2.99162880e+02] [ 1.31990085e-01 9.91251036e-01 -2.61313353e-05 4.95094175e+00] [ 1.63811043e-04 4.54970669e-06 9.99999987e-01 -2.67062198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.22, Y:4.96, Z:-0.26 [[ 9.92777674e-01 -1.19968598e-01 -1.61776139e-04 2.99221388e+02] [ 1.19968596e-01 9.92777687e-01 -2.61388253e-05 4.95949237e+00] [ 1.63743580e-04 6.54198592e-06 9.99999987e-01 -2.58236117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.28, Y:4.97, Z:-0.25 [[ 9.93606710e-01 -1.12896765e-01 -1.61775199e-04 2.99278803e+02] [ 1.12896762e-01 9.93606723e-01 -2.61446457e-05 4.96964073e+00] [ 1.63692571e-04 7.71359930e-06 9.99999987e-01 -2.54650957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.66533619499995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:299.34, Y:4.98, Z:-0.25 [[ 9.94349373e-01 -1.06156950e-01 -1.61772808e-04 2.99336506e+02] [ 1.06156948e-01 9.94349386e-01 -2.61594324e-05 4.98290595e+00] [ 1.63635698e-04 8.83830776e-06 9.99999987e-01 -2.50212163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.39, Y:5.00, Z:-0.25 [[ 9.94487657e-01 -1.04853583e-01 -1.61768419e-04 2.99393498e+02] [ 1.04853580e-01 9.94487670e-01 -2.61865444e-05 4.99625065e+00] [ 1.63622451e-04 9.08019728e-06 9.99999987e-01 -2.48695428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.45, Y:5.01, Z:-0.25 [[ 9.94314702e-01 -1.06481210e-01 -1.61766869e-04 2.99449762e+02] [ 1.06481208e-01 9.94314715e-01 -2.61961160e-05 5.01309758e+00] [ 1.63636572e-04 8.82205168e-06 9.99999987e-01 -2.50461011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.51, Y:5.03, Z:-0.25 [[ 9.93558128e-01 -1.13323519e-01 -1.61765338e-04 2.99506662e+02] [ 1.13323516e-01 9.93558141e-01 -2.62055684e-05 5.02906694e+00] [ 1.63692975e-04 7.70493874e-06 9.99999987e-01 -2.54120771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.56, Y:5.04, Z:-0.26 [[ 9.92890426e-01 -1.19031826e-01 -1.61764150e-04 2.99563157e+02] [ 1.19031823e-01 9.92890439e-01 -2.62128965e-05 5.04017310e+00] [ 1.63734247e-04 6.77145228e-06 9.99999987e-01 -2.57656458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.62, Y:5.06, Z:-0.26 [[ 9.92010412e-01 -1.26155918e-01 -1.61761938e-04 2.99620023e+02] [ 1.26155915e-01 9.92010426e-01 -2.62265393e-05 5.05721269e+00] [ 1.63778162e-04 5.60977469e-06 9.99999987e-01 -2.55654270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02533619499997 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:299.68, Y:5.07, Z:-0.25 [[ 9.91114193e-01 -1.33013647e-01 -1.61757578e-04 2.99675988e+02] [ 1.33013644e-01 9.91114206e-01 -2.62534038e-05 5.07256099e+00] [ 1.63812295e-04 4.50415613e-06 9.99999987e-01 -2.54629169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.73, Y:5.09, Z:-0.26 [[ 9.90440776e-01 -1.37938546e-01 -1.61752472e-04 2.99732286e+02] [ 1.37938543e-01 9.90440790e-01 -2.62848241e-05 5.08553689e+00] [ 1.63831937e-04 3.72166120e-06 9.99999987e-01 -2.57230681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.79, Y:5.10, Z:-0.26 [[ 9.89418290e-01 -1.45091082e-01 -1.61750123e-04 2.99788893e+02] [ 1.45091079e-01 9.89418303e-01 -2.62992754e-05 5.10240702e+00] [ 1.63854322e-04 2.55248421e-06 9.99999987e-01 -2.57341180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.85, Y:5.12, Z:-0.26 [[ 9.88631551e-01 -1.50358341e-01 -1.61745687e-04 2.99846320e+02] [ 1.50358339e-01 9.88631564e-01 -2.63265290e-05 5.11792287e+00] [ 1.63865304e-04 1.70742441e-06 9.99999987e-01 -2.61101302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.90, Y:5.13, Z:-0.25 [[ 9.88255159e-01 -1.52812675e-01 -1.61741577e-04 2.99903318e+02] [ 1.52812673e-01 9.88255173e-01 -2.63517561e-05 5.13349305e+00] [ 1.63868832e-04 1.32609639e-06 9.99999987e-01 -2.54646399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.96, Y:5.15, Z:-0.26 [[ 9.87917509e-01 -1.54980544e-01 -1.61736906e-04 2.99959922e+02] [ 1.54980542e-01 9.87917522e-01 -2.63803907e-05 5.14526404e+00] [ 1.63871171e-04 9.95576511e-07 9.99999987e-01 -2.57360991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.02, Y:5.16, Z:-0.26 [[ 9.87208083e-01 -1.59437056e-01 -1.61735263e-04 3.00017442e+02] [ 1.59437054e-01 9.87208096e-01 -2.63904582e-05 5.16195105e+00] [ 1.63873978e-04 2.66279661e-07 9.99999987e-01 -2.58567114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.07, Y:5.17, Z:-0.26 [[ 9.86564910e-01 -1.63369682e-01 -1.61733100e-04 3.00074418e+02] [ 1.63369680e-01 9.86564923e-01 -2.64037086e-05 5.17201681e+00] [ 1.63873769e-04 -3.73312483e-07 9.99999987e-01 -2.60313530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.13, Y:5.18, Z:-0.25 [[ 9.86237046e-01 -1.65337419e-01 -1.61731500e-04 3.00132903e+02] [ 1.65337417e-01 9.86237060e-01 -2.64135056e-05 5.18161562e+00] [ 1.63872740e-04 -6.90290706e-07 9.99999987e-01 -2.52398269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.19, Y:5.20, Z:-0.26 [[ 9.86963680e-01 -1.60943058e-01 -1.61730141e-04 3.00189132e+02] [ 1.60943056e-01 9.86963693e-01 -2.64218221e-05 5.19681546e+00] [ 1.63874187e-04 4.80356477e-08 9.99999987e-01 -2.56154924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.25, Y:5.21, Z:-0.25 [[ 9.87309550e-01 -1.58807514e-01 -1.61728519e-04 3.00245917e+02] [ 1.58807512e-01 9.87309563e-01 -2.64317512e-05 5.20835071e+00] [ 1.63873674e-04 4.12616699e-07 9.99999987e-01 -2.54992404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.30, Y:5.22, Z:-0.27 [[ 9.88312427e-01 -1.52441862e-01 -1.61723267e-04 3.00302750e+02] [ 1.52441860e-01 9.88312440e-01 -2.64638450e-05 5.22126693e+00] [ 1.63867314e-04 1.50115130e-06 9.99999987e-01 -2.65710844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.36, Y:5.24, Z:-0.26 [[ 9.88837491e-01 -1.48997953e-01 -1.61721648e-04 3.00359504e+02] [ 1.48997950e-01 9.88837504e-01 -2.64737330e-05 5.23557852e+00] [ 1.63860963e-04 2.08202563e-06 9.99999987e-01 -2.61300282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.42, Y:5.25, Z:-0.26 [[ 9.88649735e-01 -1.50238728e-01 -1.61720094e-04 3.00416773e+02] [ 1.50238725e-01 9.88649748e-01 -2.64832252e-05 5.24875444e+00] [ 1.63863336e-04 1.88601286e-06 9.99999987e-01 -2.56629226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.47, Y:5.26, Z:-0.26 [[ 9.88321224e-01 -1.52384817e-01 -1.61715673e-04 3.00473145e+02] [ 1.52384815e-01 9.88321237e-01 -2.65101928e-05 5.26092304e+00] [ 1.63866785e-04 1.55757331e-06 9.99999987e-01 -2.56266904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.53, Y:5.26, Z:-0.26 [[ 9.87552306e-01 -1.57290865e-01 -1.61713233e-04 3.00532492e+02] [ 1.57290863e-01 9.87552320e-01 -2.65250699e-05 5.26404884e+00] [ 1.63872429e-04 7.58880028e-07 9.99999987e-01 -2.60007023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.59, Y:5.28, Z:-0.26 [[ 9.87272821e-01 -1.59035688e-01 -1.61708801e-04 3.00589229e+02] [ 1.59035686e-01 9.87272835e-01 -2.65520608e-05 5.27504691e+00] [ 1.63873432e-04 4.96657866e-07 9.99999987e-01 -2.62231227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.65, Y:5.28, Z:-0.26 [[ 9.87550904e-01 -1.57299668e-01 -1.61706484e-04 3.00647929e+02] [ 1.57299666e-01 9.87550917e-01 -2.65661658e-05 5.28342577e+00] [ 1.63872235e-04 7.99065105e-07 9.99999987e-01 -2.63004376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.71, Y:5.30, Z:-0.26 [[ 9.88038450e-01 -1.54207637e-01 -1.61702336e-04 3.00705200e+02] [ 1.54207635e-01 9.88038463e-01 -2.65913868e-05 5.29588999e+00] [ 1.63868723e-04 1.33757776e-06 9.99999987e-01 -2.56269464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.76, Y:5.31, Z:-0.26 [[ 9.88602537e-01 -1.50548987e-01 -1.61697630e-04 3.00761542e+02] [ 1.50548985e-01 9.88602550e-01 -2.66199728e-05 5.30736823e+00] [ 1.63862300e-04 1.97315863e-06 9.99999987e-01 -2.56083455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.82, Y:5.32, Z:-0.26 [[ 9.88411201e-01 -1.51800106e-01 -1.61695629e-04 3.00818871e+02] [ 1.51800103e-01 9.88411214e-01 -2.66321242e-05 5.32170197e+00] [ 1.63864532e-04 1.77807673e-06 9.99999987e-01 -2.56835872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.88, Y:5.33, Z:-0.26 [[ 9.88138439e-01 -1.53565616e-01 -1.61691099e-04 3.00875133e+02] [ 1.53565613e-01 9.88138453e-01 -2.66595960e-05 5.33493738e+00] [ 1.63867190e-04 1.51317872e-06 9.99999987e-01 -2.60204133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.93, Y:5.34, Z:-0.26 [[ 9.87726674e-01 -1.56192162e-01 -1.61688816e-04 3.00933572e+02] [ 1.56192160e-01 9.87726687e-01 -2.66734352e-05 5.34445570e+00] [ 1.63870540e-04 1.09153803e-06 9.99999987e-01 -2.58572143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.99, Y:5.36, Z:-0.26 [[ 9.87534327e-01 -1.57403704e-01 -1.61684330e-04 3.00991908e+02] [ 1.57403701e-01 9.87534341e-01 -2.67005994e-05 5.35574982e+00] [ 1.63871602e-04 9.18046433e-07 9.99999987e-01 -2.60487935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.05, Y:5.37, Z:-0.26 [[ 9.87597361e-01 -1.57007725e-01 -1.61683669e-04 3.01048711e+02] [ 1.57007723e-01 9.87597375e-01 -2.67046034e-05 5.36847852e+00] [ 1.63871196e-04 9.87811109e-07 9.99999987e-01 -2.58068178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.11, Y:5.38, Z:-0.25 [[ 9.87133632e-01 -1.59897365e-01 -1.61682357e-04 3.01107542e+02] [ 1.59897363e-01 9.87133645e-01 -2.67125467e-05 5.37516676e+00] [ 1.63873360e-04 5.16270791e-07 9.99999987e-01 -2.52655938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.17, Y:5.38, Z:-0.25 [[ 9.86376197e-01 -1.64505231e-01 -1.61681381e-04 3.01166920e+02] [ 1.64505229e-01 9.86376211e-01 -2.67184520e-05 5.38193507e+00] [ 1.63873993e-04 -2.42987435e-07 9.99999987e-01 -2.45020089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.22, Y:5.39, Z:-0.24 [[ 9.85557987e-01 -1.69338204e-01 -1.61680741e-04 3.01224347e+02] [ 1.69338202e-01 9.85558001e-01 -2.67223257e-05 5.38816066e+00] [ 1.63870858e-04 -1.04232427e-06 9.99999987e-01 -2.43624462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.28, Y:5.39, Z:-0.24 [[ 9.84749088e-01 -1.73980479e-01 -1.61679155e-04 3.01283779e+02] [ 1.73980477e-01 9.84749101e-01 -2.67319155e-05 5.39122931e+00] [ 1.63864234e-04 -1.80478714e-06 9.99999987e-01 -2.42380685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.34, Y:5.39, Z:-0.24 [[ 9.83596615e-01 -1.80382017e-01 -1.61674771e-04 3.01343965e+02] [ 1.80382015e-01 9.83596629e-01 -2.67584021e-05 5.38768611e+00] [ 1.63849494e-04 -2.84374729e-06 9.99999987e-01 -2.40236092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.40, Y:5.39, Z:-0.24 [[ 9.83592186e-01 -1.80406167e-01 -1.61670371e-04 3.01403825e+02] [ 1.80406165e-01 9.83592199e-01 -2.67849632e-05 5.38724159e+00] [ 1.63849888e-04 -2.82085108e-06 9.99999987e-01 -2.37452401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.46, Y:5.39, Z:-0.24 [[ 9.85005333e-01 -1.72523818e-01 -1.61665996e-04 3.01464703e+02] [ 1.72523816e-01 9.85005346e-01 -2.68113424e-05 5.38879904e+00] [ 1.63867465e-04 -1.48191927e-06 9.99999987e-01 -2.42818012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.52, Y:5.39, Z:-0.24 [[ 9.86251133e-01 -1.65253370e-01 -1.61665675e-04 3.01523193e+02] [ 1.65253368e-01 9.86251146e-01 -2.68132754e-05 5.39434136e+00] [ 1.63873942e-04 -2.71173983e-07 9.99999987e-01 -2.42993061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.58, Y:5.40, Z:-0.24 [[ 9.87652895e-01 -1.56658014e-01 -1.61661007e-04 3.01581612e+02] [ 1.56658012e-01 9.87652908e-01 -2.68413894e-05 5.39633152e+00] [ 1.63869883e-04 1.18448394e-06 9.99999987e-01 -2.41926843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.64, Y:5.40, Z:-0.24 [[ 9.88606592e-01 -1.50522360e-01 -1.61655483e-04 3.01638634e+02] [ 1.50522358e-01 9.88606605e-01 -2.68746208e-05 5.40438329e+00] [ 1.63858909e-04 2.23566289e-06 9.99999987e-01 -2.43346375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.70, Y:5.41, Z:-0.25 [[ 9.88974492e-01 -1.48085883e-01 -1.61652886e-04 3.01695026e+02] [ 1.48085880e-01 9.88974505e-01 -2.68902291e-05 5.41095575e+00] [ 1.63852647e-04 2.65524064e-06 9.99999987e-01 -2.45659764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.75, Y:5.41, Z:-0.25 [[ 9.89406267e-01 -1.45173041e-01 -1.61650614e-04 3.01753193e+02] [ 1.45173039e-01 9.89406281e-01 -2.69038801e-05 5.41488601e+00] [ 1.63843851e-04 3.15155666e-06 9.99999987e-01 -2.47155469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.81, Y:5.42, Z:-0.25 [[ 9.89456396e-01 -1.44830982e-01 -1.61645568e-04 3.01810302e+02] [ 1.44830980e-01 9.89456410e-01 -2.69341663e-05 5.42193300e+00] [ 1.63842145e-04 3.23889717e-06 9.99999987e-01 -2.45050625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.87, Y:5.43, Z:-0.25 [[ 9.89418318e-01 -1.45090889e-01 -1.61640247e-04 3.01867047e+02] [ 1.45090887e-01 9.89418331e-01 -2.69660624e-05 5.43046830e+00] [ 1.63842353e-04 3.22818930e-06 9.99999987e-01 -2.47589600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.93, Y:5.44, Z:-0.25 [[ 9.89110012e-01 -1.47177979e-01 -1.61638601e-04 3.01925421e+02] [ 1.47177976e-01 9.89110026e-01 -2.69759268e-05 5.43644071e+00] [ 1.63848623e-04 2.89251719e-06 9.99999987e-01 -2.49087271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.98, Y:5.44, Z:-0.25 [[ 9.89134589e-01 -1.47012717e-01 -1.61634088e-04 3.01984286e+02] [ 1.47012715e-01 9.89134602e-01 -2.70029381e-05 5.44121187e+00] [ 1.63847645e-04 2.94727401e-06 9.99999987e-01 -2.51375621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.04, Y:5.45, Z:-0.25 [[ 9.89278838e-01 -1.46038879e-01 -1.61632762e-04 3.02042733e+02] [ 1.46038876e-01 9.89278851e-01 -2.70108733e-05 5.44951026e+00] [ 1.63844511e-04 3.11661846e-06 9.99999987e-01 -2.53179786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.10, Y:5.46, Z:-0.25 [[ 9.89470057e-01 -1.44737623e-01 -1.61628116e-04 3.02100239e+02] [ 1.44737620e-01 9.89470071e-01 -2.70386477e-05 5.45958310e+00] [ 1.63839692e-04 3.36026350e-06 9.99999987e-01 -2.53645304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.16, Y:5.47, Z:-0.25 [[ 9.89674846e-01 -1.43330639e-01 -1.61623479e-04 3.02158611e+02] [ 1.43330637e-01 9.89674860e-01 -2.70663347e-05 5.46692948e+00] [ 1.63834129e-04 3.62127453e-06 9.99999987e-01 -2.52567381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.22, Y:5.47, Z:-0.25 [[ 9.89382553e-01 -1.45334569e-01 -1.61622500e-04 3.02217560e+02] [ 1.45334566e-01 9.89382567e-01 -2.70721801e-05 5.47333657e+00] [ 1.63841007e-04 3.29540677e-06 9.99999987e-01 -2.53918412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.28, Y:5.48, Z:-0.25 [[ 9.88939995e-01 -1.48316079e-01 -1.61618069e-04 3.02275626e+02] [ 1.48316077e-01 9.88940009e-01 -2.70986063e-05 5.48177190e+00] [ 1.63849734e-04 2.82833768e-06 9.99999987e-01 -2.48816101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.33, Y:5.49, Z:-0.24 [[ 9.88921791e-01 -1.48437414e-01 -1.61613593e-04 3.02333702e+02] [ 1.48437411e-01 9.88921804e-01 -2.71252737e-05 5.48867382e+00] [ 1.63849611e-04 2.83527084e-06 9.99999987e-01 -2.42633419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.39, Y:5.50, Z:-0.24 [[ 9.89117687e-01 -1.47126392e-01 -1.61608921e-04 3.02392020e+02] [ 1.47126389e-01 9.89117700e-01 -2.71530796e-05 5.49687857e+00] [ 1.63845179e-04 3.08065421e-06 9.99999987e-01 -2.43518793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.45, Y:5.51, Z:-0.25 [[ 9.89214974e-01 -1.46470847e-01 -1.61604147e-04 3.02448300e+02] [ 1.46470844e-01 9.89214987e-01 -2.71814620e-05 5.50536270e+00] [ 1.63842536e-04 3.21801336e-06 9.99999987e-01 -2.48168963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.51, Y:5.52, Z:-0.25 [[ 9.89324538e-01 -1.45728972e-01 -1.61601785e-04 3.02505204e+02] [ 1.45728969e-01 9.89324551e-01 -2.71954970e-05 5.51855967e+00] [ 1.63839786e-04 3.35511085e-06 9.99999987e-01 -2.45977437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.56, Y:5.53, Z:-0.24 [[ 9.89131531e-01 -1.47033293e-01 -1.61600180e-04 3.02562014e+02] [ 1.47033290e-01 9.89131544e-01 -2.72050334e-05 5.52638175e+00] [ 1.63843881e-04 3.14875022e-06 9.99999987e-01 -2.44150187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.62, Y:5.54, Z:-0.24 [[ 9.88877702e-01 -1.48730843e-01 -1.61598277e-04 3.02619910e+02] [ 1.48730841e-01 9.88877716e-01 -2.72163309e-05 5.53825107e+00] [ 1.63848843e-04 2.87897517e-06 9.99999987e-01 -2.40552945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.68, Y:5.55, Z:-0.24 [[ 9.88603607e-01 -1.50541961e-01 -1.61593535e-04 3.02676636e+02] [ 1.50541959e-01 9.88603620e-01 -2.72444599e-05 5.55045078e+00] [ 1.63853388e-04 2.60736409e-06 9.99999987e-01 -2.42268698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.73, Y:5.56, Z:-0.24 [[ 9.87582466e-01 -1.57101393e-01 -1.61591858e-04 3.02734840e+02] [ 1.57101390e-01 9.87582479e-01 -2.72543985e-05 5.55925291e+00] [ 1.63866992e-04 1.52966047e-06 9.99999987e-01 -2.44585344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.79, Y:5.57, Z:-0.25 [[ 9.86793603e-01 -1.61982588e-01 -1.61587181e-04 3.02791920e+02] [ 1.61982585e-01 9.86793616e-01 -2.72821009e-05 5.56862600e+00] [ 1.63872424e-04 7.47493313e-07 9.99999987e-01 -2.45262961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.85, Y:5.58, Z:-0.25 [[ 9.85917445e-01 -1.67232670e-01 -1.61585523e-04 3.02849192e+02] [ 1.67232668e-01 9.85917458e-01 -2.72919164e-05 5.57855617e+00] [ 1.63874089e-04 -1.14801685e-07 9.99999987e-01 -2.51205752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.91, Y:5.59, Z:-0.25 [[ 9.85708021e-01 -1.68462669e-01 -1.61583251e-04 3.02907411e+02] [ 1.68462667e-01 9.85708034e-01 -2.73053627e-05 5.58935329e+00] [ 1.63873843e-04 -3.05630304e-07 9.99999987e-01 -2.48302864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.97, Y:5.60, Z:-0.24 [[ 9.85760865e-01 -1.68153177e-01 -1.61578691e-04 3.02965685e+02] [ 1.68153175e-01 9.85760878e-01 -2.73323196e-05 5.59973813e+00] [ 1.63873969e-04 -2.26838876e-07 9.99999987e-01 -2.42502829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.02, Y:5.61, Z:-0.24 [[ 9.85678019e-01 -1.68638122e-01 -1.61573830e-04 3.03022178e+02] [ 1.68638120e-01 9.85678032e-01 -2.73610269e-05 5.61072596e+00] [ 1.63873887e-04 -2.78344168e-07 9.99999987e-01 -2.43509742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.08, Y:5.62, Z:-0.24 [[ 9.85692706e-01 -1.68552255e-01 -1.61572114e-04 3.03079632e+02] [ 1.68552252e-01 9.85692720e-01 -2.73711553e-05 5.61822573e+00] [ 1.63873926e-04 -2.53795573e-07 9.99999987e-01 -2.42472495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.14, Y:5.63, Z:-0.24 [[ 9.86256694e-01 -1.65220176e-01 -1.61570433e-04 3.03137446e+02] [ 1.65220174e-01 9.86256708e-01 -2.73810776e-05 5.63014227e+00] [ 1.63873829e-04 3.10076122e-07 9.99999987e-01 -2.39642780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.19, Y:5.64, Z:-0.24 [[ 9.87506205e-01 -1.57580037e-01 -1.61565723e-04 3.03194062e+02] [ 1.57580035e-01 9.87506219e-01 -2.74088412e-05 5.64334675e+00] [ 1.63866242e-04 1.60686854e-06 9.99999987e-01 -2.36564605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.25, Y:5.66, Z:-0.24 [[ 9.88299665e-01 -1.52524572e-01 -1.61564056e-04 3.03250483e+02] [ 1.52524570e-01 9.88299679e-01 -2.74186644e-05 5.65806332e+00] [ 1.63855724e-04 2.45536886e-06 9.99999987e-01 -2.38003134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.31, Y:5.67, Z:-0.24 [[ 9.88524999e-01 -1.51057273e-01 -1.61562400e-04 3.03307521e+02] [ 1.51057271e-01 9.88525012e-01 -2.74284179e-05 5.67001428e+00] [ 1.63851735e-04 2.70850164e-06 9.99999987e-01 -2.41139402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.36, Y:5.69, Z:-0.24 [[ 9.87575528e-01 -1.57144998e-01 -1.61560773e-04 3.03364356e+02] [ 1.57144996e-01 9.87575541e-01 -2.74379979e-05 5.68583373e+00] [ 1.63865212e-04 1.70862835e-06 9.99999987e-01 -2.42000238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.42, Y:5.70, Z:-0.23 [[ 9.86224929e-01 -1.65409683e-01 -1.61556172e-04 3.03422612e+02] [ 1.65409680e-01 9.86224942e-01 -2.74650580e-05 5.69639319e+00] [ 1.63873713e-04 3.63769972e-07 9.99999987e-01 -2.34329626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.48, Y:5.71, Z:-0.24 [[ 9.85454690e-01 -1.69938307e-01 -1.61555180e-04 3.03480934e+02] [ 1.69938304e-01 9.85454703e-01 -2.74708935e-05 5.70548724e+00] [ 1.63873669e-04 -3.83092559e-07 9.99999987e-01 -2.36675028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.54, Y:5.71, Z:-0.24 [[ 9.84881932e-01 -1.73226883e-01 -1.61550614e-04 3.03538982e+02] [ 1.73226881e-01 9.84881946e-01 -2.74977196e-05 5.71473538e+00] [ 1.63871627e-04 -9.02901801e-07 9.99999987e-01 -2.38961268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.60, Y:5.72, Z:-0.24 [[ 9.84816956e-01 -1.73595900e-01 -1.61546072e-04 3.03596970e+02] [ 1.73595897e-01 9.84816970e-01 -2.75243798e-05 5.72377148e+00] [ 1.63871432e-04 -9.37259361e-07 9.99999987e-01 -2.38123749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.66, Y:5.73, Z:-0.23 [[ 9.85081648e-01 -1.72087535e-01 -1.61541561e-04 3.03655116e+02] [ 1.72087533e-01 9.85081662e-01 -2.75508249e-05 5.73452359e+00] [ 1.63872783e-04 -6.59476762e-07 9.99999987e-01 -2.33394080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.71, Y:5.74, Z:-0.24 [[ 9.85868927e-01 -1.67518454e-01 -1.61536825e-04 3.03712347e+02] [ 1.67518451e-01 9.85868940e-01 -2.75785706e-05 5.74453952e+00] [ 1.63874058e-04 1.28457111e-07 9.99999987e-01 -2.38143387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.77, Y:5.76, Z:-0.24 [[ 9.86868795e-01 -1.61523853e-01 -1.61535147e-04 3.03770018e+02] [ 1.61523851e-01 9.86868808e-01 -2.75883921e-05 5.75813748e+00] [ 1.63870182e-04 1.13434425e-06 9.99999987e-01 -2.39551188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.83, Y:5.77, Z:-0.24 [[ 9.87284506e-01 -1.58963132e-01 -1.61530390e-04 3.03827222e+02] [ 1.58963129e-01 9.87284520e-01 -2.76162150e-05 5.77162372e+00] [ 1.63866414e-04 1.58768482e-06 9.99999987e-01 -2.39260039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.88, Y:5.78, Z:-0.24 [[ 9.87613668e-01 -1.56905119e-01 -1.61525583e-04 3.03884122e+02] [ 1.56905117e-01 9.87613681e-01 -2.76443054e-05 5.78085816e+00] [ 1.63862409e-04 1.95770342e-06 9.99999987e-01 -2.38802802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.94, Y:5.79, Z:-0.24 [[ 9.87702079e-01 -1.56347617e-01 -1.61523881e-04 3.03940525e+02] [ 1.56347614e-01 9.87702092e-01 -2.76542434e-05 5.79223813e+00] [ 1.63861151e-04 2.06028016e-06 9.99999987e-01 -2.38364723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.00, Y:5.81, Z:-0.24 [[ 9.87587798e-01 -1.57067871e-01 -1.61522220e-04 3.03998068e+02] [ 1.57067868e-01 9.87587811e-01 -2.76639442e-05 5.80543302e+00] [ 1.63862492e-04 1.95062297e-06 9.99999987e-01 -2.35282503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.06, Y:5.82, Z:-0.24 [[ 9.87529375e-01 -1.57434774e-01 -1.61517495e-04 3.04055289e+02] [ 1.57434772e-01 9.87529388e-01 -2.76915057e-05 5.81958707e+00] [ 1.63862879e-04 1.91770546e-06 9.99999987e-01 -2.36471214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.11, Y:5.83, Z:-0.24 [[ 9.87470436e-01 -1.57804033e-01 -1.61512729e-04 3.04113641e+02] [ 1.57804030e-01 9.87470449e-01 -2.77192733e-05 5.82845999e+00] [ 1.63863260e-04 1.88460333e-06 9.99999987e-01 -2.39220410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.17, Y:5.84, Z:-0.24 [[ 9.87540233e-01 -1.57366649e-01 -1.61507880e-04 3.04170199e+02] [ 1.57366647e-01 9.87540246e-01 -2.77474991e-05 5.84283015e+00] [ 1.63862062e-04 1.98581826e-06 9.99999987e-01 -2.42043094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.23, Y:5.86, Z:-0.24 [[ 9.87631216e-01 -1.56794624e-01 -1.61506164e-04 3.04227206e+02] [ 1.56794622e-01 9.87631230e-01 -2.77574800e-05 5.85961203e+00] [ 1.63860755e-04 2.09085574e-06 9.99999987e-01 -2.40467865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.29, Y:5.87, Z:-0.24 [[ 9.87512861e-01 -1.57538323e-01 -1.61501413e-04 3.04285083e+02] [ 1.57538321e-01 9.87512874e-01 -2.77850988e-05 5.86995992e+00] [ 1.63861942e-04 1.99548101e-06 9.99999987e-01 -2.41921277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.885336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:304.34, Y:5.88, Z:-0.24 [[ 9.87349387e-01 -1.58559649e-01 -1.61496690e-04 3.04342327e+02] [ 1.58559647e-01 9.87349400e-01 -2.78125248e-05 5.88131040e+00] [ 1.63863604e-04 1.85382127e-06 9.99999987e-01 -2.38592801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.40, Y:5.90, Z:-0.24 [[ 9.87138497e-01 -1.59867323e-01 -1.61491056e-04 3.04397693e+02] [ 1.59867321e-01 9.87138511e-01 -2.78451975e-05 5.89812681e+00] [ 1.63865578e-04 1.66992405e-06 9.99999987e-01 -2.40405535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.46, Y:5.91, Z:-0.24 [[ 9.86975942e-01 -1.60867844e-01 -1.61489320e-04 3.04455439e+02] [ 1.60867842e-01 9.86975956e-01 -2.78552623e-05 5.91203009e+00] [ 1.63867092e-04 1.51403538e-06 9.99999987e-01 -2.36620874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.51, Y:5.92, Z:-0.23 [[ 9.86676029e-01 -1.62697226e-01 -1.61488338e-04 3.04513312e+02] [ 1.62697223e-01 9.86676042e-01 -2.78609560e-05 5.92187709e+00] [ 1.63869574e-04 1.21603329e-06 9.99999987e-01 -2.30234028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.57, Y:5.93, Z:-0.23 [[ 9.86108527e-01 -1.66102218e-01 -1.61483326e-04 3.04570034e+02] [ 1.66102216e-01 9.86108540e-01 -2.78899754e-05 5.93324176e+00] [ 1.63872673e-04 6.79804375e-07 9.99999987e-01 -2.32879840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.185336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:304.63, Y:5.94, Z:-0.23 [[ 9.85392744e-01 -1.70297132e-01 -1.61481561e-04 3.04627801e+02] [ 1.70297129e-01 9.85392758e-01 -2.79001863e-05 5.94493030e+00] [ 1.63874083e-04 -7.20525941e-09 9.99999987e-01 -2.34368076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.68, Y:5.95, Z:-0.24 [[ 9.84623100e-01 -1.74692088e-01 -1.61476769e-04 3.04684890e+02] [ 1.74692085e-01 9.84623113e-01 -2.79278957e-05 5.95199555e+00] [ 1.63872541e-04 -7.10262274e-07 9.99999987e-01 -2.40665825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.74, Y:5.96, Z:-0.24 [[ 9.84531369e-01 -1.75208328e-01 -1.61475076e-04 3.04742112e+02] [ 1.75208326e-01 9.84531382e-01 -2.79376835e-05 5.95846921e+00] [ 1.63872194e-04 -7.86251975e-07 9.99999987e-01 -2.36440839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.80, Y:5.97, Z:-0.23 [[ 9.84970964e-01 -1.72719929e-01 -1.61469550e-04 3.04800230e+02] [ 1.72719927e-01 9.84970977e-01 -2.79695814e-05 5.96768513e+00] [ 1.63873725e-04 -3.39783397e-07 9.99999987e-01 -2.34963986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.86, Y:5.98, Z:-0.24 [[ 9.85879221e-01 -1.67457862e-01 -1.61464732e-04 3.04857022e+02] [ 1.67457860e-01 9.85879234e-01 -2.79973668e-05 5.97756547e+00] [ 1.63873106e-04 5.63483699e-07 9.99999987e-01 -2.36528617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.92, Y:5.99, Z:-0.24 [[ 9.86333822e-01 -1.64759116e-01 -1.61463026e-04 3.04915444e+02] [ 1.64759114e-01 9.86333835e-01 -2.80072022e-05 5.98743728e+00] [ 1.63870888e-04 1.02194570e-06 9.99999987e-01 -2.36367457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.97, Y:6.00, Z:-0.23 [[ 9.86629513e-01 -1.62979070e-01 -1.61458402e-04 3.04973172e+02] [ 1.62979068e-01 9.86629527e-01 -2.80338360e-05 5.99740565e+00] [ 1.63868555e-04 1.34467016e-06 9.99999987e-01 -2.34935947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.03, Y:6.00, Z:-0.23 [[ 9.86471590e-01 -1.63932230e-01 -1.61453805e-04 3.05031954e+02] [ 1.63932227e-01 9.86471603e-01 -2.80602865e-05 6.00264089e+00] [ 1.63869579e-04 1.21319359e-06 9.99999987e-01 -2.30615591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.09, Y:6.01, Z:-0.23 [[ 9.86318030e-01 -1.64853624e-01 -1.61448861e-04 3.05088943e+02] [ 1.64853621e-01 9.86318043e-01 -2.80887053e-05 6.01107674e+00] [ 1.63870449e-04 1.08896711e-06 9.99999987e-01 -2.28616130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.15, Y:6.02, Z:-0.23 [[ 9.86149101e-01 -1.65861163e-01 -1.61447120e-04 3.05146078e+02] [ 1.65861160e-01 9.86149114e-01 -2.80987043e-05 6.01818391e+00] [ 1.63871418e-04 9.31705307e-07 9.99999987e-01 -2.28377467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.20, Y:6.03, Z:-0.23 [[ 9.86145643e-01 -1.65881721e-01 -1.61441663e-04 3.05203068e+02] [ 1.65881718e-01 9.86145656e-01 -2.81300246e-05 6.02689535e+00] [ 1.63871252e-04 9.60080696e-07 9.99999987e-01 -2.28645862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.26, Y:6.03, Z:-0.23 [[ 9.86446670e-01 -1.64082120e-01 -1.61439140e-04 3.05261395e+02] [ 1.64082117e-01 9.86446683e-01 -2.81444937e-05 6.03098844e+00] [ 1.63869113e-04 1.27376612e-06 9.99999987e-01 -2.31615865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.32, Y:6.04, Z:-0.23 [[ 9.87080451e-01 -1.60225334e-01 -1.61437482e-04 3.05319660e+02] [ 1.60225331e-01 9.87080464e-01 -2.81540035e-05 6.03761766e+00] [ 1.63862769e-04 1.92389243e-06 9.99999987e-01 -2.29270832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.38, Y:6.05, Z:-0.23 [[ 9.88085099e-01 -1.53908448e-01 -1.61432889e-04 3.05377988e+02] [ 1.53908445e-01 9.88085113e-01 -2.81803133e-05 6.04694490e+00] [ 1.63846623e-04 2.99866265e-06 9.99999987e-01 -2.29213080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.44, Y:6.06, Z:-0.23 [[ 9.88709497e-01 -1.49844933e-01 -1.61431486e-04 3.05435543e+02] [ 1.49844931e-01 9.88709510e-01 -2.81883494e-05 6.05611169e+00] [ 1.63832727e-04 3.68039890e-06 9.99999987e-01 -2.30754105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.08533619499997 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:305.49, Y:6.06, Z:-0.23 [[ 9.88805135e-01 -1.49212531e-01 -1.61429744e-04 3.05494163e+02] [ 1.49212528e-01 9.88805148e-01 -2.81983249e-05 6.06490015e+00] [ 1.63830105e-04 3.79530823e-06 9.99999987e-01 -2.30771973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.55, Y:6.08, Z:-0.23 [[ 9.88728318e-01 -1.49720697e-01 -1.61425164e-04 3.05551420e+02] [ 1.49720695e-01 9.88728331e-01 -2.82245147e-05 6.07563605e+00] [ 1.63831427e-04 3.73768912e-06 9.99999987e-01 -2.31527883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.61, Y:6.09, Z:-0.23 [[ 9.88608077e-01 -1.50512603e-01 -1.61423428e-04 3.05608769e+02] [ 1.50512600e-01 9.88608090e-01 -2.82344429e-05 6.08538278e+00] [ 1.63834146e-04 3.61653846e-06 9.99999987e-01 -2.29742112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.67, Y:6.09, Z:-0.23 [[ 9.88343946e-01 -1.52237374e-01 -1.61417805e-04 3.05667196e+02] [ 1.52237371e-01 9.88343959e-01 -2.82665538e-05 6.09462497e+00] [ 1.63839538e-04 3.36325501e-06 9.99999987e-01 -2.25969639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.72, Y:6.11, Z:-0.23 [[ 9.87721724e-01 -1.56223463e-01 -1.61412872e-04 3.05723985e+02] [ 1.56223460e-01 9.87721737e-01 -2.82946959e-05 6.10534802e+00] [ 1.63851297e-04 2.73080843e-06 9.99999987e-01 -2.25136858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.78, Y:6.12, Z:-0.22 [[ 9.87389732e-01 -1.58308213e-01 -1.61411124e-04 3.05781016e+02] [ 1.58308211e-01 9.87389746e-01 -2.83046608e-05 6.11574513e+00] [ 1.63856549e-04 2.39502521e-06 9.99999987e-01 -2.24382833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.84, Y:6.12, Z:-0.23 [[ 9.86377307e-01 -1.64498578e-01 -1.61405575e-04 3.05838762e+02] [ 1.64498576e-01 9.86377320e-01 -2.83362669e-05 6.11984258e+00] [ 1.63868075e-04 1.39926335e-06 9.99999987e-01 -2.26111675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.90, Y:6.13, Z:-0.22 [[ 9.85817101e-01 -1.67823174e-01 -1.61403864e-04 3.05896448e+02] [ 1.67823172e-01 9.85817114e-01 -2.83460142e-05 6.12786200e+00] [ 1.63871809e-04 8.56677256e-07 9.99999987e-01 -2.24303861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.95, Y:6.14, Z:-0.22 [[ 9.85687082e-01 -1.68585141e-01 -1.61398259e-04 3.05954856e+02] [ 1.68585139e-01 9.85687096e-01 -2.83778926e-05 6.13703443e+00] [ 1.63872272e-04 7.62374322e-07 9.99999987e-01 -2.24502617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.01, Y:6.15, Z:-0.23 [[ 9.85989579e-01 -1.66806848e-01 -1.61393232e-04 3.06012207e+02] [ 1.66806845e-01 9.85989592e-01 -2.84064523e-05 6.14534768e+00] [ 1.63870438e-04 1.08697012e-06 9.99999987e-01 -2.27116960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.07, Y:6.15, Z:-0.23 [[ 9.86735234e-01 -1.62337772e-01 -1.61391462e-04 3.06069872e+02] [ 1.62337769e-01 9.86735247e-01 -2.84165051e-05 6.15157697e+00] [ 1.63863716e-04 1.83963687e-06 9.99999987e-01 -2.31833790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.13, Y:6.16, Z:-0.22 [[ 9.87154078e-01 -1.59771089e-01 -1.61389723e-04 3.06128139e+02] [ 1.59771087e-01 9.87154091e-01 -2.84263763e-05 6.16188102e+00] [ 1.63858239e-04 2.27580181e-06 9.99999987e-01 -2.23955007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.19, Y:6.17, Z:-0.22 [[ 9.86871639e-01 -1.61506476e-01 -1.61384740e-04 3.06187339e+02] [ 1.61506474e-01 9.86871652e-01 -2.84546389e-05 6.16678295e+00] [ 1.63861634e-04 2.01639584e-06 9.99999987e-01 -2.20484516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.24, Y:6.17, Z:-0.22 [[ 9.86560082e-01 -1.63398831e-01 -1.61379617e-04 3.06244762e+02] [ 1.63398829e-01 9.86560095e-01 -2.84836634e-05 6.17275990e+00] [ 1.63864888e-04 1.73160489e-06 9.99999987e-01 -2.22842553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.30, Y:6.18, Z:-0.23 [[ 9.86403251e-01 -1.64342938e-01 -1.61377809e-04 3.06303443e+02] [ 1.64342936e-01 9.86403264e-01 -2.84939035e-05 6.18003927e+00] [ 1.63866369e-04 1.58517612e-06 9.99999987e-01 -2.27381844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.36, Y:6.19, Z:-0.23 [[ 9.86801724e-01 -1.61933107e-01 -1.61376403e-04 3.06361123e+02] [ 1.61933105e-01 9.86801737e-01 -2.85018635e-05 6.18576675e+00] [ 1.63861910e-04 1.99350601e-06 9.99999987e-01 -2.27451334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.42, Y:6.19, Z:-0.22 [[ 9.87237028e-01 -1.59257728e-01 -1.61374664e-04 3.06419980e+02] [ 1.59257725e-01 9.87237042e-01 -2.85117055e-05 6.19160401e+00] [ 1.63855756e-04 2.44764943e-06 9.99999987e-01 -2.22952486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.48, Y:6.20, Z:-0.23 [[ 9.88134704e-01 -1.53589651e-01 -1.61369707e-04 3.06476857e+02] [ 1.53589648e-01 9.88134717e-01 -2.85397334e-05 6.20027932e+00] [ 1.63838418e-04 3.41638445e-06 9.99999987e-01 -2.27917180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.53, Y:6.21, Z:-0.23 [[ 9.88601888e-01 -1.50553250e-01 -1.61367965e-04 3.06533422e+02] [ 1.50553248e-01 9.88601901e-01 -2.85495842e-05 6.21246868e+00] [ 1.63826909e-04 3.92970170e-06 9.99999987e-01 -2.25335578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.59, Y:6.22, Z:-0.23 [[ 9.88875740e-01 -1.48743888e-01 -1.61362348e-04 3.06591263e+02] [ 1.48743886e-01 9.88875753e-01 -2.85812925e-05 6.22124511e+00] [ 1.63818606e-04 4.26168405e-06 9.99999987e-01 -2.26611673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.65, Y:6.24, Z:-0.23 [[ 9.89674395e-01 -1.43333758e-01 -1.61357382e-04 3.06647149e+02] [ 1.43333755e-01 9.89674408e-01 -2.86093049e-05 6.23500579e+00] [ 1.63791950e-04 5.18593708e-06 9.99999987e-01 -2.28521368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.70, Y:6.25, Z:-0.23 [[ 9.90203683e-01 -1.39630372e-01 -1.61355627e-04 3.06703015e+02] [ 1.39630370e-01 9.90203696e-01 -2.86191953e-05 6.25190884e+00] [ 1.63771047e-04 5.80868674e-06 9.99999987e-01 -2.28073630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.76, Y:6.27, Z:-0.22 [[ 9.90132930e-01 -1.40131204e-01 -1.61353906e-04 3.06759075e+02] [ 1.40131201e-01 9.90132943e-01 -2.86288949e-05 6.27058988e+00] [ 1.63773620e-04 5.73569494e-06 9.99999987e-01 -2.22626224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.82, Y:6.29, Z:-0.22 [[ 9.88775243e-01 -1.49410482e-01 -1.61352143e-04 3.06815330e+02] [ 1.49410479e-01 9.88775256e-01 -2.86388317e-05 6.28799742e+00] [ 1.63819948e-04 4.20966680e-06 9.99999987e-01 -2.20944083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.87, Y:6.30, Z:-0.22 [[ 9.87526456e-01 -1.57453080e-01 -1.61347194e-04 3.06871387e+02] [ 1.57453077e-01 9.87526469e-01 -2.86666840e-05 6.30203761e+00] [ 1.63848283e-04 2.90449671e-06 9.99999987e-01 -2.21502298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.93, Y:6.32, Z:-0.22 [[ 9.85769988e-01 -1.68099686e-01 -1.61341534e-04 3.06927238e+02] [ 1.68099684e-01 9.85770001e-01 -2.86985022e-05 6.31782108e+00] [ 1.63869854e-04 1.16866117e-06 9.99999987e-01 -2.22153169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.98, Y:6.33, Z:-0.22 [[ 9.84355396e-01 -1.76194289e-01 -1.61335884e-04 3.06984108e+02] [ 1.76194287e-01 9.84355410e-01 -2.87302350e-05 6.33372224e+00] [ 1.63873953e-04 -1.45699056e-07 9.99999987e-01 -2.16619382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.04, Y:6.35, Z:-0.22 [[ 9.83259949e-01 -1.82208253e-01 -1.61330882e-04 3.07040831e+02] [ 1.82208251e-01 9.83259962e-01 -2.87582916e-05 6.34624108e+00] [ 1.63870195e-04 -1.11894156e-06 9.99999987e-01 -2.21229226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.10, Y:6.36, Z:-0.22 [[ 9.81688642e-01 -1.90492477e-01 -1.61329130e-04 3.07098718e+02] [ 1.90492475e-01 9.81688655e-01 -2.87681160e-05 6.35838453e+00] [ 1.63855087e-04 -2.49065252e-06 9.99999987e-01 -2.22582489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.16, Y:6.37, Z:-0.22 [[ 9.80978429e-01 -1.94116707e-01 -1.61324136e-04 3.07156243e+02] [ 1.94116704e-01 9.80978442e-01 -2.87960962e-05 6.36808811e+00] [ 1.63845303e-04 -3.06736045e-06 9.99999987e-01 -2.21427704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.21, Y:6.38, Z:-0.22 [[ 9.81355312e-01 -1.92202303e-01 -1.61318454e-04 3.07211468e+02] [ 1.92202301e-01 9.81355325e-01 -2.88278933e-05 6.38186979e+00] [ 1.63851511e-04 -2.71537179e-06 9.99999987e-01 -2.22714214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.27, Y:6.39, Z:-0.22 [[ 9.81748542e-01 -1.90183529e-01 -1.61315993e-04 3.07268197e+02] [ 1.90183527e-01 9.81748555e-01 -2.88416546e-05 6.39259549e+00] [ 1.63856951e-04 -2.36439229e-06 9.99999987e-01 -2.22882162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.32, Y:6.41, Z:-0.22 [[ 9.82638455e-01 -1.85530703e-01 -1.61310306e-04 3.07322772e+02] [ 1.85530701e-01 9.82638468e-01 -2.88734312e-05 6.40841584e+00] [ 1.63866620e-04 -1.55587025e-06 9.99999987e-01 -2.24562644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.38, Y:6.42, Z:-0.23 [[ 9.83202961e-01 -1.82515511e-01 -1.61307848e-04 3.07379992e+02] [ 1.82515509e-01 9.83202974e-01 -2.88871544e-05 6.42240039e+00] [ 1.63870710e-04 -1.03924816e-06 9.99999987e-01 -2.26498822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.125336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:307.44, Y:6.44, Z:-0.23 [[ 9.83446721e-01 -1.81197466e-01 -1.61303001e-04 3.07436373e+02] [ 1.81197464e-01 9.83446734e-01 -2.89141967e-05 6.43669037e+00] [ 1.63872088e-04 -7.92122643e-07 9.99999987e-01 -2.26436104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.49, Y:6.45, Z:-0.23 [[ 9.83147386e-01 -1.82814639e-01 -1.61301287e-04 3.07493326e+02] [ 1.82814636e-01 9.83147399e-01 -2.89237554e-05 6.44659685e+00] [ 1.63870626e-04 -1.05192156e-06 9.99999987e-01 -2.25828524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.55, Y:6.46, Z:-0.22 [[ 9.82619316e-01 -1.85632039e-01 -1.61299595e-04 3.07549547e+02] [ 1.85632037e-01 9.82619329e-01 -2.89331858e-05 6.45968523e+00] [ 1.63867026e-04 -1.51206504e-06 9.99999987e-01 -2.24823725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.61, Y:6.47, Z:-0.22 [[ 9.81973547e-01 -1.89018325e-01 -1.61294162e-04 3.07607428e+02] [ 1.89018323e-01 9.81973560e-01 -2.89634405e-05 6.46950349e+00] [ 1.63861224e-04 -2.04621965e-06 9.99999987e-01 -2.23787426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.66, Y:6.48, Z:-0.22 [[ 9.81165254e-01 -1.93170181e-01 -1.61289116e-04 3.07664436e+02] [ 1.93170179e-01 9.81165267e-01 -2.89915120e-05 6.47731644e+00] [ 1.63851575e-04 -2.71078328e-06 9.99999987e-01 -2.22676055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.72, Y:6.49, Z:-0.22 [[ 9.81151426e-01 -1.93240400e-01 -1.61287340e-04 3.07721528e+02] [ 1.93240398e-01 9.81151440e-01 -2.90013890e-05 6.48573798e+00] [ 1.63851546e-04 -2.71247565e-06 9.99999987e-01 -2.20906715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.78, Y:6.49, Z:-0.22 [[ 9.81648547e-01 -1.90698991e-01 -1.61284721e-04 3.07779123e+02] [ 1.90698988e-01 9.81648560e-01 -2.90159507e-05 6.49476938e+00] [ 1.63858226e-04 -2.27336718e-06 9.99999987e-01 -2.22787307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.84, Y:6.50, Z:-0.22 [[ 9.82581153e-01 -1.85833934e-01 -1.61280092e-04 3.07836504e+02] [ 1.85833932e-01 9.82581167e-01 -2.90416565e-05 6.50313924e+00] [ 1.63867706e-04 -1.43552923e-06 9.99999987e-01 -2.21364032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.90, Y:6.51, Z:-0.22 [[ 9.83437815e-01 -1.81245793e-01 -1.61274630e-04 3.07895310e+02] [ 1.81245791e-01 9.83437828e-01 -2.90719545e-05 6.51049805e+00] [ 1.63872742e-04 -6.39888475e-07 9.99999987e-01 -2.20692179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.95, Y:6.52, Z:-0.22 [[ 9.84214229e-01 -1.76981143e-01 -1.61269867e-04 3.07954188e+02] [ 1.76981140e-01 9.84214242e-01 -2.90983552e-05 6.51581156e+00] [ 1.63873960e-04 9.72903071e-08 9.99999987e-01 -2.16445121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.01, Y:6.52, Z:-0.22 [[ 9.84640704e-01 -1.74592834e-01 -1.61264864e-04 3.08012363e+02] [ 1.74592831e-01 9.84640717e-01 -2.91260542e-05 6.52330029e+00] [ 1.63873152e-04 5.23009293e-07 9.99999987e-01 -2.15503143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.07, Y:6.53, Z:-0.21 [[ 9.85105797e-01 -1.71949243e-01 -1.61259810e-04 3.08069143e+02] [ 1.71949241e-01 9.85105810e-01 -2.91540100e-05 6.53222425e+00] [ 1.63870986e-04 9.91282380e-07 9.99999987e-01 -2.14387855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.13, Y:6.53, Z:-0.22 [[ 9.84841743e-01 -1.73455224e-01 -1.61258024e-04 3.08128400e+02] [ 1.73455221e-01 9.84841756e-01 -2.91638824e-05 6.53385191e+00] [ 1.63872264e-04 7.50762453e-07 9.99999987e-01 -2.15762788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.19, Y:6.54, Z:-0.22 [[ 9.84309074e-01 -1.76452887e-01 -1.61252824e-04 3.08187469e+02] [ 1.76452885e-01 9.84309087e-01 -2.91926069e-05 6.53724042e+00] [ 1.63873740e-04 2.81021882e-07 9.99999987e-01 -2.18122956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.25, Y:6.54, Z:-0.21 [[ 9.83641851e-01 -1.80135182e-01 -1.61247658e-04 3.08245606e+02] [ 1.80135180e-01 9.83641864e-01 -2.92211134e-05 6.53917530e+00] [ 1.63873698e-04 -3.03265820e-07 9.99999987e-01 -2.14638288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.30, Y:6.54, Z:-0.22 [[ 9.82987124e-01 -1.83674406e-01 -1.61245833e-04 3.08304673e+02] [ 1.83674404e-01 9.82987138e-01 -2.92311821e-05 6.53762211e+00] [ 1.63871600e-04 -8.82856587e-07 9.99999987e-01 -2.18770686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.36, Y:6.54, Z:-0.22 [[ 9.82753759e-01 -1.84918963e-01 -1.61244052e-04 3.08363220e+02] [ 1.84918960e-01 9.82753772e-01 -2.92410042e-05 6.53854705e+00] [ 1.63870416e-04 -1.08037564e-06 9.99999987e-01 -2.19608473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.42, Y:6.54, Z:-0.22 [[ 9.82883405e-01 -1.84228623e-01 -1.61238551e-04 3.08422582e+02] [ 1.84228621e-01 9.82883419e-01 -2.92713027e-05 6.53675410e+00] [ 1.63871310e-04 -9.34478293e-07 9.99999987e-01 -2.19090028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.205336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:308.48, Y:6.54, Z:-0.22 [[ 9.83209127e-01 -1.82482290e-01 -1.61232948e-04 3.08480710e+02] [ 1.82482288e-01 9.83209140e-01 -2.93021359e-05 6.53987618e+00] [ 1.63872829e-04 -6.12029695e-07 9.99999987e-01 -2.18059235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.54, Y:6.54, Z:-0.22 [[ 9.83839232e-01 -1.79054012e-01 -1.61231212e-04 3.08539291e+02] [ 1.79054010e-01 9.83839245e-01 -2.93116818e-05 6.53966040e+00] [ 1.63873969e-04 -3.11126289e-08 9.99999987e-01 -2.15522632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.60, Y:6.54, Z:-0.21 [[ 9.84522789e-01 -1.75256531e-01 -1.61225419e-04 3.08598145e+02] [ 1.75256528e-01 9.84522802e-01 -2.93435125e-05 6.53994981e+00] [ 1.63872744e-04 6.33549545e-07 9.99999987e-01 -2.14974255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.66, Y:6.55, Z:-0.22 [[ 9.84910222e-01 -1.73065963e-01 -1.61219630e-04 3.08655995e+02] [ 1.73065961e-01 9.84910236e-01 -2.93752821e-05 6.54574657e+00] [ 1.63870726e-04 1.03038539e-06 9.99999987e-01 -2.18110863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.71, Y:6.55, Z:-0.22 [[ 9.85204351e-01 -1.71383664e-01 -1.61217845e-04 3.08714761e+02] [ 1.71383662e-01 9.85204364e-01 -2.93850781e-05 6.54956570e+00] [ 1.63868647e-04 1.32020219e-06 9.99999987e-01 -2.19114713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.77, Y:6.56, Z:-0.22 [[ 9.85039927e-01 -1.72326193e-01 -1.61213003e-04 3.08772187e+02] [ 1.72326191e-01 9.85039940e-01 -2.94116196e-05 6.55536640e+00] [ 1.63869639e-04 1.19039700e-06 9.99999987e-01 -2.18515170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.83, Y:6.56, Z:-0.22 [[ 9.84697370e-01 -1.74272957e-01 -1.61207273e-04 3.08829798e+02] [ 1.74272954e-01 9.84697383e-01 -2.94429913e-05 6.56167135e+00] [ 1.63871497e-04 8.98368392e-07 9.99999987e-01 -2.19672029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.89, Y:6.57, Z:-0.22 [[ 9.84135967e-01 -1.77415817e-01 -1.61205502e-04 3.08888801e+02] [ 1.77415815e-01 9.84135980e-01 -2.94526820e-05 6.56702727e+00] [ 1.63873507e-04 3.85038062e-07 9.99999987e-01 -2.15867489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.95, Y:6.57, Z:-0.22 [[ 9.83977356e-01 -1.78293399e-01 -1.61200421e-04 3.08947407e+02] [ 1.78293396e-01 9.83977370e-01 -2.94804698e-05 6.57145402e+00] [ 1.63873739e-04 2.67144210e-07 9.99999987e-01 -2.16263216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.01, Y:6.58, Z:-0.22 [[ 9.83791937e-01 -1.79313688e-01 -1.61194632e-04 3.09005753e+02] [ 1.79313686e-01 9.83791950e-01 -2.95120858e-05 6.57864723e+00] [ 1.63873903e-04 1.29348411e-07 9.99999987e-01 -2.20786801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.07, Y:6.58, Z:-0.22 [[ 9.82990531e-01 -1.83656176e-01 -1.61189581e-04 3.09065322e+02] [ 1.83656173e-01 9.82990544e-01 -2.95396512e-05 6.58135637e+00] [ 1.63872973e-04 -5.66264142e-07 9.99999987e-01 -2.18271023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.865336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:309.12, Y:6.59, Z:-0.22 [[ 9.82111229e-01 -1.88301642e-01 -1.61184443e-04 3.09124205e+02] [ 1.88301640e-01 9.82111242e-01 -2.95676601e-05 6.58705199e+00] [ 1.63868692e-04 -1.31256386e-06 9.99999987e-01 -2.18193789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.18, Y:6.59, Z:-0.22 [[ 9.80942561e-01 -1.94297878e-01 -1.61179331e-04 3.09183161e+02] [ 1.94297876e-01 9.80942575e-01 -2.95955010e-05 6.58627782e+00] [ 1.63858011e-04 -2.28531497e-06 9.99999987e-01 -2.16980396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.24, Y:6.59, Z:-0.22 [[ 9.81059542e-01 -1.93706349e-01 -1.61173415e-04 3.09240728e+02] [ 1.93706347e-01 9.81059555e-01 -2.96276799e-05 6.59310072e+00] [ 1.63859789e-04 -2.15379540e-06 9.99999987e-01 -2.15220997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.30, Y:6.60, Z:-0.22 [[ 9.82439184e-01 -1.86583021e-01 -1.61171582e-04 3.09298495e+02] [ 1.86583018e-01 9.82439197e-01 -2.96376489e-05 6.59850543e+00] [ 1.63871162e-04 -9.54692663e-07 9.99999987e-01 -2.19346329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.36, Y:6.61, Z:-0.22 [[ 9.84017633e-01 -1.78070974e-01 -1.61169790e-04 3.09356973e+02] [ 1.78070972e-01 9.84017646e-01 -2.96473911e-05 6.60670202e+00] [ 1.63873257e-04 4.73894493e-07 9.99999987e-01 -2.18310324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.41, Y:6.62, Z:-0.22 [[ 9.84442781e-01 -1.75705394e-01 -1.61164564e-04 3.09414268e+02] [ 1.75705392e-01 9.84442794e-01 -2.96757734e-05 6.61646825e+00] [ 1.63871487e-04 8.96618036e-07 9.99999987e-01 -2.23244507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.47, Y:6.63, Z:-0.22 [[ 9.85032773e-01 -1.72367077e-01 -1.61162732e-04 3.09471833e+02] [ 1.72367075e-01 9.85032787e-01 -2.96857172e-05 6.62581709e+00] [ 1.63867416e-04 1.46225566e-06 9.99999987e-01 -2.18861990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.53, Y:6.63, Z:-0.22 [[ 9.84972686e-01 -1.72710109e-01 -1.61160963e-04 3.09530558e+02] [ 1.72710107e-01 9.84972699e-01 -2.96953170e-05 6.63454783e+00] [ 1.63867831e-04 1.41494897e-06 9.99999987e-01 -2.19416797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.59, Y:6.64, Z:-0.22 [[ 9.85008995e-01 -1.72502911e-01 -1.61156174e-04 3.09586968e+02] [ 1.72502908e-01 9.85009008e-01 -2.97212860e-05 6.64334152e+00] [ 1.63867291e-04 1.47582529e-06 9.99999987e-01 -2.22112688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.65, Y:6.65, Z:-0.22 [[ 9.84979342e-01 -1.72672144e-01 -1.61153618e-04 3.09645268e+02] [ 1.72672141e-01 9.84979355e-01 -2.97351376e-05 6.65191035e+00] [ 1.63867417e-04 1.46175592e-06 9.99999987e-01 -2.20489738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.70, Y:6.66, Z:-0.22 [[ 9.84748338e-01 -1.73984724e-01 -1.61148811e-04 3.09703123e+02] [ 1.73984721e-01 9.84748352e-01 -2.97611658e-05 6.66366132e+00] [ 1.63869015e-04 1.26982752e-06 9.99999987e-01 -2.16253307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.76, Y:6.67, Z:-0.22 [[ 9.84218334e-01 -1.76958316e-01 -1.61143874e-04 3.09761294e+02] [ 1.76958314e-01 9.84218347e-01 -2.97878759e-05 6.67393892e+00] [ 1.63871970e-04 8.02025375e-07 9.99999987e-01 -2.17967854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.82, Y:6.69, Z:-0.22 [[ 9.83639333e-01 -1.80148928e-01 -1.61138785e-04 3.09818084e+02] [ 1.80148925e-01 9.83639346e-01 -2.98153771e-05 6.68577762e+00] [ 1.63873658e-04 2.98598589e-07 9.99999987e-01 -2.20804217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.88, Y:6.70, Z:-0.22 [[ 9.83227166e-01 -1.82385073e-01 -1.61136983e-04 3.09876014e+02] [ 1.82385071e-01 9.83227179e-01 -2.98251173e-05 6.69546025e+00] [ 1.63873917e-04 -6.41144413e-08 9.99999987e-01 -2.21051599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.93, Y:6.71, Z:-0.22 [[ 9.82780870e-01 -1.84774823e-01 -1.61131865e-04 3.09933131e+02] [ 1.84774821e-01 9.82780883e-01 -2.98527374e-05 6.70878708e+00] [ 1.63873351e-04 -4.34412353e-07 9.99999987e-01 -2.24855706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.99, Y:6.72, Z:-0.23 [[ 9.82137089e-01 -1.88166716e-01 -1.61126700e-04 3.09990651e+02] [ 1.88166714e-01 9.82137102e-01 -2.98805911e-05 6.71864678e+00] [ 1.63871043e-04 -9.71844917e-07 9.99999987e-01 -2.28785630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.825336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:310.05, Y:6.73, Z:-0.23 [[ 9.81619716e-01 -1.90847341e-01 -1.61121561e-04 3.10048246e+02] [ 1.90847339e-01 9.81619729e-01 -2.99082741e-05 6.72809885e+00] [ 1.63868018e-04 -1.39106972e-06 9.99999987e-01 -2.27678607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.10, Y:6.74, Z:-0.23 [[ 9.81406565e-01 -1.91940428e-01 -1.61119707e-04 3.10104797e+02] [ 1.91940426e-01 9.81406578e-01 -2.99182594e-05 6.73904452e+00] [ 1.63866464e-04 -1.56340898e-06 9.99999987e-01 -2.28266683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.16, Y:6.74, Z:-0.22 [[ 9.81330433e-01 -1.92329286e-01 -1.61113794e-04 3.10162910e+02] [ 1.92329284e-01 9.81330447e-01 -2.99500681e-05 6.74491147e+00] [ 1.63866147e-04 -1.59598740e-06 9.99999987e-01 -2.23570803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.22, Y:6.75, Z:-0.22 [[ 9.81366267e-01 -1.92146359e-01 -1.61111964e-04 3.10219731e+02] [ 1.92146357e-01 9.81366281e-01 -2.99599096e-05 6.75434464e+00] [ 1.63866536e-04 -1.55543225e-06 9.99999987e-01 -2.22804439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.28, Y:6.76, Z:-0.22 [[ 9.81226444e-01 -1.92859117e-01 -1.61110162e-04 3.10277883e+02] [ 1.92859115e-01 9.81226457e-01 -2.99695972e-05 6.76375670e+00] [ 1.63865464e-04 -1.66460191e-06 9.99999987e-01 -2.22157900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.34, Y:6.77, Z:-0.22 [[ 9.80486136e-01 -1.96588175e-01 -1.61105188e-04 3.10337262e+02] [ 1.96588173e-01 9.80486149e-01 -2.99963131e-05 6.76625725e+00] [ 1.63858326e-04 -2.26040540e-06 9.99999987e-01 -2.22460841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.40, Y:6.77, Z:-0.22 [[ 9.80236981e-01 -1.97826778e-01 -1.61099994e-04 3.10396578e+02] [ 1.97826776e-01 9.80236995e-01 -3.00241796e-05 6.76783216e+00] [ 1.63855761e-04 -2.43908128e-06 9.99999987e-01 -2.24138403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.45, Y:6.78, Z:-0.23 [[ 9.80870921e-01 -1.94659217e-01 -1.61094728e-04 3.10453477e+02] [ 1.94659215e-01 9.80870934e-01 -3.00524094e-05 6.77653793e+00] [ 1.63863115e-04 -1.88103878e-06 9.99999987e-01 -2.27901815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.51, Y:6.78, Z:-0.22 [[ 9.82117178e-01 -1.88270611e-01 -1.61092859e-04 3.10513173e+02] [ 1.88270609e-01 9.82117191e-01 -3.00624245e-05 6.77750546e+00] [ 1.63871937e-04 -8.04227063e-07 9.99999987e-01 -2.24891394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.57, Y:6.78, Z:-0.22 [[ 9.83013451e-01 -1.83533455e-01 -1.61087807e-04 3.10571177e+02] [ 1.83533453e-01 9.83013464e-01 -3.00894719e-05 6.78345395e+00] [ 1.63873908e-04 1.33542176e-08 9.99999987e-01 -2.23378602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.63, Y:6.79, Z:-0.22 [[ 9.84583370e-01 -1.74915869e-01 -1.61086021e-04 3.10628869e+02] [ 1.74915867e-01 9.84583383e-01 -3.00990297e-05 6.78847093e+00] [ 1.63867417e-04 1.45850321e-06 9.99999987e-01 -2.22903328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.69, Y:6.80, Z:-0.22 [[ 9.85833932e-01 -1.67724277e-01 -1.61080399e-04 3.10686898e+02] [ 1.67724274e-01 9.85833945e-01 -3.01290877e-05 6.79689413e+00] [ 1.63851904e-04 2.68518401e-06 9.99999987e-01 -2.18505757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.74, Y:6.81, Z:-0.22 [[ 9.87307757e-01 -1.58818659e-01 -1.61075223e-04 3.10744772e+02] [ 1.58818656e-01 9.87307770e-01 -3.01567325e-05 6.80597396e+00] [ 1.63820271e-04 4.19222549e-06 9.99999987e-01 -2.20629956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.80, Y:6.82, Z:-0.22 [[ 9.88036257e-01 -1.54221686e-01 -1.61070123e-04 3.10801430e+02] [ 1.54221683e-01 9.88036270e-01 -3.01839474e-05 6.81777950e+00] [ 1.63798143e-04 4.98232885e-06 9.99999987e-01 -2.24098924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.86, Y:6.83, Z:-0.23 [[ 9.87948492e-01 -1.54782915e-01 -1.61068328e-04 3.10859201e+02] [ 1.54782912e-01 9.87948505e-01 -3.01935209e-05 6.82683106e+00] [ 1.63800655e-04 4.89901857e-06 9.99999987e-01 -2.25396400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.92, Y:6.84, Z:-0.22 [[ 9.87424173e-01 -1.58093252e-01 -1.61063383e-04 3.10916083e+02] [ 1.58093249e-01 9.87424186e-01 -3.02198760e-05 6.84057117e+00] [ 1.63815439e-04 4.37680249e-06 9.99999987e-01 -2.23027281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.97, Y:6.85, Z:-0.22 [[ 9.86926253e-01 -1.61172408e-01 -1.61057482e-04 3.10973742e+02] [ 1.61172406e-01 9.86926266e-01 -3.02512964e-05 6.85123353e+00] [ 1.63827533e-04 3.89777681e-06 9.99999987e-01 -2.21096816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.03, Y:6.86, Z:-0.22 [[ 9.85880039e-01 -1.67453047e-01 -1.61052271e-04 3.11030590e+02] [ 1.67453045e-01 9.85880052e-01 -3.02790108e-05 6.86091676e+00] [ 1.63848534e-04 2.88277921e-06 9.99999987e-01 -2.20456636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.09, Y:6.87, Z:-0.22 [[ 9.84648147e-01 -1.74550856e-01 -1.61050427e-04 3.11087425e+02] [ 1.74550853e-01 9.84648160e-01 -3.02888154e-05 6.87120033e+00] [ 1.63864946e-04 1.71233650e-06 9.99999987e-01 -2.17200794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.14, Y:6.88, Z:-0.22 [[ 9.83834307e-01 -1.79081073e-01 -1.61048608e-04 3.11144723e+02] [ 1.79081070e-01 9.83834320e-01 -3.02984851e-05 6.88190697e+00] [ 1.63871033e-04 9.67931905e-07 9.99999987e-01 -2.17248062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.20, Y:6.89, Z:-0.22 [[ 9.83570309e-01 -1.80525403e-01 -1.61042731e-04 3.11203521e+02] [ 1.80525400e-01 9.83570322e-01 -3.03296913e-05 6.88980556e+00] [ 1.63872131e-04 7.59080407e-07 9.99999987e-01 -2.20930499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.26, Y:6.90, Z:-0.22 [[ 9.83705412e-01 -1.79787754e-01 -1.61037853e-04 3.11260742e+02] [ 1.79787751e-01 9.83705425e-01 -3.03555677e-05 6.90083600e+00] [ 1.63871369e-04 9.08302750e-07 9.99999987e-01 -2.24180394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.32, Y:6.91, Z:-0.22 [[ 9.84677665e-01 -1.74384262e-01 -1.61035996e-04 3.11318414e+02] [ 1.74384260e-01 9.84677678e-01 -3.03654173e-05 6.91322776e+00] [ 1.63863801e-04 1.81800521e-06 9.99999987e-01 -2.21827701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.38, Y:6.93, Z:-0.22 [[ 9.85575289e-01 -1.69237477e-01 -1.61030974e-04 3.11376020e+02] [ 1.69237474e-01 9.85575302e-01 -3.03920285e-05 6.92692024e+00] [ 1.63851621e-04 2.70115703e-06 9.99999987e-01 -2.18515729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.43, Y:6.94, Z:-0.22 [[ 9.86811939e-01 -1.61870848e-01 -1.61025960e-04 3.11431681e+02] [ 1.61870845e-01 9.86811952e-01 -3.04185710e-05 6.94383089e+00] [ 1.63826221e-04 3.95200092e-06 9.99999987e-01 -2.18084017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.49, Y:6.96, Z:-0.22 [[ 9.87853647e-01 -1.55387084e-01 -1.61020144e-04 3.11487159e+02] [ 1.55387081e-01 9.87853660e-01 -3.04493252e-05 6.96402412e+00] [ 1.63795770e-04 5.05902678e-06 9.99999987e-01 -2.18705611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.54, Y:6.98, Z:-0.22 [[ 9.87919617e-01 -1.54967105e-01 -1.61018355e-04 3.11543101e+02] [ 1.54967102e-01 9.87919630e-01 -3.04587841e-05 6.98177602e+00] [ 1.63793303e-04 5.13828245e-06 9.99999987e-01 -2.17956306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.60, Y:7.00, Z:-0.22 [[ 9.87169666e-01 -1.59674747e-01 -1.61012656e-04 3.11599981e+02] [ 1.59674744e-01 9.87169679e-01 -3.04888781e-05 6.99689665e+00] [ 1.63815116e-04 4.38804096e-06 9.99999987e-01 -2.21620820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.66, Y:7.02, Z:-0.22 [[ 9.85784032e-01 -1.68017307e-01 -1.61007684e-04 3.11656431e+02] [ 1.68017305e-01 9.85784046e-01 -3.05151108e-05 7.01596459e+00] [ 1.63845873e-04 3.02923188e-06 9.99999987e-01 -2.20859778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.71, Y:7.03, Z:-0.22 [[ 9.84437132e-01 -1.75737039e-01 -1.61002433e-04 3.11712378e+02] [ 1.75737036e-01 9.84437145e-01 -3.05427950e-05 7.03139860e+00] [ 1.63864275e-04 1.77337122e-06 9.99999987e-01 -2.20951259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.77, Y:7.04, Z:-0.22 [[ 9.83301744e-01 -1.81982565e-01 -1.61000572e-04 3.11769038e+02] [ 1.81982563e-01 9.83301757e-01 -3.05525994e-05 7.04180168e+00] [ 1.63872186e-04 7.43127657e-07 9.99999987e-01 -2.22346818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.83, Y:7.05, Z:-0.22 [[ 9.81169648e-01 -1.93147861e-01 -1.60998724e-04 3.11827089e+02] [ 1.93147858e-01 9.81169661e-01 -3.05623369e-05 7.05352178e+00] [ 1.63870113e-04 -1.10972135e-06 9.99999987e-01 -2.20564259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.88, Y:7.06, Z:-0.22 [[ 9.80035935e-01 -1.98820370e-01 -1.60993550e-04 3.11884832e+02] [ 1.98820368e-01 9.80035948e-01 -3.05895639e-05 7.06391810e+00] [ 1.63861295e-04 -2.02992507e-06 9.99999987e-01 -2.23283113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.94, Y:7.07, Z:-0.22 [[ 9.80474423e-01 -1.96646588e-01 -1.60988340e-04 3.11942203e+02] [ 1.96646585e-01 9.80474436e-01 -3.06169586e-05 7.07219891e+00] [ 1.63865673e-04 -1.63866258e-06 9.99999987e-01 -2.24685827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.00, Y:7.08, Z:-0.22 [[ 9.82203551e-01 -1.87819483e-01 -1.60985602e-04 3.12000261e+02] [ 1.87819480e-01 9.82203564e-01 -3.06313512e-05 7.08387987e+00] [ 1.63873796e-04 -1.50010054e-07 9.99999987e-01 -2.24663948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.06, Y:7.10, Z:-0.22 [[ 9.83837681e-01 -1.79062536e-01 -1.60980260e-04 3.12056389e+02] [ 1.79062534e-01 9.83837694e-01 -3.06594001e-05 7.09754750e+00] [ 1.63868397e-04 1.33833990e-06 9.99999987e-01 -2.24824136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.11, Y:7.11, Z:-0.22 [[ 9.84233852e-01 -1.76871984e-01 -1.60978380e-04 3.12114694e+02] [ 1.76871982e-01 9.84233865e-01 -3.06692639e-05 7.10863198e+00] [ 1.63864907e-04 1.71316259e-06 9.99999987e-01 -2.24411530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.17, Y:7.12, Z:-0.22 [[ 9.84291709e-01 -1.76549724e-01 -1.60975531e-04 3.12171665e+02] [ 1.76549721e-01 9.84291723e-01 -3.06842155e-05 7.12144882e+00] [ 1.63864172e-04 1.78203385e-06 9.99999987e-01 -2.22981509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.23, Y:7.13, Z:-0.23 [[ 9.84457990e-01 -1.75620158e-01 -1.60973669e-04 3.12228706e+02] [ 1.75620155e-01 9.84458003e-01 -3.06939756e-05 7.13264220e+00] [ 1.63862298e-04 1.94670873e-06 9.99999987e-01 -2.27385276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.29, Y:7.14, Z:-0.23 [[ 9.84556549e-01 -1.75066776e-01 -1.60971833e-04 3.12285893e+02] [ 1.75066773e-01 9.84556562e-01 -3.07036046e-05 7.14276311e+00] [ 1.63861055e-04 2.04861561e-06 9.99999987e-01 -2.25370129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.34, Y:7.16, Z:-0.23 [[ 9.84558724e-01 -1.75054545e-01 -1.60965743e-04 3.12342224e+02] [ 1.75054542e-01 9.84558737e-01 -3.07354988e-05 7.15563128e+00] [ 1.63860617e-04 2.08311903e-06 9.99999987e-01 -2.29775399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.40, Y:7.16, Z:-0.23 [[ 9.84176315e-01 -1.77191862e-01 -1.60963865e-04 3.12399373e+02] [ 1.77191859e-01 9.84176328e-01 -3.07453313e-05 7.16485843e+00] [ 1.63864648e-04 1.73734037e-06 9.99999987e-01 -2.27623470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.46, Y:7.18, Z:-0.22 [[ 9.83674072e-01 -1.79959147e-01 -1.60957893e-04 3.12456521e+02] [ 1.79959144e-01 9.83674085e-01 -3.07765630e-05 7.17618580e+00] [ 1.63868632e-04 1.30826230e-06 9.99999987e-01 -2.23389516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.51, Y:7.19, Z:-0.23 [[ 9.83465528e-01 -1.81095358e-01 -1.60956025e-04 3.12513330e+02] [ 1.81095355e-01 9.83465542e-01 -3.07863311e-05 7.18784184e+00] [ 1.63869966e-04 1.12890701e-06 9.99999987e-01 -2.26501249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.57, Y:7.19, Z:-0.22 [[ 9.83274131e-01 -1.82131705e-01 -1.60954171e-04 3.12572274e+02] [ 1.82131703e-01 9.83274144e-01 -3.07960211e-05 7.19310627e+00] [ 1.63871006e-04 9.66073723e-07 9.99999987e-01 -2.23401813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.63, Y:7.20, Z:-0.23 [[ 9.83566066e-01 -1.80548518e-01 -1.60948821e-04 3.12629286e+02] [ 1.80548516e-01 9.83566079e-01 -3.08239538e-05 7.20481361e+00] [ 1.63869020e-04 1.25832421e-06 9.99999987e-01 -2.27504668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.69, Y:7.22, Z:-0.23 [[ 9.84589464e-01 -1.74881561e-01 -1.60946932e-04 3.12685733e+02] [ 1.74881559e-01 9.84589478e-01 -3.08338128e-05 7.22009249e+00] [ 1.63858921e-04 2.21199687e-06 9.99999987e-01 -2.25558020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.74, Y:7.23, Z:-0.23 [[ 9.85278081e-01 -1.70959286e-01 -1.60945092e-04 3.12742482e+02] [ 1.70959283e-01 9.85278094e-01 -3.08434145e-05 7.23161441e+00] [ 1.63848642e-04 2.87428273e-06 9.99999987e-01 -2.26253211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.80, Y:7.24, Z:-0.22 [[ 9.85354322e-01 -1.70519307e-01 -1.60942378e-04 3.12799646e+02] [ 1.70519304e-01 9.85354335e-01 -3.08575721e-05 7.24330360e+00] [ 1.63847081e-04 2.96185969e-06 9.99999987e-01 -2.22691784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.86, Y:7.26, Z:-0.22 [[ 9.85232619e-01 -1.71221084e-01 -1.60940592e-04 3.12856119e+02] [ 1.71221081e-01 9.85232633e-01 -3.08668843e-05 7.26196379e+00] [ 1.63848984e-04 2.85463909e-06 9.99999987e-01 -2.18861421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.91, Y:7.27, Z:-0.22 [[ 9.85114303e-01 -1.71900508e-01 -1.60935339e-04 3.12912639e+02] [ 1.71900505e-01 9.85114316e-01 -3.08942488e-05 7.27228413e+00] [ 1.63850443e-04 2.76950035e-06 9.99999987e-01 -2.22750080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.97, Y:7.29, Z:-0.22 [[ 9.84978908e-01 -1.72674624e-01 -1.60933478e-04 3.12968324e+02] [ 1.72674621e-01 9.84978921e-01 -3.09039381e-05 7.28772855e+00] [ 1.63852409e-04 2.65059985e-06 9.99999987e-01 -2.19510957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.03, Y:7.31, Z:-0.22 [[ 9.84519182e-01 -1.75276792e-01 -1.60927425e-04 3.13025274e+02] [ 1.75276790e-01 9.84519195e-01 -3.09354265e-05 7.30555538e+00] [ 1.63858401e-04 2.24967836e-06 9.99999987e-01 -2.21515594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.08, Y:7.32, Z:-0.22 [[ 9.84185619e-01 -1.77140175e-01 -1.60922449e-04 3.13082449e+02] [ 1.77140173e-01 9.84185632e-01 -3.09612881e-05 7.31681750e+00] [ 1.63862050e-04 1.96582407e-06 9.99999987e-01 -2.24087258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.14, Y:7.33, Z:-0.22 [[ 9.83323414e-01 -1.81865438e-01 -1.60919606e-04 3.13138602e+02] [ 1.81865436e-01 9.83323427e-01 -3.09760614e-05 7.32727306e+00] [ 1.63869493e-04 1.19377232e-06 9.99999987e-01 -2.24374889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.20, Y:7.34, Z:-0.22 [[ 9.82098109e-01 -1.88370059e-01 -1.60917036e-04 3.13195511e+02] [ 1.88370057e-01 9.82098122e-01 -3.09894045e-05 7.34050898e+00] [ 1.63873795e-04 1.22684414e-07 9.99999987e-01 -2.22353755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.25, Y:7.35, Z:-0.22 [[ 9.81208850e-01 -1.92948614e-01 -1.60910857e-04 3.13251700e+02] [ 1.92948611e-01 9.81208863e-01 -3.10214531e-05 7.35209333e+00] [ 1.63872706e-04 -6.09002168e-07 9.99999987e-01 -2.20831971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.31, Y:7.36, Z:-0.22 [[ 9.81161484e-01 -1.93189329e-01 -1.60908561e-04 3.13309626e+02] [ 1.93189327e-01 9.81161497e-01 -3.10333595e-05 7.36321366e+00] [ 1.63872599e-04 -6.37079526e-07 9.99999987e-01 -2.18779122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.37, Y:7.38, Z:-0.22 [[ 9.81943671e-01 -1.89173467e-01 -1.60903124e-04 3.13366244e+02] [ 1.89173465e-01 9.81943684e-01 -3.10615244e-05 7.37545667e+00] [ 1.63873823e-04 6.20657833e-08 9.99999987e-01 -2.22317241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.365336195 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:313.42, Y:7.39, Z:-0.22 [[ 9.84172370e-01 -1.77213772e-01 -1.60901207e-04 3.13422748e+02] [ 1.77213769e-01 9.84172383e-01 -3.10714520e-05 7.39114993e+00] [ 1.63860813e-04 2.06575523e-06 9.99999987e-01 -2.23695667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.48, Y:7.41, Z:-0.22 [[ 9.85149800e-01 -1.71696961e-01 -1.60895851e-04 3.13478908e+02] [ 1.71696958e-01 9.85149813e-01 -3.10991613e-05 7.40633494e+00] [ 1.63846149e-04 3.01200433e-06 9.99999987e-01 -2.21615615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.53, Y:7.42, Z:-0.22 [[ 9.86060181e-01 -1.66388984e-01 -1.60893973e-04 3.13534170e+02] [ 1.66388981e-01 9.86060194e-01 -3.11088751e-05 7.42104442e+00] [ 1.63827316e-04 3.90423880e-06 9.99999987e-01 -2.23208498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.59, Y:7.44, Z:-0.22 [[ 9.86250003e-01 -1.65260113e-01 -1.60891392e-04 3.13591295e+02] [ 1.65260110e-01 9.86250017e-01 -3.11222160e-05 7.43572041e+00] [ 1.63822399e-04 4.10535654e-06 9.99999987e-01 -2.20292387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.65, Y:7.46, Z:-0.22 [[ 9.86123632e-01 -1.66012522e-01 -1.60886056e-04 3.13647444e+02] [ 1.66012519e-01 9.86123645e-01 -3.11497768e-05 7.45514482e+00] [ 1.63824797e-04 4.00843152e-06 9.99999987e-01 -2.22328382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.70, Y:7.47, Z:-0.22 [[ 9.85635544e-01 -1.68886197e-01 -1.60880717e-04 3.13703216e+02] [ 1.68886195e-01 9.85635558e-01 -3.11773280e-05 7.46977798e+00] [ 1.63835175e-04 3.55895063e-06 9.99999987e-01 -2.24746349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.76, Y:7.49, Z:-0.22 [[ 9.84293355e-01 -1.76540549e-01 -1.60878833e-04 3.13758862e+02] [ 1.76540546e-01 9.84293368e-01 -3.11870437e-05 7.48589229e+00] [ 1.63857747e-04 2.29556279e-06 9.99999987e-01 -2.24265881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.82, Y:7.50, Z:-0.22 [[ 9.82614176e-01 -1.85659245e-01 -1.60876970e-04 3.13815732e+02] [ 1.85659242e-01 9.82614189e-01 -3.11966555e-05 7.50187754e+00] [ 1.63871940e-04 7.85979650e-07 9.99999987e-01 -2.22259597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.84533619499996 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:313.87, Y:7.51, Z:-0.22 [[ 9.81212764e-01 -1.92928709e-01 -1.60871780e-04 3.13872658e+02] [ 1.92928706e-01 9.81212777e-01 -3.12233931e-05 7.51372166e+00] [ 1.63873335e-04 -3.99992572e-07 9.99999987e-01 -2.20802089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.93, Y:7.52, Z:-0.22 [[ 9.80589320e-01 -1.96072845e-01 -1.60865329e-04 3.13928351e+02] [ 1.96072843e-01 9.80589333e-01 -3.12565924e-05 7.52416873e+00] [ 1.63871395e-04 -8.91441753e-07 9.99999987e-01 -2.21664399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.99, Y:7.54, Z:-0.22 [[ 9.80259767e-01 -1.97713843e-01 -1.60862533e-04 3.13985666e+02] [ 1.97713841e-01 9.80259780e-01 -3.12709764e-05 7.53650796e+00] [ 1.63869776e-04 -1.15106926e-06 9.99999987e-01 -2.24527836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.04, Y:7.55, Z:-0.23 [[ 9.80389488e-01 -1.97069596e-01 -1.60857186e-04 3.14042260e+02] [ 1.97069593e-01 9.80389501e-01 -3.12984594e-05 7.54921185e+00] [ 1.63870671e-04 -1.01537966e-06 9.99999987e-01 -2.25237812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.10, Y:7.56, Z:-0.23 [[ 9.80703807e-01 -1.95499406e-01 -1.60850870e-04 3.14098775e+02] [ 1.95499404e-01 9.80703820e-01 -3.13308830e-05 7.56021951e+00] [ 1.63872232e-04 -7.19933055e-07 9.99999987e-01 -2.26427202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.16, Y:7.57, Z:-0.23 [[ 9.80408107e-01 -1.96976948e-01 -1.60848918e-04 3.14155841e+02] [ 1.96976946e-01 9.80408120e-01 -3.13409019e-05 7.57281910e+00] [ 1.63871021e-04 -9.56654342e-07 9.99999987e-01 -2.28694608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.21, Y:7.59, Z:-0.23 [[ 9.80047365e-01 -1.98764022e-01 -1.60843025e-04 3.14213663e+02] [ 1.98764020e-01 9.80047378e-01 -3.13711180e-05 7.58506632e+00] [ 1.63869234e-04 -1.22462465e-06 9.99999987e-01 -2.29065928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.27, Y:7.59, Z:-0.23 [[ 9.80305045e-01 -1.97489224e-01 -1.60837607e-04 3.14270927e+02] [ 1.97489222e-01 9.80305058e-01 -3.13988693e-05 7.59396297e+00] [ 1.63870858e-04 -9.83223840e-07 9.99999987e-01 -2.30062070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.33, Y:7.60, Z:-0.23 [[ 9.80806406e-01 -1.94984018e-01 -1.60835701e-04 3.14328166e+02] [ 1.94984016e-01 9.80806420e-01 -3.14086302e-05 7.60319917e+00] [ 1.63872869e-04 -5.54605092e-07 9.99999987e-01 -2.27122035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.39, Y:7.61, Z:-0.23 [[ 9.81643110e-01 -1.90726976e-01 -1.60829303e-04 3.14385257e+02] [ 1.90726973e-01 9.81643123e-01 -3.14413587e-05 7.61153354e+00] [ 1.63873694e-04 1.89707031e-07 9.99999987e-01 -2.28150587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.44, Y:7.62, Z:-0.23 [[ 9.82104040e-01 -1.88339130e-01 -1.60827329e-04 3.14442862e+02] [ 1.88339127e-01 9.82104054e-01 -3.14514502e-05 7.62153073e+00] [ 1.63872711e-04 5.98517440e-07 9.99999987e-01 -2.26816422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.50, Y:7.63, Z:-0.24 [[ 9.83050308e-01 -1.83335940e-01 -1.60821781e-04 3.14499982e+02] [ 1.83335937e-01 9.83050321e-01 -3.14797948e-05 7.63135720e+00] [ 1.63867281e-04 1.46181011e-06 9.99999987e-01 -2.35177284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.56, Y:7.64, Z:-0.23 [[ 9.84206720e-01 -1.77022900e-01 -1.60818903e-04 3.14557145e+02] [ 1.77022897e-01 9.84206733e-01 -3.14944912e-05 7.64370058e+00] [ 1.63854293e-04 2.52846186e-06 9.99999987e-01 -2.33821521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.61, Y:7.66, Z:-0.23 [[ 9.85383169e-01 -1.70352532e-01 -1.60813038e-04 3.14614483e+02] [ 1.70352529e-01 9.85383182e-01 -3.15244073e-05 7.65954606e+00] [ 1.63832726e-04 3.66871261e-06 9.99999987e-01 -2.33348857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.685336195 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:314.67, Y:7.68, Z:-0.23 [[ 9.85892667e-01 -1.67378680e-01 -1.60808061e-04 3.14671006e+02] [ 1.67378677e-01 9.85892680e-01 -3.15497751e-05 7.67851286e+00] [ 1.63820250e-04 4.18885136e-06 9.99999987e-01 -2.32909236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.73, Y:7.69, Z:-0.24 [[ 9.85379168e-01 -1.70375669e-01 -1.60802391e-04 3.14728009e+02] [ 1.70375666e-01 9.85379182e-01 -3.15786486e-05 7.69026514e+00] [ 1.63831562e-04 3.72012804e-06 9.99999987e-01 -2.37704801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.79, Y:7.70, Z:-0.23 [[ 9.83142280e-01 -1.82842097e-01 -1.60800396e-04 3.14786442e+02] [ 1.82842094e-01 9.83142293e-01 -3.15888027e-05 7.70344018e+00] [ 1.63865433e-04 1.65520637e-06 9.99999987e-01 -2.27910570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.84, Y:7.71, Z:-0.23 [[ 9.82185550e-01 -1.87913598e-01 -1.60799586e-04 3.14843190e+02] [ 1.87913595e-01 9.82185563e-01 -3.15929277e-05 7.71361593e+00] [ 1.63871772e-04 8.13688819e-07 9.99999987e-01 -2.31743521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.90, Y:7.72, Z:-0.23 [[ 9.80322389e-01 -1.97403109e-01 -1.60797563e-04 3.14900453e+02] [ 1.97403106e-01 9.80322402e-01 -3.16032208e-05 7.72228103e+00] [ 1.63872027e-04 -7.60593457e-07 9.99999987e-01 -2.30200788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.96, Y:7.73, Z:-0.23 [[ 9.78715980e-01 -2.05219408e-01 -1.60791401e-04 3.14958877e+02] [ 2.05219405e-01 9.78715993e-01 -3.16345416e-05 7.72852788e+00] [ 1.63861137e-04 -2.03628426e-06 9.99999987e-01 -2.28365414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.02, Y:7.74, Z:-0.23 [[ 9.79032093e-01 -2.03706001e-01 -1.60785893e-04 3.15017102e+02] [ 2.03705998e-01 9.79032106e-01 -3.16625078e-05 7.73687693e+00] [ 1.63864395e-04 -1.75443965e-06 9.99999987e-01 -2.31906696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.07, Y:7.75, Z:-0.23 [[ 9.80775185e-01 -1.95141000e-01 -1.60780384e-04 3.15074380e+02] [ 1.95140997e-01 9.80775199e-01 -3.16904598e-05 7.74665082e+00] [ 1.63873521e-04 -2.93627868e-07 9.99999987e-01 -2.33576525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.16533619499995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:315.13, Y:7.76, Z:-0.23 [[ 9.82279023e-01 -1.87424373e-01 -1.60778441e-04 3.15131935e+02] [ 1.87424370e-01 9.82279036e-01 -3.17003149e-05 7.75887877e+00] [ 1.63870704e-04 1.00475634e-06 9.99999987e-01 -2.32154618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.22533619499995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:315.19, Y:7.77, Z:-0.23 [[ 9.84051605e-01 -1.77883143e-01 -1.60772934e-04 3.15189818e+02] [ 1.77883140e-01 9.84051618e-01 -3.17282215e-05 7.77099819e+00] [ 1.63852781e-04 2.62341299e-06 9.99999987e-01 -2.32512571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.25, Y:7.78, Z:-0.23 [[ 9.85433036e-01 -1.70063827e-01 -1.60767497e-04 3.15246658e+02] [ 1.70063824e-01 9.85433049e-01 -3.17557447e-05 7.78489928e+00] [ 1.63826108e-04 3.95242460e-06 9.99999987e-01 -2.29083427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.30, Y:7.80, Z:-0.23 [[ 9.86356705e-01 -1.64622068e-01 -1.60761980e-04 3.15302357e+02] [ 1.64622065e-01 9.86356718e-01 -3.17836494e-05 7.80024226e+00] [ 1.63800949e-04 4.88504660e-06 9.99999987e-01 -2.29404024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.36, Y:7.82, Z:-0.24 [[ 9.86563964e-01 -1.63375392e-01 -1.60759063e-04 3.15358083e+02] [ 1.63375389e-01 9.86563977e-01 -3.17983986e-05 7.81764092e+00] [ 1.63794176e-04 5.10707981e-06 9.99999987e-01 -2.36367730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.42, Y:7.83, Z:-0.23 [[ 9.85876037e-01 -1.67476606e-01 -1.60757204e-04 3.15415555e+02] [ 1.67476603e-01 9.85876050e-01 -3.18077915e-05 7.82994396e+00] [ 1.63813738e-04 4.43546897e-06 9.99999987e-01 -2.30639447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.47, Y:7.84, Z:-0.23 [[ 9.85054591e-01 -1.72242348e-01 -1.60751773e-04 3.15472816e+02] [ 1.72242345e-01 9.85054604e-01 -3.18352182e-05 7.84348670e+00] [ 1.63832646e-04 3.67116548e-06 9.99999987e-01 -2.30419118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.53, Y:7.86, Z:-0.23 [[ 9.83553105e-01 -1.80619111e-01 -1.60746376e-04 3.15529140e+02] [ 1.80619108e-01 9.83553118e-01 -3.18624453e-05 7.85925464e+00] [ 1.63857566e-04 2.30454006e-06 9.99999987e-01 -2.28927933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.59, Y:7.87, Z:-0.23 [[ 9.82085664e-01 -1.88434930e-01 -1.60739944e-04 3.15586223e+02] [ 1.88434927e-01 9.82085677e-01 -3.18948606e-05 7.87098481e+00] [ 1.63870502e-04 1.03446579e-06 9.99999987e-01 -2.33273320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.64, Y:7.88, Z:-0.23 [[ 9.80877311e-01 -1.94627017e-01 -1.60734342e-04 3.15643262e+02] [ 1.94627015e-01 9.80877324e-01 -3.19230632e-05 7.88270331e+00] [ 1.63873762e-04 2.93631542e-08 9.99999987e-01 -2.32592201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.70, Y:7.90, Z:-0.23 [[ 9.80380255e-01 -1.97115526e-01 -1.60728043e-04 3.15700037e+02] [ 1.97115524e-01 9.80380268e-01 -3.19547494e-05 7.89600096e+00] [ 1.63873379e-04 -3.54187004e-07 9.99999987e-01 -2.31866962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.76, Y:7.91, Z:-0.23 [[ 9.79869467e-01 -1.99639181e-01 -1.60726093e-04 3.15756985e+02] [ 1.99639179e-01 9.79869480e-01 -3.19645518e-05 7.90902122e+00] [ 1.63871970e-04 -7.66136941e-07 9.99999987e-01 -2.26410325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.885336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:315.81, Y:7.92, Z:-0.23 [[ 9.79393896e-01 -2.01959329e-01 -1.60724116e-04 3.15814657e+02] [ 2.01959326e-01 9.79393909e-01 -3.19744902e-05 7.91840274e+00] [ 1.63869767e-04 -1.14411363e-06 9.99999987e-01 -2.27930256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.87, Y:7.93, Z:-0.23 [[ 9.78989458e-01 -2.03910802e-01 -1.60717835e-04 3.15873203e+02] [ 2.03910799e-01 9.78989471e-01 -3.20060314e-05 7.92698223e+00] [ 1.63867444e-04 -1.43853487e-06 9.99999987e-01 -2.26603853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.93, Y:7.94, Z:-0.23 [[ 9.79715942e-01 -2.00391235e-01 -1.60712276e-04 3.15930386e+02] [ 2.00391233e-01 9.79715955e-01 -3.20339187e-05 7.93845378e+00] [ 1.63871698e-04 -8.21190334e-07 9.99999987e-01 -2.25359955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.99, Y:7.95, Z:-0.23 [[ 9.81328686e-01 -1.92338203e-01 -1.60710302e-04 3.15987449e+02] [ 1.92338200e-01 9.81328699e-01 -3.20438188e-05 7.95322774e+00] [ 1.63872882e-04 5.34788366e-07 9.99999987e-01 -2.29225974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.04, Y:7.97, Z:-0.23 [[ 9.82153213e-01 -1.88082534e-01 -1.60704766e-04 3.16044530e+02] [ 1.88082531e-01 9.82153227e-01 -3.20715603e-05 7.96625909e+00] [ 1.63868805e-04 1.27342677e-06 9.99999987e-01 -2.30498776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.10, Y:7.98, Z:-0.23 [[ 9.82486230e-01 -1.86335134e-01 -1.60699187e-04 3.16101545e+02] [ 1.86335132e-01 9.82486243e-01 -3.20994893e-05 7.97982157e+00] [ 1.63866003e-04 1.59340196e-06 9.99999987e-01 -2.28857861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.245336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:316.16, Y:7.99, Z:-0.23 [[ 9.81701564e-01 -1.90425874e-01 -1.60693660e-04 3.16159214e+02] [ 1.90425871e-01 9.81701577e-01 -3.21271377e-05 7.99059806e+00] [ 1.63871057e-04 9.39031170e-07 9.99999987e-01 -2.27663464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.22, Y:8.00, Z:-0.23 [[ 9.81085238e-01 -1.93576159e-01 -1.60688161e-04 3.16215997e+02] [ 1.93576156e-01 9.81085251e-01 -3.21546174e-05 8.00078736e+00] [ 1.63873152e-04 4.41023932e-07 9.99999987e-01 -2.28148498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.27, Y:8.01, Z:-0.22 [[ 9.80120600e-01 -1.98402578e-01 -1.60686213e-04 3.16274649e+02] [ 1.98402576e-01 9.80120613e-01 -3.21643483e-05 8.00936433e+00] [ 1.63873359e-04 -3.55618106e-07 9.99999987e-01 -2.23072533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.33, Y:8.02, Z:-0.22 [[ 9.79702643e-01 -2.00456245e-01 -1.60680695e-04 3.16331078e+02] [ 2.00456242e-01 9.79702656e-01 -3.21918911e-05 8.01605767e+00] [ 1.63872369e-04 -6.70967564e-07 9.99999987e-01 -2.23450740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.39, Y:8.02, Z:-0.23 [[ 9.79936204e-01 -1.99311339e-01 -1.60677960e-04 3.16389507e+02] [ 1.99311337e-01 9.79936217e-01 -3.22055345e-05 8.02481191e+00] [ 1.63873081e-04 -4.65569795e-07 9.99999987e-01 -2.25548692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.45, Y:8.04, Z:-0.23 [[ 9.81039688e-01 -1.93806875e-01 -1.60672399e-04 3.16446142e+02] [ 1.93806872e-01 9.81039701e-01 -3.22332573e-05 8.03618551e+00] [ 1.63873029e-04 4.82689743e-07 9.99999987e-01 -2.28368990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.50, Y:8.04, Z:-0.23 [[ 9.81954866e-01 -1.89115350e-01 -1.60669476e-04 3.16504560e+02] [ 1.89115347e-01 9.81954879e-01 -3.22478163e-05 8.04319623e+00] [ 1.63868733e-04 1.28083630e-06 9.99999987e-01 -2.30292067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.56, Y:8.05, Z:-0.23 [[ 9.81891004e-01 -1.89446642e-01 -1.60663922e-04 3.16561127e+02] [ 1.89446640e-01 9.81891017e-01 -3.22754682e-05 8.05284489e+00] [ 1.63868940e-04 1.25375188e-06 9.99999987e-01 -2.29489013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.72533619499995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:316.62, Y:8.06, Z:-0.23 [[ 9.81058040e-01 -1.93713956e-01 -1.60660482e-04 3.16618738e+02] [ 1.93713954e-01 9.81058053e-01 -3.22925815e-05 8.06152025e+00] [ 1.63872783e-04 5.58719646e-07 9.99999987e-01 -2.28674275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.68, Y:8.07, Z:-0.23 [[ 9.80333866e-01 -1.97346106e-01 -1.60654035e-04 3.16676443e+02] [ 1.97346103e-01 9.80333879e-01 -3.23246206e-05 8.07005967e+00] [ 1.63873732e-04 -1.55275521e-08 9.99999987e-01 -2.30306391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.73, Y:8.08, Z:-0.23 [[ 9.79910665e-01 -1.99436864e-01 -1.60652038e-04 3.16734532e+02] [ 1.99436861e-01 9.79910678e-01 -3.23345452e-05 8.07857726e+00] [ 1.63873348e-04 -3.54972463e-07 9.99999987e-01 -2.26948131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.79, Y:8.08, Z:-0.23 [[ 9.79904535e-01 -1.99466981e-01 -1.60646592e-04 3.16793405e+02] [ 1.99466978e-01 9.79904548e-01 -3.23615805e-05 8.08275584e+00] [ 1.63873393e-04 -3.32430725e-07 9.99999987e-01 -2.26107838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.96533619499996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:316.85, Y:8.09, Z:-0.23 [[ 9.80831897e-01 -1.94855752e-01 -1.60640905e-04 3.16851702e+02] [ 1.94855749e-01 9.80831910e-01 -3.23897847e-05 8.09129634e+00] [ 1.63873061e-04 4.67130162e-07 9.99999987e-01 -2.27975687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.91, Y:8.10, Z:-0.23 [[ 9.81737978e-01 -1.90238054e-01 -1.60635249e-04 3.16908519e+02] [ 1.90238052e-01 9.81737991e-01 -3.24178089e-05 8.10052586e+00] [ 1.63868828e-04 1.26685733e-06 9.99999987e-01 -2.30346707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.97, Y:8.11, Z:-0.23 [[ 9.83007396e-01 -1.83565883e-01 -1.60633260e-04 3.16966393e+02] [ 1.83565880e-01 9.83007409e-01 -3.24276608e-05 8.11257712e+00] [ 1.63856297e-04 2.38984454e-06 9.99999987e-01 -2.32519197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.02, Y:8.12, Z:-0.24 [[ 9.83561479e-01 -1.80573507e-01 -1.60627887e-04 3.17024157e+02] [ 1.80573504e-01 9.83561492e-01 -3.24542574e-05 8.12349663e+00] [ 1.63847783e-04 2.91561703e-06 9.99999987e-01 -2.35870452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.08, Y:8.13, Z:-0.23 [[ 9.83510682e-01 -1.80849970e-01 -1.60622563e-04 3.17081505e+02] [ 1.80849967e-01 9.83510696e-01 -3.24805835e-05 8.13401363e+00] [ 1.63848121e-04 2.89641555e-06 9.99999987e-01 -2.29947681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.14, Y:8.15, Z:-0.23 [[ 9.83483000e-01 -1.81000451e-01 -1.60620633e-04 3.17137576e+02] [ 1.81000448e-01 9.83483013e-01 -3.24901277e-05 8.14703371e+00] [ 1.63848391e-04 2.88108178e-06 9.99999987e-01 -2.28873350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.325336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:317.19, Y:8.16, Z:-0.23 [[ 9.83682692e-01 -1.79912023e-01 -1.60614314e-04 3.17193363e+02] [ 1.79912020e-01 9.83682705e-01 -3.25213323e-05 8.16268107e+00] [ 1.63844502e-04 3.09422601e-06 9.99999987e-01 -2.27385691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.25, Y:8.18, Z:-0.23 [[ 9.83773740e-01 -1.79413496e-01 -1.60607802e-04 3.17249002e+02] [ 1.79413493e-01 9.83773753e-01 -3.25534595e-05 8.17866646e+00] [ 1.63842270e-04 3.21003172e-06 9.99999987e-01 -2.27608640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.31, Y:8.19, Z:-0.23 [[ 9.83351708e-01 -1.81712389e-01 -1.60605793e-04 3.17306307e+02] [ 1.81712386e-01 9.83351721e-01 -3.25633719e-05 8.19432237e+00] [ 1.63849151e-04 2.83718554e-06 9.99999987e-01 -2.27366216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.36, Y:8.21, Z:-0.23 [[ 9.82721109e-01 -1.85092399e-01 -1.60600343e-04 3.17363543e+02] [ 1.85092397e-01 9.82721122e-01 -3.25902267e-05 8.21063323e+00] [ 1.63857553e-04 2.30120137e-06 9.99999987e-01 -2.27532030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.42, Y:8.23, Z:-0.23 [[ 9.81190791e-01 -1.93040427e-01 -1.60595188e-04 3.17420105e+02] [ 1.93040424e-01 9.81190804e-01 -3.26156080e-05 8.22597148e+00] [ 1.63870653e-04 1.00077097e-06 9.99999987e-01 -2.26055828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.48, Y:8.24, Z:-0.23 [[ 9.79240761e-01 -2.02700532e-01 -1.60589621e-04 3.17476250e+02] [ 2.02700530e-01 9.79240774e-01 -3.26429984e-05 8.23909655e+00] [ 1.63872658e-04 -5.86246594e-07 9.99999987e-01 -2.25229457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.53, Y:8.25, Z:-0.23 [[ 9.77956164e-01 -2.08810238e-01 -1.60587641e-04 3.17532798e+02] [ 2.08810235e-01 9.77956177e-01 -3.26527352e-05 8.24986042e+00] [ 1.63865901e-04 -1.59939941e-06 9.99999987e-01 -2.25699085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.745336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:317.59, Y:8.26, Z:-0.23 [[ 9.76681998e-01 -2.14691056e-01 -1.60581390e-04 3.17589881e+02] [ 2.14691054e-01 9.76682011e-01 -3.26834489e-05 8.26333285e+00] [ 1.63853799e-04 -2.55405158e-06 9.99999987e-01 -2.27945749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.65, Y:8.27, Z:-0.23 [[ 9.76893317e-01 -2.13727446e-01 -1.60575697e-04 3.17646616e+02] [ 2.13727444e-01 9.76893330e-01 -3.27113919e-05 8.27436362e+00] [ 1.63856650e-04 -2.36389316e-06 9.99999987e-01 -2.30504000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.865336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:317.70, Y:8.29, Z:-0.24 [[ 9.77803090e-01 -2.09525872e-01 -1.60573689e-04 3.17702344e+02] [ 2.09525869e-01 9.77803103e-01 -3.27212465e-05 8.29023088e+00] [ 1.63865399e-04 -1.64940581e-06 9.99999987e-01 -2.35647330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.76, Y:8.30, Z:-0.23 [[ 9.78723101e-01 -2.05185442e-01 -1.60571706e-04 3.17758532e+02] [ 2.05185439e-01 9.78723114e-01 -3.27309733e-05 8.30259791e+00] [ 1.63871160e-04 -9.12416369e-07 9.99999987e-01 -2.32847583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.82, Y:8.31, Z:-0.23 [[ 9.78895308e-01 -2.04362300e-01 -1.60565336e-04 3.17816775e+02] [ 2.04362297e-01 9.78895321e-01 -3.27621920e-05 8.31411190e+00] [ 1.63872014e-04 -7.42744943e-07 9.99999987e-01 -2.34209574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.87, Y:8.32, Z:-0.24 [[ 9.78555457e-01 -2.05983475e-01 -1.60560125e-04 3.17874743e+02] [ 2.05983473e-01 9.78555470e-01 -3.27877099e-05 8.32165885e+00] [ 1.63870715e-04 -9.88139766e-07 9.99999987e-01 -2.36804974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.93, Y:8.33, Z:-0.23 [[ 9.78046188e-01 -2.08388167e-01 -1.60554583e-04 3.17933188e+02] [ 2.08388165e-01 9.78046201e-01 -3.28148294e-05 8.33077974e+00] [ 1.63868022e-04 -1.36325604e-06 9.99999987e-01 -2.30290617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.99, Y:8.34, Z:-0.23 [[ 9.78215733e-01 -2.07590835e-01 -1.60548877e-04 3.17990350e+02] [ 2.07590833e-01 9.78215746e-01 -3.28427191e-05 8.33825077e+00] [ 1.63869287e-04 -1.20121060e-06 9.99999987e-01 -2.30302935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.05, Y:8.34, Z:-0.23 [[ 9.79396273e-01 -2.01947804e-01 -1.60546868e-04 3.18047980e+02] [ 2.01947801e-01 9.79396286e-01 -3.28525381e-05 8.34353042e+00] [ 1.63873504e-04 -2.46433708e-07 9.99999987e-01 -2.26413735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.10, Y:8.35, Z:-0.23 [[ 9.80685892e-01 -1.95589252e-01 -1.60540339e-04 3.18104070e+02] [ 1.95589250e-01 9.80685905e-01 -3.28844138e-05 8.35456256e+00] [ 1.63871485e-04 8.49316270e-07 9.99999987e-01 -2.27636397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.16, Y:8.37, Z:-0.23 [[ 9.82858704e-01 -1.84360359e-01 -1.60537524e-04 3.18161147e+02] [ 1.84360356e-01 9.82858717e-01 -3.28981520e-05 8.36604716e+00] [ 1.63850820e-04 2.73748007e-06 9.99999987e-01 -2.25022471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.22, Y:8.38, Z:-0.23 [[ 9.84602298e-01 -1.74809291e-01 -1.60530949e-04 3.18217967e+02] [ 1.74809288e-01 9.84602311e-01 -3.29302027e-05 8.37932015e+00] [ 1.63815649e-04 4.36085228e-06 9.99999987e-01 -2.25457065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.27, Y:8.39, Z:-0.23 [[ 9.85425257e-01 -1.70108900e-01 -1.60528931e-04 3.18274058e+02] [ 1.70108897e-01 9.85425270e-01 -3.29400389e-05 8.39496915e+00] [ 1.63792658e-04 5.15254694e-06 9.99999987e-01 -2.30917215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.33, Y:8.41, Z:-0.23 [[ 9.85410883e-01 -1.70192144e-01 -1.60526947e-04 3.18330867e+02] [ 1.70192141e-01 9.85410896e-01 -3.29497004e-05 8.40931736e+00] [ 1.63792783e-04 5.14856850e-06 9.99999987e-01 -2.27196395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.39, Y:8.42, Z:-0.22 [[ 9.84277425e-01 -1.76629346e-01 -1.60521373e-04 3.18387944e+02] [ 1.76629343e-01 9.84277438e-01 -3.29768351e-05 8.42453178e+00] [ 1.63822243e-04 4.10556975e-06 9.99999987e-01 -2.23830355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.64533619499997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:318.44, Y:8.44, Z:-0.23 [[ 9.83368911e-01 -1.81619270e-01 -1.60515782e-04 3.18444523e+02] [ 1.81619267e-01 9.83368924e-01 -3.30040274e-05 8.43873071e+00] [ 1.63840399e-04 3.30237574e-06 9.99999987e-01 -2.25300348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.50, Y:8.45, Z:-0.22 [[ 9.82913543e-01 -1.84067763e-01 -1.60513800e-04 3.18501490e+02] [ 1.84067760e-01 9.82913556e-01 -3.30136642e-05 8.45132409e+00] [ 1.63847941e-04 2.90416206e-06 9.99999987e-01 -2.23859780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.56, Y:8.47, Z:-0.22 [[ 9.81691555e-01 -1.90477467e-01 -1.60511820e-04 3.18557456e+02] [ 1.90477464e-01 9.81691568e-01 -3.30232893e-05 8.46532065e+00] [ 1.63863292e-04 1.84479991e-06 9.99999987e-01 -2.22943077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.61, Y:8.48, Z:-0.23 [[ 9.81191318e-01 -1.93037748e-01 -1.60505295e-04 3.18612576e+02] [ 1.93037745e-01 9.81191331e-01 -3.30549724e-05 8.48016153e+00] [ 1.63867261e-04 1.44967175e-06 9.99999987e-01 -2.27121024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.67, Y:8.50, Z:-0.22 [[ 9.80593738e-01 -1.96050744e-01 -1.60502475e-04 3.18669076e+02] [ 1.96050742e-01 9.80593752e-01 -3.30686565e-05 8.49558645e+00] [ 1.63870859e-04 9.60288140e-07 9.99999987e-01 -2.24819218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.73, Y:8.51, Z:-0.23 [[ 9.79792482e-01 -2.00016663e-01 -1.60496779e-04 3.18725998e+02] [ 2.00016661e-01 9.79792496e-01 -3.30962796e-05 8.51065363e+00] [ 1.63873347e-04 3.25456188e-07 9.99999987e-01 -2.28920620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.78, Y:8.52, Z:-0.23 [[ 9.79369438e-01 -2.02077899e-01 -1.60491108e-04 3.18782681e+02] [ 2.02077897e-01 9.79369452e-01 -3.31237555e-05 8.52485199e+00] [ 1.63873668e-04 8.68823236e-09 9.99999987e-01 -2.30386948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.84, Y:8.54, Z:-0.23 [[ 9.79199914e-01 -2.02897763e-01 -1.60485398e-04 3.18839854e+02] [ 2.02897760e-01 9.79199927e-01 -3.31513984e-05 8.53686487e+00] [ 1.63873635e-04 -1.00281431e-07 9.99999987e-01 -2.29756914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.90, Y:8.55, Z:-0.23 [[ 9.79164046e-01 -2.03070788e-01 -1.60478734e-04 3.18896319e+02] [ 2.03070785e-01 9.79164059e-01 -3.31836286e-05 8.54817843e+00] [ 1.63873634e-04 -9.63264820e-08 9.99999987e-01 -2.29497693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.96, Y:8.56, Z:-0.23 [[ 9.79285950e-01 -2.02482102e-01 -1.60476678e-04 3.18955004e+02] [ 2.02482100e-01 9.79285963e-01 -3.31935647e-05 8.55509732e+00] [ 1.63873661e-04 1.23366962e-08 9.99999987e-01 -2.29331191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.01, Y:8.57, Z:-0.23 [[ 9.80137379e-01 -1.98319671e-01 -1.60470921e-04 3.19011281e+02] [ 1.98319668e-01 9.80137392e-01 -3.32213749e-05 8.57060776e+00] [ 1.63872002e-04 7.36971408e-07 9.99999987e-01 -2.32222716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.07, Y:8.58, Z:-0.23 [[ 9.81839147e-01 -1.89715217e-01 -1.60468891e-04 3.19067887e+02] [ 1.89715215e-01 9.81839160e-01 -3.32311799e-05 8.58242649e+00] [ 1.63859101e-04 2.18428331e-06 9.99999987e-01 -2.33732735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.13, Y:8.60, Z:-0.23 [[ 9.83246275e-01 -1.82282026e-01 -1.60466968e-04 3.19125052e+02] [ 1.82282023e-01 9.83246288e-01 -3.32404622e-05 8.59690994e+00] [ 1.63837689e-04 3.43331711e-06 9.99999987e-01 -2.25863113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.18, Y:8.61, Z:-0.22 [[ 9.83654100e-01 -1.80068280e-01 -1.60461258e-04 3.19182015e+02] [ 1.80068277e-01 9.83654113e-01 -3.32680016e-05 8.61329652e+00] [ 1.63828888e-04 3.83022384e-06 9.99999987e-01 -2.23535449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.24, Y:8.63, Z:-0.23 [[ 9.83373726e-01 -1.81593198e-01 -1.60455544e-04 3.19236880e+02] [ 1.81593195e-01 9.83373739e-01 -3.32955401e-05 8.63392556e+00] [ 1.63834012e-04 3.60432441e-06 9.99999987e-01 -2.28451876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.29, Y:8.65, Z:-0.23 [[ 9.82200943e-01 -1.87833124e-01 -1.60453534e-04 3.19293725e+02] [ 1.87833121e-01 9.82200956e-01 -3.33052211e-05 8.64981515e+00] [ 1.63853438e-04 2.57393144e-06 9.99999987e-01 -2.32566663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.35, Y:8.67, Z:-0.24 [[ 9.80735583e-01 -1.95339936e-01 -1.60451953e-04 3.19348121e+02] [ 1.95339934e-01 9.80735596e-01 -3.33128390e-05 8.66715422e+00] [ 1.63868269e-04 1.32841282e-06 9.99999987e-01 -2.36384943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.41, Y:8.68, Z:-0.23 [[ 9.79640402e-01 -2.00760198e-01 -1.60447644e-04 3.19405542e+02] [ 2.00760195e-01 9.79640415e-01 -3.33335801e-05 8.68212771e+00] [ 1.63873052e-04 4.43421557e-07 9.99999987e-01 -2.30824342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.46, Y:8.70, Z:-0.23 [[ 9.78229591e-01 -2.07525521e-01 -1.60441858e-04 3.19461054e+02] [ 2.07525518e-01 9.78229604e-01 -3.33614029e-05 8.69934387e+00] [ 1.63872318e-04 -6.60668314e-07 9.99999987e-01 -2.33978660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.78533619499996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:319.52, Y:8.71, Z:-0.23 [[ 9.76694666e-01 -2.14633415e-01 -1.60439811e-04 3.19517541e+02] [ 2.14633413e-01 9.76694680e-01 -3.33712464e-05 8.71189857e+00] [ 1.63863294e-04 -1.84222572e-06 9.99999987e-01 -2.34603644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.57, Y:8.72, Z:-0.23 [[ 9.76138502e-01 -2.17148796e-01 -1.60433465e-04 3.19574044e+02] [ 2.17148793e-01 9.76138515e-01 -3.34017268e-05 8.72347489e+00] [ 1.63858429e-04 -2.23322173e-06 9.99999987e-01 -2.30698141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.63, Y:8.74, Z:-0.23 [[ 9.76619339e-01 -2.14975906e-01 -1.60426738e-04 3.19631301e+02] [ 2.14975903e-01 9.76619353e-01 -3.34340028e-05 8.73862590e+00] [ 1.63863362e-04 -1.83558921e-06 9.99999987e-01 -2.28927218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.69, Y:8.75, Z:-0.23 [[ 9.78150969e-01 -2.07895782e-01 -1.60420869e-04 3.19687811e+02] [ 2.07895779e-01 9.78150982e-01 -3.34621415e-05 8.75288025e+00] [ 1.63872469e-04 -6.19795465e-07 9.99999987e-01 -2.30082322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.74, Y:8.77, Z:-0.23 [[ 9.79765438e-01 -2.00149096e-01 -1.60418787e-04 3.19743191e+02] [ 2.00149093e-01 9.79765451e-01 -3.34721176e-05 8.76816034e+00] [ 1.63872200e-04 6.87149180e-07 9.99999987e-01 -2.32730144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.80, Y:8.78, Z:-0.23 [[ 9.80656567e-01 -1.95736231e-01 -1.60415916e-04 3.19799157e+02] [ 1.95736228e-01 9.80656580e-01 -3.34858710e-05 8.78341666e+00] [ 1.63867322e-04 1.43893299e-06 9.99999987e-01 -2.32279401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.86, Y:8.80, Z:-0.24 [[ 9.81367151e-01 -1.92141846e-01 -1.60409330e-04 3.19855247e+02] [ 1.92141843e-01 9.81367164e-01 -3.35173921e-05 8.79972143e+00] [ 1.63860543e-04 2.07152327e-06 9.99999987e-01 -2.35702454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.91, Y:8.81, Z:-0.24 [[ 9.81152967e-01 -1.93232581e-01 -1.60406267e-04 3.19912223e+02] [ 1.93232578e-01 9.81152980e-01 -3.35320443e-05 8.81292013e+00] [ 1.63862570e-04 1.90434819e-06 9.99999987e-01 -2.35061134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.97, Y:8.83, Z:-0.24 [[ 9.80237279e-01 -1.97825306e-01 -1.60400143e-04 3.19968667e+02] [ 1.97825303e-01 9.80237292e-01 -3.35613124e-05 8.82730771e+00] [ 1.63869479e-04 1.16684253e-06 9.99999987e-01 -2.37253511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.03, Y:8.84, Z:-0.24 [[ 9.79275824e-01 -2.02531072e-01 -1.60398122e-04 3.20026816e+02] [ 2.02531069e-01 9.79275837e-01 -3.35709688e-05 8.83890074e+00] [ 1.63873170e-04 3.89635000e-07 9.99999987e-01 -2.38815149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.385336195 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:320.08, Y:8.85, Z:-0.24 [[ 9.78755451e-01 -2.05031072e-01 -1.60392920e-04 3.20084008e+02] [ 2.05031069e-01 9.78755465e-01 -3.35958035e-05 8.85125749e+00] [ 1.63873631e-04 -3.45614551e-09 9.99999987e-01 -2.39021544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.14, Y:8.86, Z:-0.24 [[ 9.78292937e-01 -2.07226696e-01 -1.60387069e-04 3.20141363e+02] [ 2.07226693e-01 9.78292950e-01 -3.36237137e-05 8.86143375e+00] [ 1.63873270e-04 -3.42640428e-07 9.99999987e-01 -2.38208132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.20, Y:8.87, Z:-0.24 [[ 9.77793992e-01 -2.09568328e-01 -1.60385004e-04 3.20199509e+02] [ 2.09568325e-01 9.77794005e-01 -3.36335595e-05 8.87198014e+00] [ 1.63872025e-04 -7.24924341e-07 9.99999987e-01 -2.36312193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.26, Y:8.88, Z:-0.24 [[ 9.78154503e-01 -2.07879154e-01 -1.60379312e-04 3.20256823e+02] [ 2.07879152e-01 9.78154516e-01 -3.36606827e-05 8.88132804e+00] [ 1.63873102e-04 -4.14166938e-07 9.99999987e-01 -2.37437837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.31, Y:8.89, Z:-0.24 [[ 9.78581495e-01 -2.05859739e-01 -1.60377298e-04 3.20314524e+02] [ 2.05859736e-01 9.78581508e-01 -3.36702768e-05 8.89443085e+00] [ 1.63873612e-04 -6.61184003e-08 9.99999987e-01 -2.36152668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.37, Y:8.91, Z:-0.24 [[ 9.80419935e-01 -1.96918069e-01 -1.60371689e-04 3.20371206e+02] [ 1.96918066e-01 9.80419948e-01 -3.36969676e-05 8.90648499e+00] [ 1.63867145e-04 1.45709584e-06 9.99999987e-01 -2.35470351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.43, Y:8.92, Z:-0.23 [[ 9.81902277e-01 -1.89388208e-01 -1.60369710e-04 3.20428132e+02] [ 1.89388205e-01 9.81902290e-01 -3.37063832e-05 8.92295019e+00] [ 1.63850977e-04 2.72424270e-06 9.99999987e-01 -2.34369260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.49, Y:8.93, Z:-0.24 [[ 9.82326420e-01 -1.87175797e-01 -1.60364180e-04 3.20485562e+02] [ 1.87175794e-01 9.82326433e-01 -3.37326747e-05 8.93469920e+00] [ 1.63843913e-04 3.12020491e-06 9.99999987e-01 -2.36843673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.54, Y:8.95, Z:-0.24 [[ 9.82437494e-01 -1.86591921e-01 -1.60358717e-04 3.20542287e+02] [ 1.86591918e-01 9.82437507e-01 -3.37586248e-05 8.95206476e+00] [ 1.63841505e-04 3.24409822e-06 9.99999987e-01 -2.38467752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.60, Y:8.97, Z:-0.23 [[ 9.82584406e-01 -1.85816733e-01 -1.60353203e-04 3.20598983e+02] [ 1.85816730e-01 9.82584420e-01 -3.37847936e-05 8.96843803e+00] [ 1.63838339e-04 3.40010341e-06 9.99999987e-01 -2.31211804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.65, Y:8.99, Z:-0.23 [[ 9.82542701e-01 -1.86037135e-01 -1.60347173e-04 3.20654188e+02] [ 1.86037132e-01 9.82542714e-01 -3.38133892e-05 8.98728086e+00] [ 1.63838493e-04 3.39257044e-06 9.99999987e-01 -2.32962893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.71, Y:9.00, Z:-0.23 [[ 9.82114487e-01 -1.88284647e-01 -1.60345041e-04 3.20710440e+02] [ 1.88284644e-01 9.82114500e-01 -3.38234989e-05 9.00195124e+00] [ 1.63845635e-04 3.02803926e-06 9.99999987e-01 -2.33232715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.77, Y:9.02, Z:-0.23 [[ 9.80372846e-01 -1.97152369e-01 -1.60342973e-04 3.20765595e+02] [ 1.97152366e-01 9.80372859e-01 -3.38332969e-05 9.01875111e+00] [ 1.63866214e-04 1.55724906e-06 9.99999987e-01 -2.34430270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.82, Y:9.03, Z:-0.23 [[ 9.77442167e-01 -2.11203183e-01 -1.60339989e-04 3.20823204e+02] [ 2.11203180e-01 9.77442180e-01 -3.38474351e-05 9.03217551e+00] [ 1.63871754e-04 -7.80405302e-07 9.99999987e-01 -2.31266577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.88, Y:9.04, Z:-0.23 [[ 9.75542580e-01 -2.19810486e-01 -1.60334306e-04 3.20880707e+02] [ 2.19810483e-01 9.75542593e-01 -3.38743313e-05 9.04376438e+00] [ 1.63858878e-04 -2.19730876e-06 9.99999987e-01 -2.30594748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.94, Y:9.05, Z:-0.23 [[ 9.74121233e-01 -2.26026100e-01 -1.60328567e-04 3.20938998e+02] [ 2.26026097e-01 9.74121246e-01 -3.39014751e-05 9.05374609e+00] [ 1.63842081e-04 -3.21429355e-06 9.99999987e-01 -2.27279498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.00, Y:9.06, Z:-0.23 [[ 9.73931906e-01 -2.26840511e-01 -1.60322742e-04 3.20996644e+02] [ 2.26840508e-01 9.73931919e-01 -3.39289993e-05 9.06300448e+00] [ 1.63839907e-04 -3.32315730e-06 9.99999987e-01 -2.25460642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.05, Y:9.07, Z:-0.23 [[ 9.74482695e-01 -2.24462582e-01 -1.60320664e-04 3.21053961e+02] [ 2.24462579e-01 9.74482709e-01 -3.39388136e-05 9.07381871e+00] [ 1.63847709e-04 -2.91320320e-06 9.99999987e-01 -2.25072323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.11, Y:9.08, Z:-0.23 [[ 9.75034298e-01 -2.22054253e-01 -1.60317549e-04 3.21112075e+02] [ 2.22054251e-01 9.75034311e-01 -3.39535223e-05 9.08162847e+00] [ 1.63854635e-04 -2.49334447e-06 9.99999987e-01 -2.25811523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.17, Y:9.09, Z:-0.23 [[ 9.76079904e-01 -2.17412039e-01 -1.60311744e-04 3.21170054e+02] [ 2.17412036e-01 9.76079918e-01 -3.39809078e-05 9.08805741e+00] [ 1.63864933e-04 -1.68562147e-06 9.99999987e-01 -2.26983672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.23, Y:9.09, Z:-0.23 [[ 9.77390004e-01 -2.11444447e-01 -1.60309697e-04 3.21229322e+02] [ 2.11444444e-01 9.77390017e-01 -3.39905651e-05 9.09376852e+00] [ 1.63872213e-04 -6.74556174e-07 9.99999987e-01 -2.29085140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.29, Y:9.10, Z:-0.23 [[ 9.78798178e-01 -2.04827002e-01 -1.60308023e-04 3.21287839e+02] [ 2.04827000e-01 9.78798191e-01 -3.39984581e-05 9.09964173e+00] [ 1.63873005e-04 4.42217543e-07 9.99999987e-01 -2.27496082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.35, Y:9.10, Z:-0.23 [[ 9.79709799e-01 -2.00421267e-01 -1.60302152e-04 3.21347011e+02] [ 2.00421264e-01 9.79709812e-01 -3.40261171e-05 9.10277679e+00] [ 1.63869148e-04 1.20776046e-06 9.99999987e-01 -2.27416720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.40, Y:9.11, Z:-0.23 [[ 9.79963639e-01 -1.99176407e-01 -1.60296259e-04 3.21403972e+02] [ 1.99176404e-01 9.79963652e-01 -3.40538534e-05 9.11108656e+00] [ 1.63867232e-04 1.44430562e-06 9.99999987e-01 -2.29873221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.825336195 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:321.46, Y:9.12, Z:-0.23 [[ 9.80181593e-01 -1.98101034e-01 -1.60291702e-04 3.21462737e+02] [ 1.98101031e-01 9.80181606e-01 -3.40752918e-05 9.11878424e+00] [ 1.63865328e-04 1.64602241e-06 9.99999987e-01 -2.26355673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.52, Y:9.12, Z:-0.22 [[ 9.80888370e-01 -1.94571273e-01 -1.60286056e-04 3.21520870e+02] [ 1.94571270e-01 9.80888383e-01 -3.41018278e-05 9.12305877e+00] [ 1.63857966e-04 2.26302478e-06 9.99999987e-01 -2.22819658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.58, Y:9.13, Z:-0.22 [[ 9.81931437e-01 -1.89236961e-01 -1.60279307e-04 3.21579852e+02] [ 1.89236958e-01 9.81931450e-01 -3.41335205e-05 9.13064580e+00] [ 1.63842616e-04 3.18600838e-06 9.99999987e-01 -2.24601311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.64, Y:9.14, Z:-0.23 [[ 9.82943381e-01 -1.83908360e-01 -1.60273448e-04 3.21636565e+02] [ 1.83908357e-01 9.82943394e-01 -3.41610062e-05 9.14273844e+00] [ 1.63822222e-04 4.10270828e-06 9.99999987e-01 -2.26722916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.69, Y:9.15, Z:-0.22 [[ 9.83057579e-01 -1.83296946e-01 -1.60271387e-04 3.21694803e+02] [ 1.83296943e-01 9.83057592e-01 -3.41706762e-05 9.14937706e+00] [ 1.63819384e-04 4.21448704e-06 9.99999987e-01 -2.24688848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.75, Y:9.16, Z:-0.22 [[ 9.83256128e-01 -1.82228868e-01 -1.60264702e-04 3.21752553e+02] [ 1.82228865e-01 9.83256141e-01 -3.42020003e-05 9.15714709e+00] [ 1.63813844e-04 4.42447173e-06 9.99999987e-01 -2.24473117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.81, Y:9.17, Z:-0.22 [[ 9.83401139e-01 -1.81444684e-01 -1.60261626e-04 3.21809923e+02] [ 1.81444681e-01 9.83401152e-01 -3.42164076e-05 9.16994437e+00] [ 1.63809853e-04 4.56983464e-06 9.99999987e-01 -2.23463875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.87, Y:9.18, Z:-0.22 [[ 9.83572858e-01 -1.80511514e-01 -1.60256047e-04 3.21866727e+02] [ 1.80511510e-01 9.83572871e-01 -3.42425179e-05 9.18358032e+00] [ 1.63804669e-04 4.75195020e-06 9.99999987e-01 -2.22718779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.92, Y:9.20, Z:-0.22 [[ 9.83901995e-01 -1.78708811e-01 -1.60250312e-04 3.21923594e+02] [ 1.78708808e-01 9.83902008e-01 -3.42693347e-05 9.19717129e+00] [ 1.63794836e-04 5.07952449e-06 9.99999987e-01 -2.23450853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.98, Y:9.22, Z:-0.22 [[ 9.83939644e-01 -1.78501406e-01 -1.60244504e-04 3.21979364e+02] [ 1.78501402e-01 9.83939657e-01 -3.42964727e-05 9.21730922e+00] [ 1.63792891e-04 5.14179046e-06 9.99999987e-01 -2.22279337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.03, Y:9.24, Z:-0.22 [[ 9.83650620e-01 -1.80087288e-01 -1.60238641e-04 3.22034141e+02] [ 1.80087285e-01 9.83650633e-01 -3.43238415e-05 9.23501096e+00] [ 1.63800129e-04 4.90572608e-06 9.99999987e-01 -2.24443768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.09, Y:9.25, Z:-0.23 [[ 9.83161919e-01 -1.82736465e-01 -1.60234101e-04 3.22089661e+02] [ 1.82736462e-01 9.83161932e-01 -3.43450217e-05 9.25252711e+00] [ 1.63812157e-04 4.48610464e-06 9.99999987e-01 -2.25335480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.54533619499995 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:322.15, Y:9.27, Z:-0.23 [[ 9.82646625e-01 -1.85487426e-01 -1.60227592e-04 3.22145399e+02] [ 1.85487422e-01 9.82646638e-01 -3.43753630e-05 9.26863062e+00] [ 1.63823302e-04 4.05863142e-06 9.99999987e-01 -2.27782460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.20, Y:9.29, Z:-0.23 [[ 9.82095867e-01 -1.88381749e-01 -1.60225580e-04 3.22200041e+02] [ 1.88381746e-01 9.82095880e-01 -3.43847391e-05 9.29031330e+00] [ 1.63834339e-04 3.58553569e-06 9.99999987e-01 -2.26435672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.26, Y:9.31, Z:-0.22 [[ 9.81810924e-01 -1.89861221e-01 -1.60219171e-04 3.22255503e+02] [ 1.89861218e-01 9.81810937e-01 -3.44145783e-05 9.31452454e+00] [ 1.63838928e-04 3.36920204e-06 9.99999987e-01 -2.24957096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.31, Y:9.34, Z:-0.23 [[ 9.81566870e-01 -1.91118950e-01 -1.60215967e-04 3.22309818e+02] [ 1.91118947e-01 9.81566884e-01 -3.44294844e-05 9.33848457e+00] [ 1.63842815e-04 3.17453424e-06 9.99999987e-01 -2.27942248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.37, Y:9.36, Z:-0.23 [[ 9.81254837e-01 -1.92714604e-01 -1.60213895e-04 3.22365586e+02] [ 1.92714601e-01 9.81254850e-01 -3.44391270e-05 9.35733488e+00] [ 1.63847584e-04 2.91800327e-06 9.99999987e-01 -2.26303798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.42, Y:9.38, Z:-0.22 [[ 9.80494584e-01 -1.96546040e-01 -1.60208212e-04 3.22420352e+02] [ 1.96546037e-01 9.80494597e-01 -3.44655426e-05 9.38064074e+00] [ 1.63857352e-04 2.30498878e-06 9.99999987e-01 -2.23272512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.48, Y:9.40, Z:-0.22 [[ 9.79547374e-01 -2.01213607e-01 -1.60201360e-04 3.22475823e+02] [ 2.01213604e-01 9.79547387e-01 -3.44973591e-05 9.39970136e+00] [ 1.63866162e-04 1.55710435e-06 9.99999987e-01 -2.24426913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.96533619499996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:322.53, Y:9.42, Z:-0.22 [[ 9.77576824e-01 -2.10579031e-01 -1.60199236e-04 3.22531253e+02] [ 2.10579028e-01 9.77576837e-01 -3.45072213e-05 9.41955590e+00] [ 1.63873560e-04 -1.13966452e-09 9.99999987e-01 -2.19723162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.59, Y:9.43, Z:-0.22 [[ 9.75814442e-01 -2.18600431e-01 -1.60193119e-04 3.22587137e+02] [ 2.18600428e-01 9.75814456e-01 -3.45355962e-05 9.43394858e+00] [ 1.63868257e-04 -1.31795084e-06 9.99999987e-01 -2.23942642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.64, Y:9.45, Z:-0.22 [[ 9.75182790e-01 -2.21401220e-01 -1.60190975e-04 3.22644009e+02] [ 2.21401217e-01 9.75182803e-01 -3.45455392e-05 9.45021489e+00] [ 1.63863908e-04 -1.77826153e-06 9.99999987e-01 -2.21935428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.70, Y:9.46, Z:-0.23 [[ 9.75492681e-01 -2.20031826e-01 -1.60185047e-04 3.22699865e+02] [ 2.20031823e-01 9.75492694e-01 -3.45730055e-05 9.46485133e+00] [ 1.63866504e-04 -1.52009404e-06 9.99999987e-01 -2.26965644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.76, Y:9.48, Z:-0.23 [[ 9.76562058e-01 -2.15235966e-01 -1.60182961e-04 3.22756730e+02] [ 2.15235963e-01 9.76562071e-01 -3.45826668e-05 9.48134038e+00] [ 1.63872038e-04 -7.05013644e-07 9.99999987e-01 -2.26227878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.81, Y:9.49, Z:-0.22 [[ 9.77252674e-01 -2.12078253e-01 -1.60177025e-04 3.22812877e+02] [ 2.12078250e-01 9.77252687e-01 -3.46101360e-05 9.49494826e+00] [ 1.63873486e-04 -1.47215384e-07 9.99999987e-01 -2.23897485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.87, Y:9.51, Z:-0.22 [[ 9.77689196e-01 -2.10056685e-01 -1.60174932e-04 3.22870298e+02] [ 2.10056682e-01 9.77689209e-01 -3.46198208e-05 9.50790545e+00] [ 1.63873427e-04 2.01609969e-07 9.99999987e-01 -2.21048621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.93, Y:9.52, Z:-0.22 [[ 9.77297102e-01 -2.11873428e-01 -1.60169141e-04 3.22927624e+02] [ 2.11873426e-01 9.77297115e-01 -3.46465913e-05 9.52181975e+00] [ 1.63873532e-04 -7.55713994e-08 9.99999987e-01 -2.16803042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.98, Y:9.53, Z:-0.22 [[ 9.77112615e-01 -2.12722618e-01 -1.60163155e-04 3.22984904e+02] [ 2.12722615e-01 9.77112628e-01 -3.46742435e-05 9.53108305e+00] [ 1.63873437e-04 -1.89684417e-07 9.99999987e-01 -2.22166455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.04, Y:9.54, Z:-0.22 [[ 9.77407832e-01 -2.11362020e-01 -1.60161045e-04 3.23042423e+02] [ 2.11362017e-01 9.77407846e-01 -3.46839850e-05 9.54245296e+00] [ 1.63873539e-04 4.84370284e-08 9.99999987e-01 -2.24726229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.10, Y:9.55, Z:-0.23 [[ 9.78390833e-01 -2.06764000e-01 -1.60155378e-04 3.23099644e+02] [ 2.06763997e-01 9.78390846e-01 -3.47101331e-05 9.55420668e+00] [ 1.63871362e-04 8.45709901e-07 9.99999987e-01 -2.25490711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.16, Y:9.57, Z:-0.22 [[ 9.79772770e-01 -2.00113204e-01 -1.60148890e-04 3.23156565e+02] [ 2.00113201e-01 9.79772783e-01 -3.47400439e-05 9.56710792e+00] [ 1.63861465e-04 1.98944209e-06 9.99999987e-01 -2.21299213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.21, Y:9.58, Z:-0.22 [[ 9.80445959e-01 -1.96788454e-01 -1.60146770e-04 3.23214604e+02] [ 1.96788451e-01 9.80445972e-01 -3.47498110e-05 9.57878297e+00] [ 1.63853618e-04 2.55527687e-06 9.99999987e-01 -2.19713616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.27, Y:9.59, Z:-0.22 [[ 9.80811959e-01 -1.94956086e-01 -1.60140736e-04 3.23271961e+02] [ 1.94956083e-01 9.80811972e-01 -3.47775991e-05 9.59247408e+00] [ 1.63848055e-04 2.88987460e-06 9.99999987e-01 -2.15547867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.33, Y:9.60, Z:-0.22 [[ 9.80392040e-01 -1.97056901e-01 -1.60134708e-04 3.23328733e+02] [ 1.97056898e-01 9.80392053e-01 -3.48053336e-05 9.60282949e+00] [ 1.63853426e-04 2.56722328e-06 9.99999987e-01 -2.15691531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.39, Y:9.61, Z:-0.21 [[ 9.79578848e-01 -2.01060326e-01 -1.60132576e-04 3.23386534e+02] [ 2.01060323e-01 9.79578861e-01 -3.48151364e-05 9.61233331e+00] [ 1.63862430e-04 1.90786368e-06 9.99999987e-01 -2.13698983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.44, Y:9.62, Z:-0.21 [[ 9.78219622e-01 -2.07572509e-01 -1.60126779e-04 3.23444312e+02] [ 2.07572506e-01 9.78219635e-01 -3.48417784e-05 9.62023758e+00] [ 1.63871355e-04 8.44994380e-07 9.99999987e-01 -2.13216041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.50, Y:9.63, Z:-0.21 [[ 9.77478909e-01 -2.11033068e-01 -1.60120020e-04 3.23502422e+02] [ 2.11033065e-01 9.77478923e-01 -3.48728135e-05 9.62815767e+00] [ 1.63873262e-04 2.96820970e-07 9.99999987e-01 -2.11211039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.56, Y:9.64, Z:-0.21 [[ 9.77874080e-01 -2.09194307e-01 -1.60114145e-04 3.23559267e+02] [ 2.09194304e-01 9.77874093e-01 -3.48997674e-05 9.63838598e+00] [ 1.63872307e-04 6.32610777e-07 9.99999987e-01 -2.13624501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.62, Y:9.65, Z:-0.21 [[ 9.79641489e-01 -2.00754896e-01 -1.60112076e-04 3.23616090e+02] [ 2.00754893e-01 9.79641502e-01 -3.49092555e-05 9.65186722e+00] [ 1.63860639e-04 2.05527230e-06 9.99999987e-01 -2.12194510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.67, Y:9.67, Z:-0.22 [[ 9.81271659e-01 -1.92628931e-01 -1.60109003e-04 3.23673473e+02] [ 1.92628928e-01 9.81271672e-01 -3.49233482e-05 9.66668316e+00] [ 1.63837676e-04 3.42766624e-06 9.99999987e-01 -2.15982887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.73, Y:9.68, Z:-0.22 [[ 9.81700886e-01 -1.90429368e-01 -1.60103283e-04 3.23730456e+02] [ 1.90429365e-01 9.81700899e-01 -3.49495500e-05 9.68079164e+00] [ 1.63828957e-04 3.82163776e-06 9.99999987e-01 -2.19384460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.79, Y:9.69, Z:-0.22 [[ 9.81439963e-01 -1.91769586e-01 -1.60097615e-04 3.23786240e+02] [ 1.91769583e-01 9.81439976e-01 -3.49754923e-05 9.69443858e+00] [ 1.63833435e-04 3.62449302e-06 9.99999987e-01 -2.20445172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.84, Y:9.71, Z:-0.22 [[ 9.81181924e-01 -1.93085489e-01 -1.60095610e-04 3.23841562e+02] [ 1.93085485e-01 9.81181937e-01 -3.49846695e-05 9.71141700e+00] [ 1.63837953e-04 3.41418676e-06 9.99999987e-01 -2.19649490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.90, Y:9.73, Z:-0.21 [[ 9.81113926e-01 -1.93430709e-01 -1.60093635e-04 3.23898114e+02] [ 1.93430706e-01 9.81113939e-01 -3.49937065e-05 9.72609470e+00] [ 1.63838954e-04 3.36578796e-06 9.99999987e-01 -2.13805440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.95, Y:9.75, Z:-0.21 [[ 9.80965610e-01 -1.94181480e-01 -1.60087531e-04 3.23954431e+02] [ 1.94181477e-01 9.80965623e-01 -3.50216086e-05 9.74503655e+00] [ 1.63840912e-04 3.26896054e-06 9.99999987e-01 -2.12908153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.01, Y:9.76, Z:-0.22 [[ 9.81040034e-01 -1.93805124e-01 -1.60081477e-04 3.24008785e+02] [ 1.93805121e-01 9.81040047e-01 -3.50492555e-05 9.76308425e+00] [ 1.63839065e-04 3.36011280e-06 9.99999987e-01 -2.17639857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.06, Y:9.79, Z:-0.21 [[ 9.81365901e-01 -1.92148229e-01 -1.60078495e-04 3.24064374e+02] [ 1.92148226e-01 9.81365914e-01 -3.50628733e-05 9.78565512e+00] [ 1.63832847e-04 3.65070951e-06 9.99999987e-01 -2.10686870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.64533619499997 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:324.12, Y:9.81, Z:-0.21 [[ 9.81002055e-01 -1.93997272e-01 -1.60072384e-04 3.24119292e+02] [ 1.93997269e-01 9.81002068e-01 -3.50907462e-05 9.80803666e+00] [ 1.63838849e-04 3.37048869e-06 9.99999987e-01 -2.13128415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.17, Y:9.83, Z:-0.21 [[ 9.79344813e-01 -2.02197208e-01 -1.60065364e-04 3.24172812e+02] [ 2.02197205e-01 9.79344826e-01 -3.51227400e-05 9.82996738e+00] [ 1.63860906e-04 2.03250392e-06 9.99999987e-01 -2.12484738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.765336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:324.23, Y:9.85, Z:-0.21 [[ 9.77561751e-01 -2.10648990e-01 -1.60060607e-04 3.24229324e+02] [ 2.10648987e-01 9.77561764e-01 -3.51444036e-05 9.84673234e+00] [ 1.63872263e-04 6.39219961e-07 9.99999987e-01 -2.11726114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.29, Y:9.86, Z:-0.21 [[ 9.74683881e-01 -2.23587357e-01 -1.60054530e-04 3.24287078e+02] [ 2.23587354e-01 9.74683894e-01 -3.51720588e-05 9.85796147e+00] [ 1.63866600e-04 -1.50453012e-06 9.99999987e-01 -2.12180877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.34, Y:9.87, Z:-0.21 [[ 9.73357216e-01 -2.29293925e-01 -1.60048427e-04 3.24343572e+02] [ 2.29293922e-01 9.73357229e-01 -3.51998090e-05 9.87099793e+00] [ 1.63855396e-04 -2.43614345e-06 9.99999987e-01 -2.11249346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.40, Y:9.88, Z:-0.21 [[ 9.72365048e-01 -2.33465605e-01 -1.60046276e-04 3.24400573e+02] [ 2.33465602e-01 9.72365061e-01 -3.52095882e-05 9.88041188e+00] [ 1.63843634e-04 -3.12872720e-06 9.99999987e-01 -2.08005293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.46, Y:9.89, Z:-0.21 [[ 9.72963127e-01 -2.30960445e-01 -1.60039118e-04 3.24458573e+02] [ 2.30960442e-01 9.72963141e-01 -3.52420927e-05 9.88805308e+00] [ 1.63851692e-04 -2.67344864e-06 9.99999987e-01 -2.11420056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.52, Y:9.90, Z:-0.21 [[ 9.75028953e-01 -2.22077723e-01 -1.60036908e-04 3.24516056e+02] [ 2.22077721e-01 9.75028966e-01 -3.52521243e-05 9.89662873e+00] [ 1.63869333e-04 -1.16878993e-06 9.99999987e-01 -2.08484465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.57, Y:9.91, Z:-0.21 [[ 9.76935902e-01 -2.13532710e-01 -1.60029843e-04 3.24571530e+02] [ 2.13532707e-01 9.76935915e-01 -3.52841665e-05 9.90906707e+00] [ 1.63873225e-04 2.98763373e-07 9.99999987e-01 -2.11020668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.63, Y:9.92, Z:-0.21 [[ 9.79809477e-01 -1.99933398e-01 -1.60026767e-04 3.24628297e+02] [ 1.99933394e-01 9.79809490e-01 -3.52981125e-05 9.92462484e+00] [ 1.63853017e-04 2.59073039e-06 9.99999987e-01 -2.11576631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.68, Y:9.94, Z:-0.22 [[ 9.81804809e-01 -1.89892842e-01 -1.60020749e-04 3.24684962e+02] [ 1.89892839e-01 9.81804822e-01 -3.53253721e-05 9.94305025e+00] [ 1.63817179e-04 4.29582584e-06 9.99999987e-01 -2.15556211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.74, Y:9.96, Z:-0.21 [[ 9.82685230e-01 -1.85282795e-01 -1.60015159e-04 3.24740224e+02] [ 1.85282791e-01 9.82685243e-01 -3.53506779e-05 9.96398467e+00] [ 1.63794408e-04 5.09053374e-06 9.99999987e-01 -2.13984240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.80, Y:9.98, Z:-0.22 [[ 9.82840033e-01 -1.84459871e-01 -1.60009036e-04 3.24795959e+02] [ 1.84459868e-01 9.82840046e-01 -3.53783688e-05 9.98176528e+00] [ 1.63789178e-04 5.25603146e-06 9.99999987e-01 -2.15006051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.85, Y:10.00, Z:-0.22 [[ 9.81983869e-01 -1.88964692e-01 -1.60002104e-04 3.24850123e+02] [ 1.88964689e-01 9.81983882e-01 -3.54096923e-05 1.00049547e+01] [ 1.63810669e-04 4.53699880e-06 9.99999987e-01 -2.16402141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.91, Y:10.03, Z:-0.22 [[ 9.79787145e-01 -2.00042806e-01 -1.59999959e-04 3.24905846e+02] [ 2.00042803e-01 9.79787158e-01 -3.54193816e-05 1.00268771e+01] [ 1.63851298e-04 2.69661445e-06 9.99999987e-01 -2.16365712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.96, Y:10.04, Z:-0.22 [[ 9.77819526e-01 -2.09449158e-01 -1.59994170e-04 3.24961446e+02] [ 2.09449155e-01 9.77819539e-01 -3.54455151e-05 1.00436974e+01] [ 1.63869458e-04 1.14867317e-06 9.99999987e-01 -2.15628509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.60533619499995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:325.02, Y:10.06, Z:-0.21 [[ 9.74470074e-01 -2.24517368e-01 -1.59987500e-04 3.25018391e+02] [ 2.24517365e-01 9.74470088e-01 -3.54755934e-05 1.00594258e+01] [ 1.63867920e-04 -1.35006778e-06 9.99999987e-01 -2.12025197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.07, Y:10.07, Z:-0.21 [[ 9.71768682e-01 -2.35935591e-01 -1.59981374e-04 3.25073966e+02] [ 2.35935588e-01 9.71768695e-01 -3.55031970e-05 1.00744326e+01] [ 1.63841359e-04 -3.24440469e-06 9.99999987e-01 -2.10589796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.13, Y:10.09, Z:-0.21 [[ 9.70738431e-01 -2.40139279e-01 -1.59979234e-04 3.25130320e+02] [ 2.40139276e-01 9.70738444e-01 -3.55128378e-05 1.00871087e+01] [ 1.63826020e-04 -3.94362103e-06 9.99999987e-01 -2.10038524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.78533619499996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:325.19, Y:10.10, Z:-0.21 [[ 9.70967397e-01 -2.39211808e-01 -1.59977153e-04 3.25187100e+02] [ 2.39211805e-01 9.70967410e-01 -3.55222103e-05 1.01007858e+01] [ 1.63829934e-04 -3.77751553e-06 9.99999987e-01 -2.11473792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.24, Y:10.12, Z:-0.21 [[ 9.72840762e-01 -2.31475326e-01 -1.59971286e-04 3.25242891e+02] [ 2.31475323e-01 9.72840775e-01 -3.55486106e-05 1.01171722e+01] [ 1.63855216e-04 -2.44626782e-06 9.99999987e-01 -2.11049278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.90533619499996 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:325.30, Y:10.13, Z:-0.21 [[ 9.74658132e-01 -2.23699574e-01 -1.59969213e-04 3.25298783e+02] [ 2.23699571e-01 9.74658146e-01 -3.55579383e-05 1.01316551e+01] [ 1.63869592e-04 -1.12821059e-06 9.99999987e-01 -2.08208404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.36, Y:10.15, Z:-0.20 [[ 9.75167873e-01 -2.21466913e-01 -1.59967166e-04 3.25355475e+02] [ 2.21466910e-01 9.75167886e-01 -3.55671459e-05 1.01467042e+01] [ 1.63871789e-04 -7.43495872e-07 9.99999987e-01 -2.03799102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.41, Y:10.16, Z:-0.21 [[ 9.74761962e-01 -2.23246708e-01 -1.59960983e-04 3.25412779e+02] [ 2.23246705e-01 9.74761975e-01 -3.55949291e-05 1.01560698e+01] [ 1.63870335e-04 -1.01417956e-06 9.99999987e-01 -2.08857198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.47, Y:10.17, Z:-0.21 [[ 9.73591881e-01 -2.28295473e-01 -1.59958802e-04 3.25470015e+02] [ 2.28295471e-01 9.73591894e-01 -3.56047276e-05 1.01665318e+01] [ 1.63862992e-04 -1.85339630e-06 9.99999987e-01 -2.09139502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.53, Y:10.18, Z:-0.21 [[ 9.72535500e-01 -2.32754540e-01 -1.59956726e-04 3.25528328e+02] [ 2.32754537e-01 9.72535513e-01 -3.56140546e-05 1.01769593e+01] [ 1.63852929e-04 -2.59472125e-06 9.99999987e-01 -2.05957768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.59, Y:10.19, Z:-0.21 [[ 9.72091119e-01 -2.34603563e-01 -1.59950781e-04 3.25585947e+02] [ 2.34603560e-01 9.72091132e-01 -3.56407359e-05 1.01866055e+01] [ 1.63848179e-04 -2.87897976e-06 9.99999987e-01 -2.06570042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.64, Y:10.19, Z:-0.21 [[ 9.71725302e-01 -2.36114193e-01 -1.59943957e-04 3.25643762e+02] [ 2.36114190e-01 9.71725315e-01 -3.56713329e-05 1.01928067e+01] [ 1.63844100e-04 -3.10230104e-06 9.99999987e-01 -2.05987660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.70, Y:10.20, Z:-0.21 [[ 9.71641570e-01 -2.36458523e-01 -1.59940781e-04 3.25700886e+02] [ 2.36458520e-01 9.71641584e-01 -3.56855638e-05 1.02047694e+01] [ 1.63843270e-04 -3.14578330e-06 9.99999987e-01 -2.05303902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.76, Y:10.21, Z:-0.21 [[ 9.71783208e-01 -2.35875753e-01 -1.59933993e-04 3.25758988e+02] [ 2.35875750e-01 9.71783221e-01 -3.57159645e-05 1.02132810e+01] [ 1.63845700e-04 -3.01637594e-06 9.99999987e-01 -2.08168661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.82, Y:10.22, Z:-0.21 [[ 9.72379236e-01 -2.33406504e-01 -1.59928025e-04 3.25817629e+02] [ 2.33406501e-01 9.72379249e-01 -3.57426663e-05 1.02222424e+01] [ 1.63853263e-04 -2.57281418e-06 9.99999987e-01 -2.12158297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.88, Y:10.23, Z:-0.21 [[ 9.72735558e-01 -2.31917029e-01 -1.59922082e-04 3.25876322e+02] [ 2.31917026e-01 9.72735571e-01 -3.57692380e-05 1.02307943e+01] [ 1.63857393e-04 -2.29464381e-06 9.99999987e-01 -2.13329900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.93, Y:10.24, Z:-0.21 [[ 9.73167075e-01 -2.30099585e-01 -1.59915985e-04 3.25933157e+02] [ 2.30099582e-01 9.73167088e-01 -3.57964756e-05 1.02393714e+01] [ 1.63861727e-04 -1.96064983e-06 9.99999987e-01 -2.12658504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.99, Y:10.25, Z:-0.21 [[ 9.73274370e-01 -2.29645324e-01 -1.59913834e-04 3.25991443e+02] [ 2.29645322e-01 9.73274383e-01 -3.58060825e-05 1.02470847e+01] [ 1.63862737e-04 -1.87432134e-06 9.99999987e-01 -2.10679495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.05, Y:10.25, Z:-0.21 [[ 9.72606103e-01 -2.32459338e-01 -1.59907906e-04 3.26050918e+02] [ 2.32459335e-01 9.72606116e-01 -3.58325359e-05 1.02525719e+01] [ 1.63857015e-04 -2.32114233e-06 9.99999987e-01 -2.07765938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.11, Y:10.26, Z:-0.21 [[ 9.72108379e-01 -2.34532032e-01 -1.59901776e-04 3.26109224e+02] [ 2.34532029e-01 9.72108392e-01 -3.58598685e-05 1.02611856e+01] [ 1.63852146e-04 -2.64240946e-06 9.99999987e-01 -2.05999032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.17, Y:10.26, Z:-0.21 [[ 9.71940103e-01 -2.35228424e-01 -1.59895674e-04 3.26167940e+02] [ 2.35228421e-01 9.71940116e-01 -3.58870562e-05 1.02647534e+01] [ 1.63850676e-04 -2.73193792e-06 9.99999987e-01 -2.07559429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.23, Y:10.27, Z:-0.21 [[ 9.72723202e-01 -2.31968847e-01 -1.59888597e-04 3.26225773e+02] [ 2.31968845e-01 9.72723215e-01 -3.59185581e-05 1.02710063e+01] [ 1.63859337e-04 -2.15035830e-06 9.99999987e-01 -2.10381861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.28, Y:10.28, Z:-0.21 [[ 9.74136679e-01 -2.25959519e-01 -1.59886415e-04 3.26283563e+02] [ 2.25959516e-01 9.74136692e-01 -3.59282704e-05 1.02804949e+01] [ 1.63869558e-04 -1.12881100e-06 9.99999987e-01 -2.11766032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.34, Y:10.29, Z:-0.21 [[ 9.75286618e-01 -2.20943403e-01 -1.59880328e-04 3.26341511e+02] [ 2.20943400e-01 9.75286631e-01 -3.59553382e-05 1.02888008e+01] [ 1.63873241e-04 -2.57742951e-07 9.99999987e-01 -2.13161209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.40, Y:10.30, Z:-0.21 [[ 9.76645552e-01 -2.14856790e-01 -1.59874182e-04 3.26399575e+02] [ 2.14856787e-01 9.76645565e-01 -3.59826448e-05 1.02991671e+01] [ 1.63871526e-04 7.92237048e-07 9.99999987e-01 -2.11728275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.46, Y:10.31, Z:-0.21 [[ 9.77465630e-01 -2.11094568e-01 -1.59867997e-04 3.26456841e+02] [ 2.11094565e-01 9.77465643e-01 -3.60101039e-05 1.03101065e+01] [ 1.63867011e-04 1.45137373e-06 9.99999987e-01 -2.14617303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.51, Y:10.32, Z:-0.21 [[ 9.77537629e-01 -2.10760903e-01 -1.59865803e-04 3.26514032e+02] [ 2.10760900e-01 9.77537642e-01 -3.60198392e-05 1.03221852e+01] [ 1.63866414e-04 1.51728769e-06 9.99999987e-01 -2.13612915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.57, Y:10.33, Z:-0.22 [[ 9.77539910e-01 -2.10750325e-01 -1.59859051e-04 3.26571200e+02] [ 2.10750322e-01 9.77539923e-01 -3.60497809e-05 1.03348030e+01] [ 1.63866107e-04 1.54975311e-06 9.99999987e-01 -2.15114610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.63, Y:10.35, Z:-0.22 [[ 9.77703675e-01 -2.09989282e-01 -1.59852789e-04 3.26627681e+02] [ 2.09989279e-01 9.77703688e-01 -3.60775277e-05 1.03459981e+01] [ 1.63864555e-04 1.70575956e-06 9.99999987e-01 -2.17289428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.68, Y:10.36, Z:-0.21 [[ 9.77317088e-01 -2.11781218e-01 -1.59849450e-04 3.26684738e+02] [ 2.11781215e-01 9.77317101e-01 -3.60923127e-05 1.03615645e+01] [ 1.63867275e-04 1.42052306e-06 9.99999987e-01 -2.14981610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.74, Y:10.38, Z:-0.22 [[ 9.76711176e-01 -2.14558273e-01 -1.59843214e-04 3.26740364e+02] [ 2.14558270e-01 9.76711189e-01 -3.61199097e-05 1.03753685e+01] [ 1.63870481e-04 9.83035900e-07 9.99999987e-01 -2.17817558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.80, Y:10.39, Z:-0.22 [[ 9.75029391e-01 -2.22075800e-01 -1.59840122e-04 3.26797829e+02] [ 2.22075797e-01 9.75029404e-01 -3.61335882e-05 1.03861036e+01] [ 1.63873215e-04 -2.65312074e-07 9.99999987e-01 -2.16870256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.86, Y:10.40, Z:-0.22 [[ 9.73181268e-01 -2.30039548e-01 -1.59833342e-04 3.26856218e+02] [ 2.30039545e-01 9.73181281e-01 -3.61635568e-05 1.03964617e+01] [ 1.63865864e-04 -1.57429309e-06 9.99999987e-01 -2.16056653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.91, Y:10.41, Z:-0.22 [[ 9.72590366e-01 -2.32525168e-01 -1.59827096e-04 3.26911721e+02] [ 2.32525165e-01 9.72590379e-01 -3.61911381e-05 1.04088108e+01] [ 1.63861646e-04 -1.96466967e-06 9.99999987e-01 -2.18091629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.97, Y:10.42, Z:-0.21 [[ 9.72851060e-01 -2.31432040e-01 -1.59824019e-04 3.26969269e+02] [ 2.31432037e-01 9.72851073e-01 -3.62047216e-05 1.04191121e+01] [ 1.63863901e-04 -1.76659654e-06 9.99999987e-01 -2.13031355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.03, Y:10.43, Z:-0.21 [[ 9.73898173e-01 -2.26985291e-01 -1.59820719e-04 3.27026102e+02] [ 2.26985289e-01 9.73898186e-01 -3.62192850e-05 1.04321153e+01] [ 1.63870353e-04 -1.00305637e-06 9.99999987e-01 -2.11439342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.08, Y:10.44, Z:-0.21 [[ 9.74519294e-01 -2.24303632e-01 -1.59817427e-04 3.27082178e+02] [ 2.24303629e-01 9.74519307e-01 -3.62338033e-05 1.04441608e+01] [ 1.63872542e-04 -5.37088456e-07 9.99999987e-01 -2.13674036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.14, Y:10.45, Z:-0.21 [[ 9.74698421e-01 -2.23523962e-01 -1.59815258e-04 3.27139637e+02] [ 2.23523959e-01 9.74698435e-01 -3.62433664e-05 1.04538312e+01] [ 1.63872943e-04 -3.96187217e-07 9.99999987e-01 -2.13140784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.20, Y:10.46, Z:-0.22 [[ 9.74026880e-01 -2.26432357e-01 -1.59808150e-04 3.27197471e+02] [ 2.26432354e-01 9.74026893e-01 -3.62746812e-05 1.04596115e+01] [ 1.63871197e-04 -8.53221166e-07 9.99999987e-01 -2.17998943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.26, Y:10.47, Z:-0.21 [[ 9.73791137e-01 -2.27444052e-01 -1.59805949e-04 3.27255629e+02] [ 2.27444049e-01 9.73791150e-01 -3.62843767e-05 1.04678764e+01] [ 1.63870284e-04 -1.01350750e-06 9.99999987e-01 -2.13881557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.31, Y:10.48, Z:-0.21 [[ 9.74191619e-01 -2.25722536e-01 -1.59799679e-04 3.27314345e+02] [ 2.25722533e-01 9.74191632e-01 -3.63119662e-05 1.04760243e+01] [ 1.63871940e-04 -6.95575241e-07 9.99999987e-01 -2.12598643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.37, Y:10.48, Z:-0.21 [[ 9.75495008e-01 -2.20021509e-01 -1.59793352e-04 3.27372789e+02] [ 2.20021506e-01 9.75495021e-01 -3.63397906e-05 1.04840165e+01] [ 1.63873155e-04 2.91310425e-07 9.99999987e-01 -2.09685723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.43, Y:10.49, Z:-0.21 [[ 9.77742842e-01 -2.09806838e-01 -1.59787050e-04 3.27429708e+02] [ 2.09806834e-01 9.77742855e-01 -3.63674779e-05 1.04934058e+01] [ 1.63860792e-04 2.03362609e-06 9.99999987e-01 -2.10373144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.49, Y:10.51, Z:-0.21 [[ 9.79732707e-01 -2.00309253e-01 -1.59783670e-04 3.27485950e+02] [ 2.00309250e-01 9.79732720e-01 -3.63823206e-05 1.05083431e+01] [ 1.63833006e-04 3.63880229e-06 9.99999987e-01 -2.14938448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.245336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:327.54, Y:10.52, Z:-0.22 [[ 9.79970461e-01 -1.99142837e-01 -1.59781475e-04 3.27543406e+02] [ 1.99142834e-01 9.79970474e-01 -3.63919611e-05 1.05222029e+01] [ 1.63828326e-04 3.84371119e-06 9.99999987e-01 -2.16341916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.60, Y:10.53, Z:-0.22 [[ 9.79920038e-01 -1.99390808e-01 -1.59775158e-04 3.27600837e+02] [ 1.99390805e-01 9.79920051e-01 -3.64196726e-05 1.05341794e+01] [ 1.63828629e-04 3.83066959e-06 9.99999987e-01 -2.19942886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.66, Y:10.55, Z:-0.22 [[ 9.78441335e-01 -2.06524884e-01 -1.59768887e-04 3.27657854e+02] [ 2.06524881e-01 9.78441348e-01 -3.64471619e-05 1.05457738e+01] [ 1.63851731e-04 2.66515935e-06 9.99999987e-01 -2.24063348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.72, Y:10.56, Z:-0.22 [[ 9.76254621e-01 -2.16626154e-01 -1.59766679e-04 3.27715030e+02] [ 2.16626151e-01 9.76254634e-01 -3.64568371e-05 1.05576163e+01] [ 1.63870465e-04 9.81514988e-07 9.99999987e-01 -2.18518035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.77, Y:10.57, Z:-0.21 [[ 9.74237758e-01 -2.25523313e-01 -1.59763424e-04 3.27773397e+02] [ 2.25523310e-01 9.74237771e-01 -3.64710953e-05 1.05651744e+01] [ 1.63872645e-04 -4.98858212e-07 9.99999987e-01 -2.07962481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.54533619499995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:327.83, Y:10.57, Z:-0.21 [[ 9.73375415e-01 -2.29216656e-01 -1.59756835e-04 3.27831168e+02] [ 2.29216653e-01 9.73375428e-01 -3.64999365e-05 1.05740067e+01] [ 1.63869771e-04 -1.09078617e-06 9.99999987e-01 -2.09444326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.89, Y:10.59, Z:-0.21 [[ 9.72992588e-01 -2.30836301e-01 -1.59754529e-04 3.27888963e+02] [ 2.30836298e-01 9.72992601e-01 -3.65100247e-05 1.05861066e+01] [ 1.63867814e-04 -1.35316075e-06 9.99999987e-01 -2.12195210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.95, Y:10.60, Z:-0.21 [[ 9.73822843e-01 -2.27308258e-01 -1.59748503e-04 3.27947685e+02] [ 2.27308255e-01 9.73822856e-01 -3.65363764e-05 1.05951451e+01] [ 1.63871763e-04 -7.32195406e-07 9.99999987e-01 -2.11241403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.01, Y:10.61, Z:-0.21 [[ 9.75378609e-01 -2.20536943e-01 -1.59742149e-04 3.28005208e+02] [ 2.20536940e-01 9.75378622e-01 -3.65641347e-05 1.06074366e+01] [ 1.63872820e-04 4.34830200e-07 9.99999987e-01 -2.10996050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.06, Y:10.62, Z:-0.21 [[ 9.76473559e-01 -2.15637110e-01 -1.59735555e-04 3.28061121e+02] [ 2.15637107e-01 9.76473572e-01 -3.65929201e-05 1.06222243e+01] [ 1.63868339e-04 1.28710616e-06 9.99999987e-01 -2.12134788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.12, Y:10.64, Z:-0.21 [[ 9.77476061e-01 -2.11046260e-01 -1.59733220e-04 3.28118523e+02] [ 2.11046257e-01 9.77476074e-01 -3.66031090e-05 1.06360456e+01] [ 1.63860350e-04 2.06756468e-06 9.99999987e-01 -2.06266485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.17, Y:10.65, Z:-0.21 [[ 9.77777294e-01 -2.09646223e-01 -1.59726811e-04 3.28174273e+02] [ 2.09646220e-01 9.77777307e-01 -3.66310545e-05 1.06518245e+01] [ 1.63856813e-04 2.33089128e-06 9.99999987e-01 -2.07071533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.23, Y:10.67, Z:-0.21 [[ 9.77736781e-01 -2.09835084e-01 -1.59723419e-04 3.28230276e+02] [ 2.09835081e-01 9.77736794e-01 -3.66458377e-05 1.06672990e+01] [ 1.63857046e-04 2.31440687e-06 9.99999987e-01 -2.06167482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.29, Y:10.68, Z:-0.21 [[ 9.77436115e-01 -2.11231190e-01 -1.59716099e-04 3.28285480e+02] [ 2.11231186e-01 9.77436128e-01 -3.66777145e-05 1.06838729e+01] [ 1.63859762e-04 2.11310175e-06 9.99999987e-01 -2.10395161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.34, Y:10.70, Z:-0.21 [[ 9.76702599e-01 -2.14597317e-01 -1.59713834e-04 3.28341743e+02] [ 2.14597314e-01 9.76702612e-01 -3.66875754e-05 1.06993655e+01] [ 1.63865974e-04 1.55869047e-06 9.99999987e-01 -2.09917783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.40, Y:10.71, Z:-0.21 [[ 9.75514519e-01 -2.19934985e-01 -1.59706717e-04 3.28398298e+02] [ 2.19934982e-01 9.75514532e-01 -3.67185304e-05 1.07141075e+01] [ 1.63871912e-04 6.94365604e-07 9.99999987e-01 -2.09077035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.46, Y:10.73, Z:-0.21 [[ 9.74591751e-01 -2.23988601e-01 -1.59699383e-04 3.28455414e+02] [ 2.23988598e-01 9.74591764e-01 -3.67503982e-05 1.07259454e+01] [ 1.63873374e-04 4.57941024e-08 9.99999987e-01 -2.11072390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.51, Y:10.74, Z:-0.21 [[ 9.74058546e-01 -2.26296099e-01 -1.59697130e-04 3.28513213e+02] [ 2.26296096e-01 9.74058559e-01 -3.67601871e-05 1.07384622e+01] [ 1.63873043e-04 -3.32262695e-07 9.99999987e-01 -2.13041337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.57, Y:10.76, Z:-0.21 [[ 9.74946441e-01 -2.22439679e-01 -1.59691043e-04 3.28569364e+02] [ 2.22439676e-01 9.74946454e-01 -3.67866125e-05 1.07551816e+01] [ 1.63873018e-04 3.43353173e-07 9.99999987e-01 -2.05482325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.63, Y:10.77, Z:-0.21 [[ 9.76090744e-01 -2.17363369e-01 -1.59684731e-04 3.28626284e+02] [ 2.17363366e-01 9.76090757e-01 -3.68139888e-05 1.07715299e+01] [ 1.63868803e-04 1.22418302e-06 9.99999987e-01 -2.07137676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.68, Y:10.79, Z:-0.22 [[ 9.77465091e-01 -2.11097065e-01 -1.59678328e-04 3.28681647e+02] [ 2.11097061e-01 9.77465104e-01 -3.68417404e-05 1.07890373e+01] [ 1.63857177e-04 2.30388923e-06 9.99999987e-01 -2.16371103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.74, Y:10.81, Z:-0.22 [[ 9.77774773e-01 -2.09657979e-01 -1.59676066e-04 3.28737765e+02] [ 2.09657976e-01 9.77774786e-01 -3.68515434e-05 1.08081598e+01] [ 1.63853451e-04 2.55514877e-06 9.99999987e-01 -2.19485931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.79, Y:10.82, Z:-0.22 [[ 9.77117549e-01 -2.12699951e-01 -1.59669836e-04 3.28793381e+02] [ 2.12699948e-01 9.77117563e-01 -3.68785175e-05 1.08241570e+01] [ 1.63860259e-04 2.07288101e-06 9.99999987e-01 -2.20980726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.85, Y:10.84, Z:-0.22 [[ 9.75028885e-01 -2.22078023e-01 -1.59667634e-04 3.28850580e+02] [ 2.22078020e-01 9.75028898e-01 -3.68880457e-05 1.08370118e+01] [ 1.63872582e-04 5.08237999e-07 9.99999987e-01 -2.18251405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.685336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:328.91, Y:10.85, Z:-0.22 [[ 9.72453272e-01 -2.33097852e-01 -1.59661300e-04 3.28906685e+02] [ 2.33097849e-01 9.72453285e-01 -3.69154436e-05 1.08494921e+01] [ 1.63868066e-04 -1.31816158e-06 9.99999987e-01 -2.15620179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.745336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:328.96, Y:10.86, Z:-0.21 [[ 9.70886391e-01 -2.39540371e-01 -1.59657959e-04 3.28964060e+02] [ 2.39540368e-01 9.70886405e-01 -3.69298850e-05 1.08589612e+01] [ 1.63855940e-04 -2.38980359e-06 9.99999987e-01 -2.14426650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.02, Y:10.87, Z:-0.22 [[ 9.69949605e-01 -2.43305853e-01 -1.59650637e-04 3.29021900e+02] [ 2.43305850e-01 9.69949618e-01 -3.69615131e-05 1.08668343e+01] [ 1.63846027e-04 -2.99312882e-06 9.99999987e-01 -2.16234858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.08, Y:10.88, Z:-0.21 [[ 9.70975965e-01 -2.39177027e-01 -1.59648379e-04 3.29079593e+02] [ 2.39177024e-01 9.70975978e-01 -3.69712624e-05 1.08777877e+01] [ 1.63857418e-04 -2.28601706e-06 9.99999987e-01 -2.12615476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.92533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.14, Y:10.89, Z:-0.21 [[ 9.73118881e-01 -2.30303316e-01 -1.59642106e-04 3.29137467e+02] [ 2.30303313e-01 9.73118894e-01 -3.69983317e-05 1.08876659e+01] [ 1.63871588e-04 -7.62330726e-07 9.99999987e-01 -2.12035746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.19, Y:10.90, Z:-0.21 [[ 9.74776893e-01 -2.23181505e-01 -1.59635867e-04 3.29194075e+02] [ 2.23181502e-01 9.74776906e-01 -3.70252298e-05 1.08999544e+01] [ 1.63872703e-04 4.63565924e-07 9.99999987e-01 -2.14042730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.25, Y:10.91, Z:-0.22 [[ 9.77064362e-01 -2.12944142e-01 -1.59633653e-04 3.29251237e+02] [ 2.12944139e-01 9.77064375e-01 -3.70347734e-05 1.09123601e+01] [ 1.63858693e-04 2.19230644e-06 9.99999987e-01 -2.18106351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.31, Y:10.93, Z:-0.22 [[ 9.77696148e-01 -2.10024323e-01 -1.59627524e-04 3.29308410e+02] [ 2.10024320e-01 9.77696161e-01 -3.70611725e-05 1.09259469e+01] [ 1.63850965e-04 2.70890346e-06 9.99999987e-01 -2.17304460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.36, Y:10.94, Z:-0.22 [[ 9.79292036e-01 -2.02452670e-01 -1.59621134e-04 3.29364254e+02] [ 2.02452667e-01 9.79292049e-01 -3.70886708e-05 1.09426749e+01] [ 1.63824408e-04 4.00491557e-06 9.99999987e-01 -2.17012200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.42, Y:10.96, Z:-0.22 [[ 9.79974736e-01 -1.99121799e-01 -1.59618884e-04 3.29420340e+02] [ 1.99121796e-01 9.79974749e-01 -3.70983516e-05 1.09569210e+01] [ 1.63809567e-04 4.57184834e-06 9.99999987e-01 -2.17170560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.28533619499996 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:329.47, Y:10.98, Z:-0.22 [[ 9.80347908e-01 -1.97276340e-01 -1.59616712e-04 3.29474871e+02] [ 1.97276336e-01 9.80347921e-01 -3.71076946e-05 1.09764969e+01] [ 1.63800382e-04 4.88985053e-06 9.99999987e-01 -2.16383469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.53, Y:11.00, Z:-0.22 [[ 9.79899769e-01 -1.99490391e-01 -1.59609478e-04 3.29529828e+02] [ 1.99490388e-01 9.79899782e-01 -3.71387851e-05 1.09974786e+01] [ 1.63810124e-04 4.55173029e-06 9.99999987e-01 -2.18814887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.58, Y:11.02, Z:-0.22 [[ 9.78809062e-01 -2.04774984e-01 -1.59603227e-04 3.29584641e+02] [ 2.04774981e-01 9.78809075e-01 -3.71656284e-05 1.10177602e+01] [ 1.63831678e-04 3.69530609e-06 9.99999987e-01 -2.19851880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.46533619499996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:329.64, Y:11.04, Z:-0.22 [[ 9.77080139e-01 -2.12871737e-01 -1.59596266e-04 3.29641116e+02] [ 2.12871734e-01 9.77080152e-01 -3.71954990e-05 1.10362432e+01] [ 1.63856214e-04 2.36944962e-06 9.99999987e-01 -2.19390766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.70, Y:11.05, Z:-0.22 [[ 9.75723069e-01 -2.19007917e-01 -1.59589837e-04 3.29696872e+02] [ 2.19007914e-01 9.75723082e-01 -3.72230610e-05 1.10527276e+01] [ 1.63867633e-04 1.36796203e-06 9.99999987e-01 -2.20306843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.75, Y:11.07, Z:-0.22 [[ 9.73863849e-01 -2.27132513e-01 -1.59587570e-04 3.29752794e+02] [ 2.27132510e-01 9.73863862e-01 -3.72327794e-05 1.10702448e+01] [ 1.63873342e-04 1.21326203e-08 9.99999987e-01 -2.20177217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.81, Y:11.09, Z:-0.22 [[ 9.72548458e-01 -2.32700388e-01 -1.59580560e-04 3.29809859e+02] [ 2.32700385e-01 9.72548471e-01 -3.72627982e-05 1.10863739e+01] [ 1.63870897e-04 -8.94580885e-07 9.99999987e-01 -2.21972702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.87, Y:11.10, Z:-0.22 [[ 9.71835763e-01 -2.35659129e-01 -1.59574450e-04 3.29865817e+02] [ 2.35659126e-01 9.71835776e-01 -3.72889447e-05 1.11005029e+01] [ 1.63867640e-04 -1.36644546e-06 9.99999987e-01 -2.18644098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.92, Y:11.12, Z:-0.22 [[ 9.71388566e-01 -2.37495746e-01 -1.59567107e-04 3.29922826e+02] [ 2.37495743e-01 9.71388579e-01 -3.73203429e-05 1.11165729e+01] [ 1.63865088e-04 -1.64395419e-06 9.99999987e-01 -2.15679208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.98, Y:11.13, Z:-0.22 [[ 9.70959272e-01 -2.39244785e-01 -1.59560668e-04 3.29978703e+02] [ 2.39244782e-01 9.70959285e-01 -3.73478523e-05 1.11307237e+01] [ 1.63862191e-04 -1.91081371e-06 9.99999987e-01 -2.18147440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.04, Y:11.14, Z:-0.22 [[ 9.70339065e-01 -2.41747953e-01 -1.59558405e-04 3.30035721e+02] [ 2.41747950e-01 9.70339078e-01 -3.73575177e-05 1.11433835e+01] [ 1.63856859e-04 -2.32345846e-06 9.99999987e-01 -2.16142170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.09, Y:11.15, Z:-0.21 [[ 9.69979871e-01 -2.43185166e-01 -1.59551116e-04 3.30093363e+02] [ 2.43185163e-01 9.69979884e-01 -3.73886205e-05 1.11531057e+01] [ 1.63853731e-04 -2.53425488e-06 9.99999987e-01 -2.12786935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.15, Y:11.16, Z:-0.21 [[ 9.70396900e-01 -2.41515696e-01 -1.59547733e-04 3.30150560e+02] [ 2.41515693e-01 9.70396913e-01 -3.74030519e-05 1.11614545e+01] [ 1.63858052e-04 -2.23747569e-06 9.99999987e-01 -2.13063002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.21, Y:11.17, Z:-0.21 [[ 9.71648457e-01 -2.36430223e-01 -1.59540517e-04 3.30208197e+02] [ 2.36430220e-01 9.71648470e-01 -3.74338039e-05 1.11726923e+01] [ 1.63867782e-04 -1.34770188e-06 9.99999987e-01 -2.13838092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.27, Y:11.18, Z:-0.22 [[ 9.73094191e-01 -2.30407617e-01 -1.59534223e-04 3.30265678e+02] [ 2.30407614e-01 9.73094204e-01 -3.74606109e-05 1.11835507e+01] [ 1.63873038e-04 -3.05196814e-07 9.99999987e-01 -2.15461950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.32, Y:11.19, Z:-0.22 [[ 9.75194156e-01 -2.21351150e-01 -1.59527865e-04 3.30322410e+02] [ 2.21351147e-01 9.75194170e-01 -3.74876650e-05 1.11948329e+01] [ 1.63868582e-04 1.24607580e-06 9.99999987e-01 -2.18870664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.38, Y:11.21, Z:-0.22 [[ 9.76198034e-01 -2.16881011e-01 -1.59525606e-04 3.30380481e+02] [ 2.16881007e-01 9.76198047e-01 -3.74972750e-05 1.12060224e+01] [ 1.63861032e-04 2.00669192e-06 9.99999987e-01 -2.19378265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.44, Y:11.21, Z:-0.22 [[ 9.75754152e-01 -2.18869387e-01 -1.59519473e-04 3.30438559e+02] [ 2.18869384e-01 9.75754166e-01 -3.75233504e-05 1.12126494e+01] [ 1.63864503e-04 1.69963621e-06 9.99999987e-01 -2.21444266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.50, Y:11.22, Z:-0.22 [[ 9.75123929e-01 -2.21660320e-01 -1.59517304e-04 3.30496508e+02] [ 2.21660317e-01 9.75123942e-01 -3.75325670e-05 1.12242890e+01] [ 1.63868623e-04 1.24024797e-06 9.99999987e-01 -2.16176355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.42533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.55, Y:11.23, Z:-0.21 [[ 9.74461349e-01 -2.24555236e-01 -1.59511059e-04 3.30553448e+02] [ 2.24555233e-01 9.74461362e-01 -3.75590905e-05 1.12338896e+01] [ 1.63871454e-04 7.80839025e-07 9.99999987e-01 -2.14402191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.61, Y:11.24, Z:-0.21 [[ 9.75305670e-01 -2.20859287e-01 -1.59508860e-04 3.30612118e+02] [ 2.20859284e-01 9.75305683e-01 -3.75684272e-05 1.12422321e+01] [ 1.63867234e-04 1.41168747e-06 9.99999987e-01 -2.12441635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.67, Y:11.25, Z:-0.21 [[ 9.76164466e-01 -2.17032050e-01 -1.59502644e-04 3.30668919e+02] [ 2.17032047e-01 9.76164479e-01 -3.75947977e-05 1.12530426e+01] [ 1.63860092e-04 2.08152024e-06 9.99999987e-01 -2.10544652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.73, Y:11.27, Z:-0.21 [[ 9.77243745e-01 -2.12119396e-01 -1.59495363e-04 3.30725767e+02] [ 2.12119392e-01 9.77243758e-01 -3.76256651e-05 1.12686628e+01] [ 1.63846981e-04 2.93738639e-06 9.99999987e-01 -2.12063094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.78, Y:11.28, Z:-0.21 [[ 9.77466520e-01 -2.11090448e-01 -1.59489043e-04 3.30780821e+02] [ 2.11090445e-01 9.77466533e-01 -3.76524359e-05 1.12814350e+01] [ 1.63843271e-04 3.13738251e-06 9.99999987e-01 -2.14803017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.84, Y:11.30, Z:-0.21 [[ 9.77406053e-01 -2.11370250e-01 -1.59485916e-04 3.30838279e+02] [ 2.11370247e-01 9.77406066e-01 -3.76656760e-05 1.12952629e+01] [ 1.63843905e-04 3.10408239e-06 9.99999987e-01 -2.12430368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.90, Y:11.31, Z:-0.21 [[ 9.77117611e-01 -2.12699669e-01 -1.59479701e-04 3.30895221e+02] [ 2.12699665e-01 9.77117624e-01 -3.76919715e-05 1.13080714e+01] [ 1.63847496e-04 2.90821014e-06 9.99999987e-01 -2.14750802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.95, Y:11.33, Z:-0.22 [[ 9.76570987e-01 -2.15195451e-01 -1.59473513e-04 3.30950956e+02] [ 2.15195447e-01 9.76571000e-01 -3.77181327e-05 1.13262030e+01] [ 1.63853979e-04 2.51646005e-06 9.99999987e-01 -2.19088516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.01, Y:11.34, Z:-0.22 [[ 9.76098519e-01 -2.17328452e-01 -1.59467323e-04 3.31008418e+02] [ 2.17328449e-01 9.76098532e-01 -3.77442850e-05 1.13400669e+01] [ 1.63858727e-04 2.18535466e-06 9.99999987e-01 -2.19477365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.07, Y:11.36, Z:-0.22 [[ 9.76360927e-01 -2.16146513e-01 -1.59460924e-04 3.31065074e+02] [ 2.16146510e-01 9.76360940e-01 -3.77713027e-05 1.13578508e+01] [ 1.63855553e-04 2.41150200e-06 9.99999987e-01 -2.16284443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.12, Y:11.38, Z:-0.22 [[ 9.77102321e-01 -2.12769896e-01 -1.59454491e-04 3.31119707e+02] [ 2.12769893e-01 9.77102334e-01 -3.77984406e-05 1.13771504e+01] [ 1.63845725e-04 3.00582915e-06 9.99999987e-01 -2.16214649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.18, Y:11.39, Z:-0.21 [[ 9.77645893e-01 -2.10258134e-01 -1.59452223e-04 3.31176278e+02] [ 2.10258131e-01 9.77645906e-01 -3.78080049e-05 1.13936539e+01] [ 1.63837253e-04 3.43671436e-06 9.99999987e-01 -2.13720053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.23, Y:11.42, Z:-0.21 [[ 9.78017259e-01 -2.08523896e-01 -1.59445954e-04 3.31230763e+02] [ 2.08523893e-01 9.78017272e-01 -3.78344256e-05 1.14180002e+01] [ 1.63830278e-04 3.75443034e-06 9.99999987e-01 -2.12107372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.29, Y:11.44, Z:-0.21 [[ 9.77265638e-01 -2.12018506e-01 -1.59439728e-04 3.31285998e+02] [ 2.12018503e-01 9.77265651e-01 -3.78606438e-05 1.14403202e+01] [ 1.63842127e-04 3.19573386e-06 9.99999987e-01 -2.13274512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.34, Y:11.46, Z:-0.21 [[ 9.75815482e-01 -2.18595789e-01 -1.59433379e-04 3.31340584e+02] [ 2.18595785e-01 9.75815495e-01 -3.78873604e-05 1.14628023e+01] [ 1.63859579e-04 2.11960817e-06 9.99999987e-01 -2.13499601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.40, Y:11.48, Z:-0.21 [[ 9.74508701e-01 -2.24349650e-01 -1.59431137e-04 3.31395197e+02] [ 2.24349647e-01 9.74508714e-01 -3.78967911e-05 1.14829401e+01] [ 1.63869164e-04 1.16243330e-06 9.99999987e-01 -2.11442502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.45, Y:11.50, Z:-0.21 [[ 9.72303089e-01 -2.33723508e-01 -1.59423731e-04 3.31450228e+02] [ 2.33723505e-01 9.72303102e-01 -3.79279218e-05 1.15049526e+01] [ 1.63872835e-04 -3.83637703e-07 9.99999987e-01 -2.11467027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.51, Y:11.52, Z:-0.21 [[ 9.69755751e-01 -2.44077360e-01 -1.59417311e-04 3.31506060e+02] [ 2.44077357e-01 9.69755764e-01 -3.79548863e-05 1.15210180e+01] [ 1.63859785e-04 -2.10318664e-06 9.99999987e-01 -2.10482461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.56, Y:11.54, Z:-0.21 [[ 9.68179183e-01 -2.50257957e-01 -1.59409898e-04 3.31561171e+02] [ 2.50257954e-01 9.68179196e-01 -3.79859959e-05 1.15379558e+01] [ 1.63843645e-04 -3.11634449e-06 9.99999987e-01 -2.13816611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.62, Y:11.55, Z:-0.21 [[ 9.66320624e-01 -2.57341069e-01 -1.59407625e-04 3.31616820e+02] [ 2.57341066e-01 9.66320637e-01 -3.79955320e-05 1.15531475e+01] [ 1.63816689e-04 -4.30626201e-06 9.99999987e-01 -2.14449119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.67, Y:11.56, Z:-0.22 [[ 9.65062472e-01 -2.62019845e-01 -1.59400522e-04 3.31673939e+02] [ 2.62019842e-01 9.65062486e-01 -3.80253079e-05 1.15626675e+01] [ 1.63794849e-04 -5.06930197e-06 9.99999987e-01 -2.18844432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.73, Y:11.57, Z:-0.21 [[ 9.64350856e-01 -2.64626909e-01 -1.59397288e-04 3.31732304e+02] [ 2.64626906e-01 9.64350869e-01 -3.80388579e-05 1.15722305e+01] [ 1.63781019e-04 -5.49800611e-06 9.99999987e-01 -2.14120453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.79, Y:11.58, Z:-0.21 [[ 9.64253662e-01 -2.64980849e-01 -1.59390894e-04 3.31789452e+02] [ 2.64980846e-01 9.64253675e-01 -3.80656327e-05 1.15795606e+01] [ 1.63779919e-04 -5.53060831e-06 9.99999987e-01 -2.13581598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.85, Y:11.58, Z:-0.21 [[ 9.64625184e-01 -2.63625167e-01 -1.59388199e-04 3.31848933e+02] [ 2.63625165e-01 9.64625197e-01 -3.80769132e-05 1.15806217e+01] [ 1.63787906e-04 -5.28879091e-06 9.99999987e-01 -2.11869146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.91, Y:11.58, Z:-0.21 [[ 9.66162295e-01 -2.57934863e-01 -1.59380946e-04 3.31908319e+02] [ 2.57934861e-01 9.66162308e-01 -3.81072486e-05 1.15795998e+01] [ 1.63817051e-04 -4.29211531e-06 9.99999987e-01 -2.11602468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.92533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.97, Y:11.58, Z:-0.21 [[ 9.69132517e-01 -2.46540340e-01 -1.59373610e-04 3.31967024e+02] [ 2.46540337e-01 9.69132530e-01 -3.81379046e-05 1.15836164e+01] [ 1.63856682e-04 -2.33134014e-06 9.99999987e-01 -2.10562381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.03, Y:11.59, Z:-0.21 [[ 9.72876275e-01 -2.31326021e-01 -1.59371328e-04 3.32026696e+02] [ 2.31326018e-01 9.72876288e-01 -3.81474378e-05 1.15882464e+01] [ 1.63873081e-04 2.46002420e-07 9.99999987e-01 -2.11473000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.08, Y:11.60, Z:-0.21 [[ 9.74970646e-01 -2.22333566e-01 -1.59364963e-04 3.32084148e+02] [ 2.22333562e-01 9.74970659e-01 -3.81740094e-05 1.15965879e+01] [ 1.63863527e-04 1.78635852e-06 9.99999987e-01 -2.11104350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.14, Y:11.60, Z:-0.21 [[ 9.76905991e-01 -2.13669511e-01 -1.59357485e-04 3.32141744e+02] [ 2.13669508e-01 9.76906004e-01 -3.82052012e-05 1.16043508e+01] [ 1.63840571e-04 3.27305452e-06 9.99999987e-01 -2.13697666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.20, Y:11.62, Z:-0.21 [[ 9.77666907e-01 -2.10160399e-01 -1.59355164e-04 3.32198747e+02] [ 2.10160396e-01 9.77666920e-01 -3.82148812e-05 1.16165932e+01] [ 1.63827527e-04 3.87128044e-06 9.99999987e-01 -2.14741398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.25, Y:11.63, Z:-0.21 [[ 9.77759167e-01 -2.09730746e-01 -1.59347958e-04 3.32254814e+02] [ 2.09730742e-01 9.77759180e-01 -3.82449053e-05 1.16293332e+01] [ 1.63825061e-04 3.97414125e-06 9.99999987e-01 -2.14683017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.31, Y:11.64, Z:-0.21 [[ 9.77303115e-01 -2.11845689e-01 -1.59344795e-04 3.32311621e+02] [ 2.11845685e-01 9.77303128e-01 -3.82580777e-05 1.16403600e+01] [ 1.63832976e-04 3.63323117e-06 9.99999987e-01 -2.13518457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.37, Y:11.66, Z:-0.21 [[ 9.76605812e-01 -2.15037353e-01 -1.59337212e-04 3.32367770e+02] [ 2.15037349e-01 9.76605825e-01 -3.82896328e-05 1.16576168e+01] [ 1.63843351e-04 3.13042609e-06 9.99999987e-01 -2.11963344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.42, Y:11.67, Z:-0.21 [[ 9.76235783e-01 -2.16711030e-01 -1.59330580e-04 3.32424700e+02] [ 2.16711027e-01 9.76235796e-01 -3.83172106e-05 1.16739520e+01] [ 1.63847978e-04 2.87793851e-06 9.99999987e-01 -2.10474928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.48, Y:11.69, Z:-0.21 [[ 9.75543650e-01 -2.19805736e-01 -1.59323943e-04 3.32480736e+02] [ 2.19805733e-01 9.75543663e-01 -3.83447873e-05 1.16895562e+01] [ 1.63855867e-04 2.38669765e-06 9.99999987e-01 -2.11039698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.54, Y:11.71, Z:-0.21 [[ 9.74411682e-01 -2.24770656e-01 -1.59316392e-04 3.32535606e+02] [ 2.24770653e-01 9.74411695e-01 -3.83761362e-05 1.17065743e+01] [ 1.63865585e-04 1.58450605e-06 9.99999987e-01 -2.11371604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.59, Y:11.73, Z:-0.21 [[ 9.73185376e-01 -2.30022170e-01 -1.59312622e-04 3.32590795e+02] [ 2.30022167e-01 9.73185389e-01 -3.83917818e-05 1.17276010e+01] [ 1.63871677e-04 7.16886127e-07 9.99999987e-01 -2.09810035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.65, Y:11.74, Z:-0.21 [[ 9.72508050e-01 -2.32869206e-01 -1.59306264e-04 3.32646123e+02] [ 2.32869203e-01 9.72508063e-01 -3.84181436e-05 1.17430632e+01] [ 1.63873029e-04 2.64431118e-07 9.99999987e-01 -2.12349417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.70, Y:11.76, Z:-0.21 [[ 9.72086811e-01 -2.34621412e-01 -1.59304025e-04 3.32702856e+02] [ 2.34621409e-01 9.72086824e-01 -3.84274273e-05 1.17572220e+01] [ 1.63873241e-04 -2.13395121e-08 9.99999987e-01 -2.09803094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.76, Y:11.78, Z:-0.21 [[ 9.71800000e-01 -2.35806562e-01 -1.59297399e-04 3.32759491e+02] [ 2.35806558e-01 9.71800013e-01 -3.84548741e-05 1.17751909e+01] [ 1.63873126e-04 -1.92924780e-07 9.99999987e-01 -2.06733692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.82, Y:11.79, Z:-0.21 [[ 9.71763940e-01 -2.35955124e-01 -1.59290782e-04 3.32815053e+02] [ 2.35955120e-01 9.71763953e-01 -3.84822640e-05 1.17905659e+01] [ 1.63873127e-04 -1.89799242e-07 9.99999987e-01 -2.08080309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.87, Y:11.80, Z:-0.21 [[ 9.71180875e-01 -2.38343622e-01 -1.59288456e-04 3.32873477e+02] [ 2.38343619e-01 9.71180888e-01 -3.84918897e-05 1.17976434e+01] [ 1.63872201e-04 -5.82799928e-07 9.99999987e-01 -2.10247018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.93, Y:11.81, Z:-0.21 [[ 9.70785053e-01 -2.39950735e-01 -1.59281951e-04 3.32928948e+02] [ 2.39950732e-01 9.70785066e-01 -3.85187901e-05 1.18106921e+01] [ 1.63871151e-04 -8.26354973e-07 9.99999987e-01 -2.11449836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.99, Y:11.82, Z:-0.22 [[ 9.69573340e-01 -2.44800965e-01 -1.59278739e-04 3.32988135e+02] [ 2.44800962e-01 9.69573353e-01 -3.85320686e-05 1.18179406e+01] [ 1.63865108e-04 -1.63192198e-06 9.99999987e-01 -2.16008843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.05, Y:11.83, Z:-0.22 [[ 9.69509201e-01 -2.45054858e-01 -1.59275415e-04 3.33046647e+02] [ 2.45054855e-01 9.69509214e-01 -3.85458033e-05 1.18268458e+01] [ 1.63864818e-04 -1.66070271e-06 9.99999987e-01 -2.17790294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.10, Y:11.83, Z:-0.22 [[ 9.71170415e-01 -2.38386239e-01 -1.59269063e-04 3.33104859e+02] [ 2.38386235e-01 9.71170429e-01 -3.85720288e-05 1.18332337e+01] [ 1.63872445e-04 -5.07539213e-07 9.99999987e-01 -2.16035749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.16, Y:11.84, Z:-0.22 [[ 9.73786835e-01 -2.27462469e-01 -1.59261794e-04 3.33162232e+02] [ 2.27462465e-01 9.73786848e-01 -3.86020195e-05 1.18430786e+01] [ 1.63867551e-04 1.36405807e-06 9.99999987e-01 -2.16350736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.22, Y:11.85, Z:-0.22 [[ 9.75462402e-01 -2.20166023e-01 -1.59254482e-04 3.33218920e+02] [ 2.20166019e-01 9.75462415e-01 -3.86321615e-05 1.18542903e+01] [ 1.63852251e-04 2.62179564e-06 9.99999987e-01 -2.16393782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.27, Y:11.87, Z:-0.21 [[ 9.75798467e-01 -2.18671734e-01 -1.59247087e-04 3.33274928e+02] [ 2.18671730e-01 9.75798480e-01 -3.86626201e-05 1.18668146e+01] [ 1.63847488e-04 2.90408930e-06 9.99999987e-01 -2.13945776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.33, Y:11.87, Z:-0.21 [[ 9.75061377e-01 -2.21935320e-01 -1.59243102e-04 3.33332695e+02] [ 2.21935317e-01 9.75061390e-01 -3.86790294e-05 1.18746411e+01] [ 1.63856043e-04 2.37275941e-06 9.99999987e-01 -2.11885871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.42533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.39, Y:11.89, Z:-0.21 [[ 9.73943696e-01 -2.26789883e-01 -1.59235657e-04 3.33390126e+02] [ 2.26789880e-01 9.73943709e-01 -3.87096536e-05 1.18867181e+01] [ 1.63865524e-04 1.58798763e-06 9.99999987e-01 -2.09481519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.45, Y:11.90, Z:-0.21 [[ 9.71662301e-01 -2.36373323e-01 -1.59229085e-04 3.33447911e+02] [ 2.36373320e-01 9.71662314e-01 -3.87366696e-05 1.18963710e+01] [ 1.63873216e-04 1.45407575e-09 9.99999987e-01 -2.10818816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.51, Y:11.90, Z:-0.21 [[ 9.69490580e-01 -2.45128519e-01 -1.59222383e-04 3.33506241e+02] [ 2.45128516e-01 9.69490593e-01 -3.87641984e-05 1.19001085e+01] [ 1.63866813e-04 -1.44842116e-06 9.99999987e-01 -2.11973635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.56, Y:11.91, Z:-0.21 [[ 9.68840416e-01 -2.47685735e-01 -1.59214776e-04 3.33562479e+02] [ 2.47685732e-01 9.68840429e-01 -3.87954153e-05 1.19093901e+01] [ 1.63862783e-04 -1.84866208e-06 9.99999987e-01 -2.13046052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.62, Y:11.92, Z:-0.21 [[ 9.69443448e-01 -2.45314850e-01 -1.59211485e-04 3.33620808e+02] [ 2.45314847e-01 9.69443461e-01 -3.88089178e-05 1.19185192e+01] [ 1.63866937e-04 -1.43388995e-06 9.99999987e-01 -2.09704716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.68, Y:11.93, Z:-0.22 [[ 9.71472098e-01 -2.37153825e-01 -1.59204473e-04 3.33677773e+02] [ 2.37153822e-01 9.71472111e-01 -3.88376593e-05 1.19282445e+01] [ 1.63873205e-04 -2.62468977e-08 9.99999987e-01 -2.17582967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.74, Y:11.94, Z:-0.21 [[ 9.73282608e-01 -2.29610410e-01 -1.59200807e-04 3.33735481e+02] [ 2.29610407e-01 9.73282621e-01 -3.88526837e-05 1.19387761e+01] [ 1.63868359e-04 1.26047941e-06 9.99999987e-01 -2.13494178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.79, Y:11.95, Z:-0.21 [[ 9.74159521e-01 -2.25861022e-01 -1.59194365e-04 3.33792400e+02] [ 2.25861019e-01 9.74159534e-01 -3.88790588e-05 1.19523937e+01] [ 1.63861973e-04 1.91860381e-06 9.99999987e-01 -2.08813983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.85, Y:11.96, Z:-0.20 [[ 9.74820437e-01 -2.22991236e-01 -1.59187990e-04 3.33849378e+02] [ 2.22991232e-01 9.74820450e-01 -3.89051420e-05 1.19647022e+01] [ 1.63855214e-04 2.42800130e-06 9.99999987e-01 -2.04113453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.91, Y:11.98, Z:-0.21 [[ 9.75417597e-01 -2.20364439e-01 -1.59185727e-04 3.33905491e+02] [ 2.20364436e-01 9.75417610e-01 -3.89144024e-05 1.19783379e+01] [ 1.63847912e-04 2.87891995e-06 9.99999987e-01 -2.06449153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.96, Y:12.00, Z:-0.21 [[ 9.76414899e-01 -2.15902572e-01 -1.59182353e-04 3.33961109e+02] [ 2.15902568e-01 9.76414912e-01 -3.89281989e-05 1.19989692e+01] [ 1.63832721e-04 3.64219463e-06 9.99999987e-01 -2.09666913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.02, Y:12.02, Z:-0.21 [[ 9.77068095e-01 -2.12927014e-01 -1.59175851e-04 3.34016475e+02] [ 2.12927010e-01 9.77068108e-01 -3.89547671e-05 1.20173271e+01] [ 1.63820170e-04 4.16862208e-06 9.99999987e-01 -2.12577543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.07, Y:12.04, Z:-0.22 [[ 9.76696433e-01 -2.14625377e-01 -1.59172441e-04 3.34070580e+02] [ 2.14625374e-01 9.76696446e-01 -3.89686929e-05 1.20413400e+01] [ 1.63826828e-04 3.89813863e-06 9.99999987e-01 -2.15222729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.13, Y:12.06, Z:-0.22 [[ 9.74464941e-01 -2.24539649e-01 -1.59165174e-04 3.34125592e+02] [ 2.24539645e-01 9.74464954e-01 -3.89983520e-05 1.20620295e+01] [ 1.63857561e-04 2.26363502e-06 9.99999987e-01 -2.15337365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.18, Y:12.08, Z:-0.21 [[ 9.71887100e-01 -2.35447317e-01 -1.59161777e-04 3.34182171e+02] [ 2.35447314e-01 9.71887113e-01 -3.90122121e-05 1.20766476e+01] [ 1.63872601e-04 4.41252790e-07 9.99999987e-01 -2.14989964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.24, Y:12.09, Z:-0.21 [[ 9.67281596e-01 -2.53705123e-01 -1.59154304e-04 3.34239701e+02] [ 2.53705120e-01 9.67281609e-01 -3.90426757e-05 1.20878733e+01] [ 1.63852358e-04 -2.61300021e-06 9.99999987e-01 -2.12664069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.30, Y:12.10, Z:-0.21 [[ 9.63847515e-01 -2.66454390e-01 -1.59147818e-04 3.34295954e+02] [ 2.66454387e-01 9.63847528e-01 -3.90690948e-05 1.21035001e+01] [ 1.63804363e-04 -4.74898440e-06 9.99999987e-01 -2.10612516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.35, Y:12.11, Z:-0.21 [[ 9.63215804e-01 -2.68729028e-01 -1.59140205e-04 3.34352566e+02] [ 2.68729025e-01 9.63215817e-01 -3.91000834e-05 1.21139533e+01] [ 1.63793690e-04 -5.10377379e-06 9.99999987e-01 -2.13842505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.41, Y:12.13, Z:-0.21 [[ 9.64919730e-01 -2.62545023e-01 -1.59137867e-04 3.34409318e+02] [ 2.62545021e-01 9.64919743e-01 -3.91095947e-05 1.21252729e+01] [ 1.63823299e-04 -4.04323508e-06 9.99999987e-01 -2.11040818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.47, Y:12.14, Z:-0.21 [[ 9.66499153e-01 -2.56669751e-01 -1.59130258e-04 3.34466352e+02] [ 2.56669748e-01 9.66499166e-01 -3.91405291e-05 1.21400042e+01] [ 1.63845452e-04 -3.01463515e-06 9.99999987e-01 -2.10077346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.52, Y:12.15, Z:-0.21 [[ 9.68472693e-01 -2.49119687e-01 -1.59123574e-04 3.34522982e+02] [ 2.49119684e-01 9.68472706e-01 -3.91676863e-05 1.21512438e+01] [ 1.63864280e-04 -1.70797979e-06 9.99999987e-01 -2.12964013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.58, Y:12.16, Z:-0.21 [[ 9.69325349e-01 -2.45781085e-01 -1.59120034e-04 3.34580514e+02] [ 2.45781082e-01 9.69325362e-01 -3.91820613e-05 1.21611252e+01] [ 1.63869294e-04 -1.12852888e-06 9.99999987e-01 -2.10680318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.64, Y:12.17, Z:-0.22 [[ 9.69870280e-01 -2.43621868e-01 -1.59112374e-04 3.34637138e+02] [ 2.43621865e-01 9.69870293e-01 -3.92131418e-05 1.21738521e+01] [ 1.63871544e-04 -7.31592532e-07 9.99999987e-01 -2.15975320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.69, Y:12.18, Z:-0.21 [[ 9.70303171e-01 -2.41891981e-01 -1.59110003e-04 3.34694768e+02] [ 2.41891978e-01 9.70303184e-01 -3.92227595e-05 1.21837203e+01] [ 1.63872614e-04 -4.29465541e-07 9.99999987e-01 -2.14338446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.75, Y:12.20, Z:-0.21 [[ 9.70373081e-01 -2.41611378e-01 -1.59107630e-04 3.34751360e+02] [ 2.41611375e-01 9.70373094e-01 -3.92323860e-05 1.21963531e+01] [ 1.63872754e-04 -3.72161873e-07 9.99999987e-01 -2.14595215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.92533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.81, Y:12.21, Z:-0.22 [[ 9.70524690e-01 -2.41001660e-01 -1.59099980e-04 3.34809138e+02] [ 2.41001657e-01 9.70524703e-01 -3.92633826e-05 1.22077415e+01] [ 1.63873001e-04 -2.37276611e-07 9.99999987e-01 -2.16003652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.86, Y:12.22, Z:-0.22 [[ 9.70802265e-01 -2.39881089e-01 -1.59093199e-04 3.34864565e+02] [ 2.39881086e-01 9.70802278e-01 -3.92908415e-05 1.22205696e+01] [ 1.63873170e-04 -1.98112848e-08 9.99999987e-01 -2.17526607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.92, Y:12.23, Z:-0.22 [[ 9.71463318e-01 -2.37189790e-01 -1.59089849e-04 3.34921488e+02] [ 2.37189787e-01 9.71463331e-01 -3.93044013e-05 1.22316541e+01] [ 1.63872557e-04 4.48296769e-07 9.99999987e-01 -2.17052553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.98, Y:12.25, Z:-0.21 [[ 9.72723755e-01 -2.31966530e-01 -1.59087485e-04 3.34978366e+02] [ 2.31966527e-01 9.72723768e-01 -3.93139646e-05 1.22470061e+01] [ 1.63867702e-04 1.33865587e-06 9.99999987e-01 -2.13652601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.03, Y:12.26, Z:-0.21 [[ 9.73736790e-01 -2.27676608e-01 -1.59080719e-04 3.35033589e+02] [ 2.27676605e-01 9.73736803e-01 -3.93413269e-05 1.22647401e+01] [ 1.63859850e-04 2.08913941e-06 9.99999987e-01 -2.13086495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.09, Y:12.29, Z:-0.22 [[ 9.75481021e-01 -2.20083514e-01 -1.59077159e-04 3.35088442e+02] [ 2.20083510e-01 9.75481034e-01 -3.93557156e-05 1.22871408e+01] [ 1.63838295e-04 3.38049411e-06 9.99999987e-01 -2.15915883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.14, Y:12.31, Z:-0.22 [[ 9.76573087e-01 -2.15185919e-01 -1.59070666e-04 3.35141624e+02] [ 2.15185915e-01 9.76573100e-01 -3.93819398e-05 1.23089442e+01] [ 1.63818573e-04 4.22957555e-06 9.99999987e-01 -2.16822853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.20, Y:12.33, Z:-0.21 [[ 9.76223986e-01 -2.16764165e-01 -1.59067471e-04 3.35195896e+02] [ 2.16764161e-01 9.76223999e-01 -3.93948412e-05 1.23314109e+01] [ 1.63824873e-04 3.97806196e-06 9.99999987e-01 -2.14510337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.25, Y:12.35, Z:-0.22 [[ 9.75008856e-01 -2.22165941e-01 -1.59059662e-04 3.35249776e+02] [ 2.22165938e-01 9.75008869e-01 -3.94263468e-05 1.23509373e+01] [ 1.63843772e-04 3.10339837e-06 9.99999987e-01 -2.17571133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.31, Y:12.37, Z:-0.22 [[ 9.71977589e-01 -2.35073481e-01 -1.59056272e-04 3.35306785e+02] [ 2.35073477e-01 9.71977602e-01 -3.94400181e-05 1.23674176e+01] [ 1.63870436e-04 9.44902812e-07 9.99999987e-01 -2.18029130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.36, Y:12.38, Z:-0.22 [[ 9.68980468e-01 -2.47137266e-01 -1.59050081e-04 3.35362250e+02] [ 2.47137263e-01 9.68980481e-01 -3.94649698e-05 1.23827465e+01] [ 1.63869688e-04 -1.06641671e-06 9.99999987e-01 -2.21655531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.42, Y:12.40, Z:-0.22 [[ 9.67449857e-01 -2.53062738e-01 -1.59047734e-04 3.35419026e+02] [ 2.53062735e-01 9.67449870e-01 -3.94744265e-05 1.23982411e+01] [ 1.63860216e-04 -2.05952611e-06 9.99999987e-01 -2.15726108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.47, Y:12.41, Z:-0.22 [[ 9.67461216e-01 -2.53019308e-01 -1.59041121e-04 3.35474905e+02] [ 2.53019305e-01 9.67461229e-01 -3.95010490e-05 1.24121562e+01] [ 1.63860647e-04 -2.02474114e-06 9.99999987e-01 -2.15440237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.53, Y:12.43, Z:-0.22 [[ 9.68596145e-01 -2.48639262e-01 -1.59033607e-04 3.35529446e+02] [ 2.48639259e-01 9.68596158e-01 -3.95312785e-05 1.24291047e+01] [ 1.63868369e-04 -1.25215426e-06 9.99999987e-01 -2.17119876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.58, Y:12.45, Z:-0.21 [[ 9.69789581e-01 -2.43942910e-01 -1.59028523e-04 3.35584728e+02] [ 2.43942907e-01 9.69789594e-01 -3.95517194e-05 1.24470289e+01] [ 1.63872569e-04 -4.37034844e-07 9.99999987e-01 -2.14639366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.64, Y:12.46, Z:-0.22 [[ 9.71395665e-01 -2.37466706e-01 -1.59020880e-04 3.35639530e+02] [ 2.37466703e-01 9.71395678e-01 -3.95824278e-05 1.24642796e+01] [ 1.63871704e-04 6.88034801e-07 9.99999987e-01 -2.16266618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.70, Y:12.48, Z:-0.22 [[ 9.71754571e-01 -2.35993702e-01 -1.59017566e-04 3.35695620e+02] [ 2.35993699e-01 9.71754585e-01 -3.95957338e-05 1.24809469e+01] [ 1.63870393e-04 9.50191658e-07 9.99999987e-01 -2.15450907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.75, Y:12.50, Z:-0.21 [[ 9.71281816e-01 -2.37931942e-01 -1.59010761e-04 3.35751937e+02] [ 2.37931939e-01 9.71281829e-01 -3.96230456e-05 1.24975825e+01] [ 1.63871851e-04 6.51405160e-07 9.99999987e-01 -2.13428989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.81, Y:12.52, Z:-0.21 [[ 9.70555944e-01 -2.40875767e-01 -1.59003902e-04 3.35807004e+02] [ 2.40875763e-01 9.70555957e-01 -3.96505496e-05 1.25173094e+01] [ 1.63873041e-04 1.82890291e-07 9.99999987e-01 -2.10281859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.86, Y:12.53, Z:-0.21 [[ 9.70236277e-01 -2.42160158e-01 -1.59001488e-04 3.35862048e+02] [ 2.42160155e-01 9.70236290e-01 -3.96602288e-05 1.25336913e+01] [ 1.63873141e-04 -2.40321774e-08 9.99999987e-01 -2.11839287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.92, Y:12.55, Z:-0.21 [[ 9.69711248e-01 -2.44254111e-01 -1.58999105e-04 3.35919176e+02] [ 2.44254108e-01 9.69711261e-01 -3.96697808e-05 1.25495819e+01] [ 1.63872729e-04 -3.67951879e-07 9.99999987e-01 -2.10994737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.98, Y:12.57, Z:-0.21 [[ 9.69758034e-01 -2.44068290e-01 -1.58992563e-04 3.35975521e+02] [ 2.44068287e-01 9.69758047e-01 -3.96959803e-05 1.25660650e+01] [ 1.63872848e-04 -3.09546683e-07 9.99999987e-01 -2.07677593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.03, Y:12.58, Z:-0.21 [[ 9.70105453e-01 -2.42683712e-01 -1.58985879e-04 3.36031392e+02] [ 2.42683709e-01 9.70105466e-01 -3.97227321e-05 1.25797678e+01] [ 1.63873131e-04 -4.80438407e-08 9.99999987e-01 -2.09189520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.09, Y:12.60, Z:-0.21 [[ 9.70692956e-01 -2.40323033e-01 -1.58983523e-04 3.36087838e+02] [ 2.40323030e-01 9.70692969e-01 -3.97321593e-05 1.25970527e+01] [ 1.63872741e-04 3.60325085e-07 9.99999987e-01 -2.09855131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.14, Y:12.61, Z:-0.21 [[ 9.72111046e-01 -2.34520976e-01 -1.58976977e-04 3.36144205e+02] [ 2.34520973e-01 9.72111059e-01 -3.97583366e-05 1.26132196e+01] [ 1.63867441e-04 1.36608300e-06 9.99999987e-01 -2.11719895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.42533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.20, Y:12.63, Z:-0.21 [[ 9.73465775e-01 -2.28832601e-01 -1.58970395e-04 3.36199663e+02] [ 2.28832597e-01 9.73465788e-01 -3.97846349e-05 1.26279584e+01] [ 1.63856262e-04 2.35137210e-06 9.99999987e-01 -2.10270142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.26, Y:12.65, Z:-0.21 [[ 9.74187208e-01 -2.25741573e-01 -1.58968066e-04 3.36255665e+02] [ 2.25741569e-01 9.74187221e-01 -3.97939400e-05 1.26465134e+01] [ 1.63847805e-04 2.88104661e-06 9.99999987e-01 -2.08135801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.31, Y:12.67, Z:-0.21 [[ 9.74682430e-01 -2.23593685e-01 -1.58961609e-04 3.36310780e+02] [ 2.23593682e-01 9.74682443e-01 -3.98197172e-05 1.26660885e+01] [ 1.63840526e-04 3.26876736e-06 9.99999987e-01 -2.07647574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.37, Y:12.68, Z:-0.21 [[ 9.74045117e-01 -2.26353893e-01 -1.58954119e-04 3.36367124e+02] [ 2.26353889e-01 9.74045130e-01 -3.98495913e-05 1.26843146e+01] [ 1.63848596e-04 2.83541675e-06 9.99999987e-01 -2.07425564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.42, Y:12.70, Z:-0.21 [[ 9.72905615e-01 -2.31202594e-01 -1.58947570e-04 3.36423058e+02] [ 2.31202591e-01 9.72905628e-01 -3.98756973e-05 1.27014807e+01] [ 1.63860350e-04 2.04619987e-06 9.99999987e-01 -2.09255307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.48, Y:12.72, Z:-0.21 [[ 9.72567767e-01 -2.32619675e-01 -1.58940952e-04 3.36479155e+02] [ 2.32619672e-01 9.72567780e-01 -3.99020583e-05 1.27167964e+01] [ 1.63862853e-04 1.83466355e-06 9.99999987e-01 -2.10118104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.54, Y:12.74, Z:-0.21 [[ 9.72317382e-01 -2.33664039e-01 -1.58933410e-04 3.36535354e+02] [ 2.33664035e-01 9.72317395e-01 -3.99320780e-05 1.27358587e+01] [ 1.63864409e-04 1.68963177e-06 9.99999987e-01 -2.13382141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.59, Y:12.76, Z:-0.22 [[ 9.72366559e-01 -2.33459310e-01 -1.58926795e-04 3.36590066e+02] [ 2.33459306e-01 9.72366572e-01 -3.99583850e-05 1.27572420e+01] [ 1.63863760e-04 1.75125796e-06 9.99999987e-01 -2.15639790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.65, Y:12.77, Z:-0.22 [[ 9.71925132e-01 -2.35290272e-01 -1.58924456e-04 3.36646759e+02] [ 2.35290269e-01 9.71925145e-01 -3.99676849e-05 1.27727657e+01] [ 1.63866683e-04 1.45221936e-06 9.99999987e-01 -2.15823779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.96533619499996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:336.70, Y:12.79, Z:-0.21 [[ 9.70501680e-01 -2.41094303e-01 -1.58917698e-04 3.36703952e+02] [ 2.41094300e-01 9.70501693e-01 -3.99945402e-05 1.27880617e+01] [ 1.63872351e-04 5.00617397e-07 9.99999987e-01 -2.13676813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.76, Y:12.81, Z:-0.21 [[ 9.69119782e-01 -2.46590393e-01 -1.58910805e-04 3.36759739e+02] [ 2.46590390e-01 9.69119795e-01 -4.00219076e-05 1.28064799e+01] [ 1.63872625e-04 -3.99855140e-07 9.99999987e-01 -2.09346048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.82, Y:12.82, Z:-0.21 [[ 9.68476334e-01 -2.49105529e-01 -1.58903876e-04 3.36816486e+02] [ 2.49105526e-01 9.68476347e-01 -4.00494030e-05 1.28203277e+01] [ 1.63871173e-04 -7.96934499e-07 9.99999987e-01 -2.10978479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.87, Y:12.83, Z:-0.21 [[ 9.67724289e-01 -2.52011259e-01 -1.58897012e-04 3.36872604e+02] [ 2.52011256e-01 9.67724302e-01 -4.00766145e-05 1.28325363e+01] [ 1.63868258e-04 -1.26072240e-06 9.99999987e-01 -2.13585574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.205336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:336.93, Y:12.85, Z:-0.22 [[ 9.67836247e-01 -2.51580949e-01 -1.58894595e-04 3.36929310e+02] [ 2.51580946e-01 9.67836260e-01 -4.00861954e-05 1.28489781e+01] [ 1.63868874e-04 -1.17797974e-06 9.99999987e-01 -2.17019506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.99, Y:12.86, Z:-0.22 [[ 9.68500863e-01 -2.49010145e-01 -1.58888060e-04 3.36986009e+02] [ 2.49010142e-01 9.68500876e-01 -4.01120828e-05 1.28648690e+01] [ 1.63871541e-04 -7.16151575e-07 9.99999987e-01 -2.19997946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.325336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:337.04, Y:12.88, Z:-0.22 [[ 9.68980233e-01 -2.47138186e-01 -1.58881493e-04 3.37042350e+02] [ 2.47138183e-01 9.68980246e-01 -4.01380770e-05 1.28770749e+01] [ 1.63872680e-04 -3.72680265e-07 9.99999987e-01 -2.19840904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.10, Y:12.89, Z:-0.22 [[ 9.69289461e-01 -2.45922581e-01 -1.58873892e-04 3.37097530e+02] [ 2.45922578e-01 9.69289474e-01 -4.01681398e-05 1.28935557e+01] [ 1.63873044e-04 -1.36122544e-07 9.99999987e-01 -2.21404925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.15, Y:12.91, Z:-0.22 [[ 9.69303460e-01 -2.45867398e-01 -1.58871533e-04 3.37153866e+02] [ 2.45867394e-01 9.69303473e-01 -4.01774674e-05 1.29100736e+01] [ 1.63873058e-04 -1.17171791e-07 9.99999987e-01 -2.17653616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.21, Y:12.92, Z:-0.22 [[ 9.68585578e-01 -2.48680424e-01 -1.58864882e-04 3.37211250e+02] [ 2.48680421e-01 9.68585591e-01 -4.02037483e-05 1.29215829e+01] [ 1.63872121e-04 -5.65815107e-07 9.99999987e-01 -2.15815565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.27, Y:12.93, Z:-0.22 [[ 9.67386163e-01 -2.53306113e-01 -1.58857010e-04 3.37268853e+02] [ 2.53306110e-01 9.67386176e-01 -4.02348315e-05 1.29318281e+01] [ 1.63867804e-04 -1.31683188e-06 9.99999987e-01 -2.15755442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.33, Y:12.94, Z:-0.21 [[ 9.66586096e-01 -2.56342141e-01 -1.58849205e-04 3.37326286e+02] [ 2.56342138e-01 9.66586109e-01 -4.02656203e-05 1.29429788e+01] [ 1.63863211e-04 -1.79955611e-06 9.99999987e-01 -2.14371920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.38, Y:12.95, Z:-0.21 [[ 9.66262146e-01 -2.57560555e-01 -1.58842295e-04 3.37383882e+02] [ 2.57560552e-01 9.66262159e-01 -4.02928606e-05 1.29499938e+01] [ 1.63861151e-04 -1.97804326e-06 9.99999987e-01 -2.14234493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.44, Y:12.96, Z:-0.21 [[ 9.67252285e-01 -2.53816847e-01 -1.58839852e-04 3.37441359e+02] [ 2.53816844e-01 9.67252298e-01 -4.03024886e-05 1.29589307e+01] [ 1.63867663e-04 -1.33355584e-06 9.99999987e-01 -2.12825422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.50, Y:12.97, Z:-0.21 [[ 9.69200340e-01 -2.46273579e-01 -1.58832006e-04 3.37498905e+02] [ 2.46273576e-01 9.69200353e-01 -4.03333885e-05 1.29728390e+01] [ 1.63873084e-04 -2.49921394e-08 9.99999987e-01 -2.13396253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.55, Y:12.99, Z:-0.22 [[ 9.70370652e-01 -2.41621135e-01 -1.58824817e-04 3.37554044e+02] [ 2.41621132e-01 9.70370665e-01 -4.03616759e-05 1.29852695e+01] [ 1.63871177e-04 7.90353656e-07 9.99999987e-01 -2.18284751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.92533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.61, Y:13.00, Z:-0.22 [[ 9.71580901e-01 -2.36707684e-01 -1.58819237e-04 3.37611411e+02] [ 2.36707680e-01 9.71580914e-01 -4.03836216e-05 1.29968378e+01] [ 1.63864853e-04 1.64222234e-06 9.99999987e-01 -2.17120185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.67, Y:13.01, Z:-0.22 [[ 9.72316314e-01 -2.33668482e-01 -1.58812283e-04 3.37667403e+02] [ 2.33668478e-01 9.72316327e-01 -4.04109506e-05 1.30093412e+01] [ 1.63858541e-04 2.18280203e-06 9.99999987e-01 -2.17362889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.72, Y:13.02, Z:-0.21 [[ 9.72592894e-01 -2.32514596e-01 -1.58807960e-04 3.37724589e+02] [ 2.32514592e-01 9.72592907e-01 -4.04279316e-05 1.30242530e+01] [ 1.63855580e-04 2.39475090e-06 9.99999987e-01 -2.14904242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.78, Y:13.04, Z:-0.22 [[ 9.72284610e-01 -2.33800366e-01 -1.58801082e-04 3.37780154e+02] [ 2.33800363e-01 9.72284623e-01 -4.04549290e-05 1.30410392e+01] [ 1.63858228e-04 2.20595421e-06 9.99999987e-01 -2.15491989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.84, Y:13.06, Z:-0.21 [[ 9.70853418e-01 -2.39673976e-01 -1.58793189e-04 3.37835663e+02] [ 2.39673973e-01 9.70853431e-01 -4.04858894e-05 1.30577404e+01] [ 1.63868326e-04 1.24726973e-06 9.99999987e-01 -2.14028048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.89, Y:13.07, Z:-0.21 [[ 9.69399583e-01 -2.45488133e-01 -1.58790751e-04 3.37892774e+02] [ 2.45488130e-01 9.69399596e-01 -4.04954491e-05 1.30711915e+01] [ 1.63872842e-04 2.75027046e-07 9.99999987e-01 -2.12313531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.95, Y:13.09, Z:-0.21 [[ 9.68744413e-01 -2.48060954e-01 -1.58784035e-04 3.37948914e+02] [ 2.48060950e-01 9.68744426e-01 -4.05217641e-05 1.30870854e+01] [ 1.63873016e-04 -1.32886078e-07 9.99999987e-01 -2.11567363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.01, Y:13.10, Z:-0.21 [[ 9.68344077e-01 -2.49619155e-01 -1.58776360e-04 3.38005003e+02] [ 2.49619151e-01 9.68344091e-01 -4.05518156e-05 1.31041805e+01] [ 1.63872660e-04 -3.65509728e-07 9.99999987e-01 -2.10880143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.06, Y:13.12, Z:-0.21 [[ 9.67879388e-01 -2.51414928e-01 -1.58769377e-04 3.38060211e+02] [ 2.51414924e-01 9.67879401e-01 -4.05791372e-05 1.31202902e+01] [ 1.63871810e-04 -6.41280397e-07 9.99999987e-01 -2.09873061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.12, Y:13.13, Z:-0.21 [[ 9.67028385e-01 -2.54668564e-01 -1.58766913e-04 3.38116802e+02] [ 2.54668561e-01 9.67028398e-01 -4.05887753e-05 1.31343428e+01] [ 1.63868799e-04 -1.18244343e-06 9.99999987e-01 -2.08879664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.17, Y:13.15, Z:-0.21 [[ 9.65607461e-01 -2.60004242e-01 -1.58758980e-04 3.38173366e+02] [ 2.60004239e-01 9.65607474e-01 -4.06197814e-05 1.31475333e+01] [ 1.63860173e-04 -2.05524365e-06 9.99999987e-01 -2.08068277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.23, Y:13.16, Z:-0.21 [[ 9.64932224e-01 -2.62499100e-01 -1.58756538e-04 3.38231950e+02] [ 2.62499097e-01 9.64932237e-01 -4.06293222e-05 1.31550946e+01] [ 1.63854462e-04 -2.46890563e-06 9.99999987e-01 -2.10218930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.29, Y:13.17, Z:-0.21 [[ 9.64906940e-01 -2.62592026e-01 -1.58749586e-04 3.38287900e+02] [ 2.62592023e-01 9.64906953e-01 -4.06564661e-05 1.31679630e+01] [ 1.63854644e-04 -2.45666868e-06 9.99999987e-01 -2.12390767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.35, Y:13.18, Z:-0.21 [[ 9.65311287e-01 -2.61101692e-01 -1.58744201e-04 3.38345497e+02] [ 2.61101689e-01 9.65311300e-01 -4.06774846e-05 1.31790393e+01] [ 1.63858531e-04 -2.18194380e-06 9.99999987e-01 -2.13696756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.40, Y:13.19, Z:-0.21 [[ 9.66518308e-01 -2.56597613e-01 -1.58737514e-04 3.38403702e+02] [ 2.56597610e-01 9.66518321e-01 -4.07035600e-05 1.31875934e+01] [ 1.63867152e-04 -1.39093082e-06 9.99999987e-01 -2.12619158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.46, Y:13.20, Z:-0.21 [[ 9.67501144e-01 -2.52866586e-01 -1.58730867e-04 3.38462329e+02] [ 2.52866583e-01 9.67501157e-01 -4.07294640e-05 1.31974006e+01] [ 1.63871418e-04 -7.31929015e-07 9.99999987e-01 -2.12137654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.52, Y:13.21, Z:-0.21 [[ 9.69204117e-01 -2.46258714e-01 -1.58724250e-04 3.38520258e+02] [ 2.46258711e-01 9.69204130e-01 -4.07552369e-05 1.32069043e+01] [ 1.63872531e-04 4.12914252e-07 9.99999987e-01 -2.08948638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.58, Y:13.22, Z:-0.21 [[ 9.71344052e-01 -2.37677738e-01 -1.58717063e-04 3.38576905e+02] [ 2.37677735e-01 9.71344065e-01 -4.07832061e-05 1.32187341e+01] [ 1.63862137e-04 1.89101274e-06 9.99999987e-01 -2.14338280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.63, Y:13.23, Z:-0.21 [[ 9.72998860e-01 -2.30809865e-01 -1.58713292e-04 3.38634033e+02] [ 2.30809862e-01 9.72998873e-01 -4.07978755e-05 1.32307162e+01] [ 1.63844406e-04 3.06369332e-06 9.99999987e-01 -2.10223049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.69, Y:13.24, Z:-0.21 [[ 9.73396356e-01 -2.29127715e-01 -1.58710877e-04 3.38690315e+02] [ 2.29127711e-01 9.73396369e-01 -4.08072669e-05 1.32438164e+01] [ 1.63838668e-04 3.35658473e-06 9.99999987e-01 -2.11456245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.75, Y:13.26, Z:-0.21 [[ 9.72994064e-01 -2.30830079e-01 -1.58708490e-04 3.38747206e+02] [ 2.30830075e-01 9.72994077e-01 -4.08165490e-05 1.32566576e+01] [ 1.63844108e-04 3.07956716e-06 9.99999987e-01 -2.10131618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.81, Y:13.27, Z:-0.21 [[ 9.71157055e-01 -2.38440661e-01 -1.58700717e-04 3.38805731e+02] [ 2.38440658e-01 9.71157068e-01 -4.08467500e-05 1.32660600e+01] [ 1.63862849e-04 1.82790604e-06 9.99999987e-01 -2.07221678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.86, Y:13.27, Z:-0.21 [[ 9.68804058e-01 -2.47827910e-01 -1.58693779e-04 3.38862037e+02] [ 2.47827907e-01 9.68804071e-01 -4.08736875e-05 1.32743477e+01] [ 1.63872820e-04 2.69847265e-07 9.99999987e-01 -2.07221099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.92, Y:13.29, Z:-0.21 [[ 9.67553231e-01 -2.52667211e-01 -1.58690347e-04 3.38919475e+02] [ 2.52667207e-01 9.67553244e-01 -4.08870064e-05 1.32853833e+01] [ 1.63872166e-04 -5.35491747e-07 9.99999987e-01 -2.05174026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.98, Y:13.29, Z:-0.21 [[ 9.67177373e-01 -2.54102151e-01 -1.58682317e-04 3.38977530e+02] [ 2.54102147e-01 9.67177387e-01 -4.09181481e-05 1.32935909e+01] [ 1.63871338e-04 -7.46410525e-07 9.99999987e-01 -2.10584104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.42533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.03, Y:13.30, Z:-0.21 [[ 9.68143423e-01 -2.50396262e-01 -1.58675359e-04 3.39034965e+02] [ 2.50396258e-01 9.68143436e-01 -4.09451116e-05 1.33045713e+01] [ 1.63873010e-04 -9.09757927e-08 9.99999987e-01 -2.08534744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.09, Y:13.32, Z:-0.21 [[ 9.68784802e-01 -2.47903170e-01 -1.58667381e-04 3.39092579e+02] [ 2.47903166e-01 9.68784815e-01 -4.09760045e-05 1.33180510e+01] [ 1.63872631e-04 3.62784216e-07 9.99999987e-01 -2.06724353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.15, Y:13.33, Z:-0.21 [[ 9.68737117e-01 -2.48089447e-01 -1.58660323e-04 3.39149781e+02] [ 2.48089444e-01 9.68737130e-01 -4.10033158e-05 1.33290471e+01] [ 1.63872636e-04 3.59482665e-07 9.99999987e-01 -2.08878423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.21, Y:13.34, Z:-0.21 [[ 9.68444323e-01 -2.49229949e-01 -1.58657825e-04 3.39207740e+02] [ 2.49229946e-01 9.68444336e-01 -4.10129775e-05 1.33393786e+01] [ 1.63872935e-04 1.76504071e-07 9.99999987e-01 -2.10275276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.26, Y:13.35, Z:-0.21 [[ 9.68392835e-01 -2.49429934e-01 -1.58651017e-04 3.39264626e+02] [ 2.49429931e-01 9.68392848e-01 -4.10392983e-05 1.33500924e+01] [ 1.63872940e-04 1.69850206e-07 9.99999987e-01 -2.11007544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.32, Y:13.36, Z:-0.21 [[ 9.68589141e-01 -2.48666546e-01 -1.58648613e-04 3.39321123e+02] [ 2.48666542e-01 9.68589154e-01 -4.10485878e-05 1.33634854e+01] [ 1.63872737e-04 3.08614220e-07 9.99999987e-01 -2.08609253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.38, Y:13.38, Z:-0.21 [[ 9.69512367e-01 -2.45042332e-01 -1.58640813e-04 3.39378462e+02] [ 2.45042329e-01 9.69512380e-01 -4.10787103e-05 1.33756856e+01] [ 1.63870256e-04 9.52603369e-07 9.99999987e-01 -2.08276645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.43, Y:13.39, Z:-0.21 [[ 9.70425369e-01 -2.41401280e-01 -1.58633914e-04 3.39434645e+02] [ 2.41401277e-01 9.70425382e-01 -4.11053376e-05 1.33910861e+01] [ 1.63865257e-04 1.59523311e-06 9.99999987e-01 -2.11651394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.49, Y:13.41, Z:-0.21 [[ 9.70441692e-01 -2.41335654e-01 -1.58631483e-04 3.39491543e+02] [ 2.41335651e-01 9.70441705e-01 -4.11147158e-05 1.34062216e+01] [ 1.63865054e-04 1.61600214e-06 9.99999987e-01 -2.14281442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.96533619499996 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:339.55, Y:13.42, Z:-0.21 [[ 9.70105572e-01 -2.42683237e-01 -1.58624703e-04 3.39548861e+02] [ 2.42683234e-01 9.70105585e-01 -4.11408586e-05 1.34211584e+01] [ 1.63866907e-04 1.41542042e-06 9.99999987e-01 -2.13994755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.61, Y:13.43, Z:-0.21 [[ 9.69254291e-01 -2.46061161e-01 -1.58617903e-04 3.39605733e+02] [ 2.46061157e-01 9.69254304e-01 -4.11670592e-05 1.34345292e+01] [ 1.63870699e-04 8.71644064e-07 9.99999987e-01 -2.10918975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.66, Y:13.45, Z:-0.21 [[ 9.68512696e-01 -2.48964119e-01 -1.58610840e-04 3.39661734e+02] [ 2.48964116e-01 9.68512709e-01 -4.11942514e-05 1.34458498e+01] [ 1.63872505e-04 4.08747846e-07 9.99999987e-01 -2.12878222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.72, Y:13.46, Z:-0.21 [[ 9.68289096e-01 -2.49832348e-01 -1.58607351e-04 3.39717185e+02] [ 2.49832344e-01 9.68289109e-01 -4.12076825e-05 1.34628489e+01] [ 1.63872782e-04 2.75703367e-07 9.99999987e-01 -2.10207576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.205336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:339.77, Y:13.48, Z:-0.21 [[ 9.68392225e-01 -2.49432303e-01 -1.58599228e-04 3.39773506e+02] [ 2.49432299e-01 9.68392238e-01 -4.12389196e-05 1.34755623e+01] [ 1.63872580e-04 3.75678942e-07 9.99999987e-01 -2.10967569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.83, Y:13.49, Z:-0.21 [[ 9.68642415e-01 -2.48458942e-01 -1.58591189e-04 3.39829882e+02] [ 2.48458939e-01 9.68642428e-01 -4.12698119e-05 1.34881319e+01] [ 1.63872009e-04 5.72291567e-07 9.99999987e-01 -2.10318215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.89, Y:13.50, Z:-0.21 [[ 9.68185751e-01 -2.50232543e-01 -1.58588706e-04 3.39888253e+02] [ 2.50232539e-01 9.68185764e-01 -4.12793540e-05 1.34989940e+01] [ 1.63872765e-04 2.82027789e-07 9.99999987e-01 -2.11485024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.95, Y:13.51, Z:-0.21 [[ 9.67628525e-01 -2.52378708e-01 -1.58581785e-04 3.39945657e+02] [ 2.52378705e-01 9.67628538e-01 -4.13059238e-05 1.35102449e+01] [ 1.63872997e-04 -5.38753508e-08 9.99999987e-01 -2.08522946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.00, Y:13.52, Z:-0.21 [[ 9.67346590e-01 -2.53457194e-01 -1.58579314e-04 3.40002965e+02] [ 2.53457190e-01 9.67346603e-01 -4.13154070e-05 1.35193176e+01] [ 1.63872848e-04 -2.26749340e-07 9.99999987e-01 -2.06743006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.505336195 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:340.06, Y:13.53, Z:-0.21 [[ 9.67742697e-01 -2.51940564e-01 -1.58571169e-04 3.40060656e+02] [ 2.51940560e-01 9.67742710e-01 -4.13466440e-05 1.35267565e+01] [ 1.63872990e-04 6.24034924e-08 9.99999987e-01 -2.06016209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.12, Y:13.54, Z:-0.20 [[ 9.68363018e-01 -2.49545668e-01 -1.58567410e-04 3.40118269e+02] [ 2.49545665e-01 9.68363031e-01 -4.13610575e-05 1.35385604e+01] [ 1.63872290e-04 4.82708748e-07 9.99999987e-01 -2.02083617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.17, Y:13.55, Z:-0.20 [[ 9.68886291e-01 -2.47506222e-01 -1.58560413e-04 3.40174502e+02] [ 2.47506219e-01 9.68886304e-01 -4.13878648e-05 1.35522419e+01] [ 1.63870766e-04 8.55446671e-07 9.99999987e-01 -2.01290631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.23, Y:13.56, Z:-0.20 [[ 9.69612611e-01 -2.44645376e-01 -1.58552349e-04 3.40231805e+02] [ 2.44645373e-01 9.69612624e-01 -4.14187313e-05 1.35614221e+01] [ 1.63867260e-04 1.37102560e-06 9.99999987e-01 -2.04588820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.29, Y:13.57, Z:-0.21 [[ 9.70088049e-01 -2.42753273e-01 -1.58549860e-04 3.40290167e+02] [ 2.42753269e-01 9.70088062e-01 -4.14282596e-05 1.35689457e+01] [ 1.63864172e-04 1.70056281e-06 9.99999987e-01 -2.05234516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.35, Y:13.58, Z:-0.20 [[ 9.70619412e-01 -2.40619892e-01 -1.58542943e-04 3.40346211e+02] [ 2.40619888e-01 9.70619425e-01 -4.14547100e-05 1.35822990e+01] [ 1.63859688e-04 2.08816098e-06 9.99999987e-01 -2.04829316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.40, Y:13.60, Z:-0.20 [[ 9.71639921e-01 -2.36465303e-01 -1.58540498e-04 3.40402426e+02] [ 2.36465300e-01 9.71639933e-01 -4.14640601e-05 1.36002995e+01] [ 1.63849091e-04 2.79880971e-06 9.99999987e-01 -2.03561656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.92533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.46, Y:13.62, Z:-0.20 [[ 9.72625283e-01 -2.32379074e-01 -1.58533602e-04 3.40458357e+02] [ 2.32379070e-01 9.72625296e-01 -4.14904091e-05 1.36150398e+01] [ 1.63835295e-04 3.51472986e-06 9.99999987e-01 -2.02437260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.51, Y:13.64, Z:-0.20 [[ 9.72600072e-01 -2.32484567e-01 -1.58529958e-04 3.40513621e+02] [ 2.32484564e-01 9.72600085e-01 -4.15043294e-05 1.36355394e+01] [ 1.63835366e-04 3.51134573e-06 9.99999987e-01 -2.04834311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.57, Y:13.66, Z:-0.21 [[ 9.71257834e-01 -2.38029817e-01 -1.58523319e-04 3.40569626e+02] [ 2.38029814e-01 9.71257847e-01 -4.15296692e-05 1.36560056e+01] [ 1.63852317e-04 2.60274043e-06 9.99999987e-01 -2.05005940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.63, Y:13.67, Z:-0.21 [[ 9.69991058e-01 -2.43140542e-01 -1.58519511e-04 3.40625721e+02] [ 2.43140538e-01 9.69991071e-01 -4.15442013e-05 1.36718858e+01] [ 1.63863590e-04 1.75498456e-06 9.99999987e-01 -2.05170028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.68, Y:13.69, Z:-0.21 [[ 9.68806755e-01 -2.47817367e-01 -1.58517011e-04 3.40681000e+02] [ 2.47817363e-01 9.68806767e-01 -4.15537357e-05 1.36882874e+01] [ 1.63870091e-04 9.74272067e-07 9.99999987e-01 -2.05872661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.74, Y:13.71, Z:-0.20 [[ 9.68889218e-01 -2.47494764e-01 -1.58509121e-04 3.40736694e+02] [ 2.47494760e-01 9.68889231e-01 -4.15838110e-05 1.37092335e+01] [ 1.63869556e-04 1.05992910e-06 9.99999987e-01 -2.03330327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.79, Y:13.73, Z:-0.20 [[ 9.69334618e-01 -2.45744528e-01 -1.58501980e-04 3.40791518e+02] [ 2.45744524e-01 9.69334631e-01 -4.16110142e-05 1.37276571e+01] [ 1.63867137e-04 1.38400295e-06 9.99999987e-01 -2.04395378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.85, Y:13.75, Z:-0.21 [[ 9.70118463e-01 -2.42631701e-01 -1.58493857e-04 3.40846773e+02] [ 2.42631697e-01 9.70118476e-01 -4.16419301e-05 1.37466601e+01] [ 1.63861471e-04 1.94197170e-06 9.99999987e-01 -2.08661317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.90, Y:13.77, Z:-0.21 [[ 9.70506711e-01 -2.41074052e-01 -1.58486830e-04 3.40901698e+02] [ 2.41074049e-01 9.70506724e-01 -4.16686592e-05 1.37699695e+01] [ 1.63857766e-04 2.23265172e-06 9.99999987e-01 -2.08445193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.96, Y:13.79, Z:-0.21 [[ 9.70342197e-01 -2.41735383e-01 -1.58479939e-04 3.40957093e+02] [ 2.41735379e-01 9.70342210e-01 -4.16948489e-05 1.37911139e+01] [ 1.63858895e-04 2.14806303e-06 9.99999987e-01 -2.05633885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.01, Y:13.81, Z:-0.21 [[ 9.69980557e-01 -2.43182428e-01 -1.58472843e-04 3.41012334e+02] [ 2.43182424e-01 9.69980570e-01 -4.17218030e-05 1.38081926e+01] [ 1.63861588e-04 1.93152754e-06 9.99999987e-01 -2.09769454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.07, Y:13.83, Z:-0.21 [[ 9.69293253e-01 -2.45907635e-01 -1.58469105e-04 3.41067318e+02] [ 2.45907632e-01 9.69293266e-01 -4.17359967e-05 1.38276965e+01] [ 1.63866236e-04 1.48565774e-06 9.99999987e-01 -2.08641683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.12, Y:13.85, Z:-0.21 [[ 9.68651804e-01 -2.48422339e-01 -1.58461131e-04 3.41123322e+02] [ 2.48422335e-01 9.68651817e-01 -4.17662497e-05 1.38458965e+01] [ 1.63869332e-04 1.09166890e-06 9.99999987e-01 -2.05594928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.18, Y:13.86, Z:-0.21 [[ 9.68308661e-01 -2.49756503e-01 -1.58453884e-04 3.41178215e+02] [ 2.49756500e-01 9.68308674e-01 -4.17937234e-05 1.38628364e+01] [ 1.63870525e-04 8.94336754e-07 9.99999987e-01 -2.07825888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.23, Y:13.88, Z:-0.21 [[ 9.68254659e-01 -2.49965780e-01 -1.58451324e-04 3.41234791e+02] [ 2.49965776e-01 9.68254672e-01 -4.18034267e-05 1.38772814e+01] [ 1.63870661e-04 8.68954370e-07 9.99999987e-01 -2.06704459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.29, Y:13.89, Z:-0.21 [[ 9.68099925e-01 -2.50564384e-01 -1.58444352e-04 3.41291117e+02] [ 2.50564380e-01 9.68099938e-01 -4.18298367e-05 1.38936229e+01] [ 1.63871035e-04 7.94950823e-07 9.99999987e-01 -2.06806489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.35, Y:13.91, Z:-0.21 [[ 9.67478176e-01 -2.52954450e-01 -1.58437447e-04 3.41346880e+02] [ 2.52954447e-01 9.67478189e-01 -4.18559760e-05 1.39075315e+01] [ 1.63872429e-04 4.17286675e-07 9.99999987e-01 -2.07094684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.40, Y:13.92, Z:-0.20 [[ 9.66927055e-01 -2.55053026e-01 -1.58434026e-04 3.41404220e+02] [ 2.55053022e-01 9.66927068e-01 -4.18689213e-05 1.39192597e+01] [ 1.63872943e-04 7.51157219e-08 9.99999987e-01 -2.03887250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.46, Y:13.93, Z:-0.20 [[ 9.66982974e-01 -2.54840936e-01 -1.58427308e-04 3.41461272e+02] [ 2.54840932e-01 9.66982987e-01 -4.18943234e-05 1.39312300e+01] [ 1.63872900e-04 1.37334495e-07 9.99999987e-01 -2.04469423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.52, Y:13.94, Z:-0.20 [[ 9.67719529e-01 -2.52029538e-01 -1.58419653e-04 3.41518286e+02] [ 2.52029535e-01 9.67719542e-01 -4.19232500e-05 1.39430818e+01] [ 1.63871692e-04 6.43516180e-07 9.99999987e-01 -2.03855680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.58, Y:13.96, Z:-0.20 [[ 9.69039111e-01 -2.46907223e-01 -1.58416110e-04 3.41575427e+02] [ 2.46907219e-01 9.69039124e-01 -4.19366336e-05 1.39580497e+01] [ 1.63865867e-04 1.52415682e-06 9.99999987e-01 -2.02084943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.63, Y:13.98, Z:-0.20 [[ 9.71073693e-01 -2.38779937e-01 -1.58408997e-04 3.41630365e+02] [ 2.38779933e-01 9.71073706e-01 -4.19634855e-05 1.39754724e+01] [ 1.63846850e-04 2.92474711e-06 9.99999987e-01 -2.03117700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.69, Y:14.00, Z:-0.20 [[ 9.72864084e-01 -2.31377287e-01 -1.58406480e-04 3.41685610e+02] [ 2.31377283e-01 9.72864097e-01 -4.19729844e-05 1.39953267e+01] [ 1.63819573e-04 4.18234801e-06 9.99999987e-01 -2.02582497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.74, Y:14.01, Z:-0.20 [[ 9.73413904e-01 -2.29053154e-01 -1.58399623e-04 3.41740877e+02] [ 2.29053150e-01 9.73413916e-01 -4.19988459e-05 1.40147119e+01] [ 1.63808366e-04 4.60032785e-06 9.99999987e-01 -2.03667801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.79, Y:14.04, Z:-0.21 [[ 9.72915102e-01 -2.31162668e-01 -1.58392423e-04 3.41794737e+02] [ 2.31162664e-01 9.72915115e-01 -4.20259836e-05 1.40355249e+01] [ 1.63817221e-04 4.27329973e-06 9.99999987e-01 -2.08269292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.42533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.85, Y:14.05, Z:-0.21 [[ 9.70298885e-01 -2.41909175e-01 -1.58389877e-04 3.41851882e+02] [ 2.41909171e-01 9.70298898e-01 -4.20355755e-05 1.40502328e+01] [ 1.63854315e-04 2.47110813e-06 9.99999987e-01 -2.06835778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.91, Y:14.07, Z:-0.21 [[ 9.69166781e-01 -2.46405613e-01 -1.58383048e-04 3.41907244e+02] [ 2.46405609e-01 9.69166794e-01 -4.20612892e-05 1.40651991e+01] [ 1.63863729e-04 1.73793277e-06 9.99999987e-01 -2.07298784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.96, Y:14.08, Z:-0.21 [[ 9.66524528e-01 -2.56574185e-01 -1.58379651e-04 3.41963225e+02] [ 2.56574182e-01 9.66524541e-01 -4.20740783e-05 1.40821015e+01] [ 1.63872942e-04 2.94992895e-08 9.99999987e-01 -2.06124567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.02, Y:14.10, Z:-0.21 [[ 9.65680706e-01 -2.59732071e-01 -1.58372720e-04 3.42020019e+02] [ 2.59732067e-01 9.65680719e-01 -4.21001522e-05 1.40975081e+01] [ 1.63872242e-04 -4.79169161e-07 9.99999987e-01 -2.05007191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.08, Y:14.11, Z:-0.21 [[ 9.65735856e-01 -2.59526937e-01 -1.58365747e-04 3.42076049e+02] [ 2.59526934e-01 9.65735869e-01 -4.21263664e-05 1.41125170e+01] [ 1.63872409e-04 -4.17234120e-07 9.99999987e-01 -2.05860727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.13, Y:14.13, Z:-0.20 [[ 9.66440352e-01 -2.56891066e-01 -1.58357782e-04 3.42132376e+02] [ 2.56891063e-01 9.66440365e-01 -4.21562846e-05 1.41267487e+01] [ 1.63872926e-04 6.08355605e-08 9.99999987e-01 -2.04465635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.19, Y:14.14, Z:-0.21 [[ 9.66581342e-01 -2.56360066e-01 -1.58349393e-04 3.42187753e+02] [ 2.56360063e-01 9.66581355e-01 -4.21877741e-05 1.41398211e+01] [ 1.63872831e-04 1.83455087e-07 9.99999987e-01 -2.07265248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.25, Y:14.15, Z:-0.20 [[ 9.66458185e-01 -2.56823972e-01 -1.58343670e-04 3.42245188e+02] [ 2.56823968e-01 9.66458198e-01 -4.22092420e-05 1.41517731e+01] [ 1.63872883e-04 1.27017743e-07 9.99999987e-01 -2.04212083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.30, Y:14.16, Z:-0.21 [[ 9.66783674e-01 -2.55595974e-01 -1.58336371e-04 3.42302415e+02] [ 2.55595971e-01 9.66783687e-01 -4.22366046e-05 1.41606893e+01] [ 1.63872527e-04 3.63521409e-07 9.99999987e-01 -2.05601105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.36, Y:14.17, Z:-0.20 [[ 9.67910019e-01 -2.51296978e-01 -1.58332461e-04 3.42358531e+02] [ 2.51296974e-01 9.67910031e-01 -4.22512576e-05 1.41737751e+01] [ 1.63869190e-04 1.10694728e-06 9.99999987e-01 -2.04291785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.42, Y:14.19, Z:-0.20 [[ 9.68748679e-01 -2.48044293e-01 -1.58324171e-04 3.42415364e+02] [ 2.48044289e-01 9.68748692e-01 -4.22823000e-05 1.41869744e+01] [ 1.63864216e-04 1.68951591e-06 9.99999987e-01 -2.02313796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.47, Y:14.20, Z:-0.20 [[ 9.70176503e-01 -2.42399522e-01 -1.58321593e-04 3.42473004e+02] [ 2.42399518e-01 9.70176516e-01 -4.22919475e-05 1.41988020e+01] [ 1.63851440e-04 2.65357569e-06 9.99999987e-01 -2.01175974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.53, Y:14.21, Z:-0.20 [[ 9.72191035e-01 -2.34189167e-01 -1.58314413e-04 3.42528367e+02] [ 2.34189163e-01 9.72191048e-01 -4.23188082e-05 1.42144349e+01] [ 1.63822462e-04 4.06644593e-06 9.99999987e-01 -1.99423537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.58, Y:14.24, Z:-0.20 [[ 9.73782918e-01 -2.27479239e-01 -1.58311886e-04 3.42583706e+02] [ 2.27479235e-01 9.73782931e-01 -4.23282614e-05 1.42365547e+01] [ 1.63790213e-04 5.20587130e-06 9.99999987e-01 -2.04619917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.64, Y:14.26, Z:-0.21 [[ 9.74378188e-01 -2.24915811e-01 -1.58304954e-04 3.42639687e+02] [ 2.24915807e-01 9.74378201e-01 -4.23541690e-05 1.42570370e+01] [ 1.63775019e-04 5.66369197e-06 9.99999987e-01 -2.09522064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.70, Y:14.28, Z:-0.21 [[ 9.74247037e-01 -2.25483229e-01 -1.58298560e-04 3.42695447e+02] [ 2.25483225e-01 9.74247049e-01 -4.23780525e-05 1.42782070e+01] [ 1.63777446e-04 5.59302217e-06 9.99999987e-01 -2.13579633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.75, Y:14.30, Z:-0.21 [[ 9.72534606e-01 -2.32758274e-01 -1.58292182e-04 3.42750469e+02] [ 2.32758271e-01 9.72534619e-01 -4.24018652e-05 1.42987866e+01] [ 1.63814012e-04 4.39346680e-06 9.99999987e-01 -2.07587206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.80, Y:14.32, Z:-0.21 [[ 9.69927693e-01 -2.43393190e-01 -1.58285244e-04 3.42804267e+02] [ 2.43393187e-01 9.69927706e-01 -4.24277464e-05 1.43213679e+01] [ 1.63851868e-04 2.62629619e-06 9.99999987e-01 -2.05368211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.86, Y:14.34, Z:-0.20 [[ 9.67979315e-01 -2.51029921e-01 -1.58281566e-04 3.42861119e+02] [ 2.51029918e-01 9.67979328e-01 -4.24414650e-05 1.43379478e+01] [ 1.63867361e-04 1.34905178e-06 9.99999987e-01 -2.03185218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.92, Y:14.35, Z:-0.20 [[ 9.64741469e-01 -2.63199301e-01 -1.58274565e-04 3.42916968e+02] [ 2.63199298e-01 9.64741482e-01 -4.24675579e-05 1.43528150e+01] [ 1.63871470e-04 -6.87540085e-07 9.99999987e-01 -2.03924049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.97, Y:14.36, Z:-0.21 [[ 9.61755306e-01 -2.73910034e-01 -1.58272081e-04 3.42974399e+02] [ 2.73910031e-01 9.61755319e-01 -4.24768139e-05 1.43649151e+01] [ 1.63853841e-04 -2.50000933e-06 9.99999987e-01 -2.06604088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.03, Y:14.38, Z:-0.20 [[ 9.60372979e-01 -2.78717987e-01 -1.58265329e-04 3.43031245e+02] [ 2.78717984e-01 9.60372992e-01 -4.25019553e-05 1.43771234e+01] [ 1.63839807e-04 -3.29366399e-06 9.99999987e-01 -2.03779251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.09, Y:14.39, Z:-0.21 [[ 9.60810899e-01 -2.77204601e-01 -1.58257047e-04 3.43088558e+02] [ 2.77204598e-01 9.60810912e-01 -4.25327720e-05 1.43897548e+01] [ 1.63845377e-04 -3.00363006e-06 9.99999987e-01 -2.05817350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.14, Y:14.40, Z:-0.21 [[ 9.63152557e-01 -2.68955623e-01 -1.58249842e-04 3.43144816e+02] [ 2.68955619e-01 9.63152570e-01 -4.25595597e-05 1.44035293e+01] [ 1.63865375e-04 -1.57083565e-06 9.99999987e-01 -2.06437930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.20, Y:14.42, Z:-0.20 [[ 9.65694355e-01 -2.59681321e-01 -1.58247290e-04 3.43202444e+02] [ 2.59681317e-01 9.65694368e-01 -4.25690490e-05 1.44170952e+01] [ 1.63872903e-04 1.48256612e-08 9.99999987e-01 -2.03322479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.92533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.26, Y:14.43, Z:-0.20 [[ 9.67046831e-01 -2.54598509e-01 -1.58240210e-04 3.43258860e+02] [ 2.54598506e-01 9.67046844e-01 -4.25953492e-05 1.44318216e+01] [ 1.63870408e-04 9.03976420e-07 9.99999987e-01 -2.03333893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.32, Y:14.44, Z:-0.20 [[ 9.68816809e-01 -2.47778056e-01 -1.58231898e-04 3.43316329e+02] [ 2.47778052e-01 9.68816822e-01 -4.26262054e-05 1.44424695e+01] [ 1.63859563e-04 2.09059287e-06 9.99999987e-01 -2.04429587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.04533619499995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:343.37, Y:14.46, Z:-0.20 [[ 9.69617157e-01 -2.44627358e-01 -1.58223598e-04 3.43371284e+02] [ 2.44627354e-01 9.69617170e-01 -4.26569922e-05 1.44577963e+01] [ 1.63851384e-04 2.65513132e-06 9.99999987e-01 -2.04578671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.43, Y:14.47, Z:-0.21 [[ 9.71104017e-01 -2.38656578e-01 -1.58220028e-04 3.43428352e+02] [ 2.38656574e-01 9.71104030e-01 -4.26702306e-05 1.44740159e+01] [ 1.63831638e-04 3.67698258e-06 9.99999987e-01 -2.06561412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.48, Y:14.49, Z:-0.21 [[ 9.71928133e-01 -2.35277876e-01 -1.58213435e-04 3.43484234e+02] [ 2.35277872e-01 9.71928146e-01 -4.26946611e-05 1.44912947e+01] [ 1.63817200e-04 4.27202203e-06 9.99999987e-01 -2.05116370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.54, Y:14.51, Z:-0.20 [[ 9.72711980e-01 -2.32015904e-01 -1.58204981e-04 3.43538687e+02] [ 2.32015900e-01 9.72711993e-01 -4.27259623e-05 1.45115180e+01] [ 1.63800985e-04 4.85398430e-06 9.99999987e-01 -2.04971672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.59, Y:14.53, Z:-0.21 [[ 9.72616931e-01 -2.32414030e-01 -1.58201092e-04 3.43593302e+02] [ 2.32414026e-01 9.72616943e-01 -4.27403603e-05 1.45335432e+01] [ 1.63802522e-04 4.80184543e-06 9.99999987e-01 -2.06658033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.65, Y:14.55, Z:-0.21 [[ 9.72445860e-01 -2.33128771e-01 -1.58194051e-04 3.43648254e+02] [ 2.33128767e-01 9.72445873e-01 -4.27664049e-05 1.45509833e+01] [ 1.63805231e-04 4.70842947e-06 9.99999987e-01 -2.05763932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.70, Y:14.57, Z:-0.21 [[ 9.71651036e-01 -2.36419625e-01 -1.58185664e-04 3.43702186e+02] [ 2.36419621e-01 9.71651049e-01 -4.27974017e-05 1.45731701e+01] [ 1.63819412e-04 4.18594483e-06 9.99999987e-01 -2.06298320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.76, Y:14.60, Z:-0.21 [[ 9.70390428e-01 -2.41541699e-01 -1.58181770e-04 3.43756004e+02] [ 2.41541695e-01 9.70390441e-01 -4.28117891e-05 1.45964663e+01] [ 1.63838910e-04 3.33665735e-06 9.99999987e-01 -2.07134314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.81, Y:14.62, Z:-0.20 [[ 9.69255108e-01 -2.46057940e-01 -1.58173792e-04 3.43811487e+02] [ 2.46057936e-01 9.69255121e-01 -4.28412473e-05 1.46167684e+01] [ 1.63852187e-04 2.60418108e-06 9.99999987e-01 -2.04251448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.87, Y:14.64, Z:-0.20 [[ 9.67305069e-01 -2.53615611e-01 -1.58166772e-04 3.43866523e+02] [ 2.53615607e-01 9.67305082e-01 -4.28671478e-05 1.46360219e+01] [ 1.63867300e-04 1.35204739e-06 9.99999987e-01 -2.01680217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.92, Y:14.66, Z:-0.20 [[ 9.65712358e-01 -2.59614361e-01 -1.58158314e-04 3.43921419e+02] [ 2.59614357e-01 9.65712371e-01 -4.28983328e-05 1.46558481e+01] [ 1.63872463e-04 3.67281212e-07 9.99999987e-01 -2.02435720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.98, Y:14.67, Z:-0.21 [[ 9.65047844e-01 -2.62073717e-01 -1.58149744e-04 3.43977555e+02] [ 2.62073713e-01 9.65047857e-01 -4.29299024e-05 1.46711296e+01] [ 1.63872871e-04 -1.74808099e-08 9.99999987e-01 -2.06988583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.03, Y:14.69, Z:-0.21 [[ 9.64830518e-01 -2.62872680e-01 -1.58147112e-04 3.44034218e+02] [ 2.62872677e-01 9.64830531e-01 -4.29395962e-05 1.46871080e+01] [ 1.63872809e-04 -1.43121723e-07 9.99999987e-01 -2.07005074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.09, Y:14.71, Z:-0.21 [[ 9.65864887e-01 -2.59046318e-01 -1.58139675e-04 3.44089001e+02] [ 2.59046315e-01 9.65864900e-01 -4.29669680e-05 1.47053282e+01] [ 1.63871996e-04 5.34785677e-07 9.99999987e-01 -2.06261296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.15, Y:14.72, Z:-0.21 [[ 9.67027118e-01 -2.54673374e-01 -1.58137059e-04 3.44145320e+02] [ 2.54673371e-01 9.67027131e-01 -4.29765918e-05 1.47206039e+01] [ 1.63867821e-04 1.28623177e-06 9.99999987e-01 -2.07663340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.20, Y:14.74, Z:-0.21 [[ 9.67708886e-01 -2.52070401e-01 -1.58128853e-04 3.44201577e+02] [ 2.52070397e-01 9.67708899e-01 -4.30067662e-05 1.47359972e+01] [ 1.63863431e-04 1.75842705e-06 9.99999987e-01 -2.06700278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.26, Y:14.76, Z:-0.21 [[ 9.68696297e-01 -2.48248784e-01 -1.58124964e-04 3.44257177e+02] [ 2.48248781e-01 9.68696310e-01 -4.30210598e-05 1.47563541e+01] [ 1.63854995e-04 2.42001180e-06 9.99999987e-01 -2.07115067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.31, Y:14.78, Z:-0.21 [[ 9.69223552e-01 -2.46182210e-01 -1.58117520e-04 3.44311727e+02] [ 2.46182206e-01 9.69223565e-01 -4.30484018e-05 1.47760835e+01] [ 1.63848977e-04 2.79780500e-06 9.99999987e-01 -2.08346025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.37, Y:14.79, Z:-0.21 [[ 9.68883984e-01 -2.47515253e-01 -1.58114892e-04 3.44366681e+02] [ 2.47515249e-01 9.68883997e-01 -4.30580513e-05 1.47930901e+01] [ 1.63852513e-04 2.58240928e-06 9.99999987e-01 -2.07852944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.185336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:344.42, Y:14.81, Z:-0.21 [[ 9.67986234e-01 -2.51003238e-01 -1.58106455e-04 3.44422585e+02] [ 2.51003235e-01 9.67986247e-01 -4.30890113e-05 1.48089646e+01] [ 1.63860355e-04 2.02433821e-06 9.99999987e-01 -2.11374632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.48, Y:14.83, Z:-0.21 [[ 9.67121643e-01 -2.54314180e-01 -1.58102534e-04 3.44479242e+02] [ 2.54314176e-01 9.67121656e-01 -4.31033912e-05 1.48258310e+01] [ 1.63866188e-04 1.47850683e-06 9.99999987e-01 -2.09661721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.305336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:344.54, Y:14.84, Z:-0.21 [[ 9.65993695e-01 -2.58565574e-01 -1.58095494e-04 3.44536708e+02] [ 2.58565571e-01 9.65993708e-01 -4.31291992e-05 1.48396481e+01] [ 1.63870978e-04 7.84482950e-07 9.99999987e-01 -2.07243694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.59, Y:14.86, Z:-0.21 [[ 9.66061614e-01 -2.58311697e-01 -1.58088058e-04 3.44592135e+02] [ 2.58311693e-01 9.66061627e-01 -4.31564376e-05 1.48555868e+01] [ 1.63870619e-04 8.55783906e-07 9.99999987e-01 -2.06536198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.42533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.65, Y:14.87, Z:-0.21 [[ 9.66454688e-01 -2.56837129e-01 -1.58079662e-04 3.44648229e+02] [ 2.56837125e-01 9.66454701e-01 -4.31871678e-05 1.48720009e+01] [ 1.63868901e-04 1.13771470e-06 9.99999987e-01 -2.05549836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.70, Y:14.89, Z:-0.21 [[ 9.67028335e-01 -2.54668755e-01 -1.58071154e-04 3.44703733e+02] [ 2.54668751e-01 9.67028348e-01 -4.32182878e-05 1.48911059e+01] [ 1.63865634e-04 1.53752542e-06 9.99999987e-01 -2.07395646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.76, Y:14.91, Z:-0.21 [[ 9.66928798e-01 -2.55046416e-01 -1.58063748e-04 3.44760686e+02] [ 2.55046413e-01 9.66928811e-01 -4.32453566e-05 1.49068637e+01] [ 1.63865965e-04 1.50158876e-06 9.99999987e-01 -2.08821468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.82, Y:14.92, Z:-0.21 [[ 9.66437052e-01 -2.56903481e-01 -1.58056341e-04 3.44816953e+02] [ 2.56903477e-01 9.66437065e-01 -4.32724115e-05 1.49227261e+01] [ 1.63868340e-04 1.21483816e-06 9.99999987e-01 -2.09155530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.87, Y:14.94, Z:-0.21 [[ 9.65998626e-01 -2.58547151e-01 -1.58047743e-04 3.44871438e+02] [ 2.58547148e-01 9.65998639e-01 -4.33037923e-05 1.49407441e+01] [ 1.63869977e-04 9.68610738e-07 9.99999987e-01 -2.06589724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.93, Y:14.96, Z:-0.21 [[ 9.65522183e-01 -2.60320744e-01 -1.58044564e-04 3.44927586e+02] [ 2.60320741e-01 9.65522196e-01 -4.33153918e-05 1.49569478e+01] [ 1.63871429e-04 6.79693747e-07 9.99999987e-01 -2.08210932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.99, Y:14.97, Z:-0.21 [[ 9.64435918e-01 -2.64316733e-01 -1.58036092e-04 3.44985169e+02] [ 2.64316730e-01 9.64435931e-01 -4.33462803e-05 1.49710910e+01] [ 1.63872832e-04 3.31266747e-08 9.99999987e-01 -2.10684738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.04, Y:14.99, Z:-0.21 [[ 9.63411108e-01 -2.68028005e-01 -1.58032049e-04 3.45041718e+02] [ 2.68028001e-01 9.63411121e-01 -4.33610143e-05 1.49857891e+01] [ 1.63871800e-04 -5.82531366e-07 9.99999987e-01 -2.11338700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.10, Y:15.00, Z:-0.21 [[ 9.62652463e-01 -2.70740116e-01 -1.58023564e-04 3.45098574e+02] [ 2.70740113e-01 9.62652476e-01 -4.33919162e-05 1.49959764e+01] [ 1.63869707e-04 -1.01198236e-06 9.99999987e-01 -2.12738879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.15, Y:15.01, Z:-0.21 [[ 9.63603185e-01 -2.67336636e-01 -1.58020958e-04 3.45154459e+02] [ 2.67336633e-01 9.63603198e-01 -4.34014041e-05 1.50111797e+01] [ 1.63872286e-04 -4.23059587e-07 9.99999987e-01 -2.10855810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.21, Y:15.03, Z:-0.21 [[ 9.65652437e-01 -2.59837154e-01 -1.58017113e-04 3.45211631e+02] [ 2.59837150e-01 9.65652450e-01 -4.34153962e-05 1.50265405e+01] [ 1.63870546e-04 8.65466730e-07 9.99999987e-01 -2.06794707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.27, Y:15.04, Z:-0.21 [[ 9.67104758e-01 -2.54378384e-01 -1.58009646e-04 3.45267261e+02] [ 2.54378380e-01 9.67104771e-01 -4.34425573e-05 1.50427390e+01] [ 1.63862730e-04 1.81926619e-06 9.99999987e-01 -2.07160521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.32, Y:15.06, Z:-0.21 [[ 9.68730941e-01 -2.48113562e-01 -1.58007011e-04 3.45321507e+02] [ 2.48113558e-01 9.68730954e-01 -4.34521376e-05 1.50623145e+01] [ 1.63847347e-04 2.88974844e-06 9.99999987e-01 -2.06015701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.38, Y:15.08, Z:-0.21 [[ 9.69621952e-01 -2.44608353e-01 -1.57998753e-04 3.45376849e+02] [ 2.44608349e-01 9.69621964e-01 -4.34821432e-05 1.50836929e+01] [ 1.63835157e-04 3.51342640e-06 9.99999987e-01 -2.07677232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.43, Y:15.10, Z:-0.21 [[ 9.69750009e-01 -2.44100176e-01 -1.57991342e-04 3.45432460e+02] [ 2.44100172e-01 9.69750021e-01 -4.35090571e-05 1.51012310e+01] [ 1.63832675e-04 3.62719476e-06 9.99999987e-01 -2.08300560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.49, Y:15.12, Z:-0.21 [[ 9.69631617e-01 -2.44570035e-01 -1.57982909e-04 3.45486997e+02] [ 2.44570031e-01 9.69631630e-01 -4.35396549e-05 1.51218259e+01] [ 1.63833720e-04 3.57954092e-06 9.99999987e-01 -2.07757886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.54, Y:15.14, Z:-0.21 [[ 9.68155006e-01 -2.50351472e-01 -1.57974397e-04 3.45541149e+02] [ 2.50351468e-01 9.68155019e-01 -4.35705183e-05 1.51432783e+01] [ 1.63851648e-04 2.63389335e-06 9.99999987e-01 -2.09934102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.60, Y:15.16, Z:-0.21 [[ 9.65535471e-01 -2.60271452e-01 -1.57971760e-04 3.45595859e+02] [ 2.60271448e-01 9.65535484e-01 -4.35800760e-05 1.51620864e+01] [ 1.63869989e-04 9.62570520e-07 9.99999987e-01 -2.09207512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.65, Y:15.18, Z:-0.21 [[ 9.63543941e-01 -2.67550086e-01 -1.57963166e-04 3.45652880e+02] [ 2.67550082e-01 9.63543954e-01 -4.36112040e-05 1.51775906e+01] [ 1.63872635e-04 -2.41746639e-07 9.99999987e-01 -2.08341153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.71, Y:15.19, Z:-0.21 [[ 9.61980464e-01 -2.73118221e-01 -1.57955761e-04 3.45709550e+02] [ 2.73118218e-01 9.61980476e-01 -4.36380080e-05 1.51925677e+01] [ 1.63868693e-04 -1.16168476e-06 9.99999987e-01 -2.05561068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.77, Y:15.21, Z:-0.21 [[ 9.61531478e-01 -2.74694727e-01 -1.57948285e-04 3.45765703e+02] [ 2.74694723e-01 9.61531491e-01 -4.36650486e-05 1.52072295e+01] [ 1.63866809e-04 -1.40224187e-06 9.99999987e-01 -2.07677218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.82, Y:15.22, Z:-0.20 [[ 9.61441515e-01 -2.75009433e-01 -1.57945650e-04 3.45822749e+02] [ 2.75009430e-01 9.61441528e-01 -4.36745783e-05 1.52202424e+01] [ 1.63866428e-04 -1.44599050e-06 9.99999987e-01 -2.04657873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.88, Y:15.23, Z:-0.21 [[ 9.61909813e-01 -2.73366944e-01 -1.57938145e-04 3.45878808e+02] [ 2.73366941e-01 9.61909826e-01 -4.37017017e-05 1.52339887e+01] [ 1.63868855e-04 -1.13797192e-06 9.99999987e-01 -2.05017380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.805336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:345.94, Y:15.24, Z:-0.20 [[ 9.63073001e-01 -2.69240358e-01 -1.57935501e-04 3.45935901e+02] [ 2.69240355e-01 9.63073014e-01 -4.37112545e-05 1.52443449e+01] [ 1.63872253e-04 -4.25481414e-07 9.99999987e-01 -2.03699174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.99, Y:15.26, Z:-0.21 [[ 9.65490310e-01 -2.60438929e-01 -1.57926901e-04 3.45992197e+02] [ 2.60438925e-01 9.65490323e-01 -4.37423061e-05 1.52584537e+01] [ 1.63869094e-04 1.10246042e-06 9.99999987e-01 -2.10910924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.92533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.05, Y:15.28, Z:-0.21 [[ 9.67209872e-01 -2.53978420e-01 -1.57924232e-04 3.46047997e+02] [ 2.53978417e-01 9.67209885e-01 -4.37519377e-05 1.52765175e+01] [ 1.63857927e-04 2.20795956e-06 9.99999987e-01 -2.09409833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.10, Y:15.29, Z:-0.21 [[ 9.68774000e-01 -2.47945380e-01 -1.57916721e-04 3.46104164e+02] [ 2.47945376e-01 9.68774013e-01 -4.37790320e-05 1.52924804e+01] [ 1.63840424e-04 3.25726709e-06 9.99999987e-01 -2.13829702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.16, Y:15.31, Z:-0.22 [[ 9.68498112e-01 -2.49020847e-01 -1.57909244e-04 3.46159557e+02] [ 2.49020843e-01 9.68498125e-01 -4.38059862e-05 1.53078287e+01] [ 1.63843410e-04 3.10332195e-06 9.99999987e-01 -2.15618590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.22, Y:15.32, Z:-0.21 [[ 9.66501594e-01 -2.56660561e-01 -1.57906594e-04 3.46215379e+02] [ 2.56660557e-01 9.66501607e-01 -4.38155338e-05 1.53246855e+01] [ 1.63862697e-04 1.81938885e-06 9.99999987e-01 -2.14346407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.27, Y:15.34, Z:-0.21 [[ 9.65087398e-01 -2.61928023e-01 -1.57903962e-04 3.46272668e+02] [ 2.61928019e-01 9.65087411e-01 -4.38250173e-05 1.53390932e+01] [ 1.63870126e-04 9.35499849e-07 9.99999987e-01 -2.10325558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.33, Y:15.35, Z:-0.21 [[ 9.63532534e-01 -2.67591165e-01 -1.57896623e-04 3.46328632e+02] [ 2.67591161e-01 9.63532547e-01 -4.38514442e-05 1.53537497e+01] [ 1.63872794e-04 5.52468477e-10 9.99999987e-01 -2.06699724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.38, Y:15.37, Z:-0.21 [[ 9.62975455e-01 -2.69589037e-01 -1.57894032e-04 3.46383365e+02] [ 2.69589033e-01 9.62975468e-01 -4.38607704e-05 1.53717883e+01] [ 1.63872462e-04 -3.29654227e-07 9.99999987e-01 -2.10243685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.44, Y:15.39, Z:-0.21 [[ 9.63412921e-01 -2.68021488e-01 -1.57891490e-04 3.46438950e+02] [ 2.68021485e-01 9.63412934e-01 -4.38699198e-05 1.53902555e+01] [ 1.63872785e-04 -5.34639494e-08 9.99999987e-01 -2.10702415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.50, Y:15.41, Z:-0.21 [[ 9.63911149e-01 -2.66224099e-01 -1.57884323e-04 3.46495575e+02] [ 2.66224096e-01 9.63911162e-01 -4.38956972e-05 1.54077973e+01] [ 1.63872554e-04 2.78940664e-07 9.99999987e-01 -2.11424587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.55, Y:15.43, Z:-0.21 [[ 9.64437882e-01 -2.64309568e-01 -1.57877091e-04 3.46548508e+02] [ 2.64309564e-01 9.64437894e-01 -4.39216934e-05 1.54306505e+01] [ 1.63871573e-04 6.31319756e-07 9.99999987e-01 -2.12225822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.60, Y:15.45, Z:-0.21 [[ 9.63657237e-01 -2.67141730e-01 -1.57873528e-04 3.46603848e+02] [ 2.67141727e-01 9.63657250e-01 -4.39344980e-05 1.54501667e+01] [ 1.63872708e-04 1.63190191e-07 9.99999987e-01 -2.09768921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.66, Y:15.46, Z:-0.21 [[ 9.61053426e-01 -2.76362602e-01 -1.57865952e-04 3.46661037e+02] [ 2.76362599e-01 9.61053439e-01 -4.39617024e-05 1.54644906e+01] [ 1.63866987e-04 -1.37870009e-06 9.99999987e-01 -2.08063067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.72, Y:15.48, Z:-0.21 [[ 9.58012392e-01 -2.86726754e-01 -1.57858422e-04 3.46718318e+02] [ 2.86726751e-01 9.58012405e-01 -4.39887234e-05 1.54776778e+01] [ 1.63843071e-04 -3.12049039e-06 9.99999987e-01 -2.05439907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.78, Y:15.49, Z:-0.21 [[ 9.56595453e-01 -2.91419140e-01 -1.57850718e-04 3.46775869e+02] [ 2.91419137e-01 9.56595466e-01 -4.40163540e-05 1.54880993e+01] [ 1.63826489e-04 -3.89487589e-06 9.99999987e-01 -2.06716893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.765336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:346.83, Y:15.50, Z:-0.21 [[ 9.56269403e-01 -2.92487271e-01 -1.57848012e-04 3.46833856e+02] [ 2.92487268e-01 9.56269416e-01 -4.40260539e-05 1.54976080e+01] [ 1.63822287e-04 -4.06776557e-06 9.99999987e-01 -2.08096584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.89, Y:15.51, Z:-0.21 [[ 9.57914863e-01 -2.87052417e-01 -1.57839811e-04 3.46891628e+02] [ 2.87052414e-01 9.57914876e-01 -4.40554382e-05 1.55080014e+01] [ 1.63843323e-04 -3.10693961e-06 9.99999987e-01 -2.08563371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.95, Y:15.52, Z:-0.21 [[ 9.60024938e-01 -2.79914438e-01 -1.57832584e-04 3.46949061e+02] [ 2.79914435e-01 9.60024951e-01 -4.40813147e-05 1.55181350e+01] [ 1.63862215e-04 -1.86045701e-06 9.99999987e-01 -2.08568370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.01, Y:15.53, Z:-0.21 [[ 9.61124512e-01 -2.76115281e-01 -1.57824142e-04 3.47006535e+02] [ 2.76115278e-01 9.61124524e-01 -4.41115186e-05 1.55314132e+01] [ 1.63868517e-04 -1.18099494e-06 9.99999987e-01 -2.09475173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.06, Y:15.54, Z:-0.21 [[ 9.62373007e-01 -2.71731799e-01 -1.57816662e-04 3.47063549e+02] [ 2.71731796e-01 9.62373020e-01 -4.41382618e-05 1.55415635e+01] [ 1.63872267e-04 -4.06333311e-07 9.99999987e-01 -2.13417779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.12, Y:15.55, Z:-0.21 [[ 9.63877175e-01 -2.66347078e-01 -1.57812734e-04 3.47120590e+02] [ 2.66347074e-01 9.63877188e-01 -4.41523018e-05 1.55507366e+01] [ 1.63871931e-04 5.24435923e-07 9.99999987e-01 -2.11560590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.18, Y:15.57, Z:-0.21 [[ 9.65049278e-01 -2.62068439e-01 -1.57808863e-04 3.47177113e+02] [ 2.62068435e-01 9.65049291e-01 -4.41661341e-05 1.55653567e+01] [ 1.63867881e-04 1.26577399e-06 9.99999987e-01 -2.09430942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.23, Y:15.58, Z:-0.21 [[ 9.66085736e-01 -2.58221466e-01 -1.57801559e-04 3.47234281e+02] [ 2.58221462e-01 9.66085749e-01 -4.41922155e-05 1.55800437e+01] [ 1.63861216e-04 1.94571981e-06 9.99999987e-01 -2.06085013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.29, Y:15.59, Z:-0.21 [[ 9.67085381e-01 -2.54452040e-01 -1.57793837e-04 3.47291260e+02] [ 2.54452037e-01 9.67085394e-01 -4.42197702e-05 1.55921238e+01] [ 1.63851926e-04 2.61333018e-06 9.99999987e-01 -2.08362391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.35, Y:15.61, Z:-0.21 [[ 9.67332862e-01 -2.53509583e-01 -1.57791114e-04 3.47348616e+02] [ 2.53509579e-01 9.67332875e-01 -4.42294842e-05 1.56067852e+01] [ 1.63849130e-04 2.78307471e-06 9.99999987e-01 -2.10002508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.41, Y:15.62, Z:-0.21 [[ 9.66874775e-01 -2.55251140e-01 -1.57783412e-04 3.47405157e+02] [ 2.55251136e-01 9.66874788e-01 -4.42569413e-05 1.56227000e+01] [ 1.63853438e-04 2.51652479e-06 9.99999987e-01 -2.12718369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.42533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.46, Y:15.63, Z:-0.22 [[ 9.65399377e-01 -2.60775800e-01 -1.57775717e-04 3.47461848e+02] [ 2.60775796e-01 9.65399390e-01 -4.42843579e-05 1.56344168e+01] [ 1.63864870e-04 1.60800322e-06 9.99999987e-01 -2.17557480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.52, Y:15.65, Z:-0.22 [[ 9.63754174e-01 -2.66791803e-01 -1.57772990e-04 3.47519339e+02] [ 2.66791800e-01 9.63754187e-01 -4.42940707e-05 1.56477711e+01] [ 1.63871675e-04 5.96055524e-07 9.99999987e-01 -2.19890239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.58, Y:15.66, Z:-0.22 [[ 9.62587169e-01 -2.70972170e-01 -1.57765639e-04 3.47575981e+02] [ 2.70972166e-01 9.62587182e-01 -4.43202406e-05 1.56626278e+01] [ 1.63872733e-04 -8.80018343e-08 9.99999987e-01 -2.18700610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.63, Y:15.68, Z:-0.22 [[ 9.62296704e-01 -2.72001891e-01 -1.57757961e-04 3.47631687e+02] [ 2.72001888e-01 9.62296717e-01 -4.43475506e-05 1.56769379e+01] [ 1.63872586e-04 -2.34961594e-07 9.99999987e-01 -2.18431749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.69, Y:15.69, Z:-0.21 [[ 9.61740414e-01 -2.73962316e-01 -1.57749185e-04 3.47688422e+02] [ 2.73962312e-01 9.61740427e-01 -4.43787484e-05 1.56868521e+01] [ 1.63871873e-04 -5.36495587e-07 9.99999987e-01 -2.14607098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.75, Y:15.70, Z:-0.21 [[ 9.60778701e-01 -2.77316178e-01 -1.57744452e-04 3.47745509e+02] [ 2.77316175e-01 9.60778714e-01 -4.43955650e-05 1.57001542e+01] [ 1.63869120e-04 -1.09077471e-06 9.99999987e-01 -2.11488452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.80, Y:15.71, Z:-0.21 [[ 9.59565216e-01 -2.81486359e-01 -1.57737110e-04 3.47804295e+02] [ 2.81486356e-01 9.59565229e-01 -4.44216358e-05 1.57072479e+01] [ 1.63863131e-04 -1.77538767e-06 9.99999987e-01 -2.06703212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.86, Y:15.71, Z:-0.21 [[ 9.59595777e-01 -2.81382160e-01 -1.57729532e-04 3.47862879e+02] [ 2.81382156e-01 9.59595790e-01 -4.44485259e-05 1.57145465e+01] [ 1.63863617e-04 -1.72965806e-06 9.99999987e-01 -2.06194542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.92, Y:15.73, Z:-0.21 [[ 9.60543430e-01 -2.78129996e-01 -1.57720818e-04 3.47921041e+02] [ 2.78129992e-01 9.60543443e-01 -4.44794263e-05 1.57267763e+01] [ 1.63868760e-04 -1.14246906e-06 9.99999987e-01 -2.06782986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.98, Y:15.74, Z:-0.22 [[ 9.62829964e-01 -2.70108192e-01 -1.57716684e-04 3.47979772e+02] [ 2.70108188e-01 9.62829977e-01 -4.44940792e-05 1.57371463e+01] [ 1.63872567e-04 2.39664940e-07 9.99999987e-01 -2.15211397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.04, Y:15.75, Z:-0.22 [[ 9.65513683e-01 -2.60352268e-01 -1.57709565e-04 3.48036624e+02] [ 2.60352264e-01 9.65513696e-01 -4.45192980e-05 1.57494731e+01] [ 1.63861445e-04 1.92394902e-06 9.99999987e-01 -2.15076102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.09, Y:15.76, Z:-0.21 [[ 9.67541297e-01 -2.52712908e-01 -1.57706856e-04 3.48093679e+02] [ 2.52712904e-01 9.67541310e-01 -4.45288929e-05 1.57637622e+01] [ 1.63840924e-04 3.22898521e-06 9.99999987e-01 -2.14079529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.15, Y:15.78, Z:-0.22 [[ 9.68545509e-01 -2.48836437e-01 -1.57699201e-04 3.48149294e+02] [ 2.48836433e-01 9.68545522e-01 -4.45559879e-05 1.57789707e+01] [ 1.63826008e-04 3.91319545e-06 9.99999987e-01 -2.15009799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.21, Y:15.79, Z:-0.21 [[ 9.68755571e-01 -2.48017376e-01 -1.57696508e-04 3.48205149e+02] [ 2.48017372e-01 9.68755584e-01 -4.45655174e-05 1.57931675e+01] [ 1.63822395e-04 4.06161990e-06 9.99999987e-01 -2.14575713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.26, Y:15.81, Z:-0.22 [[ 9.68157421e-01 -2.50342131e-01 -1.57688199e-04 3.48261661e+02] [ 2.50342127e-01 9.68157434e-01 -4.45948949e-05 1.58083819e+01] [ 1.63830984e-04 3.69887906e-06 9.99999987e-01 -2.17185239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.32, Y:15.83, Z:-0.22 [[ 9.67708692e-01 -2.52071147e-01 -1.57680857e-04 3.48317024e+02] [ 2.52071143e-01 9.67708704e-01 -4.46208432e-05 1.58250298e+01] [ 1.63836765e-04 3.43318398e-06 9.99999987e-01 -2.16095163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.37, Y:15.84, Z:-0.22 [[ 9.67115613e-01 -2.54337113e-01 -1.57672111e-04 3.48372332e+02] [ 2.54337109e-01 9.67115625e-01 -4.46517235e-05 1.58417446e+01] [ 1.63843753e-04 3.08150990e-06 9.99999987e-01 -2.15653391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.43, Y:15.86, Z:-0.21 [[ 9.66299244e-01 -2.57421339e-01 -1.57669400e-04 3.48427738e+02] [ 2.57421335e-01 9.66299257e-01 -4.46612949e-05 1.58616081e+01] [ 1.63852595e-04 2.56870793e-06 9.99999987e-01 -2.13793240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.48, Y:15.88, Z:-0.22 [[ 9.64987560e-01 -2.62295604e-01 -1.57662054e-04 3.48484376e+02] [ 2.62295600e-01 9.64987573e-01 -4.46872130e-05 1.58788638e+01] [ 1.63863183e-04 1.76854149e-06 9.99999987e-01 -2.15353321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.565336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:348.54, Y:15.89, Z:-0.21 [[ 9.63853572e-01 -2.66432479e-01 -1.57654695e-04 3.48539610e+02] [ 2.66432475e-01 9.63853585e-01 -4.47131609e-05 1.58949424e+01] [ 1.63869081e-04 1.09260923e-06 9.99999987e-01 -2.14526984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.60, Y:15.91, Z:-0.22 [[ 9.62556859e-01 -2.71079818e-01 -1.57645888e-04 3.48595819e+02] [ 2.71079815e-01 9.62556872e-01 -4.47441918e-05 1.59105008e+01] [ 1.63872380e-04 3.34210742e-07 9.99999987e-01 -2.20006507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.65, Y:15.93, Z:-0.22 [[ 9.62551052e-01 -2.71100437e-01 -1.57638248e-04 3.48651953e+02] [ 2.71100434e-01 9.62551065e-01 -4.47710914e-05 1.59284906e+01] [ 1.63872326e-04 3.58663802e-07 9.99999987e-01 -2.15387180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.71, Y:15.95, Z:-0.22 [[ 9.63366189e-01 -2.68189412e-01 -1.57630574e-04 3.48706688e+02] [ 2.68189409e-01 9.63366202e-01 -4.47980944e-05 1.59476701e+01] [ 1.63870342e-04 8.82119180e-07 9.99999987e-01 -2.17173521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.76, Y:15.96, Z:-0.22 [[ 9.63691128e-01 -2.67019448e-01 -1.57626508e-04 3.48762058e+02] [ 2.67019445e-01 9.63691140e-01 -4.48123960e-05 1.59633510e+01] [ 1.63869050e-04 1.09596584e-06 9.99999987e-01 -2.15974692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.82, Y:15.98, Z:-0.21 [[ 9.63641960e-01 -2.67196834e-01 -1.57618001e-04 3.48818134e+02] [ 2.67196830e-01 9.63641973e-01 -4.48422972e-05 1.59803810e+01] [ 1.63869041e-04 1.09688898e-06 9.99999987e-01 -2.14092667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.92533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.87, Y:16.00, Z:-0.21 [[ 9.62369258e-01 -2.71745077e-01 -1.57610516e-04 3.48874375e+02] [ 2.71745073e-01 9.62369271e-01 -4.48685881e-05 1.59966497e+01] [ 1.63872336e-04 3.50268588e-07 9.99999987e-01 -2.09666209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.93, Y:16.01, Z:-0.21 [[ 9.61240055e-01 -2.75712769e-01 -1.57602767e-04 3.48931587e+02] [ 2.75712766e-01 9.61240068e-01 -4.48957898e-05 1.60074236e+01] [ 1.63872437e-04 -2.97463428e-07 9.99999987e-01 -2.09477840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.99, Y:16.02, Z:-0.21 [[ 9.60919643e-01 -2.76827410e-01 -1.57593895e-04 3.48988934e+02] [ 2.76827407e-01 9.60919656e-01 -4.49269114e-05 1.60211380e+01] [ 1.63872072e-04 -4.55157748e-07 9.99999987e-01 -2.10059501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.10533619499995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:349.05, Y:16.03, Z:-0.21 [[ 9.60809400e-01 -2.77209796e-01 -1.57586179e-04 3.49046281e+02] [ 2.77209793e-01 9.60809413e-01 -4.49539616e-05 1.60341853e+01] [ 1.63871963e-04 -4.92243097e-07 9.99999987e-01 -2.10687647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.10, Y:16.05, Z:-0.21 [[ 9.61128088e-01 -2.76102833e-01 -1.57578476e-04 3.49102560e+02] [ 2.76102829e-01 9.61128101e-01 -4.49809473e-05 1.60471868e+01] [ 1.63872468e-04 -2.75411144e-07 9.99999987e-01 -2.13294999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.16, Y:16.06, Z:-0.21 [[ 9.61455105e-01 -2.74961918e-01 -1.57575760e-04 3.49160108e+02] [ 2.74961914e-01 9.61455118e-01 -4.49904601e-05 1.60602509e+01] [ 1.63872684e-04 -7.10249428e-08 9.99999987e-01 -2.09144641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.22, Y:16.07, Z:-0.21 [[ 9.61930582e-01 -2.73293855e-01 -1.57568027e-04 3.49218222e+02] [ 2.73293851e-01 9.61930595e-01 -4.50175241e-05 1.60700023e+01] [ 1.63872519e-04 2.41360158e-07 9.99999987e-01 -2.05380591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.28, Y:16.08, Z:-0.21 [[ 9.62822131e-01 -2.70136111e-01 -1.57560151e-04 3.49275034e+02] [ 2.70136108e-01 9.62822144e-01 -4.50450732e-05 1.60815018e+01] [ 1.63870704e-04 8.07707331e-07 9.99999987e-01 -2.06505455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.33, Y:16.09, Z:-0.21 [[ 9.63697373e-01 -2.66996908e-01 -1.57557383e-04 3.49331911e+02] [ 2.66996904e-01 9.63697386e-01 -4.50547545e-05 1.60943065e+01] [ 1.63867118e-04 1.35181506e-06 9.99999987e-01 -2.08202886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.39, Y:16.11, Z:-0.21 [[ 9.64920051e-01 -2.62543844e-01 -1.57554649e-04 3.49388911e+02] [ 2.62543840e-01 9.64920064e-01 -4.50643135e-05 1.61076960e+01] [ 1.63859000e-04 2.11845713e-06 9.99999987e-01 -2.08490764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.45, Y:16.12, Z:-0.21 [[ 9.65669446e-01 -2.59773933e-01 -1.57546838e-04 3.49446235e+02] [ 2.59773929e-01 9.65669459e-01 -4.50916041e-05 1.61194591e+01] [ 1.63851793e-04 2.61702331e-06 9.99999987e-01 -2.06667427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.50, Y:16.13, Z:-0.21 [[ 9.65846204e-01 -2.59115969e-01 -1.57542707e-04 3.49502501e+02] [ 2.59115966e-01 9.65846217e-01 -4.51060313e-05 1.61348082e+01] [ 1.63849721e-04 2.74365839e-06 9.99999987e-01 -2.12964938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.56, Y:16.15, Z:-0.21 [[ 9.65892351e-01 -2.58943898e-01 -1.57535049e-04 3.49559815e+02] [ 2.58943894e-01 9.65892363e-01 -4.51327639e-05 1.61478087e+01] [ 1.63848754e-04 2.80065255e-06 9.99999987e-01 -2.14122024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.62, Y:16.16, Z:-0.21 [[ 9.66158030e-01 -2.57950843e-01 -1.57527580e-04 3.49616586e+02] [ 2.57950839e-01 9.66158042e-01 -4.51588158e-05 1.61615474e+01] [ 1.63845293e-04 2.99618105e-06 9.99999987e-01 -2.10842027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.67, Y:16.18, Z:-0.21 [[ 9.66193382e-01 -2.57818395e-01 -1.57519746e-04 3.49672818e+02] [ 2.57818391e-01 9.66193394e-01 -4.51861275e-05 1.61760959e+01] [ 1.63844353e-04 3.04705005e-06 9.99999987e-01 -2.12282867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.73, Y:16.19, Z:-0.21 [[ 9.65377925e-01 -2.60855205e-01 -1.57516990e-04 3.49729940e+02] [ 2.60855201e-01 9.65377937e-01 -4.51957315e-05 1.61916034e+01] [ 1.63852969e-04 2.54183537e-06 9.99999987e-01 -2.09849872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.79, Y:16.20, Z:-0.21 [[ 9.63632992e-01 -2.67229176e-01 -1.57509321e-04 3.49788002e+02] [ 2.67229172e-01 9.63633004e-01 -4.52224432e-05 1.62007570e+01] [ 1.63865936e-04 1.48675280e-06 9.99999987e-01 -2.13177570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.84, Y:16.21, Z:-0.21 [[ 9.62590995e-01 -2.70958580e-01 -1.57501693e-04 3.49844366e+02] [ 2.70958576e-01 9.62591008e-01 -4.52489940e-05 1.62128781e+01] [ 1.63870316e-04 8.79839723e-07 9.99999987e-01 -2.11638706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.90, Y:16.23, Z:-0.21 [[ 9.62552646e-01 -2.71094778e-01 -1.57492800e-04 3.49900889e+02] [ 2.71094774e-01 9.62552659e-01 -4.52799259e-05 1.62272759e+01] [ 1.63870265e-04 8.88837487e-07 9.99999987e-01 -2.09696273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.96, Y:16.24, Z:-0.21 [[ 9.63763421e-01 -2.66758400e-01 -1.57488675e-04 3.49956979e+02] [ 2.66758396e-01 9.63763434e-01 -4.52942679e-05 1.62406398e+01] [ 1.63864453e-04 1.64153219e-06 9.99999987e-01 -2.08258659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.01, Y:16.25, Z:-0.21 [[ 9.64191147e-01 -2.65208232e-01 -1.57485952e-04 3.50014188e+02] [ 2.65208228e-01 9.64191160e-01 -4.53037323e-05 1.62523625e+01] [ 1.63861486e-04 1.91488723e-06 9.99999987e-01 -2.07521724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.07, Y:16.27, Z:-0.21 [[ 9.63792490e-01 -2.66653353e-01 -1.57482050e-04 3.50070909e+02] [ 2.66653349e-01 9.63792503e-01 -4.53172937e-05 1.62666925e+01] [ 1.63864027e-04 1.68335127e-06 9.99999987e-01 -2.05250946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.13, Y:16.28, Z:-0.21 [[ 9.63007314e-01 -2.69475211e-01 -1.57474602e-04 3.50128148e+02] [ 2.69475207e-01 9.63007326e-01 -4.53431616e-05 1.62774318e+01] [ 1.63868053e-04 1.23029537e-06 9.99999987e-01 -2.05117325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.19, Y:16.29, Z:-0.20 [[ 9.62319956e-01 -2.71919615e-01 -1.57465896e-04 3.50185619e+02] [ 2.71919612e-01 9.62319969e-01 -4.53733747e-05 1.62891121e+01] [ 1.63870487e-04 8.45638730e-07 9.99999987e-01 -2.01153425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.24, Y:16.30, Z:-0.20 [[ 9.61709581e-01 -2.74070532e-01 -1.57458110e-04 3.50242005e+02] [ 2.74070528e-01 9.61709594e-01 -4.54003776e-05 1.63023760e+01] [ 1.63871881e-04 5.07350833e-07 9.99999987e-01 -2.00485676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.42533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.30, Y:16.32, Z:-0.20 [[ 9.61337672e-01 -2.75372214e-01 -1.57448884e-04 3.50298896e+02] [ 2.75372210e-01 9.61337685e-01 -4.54323504e-05 1.63154656e+01] [ 1.63872353e-04 3.18782698e-07 9.99999987e-01 -2.02855888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.36, Y:16.33, Z:-0.21 [[ 9.61164238e-01 -2.75976961e-01 -1.57446038e-04 3.50355415e+02] [ 2.75976958e-01 9.61164251e-01 -4.54422100e-05 1.63266165e+01] [ 1.63872507e-04 2.25948538e-07 9.99999987e-01 -2.08563085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.41, Y:16.34, Z:-0.21 [[ 9.61832564e-01 -2.73638620e-01 -1.57443227e-04 3.50412162e+02] [ 2.73638616e-01 9.61832577e-01 -4.54519491e-05 1.63370280e+01] [ 1.63871433e-04 6.34618078e-07 9.99999987e-01 -2.10126322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.47, Y:16.35, Z:-0.21 [[ 9.62775881e-01 -2.70300904e-01 -1.57440535e-04 3.50469153e+02] [ 2.70300900e-01 9.62775894e-01 -4.54612705e-05 1.63534515e+01] [ 1.63868175e-04 1.21269638e-06 9.99999987e-01 -2.08607115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.53, Y:16.37, Z:-0.21 [[ 9.64558724e-01 -2.63868232e-01 -1.57432933e-04 3.50525862e+02] [ 2.63868228e-01 9.64558736e-01 -4.54875837e-05 1.63693434e+01] [ 1.63856039e-04 2.33389667e-06 9.99999987e-01 -2.09592950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.58, Y:16.38, Z:-0.21 [[ 9.66200932e-01 -2.57790098e-01 -1.57425040e-04 3.50581664e+02] [ 2.57790094e-01 9.66200945e-01 -4.55148833e-05 1.63837313e+01] [ 1.63837508e-04 3.39390691e-06 9.99999987e-01 -2.09323875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.64, Y:16.40, Z:-0.21 [[ 9.67340311e-01 -2.53481159e-01 -1.57422271e-04 3.50637773e+02] [ 2.53481155e-01 9.67340324e-01 -4.55244581e-05 1.64028472e+01] [ 1.63820503e-04 4.13406455e-06 9.99999987e-01 -2.06877062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.69, Y:16.42, Z:-0.21 [[ 9.68333664e-01 -2.49659549e-01 -1.57414567e-04 3.50693600e+02] [ 2.49659545e-01 9.68333677e-01 -4.55510799e-05 1.64218876e+01] [ 1.63802089e-04 4.80859483e-06 9.99999987e-01 -2.05927443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.75, Y:16.44, Z:-0.21 [[ 9.69182609e-01 -2.46343347e-01 -1.57406761e-04 3.50747311e+02] [ 2.46343343e-01 9.69182622e-01 -4.55780404e-05 1.64405902e+01] [ 1.63783744e-04 5.39733645e-06 9.99999987e-01 -2.07063137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.80, Y:16.46, Z:-0.21 [[ 9.69804407e-01 -2.43883963e-01 -1.57402919e-04 3.50801622e+02] [ 2.43883959e-01 9.69804420e-01 -4.55913036e-05 1.64614428e+01] [ 1.63769034e-04 5.82660004e-06 9.99999987e-01 -2.06339448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.86, Y:16.48, Z:-0.21 [[ 9.69980772e-01 -2.43181573e-01 -1.57394261e-04 3.50855801e+02] [ 2.43181569e-01 9.69980785e-01 -4.56211745e-05 1.64839544e+01] [ 1.63763638e-04 5.97627877e-06 9.99999987e-01 -2.06713056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.91, Y:16.51, Z:-0.21 [[ 9.68810363e-01 -2.47803260e-01 -1.57391590e-04 3.50909051e+02] [ 2.47803255e-01 9.68810376e-01 -4.56303873e-05 1.65077980e+01] [ 1.63789964e-04 5.20504371e-06 9.99999987e-01 -2.08950930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.96, Y:16.53, Z:-0.21 [[ 9.66341435e-01 -2.57262913e-01 -1.57383131e-04 3.50962863e+02] [ 2.57262909e-01 9.66341448e-01 -4.56595427e-05 1.65312947e+01] [ 1.63832350e-04 3.63386575e-06 9.99999987e-01 -2.07749322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.02, Y:16.55, Z:-0.21 [[ 9.63509070e-01 -2.67675637e-01 -1.57374276e-04 3.51018024e+02] [ 2.67675633e-01 9.63509083e-01 -4.56900456e-05 1.65537153e+01] [ 1.63861656e-04 1.89751455e-06 9.99999987e-01 -2.10757313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.265336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:351.07, Y:16.57, Z:-0.21 [[ 9.61445446e-01 -2.74995690e-01 -1.57366991e-04 3.51073293e+02] [ 2.74995686e-01 9.61445459e-01 -4.57151227e-05 1.65742050e+01] [ 1.63871240e-04 6.77352974e-07 9.99999987e-01 -2.08339926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.13, Y:16.59, Z:-0.21 [[ 9.60945171e-01 -2.76738783e-01 -1.57358829e-04 3.51127458e+02] [ 2.76738779e-01 9.60945184e-01 -4.57431991e-05 1.65915878e+01] [ 1.63872126e-04 4.09415988e-07 9.99999987e-01 -2.11589372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.18, Y:16.61, Z:-0.21 [[ 9.60901506e-01 -2.76890358e-01 -1.57354860e-04 3.51181588e+02] [ 2.76890354e-01 9.60901519e-01 -4.57568473e-05 1.66121170e+01] [ 1.63872154e-04 3.97780532e-07 9.99999987e-01 -2.10898800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.24, Y:16.63, Z:-0.21 [[ 9.61267352e-01 -2.75617587e-01 -1.57346196e-04 3.51237847e+02] [ 2.75617583e-01 9.61267364e-01 -4.57866210e-05 1.66271526e+01] [ 1.63871361e-04 6.45805605e-07 9.99999987e-01 -2.08357171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.29, Y:16.65, Z:-0.21 [[ 9.62357866e-01 -2.71785418e-01 -1.57337155e-04 3.51292662e+02] [ 2.71785414e-01 9.62357879e-01 -4.58176680e-05 1.66457828e+01] [ 1.63867225e-04 1.33104921e-06 9.99999987e-01 -2.08344478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.35, Y:16.66, Z:-0.21 [[ 9.64034026e-01 -2.65778802e-01 -1.57328053e-04 3.51346518e+02] [ 2.65778798e-01 9.64034039e-01 -4.58489005e-05 1.66641934e+01] [ 1.63855265e-04 2.38543913e-06 9.99999987e-01 -2.09727257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.40, Y:16.68, Z:-0.21 [[ 9.65133058e-01 -2.61759728e-01 -1.57321913e-04 3.51402240e+02] [ 2.61759724e-01 9.65133071e-01 -4.58699595e-05 1.66821697e+01] [ 1.63843489e-04 3.09007361e-06 9.99999987e-01 -2.11923268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.46, Y:16.70, Z:-0.21 [[ 9.66270512e-01 -2.57529168e-01 -1.57314397e-04 3.51457795e+02] [ 2.57529164e-01 9.66270525e-01 -4.58957241e-05 1.67015245e+01] [ 1.63827752e-04 3.83463990e-06 9.99999987e-01 -2.13346480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.51, Y:16.72, Z:-0.21 [[ 9.66808383e-01 -2.55502496e-01 -1.57306809e-04 3.51512109e+02] [ 2.55502492e-01 9.66808396e-01 -4.59217160e-05 1.67245778e+01] [ 1.63818657e-04 4.20521830e-06 9.99999987e-01 -2.10980072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.57, Y:16.74, Z:-0.21 [[ 9.66705326e-01 -2.55892140e-01 -1.57298931e-04 3.51567174e+02] [ 2.55892136e-01 9.66705339e-01 -4.59486833e-05 1.67425381e+01] [ 1.63819624e-04 4.16727731e-06 9.99999987e-01 -2.13241725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.62, Y:16.77, Z:-0.21 [[ 9.66534811e-01 -2.56535445e-01 -1.57296153e-04 3.51621717e+02] [ 2.56535441e-01 9.66534824e-01 -4.59581940e-05 1.67650506e+01] [ 1.63822115e-04 4.06815649e-06 9.99999987e-01 -2.08361496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.92533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.68, Y:16.79, Z:-0.21 [[ 9.66892601e-01 -2.55183606e-01 -1.57288662e-04 3.51675017e+02] [ 2.55183602e-01 9.66892614e-01 -4.59838171e-05 1.67928822e+01] [ 1.63815562e-04 4.32392536e-06 9.99999987e-01 -2.09432915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.73, Y:16.82, Z:-0.21 [[ 9.67051479e-01 -2.54580855e-01 -1.57281065e-04 3.51728009e+02] [ 2.54580851e-01 9.67051492e-01 -4.60097852e-05 1.68177807e+01] [ 1.63812099e-04 4.45308338e-06 9.99999987e-01 -2.09112570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.78, Y:16.84, Z:-0.21 [[ 9.66346787e-01 -2.57242810e-01 -1.57272165e-04 3.51781860e+02] [ 2.57242806e-01 9.66346799e-01 -4.60401891e-05 1.68433694e+01] [ 1.63822961e-04 4.03365583e-06 9.99999987e-01 -2.06439392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.83, Y:16.87, Z:-0.21 [[ 9.64733280e-01 -2.63229317e-01 -1.57264309e-04 3.51834542e+02] [ 2.63229313e-01 9.64733293e-01 -4.60670081e-05 1.68710969e+01] [ 1.63844301e-04 3.04580003e-06 9.99999987e-01 -2.05202013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.89, Y:16.89, Z:-0.21 [[ 9.63253846e-01 -2.68592635e-01 -1.57261486e-04 3.51888483e+02] [ 2.68592631e-01 9.63253859e-01 -4.60766414e-05 1.68915420e+01] [ 1.63858580e-04 2.14422569e-06 9.99999987e-01 -2.08670235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.94, Y:16.91, Z:-0.21 [[ 9.61315055e-01 -2.75451157e-01 -1.57258683e-04 3.51943700e+02] [ 2.75451153e-01 9.61315068e-01 -4.60862063e-05 1.69127018e+01] [ 1.63869640e-04 9.86278387e-07 9.99999987e-01 -2.09220455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.00, Y:16.94, Z:-0.21 [[ 9.60218653e-01 -2.79249198e-01 -1.57251021e-04 3.51997503e+02] [ 2.79249194e-01 9.60218665e-01 -4.61123342e-05 1.69361151e+01] [ 1.63872198e-04 3.65702474e-07 9.99999987e-01 -2.13252744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.05, Y:16.95, Z:-0.21 [[ 9.59692437e-01 -2.81052311e-01 -1.57243432e-04 3.52053782e+02] [ 2.81052307e-01 9.59692450e-01 -4.61381991e-05 1.69525863e+01] [ 1.63872582e-04 8.48512890e-08 9.99999987e-01 -2.11597538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.11, Y:16.97, Z:-0.21 [[ 9.59440092e-01 -2.81912548e-01 -1.57235742e-04 3.52108584e+02] [ 2.81912544e-01 9.59440105e-01 -4.61643918e-05 1.69703390e+01] [ 1.63872598e-04 -3.47597495e-08 9.99999987e-01 -2.09257644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.16, Y:16.99, Z:-0.20 [[ 9.59491939e-01 -2.81736036e-01 -1.57233029e-04 3.52163968e+02] [ 2.81736032e-01 9.59491952e-01 -4.61736314e-05 1.69916477e+01] [ 1.63872601e-04 5.01756974e-09 9.99999987e-01 -2.03093470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.22, Y:17.01, Z:-0.21 [[ 9.59945092e-01 -2.80188145e-01 -1.57224989e-04 3.52218022e+02] [ 2.80188141e-01 9.59945104e-01 -4.62009913e-05 1.70097021e+01] [ 1.63872328e-04 2.97837537e-07 9.99999987e-01 -2.05121264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.27, Y:17.03, Z:-0.20 [[ 9.60606784e-01 -2.77911105e-01 -1.57221032e-04 3.52273653e+02] [ 2.77911101e-01 9.60606797e-01 -4.62144535e-05 1.70256699e+01] [ 1.63871101e-04 7.00447490e-07 9.99999987e-01 -2.03470765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.33, Y:17.04, Z:-0.20 [[ 9.60760204e-01 -2.77380253e-01 -1.57216972e-04 3.52330216e+02] [ 2.77380249e-01 9.60760217e-01 -4.62282585e-05 1.70427170e+01] [ 1.63870619e-04 8.05388107e-07 9.99999987e-01 -2.04772879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.39, Y:17.06, Z:-0.21 [[ 9.60477559e-01 -2.78357384e-01 -1.57209344e-04 3.52387408e+02] [ 2.78357381e-01 9.60477572e-01 -4.62541875e-05 1.70582345e+01] [ 1.63871243e-04 6.65728054e-07 9.99999987e-01 -2.07981772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.44, Y:17.07, Z:-0.21 [[ 9.59528685e-01 -2.81610864e-01 -1.57202236e-04 3.52444621e+02] [ 2.81610860e-01 9.59528698e-01 -4.62783304e-05 1.70725005e+01] [ 1.63872538e-04 1.35528603e-07 9.99999987e-01 -2.09112701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.50, Y:17.08, Z:-0.21 [[ 9.59104109e-01 -2.83053501e-01 -1.57194547e-04 3.52502989e+02] [ 2.83053497e-01 9.59104121e-01 -4.63044332e-05 1.70827587e+01] [ 1.63872570e-04 -8.36941939e-08 9.99999987e-01 -2.05146210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.56, Y:17.10, Z:-0.20 [[ 9.59272713e-01 -2.82481568e-01 -1.57186510e-04 3.52558545e+02] [ 2.82481565e-01 9.59272726e-01 -4.63316999e-05 1.70979617e+01] [ 1.63872583e-04 4.24442314e-08 9.99999987e-01 -2.03990819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.61, Y:17.12, Z:-0.21 [[ 9.60982999e-01 -2.76607396e-01 -1.57177225e-04 3.52612863e+02] [ 2.76607393e-01 9.60983011e-01 -4.63631765e-05 1.71168783e+01] [ 1.63869041e-04 1.07784193e-06 9.99999987e-01 -2.07048881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.67, Y:17.13, Z:-0.21 [[ 9.62854672e-01 -2.70020103e-01 -1.57174360e-04 3.52669591e+02] [ 2.70020099e-01 9.62854685e-01 -4.63728898e-05 1.71344236e+01] [ 1.63857681e-04 2.21011735e-06 9.99999987e-01 -2.10125380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.72, Y:17.15, Z:-0.21 [[ 9.63976739e-01 -2.65986507e-01 -1.57166932e-04 3.52724151e+02] [ 2.65986503e-01 9.63976752e-01 -4.63980491e-05 1.71539355e+01] [ 1.63846524e-04 2.92235744e-06 9.99999987e-01 -2.09819563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.78, Y:17.17, Z:-0.21 [[ 9.64010010e-01 -2.65865900e-01 -1.57164130e-04 3.52780124e+02] [ 2.65865896e-01 9.64010022e-01 -4.64075404e-05 1.71734161e+01] [ 1.63845979e-04 2.95275136e-06 9.99999987e-01 -2.06238227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.83, Y:17.19, Z:-0.21 [[ 9.63283485e-01 -2.68486317e-01 -1.57156185e-04 3.52834231e+02] [ 2.68486313e-01 9.63283498e-01 -4.64344287e-05 1.71915608e+01] [ 1.63852968e-04 2.53523368e-06 9.99999987e-01 -2.08222961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.89, Y:17.21, Z:-0.21 [[ 9.61863082e-01 -2.73531326e-01 -1.57152277e-04 3.52889018e+02] [ 2.73531322e-01 9.61863095e-01 -4.64476502e-05 1.72101660e+01] [ 1.63863863e-04 1.69020988e-06 9.99999987e-01 -2.08183174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.95, Y:17.23, Z:-0.21 [[ 9.60190987e-01 -2.79344311e-01 -1.57143452e-04 3.52945044e+02] [ 2.79344307e-01 9.60191000e-01 -4.64774884e-05 1.72275796e+01] [ 1.63870950e-04 7.30136754e-07 9.99999987e-01 -2.08400211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.00, Y:17.24, Z:-0.21 [[ 9.58879991e-01 -2.83811802e-01 -1.57135265e-04 3.53000883e+02] [ 2.83811798e-01 9.58880003e-01 -4.65051523e-05 1.72420180e+01] [ 1.63872574e-04 -3.98203633e-09 9.99999987e-01 -2.11780911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.42533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.06, Y:17.26, Z:-0.21 [[ 9.58501486e-01 -2.85087488e-01 -1.57130935e-04 3.53057163e+02] [ 2.85087485e-01 9.58501499e-01 -4.65197784e-05 1.72595648e+01] [ 1.63872443e-04 -2.06786205e-07 9.99999987e-01 -2.09355554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.11, Y:17.27, Z:-0.21 [[ 9.58925676e-01 -2.83657406e-01 -1.57122892e-04 3.53113177e+02] [ 2.83657402e-01 9.58925689e-01 -4.65469270e-05 1.72739495e+01] [ 1.63872558e-04 6.59721385e-08 9.99999987e-01 -2.09390472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.17, Y:17.29, Z:-0.21 [[ 9.59681037e-01 -2.81091235e-01 -1.57113720e-04 3.53169553e+02] [ 2.81091231e-01 9.59681050e-01 -4.65778662e-05 1.72883595e+01] [ 1.63871689e-04 5.36606051e-07 9.99999987e-01 -2.10035533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.23, Y:17.30, Z:-0.21 [[ 9.60497728e-01 -2.78287782e-01 -1.57110895e-04 3.53226761e+02] [ 2.78287778e-01 9.60497741e-01 -4.65873922e-05 1.73016541e+01] [ 1.63869362e-04 1.02504246e-06 9.99999987e-01 -2.08789560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.28, Y:17.32, Z:-0.21 [[ 9.61496226e-01 -2.74818090e-01 -1.57103072e-04 3.53283703e+02] [ 2.74818086e-01 9.61496239e-01 -4.66137585e-05 1.73167105e+01] [ 1.63864317e-04 1.64418740e-06 9.99999987e-01 -2.08851010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.34, Y:17.33, Z:-0.21 [[ 9.63351977e-01 -2.68240460e-01 -1.57095200e-04 3.53339662e+02] [ 2.68240456e-01 9.63351990e-01 -4.66402733e-05 1.73313135e+01] [ 1.63848782e-04 2.79171141e-06 9.99999987e-01 -2.10080432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.40, Y:17.35, Z:-0.21 [[ 9.64798387e-01 -2.62990584e-01 -1.57092419e-04 3.53395883e+02] [ 2.62990580e-01 9.64798400e-01 -4.66496392e-05 1.73479178e+01] [ 1.63830930e-04 3.69367045e-06 9.99999987e-01 -2.11412175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.45, Y:17.36, Z:-0.21 [[ 9.65289738e-01 -2.61181349e-01 -1.57084494e-04 3.53451126e+02] [ 2.61181345e-01 9.65289751e-01 -4.66763077e-05 1.73636182e+01] [ 1.63823033e-04 4.02862132e-06 9.99999987e-01 -2.11543783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.51, Y:17.38, Z:-0.21 [[ 9.65341889e-01 -2.60988528e-01 -1.57081703e-04 3.53506004e+02] [ 2.60988524e-01 9.65341902e-01 -4.66856987e-05 1.73843634e+01] [ 1.63821982e-04 4.07113866e-06 9.99999987e-01 -2.09001860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.56, Y:17.40, Z:-0.21 [[ 9.64412632e-01 -2.64401684e-01 -1.57073974e-04 3.53562018e+02] [ 2.64401680e-01 9.64412645e-01 -4.67116911e-05 1.74017720e+01] [ 1.63834776e-04 3.51872241e-06 9.99999987e-01 -2.10872801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.62, Y:17.42, Z:-0.21 [[ 9.62375961e-01 -2.71721336e-01 -1.57066296e-04 3.53618903e+02] [ 2.71721332e-01 9.62375974e-01 -4.67374920e-05 1.74151962e+01] [ 1.63856403e-04 2.30077550e-06 9.99999987e-01 -2.10953767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.67, Y:17.43, Z:-0.21 [[ 9.61312622e-01 -2.75459649e-01 -1.57057561e-04 3.53674195e+02] [ 2.75459645e-01 9.61312635e-01 -4.67668254e-05 1.74340465e+01] [ 1.63863792e-04 1.69451935e-06 9.99999987e-01 -2.12264497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.73, Y:17.45, Z:-0.21 [[ 9.60725510e-01 -2.77500395e-01 -1.57049944e-04 3.53729532e+02] [ 2.77500391e-01 9.60725523e-01 -4.67923906e-05 1.74495568e+01] [ 1.63866797e-04 1.37322238e-06 9.99999987e-01 -2.13029952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.78, Y:17.47, Z:-0.21 [[ 9.60908024e-01 -2.76867737e-01 -1.57047253e-04 3.53783592e+02] [ 2.76867733e-01 9.60908037e-01 -4.68014216e-05 1.74697659e+01] [ 1.63865771e-04 1.49054460e-06 9.99999987e-01 -2.11644558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.84, Y:17.49, Z:-0.21 [[ 9.61033585e-01 -2.76431589e-01 -1.57044604e-04 3.53838836e+02] [ 2.76431585e-01 9.61033598e-01 -4.68103095e-05 1.74902679e+01] [ 1.63864989e-04 1.57419076e-06 9.99999987e-01 -2.14506956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.89, Y:17.51, Z:-0.21 [[ 9.61040397e-01 -2.76407906e-01 -1.57037202e-04 3.53893847e+02] [ 2.76407902e-01 9.61040410e-01 -4.68351268e-05 1.75102028e+01] [ 1.63864697e-04 1.60412516e-06 9.99999987e-01 -2.11874905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.95, Y:17.53, Z:-0.21 [[ 9.60724856e-01 -2.77502662e-01 -1.57029357e-04 3.53949326e+02] [ 2.77502658e-01 9.60724868e-01 -4.68614165e-05 1.75272925e+01] [ 1.63866176e-04 1.44486369e-06 9.99999987e-01 -2.09936711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.00, Y:17.55, Z:-0.21 [[ 9.59997022e-01 -2.80010165e-01 -1.57020118e-04 3.54003177e+02] [ 2.80010161e-01 9.59997035e-01 -4.68923532e-05 1.75489268e+01] [ 1.63869183e-04 1.04929093e-06 9.99999987e-01 -2.11250619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.06, Y:17.56, Z:-0.21 [[ 9.58444591e-01 -2.85278709e-01 -1.57017264e-04 3.54059739e+02] [ 2.85278705e-01 9.58444604e-01 -4.69019062e-05 1.75648540e+01] [ 1.63872465e-04 1.59196465e-07 9.99999987e-01 -2.07232404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.12, Y:17.58, Z:-0.21 [[ 9.57093314e-01 -2.89779855e-01 -1.57009089e-04 3.54115910e+02] [ 2.89779851e-01 9.57093327e-01 -4.69292588e-05 1.75802290e+01] [ 1.63871505e-04 -5.82390547e-07 9.99999987e-01 -2.09506116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.17, Y:17.60, Z:-0.21 [[ 9.56704595e-01 -2.91060636e-01 -1.57006214e-04 3.54171967e+02] [ 2.91060633e-01 9.56704607e-01 -4.69388736e-05 1.75964255e+01] [ 1.63870627e-04 -7.91692002e-07 9.99999987e-01 -2.07217085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.23, Y:17.61, Z:-0.20 [[ 9.57623548e-01 -2.88022768e-01 -1.57003421e-04 3.54229671e+02] [ 2.88022764e-01 9.57623561e-01 -4.69482140e-05 1.76102260e+01] [ 1.63872330e-04 -2.61844098e-07 9.99999987e-01 -2.02093940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.29, Y:17.63, Z:-0.20 [[ 9.59564532e-01 -2.81488694e-01 -1.56995298e-04 3.54285033e+02] [ 2.81488690e-01 9.59564544e-01 -4.69753620e-05 1.76258817e+01] [ 1.63870155e-04 8.83490354e-07 9.99999987e-01 -2.02367228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.34, Y:17.64, Z:-0.20 [[ 9.60173675e-01 -2.79403812e-01 -1.56986066e-04 3.54340220e+02] [ 2.79403808e-01 9.60173687e-01 -4.70061944e-05 1.76435402e+01] [ 1.63867600e-04 1.27160576e-06 9.99999987e-01 -2.02698640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.40, Y:17.66, Z:-0.20 [[ 9.62007213e-01 -2.73023987e-01 -1.56976758e-04 3.54396159e+02] [ 2.73023983e-01 9.62007226e-01 -4.70372581e-05 1.76630734e+01] [ 1.63855075e-04 2.39176189e-06 9.99999987e-01 -2.02405407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.92533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.45, Y:17.68, Z:-0.20 [[ 9.63820345e-01 -2.66552655e-01 -1.56968444e-04 3.54450892e+02] [ 2.66552651e-01 9.63820358e-01 -4.70649857e-05 1.76807385e+01] [ 1.63834679e-04 3.52183584e-06 9.99999987e-01 -2.04321780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.51, Y:17.70, Z:-0.20 [[ 9.65414675e-01 -2.60719160e-01 -1.56965524e-04 3.54505756e+02] [ 2.60719156e-01 9.65414688e-01 -4.70747222e-05 1.77033033e+01] [ 1.63810105e-04 4.52270861e-06 9.99999987e-01 -2.01568657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.56, Y:17.73, Z:-0.21 [[ 9.65991529e-01 -2.58573668e-01 -1.56957486e-04 3.54559593e+02] [ 2.58573663e-01 9.65991542e-01 -4.71015097e-05 1.77250020e+01] [ 1.63798814e-04 4.91458737e-06 9.99999987e-01 -2.05989357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.61, Y:17.75, Z:-0.21 [[ 9.65754814e-01 -2.59456383e-01 -1.56954654e-04 3.54613203e+02] [ 2.59456379e-01 9.65754827e-01 -4.71109449e-05 1.77482895e+01] [ 1.63802950e-04 4.77473566e-06 9.99999987e-01 -2.13032446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.16533619499995 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:354.67, Y:17.77, Z:-0.21 [[ 9.64432362e-01 -2.64329709e-01 -1.56952013e-04 3.54668272e+02] [ 2.64329705e-01 9.64432374e-01 -4.71197415e-05 1.77694264e+01] [ 1.63824750e-04 3.95672435e-06 9.99999987e-01 -2.09986506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.72, Y:17.79, Z:-0.21 [[ 9.62923018e-01 -2.69776273e-01 -1.56943898e-04 3.54722884e+02] [ 2.69776269e-01 9.62923030e-01 -4.71467532e-05 1.77918024e+01] [ 1.63843969e-04 3.05895452e-06 9.99999987e-01 -2.06703773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.78, Y:17.81, Z:-0.21 [[ 9.61764726e-01 -2.73876956e-01 -1.56935724e-04 3.54776842e+02] [ 2.73876952e-01 9.61764739e-01 -4.71739464e-05 1.78119989e+01] [ 1.63855103e-04 2.38915982e-06 9.99999987e-01 -2.10962995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.83, Y:17.83, Z:-0.21 [[ 9.60102970e-01 -2.79646674e-01 -1.56932850e-04 3.54832496e+02] [ 2.79646670e-01 9.60102983e-01 -4.71835059e-05 1.78315428e+01] [ 1.63866408e-04 1.41527528e-06 9.99999987e-01 -2.07958596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.89, Y:17.85, Z:-0.21 [[ 9.59230772e-01 -2.82623958e-01 -1.56924791e-04 3.54886937e+02] [ 2.82623954e-01 9.59230785e-01 -4.72102920e-05 1.78521509e+01] [ 1.63869850e-04 9.34859723e-07 9.99999987e-01 -2.07185012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.94, Y:17.87, Z:-0.21 [[ 9.59139642e-01 -2.82933071e-01 -1.56921959e-04 3.54941569e+02] [ 2.82933067e-01 9.59139655e-01 -4.72197046e-05 1.78715486e+01] [ 1.63870090e-04 8.91879394e-07 9.99999987e-01 -2.05956221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.00, Y:17.89, Z:-0.20 [[ 9.59092050e-01 -2.83094357e-01 -1.56919165e-04 3.54996437e+02] [ 2.83094353e-01 9.59092063e-01 -4.72289867e-05 1.78926592e+01] [ 1.63870186e-04 8.74016018e-07 9.99999987e-01 -2.02802413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.05, Y:17.91, Z:-0.20 [[ 9.59105066e-01 -2.83050255e-01 -1.56911023e-04 3.55052029e+02] [ 2.83050252e-01 9.59105079e-01 -4.72560223e-05 1.79124900e+01] [ 1.63869989e-04 9.09785834e-07 9.99999987e-01 -2.03542702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.11, Y:17.93, Z:-0.21 [[ 9.59603780e-01 -2.81354867e-01 -1.56902902e-04 3.55106959e+02] [ 2.81354863e-01 9.59603793e-01 -4.72829721e-05 1.79340387e+01] [ 1.63867914e-04 1.22752430e-06 9.99999987e-01 -2.05700598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.16, Y:17.95, Z:-0.21 [[ 9.60204900e-01 -2.79296483e-01 -1.56894729e-04 3.55162255e+02] [ 2.79296479e-01 9.60204913e-01 -4.73100771e-05 1.79544467e+01] [ 1.63864627e-04 1.60722260e-06 9.99999987e-01 -2.07006537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.765336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:355.22, Y:17.97, Z:-0.21 [[ 9.60909364e-01 -2.76863087e-01 -1.56886511e-04 3.55216548e+02] [ 2.76863083e-01 9.60909377e-01 -4.73373134e-05 1.79748842e+01] [ 1.63859674e-04 2.05078464e-06 9.99999987e-01 -2.10429876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.27, Y:18.00, Z:-0.21 [[ 9.60801793e-01 -2.77236162e-01 -1.56883599e-04 3.55271204e+02] [ 2.77236158e-01 9.60801806e-01 -4.73469596e-05 1.79961662e+01] [ 1.63860335e-04 1.99723734e-06 9.99999987e-01 -2.05518519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.33, Y:18.02, Z:-0.20 [[ 9.60354152e-01 -2.78782851e-01 -1.56875466e-04 3.55326480e+02] [ 2.78782847e-01 9.60354165e-01 -4.73738920e-05 1.80152860e+01] [ 1.63863036e-04 1.76152486e-06 9.99999987e-01 -2.04977947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.38, Y:18.03, Z:-0.20 [[ 9.59309224e-01 -2.82357554e-01 -1.56867341e-04 3.55383130e+02] [ 2.82357550e-01 9.59309237e-01 -4.74007811e-05 1.80319255e+01] [ 1.63868258e-04 1.17932842e-06 9.99999987e-01 -2.04178148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.44, Y:18.05, Z:-0.21 [[ 9.57708366e-01 -2.87740613e-01 -1.56859195e-04 3.55439330e+02] [ 2.87740609e-01 9.57708379e-01 -4.74277234e-05 1.80483556e+01] [ 1.63872248e-04 2.87167254e-07 9.99999987e-01 -2.05787804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.50, Y:18.06, Z:-0.21 [[ 9.56424473e-01 -2.91979798e-01 -1.56851088e-04 3.55495344e+02] [ 2.91979794e-01 9.56424486e-01 -4.74545177e-05 1.80644082e+01] [ 1.63871982e-04 -4.10686371e-07 9.99999987e-01 -2.09434075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.125336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:355.55, Y:18.08, Z:-0.21 [[ 9.55878477e-01 -2.93762340e-01 -1.56843082e-04 3.55551878e+02] [ 2.93762336e-01 9.55878490e-01 -4.74809656e-05 1.80791081e+01] [ 1.63871048e-04 -6.88557073e-07 9.99999987e-01 -2.07993081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.61, Y:18.09, Z:-0.21 [[ 9.55150855e-01 -2.96119604e-01 -1.56835187e-04 3.55608093e+02] [ 2.96119600e-01 9.55150868e-01 -4.75070283e-05 1.80926517e+01] [ 1.63869028e-04 -1.06559425e-06 9.99999987e-01 -2.08436488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.67, Y:18.11, Z:-0.21 [[ 9.55189729e-01 -2.95994183e-01 -1.56832392e-04 3.55665142e+02] [ 2.95994179e-01 9.55189742e-01 -4.75162553e-05 1.81076141e+01] [ 1.63869227e-04 -1.03443598e-06 9.99999987e-01 -2.05737239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.72, Y:18.12, Z:-0.21 [[ 9.55768328e-01 -2.94120518e-01 -1.56824255e-04 3.55720235e+02] [ 2.94120515e-01 9.55768340e-01 -4.75430951e-05 1.81228823e+01] [ 1.63871058e-04 -6.85046020e-07 9.99999987e-01 -2.05995510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.78, Y:18.13, Z:-0.21 [[ 9.56324151e-01 -2.92308216e-01 -1.56820228e-04 3.55778207e+02] [ 2.92308212e-01 9.56324164e-01 -4.75563740e-05 1.81344817e+01] [ 1.63872092e-04 -3.60531422e-07 9.99999987e-01 -2.05116659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.42533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.83, Y:18.15, Z:-0.20 [[ 9.56288922e-01 -2.92423447e-01 -1.56812078e-04 3.55834622e+02] [ 2.92423443e-01 9.56288935e-01 -4.75832327e-05 1.81479589e+01] [ 1.63872108e-04 -3.52209488e-07 9.99999987e-01 -2.03063397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.89, Y:18.16, Z:-0.20 [[ 9.56228866e-01 -2.92619774e-01 -1.56809201e-04 3.55891547e+02] [ 2.92619770e-01 9.56228878e-01 -4.75927113e-05 1.81612747e+01] [ 1.63872055e-04 -3.75948060e-07 9.99999987e-01 -2.00853731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.95, Y:18.17, Z:-0.20 [[ 9.56750451e-01 -2.90909864e-01 -1.56801084e-04 3.55947115e+02] [ 2.90909860e-01 9.56750464e-01 -4.76194390e-05 1.81744624e+01] [ 1.63872475e-04 -5.50616453e-08 9.99999987e-01 -2.02724194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.00, Y:18.19, Z:-0.21 [[ 9.58084730e-01 -2.86484947e-01 -1.56794797e-04 3.56003697e+02] [ 2.86484943e-01 9.58084743e-01 -4.76401301e-05 1.81910591e+01] [ 1.63870883e-04 7.23932697e-07 9.99999987e-01 -2.06400787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.06, Y:18.21, Z:-0.21 [[ 9.59434769e-01 -2.81930663e-01 -1.56786816e-04 3.56059092e+02] [ 2.81930659e-01 9.59434782e-01 -4.76663832e-05 1.82114372e+01] [ 1.63865340e-04 1.52977509e-06 9.99999987e-01 -2.09185161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.11, Y:18.23, Z:-0.21 [[ 9.59647461e-01 -2.81205841e-01 -1.56778896e-04 3.56114013e+02] [ 2.81205837e-01 9.59647474e-01 -4.76924169e-05 1.82290741e+01] [ 1.63863858e-04 1.68076602e-06 9.99999987e-01 -2.07501130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.17, Y:18.25, Z:-0.21 [[ 9.59668740e-01 -2.81133216e-01 -1.56769442e-04 3.56168964e+02] [ 2.81133212e-01 9.59668753e-01 -4.77234742e-05 1.82485812e+01] [ 1.63863389e-04 1.72562966e-06 9.99999987e-01 -2.08852873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.22, Y:18.27, Z:-0.21 [[ 9.57597037e-01 -2.88110900e-01 -1.56766519e-04 3.56224333e+02] [ 2.88110896e-01 9.57597049e-01 -4.77330744e-05 1.82672272e+01] [ 1.63871575e-04 5.42908352e-07 9.99999987e-01 -2.05851549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.28, Y:18.28, Z:-0.21 [[ 9.53699775e-01 -3.00760227e-01 -1.56763625e-04 3.56279800e+02] [ 3.00760223e-01 9.53699788e-01 -4.77425766e-05 1.82835267e+01] [ 1.63864504e-04 -1.61617821e-06 9.99999987e-01 -2.05205882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.96533619499996 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:356.34, Y:18.30, Z:-0.20 [[ 9.50757197e-01 -3.09936651e-01 -1.56759347e-04 3.56337168e+02] [ 3.09936647e-01 9.50757210e-01 -4.77566178e-05 1.82957215e+01] [ 1.63841606e-04 -3.18051849e-06 9.99999987e-01 -2.03503253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.39, Y:18.31, Z:-0.20 [[ 9.47627058e-01 -3.19378981e-01 -1.56749995e-04 3.56394784e+02] [ 3.19378978e-01 9.47627071e-01 -4.77872940e-05 1.83060830e+01] [ 1.63802796e-04 -4.77812039e-06 9.99999987e-01 -2.01442713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.45, Y:18.31, Z:-0.20 [[ 9.46425059e-01 -3.22923495e-01 -1.56747112e-04 3.56453024e+02] [ 3.22923492e-01 9.46425072e-01 -4.77967481e-05 1.83142767e+01] [ 1.63784090e-04 -5.38128471e-06 9.99999987e-01 -1.97822259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.51, Y:18.32, Z:-0.20 [[ 9.46876830e-01 -3.21596400e-01 -1.56744265e-04 3.56510195e+02] [ 3.21596396e-01 9.46876843e-01 -4.78060848e-05 1.83241272e+01] [ 1.63791779e-04 -5.14191665e-06 9.99999987e-01 -1.97826424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.57, Y:18.33, Z:-0.20 [[ 9.49097970e-01 -3.14980981e-01 -1.56735206e-04 3.56568823e+02] [ 3.14980978e-01 9.49097983e-01 -4.78357648e-05 1.83299579e+01] [ 1.63824424e-04 -3.96778132e-06 9.99999987e-01 -1.99630138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.63, Y:18.34, Z:-0.20 [[ 9.51639741e-01 -3.07216176e-01 -1.56732412e-04 3.56628320e+02] [ 3.07216172e-01 9.51639754e-01 -4.78449200e-05 1.83379371e+01] [ 1.63851527e-04 -2.61960424e-06 9.99999987e-01 -2.00381457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.69, Y:18.34, Z:-0.20 [[ 9.53786489e-01 -3.00485123e-01 -1.56724360e-04 3.56687115e+02] [ 3.00485119e-01 9.53786502e-01 -4.78712791e-05 1.83391593e+01] [ 1.63866187e-04 -1.43435884e-06 9.99999987e-01 -2.01145290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.75, Y:18.35, Z:-0.20 [[ 9.55526668e-01 -2.94904667e-01 -1.56718108e-04 3.56745099e+02] [ 2.94904663e-01 9.55526681e-01 -4.78917385e-05 1.83494160e+01] [ 1.63871831e-04 -4.55067536e-07 9.99999987e-01 -2.01219717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.80, Y:18.36, Z:-0.20 [[ 9.59134029e-01 -2.82952097e-01 -1.56710167e-04 3.56802503e+02] [ 2.82952093e-01 9.59134042e-01 -4.79177098e-05 1.83593279e+01] [ 1.63864472e-04 1.61803645e-06 9.99999987e-01 -2.00608129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.86, Y:18.37, Z:-0.20 [[ 9.62655321e-01 -2.70729953e-01 -1.56701115e-04 3.56859702e+02] [ 2.70729949e-01 9.62655334e-01 -4.79472932e-05 1.83712269e+01] [ 1.63829933e-04 3.73303215e-06 9.99999987e-01 -1.98759086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.92, Y:18.39, Z:-0.20 [[ 9.64881428e-01 -2.62685754e-01 -1.56691595e-04 3.56915101e+02] [ 2.62685749e-01 9.64881441e-01 -4.79783832e-05 1.83883341e+01] [ 1.63792050e-04 5.13280178e-06 9.99999987e-01 -2.01048609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.97, Y:18.41, Z:-0.20 [[ 9.65131578e-01 -2.61765187e-01 -1.56688671e-04 3.56971856e+02] [ 2.61765183e-01 9.65131590e-01 -4.79879305e-05 1.84055480e+01] [ 1.63786756e-04 5.29902843e-06 9.99999987e-01 -2.00809366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.03, Y:18.42, Z:-0.20 [[ 9.64531662e-01 -2.63967137e-01 -1.56684278e-04 3.57027488e+02] [ 2.63967133e-01 9.64531674e-01 -4.80022715e-05 1.84243591e+01] [ 1.63797971e-04 4.94021120e-06 9.99999987e-01 -1.98961706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.08, Y:18.45, Z:-0.20 [[ 9.63431768e-01 -2.67953736e-01 -1.56676086e-04 3.57082500e+02] [ 2.67953732e-01 9.63431780e-01 -4.80289944e-05 1.84462766e+01] [ 1.63816269e-04 4.29071709e-06 9.99999987e-01 -1.99666324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.14, Y:18.47, Z:-0.20 [[ 9.62125814e-01 -2.72605747e-01 -1.56667887e-04 3.57136735e+02] [ 2.72605743e-01 9.62125827e-01 -4.80557243e-05 1.84661542e+01] [ 1.63834487e-04 3.52708721e-06 9.99999987e-01 -2.03169337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.19, Y:18.49, Z:-0.20 [[ 9.61086501e-01 -2.76247557e-01 -1.56664990e-04 3.57192333e+02] [ 2.76247552e-01 9.61086514e-01 -4.80651654e-05 1.84855217e+01] [ 1.63846494e-04 2.91646149e-06 9.99999987e-01 -2.01307336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.92533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.25, Y:18.51, Z:-0.20 [[ 9.59747725e-01 -2.80863454e-01 -1.56657041e-04 3.57247726e+02] [ 2.80863450e-01 9.59747738e-01 -4.80910615e-05 1.85066047e+01] [ 1.63858262e-04 2.15605000e-06 9.99999987e-01 -2.04578925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.30, Y:18.52, Z:-0.20 [[ 9.58749730e-01 -2.84251527e-01 -1.56649142e-04 3.57302993e+02] [ 2.84251523e-01 9.58749743e-01 -4.81167746e-05 1.85240852e+01] [ 1.63864592e-04 1.60418730e-06 9.99999987e-01 -2.02365265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.36, Y:18.54, Z:-0.20 [[ 9.58567496e-01 -2.84865460e-01 -1.56639655e-04 3.57359379e+02] [ 2.84865456e-01 9.58567509e-01 -4.81476417e-05 1.85416437e+01] [ 1.63865284e-04 1.53153784e-06 9.99999987e-01 -1.99602131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.41, Y:18.56, Z:-0.20 [[ 9.58895456e-01 -2.83759546e-01 -1.56631345e-04 3.57414108e+02] [ 2.83759542e-01 9.58895469e-01 -4.81746588e-05 1.85593034e+01] [ 1.63863106e-04 1.74882269e-06 9.99999987e-01 -1.97654490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.47, Y:18.58, Z:-0.20 [[ 9.59967461e-01 -2.80111496e-01 -1.56628403e-04 3.57468896e+02] [ 2.80111492e-01 9.59967473e-01 -4.81842236e-05 1.85776908e+01] [ 1.63855127e-04 2.38187135e-06 9.99999987e-01 -1.98647232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.52, Y:18.60, Z:-0.20 [[ 9.60898620e-01 -2.76900376e-01 -1.56625528e-04 3.57524589e+02] [ 2.76900372e-01 9.60898632e-01 -4.81935644e-05 1.85981030e+01] [ 1.63846072e-04 2.93946243e-06 9.99999987e-01 -2.01170862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.58, Y:18.62, Z:-0.20 [[ 9.60769599e-01 -2.77347711e-01 -1.56617951e-04 3.57579757e+02] [ 2.77347707e-01 9.60769612e-01 -4.82181764e-05 1.86161191e+01] [ 1.63846969e-04 2.88892841e-06 9.99999987e-01 -2.03856861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.64, Y:18.63, Z:-0.20 [[ 9.60050656e-01 -2.79826221e-01 -1.56615078e-04 3.57635481e+02] [ 2.79826217e-01 9.60050668e-01 -4.82275080e-05 1.86324955e+01] [ 1.63853731e-04 2.47584598e-06 9.99999987e-01 -2.01526444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.69, Y:18.65, Z:-0.21 [[ 9.59225853e-01 -2.82640654e-01 -1.56605637e-04 3.57692133e+02] [ 2.82640649e-01 9.59225865e-01 -4.82581455e-05 1.86461688e+01] [ 1.63859891e-04 2.02734195e-06 9.99999987e-01 -2.05169457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.75, Y:18.66, Z:-0.21 [[ 9.58876830e-01 -2.83822480e-01 -1.56602720e-04 3.57748219e+02] [ 2.83822476e-01 9.58876843e-01 -4.82676089e-05 1.86616713e+01] [ 1.63862154e-04 1.83532017e-06 9.99999987e-01 -2.05044079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.80, Y:18.68, Z:-0.20 [[ 9.59024635e-01 -2.83322652e-01 -1.56593500e-04 3.57803983e+02] [ 2.83322648e-01 9.59024648e-01 -4.82975004e-05 1.86798134e+01] [ 1.63860802e-04 1.95200745e-06 9.99999987e-01 -2.04345841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.86, Y:18.70, Z:-0.20 [[ 9.59384183e-01 -2.82102755e-01 -1.56585485e-04 3.57860486e+02] [ 2.82102751e-01 9.59384196e-01 -4.83234745e-05 1.86972837e+01] [ 1.63857825e-04 2.18758114e-06 9.99999987e-01 -2.04688856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.92, Y:18.71, Z:-0.20 [[ 9.60355866e-01 -2.78776947e-01 -1.56577545e-04 3.57916676e+02] [ 2.78776943e-01 9.60355879e-01 -4.83491875e-05 1.87129365e+01] [ 1.63848805e-04 2.78221649e-06 9.99999987e-01 -2.01713877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.97, Y:18.73, Z:-0.20 [[ 9.61461895e-01 -2.74938177e-01 -1.56567955e-04 3.57971542e+02] [ 2.74938172e-01 9.61461907e-01 -4.83802235e-05 1.87337930e+01] [ 1.63835695e-04 3.46923405e-06 9.99999987e-01 -1.99460928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.03, Y:18.76, Z:-0.20 [[ 9.63171616e-01 -2.68887363e-01 -1.56559693e-04 3.58025597e+02] [ 2.68887359e-01 9.63171628e-01 -4.84069431e-05 1.87569482e+01] [ 1.63809870e-04 4.52727127e-06 9.99999987e-01 -2.01140245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.08, Y:18.78, Z:-0.20 [[ 9.64335905e-01 -2.64681390e-01 -1.56551455e-04 3.58080436e+02] [ 2.64681385e-01 9.64335918e-01 -4.84335704e-05 1.87782121e+01] [ 1.63787656e-04 5.26997494e-06 9.99999987e-01 -2.02019160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.13, Y:18.80, Z:-0.20 [[ 9.64076398e-01 -2.65625063e-01 -1.56543182e-04 3.58134506e+02] [ 2.65625058e-01 9.64076411e-01 -4.84602955e-05 1.88027811e+01] [ 1.63791858e-04 5.13763535e-06 9.99999987e-01 -1.97875425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.19, Y:18.83, Z:-0.20 [[ 9.62998261e-01 -2.69507560e-01 -1.56534846e-04 3.58187643e+02] [ 2.69507556e-01 9.62998274e-01 -4.84872073e-05 1.88259513e+01] [ 1.63810455e-04 4.50577263e-06 9.99999987e-01 -2.00680999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.24, Y:18.85, Z:-0.20 [[ 9.60705613e-01 -2.77569272e-01 -1.56531904e-04 3.58242756e+02] [ 2.77569268e-01 9.60705626e-01 -4.84967016e-05 1.88463318e+01] [ 1.63842275e-04 3.14260725e-06 9.99999987e-01 -2.01372333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.30, Y:18.87, Z:-0.20 [[ 9.59392357e-01 -2.82074954e-01 -1.56523584e-04 3.58297817e+02] [ 2.82074950e-01 9.59392370e-01 -4.85235400e-05 1.88680681e+01] [ 1.63854808e-04 2.40173122e-06 9.99999987e-01 -2.02239410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.35, Y:18.90, Z:-0.20 [[ 9.59098498e-01 -2.83072510e-01 -1.56515260e-04 3.58350897e+02] [ 2.83072506e-01 9.59098511e-01 -4.85503771e-05 1.88952045e+01] [ 1.63856830e-04 2.25942709e-06 9.99999987e-01 -2.02576661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.185336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:358.41, Y:18.92, Z:-0.20 [[ 9.58902379e-01 -2.83736151e-01 -1.56506862e-04 3.58405347e+02] [ 2.83736147e-01 9.58902392e-01 -4.85774322e-05 1.89169323e+01] [ 1.63857978e-04 2.17436133e-06 9.99999987e-01 -2.03956618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.46, Y:18.94, Z:-0.21 [[ 9.58368379e-01 -2.85534631e-01 -1.56498411e-04 3.58457882e+02] [ 2.85534627e-01 9.58368392e-01 -4.86046441e-05 1.89404650e+01] [ 1.63861439e-04 1.89543858e-06 9.99999987e-01 -2.05711636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.51, Y:18.96, Z:-0.21 [[ 9.57736753e-01 -2.87646116e-01 -1.56494220e-04 3.58512064e+02] [ 2.87646112e-01 9.57736766e-01 -4.86181322e-05 1.89626769e+01] [ 1.63865085e-04 1.54841811e-06 9.99999987e-01 -2.05039656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.57, Y:18.99, Z:-0.20 [[ 9.57095666e-01 -2.89772085e-01 -1.56489899e-04 3.58566072e+02] [ 2.89772081e-01 9.57095679e-01 -4.86320390e-05 1.89864727e+01] [ 1.63868013e-04 1.19911018e-06 9.99999987e-01 -2.01379386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.42533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.62, Y:19.01, Z:-0.20 [[ 9.56560645e-01 -2.91533375e-01 -1.56481495e-04 3.58619166e+02] [ 2.91533371e-01 9.56560657e-01 -4.86590642e-05 1.90090813e+01] [ 1.63869783e-04 9.25768148e-07 9.99999987e-01 -2.02453694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.67, Y:19.03, Z:-0.20 [[ 9.56383561e-01 -2.92113779e-01 -1.56477049e-04 3.58673442e+02] [ 2.92113775e-01 9.56383574e-01 -4.86733584e-05 1.90303247e+01] [ 1.63870238e-04 8.41298509e-07 9.99999987e-01 -2.01136916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.73, Y:19.05, Z:-0.20 [[ 9.56429581e-01 -2.91963065e-01 -1.56467421e-04 3.58727084e+02] [ 2.91963061e-01 9.56429594e-01 -4.87042867e-05 1.90503659e+01] [ 1.63869925e-04 8.99513173e-07 9.99999987e-01 -2.04313250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.78, Y:19.07, Z:-0.20 [[ 9.56702268e-01 -2.91068284e-01 -1.56463272e-04 3.58781948e+02] [ 2.91068280e-01 9.56702281e-01 -4.87176140e-05 1.90735306e+01] [ 1.63868921e-04 1.06675643e-06 9.99999987e-01 -2.00878516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.83, Y:19.10, Z:-0.20 [[ 9.57331655e-01 -2.88991484e-01 -1.56455059e-04 3.58834713e+02] [ 2.88991480e-01 9.57331668e-01 -4.87439761e-05 1.90995550e+01] [ 1.63865976e-04 1.44997246e-06 9.99999987e-01 -1.99844092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.89, Y:19.12, Z:-0.20 [[ 9.57942625e-01 -2.86959757e-01 -1.56445429e-04 3.58888462e+02] [ 2.86959752e-01 9.57942638e-01 -4.87748631e-05 1.91211677e+01] [ 1.63862170e-04 1.82997886e-06 9.99999987e-01 -2.01268134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.94, Y:19.14, Z:-0.20 [[ 9.57849004e-01 -2.87272103e-01 -1.56440980e-04 3.58943747e+02] [ 2.87272099e-01 9.57849017e-01 -4.87891273e-05 1.91431490e+01] [ 1.63862594e-04 1.79148821e-06 9.99999987e-01 -2.02092871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.00, Y:19.17, Z:-0.20 [[ 9.56772981e-01 -2.90835760e-01 -1.56436525e-04 3.58995713e+02] [ 2.90835755e-01 9.56772993e-01 -4.88034076e-05 1.91665751e+01] [ 1.63868019e-04 1.19644677e-06 9.99999987e-01 -2.03988940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.90533619499996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:359.05, Y:19.19, Z:-0.20 [[ 9.55400466e-01 -2.95313264e-01 -1.56432505e-04 3.59050488e+02] [ 2.95313260e-01 9.55400479e-01 -4.88162892e-05 1.91873943e+01] [ 1.63871788e-04 4.42512268e-07 9.99999987e-01 -2.01925994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.10, Y:19.21, Z:-0.21 [[ 9.54406731e-01 -2.98509241e-01 -1.56424194e-04 3.59104440e+02] [ 2.98509237e-01 9.54406744e-01 -4.88429073e-05 1.92080905e+01] [ 1.63872365e-04 -7.80673475e-08 9.99999987e-01 -2.06152347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.16, Y:19.23, Z:-0.21 [[ 9.53605897e-01 -3.01057751e-01 -1.56421266e-04 3.59159750e+02] [ 3.01057747e-01 9.53605909e-01 -4.88522819e-05 1.92289658e+01] [ 1.63871602e-04 -5.06009990e-07 9.99999987e-01 -2.05063456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.22, Y:19.25, Z:-0.20 [[ 9.51994944e-01 -3.06113709e-01 -1.56413061e-04 3.59215558e+02] [ 3.06113705e-01 9.51994957e-01 -4.88785403e-05 1.92475082e+01] [ 1.63866836e-04 -1.34805823e-06 9.99999987e-01 -2.01306785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.14533619499997 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:359.27, Y:19.27, Z:-0.20 [[ 9.50057507e-01 -3.12074844e-01 -1.56404805e-04 3.59270444e+02] [ 3.12074840e-01 9.50057520e-01 -4.89049426e-05 1.92653758e+01] [ 1.63855564e-04 -2.34749667e-06 9.99999987e-01 -1.98072407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.205336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:359.33, Y:19.28, Z:-0.20 [[ 9.48772828e-01 -3.15959011e-01 -1.56400434e-04 3.59326118e+02] [ 3.15959007e-01 9.48772841e-01 -4.89189176e-05 1.92797233e+01] [ 1.63844857e-04 -3.00318604e-06 9.99999987e-01 -1.98027597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.38, Y:19.29, Z:-0.20 [[ 9.47778950e-01 -3.18927951e-01 -1.56397579e-04 3.59383347e+02] [ 3.18927948e-01 9.47778963e-01 -4.89280426e-05 1.92918794e+01] [ 1.63834856e-04 -3.50659012e-06 9.99999987e-01 -1.96587181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.325336195 meters Centerline goodness : 0.999696 with order 1 Centerline is valid? [True, True] Translation: X:359.44, Y:19.30, Z:-0.20 [[ 9.47831674e-01 -3.18771225e-01 -1.56388610e-04 3.59441792e+02] [ 3.18771221e-01 9.47831687e-01 -4.89566937e-05 1.93013987e+01] [ 1.63836065e-04 -3.44948330e-06 9.99999987e-01 -1.99963964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.50, Y:19.31, Z:-0.20 [[ 9.49091066e-01 -3.15001785e-01 -1.56380426e-04 3.59498842e+02] [ 3.15001781e-01 9.49091079e-01 -4.89828230e-05 1.93138348e+01] [ 1.63848944e-04 -2.77095287e-06 9.99999987e-01 -2.01640226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.56, Y:19.33, Z:-0.20 [[ 9.50166806e-01 -3.11741908e-01 -1.56377536e-04 3.59555736e+02] [ 3.11741904e-01 9.50166818e-01 -4.89920481e-05 1.93259036e+01] [ 1.63857620e-04 -2.19881283e-06 9.99999987e-01 -2.03560670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.61, Y:19.34, Z:-0.20 [[ 9.51274280e-01 -3.08345941e-01 -1.56374681e-04 3.59613608e+02] [ 3.08345937e-01 9.51274293e-01 -4.90011581e-05 1.93372979e+01] [ 1.63864522e-04 -1.60395607e-06 9.99999987e-01 -2.03016080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.67, Y:19.35, Z:-0.20 [[ 9.52603003e-01 -3.04216196e-01 -1.56366299e-04 3.59670944e+02] [ 3.04216192e-01 9.52603016e-01 -4.90278904e-05 1.93494818e+01] [ 1.63870086e-04 -8.65044355e-07 9.99999987e-01 -2.03930650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.73, Y:19.36, Z:-0.20 [[ 9.54775266e-01 -2.97328382e-01 -1.56356749e-04 3.59726772e+02] [ 2.97328378e-01 9.54775279e-01 -4.90583295e-05 1.93635031e+01] [ 1.63871992e-04 3.50381089e-07 9.99999987e-01 -2.01514708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.78, Y:19.38, Z:-0.20 [[ 9.56547294e-01 -2.91577176e-01 -1.56353794e-04 3.59784131e+02] [ 2.91577172e-01 9.56547307e-01 -4.90677431e-05 1.93766429e+01] [ 1.63866835e-04 1.34641969e-06 9.99999987e-01 -1.99614177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.84, Y:19.39, Z:-0.20 [[ 9.57782055e-01 -2.87495236e-01 -1.56345159e-04 3.59840166e+02] [ 2.87495232e-01 9.57782068e-01 -4.90952415e-05 1.93909191e+01] [ 1.63859238e-04 2.07405336e-06 9.99999987e-01 -2.02870210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.90, Y:19.40, Z:-0.20 [[ 9.57210333e-01 -2.89393078e-01 -1.56342111e-04 3.59897458e+02] [ 2.89393073e-01 9.57210346e-01 -4.91049456e-05 1.94044574e+01] [ 1.63862918e-04 1.75943719e-06 9.99999987e-01 -2.03251489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.865336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:359.95, Y:19.42, Z:-0.20 [[ 9.55747498e-01 -2.94188197e-01 -1.56333548e-04 3.59954554e+02] [ 2.94188193e-01 9.55747511e-01 -4.91321934e-05 1.94179470e+01] [ 1.63869511e-04 9.66486964e-07 9.99999987e-01 -2.02727774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.92533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.01, Y:19.43, Z:-0.20 [[ 9.53753959e-01 -3.00588357e-01 -1.56325062e-04 3.60011557e+02] [ 3.00588353e-01 9.53753972e-01 -4.91591788e-05 1.94310850e+01] [ 1.63872326e-04 -1.03731594e-07 9.99999987e-01 -1.98060543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.07, Y:19.44, Z:-0.20 [[ 9.52530587e-01 -3.04442861e-01 -1.56322057e-04 3.60068675e+02] [ 3.04442857e-01 9.52530600e-01 -4.91687311e-05 1.94420146e+01] [ 1.63870612e-04 -7.56413555e-07 9.99999987e-01 -1.98838712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.04533619499995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:360.13, Y:19.45, Z:-0.20 [[ 9.52039699e-01 -3.05974487e-01 -1.56312480e-04 3.60125838e+02] [ 3.05974483e-01 9.52039712e-01 -4.91991615e-05 1.94549670e+01] [ 1.63869376e-04 -9.88075231e-07 9.99999987e-01 -2.00523427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.18, Y:19.47, Z:-0.20 [[ 9.52366244e-01 -3.04956576e-01 -1.56303985e-04 3.60181752e+02] [ 3.04956572e-01 9.52366256e-01 -4.92261348e-05 1.94695860e+01] [ 1.63870474e-04 -7.84618278e-07 9.99999987e-01 -2.00007179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.24, Y:19.48, Z:-0.20 [[ 9.54077272e-01 -2.99560568e-01 -1.56300985e-04 3.60238715e+02] [ 2.99560564e-01 9.54077285e-01 -4.92356558e-05 1.94827555e+01] [ 1.63872281e-04 1.53008898e-07 9.99999987e-01 -2.01246972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.29, Y:19.50, Z:-0.20 [[ 9.54987416e-01 -2.96646273e-01 -1.56291544e-04 3.60294869e+02] [ 2.96646269e-01 9.54987429e-01 -4.92656088e-05 1.94982238e+01] [ 1.63870919e-04 6.84733108e-07 9.99999987e-01 -2.01042533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.35, Y:19.52, Z:-0.20 [[ 9.55945653e-01 -2.93543666e-01 -1.56281839e-04 3.60348882e+02] [ 2.93543662e-01 9.55945666e-01 -4.92963765e-05 1.95180944e+01] [ 1.63867585e-04 1.24911364e-06 9.99999987e-01 -2.01596149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.40, Y:19.54, Z:-0.20 [[ 9.56597014e-01 -2.91414016e-01 -1.56278845e-04 3.60404606e+02] [ 2.91414012e-01 9.56597027e-01 -4.93058642e-05 1.95356701e+01] [ 1.63864299e-04 1.62399721e-06 9.99999987e-01 -2.02815527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.46, Y:19.55, Z:-0.20 [[ 9.56737017e-01 -2.90954046e-01 -1.56270518e-04 3.60459791e+02] [ 2.90954042e-01 9.56737029e-01 -4.93322437e-05 1.95524865e+01] [ 1.63863207e-04 1.73044501e-06 9.99999987e-01 -2.01465355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.52, Y:19.57, Z:-0.20 [[ 9.55581819e-01 -2.94725913e-01 -1.56266116e-04 3.60515414e+02] [ 2.94725909e-01 9.55581831e-01 -4.93461813e-05 1.95730346e+01] [ 1.63868660e-04 1.09864055e-06 9.99999987e-01 -1.97557530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.57, Y:19.59, Z:-0.20 [[ 9.53154618e-01 -3.02483470e-01 -1.56257961e-04 3.60570782e+02] [ 3.02483466e-01 9.53154631e-01 -4.93719921e-05 1.95927182e+01] [ 1.63872211e-04 -2.06307373e-07 9.99999987e-01 -1.96343582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.63, Y:19.61, Z:-0.20 [[ 9.51101707e-01 -3.08877837e-01 -1.56249440e-04 3.60626779e+02] [ 3.08877833e-01 9.51101720e-01 -4.93989432e-05 1.96057825e+01] [ 1.63867350e-04 -1.27856927e-06 9.99999987e-01 -1.95746968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.64533619499997 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:360.68, Y:19.62, Z:-0.20 [[ 9.50284943e-01 -3.11381603e-01 -1.56245849e-04 3.60681735e+02] [ 3.11381599e-01 9.50284956e-01 -4.94103013e-05 1.96243779e+01] [ 1.63863538e-04 -1.69821688e-06 9.99999987e-01 -1.97273505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.74, Y:19.64, Z:-0.20 [[ 9.49432964e-01 -3.13969780e-01 -1.56236184e-04 3.60736551e+02] [ 3.13969776e-01 9.49432977e-01 -4.94408432e-05 1.96407896e+01] [ 1.63858716e-04 -2.11267330e-06 9.99999987e-01 -1.99642491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.79, Y:19.66, Z:-0.20 [[ 9.48735293e-01 -3.16071698e-01 -1.56232004e-04 3.60793283e+02] [ 3.16071695e-01 9.48735306e-01 -4.94540479e-05 1.96563279e+01] [ 1.63853843e-04 -2.46171353e-06 9.99999987e-01 -2.03006443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.85, Y:19.67, Z:-0.20 [[ 9.49233553e-01 -3.14572150e-01 -1.56223896e-04 3.60848764e+02] [ 3.14572146e-01 9.49233566e-01 -4.94796454e-05 1.96718937e+01] [ 1.63857885e-04 -2.17594686e-06 9.99999987e-01 -2.02178066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.90, Y:19.69, Z:-0.20 [[ 9.50078048e-01 -3.12012304e-01 -1.56214397e-04 3.60904701e+02] [ 3.12012300e-01 9.50078061e-01 -4.95096183e-05 1.96885398e+01] [ 1.63863482e-04 -1.70281185e-06 9.99999987e-01 -2.01144961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.96, Y:19.71, Z:-0.21 [[ 9.51586153e-01 -3.07382121e-01 -1.56204684e-04 3.60959321e+02] [ 3.07382117e-01 9.51586166e-01 -4.95402451e-05 1.97060811e+01] [ 1.63870002e-04 -8.72715087e-07 9.99999987e-01 -2.05098659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.01, Y:19.72, Z:-0.20 [[ 9.52945373e-01 -3.03142033e-01 -1.56201690e-04 3.61014406e+02] [ 3.03142029e-01 9.52945386e-01 -4.95496843e-05 1.97226552e+01] [ 1.63872271e-04 -1.33154661e-07 9.99999987e-01 -2.02745543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.07, Y:19.74, Z:-0.20 [[ 9.54154119e-01 -2.99315709e-01 -1.56191943e-04 3.61069075e+02] [ 2.99315704e-01 9.54154131e-01 -4.95803895e-05 1.97417259e+01] [ 1.63871377e-04 5.56631509e-07 9.99999987e-01 -2.03818696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.125336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:361.12, Y:19.76, Z:-0.21 [[ 9.56105661e-01 -2.93022082e-01 -1.56188922e-04 3.61123357e+02] [ 2.93022078e-01 9.56105674e-01 -4.95899036e-05 1.97636383e+01] [ 1.63864051e-04 1.64638510e-06 9.99999987e-01 -2.05761061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.18, Y:19.79, Z:-0.21 [[ 9.57675288e-01 -2.87850689e-01 -1.56180167e-04 3.61177005e+02] [ 2.87850685e-01 9.57675300e-01 -4.96174611e-05 1.97852794e+01] [ 1.63852309e-04 2.56084825e-06 9.99999987e-01 -2.06311908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.23, Y:19.81, Z:-0.20 [[ 9.58989869e-01 -2.83440307e-01 -1.56170201e-04 3.61229052e+02] [ 2.83440303e-01 9.58989881e-01 -4.96488094e-05 1.98115363e+01] [ 1.63838116e-04 3.34777622e-06 9.99999987e-01 -2.04794356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.28, Y:19.84, Z:-0.20 [[ 9.58952403e-01 -2.83567036e-01 -1.56167121e-04 3.61282683e+02] [ 2.83567032e-01 9.58952416e-01 -4.96584970e-05 1.98360209e+01] [ 1.63838350e-04 3.33628823e-06 9.99999987e-01 -2.03118889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.34, Y:19.86, Z:-0.20 [[ 9.57662237e-01 -2.87894103e-01 -1.56159016e-04 3.61335614e+02] [ 2.87894099e-01 9.57662250e-01 -4.96839700e-05 1.98607044e+01] [ 1.63851317e-04 2.62320261e-06 9.99999987e-01 -2.02628763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.42533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.39, Y:19.88, Z:-0.20 [[ 9.57118874e-01 -2.89695421e-01 -1.56149448e-04 3.61390639e+02] [ 2.89695417e-01 9.57118886e-01 -4.97140232e-05 1.98803738e+01] [ 1.63855511e-04 2.34645045e-06 9.99999987e-01 -2.02717712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.44, Y:19.90, Z:-0.21 [[ 9.55557169e-01 -2.94805821e-01 -1.56139921e-04 3.61444996e+02] [ 2.94805817e-01 9.55557182e-01 -4.97439270e-05 1.99048421e+01] [ 1.63865422e-04 1.50220918e-06 9.99999987e-01 -2.06069265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.50, Y:19.93, Z:-0.21 [[ 9.53794353e-01 -3.00460160e-01 -1.56131678e-04 3.61498866e+02] [ 3.00460156e-01 9.53794366e-01 -4.97697869e-05 1.99266521e+01] [ 1.63871353e-04 5.58793470e-07 9.99999987e-01 -2.05493575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.55, Y:19.95, Z:-0.20 [[ 9.52553594e-01 -3.04370870e-01 -1.56128769e-04 3.61552393e+02] [ 3.04370866e-01 9.52553607e-01 -4.97789100e-05 1.99487173e+01] [ 1.63872272e-04 -1.03968968e-07 9.99999987e-01 -2.04615116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.61, Y:19.97, Z:-0.21 [[ 9.50513953e-01 -3.10681831e-01 -1.56119580e-04 3.61607179e+02] [ 3.10681827e-01 9.50513966e-01 -4.98077133e-05 1.99663502e+01] [ 1.63868192e-04 -1.16058970e-06 9.99999987e-01 -2.05824058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.66, Y:19.98, Z:-0.21 [[ 9.48585590e-01 -3.16520702e-01 -1.56110412e-04 3.61663661e+02] [ 3.16520698e-01 9.48585603e-01 -4.98364298e-05 1.99806069e+01] [ 1.63858351e-04 -2.13805748e-06 9.99999987e-01 -2.05677344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.72, Y:20.00, Z:-0.21 [[ 9.47430447e-01 -3.19961753e-01 -1.56100791e-04 3.61719603e+02] [ 3.19961749e-01 9.47430460e-01 -4.98665465e-05 1.99962789e+01] [ 1.63850032e-04 -2.70119784e-06 9.99999987e-01 -2.06179771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.78, Y:20.01, Z:-0.21 [[ 9.47343054e-01 -3.20220415e-01 -1.56097833e-04 3.61776459e+02] [ 3.20220411e-01 9.47343067e-01 -4.98758051e-05 2.00122082e+01] [ 1.63849451e-04 -2.73621465e-06 9.99999987e-01 -2.06263970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.83, Y:20.03, Z:-0.21 [[ 9.48452146e-01 -3.16920340e-01 -1.56089381e-04 3.61832195e+02] [ 3.16920336e-01 9.48452159e-01 -4.99022435e-05 2.00263736e+01] [ 1.63858346e-04 -2.13800901e-06 9.99999987e-01 -2.10820951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.89, Y:20.04, Z:-0.21 [[ 9.50310070e-01 -3.11304908e-01 -1.56086389e-04 3.61888899e+02] [ 3.11304904e-01 9.50310083e-01 -4.99115980e-05 2.00416609e+01] [ 1.63868195e-04 -1.15896430e-06 9.99999987e-01 -2.07153871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.94, Y:20.06, Z:-0.21 [[ 9.52952320e-01 -3.03120192e-01 -1.56077805e-04 3.61944909e+02] [ 3.03120188e-01 9.52952333e-01 -4.99384270e-05 2.00592851e+01] [ 1.63872054e-04 2.78606335e-07 9.99999987e-01 -2.08065247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.00, Y:20.08, Z:-0.21 [[ 9.54649291e-01 -2.97732611e-01 -1.56069208e-04 3.61999961e+02] [ 2.97732607e-01 9.54649303e-01 -4.99652798e-05 2.00760980e+01] [ 1.63867654e-04 1.23242662e-06 9.99999987e-01 -2.09588775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.06, Y:20.10, Z:-0.21 [[ 9.56725022e-01 -2.90993484e-01 -1.56066153e-04 3.62055182e+02] [ 2.90993480e-01 9.56725035e-01 -4.99748220e-05 2.00951340e+01] [ 1.63854743e-04 2.39792982e-06 9.99999987e-01 -2.08906569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.11, Y:20.12, Z:-0.21 [[ 9.57497823e-01 -2.88440453e-01 -1.56057540e-04 3.62108917e+02] [ 2.88440448e-01 9.57497836e-01 -5.00017021e-05 2.01159849e+01] [ 1.63847271e-04 2.86321408e-06 9.99999987e-01 -2.11503861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.17, Y:20.13, Z:-0.21 [[ 9.57224804e-01 -2.89345208e-01 -1.56053005e-04 3.62165144e+02] [ 2.89345204e-01 9.57224817e-01 -5.00158514e-05 2.01348510e+01] [ 1.63849656e-04 2.72322496e-06 9.99999987e-01 -2.12537956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.22, Y:20.16, Z:-0.21 [[ 9.56204971e-01 -2.92697846e-01 -1.56045163e-04 3.62219904e+02] [ 2.92697842e-01 9.56204984e-01 -5.00403056e-05 2.01553075e+01] [ 1.63857853e-04 2.17470644e-06 9.99999987e-01 -2.10882308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.27, Y:20.18, Z:-0.21 [[ 9.54983487e-01 -2.96658922e-01 -1.56035266e-04 3.62273887e+02] [ 2.96658918e-01 9.54983499e-01 -5.00711485e-05 2.01779196e+01] [ 1.63865157e-04 1.52786683e-06 9.99999987e-01 -2.09019139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.33, Y:20.20, Z:-0.21 [[ 9.53263836e-01 -3.02139098e-01 -1.56030624e-04 3.62328370e+02] [ 3.02139094e-01 9.53263849e-01 -5.00856081e-05 2.01988953e+01] [ 1.63871174e-04 6.01847397e-07 9.99999987e-01 -2.11623920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.38, Y:20.22, Z:-0.21 [[ 9.51221188e-01 -3.08509688e-01 -1.56022061e-04 3.62382523e+02] [ 3.08509684e-01 9.51221201e-01 -5.01122691e-05 2.02200200e+01] [ 1.63871613e-04 -4.66464621e-07 9.99999987e-01 -2.10105801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.44, Y:20.24, Z:-0.21 [[ 9.50099533e-01 -3.11946875e-01 -1.56012387e-04 3.62436706e+02] [ 3.11946871e-01 9.50099546e-01 -5.01423688e-05 2.02387351e+01] [ 1.63869054e-04 -1.02733487e-06 9.99999987e-01 -2.07428690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.49, Y:20.26, Z:-0.20 [[ 9.49100748e-01 -3.14972610e-01 -1.56008808e-04 3.62491134e+02] [ 3.14972606e-01 9.49100761e-01 -5.01535035e-05 2.02578226e+01] [ 1.63865058e-04 -1.53777304e-06 9.99999987e-01 -2.01501066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.55, Y:20.27, Z:-0.20 [[ 9.48577154e-01 -3.16545981e-01 -1.55998719e-04 3.62546965e+02] [ 3.16545977e-01 9.48577167e-01 -5.01848640e-05 2.02727597e+01] [ 1.63862640e-04 -1.77655150e-06 9.99999987e-01 -2.02863667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.60, Y:20.29, Z:-0.21 [[ 9.48366131e-01 -3.17177644e-01 -1.55995659e-04 3.62603963e+02] [ 3.17177640e-01 9.48366143e-01 -5.01943752e-05 2.02883310e+01] [ 1.63861535e-04 -1.87568949e-06 9.99999987e-01 -2.07912088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.805336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:362.66, Y:20.30, Z:-0.21 [[ 9.48273799e-01 -3.17453584e-01 -1.55987018e-04 3.62660091e+02] [ 3.17453580e-01 9.48273812e-01 -5.02212138e-05 2.03023597e+01] [ 1.63861308e-04 -1.89517603e-06 9.99999987e-01 -2.11941216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.72, Y:20.32, Z:-0.21 [[ 9.48175520e-01 -3.17747004e-01 -1.55983945e-04 3.62716361e+02] [ 3.17747000e-01 9.48175533e-01 -5.02307572e-05 2.03164455e+01] [ 1.63860832e-04 -1.93585607e-06 9.99999987e-01 -2.09098634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.92533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.77, Y:20.33, Z:-0.21 [[ 9.48640205e-01 -3.16356976e-01 -1.55974128e-04 3.62774310e+02] [ 3.16356972e-01 9.48640218e-01 -5.02612194e-05 2.03253765e+01] [ 1.63863819e-04 -1.66368944e-06 9.99999987e-01 -2.11901560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.83, Y:20.34, Z:-0.21 [[ 9.50078014e-01 -3.12012409e-01 -1.55971088e-04 3.62832152e+02] [ 3.12012405e-01 9.50078027e-01 -5.02706527e-05 2.03357173e+01] [ 1.63869771e-04 -9.03872263e-07 9.99999987e-01 -2.13762965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.89, Y:20.35, Z:-0.21 [[ 9.51651508e-01 -3.07179724e-01 -1.55968094e-04 3.62890952e+02] [ 3.07179720e-01 9.51651521e-01 -5.02799406e-05 2.03465490e+01] [ 1.63872252e-04 -6.12540515e-08 9.99999987e-01 -2.09076731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.95, Y:20.35, Z:-0.21 [[ 9.53003328e-01 -3.02959788e-01 -1.55959499e-04 3.62949086e+02] [ 3.02959783e-01 9.53003341e-01 -5.03065868e-05 2.03545239e+01] [ 1.63870796e-04 6.92888665e-07 9.99999987e-01 -2.08323078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.01, Y:20.37, Z:-0.21 [[ 9.53878922e-01 -3.00191569e-01 -1.55956447e-04 3.63005785e+02] [ 3.00191565e-01 9.53878935e-01 -5.03160455e-05 2.03667408e+01] [ 1.63868022e-04 1.17860529e-06 9.99999987e-01 -2.08906979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.06, Y:20.38, Z:-0.21 [[ 9.55205052e-01 -2.95944731e-01 -1.55953492e-04 3.63063866e+02] [ 2.95944727e-01 9.55205065e-01 -5.03252017e-05 2.03771711e+01] [ 1.63861044e-04 1.91727318e-06 9.99999987e-01 -2.05996126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.12, Y:20.39, Z:-0.21 [[ 9.56944311e-01 -2.90271530e-01 -1.55944780e-04 3.63120989e+02] [ 2.90271526e-01 9.56944324e-01 -5.03521851e-05 2.03899971e+01] [ 1.63846278e-04 2.91790786e-06 9.99999987e-01 -2.08878365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.18, Y:20.41, Z:-0.21 [[ 9.57329593e-01 -2.88998314e-01 -1.55936189e-04 3.63177745e+02] [ 2.88998310e-01 9.57329606e-01 -5.03787777e-05 2.04059209e+01] [ 1.63841712e-04 3.16379983e-06 9.99999987e-01 -2.09319807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.40533619499996 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:363.24, Y:20.42, Z:-0.21 [[ 9.57847645e-01 -2.87276634e-01 -1.55927796e-04 3.63235503e+02] [ 2.87276630e-01 9.57847658e-01 -5.04047406e-05 2.04194176e+01] [ 1.63835178e-04 3.48565043e-06 9.99999987e-01 -2.10280590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.29, Y:20.43, Z:-0.21 [[ 9.58079890e-01 -2.86501136e-01 -1.55919219e-04 3.63291458e+02] [ 2.86501131e-01 9.58079902e-01 -5.04312563e-05 2.04340278e+01] [ 1.63831683e-04 3.64613972e-06 9.99999987e-01 -2.11985972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.35, Y:20.45, Z:-0.20 [[ 9.59802687e-01 -2.80675574e-01 -1.55914668e-04 3.63347676e+02] [ 2.80675570e-01 9.59802700e-01 -5.04453240e-05 2.04506200e+01] [ 1.63806089e-04 4.65611932e-06 9.99999987e-01 -2.04854906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.40, Y:20.47, Z:-0.20 [[ 9.60494415e-01 -2.78299219e-01 -1.55906236e-04 3.63402825e+02] [ 2.78299214e-01 9.60494427e-01 -5.04713702e-05 2.04703578e+01] [ 1.63793214e-04 5.08888619e-06 9.99999987e-01 -2.04247463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.46, Y:20.49, Z:-0.20 [[ 9.60843287e-01 -2.77092320e-01 -1.55897434e-04 3.63456215e+02] [ 2.77092316e-01 9.60843299e-01 -5.04985420e-05 2.04936453e+01] [ 1.63785764e-04 5.32320394e-06 9.99999987e-01 -2.04596440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.51, Y:20.52, Z:-0.20 [[ 9.60525011e-01 -2.78193600e-01 -1.55894326e-04 3.63509974e+02] [ 2.78193596e-01 9.60525024e-01 -5.05081364e-05 2.05201001e+01] [ 1.63791441e-04 5.14552521e-06 9.99999987e-01 -2.04339486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.56, Y:20.54, Z:-0.21 [[ 9.60077087e-01 -2.79735521e-01 -1.55886213e-04 3.63562868e+02] [ 2.79735517e-01 9.60077100e-01 -5.05331650e-05 2.05447964e+01] [ 1.63798704e-04 4.90882371e-06 9.99999987e-01 -2.09644203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.62, Y:20.57, Z:-0.21 [[ 9.58516436e-01 -2.85037222e-01 -1.55883139e-04 3.63616159e+02] [ 2.85037218e-01 9.58516448e-01 -5.05426456e-05 2.05711698e+01] [ 1.63823088e-04 4.01346038e-06 9.99999987e-01 -2.08237991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.67, Y:20.60, Z:-0.21 [[ 9.55705116e-01 -2.94325851e-01 -1.55874376e-04 3.63667047e+02] [ 2.94325847e-01 9.55705129e-01 -5.05696550e-05 2.06002359e+01] [ 1.63853897e-04 2.45182025e-06 9.99999987e-01 -2.09429928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.72, Y:20.63, Z:-0.21 [[ 9.51720643e-01 -3.06965459e-01 -1.55871288e-04 3.63719285e+02] [ 3.06965455e-01 9.51720656e-01 -5.05791702e-05 2.06253832e+01] [ 1.63871983e-04 2.90139482e-07 9.99999987e-01 -2.06644528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.77, Y:20.65, Z:-0.20 [[ 9.47500436e-01 -3.19754436e-01 -1.55868301e-04 3.63774140e+02] [ 3.19754432e-01 9.47500449e-01 -5.05883736e-05 2.06482848e+01] [ 1.63861142e-04 -1.90707419e-06 9.99999987e-01 -2.02936568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.83, Y:20.67, Z:-0.20 [[ 9.44980748e-01 -3.27125912e-01 -1.55859908e-04 3.63829970e+02] [ 3.27125908e-01 9.44980760e-01 -5.06142196e-05 2.06681628e+01] [ 1.63841837e-04 -3.15635092e-06 9.99999987e-01 -2.01166274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.125336195 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:363.89, Y:20.68, Z:-0.20 [[ 9.42538546e-01 -3.34097388e-01 -1.55851597e-04 3.63886052e+02] [ 3.34097385e-01 9.42538559e-01 -5.06397980e-05 2.06849677e+01] [ 1.63814764e-04 -4.33964939e-06 9.99999987e-01 -2.02672614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.94, Y:20.70, Z:-0.21 [[ 9.41925101e-01 -3.35822989e-01 -1.55843055e-04 3.63941198e+02] [ 3.35822985e-01 9.41925114e-01 -5.06660732e-05 2.07010862e+01] [ 1.63807319e-04 -4.61203374e-06 9.99999987e-01 -2.05161376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.00, Y:20.72, Z:-0.20 [[ 9.42873568e-01 -3.33150733e-01 -1.55840040e-04 3.63997356e+02] [ 3.33150729e-01 9.42873581e-01 -5.06753444e-05 2.07169493e+01] [ 1.63819985e-04 -4.13778015e-06 9.99999987e-01 -2.03637114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.05, Y:20.73, Z:-0.20 [[ 9.44789123e-01 -3.27678943e-01 -1.55830261e-04 3.64053565e+02] [ 3.27678939e-01 9.44789135e-01 -5.07053965e-05 2.07303466e+01] [ 1.63841829e-04 -3.15638772e-06 9.99999987e-01 -2.04308453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.11, Y:20.75, Z:-0.20 [[ 9.46332132e-01 -3.23195717e-01 -1.55820538e-04 3.64110731e+02] [ 3.23195713e-01 9.46332145e-01 -5.07352592e-05 2.07452383e+01] [ 1.63855403e-04 -2.34812393e-06 9.99999987e-01 -2.03862496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.42533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.17, Y:20.76, Z:-0.20 [[ 9.48786197e-01 -3.15918864e-01 -1.55812062e-04 3.64165733e+02] [ 3.15918860e-01 9.48786209e-01 -5.07612777e-05 2.07620426e+01] [ 1.63868781e-04 -1.06236925e-06 9.99999987e-01 -2.04362009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.22, Y:20.78, Z:-0.21 [[ 9.50961112e-01 -3.09310426e-01 -1.55809053e-04 3.64222782e+02] [ 3.09310421e-01 9.50961125e-01 -5.07705109e-05 2.07772320e+01] [ 1.63872201e-04 8.74176642e-08 9.99999987e-01 -2.06734410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.28, Y:20.80, Z:-0.20 [[ 9.53191348e-01 -3.02367707e-01 -1.55800719e-04 3.64278996e+02] [ 3.02367703e-01 9.53191360e-01 -5.07960734e-05 2.07959807e+01] [ 1.63866991e-04 1.30927216e-06 9.99999987e-01 -2.04295531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.33, Y:20.82, Z:-0.21 [[ 9.54619493e-01 -2.97828138e-01 -1.55791869e-04 3.64333255e+02] [ 2.97828133e-01 9.54619506e-01 -5.08232010e-05 2.08168962e+01] [ 1.63858536e-04 2.11761675e-06 9.99999987e-01 -2.05211156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.39, Y:20.84, Z:-0.21 [[ 9.55493758e-01 -2.95011278e-01 -1.55781756e-04 3.64386426e+02] [ 2.95011274e-01 9.55493771e-01 -5.08541798e-05 2.08372836e+01] [ 1.63851054e-04 2.63347704e-06 9.99999987e-01 -2.07971067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.44, Y:20.86, Z:-0.21 [[ 9.54235487e-01 -2.99056202e-01 -1.55777384e-04 3.64441393e+02] [ 2.99056198e-01 9.54235499e-01 -5.08675684e-05 2.08572391e+01] [ 1.63860572e-04 1.95344666e-06 9.99999987e-01 -2.06692649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.49, Y:20.88, Z:-0.21 [[ 9.51638780e-01 -3.07219152e-01 -1.55767253e-04 3.64494982e+02] [ 3.07219148e-01 9.51638793e-01 -5.08985739e-05 2.08787803e+01] [ 1.63871177e-04 5.82374088e-07 9.99999987e-01 -2.06771083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.55, Y:20.90, Z:-0.20 [[ 9.49695622e-01 -3.13174396e-01 -1.55764128e-04 3.64549649e+02] [ 3.13174392e-01 9.49695634e-01 -5.09081361e-05 2.08965839e+01] [ 1.63871637e-04 -4.34102031e-07 9.99999987e-01 -2.04060659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.61, Y:20.91, Z:-0.21 [[ 9.47108113e-01 -3.20914626e-01 -1.55759747e-04 3.64606297e+02] [ 3.20914622e-01 9.47108126e-01 -5.09215357e-05 2.09125405e+01] [ 1.63862788e-04 -1.75738078e-06 9.99999987e-01 -2.05365741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.66, Y:20.93, Z:-0.21 [[ 9.45855296e-01 -3.24588561e-01 -1.55751071e-04 3.64660868e+02] [ 3.24588557e-01 9.45855309e-01 -5.09480598e-05 2.09301768e+01] [ 1.63855135e-04 -2.36552311e-06 9.99999987e-01 -2.05832468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.72, Y:20.95, Z:-0.20 [[ 9.45895755e-01 -3.24470641e-01 -1.55746795e-04 3.64716300e+02] [ 3.24470637e-01 9.45895768e-01 -5.09611279e-05 2.09477521e+01] [ 1.63855624e-04 -2.33134712e-06 9.99999987e-01 -2.04848686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.77, Y:20.97, Z:-0.20 [[ 9.46725063e-01 -3.22042903e-01 -1.55743815e-04 3.64771641e+02] [ 3.22042899e-01 9.46725075e-01 -5.09702336e-05 2.09657721e+01] [ 1.63861177e-04 -1.90139208e-06 9.99999987e-01 -2.04658056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.83, Y:20.98, Z:-0.20 [[ 9.47130204e-01 -3.20849423e-01 -1.55734327e-04 3.64828104e+02] [ 3.20849419e-01 9.47130217e-01 -5.09992065e-05 2.09815486e+01] [ 1.63863753e-04 -1.66437933e-06 9.99999987e-01 -2.02578390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.88, Y:21.00, Z:-0.20 [[ 9.47096744e-01 -3.20948179e-01 -1.55725678e-04 3.64882568e+02] [ 3.20948175e-01 9.47096757e-01 -5.10256036e-05 2.09997666e+01] [ 1.63863859e-04 -1.65368890e-06 9.99999987e-01 -2.02192065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.94, Y:21.02, Z:-0.20 [[ 9.46693119e-01 -3.22136796e-01 -1.55722625e-04 3.64938486e+02] [ 3.22136792e-01 9.46693131e-01 -5.10349193e-05 2.10166846e+01] [ 1.63861764e-04 -1.84957977e-06 9.99999987e-01 -2.00084560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.325336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:364.99, Y:21.03, Z:-0.20 [[ 9.45578846e-01 -3.25393027e-01 -1.55714108e-04 3.64994801e+02] [ 3.25393023e-01 9.45578859e-01 -5.10608899e-05 2.10311419e+01] [ 1.63854826e-04 -2.38618704e-06 9.99999987e-01 -2.01158843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.05, Y:21.04, Z:-0.20 [[ 9.44452067e-01 -3.28649159e-01 -1.55711097e-04 3.65051763e+02] [ 3.28649155e-01 9.44452079e-01 -5.10700700e-05 2.10449139e+01] [ 1.63845805e-04 -2.94108749e-06 9.99999987e-01 -1.97444518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.11, Y:21.05, Z:-0.20 [[ 9.44324644e-01 -3.29015109e-01 -1.55702811e-04 3.65109224e+02] [ 3.29015105e-01 9.44324657e-01 -5.10953225e-05 2.10548427e+01] [ 1.63845136e-04 -2.97800436e-06 9.99999987e-01 -1.96502792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.17, Y:21.07, Z:-0.20 [[ 9.44685946e-01 -3.27976279e-01 -1.55692846e-04 3.65166600e+02] [ 3.27976275e-01 9.44685959e-01 -5.11256680e-05 2.10692289e+01] [ 1.63848852e-04 -2.76585960e-06 9.99999987e-01 -1.99269821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.22, Y:21.08, Z:-0.20 [[ 9.45497662e-01 -3.25628848e-01 -1.55684094e-04 3.65224425e+02] [ 3.25628844e-01 9.45497675e-01 -5.11523044e-05 2.10795048e+01] [ 1.63855615e-04 -2.33084737e-06 9.99999987e-01 -2.02084039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.28, Y:21.09, Z:-0.20 [[ 9.46454174e-01 -3.22838151e-01 -1.55681003e-04 3.65282398e+02] [ 3.22838147e-01 9.46454187e-01 -5.11617115e-05 2.10917668e+01] [ 1.63861889e-04 -1.83755103e-06 9.99999987e-01 -2.04643355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.34, Y:21.10, Z:-0.20 [[ 9.47707769e-01 -3.19139406e-01 -1.55672215e-04 3.65340658e+02] [ 3.19139402e-01 9.47707782e-01 -5.11884373e-05 2.11015633e+01] [ 1.63868017e-04 -1.16945774e-06 9.99999987e-01 -2.04041793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.40, Y:21.12, Z:-0.20 [[ 9.48902791e-01 -3.15568486e-01 -1.55663467e-04 3.65396804e+02] [ 3.15568482e-01 9.48902804e-01 -5.12150247e-05 2.11151127e+01] [ 1.63871348e-04 -5.24404171e-07 9.99999987e-01 -2.01226031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.45, Y:21.13, Z:-0.20 [[ 9.49312797e-01 -3.14332927e-01 -1.55658836e-04 3.65452951e+02] [ 3.14332922e-01 9.49312810e-01 -5.12290956e-05 2.11292069e+01] [ 1.63871919e-04 -2.96260804e-07 9.99999987e-01 -2.02405813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.51, Y:21.14, Z:-0.20 [[ 9.49913272e-01 -3.12513602e-01 -1.55649099e-04 3.65509984e+02] [ 3.12513598e-01 9.49913285e-01 -5.12586622e-05 2.11429681e+01] [ 1.63872176e-04 4.88234399e-08 9.99999987e-01 -2.02352453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.92533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.57, Y:21.16, Z:-0.20 [[ 9.50977266e-01 -3.09260756e-01 -1.55640289e-04 3.65566667e+02] [ 3.09260751e-01 9.50977279e-01 -5.12853992e-05 2.11596691e+01] [ 1.63870940e-04 6.37816001e-07 9.99999987e-01 -1.99805049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.62, Y:21.18, Z:-0.20 [[ 9.52603107e-01 -3.04215871e-01 -1.55631373e-04 3.65622439e+02] [ 3.04215867e-01 9.52603120e-01 -5.13124432e-05 2.11796754e+01] [ 1.63864991e-04 1.53485992e-06 9.99999987e-01 -1.98923502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.68, Y:21.20, Z:-0.20 [[ 9.53502159e-01 -3.01386144e-01 -1.55622576e-04 3.65676818e+02] [ 3.01386140e-01 9.53502172e-01 -5.13391064e-05 2.11998874e+01] [ 1.63859360e-04 2.04946125e-06 9.99999987e-01 -1.99352873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.73, Y:21.22, Z:-0.20 [[ 9.53482113e-01 -3.01449558e-01 -1.55612534e-04 3.65731369e+02] [ 3.01449554e-01 9.53482126e-01 -5.13695264e-05 2.12202943e+01] [ 1.63859091e-04 2.07059542e-06 9.99999987e-01 -1.99441632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.79, Y:21.24, Z:-0.20 [[ 9.51237176e-01 -3.08460389e-01 -1.55602572e-04 3.65785212e+02] [ 3.08460385e-01 9.51237188e-01 -5.13996859e-05 2.12414254e+01] [ 1.63869720e-04 8.96062818e-07 9.99999987e-01 -2.00063329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.84, Y:21.26, Z:-0.20 [[ 9.47424103e-01 -3.19980538e-01 -1.55592356e-04 3.65840585e+02] [ 3.19980534e-01 9.47424116e-01 -5.14305924e-05 2.12606746e+01] [ 1.63868739e-04 -1.05994220e-06 9.99999987e-01 -1.97895499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.90, Y:21.28, Z:-0.20 [[ 9.44450893e-01 -3.28652531e-01 -1.55583216e-04 3.65895362e+02] [ 3.28652527e-01 9.44450906e-01 -5.14582264e-05 2.12764677e+01] [ 1.63852586e-04 -2.53304927e-06 9.99999987e-01 -2.01367393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.95, Y:21.29, Z:-0.20 [[ 9.43471726e-01 -3.31452979e-01 -1.55578721e-04 3.65950624e+02] [ 3.31452975e-01 9.43471739e-01 -5.14718146e-05 2.12932163e+01] [ 1.63844612e-04 -3.00482811e-06 9.99999987e-01 -1.99666014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.01, Y:21.31, Z:-0.20 [[ 9.43692496e-01 -3.30823894e-01 -1.55568543e-04 3.66005931e+02] [ 3.30823890e-01 9.43692509e-01 -5.15025574e-05 2.13108797e+01] [ 1.63847145e-04 -2.86321351e-06 9.99999987e-01 -1.98745647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.06, Y:21.33, Z:-0.20 [[ 9.45058196e-01 -3.26902098e-01 -1.55558343e-04 3.66062697e+02] [ 3.26902094e-01 9.45058209e-01 -5.15333457e-05 2.13277205e+01] [ 1.63858048e-04 -2.15033744e-06 9.99999987e-01 -2.01114366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.12, Y:21.35, Z:-0.20 [[ 9.46920121e-01 -3.21468911e-01 -1.55549511e-04 3.66117670e+02] [ 3.21468906e-01 9.46920134e-01 -5.15599922e-05 2.13454451e+01] [ 1.63867898e-04 -1.18113707e-06 9.99999987e-01 -2.00608512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.17, Y:21.36, Z:-0.20 [[ 9.49168134e-01 -3.14769486e-01 -1.55546370e-04 3.66172614e+02] [ 3.14769482e-01 9.49168147e-01 -5.15694672e-05 2.13648007e+01] [ 1.63872154e-04 -1.31551118e-08 9.99999987e-01 -1.99548408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.23, Y:21.39, Z:-0.20 [[ 9.51377150e-01 -3.08028400e-01 -1.55541915e-04 3.66227092e+02] [ 3.08028395e-01 9.51377162e-01 -5.15829008e-05 2.13860214e+01] [ 1.63868024e-04 1.16346684e-06 9.99999987e-01 -1.99762764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.28, Y:21.40, Z:-0.20 [[ 9.52270293e-01 -3.05256066e-01 -1.55532963e-04 3.66281491e+02] [ 3.05256061e-01 9.52270305e-01 -5.16098766e-05 2.14043938e+01] [ 1.63863650e-04 1.66917248e-06 9.99999987e-01 -2.04297734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.34, Y:21.43, Z:-0.20 [[ 9.52776037e-01 -3.03673837e-01 -1.55529800e-04 3.66336489e+02] [ 3.03673833e-01 9.52776049e-01 -5.16194072e-05 2.14255121e+01] [ 1.63860532e-04 1.95140362e-06 9.99999987e-01 -2.04082066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.39, Y:21.45, Z:-0.20 [[ 9.52403605e-01 -3.04839875e-01 -1.55521363e-04 3.66390685e+02] [ 3.04839870e-01 9.52403618e-01 -5.16448138e-05 2.14471597e+01] [ 1.63862507e-04 1.77759467e-06 9.99999987e-01 -2.01794804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.885336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:366.44, Y:21.47, Z:-0.20 [[ 9.52121658e-01 -3.05719356e-01 -1.55511022e-04 3.66444812e+02] [ 3.05719351e-01 9.52121671e-01 -5.16759349e-05 2.14670572e+01] [ 1.63863747e-04 1.65904808e-06 9.99999987e-01 -2.04788784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.50, Y:21.49, Z:-0.20 [[ 9.51363980e-01 -3.08069071e-01 -1.55507822e-04 3.66499634e+02] [ 3.08069067e-01 9.51363993e-01 -5.16855626e-05 2.14852641e+01] [ 1.63867266e-04 1.26463305e-06 9.99999987e-01 -2.04243312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.55, Y:21.51, Z:-0.21 [[ 9.50717585e-01 -3.10058140e-01 -1.55497890e-04 3.66553966e+02] [ 3.10058135e-01 9.50717597e-01 -5.17154255e-05 2.15072023e+01] [ 1.63869369e-04 9.53378591e-07 9.99999987e-01 -2.05307496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.61, Y:21.53, Z:-0.20 [[ 9.50862637e-01 -3.09613020e-01 -1.55489188e-04 3.66609031e+02] [ 3.09613016e-01 9.50862649e-01 -5.17415768e-05 2.15278505e+01] [ 1.63868727e-04 1.05765576e-06 9.99999987e-01 -2.04068066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.66, Y:21.55, Z:-0.21 [[ 9.51144972e-01 -3.08744582e-01 -1.55480203e-04 3.66662829e+02] [ 3.08744578e-01 9.51144985e-01 -5.17685604e-05 2.15469714e+01] [ 1.63867478e-04 1.23573622e-06 9.99999987e-01 -2.06240279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.72, Y:21.57, Z:-0.20 [[ 9.51888414e-01 -3.06444811e-01 -1.55475758e-04 3.66716225e+02] [ 3.06444807e-01 9.51888427e-01 -5.17819067e-05 2.15694233e+01] [ 1.63863872e-04 1.64585838e-06 9.99999987e-01 -2.04102569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.77, Y:21.59, Z:-0.20 [[ 9.51952899e-01 -3.06244434e-01 -1.55465573e-04 3.66770456e+02] [ 3.06244429e-01 9.51952912e-01 -5.18124691e-05 2.15929152e+01] [ 1.63863185e-04 1.71256467e-06 9.99999987e-01 -2.00952884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.83, Y:21.61, Z:-0.20 [[ 9.51679364e-01 -3.07093412e-01 -1.55456540e-04 3.66825850e+02] [ 3.07093407e-01 9.51679377e-01 -5.18395555e-05 2.16135490e+01] [ 1.63864369e-04 1.59495662e-06 9.99999987e-01 -2.00302342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.88, Y:21.64, Z:-0.20 [[ 9.51237307e-01 -3.08459985e-01 -1.55447560e-04 3.66879172e+02] [ 3.08459980e-01 9.51237319e-01 -5.18664697e-05 2.16352290e+01] [ 1.63866251e-04 1.38796963e-06 9.99999987e-01 -2.03254859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.42533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.93, Y:21.66, Z:-0.20 [[ 9.50896229e-01 -3.09509835e-01 -1.55444393e-04 3.66932620e+02] [ 3.09509831e-01 9.50896241e-01 -5.18759595e-05 2.16568867e+01] [ 1.63867609e-04 1.21708648e-06 9.99999987e-01 -2.01822703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.99, Y:21.68, Z:-0.20 [[ 9.50238207e-01 -3.11524199e-01 -1.55434309e-04 3.66986735e+02] [ 3.11524195e-01 9.50238219e-01 -5.19061577e-05 2.16791476e+01] [ 1.63869645e-04 9.01666367e-07 9.99999987e-01 -2.00606685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.04, Y:21.70, Z:-0.20 [[ 9.49465368e-01 -3.13871776e-01 -1.55424029e-04 3.67042198e+02] [ 3.13871772e-01 9.49465380e-01 -5.19369194e-05 2.17002801e+01] [ 1.63871268e-04 5.29090906e-07 9.99999987e-01 -2.02684619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.10, Y:21.72, Z:-0.20 [[ 9.49377334e-01 -3.14137953e-01 -1.55415701e-04 3.67096844e+02] [ 3.14137948e-01 9.49377347e-01 -5.19618291e-05 2.17199433e+01] [ 1.63871328e-04 5.09413419e-07 9.99999987e-01 -2.04960915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.15, Y:21.74, Z:-0.20 [[ 9.49485055e-01 -3.13812214e-01 -1.55412537e-04 3.67151213e+02] [ 3.13812210e-01 9.49485068e-01 -5.19712905e-05 2.17415327e+01] [ 1.63871109e-04 5.75611994e-07 9.99999987e-01 -2.03077271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.21, Y:21.76, Z:-0.20 [[ 9.48904251e-01 -3.15564094e-01 -1.55403888e-04 3.67206077e+02] [ 3.15564090e-01 9.48904264e-01 -5.19971389e-05 2.17608883e+01] [ 1.63871842e-04 3.00419633e-07 9.99999987e-01 -2.00785754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.26, Y:21.78, Z:-0.20 [[ 9.47761908e-01 -3.18978593e-01 -1.55393641e-04 3.67260061e+02] [ 3.18978588e-01 9.47761920e-01 -5.20277446e-05 2.17792829e+01] [ 1.63871912e-04 -2.57329752e-07 9.99999987e-01 -2.01948944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.32, Y:21.80, Z:-0.20 [[ 9.46227576e-01 -3.23501700e-01 -1.55389219e-04 3.67315888e+02] [ 3.23501696e-01 9.46227589e-01 -5.20409474e-05 2.17964944e+01] [ 1.63868901e-04 -1.02609646e-06 9.99999987e-01 -2.00426387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.37, Y:21.81, Z:-0.20 [[ 9.45317689e-01 -3.26150951e-01 -1.55378917e-04 3.67372130e+02] [ 3.26150947e-01 9.45317702e-01 -5.20716895e-05 2.18126767e+01] [ 1.63865672e-04 -1.45269160e-06 9.99999987e-01 -1.99243213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.43, Y:21.83, Z:-0.20 [[ 9.44420054e-01 -3.28741139e-01 -1.55369901e-04 3.67428830e+02] [ 3.28741135e-01 9.44420067e-01 -5.20985776e-05 2.18264764e+01] [ 1.63861398e-04 -1.87353599e-06 9.99999987e-01 -1.98409062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.49, Y:21.84, Z:-0.20 [[ 9.44519414e-01 -3.28455557e-01 -1.55366715e-04 3.67485323e+02] [ 3.28455553e-01 9.44519427e-01 -5.21080770e-05 2.18420510e+01] [ 1.63862068e-04 -1.81396975e-06 9.99999987e-01 -2.01067958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.54, Y:21.86, Z:-0.20 [[ 9.45640272e-01 -3.25214471e-01 -1.55357817e-04 3.67542212e+02] [ 3.25214466e-01 9.45640285e-01 -5.21345916e-05 2.18556435e+01] [ 1.63867534e-04 -1.22404020e-06 9.99999987e-01 -2.00813988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.60, Y:21.87, Z:-0.20 [[ 9.46878478e-01 -3.21591548e-01 -1.55347514e-04 3.67597820e+02] [ 3.21591543e-01 9.46878491e-01 -5.21652748e-05 2.18721215e+01] [ 1.63871131e-04 -5.64270646e-07 9.99999987e-01 -2.00686210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.65, Y:21.89, Z:-0.20 [[ 9.48783018e-01 -3.15928412e-01 -1.55344327e-04 3.67652592e+02] [ 3.15928407e-01 9.48783030e-01 -5.21747640e-05 2.18875914e+01] [ 1.63871551e-04 4.24844381e-07 9.99999987e-01 -2.02545968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.265336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:367.71, Y:21.91, Z:-0.20 [[ 9.50430645e-01 -3.10936592e-01 -1.55339914e-04 3.67708612e+02] [ 3.10936588e-01 9.50430658e-01 -5.21878979e-05 2.19054424e+01] [ 1.63866944e-04 1.30011472e-06 9.99999987e-01 -2.03060836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.76, Y:21.92, Z:-0.20 [[ 9.51799314e-01 -3.06721441e-01 -1.55330875e-04 3.67763669e+02] [ 3.06721436e-01 9.51799326e-01 -5.22147877e-05 2.19219496e+01] [ 1.63859217e-04 2.05469002e-06 9.99999987e-01 -2.04038937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.82, Y:21.94, Z:-0.21 [[ 9.52838695e-01 -3.03477177e-01 -1.55326095e-04 3.67818586e+02] [ 3.03477173e-01 9.52838708e-01 -5.22290031e-05 2.19430763e+01] [ 1.63851026e-04 2.62789094e-06 9.99999987e-01 -2.05313328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.87, Y:21.97, Z:-0.21 [[ 9.53201830e-01 -3.02334662e-01 -1.55317522e-04 3.67872060e+02] [ 3.02334658e-01 9.53201842e-01 -5.22544863e-05 2.19650472e+01] [ 1.63847290e-04 2.85120216e-06 9.99999987e-01 -2.09106414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.93, Y:21.99, Z:-0.21 [[ 9.52246181e-01 -3.05331272e-01 -1.55313042e-04 3.67927389e+02] [ 3.05331268e-01 9.52246194e-01 -5.22677970e-05 2.19854917e+01] [ 1.63855246e-04 2.34988205e-06 9.99999987e-01 -2.07864829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.98, Y:22.01, Z:-0.21 [[ 9.50298866e-01 -3.11339108e-01 -1.55304662e-04 3.67981114e+02] [ 3.11339104e-01 9.50298879e-01 -5.22926838e-05 2.20080364e+01] [ 1.63866604e-04 1.34126375e-06 9.99999987e-01 -2.06492692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.04, Y:22.03, Z:-0.20 [[ 9.48448216e-01 -3.16932102e-01 -1.55294771e-04 3.68036627e+02] [ 3.16932098e-01 9.48448229e-01 -5.23220428e-05 2.20288449e+01] [ 1.63871585e-04 4.06850669e-07 9.99999987e-01 -2.03819573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.09, Y:22.05, Z:-0.20 [[ 9.47215452e-01 -3.20597667e-01 -1.55286094e-04 3.68091894e+02] [ 3.20597663e-01 9.47215464e-01 -5.23477820e-05 2.20500985e+01] [ 1.63871966e-04 -1.99730784e-07 9.99999987e-01 -2.00545105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.15, Y:22.07, Z:-0.20 [[ 9.46446212e-01 -3.22861492e-01 -1.55277312e-04 3.68147252e+02] [ 3.22861487e-01 9.46446225e-01 -5.23738181e-05 2.20706626e+01] [ 1.63871115e-04 -5.64062239e-07 9.99999987e-01 -1.98986357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.20, Y:22.09, Z:-0.20 [[ 9.45364059e-01 -3.26016520e-01 -1.55268326e-04 3.68201836e+02] [ 3.26016516e-01 9.45364072e-01 -5.24004454e-05 2.20912660e+01] [ 1.63868508e-04 -1.08254085e-06 9.99999987e-01 -2.01192090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.26, Y:22.11, Z:-0.20 [[ 9.44624826e-01 -3.28152272e-01 -1.55259450e-04 3.68257569e+02] [ 3.28152268e-01 9.44624839e-01 -5.24267310e-05 2.21104915e+01] [ 1.63865884e-04 -1.42514905e-06 9.99999987e-01 -2.00736737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.92533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.31, Y:22.13, Z:-0.20 [[ 9.44299792e-01 -3.29086432e-01 -1.55250338e-04 3.68313499e+02] [ 3.29086428e-01 9.44299804e-01 -5.24537003e-05 2.21300116e+01] [ 1.63864665e-04 -1.55876088e-06 9.99999987e-01 -2.02468645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.98533619499995 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:368.37, Y:22.15, Z:-0.20 [[ 9.44500385e-01 -3.28510272e-01 -1.55241324e-04 3.68369125e+02] [ 3.28510268e-01 9.44500398e-01 -5.24803647e-05 2.21479321e+01] [ 1.63865831e-04 -1.43064430e-06 9.99999987e-01 -2.03477271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.42, Y:22.17, Z:-0.20 [[ 9.44516760e-01 -3.28463187e-01 -1.55231011e-04 3.68424525e+02] [ 3.28463183e-01 9.44516773e-01 -5.25108524e-05 2.21652267e+01] [ 1.63866175e-04 -1.39029164e-06 9.99999987e-01 -2.01782203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.48, Y:22.18, Z:-0.20 [[ 9.45097538e-01 -3.26788341e-01 -1.55220639e-04 3.68479294e+02] [ 3.26788337e-01 9.45097551e-01 -5.25414923e-05 2.21830787e+01] [ 1.63868593e-04 -1.06745957e-06 9.99999987e-01 -2.03240665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.53, Y:22.20, Z:-0.21 [[ 9.45273737e-01 -3.26278313e-01 -1.55217442e-04 3.68534363e+02] [ 3.26278308e-01 9.45273750e-01 -5.25509357e-05 2.22008307e+01] [ 1.63869204e-04 -9.69065002e-07 9.99999987e-01 -2.05079915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.59, Y:22.22, Z:-0.21 [[ 9.45754802e-01 -3.24881255e-01 -1.55214269e-04 3.68590671e+02] [ 3.24881251e-01 9.45754815e-01 -5.25603060e-05 2.22181346e+01] [ 1.63870500e-04 -7.17044054e-07 9.99999987e-01 -2.07231046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.65, Y:22.23, Z:-0.20 [[ 9.46887968e-01 -3.21563604e-01 -1.55205469e-04 3.68647584e+02] [ 3.21563599e-01 9.46887981e-01 -5.25862785e-05 2.22343923e+01] [ 1.63872026e-04 -1.15114867e-07 9.99999987e-01 -2.04368749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.70, Y:22.25, Z:-0.20 [[ 9.47379949e-01 -3.20111243e-01 -1.55196739e-04 3.68704164e+02] [ 3.20111239e-01 9.47379962e-01 -5.26120300e-05 2.22515062e+01] [ 1.63871983e-04 1.63361896e-07 9.99999987e-01 -1.99647732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.76, Y:22.27, Z:-0.20 [[ 9.46954215e-01 -3.21368465e-01 -1.55187583e-04 3.68759181e+02] [ 3.21368461e-01 9.46954228e-01 -5.26390225e-05 2.22676102e+01] [ 1.63872060e-04 -2.56505752e-08 9.99999987e-01 -1.97871643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.82, Y:22.28, Z:-0.20 [[ 9.46662084e-01 -3.22227985e-01 -1.55183686e-04 3.68815213e+02] [ 3.22227981e-01 9.46662097e-01 -5.26505086e-05 2.22813457e+01] [ 1.63871981e-04 -1.62285665e-07 9.99999987e-01 -1.99608971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.87, Y:22.30, Z:-0.20 [[ 9.47099513e-01 -3.20940008e-01 -1.55180522e-04 3.68870593e+02] [ 3.20940004e-01 9.47099526e-01 -5.26598338e-05 2.22984927e+01] [ 1.63872046e-04 7.04656593e-08 9.99999987e-01 -1.99529687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.93, Y:22.32, Z:-0.20 [[ 9.49321192e-01 -3.14307572e-01 -1.55170615e-04 3.68925887e+02] [ 3.14307567e-01 9.49321205e-01 -5.26890113e-05 2.23161446e+01] [ 1.63867310e-04 1.24749663e-06 9.99999987e-01 -1.97662884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.98, Y:22.34, Z:-0.20 [[ 9.52223178e-01 -3.05403005e-01 -1.55160152e-04 3.68979569e+02] [ 3.05403000e-01 9.52223191e-01 -5.27198027e-05 2.23380959e+01] [ 1.63847882e-04 2.81464203e-06 9.99999987e-01 -2.00726199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.705336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:369.03, Y:22.36, Z:-0.20 [[ 9.53761500e-01 -3.00564432e-01 -1.55156924e-04 3.69034090e+02] [ 3.00564427e-01 9.53761512e-01 -5.27293016e-05 2.23597072e+01] [ 1.63831255e-04 3.65652568e-06 9.99999987e-01 -2.03324485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.09, Y:22.38, Z:-0.20 [[ 9.54254052e-01 -2.98996956e-01 -1.55147843e-04 3.69087897e+02] [ 2.98996951e-01 9.54254065e-01 -5.27560083e-05 2.23811026e+01] [ 1.63824346e-04 3.95390260e-06 9.99999987e-01 -2.02833919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.14, Y:22.40, Z:-0.20 [[ 9.53938713e-01 -3.00001512e-01 -1.55144656e-04 3.69141788e+02] [ 3.00001507e-01 9.53938726e-01 -5.27653776e-05 2.24048172e+01] [ 1.63828189e-04 3.79130569e-06 9.99999987e-01 -1.99300233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.885336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:369.19, Y:22.43, Z:-0.20 [[ 9.53755403e-01 -3.00583778e-01 -1.55135641e-04 3.69194715e+02] [ 3.00583774e-01 9.53755415e-01 -5.27918708e-05 2.24293989e+01] [ 1.63829838e-04 3.71927558e-06 9.99999987e-01 -1.99365386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.25, Y:22.46, Z:-0.20 [[ 9.53447658e-01 -3.01558518e-01 -1.55132456e-04 3.69247004e+02] [ 3.01558513e-01 9.53447671e-01 -5.28012274e-05 2.24556489e+01] [ 1.63833339e-04 3.56169379e-06 9.99999987e-01 -2.00528186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.30, Y:22.48, Z:-0.20 [[ 9.52957703e-01 -3.03103271e-01 -1.55122488e-04 3.69300080e+02] [ 3.03103267e-01 9.52957715e-01 -5.28304962e-05 2.24808502e+01] [ 1.63838268e-04 3.32709535e-06 9.99999987e-01 -1.99588988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.35, Y:22.51, Z:-0.20 [[ 9.52252767e-01 -3.05310732e-01 -1.55113825e-04 3.69353246e+02] [ 3.05310728e-01 9.52252780e-01 -5.28559194e-05 2.25061761e+01] [ 1.63845051e-04 2.97428067e-06 9.99999987e-01 -1.96396345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.41, Y:22.53, Z:-0.20 [[ 9.51161312e-01 -3.08694243e-01 -1.55104897e-04 3.69406055e+02] [ 3.08694238e-01 9.51161324e-01 -5.28821062e-05 2.25323931e+01] [ 1.63854181e-04 2.41942553e-06 9.99999987e-01 -1.98011613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.46, Y:22.56, Z:-0.20 [[ 9.50361936e-01 -3.11146537e-01 -1.55095633e-04 3.69458344e+02] [ 3.11146532e-01 9.50361948e-01 -5.29092631e-05 2.25582580e+01] [ 1.63859522e-04 2.02548141e-06 9.99999987e-01 -2.03622196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.51, Y:22.58, Z:-0.20 [[ 9.49819756e-01 -3.12797709e-01 -1.55092350e-04 3.69511099e+02] [ 3.12797705e-01 9.49819769e-01 -5.29188840e-05 2.25841050e+01] [ 1.63862686e-04 1.75087043e-06 9.99999987e-01 -2.02662406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.56, Y:22.61, Z:-0.20 [[ 9.48678600e-01 -3.16241823e-01 -1.55082283e-04 3.69563199e+02] [ 3.16241819e-01 9.48678612e-01 -5.29483696e-05 2.26107246e+01] [ 1.63867734e-04 1.18748195e-06 9.99999987e-01 -2.03580884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.62, Y:22.63, Z:-0.20 [[ 9.47584188e-01 -3.19506153e-01 -1.55071879e-04 3.69617071e+02] [ 3.19506149e-01 9.47584201e-01 -5.29788231e-05 2.26339858e+01] [ 1.63870722e-04 6.55476348e-07 9.99999987e-01 -2.01550697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.42533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.67, Y:22.66, Z:-0.20 [[ 9.46080679e-01 -3.23931048e-01 -1.55062740e-04 3.69670648e+02] [ 3.23931044e-01 9.46080692e-01 -5.30055571e-05 2.26568497e+01] [ 1.63872010e-04 -8.21017577e-08 9.99999987e-01 -2.03214580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.73, Y:22.68, Z:-0.21 [[ 9.45030701e-01 -3.26981575e-01 -1.55059509e-04 3.69725630e+02] [ 3.26981571e-01 9.45030714e-01 -5.30150085e-05 2.26766971e+01] [ 1.63870929e-04 -6.00791079e-07 9.99999987e-01 -2.06576626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.78, Y:22.70, Z:-0.21 [[ 9.44513151e-01 -3.28473566e-01 -1.55050387e-04 3.69780165e+02] [ 3.28473561e-01 9.44513164e-01 -5.30416734e-05 2.26971016e+01] [ 1.63869919e-04 -8.31394668e-07 9.99999987e-01 -2.08037461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.84, Y:22.72, Z:-0.20 [[ 9.43976426e-01 -3.30012854e-01 -1.55047167e-04 3.69835622e+02] [ 3.30012850e-01 9.43976438e-01 -5.30510830e-05 2.27172155e+01] [ 1.63868412e-04 -1.08858580e-06 9.99999987e-01 -2.04319403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.89, Y:22.73, Z:-0.21 [[ 9.43038741e-01 -3.32682896e-01 -1.55037938e-04 3.69891953e+02] [ 3.32682892e-01 9.43038753e-01 -5.30780409e-05 2.27326157e+01] [ 1.63864940e-04 -1.52382079e-06 9.99999987e-01 -2.06197219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.95, Y:22.75, Z:-0.21 [[ 9.42426629e-01 -3.34412956e-01 -1.55034680e-04 3.69948082e+02] [ 3.34412952e-01 9.42426642e-01 -5.30875556e-05 2.27475991e+01] [ 1.63861979e-04 -1.81447889e-06 9.99999987e-01 -2.07210818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.01, Y:22.76, Z:-0.21 [[ 9.42047505e-01 -3.35479470e-01 -1.55031602e-04 3.70005574e+02] [ 3.35479465e-01 9.42047518e-01 -5.30965424e-05 2.27628593e+01] [ 1.63859936e-04 -1.99045374e-06 9.99999987e-01 -2.07133523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.06, Y:22.77, Z:-0.21 [[ 9.41695006e-01 -3.36467668e-01 -1.55023073e-04 3.70062770e+02] [ 3.36467664e-01 9.41695019e-01 -5.31214324e-05 2.27737585e+01] [ 1.63858100e-04 -2.13606362e-06 9.99999987e-01 -2.07699491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.12, Y:22.79, Z:-0.21 [[ 9.42564404e-01 -3.34024430e-01 -1.55012636e-04 3.70118366e+02] [ 3.34024426e-01 9.42564417e-01 -5.31518720e-05 2.27883372e+01] [ 1.63863418e-04 -1.67894411e-06 9.99999987e-01 -2.06230929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.17, Y:22.81, Z:-0.21 [[ 9.44168622e-01 -3.29462575e-01 -1.55006970e-04 3.70174051e+02] [ 3.29462571e-01 9.44168635e-01 -5.31683891e-05 2.28055905e+01] [ 1.63869714e-04 -8.69070258e-07 9.99999987e-01 -2.05723982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.23, Y:22.82, Z:-0.20 [[ 9.46840371e-01 -3.21703727e-01 -1.55003799e-04 3.70230946e+02] [ 3.21703722e-01 9.46840384e-01 -5.31776332e-05 2.28197442e+01] [ 1.63871299e-04 4.85430877e-07 9.99999987e-01 -2.04583240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.29, Y:22.84, Z:-0.20 [[ 9.48048066e-01 -3.18127081e-01 -1.54993319e-04 3.70286678e+02] [ 3.18127077e-01 9.48048079e-01 -5.32081601e-05 2.28352383e+01] [ 1.63868075e-04 1.13632175e-06 9.99999987e-01 -2.04857167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.34, Y:22.85, Z:-0.20 [[ 9.49430713e-01 -3.13976587e-01 -1.54988412e-04 3.70342099e+02] [ 3.13976582e-01 9.49430726e-01 -5.32224502e-05 2.28541818e+01] [ 1.63861364e-04 1.86829694e-06 9.99999987e-01 -1.98808174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.40, Y:22.87, Z:-0.21 [[ 9.50832443e-01 -3.09705732e-01 -1.54979755e-04 3.70397102e+02] [ 3.09705727e-01 9.50832456e-01 -5.32476461e-05 2.28730053e+01] [ 1.63850883e-04 2.63147156e-06 9.99999987e-01 -2.05188043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.45, Y:22.89, Z:-0.21 [[ 9.51342498e-01 -3.08135404e-01 -1.54976427e-04 3.70451590e+02] [ 3.08135400e-01 9.51342511e-01 -5.32573325e-05 2.28937870e+01] [ 1.63846132e-04 2.91224066e-06 9.99999987e-01 -2.05631759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.50, Y:22.92, Z:-0.21 [[ 9.51298669e-01 -3.08270691e-01 -1.54966376e-04 3.70504809e+02] [ 3.08270686e-01 9.51298681e-01 -5.32865621e-05 2.29185807e+01] [ 1.63845994e-04 2.91984467e-06 9.99999987e-01 -2.08453864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.56, Y:22.94, Z:-0.21 [[ 9.50869446e-01 -3.09592108e-01 -1.54957527e-04 3.70559424e+02] [ 3.09592103e-01 9.50869458e-01 -5.33122818e-05 2.29409837e+01] [ 1.63849441e-04 2.71939315e-06 9.99999987e-01 -2.11029379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.61, Y:22.96, Z:-0.21 [[ 9.49145003e-01 -3.14839227e-01 -1.54948649e-04 3.70613438e+02] [ 3.14839222e-01 9.49145016e-01 -5.33380740e-05 2.29620695e+01] [ 1.63861655e-04 1.84165438e-06 9.99999987e-01 -2.11927744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.67, Y:22.98, Z:-0.21 [[ 9.46920531e-01 -3.21467704e-01 -1.54938355e-04 3.70667918e+02] [ 3.21467699e-01 9.46920543e-01 -5.33679591e-05 2.29845031e+01] [ 1.63870386e-04 7.27539739e-07 9.99999987e-01 -2.09865353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.565336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:370.72, Y:23.00, Z:-0.22 [[ 9.45473434e-01 -3.25699188e-01 -1.54929343e-04 3.70721785e+02] [ 3.25699184e-01 9.45473447e-01 -5.33941083e-05 2.30049436e+01] [ 1.63871997e-04 2.23504435e-08 9.99999987e-01 -2.15213330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.625336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:370.77, Y:23.03, Z:-0.21 [[ 9.45077532e-01 -3.26846193e-01 -1.54926179e-04 3.70774881e+02] [ 3.26846189e-01 9.45077545e-01 -5.34032865e-05 2.30254674e+01] [ 1.63871914e-04 -1.66784872e-07 9.99999987e-01 -2.14442191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.83, Y:23.05, Z:-0.21 [[ 9.45121986e-01 -3.26717626e-01 -1.54921860e-04 3.70828609e+02] [ 3.26717622e-01 9.45121999e-01 -5.34158143e-05 2.30513772e+01] [ 1.63871946e-04 -1.31241068e-07 9.99999987e-01 -2.12341782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.88, Y:23.07, Z:-0.21 [[ 9.44770494e-01 -3.27732649e-01 -1.54912813e-04 3.70884169e+02] [ 3.27732645e-01 9.44770507e-01 -5.34420371e-05 2.30691571e+01] [ 1.63871757e-04 -2.79526176e-07 9.99999987e-01 -2.11705909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.94, Y:23.09, Z:-0.21 [[ 9.44045868e-01 -3.29814152e-01 -1.54909524e-04 3.70938516e+02] [ 3.29814148e-01 9.44045881e-01 -5.34515681e-05 2.30902089e+01] [ 1.63870782e-04 -6.30620803e-07 9.99999987e-01 -2.13046516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.99, Y:23.11, Z:-0.21 [[ 9.43097857e-01 -3.32515276e-01 -1.54906261e-04 3.70992733e+02] [ 3.32515272e-01 9.43097869e-01 -5.34610251e-05 2.31089141e+01] [ 1.63868372e-04 -1.08971912e-06 9.99999987e-01 -2.14282212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.92533619499994 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:371.05, Y:23.13, Z:-0.21 [[ 9.41738265e-01 -3.36346570e-01 -1.54902484e-04 3.71047392e+02] [ 3.36346566e-01 9.41738278e-01 -5.34719646e-05 2.31267622e+01] [ 1.63862711e-04 -1.74432347e-06 9.99999987e-01 -2.12980076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.10, Y:23.14, Z:-0.21 [[ 9.40424595e-01 -3.40002291e-01 -1.54892165e-04 3.71102861e+02] [ 3.40002287e-01 9.40424607e-01 -5.35018408e-05 2.31417016e+01] [ 1.63855152e-04 -2.34924323e-06 9.99999987e-01 -2.09823604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.16, Y:23.16, Z:-0.21 [[ 9.39651249e-01 -3.42133754e-01 -1.54888345e-04 3.71159439e+02] [ 3.42133750e-01 9.39651262e-01 -5.35128956e-05 2.31576578e+01] [ 1.63849597e-04 -2.70907118e-06 9.99999987e-01 -2.06701170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.22, Y:23.17, Z:-0.21 [[ 9.39365598e-01 -3.42917263e-01 -1.54879290e-04 3.71216449e+02] [ 3.42917259e-01 9.39365611e-01 -5.35390913e-05 2.31698199e+01] [ 1.63847757e-04 -2.81800103e-06 9.99999987e-01 -2.12205259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.27, Y:23.18, Z:-0.21 [[ 9.40763691e-01 -3.39062906e-01 -1.54875980e-04 3.71273727e+02] [ 3.39062902e-01 9.40763703e-01 -5.35486653e-05 2.31824841e+01] [ 1.63858066e-04 -2.13605911e-06 9.99999987e-01 -2.11308323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.33, Y:23.20, Z:-0.21 [[ 9.43414005e-01 -3.31617235e-01 -1.54865918e-04 3.71330711e+02] [ 3.31617231e-01 9.43414018e-01 -5.35777498e-05 2.31970022e+01] [ 1.63869983e-04 -8.10207226e-07 9.99999987e-01 -2.10359671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.39, Y:23.21, Z:-0.21 [[ 9.46227481e-01 -3.23501979e-01 -1.54856831e-04 3.71385126e+02] [ 3.23501975e-01 9.46227493e-01 -5.36039996e-05 2.32132681e+01] [ 1.63870791e-04 6.25086779e-07 9.99999987e-01 -2.11678977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.44, Y:23.23, Z:-0.21 [[ 9.47740559e-01 -3.19042016e-01 -1.54852328e-04 3.71440988e+02] [ 3.19042012e-01 9.47740572e-01 -5.36170046e-05 2.32288423e+01] [ 1.63865911e-04 1.41061161e-06 9.99999987e-01 -2.10089161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.50, Y:23.25, Z:-0.21 [[ 9.50014957e-01 -3.12204351e-01 -1.54841767e-04 3.71495638e+02] [ 3.12204346e-01 9.50014970e-01 -5.36474888e-05 2.32463935e+01] [ 1.63850976e-04 2.62364429e-06 9.99999987e-01 -2.09324816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.55, Y:23.27, Z:-0.21 [[ 9.51164554e-01 -3.08684252e-01 -1.54838501e-04 3.71549816e+02] [ 3.08684248e-01 9.51164566e-01 -5.36569119e-05 2.32662453e+01] [ 1.63839939e-04 3.24034645e-06 9.99999987e-01 -2.09615948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.61, Y:23.28, Z:-0.21 [[ 9.49995625e-01 -3.12263171e-01 -1.54828004e-04 3.71606568e+02] [ 3.12263167e-01 9.49995638e-01 -5.36871837e-05 2.32833927e+01] [ 1.63850459e-04 2.65550678e-06 9.99999987e-01 -2.07281734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.66, Y:23.30, Z:-0.21 [[ 9.48628626e-01 -3.16391697e-01 -1.54818864e-04 3.71661457e+02] [ 3.16391692e-01 9.48628639e-01 -5.37135286e-05 2.33018877e+01] [ 1.63860123e-04 1.97078846e-06 9.99999987e-01 -2.05527211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.64533619499997 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:371.72, Y:23.32, Z:-0.21 [[ 9.46956362e-01 -3.21362139e-01 -1.54808060e-04 3.71717163e+02] [ 3.21362135e-01 9.46956375e-01 -5.37446498e-05 2.33194542e+01] [ 1.63867975e-04 1.14438943e-06 9.99999987e-01 -2.11604165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.77, Y:23.33, Z:-0.21 [[ 9.44995459e-01 -3.27083413e-01 -1.54798701e-04 3.71773405e+02] [ 3.27083408e-01 9.44995471e-01 -5.37715917e-05 2.33342663e+01] [ 1.63871867e-04 1.81823212e-07 9.99999987e-01 -2.11054571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.83, Y:23.35, Z:-0.21 [[ 9.43268455e-01 -3.32031019e-01 -1.54793748e-04 3.71828625e+02] [ 3.32031015e-01 9.43268468e-01 -5.37858470e-05 2.33517670e+01] [ 1.63870631e-04 -6.61832439e-07 9.99999987e-01 -2.09380253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.88, Y:23.37, Z:-0.21 [[ 9.42947495e-01 -3.32941433e-01 -1.54783542e-04 3.71883064e+02] [ 3.32941428e-01 9.42947508e-01 -5.38152007e-05 2.33709826e+01] [ 1.63870065e-04 -7.88944887e-07 9.99999987e-01 -2.10044640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.94, Y:23.39, Z:-0.21 [[ 9.43327234e-01 -3.31863986e-01 -1.54773368e-04 3.71939057e+02] [ 3.31863982e-01 9.43327247e-01 -5.38444466e-05 2.33897622e+01] [ 1.63870967e-04 -5.70773212e-07 9.99999987e-01 -2.12300792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.99, Y:23.41, Z:-0.21 [[ 9.43658658e-01 -3.30920403e-01 -1.54764380e-04 3.71994531e+02] [ 3.30920399e-01 9.43658671e-01 -5.38702666e-05 2.34055039e+01] [ 1.63871520e-04 -3.79546921e-07 9.99999987e-01 -2.13633548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.05, Y:23.42, Z:-0.21 [[ 9.43222541e-01 -3.32161427e-01 -1.54754065e-04 3.72049181e+02] [ 3.32161423e-01 9.43222554e-01 -5.38998830e-05 2.34216768e+01] [ 1.63870987e-04 -5.63745893e-07 9.99999987e-01 -2.14726407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.11, Y:23.44, Z:-0.21 [[ 9.41866142e-01 -3.35988314e-01 -1.54747020e-04 3.72105672e+02] [ 3.35988310e-01 9.41866154e-01 -5.39201017e-05 2.34363138e+01] [ 1.63867505e-04 -1.20767147e-06 9.99999987e-01 -2.13091722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.16, Y:23.45, Z:-0.21 [[ 9.40718726e-01 -3.39187640e-01 -1.54736293e-04 3.72163939e+02] [ 3.39187635e-01 9.40718739e-01 -5.39508674e-05 2.34475545e+01] [ 1.63862798e-04 -1.73204618e-06 9.99999987e-01 -2.10164697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.22, Y:23.46, Z:-0.21 [[ 9.41264141e-01 -3.37671132e-01 -1.54726574e-04 3.72220477e+02] [ 3.37671127e-01 9.41264154e-01 -5.39787272e-05 2.34597870e+01] [ 1.63865635e-04 -1.43845629e-06 9.99999987e-01 -2.14549335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.28, Y:23.48, Z:-0.21 [[ 9.43110247e-01 -3.32480131e-01 -1.54723150e-04 3.72276704e+02] [ 3.32480127e-01 9.43110260e-01 -5.39885385e-05 2.34759803e+01] [ 1.63871107e-04 -5.25228749e-07 9.99999987e-01 -2.11894589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.33, Y:23.49, Z:-0.21 [[ 9.44408864e-01 -3.28773287e-01 -1.54712114e-04 3.72332082e+02] [ 3.28773282e-01 9.44408876e-01 -5.40201450e-05 2.34919899e+01] [ 1.63871875e-04 1.51894042e-07 9.99999987e-01 -2.12009056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.39, Y:23.51, Z:-0.21 [[ 9.45828544e-01 -3.24666507e-01 -1.54708693e-04 3.72387752e+02] [ 3.24666503e-01 9.45828557e-01 -5.40299428e-05 2.35088970e+01] [ 1.63869612e-04 8.74331966e-07 9.99999987e-01 -2.10396737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.42533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.44, Y:23.52, Z:-0.21 [[ 9.46521371e-01 -3.22641086e-01 -1.54705350e-04 3.72442952e+02] [ 3.22641081e-01 9.46521384e-01 -5.40395119e-05 2.35249620e+01] [ 1.63867289e-04 1.23525143e-06 9.99999987e-01 -2.10576436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.50, Y:23.54, Z:-0.21 [[ 9.46400671e-01 -3.22994964e-01 -1.54702114e-04 3.72501621e+02] [ 3.22994960e-01 9.46400683e-01 -5.40487743e-05 2.35366272e+01] [ 1.63867668e-04 1.18379313e-06 9.99999987e-01 -2.09583001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.56, Y:23.55, Z:-0.21 [[ 9.45665719e-01 -3.25140468e-01 -1.54692835e-04 3.72557804e+02] [ 3.25140464e-01 9.45665732e-01 -5.40753196e-05 2.35538398e+01] [ 1.63869787e-04 8.40275932e-07 9.99999987e-01 -2.08608436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.62, Y:23.56, Z:-0.21 [[ 9.44997762e-01 -3.27076760e-01 -1.54683487e-04 3.72616554e+02] [ 3.27076755e-01 9.44997774e-01 -5.41020468e-05 2.35648918e+01] [ 1.63871073e-04 5.32940218e-07 9.99999987e-01 -2.08792015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.67, Y:23.58, Z:-0.21 [[ 9.44662093e-01 -3.28044976e-01 -1.54673946e-04 3.72673792e+02] [ 3.28044972e-01 9.44662106e-01 -5.41293079e-05 2.35777670e+01] [ 1.63871463e-04 3.93894913e-07 9.99999987e-01 -2.08853685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.73, Y:23.59, Z:-0.21 [[ 9.44626360e-01 -3.28147857e-01 -1.54670575e-04 3.72730277e+02] [ 3.28147852e-01 9.44626373e-01 -5.41389385e-05 2.35912504e+01] [ 1.63871481e-04 3.86251253e-07 9.99999987e-01 -2.09209543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.78533619499996 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:372.79, Y:23.61, Z:-0.21 [[ 9.45184201e-01 -3.26537598e-01 -1.54667245e-04 3.72787676e+02] [ 3.26537594e-01 9.45184213e-01 -5.41484518e-05 2.36058719e+01] [ 1.63870544e-04 6.75591189e-07 9.99999987e-01 -2.11503629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.84, Y:23.62, Z:-0.21 [[ 9.45759545e-01 -3.24867450e-01 -1.54657787e-04 3.72844516e+02] [ 3.24867445e-01 9.45759557e-01 -5.41754504e-05 2.36187304e+01] [ 1.63868921e-04 9.93669021e-07 9.99999987e-01 -2.11554249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.90, Y:23.63, Z:-0.21 [[ 9.46509902e-01 -3.22674730e-01 -1.54654445e-04 3.72902624e+02] [ 3.22674726e-01 9.46509915e-01 -5.41849892e-05 2.36323233e+01] [ 1.63866093e-04 1.38354810e-06 9.99999987e-01 -2.12103107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.96, Y:23.65, Z:-0.21 [[ 9.47420127e-01 -3.19992311e-01 -1.54649427e-04 3.72959414e+02] [ 3.19992306e-01 9.47420140e-01 -5.41993093e-05 2.36464237e+01] [ 1.63861344e-04 1.86288979e-06 9.99999987e-01 -2.11902424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.02, Y:23.66, Z:-0.20 [[ 9.49026547e-01 -3.15196113e-01 -1.54646189e-04 3.73017690e+02] [ 3.15196108e-01 9.49026559e-01 -5.42085463e-05 2.36610624e+01] [ 1.63849664e-04 2.70147261e-06 9.99999987e-01 -2.03864197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.07, Y:23.68, Z:-0.20 [[ 9.51157904e-01 -3.08704742e-01 -1.54644910e-04 3.73073110e+02] [ 3.08704737e-01 9.51157917e-01 -5.42121941e-05 2.36804157e+01] [ 1.63827292e-04 3.82474061e-06 9.99999987e-01 -2.00341279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.13, Y:23.70, Z:-0.20 [[ 9.52978594e-01 -3.03037582e-01 -1.54635710e-04 3.73126827e+02] [ 3.03037577e-01 9.52978606e-01 -5.42384225e-05 2.37015171e+01] [ 1.63800804e-04 4.82762461e-06 9.99999987e-01 -2.04432534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.18, Y:23.72, Z:-0.20 [[ 9.53591988e-01 -3.01101805e-01 -1.54632468e-04 3.73182006e+02] [ 3.01101800e-01 9.53592000e-01 -5.42476645e-05 2.37233874e+01] [ 1.63790354e-04 5.17002370e-06 9.99999987e-01 -2.04484464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.24, Y:23.75, Z:-0.21 [[ 9.53765427e-01 -3.00551971e-01 -1.54623957e-04 3.73235811e+02] [ 3.00551966e-01 9.53765439e-01 -5.42719149e-05 2.37459150e+01] [ 1.63786517e-04 5.29014196e-06 9.99999987e-01 -2.06996943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.29, Y:23.77, Z:-0.21 [[ 9.53351272e-01 -3.01863094e-01 -1.54619141e-04 3.73287864e+02] [ 3.01863090e-01 9.53351285e-01 -5.42856305e-05 2.37736738e+01] [ 1.63793185e-04 5.07946326e-06 9.99999987e-01 -2.05131975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.34, Y:23.80, Z:-0.20 [[ 9.52692734e-01 -3.03935076e-01 -1.54614413e-04 3.73340941e+02] [ 3.03935072e-01 9.52692747e-01 -5.42990946e-05 2.37988213e+01] [ 1.63803429e-04 4.73761031e-06 9.99999987e-01 -2.03520114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.39, Y:23.82, Z:-0.20 [[ 9.51213825e-01 -3.08532391e-01 -1.54605592e-04 3.73393948e+02] [ 3.08532386e-01 9.51213837e-01 -5.43241987e-05 2.38246126e+01] [ 1.63823753e-04 3.97309669e-06 9.99999987e-01 -2.03452934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.45, Y:23.85, Z:-0.20 [[ 9.49684903e-01 -3.13206897e-01 -1.54596607e-04 3.73445733e+02] [ 3.13206892e-01 9.49684916e-01 -5.43497542e-05 2.38528055e+01] [ 1.63840784e-04 3.19441813e-06 9.99999987e-01 -2.02294632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.50, Y:23.88, Z:-0.20 [[ 9.48337206e-01 -3.17264117e-01 -1.54586111e-04 3.73496997e+02] [ 3.17264113e-01 9.48337218e-01 -5.43795939e-05 2.38817796e+01] [ 1.63852456e-04 2.52556685e-06 9.99999987e-01 -2.04666128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.55, Y:23.91, Z:-0.20 [[ 9.47002805e-01 -3.21225253e-01 -1.54582875e-04 3.73549008e+02] [ 3.21225249e-01 9.47002818e-01 -5.43887902e-05 2.39086659e+01] [ 1.63861471e-04 1.85041451e-06 9.99999987e-01 -2.04516896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.60, Y:23.93, Z:-0.20 [[ 9.46339339e-01 -3.23174615e-01 -1.54572657e-04 3.73602302e+02] [ 3.23174610e-01 9.46339352e-01 -5.44178149e-05 2.39343322e+01] [ 1.63864644e-04 1.54376091e-06 9.99999987e-01 -2.03173884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.66, Y:23.96, Z:-0.20 [[ 9.46160737e-01 -3.23697136e-01 -1.54563307e-04 3.73655601e+02] [ 3.23697131e-01 9.46160750e-01 -5.44443587e-05 2.39572104e+01] [ 1.63865217e-04 1.48141555e-06 9.99999987e-01 -2.04722382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.71, Y:23.99, Z:-0.21 [[ 9.45805883e-01 -3.24732517e-01 -1.54559995e-04 3.73708115e+02] [ 3.24732512e-01 9.45805896e-01 -5.44537588e-05 2.39858704e+01] [ 1.63866661e-04 1.31203000e-06 9.99999987e-01 -2.05593095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.76, Y:24.01, Z:-0.21 [[ 9.45426284e-01 -3.25836029e-01 -1.54550950e-04 3.73759733e+02] [ 3.25836025e-01 9.45426296e-01 -5.44794187e-05 2.40146855e+01] [ 1.63867890e-04 1.14800723e-06 9.99999987e-01 -2.06514510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.92533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.81, Y:24.04, Z:-0.20 [[ 9.44032070e-01 -3.29853645e-01 -1.54540684e-04 3.73811512e+02] [ 3.29853640e-01 9.44032083e-01 -5.45085252e-05 2.40424756e+01] [ 1.63871199e-04 4.81988802e-07 9.99999987e-01 -2.04434080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.87, Y:24.07, Z:-0.20 [[ 9.41727130e-01 -3.36377747e-01 -1.54529885e-04 3.73865432e+02] [ 3.36377743e-01 9.41727143e-01 -5.45391205e-05 2.40654571e+01] [ 1.63870734e-04 -6.19444601e-07 9.99999987e-01 -2.04017014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.92, Y:24.09, Z:-0.20 [[ 9.40941901e-01 -3.38568037e-01 -1.54520408e-04 3.73918569e+02] [ 3.38568033e-01 9.40941913e-01 -5.45659588e-05 2.40896492e+01] [ 1.63869018e-04 -9.72273550e-07 9.99999987e-01 -2.04153247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.97, Y:24.11, Z:-0.20 [[ 9.41230237e-01 -3.37765623e-01 -1.54517088e-04 3.73971959e+02] [ 3.37765619e-01 9.41230250e-01 -5.45753596e-05 2.41131106e+01] [ 1.63869837e-04 -8.22581034e-07 9.99999987e-01 -2.03255258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.03, Y:24.13, Z:-0.21 [[ 9.41725667e-01 -3.36381844e-01 -1.54506443e-04 3.74025498e+02] [ 3.36381840e-01 9.41725679e-01 -5.46054791e-05 2.41340867e+01] [ 1.63870977e-04 -5.49780305e-07 9.99999987e-01 -2.09151362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.08, Y:24.16, Z:-0.20 [[ 9.41344395e-01 -3.37447338e-01 -1.54503158e-04 3.74079595e+02] [ 3.37447333e-01 9.41344408e-01 -5.46147727e-05 2.41566266e+01] [ 1.63870293e-04 -7.25368353e-07 9.99999987e-01 -2.04633107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.13, Y:24.18, Z:-0.20 [[ 9.40371861e-01 -3.40148115e-01 -1.54494125e-04 3.74134494e+02] [ 3.40148110e-01 9.40371873e-01 -5.46403113e-05 2.41775074e+01] [ 1.63867729e-04 -1.16867357e-06 9.99999987e-01 -2.02189202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.19, Y:24.20, Z:-0.20 [[ 9.40053061e-01 -3.41028177e-01 -1.54484977e-04 3.74190198e+02] [ 3.41028173e-01 9.40053074e-01 -5.46661633e-05 2.41974914e+01] [ 1.63866780e-04 -1.29463543e-06 9.99999987e-01 -1.98513049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.25, Y:24.21, Z:-0.20 [[ 9.41291873e-01 -3.37593819e-01 -1.54475521e-04 3.74245367e+02] [ 3.37593814e-01 9.41291885e-01 -5.46928714e-05 2.42135044e+01] [ 1.63870530e-04 -6.68025044e-07 9.99999987e-01 -1.96617681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.30, Y:24.24, Z:-0.20 [[ 9.44460395e-01 -3.28625226e-01 -1.54469671e-04 3.74299344e+02] [ 3.28625222e-01 9.44460407e-01 -5.47093885e-05 2.42353003e+01] [ 1.63869374e-04 9.08220661e-07 9.99999987e-01 -1.95738290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.35, Y:24.26, Z:-0.20 [[ 9.48337417e-01 -3.17263486e-01 -1.54459093e-04 3.74351304e+02] [ 3.17263481e-01 9.48337430e-01 -5.47392361e-05 2.42610132e+01] [ 1.63846101e-04 2.90703617e-06 9.99999987e-01 -1.97383079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.41, Y:24.28, Z:-0.20 [[ 9.50326015e-01 -3.11256231e-01 -1.54454159e-04 3.74405760e+02] [ 3.11256226e-01 9.50326028e-01 -5.47531555e-05 2.42839145e+01] [ 1.63824068e-04 3.95852948e-06 9.99999987e-01 -1.97661900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.46, Y:24.31, Z:-0.20 [[ 9.52221914e-01 -3.05406945e-01 -1.54445055e-04 3.74458641e+02] [ 3.05406940e-01 9.52221927e-01 -5.47788249e-05 2.43118782e+01] [ 1.63795801e-04 4.99300599e-06 9.99999987e-01 -1.96842256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.51, Y:24.34, Z:-0.20 [[ 9.52836850e-01 -3.03482969e-01 -1.54436666e-04 3.74510595e+02] [ 3.03482964e-01 9.52836863e-01 -5.48024644e-05 2.43429998e+01] [ 1.63784563e-04 5.34891031e-06 9.99999987e-01 -2.00226321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.56, Y:24.37, Z:-0.20 [[ 9.52056953e-01 -3.05920798e-01 -1.54428268e-04 3.74563319e+02] [ 3.05920793e-01 9.52056965e-01 -5.48261205e-05 2.43706425e+01] [ 1.63796958e-04 4.95477112e-06 9.99999987e-01 -1.99110512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.61, Y:24.40, Z:-0.20 [[ 9.49426201e-01 -3.13990231e-01 -1.54419138e-04 3.74614749e+02] [ 3.13990227e-01 9.49426213e-01 -5.48518207e-05 2.43994545e+01] [ 1.63832514e-04 3.59165541e-06 9.99999987e-01 -2.01679343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.67, Y:24.43, Z:-0.20 [[ 9.45895283e-01 -3.24472018e-01 -1.54415901e-04 3.74666466e+02] [ 3.24472013e-01 9.45895295e-01 -5.48609332e-05 2.44281373e+01] [ 1.63862112e-04 1.78905967e-06 9.99999987e-01 -2.01915308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.72, Y:24.46, Z:-0.20 [[ 9.42385117e-01 -3.34529919e-01 -1.54405927e-04 3.74718889e+02] [ 3.34529915e-01 9.42385130e-01 -5.48889911e-05 2.44551887e+01] [ 1.63871859e-04 7.31667818e-08 9.99999987e-01 -1.99705155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.77, Y:24.48, Z:-0.20 [[ 9.40454927e-01 -3.39918381e-01 -1.54396994e-04 3.74772480e+02] [ 3.39918377e-01 9.40454940e-01 -5.49141058e-05 2.44788506e+01] [ 1.63869730e-04 -8.38134327e-07 9.99999987e-01 -1.97714189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.83, Y:24.50, Z:-0.20 [[ 9.38703127e-01 -3.44726581e-01 -1.54386450e-04 3.74825134e+02] [ 3.44726577e-01 9.38703140e-01 -5.49437330e-05 2.45035122e+01] [ 1.63863611e-04 -1.64525853e-06 9.99999987e-01 -1.97693766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.88, Y:24.53, Z:-0.19 [[ 9.38641261e-01 -3.44894997e-01 -1.54375972e-04 3.74878570e+02] [ 3.44894993e-01 9.38641274e-01 -5.49731574e-05 2.45292753e+01] [ 1.63863626e-04 -1.64342619e-06 9.99999987e-01 -1.94242802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.93, Y:24.55, Z:-0.19 [[ 9.39799529e-01 -3.41726239e-01 -1.54366658e-04 3.74932023e+02] [ 3.41726234e-01 9.39799541e-01 -5.49992999e-05 2.45524749e+01] [ 1.63868418e-04 -1.06282068e-06 9.99999987e-01 -1.93734989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.99, Y:24.58, Z:-0.19 [[ 9.41730245e-01 -3.36369027e-01 -1.54363374e-04 3.74985925e+02] [ 3.36369023e-01 9.41730257e-01 -5.50085167e-05 2.45754400e+01] [ 1.63871821e-04 -1.19873225e-07 9.99999987e-01 -1.92348271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.305336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:375.04, Y:24.60, Z:-0.19 [[ 9.43114299e-01 -3.32468639e-01 -1.54354335e-04 3.75038858e+02] [ 3.32468634e-01 9.43114311e-01 -5.50338684e-05 2.45993558e+01] [ 1.63870817e-04 5.85253299e-07 9.99999987e-01 -1.92797156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.09, Y:24.62, Z:-0.20 [[ 9.45036759e-01 -3.26964065e-01 -1.54343739e-04 3.75092905e+02] [ 3.26964060e-01 9.45036772e-01 -5.50635690e-05 2.46235915e+01] [ 1.63864317e-04 1.57224138e-06 9.99999987e-01 -1.99094124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.42533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.15, Y:24.65, Z:-0.20 [[ 9.46882401e-01 -3.21579999e-01 -1.54334448e-04 3.75145828e+02] [ 3.21579994e-01 9.46882413e-01 -5.50895978e-05 2.46472561e+01] [ 1.63852287e-04 2.53249978e-06 9.99999987e-01 -2.00057750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.20, Y:24.67, Z:-0.20 [[ 9.48252492e-01 -3.17517224e-01 -1.54331146e-04 3.75198384e+02] [ 3.17517219e-01 9.48252505e-01 -5.50988471e-05 2.46749338e+01] [ 1.63839728e-04 3.24482293e-06 9.99999987e-01 -1.96304613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.25, Y:24.70, Z:-0.20 [[ 9.49153679e-01 -3.14813071e-01 -1.54321691e-04 3.75251959e+02] [ 3.14813066e-01 9.49153692e-01 -5.51253162e-05 2.46998111e+01] [ 1.63829172e-04 3.73991218e-06 9.99999987e-01 -1.95601833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.30, Y:24.72, Z:-0.20 [[ 9.48891593e-01 -3.15602157e-01 -1.54312128e-04 3.75303946e+02] [ 3.15602152e-01 9.48891605e-01 -5.51520718e-05 2.47249591e+01] [ 1.63831596e-04 3.63209764e-06 9.99999987e-01 -1.99603941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.36, Y:24.75, Z:-0.20 [[ 9.48699053e-01 -3.16180461e-01 -1.54308762e-04 3.75357544e+02] [ 3.16180456e-01 9.48699065e-01 -5.51614890e-05 2.47479567e+01] [ 1.63833563e-04 3.54223770e-06 9.99999987e-01 -2.02859869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.41, Y:24.77, Z:-0.20 [[ 9.48096342e-01 -3.17983180e-01 -1.54305448e-04 3.75410067e+02] [ 3.17983175e-01 9.48096354e-01 -5.51707563e-05 2.47734751e+01] [ 1.63839805e-04 3.24065588e-06 9.99999987e-01 -2.01093240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.46, Y:24.79, Z:-0.20 [[ 9.46990052e-01 -3.21262849e-01 -1.54294635e-04 3.75463724e+02] [ 3.21262844e-01 9.46990064e-01 -5.52009803e-05 2.47948568e+01] [ 1.63849511e-04 2.70564590e-06 9.99999987e-01 -2.00201922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.52, Y:24.82, Z:-0.20 [[ 9.45704072e-01 -3.25028898e-01 -1.54291305e-04 3.75517989e+02] [ 3.25028893e-01 9.45704085e-01 -5.52102869e-05 2.48186381e+01] [ 1.63858856e-04 2.06346110e-06 9.99999987e-01 -1.98113591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.57, Y:24.84, Z:-0.20 [[ 9.44721942e-01 -3.27872581e-01 -1.54281797e-04 3.75571420e+02] [ 3.27872576e-01 9.44721954e-01 -5.52368445e-05 2.48432862e+01] [ 1.63864047e-04 1.59868888e-06 9.99999987e-01 -1.95419171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.63, Y:24.86, Z:-0.20 [[ 9.44193537e-01 -3.29391167e-01 -1.54272118e-04 3.75625939e+02] [ 3.29391162e-01 9.44193550e-01 -5.52638615e-05 2.48627848e+01] [ 1.63866167e-04 1.36390847e-06 9.99999987e-01 -1.96709720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.68, Y:24.89, Z:-0.20 [[ 9.44134282e-01 -3.29560970e-01 -1.54268708e-04 3.75678303e+02] [ 3.29560966e-01 9.44134295e-01 -5.52733799e-05 2.48867183e+01] [ 1.63866327e-04 1.34454847e-06 9.99999987e-01 -1.97809092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.73, Y:24.91, Z:-0.20 [[ 9.44720296e-01 -3.27877321e-01 -1.54264065e-04 3.75732685e+02] [ 3.27877317e-01 9.44720309e-01 -5.52863346e-05 2.49093950e+01] [ 1.63863531e-04 1.65043465e-06 9.99999987e-01 -1.96847793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.78, Y:24.94, Z:-0.20 [[ 9.45464376e-01 -3.25725481e-01 -1.54254857e-04 3.75784415e+02] [ 3.25725477e-01 9.45464389e-01 -5.53120152e-05 2.49350558e+01] [ 1.63859007e-04 2.05080318e-06 9.99999987e-01 -2.00355720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.84, Y:24.96, Z:-0.20 [[ 9.45756552e-01 -3.24876163e-01 -1.54249926e-04 3.75838265e+02] [ 3.24876158e-01 9.45756564e-01 -5.53257637e-05 2.49592928e+01] [ 1.63856901e-04 2.21258027e-06 9.99999987e-01 -2.00688698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.265336195 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:375.89, Y:24.98, Z:-0.20 [[ 9.44640873e-01 -3.28106076e-01 -1.54240552e-04 3.75891673e+02] [ 3.28106071e-01 9.44640886e-01 -5.53518849e-05 2.49842738e+01] [ 1.63863221e-04 1.68039147e-06 9.99999987e-01 -2.02215728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.94, Y:25.00, Z:-0.20 [[ 9.42208436e-01 -3.35027222e-01 -1.54230947e-04 3.75944464e+02] [ 3.35027217e-01 9.42208449e-01 -5.53786348e-05 2.50048901e+01] [ 1.63871051e-04 5.06651983e-07 9.99999987e-01 -1.99883398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.00, Y:25.03, Z:-0.20 [[ 9.40234828e-01 -3.40526716e-01 -1.54226221e-04 3.75999208e+02] [ 3.40526712e-01 9.40234841e-01 -5.53917913e-05 2.50260770e+01] [ 1.63871251e-04 -4.36856613e-07 9.99999987e-01 -1.97414795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.05, Y:25.04, Z:-0.20 [[ 9.37697380e-01 -3.47453019e-01 -1.54216827e-04 3.76054323e+02] [ 3.47453015e-01 9.37697392e-01 -5.54179327e-05 2.50446821e+01] [ 1.63863845e-04 -1.61785133e-06 9.99999987e-01 -1.98777106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.11, Y:25.06, Z:-0.20 [[ 9.36353103e-01 -3.51059600e-01 -1.54213517e-04 3.76109747e+02] [ 3.51059596e-01 9.36353116e-01 -5.54271438e-05 2.50636181e+01] [ 1.63856538e-04 -2.23875682e-06 9.99999987e-01 -1.97134489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.16, Y:25.08, Z:-0.19 [[ 9.36275001e-01 -3.51267844e-01 -1.54204485e-04 3.76164324e+02] [ 3.51267840e-01 9.36275014e-01 -5.54522607e-05 2.50835925e+01] [ 1.63856402e-04 -2.24851071e-06 9.99999987e-01 -1.94854190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.22, Y:25.10, Z:-0.20 [[ 9.37178034e-01 -3.48851414e-01 -1.54193826e-04 3.76219971e+02] [ 3.48851410e-01 9.37178046e-01 -5.54818831e-05 2.50998329e+01] [ 1.63862002e-04 -1.79433148e-06 9.99999987e-01 -1.96620018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.27, Y:25.12, Z:-0.20 [[ 9.38537461e-01 -3.45177361e-01 -1.54183245e-04 3.76274077e+02] [ 3.45177357e-01 9.38537474e-01 -5.55112707e-05 2.51184866e+01] [ 1.63867988e-04 -1.12115811e-06 9.99999987e-01 -1.97135526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.33, Y:25.14, Z:-0.20 [[ 9.39347818e-01 -3.42965964e-01 -1.54178670e-04 3.76327610e+02] [ 3.42965960e-01 9.39347831e-01 -5.55239746e-05 2.51394440e+01] [ 1.63870233e-04 -7.21711297e-07 9.99999987e-01 -1.97202353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.38, Y:25.16, Z:-0.20 [[ 9.40017370e-01 -3.41126545e-01 -1.54168273e-04 3.76383536e+02] [ 3.41126541e-01 9.40017383e-01 -5.55528293e-05 2.51577642e+01] [ 1.63871401e-04 -3.70265122e-07 9.99999987e-01 -1.99430618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.44, Y:25.17, Z:-0.20 [[ 9.40062373e-01 -3.41002509e-01 -1.54159161e-04 3.76440170e+02] [ 3.41002505e-01 9.40062386e-01 -5.55781035e-05 2.51727264e+01] [ 1.63871501e-04 -3.21776136e-07 9.99999987e-01 -1.97380740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.92533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.50, Y:25.19, Z:-0.20 [[ 9.39655136e-01 -3.42123080e-01 -1.54155884e-04 3.76496051e+02] [ 3.42123075e-01 9.39655149e-01 -5.55871925e-05 2.51899302e+01] [ 1.63871031e-04 -5.07493997e-07 9.99999987e-01 -1.96904767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.55, Y:25.20, Z:-0.20 [[ 9.38910095e-01 -3.44162475e-01 -1.54145336e-04 3.76552974e+02] [ 3.44162470e-01 9.38910108e-01 -5.56164252e-05 2.52040847e+01] [ 1.63869701e-04 -8.32216636e-07 9.99999987e-01 -1.96005510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.61, Y:25.22, Z:-0.20 [[ 9.38628677e-01 -3.44929243e-01 -1.54136155e-04 3.76610791e+02] [ 3.44929239e-01 9.38628690e-01 -5.56418587e-05 2.52162764e+01] [ 1.63869121e-04 -9.39022311e-07 9.99999987e-01 -1.98787266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.67, Y:25.23, Z:-0.20 [[ 9.40317680e-01 -3.40297864e-01 -1.54127054e-04 3.76666336e+02] [ 3.40297859e-01 9.40317693e-01 -5.56670564e-05 2.52325248e+01] [ 1.63871776e-04 -1.04389297e-07 9.99999987e-01 -1.98609675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.72, Y:25.25, Z:-0.20 [[ 9.43243907e-01 -3.32100749e-01 -1.54116551e-04 3.76722449e+02] [ 3.32100744e-01 9.43243920e-01 -5.56961209e-05 2.52507511e+01] [ 1.63866223e-04 1.35280556e-06 9.99999987e-01 -2.00071135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.78, Y:25.27, Z:-0.20 [[ 9.45846646e-01 -3.24613769e-01 -1.54107338e-04 3.76776421e+02] [ 3.24613764e-01 9.45846658e-01 -5.57215993e-05 2.52698160e+01] [ 1.63849909e-04 2.67872473e-06 9.99999987e-01 -2.01903798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.83, Y:25.29, Z:-0.20 [[ 9.46974053e-01 -3.21310004e-01 -1.54102766e-04 3.76830023e+02] [ 3.21309999e-01 9.46974066e-01 -5.57342401e-05 2.52920948e+01] [ 1.63839292e-04 3.26411958e-06 9.99999987e-01 -2.01253633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.88, Y:25.31, Z:-0.20 [[ 9.47343426e-01 -3.20219314e-01 -1.54091900e-04 3.76883964e+02] [ 3.20219309e-01 9.47343439e-01 -5.57642662e-05 2.53131688e+01] [ 1.63834746e-04 3.48470917e-06 9.99999987e-01 -2.04990043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.94, Y:25.33, Z:-0.21 [[ 9.46282970e-01 -3.23339630e-01 -1.54088537e-04 3.76937604e+02] [ 3.23339625e-01 9.46282983e-01 -5.57735573e-05 2.53346474e+01] [ 1.63845162e-04 2.95463750e-06 9.99999987e-01 -2.05287694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.99, Y:25.36, Z:-0.21 [[ 9.44498976e-01 -3.28514324e-01 -1.54077988e-04 3.76991265e+02] [ 3.28514320e-01 9.44498988e-01 -5.58026862e-05 2.53574219e+01] [ 1.63858485e-04 2.08875467e-06 9.99999987e-01 -2.05004481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.05, Y:25.38, Z:-0.21 [[ 9.42741473e-01 -3.33524350e-01 -1.54067476e-04 3.77045841e+02] [ 3.33524345e-01 9.42741485e-01 -5.58316940e-05 2.53761848e+01] [ 1.63867030e-04 1.24959947e-06 9.99999987e-01 -2.05040568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.10, Y:25.39, Z:-0.21 [[ 9.40873861e-01 -3.38757074e-01 -1.54057075e-04 3.77100537e+02] [ 3.38757069e-01 9.40873873e-01 -5.58603788e-05 2.53947711e+01] [ 1.63871375e-04 3.69647186e-07 9.99999987e-01 -2.05930973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.16, Y:25.41, Z:-0.20 [[ 9.38941158e-01 -3.44077720e-01 -1.54046667e-04 3.77155266e+02] [ 3.44077715e-01 9.38941171e-01 -5.58890665e-05 2.54136509e+01] [ 1.63870940e-04 -5.27480251e-07 9.99999987e-01 -2.04912354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.21, Y:25.43, Z:-0.20 [[ 9.38454395e-01 -3.45403133e-01 -1.54041841e-04 3.77210400e+02] [ 3.45403129e-01 9.38454408e-01 -5.59023627e-05 2.54326568e+01] [ 1.63870096e-04 -7.44715955e-07 9.99999987e-01 -2.03996804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.27, Y:25.45, Z:-0.20 [[ 9.38259108e-01 -3.45933262e-01 -1.54031676e-04 3.77265224e+02] [ 3.45933258e-01 9.38259121e-01 -5.59303571e-05 2.54498389e+01] [ 1.63869796e-04 -8.07512581e-07 9.99999987e-01 -2.00147825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.32, Y:25.47, Z:-0.20 [[ 9.37955510e-01 -3.46755588e-01 -1.54028530e-04 3.77320856e+02] [ 3.46755583e-01 9.37955523e-01 -5.59390195e-05 2.54671241e+01] [ 1.63869078e-04 -9.41941284e-07 9.99999987e-01 -2.00006999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.38, Y:25.48, Z:-0.20 [[ 9.37672741e-01 -3.47519506e-01 -1.54018539e-04 3.77376141e+02] [ 3.47519501e-01 9.37672754e-01 -5.59665148e-05 2.54848780e+01] [ 1.63868443e-04 -1.04617060e-06 9.99999987e-01 -2.00989379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.43, Y:25.50, Z:-0.21 [[ 9.37417822e-01 -3.48206552e-01 -1.54008650e-04 3.77434084e+02] [ 3.48206547e-01 9.37417835e-01 -5.59937154e-05 2.54987340e+01] [ 1.63867834e-04 -1.13731344e-06 9.99999987e-01 -2.06600479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.49, Y:25.51, Z:-0.21 [[ 9.36958053e-01 -3.49441815e-01 -1.54000042e-04 3.77492243e+02] [ 3.49441811e-01 9.36958066e-01 -5.60173792e-05 2.55120916e+01] [ 1.63866396e-04 -1.32811906e-06 9.99999987e-01 -2.09492627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.55, Y:25.53, Z:-0.21 [[ 9.37011072e-01 -3.49299624e-01 -1.53991618e-04 3.77548302e+02] [ 3.49299620e-01 9.37011085e-01 -5.60405276e-05 2.55259169e+01] [ 1.63866788e-04 -1.27861875e-06 9.99999987e-01 -2.09727102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.60, Y:25.54, Z:-0.21 [[ 9.39133086e-01 -3.43553524e-01 -1.53986797e-04 3.77604365e+02] [ 3.43553519e-01 9.39133098e-01 -5.60537725e-05 2.55416616e+01] [ 1.63871568e-04 -2.60753505e-07 9.99999987e-01 -2.07627264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.66, Y:25.56, Z:-0.21 [[ 9.41402034e-01 -3.37286506e-01 -1.53983803e-04 3.77660093e+02] [ 3.37286502e-01 9.41402046e-01 -5.60619944e-05 2.55591338e+01] [ 1.63869622e-04 8.40217237e-07 9.99999987e-01 -2.06120374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.71, Y:25.58, Z:-0.20 [[ 9.45036704e-01 -3.26964224e-01 -1.53975488e-04 3.77713232e+02] [ 3.26964220e-01 9.45036717e-01 -5.60848218e-05 2.55813089e+01] [ 1.63850220e-04 2.65773972e-06 9.99999987e-01 -2.03417504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.77, Y:25.60, Z:-0.20 [[ 9.47440780e-01 -3.19931156e-01 -1.53964771e-04 3.77766220e+02] [ 3.19931151e-01 9.47440793e-01 -5.61142284e-05 2.56048605e+01] [ 1.63825194e-04 3.90678193e-06 9.99999987e-01 -2.04573755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.82, Y:25.63, Z:-0.21 [[ 9.47966208e-01 -3.18370922e-01 -1.53954018e-04 3.77820521e+02] [ 3.18370917e-01 9.47966221e-01 -5.61437136e-05 2.56281384e+01] [ 1.63817735e-04 4.20786136e-06 9.99999987e-01 -2.08333353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.42533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.87, Y:25.65, Z:-0.21 [[ 9.47359334e-01 -3.20172249e-01 -1.53944664e-04 3.77873134e+02] [ 3.20172244e-01 9.47359346e-01 -5.61693502e-05 2.56523540e+01] [ 1.63824784e-04 3.92374959e-06 9.99999987e-01 -2.08452699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.93, Y:25.68, Z:-0.21 [[ 9.44541000e-01 -3.28393476e-01 -1.53933972e-04 3.77925464e+02] [ 3.28393471e-01 9.44541013e-01 -5.61986370e-05 2.56764319e+01] [ 1.63852216e-04 2.53100536e-06 9.99999987e-01 -2.07744910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.98, Y:25.70, Z:-0.21 [[ 9.40144648e-01 -3.40775612e-01 -1.53930685e-04 3.77978666e+02] [ 3.40775608e-01 9.40144660e-01 -5.62076391e-05 2.56982995e+01] [ 1.63871304e-04 3.87488380e-07 9.99999987e-01 -2.05676886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.03, Y:25.72, Z:-0.21 [[ 9.36838098e-01 -3.49763284e-01 -1.53923246e-04 3.78033480e+02] [ 3.49763280e-01 9.36838110e-01 -5.62280022e-05 2.57177388e+01] [ 1.63867654e-04 -1.16016480e-06 9.99999987e-01 -2.05101215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.09, Y:25.74, Z:-0.21 [[ 9.36119270e-01 -3.51682653e-01 -1.53912547e-04 3.78086619e+02] [ 3.51682648e-01 9.36119283e-01 -5.62572752e-05 2.57398025e+01] [ 1.63865211e-04 -1.46485258e-06 9.99999987e-01 -2.10859503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.14, Y:25.76, Z:-0.21 [[ 9.36995709e-01 -3.49340833e-01 -1.53907720e-04 3.78140054e+02] [ 3.49340829e-01 9.36995722e-01 -5.62704778e-05 2.57637105e+01] [ 1.63868450e-04 -1.04105411e-06 9.99999987e-01 -2.08862770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.19, Y:25.79, Z:-0.21 [[ 9.38976229e-01 -3.43982001e-01 -1.53897057e-04 3.78194034e+02] [ 3.43981997e-01 9.38976242e-01 -5.62996251e-05 2.57856016e+01] [ 1.63871738e-04 -7.38071925e-08 9.99999987e-01 -2.07171493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.25, Y:25.81, Z:-0.21 [[ 9.41291620e-01 -3.37594523e-01 -1.53892133e-04 3.78246981e+02] [ 3.37594519e-01 9.41291633e-01 -5.63130820e-05 2.58083853e+01] [ 1.63868365e-04 1.05389181e-06 9.99999987e-01 -2.06784469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.30, Y:25.84, Z:-0.20 [[ 9.43164114e-01 -3.32327294e-01 -1.53881496e-04 3.78299191e+02] [ 3.32327289e-01 9.43164127e-01 -5.63421332e-05 2.58363497e+01] [ 1.63859535e-04 2.00085773e-06 9.99999987e-01 -2.04807014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.35, Y:25.86, Z:-0.20 [[ 9.44478604e-01 -3.28572890e-01 -1.53872196e-04 3.78352530e+02] [ 3.28572885e-01 9.44478616e-01 -5.63675194e-05 2.58621443e+01] [ 1.63849838e-04 2.67968461e-06 9.99999987e-01 -2.04516228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.40, Y:25.89, Z:-0.20 [[ 9.45927245e-01 -3.24378828e-01 -1.53862703e-04 3.78404020e+02] [ 3.24378823e-01 9.45927257e-01 -5.63934209e-05 2.58897932e+01] [ 1.63835756e-04 3.43427082e-06 9.99999987e-01 -2.04085843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.46, Y:25.92, Z:-0.20 [[ 9.46653436e-01 -3.22253390e-01 -1.53851822e-04 3.78456775e+02] [ 3.22253385e-01 9.46653449e-01 -5.64230914e-05 2.59168503e+01] [ 1.63826890e-04 3.83384305e-06 9.99999987e-01 -2.02160817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.51, Y:25.95, Z:-0.20 [[ 9.46364932e-01 -3.23099662e-01 -1.53842372e-04 3.78507222e+02] [ 3.23099657e-01 9.46364945e-01 -5.64488437e-05 2.59466915e+01] [ 1.63829630e-04 3.71478844e-06 9.99999987e-01 -2.01067047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.56, Y:25.97, Z:-0.20 [[ 9.44215165e-01 -3.29329164e-01 -1.53831424e-04 3.78558280e+02] [ 3.29329159e-01 9.44215178e-01 -5.64786650e-05 2.59743998e+01] [ 1.63850036e-04 2.66683866e-06 9.99999987e-01 -2.04284471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.61, Y:26.00, Z:-0.20 [[ 9.41516061e-01 -3.36968074e-01 -1.53828048e-04 3.78610933e+02] [ 3.36968070e-01 9.41516074e-01 -5.64878582e-05 2.60001158e+01] [ 1.63866184e-04 1.34908552e-06 9.99999987e-01 -2.03568738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.66, Y:26.03, Z:-0.20 [[ 9.39736215e-01 -3.41900310e-01 -1.53817256e-04 3.78663069e+02] [ 3.41900306e-01 9.39736228e-01 -5.65172295e-05 2.60254257e+01] [ 1.63870906e-04 5.21120614e-07 9.99999987e-01 -2.01803187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.71, Y:26.05, Z:-0.20 [[ 9.37281230e-01 -3.48574055e-01 -1.53806430e-04 3.78714823e+02] [ 3.48574050e-01 9.37281243e-01 -5.65466744e-05 2.60531842e+01] [ 1.63870586e-04 -6.12793871e-07 9.99999987e-01 -2.01152137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.445336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:378.77, Y:26.07, Z:-0.20 [[ 9.35556471e-01 -3.53177102e-01 -1.53803102e-04 3.78769604e+02] [ 3.53177098e-01 9.35556484e-01 -5.65557263e-05 2.60748931e+01] [ 1.63865677e-04 -1.40865744e-06 9.99999987e-01 -1.98000531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.82, Y:26.10, Z:-0.20 [[ 9.33962122e-01 -3.57371978e-01 -1.53793625e-04 3.78823186e+02] [ 3.57371974e-01 9.33962135e-01 -5.65814861e-05 2.60962905e+01] [ 1.63858060e-04 -2.11656643e-06 9.99999987e-01 -1.98009421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.88, Y:26.12, Z:-0.20 [[ 9.31732689e-01 -3.63144838e-01 -1.53790284e-04 3.78878686e+02] [ 3.63144833e-01 9.31732701e-01 -5.65905642e-05 2.61150455e+01] [ 1.63842008e-04 -3.12086857e-06 9.99999987e-01 -1.99580763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.93, Y:26.13, Z:-0.20 [[ 9.31014101e-01 -3.64983178e-01 -1.53780959e-04 3.78934360e+02] [ 3.64983173e-01 9.31014114e-01 -5.66158935e-05 2.61338101e+01] [ 1.63836092e-04 -3.41726720e-06 9.99999987e-01 -2.01234063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.99, Y:26.15, Z:-0.20 [[ 9.31541389e-01 -3.63635279e-01 -1.53771722e-04 3.78989261e+02] [ 3.63635275e-01 9.31541402e-01 -5.66409696e-05 2.61512089e+01] [ 1.63841381e-04 -3.15341496e-06 9.99999987e-01 -2.00523049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.745336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:379.04, Y:26.17, Z:-0.20 [[ 9.33344784e-01 -3.58981185e-01 -1.53761010e-04 3.79044019e+02] [ 3.58981180e-01 9.33344796e-01 -5.66700338e-05 2.61695409e+01] [ 1.63855515e-04 -2.30462853e-06 9.99999987e-01 -2.00758697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.10, Y:26.19, Z:-0.20 [[ 9.34907751e-01 -3.54890791e-01 -1.53750349e-04 3.79098930e+02] [ 3.54890786e-01 9.34907764e-01 -5.66989443e-05 2.61877081e+01] [ 1.63864328e-04 -1.55629985e-06 9.99999987e-01 -1.99683548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.15, Y:26.20, Z:-0.20 [[ 9.37628929e-01 -3.47637695e-01 -1.53739303e-04 3.79154208e+02] [ 3.47637691e-01 9.37628942e-01 -5.67288812e-05 2.62036415e+01] [ 1.63871517e-04 -2.54936012e-07 9.99999987e-01 -2.00934733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.92533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.21, Y:26.22, Z:-0.20 [[ 9.40567816e-01 -3.39605890e-01 -1.53734514e-04 3.79208060e+02] [ 3.39605885e-01 9.40567828e-01 -5.67418554e-05 2.62238934e+01] [ 1.63867606e-04 1.16041732e-06 9.99999987e-01 -2.01113418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.26, Y:26.24, Z:-0.20 [[ 9.42075648e-01 -3.35400432e-01 -1.53723759e-04 3.79261595e+02] [ 3.35400427e-01 9.42075661e-01 -5.67709770e-05 2.62422619e+01] [ 1.63860422e-04 1.92354043e-06 9.99999987e-01 -2.02490033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.32, Y:26.26, Z:-0.21 [[ 9.42087136e-01 -3.35368163e-01 -1.53716430e-04 3.79317973e+02] [ 3.35368158e-01 9.42087148e-01 -5.67908156e-05 2.62576670e+01] [ 1.63860104e-04 1.95030081e-06 9.99999987e-01 -2.05291300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.37, Y:26.28, Z:-0.20 [[ 9.41425577e-01 -3.37220786e-01 -1.53711498e-04 3.79373506e+02] [ 3.37220782e-01 9.41425590e-01 -5.68041612e-05 2.62767632e+01] [ 1.63863481e-04 1.64217883e-06 9.99999987e-01 -2.04919291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.43, Y:26.29, Z:-0.20 [[ 9.39798841e-01 -3.41728129e-01 -1.53702197e-04 3.79429337e+02] [ 3.41728124e-01 9.39798854e-01 -5.68293156e-05 2.62924757e+01] [ 1.63869325e-04 8.83761291e-07 9.99999987e-01 -2.04546070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.49, Y:26.31, Z:-0.20 [[ 9.38112445e-01 -3.46330791e-01 -1.53691426e-04 3.79486549e+02] [ 3.46330786e-01 9.38112458e-01 -5.68584310e-05 2.63081949e+01] [ 1.63871667e-04 1.11529293e-07 9.99999987e-01 -2.02002861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.54, Y:26.32, Z:-0.20 [[ 9.36821003e-01 -3.49809070e-01 -1.53682036e-04 3.79543689e+02] [ 3.49809066e-01 9.36821015e-01 -5.68838011e-05 2.63244877e+01] [ 1.63871030e-04 -4.69429711e-07 9.99999987e-01 -2.03521604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.60, Y:26.34, Z:-0.20 [[ 9.36439180e-01 -3.50829929e-01 -1.53672661e-04 3.79600890e+02] [ 3.50829924e-01 9.36439192e-01 -5.69091163e-05 2.63396941e+01] [ 1.63870523e-04 -6.21041699e-07 9.99999987e-01 -2.00742782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.66, Y:26.36, Z:-0.20 [[ 9.36678197e-01 -3.50191278e-01 -1.53662729e-04 3.79656411e+02] [ 3.50191273e-01 9.36678210e-01 -5.69359199e-05 2.63565423e+01] [ 1.63870993e-04 -4.80712035e-07 9.99999987e-01 -2.01828992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.46533619499996 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:379.71, Y:26.37, Z:-0.20 [[ 9.37647668e-01 -3.47587150e-01 -1.53659224e-04 3.79712731e+02] [ 3.47587146e-01 9.37647681e-01 -5.69453795e-05 2.63732911e+01] [ 1.63871697e-04 -1.52686756e-08 9.99999987e-01 -2.04229946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.77, Y:26.39, Z:-0.21 [[ 9.38367811e-01 -3.45638290e-01 -1.53649272e-04 3.79767212e+02] [ 3.45638286e-01 9.38367823e-01 -5.69722191e-05 2.63901290e+01] [ 1.63871313e-04 3.53825654e-07 9.99999987e-01 -2.07568183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.82, Y:26.41, Z:-0.21 [[ 9.39189277e-01 -3.43399880e-01 -1.53644343e-04 3.79821901e+02] [ 3.43399875e-01 9.39189290e-01 -5.69855078e-05 2.64086405e+01] [ 1.63869938e-04 7.58729649e-07 9.99999987e-01 -2.06882851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.88, Y:26.43, Z:-0.21 [[ 9.40451012e-01 -3.39929215e-01 -1.53633556e-04 3.79875943e+02] [ 3.39929210e-01 9.40451024e-01 -5.70145741e-05 2.64302028e+01] [ 1.63865755e-04 1.39488049e-06 9.99999987e-01 -2.08837405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.93, Y:26.45, Z:-0.21 [[ 9.40563925e-01 -3.39616664e-01 -1.53630212e-04 3.79931084e+02] [ 3.39616660e-01 9.40563938e-01 -5.70235834e-05 2.64503728e+01] [ 1.63865197e-04 1.45894597e-06 9.99999987e-01 -2.05025942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.99, Y:26.47, Z:-0.21 [[ 9.39750158e-01 -3.41861986e-01 -1.53620243e-04 3.79986117e+02] [ 3.41861981e-01 9.39750170e-01 -5.70504264e-05 2.64694233e+01] [ 1.63868022e-04 1.09622645e-06 9.99999987e-01 -2.06287143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.04, Y:26.49, Z:-0.21 [[ 9.37509770e-01 -3.47958915e-01 -1.53614968e-04 3.80041446e+02] [ 3.47958911e-01 9.37509783e-01 -5.70646265e-05 2.64881568e+01] [ 1.63871681e-04 4.69478323e-08 9.99999987e-01 -2.05429320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.885336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:380.10, Y:26.50, Z:-0.20 [[ 9.34910043e-01 -3.54884754e-01 -1.53605678e-04 3.80099093e+02] [ 3.54884750e-01 9.34910055e-01 -5.70896237e-05 2.65026803e+01] [ 1.63867730e-04 -1.13865003e-06 9.99999987e-01 -2.03211782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.16, Y:26.51, Z:-0.20 [[ 9.33368993e-01 -3.58918234e-01 -1.53596100e-04 3.80155960e+02] [ 3.58918230e-01 9.33369006e-01 -5.71153817e-05 2.65145948e+01] [ 1.63861591e-04 -1.81871380e-06 9.99999987e-01 -2.03669981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.21, Y:26.53, Z:-0.20 [[ 9.33608178e-01 -3.58295613e-01 -1.53592739e-04 3.80213370e+02] [ 3.58295608e-01 9.33608191e-01 -5.71244181e-05 2.65291940e+01] [ 1.63862867e-04 -1.69977979e-06 9.99999987e-01 -2.01832317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.065336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:380.27, Y:26.55, Z:-0.20 [[ 9.35100069e-01 -3.54383744e-01 -1.53583279e-04 3.80270101e+02] [ 3.54383740e-01 9.35100081e-01 -5.71498406e-05 2.65451183e+01] [ 1.63868711e-04 -9.86596836e-07 9.99999987e-01 -2.01902286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.33, Y:26.56, Z:-0.20 [[ 9.39046197e-01 -3.43790949e-01 -1.53573617e-04 3.80326369e+02] [ 3.43790945e-01 9.39046209e-01 -5.71757928e-05 2.65609290e+01] [ 1.63869243e-04 8.93491989e-07 9.99999987e-01 -1.99264429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.185336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:380.38, Y:26.58, Z:-0.20 [[ 9.42739210e-01 -3.33530746e-01 -1.53568491e-04 3.80379698e+02] [ 3.33530741e-01 9.42739222e-01 -5.71895565e-05 2.65803437e+01] [ 1.63849515e-04 2.69502472e-06 9.99999987e-01 -1.99618508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.43, Y:26.60, Z:-0.20 [[ 9.45832067e-01 -3.24656246e-01 -1.53561096e-04 3.80434474e+02] [ 3.24656241e-01 9.45832079e-01 -5.72094074e-05 2.65999390e+01] [ 1.63816402e-04 4.25592390e-06 9.99999987e-01 -1.97575692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.49, Y:26.62, Z:-0.20 [[ 9.47757898e-01 -3.18990505e-01 -1.53549715e-04 3.80488828e+02] [ 3.18990500e-01 9.47757911e-01 -5.72399371e-05 2.66209636e+01] [ 1.63786953e-04 5.26870217e-06 9.99999987e-01 -2.00461072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.54, Y:26.64, Z:-0.20 [[ 9.48060305e-01 -3.18090609e-01 -1.53546177e-04 3.80541885e+02] [ 3.18090603e-01 9.48060317e-01 -5.72494261e-05 2.66433020e+01] [ 1.63781542e-04 5.43431232e-06 9.99999987e-01 -1.97449103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.42533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.59, Y:26.67, Z:-0.20 [[ 9.47930745e-01 -3.18476498e-01 -1.53535009e-04 3.80593963e+02] [ 3.18476493e-01 9.47930757e-01 -5.72793613e-05 2.66667975e+01] [ 1.63782688e-04 5.39957641e-06 9.99999987e-01 -1.99739606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.48533619499995 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:380.65, Y:26.69, Z:-0.20 [[ 9.46339805e-01 -3.23173250e-01 -1.53527429e-04 3.80648404e+02] [ 3.23173245e-01 9.46339817e-01 -5.72996720e-05 2.66899036e+01] [ 1.63806840e-04 4.60900313e-06 9.99999987e-01 -1.99101347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.70, Y:26.71, Z:-0.20 [[ 9.43773712e-01 -3.30592131e-01 -1.53517568e-04 3.80701096e+02] [ 3.30592126e-01 9.43773725e-01 -5.73260774e-05 2.67120917e+01] [ 1.63837397e-04 3.35114565e-06 9.99999987e-01 -1.99332374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.75, Y:26.74, Z:-0.20 [[ 9.40453792e-01 -3.39921524e-01 -1.53512704e-04 3.80754671e+02] [ 3.39921519e-01 9.40453804e-01 -5.73391012e-05 2.67365812e+01] [ 1.63862401e-04 1.74250375e-06 9.99999987e-01 -1.97488258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.81, Y:26.76, Z:-0.20 [[ 9.36934378e-01 -3.49505291e-01 -1.53503051e-04 3.80808967e+02] [ 3.49505286e-01 9.36934390e-01 -5.73649304e-05 2.67572944e+01] [ 1.63871634e-04 9.70475847e-08 9.99999987e-01 -1.99425846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.86, Y:26.78, Z:-0.20 [[ 9.35322759e-01 -3.53795582e-01 -1.53499657e-04 3.80861727e+02] [ 3.53795577e-01 9.35322771e-01 -5.73740103e-05 2.67780002e+01] [ 1.63870396e-04 -6.44282336e-07 9.99999987e-01 -1.98904892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.92, Y:26.80, Z:-0.19 [[ 9.34087720e-01 -3.57043567e-01 -1.53495041e-04 3.80916392e+02] [ 3.57043562e-01 9.34087732e-01 -5.73863580e-05 2.67983534e+01] [ 1.63867265e-04 -1.20052389e-06 9.99999987e-01 -1.94345736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.97, Y:26.82, Z:-0.19 [[ 9.33881034e-01 -3.57583823e-01 -1.53491552e-04 3.80970387e+02] [ 3.57583818e-01 9.33881047e-01 -5.73956878e-05 2.68187252e+01] [ 1.63866621e-04 -1.28535100e-06 9.99999987e-01 -1.94702180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.03, Y:26.84, Z:-0.20 [[ 9.34493730e-01 -3.55979557e-01 -1.53480397e-04 3.81026564e+02] [ 3.55979552e-01 9.34493743e-01 -5.74255013e-05 2.68378092e+01] [ 1.63868776e-04 -9.72112215e-07 9.99999987e-01 -1.96539277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.08, Y:26.86, Z:-0.20 [[ 9.35748623e-01 -3.52667677e-01 -1.53471463e-04 3.81080592e+02] [ 3.52667672e-01 9.35748636e-01 -5.74493695e-05 2.68587205e+01] [ 1.63871248e-04 -3.66255129e-07 9.99999987e-01 -1.95917941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.13, Y:26.88, Z:-0.20 [[ 9.37488919e-01 -3.48015091e-01 -1.53460388e-04 3.81133647e+02] [ 3.48015086e-01 9.37488932e-01 -5.74789373e-05 2.68814507e+01] [ 1.63870953e-04 4.79336700e-07 9.99999987e-01 -1.95061562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.19, Y:26.90, Z:-0.20 [[ 9.39030773e-01 -3.43833076e-01 -1.53455251e-04 3.81187441e+02] [ 3.43833071e-01 9.39030785e-01 -5.74926492e-05 2.69006695e+01] [ 1.63867079e-04 1.22437657e-06 9.99999987e-01 -1.96599380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.24, Y:26.92, Z:-0.19 [[ 9.41472256e-01 -3.37090444e-01 -1.53447840e-04 3.81241054e+02] [ 3.37090439e-01 9.41472269e-01 -5.75124209e-05 2.69236669e+01] [ 1.63853774e-04 2.42054881e-06 9.99999987e-01 -1.94408606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.29, Y:26.95, Z:-0.19 [[ 9.43565009e-01 -3.31187335e-01 -1.53437086e-04 3.81293399e+02] [ 3.31187330e-01 9.43565021e-01 -5.75410990e-05 2.69518522e+01] [ 1.63834750e-04 3.47734890e-06 9.99999987e-01 -1.93135324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.35, Y:26.98, Z:-0.20 [[ 9.44431771e-01 -3.28707478e-01 -1.53427508e-04 3.81346786e+02] [ 3.28707473e-01 9.44431784e-01 -5.75666263e-05 2.69775893e+01] [ 1.63824395e-04 3.93498248e-06 9.99999987e-01 -1.97913198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.40, Y:27.00, Z:-0.20 [[ 9.43525715e-01 -3.31299263e-01 -1.53417821e-04 3.81399495e+02] [ 3.31299258e-01 9.43525728e-01 -5.75924293e-05 2.70043879e+01] [ 1.63833991e-04 3.51272764e-06 9.99999987e-01 -1.95967429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.385336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:381.45, Y:27.03, Z:-0.19 [[ 9.41703781e-01 -3.36443107e-01 -1.53408015e-04 3.81453448e+02] [ 3.36443103e-01 9.41703794e-01 -5.76185381e-05 2.70290368e+01] [ 1.63850270e-04 2.64652659e-06 9.99999987e-01 -1.93946985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.51, Y:27.05, Z:-0.19 [[ 9.35280087e-01 -3.53908372e-01 -1.53398165e-04 3.81506209e+02] [ 3.53908367e-01 9.35280099e-01 -5.76447507e-05 2.70524124e+01] [ 1.63871211e-04 -3.74906668e-07 9.99999987e-01 -1.92398149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.56, Y:27.07, Z:-0.19 [[ 9.32364876e-01 -3.61518623e-01 -1.53392997e-04 3.81562065e+02] [ 3.61518618e-01 9.32364889e-01 -5.76584986e-05 2.70707663e+01] [ 1.63862866e-04 -1.69566551e-06 9.99999987e-01 -1.93622604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.62, Y:27.09, Z:-0.20 [[ 9.29074988e-01 -3.69891393e-01 -1.53383297e-04 3.81616885e+02] [ 3.69891389e-01 9.29075001e-01 -5.76842918e-05 2.70902484e+01] [ 1.63841510e-04 -3.14212801e-06 9.99999987e-01 -1.96178465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.67, Y:27.11, Z:-0.20 [[ 9.27329008e-01 -3.74247094e-01 -1.53379891e-04 3.81673206e+02] [ 3.74247089e-01 9.27329021e-01 -5.76933457e-05 2.71065634e+01] [ 1.63825191e-04 -3.90126491e-06 9.99999987e-01 -1.97682798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.685336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:381.73, Y:27.12, Z:-0.20 [[ 9.27273676e-01 -3.74384170e-01 -1.53370203e-04 3.81728838e+02] [ 3.74384166e-01 9.27273688e-01 -5.77190894e-05 2.71242545e+01] [ 1.63825267e-04 -3.89798331e-06 9.99999987e-01 -1.98098890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.79, Y:27.14, Z:-0.20 [[ 9.28694843e-01 -3.70844800e-01 -1.53359200e-04 3.81787101e+02] [ 3.70844795e-01 9.28694855e-01 -5.77483102e-05 2.71366931e+01] [ 1.63839560e-04 -3.24190318e-06 9.99999987e-01 -1.99628876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.84, Y:27.15, Z:-0.20 [[ 9.30051827e-01 -3.67428327e-01 -1.53349532e-04 3.81841987e+02] [ 3.67428323e-01 9.30051840e-01 -5.77739722e-05 2.71535740e+01] [ 1.63850808e-04 -2.61217282e-06 9.99999987e-01 -1.98878638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.90, Y:27.17, Z:-0.20 [[ 9.31715375e-01 -3.63189258e-01 -1.53343518e-04 3.81899496e+02] [ 3.63189254e-01 9.31715387e-01 -5.77899293e-05 2.71690085e+01] [ 1.63861197e-04 -1.84895223e-06 9.99999987e-01 -1.96429674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.92533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.96, Y:27.18, Z:-0.20 [[ 9.33324153e-01 -3.59034819e-01 -1.53333936e-04 3.81957094e+02] [ 3.59034814e-01 9.33324166e-01 -5.78153411e-05 2.71809241e+01] [ 1.63867989e-04 -1.09176703e-06 9.99999987e-01 -1.98091567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.01, Y:27.19, Z:-0.20 [[ 9.34679072e-01 -3.55492629e-01 -1.53322961e-04 3.82014901e+02] [ 3.55492625e-01 9.34679084e-01 -5.78444324e-05 2.71925106e+01] [ 1.63871034e-04 -4.39201510e-07 9.99999987e-01 -1.99195160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.07, Y:27.20, Z:-0.20 [[ 9.35942243e-01 -3.52153510e-01 -1.53312049e-04 3.82072967e+02] [ 3.52153505e-01 9.35942255e-01 -5.78733382e-05 2.72038606e+01] [ 1.63871525e-04 1.76726355e-07 9.99999987e-01 -1.96552542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.10533619499995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:382.13, Y:27.22, Z:-0.20 [[ 9.37315067e-01 -3.48483057e-01 -1.53308534e-04 3.82129789e+02] [ 3.48483052e-01 9.37315080e-01 -5.78826482e-05 2.72166725e+01] [ 1.63869523e-04 8.28852369e-07 9.99999987e-01 -1.97240762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.19, Y:27.23, Z:-0.19 [[ 9.37630319e-01 -3.47633948e-01 -1.53305037e-04 3.82186467e+02] [ 3.47633943e-01 9.37630331e-01 -5.78919091e-05 2.72305416e+01] [ 1.63868646e-04 9.87174585e-07 9.99999987e-01 -1.94795252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.24, Y:27.24, Z:-0.20 [[ 9.37778113e-01 -3.47235061e-01 -1.53293735e-04 3.82244603e+02] [ 3.47235056e-01 9.37778125e-01 -5.79218200e-05 2.72435171e+01] [ 1.63867999e-04 1.08885619e-06 9.99999987e-01 -1.96156264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.30, Y:27.26, Z:-0.20 [[ 9.37424534e-01 -3.48188484e-01 -1.53283849e-04 3.82301681e+02] [ 3.48188479e-01 9.37424546e-01 -5.79479725e-05 2.72574457e+01] [ 1.63868859e-04 9.50180990e-07 9.99999987e-01 -1.97842731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.36, Y:27.27, Z:-0.20 [[ 9.36735761e-01 -3.50037272e-01 -1.53272624e-04 3.82358852e+02] [ 3.50037267e-01 9.36735773e-01 -5.79776456e-05 2.72693356e+01] [ 1.63870287e-04 6.58603471e-07 9.99999987e-01 -1.97066960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.42, Y:27.28, Z:-0.19 [[ 9.36931956e-01 -3.49511783e-01 -1.53267395e-04 3.82415515e+02] [ 3.49511778e-01 9.36931969e-01 -5.79914664e-05 2.72828702e+01] [ 1.63869823e-04 7.65298314e-07 9.99999987e-01 -1.94346553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.47, Y:27.30, Z:-0.19 [[ 9.37497955e-01 -3.47990747e-01 -1.53255969e-04 3.82470886e+02] [ 3.47990742e-01 9.37497968e-01 -5.80216460e-05 2.72999096e+01] [ 1.63868156e-04 1.06351592e-06 9.99999987e-01 -1.94428047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.53, Y:27.31, Z:-0.19 [[ 9.38199123e-01 -3.46095915e-01 -1.53244661e-04 3.82526590e+02] [ 3.46095910e-01 9.38199135e-01 -5.80514967e-05 2.73146316e+01] [ 1.63865395e-04 1.42651278e-06 9.99999987e-01 -1.93197390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.58, Y:27.33, Z:-0.19 [[ 9.39042390e-01 -3.43801346e-01 -1.53240474e-04 3.82583233e+02] [ 3.43801341e-01 9.39042403e-01 -5.80625474e-05 2.73323627e+01] [ 1.63861285e-04 1.83891271e-06 9.99999987e-01 -1.93845035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.64, Y:27.35, Z:-0.20 [[ 9.40617133e-01 -3.39469269e-01 -1.53230815e-04 3.82637913e+02] [ 3.39469264e-01 9.40617146e-01 -5.80880267e-05 2.73507544e+01] [ 1.63850632e-04 2.62144095e-06 9.99999987e-01 -1.95979301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.69, Y:27.37, Z:-0.20 [[ 9.42524935e-01 -3.34135786e-01 -1.53227385e-04 3.82692565e+02] [ 3.34135781e-01 9.42524947e-01 -5.80970741e-05 2.73734994e+01] [ 1.63832944e-04 3.55918905e-06 9.99999987e-01 -1.95416116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.75, Y:27.40, Z:-0.20 [[ 9.43153979e-01 -3.32356058e-01 -1.53217510e-04 3.82746006e+02] [ 3.32356053e-01 9.43153991e-01 -5.81231061e-05 2.73958620e+01] [ 1.63825272e-04 3.89627206e-06 9.99999987e-01 -1.96001982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.80, Y:27.42, Z:-0.20 [[ 9.42550178e-01 -3.34064572e-01 -1.53206286e-04 3.82800683e+02] [ 3.34064567e-01 9.42550191e-01 -5.81526744e-05 2.74165098e+01] [ 1.63831363e-04 3.63102193e-06 9.99999987e-01 -1.96782778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.85, Y:27.44, Z:-0.20 [[ 9.41575195e-01 -3.36802803e-01 -1.53196340e-04 3.82853845e+02] [ 3.36802798e-01 9.41575208e-01 -5.81788648e-05 2.74389259e+01] [ 1.63840681e-04 3.18281991e-06 9.99999987e-01 -1.97524073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.91, Y:27.46, Z:-0.19 [[ 9.41488671e-01 -3.37044595e-01 -1.53192824e-04 3.82906927e+02] [ 3.37044590e-01 9.41488683e-01 -5.81881222e-05 2.74636559e+01] [ 1.63841302e-04 3.15064523e-06 9.99999987e-01 -1.93317231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.96, Y:27.49, Z:-0.19 [[ 9.41562943e-01 -3.36837053e-01 -1.53182952e-04 3.82959795e+02] [ 3.36837048e-01 9.41562956e-01 -5.82141002e-05 2.74887937e+01] [ 1.63840059e-04 3.21454639e-06 9.99999987e-01 -1.94787689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.01, Y:27.51, Z:-0.20 [[ 9.40851897e-01 -3.38818069e-01 -1.53172918e-04 3.83013682e+02] [ 3.38818064e-01 9.40851910e-01 -5.82404876e-05 2.75139605e+01] [ 1.63845962e-04 2.89792170e-06 9.99999987e-01 -1.97320051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.07, Y:27.54, Z:-0.20 [[ 9.39927620e-01 -3.41373762e-01 -1.53163459e-04 3.83066527e+02] [ 3.41373757e-01 9.39927633e-01 -5.82653534e-05 2.75393187e+01] [ 1.63852830e-04 2.47922944e-06 9.99999987e-01 -1.97334869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.12, Y:27.56, Z:-0.20 [[ 9.37786324e-01 -3.47212884e-01 -1.53151877e-04 3.83118620e+02] [ 3.47212879e-01 9.37786337e-01 -5.82957804e-05 2.75629556e+01] [ 1.63864784e-04 1.49268130e-06 9.99999987e-01 -2.00471044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.17, Y:27.58, Z:-0.19 [[ 9.34961823e-01 -3.54748314e-01 -1.53144058e-04 3.83173200e+02] [ 3.54748309e-01 9.34961835e-01 -5.83163148e-05 2.75848773e+01] [ 1.63871464e-04 1.95932432e-07 9.99999987e-01 -1.93479754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.23, Y:27.61, Z:-0.19 [[ 9.32489457e-01 -3.61197160e-01 -1.53133915e-04 3.83227240e+02] [ 3.61197155e-01 9.32489470e-01 -5.83429375e-05 2.76051686e+01] [ 1.63869066e-04 -9.07360226e-07 9.99999987e-01 -1.92349369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.28, Y:27.63, Z:-0.19 [[ 9.31286209e-01 -3.64288310e-01 -1.53130355e-04 3.83282287e+02] [ 3.64288306e-01 9.31286222e-01 -5.83522801e-05 2.76263594e+01] [ 1.63865243e-04 -1.44092381e-06 9.99999987e-01 -1.90242405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.42533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.34, Y:27.65, Z:-0.19 [[ 9.31460317e-01 -3.63842897e-01 -1.53120410e-04 3.83338181e+02] [ 3.63842892e-01 9.31460330e-01 -5.83783642e-05 2.76456949e+01] [ 1.63866141e-04 -1.33464319e-06 9.99999987e-01 -1.91454603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.39, Y:27.67, Z:-0.19 [[ 9.33142068e-01 -3.59507799e-01 -1.53110487e-04 3.83392518e+02] [ 3.59507794e-01 9.33142081e-01 -5.84043780e-05 2.76669175e+01] [ 1.63870668e-04 -5.44831294e-07 9.99999987e-01 -1.94807855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.45, Y:27.69, Z:-0.19 [[ 9.35755947e-01 -3.52648245e-01 -1.53100709e-04 3.83446415e+02] [ 3.52648240e-01 9.35755959e-01 -5.84299984e-05 2.76877957e+01] [ 1.63870137e-04 6.85522794e-07 9.99999987e-01 -1.94043057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.50, Y:27.71, Z:-0.20 [[ 9.37780120e-01 -3.47229640e-01 -1.53089353e-04 3.83499702e+02] [ 3.47229635e-01 9.37780133e-01 -5.84597359e-05 2.77115304e+01] [ 1.63863107e-04 1.66521793e-06 9.99999987e-01 -1.97177252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.55, Y:27.73, Z:-0.20 [[ 9.38370579e-01 -3.45630775e-01 -1.53079446e-04 3.83554304e+02] [ 3.45630770e-01 9.38370592e-01 -5.84856684e-05 2.77342726e+01] [ 1.63859697e-04 1.97226394e-06 9.99999987e-01 -1.96660247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.61, Y:27.76, Z:-0.19 [[ 9.37696271e-01 -3.47456012e-01 -1.53069754e-04 3.83608901e+02] [ 3.47456008e-01 9.37696283e-01 -5.85110211e-05 2.77550851e+01] [ 1.63862946e-04 1.68056051e-06 9.99999987e-01 -1.94934951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.66, Y:27.78, Z:-0.20 [[ 9.35698485e-01 -3.52800683e-01 -1.53058408e-04 3.83662740e+02] [ 3.52800678e-01 9.35698497e-01 -5.85406875e-05 2.77756032e+01] [ 1.63869717e-04 7.77322494e-07 9.99999987e-01 -1.96324338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.84533619499996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:383.72, Y:27.79, Z:-0.20 [[ 9.33105450e-01 -3.59602830e-01 -1.53047207e-04 3.83717895e+02] [ 3.59602825e-01 9.33105463e-01 -5.85699553e-05 2.77937035e+01] [ 1.63871107e-04 -3.84263603e-07 9.99999987e-01 -1.99646349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.78, Y:27.81, Z:-0.19 [[ 9.30514566e-01 -3.66254854e-01 -1.53043758e-04 3.83775201e+02] [ 3.66254849e-01 9.30514579e-01 -5.85789675e-05 2.78087522e+01] [ 1.63864279e-04 -1.54443591e-06 9.99999987e-01 -1.94087942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.96533619499996 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:383.83, Y:27.83, Z:-0.19 [[ 9.29206562e-01 -3.69560742e-01 -1.53033757e-04 3.83830340e+02] [ 3.69560737e-01 9.29206575e-01 -5.86050814e-05 2.78274021e+01] [ 1.63858111e-04 -2.09904198e-06 9.99999987e-01 -1.93962625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.89, Y:27.84, Z:-0.20 [[ 9.29112336e-01 -3.69797571e-01 -1.53022348e-04 3.83887576e+02] [ 3.69797566e-01 9.29112349e-01 -5.86348561e-05 2.78399698e+01] [ 1.63857981e-04 -2.10892384e-06 9.99999987e-01 -1.96087288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.94, Y:27.86, Z:-0.19 [[ 9.29988689e-01 -3.67588106e-01 -1.53018834e-04 3.83944674e+02] [ 3.67588101e-01 9.29988701e-01 -5.86440267e-05 2.78563813e+01] [ 1.63862633e-04 -1.70962104e-06 9.99999987e-01 -1.94247762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.00, Y:27.88, Z:-0.19 [[ 9.32977701e-01 -3.59934141e-01 -1.53009090e-04 3.83999447e+02] [ 3.59934136e-01 9.32977714e-01 -5.86694383e-05 2.78751256e+01] [ 1.63871205e-04 -3.35916984e-07 9.99999987e-01 -1.93420634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.05, Y:27.89, Z:-0.20 [[ 9.35074940e-01 -3.54450042e-01 -1.52997848e-04 3.84054627e+02] [ 3.54450037e-01 9.35074953e-01 -5.86987404e-05 2.78949637e+01] [ 1.63870226e-04 6.57628257e-07 9.99999987e-01 -1.97347123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.11, Y:27.91, Z:-0.20 [[ 9.37608208e-01 -3.47693579e-01 -1.52988073e-04 3.84109786e+02] [ 3.47693574e-01 9.37608220e-01 -5.87242062e-05 2.79116891e+01] [ 1.63860904e-04 1.86732783e-06 9.99999987e-01 -2.03129528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.16, Y:27.93, Z:-0.21 [[ 9.38593579e-01 -3.45024739e-01 -1.52984614e-04 3.84163965e+02] [ 3.45024734e-01 9.38593591e-01 -5.87332149e-05 2.79314334e+01] [ 1.63854791e-04 2.34314240e-06 9.99999987e-01 -2.06296674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.22, Y:27.95, Z:-0.20 [[ 9.40044617e-01 -3.41051454e-01 -1.52979508e-04 3.84218180e+02] [ 3.41051449e-01 9.40044630e-01 -5.87465128e-05 2.79541096e+01] [ 1.63843148e-04 3.05046033e-06 9.99999987e-01 -2.01122579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.27, Y:27.98, Z:-0.20 [[ 9.39614190e-01 -3.42235519e-01 -1.52969839e-04 3.84272758e+02] [ 3.42235514e-01 9.39614203e-01 -5.87716784e-05 2.79750155e+01] [ 1.63846389e-04 2.87099158e-06 9.99999987e-01 -1.99024918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.33, Y:28.00, Z:-0.20 [[ 9.37391242e-01 -3.48278103e-01 -1.52959792e-04 3.84327111e+02] [ 3.48278098e-01 9.37391254e-01 -5.87978161e-05 2.79967556e+01] [ 1.63861163e-04 1.84401256e-06 9.99999987e-01 -1.97625565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.38, Y:28.02, Z:-0.20 [[ 9.35412761e-01 -3.53557553e-01 -1.52949811e-04 3.84381701e+02] [ 3.53557548e-01 9.35412773e-01 -5.88237667e-05 2.80173247e+01] [ 1.63868794e-04 9.47941697e-07 9.99999987e-01 -1.97986325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.44, Y:28.04, Z:-0.20 [[ 9.32239835e-01 -3.61840941e-01 -1.52938558e-04 3.84436706e+02] [ 3.61840936e-01 9.32239848e-01 -5.88530088e-05 2.80360674e+01] [ 1.63870846e-04 -4.74311881e-07 9.99999987e-01 -2.00726630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.49, Y:28.05, Z:-0.20 [[ 9.29721878e-01 -3.68262415e-01 -1.52935094e-04 3.84493576e+02] [ 3.68262410e-01 9.29721891e-01 -5.88620096e-05 2.80520263e+01] [ 1.63863771e-04 -1.59494823e-06 9.99999987e-01 -2.02803123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.745336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:384.55, Y:28.07, Z:-0.20 [[ 9.29028422e-01 -3.70008334e-01 -1.52925532e-04 3.84549275e+02] [ 3.70008329e-01 9.29028435e-01 -5.88868409e-05 2.80680142e+01] [ 1.63860790e-04 -1.87617186e-06 9.99999987e-01 -1.99209619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.60, Y:28.09, Z:-0.20 [[ 9.30827683e-01 -3.65458343e-01 -1.52913952e-04 3.84604808e+02] [ 3.65458338e-01 9.30827696e-01 -5.89168966e-05 2.80868712e+01] [ 1.63868213e-04 -1.04220052e-06 9.99999987e-01 -1.96128250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.66, Y:28.10, Z:-0.20 [[ 9.35060543e-01 -3.54488023e-01 -1.52903905e-04 3.84659940e+02] [ 3.54488018e-01 9.35060555e-01 -5.89429600e-05 2.81043338e+01] [ 1.63868984e-04 9.12633925e-07 9.99999987e-01 -1.96028135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.92533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.71, Y:28.13, Z:-0.19 [[ 9.39215652e-01 -3.43327739e-01 -1.52892460e-04 3.84714173e+02] [ 3.43327734e-01 9.39215664e-01 -5.89726318e-05 2.81277156e+01] [ 1.63845934e-04 2.89579684e-06 9.99999987e-01 -1.94167816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.77, Y:28.15, Z:-0.19 [[ 9.41245454e-01 -3.37723217e-01 -1.52882322e-04 3.84766069e+02] [ 3.37723212e-01 9.41245467e-01 -5.89989032e-05 2.81527445e+01] [ 1.63825092e-04 3.90054073e-06 9.99999987e-01 -1.94832758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.82, Y:28.17, Z:-0.20 [[ 9.42330946e-01 -3.34682483e-01 -1.52877290e-04 3.84820936e+02] [ 3.34682478e-01 9.42330959e-01 -5.90119372e-05 2.81717721e+01] [ 1.63811265e-04 4.44342419e-06 9.99999987e-01 -1.95227568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.87, Y:28.20, Z:-0.20 [[ 9.41203421e-01 -3.37840341e-01 -1.52871988e-04 3.84874633e+02] [ 3.37840336e-01 9.41203434e-01 -5.90256714e-05 2.81950076e+01] [ 1.63824893e-04 3.90884024e-06 9.99999987e-01 -1.95272614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.93, Y:28.22, Z:-0.20 [[ 9.39717984e-01 -3.41950417e-01 -1.52860820e-04 3.84927304e+02] [ 3.41950412e-01 9.39717996e-01 -5.90545772e-05 2.82195255e+01] [ 1.63839801e-04 3.22382775e-06 9.99999987e-01 -1.97532869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.98, Y:28.24, Z:-0.19 [[ 9.38335570e-01 -3.45725809e-01 -1.52857373e-04 3.84981366e+02] [ 3.45725804e-01 9.38335582e-01 -5.90634981e-05 2.82418410e+01] [ 1.63851288e-04 2.57464286e-06 9.99999987e-01 -1.94238900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.03, Y:28.27, Z:-0.20 [[ 9.37227819e-01 -3.48717639e-01 -1.52846485e-04 3.85033596e+02] [ 3.48717634e-01 9.37227832e-01 -5.90916620e-05 2.82668993e+01] [ 1.63858285e-04 2.08208498e-06 9.99999987e-01 -1.95517156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.09, Y:28.29, Z:-0.20 [[ 9.36437357e-01 -3.50834793e-01 -1.52834975e-04 3.85086794e+02] [ 3.50834788e-01 9.36437370e-01 -5.91214154e-05 2.82912077e+01] [ 1.63862232e-04 1.74367571e-06 9.99999987e-01 -1.95844988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.14, Y:28.32, Z:-0.20 [[ 9.35221833e-01 -3.54062282e-01 -1.52824688e-04 3.85137791e+02] [ 3.54062277e-01 9.35221846e-01 -5.91479969e-05 2.83163421e+01] [ 1.63867061e-04 1.20704118e-06 9.99999987e-01 -1.97102245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.19, Y:28.34, Z:-0.20 [[ 9.33243625e-01 -3.59244086e-01 -1.52819607e-04 3.85190916e+02] [ 3.59244081e-01 9.33243637e-01 -5.91611198e-05 2.83396200e+01] [ 1.63871209e-04 3.12198570e-07 9.99999987e-01 -1.96922906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.25, Y:28.36, Z:-0.20 [[ 9.30457203e-01 -3.66400558e-01 -1.52814255e-04 3.85245563e+02] [ 3.66400554e-01 9.30457216e-01 -5.91749421e-05 2.83620758e+01] [ 1.63868858e-04 -9.31476408e-07 9.99999987e-01 -1.95215012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.30, Y:28.38, Z:-0.19 [[ 9.28047881e-01 -3.72460880e-01 -1.52804508e-04 3.85300740e+02] [ 3.72460875e-01 9.28047894e-01 -5.92000994e-05 2.83826116e+01] [ 1.63859623e-04 -1.97317407e-06 9.99999987e-01 -1.94447978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.36, Y:28.40, Z:-0.20 [[ 9.27207208e-01 -3.74548755e-01 -1.52794457e-04 3.85355524e+02] [ 3.74548750e-01 9.27207221e-01 -5.92260315e-05 2.84022817e+01] [ 1.63855160e-04 -2.31416933e-06 9.99999987e-01 -1.96572429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.41, Y:28.42, Z:-0.20 [[ 9.27856201e-01 -3.72938128e-01 -1.52789189e-04 3.85410322e+02] [ 3.72938123e-01 9.27856213e-01 -5.92396173e-05 2.84234253e+01] [ 1.63859110e-04 -2.01506714e-06 9.99999987e-01 -1.97554548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.47, Y:28.45, Z:-0.20 [[ 9.31423257e-01 -3.63937761e-01 -1.52779349e-04 3.85465043e+02] [ 3.63937756e-01 9.31423269e-01 -5.92649831e-05 2.84454330e+01] [ 1.63871006e-04 -4.01390041e-07 9.99999987e-01 -1.96585880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.52, Y:28.47, Z:-0.20 [[ 9.33302945e-01 -3.59089947e-01 -1.52769124e-04 3.85519322e+02] [ 3.59089942e-01 9.33302957e-01 -5.92913298e-05 2.84664636e+01] [ 1.63870796e-04 4.78916837e-07 9.99999987e-01 -1.96498002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.57, Y:28.49, Z:-0.19 [[ 9.34743588e-01 -3.55322953e-01 -1.52765499e-04 3.85574193e+02] [ 3.55322948e-01 9.34743601e-01 -5.93006675e-05 2.84863512e+01] [ 1.63867461e-04 1.14983113e-06 9.99999987e-01 -1.93754523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.63, Y:28.51, Z:-0.20 [[ 9.34928561e-01 -3.54835965e-01 -1.52761828e-04 3.85627736e+02] [ 3.54835960e-01 9.34928574e-01 -5.93101225e-05 2.85074890e+01] [ 1.63866763e-04 1.24533752e-06 9.99999987e-01 -1.97362455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.68, Y:28.53, Z:-0.20 [[ 9.36234865e-01 -3.51374807e-01 -1.52758200e-04 3.85681973e+02] [ 3.51374802e-01 9.36234877e-01 -5.93194651e-05 2.85291357e+01] [ 1.63860920e-04 1.86156898e-06 9.99999987e-01 -1.95650611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.74, Y:28.55, Z:-0.19 [[ 9.36964201e-01 -3.49425332e-01 -1.52746962e-04 3.85736962e+02] [ 3.49425327e-01 9.36964214e-01 -5.93483898e-05 2.85503453e+01] [ 1.63856268e-04 2.23365964e-06 9.99999987e-01 -1.94862310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.79, Y:28.58, Z:-0.19 [[ 9.39501416e-01 -3.42544985e-01 -1.52737125e-04 3.85790148e+02] [ 3.42544980e-01 9.39501428e-01 -5.93736951e-05 2.85755347e+01] [ 1.63834908e-04 3.46233520e-06 9.99999987e-01 -1.91073845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.84, Y:28.60, Z:-0.19 [[ 9.41015799e-01 -3.38362590e-01 -1.52727239e-04 3.85842086e+02] [ 3.38362585e-01 9.41015812e-01 -5.93991137e-05 2.86045412e+01] [ 1.63817185e-04 4.21832102e-06 9.99999987e-01 -1.88915499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.89, Y:28.63, Z:-0.19 [[ 9.40452962e-01 -3.39923820e-01 -1.52717013e-04 3.85893942e+02] [ 3.39923815e-01 9.40452974e-01 -5.94253938e-05 2.86308170e+01] [ 1.63823276e-04 3.97463791e-06 9.99999987e-01 -1.89373753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.95, Y:28.66, Z:-0.19 [[ 9.38105592e-01 -3.46349354e-01 -1.52705377e-04 3.85945723e+02] [ 3.46349349e-01 9.38105604e-01 -5.94552785e-05 2.86563579e+01] [ 1.63846068e-04 2.88592112e-06 9.99999987e-01 -1.90563218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.00, Y:28.68, Z:-0.19 [[ 9.35460836e-01 -3.53430335e-01 -1.52693756e-04 3.85997310e+02] [ 3.53430330e-01 9.35460848e-01 -5.94851103e-05 2.86808997e+01] [ 1.63862873e-04 1.67938647e-06 9.99999987e-01 -1.91753007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.42533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.05, Y:28.71, Z:-0.20 [[ 9.33027494e-01 -3.59805048e-01 -1.52688753e-04 3.86050563e+02] [ 3.59805044e-01 9.33027506e-01 -5.94979490e-05 2.87071636e+01] [ 1.63870469e-04 5.75038780e-07 9.99999987e-01 -1.96515920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.11, Y:28.73, Z:-0.20 [[ 9.30877183e-01 -3.65332242e-01 -1.52678899e-04 3.86105126e+02] [ 3.65332238e-01 9.30877195e-01 -5.95232255e-05 2.87296969e+01] [ 1.63871058e-04 -3.69711203e-07 9.99999987e-01 -1.98839623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.16, Y:28.75, Z:-0.20 [[ 9.29880654e-01 -3.67861314e-01 -1.52669093e-04 3.86158949e+02] [ 3.67861309e-01 9.29880666e-01 -5.95483642e-05 2.87538618e+01] [ 1.63869578e-04 -7.88180664e-07 9.99999987e-01 -1.98626415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.21, Y:28.77, Z:-0.20 [[ 9.28419135e-01 -3.71534502e-01 -1.52659031e-04 3.86213687e+02] [ 3.71534498e-01 9.28419148e-01 -5.95741500e-05 2.87742626e+01] [ 1.63865419e-04 -1.40831544e-06 9.99999987e-01 -1.96905486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.27, Y:28.79, Z:-0.20 [[ 9.27534780e-01 -3.73736817e-01 -1.52648886e-04 3.86268166e+02] [ 3.73736812e-01 9.27534793e-01 -5.96001337e-05 2.87942693e+01] [ 1.63861917e-04 -1.76931103e-06 9.99999987e-01 -1.96213921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.32, Y:28.82, Z:-0.19 [[ 9.28453583e-01 -3.71448410e-01 -1.52645302e-04 3.86322159e+02] [ 3.71448405e-01 9.28453595e-01 -5.96093097e-05 2.88169791e+01] [ 1.63865863e-04 -1.35537689e-06 9.99999987e-01 -1.93636900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.38, Y:28.84, Z:-0.19 [[ 9.30721034e-01 -3.65729865e-01 -1.52635268e-04 3.86376305e+02] [ 3.65729860e-01 9.30721046e-01 -5.96349929e-05 2.88384433e+01] [ 1.63871154e-04 -3.19732888e-07 9.99999987e-01 -1.92492262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.43, Y:28.86, Z:-0.20 [[ 9.31972038e-01 -3.62530134e-01 -1.52629944e-04 3.86431208e+02] [ 3.62530129e-01 9.31972050e-01 -5.96486145e-05 2.88604117e+01] [ 1.63871262e-04 2.57887413e-07 9.99999987e-01 -1.95468779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.48, Y:28.89, Z:-0.20 [[ 9.32937252e-01 -3.60038970e-01 -1.52620031e-04 3.86483168e+02] [ 3.60038965e-01 9.32937265e-01 -5.96739691e-05 2.88887261e+01] [ 1.63869868e-04 7.22910821e-07 9.99999987e-01 -1.98736437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.54, Y:28.91, Z:-0.20 [[ 9.32547920e-01 -3.61046192e-01 -1.52610128e-04 3.86537354e+02] [ 3.61046187e-01 9.32547933e-01 -5.96992839e-05 2.89097163e+01] [ 1.63870458e-04 5.73138184e-07 9.99999987e-01 -1.98407098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.59, Y:28.93, Z:-0.20 [[ 9.31144090e-01 -3.64651423e-01 -1.52606604e-04 3.86591627e+02] [ 3.64651418e-01 9.31144102e-01 -5.97082896e-05 2.89326234e+01] [ 1.63871452e-04 -5.11937394e-08 9.99999987e-01 -1.96569514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.65, Y:28.96, Z:-0.20 [[ 9.29226036e-01 -3.69511775e-01 -1.52596786e-04 3.86645505e+02] [ 3.69511770e-01 9.29226048e-01 -5.97333713e-05 2.89563491e+01] [ 1.63869093e-04 -8.80504766e-07 9.99999987e-01 -1.95107430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.70, Y:28.98, Z:-0.20 [[ 9.27527395e-01 -3.73755145e-01 -1.52586425e-04 3.86700206e+02] [ 3.73755140e-01 9.27527407e-01 -5.97598277e-05 2.89759206e+01] [ 1.63863634e-04 -1.60108333e-06 9.99999987e-01 -1.96132250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.75, Y:28.99, Z:-0.20 [[ 9.26378941e-01 -3.76592665e-01 -1.52582782e-04 3.86754818e+02] [ 3.76592660e-01 9.26378953e-01 -5.97691281e-05 2.89942145e+01] [ 1.63858093e-04 -2.09269402e-06 9.99999987e-01 -1.96396057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.81, Y:29.01, Z:-0.19 [[ 9.26287709e-01 -3.76817007e-01 -1.52579273e-04 3.86809130e+02] [ 3.76817003e-01 9.26287722e-01 -5.97780838e-05 2.90145315e+01] [ 1.63857706e-04 -2.12275997e-06 9.99999987e-01 -1.94664803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.86, Y:29.03, Z:-0.20 [[ 9.28221066e-01 -3.72029071e-01 -1.52567999e-04 3.86863712e+02] [ 3.72029066e-01 9.28221079e-01 -5.98068446e-05 2.90336968e+01] [ 1.63866717e-04 -1.24575692e-06 9.99999987e-01 -1.95477832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.92, Y:29.05, Z:-0.20 [[ 9.31496338e-01 -3.63750669e-01 -1.52564525e-04 3.86917591e+02] [ 3.63750664e-01 9.31496350e-01 -5.98157041e-05 2.90540374e+01] [ 1.63871301e-04 2.22661940e-07 9.99999987e-01 -1.95227940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.97, Y:29.08, Z:-0.20 [[ 9.34257768e-01 -3.56598372e-01 -1.52553270e-04 3.86971147e+02] [ 3.56598367e-01 9.34257781e-01 -5.98443963e-05 2.90793432e+01] [ 1.63864493e-04 1.50984532e-06 9.99999987e-01 -1.97484712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.02, Y:29.10, Z:-0.20 [[ 9.35987081e-01 -3.52034317e-01 -1.52543420e-04 3.87023532e+02] [ 3.52034312e-01 9.35987094e-01 -5.98694917e-05 2.91029450e+01] [ 1.63854788e-04 2.33655287e-06 9.99999987e-01 -1.97546825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.08, Y:29.13, Z:-0.20 [[ 9.37286933e-01 -3.48558720e-01 -1.52539925e-04 3.87076115e+02] [ 3.48558715e-01 9.37286946e-01 -5.98783966e-05 2.91279224e+01] [ 1.63844817e-04 2.95411850e-06 9.99999987e-01 -1.98884259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.13, Y:29.15, Z:-0.19 [[ 9.37478327e-01 -3.48043624e-01 -1.52536478e-04 3.87129359e+02] [ 3.48043618e-01 9.37478339e-01 -5.98871765e-05 2.91532795e+01] [ 1.63842994e-04 3.05358239e-06 9.99999987e-01 -1.94371238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.18, Y:29.18, Z:-0.19 [[ 9.36446045e-01 -3.50811604e-01 -1.52526294e-04 3.87181188e+02] [ 3.50811599e-01 9.36446057e-01 -5.99131032e-05 2.91799620e+01] [ 1.63850858e-04 2.59739563e-06 9.99999987e-01 -1.93727785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.24, Y:29.20, Z:-0.19 [[ 9.34833441e-01 -3.55086488e-01 -1.52522693e-04 3.87235399e+02] [ 3.55086483e-01 9.34833454e-01 -5.99222687e-05 2.92033627e+01] [ 1.63860903e-04 1.85859416e-06 9.99999987e-01 -1.92319059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.29, Y:29.23, Z:-0.19 [[ 9.31987550e-01 -3.62490252e-01 -1.52512838e-04 3.87289116e+02] [ 3.62490247e-01 9.31987563e-01 -5.99473403e-05 2.92266612e+01] [ 1.63870395e-04 5.85758526e-07 9.99999987e-01 -1.93069851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.86533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.34, Y:29.25, Z:-0.19 [[ 9.29073641e-01 -3.69894778e-01 -1.52502970e-04 3.87343225e+02] [ 3.69894773e-01 9.29073653e-01 -5.99724329e-05 2.92465544e+01] [ 1.63869981e-04 -6.91245031e-07 9.99999987e-01 -1.93113527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.92533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.40, Y:29.26, Z:-0.19 [[ 9.26325953e-01 -3.76722984e-01 -1.52491824e-04 3.87398955e+02] [ 3.76722979e-01 9.26325965e-01 -6.00007620e-05 2.92642488e+01] [ 1.63860802e-04 -1.86691103e-06 9.99999987e-01 -1.89953651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.45, Y:29.28, Z:-0.19 [[ 9.24902723e-01 -3.80203800e-01 -1.52479983e-04 3.87453107e+02] [ 3.80203795e-01 9.24902736e-01 -6.00308377e-05 2.92817349e+01] [ 1.63853106e-04 -2.45078288e-06 9.99999987e-01 -1.93003214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.51, Y:29.30, Z:-0.19 [[ 9.23997210e-01 -3.82399179e-01 -1.52474875e-04 3.87509566e+02] [ 3.82399174e-01 9.23997223e-01 -6.00438095e-05 2.92999255e+01] [ 1.63847064e-04 -2.82595369e-06 9.99999987e-01 -1.89334245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.57, Y:29.31, Z:-0.19 [[ 9.24444434e-01 -3.81316751e-01 -1.52464845e-04 3.87568092e+02] [ 3.81316746e-01 9.24444447e-01 -6.00692653e-05 2.93122432e+01] [ 1.63850697e-04 -2.60670082e-06 9.99999987e-01 -1.89317572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.16533619499995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:387.62, Y:29.33, Z:-0.19 [[ 9.25534136e-01 -3.78664152e-01 -1.52454621e-04 3.87623120e+02] [ 3.78664147e-01 9.25534148e-01 -6.00952038e-05 2.93293320e+01] [ 1.63857857e-04 -2.10893641e-06 9.99999987e-01 -1.92069646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.68, Y:29.34, Z:-0.19 [[ 9.27963152e-01 -3.72671928e-01 -1.52449214e-04 3.87680188e+02] [ 3.72671923e-01 9.27963164e-01 -6.01089170e-05 2.93446104e+01] [ 1.63868161e-04 -1.03468169e-06 9.99999987e-01 -1.92641580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.74, Y:29.36, Z:-0.20 [[ 9.30368056e-01 -3.66626864e-01 -1.52439063e-04 3.87735295e+02] [ 3.66626859e-01 9.30368068e-01 -6.01346498e-05 2.93629192e+01] [ 1.63871414e-04 5.91024326e-08 9.99999987e-01 -1.95130901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.79, Y:29.38, Z:-0.20 [[ 9.32242430e-01 -3.61834256e-01 -1.52433721e-04 3.87791784e+02] [ 3.61834251e-01 9.32242442e-01 -6.01481874e-05 2.93793020e+01] [ 1.63868859e-04 9.16951224e-07 9.99999987e-01 -1.96729701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.85, Y:29.40, Z:-0.20 [[ 9.34122719e-01 -3.56951989e-01 -1.52423759e-04 3.87848384e+02] [ 3.56951984e-01 9.34122732e-01 -6.01734217e-05 2.93962489e+01] [ 1.63861521e-04 1.80139719e-06 9.99999987e-01 -1.95039266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.90, Y:29.42, Z:-0.19 [[ 9.35237998e-01 -3.54019582e-01 -1.52413644e-04 3.87902605e+02] [ 3.54019577e-01 9.35238010e-01 -6.01990323e-05 2.94173323e+01] [ 1.63854669e-04 2.34300878e-06 9.99999987e-01 -1.92029985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.96, Y:29.44, Z:-0.19 [[ 9.36897397e-01 -3.49604412e-01 -1.52401579e-04 3.87956651e+02] [ 3.49604407e-01 9.36897409e-01 -6.02295602e-05 2.94380949e+01] [ 1.63841164e-04 3.14865456e-06 9.99999987e-01 -1.90759004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.01, Y:29.46, Z:-0.19 [[ 9.37851668e-01 -3.47036345e-01 -1.52397861e-04 3.88010919e+02] [ 3.47036340e-01 9.37851681e-01 -6.02389660e-05 2.94582667e+01] [ 1.63831701e-04 3.60761888e-06 9.99999987e-01 -1.92061982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.06, Y:29.48, Z:-0.19 [[ 9.37347298e-01 -3.48396355e-01 -1.52386247e-04 3.88064975e+02] [ 3.48396350e-01 9.37347310e-01 -6.02683318e-05 2.94791064e+01] [ 1.63836106e-04 3.40154580e-06 9.99999987e-01 -1.91956345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.12, Y:29.50, Z:-0.19 [[ 9.35761789e-01 -3.52632743e-01 -1.52374459e-04 3.88118996e+02] [ 3.52632738e-01 9.35761801e-01 -6.02981188e-05 2.94992388e+01] [ 1.63849290e-04 2.69245263e-06 9.99999987e-01 -1.93975697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.18, Y:29.52, Z:-0.19 [[ 9.34060960e-01 -3.57113567e-01 -1.52370816e-04 3.88175028e+02] [ 3.57113562e-01 9.34060972e-01 -6.03073233e-05 2.95184725e+01] [ 1.63860196e-04 1.91703128e-06 9.99999987e-01 -1.91780856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.23, Y:29.54, Z:-0.19 [[ 9.31240343e-01 -3.64405545e-01 -1.52360754e-04 3.88230314e+02] [ 3.64405540e-01 9.31240355e-01 -6.03327347e-05 2.95393739e+01] [ 1.63870066e-04 6.63173785e-07 9.99999987e-01 -1.91007403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.29, Y:29.56, Z:-0.19 [[ 9.30730608e-01 -3.65705499e-01 -1.52350416e-04 3.88285274e+02] [ 3.65705494e-01 9.30730620e-01 -6.03588291e-05 2.95606894e+01] [ 1.63870753e-04 4.62425698e-07 9.99999987e-01 -1.90094078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.34, Y:29.58, Z:-0.19 [[ 9.30722837e-01 -3.65725275e-01 -1.52340024e-04 3.88340828e+02] [ 3.65725270e-01 9.30722850e-01 -6.03850443e-05 2.95786424e+01] [ 1.63870679e-04 4.87143217e-07 9.99999987e-01 -1.93071925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.39, Y:29.60, Z:-0.19 [[ 9.31478906e-01 -3.63795305e-01 -1.52334582e-04 3.88394754e+02] [ 3.63795300e-01 9.31478919e-01 -6.03987718e-05 2.96028821e+01] [ 1.63869241e-04 8.41577148e-07 9.99999987e-01 -1.91861087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.45, Y:29.63, Z:-0.19 [[ 9.32239755e-01 -3.61841147e-01 -1.52323952e-04 3.88448139e+02] [ 3.61841142e-01 9.32239768e-01 -6.04255672e-05 2.96253749e+01] [ 1.63866902e-04 1.21404320e-06 9.99999987e-01 -1.93253815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.50, Y:29.65, Z:-0.19 [[ 9.32962652e-01 -3.59973147e-01 -1.52320185e-04 3.88502731e+02] [ 3.59973142e-01 9.32962665e-01 -6.04350611e-05 2.96473233e+01] [ 1.63864045e-04 1.55247926e-06 9.99999987e-01 -1.90217069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.56, Y:29.67, Z:-0.19 [[ 9.33883054e-01 -3.57578549e-01 -1.52309849e-04 3.88556376e+02] [ 3.57578544e-01 9.33883066e-01 -6.04611000e-05 2.96713364e+01] [ 1.63859181e-04 2.00086273e-06 9.99999987e-01 -1.88712061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.61, Y:29.70, Z:-0.19 [[ 9.34734007e-01 -3.55348157e-01 -1.52299575e-04 3.88608684e+02] [ 3.55348152e-01 9.34734020e-01 -6.04869681e-05 2.96997871e+01] [ 1.63853527e-04 2.41985359e-06 9.99999987e-01 -1.91916834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.66, Y:29.73, Z:-0.19 [[ 9.35188892e-01 -3.54149280e-01 -1.52289332e-04 3.88660992e+02] [ 3.54149275e-01 9.35188905e-01 -6.05127469e-05 2.97278736e+01] [ 1.63849839e-04 2.65769229e-06 9.99999987e-01 -1.92491439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.36533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.71, Y:29.76, Z:-0.19 [[ 9.33967587e-01 -3.57357696e-01 -1.52279169e-04 3.88712651e+02] [ 3.57357691e-01 9.33967599e-01 -6.05383114e-05 2.97557247e+01] [ 1.63857641e-04 2.12268848e-06 9.99999987e-01 -1.90711499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.42533619499994 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:388.77, Y:29.78, Z:-0.20 [[ 9.31788048e-01 -3.63002769e-01 -1.52266833e-04 3.88765010e+02] [ 3.63002764e-01 9.31788061e-01 -6.05693220e-05 2.97799688e+01] [ 1.63867249e-04 1.16448909e-06 9.99999987e-01 -1.96460728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.82, Y:29.81, Z:-0.20 [[ 9.27736764e-01 -3.73235145e-01 -1.52263049e-04 3.88816922e+02] [ 3.73235140e-01 9.27736776e-01 -6.05788333e-05 2.98056264e+01] [ 1.63870180e-04 -6.28709675e-07 9.99999987e-01 -1.95130307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.87, Y:29.83, Z:-0.20 [[ 9.23911017e-01 -3.82607382e-01 -1.52251452e-04 3.88870940e+02] [ 3.82607377e-01 9.23911030e-01 -6.06079658e-05 2.98262219e+01] [ 1.63855851e-04 -2.25616135e-06 9.99999987e-01 -1.96406730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.93, Y:29.85, Z:-0.19 [[ 9.19930914e-01 -3.92080463e-01 -1.52240064e-04 3.88925814e+02] [ 3.92080458e-01 9.19930927e-01 -6.06365572e-05 2.98464426e+01] [ 1.63824753e-04 -3.90891066e-06 9.99999987e-01 -1.94955314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.98, Y:29.86, Z:-0.20 [[ 9.16418644e-01 -4.00220996e-01 -1.52229641e-04 3.88980440e+02] [ 4.00220991e-01 9.16418657e-01 -6.06627124e-05 2.98642907e+01] [ 1.63784575e-04 -5.33305731e-06 9.99999987e-01 -1.95604013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.04, Y:29.88, Z:-0.19 [[ 9.14891037e-01 -4.03700839e-01 -1.52224532e-04 3.89037036e+02] [ 4.03700834e-01 9.14891050e-01 -6.06755311e-05 2.98804791e+01] [ 1.63763625e-04 -5.94167101e-06 9.99999987e-01 -1.91718467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.10, Y:29.89, Z:-0.19 [[ 9.14798390e-01 -4.03910736e-01 -1.52214142e-04 3.89097364e+02] [ 4.03910731e-01 9.14798403e-01 -6.07015860e-05 2.98888101e+01] [ 1.63763276e-04 -5.95121216e-06 9.99999987e-01 -1.93028506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.15, Y:29.90, Z:-0.19 [[ 9.16490666e-01 -4.00056042e-01 -1.52203905e-04 3.89154814e+02] [ 4.00056037e-01 9.16490678e-01 -6.07272437e-05 2.99043500e+01] [ 1.63787760e-04 -5.23413895e-06 9.99999987e-01 -1.90718980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.90533619499996 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:389.21, Y:29.92, Z:-0.19 [[ 9.19356478e-01 -3.93425525e-01 -1.52193417e-04 3.89211689e+02] [ 3.93425520e-01 9.19356490e-01 -6.07535158e-05 2.99193186e+01] [ 1.63821990e-04 -4.02263589e-06 9.99999987e-01 -1.91578896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.27, Y:29.93, Z:-0.19 [[ 9.25306493e-01 -3.79220082e-01 -1.52182987e-04 3.89270033e+02] [ 3.79220078e-01 9.25306505e-01 -6.07796304e-05 2.99291592e+01] [ 1.63864765e-04 -1.47105754e-06 9.99999987e-01 -1.93525331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.32, Y:29.95, Z:-0.19 [[ 9.29668000e-01 -3.68398407e-01 -1.52179276e-04 3.89324705e+02] [ 3.68398402e-01 9.29668013e-01 -6.07889209e-05 2.99497016e+01] [ 1.63870747e-04 4.50912384e-07 9.99999987e-01 -1.90930758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.38, Y:29.97, Z:-0.19 [[ 9.35748346e-01 -3.52668412e-01 -1.52168848e-04 3.89378787e+02] [ 3.52668407e-01 9.35748359e-01 -6.08150127e-05 2.99700487e+01] [ 1.63839284e-04 3.24240223e-06 9.99999987e-01 -1.92644792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.43, Y:29.99, Z:-0.19 [[ 9.40046330e-01 -3.41046734e-01 -1.52156939e-04 3.89433092e+02] [ 3.41046729e-01 9.40046342e-01 -6.08447952e-05 2.99884981e+01] [ 1.63785493e-04 5.30430015e-06 9.99999987e-01 -1.94117675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.49, Y:30.01, Z:-0.20 [[ 9.41495483e-01 -3.37025568e-01 -1.52148833e-04 3.89486626e+02] [ 3.37025562e-01 9.41495495e-01 -6.08650589e-05 3.00134086e+01] [ 1.63760522e-04 6.02613219e-06 9.99999987e-01 -1.96477117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.54, Y:30.03, Z:-0.20 [[ 9.40393542e-01 -3.40088170e-01 -1.52138793e-04 3.89540257e+02] [ 3.40088165e-01 9.40393554e-01 -6.08901441e-05 3.00348921e+01] [ 1.63778358e-04 5.52009531e-06 9.99999987e-01 -1.96385558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.59, Y:30.06, Z:-0.20 [[ 9.38338649e-01 -3.45717453e-01 -1.52135253e-04 3.89594973e+02] [ 3.45717447e-01 9.38338661e-01 -6.08989864e-05 3.00567094e+01] [ 1.63808232e-04 4.54806119e-06 9.99999987e-01 -1.95330193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.65, Y:30.08, Z:-0.19 [[ 9.35113744e-01 -3.54347657e-01 -1.52125295e-04 3.89647584e+02] [ 3.54347652e-01 9.35113757e-01 -6.09238531e-05 3.00819844e+01] [ 1.63842680e-04 3.06549150e-06 9.99999987e-01 -1.87152496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.70, Y:30.11, Z:-0.19 [[ 9.33132831e-01 -3.59531774e-01 -1.52121505e-04 3.89700289e+02] [ 3.59531769e-01 9.33132844e-01 -6.09333132e-05 3.01056943e+01] [ 1.63857035e-04 2.16636122e-06 9.99999987e-01 -1.87316966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.75, Y:30.13, Z:-0.19 [[ 9.31913823e-01 -3.62679753e-01 -1.52117752e-04 3.89752808e+02] [ 3.62679748e-01 9.31913836e-01 -6.09426813e-05 3.01301128e+01] [ 1.63863315e-04 1.62329910e-06 9.99999987e-01 -1.92676939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.80, Y:30.15, Z:-0.19 [[ 9.30488713e-01 -3.66320532e-01 -1.52114060e-04 3.89804945e+02] [ 3.66320527e-01 9.30488725e-01 -6.09518958e-05 3.01548698e+01] [ 1.63868349e-04 9.92548452e-07 9.99999987e-01 -1.92783518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.86, Y:30.18, Z:-0.19 [[ 9.29278444e-01 -3.69379953e-01 -1.52103068e-04 3.89857704e+02] [ 3.69379948e-01 9.29278457e-01 -6.09793147e-05 3.01796986e+01] [ 1.63870640e-04 4.82939563e-07 9.99999987e-01 -1.88522847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.91, Y:30.20, Z:-0.19 [[ 9.28327775e-01 -3.71762719e-01 -1.52091070e-04 3.89912156e+02] [ 3.71762714e-01 9.28327787e-01 -6.10092241e-05 3.02011236e+01] [ 1.63871321e-04 9.47683529e-08 9.99999987e-01 -1.89520908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.97, Y:30.22, Z:-0.19 [[ 9.28215212e-01 -3.72043676e-01 -1.52080522e-04 3.89966050e+02] [ 3.72043671e-01 9.28215225e-01 -6.10355056e-05 3.02228553e+01] [ 1.63871330e-04 7.34891103e-08 9.99999987e-01 -1.90417559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.02, Y:30.25, Z:-0.19 [[ 9.29146395e-01 -3.69711988e-01 -1.52068498e-04 3.90019832e+02] [ 3.69711983e-01 9.29146407e-01 -6.10654492e-05 3.02456526e+01] [ 1.63870527e-04 5.17196061e-07 9.99999987e-01 -1.91308190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.86533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.07, Y:30.27, Z:-0.19 [[ 9.30148712e-01 -3.67182994e-01 -1.52057922e-04 3.90073696e+02] [ 3.67182989e-01 9.30148724e-01 -6.10917724e-05 3.02681417e+01] [ 1.63868342e-04 9.91351172e-07 9.99999987e-01 -1.93002175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.92533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.13, Y:30.29, Z:-0.19 [[ 9.31514782e-01 -3.63703433e-01 -1.52045938e-04 3.90127864e+02] [ 3.63703428e-01 9.31514795e-01 -6.11215838e-05 3.02891396e+01] [ 1.63863171e-04 1.63602994e-06 9.99999987e-01 -1.94179605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.18, Y:30.31, Z:-0.19 [[ 9.31457792e-01 -3.63849364e-01 -1.52033933e-04 3.90180997e+02] [ 3.63849359e-01 9.31457804e-01 -6.11514310e-05 3.03133003e+01] [ 1.63863102e-04 1.64252793e-06 9.99999987e-01 -1.92699269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.24, Y:30.33, Z:-0.19 [[ 9.29899193e-01 -3.67814448e-01 -1.52028380e-04 3.90236372e+02] [ 3.67814443e-01 9.29899205e-01 -6.11652330e-05 3.03322841e+01] [ 1.63868526e-04 9.59266931e-07 9.99999987e-01 -1.92579651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.10533619499995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:390.29, Y:30.35, Z:-0.19 [[ 9.27678426e-01 -3.73380120e-01 -1.52016252e-04 3.90290748e+02] [ 3.73380115e-01 9.27678439e-01 -6.11953592e-05 3.03518130e+01] [ 1.63871330e-04 9.76869125e-09 9.99999987e-01 -1.91923202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.35, Y:30.37, Z:-0.19 [[ 9.25285584e-01 -3.79271098e-01 -1.52010643e-04 3.90347926e+02] [ 3.79271093e-01 9.25285596e-01 -6.12092885e-05 3.03666546e+01] [ 1.63868173e-04 -1.01717060e-06 9.99999987e-01 -1.89247889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.40, Y:30.38, Z:-0.19 [[ 9.23692171e-01 -3.83135419e-01 -1.52000374e-04 3.90404605e+02] [ 3.83135414e-01 9.23692184e-01 -6.12347790e-05 3.03833937e+01] [ 1.63862770e-04 -1.67464040e-06 9.99999987e-01 -1.88626875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.28533619499996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:390.46, Y:30.39, Z:-0.19 [[ 9.21881052e-01 -3.87472970e-01 -1.51989814e-04 3.90462864e+02] [ 3.87472965e-01 9.21881065e-01 -6.12609790e-05 3.03936264e+01] [ 1.63853505e-04 -2.41660814e-06 9.99999987e-01 -1.90198930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.52, Y:30.41, Z:-0.19 [[ 9.21709671e-01 -3.87880471e-01 -1.51986085e-04 3.90519435e+02] [ 3.87880467e-01 9.21709683e-01 -6.12702286e-05 3.04095309e+01] [ 1.63852572e-04 -2.47907153e-06 9.99999987e-01 -1.88825178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.58, Y:30.42, Z:-0.19 [[ 9.22247437e-01 -3.86600105e-01 -1.51974068e-04 3.90577456e+02] [ 3.86600101e-01 9.22247450e-01 -6.13000207e-05 3.04193519e+01] [ 1.63856292e-04 -2.21940316e-06 9.99999987e-01 -1.89656170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.64, Y:30.43, Z:-0.19 [[ 9.23065746e-01 -3.84642179e-01 -1.51968499e-04 3.90635463e+02] [ 3.84642174e-01 9.23065758e-01 -6.13138259e-05 3.04332698e+01] [ 1.63860801e-04 -1.85680117e-06 9.99999987e-01 -1.91076709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.69, Y:30.44, Z:-0.19 [[ 9.23949699e-01 -3.82513962e-01 -1.51958568e-04 3.90694298e+02] [ 3.82513957e-01 9.23949711e-01 -6.13384276e-05 3.04436980e+01] [ 1.63864880e-04 -1.45265142e-06 9.99999987e-01 -1.91026502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.75, Y:30.45, Z:-0.20 [[ 9.24889648e-01 -3.80235605e-01 -1.51948222e-04 3.90751824e+02] [ 3.80235600e-01 9.24889661e-01 -6.13640461e-05 3.04545829e+01] [ 1.63868135e-04 -1.02115235e-06 9.99999987e-01 -1.95394980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.81, Y:30.47, Z:-0.19 [[ 9.25435218e-01 -3.78905839e-01 -1.51944571e-04 3.90810668e+02] [ 3.78905834e-01 9.25435230e-01 -6.13730861e-05 3.04665804e+01] [ 1.63869479e-04 -7.75868865e-07 9.99999987e-01 -1.88609258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.87, Y:30.48, Z:-0.19 [[ 9.25525277e-01 -3.78685806e-01 -1.51934447e-04 3.90867821e+02] [ 3.78685801e-01 9.25525289e-01 -6.13981376e-05 3.04800237e+01] [ 1.63869776e-04 -7.09889492e-07 9.99999987e-01 -1.86800182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.93, Y:30.49, Z:-0.19 [[ 9.26009108e-01 -3.77501136e-01 -1.51922452e-04 3.90927237e+02] [ 3.77501131e-01 9.26009121e-01 -6.14278034e-05 3.04891163e+01] [ 1.63870642e-04 -4.68192070e-07 9.99999987e-01 -1.87997719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.98, Y:30.51, Z:-0.19 [[ 9.26390179e-01 -3.76565018e-01 -1.51911874e-04 3.90981571e+02] [ 3.76565013e-01 9.26390192e-01 -6.14539531e-05 3.05079858e+01] [ 1.63871079e-04 -2.74358101e-07 9.99999987e-01 -1.90049831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.04, Y:30.52, Z:-0.19 [[ 9.27736303e-01 -3.73236291e-01 -1.51908146e-04 3.91039049e+02] [ 3.73236286e-01 9.27736315e-01 -6.14631662e-05 3.05234272e+01] [ 1.63870988e-04 3.23978404e-07 9.99999987e-01 -1.86888397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.10, Y:30.54, Z:-0.19 [[ 9.28442098e-01 -3.71477116e-01 -1.51897658e-04 3.91095826e+02] [ 3.71477111e-01 9.28442110e-01 -6.14890741e-05 3.05378322e+01] [ 1.63869966e-04 6.62541722e-07 9.99999987e-01 -1.86693703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.15, Y:30.55, Z:-0.19 [[ 9.27860795e-01 -3.72926698e-01 -1.51893968e-04 3.91153436e+02] [ 3.72926693e-01 9.27860807e-01 -6.14981883e-05 3.05531903e+01] [ 1.63870776e-04 4.16442605e-07 9.99999987e-01 -1.90627856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.21, Y:30.57, Z:-0.19 [[ 9.26475433e-01 -3.76355216e-01 -1.51884520e-04 3.91209394e+02] [ 3.76355211e-01 9.26475445e-01 -6.15215145e-05 3.05700662e+01] [ 1.63871221e-04 -1.64358724e-07 9.99999987e-01 -1.90510962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.27, Y:30.58, Z:-0.19 [[ 9.25107612e-01 -3.79704996e-01 -1.51872781e-04 3.91266730e+02] [ 3.79704991e-01 9.25107624e-01 -6.15504784e-05 3.05838497e+01] [ 1.63869692e-04 -7.26036901e-07 9.99999987e-01 -1.87902601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.32, Y:30.60, Z:-0.19 [[ 9.25163750e-01 -3.79568193e-01 -1.51869076e-04 3.91321160e+02] [ 3.79568188e-01 9.25163762e-01 -6.15596188e-05 3.06029992e+01] [ 1.63869839e-04 -6.91942366e-07 9.99999987e-01 -1.88060027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.38, Y:30.62, Z:-0.19 [[ 9.26375394e-01 -3.76601389e-01 -1.51856928e-04 3.91377368e+02] [ 3.76601384e-01 9.26375407e-01 -6.15895717e-05 3.06214552e+01] [ 1.63871242e-04 -1.34465527e-07 9.99999987e-01 -1.87931194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.43, Y:30.64, Z:-0.19 [[ 9.26572028e-01 -3.76117342e-01 -1.51846455e-04 3.91430966e+02] [ 3.76117336e-01 9.26572040e-01 -6.16153828e-05 3.06422871e+01] [ 1.63871293e-04 -2.09938755e-08 9.99999987e-01 -1.87651268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.36533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.49, Y:30.66, Z:-0.19 [[ 9.25943768e-01 -3.77661376e-01 -1.51842763e-04 3.91485707e+02] [ 3.77661371e-01 9.25943781e-01 -6.16244798e-05 3.06628247e+01] [ 1.63871048e-04 -2.84342837e-07 9.99999987e-01 -1.90050125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.42533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.54, Y:30.68, Z:-0.19 [[ 9.24420140e-01 -3.81375645e-01 -1.51831966e-04 3.91541181e+02] [ 3.81375640e-01 9.24420152e-01 -6.16510695e-05 3.06805493e+01] [ 1.63868745e-04 -9.13522966e-07 9.99999987e-01 -1.89150136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.60, Y:30.70, Z:-0.19 [[ 9.23905447e-01 -3.82620834e-01 -1.51826255e-04 3.91595869e+02] [ 3.82620829e-01 9.23905459e-01 -6.16651307e-05 3.07010428e+01] [ 1.63867470e-04 -1.11913748e-06 9.99999987e-01 -1.89212535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.65, Y:30.72, Z:-0.19 [[ 9.24629830e-01 -3.80866978e-01 -1.51815487e-04 3.91652146e+02] [ 3.80866973e-01 9.24629842e-01 -6.16916289e-05 3.07201912e+01] [ 1.63869434e-04 -7.79584787e-07 9.99999987e-01 -1.89962590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.71, Y:30.74, Z:-0.19 [[ 9.25111507e-01 -3.79695506e-01 -1.51805534e-04 3.91706512e+02] [ 3.79695501e-01 9.25111519e-01 -6.17161107e-05 3.07388098e+01] [ 1.63870378e-04 -5.45594268e-07 9.99999987e-01 -1.91641761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.76, Y:30.76, Z:-0.19 [[ 9.25105484e-01 -3.79710180e-01 -1.51797207e-04 3.91760338e+02] [ 3.79710175e-01 9.25105496e-01 -6.17365859e-05 3.07616360e+01] [ 1.63870440e-04 -5.26089794e-07 9.99999987e-01 -1.93599641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.82, Y:30.78, Z:-0.20 [[ 9.25518183e-01 -3.78703143e-01 -1.51786712e-04 3.91815849e+02] [ 3.78703138e-01 9.25518195e-01 -6.17623788e-05 3.07820204e+01] [ 1.63870970e-04 -3.19899329e-07 9.99999987e-01 -1.96391656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.87, Y:30.80, Z:-0.20 [[ 9.25682053e-01 -3.78302410e-01 -1.51776010e-04 3.91870290e+02] [ 3.78302405e-01 9.25682066e-01 -6.17886657e-05 3.08013978e+01] [ 1.63871132e-04 -2.20570685e-07 9.99999987e-01 -1.98316418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.84533619499996 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:391.92, Y:30.82, Z:-0.20 [[ 9.25768221e-01 -3.78091493e-01 -1.51770364e-04 3.91923245e+02] [ 3.78091488e-01 9.25768234e-01 -6.18025299e-05 3.08236416e+01] [ 1.63871193e-04 -1.68264774e-07 9.99999987e-01 -2.00303825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.98, Y:30.84, Z:-0.19 [[ 9.25309977e-01 -3.79211583e-01 -1.51764891e-04 3.91978884e+02] [ 3.79211577e-01 9.25309989e-01 -6.18159683e-05 3.08425108e+01] [ 1.63870901e-04 -3.52071473e-07 9.99999987e-01 -1.94165525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.03, Y:30.86, Z:-0.19 [[ 9.25094310e-01 -3.79737401e-01 -1.51754644e-04 3.92034211e+02] [ 3.79737396e-01 9.25094323e-01 -6.18411146e-05 3.08637571e+01] [ 1.63870743e-04 -4.18049954e-07 9.99999987e-01 -1.92135991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.09, Y:30.89, Z:-0.19 [[ 9.24943876e-01 -3.80103675e-01 -1.51744195e-04 3.92088608e+02] [ 3.80103670e-01 9.24943888e-01 -6.18667419e-05 3.08857665e+01] [ 1.63870642e-04 -4.55261400e-07 9.99999987e-01 -1.89802933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.08533619499997 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:392.14, Y:30.91, Z:-0.19 [[ 9.25717232e-01 -3.78216318e-01 -1.51733602e-04 3.92144016e+02] [ 3.78216313e-01 9.25717245e-01 -6.18927105e-05 3.09057248e+01] [ 1.63871245e-04 -9.29749461e-08 9.99999987e-01 -1.89343760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.20, Y:30.93, Z:-0.19 [[ 9.27017014e-01 -3.75019242e-01 -1.51722776e-04 3.92196966e+02] [ 3.75019237e-01 9.27017027e-01 -6.19192389e-05 3.09287646e+01] [ 1.63870503e-04 5.01228232e-07 9.99999987e-01 -1.89635099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.25, Y:30.95, Z:-0.19 [[ 9.27930000e-01 -3.72754465e-01 -1.51718957e-04 3.92249271e+02] [ 3.72754460e-01 9.27930013e-01 -6.19285939e-05 3.09528800e+01] [ 1.63868734e-04 9.11482095e-07 9.99999987e-01 -1.85670346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.30, Y:30.98, Z:-0.18 [[ 9.29058880e-01 -3.69931851e-01 -1.51713409e-04 3.92301200e+02] [ 3.69931846e-01 9.29058893e-01 -6.19421832e-05 3.09809489e+01] [ 1.63865078e-04 1.42431383e-06 9.99999987e-01 -1.81069820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.35, Y:31.01, Z:-0.18 [[ 9.29865394e-01 -3.67899886e-01 -1.51702900e-04 3.92352442e+02] [ 3.67899881e-01 9.29865406e-01 -6.19679102e-05 3.10073551e+01] [ 1.63861266e-04 1.81033628e-06 9.99999987e-01 -1.82134089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.40, Y:31.04, Z:-0.18 [[ 9.31014425e-01 -3.64982352e-01 -1.51697311e-04 3.92403750e+02] [ 3.64982347e-01 9.31014437e-01 -6.19815889e-05 3.10369475e+01] [ 1.63854573e-04 2.33891272e-06 9.99999987e-01 -1.84342731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.445336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:392.45, Y:31.07, Z:-0.20 [[ 9.31840290e-01 -3.62868642e-01 -1.51686855e-04 3.92453515e+02] [ 3.62868637e-01 9.31840302e-01 -6.20071673e-05 3.10673986e+01] [ 1.63848382e-04 2.73837429e-06 9.99999987e-01 -1.95187062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.50, Y:31.10, Z:-0.19 [[ 9.31279624e-01 -3.64305145e-01 -1.51683182e-04 3.92504220e+02] [ 3.64305140e-01 9.31279636e-01 -6.20161503e-05 3.10978357e+01] [ 1.63852262e-04 2.49541412e-06 9.99999987e-01 -1.93940349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.56, Y:31.13, Z:-0.19 [[ 9.29518797e-01 -3.68774704e-01 -1.51672973e-04 3.92555214e+02] [ 3.68774699e-01 9.29518810e-01 -6.20411100e-05 3.11272035e+01] [ 1.63862073e-04 1.73522302e-06 9.99999987e-01 -1.93428447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.61, Y:31.15, Z:-0.19 [[ 9.26522614e-01 -3.76239049e-01 -1.51661002e-04 3.92608638e+02] [ 3.76239044e-01 9.26522627e-01 -6.20703580e-05 3.11529253e+01] [ 1.63870643e-04 4.48799838e-07 9.99999987e-01 -1.91653916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.66, Y:31.18, Z:-0.19 [[ 9.24239775e-01 -3.81812539e-01 -1.51650514e-04 3.92660400e+02] [ 3.81812534e-01 9.24239787e-01 -6.20959735e-05 3.11784916e+01] [ 1.63870460e-04 -5.10498449e-07 9.99999987e-01 -1.91557560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.71, Y:31.20, Z:-0.19 [[ 9.22003656e-01 -3.87181140e-01 -1.51646786e-04 3.92712937e+02] [ 3.87181135e-01 9.22003668e-01 -6.21050754e-05 3.12039341e+01] [ 1.63864807e-04 -1.45366829e-06 9.99999987e-01 -1.94518942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.77, Y:31.22, Z:-0.19 [[ 9.19361814e-01 -3.93413054e-01 -1.51643187e-04 3.92767029e+02] [ 3.93413049e-01 9.19361827e-01 -6.21138628e-05 3.12243641e+01] [ 1.63851362e-04 -2.55329498e-06 9.99999987e-01 -1.93457264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.86533619499994 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:392.82, Y:31.25, Z:-0.20 [[ 9.18982048e-01 -3.94299344e-01 -1.51631361e-04 3.92821829e+02] [ 3.94299339e-01 9.18982060e-01 -6.21427185e-05 3.12450305e+01] [ 1.63849334e-04 -2.68010279e-06 9.99999987e-01 -1.98825859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.92533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.87, Y:31.27, Z:-0.20 [[ 9.22157486e-01 -3.86814618e-01 -1.51620939e-04 3.92874842e+02] [ 3.86814613e-01 9.22157498e-01 -6.21681368e-05 3.12696033e+01] [ 1.63865930e-04 -1.32038203e-06 9.99999987e-01 -1.95982049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.93, Y:31.29, Z:-0.19 [[ 9.23986993e-01 -3.82423868e-01 -1.51608456e-04 3.92929160e+02] [ 3.82423863e-01 9.23987005e-01 -6.21985641e-05 3.12922560e+01] [ 1.63870458e-04 -5.08027156e-07 9.99999987e-01 -1.90756927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.04533619499995 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:392.98, Y:31.32, Z:-0.19 [[ 9.26201146e-01 -3.77029725e-01 -1.51597326e-04 3.92981785e+02] [ 3.77029720e-01 9.26201159e-01 -6.22256784e-05 3.13160276e+01] [ 1.63870550e-04 4.76797253e-07 9.99999987e-01 -1.94221342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.03, Y:31.34, Z:-0.20 [[ 9.27841313e-01 -3.72975167e-01 -1.51584657e-04 3.93034464e+02] [ 3.72975161e-01 9.27841325e-01 -6.22565256e-05 3.13399560e+01] [ 1.63866647e-04 1.22686452e-06 9.99999987e-01 -1.96878778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.09, Y:31.37, Z:-0.19 [[ 9.29521841e-01 -3.68767031e-01 -1.51580754e-04 3.93087515e+02] [ 3.68767026e-01 9.29521854e-01 -6.22660278e-05 3.13663989e+01] [ 1.63859282e-04 1.97964899e-06 9.99999987e-01 -1.92298031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.14, Y:31.39, Z:-0.19 [[ 9.30696611e-01 -3.65792010e-01 -1.51570563e-04 3.93139611e+02] [ 3.65792005e-01 9.30696624e-01 -6.22908259e-05 3.13937406e+01] [ 1.63851697e-04 2.53056056e-06 9.99999987e-01 -1.92321295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.19, Y:31.42, Z:-0.19 [[ 9.29756653e-01 -3.68174610e-01 -1.51560095e-04 3.93191867e+02] [ 3.68174605e-01 9.29756665e-01 -6.23162853e-05 3.14179874e+01] [ 1.63857282e-04 2.13840287e-06 9.99999987e-01 -1.92979572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.24, Y:31.44, Z:-0.19 [[ 9.26303148e-01 -3.76779052e-01 -1.51547852e-04 3.93244332e+02] [ 3.76779047e-01 9.26303161e-01 -6.23460445e-05 3.14391046e+01] [ 1.63869938e-04 6.51282117e-07 9.99999987e-01 -1.94513808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.30, Y:31.46, Z:-0.19 [[ 9.22122127e-01 -3.86898901e-01 -1.51542558e-04 3.93300076e+02] [ 3.86898896e-01 9.22122140e-01 -6.23589085e-05 3.14594639e+01] [ 1.63867341e-04 -1.12911922e-06 9.99999987e-01 -1.93533027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.36, Y:31.48, Z:-0.20 [[ 9.19098619e-01 -3.94027544e-01 -1.51532348e-04 3.93355072e+02] [ 3.94027539e-01 9.19098632e-01 -6.23837098e-05 3.14768808e+01] [ 1.63854074e-04 -2.37113664e-06 9.99999987e-01 -1.99124760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.41, Y:31.50, Z:-0.19 [[ 9.18273882e-01 -3.95945772e-01 -1.51526584e-04 3.93410317e+02] [ 3.95945767e-01 9.18273895e-01 -6.23977067e-05 3.14981242e+01] [ 1.63849015e-04 -2.69812525e-06 9.99999987e-01 -1.90393040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.46, Y:31.52, Z:-0.19 [[ 9.19190441e-01 -3.93813294e-01 -1.51515468e-04 3.93464913e+02] [ 3.93813289e-01 9.19190453e-01 -6.24246880e-05 3.15173220e+01] [ 1.63855244e-04 -2.28862830e-06 9.99999987e-01 -1.90195396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.52, Y:31.53, Z:-0.19 [[ 9.20573994e-01 -3.90568174e-01 -1.51509597e-04 3.93520338e+02] [ 3.90568169e-01 9.20574007e-01 -6.24389349e-05 3.15348157e+01] [ 1.63862457e-04 -1.69516593e-06 9.99999987e-01 -1.88138050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.58, Y:31.55, Z:-0.19 [[ 9.21626764e-01 -3.88077421e-01 -1.51505770e-04 3.93575912e+02] [ 3.88077416e-01 9.21626777e-01 -6.24482190e-05 3.15539021e+01] [ 1.63866518e-04 -1.24201762e-06 9.99999987e-01 -1.89955354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.63, Y:31.57, Z:-0.19 [[ 9.22393155e-01 -3.86252307e-01 -1.51495141e-04 3.93633306e+02] [ 3.86252302e-01 9.22393167e-01 -6.24739943e-05 3.15688801e+01] [ 1.63868807e-04 -8.89762067e-07 9.99999987e-01 -1.89437375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.69, Y:31.58, Z:-0.19 [[ 9.22978240e-01 -3.84852110e-01 -1.51484357e-04 3.93689856e+02] [ 3.84852105e-01 9.22978252e-01 -6.25001318e-05 3.15832789e+01] [ 1.63870074e-04 -6.12811823e-07 9.99999987e-01 -1.89440168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.75, Y:31.60, Z:-0.19 [[ 9.24530456e-01 -3.81108139e-01 -1.51478564e-04 3.93747442e+02] [ 3.81108134e-01 9.24530468e-01 -6.25141672e-05 3.15979188e+01] [ 1.63871206e-04 6.65385206e-08 9.99999987e-01 -1.92177385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.80, Y:31.62, Z:-0.19 [[ 9.26580663e-01 -3.76096067e-01 -1.51467970e-04 3.93802581e+02] [ 3.76096062e-01 9.26580676e-01 -6.25398267e-05 3.16154178e+01] [ 1.63868277e-04 9.81687143e-07 9.99999987e-01 -1.94593562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.86, Y:31.63, Z:-0.19 [[ 9.28258623e-01 -3.71935351e-01 -1.51464238e-04 3.93858973e+02] [ 3.71935346e-01 9.28258636e-01 -6.25488622e-05 3.16316630e+01] [ 1.63862120e-04 1.72661685e-06 9.99999987e-01 -1.91209126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.91, Y:31.65, Z:-0.19 [[ 9.29266126e-01 -3.69410942e-01 -1.51460542e-04 3.93914356e+02] [ 3.69410936e-01 9.29266138e-01 -6.25578108e-05 3.16493666e+01] [ 1.63856693e-04 2.18167377e-06 9.99999987e-01 -1.87691012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.97, Y:31.67, Z:-0.19 [[ 9.29979099e-01 -3.67612366e-01 -1.51455074e-04 3.93969721e+02] [ 3.67612361e-01 9.29979112e-01 -6.25710468e-05 3.16700849e+01] [ 1.63851946e-04 2.51300836e-06 9.99999987e-01 -1.93534512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.03, Y:31.69, Z:-0.20 [[ 9.30104904e-01 -3.67293949e-01 -1.51445048e-04 3.94025425e+02] [ 3.67293943e-01 9.30104916e-01 -6.25953046e-05 3.16890927e+01] [ 1.63850660e-04 2.59535095e-06 9.99999987e-01 -1.98850106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.08, Y:31.71, Z:-0.19 [[ 9.29816723e-01 -3.68022877e-01 -1.51435082e-04 3.94081126e+02] [ 3.68022872e-01 9.29816736e-01 -6.26194062e-05 3.17083995e+01] [ 1.63852247e-04 2.49299744e-06 9.99999987e-01 -1.93164651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.14, Y:31.73, Z:-0.19 [[ 9.29819619e-01 -3.68015562e-01 -1.51424839e-04 3.94136533e+02] [ 3.68015557e-01 9.29819631e-01 -6.26441657e-05 3.17294241e+01] [ 1.63851816e-04 2.52107795e-06 9.99999987e-01 -1.89104169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.36533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.19, Y:31.75, Z:-0.19 [[ 9.30572354e-01 -3.66108005e-01 -1.51414706e-04 3.94190390e+02] [ 3.66107999e-01 9.30572366e-01 -6.26686468e-05 3.17514031e+01] [ 1.63845835e-04 2.88357505e-06 9.99999987e-01 -1.94199119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.42533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.24, Y:31.78, Z:-0.19 [[ 9.31884247e-01 -3.62755740e-01 -1.51411127e-04 3.94244043e+02] [ 3.62755734e-01 9.31884260e-01 -6.26772936e-05 3.17759468e+01] [ 1.63834194e-04 3.48272799e-06 9.99999987e-01 -1.89446691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.30, Y:31.80, Z:-0.19 [[ 9.32649027e-01 -3.60784934e-01 -1.51400349e-04 3.94296394e+02] [ 3.60784929e-01 9.32649040e-01 -6.27033186e-05 3.18011645e+01] [ 1.63825802e-04 3.85722512e-06 9.99999987e-01 -1.89357140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.35, Y:31.83, Z:-0.19 [[ 9.32066234e-01 -3.62287886e-01 -1.51396549e-04 3.94349475e+02] [ 3.62287881e-01 9.32066246e-01 -6.27124922e-05 3.18252152e+01] [ 1.63831589e-04 3.60306169e-06 9.99999987e-01 -1.94639407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.60533619499995 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:394.40, Y:31.85, Z:-0.19 [[ 9.30826335e-01 -3.65461778e-01 -1.51392838e-04 3.94402425e+02] [ 3.65461772e-01 9.30826347e-01 -6.27214474e-05 3.18503822e+01] [ 1.63842735e-04 3.05448001e-06 9.99999987e-01 -1.94848750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.46, Y:31.87, Z:-0.19 [[ 9.29347686e-01 -3.69205710e-01 -1.51382341e-04 3.94455155e+02] [ 3.69205705e-01 9.29347698e-01 -6.27467724e-05 3.18749658e+01] [ 1.63853297e-04 2.42234371e-06 9.99999987e-01 -1.88489488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.51, Y:31.90, Z:-0.19 [[ 9.29197521e-01 -3.69583475e-01 -1.51369928e-04 3.94506495e+02] [ 3.69583469e-01 9.29197533e-01 -6.27767034e-05 3.18996288e+01] [ 1.63853796e-04 2.38813391e-06 9.99999987e-01 -1.90831889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.56, Y:31.93, Z:-0.19 [[ 9.29113499e-01 -3.69794650e-01 -1.51364548e-04 3.94558546e+02] [ 3.69794645e-01 9.29113511e-01 -6.27896725e-05 3.19277688e+01] [ 1.63854132e-04 2.36493292e-06 9.99999987e-01 -1.87449469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.61, Y:31.96, Z:-0.19 [[ 9.28554216e-01 -3.71196775e-01 -1.51354194e-04 3.94609342e+02] [ 3.71196770e-01 9.28554228e-01 -6.28146208e-05 3.19571646e+01] [ 1.63857162e-04 2.14459288e-06 9.99999987e-01 -1.86147826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.66, Y:31.99, Z:-0.19 [[ 9.27776486e-01 -3.73136395e-01 -1.51341907e-04 3.94661522e+02] [ 3.73136390e-01 9.27776498e-01 -6.28442110e-05 3.19852709e+01] [ 1.63860927e-04 1.83420833e-06 9.99999987e-01 -1.92543849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.71, Y:32.01, Z:-0.19 [[ 9.26869753e-01 -3.75383055e-01 -1.51331139e-04 3.94712540e+02] [ 3.75383050e-01 9.26869765e-01 -6.28701309e-05 3.20102044e+01] [ 1.63864639e-04 1.46527820e-06 9.99999987e-01 -1.94318718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.02533619499997 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:394.77, Y:32.04, Z:-0.20 [[ 9.25199030e-01 -3.79482190e-01 -1.51322770e-04 3.94765248e+02] [ 3.79482185e-01 9.25199042e-01 -6.28902677e-05 3.20356144e+01] [ 1.63869418e-04 7.61719320e-07 9.99999987e-01 -1.95140668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.82, Y:32.06, Z:-0.19 [[ 9.23690254e-01 -3.83140041e-01 -1.51312368e-04 3.94817611e+02] [ 3.83140036e-01 9.23690267e-01 -6.29152841e-05 3.20618465e+01] [ 1.63871126e-04 1.40408595e-07 9.99999987e-01 -1.92702897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.87, Y:32.09, Z:-0.20 [[ 9.22885786e-01 -3.85073764e-01 -1.51301893e-04 3.94871167e+02] [ 3.85073758e-01 9.22885798e-01 -6.29404654e-05 3.20875072e+01] [ 1.63871090e-04 -1.75527692e-07 9.99999987e-01 -1.95026403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.92, Y:32.11, Z:-0.19 [[ 9.23113321e-01 -3.84527989e-01 -1.51291456e-04 3.94924570e+02] [ 3.84527984e-01 9.23113333e-01 -6.29655425e-05 3.21131709e+01] [ 1.63871174e-04 -5.14676208e-08 9.99999987e-01 -1.90066644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.98, Y:32.14, Z:-0.19 [[ 9.24244621e-01 -3.81800809e-01 -1.51281042e-04 3.94977874e+02] [ 3.81800803e-01 9.24244634e-01 -6.29905537e-05 3.21381166e+01] [ 1.63870536e-04 4.59457030e-07 9.99999987e-01 -1.89677784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.03, Y:32.17, Z:-0.19 [[ 9.25202445e-01 -3.79473864e-01 -1.51270244e-04 3.95029774e+02] [ 3.79473859e-01 9.25202457e-01 -6.30164752e-05 3.21650461e+01] [ 1.63868706e-04 8.99893827e-07 9.99999987e-01 -1.89817051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.08, Y:32.19, Z:-0.19 [[ 9.26046137e-01 -3.77410292e-01 -1.51257473e-04 3.95082440e+02] [ 3.77410287e-01 9.26046150e-01 -6.30471124e-05 3.21888226e+01] [ 1.63866030e-04 1.29840851e-06 9.99999987e-01 -1.91369640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.14, Y:32.21, Z:-0.19 [[ 9.26236046e-01 -3.76943981e-01 -1.51253536e-04 3.95136271e+02] [ 3.76943975e-01 9.26236058e-01 -6.30565579e-05 3.22116260e+01] [ 1.63865269e-04 1.39114779e-06 9.99999987e-01 -1.89416035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.19, Y:32.24, Z:-0.19 [[ 9.26544050e-01 -3.76186257e-01 -1.51242660e-04 3.95189033e+02] [ 3.76186252e-01 9.26544063e-01 -6.30826332e-05 3.22364207e+01] [ 1.63863808e-04 1.55342916e-06 9.99999987e-01 -1.90038552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.24, Y:32.26, Z:-0.19 [[ 9.27052787e-01 -3.74930803e-01 -1.51236878e-04 3.95242029e+02] [ 3.74930797e-01 9.27052800e-01 -6.30964915e-05 3.22617003e+01] [ 1.63861389e-04 1.79041502e-06 9.99999987e-01 -1.88980128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.29, Y:32.29, Z:-0.19 [[ 9.27951336e-01 -3.72701349e-01 -1.51226224e-04 3.95294995e+02] [ 3.72701344e-01 9.27951348e-01 -6.31220156e-05 3.22852775e+01] [ 1.63856239e-04 2.21194174e-06 9.99999987e-01 -1.92446155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.35, Y:32.31, Z:-0.19 [[ 9.28856826e-01 -3.70438893e-01 -1.51222471e-04 3.95347611e+02] [ 3.70438888e-01 9.28856839e-01 -6.31310070e-05 3.23108657e+01] [ 1.63850206e-04 2.62098306e-06 9.99999987e-01 -1.85371800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.40, Y:32.34, Z:-0.18 [[ 9.30382435e-01 -3.66590373e-01 -1.51218578e-04 3.95397921e+02] [ 3.66590367e-01 9.30382448e-01 -6.31403285e-05 3.23396931e+01] [ 1.63837748e-04 3.30937842e-06 9.99999987e-01 -1.84687241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.45, Y:32.37, Z:-0.19 [[ 9.31604322e-01 -3.63474021e-01 -1.51206162e-04 3.95449531e+02] [ 3.63474016e-01 9.31604334e-01 -6.31700485e-05 3.23685654e+01] [ 1.63824988e-04 3.88997927e-06 9.99999987e-01 -1.86820676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.86533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.50, Y:32.40, Z:-0.19 [[ 9.31760829e-01 -3.63072631e-01 -1.51195365e-04 3.95501530e+02] [ 3.63072626e-01 9.31760841e-01 -6.31958807e-05 3.23963327e+01] [ 1.63822615e-04 3.98854799e-06 9.99999987e-01 -1.85715828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.92533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.55, Y:32.43, Z:-0.19 [[ 9.31290491e-01 -3.64277364e-01 -1.51184547e-04 3.95551680e+02] [ 3.64277359e-01 9.31290504e-01 -6.32217513e-05 3.24262304e+01] [ 1.63826985e-04 3.80470856e-06 9.99999987e-01 -1.87636727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.60, Y:32.46, Z:-0.19 [[ 9.30672731e-01 -3.65852764e-01 -1.51180726e-04 3.95601451e+02] [ 3.65852758e-01 9.30672743e-01 -6.32308871e-05 3.24569606e+01] [ 1.63832975e-04 3.53737696e-06 9.99999987e-01 -1.87373679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.65, Y:32.49, Z:-0.19 [[ 9.29789490e-01 -3.68091675e-01 -1.51176954e-04 3.95653045e+02] [ 3.68091670e-01 9.29789502e-01 -6.32399029e-05 3.24870918e+01] [ 1.63840827e-04 3.15281960e-06 9.99999987e-01 -1.85402261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.70, Y:32.52, Z:-0.19 [[ 9.28884804e-01 -3.70368731e-01 -1.51166515e-04 3.95703680e+02] [ 3.70368726e-01 9.28884817e-01 -6.32648464e-05 3.25196453e+01] [ 1.63847601e-04 2.77840497e-06 9.99999987e-01 -1.89127129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.75, Y:32.55, Z:-0.19 [[ 9.28148140e-01 -3.72210971e-01 -1.51156371e-04 3.95754355e+02] [ 3.72210966e-01 9.28148152e-01 -6.32890735e-05 3.25475667e+01] [ 1.63852394e-04 2.47957697e-06 9.99999987e-01 -1.93143025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.22533619499995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:395.81, Y:32.58, Z:-0.20 [[ 9.26287334e-01 -3.76817929e-01 -1.51152493e-04 3.95805457e+02] [ 3.76817923e-01 9.26287347e-01 -6.32983352e-05 3.25779234e+01] [ 1.63862589e-04 1.67547788e-06 9.99999987e-01 -1.95432736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.86, Y:32.61, Z:-0.19 [[ 9.23206084e-01 -3.84305223e-01 -1.51141468e-04 3.95856425e+02] [ 3.84305217e-01 9.23206096e-01 -6.33246489e-05 3.26069762e+01] [ 1.63870718e-04 3.77246511e-07 9.99999987e-01 -1.90912459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.91, Y:32.63, Z:-0.19 [[ 9.19583944e-01 -3.92893557e-01 -1.51137566e-04 3.95909204e+02] [ 3.92893551e-01 9.19583957e-01 -6.33339593e-05 3.26338687e+01] [ 1.63867186e-04 -1.14008304e-06 9.99999987e-01 -1.92780927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.40533619499996 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:395.96, Y:32.66, Z:-0.19 [[ 9.17006989e-01 -3.98871107e-01 -1.51126525e-04 3.95963063e+02] [ 3.98871102e-01 9.17007001e-01 -6.33602954e-05 3.26581515e+01] [ 1.63856672e-04 -2.17816975e-06 9.99999987e-01 -1.94850332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.02, Y:32.68, Z:-0.19 [[ 9.16315091e-01 -4.00458026e-01 -1.51115515e-04 3.96016711e+02] [ 4.00458021e-01 9.16315104e-01 -6.33865423e-05 3.26808368e+01] [ 1.63853079e-04 -2.43337487e-06 9.99999987e-01 -1.89883296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.52533619499997 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:396.07, Y:32.71, Z:-0.19 [[ 9.16455873e-01 -4.00135739e-01 -1.51111638e-04 3.96069818e+02] [ 4.00135734e-01 9.16455886e-01 -6.33957842e-05 3.27052303e+01] [ 1.63854069e-04 -2.36572733e-06 9.99999987e-01 -1.93017947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.12, Y:32.73, Z:-0.19 [[ 9.16885403e-01 -3.99150518e-01 -1.51100834e-04 3.96123410e+02] [ 3.99150513e-01 9.16885415e-01 -6.34215243e-05 3.27288707e+01] [ 1.63856885e-04 -2.16170556e-06 9.99999987e-01 -1.89148789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.18, Y:32.75, Z:-0.19 [[ 9.18709558e-01 -3.94933824e-01 -1.51089969e-04 3.96178170e+02] [ 3.94933818e-01 9.18709571e-01 -6.34473989e-05 3.27504930e+01] [ 1.63865324e-04 -1.38080644e-06 9.99999987e-01 -1.90347294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.23, Y:32.77, Z:-0.19 [[ 9.20428077e-01 -3.90911925e-01 -1.51078847e-04 3.96231647e+02] [ 3.90911920e-01 9.20428089e-01 -6.34738693e-05 3.27730744e+01] [ 1.63869907e-04 -6.35390803e-07 9.99999987e-01 -1.92484340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.28, Y:32.80, Z:-0.19 [[ 9.22926499e-01 -3.84976175e-01 -1.51074907e-04 3.96284908e+02] [ 3.84976170e-01 9.22926511e-01 -6.34832465e-05 3.27971062e+01] [ 1.63870574e-04 4.30131397e-07 9.99999987e-01 -1.91418737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.825336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:396.34, Y:32.82, Z:-0.19 [[ 9.24720905e-01 -3.80645801e-01 -1.51063885e-04 3.96338064e+02] [ 3.80645796e-01 9.24720917e-01 -6.35094637e-05 3.28193294e+01] [ 1.63866545e-04 1.22669609e-06 9.99999987e-01 -1.94468446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.39, Y:32.84, Z:-0.19 [[ 9.25128166e-01 -3.79654915e-01 -1.51058027e-04 3.96392339e+02] [ 3.79654909e-01 9.25128178e-01 -6.35233924e-05 3.28428583e+01] [ 1.63865006e-04 1.41735777e-06 9.99999987e-01 -1.92135326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.945336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:396.44, Y:32.87, Z:-0.19 [[ 9.25667246e-01 -3.78338641e-01 -1.51047083e-04 3.96444815e+02] [ 3.78338635e-01 9.25667258e-01 -6.35494055e-05 3.28681854e+01] [ 1.63862535e-04 1.67865588e-06 9.99999987e-01 -1.94984428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.005336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:396.50, Y:32.89, Z:-0.20 [[ 9.26077791e-01 -3.77332614e-01 -1.51043218e-04 3.96496529e+02] [ 3.77332609e-01 9.26077804e-01 -6.35585918e-05 3.28924146e+01] [ 1.63860501e-04 1.86666896e-06 9.99999987e-01 -1.95028154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.55, Y:32.92, Z:-0.19 [[ 9.25510388e-01 -3.78722193e-01 -1.51034992e-04 3.96548803e+02] [ 3.78722188e-01 9.25510400e-01 -6.35781320e-05 3.29185936e+01] [ 1.63862906e-04 1.64191903e-06 9.99999987e-01 -1.92385015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.60, Y:32.94, Z:-0.19 [[ 9.23418417e-01 -3.83794743e-01 -1.51029371e-04 3.96601879e+02] [ 3.83794737e-01 9.23418429e-01 -6.35914813e-05 3.29435801e+01] [ 1.63869381e-04 7.57267098e-07 9.99999987e-01 -1.88591573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.65, Y:32.97, Z:-0.19 [[ 9.21132587e-01 -3.89248937e-01 -1.51018280e-04 3.96654140e+02] [ 3.89248932e-01 9.21132599e-01 -6.36178111e-05 3.29677623e+01] [ 1.63871026e-04 -1.83265165e-07 9.99999987e-01 -1.87379393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.71, Y:32.99, Z:-0.19 [[ 9.19880710e-01 -3.92198236e-01 -1.51005427e-04 3.96705825e+02] [ 3.92198231e-01 9.19880722e-01 -6.36483035e-05 3.29913011e+01] [ 1.63869734e-04 -6.75214888e-07 9.99999987e-01 -1.89316209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.76, Y:33.01, Z:-0.19 [[ 9.18646188e-01 -3.95081204e-01 -1.50996721e-04 3.96759652e+02] [ 3.95081199e-01 9.18646201e-01 -6.36689520e-05 3.30122304e+01] [ 1.63866970e-04 -1.16672533e-06 9.99999987e-01 -1.89095207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.36533619499994 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:396.81, Y:33.04, Z:-0.19 [[ 9.18816569e-01 -3.94684799e-01 -1.50984224e-04 3.96813087e+02] [ 3.94684794e-01 9.18816581e-01 -6.36985728e-05 3.30350033e+01] [ 1.63867667e-04 -1.06387322e-06 9.99999987e-01 -1.94491831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.42533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.87, Y:33.06, Z:-0.19 [[ 9.19435760e-01 -3.93240207e-01 -1.50980363e-04 3.96867155e+02] [ 3.93240202e-01 9.19435772e-01 -6.37077218e-05 3.30565816e+01] [ 1.63869185e-04 -7.96391035e-07 9.99999987e-01 -1.88887137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.92, Y:33.08, Z:-0.19 [[ 9.20310461e-01 -3.91188744e-01 -1.50968210e-04 3.96922676e+02] [ 3.91188739e-01 9.20310473e-01 -6.37365084e-05 3.30776089e+01] [ 1.63870630e-04 -3.99688340e-07 9.99999987e-01 -1.91577709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.54533619499995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:396.98, Y:33.10, Z:-0.19 [[ 9.20707196e-01 -3.90254067e-01 -1.50958282e-04 3.96977324e+02] [ 3.90254062e-01 9.20707208e-01 -6.37600139e-05 3.30981888e+01] [ 1.63870983e-04 -2.07779135e-07 9.99999987e-01 -1.90279037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.03, Y:33.12, Z:-0.19 [[ 9.22503428e-01 -3.85988863e-01 -1.50945553e-04 3.97032680e+02] [ 3.85988858e-01 9.22503441e-01 -6.37901350e-05 3.31173443e+01] [ 1.63870074e-04 5.83316676e-07 9.99999987e-01 -1.93819981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.09, Y:33.14, Z:-0.20 [[ 9.23559679e-01 -3.83454686e-01 -1.50934357e-04 3.97086651e+02] [ 3.83454681e-01 9.23559691e-01 -6.38166138e-05 3.31379159e+01] [ 1.63867668e-04 1.06196553e-06 9.99999987e-01 -1.98011273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.14, Y:33.16, Z:-0.19 [[ 9.24574714e-01 -3.81000754e-01 -1.50930406e-04 3.97141477e+02] [ 3.81000749e-01 9.24574727e-01 -6.38259582e-05 3.31600600e+01] [ 1.63864177e-04 1.50726942e-06 9.99999987e-01 -1.93163296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.20, Y:33.18, Z:-0.20 [[ 9.24490887e-01 -3.81204115e-01 -1.50928132e-04 3.97197057e+02] [ 3.81204110e-01 9.24490899e-01 -6.38313342e-05 3.31804516e+01] [ 1.63864452e-04 1.47706243e-06 9.99999987e-01 -1.96587812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.25, Y:33.20, Z:-0.20 [[ 9.25464961e-01 -3.78833187e-01 -1.50917454e-04 3.97251427e+02] [ 3.78833182e-01 9.25464973e-01 -6.38565699e-05 3.32026788e+01] [ 1.63859806e-04 1.92447851e-06 9.99999987e-01 -1.95657936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.30, Y:33.23, Z:-0.20 [[ 9.26614795e-01 -3.76011966e-01 -1.50906295e-04 3.97304967e+02] [ 3.76011960e-01 9.26614808e-01 -6.38829304e-05 3.32253677e+01] [ 1.63852754e-04 2.45229656e-06 9.99999987e-01 -1.96379747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.36, Y:33.25, Z:-0.19 [[ 9.26694757e-01 -3.75814855e-01 -1.50902362e-04 3.97358746e+02] [ 3.75814850e-01 9.26694769e-01 -6.38922209e-05 3.32488523e+01] [ 1.63852075e-04 2.49723778e-06 9.99999987e-01 -1.94169040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.41, Y:33.27, Z:-0.19 [[ 9.24756648e-01 -3.80558957e-01 -1.50891740e-04 3.97411258e+02] [ 3.80558951e-01 9.24756660e-01 -6.39172960e-05 3.32725576e+01] [ 1.63862441e-04 1.68474208e-06 9.99999987e-01 -1.90411669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.46, Y:33.29, Z:-0.19 [[ 9.23234320e-01 -3.84237384e-01 -1.50878967e-04 3.97463568e+02] [ 3.84237378e-01 9.23234333e-01 -6.39474325e-05 3.32943766e+01] [ 1.63867637e-04 1.06512562e-06 9.99999987e-01 -1.92250995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.52, Y:33.31, Z:-0.19 [[ 9.21896228e-01 -3.87436862e-01 -1.50870272e-04 3.97519486e+02] [ 3.87436857e-01 9.21896240e-01 -6.39679399e-05 3.33134189e+01] [ 1.63870274e-04 5.19098559e-07 9.99999987e-01 -1.92972175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.57, Y:33.34, Z:-0.19 [[ 9.22868404e-01 -3.85115420e-01 -1.50859204e-04 3.97572157e+02] [ 3.85115415e-01 9.22868416e-01 -6.39940309e-05 3.33402899e+01] [ 1.63868283e-04 9.59864068e-07 9.99999987e-01 -1.91194929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.62, Y:33.37, Z:-0.19 [[ 9.24968210e-01 -3.80044454e-01 -1.50848071e-04 3.97624494e+02] [ 3.80044448e-01 9.24968223e-01 -6.40202644e-05 3.33667029e+01] [ 1.63860218e-04 1.88773759e-06 9.99999987e-01 -1.92683210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.68, Y:33.39, Z:-0.19 [[ 9.26911129e-01 -3.75280878e-01 -1.50837017e-04 3.97677518e+02] [ 3.75280872e-01 9.26911141e-01 -6.40462984e-05 3.33931715e+01] [ 1.63847862e-04 2.75897961e-06 9.99999987e-01 -1.94486545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.73, Y:33.42, Z:-0.19 [[ 9.26888101e-01 -3.75337748e-01 -1.50825968e-04 3.97729623e+02] [ 3.75337742e-01 9.26888114e-01 -6.40723060e-05 3.34215262e+01] [ 1.63847552e-04 2.77717963e-06 9.99999987e-01 -1.91805073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.78, Y:33.45, Z:-0.19 [[ 9.26598380e-01 -3.76052416e-01 -1.50814995e-04 3.97782346e+02] [ 3.76052411e-01 9.26598392e-01 -6.40981253e-05 3.34456822e+01] [ 1.63849187e-04 2.67887671e-06 9.99999987e-01 -1.90402652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.83, Y:33.47, Z:-0.20 [[ 9.25189057e-01 -3.79506503e-01 -1.50802314e-04 3.97834266e+02] [ 3.79506497e-01 9.25189069e-01 -6.41279441e-05 3.34704132e+01] [ 1.63857625e-04 2.10001395e-06 9.99999987e-01 -1.95365468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.89, Y:33.50, Z:-0.20 [[ 9.23724325e-01 -3.83057893e-01 -1.50798408e-04 3.97885858e+02] [ 3.83057888e-01 9.23724337e-01 -6.41371299e-05 3.34968147e+01] [ 1.63864393e-04 1.48050745e-06 9.99999987e-01 -1.95772669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.94, Y:33.52, Z:-0.19 [[ 9.23066906e-01 -3.84639396e-01 -1.50786255e-04 3.97937955e+02] [ 3.84639390e-01 9.23066918e-01 -6.41656881e-05 3.35245337e+01] [ 1.63866455e-04 1.23088998e-06 9.99999987e-01 -1.89147170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.99, Y:33.55, Z:-0.19 [[ 9.22569495e-01 -3.85830926e-01 -1.50775474e-04 3.97990810e+02] [ 3.85830921e-01 9.22569508e-01 -6.41910118e-05 3.35504930e+01] [ 1.63867732e-04 1.04682953e-06 9.99999987e-01 -1.85444154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.04, Y:33.58, Z:-0.18 [[ 9.22542299e-01 -3.85895950e-01 -1.50764736e-04 3.98041799e+02] [ 3.85895945e-01 9.22542311e-01 -6.42162220e-05 3.35776462e+01] [ 1.63867628e-04 1.06268090e-06 9.99999987e-01 -1.84584938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.09, Y:33.60, Z:-0.19 [[ 9.21778361e-01 -3.87717204e-01 -1.50752101e-04 3.98093283e+02] [ 3.87717198e-01 9.21778374e-01 -6.42458680e-05 3.36038810e+01] [ 1.63869255e-04 7.71268534e-07 9.99999987e-01 -1.87085456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.86533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.15, Y:33.63, Z:-0.19 [[ 9.21371761e-01 -3.88682461e-01 -1.50748190e-04 3.98145925e+02] [ 3.88682456e-01 9.21371773e-01 -6.42550455e-05 3.36291693e+01] [ 1.63869936e-04 6.09607836e-07 9.99999987e-01 -1.85321940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.92533619499994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:398.20, Y:33.66, Z:-0.18 [[ 9.20707211e-01 -3.90254032e-01 -1.50736099e-04 3.98198863e+02] [ 3.90254027e-01 9.20707223e-01 -6.42833959e-05 3.36555483e+01] [ 1.63870670e-04 3.60816446e-07 9.99999987e-01 -1.84406507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.25, Y:33.68, Z:-0.19 [[ 9.18837607e-01 -3.94635819e-01 -1.50725033e-04 3.98251819e+02] [ 3.94635813e-01 9.18837619e-01 -6.43093332e-05 3.36793316e+01] [ 1.63870597e-04 -3.91662057e-07 9.99999987e-01 -1.89216126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.31, Y:33.70, Z:-0.19 [[ 9.16809003e-01 -3.99325969e-01 -1.50721126e-04 3.98305505e+02] [ 3.99325964e-01 9.16809015e-01 -6.43184887e-05 3.37038916e+01] [ 1.63866530e-04 -1.21908925e-06 9.99999987e-01 -1.87277580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.36, Y:33.73, Z:-0.19 [[ 9.15501847e-01 -4.02313740e-01 -1.50710187e-04 3.98358636e+02] [ 4.02313735e-01 9.15501860e-01 -6.43441106e-05 3.37272931e+01] [ 1.63861976e-04 -1.72562592e-06 9.99999987e-01 -1.88186818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.41, Y:33.75, Z:-0.19 [[ 9.13955190e-01 -4.05815090e-01 -1.50706333e-04 3.98412975e+02] [ 4.05815085e-01 9.13955203e-01 -6.43531344e-05 3.37507483e+01] [ 1.63854311e-04 -2.34302232e-06 9.99999987e-01 -1.89919123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.22533619499995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:398.47, Y:33.77, Z:-0.19 [[ 9.13569944e-01 -4.06681614e-01 -1.50695790e-04 3.98465848e+02] [ 4.06681609e-01 9.13569956e-01 -6.43778151e-05 3.37729629e+01] [ 1.63852420e-04 -2.47156933e-06 9.99999987e-01 -1.91296499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.52, Y:33.80, Z:-0.19 [[ 9.14553618e-01 -4.04464655e-01 -1.50691339e-04 3.98519623e+02] [ 4.04464650e-01 9.14553630e-01 -6.43882324e-05 3.37961704e+01] [ 1.63858075e-04 -2.06282867e-06 9.99999987e-01 -1.85316282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.57, Y:33.82, Z:-0.18 [[ 9.16121622e-01 -4.00900425e-01 -1.50680415e-04 3.98572473e+02] [ 4.00900419e-01 9.16121635e-01 -6.44137860e-05 3.38191848e+01] [ 1.63865102e-04 -1.39697931e-06 9.99999987e-01 -1.83810356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.63, Y:33.84, Z:-0.19 [[ 9.16923016e-01 -3.99064104e-01 -1.50667696e-04 3.98625790e+02] [ 3.99064099e-01 9.16923029e-01 -6.44435220e-05 3.38413329e+01] [ 1.63867777e-04 -1.03631979e-06 9.99999987e-01 -1.85465279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.68, Y:33.86, Z:-0.19 [[ 9.17149086e-01 -3.98544266e-01 -1.50655071e-04 3.98680119e+02] [ 3.98544260e-01 9.17149098e-01 -6.44730229e-05 3.38621809e+01] [ 1.63868516e-04 -9.11339827e-07 9.99999987e-01 -1.86219646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.73, Y:33.88, Z:-0.19 [[ 9.16927587e-01 -3.99053602e-01 -1.50651161e-04 3.98734610e+02] [ 3.99053597e-01 9.16927599e-01 -6.44821572e-05 3.38841850e+01] [ 1.63868045e-04 -9.92419015e-07 9.99999987e-01 -1.85614273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.79, Y:33.90, Z:-0.19 [[ 9.15989196e-01 -4.01202904e-01 -1.50640087e-04 3.98791308e+02] [ 4.01202899e-01 9.15989208e-01 -6.45080191e-05 3.38984747e+01] [ 1.63865498e-04 -1.34859095e-06 9.99999987e-01 -1.89730291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.85, Y:33.92, Z:-0.19 [[ 9.15821879e-01 -4.01584690e-01 -1.50636171e-04 3.98846581e+02] [ 4.01584685e-01 9.15821891e-01 -6.45171610e-05 3.39188383e+01] [ 1.63865007e-04 -1.40695173e-06 9.99999987e-01 -1.89281848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.90, Y:33.94, Z:-0.19 [[ 9.16526418e-01 -3.99974128e-01 -1.50625550e-04 3.98901953e+02] [ 3.99974122e-01 9.16526430e-01 -6.45419483e-05 3.39378833e+01] [ 1.63867407e-04 -1.09192154e-06 9.99999987e-01 -1.85686902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.96, Y:33.96, Z:-0.19 [[ 9.18110775e-01 -3.96323835e-01 -1.50612811e-04 3.98957213e+02] [ 3.96323830e-01 9.18110787e-01 -6.45716632e-05 3.39566939e+01] [ 1.63870535e-04 -4.07506089e-07 9.99999987e-01 -1.86440170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.01, Y:33.98, Z:-0.18 [[ 9.20349560e-01 -3.91096746e-01 -1.50600070e-04 3.99011780e+02] [ 3.91096740e-01 9.20349572e-01 -6.46013630e-05 3.39785546e+01] [ 1.63870093e-04 5.56639360e-07 9.99999987e-01 -1.81290254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.07, Y:34.00, Z:-0.18 [[ 9.22641147e-01 -3.85659553e-01 -1.50588796e-04 3.99065747e+02] [ 3.85659548e-01 9.22641159e-01 -6.46276345e-05 3.40002947e+01] [ 1.63863686e-04 1.55210805e-06 9.99999987e-01 -1.84066128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.945336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:399.12, Y:34.02, Z:-0.18 [[ 9.24377801e-01 -3.81478254e-01 -1.50584816e-04 3.99119585e+02] [ 3.81478249e-01 9.24377813e-01 -6.46369055e-05 3.40235453e+01] [ 1.63854837e-04 2.30408858e-06 9.99999987e-01 -1.84363292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.17, Y:34.05, Z:-0.18 [[ 9.24768638e-01 -3.80529820e-01 -1.50573613e-04 3.99172759e+02] [ 3.80529814e-01 9.24768650e-01 -6.46629923e-05 3.40472204e+01] [ 1.63851954e-04 2.50055819e-06 9.99999987e-01 -1.83173285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.23, Y:34.07, Z:-0.18 [[ 9.25147302e-01 -3.79608281e-01 -1.50569668e-04 3.99225066e+02] [ 3.79608276e-01 9.25147314e-01 -6.46721786e-05 3.40740670e+01] [ 1.63849218e-04 2.67379960e-06 9.99999987e-01 -1.84263078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.125336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:399.28, Y:34.10, Z:-0.18 [[ 9.25580273e-01 -3.78551365e-01 -1.50566456e-04 3.99275863e+02] [ 3.78551360e-01 9.25580285e-01 -6.46796552e-05 3.41016141e+01] [ 1.63845915e-04 2.86907626e-06 9.99999987e-01 -1.84984813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.33, Y:34.13, Z:-0.19 [[ 9.25161314e-01 -3.79574129e-01 -1.50553622e-04 3.99326724e+02] [ 3.79574124e-01 9.25161327e-01 -6.47095146e-05 3.41276752e+01] [ 1.63848446e-04 2.72048037e-06 9.99999987e-01 -1.87065226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.38, Y:34.16, Z:-0.19 [[ 9.23711402e-01 -3.83089053e-01 -1.50544913e-04 3.99378257e+02] [ 3.83089048e-01 9.23711415e-01 -6.47297691e-05 3.41555529e+01] [ 1.63857321e-04 2.11951842e-06 9.99999987e-01 -1.87301485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.43, Y:34.18, Z:-0.19 [[ 9.22574543e-01 -3.85818857e-01 -1.50533848e-04 3.99428840e+02] [ 3.85818851e-01 9.22574555e-01 -6.47554923e-05 3.41843578e+01] [ 1.63862588e-04 1.66297244e-06 9.99999987e-01 -1.87019450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.36533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.48, Y:34.21, Z:-0.18 [[ 9.20224833e-01 -3.91390131e-01 -1.50529935e-04 3.99481022e+02] [ 3.91390126e-01 9.20224845e-01 -6.47645855e-05 3.42124819e+01] [ 1.63869606e-04 6.82049543e-07 9.99999987e-01 -1.81863542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.42533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.53, Y:34.24, Z:-0.18 [[ 9.18612206e-01 -3.95160211e-01 -1.50518627e-04 3.99532419e+02] [ 3.95160206e-01 9.18612218e-01 -6.47908574e-05 3.42381433e+01] [ 1.63871019e-04 3.87008998e-08 9.99999987e-01 -1.84427646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.59, Y:34.26, Z:-0.18 [[ 9.16203591e-01 -4.00713062e-01 -1.50513062e-04 3.99585201e+02] [ 4.00713057e-01 9.16203603e-01 -6.48037814e-05 3.42636122e+01] [ 1.63868332e-04 -9.39092062e-07 9.99999987e-01 -1.83958086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.64, Y:34.29, Z:-0.19 [[ 9.14889570e-01 -4.03704165e-01 -1.50501981e-04 3.99637625e+02] [ 4.03704160e-01 9.14889582e-01 -6.48295072e-05 3.42907123e+01] [ 1.63864636e-04 -1.44643577e-06 9.99999987e-01 -1.86752544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.69, Y:34.31, Z:-0.19 [[ 9.15735353e-01 -4.01781957e-01 -1.50490843e-04 3.99690781e+02] [ 4.01781952e-01 9.15735365e-01 -6.48553516e-05 3.43138922e+01] [ 1.63867497e-04 -1.07416623e-06 9.99999987e-01 -1.86371141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.74, Y:34.34, Z:-0.19 [[ 9.17724619e-01 -3.97217196e-01 -1.50486907e-04 3.99741952e+02] [ 3.97217191e-01 9.17724631e-01 -6.48644818e-05 3.43408812e+01] [ 1.63870829e-04 -2.48254829e-07 9.99999987e-01 -1.85208014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.80, Y:34.37, Z:-0.18 [[ 9.18946243e-01 -3.94382783e-01 -1.50474041e-04 3.99795168e+02] [ 3.94382777e-01 9.18946256e-01 -6.48943150e-05 3.43658311e+01] [ 1.63870758e-04 2.90016619e-07 9.99999987e-01 -1.84722556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.78533619499996 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:399.85, Y:34.39, Z:-0.19 [[ 9.20873714e-01 -3.89860975e-01 -1.50462819e-04 3.99845806e+02] [ 3.89860969e-01 9.20873727e-01 -6.49203253e-05 3.43938026e+01] [ 1.63867158e-04 1.12384067e-06 9.99999987e-01 -1.88654425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.90, Y:34.42, Z:-0.18 [[ 9.21588156e-01 -3.88169097e-01 -1.50449917e-04 3.99896857e+02] [ 3.88169092e-01 9.21588168e-01 -6.49502103e-05 3.44205603e+01] [ 1.63864528e-04 1.45733676e-06 9.99999987e-01 -1.84064614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.95, Y:34.45, Z:-0.18 [[ 9.21004145e-01 -3.89552745e-01 -1.50445931e-04 3.99948101e+02] [ 3.89552740e-01 9.21004158e-01 -6.49594433e-05 3.44472659e+01] [ 1.63866457e-04 1.22129211e-06 9.99999987e-01 -1.84439793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.00, Y:34.47, Z:-0.18 [[ 9.18784629e-01 -3.94759145e-01 -1.50433212e-04 4.00000281e+02] [ 3.94759139e-01 9.18784642e-01 -6.49888834e-05 3.44727770e+01] [ 1.63870681e-04 3.25901774e-07 9.99999987e-01 -1.83707008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.05, Y:34.50, Z:-0.18 [[ 9.16743864e-01 -3.99475488e-01 -1.50420311e-04 4.00051807e+02] [ 3.99475483e-01 9.16743876e-01 -6.50187290e-05 3.45006532e+01] [ 1.63870288e-04 -4.83705678e-07 9.99999987e-01 -1.81894555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.10, Y:34.53, Z:-0.19 [[ 9.15678241e-01 -4.01912100e-01 -1.50409057e-04 4.00103644e+02] [ 4.01912095e-01 9.15678253e-01 -6.50447545e-05 3.45257243e+01] [ 1.63868576e-04 -8.91152659e-07 9.99999987e-01 -1.85530787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.16, Y:34.55, Z:-0.18 [[ 9.14688921e-01 -4.04158578e-01 -1.50403062e-04 4.00156950e+02] [ 4.04158572e-01 9.14688933e-01 -6.50586131e-05 3.45501453e+01] [ 1.63866013e-04 -1.27829421e-06 9.99999987e-01 -1.81776152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.21, Y:34.58, Z:-0.18 [[ 9.13773874e-01 -4.06223195e-01 -1.50391707e-04 4.00208188e+02] [ 4.06223190e-01 9.13773886e-01 -6.50848503e-05 3.45774609e+01] [ 1.63862991e-04 -1.61976338e-06 9.99999987e-01 -1.78842617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.26, Y:34.60, Z:-0.18 [[ 9.12664657e-01 -4.08709190e-01 -1.50387721e-04 4.00260992e+02] [ 4.08709185e-01 9.12664669e-01 -6.50940598e-05 3.46004132e+01] [ 1.63858100e-04 -2.05579515e-06 9.99999987e-01 -1.83282304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.32, Y:34.62, Z:-0.18 [[ 9.10109596e-01 -4.14367591e-01 -1.50383798e-04 4.00316496e+02] [ 4.14367586e-01 9.10109608e-01 -6.51031223e-05 3.46209454e+01] [ 1.63842363e-04 -3.06319492e-06 9.99999987e-01 -1.77575352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.385336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:400.37, Y:34.64, Z:-0.18 [[ 9.07530281e-01 -4.19986627e-01 -1.50372859e-04 4.00372749e+02] [ 4.19986622e-01 9.07530293e-01 -6.51283784e-05 3.46392667e+01] [ 1.63820973e-04 -4.04861352e-06 9.99999987e-01 -1.84091525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.43, Y:34.66, Z:-0.18 [[ 9.05559940e-01 -4.24218308e-01 -1.50369722e-04 4.00429606e+02] [ 4.24218303e-01 9.05559952e-01 -6.51356207e-05 3.46569517e+01] [ 1.63800521e-04 -4.80537942e-06 9.99999987e-01 -1.83657243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.49, Y:34.67, Z:-0.18 [[ 9.05324228e-01 -4.24721108e-01 -1.50358566e-04 4.00485856e+02] [ 4.24721103e-01 9.05324241e-01 -6.51613619e-05 3.46735653e+01] [ 1.63798661e-04 -4.86829640e-06 9.99999987e-01 -1.80924805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.54, Y:34.69, Z:-0.18 [[ 9.06815183e-01 -4.21528411e-01 -1.50354609e-04 4.00542159e+02] [ 4.21528406e-01 9.06815196e-01 -6.51704926e-05 3.46903751e+01] [ 1.63815058e-04 -4.28114634e-06 9.99999987e-01 -1.79699914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.60, Y:34.71, Z:-0.18 [[ 9.09189614e-01 -4.16382304e-01 -1.50343503e-04 4.00597731e+02] [ 4.16382299e-01 9.09189626e-01 -6.51961036e-05 3.47082287e+01] [ 1.63837257e-04 -3.32475298e-06 9.99999987e-01 -1.82869954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.685336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:400.65, Y:34.73, Z:-0.19 [[ 9.11181158e-01 -4.12005917e-01 -1.50339556e-04 4.00652094e+02] [ 4.12005911e-01 9.11181170e-01 -6.52052022e-05 3.47297022e+01] [ 1.63851502e-04 -2.52703433e-06 9.99999987e-01 -1.85010147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.71, Y:34.75, Z:-0.18 [[ 9.14045354e-01 -4.05611968e-01 -1.50328894e-04 4.00706761e+02] [ 4.05611963e-01 9.14045366e-01 -6.52297752e-05 3.47509646e+01] [ 1.63865406e-04 -1.35222471e-06 9.99999987e-01 -1.82883339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.76, Y:34.77, Z:-0.19 [[ 9.15981325e-01 -4.01220874e-01 -1.50317846e-04 4.00761721e+02] [ 4.01220869e-01 9.15981337e-01 -6.52552241e-05 3.47699267e+01] [ 1.63870100e-04 -5.38090135e-07 9.99999987e-01 -1.86511971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.86533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.82, Y:34.79, Z:-0.19 [[ 9.15869862e-01 -4.01475246e-01 -1.50311964e-04 4.00816454e+02] [ 4.01475241e-01 9.15869874e-01 -6.52687702e-05 3.47904288e+01] [ 1.63869995e-04 -5.68832354e-07 9.99999987e-01 -1.85317936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.92533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.87, Y:34.81, Z:-0.18 [[ 9.14329586e-01 -4.04970845e-01 -1.50299127e-04 4.00870656e+02] [ 4.04970839e-01 9.14329599e-01 -6.52983170e-05 3.48096692e+01] [ 1.63866855e-04 -1.16258052e-06 9.99999987e-01 -1.83193986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.98533619499995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:400.93, Y:34.83, Z:-0.18 [[ 9.13232263e-01 -4.07439334e-01 -1.50294371e-04 4.00925860e+02] [ 4.07439329e-01 9.13232275e-01 -6.53092627e-05 3.48293352e+01] [ 1.63863233e-04 -1.59331182e-06 9.99999987e-01 -1.83778178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.04533619499995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:400.98, Y:34.85, Z:-0.18 [[ 9.12123379e-01 -4.09915747e-01 -1.50283156e-04 4.00981544e+02] [ 4.09915742e-01 9.12123391e-01 -6.53350593e-05 3.48482603e+01] [ 1.63858651e-04 -2.00979629e-06 9.99999987e-01 -1.82837852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.04, Y:34.87, Z:-0.18 [[ 9.11823644e-01 -4.10582049e-01 -1.50271989e-04 4.01035278e+02] [ 4.10582044e-01 9.11823657e-01 -6.53607338e-05 3.48723483e+01] [ 1.63857498e-04 -2.10151790e-06 9.99999987e-01 -1.78416704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.09, Y:34.89, Z:-0.18 [[ 9.12614340e-01 -4.08821530e-01 -1.50260562e-04 4.01089561e+02] [ 4.08821525e-01 9.12614353e-01 -6.53869939e-05 3.48934880e+01] [ 1.63861556e-04 -1.75664356e-06 9.99999987e-01 -1.81369889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.14, Y:34.92, Z:-0.18 [[ 9.13066943e-01 -4.07809680e-01 -1.50254493e-04 4.01143691e+02] [ 4.07809675e-01 9.13066955e-01 -6.54009357e-05 3.49154658e+01] [ 1.63863547e-04 -1.55980353e-06 9.99999987e-01 -1.83005773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.20, Y:34.94, Z:-0.19 [[ 9.12918070e-01 -4.08142837e-01 -1.50243598e-04 4.01198272e+02] [ 4.08142832e-01 9.12918082e-01 -6.54259559e-05 3.49386408e+01] [ 1.63863232e-04 -1.59231001e-06 9.99999987e-01 -1.85770119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.25, Y:34.96, Z:-0.19 [[ 9.11836633e-01 -4.10553203e-01 -1.50233220e-04 4.01251488e+02] [ 4.10553198e-01 9.11836645e-01 -6.54497778e-05 3.49625300e+01] [ 1.63858771e-04 -1.99922376e-06 9.99999987e-01 -1.85560013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.31, Y:34.98, Z:-0.19 [[ 9.09977058e-01 -4.14658573e-01 -1.50229253e-04 4.01306720e+02] [ 4.14658567e-01 9.09977070e-01 -6.54588807e-05 3.49839125e+01] [ 1.63848262e-04 -2.72776728e-06 9.99999987e-01 -1.85045646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.36, Y:35.01, Z:-0.18 [[ 9.08208427e-01 -4.18518137e-01 -1.50218173e-04 4.01361159e+02] [ 4.18518131e-01 9.08208439e-01 -6.54842971e-05 3.50057033e+01] [ 1.63835779e-04 -3.39563874e-06 9.99999987e-01 -1.81487889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.42, Y:35.02, Z:-0.19 [[ 9.07060144e-01 -4.21001035e-01 -1.50206942e-04 4.01415891e+02] [ 4.21001030e-01 9.07060157e-01 -6.55100486e-05 3.50248116e+01] [ 1.63826531e-04 -3.81572339e-06 9.99999987e-01 -1.85396620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.58533619499997 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:401.47, Y:35.05, Z:-0.18 [[ 9.08219506e-01 -4.18494094e-01 -1.50202985e-04 4.01470653e+02] [ 4.18494089e-01 9.08219518e-01 -6.55191221e-05 3.50461508e+01] [ 1.63836648e-04 -3.35331658e-06 9.99999987e-01 -1.81336504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.52, Y:35.07, Z:-0.18 [[ 9.10978646e-01 -4.12453493e-01 -1.50191573e-04 4.01523378e+02] [ 4.12453488e-01 9.10978658e-01 -6.55452704e-05 3.50697850e+01] [ 1.63855693e-04 -2.23669653e-06 9.99999987e-01 -1.78501243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.58, Y:35.09, Z:-0.19 [[ 9.13496785e-01 -4.06845918e-01 -1.50187548e-04 4.01577432e+02] [ 4.06845913e-01 9.13496797e-01 -6.55544909e-05 3.50926696e+01] [ 1.63866422e-04 -1.21937361e-06 9.99999987e-01 -1.86018342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.63, Y:35.12, Z:-0.18 [[ 9.15119049e-01 -4.03183709e-01 -1.50184333e-04 4.01630269e+02] [ 4.03183704e-01 9.15119062e-01 -6.55618577e-05 3.51174035e+01] [ 1.63870018e-04 -5.54970570e-07 9.99999987e-01 -1.84351298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.68, Y:35.15, Z:-0.18 [[ 9.17340308e-01 -3.98103927e-01 -1.50178312e-04 4.01679914e+02] [ 3.98103922e-01 9.17340320e-01 -6.55756448e-05 3.51487969e+01] [ 1.63870543e-04 3.68607070e-07 9.99999987e-01 -1.83331527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.73, Y:35.17, Z:-0.18 [[ 9.17550673e-01 -3.97618837e-01 -1.50172343e-04 4.01732224e+02] [ 3.97618831e-01 9.17550686e-01 -6.55893121e-05 3.51738176e+01] [ 1.63870282e-04 4.70165895e-07 9.99999987e-01 -1.83909633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.78, Y:35.20, Z:-0.18 [[ 9.15873132e-01 -4.01467787e-01 -1.50168445e-04 4.01782906e+02] [ 4.01467782e-01 9.15873144e-01 -6.55982352e-05 3.52035394e+01] [ 1.63870824e-04 -2.08131393e-07 9.99999987e-01 -1.79586243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.83, Y:35.23, Z:-0.18 [[ 9.12984879e-01 -4.07993367e-01 -1.50164542e-04 4.01833759e+02] [ 4.07993362e-01 9.12984892e-01 -6.56071694e-05 3.52307400e+01] [ 1.63865248e-04 -1.36778266e-06 9.99999987e-01 -1.81145154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.065336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:401.89, Y:35.26, Z:-0.19 [[ 9.10218699e-01 -4.14127876e-01 -1.50158724e-04 4.01886488e+02] [ 4.14127870e-01 9.10218711e-01 -6.56204813e-05 3.52566870e+01] [ 1.63852551e-04 -2.45592368e-06 9.99999987e-01 -1.85691001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.125336195 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:401.94, Y:35.28, Z:-0.19 [[ 9.07222787e-01 -4.20650440e-01 -1.50147519e-04 4.01938070e+02] [ 4.20650435e-01 9.07222799e-01 -6.56461105e-05 3.52834777e+01] [ 1.63831318e-04 -3.60397180e-06 9.99999987e-01 -1.85235567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.185336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:401.99, Y:35.30, Z:-0.18 [[ 9.03515828e-01 -4.28554695e-01 -1.50134640e-04 4.01992268e+02] [ 4.28554690e-01 9.03515840e-01 -6.56755522e-05 3.53044253e+01] [ 1.63794592e-04 -5.00200316e-06 9.99999987e-01 -1.84628320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.245336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:402.05, Y:35.32, Z:-0.18 [[ 9.01589124e-01 -4.32593377e-01 -1.50128698e-04 4.02047068e+02] [ 4.32593372e-01 9.01589136e-01 -6.56891317e-05 3.53239505e+01] [ 1.63771087e-04 -5.72007309e-06 9.99999987e-01 -1.79856549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.305336195 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:402.10, Y:35.34, Z:-0.18 [[ 9.00294683e-01 -4.35280898e-01 -1.50115991e-04 4.02102632e+02] [ 4.35280893e-01 9.00294696e-01 -6.57181570e-05 3.53432475e+01] [ 1.63754489e-04 -6.17691549e-06 9.99999987e-01 -1.84732831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.36533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.16, Y:35.36, Z:-0.18 [[ 8.99713960e-01 -4.36479974e-01 -1.50104873e-04 4.02159939e+02] [ 4.36479969e-01 8.99713972e-01 -6.57435425e-05 3.53583730e+01] [ 1.63747191e-04 -6.36738736e-06 9.99999987e-01 -1.79271362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.42533619499994 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:402.22, Y:35.37, Z:-0.19 [[ 9.01365393e-01 -4.33059356e-01 -1.50093583e-04 4.02218344e+02] [ 4.33059351e-01 9.01365405e-01 -6.57693066e-05 3.53689167e+01] [ 1.63771177e-04 -5.71725299e-06 9.99999987e-01 -1.85498368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.27, Y:35.39, Z:-0.18 [[ 9.07179712e-01 -4.20743328e-01 -1.50089599e-04 4.02273322e+02] [ 4.20743323e-01 9.07179724e-01 -6.57783984e-05 3.53866294e+01] [ 1.63834063e-04 -3.47636800e-06 9.99999987e-01 -1.81953575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.33, Y:35.41, Z:-0.19 [[ 9.15066500e-01 -4.03302960e-01 -1.50085738e-04 4.02327111e+02] [ 4.03302954e-01 9.15066513e-01 -6.57872072e-05 3.54104480e+01] [ 1.63870608e-04 -3.30351995e-07 9.99999987e-01 -1.86039766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.38, Y:35.43, Z:-0.18 [[ 9.21319513e-01 -3.88806292e-01 -1.50075002e-04 4.02380877e+02] [ 3.88806287e-01 9.21319525e-01 -6.58116877e-05 3.54347256e+01] [ 1.63855028e-04 2.28348761e-06 9.99999987e-01 -1.82063521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.43, Y:35.46, Z:-0.18 [[ 9.23815675e-01 -3.82837531e-01 -1.50063651e-04 4.02432623e+02] [ 3.82837526e-01 9.23815688e-01 -6.58375598e-05 3.54608526e+01] [ 1.63836244e-04 3.37177272e-06 9.99999987e-01 -1.83690212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.48, Y:35.49, Z:-0.19 [[ 9.24204863e-01 -3.81897040e-01 -1.50059628e-04 4.02484919e+02] [ 3.81897034e-01 9.24204875e-01 -6.58467294e-05 3.54888076e+01] [ 1.63832511e-04 3.54854067e-06 9.99999987e-01 -1.86225806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.54, Y:35.51, Z:-0.18 [[ 9.21134944e-01 -3.89243358e-01 -1.50048308e-04 4.02536150e+02] [ 3.89243353e-01 9.21134956e-01 -6.58725139e-05 3.55149752e+01] [ 1.63855180e-04 2.27216782e-06 9.99999987e-01 -1.83536219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.59, Y:35.54, Z:-0.18 [[ 9.16155132e-01 -4.00823841e-01 -1.50041268e-04 4.02589141e+02] [ 4.00823836e-01 9.16155144e-01 -6.58885468e-05 3.55396406e+01] [ 1.63870780e-04 2.24013894e-07 9.99999987e-01 -1.79411514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.64, Y:35.56, Z:-0.18 [[ 9.10931656e-01 -4.12557264e-01 -1.50030395e-04 4.02643248e+02] [ 4.12557259e-01 9.10931668e-01 -6.59132954e-05 3.55602093e+01] [ 1.63860447e-04 -1.85362101e-06 9.99999987e-01 -1.79199916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.70, Y:35.58, Z:-0.18 [[ 9.07464863e-01 -4.20127957e-01 -1.50017321e-04 4.02697835e+02] [ 4.20127951e-01 9.07464875e-01 -6.59430381e-05 3.55805845e+01] [ 1.63839963e-04 -3.18547958e-06 9.99999987e-01 -1.80729661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.02533619499997 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:402.75, Y:35.60, Z:-0.19 [[ 9.06808270e-01 -4.21543283e-01 -1.50013314e-04 4.02753480e+02] [ 4.21543278e-01 9.06808282e-01 -6.59521506e-05 3.56004655e+01] [ 1.63835002e-04 -3.43114869e-06 9.99999987e-01 -1.85440681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.81, Y:35.62, Z:-0.18 [[ 9.08003601e-01 -4.18962336e-01 -1.50001994e-04 4.02806924e+02] [ 4.18962330e-01 9.08003613e-01 -6.59778870e-05 3.56226048e+01] [ 1.63844603e-04 -2.93702621e-06 9.99999987e-01 -1.81883410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.86, Y:35.64, Z:-0.18 [[ 9.10156163e-01 -4.14265298e-01 -1.49997990e-04 4.02860447e+02] [ 4.14265293e-01 9.10156175e-01 -6.59869901e-05 3.56442675e+01] [ 1.63857717e-04 -2.08049548e-06 9.99999987e-01 -1.80116961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.91, Y:35.67, Z:-0.18 [[ 9.13796217e-01 -4.06172933e-01 -1.49985214e-04 4.02914378e+02] [ 4.06172928e-01 9.13796229e-01 -6.60160170e-05 3.56680924e+01] [ 1.63869842e-04 -5.94746746e-07 9.99999987e-01 -1.81934801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.97, Y:35.69, Z:-0.18 [[ 9.16376479e-01 -4.00317532e-01 -1.49974012e-04 4.02966426e+02] [ 4.00317526e-01 9.16376491e-01 -6.60414547e-05 3.56941610e+01] [ 1.63870211e-04 4.81610189e-07 9.99999987e-01 -1.78783583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.02, Y:35.72, Z:-0.18 [[ 9.17628202e-01 -3.97439882e-01 -1.49970033e-04 4.03018757e+02] [ 3.97439877e-01 9.17628214e-01 -6.60504891e-05 3.57203858e+01] [ 1.63867832e-04 1.00572009e-06 9.99999987e-01 -1.81338496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.07, Y:35.74, Z:-0.18 [[ 9.16815296e-01 -3.99311520e-01 -1.49958724e-04 4.03071073e+02] [ 3.99311515e-01 9.16815308e-01 -6.60761539e-05 3.57437964e+01] [ 1.63869424e-04 6.99383203e-07 9.99999987e-01 -1.83554569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.12, Y:35.77, Z:-0.18 [[ 9.15609521e-01 -4.02068628e-01 -1.49949929e-04 4.03123943e+02] [ 4.02068623e-01 9.15609534e-01 -6.60961080e-05 3.57687151e+01] [ 1.63870756e-04 2.28064399e-07 9.99999987e-01 -1.81986403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.18, Y:35.79, Z:-0.18 [[ 9.13003709e-01 -4.07951228e-01 -1.49938803e-04 4.03176625e+02] [ 4.07951222e-01 9.13003722e-01 -6.61213375e-05 3.57917737e+01] [ 1.63868966e-04 -7.98691582e-07 9.99999987e-01 -1.84930443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.23, Y:35.81, Z:-0.18 [[ 9.10163040e-01 -4.14250187e-01 -1.49934869e-04 4.03230608e+02] [ 4.14250182e-01 9.10163053e-01 -6.61302579e-05 3.58123084e+01] [ 1.63859649e-04 -1.92122989e-06 9.99999987e-01 -1.82401928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.28, Y:35.84, Z:-0.18 [[ 9.08627958e-01 -4.17606527e-01 -1.49921885e-04 4.03284315e+02] [ 4.17606522e-01 9.08627970e-01 -6.61596804e-05 3.58371912e+01] [ 1.63851932e-04 -2.49382143e-06 9.99999987e-01 -1.83057479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.34, Y:35.86, Z:-0.18 [[ 9.08607682e-01 -4.17650641e-01 -1.49910360e-04 4.03338824e+02] [ 4.17650635e-01 9.08607694e-01 -6.61857838e-05 3.58566403e+01] [ 1.63852241e-04 -2.47324541e-06 9.99999987e-01 -1.83802081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.39, Y:35.88, Z:-0.18 [[ 9.09074948e-01 -4.16632591e-01 -1.49897225e-04 4.03392810e+02] [ 4.16632586e-01 9.09074961e-01 -6.62155182e-05 3.58780645e+01] [ 1.63855357e-04 -2.25719974e-06 9.99999987e-01 -1.83923113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.44, Y:35.91, Z:-0.18 [[ 9.10452132e-01 -4.13614425e-01 -1.49893167e-04 4.03444647e+02] [ 4.13614420e-01 9.10452144e-01 -6.62247027e-05 3.59055253e+01] [ 1.63862048e-04 -1.70355355e-06 9.99999987e-01 -1.79356933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.86533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.50, Y:35.93, Z:-0.18 [[ 9.10043479e-01 -4.14512779e-01 -1.49881700e-04 4.03499066e+02] [ 4.14512774e-01 9.10043491e-01 -6.62506451e-05 3.59256317e+01] [ 1.63860605e-04 -1.83691168e-06 9.99999987e-01 -1.82840825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.92533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.55, Y:35.94, Z:-0.18 [[ 9.08207524e-01 -4.18520095e-01 -1.49875639e-04 4.03554422e+02] [ 4.18520090e-01 9.08207537e-01 -6.62643530e-05 3.59426985e+01] [ 1.63851149e-04 -2.54418217e-06 9.99999987e-01 -1.83822710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.61, Y:35.96, Z:-0.18 [[ 9.05341506e-01 -4.24684276e-01 -1.49863031e-04 4.03609133e+02] [ 4.24684271e-01 9.05341519e-01 -6.62928557e-05 3.59620395e+01] [ 1.63830758e-04 -3.62679827e-06 9.99999987e-01 -1.82665861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.04533619499995 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:403.67, Y:35.98, Z:-0.19 [[ 9.02986545e-01 -4.29668800e-01 -1.49850011e-04 4.03665252e+02] [ 4.29668795e-01 9.02986557e-01 -6.63222742e-05 3.59771220e+01] [ 1.63809157e-04 -4.49775232e-06 9.99999987e-01 -1.90683021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.72, Y:35.99, Z:-0.19 [[ 9.03013812e-01 -4.29611490e-01 -1.49844070e-04 4.03721703e+02] [ 4.29611485e-01 9.03013825e-01 -6.63356940e-05 3.59924780e+01] [ 1.63809843e-04 -4.47268548e-06 9.99999987e-01 -1.85651502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.78, Y:36.01, Z:-0.18 [[ 9.04502286e-01 -4.26468747e-01 -1.49831058e-04 4.03776616e+02] [ 4.26468741e-01 9.04502299e-01 -6.63650711e-05 3.60121884e+01] [ 1.63825165e-04 -3.87090412e-06 9.99999987e-01 -1.84407861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.83, Y:36.03, Z:-0.19 [[ 9.07996858e-01 -4.18976949e-01 -1.49827050e-04 4.03832276e+02] [ 4.18976943e-01 9.07996870e-01 -6.63741167e-05 3.60315789e+01] [ 1.63851718e-04 -2.50659023e-06 9.99999987e-01 -1.89258410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.89, Y:36.05, Z:-0.19 [[ 9.11447962e-01 -4.11415350e-01 -1.49815993e-04 4.03886179e+02] [ 4.11415344e-01 9.11447974e-01 -6.63990658e-05 3.60519501e+01] [ 1.63867078e-04 -1.11730518e-06 9.99999987e-01 -1.89537431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.94, Y:36.08, Z:-0.19 [[ 9.13992646e-01 -4.05730724e-01 -1.49812085e-04 4.03939888e+02] [ 4.05730719e-01 9.13992658e-01 -6.64078827e-05 3.60762342e+01] [ 1.63870864e-04 -8.70483068e-08 9.99999987e-01 -1.90343498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.99, Y:36.10, Z:-0.19 [[ 9.15614195e-01 -4.02057986e-01 -1.49800951e-04 4.03994432e+02] [ 4.02057980e-01 9.15614207e-01 -6.64329890e-05 3.60979421e+01] [ 1.63869792e-04 5.98320071e-07 9.99999987e-01 -1.92530143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.05, Y:36.12, Z:-0.19 [[ 9.16061414e-01 -4.01037983e-01 -1.49789512e-04 4.04046612e+02] [ 4.01037977e-01 9.16061426e-01 -6.64587693e-05 3.61226845e+01] [ 1.63868885e-04 8.09031182e-07 9.99999987e-01 -1.92203535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.10, Y:36.15, Z:-0.19 [[ 9.15566355e-01 -4.02166914e-01 -1.49783433e-04 4.04099945e+02] [ 4.02166909e-01 9.15566367e-01 -6.64724690e-05 3.61466845e+01] [ 1.63869701e-04 6.22016106e-07 9.99999987e-01 -1.92876702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.15, Y:36.17, Z:-0.19 [[ 9.14082846e-01 -4.05527469e-01 -1.49770551e-04 4.04153494e+02] [ 4.05527463e-01 9.14082858e-01 -6.65014811e-05 3.61715702e+01] [ 1.63870870e-04 5.17916828e-08 9.99999987e-01 -1.90391688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.21, Y:36.20, Z:-0.19 [[ 9.12499726e-01 -4.09077287e-01 -1.49759367e-04 4.04206583e+02] [ 4.09077282e-01 9.12499739e-01 -6.65266573e-05 3.61975009e+01] [ 1.63869927e-04 -5.57598083e-07 9.99999987e-01 -1.90269120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.26, Y:36.22, Z:-0.19 [[ 9.11364196e-01 -4.11600874e-01 -1.49747806e-04 4.04259591e+02] [ 4.11600869e-01 9.11364208e-01 -6.65526707e-05 3.62204638e+01] [ 1.63867928e-04 -9.82605608e-07 9.99999987e-01 -1.88079766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.31, Y:36.25, Z:-0.18 [[ 9.10242216e-01 -4.14076183e-01 -1.49741675e-04 4.04311903e+02] [ 4.14076178e-01 9.10242228e-01 -6.65664607e-05 3.62465319e+01] [ 1.63864782e-04 -1.41285787e-06 9.99999987e-01 -1.83775227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.36, Y:36.27, Z:-0.19 [[ 9.10297546e-01 -4.13954532e-01 -1.49737549e-04 4.04364496e+02] [ 4.13954527e-01 9.10297559e-01 -6.65757407e-05 3.62711815e+01] [ 1.63865055e-04 -1.38080304e-06 9.99999987e-01 -1.86560528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.42, Y:36.30, Z:-0.19 [[ 9.11525041e-01 -4.11244548e-01 -1.49733482e-04 4.04417030e+02] [ 4.11244542e-01 9.11525053e-01 -6.65848871e-05 3.62972058e+01] [ 1.63868492e-04 -8.83285316e-07 9.99999987e-01 -1.89946140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.47, Y:36.32, Z:-0.19 [[ 9.12552993e-01 -4.08958448e-01 -1.49722486e-04 4.04468142e+02] [ 4.08958442e-01 9.12553006e-01 -6.66096035e-05 3.63237106e+01] [ 1.63870265e-04 -4.45481540e-07 9.99999987e-01 -1.89204055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.52, Y:36.35, Z:-0.19 [[ 9.14110395e-01 -4.05465365e-01 -1.49718612e-04 4.04518352e+02] [ 4.05465360e-01 9.14110408e-01 -6.66183102e-05 3.63532921e+01] [ 1.63870759e-04 1.90779098e-07 9.99999987e-01 -1.85384594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.57, Y:36.38, Z:-0.19 [[ 9.14949747e-01 -4.03567762e-01 -1.49705528e-04 4.04570426e+02] [ 4.03567757e-01 9.14949759e-01 -6.66477003e-05 3.63811747e+01] [ 1.63869900e-04 5.62972645e-07 9.99999987e-01 -1.88572698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.62, Y:36.41, Z:-0.19 [[ 9.15063259e-01 -4.03310315e-01 -1.49694065e-04 4.04621699e+02] [ 4.03310309e-01 9.15063271e-01 -6.66734360e-05 3.64106510e+01] [ 1.63869625e-04 6.37252070e-07 9.99999987e-01 -1.87935778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.67, Y:36.44, Z:-0.19 [[ 9.13537569e-01 -4.06754332e-01 -1.49682637e-04 4.04671356e+02] [ 4.06754327e-01 9.13537582e-01 -6.66990815e-05 3.64388201e+01] [ 1.63870855e-04 4.80564582e-08 9.99999987e-01 -1.90025092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.72, Y:36.47, Z:-0.19 [[ 9.11696095e-01 -4.10865194e-01 -1.49676967e-04 4.04722964e+02] [ 4.10865189e-01 9.11696107e-01 -6.67118026e-05 3.64661508e+01] [ 1.63869466e-04 -6.76165522e-07 9.99999987e-01 -1.90454471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.77, Y:36.49, Z:-0.19 [[ 9.09121916e-01 -4.16530094e-01 -1.49664435e-04 4.04774733e+02] [ 4.16530088e-01 9.09121929e-01 -6.67399056e-05 3.64945897e+01] [ 1.63862399e-04 -1.66502959e-06 9.99999987e-01 -1.87680446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.36533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.83, Y:36.52, Z:-0.18 [[ 9.07410878e-01 -4.20244544e-01 -1.49653007e-04 4.04826814e+02] [ 4.20244539e-01 9.07410890e-01 -6.67655221e-05 3.65198383e+01] [ 1.63854615e-04 -2.30709796e-06 9.99999987e-01 -1.83783111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.42533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.88, Y:36.55, Z:-0.19 [[ 9.07265456e-01 -4.20558402e-01 -1.49648991e-04 4.04877350e+02] [ 4.20558396e-01 9.07265469e-01 -6.67745231e-05 3.65485762e+01] [ 1.63853948e-04 -2.35392130e-06 9.99999987e-01 -1.85306842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.93, Y:36.58, Z:-0.19 [[ 9.08170949e-01 -4.18599457e-01 -1.49645088e-04 4.04926663e+02] [ 4.18599452e-01 9.08170961e-01 -6.67832674e-05 3.65814937e+01] [ 1.63858763e-04 -1.99072866e-06 9.99999987e-01 -1.87776546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.98, Y:36.61, Z:-0.19 [[ 9.08220644e-01 -4.18491623e-01 -1.49634168e-04 4.04976732e+02] [ 4.18491618e-01 9.08220657e-01 -6.68077271e-05 3.66109225e+01] [ 1.63859316e-04 -1.94448796e-06 9.99999987e-01 -1.91417569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.03, Y:36.64, Z:-0.19 [[ 9.07470704e-01 -4.20115341e-01 -1.49629970e-04 4.05026474e+02] [ 4.20115335e-01 9.07470716e-01 -6.68171278e-05 3.66424576e+01] [ 1.63855716e-04 -2.22725896e-06 9.99999987e-01 -1.93773758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.08, Y:36.67, Z:-0.20 [[ 9.05351679e-01 -4.24662590e-01 -1.49618818e-04 4.05079062e+02] [ 4.24662585e-01 9.05351691e-01 -6.68420894e-05 3.66699835e+01] [ 1.63842985e-04 -3.02191624e-06 9.99999987e-01 -1.96039530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.13, Y:36.69, Z:-0.19 [[ 9.03378291e-01 -4.28844542e-01 -1.49607818e-04 4.05131369e+02] [ 4.28844536e-01 9.03378303e-01 -6.68667019e-05 3.66943165e+01] [ 1.63827877e-04 -3.75256839e-06 9.99999987e-01 -1.92628632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.18, Y:36.72, Z:-0.20 [[ 9.00879637e-01 -4.34068954e-01 -1.49594357e-04 4.05183962e+02] [ 4.34068949e-01 9.00879650e-01 -6.68968038e-05 3.67189463e+01] [ 1.63804337e-04 -4.66829675e-06 9.99999987e-01 -1.95667064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.24, Y:36.74, Z:-0.19 [[ 9.00068451e-01 -4.35748506e-01 -1.49590215e-04 4.05236487e+02] [ 4.35748501e-01 9.00068464e-01 -6.69060625e-05 3.67426682e+01] [ 1.63795652e-04 -4.96367617e-06 9.99999987e-01 -1.93232304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.29, Y:36.76, Z:-0.20 [[ 9.01693900e-01 -4.32374940e-01 -1.49577126e-04 4.05292761e+02] [ 4.32374935e-01 9.01693912e-01 -6.69353127e-05 3.67624065e+01] [ 1.63813936e-04 -4.31823704e-06 9.99999987e-01 -1.96413331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.34, Y:36.79, Z:-0.20 [[ 9.04956716e-01 -4.25503607e-01 -1.49566172e-04 4.05344249e+02] [ 4.25503602e-01 9.04956728e-01 -6.69597812e-05 3.67887467e+01] [ 1.63842542e-04 -3.04524115e-06 9.99999987e-01 -1.99676745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.40, Y:36.81, Z:-0.20 [[ 9.07191392e-01 -4.20718142e-01 -1.49561998e-04 4.05397760e+02] [ 4.20718137e-01 9.07191405e-01 -6.69691025e-05 3.68143062e+01] [ 1.63856475e-04 -2.16965174e-06 9.99999987e-01 -2.01460331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.45, Y:36.84, Z:-0.20 [[ 9.08053040e-01 -4.18855170e-01 -1.49551449e-04 4.05451750e+02] [ 4.18855165e-01 9.08053053e-01 -6.69926509e-05 3.68391397e+01] [ 1.63860868e-04 -1.80751656e-06 9.99999987e-01 -2.04667530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.50, Y:36.86, Z:-0.21 [[ 9.08025927e-01 -4.18913944e-01 -1.49545659e-04 4.05504178e+02] [ 4.18913939e-01 9.08025940e-01 -6.70055738e-05 3.68625489e+01] [ 1.63860907e-04 -1.80396274e-06 9.99999987e-01 -2.05496781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.56, Y:36.89, Z:-0.20 [[ 9.07046281e-01 -4.21030904e-01 -1.49538501e-04 4.05556654e+02] [ 4.21030899e-01 9.07046293e-01 -6.70215436e-05 3.68865335e+01] [ 1.63856485e-04 -2.16868783e-06 9.99999987e-01 -2.02341465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.61, Y:36.91, Z:-0.20 [[ 9.05580122e-01 -4.24175223e-01 -1.49525343e-04 4.05611680e+02] [ 4.24175218e-01 9.05580134e-01 -6.70508882e-05 3.69082986e+01] [ 1.63848505e-04 -2.70499329e-06 9.99999987e-01 -1.99876377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.67, Y:36.93, Z:-0.20 [[ 9.05677073e-01 -4.23968179e-01 -1.49513981e-04 4.05665230e+02] [ 4.23968174e-01 9.05677085e-01 -6.70762128e-05 3.69312790e+01] [ 1.63849567e-04 -2.63978150e-06 9.99999987e-01 -2.00537336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.72, Y:36.95, Z:-0.20 [[ 9.06834643e-01 -4.21486545e-01 -1.49501073e-04 4.05719665e+02] [ 4.21486540e-01 9.06834655e-01 -6.71049697e-05 3.69512284e+01] [ 1.63856596e-04 -2.15957895e-06 9.99999987e-01 -1.99570454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.77, Y:36.97, Z:-0.20 [[ 9.08301051e-01 -4.18317078e-01 -1.49487698e-04 4.05772414e+02] [ 4.18317073e-01 9.08301064e-01 -6.71347535e-05 3.69734447e+01] [ 1.63863449e-04 -1.55468884e-06 9.99999987e-01 -2.03736324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.505336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:405.83, Y:37.00, Z:-0.21 [[ 9.09015397e-01 -4.16762506e-01 -1.49481892e-04 4.05825109e+02] [ 4.16762501e-01 9.09015409e-01 -6.71476784e-05 3.69967886e+01] [ 1.63865978e-04 -1.26017348e-06 9.99999987e-01 -2.08198212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.88, Y:37.02, Z:-0.20 [[ 9.09242247e-01 -4.16267358e-01 -1.49477985e-04 4.05880605e+02] [ 4.16267353e-01 9.09242260e-01 -6.71563741e-05 3.70175660e+01] [ 1.63866707e-04 -1.16139263e-06 9.99999987e-01 -2.04204403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.93, Y:37.04, Z:-0.20 [[ 9.09362370e-01 -4.16004878e-01 -1.49466382e-04 4.05934801e+02] [ 4.16004873e-01 9.09362382e-01 -6.71821877e-05 3.70402180e+01] [ 1.63867223e-04 -1.08578991e-06 9.99999987e-01 -2.02427454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.99, Y:37.07, Z:-0.20 [[ 9.10406732e-01 -4.13714346e-01 -1.49454830e-04 4.05987858e+02] [ 4.13714341e-01 9.10406744e-01 -6.72078783e-05 3.70663564e+01] [ 1.63869548e-04 -6.45101391e-07 9.99999987e-01 -2.04554555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.04, Y:37.09, Z:-0.21 [[ 9.10852675e-01 -4.12731610e-01 -1.49443289e-04 4.06041371e+02] [ 4.12731605e-01 9.10852687e-01 -6.72335308e-05 3.70879013e+01] [ 1.63870225e-04 -4.40126992e-07 9.99999987e-01 -2.08708083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.10, Y:37.11, Z:-0.21 [[ 9.10979511e-01 -4.12451583e-01 -1.49439213e-04 4.06095098e+02] [ 4.12451578e-01 9.10979523e-01 -6.72425890e-05 3.71120311e+01] [ 1.63870375e-04 -3.79818263e-07 9.99999987e-01 -2.08500786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.86533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.15, Y:37.14, Z:-0.21 [[ 9.11188767e-01 -4.11989087e-01 -1.49427632e-04 4.06147418e+02] [ 4.11989082e-01 9.11188779e-01 -6.72683150e-05 3.71377098e+01] [ 1.63870593e-04 -2.68419723e-07 9.99999987e-01 -2.12403547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.92533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.20, Y:37.16, Z:-0.21 [[ 9.11115482e-01 -4.12151133e-01 -1.49416193e-04 4.06200477e+02] [ 4.12151128e-01 9.11115494e-01 -6.72937131e-05 3.71618773e+01] [ 1.63870589e-04 -2.69708644e-07 9.99999987e-01 -2.10782230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.98533619499995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:406.25, Y:37.18, Z:-0.21 [[ 9.10633871e-01 -4.13214147e-01 -1.49412075e-04 4.06254224e+02] [ 4.13214141e-01 9.10633883e-01 -6.73028543e-05 3.71831009e+01] [ 1.63870190e-04 -4.50923613e-07 9.99999987e-01 -2.11110106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.31, Y:37.21, Z:-0.21 [[ 9.09171686e-01 -4.16421449e-01 -1.49398715e-04 4.06308118e+02] [ 4.16421443e-01 9.09171698e-01 -6.73324972e-05 3.72054526e+01] [ 1.63867780e-04 -9.96028696e-07 9.99999987e-01 -2.11305074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.36, Y:37.23, Z:-0.21 [[ 9.08623477e-01 -4.17616277e-01 -1.49385385e-04 4.06362309e+02] [ 4.17616272e-01 9.08623489e-01 -6.73620586e-05 3.72284343e+01] [ 1.63866562e-04 -1.17901980e-06 9.99999987e-01 -2.12776632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.42, Y:37.25, Z:-0.21 [[ 9.08951271e-01 -4.16902343e-01 -1.49373720e-04 4.06416709e+02] [ 4.16902338e-01 9.08951284e-01 -6.73879171e-05 3.72474378e+01] [ 1.63867615e-04 -1.02192001e-06 9.99999987e-01 -2.11959058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.47, Y:37.27, Z:-0.22 [[ 9.09987890e-01 -4.14634801e-01 -1.49368791e-04 4.06469457e+02] [ 4.14634796e-01 9.09987902e-01 -6.73988391e-05 3.72716625e+01] [ 1.63869697e-04 -6.01370990e-07 9.99999987e-01 -2.15786797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.52, Y:37.30, Z:-0.22 [[ 9.11024095e-01 -4.12353096e-01 -1.49364736e-04 4.06522504e+02] [ 4.12353090e-01 9.11024108e-01 -6.74078262e-05 3.72977150e+01] [ 1.63870701e-04 -1.80856407e-07 9.99999987e-01 -2.19916582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.58, Y:37.32, Z:-0.22 [[ 9.10978062e-01 -4.12454783e-01 -1.49353406e-04 4.06575881e+02] [ 4.12454778e-01 9.10978074e-01 -6.74329187e-05 3.73202191e+01] [ 1.63870708e-04 -1.71616451e-07 9.99999987e-01 -2.18472284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.63, Y:37.35, Z:-0.22 [[ 9.10662240e-01 -4.13151621e-01 -1.49340129e-04 4.06627937e+02] [ 4.13151616e-01 9.10662252e-01 -6.74623096e-05 3.73475637e+01] [ 1.63870581e-04 -2.64737745e-07 9.99999987e-01 -2.20960554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.68, Y:37.38, Z:-0.22 [[ 9.10376818e-01 -4.13780168e-01 -1.49328430e-04 4.06679997e+02] [ 4.13780162e-01 9.10376830e-01 -6.74881970e-05 3.73750394e+01] [ 1.63870420e-04 -3.49451830e-07 9.99999987e-01 -2.19592601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.52533619499997 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:406.73, Y:37.40, Z:-0.22 [[ 9.08217536e-01 -4.18498368e-01 -1.49316751e-04 4.06734197e+02] [ 4.18498363e-01 9.08217549e-01 -6.75140253e-05 3.73964190e+01] [ 1.63866603e-04 -1.17139426e-06 9.99999987e-01 -2.20292810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.79, Y:37.42, Z:-0.22 [[ 9.06637123e-01 -4.21911252e-01 -1.49303350e-04 4.06787009e+02] [ 4.21911247e-01 9.06637135e-01 -6.75436493e-05 3.74197785e+01] [ 1.63861387e-04 -1.75518252e-06 9.99999987e-01 -2.22463498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.84, Y:37.44, Z:-0.21 [[ 9.05739204e-01 -4.23835431e-01 -1.49297417e-04 4.06840661e+02] [ 4.23835426e-01 9.05739216e-01 -6.75567610e-05 3.74432391e+01] [ 1.63857474e-04 -2.08872721e-06 9.99999987e-01 -2.14806491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.89, Y:37.47, Z:-0.22 [[ 9.06384346e-01 -4.22454016e-01 -1.49285240e-04 4.06892977e+02] [ 4.22454010e-01 9.06384358e-01 -6.75836588e-05 3.74664672e+01] [ 1.63860794e-04 -1.80937780e-06 9.99999987e-01 -2.17601263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.95, Y:37.49, Z:-0.22 [[ 9.07523252e-01 -4.20001815e-01 -1.49279246e-04 4.06946588e+02] [ 4.20001810e-01 9.07523264e-01 -6.75968948e-05 3.74905311e+01] [ 1.63865207e-04 -1.35179976e-06 9.99999987e-01 -2.20994432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.00, Y:37.52, Z:-0.22 [[ 9.09033732e-01 -4.16722511e-01 -1.49267538e-04 4.06999019e+02] [ 4.16722505e-01 9.09033745e-01 -6.76227390e-05 3.75177618e+01] [ 1.63869147e-04 -7.31791528e-07 9.99999987e-01 -2.21248389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.05, Y:37.54, Z:-0.22 [[ 9.09692910e-01 -4.15281576e-01 -1.49255829e-04 4.07052084e+02] [ 4.15281571e-01 9.09692922e-01 -6.76485730e-05 3.75418206e+01] [ 1.63870177e-04 -4.43767821e-07 9.99999987e-01 -2.21606395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.10, Y:37.57, Z:-0.22 [[ 9.08838746e-01 -4.17147590e-01 -1.49242276e-04 4.07104173e+02] [ 4.17147584e-01 9.08838758e-01 -6.76784606e-05 3.75667965e+01] [ 1.63869071e-04 -7.47247490e-07 9.99999987e-01 -2.23384655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.16, Y:37.59, Z:-0.22 [[ 9.06575941e-01 -4.22042700e-01 -1.49238098e-04 4.07158067e+02] [ 4.22042695e-01 9.06575953e-01 -6.76876713e-05 3.75909939e+01] [ 1.63862758e-04 -1.62083469e-06 9.99999987e-01 -2.15098525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.21, Y:37.61, Z:-0.22 [[ 9.03789677e-01 -4.27976866e-01 -1.49234539e-04 4.07212817e+02] [ 4.27976860e-01 9.03789689e-01 -6.76955165e-05 3.76105221e+01] [ 1.63848753e-04 -2.68642055e-06 9.99999987e-01 -2.20755586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.125336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:407.27, Y:37.63, Z:-0.22 [[ 9.02283840e-01 -4.31142494e-01 -1.49228427e-04 4.07268168e+02] [ 4.31142488e-01 9.02283852e-01 -6.77089868e-05 3.76318950e+01] [ 1.63838622e-04 -3.24599087e-06 9.99999987e-01 -2.21843682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.33, Y:37.64, Z:-0.21 [[ 9.01070076e-01 -4.33673489e-01 -1.49217101e-04 4.07326835e+02] [ 4.33673484e-01 9.01070089e-01 -6.77339383e-05 3.76445960e+01] [ 1.63829480e-04 -3.67847517e-06 9.99999987e-01 -2.14609364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.245336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:407.38, Y:37.66, Z:-0.22 [[ 9.02048794e-01 -4.31634047e-01 -1.49205549e-04 4.07382540e+02] [ 4.31634042e-01 9.02048806e-01 -6.77593752e-05 3.76649996e+01] [ 1.63837941e-04 -3.27993171e-06 9.99999987e-01 -2.19802362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.305336195 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:407.44, Y:37.69, Z:-0.22 [[ 9.05516655e-01 -4.24310694e-01 -1.49199951e-04 4.07435702e+02] [ 4.24310688e-01 9.05516667e-01 -6.77717007e-05 3.76870621e+01] [ 1.63859300e-04 -1.93873010e-06 9.99999987e-01 -2.17492475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.36533619499994 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:407.49, Y:37.70, Z:-0.22 [[ 9.09445161e-01 -4.15823854e-01 -1.49186182e-04 4.07490622e+02] [ 4.15823848e-01 9.09445173e-01 -6.78019956e-05 3.77048472e+01] [ 1.63870341e-04 -3.72975677e-07 9.99999987e-01 -2.19066027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.42533619499994 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:407.54, Y:37.73, Z:-0.22 [[ 9.11857281e-01 -4.10507341e-01 -1.49180185e-04 4.07544184e+02] [ 4.10507335e-01 9.11857293e-01 -6.78151893e-05 3.77303347e+01] [ 1.63869672e-04 5.98214131e-07 9.99999987e-01 -2.20346437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.48533619499995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:407.60, Y:37.75, Z:-0.22 [[ 9.12616300e-01 -4.08817156e-01 -1.49169337e-04 4.07599039e+02] [ 4.08817150e-01 9.12616312e-01 -6.78390425e-05 3.77525205e+01] [ 1.63868134e-04 9.28032801e-07 9.99999987e-01 -2.19603123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.54533619499995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:407.65, Y:37.78, Z:-0.22 [[ 9.13040462e-01 -4.07868964e-01 -1.49157609e-04 4.07652847e+02] [ 4.07868958e-01 9.13040475e-01 -6.78648189e-05 3.77752758e+01] [ 1.63866887e-04 1.12656716e-06 9.99999987e-01 -2.24426031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.60533619499995 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:407.71, Y:37.80, Z:-0.22 [[ 9.12854323e-01 -4.08285394e-01 -1.49145871e-04 4.07706005e+02] [ 4.08285389e-01 9.12854335e-01 -6.78906056e-05 3.77979449e+01] [ 1.63867197e-04 1.08015295e-06 9.99999987e-01 -2.22167602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.66533619499995 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:407.76, Y:37.82, Z:-0.22 [[ 9.12378456e-01 -4.09347688e-01 -1.49132502e-04 4.07760280e+02] [ 4.09347683e-01 9.12378469e-01 -6.79199607e-05 3.78196480e+01] [ 1.63868162e-04 9.21664961e-07 9.99999987e-01 -2.21239601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.72533619499995 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:407.81, Y:37.84, Z:-0.22 [[ 9.11993036e-01 -4.10205656e-01 -1.49120455e-04 4.07812551e+02] [ 4.10205651e-01 9.11993048e-01 -6.79463998e-05 3.78436476e+01] [ 1.63868815e-04 7.96590278e-07 9.99999987e-01 -2.21791427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.78533619499996 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:407.87, Y:37.87, Z:-0.22 [[ 9.10673692e-01 -4.13126378e-01 -1.49106491e-04 4.07866214e+02] [ 4.13126372e-01 9.10673704e-01 -6.79770294e-05 3.78651742e+01] [ 1.63870464e-04 3.05068734e-07 9.99999987e-01 -2.23093481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.84533619499996 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:407.92, Y:37.89, Z:-0.22 [[ 9.10059237e-01 -4.14478182e-01 -1.49102175e-04 4.07919861e+02] [ 4.14478177e-01 9.10059249e-01 -6.79864933e-05 3.78890876e+01] [ 1.63870732e-04 7.21384736e-08 9.99999987e-01 -2.21301335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.90533619499996 meters Centerline goodness : 0.999737 with order 1 Centerline is valid? [True, True] Translation: X:407.97, Y:37.91, Z:-0.22 [[ 9.08101252e-01 -4.18750634e-01 -1.49090766e-04 4.07973388e+02] [ 4.18750628e-01 9.08101265e-01 -6.80115035e-05 3.79121543e+01] [ 1.63869374e-04 -6.70520633e-07 9.99999987e-01 -2.18566366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.96533619499996 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:408.03, Y:37.94, Z:-0.22 [[ 9.06536796e-01 -4.22126777e-01 -1.49076779e-04 4.08026521e+02] [ 4.22126771e-01 9.06536808e-01 -6.80421491e-05 3.79361414e+01] [ 1.63866000e-04 -1.24658761e-06 9.99999987e-01 -2.19680810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.02533619499997 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:408.08, Y:37.96, Z:-0.22 [[ 9.06033596e-01 -4.23205743e-01 -1.49064693e-04 4.08080355e+02] [ 4.23205738e-01 9.06033608e-01 -6.80686167e-05 3.79587216e+01] [ 1.63864651e-04 -1.41257977e-06 9.99999987e-01 -2.15775131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.08533619499997 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:408.13, Y:37.98, Z:-0.22 [[ 9.06163528e-01 -4.22927462e-01 -1.49060277e-04 4.08133630e+02] [ 4.22927457e-01 9.06163540e-01 -6.80782850e-05 3.79809221e+01] [ 1.63865165e-04 -1.35162501e-06 9.99999987e-01 -2.16465283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.19, Y:38.01, Z:-0.22 [[ 9.06279082e-01 -4.22679789e-01 -1.49055917e-04 4.08185317e+02] [ 4.22679783e-01 9.06279094e-01 -6.80878300e-05 3.80060983e+01] [ 1.63865611e-04 -1.29634669e-06 9.99999987e-01 -2.20644677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.205336195 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:408.24, Y:38.02, Z:-0.22 [[ 9.06012339e-01 -4.23251249e-01 -1.49050236e-04 4.08239370e+02] [ 4.23251244e-01 9.06012351e-01 -6.81002632e-05 3.80249348e+01] [ 1.63864877e-04 -1.38601923e-06 9.99999987e-01 -2.23207755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.265336195 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:408.29, Y:38.05, Z:-0.22 [[ 9.05910669e-01 -4.23468816e-01 -1.49041247e-04 4.08294408e+02] [ 4.23468811e-01 9.05910681e-01 -6.81199311e-05 3.80451544e+01] [ 1.63864724e-04 -1.40374734e-06 9.99999987e-01 -2.22473469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.325336195 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:408.35, Y:38.07, Z:-0.22 [[ 9.07185986e-01 -4.20729799e-01 -1.49029828e-04 4.08348472e+02] [ 4.20729794e-01 9.07185999e-01 -6.81449044e-05 3.80682622e+01] [ 1.63868365e-04 -8.81186483e-07 9.99999987e-01 -2.24408699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.385336195 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:408.40, Y:38.09, Z:-0.22 [[ 9.08728842e-01 -4.17386953e-01 -1.49026332e-04 4.08402947e+02] [ 4.17386948e-01 9.08728855e-01 -6.81525482e-05 3.80878842e+01] [ 1.63870513e-04 -2.69459648e-07 9.99999987e-01 -2.22446840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.445336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:408.46, Y:38.11, Z:-0.22 [[ 9.10458208e-01 -4.13601051e-01 -1.49021993e-04 4.08455526e+02] [ 4.13601045e-01 9.10458220e-01 -6.81620347e-05 3.81101004e+01] [ 1.63870188e-04 4.23031819e-07 9.99999987e-01 -2.19207043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.505336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:408.51, Y:38.14, Z:-0.22 [[ 9.12886439e-01 -4.08213581e-01 -1.49016006e-04 4.08507133e+02] [ 4.08213575e-01 9.12886451e-01 -6.81751207e-05 3.81355447e+01] [ 1.63864703e-04 1.40578649e-06 9.99999987e-01 -2.21605597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.565336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:408.56, Y:38.16, Z:-0.22 [[ 9.13236950e-01 -4.07428828e-01 -1.49011795e-04 4.08560419e+02] [ 4.07428823e-01 9.13236963e-01 -6.81843235e-05 3.81593225e+01] [ 1.63863338e-04 1.55674332e-06 9.99999987e-01 -2.15295303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.625336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:408.61, Y:38.18, Z:-0.22 [[ 9.12004842e-01 -4.10179407e-01 -1.49007657e-04 4.08614959e+02] [ 4.10179402e-01 9.12004854e-01 -6.81933665e-05 3.81825850e+01] [ 1.63867221e-04 1.07280896e-06 9.99999987e-01 -2.17262501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.685336195 meters Centerline goodness : 0.999382 with order 1 Centerline is valid? [True, True] Translation: X:408.67, Y:38.21, Z:-0.22 [[ 9.10612322e-01 -4.13261632e-01 -1.48996459e-04 4.08667217e+02] [ 4.13261626e-01 9.10612334e-01 -6.82178233e-05 3.82061310e+01] [ 1.63869823e-04 5.45471437e-07 9.99999987e-01 -2.21113022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.745336195 meters Centerline goodness : 0.999180 with order 1 Centerline is valid? [True, True] Translation: X:408.72, Y:38.23, Z:-0.22 [[ 9.09357304e-01 -4.16015950e-01 -1.48991329e-04 4.08721704e+02] [ 4.16015945e-01 9.09357316e-01 -6.82290274e-05 3.82277836e+01] [ 1.63870718e-04 6.17960929e-08 9.99999987e-01 -2.20441762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.805336195 meters Centerline goodness : 0.998762 with order 1 Centerline is valid? [True, True] Translation: X:408.78, Y:38.25, Z:-0.22 [[ 9.08844008e-01 -4.17136125e-01 -1.48979907e-04 4.08775636e+02] [ 4.17136119e-01 9.08844020e-01 -6.82539581e-05 3.82505737e+01] [ 1.63870689e-04 -1.12699276e-07 9.99999987e-01 -2.24779380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.86533619499994 meters Centerline goodness : 0.998870 with order 1 Centerline is valid? [True, True] Translation: X:408.83, Y:38.28, Z:-0.22 [[ 9.10094355e-01 -4.14401065e-01 -1.48968734e-04 4.08828467e+02] [ 4.14401059e-01 9.10094367e-01 -6.82783339e-05 3.82756231e+01] [ 1.63870220e-04 4.06924977e-07 9.99999987e-01 -2.19014831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.92533619499994 meters Centerline goodness : 0.998869 with order 1 Centerline is valid? [True, True] Translation: X:408.88, Y:38.30, Z:-0.22 [[ 9.11961685e-01 -4.10275349e-01 -1.48956858e-04 4.08880957e+02] [ 4.10275344e-01 9.11961698e-01 -6.83042345e-05 3.83014342e+01] [ 1.63866492e-04 1.17751885e-06 9.99999987e-01 -2.16146277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.98533619499995 meters Centerline goodness : 0.998343 with order 1 Centerline is valid? [True, True] Translation: X:408.93, Y:38.33, Z:-0.22 [[ 9.13642330e-01 -4.06518966e-01 -1.48945094e-04 4.08930939e+02] [ 4.06518961e-01 9.13642343e-01 -6.83298774e-05 3.83286432e+01] [ 1.63859935e-04 1.88006381e-06 9.99999987e-01 -2.18493620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.04533619499995 meters Centerline goodness : 0.998736 with order 1 Centerline is valid? [True, True] Translation: X:408.98, Y:38.36, Z:-0.22 [[ 9.15282253e-01 -4.02813077e-01 -1.48939301e-04 4.08979815e+02] [ 4.02813071e-01 9.15282265e-01 -6.83425007e-05 3.83629184e+01] [ 1.63850754e-04 2.55798059e-06 9.99999987e-01 -2.15272731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.10533619499995 meters Centerline goodness : 0.998902 with order 1 Centerline is valid? [True, True] Translation: X:409.03, Y:38.39, Z:-0.21 [[ 9.14778103e-01 -4.03956680e-01 -1.48927918e-04 4.09030291e+02] [ 4.03956674e-01 9.14778116e-01 -6.83672981e-05 3.83928882e+01] [ 1.63853427e-04 2.38048096e-06 9.99999987e-01 -2.11649820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.16533619499995 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:409.08, Y:38.42, Z:-0.21 [[ 9.11879841e-01 -4.10457224e-01 -1.48923695e-04 4.09081584e+02] [ 4.10457218e-01 9.11879853e-01 -6.83764955e-05 3.84191074e+01] [ 1.63866144e-04 1.22434229e-06 9.99999987e-01 -2.12440701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.22533619499995 meters Centerline goodness : 0.998907 with order 1 Centerline is valid? [True, True] Translation: X:409.13, Y:38.45, Z:-0.21 [[ 9.08249676e-01 -4.18428613e-01 -1.48910107e-04 4.09133359e+02] [ 4.18428607e-01 9.08249688e-01 -6.84060746e-05 3.84452255e+01] [ 1.63870617e-04 -1.78453523e-07 9.99999987e-01 -2.14540187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.28533619499996 meters Centerline goodness : 0.999263 with order 1 Centerline is valid? [True, True] Translation: X:409.19, Y:38.47, Z:-0.21 [[ 9.04705062e-01 -4.26038413e-01 -1.48903786e-04 4.09185860e+02] [ 4.26038408e-01 9.04705074e-01 -6.84198305e-05 3.84730899e+01] [ 1.63863487e-04 -1.53896496e-06 9.99999987e-01 -2.13973827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.34533619499996 meters Centerline goodness : 0.999237 with order 1 Centerline is valid? [True, True] Translation: X:409.24, Y:38.49, Z:-0.21 [[ 9.00783816e-01 -4.34267768e-01 -1.48892715e-04 4.09241258e+02] [ 4.34267763e-01 9.00783828e-01 -6.84439146e-05 3.84929061e+01] [ 1.63843136e-04 -3.00613574e-06 9.99999987e-01 -2.12619967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.40533619499996 meters Centerline goodness : 0.999292 with order 1 Centerline is valid? [True, True] Translation: X:409.30, Y:38.51, Z:-0.21 [[ 8.99743024e-01 -4.36420060e-01 -1.48880544e-04 4.09295143e+02] [ 4.36420054e-01 8.99743036e-01 -6.84703795e-05 3.85140732e+01] [ 1.63836080e-04 -3.36870873e-06 9.99999987e-01 -2.10891647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.46533619499996 meters Centerline goodness : 0.999369 with order 1 Centerline is valid? [True, True] Translation: X:409.35, Y:38.53, Z:-0.21 [[ 8.99201131e-01 -4.37535488e-01 -1.48876254e-04 4.09351677e+02] [ 4.37535483e-01 8.99201144e-01 -6.84797059e-05 3.85327561e+01] [ 1.63831999e-04 -3.56161461e-06 9.99999987e-01 -2.07377302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.52533619499997 meters Centerline goodness : 0.999375 with order 1 Centerline is valid? [True, True] Translation: X:409.41, Y:38.55, Z:-0.21 [[ 9.01225606e-01 -4.33350187e-01 -1.48864282e-04 4.09408480e+02] [ 4.33350181e-01 9.01225619e-01 -6.85057220e-05 3.85488663e+01] [ 1.63847272e-04 -2.77125257e-06 9.99999987e-01 -2.10613652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.58533619499997 meters Centerline goodness : 0.999294 with order 1 Centerline is valid? [True, True] Translation: X:409.46, Y:38.57, Z:-0.21 [[ 9.02672343e-01 -4.30328501e-01 -1.48852450e-04 4.09462944e+02] [ 4.30328496e-01 9.02672355e-01 -6.85314214e-05 3.85680280e+01] [ 1.63856015e-04 -2.19403193e-06 9.99999987e-01 -2.11729263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.64533619499997 meters Centerline goodness : 0.999190 with order 1 Centerline is valid? [True, True] Translation: X:409.52, Y:38.58, Z:-0.21 [[ 9.04580689e-01 -4.26302423e-01 -1.48848316e-04 4.09520815e+02] [ 4.26302417e-01 9.04580701e-01 -6.85403991e-05 3.85826996e+01] [ 1.63864252e-04 -1.45407539e-06 9.99999987e-01 -2.07272786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.705336195 meters Centerline goodness : 0.999234 with order 1 Centerline is valid? [True, True] Translation: X:409.58, Y:38.60, Z:-0.21 [[ 9.06606927e-01 -4.21976134e-01 -1.48845910e-04 4.09577434e+02] [ 4.21976129e-01 9.06606939e-01 -6.85456222e-05 3.86007759e+01] [ 1.63869352e-04 -6.65485160e-07 9.99999987e-01 -2.10678328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.765336195 meters Centerline goodness : 0.999288 with order 1 Centerline is valid? [True, True] Translation: X:409.63, Y:38.62, Z:-0.21 [[ 9.08374416e-01 -4.18157743e-01 -1.48834715e-04 4.09632237e+02] [ 4.18157737e-01 9.08374428e-01 -6.85699220e-05 3.86199766e+01] [ 1.63870693e-04 5.07751236e-08 9.99999987e-01 -2.06376101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.825336195 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:409.69, Y:38.64, Z:-0.21 [[ 9.11178439e-01 -4.12011930e-01 -1.48820860e-04 4.09686081e+02] [ 4.12011924e-01 9.11178451e-01 -6.85999785e-05 3.86400986e+01] [ 1.63866371e-04 1.19085229e-06 9.99999987e-01 -2.09495963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.885336195 meters Centerline goodness : 0.999549 with order 1 Centerline is valid? [True, True] Translation: X:409.74, Y:38.66, Z:-0.21 [[ 9.13349516e-01 -4.07176424e-01 -1.48813374e-04 4.09740006e+02] [ 4.07176418e-01 9.13349528e-01 -6.86162138e-05 3.86619370e+01] [ 1.63857530e-04 2.07728889e-06 9.99999987e-01 -2.07668096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.945336195 meters Centerline goodness : 0.999373 with order 1 Centerline is valid? [True, True] Translation: X:409.80, Y:38.68, Z:-0.21 [[ 9.13703030e-01 -4.06382518e-01 -1.48809230e-04 4.09795018e+02] [ 4.06382512e-01 9.13703042e-01 -6.86252005e-05 3.86842333e+01] [ 1.63855528e-04 2.22958492e-06 9.99999987e-01 -2.09829363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.005336195 meters Centerline goodness : 0.999507 with order 1 Centerline is valid? [True, True] Translation: X:409.85, Y:38.70, Z:-0.21 [[ 9.12567092e-01 -4.08926986e-01 -1.48798251e-04 4.09848825e+02] [ 4.08926980e-01 9.12567105e-01 -6.86489979e-05 3.87025523e+01] [ 1.63860817e-04 1.79919694e-06 9.99999987e-01 -2.13741514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.065336195 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:409.90, Y:38.73, Z:-0.21 [[ 9.11250992e-01 -4.11851439e-01 -1.48789059e-04 4.09901674e+02] [ 4.11851433e-01 9.11251004e-01 -6.86689146e-05 3.87260366e+01] [ 1.63865571e-04 1.29562943e-06 9.99999987e-01 -2.13885180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.125336195 meters Centerline goodness : 0.999380 with order 1 Centerline is valid? [True, True] Translation: X:409.96, Y:38.75, Z:-0.21 [[ 9.08497945e-01 -4.17889295e-01 -1.48785050e-04 4.09956982e+02] [ 4.17889289e-01 9.08497957e-01 -6.86776003e-05 3.87452701e+01] [ 1.63870548e-04 2.17780044e-07 9.99999987e-01 -2.08321235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.185336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:410.01, Y:38.77, Z:-0.21 [[ 9.08196101e-01 -4.18544885e-01 -1.48780933e-04 4.10010634e+02] [ 4.18544879e-01 9.08196113e-01 -6.86865170e-05 3.87664046e+01] [ 1.63870656e-04 1.09329139e-07 9.99999987e-01 -2.05950983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.245336195 meters Centerline goodness : 0.999443 with order 1 Centerline is valid? [True, True] Translation: X:410.06, Y:38.79, Z:-0.21 [[ 9.09472220e-01 -4.15764667e-01 -1.48767488e-04 4.10062392e+02] [ 4.15764661e-01 9.09472233e-01 -6.87156260e-05 3.87927131e+01] [ 1.63869429e-04 6.42688804e-07 9.99999987e-01 -2.09159916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.305336195 meters Centerline goodness : 0.999572 with order 1 Centerline is valid? [True, True] Translation: X:410.11, Y:38.82, Z:-0.21 [[ 9.11947507e-01 -4.10306864e-01 -1.48763335e-04 4.10113465e+02] [ 4.10306858e-01 9.11947519e-01 -6.87246157e-05 3.88235083e+01] [ 1.63862536e-04 1.63462540e-06 9.99999987e-01 -2.05472420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.36533619499994 meters Centerline goodness : 0.999550 with order 1 Centerline is valid? [True, True] Translation: X:410.16, Y:38.85, Z:-0.21 [[ 9.12606862e-01 -4.08838225e-01 -1.48751869e-04 4.10163571e+02] [ 4.08838219e-01 9.12606874e-01 -6.87494252e-05 3.88531963e+01] [ 1.63859371e-04 1.92574815e-06 9.99999987e-01 -2.10708744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.42533619499994 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:410.21, Y:38.88, Z:-0.21 [[ 9.10974879e-01 -4.12461814e-01 -1.48746255e-04 4.10213885e+02] [ 4.12461808e-01 9.10974891e-01 -6.87615696e-05 3.88824119e+01] [ 1.63865625e-04 1.28791342e-06 9.99999987e-01 -2.05302135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.48533619499995 meters Centerline goodness : 0.999569 with order 1 Centerline is valid? [True, True] Translation: X:410.26, Y:38.92, Z:-0.21 [[ 9.09153122e-01 -4.16461977e-01 -1.48732374e-04 4.10262598e+02] [ 4.16461972e-01 9.09153134e-01 -6.87915793e-05 3.89156669e+01] [ 1.63869582e-04 6.00701235e-07 9.99999987e-01 -2.05378637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.54533619499995 meters Centerline goodness : 0.999569 with order 1 Centerline is valid? [True, True] Translation: X:410.31, Y:38.94, Z:-0.21 [[ 9.08016281e-01 -4.18934853e-01 -1.48728077e-04 4.10314130e+02] [ 4.18934847e-01 9.08016293e-01 -6.88008698e-05 3.89448539e+01] [ 1.63870599e-04 1.64935824e-07 9.99999987e-01 -2.06486001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.60533619499995 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:410.36, Y:38.97, Z:-0.21 [[ 9.06758788e-01 -4.21649710e-01 -1.48716307e-04 4.10364057e+02] [ 4.21649705e-01 9.06758800e-01 -6.88263022e-05 3.89747853e+01] [ 1.63870410e-04 -2.97332399e-07 9.99999987e-01 -2.05626472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.66533619499995 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:410.41, Y:39.00, Z:-0.21 [[ 9.05678743e-01 -4.23964613e-01 -1.48702779e-04 4.10413655e+02] [ 4.23964607e-01 9.05678755e-01 -6.88555178e-05 3.90048354e+01] [ 1.63869250e-04 -6.83736289e-07 9.99999987e-01 -2.07777014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.72533619499995 meters Centerline goodness : 0.999487 with order 1 Centerline is valid? [True, True] Translation: X:410.46, Y:39.03, Z:-0.21 [[ 9.05485745e-01 -4.24376653e-01 -1.48698598e-04 4.10463343e+02] [ 4.24376647e-01 9.05485757e-01 -6.88645446e-05 3.90325887e+01] [ 1.63868968e-04 -7.48348965e-07 9.99999987e-01 -2.12008043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.78533619499996 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:410.52, Y:39.06, Z:-0.21 [[ 9.05555404e-01 -4.24227991e-01 -1.48689664e-04 4.10515388e+02] [ 4.24227985e-01 9.05555416e-01 -6.88838287e-05 3.90598352e+01] [ 1.63869179e-04 -7.00193308e-07 9.99999987e-01 -2.07549705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.84533619499996 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:410.57, Y:39.09, Z:-0.21 [[ 9.04568267e-01 -4.26328780e-01 -1.48678241e-04 4.10566577e+02] [ 4.26328775e-01 9.04568279e-01 -6.89084763e-05 3.90875285e+01] [ 1.63867287e-04 -1.05339123e-06 9.99999987e-01 -2.09340774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.90533619499996 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:410.62, Y:39.11, Z:-0.21 [[ 9.03104872e-01 -4.29420037e-01 -1.48674209e-04 4.10619832e+02] [ 4.29420032e-01 9.03104884e-01 -6.89171740e-05 3.91108753e+01] [ 1.63862820e-04 -1.60424798e-06 9.99999987e-01 -2.07347791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.96533619499996 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:410.67, Y:39.14, Z:-0.21 [[ 9.02732431e-01 -4.30202436e-01 -1.48660640e-04 4.10673028e+02] [ 4.30202431e-01 9.02732443e-01 -6.89464312e-05 3.91368570e+01] [ 1.63861705e-04 -1.71398929e-06 9.99999987e-01 -2.07885298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.02533619499997 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:410.72, Y:39.17, Z:-0.21 [[ 9.04114220e-01 -4.27290831e-01 -1.48648751e-04 4.10723932e+02] [ 4.27290826e-01 9.04114232e-01 -6.89720553e-05 3.91672824e+01] [ 1.63866578e-04 -1.15763139e-06 9.99999987e-01 -2.06781033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.08533619499997 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:410.77, Y:39.20, Z:-0.21 [[ 9.05967968e-01 -4.23346216e-01 -1.48636808e-04 4.10774463e+02] [ 4.23346211e-01 9.05967980e-01 -6.89977822e-05 3.91955114e+01] [ 1.63870139e-04 -4.15048878e-07 9.99999987e-01 -2.10532951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.14533619499997 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:410.83, Y:39.23, Z:-0.21 [[ 9.07096307e-01 -4.20923114e-01 -1.48630449e-04 4.10825512e+02] [ 4.20923108e-01 9.07096319e-01 -6.90114782e-05 3.92262148e+01] [ 1.63870659e-04 3.80665108e-08 9.99999987e-01 -2.08775212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.205336195 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:410.87, Y:39.26, Z:-0.21 [[ 9.08105626e-01 -4.18741149e-01 -1.48619514e-04 4.10873820e+02] [ 4.18741143e-01 9.08105638e-01 -6.90350193e-05 3.92625176e+01] [ 1.63870022e-04 4.57984346e-07 9.99999987e-01 -2.12178655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.265336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:410.92, Y:39.29, Z:-0.21 [[ 9.08468014e-01 -4.17954359e-01 -1.48616276e-04 4.10923418e+02] [ 4.17954353e-01 9.08468026e-01 -6.90419893e-05 3.92926754e+01] [ 1.63869535e-04 6.07619466e-07 9.99999987e-01 -2.12388459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.325336195 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:410.97, Y:39.32, Z:-0.21 [[ 9.07533110e-01 -4.19980515e-01 -1.48603306e-04 4.10973925e+02] [ 4.19980509e-01 9.07533122e-01 -6.90698930e-05 3.93224610e+01] [ 1.63870432e-04 2.72722531e-07 9.99999987e-01 -2.11377924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.385336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:411.02, Y:39.36, Z:-0.21 [[ 9.04670927e-01 -4.26110892e-01 -1.48590202e-04 4.11022498e+02] [ 4.26110887e-01 9.04670939e-01 -6.90980722e-05 3.93571291e+01] [ 1.63868679e-04 -8.04885793e-07 9.99999987e-01 -2.07480707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.445336195 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:411.07, Y:39.39, Z:-0.21 [[ 9.03299763e-01 -4.29009926e-01 -1.48578268e-04 4.11072983e+02] [ 4.29009921e-01 9.03299775e-01 -6.91237243e-05 3.93853557e+01] [ 1.63865480e-04 -1.30210718e-06 9.99999987e-01 -2.08851006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.505336195 meters Centerline goodness : 0.999636 with order 1 Centerline is valid? [True, True] Translation: X:411.12, Y:39.41, Z:-0.21 [[ 9.01970913e-01 -4.31796770e-01 -1.48574057e-04 4.11123890e+02] [ 4.31796764e-01 9.01970925e-01 -6.91327746e-05 3.94116876e+01] [ 1.63860788e-04 -1.79804520e-06 9.99999987e-01 -2.09401268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.565336195 meters Centerline goodness : 0.999319 with order 1 Centerline is valid? [True, True] Translation: X:411.17, Y:39.44, Z:-0.21 [[ 9.02189302e-01 -4.31340285e-01 -1.48568373e-04 4.11174266e+02] [ 4.31340279e-01 9.02189314e-01 -6.91449867e-05 3.94425466e+01] [ 1.63861817e-04 -1.70165631e-06 9.99999987e-01 -2.08014486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.625336195 meters Centerline goodness : 0.999370 with order 1 Centerline is valid? [True, True] Translation: X:411.23, Y:39.47, Z:-0.21 [[ 9.02545761e-01 -4.30593923e-01 -1.48557112e-04 4.11226105e+02] [ 4.30593918e-01 9.02545773e-01 -6.91691729e-05 3.94704639e+01] [ 1.63863419e-04 -1.53944501e-06 9.99999987e-01 -2.12163889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.685336195 meters Centerline goodness : 0.999550 with order 1 Centerline is valid? [True, True] Translation: X:411.28, Y:39.50, Z:-0.21 [[ 9.02090141e-01 -4.31547629e-01 -1.48553876e-04 4.11278446e+02] [ 4.31547623e-01 9.02090153e-01 -6.91761227e-05 3.94983131e+01] [ 1.63861780e-04 -1.70497367e-06 9.99999987e-01 -2.09496159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.745336195 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:411.33, Y:39.53, Z:-0.21 [[ 9.01042140e-01 -4.33731529e-01 -1.48542109e-04 4.11329743e+02] [ 4.33731523e-01 9.01042153e-01 -6.92013800e-05 3.95270036e+01] [ 1.63857522e-04 -2.07403574e-06 9.99999987e-01 -2.05890751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.805336195 meters Centerline goodness : 0.999633 with order 1 Centerline is valid? [True, True] Translation: X:411.38, Y:39.55, Z:-0.21 [[ 8.99851857e-01 -4.36195613e-01 -1.48530250e-04 4.11381751e+02] [ 4.36195608e-01 8.99851869e-01 -6.92268241e-05 3.95524712e+01] [ 1.63851660e-04 -2.49435654e-06 9.99999987e-01 -2.06914928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.86533619499994 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:411.43, Y:39.58, Z:-0.21 [[ 8.98618406e-01 -4.38731055e-01 -1.48516724e-04 4.11434750e+02] [ 4.38731049e-01 8.98618418e-01 -6.92558299e-05 3.95786338e+01] [ 1.63844547e-04 -2.92433485e-06 9.99999987e-01 -2.09235344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.92533619499994 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:411.49, Y:39.60, Z:-0.21 [[ 8.97610411e-01 -4.40789665e-01 -1.48504774e-04 4.11487607e+02] [ 4.40789660e-01 8.97610423e-01 -6.92814451e-05 3.96039429e+01] [ 1.63837978e-04 -3.27162235e-06 9.99999987e-01 -2.06613746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.98533619499995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:411.54, Y:39.63, Z:-0.20 [[ 8.96767488e-01 -4.42502034e-01 -1.48492920e-04 4.11542008e+02] [ 4.42502028e-01 8.96767501e-01 -6.93068432e-05 3.96253790e+01] [ 1.63832044e-04 -3.55629445e-06 9.99999987e-01 -2.01550150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.04533619499995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:411.60, Y:39.65, Z:-0.21 [[ 8.96168377e-01 -4.43714117e-01 -1.48488665e-04 4.11595595e+02] [ 4.43714111e-01 8.96168390e-01 -6.93159588e-05 3.96474653e+01] [ 1.63827317e-04 -3.76774553e-06 9.99999987e-01 -2.06508587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.10533619499995 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:411.65, Y:39.67, Z:-0.21 [[ 8.95814666e-01 -4.44427792e-01 -1.48484464e-04 4.11650794e+02] [ 4.44427787e-01 8.95814678e-01 -6.93249566e-05 3.96682428e+01] [ 1.63824499e-04 -3.88830878e-06 9.99999987e-01 -2.05634782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.16533619499995 meters Centerline goodness : 0.999597 with order 1 Centerline is valid? [True, True] Translation: X:411.71, Y:39.68, Z:-0.20 [[ 8.96774241e-01 -4.42488349e-01 -1.48472585e-04 4.11706454e+02] [ 4.42488343e-01 8.96774253e-01 -6.93503869e-05 3.96846721e+01] [ 1.63833130e-04 -3.50574775e-06 9.99999987e-01 -2.04425537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.22533619499995 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:411.76, Y:39.70, Z:-0.20 [[ 8.98655318e-01 -4.38655443e-01 -1.48465190e-04 4.11762049e+02] [ 4.38655438e-01 8.98655330e-01 -6.93662147e-05 3.97049265e+01] [ 1.63846902e-04 -2.78874531e-06 9.99999987e-01 -1.98291534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.28533619499996 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:411.82, Y:39.72, Z:-0.20 [[ 8.99336372e-01 -4.37257439e-01 -1.48453258e-04 4.11818003e+02] [ 4.37257434e-01 8.99336384e-01 -6.93917411e-05 3.97235642e+01] [ 1.63851472e-04 -2.50577416e-06 9.99999987e-01 -2.01785544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.34533619499996 meters Centerline goodness : 0.999620 with order 1 Centerline is valid? [True, True] Translation: X:411.87, Y:39.74, Z:-0.20 [[ 9.01161114e-01 -4.33484284e-01 -1.48441380e-04 4.11874472e+02] [ 4.33484278e-01 9.01161126e-01 -6.94171423e-05 3.97396054e+01] [ 1.63860841e-04 -1.79097508e-06 9.99999987e-01 -2.04677285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.40533619499996 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:411.93, Y:39.76, Z:-0.20 [[ 9.02252742e-01 -4.31207569e-01 -1.48437165e-04 4.11930789e+02] [ 4.31207563e-01 9.02252754e-01 -6.94261539e-05 3.97575786e+01] [ 1.63864924e-04 -1.36729052e-06 9.99999987e-01 -2.01877885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.46533619499996 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:411.99, Y:39.77, Z:-0.20 [[ 9.03732959e-01 -4.28096620e-01 -1.48425731e-04 4.11988060e+02] [ 4.28096614e-01 9.03732972e-01 -6.94505902e-05 3.97729707e+01] [ 1.63868790e-04 -7.75765442e-07 9.99999987e-01 -2.03879171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.52533619499997 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:412.04, Y:39.80, Z:-0.21 [[ 9.06079901e-01 -4.23106596e-01 -1.48414248e-04 4.12040589e+02] [ 4.23106591e-01 9.06079913e-01 -6.94751201e-05 3.97951240e+01] [ 1.63870550e-04 1.54963454e-07 9.99999987e-01 -2.05296673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.58533619499997 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:412.10, Y:39.81, Z:-0.20 [[ 9.08580644e-01 -4.17709459e-01 -1.48408557e-04 4.12096960e+02] [ 4.17709453e-01 9.08580656e-01 -6.94872754e-05 3.98143597e+01] [ 1.63866636e-04 1.14313643e-06 9.99999987e-01 -2.04902883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.64533619499997 meters Centerline goodness : 0.999663 with order 1 Centerline is valid? [True, True] Translation: X:412.15, Y:39.84, Z:-0.20 [[ 9.10911876e-01 -4.12600936e-01 -1.48397126e-04 4.12151329e+02] [ 4.12600930e-01 9.10911888e-01 -6.95116777e-05 3.98377416e+01] [ 1.63857290e-04 2.09022044e-06 9.99999987e-01 -2.01565797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.705336195 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:412.20, Y:39.86, Z:-0.20 [[ 9.11377739e-01 -4.11570886e-01 -1.48385719e-04 4.12204088e+02] [ 4.11570880e-01 9.11377751e-01 -6.95360200e-05 3.98629021e+01] [ 1.63854444e-04 2.30233969e-06 9.99999987e-01 -2.01455172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.765336195 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:412.26, Y:39.89, Z:-0.21 [[ 9.09898174e-01 -4.14831641e-01 -1.48374098e-04 4.12256093e+02] [ 4.14831635e-01 9.09898186e-01 -6.95608078e-05 3.98894037e+01] [ 1.63861347e-04 1.74298238e-06 9.99999987e-01 -2.06626271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.825336195 meters Centerline goodness : 0.999654 with order 1 Centerline is valid? [True, True] Translation: X:412.31, Y:39.91, Z:-0.20 [[ 9.08112942e-01 -4.18725284e-01 -1.48362585e-04 4.12308955e+02] [ 4.18725278e-01 9.08112954e-01 -6.95853550e-05 3.99144498e+01] [ 1.63867133e-04 1.06819687e-06 9.99999987e-01 -2.03179642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.885336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:412.36, Y:39.94, Z:-0.21 [[ 9.05201835e-01 -4.24981901e-01 -1.48350825e-04 4.12362187e+02] [ 4.24981896e-01 9.05201847e-01 -6.96104169e-05 3.99382192e+01] [ 1.63870608e-04 -3.49377405e-08 9.99999987e-01 -2.07574430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.945336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:412.42, Y:39.96, Z:-0.21 [[ 9.01636995e-01 -4.32493593e-01 -1.48346673e-04 4.12415698e+02] [ 4.32493587e-01 9.01637007e-01 -6.96192640e-05 3.99632151e+01] [ 1.63864736e-04 -1.38768094e-06 9.99999987e-01 -2.07296168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.005336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:412.47, Y:39.99, Z:-0.21 [[ 8.98782824e-01 -4.38394130e-01 -1.48335435e-04 4.12469475e+02] [ 4.38394125e-01 8.98782836e-01 -6.96432015e-05 3.99871351e+01] [ 1.63852513e-04 -2.43526968e-06 9.99999987e-01 -2.08054396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.065336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:412.52, Y:40.01, Z:-0.21 [[ 8.97833993e-01 -4.40334077e-01 -1.48324065e-04 4.12524011e+02] [ 4.40334071e-01 8.97834005e-01 -6.96674072e-05 4.00084187e+01] [ 1.63847323e-04 -2.76237307e-06 9.99999987e-01 -2.07083881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.125336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:412.58, Y:40.03, Z:-0.20 [[ 8.98996070e-01 -4.37956668e-01 -1.48311193e-04 4.12577252e+02] [ 4.37956663e-01 8.98996083e-01 -6.96947985e-05 4.00342120e+01] [ 1.63854484e-04 -2.29852535e-06 9.99999987e-01 -2.04320275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.185336195 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:412.63, Y:40.06, Z:-0.20 [[ 9.01171965e-01 -4.33461726e-01 -1.48299600e-04 4.12628439e+02] [ 4.33461720e-01 9.01171977e-01 -6.97194577e-05 4.00606251e+01] [ 1.63864161e-04 -1.45297916e-06 9.99999987e-01 -2.04323104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.245336195 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:412.68, Y:40.08, Z:-0.21 [[ 9.01919546e-01 -4.31904053e-01 -1.48295507e-04 4.12683852e+02] [ 4.31904048e-01 9.01919558e-01 -6.97281644e-05 4.00822297e+01] [ 1.63866495e-04 -1.16023522e-06 9.99999987e-01 -2.09116226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.305336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:412.74, Y:40.11, Z:-0.21 [[ 9.01321990e-01 -4.33149684e-01 -1.48284984e-04 4.12736029e+02] [ 4.33149678e-01 9.01322002e-01 -6.97505340e-05 4.01091338e+01] [ 1.63864941e-04 -1.36190319e-06 9.99999987e-01 -2.06793249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.36533619499994 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:412.79, Y:40.14, Z:-0.21 [[ 9.01431871e-01 -4.32920962e-01 -1.48273749e-04 4.12787617e+02] [ 4.32920956e-01 9.01431884e-01 -6.97744090e-05 4.01366674e+01] [ 1.63865489e-04 -1.29393719e-06 9.99999987e-01 -2.07921731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.42533619499994 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:412.84, Y:40.16, Z:-0.21 [[ 9.03026021e-01 -4.29585827e-01 -1.48262650e-04 4.12841136e+02] [ 4.29585821e-01 9.03026034e-01 -6.97979853e-05 4.01585634e+01] [ 1.63869258e-04 -6.62135363e-07 9.99999987e-01 -2.08571889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.48533619499995 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:412.89, Y:40.19, Z:-0.21 [[ 9.03749563e-01 -4.28061566e-01 -1.48249993e-04 4.12891173e+02] [ 4.28061561e-01 9.03749576e-01 -6.98248589e-05 4.01894458e+01] [ 1.63870207e-04 -3.55937578e-07 9.99999987e-01 -2.09884656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.54533619499995 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:412.94, Y:40.22, Z:-0.21 [[ 9.03540830e-01 -4.28501980e-01 -1.48237360e-04 4.12943105e+02] [ 4.28501975e-01 9.03540842e-01 -6.98516691e-05 4.02152091e+01] [ 1.63870087e-04 -4.06166208e-07 9.99999987e-01 -2.09406894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.60533619499995 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:412.99, Y:40.24, Z:-0.21 [[ 9.01370478e-01 -4.33048773e-01 -1.48224778e-04 4.12994291e+02] [ 4.33048768e-01 9.01370490e-01 -6.98783575e-05 4.02413788e+01] [ 1.63866177e-04 -1.20226879e-06 9.99999987e-01 -2.10877715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.66533619499995 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:413.05, Y:40.27, Z:-0.21 [[ 8.97795470e-01 -4.40412615e-01 -1.48218917e-04 4.13048221e+02] [ 4.40412609e-01 8.97795483e-01 -6.98907866e-05 4.02656811e+01] [ 1.63851058e-04 -2.52984825e-06 9.99999987e-01 -2.13625720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.72533619499995 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:413.10, Y:40.29, Z:-0.21 [[ 8.95545702e-01 -4.44969521e-01 -1.48208217e-04 4.13101793e+02] [ 4.44969515e-01 8.95545714e-01 -6.99134685e-05 4.02899867e+01] [ 1.63836596e-04 -3.33743236e-06 9.99999987e-01 -2.06624977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.78533619499996 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:413.15, Y:40.32, Z:-0.21 [[ 8.94928579e-01 -4.46209386e-01 -1.48196355e-04 4.13153456e+02] [ 4.46209381e-01 8.94928591e-01 -6.99386047e-05 4.03159429e+01] [ 1.63832417e-04 -3.53654752e-06 9.99999987e-01 -2.05526197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.84533619499996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:413.21, Y:40.34, Z:-0.20 [[ 8.94764135e-01 -4.46539047e-01 -1.48182703e-04 4.13208082e+02] [ 4.46539042e-01 8.94764147e-01 -6.99675183e-05 4.03380700e+01] [ 1.63831798e-04 -3.56493597e-06 9.99999987e-01 -2.00370505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.90533619499996 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:413.26, Y:40.36, Z:-0.20 [[ 8.94676180e-01 -4.46715246e-01 -1.48178992e-04 4.13262275e+02] [ 4.46715240e-01 8.94676192e-01 -6.99753764e-05 4.03616321e+01] [ 1.63831284e-04 -3.58851140e-06 9.99999987e-01 -2.02715554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.96533619499996 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:413.32, Y:40.38, Z:-0.20 [[ 8.95439045e-01 -4.45184113e-01 -1.48167319e-04 4.13316482e+02] [ 4.45184108e-01 8.95439057e-01 -7.00000846e-05 4.03824434e+01] [ 1.63837730e-04 -3.28092652e-06 9.99999987e-01 -2.01734475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.02533619499997 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:413.37, Y:40.41, Z:-0.20 [[ 8.97576477e-01 -4.40858759e-01 -1.48163205e-04 4.13368436e+02] [ 4.40858753e-01 8.97576490e-01 -7.00087913e-05 4.04070155e+01] [ 1.63851798e-04 -2.48080133e-06 9.99999987e-01 -2.04650801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.08533619499997 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:413.42, Y:40.43, Z:-0.21 [[ 9.00451349e-01 -4.34956717e-01 -1.48159148e-04 4.13421418e+02] [ 4.34956712e-01 9.00451361e-01 -7.00173745e-05 4.04316321e+01] [ 1.63864634e-04 -1.39557662e-06 9.99999987e-01 -2.07373124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.14533619499997 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:413.48, Y:40.45, Z:-0.21 [[ 9.02759621e-01 -4.30145376e-01 -1.48147814e-04 4.13476034e+02] [ 4.30145371e-01 9.02759633e-01 -7.00413486e-05 4.04541798e+01] [ 1.63869828e-04 -4.94594999e-07 9.99999987e-01 -2.06843995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.205336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:413.53, Y:40.49, Z:-0.21 [[ 9.03919205e-01 -4.27703226e-01 -1.48136545e-04 4.13525768e+02] [ 4.27703220e-01 9.03919217e-01 -7.00651735e-05 4.04850908e+01] [ 1.63870571e-04 -2.52214316e-08 9.99999987e-01 -2.07816367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.265336195 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:413.58, Y:40.51, Z:-0.21 [[ 9.03533910e-01 -4.28516571e-01 -1.48123773e-04 4.13578502e+02] [ 4.28516565e-01 9.03533922e-01 -7.00921644e-05 4.05086521e+01] [ 1.63870508e-04 -1.42843136e-07 9.99999987e-01 -2.11223076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.325336195 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:413.63, Y:40.53, Z:-0.21 [[ 9.02085747e-01 -4.31556814e-01 -1.48119825e-04 4.13631097e+02] [ 4.31556808e-01 9.02085759e-01 -7.01005062e-05 4.05322271e+01] [ 1.63869136e-04 -6.85451519e-07 9.99999987e-01 -2.07819010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.385336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:413.68, Y:40.56, Z:-0.20 [[ 9.00834386e-01 -4.34162858e-01 -1.48115920e-04 4.13683836e+02] [ 4.34162852e-01 9.00834398e-01 -7.01087559e-05 4.05587402e+01] [ 1.63866534e-04 -1.15005233e-06 9.99999987e-01 -2.01429529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.445336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:413.74, Y:40.58, Z:-0.20 [[ 9.00325192e-01 -4.35217793e-01 -1.48104137e-04 4.13737856e+02] [ 4.35217787e-01 9.00325204e-01 -7.01336385e-05 4.05827310e+01] [ 1.63865295e-04 -1.31447333e-06 9.99999987e-01 -2.03285651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.505336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:413.79, Y:40.61, Z:-0.20 [[ 9.00368379e-01 -4.35128442e-01 -1.48092524e-04 4.13790187e+02] [ 4.35128436e-01 9.00368391e-01 -7.01581522e-05 4.06097641e+01] [ 1.63865635e-04 -1.27108665e-06 9.99999987e-01 -2.02080437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.565336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:413.84, Y:40.63, Z:-0.20 [[ 8.99688250e-01 -4.36532966e-01 -1.48081011e-04 4.13843636e+02] [ 4.36532960e-01 8.99688262e-01 -7.01824444e-05 4.06344719e+01] [ 1.63863698e-04 -1.49992140e-06 9.99999987e-01 -2.01610907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.625336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:413.90, Y:40.66, Z:-0.20 [[ 8.98892093e-01 -4.38170039e-01 -1.48069141e-04 4.13896703e+02] [ 4.38170033e-01 8.98892105e-01 -7.02074780e-05 4.06570058e+01] [ 1.63860995e-04 -1.77051355e-06 9.99999987e-01 -2.01170050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.685336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:413.95, Y:40.68, Z:-0.20 [[ 8.98347763e-01 -4.39284959e-01 -1.48055391e-04 4.13949316e+02] [ 4.39284953e-01 8.98347775e-01 -7.02364627e-05 4.06837840e+01] [ 1.63859053e-04 -1.94173640e-06 9.99999987e-01 -1.98907116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.745336195 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:414.00, Y:40.71, Z:-0.20 [[ 8.98032026e-01 -4.39930060e-01 -1.48043459e-04 4.14004613e+02] [ 4.39930054e-01 8.98032039e-01 -7.02616040e-05 4.07053424e+01] [ 1.63857961e-04 -2.03159624e-06 9.99999987e-01 -2.04893065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.805336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:414.06, Y:40.73, Z:-0.20 [[ 8.97263183e-01 -4.41496046e-01 -1.48037827e-04 4.14058560e+02] [ 4.41496041e-01 8.97263195e-01 -7.02734672e-05 4.07293514e+01] [ 1.63854352e-04 -2.30431978e-06 9.99999987e-01 -2.04721279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.86533619499994 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:414.11, Y:40.75, Z:-0.20 [[ 8.97505702e-01 -4.41002826e-01 -1.48026126e-04 4.14110523e+02] [ 4.41002821e-01 8.97505714e-01 -7.02981071e-05 4.07543282e+01] [ 1.63855958e-04 -2.18698706e-06 9.99999987e-01 -2.04873007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.92533619499994 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:414.16, Y:40.78, Z:-0.21 [[ 8.97523004e-01 -4.40967612e-01 -1.48021989e-04 4.14164354e+02] [ 4.40967607e-01 8.97523016e-01 -7.03068157e-05 4.07771802e+01] [ 1.63856171e-04 -2.17091794e-06 9.99999987e-01 -2.05214355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.98533619499995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:414.22, Y:40.80, Z:-0.21 [[ 8.98177332e-01 -4.39633322e-01 -1.48010490e-04 4.14218820e+02] [ 4.39633316e-01 8.98177344e-01 -7.03310169e-05 4.07980142e+01] [ 1.63859527e-04 -1.90061723e-06 9.99999987e-01 -2.07495800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.04533619499995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:414.27, Y:40.82, Z:-0.20 [[ 8.99439138e-01 -4.37046011e-01 -1.48006442e-04 4.14272903e+02] [ 4.37046005e-01 8.99439150e-01 -7.03395333e-05 4.08210085e+01] [ 1.63864401e-04 -1.41949517e-06 9.99999987e-01 -2.02828095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.10533619499995 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:414.33, Y:40.84, Z:-0.21 [[ 9.00553042e-01 -4.34746129e-01 -1.47994431e-04 4.14327097e+02] [ 4.34746123e-01 9.00553054e-01 -7.03647950e-05 4.08420014e+01] [ 1.63867659e-04 -9.72775102e-07 9.99999987e-01 -2.06370921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.16533619499995 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:414.38, Y:40.86, Z:-0.21 [[ 9.01931218e-01 -4.31879677e-01 -1.47990187e-04 4.14381755e+02] [ 4.31879671e-01 9.01931231e-01 -7.03737215e-05 4.08641354e+01] [ 1.63869951e-04 -4.41696721e-07 9.99999987e-01 -2.08436710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.22533619499995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:414.43, Y:40.89, Z:-0.21 [[ 9.03217756e-01 -4.29182553e-01 -1.47979128e-04 4.14434824e+02] [ 4.29182547e-01 9.03217768e-01 -7.03969669e-05 4.08886938e+01] [ 1.63870528e-04 7.37313559e-08 9.99999987e-01 -2.09796969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.28533619499996 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:414.49, Y:40.91, Z:-0.21 [[ 9.05696380e-01 -4.23926935e-01 -1.47966597e-04 4.14487784e+02] [ 4.23926929e-01 9.05696392e-01 -7.04232962e-05 4.09113111e+01] [ 1.63867145e-04 1.05509932e-06 9.99999987e-01 -2.06976728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.34533619499996 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:414.54, Y:40.94, Z:-0.21 [[ 9.06558054e-01 -4.22081120e-01 -1.47953330e-04 4.14540094e+02] [ 4.22081114e-01 9.06558067e-01 -7.04511574e-05 4.09374892e+01] [ 1.63864389e-04 1.41975764e-06 9.99999987e-01 -2.06264311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.40533619499996 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:414.59, Y:40.97, Z:-0.21 [[ 9.07686172e-01 -4.19649606e-01 -1.47939946e-04 4.14591038e+02] [ 4.19649600e-01 9.07686184e-01 -7.04792527e-05 4.09657471e+01] [ 1.63859635e-04 1.89010406e-06 9.99999987e-01 -2.06970043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.46533619499996 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:414.64, Y:40.99, Z:-0.21 [[ 9.07715367e-01 -4.19586453e-01 -1.47935816e-04 4.14643585e+02] [ 4.19586447e-01 9.07715379e-01 -7.04879197e-05 4.09919697e+01] [ 1.63859391e-04 1.91110451e-06 9.99999987e-01 -2.05257426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.52533619499997 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:414.70, Y:41.02, Z:-0.21 [[ 9.07023962e-01 -4.21078983e-01 -1.47923973e-04 4.14696008e+02] [ 4.21078977e-01 9.07023974e-01 -7.05127645e-05 4.10153700e+01] [ 1.63862033e-04 1.66909182e-06 9.99999987e-01 -2.07309160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.58533619499997 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:414.75, Y:41.05, Z:-0.20 [[ 9.04971322e-01 -4.25472543e-01 -1.47919796e-04 4.14745613e+02] [ 4.25472537e-01 9.04971334e-01 -7.05215253e-05 4.10463452e+01] [ 1.63868148e-04 8.84147032e-07 9.99999987e-01 -2.04603176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.64533619499997 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:414.80, Y:41.07, Z:-0.20 [[ 9.02457333e-01 -4.30779224e-01 -1.47915709e-04 4.14798274e+02] [ 4.30779218e-01 9.02457345e-01 -7.05300967e-05 4.10729356e+01] [ 1.63870518e-04 -6.86105488e-08 9.99999987e-01 -2.03741417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.705336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:414.85, Y:41.10, Z:-0.20 [[ 8.99278026e-01 -4.37377422e-01 -1.47903897e-04 4.14850363e+02] [ 4.37377417e-01 8.99278039e-01 -7.05548586e-05 4.10982977e+01] [ 1.63865828e-04 -1.24139031e-06 9.99999987e-01 -2.02441184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.765336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:414.90, Y:41.13, Z:-0.20 [[ 8.94955338e-01 -4.46155714e-01 -1.47899718e-04 4.14902459e+02] [ 4.46155708e-01 8.94955350e-01 -7.05636182e-05 4.11256323e+01] [ 1.63846005e-04 -2.83501649e-06 9.99999987e-01 -1.99247944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.825336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:414.96, Y:41.14, Z:-0.20 [[ 8.90125911e-01 -4.55714649e-01 -1.47888084e-04 4.14958751e+02] [ 4.55714643e-01 8.90125923e-01 -7.05879915e-05 4.11444789e+01] [ 1.63806999e-04 -4.56256523e-06 9.99999987e-01 -1.99103446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.885336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:415.01, Y:41.16, Z:-0.21 [[ 8.87258908e-01 -4.61271729e-01 -1.47876637e-04 4.15014855e+02] [ 4.61271724e-01 8.87258921e-01 -7.06119640e-05 4.11630727e+01] [ 1.63776168e-04 -5.56021711e-06 9.99999987e-01 -2.06139282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.945336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:415.07, Y:41.18, Z:-0.20 [[ 8.87467637e-01 -4.60870016e-01 -1.47873299e-04 4.15069440e+02] [ 4.60870011e-01 8.87467649e-01 -7.06189531e-05 4.11823340e+01] [ 1.63778927e-04 -5.47833364e-06 9.99999987e-01 -2.03969342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.005336195 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:415.12, Y:41.20, Z:-0.20 [[ 8.88569671e-01 -4.58741668e-01 -1.47869165e-04 4.15124914e+02] [ 4.58741663e-01 8.88569683e-01 -7.06276084e-05 4.12023948e+01] [ 1.63791884e-04 -5.07619593e-06 9.99999987e-01 -2.02173907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.065336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:415.18, Y:41.22, Z:-0.20 [[ 8.91526165e-01 -4.52969176e-01 -1.47857698e-04 4.15179623e+02] [ 4.52969171e-01 8.91526178e-01 -7.06516063e-05 4.12225497e+01] [ 1.63822008e-04 -3.98722336e-06 9.99999987e-01 -2.00376300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.125336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:415.23, Y:41.25, Z:-0.20 [[ 8.96467295e-01 -4.43109883e-01 -1.47844452e-04 4.15233448e+02] [ 4.43109877e-01 8.96467307e-01 -7.06793133e-05 4.12455037e+01] [ 1.63856420e-04 -2.14964438e-06 9.99999987e-01 -1.98203826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.185336195 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:415.29, Y:41.27, Z:-0.20 [[ 9.01465933e-01 -4.32850032e-01 -1.47830506e-04 4.15285834e+02] [ 4.32850026e-01 9.01465945e-01 -7.07084719e-05 4.12683274e+01] [ 1.63870331e-04 -2.47159612e-07 9.99999987e-01 -2.03565605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.34, Y:41.30, Z:-0.20 [[ 9.05302362e-01 -4.24767714e-01 -1.47824459e-04 4.15338221e+02] [ 4.24767708e-01 9.05302374e-01 -7.07211104e-05 4.12958192e+01] [ 1.63865878e-04 1.23293152e-06 9.99999987e-01 -1.97801447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.305336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:415.39, Y:41.33, Z:-0.20 [[ 9.07156473e-01 -4.20793431e-01 -1.47812342e-04 4.15387721e+02] [ 4.20793425e-01 9.07156485e-01 -7.07464276e-05 4.13255377e+01] [ 1.63858556e-04 1.97961808e-06 9.99999987e-01 -2.02192581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.36533619499994 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:415.44, Y:41.35, Z:-0.20 [[ 9.06729830e-01 -4.21711980e-01 -1.47808083e-04 4.15439117e+02] [ 4.21711974e-01 9.06729842e-01 -7.07553236e-05 4.13533824e+01] [ 1.63860368e-04 1.82352389e-06 9.99999987e-01 -1.98998511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.42533619499994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:415.49, Y:41.38, Z:-0.19 [[ 9.05092746e-01 -4.25214180e-01 -1.47794111e-04 4.15491592e+02] [ 4.25214174e-01 9.05092759e-01 -7.07844975e-05 4.13803202e+01] [ 1.63865951e-04 1.22238455e-06 9.99999987e-01 -1.94582729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.54, Y:41.41, Z:-0.20 [[ 9.02752306e-01 -4.30160729e-01 -1.47781373e-04 4.15540695e+02] [ 4.30160723e-01 9.02752318e-01 -7.08110807e-05 4.14115537e+01] [ 1.63870123e-04 3.55123996e-07 9.99999987e-01 -2.00173124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.59, Y:41.44, Z:-0.20 [[ 8.99844573e-01 -4.36210641e-01 -1.47776863e-04 4.15592176e+02] [ 4.36210635e-01 8.99844585e-01 -7.08204914e-05 4.14412206e+01] [ 1.63868862e-04 -7.34404526e-07 9.99999987e-01 -1.98060722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.64, Y:41.46, Z:-0.20 [[ 8.97009829e-01 -4.42010570e-01 -1.47764700e-04 4.15644843e+02] [ 4.42010565e-01 8.97009841e-01 -7.08458597e-05 4.14647816e+01] [ 1.63861009e-04 -1.76412618e-06 9.99999987e-01 -2.01747473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.66533619499995 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:415.70, Y:41.49, Z:-0.20 [[ 8.94758723e-01 -4.46549892e-01 -1.47760388e-04 4.15696123e+02] [ 4.46549886e-01 8.94758735e-01 -7.08548520e-05 4.14925113e+01] [ 1.63850125e-04 -2.58438768e-06 9.99999987e-01 -2.01139744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.75, Y:41.52, Z:-0.20 [[ 8.93575825e-01 -4.48912266e-01 -1.47746482e-04 4.15747150e+02] [ 4.48912260e-01 8.93575838e-01 -7.08838376e-05 4.15191064e+01] [ 1.63843311e-04 -2.98512352e-06 9.99999987e-01 -2.01453119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.80, Y:41.54, Z:-0.20 [[ 8.93443651e-01 -4.49175267e-01 -1.47742117e-04 4.15801427e+02] [ 4.49175261e-01 8.93443663e-01 -7.08929340e-05 4.15421622e+01] [ 1.63842611e-04 -3.02326226e-06 9.99999987e-01 -2.03277144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.85, Y:41.57, Z:-0.20 [[ 8.93850906e-01 -4.48364289e-01 -1.47730291e-04 4.15854748e+02] [ 4.48364283e-01 8.93850918e-01 -7.09175694e-05 4.15665369e+01] [ 1.63845762e-04 -2.84725238e-06 9.99999987e-01 -2.01722327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.91, Y:41.59, Z:-0.20 [[ 8.93826650e-01 -4.48412642e-01 -1.47718541e-04 4.15907495e+02] [ 4.48412636e-01 8.93826663e-01 -7.09420358e-05 4.15901618e+01] [ 1.63846076e-04 -2.82897814e-06 9.99999987e-01 -2.00525070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.96, Y:41.61, Z:-0.20 [[ 8.94895343e-01 -4.46276038e-01 -1.47704673e-04 4.15962155e+02] [ 4.46276033e-01 8.94895356e-01 -7.09708978e-05 4.16099639e+01] [ 1.63852837e-04 -2.40552956e-06 9.99999987e-01 -2.01940334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.02533619499997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:416.01, Y:41.63, Z:-0.20 [[ 8.96532917e-01 -4.42977096e-01 -1.47700393e-04 4.16014875e+02] [ 4.42977090e-01 8.96532929e-01 -7.09798036e-05 4.16330412e+01] [ 1.63860693e-04 -1.79216002e-06 9.99999987e-01 -2.01596239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.08533619499997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:416.07, Y:41.66, Z:-0.20 [[ 9.00304859e-01 -4.35259852e-01 -1.47696175e-04 4.16069327e+02] [ 4.35259847e-01 9.00304871e-01 -7.09885799e-05 4.16562505e+01] [ 1.63870065e-04 -3.74851043e-07 9.99999987e-01 -1.99607819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.12, Y:41.68, Z:-0.20 [[ 9.04374938e-01 -4.26738737e-01 -1.47684491e-04 4.16121164e+02] [ 4.26738731e-01 9.04374950e-01 -7.10128796e-05 4.16844842e+01] [ 1.63866100e-04 1.19957650e-06 9.99999987e-01 -1.99140848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.17, Y:41.72, Z:-0.20 [[ 9.06743409e-01 -4.21682781e-01 -1.47672898e-04 4.16170778e+02] [ 4.21682775e-01 9.06743422e-01 -7.10369791e-05 4.17150363e+01] [ 1.63856499e-04 2.14119529e-06 9.99999987e-01 -2.04576745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.22, Y:41.74, Z:-0.21 [[ 9.05635393e-01 -4.24057205e-01 -1.47668816e-04 4.16222739e+02] [ 4.24057199e-01 9.05635405e-01 -7.10454633e-05 4.17427523e+01] [ 1.63861448e-04 1.72126165e-06 9.99999987e-01 -2.06722659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.27, Y:41.77, Z:-0.21 [[ 9.01509092e-01 -4.32760135e-01 -1.47657702e-04 4.16274402e+02] [ 4.32760129e-01 9.01509105e-01 -7.10685540e-05 4.17689594e+01] [ 1.63870400e-04 1.68581357e-07 9.99999987e-01 -2.06860243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.385336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:416.33, Y:41.79, Z:-0.21 [[ 9.00014897e-01 -4.35859111e-01 -1.47643993e-04 4.16327915e+02] [ 4.35859105e-01 9.00014909e-01 -7.10970225e-05 4.17946057e+01] [ 1.63870080e-04 -3.63599392e-07 9.99999987e-01 -2.09024413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.38, Y:41.82, Z:-0.21 [[ 8.95626560e-01 -4.44806747e-01 -1.47633038e-04 4.16381623e+02] [ 4.44806742e-01 8.95626573e-01 -7.11197638e-05 4.18159358e+01] [ 1.63858623e-04 -1.97142129e-06 9.99999987e-01 -2.08818642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.44, Y:41.84, Z:-0.21 [[ 8.93229392e-01 -4.49601191e-01 -1.47619410e-04 4.16436755e+02] [ 4.49601186e-01 8.93229404e-01 -7.11480405e-05 4.18361845e+01] [ 1.63846241e-04 -2.81834061e-06 9.99999987e-01 -2.07728694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.49, Y:41.86, Z:-0.21 [[ 8.94218628e-01 -4.47630453e-01 -1.47607196e-04 4.16489792e+02] [ 4.47630448e-01 8.94218641e-01 -7.11733699e-05 4.18596050e+01] [ 1.63852474e-04 -2.42892211e-06 9.99999987e-01 -2.07800636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.625336195 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:416.55, Y:41.88, Z:-0.21 [[ 8.97158478e-01 -4.41708777e-01 -1.47593231e-04 4.16545811e+02] [ 4.41708771e-01 8.97158490e-01 -7.12023182e-05 4.18800978e+01] [ 1.63865209e-04 -1.31346122e-06 9.99999987e-01 -2.11185743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.60, Y:41.90, Z:-0.21 [[ 8.99817965e-01 -4.36265525e-01 -1.47581836e-04 4.16599962e+02] [ 4.36265519e-01 8.99817977e-01 -7.12259278e-05 4.19013095e+01] [ 1.63870206e-04 -2.94497078e-07 9.99999987e-01 -2.14698502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.65, Y:41.93, Z:-0.21 [[ 9.02704166e-01 -4.30261743e-01 -1.47577470e-04 4.16651383e+02] [ 4.30261737e-01 9.02704178e-01 -7.12349738e-05 4.19304167e+01] [ 1.63868483e-04 8.07169014e-07 9.99999987e-01 -2.09874648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.70, Y:41.95, Z:-0.21 [[ 9.04754842e-01 -4.25932687e-01 -1.47565400e-04 4.16704353e+02] [ 4.25932681e-01 9.04754854e-01 -7.12599683e-05 4.19533051e+01] [ 1.63862462e-04 1.61987496e-06 9.99999987e-01 -2.11118736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.86533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.76, Y:41.98, Z:-0.21 [[ 9.05667226e-01 -4.23989215e-01 -1.47561156e-04 4.16755596e+02] [ 4.23989209e-01 9.05667238e-01 -7.12687555e-05 4.19810838e+01] [ 1.63858488e-04 1.98143830e-06 9.99999987e-01 -2.12829937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.92533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.81, Y:42.01, Z:-0.21 [[ 9.04638905e-01 -4.26178870e-01 -1.47547710e-04 4.16805628e+02] [ 4.26178864e-01 9.04638917e-01 -7.12965812e-05 4.20106927e+01] [ 1.63862497e-04 1.61594566e-06 9.99999987e-01 -2.12293952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.86, Y:42.04, Z:-0.21 [[ 9.02855106e-01 -4.29944921e-01 -1.47543548e-04 4.16857915e+02] [ 4.29944915e-01 9.02855118e-01 -7.13051944e-05 4.20388367e+01] [ 1.63867753e-04 9.42660789e-07 9.99999987e-01 -2.12404131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.91, Y:42.06, Z:-0.21 [[ 9.01269628e-01 -4.33258625e-01 -1.47532401e-04 4.16910947e+02] [ 4.33258619e-01 9.01269640e-01 -7.13282509e-05 4.20646136e+01] [ 1.63870053e-04 3.66302005e-07 9.99999987e-01 -2.08378048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.96, Y:42.09, Z:-0.21 [[ 9.00826188e-01 -4.34179868e-01 -1.47520389e-04 4.16962078e+02] [ 4.34179862e-01 9.00826200e-01 -7.13530847e-05 4.20946310e+01] [ 1.63870304e-04 2.26345148e-07 9.99999987e-01 -2.08000769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.02, Y:42.12, Z:-0.21 [[ 9.00155261e-01 -4.35569151e-01 -1.47508473e-04 4.17015819e+02] [ 4.35569145e-01 9.00155273e-01 -7.13777092e-05 4.21183333e+01] [ 1.63870458e-04 8.80887364e-10 9.99999987e-01 -2.05834176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.07, Y:42.14, Z:-0.21 [[ 8.99266302e-01 -4.37401527e-01 -1.47496153e-04 4.17068560e+02] [ 4.37401521e-01 8.99266315e-01 -7.14031586e-05 4.21445077e+01] [ 1.63870173e-04 -3.04587290e-07 9.99999987e-01 -2.08468690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.12, Y:42.17, Z:-0.21 [[ 8.98307028e-01 -4.39368253e-01 -1.47483894e-04 4.17121914e+02] [ 4.39368247e-01 8.98307040e-01 -7.14284708e-05 4.21675177e+01] [ 1.63869223e-04 -6.35042751e-07 9.99999987e-01 -2.13507827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.34533619499996 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:417.18, Y:42.19, Z:-0.21 [[ 8.98005725e-01 -4.39983745e-01 -1.47477376e-04 4.17176548e+02] [ 4.39983739e-01 8.98005737e-01 -7.14419256e-05 4.21901721e+01] [ 1.63868816e-04 -7.32389180e-07 9.99999987e-01 -2.13486032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.23, Y:42.22, Z:-0.21 [[ 8.98242373e-01 -4.39500418e-01 -1.47464950e-04 4.17228383e+02] [ 4.39500412e-01 8.98242385e-01 -7.14675668e-05 4.22173396e+01] [ 1.63869293e-04 -6.15709303e-07 9.99999987e-01 -2.09352056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.46533619499996 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:417.28, Y:42.24, Z:-0.22 [[ 8.98038190e-01 -4.39917479e-01 -1.47452089e-04 4.17282230e+02] [ 4.39917473e-01 8.98038202e-01 -7.14940908e-05 4.22396920e+01] [ 1.63869109e-04 -6.62326507e-07 9.99999987e-01 -2.15776496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.34, Y:42.26, Z:-0.22 [[ 8.97760844e-01 -4.40483195e-01 -1.47447561e-04 4.17335301e+02] [ 4.40483189e-01 8.97760856e-01 -7.15034288e-05 4.22640450e+01] [ 1.63868707e-04 -7.55193129e-07 9.99999987e-01 -2.16826000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.39, Y:42.29, Z:-0.22 [[ 8.98587935e-01 -4.38793460e-01 -1.47435363e-04 4.17388033e+02] [ 4.38793454e-01 8.98587948e-01 -7.15285717e-05 4.22891858e+01] [ 1.63869909e-04 -4.18960406e-07 9.99999987e-01 -2.16875381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.64533619499997 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:417.44, Y:42.32, Z:-0.22 [[ 9.00907796e-01 -4.34010509e-01 -1.47422985e-04 4.17438509e+02] [ 4.34010503e-01 9.00907808e-01 -7.15540724e-05 4.23183315e+01] [ 1.63869738e-04 4.80497555e-07 9.99999987e-01 -2.19556238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.705336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:417.49, Y:42.35, Z:-0.22 [[ 9.02443761e-01 -4.30807657e-01 -1.47408985e-04 4.17488431e+02] [ 4.30807651e-01 9.02443773e-01 -7.15829035e-05 4.23478049e+01] [ 1.63866783e-04 1.09462629e-06 9.99999987e-01 -2.21506976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.54, Y:42.37, Z:-0.21 [[ 9.02330494e-01 -4.31044845e-01 -1.47403028e-04 4.17540919e+02] [ 4.31044839e-01 9.02330506e-01 -7.15951671e-05 4.23749544e+01] [ 1.63866977e-04 1.06518795e-06 9.99999987e-01 -2.09566992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.59, Y:42.40, Z:-0.21 [[ 9.02139904e-01 -4.31443590e-01 -1.47390752e-04 4.17591720e+02] [ 4.31443584e-01 9.02139916e-01 -7.16204318e-05 4.24049897e+01] [ 1.63867256e-04 1.02085540e-06 9.99999987e-01 -2.13327012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.64, Y:42.43, Z:-0.21 [[ 9.01923426e-01 -4.31895949e-01 -1.47378430e-04 4.17643198e+02] [ 4.31895943e-01 9.01923439e-01 -7.16457773e-05 4.24322209e+01] [ 1.63867582e-04 9.66858815e-07 9.99999987e-01 -2.13977956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.69, Y:42.46, Z:-0.22 [[ 9.01799285e-01 -4.32155096e-01 -1.47374084e-04 4.17694583e+02] [ 4.32155090e-01 9.01799298e-01 -7.16547161e-05 4.24607431e+01] [ 1.63867796e-04 9.29711184e-07 9.99999987e-01 -2.16031819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.75, Y:42.49, Z:-0.22 [[ 9.02497901e-01 -4.30694228e-01 -1.47361997e-04 4.17745425e+02] [ 4.30694222e-01 9.02497913e-01 -7.16795651e-05 4.24882087e+01] [ 1.63865870e-04 1.22269643e-06 9.99999987e-01 -2.17165703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.80, Y:42.52, Z:-0.22 [[ 9.03531570e-01 -4.28521504e-01 -1.47357708e-04 4.17795555e+02] [ 4.28521498e-01 9.03531583e-01 -7.16883804e-05 4.25193371e+01] [ 1.63862356e-04 1.62676890e-06 9.99999987e-01 -2.17717377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.85, Y:42.55, Z:-0.22 [[ 9.03418363e-01 -4.28760118e-01 -1.47345827e-04 4.17845795e+02] [ 4.28760112e-01 9.03418375e-01 -7.17127924e-05 4.25500930e+01] [ 1.63862513e-04 1.61064012e-06 9.99999987e-01 -2.17018544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.90, Y:42.57, Z:-0.22 [[ 9.01358838e-01 -4.33073000e-01 -1.47334013e-04 4.17899131e+02] [ 4.33072994e-01 9.01358850e-01 -7.17370562e-05 4.25745487e+01] [ 1.63868199e-04 8.54447478e-07 9.99999987e-01 -2.15546497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.95, Y:42.61, Z:-0.22 [[ 8.99551252e-01 -4.36815204e-01 -1.47321234e-04 4.17949651e+02] [ 4.36815199e-01 8.99551264e-01 -7.17632906e-05 4.26063402e+01] [ 1.63870299e-04 2.02603949e-07 9.99999987e-01 -2.18487912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.00, Y:42.63, Z:-0.23 [[ 8.98425212e-01 -4.39126537e-01 -1.47309387e-04 4.18001473e+02] [ 4.39126532e-01 8.98425225e-01 -7.17876003e-05 4.26314763e+01] [ 1.63870310e-04 -1.91670201e-07 9.99999987e-01 -2.25316211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.36533619499994 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:418.05, Y:42.66, Z:-0.23 [[ 8.97862879e-01 -4.40275174e-01 -1.47304862e-04 4.18052497e+02] [ 4.40275168e-01 8.97862891e-01 -7.17968843e-05 4.26586314e+01] [ 1.63869955e-04 -3.90915568e-07 9.99999987e-01 -2.25361292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.42533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.11, Y:42.68, Z:-0.22 [[ 8.98003230e-01 -4.39988837e-01 -1.47290884e-04 4.18105799e+02] [ 4.39988831e-01 8.98003242e-01 -7.18255487e-05 4.26841725e+01] [ 1.63870131e-04 -3.06769115e-07 9.99999987e-01 -2.17040138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.16, Y:42.71, Z:-0.22 [[ 8.98559064e-01 -4.38852581e-01 -1.47287345e-04 4.18159087e+02] [ 4.38852575e-01 8.98559076e-01 -7.18328048e-05 4.27113269e+01] [ 1.63870393e-04 -9.14128341e-08 9.99999987e-01 -2.21231339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.21, Y:42.74, Z:-0.22 [[ 8.98981408e-01 -4.37986765e-01 -1.47277603e-04 4.18211610e+02] [ 4.37986759e-01 8.98981420e-01 -7.18527742e-05 4.27366631e+01] [ 1.63870393e-04 8.86682173e-08 9.99999987e-01 -2.22045514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.60533619499995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:418.26, Y:42.76, Z:-0.22 [[ 8.99397653e-01 -4.37131376e-01 -1.47263478e-04 4.18263612e+02] [ 4.37131370e-01 8.99397665e-01 -7.18817120e-05 4.27634672e+01] [ 1.63870180e-04 2.76757342e-07 9.99999987e-01 -2.23937822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.32, Y:42.79, Z:-0.22 [[ 8.99319755e-01 -4.37291614e-01 -1.47249250e-04 4.18315994e+02] [ 4.37291608e-01 8.99319767e-01 -7.19108456e-05 4.27891192e+01] [ 1.63870171e-04 2.79982807e-07 9.99999987e-01 -2.21706631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.37, Y:42.81, Z:-0.22 [[ 8.99995536e-01 -4.35899086e-01 -1.47244797e-04 4.18369695e+02] [ 4.35899080e-01 8.99995548e-01 -7.19199624e-05 4.28135883e+01] [ 1.63869508e-04 5.43773697e-07 9.99999987e-01 -2.19749776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.42, Y:42.84, Z:-0.22 [[ 9.02444479e-01 -4.30806152e-01 -1.47232257e-04 4.18421569e+02] [ 4.30806146e-01 9.02444491e-01 -7.19456240e-05 4.28397735e+01] [ 1.63863557e-04 1.49836971e-06 9.99999987e-01 -2.18312548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.47, Y:42.87, Z:-0.22 [[ 9.04837734e-01 -4.25756566e-01 -1.47227836e-04 4.18473882e+02] [ 4.25756560e-01 9.04837746e-01 -7.19546712e-05 4.28660163e+01] [ 1.63852477e-04 2.42408483e-06 9.99999987e-01 -2.21677608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.52, Y:42.90, Z:-0.22 [[ 9.06059733e-01 -4.23149783e-01 -1.47215480e-04 4.18524422e+02] [ 4.23149777e-01 9.06059745e-01 -7.19799413e-05 4.28954603e+01] [ 1.63844317e-04 2.92392878e-06 9.99999987e-01 -2.20928317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.57, Y:42.92, Z:-0.22 [[ 9.05816148e-01 -4.23670963e-01 -1.47208887e-04 4.18574492e+02] [ 4.23670956e-01 9.05816160e-01 -7.19934222e-05 4.29242174e+01] [ 1.63845711e-04 2.84467441e-06 9.99999987e-01 -2.22490919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.63, Y:42.95, Z:-0.23 [[ 9.04441458e-01 -4.26597734e-01 -1.47204565e-04 4.18625449e+02] [ 4.26597728e-01 9.04441470e-01 -7.20022575e-05 4.29526077e+01] [ 1.63853914e-04 2.32469359e-06 9.99999987e-01 -2.27269088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.68, Y:42.98, Z:-0.23 [[ 9.02950140e-01 -4.29745301e-01 -1.47192574e-04 4.18676658e+02] [ 4.29745295e-01 9.02950152e-01 -7.20267623e-05 4.29818046e+01] [ 1.63860720e-04 1.78125886e-06 9.99999987e-01 -2.25049399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.73, Y:43.01, Z:-0.23 [[ 8.99895313e-01 -4.36105955e-01 -1.47180653e-04 4.18728042e+02] [ 4.36105949e-01 8.99895325e-01 -7.20511139e-05 4.30107092e+01] [ 1.63869102e-04 6.52101270e-07 9.99999987e-01 -2.25283663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.78, Y:43.04, Z:-0.22 [[ 8.96239852e-01 -4.43569730e-01 -1.47168814e-04 4.18780408e+02] [ 4.43569724e-01 8.96239864e-01 -7.20752889e-05 4.30384212e+01] [ 1.63868974e-04 -6.82883748e-07 9.99999987e-01 -2.22797119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.83, Y:43.06, Z:-0.22 [[ 8.92966576e-01 -4.50122953e-01 -1.47157032e-04 4.18834154e+02] [ 4.50122947e-01 8.92966588e-01 -7.20993363e-05 4.30633379e+01] [ 1.63859879e-04 -1.85645937e-06 9.99999987e-01 -2.23393704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.89, Y:43.09, Z:-0.23 [[ 8.92104639e-01 -4.51828829e-01 -1.47144873e-04 4.18888562e+02] [ 4.51828823e-01 8.92104652e-01 -7.21241412e-05 4.30855609e+01] [ 1.63856392e-04 -2.14201403e-06 9.99999987e-01 -2.26343821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.94, Y:43.11, Z:-0.22 [[ 8.93132157e-01 -4.49794317e-01 -1.47132294e-04 4.18942944e+02] [ 4.49794312e-01 8.93132169e-01 -7.21497935e-05 4.31078913e+01] [ 1.63861152e-04 -1.73996827e-06 9.99999987e-01 -2.21759307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.00, Y:43.13, Z:-0.22 [[ 8.94179659e-01 -4.47708292e-01 -1.47119770e-04 4.18995411e+02] [ 4.47708286e-01 8.94179672e-01 -7.21753221e-05 4.31336862e+01] [ 1.63864998e-04 -1.32903518e-06 9.99999987e-01 -2.21468519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.05, Y:43.16, Z:-0.23 [[ 8.95815937e-01 -4.44425231e-01 -1.47107269e-04 4.19049514e+02] [ 4.44425225e-01 8.95815949e-01 -7.22007923e-05 4.31551266e+01] [ 1.63868892e-04 -6.99560850e-07 9.99999987e-01 -2.32203360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.10, Y:43.18, Z:-0.23 [[ 8.96632192e-01 -4.42776119e-01 -1.47102846e-04 4.19104263e+02] [ 4.42776113e-01 8.96632204e-01 -7.22098033e-05 4.31761480e+01] [ 1.63869925e-04 -3.87992147e-07 9.99999987e-01 -2.34180852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.16, Y:43.20, Z:-0.22 [[ 8.97865218e-01 -4.40270405e-01 -1.47091747e-04 4.19159046e+02] [ 4.40270399e-01 8.97865230e-01 -7.22324055e-05 4.31979589e+01] [ 1.63870355e-04 9.48225260e-08 9.99999987e-01 -2.24168827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.21, Y:43.22, Z:-0.23 [[ 8.99776611e-01 -4.36350809e-01 -1.47079390e-04 4.19213622e+02] [ 4.36350803e-01 8.99776623e-01 -7.22575579e-05 4.32200472e+01] [ 1.63868240e-04 8.37450764e-07 9.99999987e-01 -2.25896907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.745336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:419.27, Y:43.24, Z:-0.23 [[ 9.01970430e-01 -4.31797780e-01 -1.47066771e-04 4.19268608e+02] [ 4.31797773e-01 9.01970442e-01 -7.22832314e-05 4.32408542e+01] [ 1.63861619e-04 1.69423288e-06 9.99999987e-01 -2.25569626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.805336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:419.32, Y:43.27, Z:-0.23 [[ 9.04559358e-01 -4.26347682e-01 -1.47054324e-04 4.19321216e+02] [ 4.26347676e-01 9.04559370e-01 -7.23085449e-05 4.32650067e+01] [ 1.63847947e-04 2.71110149e-06 9.99999987e-01 -2.25705060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.86533619499994 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:419.37, Y:43.29, Z:-0.22 [[ 9.06531104e-01 -4.22139000e-01 -1.47047795e-04 4.19373874e+02] [ 4.22138993e-01 9.06531116e-01 -7.23218205e-05 4.32918250e+01] [ 1.63833263e-04 3.48737167e-06 9.99999987e-01 -2.23075626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.92533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.43, Y:43.32, Z:-0.22 [[ 9.06611126e-01 -4.21967113e-01 -1.47035783e-04 4.19425231e+02] [ 4.21967107e-01 9.06611138e-01 -7.23462327e-05 4.33186517e+01] [ 1.63832010e-04 3.54563538e-06 9.99999987e-01 -2.23379355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.48, Y:43.35, Z:-0.22 [[ 9.06178405e-01 -4.22895586e-01 -1.47022076e-04 4.19476053e+02] [ 4.22895580e-01 9.06178417e-01 -7.23740779e-05 4.33480635e+01] [ 1.63834910e-04 3.40884040e-06 9.99999987e-01 -2.20595567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.53, Y:43.38, Z:-0.22 [[ 9.04469608e-01 -4.26538049e-01 -1.47010175e-04 4.19525458e+02] [ 4.26538043e-01 9.04469620e-01 -7.23982450e-05 4.33789275e+01] [ 1.63846843e-04 2.77658017e-06 9.99999987e-01 -2.19608421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.58, Y:43.41, Z:-0.22 [[ 9.03062080e-01 -4.29510022e-01 -1.47005982e-04 4.19576622e+02] [ 4.29510016e-01 9.03062092e-01 -7.24067561e-05 4.34087218e+01] [ 1.63854957e-04 2.24725393e-06 9.99999987e-01 -2.18087904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.63, Y:43.44, Z:-0.22 [[ 9.01305406e-01 -4.33184192e-01 -1.46994068e-04 4.19626766e+02] [ 4.33184186e-01 9.01305418e-01 -7.24309350e-05 4.34379743e+01] [ 1.63862486e-04 1.60688750e-06 9.99999987e-01 -2.19566750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.22533619499995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:419.68, Y:43.47, Z:-0.22 [[ 8.98284130e-01 -4.39415066e-01 -1.46987666e-04 4.19677757e+02] [ 4.39415060e-01 8.98284142e-01 -7.24439251e-05 4.34653066e+01] [ 1.63869642e-04 4.86634139e-07 9.99999987e-01 -2.18674812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.73, Y:43.49, Z:-0.22 [[ 8.96690591e-01 -4.42657839e-01 -1.46983550e-04 4.19730373e+02] [ 4.42657833e-01 8.96690603e-01 -7.24522747e-05 4.34912998e+01] [ 1.63870336e-04 -9.61468093e-08 9.99999987e-01 -2.23796706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.34533619499996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:419.78, Y:43.52, Z:-0.22 [[ 8.96512095e-01 -4.43019234e-01 -1.46976843e-04 4.19782208e+02] [ 4.43019228e-01 8.96512107e-01 -7.24658784e-05 4.35193146e+01] [ 1.63870297e-04 -1.47031081e-07 9.99999987e-01 -2.22613581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.83, Y:43.55, Z:-0.22 [[ 8.97292422e-01 -4.41436618e-01 -1.46964178e-04 4.19832710e+02] [ 4.41436612e-01 8.97292434e-01 -7.24915543e-05 4.35462111e+01] [ 1.63870272e-04 1.70753442e-07 9.99999987e-01 -2.20969492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.88, Y:43.57, Z:-0.22 [[ 8.98214939e-01 -4.39556483e-01 -1.46957917e-04 4.19883614e+02] [ 4.39556477e-01 8.98214951e-01 -7.25042453e-05 4.35739882e+01] [ 1.63869509e-04 5.28092081e-07 9.99999987e-01 -2.21423218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.52533619499997 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:419.93, Y:43.60, Z:-0.23 [[ 8.98864789e-01 -4.38226048e-01 -1.46943498e-04 4.19932997e+02] [ 4.38226042e-01 8.98864801e-01 -7.25334564e-05 4.36043581e+01] [ 1.63868388e-04 8.03302487e-07 9.99999987e-01 -2.25962713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.98, Y:43.63, Z:-0.23 [[ 8.99288939e-01 -4.37354985e-01 -1.46939040e-04 4.19983450e+02] [ 4.37354979e-01 8.99288951e-01 -7.25424860e-05 4.36305442e+01] [ 1.63867473e-04 9.72134500e-07 9.99999987e-01 -2.27084511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.03, Y:43.66, Z:-0.22 [[ 8.99640490e-01 -4.36631386e-01 -1.46929433e-04 4.20034344e+02] [ 4.36631380e-01 8.99640502e-01 -7.25619401e-05 4.36606665e+01] [ 1.63866489e-04 1.12565846e-06 9.99999987e-01 -2.23820743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.705336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:420.09, Y:43.69, Z:-0.22 [[ 8.98694868e-01 -4.38574409e-01 -1.46916835e-04 4.20085791e+02] [ 4.38574403e-01 8.98694880e-01 -7.25874375e-05 4.36880318e+01] [ 1.63868400e-04 7.99994371e-07 9.99999987e-01 -2.23236661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.13, Y:43.72, Z:-0.23 [[ 8.96964813e-01 -4.42101914e-01 -1.46902337e-04 4.20134614e+02] [ 4.42101908e-01 8.96964825e-01 -7.26167672e-05 4.37185573e+01] [ 1.63870241e-04 1.88881581e-07 9.99999987e-01 -2.25069358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.19, Y:43.74, Z:-0.23 [[ 8.95014408e-01 -4.46037204e-01 -1.46896086e-04 4.20188527e+02] [ 4.46037198e-01 8.95014421e-01 -7.26294088e-05 4.37429567e+01] [ 1.63869534e-04 -5.16751329e-07 9.99999987e-01 -2.26142215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.885336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:420.24, Y:43.77, Z:-0.22 [[ 8.96255078e-01 -4.43538965e-01 -1.46883507e-04 4.20238137e+02] [ 4.43538959e-01 8.96255090e-01 -7.26548402e-05 4.37742327e+01] [ 1.63870343e-04 -3.12881609e-08 9.99999987e-01 -2.20385731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.29, Y:43.80, Z:-0.22 [[ 8.98295114e-01 -4.39392611e-01 -1.46878805e-04 4.20288699e+02] [ 4.39392605e-01 8.98295126e-01 -7.26643446e-05 4.38032071e+01] [ 1.63868691e-04 7.36565000e-07 9.99999987e-01 -2.23873643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.34, Y:43.83, Z:-0.22 [[ 8.99095194e-01 -4.37753139e-01 -1.46874161e-04 4.20339073e+02] [ 4.37753133e-01 8.99095206e-01 -7.26737308e-05 4.38339601e+01] [ 1.63867007e-04 1.04597817e-06 9.99999987e-01 -2.23581703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.065336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:420.39, Y:43.87, Z:-0.23 [[ 8.98893679e-01 -4.38166785e-01 -1.46861145e-04 4.20388348e+02] [ 4.38166779e-01 8.98893691e-01 -7.27000237e-05 4.38665852e+01] [ 1.63867292e-04 9.99916935e-07 9.99999987e-01 -2.30031436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.44, Y:43.89, Z:-0.23 [[ 8.97788655e-01 -4.40426509e-01 -1.46857468e-04 4.20441022e+02] [ 4.40426503e-01 8.97788667e-01 -7.27074500e-05 4.38911947e+01] [ 1.63869259e-04 5.96002613e-07 9.99999987e-01 -2.29698989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.49, Y:43.92, Z:-0.23 [[ 8.96389571e-01 -4.43267093e-01 -1.46852919e-04 4.20490703e+02] [ 4.43267087e-01 8.96389583e-01 -7.27166375e-05 4.39208001e+01] [ 1.63870319e-04 8.73699937e-08 9.99999987e-01 -2.29664262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.54, Y:43.95, Z:-0.23 [[ 8.95746079e-01 -4.44566014e-01 -1.46838535e-04 4.20542713e+02] [ 4.44566008e-01 8.95746091e-01 -7.27456725e-05 4.39474275e+01] [ 1.63870297e-04 -1.17770192e-07 9.99999987e-01 -2.27198575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.305336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:420.59, Y:43.98, Z:-0.22 [[ 8.94446002e-01 -4.47175948e-01 -1.46834017e-04 4.20594566e+02] [ 4.47175942e-01 8.94446014e-01 -7.27547898e-05 4.39751585e+01] [ 1.63869293e-04 -5.85409063e-07 9.99999987e-01 -2.23995432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.36533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.65, Y:44.00, Z:-0.22 [[ 8.92178414e-01 -4.51683137e-01 -1.46821475e-04 4.20647847e+02] [ 4.51683132e-01 8.92178426e-01 -7.27800909e-05 4.40002665e+01] [ 1.63864492e-04 -1.38395763e-06 9.99999987e-01 -2.22421563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.42533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.70, Y:44.02, Z:-0.22 [[ 8.89992471e-01 -4.55975197e-01 -1.46808745e-04 4.20700526e+02] [ 4.55975192e-01 8.89992483e-01 -7.28057601e-05 4.40232837e+01] [ 1.63856300e-04 -2.14456747e-06 9.99999987e-01 -2.23206760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.76, Y:44.04, Z:-0.23 [[ 8.90082993e-01 -4.55798469e-01 -1.46802489e-04 4.20755474e+02] [ 4.55798463e-01 8.90083005e-01 -7.28183736e-05 4.40446433e+01] [ 1.63856903e-04 -2.09795266e-06 9.99999987e-01 -2.25207947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.81, Y:44.07, Z:-0.23 [[ 8.91215736e-01 -4.53579640e-01 -1.46789834e-04 4.20809053e+02] [ 4.53579634e-01 8.91215748e-01 -7.28438732e-05 4.40689718e+01] [ 1.63861910e-04 -1.66127330e-06 9.99999987e-01 -2.25715727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.86, Y:44.09, Z:-0.23 [[ 8.93456624e-01 -4.49149462e-01 -1.46777184e-04 4.20862260e+02] [ 4.49149456e-01 8.93456636e-01 -7.28693544e-05 4.40926784e+01] [ 1.63868280e-04 -8.19284904e-07 9.99999987e-01 -2.28118592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.92, Y:44.12, Z:-0.23 [[ 8.96077220e-01 -4.43898180e-01 -1.46772751e-04 4.20916086e+02] [ 4.43898174e-01 8.96077232e-01 -7.28782816e-05 4.41163705e+01] [ 1.63870257e-04 1.52411686e-07 9.99999987e-01 -2.28794894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.97, Y:44.14, Z:-0.23 [[ 8.97877906e-01 -4.40244528e-01 -1.46760727e-04 4.20969620e+02] [ 4.40244522e-01 8.97877918e-01 -7.29024873e-05 4.41411796e+01] [ 1.63868137e-04 8.46926316e-07 9.99999987e-01 -2.28439279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.02, Y:44.16, Z:-0.22 [[ 8.98486212e-01 -4.39001715e-01 -1.46748708e-04 4.21024328e+02] [ 4.39001709e-01 8.98486224e-01 -7.29266728e-05 4.41624370e+01] [ 1.63866627e-04 1.10067630e-06 9.99999987e-01 -2.24989660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.08, Y:44.19, Z:-0.23 [[ 8.98505496e-01 -4.38962245e-01 -1.46736271e-04 4.21077212e+02] [ 4.38962239e-01 8.98505508e-01 -7.29516888e-05 4.41868172e+01] [ 1.63866385e-04 1.13581112e-06 9.99999987e-01 -2.30835977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.13, Y:44.21, Z:-0.23 [[ 8.98317789e-01 -4.39346252e-01 -1.46723922e-04 4.21131042e+02] [ 4.39346246e-01 8.98317801e-01 -7.29765178e-05 4.42079536e+01] [ 1.63866671e-04 1.09349988e-06 9.99999987e-01 -2.32931183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.18, Y:44.23, Z:-0.23 [[ 8.98620893e-01 -4.38725961e-01 -1.46719611e-04 4.21184873e+02] [ 4.38725955e-01 8.98620905e-01 -7.29851834e-05 4.42297705e+01] [ 1.63865805e-04 1.21630918e-06 9.99999987e-01 -2.28420334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.24, Y:44.25, Z:-0.23 [[ 8.98587728e-01 -4.38793886e-01 -1.46705391e-04 4.21235805e+02] [ 4.38793880e-01 8.98587740e-01 -7.30137555e-05 4.42546364e+01] [ 1.63865655e-04 1.23583679e-06 9.99999987e-01 -2.30167265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.29, Y:44.28, Z:-0.23 [[ 8.98098575e-01 -4.39794189e-01 -1.46699241e-04 4.21288257e+02] [ 4.39794183e-01 8.98098587e-01 -7.30261098e-05 4.42784120e+01] [ 1.63866840e-04 1.06717209e-06 9.99999987e-01 -2.25519519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.34, Y:44.30, Z:-0.23 [[ 8.96709941e-01 -4.42618640e-01 -1.46684211e-04 4.21341936e+02] [ 4.42618634e-01 8.96709953e-01 -7.30562877e-05 4.42994768e+01] [ 1.63869267e-04 5.85134139e-07 9.99999987e-01 -2.28784053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.205336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:421.40, Y:44.32, Z:-0.23 [[ 8.97104140e-01 -4.41819126e-01 -1.46679579e-04 4.21396168e+02] [ 4.41819120e-01 8.97104152e-01 -7.30655861e-05 4.43210220e+01] [ 1.63868633e-04 7.41597029e-07 9.99999987e-01 -2.29927707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.45, Y:44.35, Z:-0.23 [[ 8.98439234e-01 -4.39097850e-01 -1.46672773e-04 4.21448867e+02] [ 4.39097844e-01 8.98439246e-01 -7.30792473e-05 4.43483182e+01] [ 1.63865516e-04 1.25356458e-06 9.99999987e-01 -2.29297625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.50, Y:44.37, Z:-0.23 [[ 8.99634070e-01 -4.36644614e-01 -1.46660950e-04 4.21502264e+02] [ 4.36644607e-01 8.99634082e-01 -7.31029669e-05 4.43706184e+01] [ 1.63861206e-04 1.72720675e-06 9.99999987e-01 -2.30676168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.55, Y:44.40, Z:-0.24 [[ 8.99290918e-01 -4.37350915e-01 -1.46646421e-04 4.21554164e+02] [ 4.37350909e-01 8.99290930e-01 -7.31321014e-05 4.43964575e+01] [ 1.63862187e-04 1.63108928e-06 9.99999987e-01 -2.35265486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.61, Y:44.42, Z:-0.23 [[ 8.97520720e-01 -4.40972263e-01 -1.46639638e-04 4.21607690e+02] [ 4.40972256e-01 8.97520732e-01 -7.31456982e-05 4.44209131e+01] [ 1.63867339e-04 9.85767503e-07 9.99999987e-01 -2.33148769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.66, Y:44.44, Z:-0.23 [[ 8.95791208e-01 -4.44475073e-01 -1.46627444e-04 4.21662748e+02] [ 4.44475067e-01 8.95791220e-01 -7.31701348e-05 4.44429260e+01] [ 1.63869878e-04 3.72920504e-07 9.99999987e-01 -2.31591741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.72, Y:44.47, Z:-0.23 [[ 8.94136948e-01 -4.47793587e-01 -1.46615310e-04 4.21716861e+02] [ 4.47793581e-01 8.94136960e-01 -7.31944404e-05 4.44653287e+01] [ 1.63870168e-04 -2.07541160e-07 9.99999987e-01 -2.29368384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.77, Y:44.49, Z:-0.23 [[ 8.92870675e-01 -4.50313154e-01 -1.46610907e-04 4.21772589e+02] [ 4.50313148e-01 8.92870687e-01 -7.32032587e-05 4.44852251e+01] [ 1.63868971e-04 -6.59776023e-07 9.99999987e-01 -2.29625193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.685336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:421.83, Y:44.51, Z:-0.24 [[ 8.92329879e-01 -4.51383833e-01 -1.46598323e-04 4.21826176e+02] [ 4.51383827e-01 8.92329891e-01 -7.32284503e-05 4.45069763e+01] [ 1.63868204e-04 -8.28177951e-07 9.99999987e-01 -2.38867167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.88, Y:44.53, Z:-0.24 [[ 8.92650452e-01 -4.50749542e-01 -1.46593865e-04 4.21882353e+02] [ 4.50749536e-01 8.92650464e-01 -7.32373742e-05 4.45259877e+01] [ 1.63868794e-04 -7.01741418e-07 9.99999987e-01 -2.35895668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.94, Y:44.55, Z:-0.24 [[ 8.93881717e-01 -4.48302860e-01 -1.46581088e-04 4.21938098e+02] [ 4.48302854e-01 8.93881729e-01 -7.32629385e-05 4.45462039e+01] [ 1.63870141e-04 -2.24318569e-07 9.99999987e-01 -2.35126594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.86533619499994 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:421.99, Y:44.57, Z:-0.24 [[ 8.95542025e-01 -4.44976921e-01 -1.46568191e-04 4.21992673e+02] [ 4.44976915e-01 8.95542037e-01 -7.32887296e-05 4.45671085e+01] [ 1.63869770e-04 4.13675714e-07 9.99999987e-01 -2.42389269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.92533619499994 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:422.05, Y:44.59, Z:-0.24 [[ 8.96087448e-01 -4.43877533e-01 -1.46563653e-04 4.22049413e+02] [ 4.43877527e-01 8.96087460e-01 -7.32978042e-05 4.45857775e+01] [ 1.63869100e-04 6.24930601e-07 9.99999987e-01 -2.41093526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.10, Y:44.61, Z:-0.24 [[ 8.96508191e-01 -4.43027135e-01 -1.46550926e-04 4.22101721e+02] [ 4.43027129e-01 8.96508203e-01 -7.33232422e-05 4.46106883e+01] [ 1.63868293e-04 8.08851283e-07 9.99999987e-01 -2.38572801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.16, Y:44.63, Z:-0.23 [[ 8.96534990e-01 -4.42972901e-01 -1.46546439e-04 4.22158131e+02] [ 4.42972895e-01 8.96535002e-01 -7.33322081e-05 4.46297247e+01] [ 1.63868193e-04 8.28790066e-07 9.99999987e-01 -2.34115825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.21, Y:44.65, Z:-0.23 [[ 8.96349352e-01 -4.43348416e-01 -1.46534090e-04 4.22213010e+02] [ 4.43348409e-01 8.96349364e-01 -7.33568759e-05 4.46507206e+01] [ 1.63868393e-04 7.87732443e-07 9.99999987e-01 -2.31575513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.27, Y:44.67, Z:-0.23 [[ 8.97146865e-01 -4.41732364e-01 -1.46521507e-04 4.22265448e+02] [ 4.41732358e-01 8.97146877e-01 -7.33819994e-05 4.46741815e+01] [ 1.63866517e-04 1.11113969e-06 9.99999987e-01 -2.33889008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.32, Y:44.70, Z:-0.23 [[ 8.98776405e-01 -4.38407290e-01 -1.46517073e-04 4.22318909e+02] [ 4.38407283e-01 8.98776417e-01 -7.33908527e-05 4.46964249e+01] [ 1.63861175e-04 1.72781494e-06 9.99999987e-01 -2.31765630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.37, Y:44.72, Z:-0.24 [[ 8.99842276e-01 -4.36215380e-01 -1.46502729e-04 4.22370022e+02] [ 4.36215374e-01 8.99842287e-01 -7.34194750e-05 4.47230449e+01] [ 1.63856055e-04 2.15920483e-06 9.99999987e-01 -2.35041295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.42, Y:44.75, Z:-0.23 [[ 8.99279996e-01 -4.37373374e-01 -1.46498316e-04 4.22421582e+02] [ 4.37373368e-01 8.99280008e-01 -7.34282785e-05 4.47504664e+01] [ 1.63858581e-04 1.95811996e-06 9.99999987e-01 -2.34129853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.47, Y:44.78, Z:-0.23 [[ 8.98082710e-01 -4.39826584e-01 -1.46483789e-04 4.22472188e+02] [ 4.39826578e-01 8.98082722e-01 -7.34572483e-05 4.47794189e+01] [ 1.63863010e-04 1.54322103e-06 9.99999987e-01 -2.34159657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.52, Y:44.81, Z:-0.24 [[ 8.95672653e-01 -4.44713927e-01 -1.46479300e-04 4.22523301e+02] [ 4.44713921e-01 8.95672665e-01 -7.34661986e-05 4.48080766e+01] [ 1.63868947e-04 6.60281154e-07 9.99999987e-01 -2.36439744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.57, Y:44.84, Z:-0.24 [[ 8.93499620e-01 -4.49063923e-01 -1.46466580e-04 4.22574411e+02] [ 4.49063917e-01 8.93499632e-01 -7.34915498e-05 4.48360151e+01] [ 1.63870239e-04 -1.08184052e-07 9.99999987e-01 -2.36787636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.63, Y:44.87, Z:-0.24 [[ 8.90644580e-01 -4.54700133e-01 -1.46462072e-04 4.22625356e+02] [ 4.54700127e-01 8.90644592e-01 -7.35005326e-05 4.48663074e+01] [ 1.63866354e-04 -1.13347167e-06 9.99999987e-01 -2.38185083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.68, Y:44.89, Z:-0.24 [[ 8.88311422e-01 -4.59241544e-01 -1.46449353e-04 4.22677636e+02] [ 4.59241538e-01 8.88311434e-01 -7.35258649e-05 4.48943088e+01] [ 1.63858767e-04 -1.94176063e-06 9.99999987e-01 -2.37097499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.73, Y:44.92, Z:-0.24 [[ 8.87870261e-01 -4.60093880e-01 -1.46436726e-04 4.22728877e+02] [ 4.60093874e-01 8.87870273e-01 -7.35510051e-05 4.49206864e+01] [ 1.63857183e-04 -2.07089057e-06 9.99999987e-01 -2.37613070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.765336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:422.78, Y:44.95, Z:-0.24 [[ 8.89360591e-01 -4.57206428e-01 -1.46422425e-04 4.22780387e+02] [ 4.57206422e-01 8.89360603e-01 -7.35794643e-05 4.49495051e+01] [ 1.63863340e-04 -1.50659716e-06 9.99999987e-01 -2.38985901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.83, Y:44.98, Z:-0.23 [[ 8.90196031e-01 -4.55577660e-01 -1.46409761e-04 4.22831151e+02] [ 4.55577654e-01 8.90196043e-01 -7.36046551e-05 4.49787315e+01] [ 1.63866026e-04 -1.17844354e-06 9.99999987e-01 -2.33636901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.88, Y:45.00, Z:-0.24 [[ 8.90214701e-01 -4.55541177e-01 -1.46397163e-04 4.22883525e+02] [ 4.55541171e-01 8.90214714e-01 -7.36297026e-05 4.50048921e+01] [ 1.63866270e-04 -1.14369144e-06 9.99999987e-01 -2.35984271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.945336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:422.93, Y:45.03, Z:-0.24 [[ 8.91204662e-01 -4.53601398e-01 -1.46384423e-04 4.22934961e+02] [ 4.53601392e-01 8.91204674e-01 -7.36550237e-05 4.50330353e+01] [ 1.63868503e-04 -7.58477375e-07 9.99999987e-01 -2.43355004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.005336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:422.99, Y:45.06, Z:-0.24 [[ 8.91511583e-01 -4.52997877e-01 -1.46371648e-04 4.22986286e+02] [ 4.52997871e-01 8.91511595e-01 -7.36804025e-05 4.50593075e+01] [ 1.63869087e-04 -6.19112496e-07 9.99999987e-01 -2.40567614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.04, Y:45.09, Z:-0.24 [[ 8.92394829e-01 -4.51255414e-01 -1.46356787e-04 4.23037973e+02] [ 4.51255408e-01 8.92394841e-01 -7.37099097e-05 4.50854428e+01] [ 1.63870037e-04 -2.65949304e-07 9.99999987e-01 -2.35977288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.09, Y:45.11, Z:-0.24 [[ 8.92887691e-01 -4.50279414e-01 -1.46341934e-04 4.23090048e+02] [ 4.50279408e-01 8.92887703e-01 -7.37393855e-05 4.51112802e+01] [ 1.63870241e-04 -5.37699224e-08 9.99999987e-01 -2.38715803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.14, Y:45.14, Z:-0.24 [[ 8.93633037e-01 -4.48798367e-01 -1.46327253e-04 4.23141091e+02] [ 4.48798361e-01 8.93633049e-01 -7.37685068e-05 4.51415440e+01] [ 1.63870055e-04 2.50543213e-07 9.99999987e-01 -2.39227913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.245336195 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:423.19, Y:45.17, Z:-0.24 [[ 8.94353668e-01 -4.47360586e-01 -1.46314318e-04 4.23193472e+02] [ 4.47360580e-01 8.94353680e-01 -7.37941547e-05 4.51675023e+01] [ 1.63869345e-04 5.42814858e-07 9.99999987e-01 -2.41325345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.24, Y:45.20, Z:-0.24 [[ 8.95377204e-01 -4.45308479e-01 -1.46301482e-04 4.23242597e+02] [ 4.45308473e-01 8.95377216e-01 -7.38195935e-05 4.51995612e+01] [ 1.63867505e-04 9.47091685e-07 9.99999987e-01 -2.36964854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.36533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.29, Y:45.23, Z:-0.24 [[ 8.95153481e-01 -4.45758033e-01 -1.46287001e-04 4.23294324e+02] [ 4.45758027e-01 8.95153493e-01 -7.38482782e-05 4.52258787e+01] [ 1.63867784e-04 8.96938191e-07 9.99999987e-01 -2.44318679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.42533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.34, Y:45.26, Z:-0.24 [[ 8.93097777e-01 -4.49862579e-01 -1.46282535e-04 4.23344275e+02] [ 4.49862573e-01 8.93097789e-01 -7.38571256e-05 4.52565209e+01] [ 1.63870165e-04 1.54597272e-07 9.99999987e-01 -2.42026718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.40, Y:45.29, Z:-0.25 [[ 8.91017314e-01 -4.53969300e-01 -1.46278187e-04 4.23396152e+02] [ 4.53969294e-01 8.91017326e-01 -7.38657346e-05 4.52851887e+01] [ 1.63869175e-04 -5.90156979e-07 9.99999987e-01 -2.45287642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.45, Y:45.31, Z:-0.24 [[ 8.88866633e-01 -4.58166004e-01 -1.46272262e-04 4.23449265e+02] [ 4.58165998e-01 8.88866645e-01 -7.38774661e-05 4.53103847e+01] [ 1.63864678e-04 -1.34976239e-06 9.99999987e-01 -2.42695380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.60533619499995 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:423.50, Y:45.34, Z:-0.25 [[ 8.87604391e-01 -4.60606582e-01 -1.46259565e-04 4.23500720e+02] [ 4.60606576e-01 8.87604403e-01 -7.39025956e-05 4.53374613e+01] [ 1.63860655e-04 -1.77184888e-06 9.99999987e-01 -2.49607210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.55, Y:45.36, Z:-0.24 [[ 8.87613164e-01 -4.60589676e-01 -1.46252912e-04 4.23553659e+02] [ 4.60589670e-01 8.87613176e-01 -7.39157590e-05 4.53628172e+01] [ 1.63860847e-04 -1.75397964e-06 9.99999987e-01 -2.41324976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.61, Y:45.39, Z:-0.24 [[ 8.87675068e-01 -4.60470359e-01 -1.46239992e-04 4.23607368e+02] [ 4.60470353e-01 8.87675080e-01 -7.39413124e-05 4.53878515e+01] [ 1.63861379e-04 -1.70332098e-06 9.99999987e-01 -2.41493817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.66, Y:45.41, Z:-0.24 [[ 8.88100078e-01 -4.59650118e-01 -1.46227538e-04 4.23661012e+02] [ 4.59650112e-01 8.88100090e-01 -7.39659322e-05 4.54106832e+01] [ 1.63863139e-04 -1.52435411e-06 9.99999987e-01 -2.43136405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.72, Y:45.43, Z:-0.24 [[ 8.88115268e-01 -4.59620768e-01 -1.46220478e-04 4.23715977e+02] [ 4.59620762e-01 8.88115280e-01 -7.39798866e-05 4.54315126e+01] [ 1.63863333e-04 -1.50330065e-06 9.99999987e-01 -2.42157985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.90533619499996 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:423.77, Y:45.45, Z:-0.25 [[ 8.87987809e-01 -4.59866969e-01 -1.46207636e-04 4.23769846e+02] [ 4.59866963e-01 8.87987821e-01 -7.40052570e-05 4.54538627e+01] [ 1.63863174e-04 -1.52029571e-06 9.99999987e-01 -2.46870401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.82, Y:45.48, Z:-0.24 [[ 8.89641278e-01 -4.56660021e-01 -1.46192758e-04 4.23823425e+02] [ 4.56660015e-01 8.89641290e-01 -7.40346359e-05 4.54766168e+01] [ 1.63867773e-04 -8.96119019e-07 9.99999987e-01 -2.44502886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.88, Y:45.50, Z:-0.24 [[ 8.91922640e-01 -4.52187995e-01 -1.46188152e-04 4.23876390e+02] [ 4.52187989e-01 8.91922652e-01 -7.40437297e-05 4.55022209e+01] [ 1.63870210e-04 -6.32477994e-08 9.99999987e-01 -2.41316762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.93, Y:45.53, Z:-0.24 [[ 8.93178252e-01 -4.49702779e-01 -1.46175380e-04 4.23928710e+02] [ 4.49702773e-01 8.93178264e-01 -7.40689353e-05 4.55280501e+01] [ 1.63869678e-04 4.21288292e-07 9.99999987e-01 -2.38314678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.98, Y:45.55, Z:-0.24 [[ 8.92160753e-01 -4.51718020e-01 -1.46172179e-04 4.23980525e+02] [ 4.51718013e-01 8.92160765e-01 -7.40752533e-05 4.55549267e+01] [ 1.63870209e-04 5.84276079e-08 9.99999987e-01 -2.38430263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.205336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:424.03, Y:45.58, Z:-0.24 [[ 8.89352617e-01 -4.57221939e-01 -1.46157608e-04 4.24033641e+02] [ 4.57221933e-01 8.89352629e-01 -7.41039909e-05 4.55799145e+01] [ 1.63867624e-04 -9.21885991e-07 9.99999987e-01 -2.44737110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.265336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:424.09, Y:45.60, Z:-0.25 [[ 8.86824883e-01 -4.62105621e-01 -1.46144528e-04 4.24087778e+02] [ 4.62105615e-01 8.86824895e-01 -7.41297776e-05 4.56014493e+01] [ 1.63860393e-04 -1.79407581e-06 9.99999987e-01 -2.48987370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.325336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:424.14, Y:45.62, Z:-0.25 [[ 8.84619808e-01 -4.66312957e-01 -1.46139894e-04 4.24142946e+02] [ 4.66312951e-01 8.84619820e-01 -7.41389124e-05 4.56236971e+01] [ 1.63850182e-04 -2.56217489e-06 9.99999987e-01 -2.47426120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.20, Y:45.64, Z:-0.24 [[ 8.83833096e-01 -4.67802349e-01 -1.46127873e-04 4.24199253e+02] [ 4.67802343e-01 8.83833108e-01 -7.41625977e-05 4.56431916e+01] [ 1.63846090e-04 -2.81160319e-06 9.99999987e-01 -2.39924235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.26, Y:45.66, Z:-0.24 [[ 8.84344440e-01 -4.66834971e-01 -1.46125113e-04 4.24256033e+02] [ 4.66834965e-01 8.84344452e-01 -7.41680371e-05 4.56612908e+01] [ 1.63849166e-04 -2.62622055e-06 9.99999987e-01 -2.42601568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.31, Y:45.68, Z:-0.25 [[ 8.86606653e-01 -4.62524185e-01 -1.46112207e-04 4.24310129e+02] [ 4.62524179e-01 8.86606665e-01 -7.41934517e-05 4.56816599e+01] [ 1.63860323e-04 -1.80002089e-06 9.99999987e-01 -2.47982927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.36, Y:45.70, Z:-0.25 [[ 8.90305102e-01 -4.55364473e-01 -1.46107631e-04 4.24364713e+02] [ 4.55364467e-01 8.90305114e-01 -7.42024633e-05 4.57031377e+01] [ 1.63869536e-04 -4.69391715e-07 9.99999987e-01 -2.50328148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.625336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:424.42, Y:45.73, Z:-0.25 [[ 8.94032620e-01 -4.48001845e-01 -1.46095145e-04 4.24417502e+02] [ 4.48001839e-01 8.94032632e-01 -7.42270384e-05 4.57268625e+01] [ 1.63867677e-04 9.10500064e-07 9.99999987e-01 -2.50273243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.47, Y:45.75, Z:-0.24 [[ 8.97056616e-01 -4.41915611e-01 -1.46080453e-04 4.24470957e+02] [ 4.41915605e-01 8.97056627e-01 -7.42559408e-05 4.57537474e+01] [ 1.63857298e-04 2.05655120e-06 9.99999987e-01 -2.41555510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.52, Y:45.78, Z:-0.24 [[ 8.98530919e-01 -4.38910203e-01 -1.46069541e-04 4.24522944e+02] [ 4.38910196e-01 8.98530931e-01 -7.42773991e-05 4.57779490e+01] [ 1.63849109e-04 2.62912859e-06 9.99999987e-01 -2.39862804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.58, Y:45.81, Z:-0.24 [[ 8.99034439e-01 -4.37877901e-01 -1.46064167e-04 4.24575064e+02] [ 4.37877895e-01 8.99034451e-01 -7.42879651e-05 4.58058028e+01] [ 1.63845777e-04 2.82916880e-06 9.99999987e-01 -2.36008052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.86533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.62, Y:45.84, Z:-0.24 [[ 8.99715624e-01 -4.36476545e-01 -1.46051540e-04 4.24622775e+02] [ 4.36476539e-01 8.99715636e-01 -7.43127835e-05 4.58395347e+01] [ 1.63840641e-04 3.11230184e-06 9.99999987e-01 -2.44372689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.92533619499994 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:424.67, Y:45.87, Z:-0.24 [[ 8.99780721e-01 -4.36342334e-01 -1.46047103e-04 4.24673216e+02] [ 4.36342328e-01 8.99780733e-01 -7.43215013e-05 4.58673370e+01] [ 1.63839987e-04 3.14652100e-06 9.99999987e-01 -2.39841597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.72, Y:45.90, Z:-0.24 [[ 8.99901086e-01 -4.36094042e-01 -1.46032765e-04 4.24722215e+02] [ 4.36094036e-01 8.99901098e-01 -7.43496639e-05 4.59017049e+01] [ 1.63838491e-04 3.22332554e-06 9.99999987e-01 -2.41163589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.77, Y:45.93, Z:-0.24 [[ 8.99371444e-01 -4.37185297e-01 -1.46020777e-04 4.24769226e+02] [ 4.37185290e-01 8.99371456e-01 -7.43732009e-05 4.59339868e+01] [ 1.63841788e-04 3.05099744e-06 9.99999987e-01 -2.42416526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.10533619499995 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:424.82, Y:45.97, Z:-0.24 [[ 8.96287744e-01 -4.43472951e-01 -1.46010785e-04 4.24815958e+02] [ 4.43472945e-01 8.96287756e-01 -7.43928120e-05 4.59713377e+01] [ 1.63858878e-04 1.92553296e-06 9.99999987e-01 -2.43056703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.16533619499995 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:424.87, Y:46.00, Z:-0.25 [[ 8.91326038e-01 -4.53362850e-01 -1.45997626e-04 4.24866752e+02] [ 4.53362843e-01 8.91326050e-01 -7.44186266e-05 4.59998666e+01] [ 1.63870128e-04 1.41360578e-07 9.99999987e-01 -2.45854214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.22533619499995 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:424.92, Y:46.03, Z:-0.25 [[ 8.87346822e-01 -4.61102588e-01 -1.45992957e-04 4.24917583e+02] [ 4.61102582e-01 8.87346834e-01 -7.44277866e-05 4.60287773e+01] [ 1.63865233e-04 -1.27446923e-06 9.99999987e-01 -2.46529011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.97, Y:46.06, Z:-0.24 [[ 8.84832673e-01 -4.65908917e-01 -1.45978077e-04 4.24968731e+02] [ 4.65908912e-01 8.84832685e-01 -7.44569595e-05 4.60551568e+01] [ 1.63856335e-04 -2.13053632e-06 9.99999987e-01 -2.44877717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.34533619499996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:425.02, Y:46.08, Z:-0.25 [[ 8.83896175e-01 -4.67683151e-01 -1.45973472e-04 4.25020041e+02] [ 4.67683145e-01 8.83896188e-01 -7.44659858e-05 4.60843369e+01] [ 1.63851882e-04 -2.44913247e-06 9.99999987e-01 -2.45770050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.07, Y:46.11, Z:-0.24 [[ 8.85004613e-01 -4.65582232e-01 -1.45960874e-04 4.25073321e+02] [ 4.65582226e-01 8.85004625e-01 -7.44906705e-05 4.61101657e+01] [ 1.63857581e-04 -2.03220174e-06 9.99999987e-01 -2.37949981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.12, Y:46.14, Z:-0.24 [[ 8.87760529e-01 -4.60305575e-01 -1.45947952e-04 4.25124865e+02] [ 4.60305569e-01 8.87760541e-01 -7.45159799e-05 4.61383290e+01] [ 1.63866954e-04 -1.02830957e-06 9.99999987e-01 -2.37922604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.18, Y:46.17, Z:-0.23 [[ 8.90220139e-01 -4.55530550e-01 -1.45934904e-04 4.25175664e+02] [ 4.55530544e-01 8.90220151e-01 -7.45415246e-05 4.61682728e+01] [ 1.63870134e-04 -1.19439933e-07 9.99999987e-01 -2.34964787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.23, Y:46.20, Z:-0.24 [[ 8.90938519e-01 -4.54123920e-01 -1.45921460e-04 4.25226269e+02] [ 4.54123914e-01 8.90938531e-01 -7.45678335e-05 4.61964488e+01] [ 1.63870088e-04 1.68930533e-07 9.99999987e-01 -2.35940699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.28, Y:46.22, Z:-0.24 [[ 8.89237756e-01 -4.57445288e-01 -1.45906196e-04 4.25278610e+02] [ 4.57445282e-01 8.89237768e-01 -7.45976886e-05 4.62208795e+01] [ 1.63869661e-04 -4.09019791e-07 9.99999987e-01 -2.40967897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.705336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:425.33, Y:46.25, Z:-0.25 [[ 8.88272784e-01 -4.59316274e-01 -1.45901488e-04 4.25331419e+02] [ 4.59316268e-01 8.88272796e-01 -7.46068965e-05 4.62467450e+01] [ 1.63868484e-04 -7.43651115e-07 9.99999987e-01 -2.46407634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.765336195 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:425.38, Y:46.27, Z:-0.25 [[ 8.89627483e-01 -4.56686895e-01 -1.45888490e-04 4.25383254e+02] [ 4.56686889e-01 8.89627495e-01 -7.46323031e-05 4.62742360e+01] [ 1.63870007e-04 -2.30412930e-07 9.99999987e-01 -2.46681061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.825336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:425.43, Y:46.30, Z:-0.25 [[ 8.91516242e-01 -4.52988708e-01 -1.45875474e-04 4.25434785e+02] [ 4.52988702e-01 8.91516254e-01 -7.46577363e-05 4.63008676e+01] [ 1.63869468e-04 4.78642909e-07 9.99999987e-01 -2.46204997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.885336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:425.49, Y:46.33, Z:-0.25 [[ 8.92905659e-01 -4.50243781e-01 -1.45870880e-04 4.25485750e+02] [ 4.50243775e-01 8.92905671e-01 -7.46667112e-05 4.63303388e+01] [ 1.63867158e-04 9.92873368e-07 9.99999987e-01 -2.47274274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.54, Y:46.36, Z:-0.24 [[ 8.93792724e-01 -4.48480262e-01 -1.45858065e-04 4.25535911e+02] [ 4.48480256e-01 8.93792736e-01 -7.46917366e-05 4.63580093e+01] [ 1.63864648e-04 1.34446843e-06 9.99999987e-01 -2.43937486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.59, Y:46.39, Z:-0.24 [[ 8.93927309e-01 -4.48211942e-01 -1.45848173e-04 4.25587274e+02] [ 4.48211935e-01 8.93927321e-01 -7.47110475e-05 4.63878553e+01] [ 1.63864050e-04 1.41535389e-06 9.99999987e-01 -2.36019675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.64, Y:46.42, Z:-0.24 [[ 8.92889248e-01 -4.50276325e-01 -1.45845360e-04 4.25637281e+02] [ 4.50276319e-01 8.92889260e-01 -7.47165378e-05 4.64159540e+01] [ 1.63866844e-04 1.04288146e-06 9.99999987e-01 -2.35833029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.69, Y:46.44, Z:-0.23 [[ 8.91242950e-01 -4.53526166e-01 -1.45837201e-04 4.25688876e+02] [ 4.53526160e-01 8.91242962e-01 -7.47324597e-05 4.64420979e+01] [ 1.63869505e-04 4.63792020e-07 9.99999987e-01 -2.34255931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.74, Y:46.47, Z:-0.24 [[ 8.88952628e-01 -4.57999130e-01 -1.45822400e-04 4.25741089e+02] [ 4.57999124e-01 8.88952640e-01 -7.47613297e-05 4.64680752e+01] [ 1.63869831e-04 -3.27250895e-07 9.99999987e-01 -2.37987754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.245336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:425.79, Y:46.49, Z:-0.24 [[ 8.87402048e-01 -4.60996295e-01 -1.45809610e-04 4.25793557e+02] [ 4.60996289e-01 8.87402060e-01 -7.47862650e-05 4.64918917e+01] [ 1.63867940e-04 -8.52204648e-07 9.99999987e-01 -2.40748793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.85, Y:46.52, Z:-0.24 [[ 8.87210530e-01 -4.61364773e-01 -1.45795163e-04 4.25846558e+02] [ 4.61364767e-01 8.87210542e-01 -7.48144194e-05 4.65163494e+01] [ 1.63867743e-04 -8.88610752e-07 9.99999987e-01 -2.41282510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.36533619499994 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:425.90, Y:46.54, Z:-0.25 [[ 8.88574528e-01 -4.58732260e-01 -1.45782681e-04 4.25899389e+02] [ 4.58732254e-01 8.88574540e-01 -7.48387336e-05 4.65424339e+01] [ 1.63869720e-04 -3.75425458e-07 9.99999987e-01 -2.52454103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.42533619499994 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:425.95, Y:46.57, Z:-0.25 [[ 8.89378869e-01 -4.57170871e-01 -1.45779158e-04 4.25953518e+02] [ 4.57170865e-01 8.89378881e-01 -7.48455956e-05 4.65664490e+01] [ 1.63870131e-04 -7.98925537e-08 9.99999987e-01 -2.53530628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.48533619499995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:426.01, Y:46.59, Z:-0.24 [[ 8.88504919e-01 -4.58867069e-01 -1.45766754e-04 4.26008789e+02] [ 4.58867063e-01 8.88504931e-01 -7.48697461e-05 4.65895840e+01] [ 1.63869740e-04 -3.65424518e-07 9.99999987e-01 -2.39476363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.06, Y:46.61, Z:-0.24 [[ 8.87285406e-01 -4.61220757e-01 -1.45755585e-04 4.26062651e+02] [ 4.61220751e-01 8.87285418e-01 -7.48914835e-05 4.66122713e+01] [ 1.63868312e-04 -7.75379849e-07 9.99999987e-01 -2.41089810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.12, Y:46.63, Z:-0.24 [[ 8.87147155e-01 -4.61486624e-01 -1.45750984e-04 4.26119301e+02] [ 4.61486618e-01 8.87147167e-01 -7.49004369e-05 4.66293518e+01] [ 1.63868122e-04 -8.14419074e-07 9.99999987e-01 -2.36153542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.17, Y:46.65, Z:-0.24 [[ 8.88093615e-01 -4.59662605e-01 -1.45736012e-04 4.26173109e+02] [ 4.59662599e-01 8.88093627e-01 -7.49295563e-05 4.66542061e+01] [ 1.63869538e-04 -4.44933527e-07 9.99999987e-01 -2.37851749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.23, Y:46.67, Z:-0.24 [[ 8.91987818e-01 -4.52059411e-01 -1.45723055e-04 4.26228750e+02] [ 4.52059405e-01 8.91987830e-01 -7.49547472e-05 4.66733299e+01] [ 1.63867190e-04 9.83244024e-07 9.99999987e-01 -2.41442975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.78533619499996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:426.28, Y:46.70, Z:-0.24 [[ 8.92794903e-01 -4.50463361e-01 -1.45718496e-04 4.26281736e+02] [ 4.50463354e-01 8.92794915e-01 -7.49636096e-05 4.66999373e+01] [ 1.63865091e-04 1.28628628e-06 9.99999987e-01 -2.39708943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.34, Y:46.72, Z:-0.24 [[ 8.94082002e-01 -4.47903286e-01 -1.45706045e-04 4.26336623e+02] [ 4.47903279e-01 8.94082013e-01 -7.49878010e-05 4.67219185e+01] [ 1.63860437e-04 1.78302762e-06 9.99999987e-01 -2.37925350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.39, Y:46.74, Z:-0.24 [[ 8.93979197e-01 -4.48108441e-01 -1.45693209e-04 4.26391881e+02] [ 4.48108434e-01 8.93979209e-01 -7.50127319e-05 4.67422413e+01] [ 1.63860538e-04 1.77346588e-06 9.99999987e-01 -2.39254447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.96533619499996 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:426.44, Y:46.77, Z:-0.25 [[ 8.94711882e-01 -4.46643735e-01 -1.45680335e-04 4.26444058e+02] [ 4.46643729e-01 8.94711894e-01 -7.50377268e-05 4.67696107e+01] [ 1.63857059e-04 2.06993780e-06 9.99999987e-01 -2.47755185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.50, Y:46.80, Z:-0.25 [[ 8.95782358e-01 -4.44492909e-01 -1.45676697e-04 4.26495050e+02] [ 4.44492903e-01 8.95782370e-01 -7.50447885e-05 4.67960245e+01] [ 1.63851493e-04 2.47153965e-06 9.99999987e-01 -2.54708999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.55, Y:46.82, Z:-0.24 [[ 8.95682170e-01 -4.44694760e-01 -1.45672199e-04 4.26547574e+02] [ 4.44694754e-01 8.95682181e-01 -7.50535183e-05 4.68211058e+01] [ 1.63851899e-04 2.44443527e-06 9.99999987e-01 -2.42948196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.60, Y:46.85, Z:-0.24 [[ 8.94987945e-01 -4.46090302e-01 -1.45657924e-04 4.26597666e+02] [ 4.46090296e-01 8.94987957e-01 -7.50812120e-05 4.68524220e+01] [ 1.63855088e-04 2.22019322e-06 9.99999987e-01 -2.41787936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.65, Y:46.88, Z:-0.24 [[ 8.93344628e-01 -4.49372179e-01 -1.45645432e-04 4.26647891e+02] [ 4.49372173e-01 8.93344639e-01 -7.51054372e-05 4.68832084e+01] [ 1.63861860e-04 1.64603470e-06 9.99999987e-01 -2.42464832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.70, Y:46.91, Z:-0.24 [[ 8.93720155e-01 -4.48624858e-01 -1.45632606e-04 4.26699635e+02] [ 4.48624852e-01 8.93720167e-01 -7.51302997e-05 4.69113884e+01] [ 1.63860117e-04 1.81105704e-06 9.99999987e-01 -2.42515325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.75, Y:46.94, Z:-0.24 [[ 8.94216944e-01 -4.47633820e-01 -1.45619687e-04 4.26749423e+02] [ 4.47633813e-01 8.94216956e-01 -7.51553310e-05 4.69414114e+01] [ 1.63857661e-04 2.02087479e-06 9.99999987e-01 -2.44190111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.385336195 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:426.80, Y:46.98, Z:-0.24 [[ 8.94670704e-01 -4.46726213e-01 -1.45615126e-04 4.26796340e+02] [ 4.46726207e-01 8.94670716e-01 -7.51641657e-05 4.69790399e+01] [ 1.63855393e-04 2.19708393e-06 9.99999987e-01 -2.40358044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.445336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:426.84, Y:47.01, Z:-0.24 [[ 8.93744126e-01 -4.48577102e-01 -1.45601874e-04 4.26844848e+02] [ 4.48577095e-01 8.93744138e-01 -7.51898278e-05 4.70119797e+01] [ 1.63859257e-04 1.88680105e-06 9.99999987e-01 -2.39783859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.505336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:426.89, Y:47.05, Z:-0.24 [[ 8.91968242e-01 -4.52098035e-01 -1.45597188e-04 4.26893320e+02] [ 4.52098029e-01 8.91968254e-01 -7.51989021e-05 4.70464206e+01] [ 1.63865345e-04 1.25083094e-06 9.99999987e-01 -2.38207241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.565336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:426.94, Y:47.08, Z:-0.24 [[ 8.89081259e-01 -4.57749378e-01 -1.45584273e-04 4.26943022e+02] [ 4.57749372e-01 8.89081271e-01 -7.52238960e-05 4.70786146e+01] [ 1.63869942e-04 2.39046534e-07 9.99999987e-01 -2.39394395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.625336195 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:426.99, Y:47.11, Z:-0.24 [[ 8.85196846e-01 -4.65216641e-01 -1.45571445e-04 4.26994102e+02] [ 4.65216635e-01 8.85196858e-01 -7.52487134e-05 4.71069626e+01] [ 1.63866339e-04 -1.11233386e-06 9.99999987e-01 -2.37292666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.685336195 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:427.05, Y:47.13, Z:-0.24 [[ 8.82995958e-01 -4.69380567e-01 -1.45556153e-04 4.27045966e+02] [ 4.69380561e-01 8.82995970e-01 -7.52782816e-05 4.71326277e+01] [ 1.63859659e-04 -1.85081004e-06 9.99999987e-01 -2.43873197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.745336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:427.10, Y:47.16, Z:-0.24 [[ 8.82572245e-01 -4.70176788e-01 -1.45549169e-04 4.27097996e+02] [ 4.70176781e-01 8.82572257e-01 -7.52917818e-05 4.71584991e+01] [ 1.63858107e-04 -1.98340295e-06 9.99999987e-01 -2.42551159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.805336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:427.15, Y:47.18, Z:-0.24 [[ 8.82920197e-01 -4.69523060e-01 -1.45544612e-04 4.27151019e+02] [ 4.69523054e-01 8.82920209e-01 -7.53005901e-05 4.71837777e+01] [ 1.63859643e-04 -1.85213867e-06 9.99999987e-01 -2.39364645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.86533619499994 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:427.20, Y:47.21, Z:-0.24 [[ 8.85004297e-01 -4.65582831e-01 -1.45531230e-04 4.27202179e+02] [ 4.65582825e-01 8.85004309e-01 -7.53264429e-05 4.72100610e+01] [ 1.63866465e-04 -1.09261577e-06 9.99999987e-01 -2.41454216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.92533619499994 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:427.25, Y:47.24, Z:-0.24 [[ 8.87781617e-01 -4.60264902e-01 -1.45526526e-04 4.27254637e+02] [ 4.60264896e-01 8.87781629e-01 -7.53355307e-05 4.72374269e+01] [ 1.63870077e-04 -9.92520853e-08 9.99999987e-01 -2.38287510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.31, Y:47.27, Z:-0.23 [[ 8.90239902e-01 -4.55491927e-01 -1.45513311e-04 4.27305526e+02] [ 4.55491920e-01 8.90239914e-01 -7.53610464e-05 4.72659357e+01] [ 1.63868106e-04 8.09272923e-07 9.99999987e-01 -2.32702085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.36, Y:47.30, Z:-0.23 [[ 8.91764881e-01 -4.52499035e-01 -1.45508033e-04 4.27355742e+02] [ 4.52499029e-01 8.91764892e-01 -7.53712363e-05 4.72951741e+01] [ 1.63864367e-04 1.37117785e-06 9.99999987e-01 -2.32805166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.41, Y:47.33, Z:-0.23 [[ 8.93050382e-01 -4.49956658e-01 -1.45503498e-04 4.27406295e+02] [ 4.49956652e-01 8.93050394e-01 -7.53799911e-05 4.73257610e+01] [ 1.63859685e-04 1.84786321e-06 9.99999987e-01 -2.30588542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.45, Y:47.36, Z:-0.24 [[ 8.93855970e-01 -4.48354195e-01 -1.45490664e-04 4.27454073e+02] [ 4.48354189e-01 8.93855982e-01 -7.54047524e-05 4.73596755e+01] [ 1.63855738e-04 2.16963937e-06 9.99999987e-01 -2.38609899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.22533619499995 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:427.51, Y:47.39, Z:-0.24 [[ 8.93714696e-01 -4.48635733e-01 -1.45484284e-04 4.27505510e+02] [ 4.48635726e-01 8.93714708e-01 -7.54170608e-05 4.73891700e+01] [ 1.63856233e-04 2.13188818e-06 9.99999987e-01 -2.42190132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.28533619499996 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:427.56, Y:47.42, Z:-0.24 [[ 8.90864858e-01 -4.54268405e-01 -1.45471891e-04 4.27556449e+02] [ 4.54268399e-01 8.90864870e-01 -7.54409571e-05 4.74190292e+01] [ 1.63866241e-04 1.12441426e-06 9.99999987e-01 -2.39871205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.34533619499996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:427.61, Y:47.45, Z:-0.24 [[ 8.88652274e-01 -4.58581634e-01 -1.45459339e-04 4.27608059e+02] [ 4.58581627e-01 8.88652286e-01 -7.54651513e-05 4.74477471e+01] [ 1.63869707e-04 3.57297857e-07 9.99999987e-01 -2.37247600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.66, Y:47.48, Z:-0.23 [[ 8.86158919e-01 -4.63381429e-01 -1.45446442e-04 4.27660196e+02] [ 4.63381423e-01 8.86158931e-01 -7.54900013e-05 4.74759349e+01] [ 1.63869328e-04 -5.01041044e-07 9.99999987e-01 -2.34109167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.46533619499996 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:427.71, Y:47.50, Z:-0.23 [[ 8.84811280e-01 -4.65949544e-01 -1.45433294e-04 4.27714247e+02] [ 4.65949538e-01 8.84811292e-01 -7.55153212e-05 4.75003531e+01] [ 1.63867351e-04 -9.47768371e-07 9.99999987e-01 -2.33937403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.52533619499997 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:427.77, Y:47.52, Z:-0.24 [[ 8.84007984e-01 -4.67471778e-01 -1.45419650e-04 4.27766540e+02] [ 4.67471772e-01 8.84007996e-01 -7.55415870e-05 4.75238954e+01] [ 1.63865693e-04 -1.20021547e-06 9.99999987e-01 -2.37737118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.58533619499997 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:427.82, Y:47.54, Z:-0.24 [[ 8.84563481e-01 -4.66419797e-01 -1.45409098e-04 4.27822405e+02] [ 4.66419791e-01 8.84563493e-01 -7.55618923e-05 4.75447216e+01] [ 1.63867142e-04 -9.82390822e-07 9.99999987e-01 -2.38607464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.64533619499997 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:427.88, Y:47.57, Z:-0.24 [[ 8.85294114e-01 -4.65031515e-01 -1.45395891e-04 4.27876160e+02] [ 4.65031509e-01 8.85294126e-01 -7.55872982e-05 4.75679825e+01] [ 1.63868604e-04 -6.96680079e-07 9.99999987e-01 -2.40169554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.93, Y:47.59, Z:-0.23 [[ 8.85863281e-01 -4.63946361e-01 -1.45382811e-04 4.27928955e+02] [ 4.63946355e-01 8.85863293e-01 -7.56124461e-05 4.75928075e+01] [ 1.63869415e-04 -4.67535814e-07 9.99999987e-01 -2.33294403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.765336195 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:427.98, Y:47.61, Z:-0.24 [[ 8.85847569e-01 -4.63976362e-01 -1.45378213e-04 4.27984111e+02] [ 4.63976355e-01 8.85847581e-01 -7.56212854e-05 4.76134713e+01] [ 1.63869427e-04 -4.63121760e-07 9.99999987e-01 -2.36704150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.04, Y:47.63, Z:-0.23 [[ 8.85819027e-01 -4.64030852e-01 -1.45363150e-04 4.28039002e+02] [ 4.64030845e-01 8.85819038e-01 -7.56502300e-05 4.76347863e+01] [ 1.63869486e-04 -4.40572222e-07 9.99999987e-01 -2.32493457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.885336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:428.09, Y:47.66, Z:-0.24 [[ 8.86665539e-01 -4.62411290e-01 -1.45349804e-04 4.28093224e+02] [ 4.62411284e-01 8.86665551e-01 -7.56758642e-05 4.76559057e+01] [ 1.63870038e-04 -1.12208363e-07 9.99999987e-01 -2.36706859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.15, Y:47.68, Z:-0.24 [[ 8.88755261e-01 -4.58382008e-01 -1.45345088e-04 4.28146529e+02] [ 4.58382002e-01 8.88755272e-01 -7.56849201e-05 4.76816039e+01] [ 1.63868819e-04 6.41798483e-07 9.99999987e-01 -2.35608105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.20, Y:47.71, Z:-0.24 [[ 8.90631735e-01 -4.54725293e-01 -1.45331938e-04 4.28197674e+02] [ 4.54725286e-01 8.90631747e-01 -7.57101625e-05 4.77098296e+01] [ 1.63864564e-04 1.34376620e-06 9.99999987e-01 -2.35958687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.25, Y:47.73, Z:-0.24 [[ 8.90372387e-01 -4.55232897e-01 -1.45318738e-04 4.28250652e+02] [ 4.55232891e-01 8.90372399e-01 -7.57354905e-05 4.77348594e+01] [ 1.63865080e-04 1.27892030e-06 9.99999987e-01 -2.36451464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.125336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:428.30, Y:47.76, Z:-0.24 [[ 8.88669153e-01 -4.58548923e-01 -1.45305295e-04 4.28302406e+02] [ 4.58548917e-01 8.88669165e-01 -7.57612739e-05 4.77623832e+01] [ 1.63868585e-04 6.97121778e-07 9.99999987e-01 -2.37019748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.35, Y:47.79, Z:-0.23 [[ 8.86916831e-01 -4.61929122e-01 -1.45302445e-04 4.28354406e+02] [ 4.61929116e-01 8.86916843e-01 -7.57667390e-05 4.77887843e+01] [ 1.63870049e-04 7.93660725e-08 9.99999987e-01 -2.33898418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.245336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:428.41, Y:47.81, Z:-0.24 [[ 8.85923294e-01 -4.63831755e-01 -1.45295492e-04 4.28408071e+02] [ 4.63831749e-01 8.85923305e-01 -7.57800695e-05 4.78139311e+01] [ 1.63869865e-04 -2.57333483e-07 9.99999987e-01 -2.35224303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.305336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:428.46, Y:47.84, Z:-0.24 [[ 8.85561128e-01 -4.64522839e-01 -1.45282533e-04 4.28460037e+02] [ 4.64522833e-01 8.85561140e-01 -7.58049070e-05 4.78406405e+01] [ 1.63869676e-04 -3.57174658e-07 9.99999987e-01 -2.37239891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.36533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.51, Y:47.87, Z:-0.23 [[ 8.86284174e-01 -4.63141815e-01 -1.45269219e-04 4.28511189e+02] [ 4.63141809e-01 8.86284186e-01 -7.58304124e-05 4.78670927e+01] [ 1.63870046e-04 -7.29544297e-08 9.99999987e-01 -2.33730219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.42533619499994 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:428.56, Y:47.90, Z:-0.23 [[ 8.87494701e-01 -4.60817898e-01 -1.45264525e-04 4.28562855e+02] [ 4.60817891e-01 8.87494713e-01 -7.58394033e-05 4.78952999e+01] [ 1.63869652e-04 3.66576531e-07 9.99999987e-01 -2.33270686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.61, Y:47.93, Z:-0.23 [[ 8.89237408e-01 -4.57445964e-01 -1.45251359e-04 4.28612806e+02] [ 4.57445958e-01 8.89237420e-01 -7.58646117e-05 4.79271701e+01] [ 1.63866904e-04 1.01700387e-06 9.99999987e-01 -2.29953995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.54533619499995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:428.66, Y:47.96, Z:-0.23 [[ 8.90670021e-01 -4.54650297e-01 -1.45238004e-04 4.28661418e+02] [ 4.54650290e-01 8.90670033e-01 -7.58901687e-05 4.79607705e+01] [ 1.63862626e-04 1.56059729e-06 9.99999987e-01 -2.34047821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.60533619499995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:428.71, Y:47.99, Z:-0.24 [[ 8.90225825e-01 -4.55519439e-01 -1.45224652e-04 4.28709446e+02] [ 4.55519433e-01 8.90225837e-01 -7.59157112e-05 4.79933504e+01] [ 1.63863820e-04 1.42947546e-06 9.99999987e-01 -2.35968996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.76, Y:48.02, Z:-0.23 [[ 8.86588095e-01 -4.62559758e-01 -1.45217611e-04 4.28760166e+02] [ 4.62559751e-01 8.86588107e-01 -7.59291772e-05 4.80223410e+01] [ 1.63869989e-04 1.46082417e-07 9.99999987e-01 -2.29869689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.81, Y:48.05, Z:-0.23 [[ 8.83615378e-01 -4.68213458e-01 -1.45212881e-04 4.28812251e+02] [ 4.68213452e-01 8.83615390e-01 -7.59382222e-05 4.80510891e+01] [ 1.63867634e-04 -8.90443462e-07 9.99999987e-01 -2.33822204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.86, Y:48.08, Z:-0.24 [[ 8.82613560e-01 -4.70099226e-01 -1.45200293e-04 4.28863442e+02] [ 4.70099219e-01 8.82613572e-01 -7.59622844e-05 4.80773988e+01] [ 1.63865560e-04 -1.21320208e-06 9.99999987e-01 -2.38371452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.84533619499996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:428.92, Y:48.10, Z:-0.24 [[ 8.82861757e-01 -4.69632939e-01 -1.45195489e-04 4.28916713e+02] [ 4.69632933e-01 8.82861768e-01 -7.59714648e-05 4.81015287e+01] [ 1.63866249e-04 -1.11628279e-06 9.99999987e-01 -2.36368505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.90533619499996 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:428.97, Y:48.13, Z:-0.25 [[ 8.84198466e-01 -4.67111391e-01 -1.45182017e-04 4.28968444e+02] [ 4.67111385e-01 8.84198478e-01 -7.59972014e-05 4.81287009e+01] [ 1.63868877e-04 -6.19564181e-07 9.99999987e-01 -2.45319443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.96533619499996 meters Centerline goodness : 0.999675 with order 1 Centerline is valid? [True, True] Translation: X:429.02, Y:48.16, Z:-0.24 [[ 8.84856734e-01 -4.65863220e-01 -1.45168697e-04 4.29020441e+02] [ 4.65863214e-01 8.84856746e-01 -7.60226364e-05 4.81552541e+01] [ 1.63869651e-04 -3.59614144e-07 9.99999987e-01 -2.44170837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.02533619499997 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:429.07, Y:48.18, Z:-0.24 [[ 8.84281384e-01 -4.66954402e-01 -1.45163987e-04 4.29074785e+02] [ 4.66954396e-01 8.84281396e-01 -7.60316296e-05 4.81789234e+01] [ 1.63869117e-04 -5.51607217e-07 9.99999987e-01 -2.43488148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.08533619499997 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:429.13, Y:48.21, Z:-0.24 [[ 8.85357942e-01 -4.64909985e-01 -1.45150966e-04 4.29127206e+02] [ 4.64909979e-01 8.85357954e-01 -7.60564793e-05 4.82053236e+01] [ 1.63869979e-04 -1.44924671e-07 9.99999987e-01 -2.37602907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.14533619499997 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:429.18, Y:48.23, Z:-0.23 [[ 8.87146086e-01 -4.61488678e-01 -1.45137712e-04 4.29180155e+02] [ 4.61488672e-01 8.87146098e-01 -7.60817638e-05 4.82316625e+01] [ 1.63869228e-04 5.16228963e-07 9.99999987e-01 -2.34851491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.23, Y:48.26, Z:-0.23 [[ 8.87916179e-01 -4.60005259e-01 -1.45124126e-04 4.29232103e+02] [ 4.60005253e-01 8.87916191e-01 -7.61076698e-05 4.82566957e+01] [ 1.63867990e-04 8.19370991e-07 9.99999987e-01 -2.31497127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.265336195 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:429.28, Y:48.28, Z:-0.23 [[ 8.88149856e-01 -4.59553928e-01 -1.45119335e-04 4.29284903e+02] [ 4.59553922e-01 8.88149868e-01 -7.61168046e-05 4.82837035e+01] [ 1.63867495e-04 9.12969547e-07 9.99999987e-01 -2.34069378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.325336195 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:429.34, Y:48.31, Z:-0.23 [[ 8.88513018e-01 -4.58851388e-01 -1.45105988e-04 4.29337758e+02] [ 4.58851382e-01 8.88513030e-01 -7.61422407e-05 4.83103002e+01] [ 1.63866533e-04 1.07128912e-06 9.99999987e-01 -2.30336446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.39, Y:48.34, Z:-0.23 [[ 8.89683468e-01 -4.56577821e-01 -1.45092535e-04 4.29388107e+02] [ 4.56577814e-01 8.89683479e-01 -7.61678664e-05 4.83377770e+01] [ 1.63862990e-04 1.51925893e-06 9.99999987e-01 -2.25787255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.445336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:429.44, Y:48.37, Z:-0.23 [[ 8.90537344e-01 -4.54910120e-01 -1.45086843e-04 4.29439527e+02] [ 4.54910114e-01 8.90537356e-01 -7.61787074e-05 4.83657454e+01] [ 1.63859719e-04 1.83851148e-06 9.99999987e-01 -2.28763446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.505336195 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:429.49, Y:48.39, Z:-0.23 [[ 8.91633577e-01 -4.52757710e-01 -1.45083107e-04 4.29491362e+02] [ 4.52757703e-01 8.91633589e-01 -7.61858214e-05 4.83932034e+01] [ 1.63854690e-04 2.24234201e-06 9.99999987e-01 -2.32557288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.565336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:429.54, Y:48.42, Z:-0.23 [[ 8.93352159e-01 -4.49357206e-01 -1.45077799e-04 4.29540344e+02] [ 4.49357199e-01 8.93352171e-01 -7.61959280e-05 4.84246299e+01] [ 1.63844756e-04 2.87804319e-06 9.99999987e-01 -2.32275224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.59, Y:48.45, Z:-0.23 [[ 8.93662302e-01 -4.48740091e-01 -1.45073004e-04 4.29591675e+02] [ 4.48740085e-01 8.93662314e-01 -7.62050571e-05 4.84532841e+01] [ 1.63842541e-04 3.00151477e-06 9.99999987e-01 -2.28603980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.64, Y:48.49, Z:-0.23 [[ 8.94303070e-01 -4.47461727e-01 -1.45060138e-04 4.29640189e+02] [ 4.47461721e-01 8.94303082e-01 -7.62295406e-05 4.84877285e+01] [ 1.63837530e-04 3.26345338e-06 9.99999987e-01 -2.27465577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.69, Y:48.52, Z:-0.23 [[ 8.93568851e-01 -4.48926150e-01 -1.45047140e-04 4.29689945e+02] [ 4.48926144e-01 8.93568862e-01 -7.62542648e-05 4.85204387e+01] [ 1.63842141e-04 3.02298265e-06 9.99999987e-01 -2.29798418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.805336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:429.74, Y:48.55, Z:-0.24 [[ 8.91683505e-01 -4.52659371e-01 -1.45034937e-04 4.29738950e+02] [ 4.52659364e-01 8.91683517e-01 -7.62774670e-05 4.85512443e+01] [ 1.63852973e-04 2.36393670e-06 9.99999987e-01 -2.38500753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.86533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.79, Y:48.58, Z:-0.23 [[ 8.88799228e-01 -4.58296750e-01 -1.45030293e-04 4.29789072e+02] [ 4.58296744e-01 8.88799240e-01 -7.62862957e-05 4.85815924e+01] [ 1.63864576e-04 1.33628967e-06 9.99999987e-01 -2.33690933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.92533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.84, Y:48.61, Z:-0.23 [[ 8.86722634e-01 -4.62301794e-01 -1.45015353e-04 4.29840169e+02] [ 4.62301788e-01 8.86722646e-01 -7.63146852e-05 4.86108749e+01] [ 1.63868814e-04 6.29101627e-07 9.99999987e-01 -2.33659565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.89, Y:48.64, Z:-0.23 [[ 8.86584850e-01 -4.62565976e-01 -1.45002003e-04 4.29892374e+02] [ 4.62565969e-01 8.86584862e-01 -7.63400425e-05 4.86389306e+01] [ 1.63868887e-04 6.08932989e-07 9.99999987e-01 -2.32090898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.04533619499995 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:429.94, Y:48.67, Z:-0.24 [[ 8.88076037e-01 -4.59696564e-01 -1.44988548e-04 4.29943595e+02] [ 4.59696558e-01 8.88076049e-01 -7.63655884e-05 4.86679050e+01] [ 1.63865856e-04 1.16771266e-06 9.99999987e-01 -2.37873548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.99, Y:48.70, Z:-0.23 [[ 8.89832021e-01 -4.56288236e-01 -1.44975170e-04 4.29993261e+02] [ 4.56288229e-01 8.89832032e-01 -7.63909772e-05 4.86977908e+01] [ 1.63859854e-04 1.82467394e-06 9.99999987e-01 -2.32380683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.04, Y:48.73, Z:-0.24 [[ 8.90883036e-01 -4.54232755e-01 -1.44959594e-04 4.30043230e+02] [ 4.54232749e-01 8.90883047e-01 -7.64205231e-05 4.87270230e+01] [ 1.63854750e-04 2.23635287e-06 9.99999987e-01 -2.38201688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.10, Y:48.75, Z:-0.24 [[ 8.91313109e-01 -4.53388266e-01 -1.44954801e-04 4.30095417e+02] [ 4.53388260e-01 8.91313121e-01 -7.64296126e-05 4.87541924e+01] [ 1.63852406e-04 2.40191051e-06 9.99999987e-01 -2.35469772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.15, Y:48.79, Z:-0.23 [[ 8.91406030e-01 -4.53205547e-01 -1.44941554e-04 4.30145479e+02] [ 4.53205541e-01 8.91406042e-01 -7.64547276e-05 4.87852371e+01] [ 1.63851483e-04 2.46389005e-06 9.99999987e-01 -2.34178502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.20, Y:48.81, Z:-0.23 [[ 8.89969989e-01 -4.56019077e-01 -1.44928380e-04 4.30197267e+02] [ 4.56019070e-01 8.89970000e-01 -7.64796908e-05 4.88122859e+01] [ 1.63858109e-04 1.97452430e-06 9.99999987e-01 -2.32437721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.40533619499996 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:430.25, Y:48.84, Z:-0.24 [[ 8.88795261e-01 -4.58304443e-01 -1.44915097e-04 4.30248700e+02] [ 4.58304436e-01 8.88795273e-01 -7.65048527e-05 4.88405442e+01] [ 1.63862367e-04 1.58191891e-06 9.99999987e-01 -2.35493291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.46533619499996 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:430.30, Y:48.87, Z:-0.24 [[ 8.87770457e-01 -4.60286427e-01 -1.44901724e-04 4.30298734e+02] [ 4.60286421e-01 8.87770469e-01 -7.65301723e-05 4.88706296e+01] [ 1.63865271e-04 1.24493010e-06 9.99999987e-01 -2.39378769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.52533619499997 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:430.35, Y:48.90, Z:-0.24 [[ 8.86356781e-01 -4.63002847e-01 -1.44888511e-04 4.30350226e+02] [ 4.63002841e-01 8.86356792e-01 -7.65551796e-05 4.88988453e+01] [ 1.63868182e-04 7.71410351e-07 9.99999987e-01 -2.40371066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.58533619499997 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:430.40, Y:48.93, Z:-0.24 [[ 8.84579924e-01 -4.66388613e-01 -1.44884638e-04 4.30401408e+02] [ 4.66388606e-01 8.84579935e-01 -7.65625082e-05 4.89262290e+01] [ 1.63869926e-04 1.53113291e-07 9.99999987e-01 -2.37089770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.64533619499997 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:430.45, Y:48.95, Z:-0.23 [[ 8.84248958e-01 -4.67015801e-01 -1.44879354e-04 4.30453378e+02] [ 4.67015795e-01 8.84248970e-01 -7.65725053e-05 4.89527082e+01] [ 1.63869990e-04 4.82112525e-08 9.99999987e-01 -2.34676849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.51, Y:48.98, Z:-0.23 [[ 8.85330670e-01 -4.64961917e-01 -1.44872212e-04 4.30506306e+02] [ 4.64961910e-01 8.85330682e-01 -7.65860159e-05 4.89774736e+01] [ 1.63869395e-04 4.43888295e-07 9.99999987e-01 -2.28904725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.765336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:430.56, Y:49.00, Z:-0.23 [[ 8.87741371e-01 -4.60342522e-01 -1.44867464e-04 4.30559133e+02] [ 4.60342515e-01 8.87741383e-01 -7.65949966e-05 4.90035847e+01] [ 1.63864776e-04 1.30789465e-06 9.99999987e-01 -2.26864700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.61, Y:49.04, Z:-0.23 [[ 8.90944877e-01 -4.54111445e-01 -1.44853988e-04 4.30607430e+02] [ 4.54111439e-01 8.90944889e-01 -7.66204739e-05 4.90350989e+01] [ 1.63851154e-04 2.48476605e-06 9.99999987e-01 -2.26632029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.66, Y:49.07, Z:-0.23 [[ 8.94052333e-01 -4.47962504e-01 -1.44846836e-04 4.30656366e+02] [ 4.47962498e-01 8.94052344e-01 -7.66339905e-05 4.90674161e+01] [ 1.63829808e-04 3.62884733e-06 9.99999987e-01 -2.26873074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.71, Y:49.10, Z:-0.22 [[ 8.95439865e-01 -4.45182464e-01 -1.44831800e-04 4.30706865e+02] [ 4.45182458e-01 8.95439877e-01 -7.66623971e-05 4.90977038e+01] [ 1.63816924e-04 4.16998982e-06 9.99999987e-01 -2.24879323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.75, Y:49.13, Z:-0.23 [[ 8.93640549e-01 -4.48783410e-01 -1.44818295e-04 4.30753658e+02] [ 4.48783403e-01 8.93640560e-01 -7.66879007e-05 4.91338963e+01] [ 1.63831760e-04 3.53937044e-06 9.99999987e-01 -2.28581775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.80, Y:49.16, Z:-0.23 [[ 8.89244425e-01 -4.57432325e-01 -1.44804941e-04 4.30804325e+02] [ 4.57432319e-01 8.89244436e-01 -7.67131072e-05 4.91627132e+01] [ 1.63858043e-04 1.97824284e-06 9.99999987e-01 -2.26695683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.86, Y:49.19, Z:-0.23 [[ 8.84356595e-01 -4.66811945e-01 -1.44789354e-04 4.30856640e+02] [ 4.66811938e-01 8.84356607e-01 -7.67425145e-05 4.91905556e+01] [ 1.63869745e-04 2.78349591e-07 9.99999987e-01 -2.30816000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.185336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:430.91, Y:49.22, Z:-0.23 [[ 8.81751217e-01 -4.71714714e-01 -1.44776784e-04 4.30906794e+02] [ 4.71714708e-01 8.81751228e-01 -7.67662222e-05 4.92182815e+01] [ 1.63868863e-04 -6.04628340e-07 9.99999987e-01 -2.30370351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.96, Y:49.25, Z:-0.23 [[ 8.81290987e-01 -4.72573988e-01 -1.44771019e-04 4.30959026e+02] [ 4.72573982e-01 8.81290999e-01 -7.67770913e-05 4.92458675e+01] [ 1.63868253e-04 -7.52058518e-07 9.99999987e-01 -2.31990653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.305336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:431.01, Y:49.27, Z:-0.24 [[ 8.81498646e-01 -4.72186527e-01 -1.44757595e-04 4.31009856e+02] [ 4.72186520e-01 8.81498658e-01 -7.68023937e-05 4.92742115e+01] [ 1.63868681e-04 -6.51379016e-07 9.99999987e-01 -2.38892927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.36533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.06, Y:49.30, Z:-0.23 [[ 8.80912470e-01 -4.73279198e-01 -1.44750588e-04 4.31060472e+02] [ 4.73279191e-01 8.80912482e-01 -7.68155982e-05 4.93023287e+01] [ 1.63867824e-04 -8.39622762e-07 9.99999987e-01 -2.33898073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.42533619499994 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:431.11, Y:49.33, Z:-0.24 [[ 8.79680134e-01 -4.75565811e-01 -1.44735280e-04 4.31113607e+02] [ 4.75565805e-01 8.79680146e-01 -7.68444301e-05 4.93267618e+01] [ 1.63865336e-04 -1.23263136e-06 9.99999987e-01 -2.36241517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.17, Y:49.35, Z:-0.23 [[ 8.79215601e-01 -4.76424083e-01 -1.44719802e-04 4.31166788e+02] [ 4.76424077e-01 8.79215612e-01 -7.68735689e-05 4.93523534e+01] [ 1.63864329e-04 -1.35955690e-06 9.99999987e-01 -2.31428150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.54533619499995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:431.22, Y:49.38, Z:-0.24 [[ 8.80112680e-01 -4.74764836e-01 -1.44706207e-04 4.31219270e+02] [ 4.74764830e-01 8.80112692e-01 -7.68991511e-05 4.93773826e+01] [ 1.63866782e-04 -1.02149984e-06 9.99999987e-01 -2.36183637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.60533619499995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:431.27, Y:49.40, Z:-0.23 [[ 8.82209134e-01 -4.70857752e-01 -1.44701415e-04 4.31271854e+02] [ 4.70857745e-01 8.82209146e-01 -7.69081669e-05 4.94036832e+01] [ 1.63869718e-04 -2.84694749e-07 9.99999987e-01 -2.33158103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.32, Y:49.43, Z:-0.24 [[ 8.84137685e-01 -4.67226426e-01 -1.44688133e-04 4.31323063e+02] [ 4.67226420e-01 8.84137697e-01 -7.69331474e-05 4.94283657e+01] [ 1.63869432e-04 4.17376578e-07 9.99999987e-01 -2.35392650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.38, Y:49.45, Z:-0.24 [[ 8.85582837e-01 -4.64481451e-01 -1.44681544e-04 4.31375490e+02] [ 4.64481445e-01 8.85582848e-01 -7.69455367e-05 4.94549306e+01] [ 1.63867268e-04 9.39754180e-07 9.99999987e-01 -2.37409157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.78533619499996 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:431.43, Y:49.48, Z:-0.24 [[ 8.86893763e-01 -4.61973412e-01 -1.44668466e-04 4.31427328e+02] [ 4.61973405e-01 8.86893774e-01 -7.69701162e-05 4.94827030e+01] [ 1.63863709e-04 1.43133201e-06 9.99999987e-01 -2.39441435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.48, Y:49.51, Z:-0.24 [[ 8.88927221e-01 -4.58048442e-01 -1.44664566e-04 4.31479672e+02] [ 4.58048435e-01 8.88927233e-01 -7.69774458e-05 4.95073475e+01] [ 1.63855671e-04 2.16396880e-06 9.99999987e-01 -2.38939924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.90533619499996 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:431.53, Y:49.54, Z:-0.24 [[ 8.90341946e-01 -4.55292433e-01 -1.44659746e-04 4.31530622e+02] [ 4.55292426e-01 8.90341957e-01 -7.69865021e-05 4.95364809e+01] [ 1.63848014e-04 2.68182512e-06 9.99999987e-01 -2.42494435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.58, Y:49.56, Z:-0.24 [[ 8.90521465e-01 -4.54941204e-01 -1.44646294e-04 4.31582948e+02] [ 4.54941198e-01 8.90521477e-01 -7.70117690e-05 4.95627694e+01] [ 1.63846458e-04 2.77507518e-06 9.99999987e-01 -2.38223340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.64, Y:49.59, Z:-0.23 [[ 8.89481826e-01 -4.56970525e-01 -1.44632977e-04 4.31637738e+02] [ 4.56970519e-01 8.89481837e-01 -7.70367715e-05 4.95865609e+01] [ 1.63851940e-04 2.42980175e-06 9.99999987e-01 -2.30687469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.08533619499997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:431.69, Y:49.62, Z:-0.23 [[ 8.89019106e-01 -4.57870077e-01 -1.44621453e-04 4.31688554e+02] [ 4.57870071e-01 8.89019118e-01 -7.70583985e-05 4.96156991e+01] [ 1.63853972e-04 2.28855353e-06 9.99999987e-01 -2.25257844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.74, Y:49.65, Z:-0.22 [[ 8.88812137e-01 -4.58271714e-01 -1.44618613e-04 4.31739927e+02] [ 4.58271708e-01 8.88812149e-01 -7.70637286e-05 4.96450576e+01] [ 1.63854907e-04 2.22055857e-06 9.99999987e-01 -2.23575993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.79, Y:49.67, Z:-0.23 [[ 8.88237418e-01 -4.59384663e-01 -1.44605434e-04 4.31792623e+02] [ 4.59384657e-01 8.88237430e-01 -7.70884503e-05 4.96720024e+01] [ 1.63857211e-04 2.04332845e-06 9.99999987e-01 -2.25596058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.84, Y:49.70, Z:-0.23 [[ 8.86561326e-01 -4.62611061e-01 -1.44592421e-04 4.31841811e+02] [ 4.62611055e-01 8.86561338e-01 -7.71128511e-05 4.97024043e+01] [ 1.63863308e-04 1.47521922e-06 9.99999987e-01 -2.31762573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.89, Y:49.73, Z:-0.23 [[ 8.84085178e-01 -4.67325772e-01 -1.44587826e-04 4.31892679e+02] [ 4.67325766e-01 8.84085190e-01 -7.71214661e-05 4.97328879e+01] [ 1.63868804e-04 6.12328806e-07 9.99999987e-01 -2.30028519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.94, Y:49.76, Z:-0.23 [[ 8.81576298e-01 -4.72041534e-01 -1.44574916e-04 4.31944699e+02] [ 4.72041528e-01 8.81576310e-01 -7.71456597e-05 4.97607509e+01] [ 1.63869776e-04 -2.35579097e-07 9.99999987e-01 -2.30012524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.99, Y:49.79, Z:-0.23 [[ 8.80985621e-01 -4.73143017e-01 -1.44561681e-04 4.31994673e+02] [ 4.73143011e-01 8.80985633e-01 -7.71704516e-05 4.97911456e+01] [ 1.63869425e-04 -4.12290911e-07 9.99999987e-01 -2.30779714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.05, Y:49.82, Z:-0.22 [[ 8.82010377e-01 -4.71229959e-01 -1.44546599e-04 4.32046775e+02] [ 4.71229952e-01 8.82010389e-01 -7.71986916e-05 4.98207850e+01] [ 1.63869938e-04 -2.46398478e-08 9.99999987e-01 -2.24958529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.565336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:432.10, Y:49.85, Z:-0.23 [[ 8.83541935e-01 -4.68352034e-01 -1.44535302e-04 4.32097040e+02] [ 4.68352027e-01 8.83541947e-01 -7.72198370e-05 4.98509963e+01] [ 1.63869070e-04 5.33562613e-07 9.99999987e-01 -2.28837325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.15, Y:49.88, Z:-0.23 [[ 8.86061799e-01 -4.63567111e-01 -1.44522274e-04 4.32147025e+02] [ 4.63567105e-01 8.86061811e-01 -7.72442109e-05 4.98807120e+01] [ 1.63863544e-04 1.44737218e-06 9.99999987e-01 -2.25114824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.20, Y:49.91, Z:-0.22 [[ 8.89529158e-01 -4.56878383e-01 -1.44507135e-04 4.32196736e+02] [ 4.56878376e-01 8.89529169e-01 -7.72725225e-05 4.99120000e+01] [ 1.63847457e-04 2.71397653e-06 9.99999987e-01 -2.24955333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.24, Y:49.95, Z:-0.23 [[ 8.92285064e-01 -4.51472416e-01 -1.44493906e-04 4.32244269e+02] [ 4.51472410e-01 8.92285076e-01 -7.72972520e-05 4.99453235e+01] [ 1.63827333e-04 3.73617147e-06 9.99999987e-01 -2.25290000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.29, Y:49.98, Z:-0.23 [[ 8.92499417e-01 -4.51048524e-01 -1.44489259e-04 4.32291726e+02] [ 4.51048517e-01 8.92499428e-01 -7.73059378e-05 4.99798538e+01] [ 1.63825310e-04 3.82383838e-06 9.99999987e-01 -2.26627556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.86533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.34, Y:50.01, Z:-0.23 [[ 8.90511129e-01 -4.54961436e-01 -1.44482417e-04 4.32341623e+02] [ 4.54961430e-01 8.90511140e-01 -7.73187237e-05 5.00116388e+01] [ 1.63840239e-04 3.11925701e-06 9.99999987e-01 -2.30013859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.92533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.39, Y:50.04, Z:-0.23 [[ 8.87356046e-01 -4.61084836e-01 -1.44469797e-04 4.32391360e+02] [ 4.61084830e-01 8.87356058e-01 -7.73422970e-05 5.00428704e+01] [ 1.63857510e-04 2.01732318e-06 9.99999987e-01 -2.32991058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.44, Y:50.08, Z:-0.23 [[ 8.84886465e-01 -4.65806745e-01 -1.44457162e-04 4.32439586e+02] [ 4.65806738e-01 8.84886477e-01 -7.73658892e-05 5.00772037e+01] [ 1.63865742e-04 1.17090888e-06 9.99999987e-01 -2.33520787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.49, Y:50.11, Z:-0.24 [[ 8.84683313e-01 -4.66192465e-01 -1.44453376e-04 4.32488369e+02] [ 4.66192458e-01 8.84683325e-01 -7.73729566e-05 5.01082654e+01] [ 1.63866183e-04 1.10748899e-06 9.99999987e-01 -2.38444835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.54, Y:50.14, Z:-0.23 [[ 8.84938058e-01 -4.65708720e-01 -1.44448676e-04 4.32536634e+02] [ 4.65708714e-01 8.84938070e-01 -7.73817310e-05 5.01415574e+01] [ 1.63865479e-04 1.20703186e-06 9.99999987e-01 -2.28371435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.58, Y:50.18, Z:-0.23 [[ 8.84072305e-01 -4.67350124e-01 -1.44443857e-04 4.32583404e+02] [ 4.67350118e-01 8.84072317e-01 -7.73907249e-05 5.01770242e+01] [ 1.63867380e-04 9.13142970e-07 9.99999987e-01 -2.30730372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.63, Y:50.21, Z:-0.23 [[ 8.80239002e-01 -4.74530587e-01 -1.44439083e-04 4.32632942e+02] [ 4.74530581e-01 8.80239014e-01 -7.73996336e-05 5.02092389e+01] [ 1.63869410e-04 -4.10585758e-07 9.99999987e-01 -2.29746426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.28533619499996 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:432.68, Y:50.24, Z:-0.23 [[ 8.76719423e-01 -4.81002113e-01 -1.44426154e-04 4.32683137e+02] [ 4.81002107e-01 8.76719435e-01 -7.74237509e-05 5.02391382e+01] [ 1.63862204e-04 -1.59037831e-06 9.99999987e-01 -2.27339714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.73, Y:50.27, Z:-0.23 [[ 8.75305985e-01 -4.83569448e-01 -1.44410720e-04 4.32732492e+02] [ 4.83569442e-01 8.75305997e-01 -7.74525282e-05 5.02687423e+01] [ 1.63857246e-04 -2.03794982e-06 9.99999987e-01 -2.28777306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.40533619499996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:432.78, Y:50.30, Z:-0.23 [[ 8.75038533e-01 -4.84053246e-01 -1.44405987e-04 4.32783401e+02] [ 4.84053240e-01 8.75038545e-01 -7.74613517e-05 5.02974556e+01] [ 1.63856223e-04 -2.11851826e-06 9.99999987e-01 -2.28349477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.46533619499996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:432.83, Y:50.33, Z:-0.23 [[ 8.74971023e-01 -4.84175266e-01 -1.44390575e-04 4.32832638e+02] [ 4.84175260e-01 8.74971035e-01 -7.74900703e-05 5.03287060e+01] [ 1.63856346e-04 -2.10877788e-06 9.99999987e-01 -2.26261412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.52533619499997 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:432.89, Y:50.36, Z:-0.22 [[ 8.75422671e-01 -4.83358175e-01 -1.44385820e-04 4.32885129e+02] [ 4.83358169e-01 8.75422683e-01 -7.74989289e-05 5.03550313e+01] [ 1.63858363e-04 -1.94574604e-06 9.99999987e-01 -2.24213625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.94, Y:50.38, Z:-0.22 [[ 8.76865907e-01 -4.80735021e-01 -1.44372513e-04 4.32938084e+02] [ 4.80735015e-01 8.76865919e-01 -7.75237109e-05 5.03810874e+01] [ 1.63863699e-04 -1.42702282e-06 9.99999987e-01 -2.20898740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.99, Y:50.41, Z:-0.22 [[ 8.79536275e-01 -4.75831819e-01 -1.44358803e-04 4.32990702e+02] [ 4.75831812e-01 8.79536287e-01 -7.75492317e-05 5.04077365e+01] [ 1.63869197e-04 -4.83148333e-07 9.99999987e-01 -2.19449691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.04, Y:50.43, Z:-0.22 [[ 8.81625438e-01 -4.71949750e-01 -1.44344708e-04 4.33043895e+02] [ 4.71949744e-01 8.81625449e-01 -7.75754584e-05 5.04328211e+01] [ 1.63869686e-04 2.69049621e-07 9.99999987e-01 -2.21970692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.10, Y:50.46, Z:-0.23 [[ 8.83215723e-01 -4.68966913e-01 -1.44330615e-04 4.33095300e+02] [ 4.68966907e-01 8.83215735e-01 -7.76016697e-05 5.04587026e+01] [ 1.63867686e-04 8.52732796e-07 9.99999987e-01 -2.30884975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.15, Y:50.49, Z:-0.23 [[ 8.84068162e-01 -4.67357962e-01 -1.44323257e-04 4.33146540e+02] [ 4.67357956e-01 8.84068173e-01 -7.76153513e-05 5.04859762e+01] [ 1.63865751e-04 1.16663852e-06 9.99999987e-01 -2.28382730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.20, Y:50.51, Z:-0.22 [[ 8.84436754e-01 -4.66660055e-01 -1.44319720e-04 4.33198452e+02] [ 4.66660049e-01 8.84436766e-01 -7.76219275e-05 5.05124861e+01] [ 1.63864719e-04 1.30343802e-06 9.99999987e-01 -2.19379788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.945336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:433.25, Y:50.54, Z:-0.22 [[ 8.84701753e-01 -4.66157470e-01 -1.44314906e-04 4.33249107e+02] [ 4.66157464e-01 8.84701765e-01 -7.76308766e-05 5.05400068e+01] [ 1.63863865e-04 1.40670203e-06 9.99999987e-01 -2.22551573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.30, Y:50.57, Z:-0.22 [[ 8.85486602e-01 -4.64664887e-01 -1.44299651e-04 4.33301233e+02] [ 4.64664881e-01 8.85486613e-01 -7.76592222e-05 5.05667025e+01] [ 1.63860923e-04 1.71522062e-06 9.99999987e-01 -2.18969812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.35, Y:50.60, Z:-0.22 [[ 8.86340615e-01 -4.63033793e-01 -1.44286007e-04 4.33350773e+02] [ 4.63033786e-01 8.86340627e-01 -7.76845630e-05 5.05961404e+01] [ 1.63857128e-04 2.04568705e-06 9.99999987e-01 -2.18824774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.40, Y:50.63, Z:-0.22 [[ 8.86749211e-01 -4.62250816e-01 -1.44281202e-04 4.33400967e+02] [ 4.62250809e-01 8.86749222e-01 -7.76934873e-05 5.06255482e+01] [ 1.63855121e-04 2.20053624e-06 9.99999987e-01 -2.21098890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.45, Y:50.65, Z:-0.22 [[ 8.85494251e-01 -4.64650311e-01 -1.44276473e-04 4.33452480e+02] [ 4.64650304e-01 8.85494262e-01 -7.77022676e-05 5.06540200e+01] [ 1.63860372e-04 1.76680412e-06 9.99999987e-01 -2.17369346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.51, Y:50.68, Z:-0.22 [[ 8.81883052e-01 -4.71468197e-01 -1.44262996e-04 4.33505918e+02] [ 4.71468191e-01 8.81883064e-01 -7.77272808e-05 5.06797746e+01] [ 1.63869034e-04 5.30957806e-07 9.99999987e-01 -2.18379870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.56, Y:50.70, Z:-0.22 [[ 8.78491046e-01 -4.77758791e-01 -1.44249306e-04 4.33559839e+02] [ 4.77758784e-01 8.78491057e-01 -7.77526801e-05 5.07011241e+01] [ 1.63868751e-04 -6.11339572e-07 9.99999987e-01 -2.19273103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.36533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.61, Y:50.73, Z:-0.22 [[ 8.78207399e-01 -4.78279984e-01 -1.44233729e-04 4.33612755e+02] [ 4.78279978e-01 8.78207411e-01 -7.77815646e-05 5.07254814e+01] [ 1.63868495e-04 -6.75759045e-07 9.99999987e-01 -2.22144494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.42533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.67, Y:50.75, Z:-0.22 [[ 8.79989195e-01 -4.74993680e-01 -1.44228937e-04 4.33666957e+02] [ 4.74993674e-01 8.79989207e-01 -7.77904495e-05 5.07491338e+01] [ 1.63869880e-04 -5.30775882e-08 9.99999987e-01 -2.21755653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.72, Y:50.78, Z:-0.22 [[ 8.82078170e-01 -4.71103047e-01 -1.44215140e-04 4.33718622e+02] [ 4.71103041e-01 8.82078182e-01 -7.78160188e-05 5.07756025e+01] [ 1.63868392e-04 6.99620523e-07 9.99999987e-01 -2.24703880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.77, Y:50.80, Z:-0.23 [[ 8.83830577e-01 -4.67807108e-01 -1.44210260e-04 4.33770271e+02] [ 4.67807101e-01 8.83830589e-01 -7.78250616e-05 5.08021473e+01] [ 1.63864556e-04 1.32158544e-06 9.99999987e-01 -2.27236976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.82, Y:50.83, Z:-0.23 [[ 8.85826229e-01 -4.64017103e-01 -1.44203343e-04 4.33822122e+02] [ 4.64017097e-01 8.85826240e-01 -7.78378755e-05 5.08290782e+01] [ 1.63857211e-04 2.03801504e-06 9.99999987e-01 -2.25366322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.87, Y:50.86, Z:-0.23 [[ 8.86812871e-01 -4.62128674e-01 -1.44198751e-04 4.33872999e+02] [ 4.62128667e-01 8.86812883e-01 -7.78463822e-05 5.08558721e+01] [ 1.63852355e-04 2.39679706e-06 9.99999987e-01 -2.29163767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.92, Y:50.89, Z:-0.22 [[ 8.86432176e-01 -4.62858484e-01 -1.44194202e-04 4.33923371e+02] [ 4.62858477e-01 8.86432188e-01 -7.78548074e-05 5.08864306e+01] [ 1.63854140e-04 2.27149759e-06 9.99999987e-01 -2.24343023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.97, Y:50.91, Z:-0.23 [[ 8.86243833e-01 -4.63219007e-01 -1.44180982e-04 4.33974605e+02] [ 4.63219001e-01 8.86243844e-01 -7.78792814e-05 5.09129961e+01] [ 1.63854671e-04 2.23266233e-06 9.99999987e-01 -2.25555552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.02, Y:50.94, Z:-0.23 [[ 8.85599959e-01 -4.64448804e-01 -1.44176329e-04 4.34024994e+02] [ 4.64448797e-01 8.85599971e-01 -7.78878954e-05 5.09441038e+01] [ 1.63857492e-04 2.01499456e-06 9.99999987e-01 -2.25239718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.08, Y:50.97, Z:-0.22 [[ 8.84469139e-01 -4.66598672e-01 -1.44167044e-04 4.34077128e+02] [ 4.66598666e-01 8.84469151e-01 -7.79050774e-05 5.09716492e+01] [ 1.63861709e-04 1.63648636e-06 9.99999987e-01 -2.19672087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.13, Y:51.00, Z:-0.22 [[ 8.83582227e-01 -4.68276016e-01 -1.44153565e-04 4.34126976e+02] [ 4.68276009e-01 8.83582239e-01 -7.79300109e-05 5.10007098e+01] [ 1.63864285e-04 1.35391665e-06 9.99999987e-01 -2.19355709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.18, Y:51.03, Z:-0.22 [[ 8.82405224e-01 -4.70490170e-01 -1.44146418e-04 4.34179416e+02] [ 4.70490163e-01 8.82405236e-01 -7.79432278e-05 5.10267037e+01] [ 1.63867077e-04 9.58039660e-07 9.99999987e-01 -2.23703531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.23, Y:51.06, Z:-0.23 [[ 8.81551352e-01 -4.72088120e-01 -1.44133153e-04 4.34230292e+02] [ 4.72088113e-01 8.81551364e-01 -7.79677506e-05 5.10557303e+01] [ 1.63868426e-04 6.89027841e-07 9.99999987e-01 -2.25648848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.28, Y:51.08, Z:-0.22 [[ 8.81810978e-01 -4.71602989e-01 -1.44120051e-04 4.34281572e+02] [ 4.71602982e-01 8.81810989e-01 -7.79919602e-05 5.10849135e+01] [ 1.63867887e-04 8.06720593e-07 9.99999987e-01 -2.24318717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.33, Y:51.12, Z:-0.23 [[ 8.82715608e-01 -4.69907581e-01 -1.44106343e-04 4.34332406e+02] [ 4.69907574e-01 8.82715620e-01 -7.80172817e-05 5.11152661e+01] [ 1.63865832e-04 1.15041025e-06 9.99999987e-01 -2.26635121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.38, Y:51.14, Z:-0.23 [[ 8.82905481e-01 -4.69550733e-01 -1.44092468e-04 4.34383346e+02] [ 4.69550726e-01 8.82905493e-01 -7.80428995e-05 5.11422577e+01] [ 1.63865132e-04 1.24578095e-06 9.99999987e-01 -2.30605076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.325336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:434.43, Y:51.17, Z:-0.23 [[ 8.82702794e-01 -4.69931652e-01 -1.44087580e-04 4.34433086e+02] [ 4.69931645e-01 8.82702805e-01 -7.80519227e-05 5.11715024e+01] [ 1.63865580e-04 1.18533678e-06 9.99999987e-01 -2.34305497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.48, Y:51.20, Z:-0.23 [[ 8.81325939e-01 -4.72508803e-01 -1.44080617e-04 4.34484125e+02] [ 4.72508797e-01 8.81325950e-01 -7.80647735e-05 5.12000231e+01] [ 1.63868279e-04 7.21150732e-07 9.99999987e-01 -2.28037893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.53, Y:51.23, Z:-0.23 [[ 8.80341835e-01 -4.74339786e-01 -1.44066917e-04 4.34534525e+02] [ 4.74339780e-01 8.80341847e-01 -7.80900476e-05 5.12274852e+01] [ 1.63869353e-04 4.09265866e-07 9.99999987e-01 -2.31508629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.59, Y:51.25, Z:-0.23 [[ 8.78973439e-01 -4.76870709e-01 -1.44060154e-04 4.34587311e+02] [ 4.76870703e-01 8.78973451e-01 -7.81025227e-05 5.12533533e+01] [ 1.63869856e-04 -4.80239377e-08 9.99999987e-01 -2.26746311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.64, Y:51.28, Z:-0.22 [[ 8.78656141e-01 -4.77455092e-01 -1.44046657e-04 4.34638141e+02] [ 4.77455086e-01 8.78656153e-01 -7.81274081e-05 5.12815011e+01] [ 1.63869810e-04 -1.28681926e-07 9.99999987e-01 -2.23896570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.69, Y:51.30, Z:-0.23 [[ 8.78502353e-01 -4.77737999e-01 -1.44042759e-04 4.34692467e+02] [ 4.77737993e-01 8.78502364e-01 -7.81345931e-05 5.13043212e+01] [ 1.63869769e-04 -1.73274880e-07 9.99999987e-01 -2.25518079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.75, Y:51.33, Z:-0.22 [[ 8.80722330e-01 -4.73632935e-01 -1.44029757e-04 4.34745335e+02] [ 4.73632928e-01 8.80722342e-01 -7.81585532e-05 5.13308647e+01] [ 1.63868690e-04 6.18747309e-07 9.99999987e-01 -2.24904836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.80, Y:51.36, Z:-0.22 [[ 8.83752051e-01 -4.67955437e-01 -1.44016337e-04 4.34795947e+02] [ 4.67955431e-01 8.83752063e-01 -7.81832741e-05 5.13596205e+01] [ 1.63861023e-04 1.70140185e-06 9.99999987e-01 -2.24492271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.85, Y:51.39, Z:-0.22 [[ 8.85244465e-01 -4.65126022e-01 -1.44011610e-04 4.34848313e+02] [ 4.65126016e-01 8.85244477e-01 -7.81919791e-05 5.13862841e+01] [ 1.63854607e-04 2.23547010e-06 9.99999987e-01 -2.21504721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.86533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.90, Y:51.41, Z:-0.22 [[ 8.85311202e-01 -4.64998984e-01 -1.43998106e-04 4.34899513e+02] [ 4.64998977e-01 8.85311214e-01 -7.82168405e-05 5.14142065e+01] [ 1.63853890e-04 2.28727291e-06 9.99999987e-01 -2.21293838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.92533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.95, Y:51.44, Z:-0.22 [[ 8.85479096e-01 -4.64679189e-01 -1.43982760e-04 4.34949604e+02] [ 4.64679183e-01 8.85479108e-01 -7.82450806e-05 5.14433070e+01] [ 1.63852586e-04 2.37859219e-06 9.99999987e-01 -2.22709755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.00, Y:51.47, Z:-0.22 [[ 8.84736737e-01 -4.66091070e-01 -1.43967496e-04 4.35000951e+02] [ 4.66091064e-01 8.84736749e-01 -7.82731552e-05 5.14707773e+01] [ 1.63855753e-04 2.14917260e-06 9.99999987e-01 -2.24085161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.05, Y:51.50, Z:-0.22 [[ 8.83148335e-01 -4.69093804e-01 -1.43960423e-04 4.35053000e+02] [ 4.69093798e-01 8.83148347e-01 -7.82861607e-05 5.14993261e+01] [ 1.63861963e-04 1.60735072e-06 9.99999987e-01 -2.23529448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.10, Y:51.53, Z:-0.22 [[ 8.82559342e-01 -4.70201007e-01 -1.43948001e-04 4.35103446e+02] [ 4.70201000e-01 8.82559354e-01 -7.83089957e-05 5.15295636e+01] [ 1.63863623e-04 1.42784178e-06 9.99999987e-01 -2.19982209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.16533619499995 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:435.15, Y:51.56, Z:-0.22 [[ 8.82720459e-01 -4.69898469e-01 -1.43934483e-04 4.35154784e+02] [ 4.69898462e-01 8.82720471e-01 -7.83338345e-05 5.15585661e+01] [ 1.63862863e-04 1.51228616e-06 9.99999987e-01 -2.20583567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.21, Y:51.59, Z:-0.22 [[ 8.82347985e-01 -4.70597505e-01 -1.43920506e-04 4.35205098e+02] [ 4.70597499e-01 8.82347997e-01 -7.83595047e-05 5.15881124e+01] [ 1.63863758e-04 1.41172083e-06 9.99999987e-01 -2.24760722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.28533619499996 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:435.26, Y:51.62, Z:-0.22 [[ 8.80700453e-01 -4.73673612e-01 -1.43906682e-04 4.35255732e+02] [ 4.73673606e-01 8.80700465e-01 -7.83848844e-05 5.16185326e+01] [ 1.63867533e-04 8.68806206e-07 9.99999987e-01 -2.22328166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.31, Y:51.65, Z:-0.22 [[ 8.79545747e-01 -4.75814310e-01 -1.43893089e-04 4.35307413e+02] [ 4.75814304e-01 8.79545759e-01 -7.84098296e-05 5.16463115e+01] [ 1.63869075e-04 4.98642140e-07 9.99999987e-01 -2.19388037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.36, Y:51.67, Z:-0.22 [[ 8.80330946e-01 -4.74359996e-01 -1.43879247e-04 4.35357800e+02] [ 4.74359989e-01 8.80330957e-01 -7.84352206e-05 5.16749338e+01] [ 1.63867887e-04 7.98393707e-07 9.99999987e-01 -2.20900653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.41, Y:51.70, Z:-0.22 [[ 8.81261324e-01 -4.72629303e-01 -1.43871936e-04 4.35408495e+02] [ 4.72629297e-01 8.81261336e-01 -7.84486295e-05 5.17042494e+01] [ 1.63865896e-04 1.13565119e-06 9.99999987e-01 -2.19099235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.46, Y:51.73, Z:-0.22 [[ 8.81864567e-01 -4.71502772e-01 -1.43858094e-04 4.35459101e+02] [ 4.71502766e-01 8.81864579e-01 -7.84740047e-05 5.17332586e+01] [ 1.63864068e-04 1.37395506e-06 9.99999987e-01 -2.18697851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.51, Y:51.76, Z:-0.22 [[ 8.80662044e-01 -4.73745019e-01 -1.43853195e-04 4.35511280e+02] [ 4.73745013e-01 8.80662056e-01 -7.84829847e-05 5.17590354e+01] [ 1.63866973e-04 9.67252190e-07 9.99999987e-01 -2.20830223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.56, Y:51.78, Z:-0.22 [[ 8.80231149e-01 -4.74545154e-01 -1.43846021e-04 4.35564289e+02] [ 4.74545148e-01 8.80231161e-01 -7.84961308e-05 5.17848921e+01] [ 1.63867708e-04 8.33308168e-07 9.99999987e-01 -2.18927353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.62, Y:51.81, Z:-0.22 [[ 8.82391715e-01 -4.70515506e-01 -1.43832296e-04 4.35615759e+02] [ 4.70515499e-01 8.82391727e-01 -7.85212714e-05 5.18109499e+01] [ 1.63861904e-04 1.61119482e-06 9.99999987e-01 -2.16288381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.67, Y:51.84, Z:-0.21 [[ 8.86302726e-01 -4.63106313e-01 -1.43827466e-04 4.35668062e+02] [ 4.63106306e-01 8.86302738e-01 -7.85301181e-05 5.18372168e+01] [ 1.63842470e-04 2.99405130e-06 9.99999987e-01 -2.13932602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.72, Y:51.87, Z:-0.21 [[ 8.87901205e-01 -4.60034162e-01 -1.43814244e-04 4.35718039e+02] [ 4.60034155e-01 8.87901216e-01 -7.85543243e-05 5.18664166e+01] [ 1.63830515e-04 3.58901507e-06 9.99999987e-01 -2.13393452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.77, Y:51.90, Z:-0.22 [[ 8.88579314e-01 -4.58722992e-01 -1.43809610e-04 4.35766574e+02] [ 4.58722985e-01 8.88579325e-01 -7.85628057e-05 5.19014323e+01] [ 1.63824812e-04 3.84051018e-06 9.99999987e-01 -2.15349232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.82, Y:51.93, Z:-0.22 [[ 8.87551732e-01 -4.60708045e-01 -1.43796700e-04 4.35816012e+02] [ 4.60708039e-01 8.87551743e-01 -7.85864282e-05 5.19304655e+01] [ 1.63832412e-04 3.50122459e-06 9.99999987e-01 -2.17344729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.87, Y:51.96, Z:-0.22 [[ 8.84510803e-01 -4.66519687e-01 -1.43789794e-04 4.35866683e+02] [ 4.66519681e-01 8.84510815e-01 -7.85990622e-05 5.19606764e+01] [ 1.63851638e-04 2.44095069e-06 9.99999987e-01 -2.15969686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.92, Y:51.99, Z:-0.22 [[ 8.79942959e-01 -4.75079328e-01 -1.43776123e-04 4.35916333e+02] [ 4.75079321e-01 8.79942971e-01 -7.86240620e-05 5.19916286e+01] [ 1.63867456e-04 8.79626716e-07 9.99999987e-01 -2.15039960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.97, Y:52.02, Z:-0.21 [[ 8.75589400e-01 -4.83056085e-01 -1.43762476e-04 4.35967697e+02] [ 4.83056078e-01 8.75589412e-01 -7.86490081e-05 5.20203840e+01] [ 1.63868784e-04 -5.81099970e-07 9.99999987e-01 -2.14915878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.02, Y:52.05, Z:-0.21 [[ 8.72559614e-01 -4.88507625e-01 -1.43748694e-04 4.36019329e+02] [ 4.88507619e-01 8.72559626e-01 -7.86741903e-05 5.20467473e+01] [ 1.63862248e-04 -1.57441093e-06 9.99999987e-01 -2.14326814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.07, Y:52.07, Z:-0.21 [[ 8.71211478e-01 -4.90907874e-01 -1.43743851e-04 4.36072680e+02] [ 4.90907867e-01 8.71211490e-01 -7.86830369e-05 5.20720973e+01] [ 1.63857417e-04 -2.01542253e-06 9.99999987e-01 -2.13782223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.305336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:436.13, Y:52.10, Z:-0.22 [[ 8.71778853e-01 -4.89899592e-01 -1.43730176e-04 4.36125101e+02] [ 4.89899586e-01 8.71778865e-01 -7.87080089e-05 5.20978371e+01] [ 1.63859951e-04 -1.79737609e-06 9.99999987e-01 -2.15918353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.36533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.18, Y:52.12, Z:-0.22 [[ 8.74893595e-01 -4.84315163e-01 -1.43725286e-04 4.36176768e+02] [ 4.84315156e-01 8.74893607e-01 -7.87169383e-05 5.21233949e+01] [ 1.63868140e-04 -7.39388958e-07 9.99999987e-01 -2.17519880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.42533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.23, Y:52.15, Z:-0.22 [[ 8.79153402e-01 -4.76538850e-01 -1.43720457e-04 4.36230499e+02] [ 4.76538844e-01 8.79153413e-01 -7.87257529e-05 5.21487196e+01] [ 1.63868210e-04 7.23633012e-07 9.99999987e-01 -2.21584980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.28, Y:52.18, Z:-0.23 [[ 8.81966352e-01 -4.71312353e-01 -1.43708116e-04 4.36280681e+02] [ 4.71312346e-01 8.81966363e-01 -7.87482738e-05 5.21781082e+01] [ 1.63860759e-04 1.72191824e-06 9.99999987e-01 -2.25010357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.33, Y:52.21, Z:-0.22 [[ 8.83302598e-01 -4.68803263e-01 -1.43701130e-04 4.36331146e+02] [ 4.68803256e-01 8.83302610e-01 -7.87610202e-05 5.22085668e+01] [ 1.63855007e-04 2.20225607e-06 9.99999987e-01 -2.22711969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.38, Y:52.24, Z:-0.22 [[ 8.82980821e-01 -4.69409042e-01 -1.43687587e-04 4.36382817e+02] [ 4.69409035e-01 8.82980833e-01 -7.87857194e-05 5.22367989e+01] [ 1.63856115e-04 2.11802755e-06 9.99999987e-01 -2.18462107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.43, Y:52.27, Z:-0.22 [[ 8.80434205e-01 -4.74168314e-01 -1.43673957e-04 4.36433616e+02] [ 4.74168308e-01 8.80434217e-01 -7.88105678e-05 5.22661925e+01] [ 1.63864942e-04 1.26188248e-06 9.99999987e-01 -2.17751338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.49, Y:52.29, Z:-0.22 [[ 8.76157688e-01 -4.82024570e-01 -1.43660350e-04 4.36486708e+02] [ 4.82024563e-01 8.76157699e-01 -7.88353631e-05 5.22915473e+01] [ 1.63869704e-04 -1.75608269e-07 9.99999987e-01 -2.19657578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.54, Y:52.31, Z:-0.22 [[ 8.72914025e-01 -4.87874045e-01 -1.43646625e-04 4.36540014e+02] [ 4.87874039e-01 8.72914037e-01 -7.88603640e-05 5.23146838e+01] [ 1.63865080e-04 -1.24314137e-06 9.99999987e-01 -2.18800070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.59, Y:52.34, Z:-0.22 [[ 8.72822188e-01 -4.88038326e-01 -1.43630910e-04 4.36594952e+02] [ 4.88038320e-01 8.72822200e-01 -7.88889759e-05 5.23355238e+01] [ 1.63865091e-04 -1.24133945e-06 9.99999987e-01 -2.18955881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.65, Y:52.36, Z:-0.22 [[ 8.74189726e-01 -4.85584496e-01 -1.43615311e-04 4.36649766e+02] [ 4.85584490e-01 8.74189737e-01 -7.89173637e-05 5.23564698e+01] [ 1.63868079e-04 -7.48618889e-07 9.99999987e-01 -2.21960540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.70, Y:52.38, Z:-0.22 [[ 8.77856402e-01 -4.78923916e-01 -1.43610504e-04 4.36703806e+02] [ 4.78923910e-01 8.77856413e-01 -7.89261092e-05 5.23778164e+01] [ 1.63869004e-04 5.07285891e-07 9.99999987e-01 -2.22199287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.76, Y:52.40, Z:-0.22 [[ 8.82577012e-01 -4.70167840e-01 -1.43605888e-04 4.36758005e+02] [ 4.70167833e-01 8.82577024e-01 -7.89345075e-05 5.24007960e+01] [ 1.63855724e-04 2.14691244e-06 9.99999987e-01 -2.20512805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.81, Y:52.43, Z:-0.22 [[ 8.85416787e-01 -4.64797904e-01 -1.43592335e-04 4.36811085e+02] [ 4.64797898e-01 8.85416799e-01 -7.89591556e-05 5.24252992e+01] [ 1.63839115e-04 3.17034661e-06 9.99999987e-01 -2.19018913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.86, Y:52.45, Z:-0.22 [[ 8.89314569e-01 -4.57295941e-01 -1.43576642e-04 4.36862492e+02] [ 4.57295934e-01 8.89314580e-01 -7.89876803e-05 5.24507286e+01] [ 1.63805547e-04 4.58788019e-06 9.99999987e-01 -2.17873073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.91, Y:52.48, Z:-0.22 [[ 8.90182110e-01 -4.55604861e-01 -1.43570849e-04 4.36913497e+02] [ 4.55604854e-01 8.90182122e-01 -7.89982076e-05 5.24778592e+01] [ 1.63796171e-04 4.91121525e-06 9.99999987e-01 -2.18265702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.96, Y:52.51, Z:-0.22 [[ 8.89772172e-01 -4.56404931e-01 -1.43555860e-04 4.36962841e+02] [ 4.56404924e-01 8.89772184e-01 -7.90254367e-05 5.25089983e+01] [ 1.63799610e-04 4.79503298e-06 9.99999987e-01 -2.18905257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.325336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:437.01, Y:52.54, Z:-0.22 [[ 8.88719791e-01 -4.58450775e-01 -1.43540533e-04 4.37012447e+02] [ 4.58450768e-01 8.88719802e-01 -7.90532677e-05 5.25405379e+01] [ 1.63809346e-04 4.44993616e-06 9.99999987e-01 -2.21070816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.385336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:437.06, Y:52.57, Z:-0.22 [[ 8.86511688e-01 -4.62706178e-01 -1.43527072e-04 4.37059966e+02] [ 4.62706171e-01 8.86511699e-01 -7.90776986e-05 5.25732426e+01] [ 1.63828168e-04 3.69244205e-06 9.99999987e-01 -2.24883933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.11, Y:52.61, Z:-0.22 [[ 8.83208855e-01 -4.68979848e-01 -1.43522315e-04 4.37108071e+02] [ 4.68979842e-01 8.83208866e-01 -7.90863312e-05 5.26064939e+01] [ 1.63850077e-04 2.54067529e-06 9.99999987e-01 -2.18725196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.16, Y:52.64, Z:-0.22 [[ 8.79946004e-01 -4.75073688e-01 -1.43506555e-04 4.37156928e+02] [ 4.75073681e-01 8.79946016e-01 -7.91149183e-05 5.26384612e+01] [ 1.63863438e-04 1.44066884e-06 9.99999987e-01 -2.22694274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.20, Y:52.67, Z:-0.22 [[ 8.76534859e-01 -4.81338363e-01 -1.43499204e-04 4.37204828e+02] [ 4.81338357e-01 8.76534871e-01 -7.91282502e-05 5.26711132e+01] [ 1.63869519e-04 2.86998667e-07 9.99999987e-01 -2.21673108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.26, Y:52.70, Z:-0.22 [[ 8.72253656e-01 -4.89053718e-01 -1.43483753e-04 4.37255516e+02] [ 4.89053712e-01 8.72253668e-01 -7.91562565e-05 5.26999110e+01] [ 1.63865892e-04 -1.12692816e-06 9.99999987e-01 -2.17663819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.31, Y:52.72, Z:-0.22 [[ 8.68926749e-01 -4.94940687e-01 -1.43467290e-04 4.37307714e+02] [ 4.94940681e-01 8.68926761e-01 -7.91860841e-05 5.27248297e+01] [ 1.63854983e-04 -2.20089156e-06 9.99999987e-01 -2.18197465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.36, Y:52.75, Z:-0.22 [[ 8.67758463e-01 -4.96986146e-01 -1.43462207e-04 4.37358756e+02] [ 4.96986140e-01 8.67758475e-01 -7.91952918e-05 5.27515864e+01] [ 1.63849509e-04 -2.57634399e-06 9.99999987e-01 -2.21685803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.805336195 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:437.41, Y:52.78, Z:-0.23 [[ 8.69452257e-01 -4.94016955e-01 -1.43457320e-04 4.37411063e+02] [ 4.94016948e-01 8.69452269e-01 -7.92041432e-05 5.27792863e+01] [ 1.63857482e-04 -2.00612660e-06 9.99999987e-01 -2.25136595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.86533619499994 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:437.46, Y:52.81, Z:-0.22 [[ 8.72454636e-01 -4.88695086e-01 -1.43443421e-04 4.37462600e+02] [ 4.88695079e-01 8.72454648e-01 -7.92293079e-05 5.28050548e+01] [ 1.63866853e-04 -9.76116961e-07 9.99999987e-01 -2.23646064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.92533619499994 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:437.51, Y:52.83, Z:-0.23 [[ 8.75670618e-01 -4.82908841e-01 -1.43438498e-04 4.37512832e+02] [ 4.82908834e-01 8.75670630e-01 -7.92382195e-05 5.28343821e+01] [ 1.63869717e-04 1.18862794e-07 9.99999987e-01 -2.26722183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.56, Y:52.86, Z:-0.22 [[ 8.78343399e-01 -4.78030180e-01 -1.43433678e-04 4.37563795e+02] [ 4.78030174e-01 8.78343410e-01 -7.92469429e-05 5.28627292e+01] [ 1.63866457e-04 1.04040303e-06 9.99999987e-01 -2.16506299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.61, Y:52.89, Z:-0.21 [[ 8.81997973e-01 -4.71253175e-01 -1.43428745e-04 4.37614022e+02] [ 4.71253168e-01 8.81997985e-01 -7.92558709e-05 5.28938624e+01] [ 1.63853445e-04 2.31226714e-06 9.99999987e-01 -2.13689334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.66, Y:52.92, Z:-0.21 [[ 8.83093811e-01 -4.69196441e-01 -1.43414981e-04 4.37664580e+02] [ 4.69196434e-01 8.83093823e-01 -7.92807685e-05 5.29233998e+01] [ 1.63847139e-04 2.72255810e-06 9.99999987e-01 -2.13144923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.71, Y:52.95, Z:-0.21 [[ 8.83759336e-01 -4.67941679e-01 -1.43401383e-04 4.37714530e+02] [ 4.67941672e-01 8.83759348e-01 -7.93053569e-05 5.29546968e+01] [ 1.63842595e-04 2.98336657e-06 9.99999987e-01 -2.11846443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.76, Y:52.99, Z:-0.21 [[ 8.84935878e-01 -4.65712863e-01 -1.43387848e-04 4.37763963e+02] [ 4.65712856e-01 8.84935890e-01 -7.93298211e-05 5.29879532e+01] [ 1.63833971e-04 3.42424055e-06 9.99999987e-01 -2.14310537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.81, Y:53.02, Z:-0.22 [[ 8.85718039e-01 -4.64223582e-01 -1.43380826e-04 4.37810076e+02] [ 4.64223575e-01 8.85718051e-01 -7.93425116e-05 5.30239686e+01] [ 1.63827650e-04 3.71433426e-06 9.99999987e-01 -2.18296654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.86, Y:53.06, Z:-0.22 [[ 8.84001824e-01 -4.67483427e-01 -1.43376074e-04 4.37857760e+02] [ 4.67483420e-01 8.84001836e-01 -7.93510965e-05 5.30586633e+01] [ 1.63840036e-04 3.12057638e-06 9.99999987e-01 -2.21090839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.40533619499996 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:437.91, Y:53.09, Z:-0.23 [[ 8.79610771e-01 -4.75694093e-01 -1.43363157e-04 4.37906464e+02] [ 4.75694086e-01 8.79610783e-01 -7.93744269e-05 5.30931573e+01] [ 1.63861725e-04 1.62159464e-06 9.99999987e-01 -2.26443482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.96, Y:53.12, Z:-0.22 [[ 8.74360089e-01 -4.85277667e-01 -1.43356576e-04 4.37955617e+02] [ 4.85277661e-01 8.74360101e-01 -7.93863111e-05 5.31243511e+01] [ 1.63869674e-04 -1.55522005e-07 9.99999987e-01 -2.23615328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.01, Y:53.15, Z:-0.22 [[ 8.70901962e-01 -4.91456766e-01 -1.43351679e-04 4.38006708e+02] [ 4.91456760e-01 8.70901973e-01 -7.93951534e-05 5.31544445e+01] [ 1.63864545e-04 -1.30575684e-06 9.99999987e-01 -2.19196002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.58533619499997 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:438.06, Y:53.18, Z:-0.22 [[ 8.69809120e-01 -4.93388361e-01 -1.43337872e-04 4.38057305e+02] [ 4.93388354e-01 8.69809132e-01 -7.94200730e-05 5.31840048e+01] [ 1.63861529e-04 -1.64093283e-06 9.99999987e-01 -2.20178336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.64533619499997 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:438.11, Y:53.22, Z:-0.22 [[ 8.69561558e-01 -4.93824539e-01 -1.43324186e-04 4.38106366e+02] [ 4.93824533e-01 8.69561570e-01 -7.94447637e-05 5.32171834e+01] [ 1.63860978e-04 -1.69488639e-06 9.99999987e-01 -2.21714861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.16, Y:53.25, Z:-0.22 [[ 8.70601454e-01 -4.91988910e-01 -1.43310439e-04 4.38156857e+02] [ 4.91988904e-01 8.70601466e-01 -7.94695531e-05 5.32470643e+01] [ 1.63864417e-04 -1.32083738e-06 9.99999987e-01 -2.21681281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.765336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:438.21, Y:53.28, Z:-0.23 [[ 8.72312260e-01 -4.88949180e-01 -1.43301384e-04 4.38205321e+02] [ 4.88949173e-01 8.72312272e-01 -7.94858787e-05 5.32763648e+01] [ 1.63868111e-04 -7.30586526e-07 9.99999987e-01 -2.26422274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.25, Y:53.31, Z:-0.22 [[ 8.74154841e-01 -4.85647293e-01 -1.43294525e-04 4.38254992e+02] [ 4.85647287e-01 8.74154853e-01 -7.94982408e-05 5.33082857e+01] [ 1.63869710e-04 -9.68253510e-08 9.99999987e-01 -2.19381549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.31, Y:53.34, Z:-0.22 [[ 8.72759545e-01 -4.88150342e-01 -1.43280656e-04 4.38306752e+02] [ 4.88150335e-01 8.72759557e-01 -7.95232295e-05 5.33360588e+01] [ 1.63868854e-04 -5.37842760e-07 9.99999987e-01 -2.20118055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.945336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:438.36, Y:53.36, Z:-0.22 [[ 8.71540271e-01 -4.90323908e-01 -1.43266552e-04 4.38358051e+02] [ 4.90323902e-01 8.71540283e-01 -7.95486307e-05 5.33625558e+01] [ 1.63867167e-04 -9.17179739e-07 9.99999987e-01 -2.21139285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.005336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:438.41, Y:53.39, Z:-0.22 [[ 8.71423765e-01 -4.90530939e-01 -1.43261578e-04 4.38408769e+02] [ 4.90530932e-01 8.71423776e-01 -7.95575882e-05 5.33925135e+01] [ 1.63867004e-04 -9.45862300e-07 9.99999987e-01 -2.17118558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.46, Y:53.42, Z:-0.22 [[ 8.71167360e-01 -4.90986161e-01 -1.43247773e-04 4.38460994e+02] [ 4.90986154e-01 8.71167372e-01 -7.95824371e-05 5.34171159e+01] [ 1.63866661e-04 -1.00305145e-06 9.99999987e-01 -2.19826827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.51, Y:53.44, Z:-0.21 [[ 8.70293993e-01 -4.92532583e-01 -1.43242896e-04 4.38514238e+02] [ 4.92532577e-01 8.70294005e-01 -7.95912148e-05 5.34418107e+01] [ 1.63864700e-04 -1.28403631e-06 9.99999987e-01 -2.13858190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.57, Y:53.47, Z:-0.21 [[ 8.70009030e-01 -4.93035767e-01 -1.43229221e-04 4.38566771e+02] [ 4.93035761e-01 8.70009042e-01 -7.96158160e-05 5.34683088e+01] [ 1.63864162e-04 -1.35064897e-06 9.99999987e-01 -2.13035699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.62, Y:53.49, Z:-0.22 [[ 8.69883798e-01 -4.93256684e-01 -1.43215679e-04 4.38620611e+02] [ 4.93256678e-01 8.69883810e-01 -7.96401675e-05 5.34896638e+01] [ 1.63864046e-04 -1.36439868e-06 9.99999987e-01 -2.15304358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.68, Y:53.51, Z:-0.22 [[ 8.70778826e-01 -4.91674909e-01 -1.43208514e-04 4.38675324e+02] [ 4.91674902e-01 8.70778838e-01 -7.96530497e-05 5.35131023e+01] [ 1.63866349e-04 -1.05184309e-06 9.99999987e-01 -2.17443434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.36533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.73, Y:53.54, Z:-0.22 [[ 8.74002142e-01 -4.85922047e-01 -1.43195659e-04 4.38728722e+02] [ 4.85922041e-01 8.74002153e-01 -7.96761531e-05 5.35359619e+01] [ 1.63869714e-04 5.52016259e-08 9.99999987e-01 -2.16123224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.42533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.78, Y:53.56, Z:-0.22 [[ 8.78899532e-01 -4.77006911e-01 -1.43179821e-04 4.38780200e+02] [ 4.77006904e-01 8.78899543e-01 -7.97046039e-05 5.35642568e+01] [ 1.63860326e-04 1.75457582e-06 9.99999987e-01 -2.15990476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.83, Y:53.59, Z:-0.22 [[ 8.83479750e-01 -4.68469327e-01 -1.43166071e-04 4.38830160e+02] [ 4.68469320e-01 8.83479762e-01 -7.97292945e-05 5.35923675e+01] [ 1.63835055e-04 3.37030528e-06 9.99999987e-01 -2.16915849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.88, Y:53.63, Z:-0.21 [[ 8.85607107e-01 -4.64435175e-01 -1.43160251e-04 4.38877351e+02] [ 4.64435168e-01 8.85607118e-01 -7.97397430e-05 5.36270407e+01] [ 1.63817679e-04 4.12942779e-06 9.99999987e-01 -2.12570571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.92, Y:53.66, Z:-0.21 [[ 8.84862980e-01 -4.65851356e-01 -1.43144295e-04 4.38923792e+02] [ 4.65851349e-01 8.84862992e-01 -7.97683769e-05 5.36627630e+01] [ 1.63823295e-04 3.90012093e-06 9.99999987e-01 -2.14733890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.97, Y:53.69, Z:-0.22 [[ 8.80401536e-01 -4.74228970e-01 -1.43128436e-04 4.38972962e+02] [ 4.74228963e-01 8.80401547e-01 -7.97968225e-05 5.36947118e+01] [ 1.63852461e-04 2.37759538e-06 9.99999987e-01 -2.16161983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.02, Y:53.73, Z:-0.22 [[ 8.74195530e-01 -4.85574047e-01 -1.43114609e-04 4.39021756e+02] [ 4.85574040e-01 8.74195542e-01 -7.98216131e-05 5.37272796e+01] [ 1.63869457e-04 2.86958518e-07 9.99999987e-01 -2.17590243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.78533619499996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:439.07, Y:53.76, Z:-0.22 [[ 8.67984426e-01 -4.96591398e-01 -1.43098780e-04 4.39071047e+02] [ 4.96591392e-01 8.67984437e-01 -7.98499791e-05 5.37580478e+01] [ 1.63860327e-04 -1.75308425e-06 9.99999987e-01 -2.21630617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.12, Y:53.79, Z:-0.22 [[ 8.63025429e-01 -5.05160458e-01 -1.43093875e-04 4.39119972e+02] [ 5.05160452e-01 8.63025441e-01 -7.98587692e-05 5.37902108e+01] [ 1.63835147e-04 -3.36521790e-06 9.99999987e-01 -2.20879992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.90533619499996 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:439.17, Y:53.82, Z:-0.23 [[ 8.60290111e-01 -5.09804771e-01 -1.43080396e-04 4.39171135e+02] [ 5.09804765e-01 8.60290123e-01 -7.98829111e-05 5.38193066e+01] [ 1.63815341e-04 -4.22058927e-06 9.99999987e-01 -2.25357716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.22, Y:53.85, Z:-0.22 [[ 8.59590236e-01 -5.10983959e-01 -1.43066938e-04 4.39220894e+02] [ 5.10983953e-01 8.59590248e-01 -7.99070064e-05 5.38493907e+01] [ 1.63810143e-04 -4.41762713e-06 9.99999987e-01 -2.20203004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.02533619499997 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:439.27, Y:53.88, Z:-0.22 [[ 8.59949764e-01 -5.10378666e-01 -1.43062211e-04 4.39273266e+02] [ 5.10378660e-01 8.59949776e-01 -7.99154689e-05 5.38762810e+01] [ 1.63813467e-04 -4.29261095e-06 9.99999987e-01 -2.22437189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.33, Y:53.90, Z:-0.22 [[ 8.60687023e-01 -5.09134392e-01 -1.43048504e-04 4.39325469e+02] [ 5.09134385e-01 8.60687035e-01 -7.99399969e-05 5.39028180e+01] [ 1.63820194e-04 -4.02759429e-06 9.99999987e-01 -2.16859773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.14533619499997 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:439.38, Y:53.93, Z:-0.22 [[ 8.63372224e-01 -5.04567521e-01 -1.43034759e-04 4.39376986e+02] [ 5.04567515e-01 8.63372235e-01 -7.99645839e-05 5.39305963e+01] [ 1.63839771e-04 -3.13149204e-06 9.99999987e-01 -2.22571972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.43, Y:53.96, Z:-0.22 [[ 8.66424424e-01 -4.99308219e-01 -1.43021094e-04 4.39429227e+02] [ 4.99308212e-01 8.66424436e-01 -7.99890157e-05 5.39564001e+01] [ 1.63856144e-04 -2.10717004e-06 9.99999987e-01 -2.19192100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.48, Y:53.98, Z:-0.22 [[ 8.69495014e-01 -4.93941697e-01 -1.43005207e-04 4.39481325e+02] [ 4.93941690e-01 8.69495026e-01 -8.00174098e-05 5.39843647e+01] [ 1.63866251e-04 -1.06149462e-06 9.99999987e-01 -2.19897553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.325336195 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:439.53, Y:54.01, Z:-0.22 [[ 8.72280921e-01 -4.89005087e-01 -1.42991339e-04 4.39531867e+02] [ 4.89005080e-01 8.72280932e-01 -8.00421830e-05 5.40126318e+01] [ 1.63869653e-04 -1.04222301e-07 9.99999987e-01 -2.24608528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.385336195 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:439.58, Y:54.05, Z:-0.22 [[ 8.73673301e-01 -4.86513044e-01 -1.42975537e-04 4.39580911e+02] [ 4.86513037e-01 8.73673313e-01 -8.00704008e-05 5.40455954e+01] [ 1.63869205e-04 3.95908908e-07 9.99999987e-01 -2.23009317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.63, Y:54.07, Z:-0.22 [[ 8.72749577e-01 -4.88168163e-01 -1.42961053e-04 4.39633610e+02] [ 4.88168157e-01 8.72749589e-01 -8.00962523e-05 5.40694118e+01] [ 1.63869640e-04 1.14936626e-07 9.99999987e-01 -2.21562381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.68, Y:54.10, Z:-0.22 [[ 8.70733450e-01 -4.91755264e-01 -1.42955946e-04 4.39684938e+02] [ 4.91755257e-01 8.70733461e-01 -8.01053654e-05 5.40989408e+01] [ 1.63868761e-04 -5.48917049e-07 9.99999987e-01 -2.18598135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.74, Y:54.13, Z:-0.22 [[ 8.68614864e-01 -4.95487839e-01 -1.42942009e-04 4.39737917e+02] [ 4.95487832e-01 8.68614875e-01 -8.01302279e-05 5.41251634e+01] [ 1.63865109e-04 -1.22371915e-06 9.99999987e-01 -2.20868319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.79, Y:54.15, Z:-0.22 [[ 8.67125987e-01 -4.98088850e-01 -1.42928150e-04 4.39791527e+02] [ 4.98088843e-01 8.67125999e-01 -8.01549395e-05 5.41505589e+01] [ 1.63860997e-04 -1.68648610e-06 9.99999987e-01 -2.18689476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.84, Y:54.18, Z:-0.22 [[ 8.66722937e-01 -4.98789865e-01 -1.42914405e-04 4.39843719e+02] [ 4.98789859e-01 8.66722949e-01 -8.01794407e-05 5.41763064e+01] [ 1.63859887e-04 -1.79089534e-06 9.99999987e-01 -2.15379822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.745336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:439.90, Y:54.20, Z:-0.22 [[ 8.67350439e-01 -4.97697896e-01 -1.42909573e-04 4.39896780e+02] [ 4.97697889e-01 8.67350451e-01 -8.01880522e-05 5.42023152e+01] [ 1.63862107e-04 -1.57465031e-06 9.99999987e-01 -2.20077727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.80533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.95, Y:54.23, Z:-0.22 [[ 8.69266852e-01 -4.94343120e-01 -1.42896281e-04 4.39950111e+02] [ 4.94343113e-01 8.69266863e-01 -8.02117306e-05 5.42283009e+01] [ 1.63867119e-04 -9.14394005e-07 9.99999987e-01 -2.15459770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.86533619499994 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:440.00, Y:54.26, Z:-0.22 [[ 8.70664522e-01 -4.91877291e-01 -1.42882848e-04 4.40001394e+02] [ 4.91877285e-01 8.70664534e-01 -8.02356519e-05 5.42566958e+01] [ 1.63869124e-04 -4.22491874e-07 9.99999987e-01 -2.18939767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.92533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.05, Y:54.28, Z:-0.22 [[ 8.71792079e-01 -4.89876057e-01 -1.42868828e-04 4.40052496e+02] [ 4.89876050e-01 8.71792090e-01 -8.02606084e-05 5.42820996e+01] [ 1.63869665e-04 -1.74546345e-08 9.99999987e-01 -2.17751770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.11, Y:54.31, Z:-0.22 [[ 8.70933716e-01 -4.91400490e-01 -1.42857972e-04 4.40105238e+02] [ 4.91400483e-01 8.70933728e-01 -8.02799272e-05 5.43081946e+01] [ 1.63869422e-04 -2.81981087e-07 9.99999987e-01 -2.15791714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.16, Y:54.33, Z:-0.22 [[ 8.69963258e-01 -4.93116526e-01 -1.42844024e-04 4.40157505e+02] [ 4.93116520e-01 8.69963270e-01 -8.03047374e-05 5.43346007e+01] [ 1.63868647e-04 -5.76576929e-07 9.99999987e-01 -2.15004057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.10533619499995 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:440.21, Y:54.36, Z:-0.22 [[ 8.70035096e-01 -4.92989768e-01 -1.42830164e-04 4.40210784e+02] [ 4.92989762e-01 8.70035108e-01 -8.03293817e-05 5.43591128e+01] [ 1.63868820e-04 -5.24427016e-07 9.99999987e-01 -2.17943032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.26, Y:54.39, Z:-0.21 [[ 8.70404942e-01 -4.92336488e-01 -1.42816403e-04 4.40262343e+02] [ 4.92336481e-01 8.70404953e-01 -8.03538394e-05 5.43861536e+01] [ 1.63869232e-04 -3.73346350e-07 9.99999987e-01 -2.12165207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.31, Y:54.41, Z:-0.22 [[ 8.71166194e-01 -4.90988230e-01 -1.42800375e-04 4.40314603e+02] [ 4.90988223e-01 8.71166206e-01 -8.03823130e-05 5.44125773e+01] [ 1.63869631e-04 -8.69487765e-08 9.99999987e-01 -2.15046799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.37, Y:54.44, Z:-0.22 [[ 8.73502039e-01 -4.86820468e-01 -1.42786280e-04 4.40366547e+02] [ 4.86820461e-01 8.73502050e-01 -8.04073424e-05 5.44408962e+01] [ 1.63868049e-04 7.24694648e-07 9.99999987e-01 -2.15808667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.42, Y:54.47, Z:-0.22 [[ 8.75167614e-01 -4.83819828e-01 -1.42772106e-04 4.40416666e+02] [ 4.83819822e-01 8.75167626e-01 -8.04325018e-05 5.44685949e+01] [ 1.63864365e-04 1.31594564e-06 9.99999987e-01 -2.16609224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.47, Y:54.50, Z:-0.22 [[ 8.76585131e-01 -4.81246805e-01 -1.42765332e-04 4.40465805e+02] [ 4.81246798e-01 8.76585143e-01 -8.04445246e-05 5.44997084e+01] [ 1.63859639e-04 1.81111537e-06 9.99999987e-01 -2.17091398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.51, Y:54.53, Z:-0.21 [[ 8.75173650e-01 -4.83808911e-01 -1.42760439e-04 4.40514135e+02] [ 4.83808904e-01 8.75173661e-01 -8.04532071e-05 5.45321585e+01] [ 1.63864154e-04 1.34175539e-06 9.99999987e-01 -2.14384654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.56, Y:54.56, Z:-0.22 [[ 8.73521216e-01 -4.86786056e-01 -1.42744440e-04 4.40564621e+02] [ 4.86786049e-01 8.73521228e-01 -8.04815835e-05 5.45603237e+01] [ 1.63867611e-04 8.16368759e-07 9.99999987e-01 -2.18610714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.61, Y:54.59, Z:-0.22 [[ 8.72545720e-01 -4.88532442e-01 -1.42737120e-04 4.40614999e+02] [ 4.88532435e-01 8.72545731e-01 -8.04945640e-05 5.45914120e+01] [ 1.63868870e-04 5.03474644e-07 9.99999987e-01 -2.17187756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.67, Y:54.62, Z:-0.21 [[ 8.70278920e-01 -4.92559216e-01 -1.42723172e-04 4.40665707e+02] [ 4.92559210e-01 8.70278932e-01 -8.05192868e-05 5.46203462e+01] [ 1.63869486e-04 -2.25374780e-07 9.99999987e-01 -2.14801900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.72, Y:54.65, Z:-0.21 [[ 8.68699013e-01 -4.95340291e-01 -1.42708951e-04 4.40716142e+02] [ 4.95340285e-01 8.68699025e-01 -8.05444835e-05 5.46502819e+01] [ 1.63868054e-04 -7.20578994e-07 9.99999987e-01 -2.14053125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.765336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:440.77, Y:54.68, Z:-0.22 [[ 8.67943602e-01 -4.96662745e-01 -1.42694767e-04 4.40766620e+02] [ 4.96662739e-01 8.67943614e-01 -8.05696051e-05 5.46791601e+01] [ 1.63866933e-04 -9.41300237e-07 9.99999987e-01 -2.17217997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.82, Y:54.71, Z:-0.21 [[ 8.68127199e-01 -4.96341764e-01 -1.42689771e-04 4.40819439e+02] [ 4.96341757e-01 8.68127211e-01 -8.05784509e-05 5.47060443e+01] [ 1.63867324e-04 -8.70546950e-07 9.99999987e-01 -2.13925201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.87, Y:54.74, Z:-0.21 [[ 8.68870231e-01 -4.95039898e-01 -1.42675844e-04 4.40870649e+02] [ 4.95039892e-01 8.68870243e-01 -8.06031033e-05 5.47350975e+01] [ 1.63868547e-04 -5.96597451e-07 9.99999987e-01 -2.13096403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.945336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:440.92, Y:54.76, Z:-0.22 [[ 8.69891987e-01 -4.93242243e-01 -1.42661255e-04 4.40921552e+02] [ 4.93242236e-01 8.69891999e-01 -8.06289175e-05 5.47629733e+01] [ 1.63869472e-04 -2.28106838e-07 9.99999987e-01 -2.20098053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.97, Y:54.79, Z:-0.21 [[ 8.72303095e-01 -4.88965531e-01 -1.42653564e-04 4.40971518e+02] [ 4.88965524e-01 8.72303107e-01 -8.06425223e-05 5.47933825e+01] [ 1.63868561e-04 5.92047279e-07 9.99999987e-01 -2.13626639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.02, Y:54.83, Z:-0.21 [[ 8.74455241e-01 -4.85106186e-01 -1.42639531e-04 4.41021068e+02] [ 4.85106179e-01 8.74455253e-01 -8.06673361e-05 5.48253629e+01] [ 1.63864111e-04 1.34465716e-06 9.99999987e-01 -2.10039972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.07, Y:54.86, Z:-0.21 [[ 8.75786991e-01 -4.82697759e-01 -1.42625582e-04 4.41069529e+02] [ 4.82697752e-01 8.75787003e-01 -8.06919916e-05 5.48577320e+01] [ 1.63859474e-04 1.82394890e-06 9.99999987e-01 -2.12640984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.12, Y:54.89, Z:-0.21 [[ 8.75073523e-01 -4.83989988e-01 -1.42620649e-04 4.41121875e+02] [ 4.83989981e-01 8.75073535e-01 -8.07007091e-05 5.48853128e+01] [ 1.63861891e-04 1.59208877e-06 9.99999987e-01 -2.12351533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.17, Y:54.92, Z:-0.22 [[ 8.72967448e-01 -4.87778448e-01 -1.42606753e-04 4.41171068e+02] [ 4.87778441e-01 8.72967460e-01 -8.07252571e-05 5.49158442e+01] [ 1.63867096e-04 9.10021918e-07 9.99999987e-01 -2.15846322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.30533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.22, Y:54.95, Z:-0.21 [[ 8.70546888e-01 -4.92085456e-01 -1.42601843e-04 4.41222383e+02] [ 4.92085450e-01 8.70546899e-01 -8.07339305e-05 5.49454887e+01] [ 1.63869585e-04 1.10380111e-07 9.99999987e-01 -2.13166397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.36533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.28, Y:54.97, Z:-0.21 [[ 8.67935590e-01 -4.96676747e-01 -1.42587780e-04 4.41275631e+02] [ 4.96676740e-01 8.67935602e-01 -8.07587589e-05 5.49709511e+01] [ 1.63868009e-04 -7.26632878e-07 9.99999987e-01 -2.10526553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.42533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.33, Y:55.00, Z:-0.21 [[ 8.66909414e-01 -4.98465694e-01 -1.42572975e-04 4.41326215e+02] [ 4.98465687e-01 8.66909426e-01 -8.07848883e-05 5.49988558e+01] [ 1.63866351e-04 -1.03455568e-06 9.99999987e-01 -2.08895769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.48533619499995 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:441.38, Y:55.02, Z:-0.22 [[ 8.67029876e-01 -4.98256133e-01 -1.42567764e-04 4.41378658e+02] [ 4.98256127e-01 8.67029887e-01 -8.07940840e-05 5.50235190e+01] [ 1.63866660e-04 -9.84376991e-07 9.99999987e-01 -2.15769405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.43, Y:55.05, Z:-0.21 [[ 8.67882545e-01 -4.96769430e-01 -1.42562803e-04 4.41431585e+02] [ 4.96769424e-01 8.67882557e-01 -8.08028358e-05 5.50483914e+01] [ 1.63868149e-04 -6.93470715e-07 9.99999987e-01 -2.08925312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.48, Y:55.07, Z:-0.21 [[ 8.68495146e-01 -4.95697650e-01 -1.42546662e-04 4.41484796e+02] [ 4.95697644e-01 8.68495158e-01 -8.08313008e-05 5.50711385e+01] [ 1.63868972e-04 -4.58452039e-07 9.99999987e-01 -2.08270468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.54, Y:55.09, Z:-0.21 [[ 8.68495996e-01 -4.95696162e-01 -1.42541682e-04 4.41539387e+02] [ 4.95696156e-01 8.68496007e-01 -8.08400817e-05 5.50939466e+01] [ 1.63869000e-04 -4.48076581e-07 9.99999987e-01 -2.06619419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.59, Y:55.12, Z:-0.21 [[ 8.68573825e-01 -4.95559774e-01 -1.42527857e-04 4.41591929e+02] [ 4.95559768e-01 8.68573837e-01 -8.08644482e-05 5.51180779e+01] [ 1.63869136e-04 -3.94328828e-07 9.99999987e-01 -2.08861219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.65, Y:55.14, Z:-0.21 [[ 8.69685718e-01 -4.93605846e-01 -1.42522972e-04 4.41645567e+02] [ 4.93605840e-01 8.69685730e-01 -8.08730578e-05 5.51411482e+01] [ 1.63869609e-04 -1.60280059e-08 9.99999987e-01 -2.09229867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.84533619499996 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:441.70, Y:55.16, Z:-0.21 [[ 8.70644783e-01 -4.91912229e-01 -1.42507225e-04 4.41701861e+02] [ 4.91912223e-01 8.70644795e-01 -8.09007959e-05 5.51617591e+01] [ 1.63869265e-04 3.34810021e-07 9.99999987e-01 -2.13336505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.76, Y:55.19, Z:-0.21 [[ 8.72437473e-01 -4.88725727e-01 -1.42494159e-04 4.41756242e+02] [ 4.88725720e-01 8.72437484e-01 -8.09238036e-05 5.51850757e+01] [ 1.63866790e-04 9.60398211e-07 9.99999987e-01 -2.06168962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.81, Y:55.21, Z:-0.20 [[ 8.75129824e-01 -4.83888180e-01 -1.42480108e-04 4.41809530e+02] [ 4.83888173e-01 8.75129836e-01 -8.09485350e-05 5.52110990e+01] [ 1.63858633e-04 1.89603787e-06 9.99999987e-01 -2.03254255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.86, Y:55.24, Z:-0.21 [[ 8.78716558e-01 -4.77343892e-01 -1.42465896e-04 4.41860819e+02] [ 4.77343885e-01 8.78716569e-01 -8.09735402e-05 5.52373338e+01] [ 1.63839368e-04 3.14756633e-06 9.99999987e-01 -2.09108800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.91, Y:55.27, Z:-0.21 [[ 8.81489205e-01 -4.72204152e-01 -1.42460913e-04 4.41910231e+02] [ 4.72204145e-01 8.81489216e-01 -8.09823053e-05 5.52675259e+01] [ 1.63817940e-04 4.11439418e-06 9.99999987e-01 -2.09765533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.96, Y:55.30, Z:-0.21 [[ 8.82311160e-01 -4.70666544e-01 -1.42456051e-04 4.41959586e+02] [ 4.70666537e-01 8.82311172e-01 -8.09908580e-05 5.52995320e+01] [ 1.63810252e-04 4.40984176e-06 9.99999987e-01 -2.11542746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.01, Y:55.33, Z:-0.21 [[ 8.80253381e-01 -4.74503914e-01 -1.42442479e-04 4.42009806e+02] [ 4.74503907e-01 8.80253393e-01 -8.10147202e-05 5.53305017e+01] [ 1.63827277e-04 3.72396845e-06 9.99999987e-01 -2.06741884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.265336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:442.06, Y:55.36, Z:-0.21 [[ 8.76298094e-01 -4.81769270e-01 -1.42428514e-04 4.42058020e+02] [ 4.81769263e-01 8.76298106e-01 -8.10392643e-05 5.53623348e+01] [ 1.63852064e-04 2.39687268e-06 9.99999987e-01 -2.09013072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.11, Y:55.39, Z:-0.21 [[ 8.72134182e-01 -4.89266745e-01 -1.42412359e-04 4.42107834e+02] [ 4.89266739e-01 8.72134194e-01 -8.10676434e-05 5.53907229e+01] [ 1.63866390e-04 1.02423231e-06 9.99999987e-01 -2.05465233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.16, Y:55.42, Z:-0.21 [[ 8.68646659e-01 -4.95432095e-01 -1.42406356e-04 4.42156742e+02] [ 4.95432088e-01 8.68646671e-01 -8.10781876e-05 5.54201250e+01] [ 1.63869543e-04 -1.24381553e-07 9.99999987e-01 -2.07904470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.21, Y:55.45, Z:-0.21 [[ 8.65453890e-01 -5.00988567e-01 -1.42399449e-04 4.42208781e+02] [ 5.00988560e-01 8.65453902e-01 -8.10903170e-05 5.54450526e+01] [ 1.63865480e-04 -1.16056463e-06 9.99999987e-01 -2.07392654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.505336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:442.26, Y:55.47, Z:-0.21 [[ 8.64766607e-01 -5.02173969e-01 -1.42383880e-04 4.42260359e+02] [ 5.02173962e-01 8.64766619e-01 -8.11176454e-05 5.54733399e+01] [ 1.63863996e-04 -1.35364587e-06 9.99999987e-01 -2.11297178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.31, Y:55.50, Z:-0.21 [[ 8.66119987e-01 -4.99836122e-01 -1.42371258e-04 4.42311010e+02] [ 4.99836115e-01 8.66119998e-01 -8.11397920e-05 5.55011119e+01] [ 1.63867193e-04 -8.85500883e-07 9.99999987e-01 -2.11611022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.36, Y:55.53, Z:-0.21 [[ 8.69123876e-01 -4.94594448e-01 -1.42366272e-04 4.42363507e+02] [ 4.94594442e-01 8.69123888e-01 -8.11485399e-05 5.55274307e+01] [ 1.63869545e-04 1.14566940e-07 9.99999987e-01 -2.07412178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.41, Y:55.56, Z:-0.21 [[ 8.71399938e-01 -4.90573265e-01 -1.42352117e-04 4.42414402e+02] [ 4.90573258e-01 8.71399949e-01 -8.11733627e-05 5.55564873e+01] [ 1.63867109e-04 9.00321385e-07 9.99999987e-01 -2.09398164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.46, Y:55.59, Z:-0.21 [[ 8.74927640e-01 -4.84253656e-01 -1.42338153e-04 4.42462233e+02] [ 4.84253649e-01 8.74927652e-01 -8.11978414e-05 5.55867011e+01] [ 1.63855937e-04 2.11446581e-06 9.99999987e-01 -2.12711252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.80533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.51, Y:55.62, Z:-0.21 [[ 8.77591221e-01 -4.79409667e-01 -1.42331244e-04 4.42513147e+02] [ 4.79409660e-01 8.77591232e-01 -8.12099494e-05 5.56161919e+01] [ 1.63841487e-04 3.03416509e-06 9.99999987e-01 -2.08887699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.86533619499994 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:442.56, Y:55.65, Z:-0.21 [[ 8.77940449e-01 -4.78769828e-01 -1.42317638e-04 4.42563710e+02] [ 4.78769821e-01 8.77940460e-01 -8.12337870e-05 5.56468968e+01] [ 1.63838699e-04 3.18103736e-06 9.99999987e-01 -2.10077400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.92533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.61, Y:55.68, Z:-0.21 [[ 8.76915946e-01 -4.80643739e-01 -1.42304003e-04 4.42609998e+02] [ 4.80643732e-01 8.76915957e-01 -8.12576660e-05 5.56836986e+01] [ 1.63844639e-04 2.85861601e-06 9.99999987e-01 -2.06275938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.98533619499995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:442.66, Y:55.71, Z:-0.21 [[ 8.74133284e-01 -4.85686094e-01 -1.42296611e-04 4.42660453e+02] [ 4.85686087e-01 8.74133295e-01 -8.12706084e-05 5.57132131e+01] [ 1.63858210e-04 1.92985956e-06 9.99999987e-01 -2.11599159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.71, Y:55.74, Z:-0.21 [[ 8.69263307e-01 -4.94349354e-01 -1.42282928e-04 4.42710503e+02] [ 4.94349347e-01 8.69263318e-01 -8.12945569e-05 5.57438571e+01] [ 1.63869242e-04 3.28902915e-07 9.99999987e-01 -2.07582173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.76, Y:55.77, Z:-0.21 [[ 8.63794723e-01 -5.03843881e-01 -1.42268839e-04 4.42759707e+02] [ 5.03843874e-01 8.63794735e-01 -8.13192049e-05 5.57745320e+01] [ 1.63863258e-04 -1.43818304e-06 9.99999987e-01 -2.06940438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.81, Y:55.80, Z:-0.21 [[ 8.60859607e-01 -5.08842527e-01 -1.42263835e-04 4.42810241e+02] [ 5.08842520e-01 8.60859619e-01 -8.13279579e-05 5.58038748e+01] [ 1.63852315e-04 -2.37793468e-06 9.99999987e-01 -2.06312068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.86, Y:55.83, Z:-0.20 [[ 8.57962974e-01 -5.13711510e-01 -1.42247997e-04 4.42861413e+02] [ 5.13711504e-01 8.57962985e-01 -8.13556503e-05 5.58324023e+01] [ 1.63836850e-04 -3.27429698e-06 9.99999987e-01 -2.04600196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.91, Y:55.86, Z:-0.21 [[ 8.58339937e-01 -5.13081410e-01 -1.42233782e-04 4.42911423e+02] [ 5.13081403e-01 8.58339948e-01 -8.13804958e-05 5.58596828e+01] [ 1.63839756e-04 -3.12537869e-06 9.99999987e-01 -2.07918435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.96, Y:55.89, Z:-0.21 [[ 8.61034750e-01 -5.08546104e-01 -1.42227021e-04 4.42963452e+02] [ 5.08546097e-01 8.61034761e-01 -8.13923088e-05 5.58876268e+01] [ 1.63854151e-04 -2.24739045e-06 9.99999987e-01 -2.05382061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.01, Y:55.92, Z:-0.21 [[ 8.64224851e-01 -5.03105740e-01 -1.42212793e-04 4.43014153e+02] [ 5.03105734e-01 8.64224863e-01 -8.14171625e-05 5.59158255e+01] [ 1.63865273e-04 -1.18533626e-06 9.99999987e-01 -2.07098699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.46533619499996 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:443.07, Y:55.94, Z:-0.21 [[ 8.66790529e-01 -4.98672397e-01 -1.42205179e-04 4.43068071e+02] [ 4.98672390e-01 8.66790540e-01 -8.14304579e-05 5.59409049e+01] [ 1.63869226e-04 -3.30647007e-07 9.99999987e-01 -2.07664778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.12, Y:55.97, Z:-0.21 [[ 8.68722167e-01 -4.95299683e-01 -1.42191145e-04 4.43120143e+02] [ 4.95299676e-01 8.68722179e-01 -8.14549573e-05 5.59669909e+01] [ 1.63869216e-04 3.34499169e-07 9.99999987e-01 -2.05244296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.17, Y:55.99, Z:-0.21 [[ 8.70992458e-01 -4.91296364e-01 -1.42174910e-04 4.43171332e+02] [ 4.91296357e-01 8.70992470e-01 -8.14832841e-05 5.59918153e+01] [ 1.63865717e-04 1.12131055e-06 9.99999987e-01 -2.07006681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.22, Y:56.02, Z:-0.21 [[ 8.74874158e-01 -4.84350273e-01 -1.42167943e-04 4.43223134e+02] [ 4.84350266e-01 8.74874170e-01 -8.14954390e-05 5.60186792e+01] [ 1.63851399e-04 2.43917281e-06 9.99999987e-01 -2.06625215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.28, Y:56.05, Z:-0.21 [[ 8.78428186e-01 -4.77874358e-01 -1.42152042e-04 4.43275207e+02] [ 4.77874351e-01 8.78428197e-01 -8.15231642e-05 5.60459854e+01] [ 1.63828192e-04 3.68143030e-06 9.99999987e-01 -2.08429248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.33, Y:56.07, Z:-0.21 [[ 8.78957777e-01 -4.76899576e-01 -1.42138133e-04 4.43327197e+02] [ 4.76899569e-01 8.78957789e-01 -8.15474075e-05 5.60723368e+01] [ 1.63823344e-04 3.89111344e-06 9.99999987e-01 -2.08695564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.38, Y:56.10, Z:-0.21 [[ 8.77712064e-01 -4.79188389e-01 -1.42133252e-04 4.43380945e+02] [ 4.79188382e-01 8.77712076e-01 -8.15559150e-05 5.60970911e+01] [ 1.63832719e-04 3.47400748e-06 9.99999987e-01 -2.05225148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.43, Y:56.12, Z:-0.20 [[ 8.76656641e-01 -4.81116528e-01 -1.42119264e-04 4.43433794e+02] [ 4.81116521e-01 8.76656653e-01 -8.15802837e-05 5.61206969e+01] [ 1.63839421e-04 3.14197180e-06 9.99999987e-01 -2.03815791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.49, Y:56.15, Z:-0.21 [[ 8.76173632e-01 -4.81995588e-01 -1.42102994e-04 4.43485359e+02] [ 4.81995581e-01 8.76173643e-01 -8.16086132e-05 5.61477657e+01] [ 1.63841890e-04 3.01029971e-06 9.99999987e-01 -2.07546985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.54, Y:56.17, Z:-0.21 [[ 8.76707127e-01 -4.81024524e-01 -1.42095459e-04 4.43539118e+02] [ 4.81024517e-01 8.76707139e-01 -8.16217320e-05 5.61731019e+01] [ 1.63838158e-04 3.20695477e-06 9.99999987e-01 -2.07579633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.59, Y:56.21, Z:-0.21 [[ 8.80645250e-01 -4.73776239e-01 -1.42081342e-04 4.43588273e+02] [ 4.73776232e-01 8.80645261e-01 -8.16462972e-05 5.62066675e+01] [ 1.63805336e-04 4.58666081e-06 9.99999987e-01 -2.11192060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.63, Y:56.24, Z:-0.21 [[ 8.83116102e-01 -4.69154485e-01 -1.42068178e-04 4.43634228e+02] [ 4.69154478e-01 8.83116113e-01 -8.16691970e-05 5.62431534e+01] [ 1.63778167e-04 5.47146098e-06 9.99999987e-01 -2.14153186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.68, Y:56.28, Z:-0.21 [[ 8.83301788e-01 -4.68804790e-01 -1.42063184e-04 4.43680469e+02] [ 4.68804783e-01 8.83301799e-01 -8.16778830e-05 5.62802162e+01] [ 1.63775649e-04 5.54631980e-06 9.99999987e-01 -2.07443619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.73, Y:56.32, Z:-0.21 [[ 8.81638687e-01 -4.71925000e-01 -1.42049634e-04 4.43728728e+02] [ 4.71924993e-01 8.81638698e-01 -8.17014424e-05 5.63152090e+01] [ 1.63793407e-04 4.99437999e-06 9.99999987e-01 -2.10574919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.30533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.77, Y:56.35, Z:-0.20 [[ 8.74775153e-01 -4.84529062e-01 -1.42037124e-04 4.43773331e+02] [ 4.84529055e-01 8.74775164e-01 -8.17231839e-05 5.63545913e+01] [ 1.63847806e-04 2.66829692e-06 9.99999987e-01 -2.04902131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.36533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.82, Y:56.39, Z:-0.20 [[ 8.67725961e-01 -4.97042892e-01 -1.42032161e-04 4.43820454e+02] [ 4.97042885e-01 8.67725973e-01 -8.17318091e-05 5.63894065e+01] [ 1.63869210e-04 3.24737527e-07 9.99999987e-01 -2.04010912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.42533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.87, Y:56.42, Z:-0.20 [[ 8.61249882e-01 -5.08181680e-01 -1.42027223e-04 4.43870744e+02] [ 5.08181674e-01 8.61249894e-01 -8.17403887e-05 5.64184305e+01] [ 1.63859899e-04 -1.77673188e-06 9.99999987e-01 -2.04939447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.92, Y:56.45, Z:-0.21 [[ 8.57734457e-01 -5.14092969e-01 -1.42022338e-04 4.43921960e+02] [ 5.14092962e-01 8.57734469e-01 -8.17488764e-05 5.64476418e+01] [ 1.63843977e-04 -2.89385615e-06 9.99999987e-01 -2.07377749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.97, Y:56.48, Z:-0.21 [[ 8.57253214e-01 -5.14895045e-01 -1.42008839e-04 4.43972728e+02] [ 5.14895038e-01 8.57253226e-01 -8.17723195e-05 5.64769235e+01] [ 1.63841697e-04 -3.02006270e-06 9.99999987e-01 -2.06612482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.02, Y:56.51, Z:-0.21 [[ 8.59692577e-01 -5.10811759e-01 -1.41994611e-04 4.44024054e+02] [ 5.10811752e-01 8.59692589e-01 -8.17970173e-05 5.65058369e+01] [ 1.63854593e-04 -2.21222761e-06 9.99999987e-01 -2.06365800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.07, Y:56.54, Z:-0.21 [[ 8.66318888e-01 -4.99491306e-01 -1.41980303e-04 4.44070501e+02] [ 4.99491299e-01 8.66318899e-01 -8.18218461e-05 5.65389159e+01] [ 1.63869520e-04 -3.41151005e-08 9.99999987e-01 -2.08374249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.72533619499995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:444.12, Y:56.57, Z:-0.21 [[ 8.69341111e-01 -4.94212517e-01 -1.41973216e-04 4.44119761e+02] [ 4.94212510e-01 8.69341123e-01 -8.18341414e-05 5.65697145e+01] [ 1.63866612e-04 9.76844168e-07 9.99999987e-01 -2.11776541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.78533619499996 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:444.17, Y:56.60, Z:-0.21 [[ 8.71484509e-01 -4.90423012e-01 -1.41968232e-04 4.44169595e+02] [ 4.90423005e-01 8.71484521e-01 -8.18427868e-05 5.66003552e+01] [ 1.63860702e-04 1.70023414e-06 9.99999987e-01 -2.09563648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.22, Y:56.63, Z:-0.20 [[ 8.73035970e-01 -4.87655796e-01 -1.41953931e-04 4.44218208e+02] [ 4.87655789e-01 8.73035981e-01 -8.18675834e-05 5.66341377e+01] [ 1.63854091e-04 2.24868890e-06 9.99999987e-01 -2.04823149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.26, Y:56.67, Z:-0.21 [[ 8.73192265e-01 -4.87375879e-01 -1.41939741e-04 4.44264712e+02] [ 4.87375872e-01 8.73192277e-01 -8.18921783e-05 5.66683756e+01] [ 1.63852958e-04 2.32961158e-06 9.99999987e-01 -2.08808095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.31, Y:56.70, Z:-0.21 [[ 8.72450172e-01 -4.88703056e-01 -1.41928786e-04 4.44312818e+02] [ 4.88703050e-01 8.72450183e-01 -8.19111607e-05 5.67030097e+01] [ 1.63856030e-04 2.10237587e-06 9.99999987e-01 -2.08913815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.02533619499997 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:444.36, Y:56.74, Z:-0.21 [[ 8.70815801e-01 -4.91609420e-01 -1.41914761e-04 4.44360279e+02] [ 4.91609413e-01 8.70815812e-01 -8.19354526e-05 5.67367413e+01] [ 1.63861858e-04 1.58405465e-06 9.99999987e-01 -2.08574074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.41, Y:56.77, Z:-0.21 [[ 8.69437260e-01 -4.94043350e-01 -1.41898042e-04 4.44408087e+02] [ 4.94043343e-01 8.69437271e-01 -8.19643952e-05 5.67690571e+01] [ 1.63865411e-04 1.15911583e-06 9.99999987e-01 -2.10833016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.46, Y:56.80, Z:-0.21 [[ 8.67808375e-01 -4.96898988e-01 -1.41892874e-04 4.44455306e+02] [ 4.96898981e-01 8.67808386e-01 -8.19733414e-05 5.68047751e+01] [ 1.63868297e-04 6.30727607e-07 9.99999987e-01 -2.08543622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.50, Y:56.84, Z:-0.21 [[ 8.65983137e-01 -5.00073181e-01 -1.41879064e-04 4.44502894e+02] [ 5.00073174e-01 8.65983149e-01 -8.19972366e-05 5.68381144e+01] [ 1.63869498e-04 5.83102788e-08 9.99999987e-01 -2.05324142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.55, Y:56.87, Z:-0.20 [[ 8.65038014e-01 -5.01706303e-01 -1.41874174e-04 4.44551221e+02] [ 5.01706296e-01 8.65038025e-01 -8.20056977e-05 5.68711556e+01] [ 1.63869330e-04 -2.41120326e-07 9.99999987e-01 -2.04036624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.60, Y:56.90, Z:-0.21 [[ 8.64754760e-01 -5.02194369e-01 -1.41869285e-04 4.44600307e+02] [ 5.02194362e-01 8.64754772e-01 -8.20141537e-05 5.69047474e+01] [ 1.63869187e-04 -3.23825414e-07 9.99999987e-01 -2.05977016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.65, Y:56.94, Z:-0.21 [[ 8.65322259e-01 -5.01215889e-01 -1.41856089e-04 4.44647762e+02] [ 5.01215882e-01 8.65322271e-01 -8.20369727e-05 5.69406898e+01] [ 1.63869467e-04 -1.12106016e-07 9.99999987e-01 -2.09597123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.70, Y:56.98, Z:-0.20 [[ 8.66095855e-01 -4.99877934e-01 -1.41852023e-04 4.44695982e+02] [ 4.99877927e-01 8.66095867e-01 -8.20440028e-05 5.69754345e+01] [ 1.63869437e-04 1.49275715e-07 9.99999987e-01 -2.02890234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.74, Y:57.01, Z:-0.20 [[ 8.66749822e-01 -4.98743146e-01 -1.41837489e-04 4.44742648e+02] [ 4.98743140e-01 8.66749834e-01 -8.20691211e-05 5.70099367e+01] [ 1.63869031e-04 3.92921571e-07 9.99999987e-01 -2.03043996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.79, Y:57.05, Z:-0.21 [[ 8.67816030e-01 -4.96885619e-01 -1.41832355e-04 4.44787076e+02] [ 4.96885613e-01 8.67816041e-01 -8.20779919e-05 5.70490963e+01] [ 1.63867767e-04 7.54140282e-07 9.99999987e-01 -2.06580592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.84, Y:57.08, Z:-0.21 [[ 8.67533511e-01 -4.97378716e-01 -1.41827354e-04 4.44835229e+02] [ 4.97378710e-01 8.67533522e-01 -8.20866337e-05 5.70839221e+01] [ 1.63868128e-04 6.70999346e-07 9.99999987e-01 -2.07073527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.88, Y:57.12, Z:-0.21 [[ 8.65546472e-01 -5.00828598e-01 -1.41813126e-04 4.44882566e+02] [ 5.00828591e-01 8.65546484e-01 -8.21112066e-05 5.71172769e+01] [ 1.63869493e-04 4.69972653e-08 9.99999987e-01 -2.09032842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.93, Y:57.15, Z:-0.20 [[ 8.63682796e-01 -5.04035721e-01 -1.41805624e-04 4.44930115e+02] [ 5.04035715e-01 8.63682807e-01 -8.21241604e-05 5.71524503e+01] [ 1.63868590e-04 -5.45874390e-07 9.99999987e-01 -2.04465860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.80533619499994 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:444.98, Y:57.18, Z:-0.21 [[ 8.60557455e-01 -5.09353361e-01 -1.41791400e-04 4.44981332e+02] [ 5.09353355e-01 8.60557467e-01 -8.21487102e-05 5.71813982e+01] [ 1.63862370e-04 -1.52824054e-06 9.99999987e-01 -2.10499332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.86533619499994 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:445.03, Y:57.21, Z:-0.21 [[ 8.57942486e-01 -5.13745725e-01 -1.41777253e-04 4.45032278e+02] [ 5.13745718e-01 8.57942498e-01 -8.21731191e-05 5.72114077e+01] [ 1.63852819e-04 -2.33764666e-06 9.99999987e-01 -2.10536844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.92533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.08, Y:57.24, Z:-0.21 [[ 8.56737362e-01 -5.15752918e-01 -1.41763194e-04 4.45082616e+02] [ 5.15752912e-01 8.56737374e-01 -8.21973662e-05 5.72417692e+01] [ 1.63847358e-04 -2.69322558e-06 9.99999987e-01 -2.07546408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.13, Y:57.27, Z:-0.21 [[ 8.57830443e-01 -5.13932788e-01 -1.41748913e-04 4.45133256e+02] [ 5.13932781e-01 8.57830455e-01 -8.22219862e-05 5.72698149e+01] [ 1.63853109e-04 -2.31689038e-06 9.99999987e-01 -2.07208642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.04533619499995 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:445.18, Y:57.30, Z:-0.21 [[ 8.61914551e-01 -5.07053534e-01 -1.41743884e-04 4.45180899e+02] [ 5.07053527e-01 8.61914563e-01 -8.22306552e-05 5.73048263e+01] [ 1.63866462e-04 -9.95938156e-07 9.99999987e-01 -2.09375751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.23, Y:57.34, Z:-0.20 [[ 8.66066590e-01 -4.99928636e-01 -1.41729738e-04 4.45228010e+02] [ 4.99928629e-01 8.66066602e-01 -8.22550292e-05 5.73398788e+01] [ 1.63869037e-04 3.83578956e-07 9.99999987e-01 -2.04929719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.28, Y:57.37, Z:-0.21 [[ 8.68423936e-01 -4.95822394e-01 -1.41724675e-04 4.45275765e+02] [ 4.95822387e-01 8.68423948e-01 -8.22637516e-05 5.73718827e+01] [ 1.63865312e-04 1.16954407e-06 9.99999987e-01 -2.05759274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.33, Y:57.40, Z:-0.21 [[ 8.66310511e-01 -4.99505834e-01 -1.41715865e-04 4.45325126e+02] [ 4.99505827e-01 8.66310523e-01 -8.22789260e-05 5.74044789e+01] [ 1.63868749e-04 4.91197903e-07 9.99999987e-01 -2.06261412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.38, Y:57.43, Z:-0.21 [[ 8.62039879e-01 -5.06840436e-01 -1.41701711e-04 4.45376777e+02] [ 5.06840430e-01 8.62039890e-01 -8.23032952e-05 5.74331343e+01] [ 1.63867166e-04 -8.71433504e-07 9.99999987e-01 -2.08027389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.43, Y:57.46, Z:-0.21 [[ 8.60445026e-01 -5.09543263e-01 -1.41687385e-04 4.45429083e+02] [ 5.09543256e-01 8.60445038e-01 -8.23279513e-05 5.74609745e+01] [ 1.63863860e-04 -1.35717505e-06 9.99999987e-01 -2.08143011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.48, Y:57.49, Z:-0.21 [[ 8.62010925e-01 -5.06889677e-01 -1.41673728e-04 4.45480697e+02] [ 5.06889670e-01 8.62010937e-01 -8.23514449e-05 5.74868822e+01] [ 1.63867401e-04 -8.25104327e-07 9.99999987e-01 -2.10877472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.46533619499996 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:445.53, Y:57.52, Z:-0.21 [[ 8.64868590e-01 -5.01998308e-01 -1.41668541e-04 4.45530183e+02] [ 5.01998301e-01 8.64868602e-01 -8.23603684e-05 5.75195187e+01] [ 1.63869438e-04 1.13528965e-07 9.99999987e-01 -2.07140110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.58, Y:57.55, Z:-0.20 [[ 8.66707996e-01 -4.98815828e-01 -1.41653776e-04 4.45580114e+02] [ 4.98815821e-01 8.66708007e-01 -8.23857538e-05 5.75505041e+01] [ 1.63867780e-04 7.45246763e-07 9.99999987e-01 -2.02316890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.63, Y:57.58, Z:-0.20 [[ 8.68331263e-01 -4.95984675e-01 -1.41639005e-04 4.45630497e+02] [ 4.95984669e-01 8.68331274e-01 -8.24111407e-05 5.75794533e+01] [ 1.63864241e-04 1.30939469e-06 9.99999987e-01 -2.02469552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.68, Y:57.61, Z:-0.20 [[ 8.69048484e-01 -4.94726907e-01 -1.41633794e-04 4.45680424e+02] [ 4.94726900e-01 8.69048496e-01 -8.24200959e-05 5.76099436e+01] [ 1.63862075e-04 1.55701143e-06 9.99999987e-01 -2.03258495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.73, Y:57.64, Z:-0.21 [[ 8.69770261e-01 -4.93456861e-01 -1.41619682e-04 4.45728663e+02] [ 4.93456854e-01 8.69770272e-01 -8.24443372e-05 5.76423042e+01] [ 1.63859313e-04 1.82442989e-06 9.99999987e-01 -2.05086096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.78, Y:57.67, Z:-0.20 [[ 8.68533801e-01 -4.95629918e-01 -1.41603704e-04 4.45778600e+02] [ 4.95629911e-01 8.68533813e-01 -8.24717720e-05 5.76707973e+01] [ 1.63863082e-04 1.44649056e-06 9.99999987e-01 -2.03370656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.825336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:445.83, Y:57.70, Z:-0.21 [[ 8.66766379e-01 -4.98714371e-01 -1.41587439e-04 4.45828207e+02] [ 4.98714364e-01 8.66766391e-01 -8.24996848e-05 5.77013546e+01] [ 1.63867012e-04 8.96263194e-07 9.99999987e-01 -2.06078202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.88, Y:57.73, Z:-0.20 [[ 8.65179712e-01 -5.01461909e-01 -1.41571213e-04 4.45877505e+02] [ 5.01461902e-01 8.65179723e-01 -8.25275206e-05 5.77309173e+01] [ 1.63868951e-04 4.08566744e-07 9.99999987e-01 -2.02501169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.93, Y:57.76, Z:-0.20 [[ 8.63287030e-01 -5.04713269e-01 -1.41566219e-04 4.45929272e+02] [ 5.04713262e-01 8.63287042e-01 -8.25360857e-05 5.77591256e+01] [ 1.63869340e-04 -1.98016025e-07 9.99999987e-01 -1.96024671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.98, Y:57.78, Z:-0.20 [[ 8.61640362e-01 -5.07519326e-01 -1.41551999e-04 4.45981721e+02] [ 5.07519320e-01 8.61640374e-01 -8.25604674e-05 5.77847121e+01] [ 1.63867950e-04 -7.02943024e-07 9.99999987e-01 -1.95182898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.065336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:446.03, Y:57.81, Z:-0.20 [[ 8.60232947e-01 -5.09901223e-01 -1.41544511e-04 4.46033413e+02] [ 5.09901216e-01 8.60232959e-01 -8.25733019e-05 5.78132454e+01] [ 1.63865481e-04 -1.14144361e-06 9.99999987e-01 -1.98469580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.09, Y:57.84, Z:-0.20 [[ 8.60163968e-01 -5.10017577e-01 -1.41530273e-04 4.46087501e+02] [ 5.10017570e-01 8.60163979e-01 -8.25976989e-05 5.78382311e+01] [ 1.63865521e-04 -1.13536151e-06 9.99999987e-01 -1.97781268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.14, Y:57.86, Z:-0.20 [[ 8.61146815e-01 -5.08356315e-01 -1.41522713e-04 4.46143139e+02] [ 5.08356309e-01 8.61146826e-01 -8.26106511e-05 5.78578251e+01] [ 1.63867481e-04 -8.04064631e-07 9.99999987e-01 -1.99744885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.20, Y:57.88, Z:-0.20 [[ 8.62380802e-01 -5.06260144e-01 -1.41517683e-04 4.46196953e+02] [ 5.06260137e-01 8.62380813e-01 -8.26192666e-05 5.78813062e+01] [ 1.63868976e-04 -3.95492045e-07 9.99999987e-01 -1.95661063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.30533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.25, Y:57.90, Z:-0.20 [[ 8.64843533e-01 -5.02041475e-01 -1.41513681e-04 4.46253504e+02] [ 5.02041468e-01 8.64843545e-01 -8.26261201e-05 5.79017568e+01] [ 1.63868933e-04 4.12929441e-07 9.99999987e-01 -1.97844443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.36533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.31, Y:57.92, Z:-0.20 [[ 8.68453722e-01 -4.95770222e-01 -1.41500078e-04 4.46308887e+02] [ 4.95770215e-01 8.68453734e-01 -8.26494092e-05 5.79231550e+01] [ 1.63861387e-04 1.62566295e-06 9.99999987e-01 -2.00749012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.42533619499994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:446.36, Y:57.95, Z:-0.20 [[ 8.73195483e-01 -4.87370114e-01 -1.41486502e-04 4.46362590e+02] [ 4.87370107e-01 8.73195494e-01 -8.26726439e-05 5.79486686e+01] [ 1.63837552e-04 3.23308769e-06 9.99999987e-01 -1.96977547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.42, Y:57.97, Z:-0.20 [[ 8.77929996e-01 -4.78788995e-01 -1.41472862e-04 4.46415354e+02] [ 4.78788988e-01 8.77930008e-01 -8.26959775e-05 5.79749086e+01] [ 1.63797195e-04 4.86563063e-06 9.99999987e-01 -1.98256130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.54533619499995 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:446.47, Y:58.00, Z:-0.21 [[ 8.80048061e-01 -4.74884608e-01 -1.41459100e-04 4.46466080e+02] [ 4.74884601e-01 8.80048072e-01 -8.27195135e-05 5.80036913e+01] [ 1.63773032e-04 5.62039936e-06 9.99999987e-01 -2.05151592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.60533619499995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:446.52, Y:58.03, Z:-0.20 [[ 8.79274861e-01 -4.76314706e-01 -1.41445554e-04 4.46516673e+02] [ 4.76314699e-01 8.79274872e-01 -8.27426688e-05 5.80345654e+01] [ 1.63781071e-04 5.38095200e-06 9.99999987e-01 -2.03747185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.57, Y:58.06, Z:-0.20 [[ 8.75634631e-01 -4.82974091e-01 -1.41432564e-04 4.46568702e+02] [ 4.82974084e-01 8.75634643e-01 -8.27648676e-05 5.80630745e+01] [ 1.63816539e-04 4.16352144e-06 9.99999987e-01 -2.02762860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.62, Y:58.09, Z:-0.20 [[ 8.70303752e-01 -4.92515338e-01 -1.41419248e-04 4.46620383e+02] [ 4.92515332e-01 8.70303764e-01 -8.27876130e-05 5.80916868e+01] [ 1.63851873e-04 2.39922227e-06 9.99999987e-01 -2.02153750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.67, Y:58.12, Z:-0.20 [[ 8.64523463e-01 -5.02592441e-01 -1.41404913e-04 4.46672900e+02] [ 5.02592434e-01 8.64523475e-01 -8.28120920e-05 5.81172260e+01] [ 1.63868598e-04 5.23957401e-07 9.99999987e-01 -1.95865519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.84533619499996 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:446.73, Y:58.14, Z:-0.20 [[ 8.61298455e-01 -5.08099352e-01 -1.41399693e-04 4.46725396e+02] [ 5.08099345e-01 8.61298467e-01 -8.28210039e-05 5.81435902e+01] [ 1.63868637e-04 -5.11488554e-07 9.99999987e-01 -2.01477297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.78, Y:58.17, Z:-0.20 [[ 8.61298035e-01 -5.08100064e-01 -1.41384954e-04 4.46778130e+02] [ 5.08100057e-01 8.61298047e-01 -8.28461567e-05 5.81701239e+01] [ 1.63868722e-04 -4.82471177e-07 9.99999987e-01 -1.99533716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.83, Y:58.20, Z:-0.20 [[ 8.62351943e-01 -5.06309299e-01 -1.41370416e-04 4.46830314e+02] [ 5.06309293e-01 8.62351955e-01 -8.28709578e-05 5.81963445e+01] [ 1.63869391e-04 -1.13223743e-07 9.99999987e-01 -2.01672112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.88, Y:58.22, Z:-0.20 [[ 8.64297972e-01 -5.02980114e-01 -1.41365274e-04 4.46882192e+02] [ 5.02980108e-01 8.64297984e-01 -8.28797271e-05 5.82245948e+01] [ 1.63868576e-04 5.28859145e-07 9.99999987e-01 -1.98022944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.08533619499997 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:446.93, Y:58.25, Z:-0.20 [[ 8.67360460e-01 -4.97680432e-01 -1.41351384e-04 4.46933111e+02] [ 4.97680425e-01 8.67360471e-01 -8.29034101e-05 5.82533697e+01] [ 1.63862008e-04 1.55932290e-06 9.99999987e-01 -2.02418440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.98, Y:58.28, Z:-0.20 [[ 8.69229412e-01 -4.94408949e-01 -1.41337539e-04 4.46984506e+02] [ 4.94408942e-01 8.69229424e-01 -8.29270080e-05 5.82804287e+01] [ 1.63854602e-04 2.20405150e-06 9.99999987e-01 -1.97477871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.03, Y:58.31, Z:-0.20 [[ 8.69003017e-01 -4.94806766e-01 -1.41321392e-04 4.47034067e+02] [ 4.94806759e-01 8.69003029e-01 -8.29545153e-05 5.83131382e+01] [ 1.63855173e-04 2.16094411e-06 9.99999987e-01 -1.99348276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.09, Y:58.34, Z:-0.20 [[ 8.67649581e-01 -4.97176211e-01 -1.41313716e-04 4.47085697e+02] [ 4.97176204e-01 8.67649593e-01 -8.29675899e-05 5.83410037e+01] [ 1.63860300e-04 1.72897789e-06 9.99999987e-01 -1.99653459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.325336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:447.14, Y:58.37, Z:-0.20 [[ 8.67097520e-01 -4.98138406e-01 -1.41299246e-04 4.47138227e+02] [ 4.98138399e-01 8.67097531e-01 -8.29922252e-05 5.83682181e+01] [ 1.63861842e-04 1.57577234e-06 9.99999987e-01 -2.01674135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.19, Y:58.40, Z:-0.20 [[ 8.66250605e-01 -4.99609716e-01 -1.41284879e-04 4.47187741e+02] [ 4.99609709e-01 8.66250617e-01 -8.30166758e-05 5.83991133e+01] [ 1.63864052e-04 1.32594809e-06 9.99999987e-01 -2.00690535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.445336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:447.24, Y:58.43, Z:-0.20 [[ 8.64866198e-01 -5.02002429e-01 -1.41277116e-04 4.47239283e+02] [ 5.02002422e-01 8.64866210e-01 -8.30298846e-05 5.84283873e+01] [ 1.63867008e-04 8.88285995e-07 9.99999987e-01 -2.02303318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.29, Y:58.46, Z:-0.20 [[ 8.62140218e-01 -5.06669739e-01 -1.41263659e-04 4.47291294e+02] [ 5.06669732e-01 8.62140230e-01 -8.30527748e-05 5.84553079e+01] [ 1.63869411e-04 2.91172260e-08 9.99999987e-01 -2.03442006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.34, Y:58.48, Z:-0.21 [[ 8.61549695e-01 -5.07673225e-01 -1.41249183e-04 4.47341308e+02] [ 5.07673218e-01 8.61549706e-01 -8.30773857e-05 5.84847189e+01] [ 1.63869357e-04 -1.33131248e-07 9.99999987e-01 -2.05196656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.39, Y:58.52, Z:-0.20 [[ 8.59971000e-01 -5.10342883e-01 -1.41244063e-04 4.47391475e+02] [ 5.10342876e-01 8.59971012e-01 -8.30860898e-05 5.85151635e+01] [ 1.63868195e-04 -6.31273776e-07 9.99999987e-01 -1.99374842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.685336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:447.44, Y:58.55, Z:-0.20 [[ 8.58494342e-01 -5.12823016e-01 -1.41240025e-04 4.47440987e+02] [ 5.12823009e-01 8.58494353e-01 -8.30929537e-05 5.85454091e+01] [ 1.63865743e-04 -1.09630408e-06 9.99999987e-01 -1.99664091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.49, Y:58.57, Z:-0.20 [[ 8.57588289e-01 -5.14336764e-01 -1.41223490e-04 4.47492835e+02] [ 5.14336757e-01 8.57588301e-01 -8.31210473e-05 5.85735434e+01] [ 1.63863823e-04 -1.35279502e-06 9.99999987e-01 -1.97410685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.80533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.54, Y:58.60, Z:-0.20 [[ 8.57124791e-01 -5.15108798e-01 -1.41208971e-04 4.47543613e+02] [ 5.15108791e-01 8.57124802e-01 -8.31457059e-05 5.86035067e+01] [ 1.63862796e-04 -1.47173632e-06 9.99999987e-01 -1.98591835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.86533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.59, Y:58.63, Z:-0.20 [[ 8.57355890e-01 -5.14724061e-01 -1.41194530e-04 4.47592500e+02] [ 5.14724054e-01 8.57355901e-01 -8.31702218e-05 5.86338779e+01] [ 1.63863678e-04 -1.36974116e-06 9.99999987e-01 -2.03421421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.92533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.64, Y:58.66, Z:-0.20 [[ 8.56640066e-01 -5.15914506e-01 -1.41189431e-04 4.47644270e+02] [ 5.15914499e-01 8.56640078e-01 -8.31788762e-05 5.86618095e+01] [ 1.63861714e-04 -1.58731666e-06 9.99999987e-01 -1.98761364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.70, Y:58.69, Z:-0.19 [[ 8.55282351e-01 -5.18162214e-01 -1.41175345e-04 4.47696267e+02] [ 5.18162207e-01 8.55282363e-01 -8.32027773e-05 5.86901843e+01] [ 1.63857318e-04 -1.98986121e-06 9.99999987e-01 -1.94311727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.75, Y:58.72, Z:-0.19 [[ 8.55021471e-01 -5.18592581e-01 -1.41161136e-04 4.47748680e+02] [ 5.18592574e-01 8.55021482e-01 -8.32268764e-05 5.87167768e+01] [ 1.63856645e-04 -2.04435076e-06 9.99999987e-01 -1.91682544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.80, Y:58.74, Z:-0.19 [[ 8.55565116e-01 -5.17695192e-01 -1.41146850e-04 4.47799494e+02] [ 5.17695186e-01 8.55565128e-01 -8.32510972e-05 5.87449115e+01] [ 1.63859016e-04 -1.84431028e-06 9.99999987e-01 -1.92319369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.16533619499995 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:447.85, Y:58.77, Z:-0.20 [[ 8.58208116e-01 -5.13301871e-01 -1.41139268e-04 4.47852192e+02] [ 5.13301864e-01 8.58208127e-01 -8.32639503e-05 5.87710505e+01] [ 1.63866408e-04 -9.89251310e-07 9.99999987e-01 -1.96353491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.90, Y:58.80, Z:-0.20 [[ 8.60242786e-01 -5.09884623e-01 -1.41124760e-04 4.47903450e+02] [ 5.09884616e-01 8.60242798e-01 -8.32885319e-05 5.87974226e+01] [ 1.63869100e-04 -3.08985483e-07 9.99999987e-01 -1.96379810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.96, Y:58.83, Z:-0.20 [[ 8.62815352e-01 -5.05519187e-01 -1.41119621e-04 4.47955104e+02] [ 5.05519180e-01 8.62815363e-01 -8.32972390e-05 5.88253759e+01] [ 1.63868530e-04 5.31461521e-07 9.99999987e-01 -2.01454433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.01, Y:58.85, Z:-0.20 [[ 8.64968032e-01 -5.01826946e-01 -1.41108646e-04 4.48008401e+02] [ 5.01826939e-01 8.64968044e-01 -8.33158269e-05 5.88516888e+01] [ 1.63864596e-04 1.25340706e-06 9.99999987e-01 -1.98836939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.06, Y:58.88, Z:-0.20 [[ 8.66998569e-01 -4.98310607e-01 -1.41094293e-04 4.48061061e+02] [ 4.98310600e-01 8.66998581e-01 -8.33401260e-05 5.88774963e+01] [ 1.63857821e-04 1.94698811e-06 9.99999987e-01 -1.96223882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.11, Y:58.90, Z:-0.20 [[ 8.68919589e-01 -4.94953259e-01 -1.41089221e-04 4.48113976e+02] [ 4.94953252e-01 8.68919600e-01 -8.33487123e-05 5.89041681e+01] [ 1.63848906e-04 2.59076018e-06 9.99999987e-01 -1.98935127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.16, Y:58.93, Z:-0.20 [[ 8.71071264e-01 -4.91156628e-01 -1.41074934e-04 4.48163528e+02] [ 4.91156621e-01 8.71071276e-01 -8.33728863e-05 5.89333499e+01] [ 1.63835469e-04 3.33383742e-06 9.99999987e-01 -1.99926553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.21, Y:58.96, Z:-0.20 [[ 8.71957475e-01 -4.89581598e-01 -1.41067364e-04 4.48214371e+02] [ 4.89581591e-01 8.71957487e-01 -8.33856933e-05 5.89621475e+01] [ 1.63828845e-04 3.64479407e-06 9.99999987e-01 -1.95225793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.27, Y:58.99, Z:-0.20 [[ 8.72528592e-01 -4.88563033e-01 -1.41050826e-04 4.48265908e+02] [ 4.88563026e-01 8.72528603e-01 -8.34136582e-05 5.89909298e+01] [ 1.63823710e-04 3.86858326e-06 9.99999987e-01 -1.97685383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.32, Y:59.02, Z:-0.20 [[ 8.71381225e-01 -4.90606502e-01 -1.41036515e-04 4.48315057e+02] [ 4.90606495e-01 8.71381237e-01 -8.34378487e-05 5.90206415e+01] [ 1.63831724e-04 3.51274447e-06 9.99999987e-01 -1.96051020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.37, Y:59.05, Z:-0.20 [[ 8.67510630e-01 -4.97418624e-01 -1.41030471e-04 4.48367914e+02] [ 4.97418617e-01 8.67510641e-01 -8.34480629e-05 5.90470527e+01] [ 1.63854055e-04 2.24089961e-06 9.99999987e-01 -1.95736208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.825336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:448.42, Y:59.07, Z:-0.20 [[ 8.63902737e-01 -5.03658655e-01 -1.41016522e-04 4.48420925e+02] [ 5.03658648e-01 8.63902749e-01 -8.34716287e-05 5.90723615e+01] [ 1.63865769e-04 1.08717766e-06 9.99999987e-01 -2.01549757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.47, Y:59.10, Z:-0.20 [[ 8.63183929e-01 -5.04889577e-01 -1.41002594e-04 4.48473224e+02] [ 5.04889570e-01 8.63183941e-01 -8.34951493e-05 5.90995224e+01] [ 1.63867006e-04 8.80931804e-07 9.99999987e-01 -1.99522431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.945336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:448.53, Y:59.13, Z:-0.20 [[ 8.63949876e-01 -5.03577791e-01 -1.40988694e-04 4.48525329e+02] [ 5.03577784e-01 8.63949888e-01 -8.35186142e-05 5.91269321e+01] [ 1.63865286e-04 1.15712216e-06 9.99999987e-01 -2.02491024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.58, Y:59.15, Z:-0.20 [[ 8.65018956e-01 -5.01739161e-01 -1.40974494e-04 4.48576216e+02] [ 5.01739155e-01 8.65018967e-01 -8.35425773e-05 5.91545039e+01] [ 1.63862193e-04 1.53348978e-06 9.99999987e-01 -1.98106440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.63, Y:59.18, Z:-0.20 [[ 8.67586165e-01 -4.97286865e-01 -1.40957631e-04 4.48625285e+02] [ 4.97286858e-01 8.67586177e-01 -8.35710183e-05 5.91834561e+01] [ 1.63851662e-04 2.40868169e-06 9.99999987e-01 -2.00635102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.67, Y:59.21, Z:-0.20 [[ 8.70699343e-01 -4.91815651e-01 -1.40950352e-04 4.48674499e+02] [ 4.91815644e-01 8.70699354e-01 -8.35832937e-05 5.92149237e+01] [ 1.63832953e-04 3.45433078e-06 9.99999987e-01 -1.97715984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.72, Y:59.25, Z:-0.20 [[ 8.73503906e-01 -4.86817118e-01 -1.40942800e-04 4.48721736e+02] [ 4.86817111e-01 8.73503917e-01 -8.35960266e-05 5.92488724e+01] [ 1.63810065e-04 4.40808910e-06 9.99999987e-01 -1.97237549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.77, Y:59.28, Z:-0.19 [[ 8.73547316e-01 -4.86739219e-01 -1.40937824e-04 4.48769325e+02] [ 4.86739212e-01 8.73547327e-01 -8.36044142e-05 5.92841817e+01] [ 1.63809407e-04 4.43244595e-06 9.99999987e-01 -1.92627387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.30533619499994 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:448.82, Y:59.32, Z:-0.20 [[ 8.70247913e-01 -4.92613998e-01 -1.40923642e-04 4.48816772e+02] [ 4.92613991e-01 8.70247924e-01 -8.36283131e-05 5.93167296e+01] [ 1.63834985e-04 3.35640727e-06 9.99999987e-01 -1.97942962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.36533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.87, Y:59.35, Z:-0.20 [[ 8.65160236e-01 -5.01495509e-01 -1.40918639e-04 4.48865723e+02] [ 5.01495502e-01 8.65160248e-01 -8.36367432e-05 5.93469743e+01] [ 1.63860656e-04 1.68912104e-06 9.99999987e-01 -1.97464539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.42533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.92, Y:59.37, Z:-0.20 [[ 8.62004028e-01 -5.06901406e-01 -1.40911979e-04 4.48917759e+02] [ 5.06901399e-01 8.62004040e-01 -8.36479622e-05 5.93745618e+01] [ 1.63867965e-04 6.76401010e-07 9.99999987e-01 -1.96631238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.97, Y:59.40, Z:-0.20 [[ 8.59796978e-01 -5.10636013e-01 -1.40897519e-04 4.48970256e+02] [ 5.10636006e-01 8.59796989e-01 -8.36723112e-05 5.94016141e+01] [ 1.63869358e-04 -6.14620475e-09 9.99999987e-01 -1.95399435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.54533619499995 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:449.02, Y:59.43, Z:-0.20 [[ 8.59233119e-01 -5.11584232e-01 -1.40883021e-04 4.49021668e+02] [ 5.11584226e-01 8.59233131e-01 -8.36967152e-05 5.94304661e+01] [ 1.63869279e-04 -1.58541552e-07 9.99999987e-01 -2.00119585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.08, Y:59.45, Z:-0.20 [[ 8.60614014e-01 -5.09257792e-01 -1.40868220e-04 4.49076068e+02] [ 5.09257785e-01 8.60614026e-01 -8.37216189e-05 5.94549632e+01] [ 1.63869053e-04 3.13760734e-07 9.99999987e-01 -1.96499245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.13, Y:59.48, Z:-0.20 [[ 8.62961564e-01 -5.05269552e-01 -1.40853528e-04 4.49127983e+02] [ 5.05269545e-01 8.62961575e-01 -8.37463293e-05 5.94804666e+01] [ 1.63865653e-04 1.10086511e-06 9.99999987e-01 -1.98099601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.18, Y:59.51, Z:-0.20 [[ 8.65348171e-01 -5.01171152e-01 -1.40848362e-04 4.49182062e+02] [ 5.01171145e-01 8.65348182e-01 -8.37550166e-05 5.95054069e+01] [ 1.63858473e-04 1.88811529e-06 9.99999987e-01 -1.95867792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.23, Y:59.53, Z:-0.19 [[ 8.68869108e-01 -4.95041871e-01 -1.40834451e-04 4.49233398e+02] [ 4.95041864e-01 8.68869119e-01 -8.37784026e-05 5.95333434e+01] [ 1.63840522e-04 3.07351691e-06 9.99999987e-01 -1.93051586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.28, Y:59.56, Z:-0.19 [[ 8.72898506e-01 -4.87901812e-01 -1.40827076e-04 4.49284556e+02] [ 4.87901805e-01 8.72898517e-01 -8.37907981e-05 5.95621709e+01] [ 1.63809428e-04 4.43107806e-06 9.99999987e-01 -1.92748965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.33, Y:59.59, Z:-0.20 [[ 8.75858012e-01 -4.82568879e-01 -1.40820087e-04 4.49333680e+02] [ 4.82568871e-01 8.75858024e-01 -8.38025409e-05 5.95927015e+01] [ 1.63778902e-04 5.44373627e-06 9.99999987e-01 -1.97471104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.38, Y:59.63, Z:-0.20 [[ 8.76523808e-01 -4.81358488e-01 -1.40812296e-04 4.49381818e+02] [ 4.81358481e-01 8.76523819e-01 -8.38156314e-05 5.96254790e+01] [ 1.63770697e-04 5.68520371e-06 9.99999987e-01 -1.98070762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.43, Y:59.66, Z:-0.20 [[ 8.74298456e-01 -4.85388700e-01 -1.40796474e-04 4.49429747e+02] [ 4.85388693e-01 8.74298467e-01 -8.38422014e-05 5.96563084e+01] [ 1.63794198e-04 4.96209095e-06 9.99999987e-01 -2.02026942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.48, Y:59.69, Z:-0.20 [[ 8.72163383e-01 -4.89214691e-01 -1.40789644e-04 4.49477949e+02] [ 4.89214684e-01 8.72163394e-01 -8.38536680e-05 5.96907255e+01] [ 1.63814020e-04 4.25773753e-06 9.99999987e-01 -1.98134396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.53, Y:59.72, Z:-0.20 [[ 8.70036039e-01 -4.92988105e-01 -1.40775395e-04 4.49527405e+02] [ 4.92988098e-01 8.70036050e-01 -8.38775825e-05 5.97214118e+01] [ 1.63830319e-04 3.57592524e-06 9.99999987e-01 -1.98161846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.205336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:449.58, Y:59.75, Z:-0.20 [[ 8.64050804e-01 -5.03404597e-01 -1.40767872e-04 4.49575927e+02] [ 5.03404590e-01 8.64050816e-01 -8.38902066e-05 5.97540951e+01] [ 1.63861310e-04 1.62220772e-06 9.99999987e-01 -1.95612521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.63, Y:59.78, Z:-0.19 [[ 8.61128473e-01 -5.08387385e-01 -1.40760269e-04 4.49625970e+02] [ 5.08387378e-01 8.61128484e-01 -8.39029621e-05 5.97835109e+01] [ 1.63867884e-04 6.90485671e-07 9.99999987e-01 -1.93704703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.68, Y:59.81, Z:-0.19 [[ 8.58849138e-01 -5.12228600e-01 -1.40755240e-04 4.49675852e+02] [ 5.12228593e-01 8.58849149e-01 -8.39113972e-05 5.98149880e+01] [ 1.63869336e-04 -3.16275288e-08 9.99999987e-01 -1.89304150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.385336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:449.72, Y:59.85, Z:-0.19 [[ 8.59535409e-01 -5.11076179e-01 -1.40740427e-04 4.49724320e+02] [ 5.11076172e-01 8.59535421e-01 -8.39362344e-05 5.98467652e+01] [ 1.63869192e-04 2.17086680e-07 9.99999987e-01 -1.94029269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.77, Y:59.88, Z:-0.19 [[ 8.61817276e-01 -5.07218850e-01 -1.40735180e-04 4.49774284e+02] [ 5.07218843e-01 8.61817288e-01 -8.39450313e-05 5.98774051e+01] [ 1.63866514e-04 9.61742909e-07 9.99999987e-01 -1.93906812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.82, Y:59.91, Z:-0.19 [[ 8.64338027e-01 -5.02911279e-01 -1.40720678e-04 4.49822779e+02] [ 5.02911272e-01 8.64338039e-01 -8.39693346e-05 5.99107490e+01] [ 1.63859361e-04 1.80787359e-06 9.99999987e-01 -1.91441414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.565336195 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:449.87, Y:59.94, Z:-0.20 [[ 8.64749316e-01 -5.02203744e-01 -1.40705865e-04 4.49870965e+02] [ 5.02203737e-01 8.64749327e-01 -8.39941497e-05 5.99449454e+01] [ 1.63857479e-04 1.97087229e-06 9.99999987e-01 -1.95864086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.92, Y:59.98, Z:-0.20 [[ 8.63523604e-01 -5.04308403e-01 -1.40690908e-04 4.49918469e+02] [ 5.04308396e-01 8.63523615e-01 -8.40191952e-05 5.99774865e+01] [ 1.63861508e-04 1.60095205e-06 9.99999987e-01 -1.97570454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.97, Y:60.01, Z:-0.20 [[ 8.62161292e-01 -5.06633879e-01 -1.40683001e-04 4.49968528e+02] [ 5.06633872e-01 8.62161303e-01 -8.40324326e-05 6.00085861e+01] [ 1.63865117e-04 1.17473699e-06 9.99999987e-01 -1.97349429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.745336195 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:450.02, Y:60.04, Z:-0.20 [[ 8.61089904e-01 -5.08452709e-01 -1.40668855e-04 4.50016739e+02] [ 5.08452702e-01 8.61089915e-01 -8.40561058e-05 6.00422304e+01] [ 1.63867087e-04 8.56404444e-07 9.99999987e-01 -1.95584802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.80533619499994 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:450.07, Y:60.07, Z:-0.19 [[ 8.59849175e-01 -5.10548113e-01 -1.40653773e-04 4.50066868e+02] [ 5.10548107e-01 8.59849187e-01 -8.40813367e-05 6.00733077e+01] [ 1.63868600e-04 4.86750749e-07 9.99999987e-01 -1.94742043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.86533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.12, Y:60.10, Z:-0.20 [[ 8.58195881e-01 -5.13322326e-01 -1.40638541e-04 4.50117376e+02] [ 5.13322319e-01 8.58195893e-01 -8.41068059e-05 6.01017312e+01] [ 1.63869319e-04 -1.27876092e-08 9.99999987e-01 -1.95347585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.92533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.17, Y:60.13, Z:-0.20 [[ 8.56911211e-01 -5.15464021e-01 -1.40633174e-04 4.50168823e+02] [ 5.15464014e-01 8.56911222e-01 -8.41157791e-05 6.01298546e+01] [ 1.63868803e-04 -4.11586231e-07 9.99999987e-01 -1.96156868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.22, Y:60.16, Z:-0.20 [[ 8.55730475e-01 -5.17421815e-01 -1.40618620e-04 4.50219617e+02] [ 5.17421808e-01 8.55730487e-01 -8.41401029e-05 6.01552151e+01] [ 1.63867565e-04 -7.57890263e-07 9.99999987e-01 -1.98529124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.27, Y:60.18, Z:-0.20 [[ 8.56808647e-01 -5.15634486e-01 -1.40607326e-04 4.50270670e+02] [ 5.15634479e-01 8.56808658e-01 -8.41589723e-05 6.01843333e+01] [ 1.63868842e-04 -3.93850001e-07 9.99999987e-01 -1.99653944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.32, Y:60.21, Z:-0.20 [[ 8.59277609e-01 -5.11509502e-01 -1.40592764e-04 4.50323028e+02] [ 5.11509495e-01 8.59277621e-01 -8.41832915e-05 6.02119483e+01] [ 1.63868769e-04 4.22283741e-07 9.99999987e-01 -1.99355943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.38, Y:60.24, Z:-0.20 [[ 8.61973372e-01 -5.06953535e-01 -1.40578193e-04 4.50375133e+02] [ 5.06953528e-01 8.61973383e-01 -8.42076160e-05 6.02393880e+01] [ 1.63864010e-04 1.31811165e-06 9.99999987e-01 -1.97545210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.42, Y:60.27, Z:-0.19 [[ 8.64133195e-01 -5.03263154e-01 -1.40563842e-04 4.50424312e+02] [ 5.03263147e-01 8.64133206e-01 -8.42315648e-05 6.02708376e+01] [ 1.63856527e-04 2.04668956e-06 9.99999987e-01 -1.94042017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.28533619499996 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:450.48, Y:60.30, Z:-0.19 [[ 8.65372750e-01 -5.01128709e-01 -1.40558646e-04 4.50476812e+02] [ 5.01128702e-01 8.65372762e-01 -8.42402342e-05 6.02985345e+01] [ 1.63850824e-04 2.46123111e-06 9.99999987e-01 -1.94944206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.53, Y:60.33, Z:-0.20 [[ 8.64845725e-01 -5.02037701e-01 -1.40544116e-04 4.50528048e+02] [ 5.02037694e-01 8.64845736e-01 -8.42644688e-05 6.03255162e+01] [ 1.63852920e-04 2.31732153e-06 9.99999987e-01 -1.95744091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.58, Y:60.36, Z:-0.20 [[ 8.64249903e-01 -5.03062705e-01 -1.40538999e-04 4.50578308e+02] [ 5.03062698e-01 8.64249914e-01 -8.42730033e-05 6.03558058e+01] [ 1.63855423e-04 2.13300704e-06 9.99999987e-01 -1.97020660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.63, Y:60.38, Z:-0.20 [[ 8.64380693e-01 -5.02837944e-01 -1.40524380e-04 4.50627755e+02] [ 5.02837937e-01 8.64380705e-01 -8.42973721e-05 6.03832515e+01] [ 1.63854480e-04 2.20403148e-06 9.99999987e-01 -1.97346717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.68, Y:60.41, Z:-0.20 [[ 8.65543197e-01 -5.00834258e-01 -1.40517157e-04 4.50679554e+02] [ 5.00834251e-01 8.65543209e-01 -8.43094118e-05 6.04119891e+01] [ 1.63848712e-04 2.59763298e-06 9.99999987e-01 -1.98415408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.73, Y:60.44, Z:-0.20 [[ 8.67095840e-01 -4.98141329e-01 -1.40502859e-04 4.50729300e+02] [ 4.98141322e-01 8.67095852e-01 -8.43332321e-05 6.04430819e+01] [ 1.63839315e-04 3.13471470e-06 9.99999987e-01 -1.97541557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.64533619499997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:450.78, Y:60.47, Z:-0.20 [[ 8.67041673e-01 -4.98235605e-01 -1.40488551e-04 4.50778766e+02] [ 4.98235598e-01 8.67041684e-01 -8.43570610e-05 6.04748618e+01] [ 1.63839121e-04 3.14469005e-06 9.99999987e-01 -1.95771791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.83, Y:60.50, Z:-0.20 [[ 8.65361624e-01 -5.01147922e-01 -1.40474051e-04 4.50828114e+02] [ 5.01147915e-01 8.65361636e-01 -8.43812002e-05 6.05045345e+01] [ 1.63848318e-04 2.62197481e-06 9.99999987e-01 -1.98613983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.88, Y:60.53, Z:-0.20 [[ 8.62616344e-01 -5.05858698e-01 -1.40468945e-04 4.50878284e+02] [ 5.05858691e-01 8.62616356e-01 -8.43896989e-05 6.05327576e+01] [ 1.63860073e-04 1.73849685e-06 9.99999987e-01 -1.97902192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.93, Y:60.56, Z:-0.20 [[ 8.60123984e-01 -5.10085005e-01 -1.40452507e-04 4.50928013e+02] [ 5.10084998e-01 8.60123995e-01 -8.44170485e-05 6.05614199e+01] [ 1.63866442e-04 9.66411353e-07 9.99999987e-01 -1.96737320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.98, Y:60.59, Z:-0.19 [[ 8.57947092e-01 -5.13738034e-01 -1.40446385e-04 4.50978595e+02] [ 5.13738027e-01 8.57947104e-01 -8.44272327e-05 6.05920102e+01] [ 1.63869050e-04 2.81450199e-07 9.99999987e-01 -1.94002007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.945336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:451.03, Y:60.62, Z:-0.20 [[ 8.56420474e-01 -5.16278948e-01 -1.40432063e-04 4.51028726e+02] [ 5.16278941e-01 8.56420486e-01 -8.44510484e-05 6.06219503e+01] [ 1.63869194e-04 -1.76509861e-07 9.99999987e-01 -2.01713237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.08, Y:60.65, Z:-0.20 [[ 8.56489922e-01 -5.16163727e-01 -1.40417858e-04 4.51078047e+02] [ 5.16163721e-01 8.56489934e-01 -8.44746613e-05 6.06526891e+01] [ 1.63869238e-04 -1.26907736e-07 9.99999987e-01 -1.97639314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.13, Y:60.68, Z:-0.20 [[ 8.57111122e-01 -5.15131541e-01 -1.40401318e-04 4.51126860e+02] [ 5.15131534e-01 8.57111134e-01 -8.45021428e-05 6.06832726e+01] [ 1.63869251e-04 1.02580346e-07 9.99999987e-01 -1.98221389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.125336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:451.18, Y:60.71, Z:-0.20 [[ 8.56254489e-01 -5.16554190e-01 -1.40396206e-04 4.51176763e+02] [ 5.16554183e-01 8.56254500e-01 -8.45106341e-05 6.07141721e+01] [ 1.63869205e-04 -1.59637798e-07 9.99999987e-01 -1.97202604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.23, Y:60.74, Z:-0.20 [[ 8.55032110e-01 -5.18575039e-01 -1.40381507e-04 4.51229557e+02] [ 5.18575032e-01 8.55032122e-01 -8.45350436e-05 6.07414658e+01] [ 1.63868462e-04 -5.18167928e-07 9.99999987e-01 -1.96389092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.28, Y:60.77, Z:-0.20 [[ 8.54653802e-01 -5.19198285e-01 -1.40367727e-04 4.51282108e+02] [ 5.19198278e-01 8.54653813e-01 -8.45579193e-05 6.07664506e+01] [ 1.63868140e-04 -6.10934972e-07 9.99999987e-01 -2.00756213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.30533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.33, Y:60.80, Z:-0.20 [[ 8.56514606e-01 -5.16122767e-01 -1.40362493e-04 4.51333569e+02] [ 5.16122760e-01 8.56514617e-01 -8.45666068e-05 6.07955954e+01] [ 1.63869278e-04 -1.17433002e-08 9.99999987e-01 -1.96489361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.36533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.38, Y:60.83, Z:-0.19 [[ 8.59781019e-01 -5.10662882e-01 -1.40347851e-04 4.51383507e+02] [ 5.10662875e-01 8.59781031e-01 -8.45908990e-05 6.08263743e+01] [ 1.63865853e-04 1.05921216e-06 9.99999987e-01 -1.91659653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.42533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.43, Y:60.86, Z:-0.19 [[ 8.62947022e-01 -5.05294387e-01 -1.40333194e-04 4.51432409e+02] [ 5.05294380e-01 8.62947033e-01 -8.46152079e-05 6.08572585e+01] [ 1.63855703e-04 2.10886737e-06 9.99999987e-01 -1.90707656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.48, Y:60.89, Z:-0.19 [[ 8.65302993e-01 -5.01249150e-01 -1.40328031e-04 4.51483445e+02] [ 5.01249143e-01 8.65303005e-01 -8.46237693e-05 6.08873128e+01] [ 1.63843859e-04 2.88589556e-06 9.99999987e-01 -1.90361690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.53, Y:60.92, Z:-0.19 [[ 8.66667839e-01 -4.98885595e-01 -1.40313326e-04 4.51530597e+02] [ 4.98885588e-01 8.66667851e-01 -8.46481438e-05 6.09213274e+01] [ 1.63834789e-04 3.36152753e-06 9.99999987e-01 -1.90177900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.58, Y:60.95, Z:-0.19 [[ 8.65393588e-01 -5.01092724e-01 -1.40296340e-04 4.51580424e+02] [ 5.01092717e-01 8.65393599e-01 -8.46762887e-05 6.09517517e+01] [ 1.63842226e-04 2.97684332e-06 9.99999987e-01 -1.88356067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.63, Y:60.98, Z:-0.19 [[ 8.63265224e-01 -5.04750565e-01 -1.40291066e-04 4.51630075e+02] [ 5.04750558e-01 8.63265235e-01 -8.46850246e-05 6.09806416e+01] [ 1.63853214e-04 2.29364268e-06 9.99999987e-01 -1.88965205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.72533619499995 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:451.68, Y:61.01, Z:-0.20 [[ 8.59544287e-01 -5.11061248e-01 -1.40283750e-04 4.51681890e+02] [ 5.11061241e-01 8.59544298e-01 -8.46971427e-05 6.10077077e+01] [ 1.63865525e-04 1.10735783e-06 9.99999987e-01 -1.95431003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.78533619499996 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:451.73, Y:61.04, Z:-0.20 [[ 8.57504788e-01 -5.14475966e-01 -1.40269266e-04 4.51733575e+02] [ 5.14475959e-01 8.57504799e-01 -8.47211231e-05 6.10355660e+01] [ 1.63868550e-04 4.83603514e-07 9.99999987e-01 -1.96282511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.78, Y:61.06, Z:-0.20 [[ 8.56830902e-01 -5.15597504e-01 -1.40254463e-04 4.51784656e+02] [ 5.15597497e-01 8.56830913e-01 -8.47456229e-05 6.10638897e+01] [ 1.63868991e-04 2.97818606e-07 9.99999987e-01 -1.99265594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.84, Y:61.09, Z:-0.20 [[ 8.56693040e-01 -5.15826537e-01 -1.40239822e-04 4.51838040e+02] [ 5.15826530e-01 8.56693051e-01 -8.47698430e-05 6.10899538e+01] [ 1.63869016e-04 2.82313595e-07 9.99999987e-01 -1.95264294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.89, Y:61.12, Z:-0.19 [[ 8.58776051e-01 -5.12351124e-01 -1.40225001e-04 4.51887539e+02] [ 5.12351117e-01 8.58776063e-01 -8.47943532e-05 6.11189116e+01] [ 1.63866356e-04 9.74923877e-07 9.99999987e-01 -1.90448399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.94, Y:61.15, Z:-0.19 [[ 8.63191339e-01 -5.04876908e-01 -1.40218724e-04 4.51937146e+02] [ 5.04876901e-01 8.63191350e-01 -8.48047317e-05 6.11492079e+01] [ 1.63851540e-04 2.40951500e-06 9.99999987e-01 -1.92544089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.99, Y:61.18, Z:-0.19 [[ 8.67539404e-01 -4.97368437e-01 -1.40213575e-04 4.51985013e+02] [ 4.97368430e-01 8.67539416e-01 -8.48132440e-05 6.11846150e+01] [ 1.63824234e-04 3.84102557e-06 9.99999987e-01 -1.88821446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.03, Y:61.22, Z:-0.19 [[ 8.68887733e-01 -4.95009179e-01 -1.40198756e-04 4.52033032e+02] [ 4.95009172e-01 8.68887744e-01 -8.48377341e-05 6.12173951e+01] [ 1.63812438e-04 4.31479656e-06 9.99999987e-01 -1.91890919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.08, Y:61.25, Z:-0.19 [[ 8.66036819e-01 -4.99980208e-01 -1.40193534e-04 4.52080574e+02] [ 4.99980201e-01 8.66036830e-01 -8.48463622e-05 6.12518152e+01] [ 1.63834265e-04 3.38608253e-06 9.99999987e-01 -1.92772204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.265336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:452.13, Y:61.28, Z:-0.20 [[ 8.64111965e-01 -5.03299604e-01 -1.40176927e-04 4.52130347e+02] [ 5.03299597e-01 8.64111977e-01 -8.48737904e-05 6.12819190e+01] [ 1.63845506e-04 2.78946713e-06 9.99999987e-01 -1.96096914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.18, Y:61.31, Z:-0.19 [[ 8.58694432e-01 -5.12487905e-01 -1.40169115e-04 4.52178212e+02] [ 5.12487898e-01 8.58694443e-01 -8.48866887e-05 6.13134917e+01] [ 1.63865842e-04 1.05675161e-06 9.99999987e-01 -1.93393083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.385336195 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:452.23, Y:61.34, Z:-0.20 [[ 8.55854878e-01 -5.17216017e-01 -1.40160250e-04 4.52228127e+02] [ 5.17216010e-01 8.55854890e-01 -8.49013249e-05 6.13439961e+01] [ 1.63869160e-04 1.70088008e-07 9.99999987e-01 -1.96616184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.445336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:452.28, Y:61.38, Z:-0.19 [[ 8.55453429e-01 -5.17879727e-01 -1.40145329e-04 4.52276246e+02] [ 5.17879720e-01 8.55453440e-01 -8.49259468e-05 6.13777294e+01] [ 1.63869230e-04 7.17686647e-08 9.99999987e-01 -1.94535341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.505336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:452.32, Y:61.41, Z:-0.19 [[ 8.56867041e-01 -5.15537442e-01 -1.40130858e-04 4.52324142e+02] [ 5.15537435e-01 8.56867053e-01 -8.49498181e-05 6.14094461e+01] [ 1.63868327e-04 5.47996382e-07 9.99999987e-01 -1.93544467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.37, Y:61.44, Z:-0.19 [[ 8.58631644e-01 -5.12593095e-01 -1.40125743e-04 4.52372058e+02] [ 5.12593087e-01 8.58631655e-01 -8.49582541e-05 6.14440570e+01] [ 1.63865413e-04 1.12035815e-06 9.99999987e-01 -1.90649536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.42, Y:61.48, Z:-0.19 [[ 8.59953200e-01 -5.10372877e-01 -1.40111539e-04 4.52417995e+02] [ 5.10372870e-01 8.59953212e-01 -8.49816722e-05 6.14808287e+01] [ 1.63861709e-04 1.57113257e-06 9.99999987e-01 -1.87271551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.46, Y:61.52, Z:-0.19 [[ 8.60606310e-01 -5.09270811e-01 -1.40106336e-04 4.52463241e+02] [ 5.09270804e-01 8.60606322e-01 -8.49902491e-05 6.15179193e+01] [ 1.63859452e-04 1.79107809e-06 9.99999987e-01 -1.90110368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.51, Y:61.55, Z:-0.19 [[ 8.60631175e-01 -5.09228790e-01 -1.40098681e-04 4.52508345e+02] [ 5.09228783e-01 8.60631186e-01 -8.50028666e-05 6.15545763e+01] [ 1.63859201e-04 1.81383613e-06 9.99999987e-01 -1.89880188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.80533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.55, Y:61.60, Z:-0.19 [[ 8.60679628e-01 -5.09146893e-01 -1.40082529e-04 4.52551106e+02] [ 5.09146886e-01 8.60679639e-01 -8.50294762e-05 6.15951490e+01] [ 1.63858674e-04 1.86055446e-06 9.99999987e-01 -1.87167354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.86533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.59, Y:61.64, Z:-0.19 [[ 8.59849011e-01 -5.10548390e-01 -1.40065679e-04 4.52594571e+02] [ 5.10548383e-01 8.59849022e-01 -8.50572244e-05 6.16355642e+01] [ 1.63861166e-04 1.62606447e-06 9.99999987e-01 -1.88459161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.92533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.64, Y:61.67, Z:-0.19 [[ 8.57788034e-01 -5.14003569e-01 -1.40048981e-04 4.52638174e+02] [ 5.14003562e-01 8.57788046e-01 -8.50847092e-05 6.16747650e+01] [ 1.63866185e-04 9.98970641e-07 9.99999987e-01 -1.90880743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.68, Y:61.71, Z:-0.19 [[ 8.53540871e-01 -5.21025874e-01 -1.40043422e-04 4.52681524e+02] [ 5.21025867e-01 8.53540883e-01 -8.50938575e-05 6.17134560e+01] [ 1.63868887e-04 -3.35159975e-07 9.99999987e-01 -1.93903398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.73, Y:61.75, Z:-0.19 [[ 8.49430576e-01 -5.27700367e-01 -1.40036279e-04 4.52727483e+02] [ 5.27700360e-01 8.49430587e-01 -8.51056108e-05 6.17510483e+01] [ 1.63861361e-04 -1.60588684e-06 9.99999987e-01 -1.92360262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.10533619499995 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:452.77, Y:61.78, Z:-0.20 [[ 8.46908375e-01 -5.31738831e-01 -1.40021284e-04 4.52774385e+02] [ 5.31738824e-01 8.46908387e-01 -8.51302735e-05 6.17848509e+01] [ 1.63852272e-04 -2.35721144e-06 9.99999987e-01 -1.98869623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.82, Y:61.82, Z:-0.19 [[ 8.47428651e-01 -5.30909279e-01 -1.40016008e-04 4.52820700e+02] [ 5.30909272e-01 8.47428662e-01 -8.51389503e-05 6.18221400e+01] [ 1.63854637e-04 -2.18661119e-06 9.99999987e-01 -1.90699234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.87, Y:61.86, Z:-0.19 [[ 8.48580391e-01 -5.29066442e-01 -1.40001032e-04 4.52868790e+02] [ 5.29066435e-01 8.48580403e-01 -8.51635701e-05 6.18552410e+01] [ 1.63859319e-04 -1.80171120e-06 9.99999987e-01 -1.91779966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.92, Y:61.89, Z:-0.19 [[ 8.50219402e-01 -5.26428484e-01 -1.39995759e-04 4.52916271e+02] [ 5.26428477e-01 8.50219414e-01 -8.51722375e-05 6.18898699e+01] [ 1.63864204e-04 -1.28266520e-06 9.99999987e-01 -1.85550854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.96, Y:61.92, Z:-0.18 [[ 8.51563128e-01 -5.24252057e-01 -1.39980973e-04 4.52962893e+02] [ 5.24252050e-01 8.51563139e-01 -8.51965312e-05 6.19245301e+01] [ 1.63867093e-04 -8.35087421e-07 9.99999987e-01 -1.84816424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.01, Y:61.96, Z:-0.19 [[ 8.52173881e-01 -5.23258690e-01 -1.39963542e-04 4.53010187e+02] [ 5.23258683e-01 8.52173892e-01 -8.52251578e-05 6.19559768e+01] [ 1.63868081e-04 -6.10485192e-07 9.99999987e-01 -1.86637092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.46533619499996 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:453.06, Y:61.99, Z:-0.19 [[ 8.52311426e-01 -5.23034620e-01 -1.39956018e-04 4.53058704e+02] [ 5.23034614e-01 8.52311437e-01 -8.52375119e-05 6.19885012e+01] [ 1.63868284e-04 -5.52936417e-07 9.99999987e-01 -1.88552900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.11, Y:62.02, Z:-0.19 [[ 8.53673991e-01 -5.20807736e-01 -1.39939219e-04 4.53107311e+02] [ 5.20807729e-01 8.53674002e-01 -8.52650833e-05 6.20194086e+01] [ 1.63869188e-04 -9.28426422e-08 9.99999987e-01 -1.86487239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.15, Y:62.05, Z:-0.19 [[ 8.55746517e-01 -5.17395283e-01 -1.39922576e-04 4.53154936e+02] [ 5.17395276e-01 8.55746529e-01 -8.52923852e-05 6.20521816e+01] [ 1.63868137e-04 5.93381708e-07 9.99999987e-01 -1.85390579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.20, Y:62.09, Z:-0.18 [[ 8.58550886e-01 -5.12728346e-01 -1.39905734e-04 4.53201965e+02] [ 5.12728339e-01 8.58550897e-01 -8.53200020e-05 6.20860164e+01] [ 1.63862177e-04 1.51792854e-06 9.99999987e-01 -1.84543993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.25, Y:62.12, Z:-0.19 [[ 8.62166186e-01 -5.06625551e-01 -1.39888887e-04 4.53246612e+02] [ 5.06625544e-01 8.62166197e-01 -8.53476154e-05 6.21245449e+01] [ 1.63846753e-04 2.71254455e-06 9.99999987e-01 -1.85002606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.29, Y:62.16, Z:-0.19 [[ 8.64092112e-01 -5.03333690e-01 -1.39883684e-04 4.53293994e+02] [ 5.03333683e-01 8.64092123e-01 -8.53561418e-05 6.21590805e+01] [ 1.63835012e-04 3.34739884e-06 9.99999987e-01 -1.87240684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.825336195 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:453.34, Y:62.20, Z:-0.19 [[ 8.62449063e-01 -5.06143848e-01 -1.39869252e-04 4.53337458e+02] [ 5.06143841e-01 8.62449074e-01 -8.53797855e-05 6.21983406e+01] [ 1.63844560e-04 2.84175569e-06 9.99999987e-01 -1.87611630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.38, Y:62.23, Z:-0.19 [[ 8.59273376e-01 -5.11516613e-01 -1.39851541e-04 4.53384284e+02] [ 5.11516606e-01 8.59273387e-01 -8.54087856e-05 6.22335765e+01] [ 1.63858720e-04 1.85310995e-06 9.99999987e-01 -1.90319023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.945336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:453.43, Y:62.27, Z:-0.19 [[ 8.53983500e-01 -5.20300070e-01 -1.39836155e-04 4.53433071e+02] [ 5.20300063e-01 8.53983511e-01 -8.54339685e-05 6.22668744e+01] [ 1.63869071e-04 2.02438959e-07 9.99999987e-01 -1.88624462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.005336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:453.48, Y:62.30, Z:-0.19 [[ 8.50734114e-01 -5.25596278e-01 -1.39821055e-04 4.53479293e+02] [ 5.25596271e-01 8.50734126e-01 -8.54586752e-05 6.23012897e+01] [ 1.63867304e-04 -7.86814601e-07 9.99999987e-01 -1.88364897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.065336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:453.53, Y:62.34, Z:-0.19 [[ 8.49829096e-01 -5.27058334e-01 -1.39815771e-04 4.53525270e+02] [ 5.27058327e-01 8.49829108e-01 -8.54673182e-05 6.23374899e+01] [ 1.63865775e-04 -1.05845271e-06 9.99999987e-01 -1.93387950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.57, Y:62.37, Z:-0.19 [[ 8.49153254e-01 -5.28146506e-01 -1.39810563e-04 4.53573511e+02] [ 5.28146499e-01 8.49153265e-01 -8.54758371e-05 6.23723168e+01] [ 1.63864361e-04 -1.25837424e-06 9.99999987e-01 -1.91178049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.62, Y:62.40, Z:-0.20 [[ 8.48860737e-01 -5.28616524e-01 -1.39796762e-04 4.53623127e+02] [ 5.28616517e-01 8.48860749e-01 -8.54984036e-05 6.24026407e+01] [ 1.63863853e-04 -1.32263935e-06 9.99999987e-01 -1.95206917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.245336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:453.67, Y:62.44, Z:-0.19 [[ 8.48943965e-01 -5.28482852e-01 -1.39788906e-04 4.53669781e+02] [ 5.28482845e-01 8.48943976e-01 -8.55112450e-05 6.24389326e+01] [ 1.63864177e-04 -1.28178361e-06 9.99999987e-01 -1.90360806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.30533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.72, Y:62.47, Z:-0.19 [[ 8.50661675e-01 -5.25713511e-01 -1.39773785e-04 4.53717533e+02] [ 5.25713504e-01 8.50661686e-01 -8.55359552e-05 6.24707059e+01] [ 1.63867611e-04 -7.18807278e-07 9.99999987e-01 -1.89027726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.36533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.77, Y:62.50, Z:-0.19 [[ 8.54734474e-01 -5.19065467e-01 -1.39766313e-04 4.53765748e+02] [ 5.19065460e-01 8.54734486e-01 -8.55481623e-05 6.25032416e+01] [ 1.63868184e-04 5.73098118e-07 9.99999987e-01 -1.90025572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.42533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.81, Y:62.54, Z:-0.19 [[ 8.58530362e-01 -5.12762710e-01 -1.39749357e-04 4.53811771e+02] [ 5.12762703e-01 8.58530374e-01 -8.55758526e-05 6.25385174e+01] [ 1.63859174e-04 1.81120986e-06 9.99999987e-01 -1.88898295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.86, Y:62.57, Z:-0.19 [[ 8.60201786e-01 -5.09953790e-01 -1.39744093e-04 4.53858112e+02] [ 5.09953782e-01 8.60201797e-01 -8.55844475e-05 6.25736232e+01] [ 1.63852233e-04 2.35686588e-06 9.99999987e-01 -1.86793044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.54533619499995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:453.91, Y:62.61, Z:-0.18 [[ 8.58491784e-01 -5.12827298e-01 -1.39738926e-04 4.53907940e+02] [ 5.12827291e-01 8.58491795e-01 -8.55928835e-05 6.26053819e+01] [ 1.63859088e-04 1.81885260e-06 9.99999987e-01 -1.84566025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.96, Y:62.64, Z:-0.19 [[ 8.54164467e-01 -5.20002927e-01 -1.39724583e-04 4.53956751e+02] [ 5.20002920e-01 8.54164478e-01 -8.56162904e-05 6.26385179e+01] [ 1.63868497e-04 4.73201793e-07 9.99999987e-01 -1.87267580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.01, Y:62.66, Z:-0.19 [[ 8.50023858e-01 -5.26744170e-01 -1.39709908e-04 4.54008161e+02] [ 5.26744163e-01 8.50023870e-01 -8.56402309e-05 6.26646968e+01] [ 1.63867249e-04 -7.95138967e-07 9.99999987e-01 -1.91678157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.06, Y:62.69, Z:-0.19 [[ 8.47061966e-01 -5.31494127e-01 -1.39704734e-04 4.54057750e+02] [ 5.31494120e-01 8.47061977e-01 -8.56486702e-05 6.26940298e+01] [ 1.63860333e-04 -1.70251366e-06 9.99999987e-01 -1.88817697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.11, Y:62.72, Z:-0.19 [[ 8.46495097e-01 -5.32396498e-01 -1.39687686e-04 4.54109483e+02] [ 5.32396491e-01 8.46495109e-01 -8.56764653e-05 6.27217800e+01] [ 1.63858793e-04 -1.84452597e-06 9.99999987e-01 -1.90615854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.16, Y:62.75, Z:-0.19 [[ 8.48325580e-01 -5.29474920e-01 -1.39672744e-04 4.54160493e+02] [ 5.29474914e-01 8.48325591e-01 -8.57008171e-05 6.27499056e+01] [ 1.63864397e-04 -1.25101885e-06 9.99999987e-01 -1.92010206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.21, Y:62.78, Z:-0.19 [[ 8.51266582e-01 -5.24733443e-01 -1.39667474e-04 4.54211892e+02] [ 5.24733436e-01 8.51266594e-01 -8.57094048e-05 6.27789036e+01] [ 1.63868846e-04 -3.26641684e-07 9.99999987e-01 -1.90064270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.26, Y:62.81, Z:-0.19 [[ 8.53604710e-01 -5.20921280e-01 -1.39652686e-04 4.54262074e+02] [ 5.20921272e-01 8.53604722e-01 -8.57334932e-05 6.28072607e+01] [ 1.63868593e-04 4.34458554e-07 9.99999987e-01 -1.89093840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.31, Y:62.84, Z:-0.19 [[ 8.54431375e-01 -5.19564247e-01 -1.39647462e-04 4.54313414e+02] [ 5.19564240e-01 8.54431386e-01 -8.57420021e-05 6.28359930e+01] [ 1.63867653e-04 7.04829391e-07 9.99999987e-01 -1.88593841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.36, Y:62.87, Z:-0.19 [[ 8.57380869e-01 -5.14682452e-01 -1.39632659e-04 4.54362922e+02] [ 5.14682445e-01 8.57380880e-01 -8.57661023e-05 6.28659502e+01] [ 1.63860680e-04 1.66773702e-06 9.99999987e-01 -1.88878021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.41, Y:62.89, Z:-0.20 [[ 8.57661200e-01 -5.14215175e-01 -1.39615461e-04 4.54414506e+02] [ 5.14215167e-01 8.57661212e-01 -8.57940887e-05 6.28926395e+01] [ 1.63859388e-04 1.78987333e-06 9.99999987e-01 -1.97187474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.46, Y:62.92, Z:-0.20 [[ 8.56556252e-01 -5.16053648e-01 -1.39610140e-04 4.54463499e+02] [ 5.16053641e-01 8.56556264e-01 -8.58027460e-05 6.29249374e+01] [ 1.63862760e-04 1.44855728e-06 9.99999987e-01 -1.97143241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.51, Y:62.95, Z:-0.20 [[ 8.54652682e-01 -5.19200128e-01 -1.39594911e-04 4.54513941e+02] [ 5.19200121e-01 8.54652694e-01 -8.58275162e-05 6.29539573e+01] [ 1.63866824e-04 8.75022273e-07 9.99999987e-01 -1.97645327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.56, Y:62.98, Z:-0.20 [[ 8.53821846e-01 -5.20565304e-01 -1.39589546e-04 4.54563999e+02] [ 5.20565297e-01 8.53821857e-01 -8.58362416e-05 6.29819504e+01] [ 1.63867974e-04 6.23384967e-07 9.99999987e-01 -1.95895414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.385336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:454.61, Y:63.01, Z:-0.19 [[ 8.54444777e-01 -5.19542207e-01 -1.39583217e-04 4.54612858e+02] [ 5.19542199e-01 8.54444788e-01 -8.58465313e-05 6.30149946e+01] [ 1.63867049e-04 8.31748552e-07 9.99999987e-01 -1.93089162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.66, Y:63.05, Z:-0.19 [[ 8.55558834e-01 -5.17705575e-01 -1.39568648e-04 4.54661640e+02] [ 5.17705568e-01 8.55558845e-01 -8.58702115e-05 6.30480789e+01] [ 1.63864678e-04 1.21155182e-06 9.99999987e-01 -1.94066012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.71, Y:63.08, Z:-0.19 [[ 8.55662763e-01 -5.17533782e-01 -1.39553973e-04 4.54709767e+02] [ 5.17533775e-01 8.55662775e-01 -8.58940547e-05 6.30818095e+01] [ 1.63864214e-04 1.27244993e-06 9.99999987e-01 -1.89016833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.76, Y:63.11, Z:-0.19 [[ 8.55090460e-01 -5.18478819e-01 -1.39538700e-04 4.54756690e+02] [ 5.18478812e-01 8.55090471e-01 -8.59188590e-05 6.31146771e+01] [ 1.63865321e-04 1.12053742e-06 9.99999987e-01 -1.91900737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.81, Y:63.15, Z:-0.19 [[ 8.54416981e-01 -5.19587916e-01 -1.39531159e-04 4.54805912e+02] [ 5.19587909e-01 8.54416993e-01 -8.59311040e-05 6.31473949e+01] [ 1.63866556e-04 9.22291591e-07 9.99999987e-01 -1.91321988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.85, Y:63.18, Z:-0.19 [[ 8.52494031e-01 -5.22736940e-01 -1.39516276e-04 4.54852516e+02] [ 5.22736933e-01 8.52494042e-01 -8.59552598e-05 6.31806947e+01] [ 1.63868784e-04 3.46035583e-07 9.99999987e-01 -1.91581847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.745336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:454.90, Y:63.21, Z:-0.19 [[ 8.50846174e-01 -5.25414854e-01 -1.39508933e-04 4.54901832e+02] [ 5.25414847e-01 8.50846185e-01 -8.59671762e-05 6.32129452e+01] [ 1.63869075e-04 -1.55221925e-07 9.99999987e-01 -1.92654479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.80533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.95, Y:63.24, Z:-0.18 [[ 8.47219968e-01 -5.31242229e-01 -1.39494446e-04 4.54953255e+02] [ 5.31242222e-01 8.47219980e-01 -8.59906770e-05 6.32413210e+01] [ 1.63864361e-04 -1.25232107e-06 9.99999987e-01 -1.84602083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.86533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.01, Y:63.27, Z:-0.18 [[ 8.42399221e-01 -5.38853907e-01 -1.39479526e-04 4.55005746e+02] [ 5.38853901e-01 8.42399232e-01 -8.60148722e-05 6.32676205e+01] [ 1.63846895e-04 -2.70022509e-06 9.99999987e-01 -1.82136405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.92533619499994 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:455.06, Y:63.29, Z:-0.19 [[ 8.38459879e-01 -5.44963312e-01 -1.39464458e-04 4.55059097e+02] [ 5.44963305e-01 8.38459891e-01 -8.60392960e-05 6.32938810e+01] [ 1.63823614e-04 -3.86251422e-06 9.99999987e-01 -1.87739089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.11, Y:63.32, Z:-0.19 [[ 8.37314620e-01 -5.46721325e-01 -1.39449573e-04 4.55113582e+02] [ 5.46721318e-01 8.37314632e-01 -8.60634137e-05 6.33161916e+01] [ 1.63815872e-04 -4.17789993e-06 9.99999987e-01 -1.89739896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.04533619499995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:455.17, Y:63.34, Z:-0.19 [[ 8.39054273e-01 -5.44047708e-01 -1.39444340e-04 4.55167129e+02] [ 5.44047701e-01 8.39054284e-01 -8.60718920e-05 6.33408214e+01] [ 1.63828586e-04 -3.64538375e-06 9.99999987e-01 -1.90469438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.10533619499995 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:455.22, Y:63.37, Z:-0.19 [[ 8.39980598e-01 -5.42616417e-01 -1.39429705e-04 4.55219532e+02] [ 5.42616410e-01 8.39980609e-01 -8.60955926e-05 6.33678197e+01] [ 1.63835131e-04 -3.33821888e-06 9.99999987e-01 -1.89427970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.16533619499995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:455.27, Y:63.39, Z:-0.19 [[ 8.44002495e-01 -5.36339229e-01 -1.39414994e-04 4.55274464e+02] [ 5.36339223e-01 8.44002507e-01 -8.61194084e-05 6.33890972e+01] [ 1.63855821e-04 -2.08873383e-06 9.99999987e-01 -1.85171362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.33, Y:63.41, Z:-0.18 [[ 8.48187948e-01 -5.29695371e-01 -1.39398069e-04 4.55330233e+02] [ 5.29695364e-01 8.48187959e-01 -8.61467959e-05 6.34103466e+01] [ 1.63867322e-04 -7.69836621e-07 9.99999987e-01 -1.83288053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.28533619499996 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:455.38, Y:63.43, Z:-0.19 [[ 8.52613190e-01 -5.22542562e-01 -1.39383238e-04 4.55384851e+02] [ 5.22542555e-01 8.52613201e-01 -8.61707852e-05 6.34344390e+01] [ 1.63867891e-04 6.36674938e-07 9.99999987e-01 -1.90116529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.44, Y:63.46, Z:-0.19 [[ 8.56936151e-01 -5.15422559e-01 -1.39368365e-04 4.55439129e+02] [ 5.15422551e-01 8.56936162e-01 -8.61948322e-05 6.34573310e+01] [ 1.63856553e-04 2.02986926e-06 9.99999987e-01 -1.87516443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.49, Y:63.48, Z:-0.19 [[ 8.61359354e-01 -5.07996106e-01 -1.39351200e-04 4.55490450e+02] [ 5.07996099e-01 8.61359365e-01 -8.62225748e-05 6.34840162e+01] [ 1.63832193e-04 3.47875554e-06 9.99999987e-01 -1.87382360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.54, Y:63.51, Z:-0.19 [[ 8.63478113e-01 -5.04386289e-01 -1.39333963e-04 4.55541961e+02] [ 5.04386282e-01 8.63478125e-01 -8.62504200e-05 6.35116050e+01] [ 1.63815358e-04 4.19721034e-06 9.99999987e-01 -1.87073552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.59, Y:63.54, Z:-0.19 [[ 8.64848217e-01 -5.02033408e-01 -1.39316688e-04 4.55592337e+02] [ 5.02033400e-01 8.64848228e-01 -8.62783149e-05 6.35410464e+01] [ 1.63802387e-04 4.67601621e-06 9.99999987e-01 -1.88308148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.64, Y:63.57, Z:-0.19 [[ 8.64551529e-01 -5.02544161e-01 -1.39299644e-04 4.55641988e+02] [ 5.02544153e-01 8.64551541e-01 -8.63058237e-05 6.35715601e+01] [ 1.63804210e-04 4.61161006e-06 9.99999987e-01 -1.91172369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.69, Y:63.60, Z:-0.19 [[ 8.63737202e-01 -5.03942483e-01 -1.39291793e-04 4.55691954e+02] [ 5.03942476e-01 8.63737213e-01 -8.63184926e-05 6.36016865e+01] [ 1.63811061e-04 4.36144205e-06 9.99999987e-01 -1.90127588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.74, Y:63.64, Z:-0.18 [[ 8.61937771e-01 -5.07014063e-01 -1.39275062e-04 4.55740139e+02] [ 5.07014056e-01 8.61937782e-01 -8.63454808e-05 6.36363047e+01] [ 1.63824811e-04 3.81001736e-06 9.99999987e-01 -1.83473071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.765336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:455.79, Y:63.67, Z:-0.19 [[ 8.60111510e-01 -5.10106039e-01 -1.39259477e-04 4.55787226e+02] [ 5.10106032e-01 8.60111521e-01 -8.63706092e-05 6.36687668e+01] [ 1.63836850e-04 3.25125594e-06 9.99999987e-01 -1.87093966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.83, Y:63.70, Z:-0.18 [[ 8.56176171e-01 -5.16683990e-01 -1.39251740e-04 4.55834894e+02] [ 5.16683983e-01 8.56176182e-01 -8.63830814e-05 6.37037413e+01] [ 1.63856778e-04 2.00999227e-06 9.99999987e-01 -1.84729889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.88, Y:63.74, Z:-0.19 [[ 8.55030366e-01 -5.18577915e-01 -1.39236554e-04 4.55883047e+02] [ 5.18577908e-01 8.55030377e-01 -8.64075510e-05 6.37384300e+01] [ 1.63860531e-04 1.67607888e-06 9.99999987e-01 -1.86069153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.93, Y:63.78, Z:-0.19 [[ 8.53834402e-01 -5.20544710e-01 -1.39221454e-04 4.55927397e+02] [ 5.20544703e-01 8.53834413e-01 -8.64318742e-05 6.37761256e+01] [ 1.63863723e-04 1.32751720e-06 9.99999987e-01 -1.87221672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.97, Y:63.82, Z:-0.19 [[ 8.52354184e-01 -5.22964938e-01 -1.39216116e-04 4.55972783e+02] [ 5.22964931e-01 8.52354195e-01 -8.64404720e-05 6.38150231e+01] [ 1.63866776e-04 8.72751729e-07 9.99999987e-01 -1.86128565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.02, Y:63.85, Z:-0.19 [[ 8.49500822e-01 -5.27587276e-01 -1.39200820e-04 4.56017013e+02] [ 5.27587269e-01 8.49500833e-01 -8.64650968e-05 6.38526391e+01] [ 1.63869097e-04 1.15904509e-08 9.99999987e-01 -1.89854691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.125336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:456.06, Y:63.89, Z:-0.19 [[ 8.45700498e-01 -5.33657801e-01 -1.39192843e-04 4.56059695e+02] [ 5.33657794e-01 8.45700509e-01 -8.64779368e-05 6.38931127e+01] [ 1.63865083e-04 -1.14691109e-06 9.99999987e-01 -1.91155380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.11, Y:63.93, Z:-0.19 [[ 8.40534544e-01 -5.41757936e-01 -1.39176002e-04 4.56107621e+02] [ 5.41757929e-01 8.40534555e-01 -8.65050311e-05 6.39275560e+01] [ 1.63847026e-04 -2.68923579e-06 9.99999987e-01 -1.88361595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.16, Y:63.96, Z:-0.19 [[ 8.34260621e-01 -5.51370291e-01 -1.39161339e-04 4.56157869e+02] [ 5.51370284e-01 8.34260632e-01 -8.65286131e-05 6.39584245e+01] [ 1.63806133e-04 -4.54201258e-06 9.99999987e-01 -1.89670213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.30533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.21, Y:63.99, Z:-0.19 [[ 8.29755703e-01 -5.58126737e-01 -1.39146496e-04 4.56206656e+02] [ 5.58126730e-01 8.29755714e-01 -8.65524757e-05 6.39901660e+01] [ 1.63764851e-04 -5.84396850e-06 9.99999987e-01 -1.88146328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.36533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.26, Y:64.02, Z:-0.19 [[ 8.28876769e-01 -5.59431213e-01 -1.39129631e-04 4.56255789e+02] [ 5.59431206e-01 8.28876781e-01 -8.65795769e-05 6.40202072e+01] [ 1.63756638e-04 -6.06965730e-06 9.99999987e-01 -1.86717186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.42533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.31, Y:64.05, Z:-0.18 [[ 8.33132376e-01 -5.53073616e-01 -1.39121879e-04 4.56307306e+02] [ 5.53073610e-01 8.33132387e-01 -8.65920307e-05 6.40483874e+01] [ 1.63798711e-04 -4.80201576e-06 9.99999987e-01 -1.82348005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.35, Y:64.08, Z:-0.18 [[ 8.37999096e-01 -5.45671600e-01 -1.39106885e-04 4.56354554e+02] [ 5.45671593e-01 8.37999108e-01 -8.66161119e-05 6.40824611e+01] [ 1.63835398e-04 -3.32245213e-06 9.99999987e-01 -1.81732904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.40, Y:64.11, Z:-0.19 [[ 8.45737612e-01 -5.33598980e-01 -1.39101582e-04 4.56403071e+02] [ 5.33598973e-01 8.45737624e-01 -8.66246279e-05 6.41134910e+01] [ 1.63866254e-04 -9.62755363e-07 9.99999987e-01 -1.85965263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.45, Y:64.14, Z:-0.18 [[ 8.50390031e-01 -5.26152806e-01 -1.39096347e-04 4.56453360e+02] [ 5.26152799e-01 8.50390043e-01 -8.66330328e-05 6.41435869e+01] [ 1.63868362e-04 4.85935223e-07 9.99999987e-01 -1.83114777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.50, Y:64.18, Z:-0.19 [[ 8.51693936e-01 -5.24039522e-01 -1.39081265e-04 4.56501715e+02] [ 5.24039515e-01 8.51693947e-01 -8.66572392e-05 6.41757616e+01] [ 1.63866490e-04 9.21366562e-07 9.99999987e-01 -1.85011373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.55, Y:64.20, Z:-0.19 [[ 8.50095873e-01 -5.26627940e-01 -1.39075909e-04 4.56554019e+02] [ 5.26627933e-01 8.50095885e-01 -8.66658340e-05 6.42022081e+01] [ 1.63868507e-04 4.33009388e-07 9.99999987e-01 -1.86589088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.61, Y:64.23, Z:-0.18 [[ 8.48229287e-01 -5.29629169e-01 -1.39060944e-04 4.56606151e+02] [ 5.29629162e-01 8.48229299e-01 -8.66898392e-05 6.42292743e+01] [ 1.63869035e-04 -1.17870878e-07 9.99999987e-01 -1.84237953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.66, Y:64.26, Z:-0.18 [[ 8.48316577e-01 -5.29489344e-01 -1.39045819e-04 4.56657609e+02] [ 5.29489337e-01 8.48316589e-01 -8.67140931e-05 6.42573391e+01] [ 1.63869063e-04 -6.22756809e-08 9.99999987e-01 -1.79394177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.71, Y:64.29, Z:-0.18 [[ 8.51143532e-01 -5.24933013e-01 -1.39030074e-04 4.56707241e+02] [ 5.24933006e-01 8.51143544e-01 -8.67393291e-05 6.42869106e+01] [ 1.63866887e-04 8.46144312e-07 9.99999987e-01 -1.79107664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.96533619499996 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:456.76, Y:64.32, Z:-0.18 [[ 8.55222196e-01 -5.18261495e-01 -1.39024536e-04 4.56756812e+02] [ 5.18261488e-01 8.55222207e-01 -8.67482051e-05 6.43183781e+01] [ 1.63855125e-04 2.13792773e-06 9.99999987e-01 -1.82364614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.02533619499997 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:456.80, Y:64.35, Z:-0.18 [[ 8.57518026e-01 -5.14453901e-01 -1.39009138e-04 4.56804306e+02] [ 5.14453894e-01 8.57518037e-01 -8.67728713e-05 6.43510091e+01] [ 1.63843486e-04 2.89550877e-06 9.99999987e-01 -1.84341002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.85, Y:64.38, Z:-0.19 [[ 8.59604326e-01 -5.10960257e-01 -1.39003685e-04 4.56852080e+02] [ 5.10960249e-01 8.59604337e-01 -8.67816070e-05 6.43844070e+01] [ 1.63830122e-04 3.57248737e-06 9.99999987e-01 -1.86041848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.90, Y:64.42, Z:-0.19 [[ 8.59844248e-01 -5.10556412e-01 -1.38998291e-04 4.56899829e+02] [ 5.10556404e-01 8.59844259e-01 -8.67902459e-05 6.44197636e+01] [ 1.63828199e-04 3.65962631e-06 9.99999987e-01 -1.85629621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.95, Y:64.46, Z:-0.19 [[ 8.59056581e-01 -5.11880622e-01 -1.38983174e-04 4.56947087e+02] [ 5.11880614e-01 8.59056592e-01 -8.68144466e-05 6.44553575e+01] [ 1.63833045e-04 3.43572930e-06 9.99999987e-01 -1.89557494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.00, Y:64.49, Z:-0.19 [[ 8.56844442e-01 -5.15575002e-01 -1.38968131e-04 4.56995411e+02] [ 5.15574995e-01 8.56844453e-01 -8.68385190e-05 6.44894002e+01] [ 1.63845842e-04 2.75860872e-06 9.99999987e-01 -1.91658254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.04, Y:64.52, Z:-0.19 [[ 8.53551161e-01 -5.21009017e-01 -1.38953156e-04 4.57042748e+02] [ 5.21009010e-01 8.53551172e-01 -8.68624755e-05 6.45239079e+01] [ 1.63859762e-04 1.74572071e-06 9.99999987e-01 -1.92685763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.385336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:457.09, Y:64.56, Z:-0.19 [[ 8.50046196e-01 -5.26708122e-01 -1.38938269e-04 4.57090918e+02] [ 5.26708114e-01 8.50046207e-01 -8.68862801e-05 6.45578887e+01] [ 1.63867658e-04 6.77438102e-07 9.99999987e-01 -1.91864657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.445336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:457.14, Y:64.59, Z:-0.19 [[ 8.46379759e-01 -5.32579839e-01 -1.38923267e-04 4.57142030e+02] [ 5.32579832e-01 8.46379770e-01 -8.69102616e-05 6.45868264e+01] [ 1.63868495e-04 -4.28643744e-07 9.99999987e-01 -1.87762273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.19, Y:64.62, Z:-0.18 [[ 8.44755700e-01 -5.35152117e-01 -1.38919823e-04 4.57191296e+02] [ 5.35152110e-01 8.44755711e-01 -8.69157662e-05 6.46169137e+01] [ 1.63866470e-04 -9.20647342e-07 9.99999987e-01 -1.84749466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.24, Y:64.65, Z:-0.19 [[ 8.43636086e-01 -5.36915389e-01 -1.38902754e-04 4.57243443e+02] [ 5.36915382e-01 8.43636098e-01 -8.69430355e-05 6.46454019e+01] [ 1.63864431e-04 -1.23074303e-06 9.99999987e-01 -1.87181572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.30, Y:64.67, Z:-0.19 [[ 8.43176960e-01 -5.37636118e-01 -1.38888846e-04 4.57295266e+02] [ 5.37636111e-01 8.43176971e-01 -8.69652479e-05 6.46739534e+01] [ 1.63863534e-04 -1.34456540e-06 9.99999987e-01 -1.87300486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.35, Y:64.70, Z:-0.19 [[ 8.42945198e-01 -5.37999418e-01 -1.38873706e-04 4.57346161e+02] [ 5.37999411e-01 8.42945210e-01 -8.69894182e-05 6.47022102e+01] [ 1.63863181e-04 -1.38665938e-06 9.99999987e-01 -1.87631300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.40, Y:64.73, Z:-0.19 [[ 8.45890390e-01 -5.33356755e-01 -1.38868373e-04 4.57397001e+02] [ 5.33356748e-01 8.45890402e-01 -8.69979303e-05 6.47322709e+01] [ 1.63868358e-04 -4.75670577e-07 9.99999987e-01 -1.87635541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.80533619499994 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:457.45, Y:64.77, Z:-0.19 [[ 8.51423236e-01 -5.24479222e-01 -1.38853567e-04 4.57445486e+02] [ 5.24479215e-01 8.51423247e-01 -8.70215548e-05 6.47657995e+01] [ 1.63864152e-04 1.26636393e-06 9.99999987e-01 -1.91743223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.86533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.49, Y:64.80, Z:-0.19 [[ 8.54791285e-01 -5.18971906e-01 -1.38838583e-04 4.57493585e+02] [ 5.18971899e-01 8.54791297e-01 -8.70454541e-05 6.47988384e+01] [ 1.63852158e-04 2.35237235e-06 9.99999987e-01 -1.86517672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.92533619499994 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:457.54, Y:64.83, Z:-0.19 [[ 8.54889195e-01 -5.18810605e-01 -1.38830344e-04 4.57539468e+02] [ 5.18810598e-01 8.54889207e-01 -8.70585926e-05 6.48335054e+01] [ 1.63851484e-04 2.39879621e-06 9.99999987e-01 -1.87385704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.59, Y:64.86, Z:-0.19 [[ 8.52141235e-01 -5.23311853e-01 -1.38820801e-04 4.57590034e+02] [ 5.23311846e-01 8.52141247e-01 -8.70738082e-05 6.48635529e+01] [ 1.63861686e-04 1.55261301e-06 9.99999987e-01 -1.85268522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.64, Y:64.90, Z:-0.19 [[ 8.48567058e-01 -5.29087828e-01 -1.38805716e-04 4.57637812e+02] [ 5.29087820e-01 8.48567069e-01 -8.70978486e-05 6.48953365e+01] [ 1.63868371e-04 4.67951598e-07 9.99999987e-01 -1.87550840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.10533619499995 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:457.69, Y:64.93, Z:-0.19 [[ 8.46548116e-01 -5.32312190e-01 -1.38800415e-04 4.57687161e+02] [ 5.32312182e-01 8.46548128e-01 -8.71062957e-05 6.49266230e+01] [ 1.63868974e-04 -1.45481048e-07 9.99999987e-01 -1.88753366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.74, Y:64.96, Z:-0.19 [[ 8.45266034e-01 -5.34345686e-01 -1.38785679e-04 4.57737179e+02] [ 5.34345679e-01 8.45266046e-01 -8.71297669e-05 6.49574847e+01] [ 1.63868237e-04 -5.11695436e-07 9.99999987e-01 -1.92859416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.22533619499995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:457.79, Y:64.99, Z:-0.19 [[ 8.45015319e-01 -5.34742080e-01 -1.38781451e-04 4.57786598e+02] [ 5.34742073e-01 8.45015330e-01 -8.71365007e-05 6.49870322e+01] [ 1.63868008e-04 -5.80603075e-07 9.99999987e-01 -1.94069323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.84, Y:65.02, Z:-0.19 [[ 8.43762925e-01 -5.36716040e-01 -1.38764252e-04 4.57836842e+02] [ 5.36716033e-01 8.43762936e-01 -8.71638827e-05 6.50163349e+01] [ 1.63866386e-04 -9.31346098e-07 9.99999987e-01 -1.88120518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.34533619499996 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:457.89, Y:65.04, Z:-0.19 [[ 8.42295176e-01 -5.39016527e-01 -1.38759217e-04 4.57889108e+02] [ 5.39016520e-01 8.42295188e-01 -8.71718961e-05 6.50440757e+01] [ 1.63863314e-04 -1.36904289e-06 9.99999987e-01 -1.86692721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.94, Y:65.07, Z:-0.19 [[ 8.42266903e-01 -5.39060706e-01 -1.38744593e-04 4.57941374e+02] [ 5.39060699e-01 8.42266915e-01 -8.71951671e-05 6.50716922e+01] [ 1.63863468e-04 -1.35015363e-06 9.99999987e-01 -1.85831933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.99, Y:65.10, Z:-0.19 [[ 8.45261459e-01 -5.34352923e-01 -1.38729781e-04 4.57992097e+02] [ 5.34352916e-01 8.45261471e-01 -8.72187268e-05 6.50989205e+01] [ 1.63868520e-04 -4.08034525e-07 9.99999987e-01 -1.89126272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.04, Y:65.13, Z:-0.19 [[ 8.50689807e-01 -5.25667988e-01 -1.38724574e-04 4.58040393e+02] [ 5.25667981e-01 8.50689818e-01 -8.72270075e-05 6.51301805e+01] [ 1.63864028e-04 1.28005953e-06 9.99999987e-01 -1.89325879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.09, Y:65.16, Z:-0.19 [[ 8.54911978e-01 -5.18773063e-01 -1.38719398e-04 4.58090922e+02] [ 5.18773056e-01 8.54911989e-01 -8.72352377e-05 6.51606915e+01] [ 1.63848168e-04 2.61456347e-06 9.99999987e-01 -1.87716728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.14, Y:65.19, Z:-0.19 [[ 8.56367139e-01 -5.16367412e-01 -1.38705017e-04 4.58140424e+02] [ 5.16367404e-01 8.56367150e-01 -8.72580976e-05 6.51932934e+01] [ 1.63839658e-04 3.10221766e-06 9.99999987e-01 -1.88452621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.19, Y:65.23, Z:-0.19 [[ 8.56193049e-01 -5.16656020e-01 -1.38690484e-04 4.58188763e+02] [ 5.16656013e-01 8.56193060e-01 -8.72811904e-05 6.52258013e+01] [ 1.63840183e-04 3.07427582e-06 9.99999987e-01 -1.87377501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.24, Y:65.26, Z:-0.19 [[ 8.53216149e-01 -5.21557459e-01 -1.38673440e-04 4.58238647e+02] [ 5.21557452e-01 8.53216161e-01 -8.73082624e-05 6.52566104e+01] [ 1.63854696e-04 2.16665345e-06 9.99999987e-01 -1.88779962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.29, Y:65.29, Z:-0.19 [[ 8.49423863e-01 -5.27711172e-01 -1.38658235e-04 4.58288648e+02] [ 5.27711165e-01 8.49423875e-01 -8.73324028e-05 6.52880719e+01] [ 1.63865900e-04 1.01072800e-06 9.99999987e-01 -1.86844567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.34, Y:65.32, Z:-0.19 [[ 8.48289074e-01 -5.29533406e-01 -1.38643144e-04 4.58338082e+02] [ 5.29533399e-01 8.48289085e-01 -8.73563547e-05 6.53196463e+01] [ 1.63867574e-04 6.87266015e-07 9.99999987e-01 -1.87800950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.945336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:458.39, Y:65.35, Z:-0.19 [[ 8.46602711e-01 -5.32225357e-01 -1.38628010e-04 4.58386804e+02] [ 5.32225350e-01 8.46602722e-01 -8.73803644e-05 6.53503050e+01] [ 1.63868896e-04 1.95112273e-07 9.99999987e-01 -1.87942012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.005336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:458.44, Y:65.38, Z:-0.19 [[ 8.46542973e-01 -5.32320369e-01 -1.38610199e-04 4.58435178e+02] [ 5.32320362e-01 8.46542984e-01 -8.74086088e-05 6.53812194e+01] [ 1.63868874e-04 2.10112347e-07 9.99999987e-01 -1.89949270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.48, Y:65.41, Z:-0.19 [[ 8.46370892e-01 -5.32593930e-01 -1.38598170e-04 4.58484155e+02] [ 5.32593922e-01 8.46370903e-01 -8.74276772e-05 6.54141735e+01] [ 1.63868909e-04 1.79697912e-07 9.99999987e-01 -1.86669968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.125336195 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:458.53, Y:65.45, Z:-0.19 [[ 8.46348203e-01 -5.32629985e-01 -1.38583285e-04 4.58532580e+02] [ 5.32629978e-01 8.46348214e-01 -8.74512666e-05 6.54477545e+01] [ 1.63868882e-04 2.00610510e-07 9.99999987e-01 -1.88470457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.185336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:458.58, Y:65.48, Z:-0.19 [[ 8.46611929e-01 -5.32210694e-01 -1.38568274e-04 4.58580198e+02] [ 5.32210687e-01 8.46611940e-01 -8.74750450e-05 6.54806447e+01] [ 1.63868710e-04 3.09900306e-07 9.99999987e-01 -1.89409558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.245336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:458.63, Y:65.52, Z:-0.19 [[ 8.46525163e-01 -5.32348692e-01 -1.38550955e-04 4.58625202e+02] [ 5.32348685e-01 8.46525174e-01 -8.75024671e-05 6.55177622e+01] [ 1.63868696e-04 3.15621352e-07 9.99999987e-01 -1.90585027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.30533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.67, Y:65.55, Z:-0.19 [[ 8.44614083e-01 -5.35375599e-01 -1.38545605e-04 4.58674201e+02] [ 5.35375591e-01 8.44614094e-01 -8.75109381e-05 6.55505217e+01] [ 1.63868791e-04 -2.60964372e-07 9.99999987e-01 -1.87429744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.36533619499994 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:458.72, Y:65.58, Z:-0.19 [[ 8.42813184e-01 -5.38206204e-01 -1.38531281e-04 4.58722877e+02] [ 5.38206197e-01 8.42813195e-01 -8.75336062e-05 6.55838808e+01] [ 1.63867122e-04 -7.83916759e-07 9.99999987e-01 -1.87862917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.42533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.77, Y:65.62, Z:-0.19 [[ 8.42014806e-01 -5.39454397e-01 -1.38516273e-04 4.58768810e+02] [ 5.39454390e-01 8.42014818e-01 -8.75573497e-05 6.56191189e+01] [ 1.63865952e-04 -9.98626710e-07 9.99999987e-01 -1.87484790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.48533619499995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:458.82, Y:65.65, Z:-0.19 [[ 8.41353072e-01 -5.40485883e-01 -1.38510978e-04 4.58817949e+02] [ 5.40485876e-01 8.41353083e-01 -8.75657246e-05 6.56521806e+01] [ 1.63864677e-04 -1.18953613e-06 9.99999987e-01 -1.86251725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.87, Y:65.68, Z:-0.19 [[ 8.41073651e-01 -5.40920599e-01 -1.38496004e-04 4.58865010e+02] [ 5.40920592e-01 8.41073662e-01 -8.75894019e-05 6.56843535e+01] [ 1.63864253e-04 -1.24620251e-06 9.99999987e-01 -1.88888979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.91, Y:65.72, Z:-0.18 [[ 8.39548020e-01 -5.43285471e-01 -1.38488618e-04 4.58913302e+02] [ 5.43285464e-01 8.39548031e-01 -8.76010787e-05 6.57173254e+01] [ 1.63860240e-04 -1.69354087e-06 9.99999987e-01 -1.83890296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.96, Y:65.74, Z:-0.19 [[ 8.36150341e-01 -5.48500308e-01 -1.38473353e-04 4.58964550e+02] [ 5.48500301e-01 8.36150353e-01 -8.76252022e-05 6.57434093e+01] [ 1.63846993e-04 -2.68483296e-06 9.99999987e-01 -1.86864504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.02, Y:65.77, Z:-0.18 [[ 8.33064048e-01 -5.53176530e-01 -1.38465818e-04 4.59016895e+02] [ 5.53176523e-01 8.33064059e-01 -8.76371072e-05 6.57703110e+01] [ 1.63829687e-04 -3.58871644e-06 9.99999987e-01 -1.83398396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.07, Y:65.79, Z:-0.18 [[ 8.32801681e-01 -5.53571441e-01 -1.38451011e-04 4.59072349e+02] [ 5.53571434e-01 8.32801693e-01 -8.76604931e-05 6.57929741e+01] [ 1.63828582e-04 -3.63871877e-06 9.99999987e-01 -1.81650590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.84533619499996 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:459.13, Y:65.82, Z:-0.18 [[ 8.36212074e-01 -5.48406189e-01 -1.38436028e-04 4.59126125e+02] [ 5.48406182e-01 8.36212086e-01 -8.76841490e-05 6.58154072e+01] [ 1.63848409e-04 -2.59662922e-06 9.99999987e-01 -1.84568155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.18, Y:65.84, Z:-0.18 [[ 8.39768582e-01 -5.42944481e-01 -1.38430714e-04 4.59180492e+02] [ 5.42944474e-01 8.39768593e-01 -8.76925369e-05 6.58404486e+01] [ 1.63861945e-04 -1.51875389e-06 9.99999987e-01 -1.82095355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.23, Y:65.87, Z:-0.19 [[ 8.47047777e-01 -5.31516740e-01 -1.38422349e-04 4.59231672e+02] [ 5.31516733e-01 8.47047788e-01 -8.77057400e-05 6.58669781e+01] [ 1.63867413e-04 7.17157599e-07 9.99999987e-01 -1.85632673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.28, Y:65.89, Z:-0.19 [[ 8.54569892e-01 -5.19336384e-01 -1.38416935e-04 4.59284242e+02] [ 5.19336377e-01 8.54569903e-01 -8.77142829e-05 6.58943612e+01] [ 1.63840165e-04 3.07303577e-06 9.99999987e-01 -1.88546445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.08533619499997 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:459.34, Y:65.92, Z:-0.19 [[ 8.59773309e-01 -5.10675863e-01 -1.38401867e-04 4.59335676e+02] [ 5.10675856e-01 8.59773320e-01 -8.77380512e-05 6.59219948e+01] [ 1.63799938e-04 4.75634262e-06 9.99999987e-01 -1.89045897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.39, Y:65.95, Z:-0.18 [[ 8.61791150e-01 -5.07263240e-01 -1.38384267e-04 4.59385411e+02] [ 5.07263232e-01 8.61791161e-01 -8.77658028e-05 6.59509804e+01] [ 1.63778703e-04 5.43854162e-06 9.99999987e-01 -1.84698336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.43, Y:65.98, Z:-0.19 [[ 8.62602869e-01 -5.05881677e-01 -1.38378910e-04 4.59433722e+02] [ 5.05881669e-01 8.62602880e-01 -8.77742477e-05 6.59822359e+01] [ 1.63769430e-04 5.71096393e-06 9.99999987e-01 -1.85885119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.48, Y:66.01, Z:-0.18 [[ 8.63223237e-01 -5.04822370e-01 -1.38373630e-04 4.59481898e+02] [ 5.04822362e-01 8.63223248e-01 -8.77825706e-05 6.60145333e+01] [ 1.63761940e-04 5.92185190e-06 9.99999987e-01 -1.82979859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.53, Y:66.05, Z:-0.19 [[ 8.64660191e-01 -5.02357179e-01 -1.38356221e-04 4.59527182e+02] [ 5.02357171e-01 8.64660202e-01 -8.78100013e-05 6.60496522e+01] [ 1.63743102e-04 6.42157276e-06 9.99999987e-01 -1.87386325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.57, Y:66.09, Z:-0.18 [[ 8.64746047e-01 -5.02209374e-01 -1.38348724e-04 4.59570481e+02] [ 5.02209366e-01 8.64746058e-01 -8.78218110e-05 6.60898746e+01] [ 1.63741451e-04 6.46353881e-06 9.99999987e-01 -1.84411598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.61, Y:66.13, Z:-0.19 [[ 8.62211888e-01 -5.06547768e-01 -1.38331767e-04 4.59613514e+02] [ 5.06547760e-01 8.62211899e-01 -8.78485130e-05 6.61306056e+01] [ 1.63770764e-04 5.67238566e-06 9.99999987e-01 -1.86394592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.66, Y:66.17, Z:-0.19 [[ 8.56484548e-01 -5.16172645e-01 -1.38326535e-04 4.59658290e+02] [ 5.16172638e-01 8.56484559e-01 -8.78567498e-05 6.61681646e+01] [ 1.63823793e-04 3.84757600e-06 9.99999987e-01 -1.86012619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.565336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:459.70, Y:66.21, Z:-0.19 [[ 8.47616361e-01 -5.30609541e-01 -1.38309815e-04 4.59703370e+02] [ 5.30609534e-01 8.47616373e-01 -8.78830640e-05 6.62059055e+01] [ 1.63865256e-04 1.10261643e-06 9.99999987e-01 -1.86819585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.625336195 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:459.75, Y:66.24, Z:-0.19 [[ 8.37422661e-01 -5.46555823e-01 -1.38292449e-04 4.59750206e+02] [ 5.46555816e-01 8.37422672e-01 -8.79103834e-05 6.62395707e+01] [ 1.63857164e-04 -1.96639494e-06 9.99999987e-01 -1.86166702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.80, Y:66.27, Z:-0.18 [[ 8.29147358e-01 -5.59030088e-01 -1.38274931e-04 4.59799806e+02] [ 5.59030081e-01 8.29147370e-01 -8.79379283e-05 6.62713225e+01] [ 1.63810243e-04 -4.38634490e-06 9.99999987e-01 -1.81270874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.745336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:459.85, Y:66.30, Z:-0.18 [[ 8.25606430e-01 -5.64246403e-01 -1.38259879e-04 4.59850012e+02] [ 5.64246396e-01 8.25606442e-01 -8.79615873e-05 6.63002761e+01] [ 1.63780256e-04 -5.39098638e-06 9.99999987e-01 -1.82853473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.80533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.90, Y:66.33, Z:-0.18 [[ 8.25297771e-01 -5.64697768e-01 -1.38242902e-04 4.59899393e+02] [ 5.64697761e-01 8.25297783e-01 -8.79882606e-05 6.63308487e+01] [ 1.63778335e-04 -5.44894197e-06 9.99999987e-01 -1.80010455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.86533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.95, Y:66.36, Z:-0.18 [[ 8.26772345e-01 -5.62536639e-01 -1.38225906e-04 4.59949144e+02] [ 5.62536633e-01 8.26772356e-01 -8.80149533e-05 6.63593276e+01] [ 1.63792994e-04 -4.98880616e-06 9.99999987e-01 -1.81300406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.92533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.00, Y:66.39, Z:-0.18 [[ 8.30331129e-01 -5.57270309e-01 -1.38218554e-04 4.60001352e+02] [ 5.57270302e-01 8.30331141e-01 -8.80264971e-05 6.63870074e+01] [ 1.63821723e-04 -3.93395449e-06 9.99999987e-01 -1.82677624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.05, Y:66.42, Z:-0.18 [[ 8.35336095e-01 -5.49739566e-01 -1.38204380e-04 4.60052433e+02] [ 5.49739559e-01 8.35336106e-01 -8.80487442e-05 6.64160936e+01] [ 1.63850987e-04 -2.42612099e-06 9.99999987e-01 -1.78335702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.10, Y:66.44, Z:-0.18 [[ 8.40701983e-01 -5.41498067e-01 -1.38189428e-04 4.60104851e+02] [ 5.41498060e-01 8.40701994e-01 -8.80722048e-05 6.64440831e+01] [ 1.63867057e-04 -7.86830172e-07 9.99999987e-01 -1.78276706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.15, Y:66.47, Z:-0.18 [[ 8.45995088e-01 -5.33190672e-01 -1.38174435e-04 4.60154764e+02] [ 5.33190664e-01 8.45995099e-01 -8.80957210e-05 6.64743712e+01] [ 1.63866712e-04 8.55228377e-07 9.99999987e-01 -1.80188792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.20, Y:66.51, Z:-0.18 [[ 8.49303358e-01 -5.27905092e-01 -1.38159144e-04 4.60203235e+02] [ 5.27905085e-01 8.49303370e-01 -8.81196948e-05 6.65051198e+01] [ 1.63857862e-04 1.90543794e-06 9.99999987e-01 -1.81932120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.25, Y:66.54, Z:-0.18 [[ 8.50076443e-01 -5.26659303e-01 -1.38147235e-04 4.60251216e+02] [ 5.26659296e-01 8.50076454e-01 -8.81383606e-05 6.65350087e+01] [ 1.63854600e-04 2.16781838e-06 9.99999987e-01 -1.83859601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.30, Y:66.57, Z:-0.19 [[ 8.47524129e-01 -5.30756847e-01 -1.38139741e-04 4.60301079e+02] [ 5.30756840e-01 8.47524141e-01 -8.81501053e-05 6.65654479e+01] [ 1.63863037e-04 1.39072889e-06 9.99999987e-01 -1.85741992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.35, Y:66.59, Z:-0.19 [[ 8.44069296e-01 -5.36234095e-01 -1.38124534e-04 4.60351069e+02] [ 5.36234088e-01 8.44069307e-01 -8.81739264e-05 6.65941252e+01] [ 1.63868546e-04 3.57820361e-07 9.99999987e-01 -1.86771415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.40, Y:66.62, Z:-0.18 [[ 8.39117993e-01 -5.43949423e-01 -1.38119179e-04 4.60401545e+02] [ 5.43949416e-01 8.39118004e-01 -8.81823140e-05 6.66236566e+01] [ 1.63865009e-04 -1.13448051e-06 9.99999987e-01 -1.82246142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.45, Y:66.65, Z:-0.18 [[ 8.36492472e-01 -5.47978399e-01 -1.38103717e-04 4.60451553e+02] [ 5.47978392e-01 8.36492483e-01 -8.82065226e-05 6.66529360e+01] [ 1.63857990e-04 -1.89376074e-06 9.99999987e-01 -1.83060040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.50, Y:66.68, Z:-0.19 [[ 8.36979624e-01 -5.47234035e-01 -1.38098287e-04 4.60501843e+02] [ 5.47234028e-01 8.36979636e-01 -8.82150243e-05 6.66842504e+01] [ 1.63859717e-04 -1.73790374e-06 9.99999987e-01 -1.85803834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.55, Y:66.71, Z:-0.18 [[ 8.38481538e-01 -5.44929987e-01 -1.38084393e-04 4.60552490e+02] [ 5.44929980e-01 8.38481550e-01 -8.82367670e-05 6.67147584e+01] [ 1.63864076e-04 -1.26142526e-06 9.99999987e-01 -1.80886834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.60, Y:66.74, Z:-0.18 [[ 8.38897500e-01 -5.44289414e-01 -1.38069332e-04 4.60602774e+02] [ 5.44289407e-01 8.38897511e-01 -8.82603274e-05 6.67440410e+01] [ 1.63865181e-04 -1.10830679e-06 9.99999987e-01 -1.83854448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.65, Y:66.77, Z:-0.19 [[ 8.39568860e-01 -5.43253265e-01 -1.38061367e-04 4.60652278e+02] [ 5.43253258e-01 8.39568871e-01 -8.82727846e-05 6.67732066e+01] [ 1.63866505e-04 -8.91206392e-07 9.99999987e-01 -1.85809903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.70, Y:66.80, Z:-0.19 [[ 8.42527480e-01 -5.38653345e-01 -1.38055774e-04 4.60703686e+02] [ 5.38653338e-01 8.42527491e-01 -8.82815309e-05 6.68019034e+01] [ 1.63868927e-04 1.54122162e-08 9.99999987e-01 -1.88292718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.75, Y:66.83, Z:-0.19 [[ 8.45000428e-01 -5.34765610e-01 -1.38041060e-04 4.60754687e+02] [ 5.34765603e-01 8.45000439e-01 -8.83045331e-05 6.68321408e+01] [ 1.63866984e-04 7.97757753e-07 9.99999987e-01 -1.90321532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.80, Y:66.86, Z:-0.19 [[ 8.47472324e-01 -5.30839562e-01 -1.38027384e-04 4.60803959e+02] [ 5.30839555e-01 8.47472335e-01 -8.83259047e-05 6.68638046e+01] [ 1.63861274e-04 1.58336489e-06 9.99999987e-01 -1.88232141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.85, Y:66.90, Z:-0.18 [[ 8.48232594e-01 -5.29623873e-01 -1.38012161e-04 4.60853382e+02] [ 5.29623866e-01 8.48232606e-01 -8.83496841e-05 6.68950185e+01] [ 1.63858517e-04 1.84654748e-06 9.99999987e-01 -1.84928663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.90, Y:66.92, Z:-0.19 [[ 8.47776922e-01 -5.30352969e-01 -1.38006728e-04 4.60903471e+02] [ 5.30352962e-01 8.47776933e-01 -8.83581697e-05 6.69240488e+01] [ 1.63859938e-04 1.71573998e-06 9.99999987e-01 -1.85036981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.95, Y:66.96, Z:-0.19 [[ 8.47454502e-01 -5.30868014e-01 -1.37989125e-04 4.60951483e+02] [ 5.30868006e-01 8.47454513e-01 -8.83856529e-05 6.69574598e+01] [ 1.63860622e-04 1.64880804e-06 9.99999987e-01 -1.86629835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.00, Y:66.99, Z:-0.19 [[ 8.47139360e-01 -5.31370760e-01 -1.37971714e-04 4.61002938e+02] [ 5.31370753e-01 8.47139372e-01 -8.84128226e-05 6.69866594e+01] [ 1.63861260e-04 1.58384841e-06 9.99999987e-01 -1.85621728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.05, Y:67.02, Z:-0.19 [[ 8.46515588e-01 -5.32363917e-01 -1.37956579e-04 4.61049966e+02] [ 5.32363909e-01 8.46515600e-01 -8.84364333e-05 6.70195555e+01] [ 1.63862762e-04 1.41971593e-06 9.99999987e-01 -1.86432510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.10, Y:67.05, Z:-0.18 [[ 8.44584431e-01 -5.35422376e-01 -1.37949100e-04 4.61099721e+02] [ 5.35422369e-01 8.44584442e-01 -8.84480969e-05 6.70510619e+01] [ 1.63866754e-04 8.40851515e-07 9.99999987e-01 -1.84135068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.30533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.15, Y:67.08, Z:-0.18 [[ 8.41807251e-01 -5.39778225e-01 -1.37934182e-04 4.61149743e+02] [ 5.39778218e-01 8.41807263e-01 -8.84713561e-05 6.70809234e+01] [ 1.63868908e-04 2.19623649e-08 9.99999987e-01 -1.81738029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.36533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.20, Y:67.11, Z:-0.18 [[ 8.40860503e-01 -5.41251879e-01 -1.37928906e-04 4.61197737e+02] [ 5.41251871e-01 8.40860514e-01 -8.84795796e-05 6.71142049e+01] [ 1.63868710e-04 -2.55294975e-07 9.99999987e-01 -1.81528875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.42533619499994 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:461.25, Y:67.15, Z:-0.18 [[ 8.40430781e-01 -5.41918891e-01 -1.37912116e-04 4.61247399e+02] [ 5.41918883e-01 8.40430792e-01 -8.85057424e-05 6.71454478e+01] [ 1.63868523e-04 -3.54229869e-07 9.99999987e-01 -1.79000281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.30, Y:67.17, Z:-0.18 [[ 8.39482066e-01 -5.43387377e-01 -1.37896875e-04 4.61296554e+02] [ 5.43387369e-01 8.39482078e-01 -8.85294833e-05 6.71736774e+01] [ 1.63867759e-04 -6.12506415e-07 9.99999987e-01 -1.79355597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.35, Y:67.20, Z:-0.19 [[ 8.37623478e-01 -5.46248012e-01 -1.37889361e-04 4.61345582e+02] [ 5.46248004e-01 8.37623489e-01 -8.85411850e-05 6.72045928e+01] [ 1.63864814e-04 -1.15761290e-06 9.99999987e-01 -1.85625447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.60533619499995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:461.40, Y:67.23, Z:-0.18 [[ 8.34272092e-01 -5.51352934e-01 -1.37884102e-04 4.61397252e+02] [ 5.51352927e-01 8.34272103e-01 -8.85493736e-05 6.72328951e+01] [ 1.63854817e-04 -2.14853207e-06 9.99999987e-01 -1.83572318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.45, Y:67.26, Z:-0.18 [[ 8.32429159e-01 -5.54131462e-01 -1.37868329e-04 4.61449302e+02] [ 5.54131454e-01 8.32429170e-01 -8.85739247e-05 6.72592024e+01] [ 1.63847217e-04 -2.66566022e-06 9.99999987e-01 -1.81525043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.50, Y:67.29, Z:-0.18 [[ 8.32977908e-01 -5.53306231e-01 -1.37862768e-04 4.61498145e+02] [ 5.53306224e-01 8.32977920e-01 -8.85825803e-05 6.72903530e+01] [ 1.63849935e-04 -2.49299500e-06 9.99999987e-01 -1.79967712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.55, Y:67.32, Z:-0.18 [[ 8.35049357e-01 -5.50175020e-01 -1.37845296e-04 4.61548352e+02] [ 5.50175013e-01 8.35049368e-01 -8.86097600e-05 6.73213214e+01] [ 1.63858504e-04 -1.84551433e-06 9.99999987e-01 -1.77588525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.84533619499996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:461.60, Y:67.35, Z:-0.18 [[ 8.40556257e-01 -5.41724247e-01 -1.37830065e-04 4.61597434e+02] [ 5.41724240e-01 8.40556268e-01 -8.86334449e-05 6.73518036e+01] [ 1.63868811e-04 -1.64490517e-07 9.99999987e-01 -1.79335802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.90533619499996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:461.65, Y:67.38, Z:-0.18 [[ 8.45176269e-01 -5.34487656e-01 -1.37821967e-04 4.61645466e+02] [ 5.34487649e-01 8.45176281e-01 -8.86460349e-05 6.73849575e+01] [ 1.63864069e-04 1.25738578e-06 9.99999987e-01 -1.79581514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.69, Y:67.42, Z:-0.18 [[ 8.47677794e-01 -5.30511393e-01 -1.37804464e-04 4.61691624e+02] [ 5.30511386e-01 8.47677805e-01 -8.86732369e-05 6.74197921e+01] [ 1.63855948e-04 2.05949685e-06 9.99999987e-01 -1.78538404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.74, Y:67.45, Z:-0.18 [[ 8.46939269e-01 -5.31689624e-01 -1.37799031e-04 4.61740475e+02] [ 5.31689616e-01 8.46939280e-01 -8.86816779e-05 6.74514112e+01] [ 1.63858540e-04 1.84168136e-06 9.99999987e-01 -1.82058669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.79, Y:67.49, Z:-0.18 [[ 8.44465478e-01 -5.35609968e-01 -1.37793716e-04 4.61788294e+02] [ 5.35609961e-01 8.44465489e-01 -8.86899361e-05 6.74863039e+01] [ 1.63865252e-04 1.09190249e-06 9.99999987e-01 -1.81065310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.84, Y:67.52, Z:-0.18 [[ 8.42029556e-01 -5.39431375e-01 -1.37778261e-04 4.61837521e+02] [ 5.39431367e-01 8.42029567e-01 -8.87139385e-05 6.75175090e+01] [ 1.63868451e-04 3.77842495e-07 9.99999987e-01 -1.80495328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.89, Y:67.55, Z:-0.18 [[ 8.40033176e-01 -5.42535016e-01 -1.37772820e-04 4.61886069e+02] [ 5.42535009e-01 8.40033187e-01 -8.87223883e-05 6.75491888e+01] [ 1.63868743e-04 -2.16828294e-07 9.99999987e-01 -1.79080868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.93, Y:67.58, Z:-0.18 [[ 8.36600900e-01 -5.47812847e-01 -1.37764808e-04 4.61934886e+02] [ 5.47812840e-01 8.36600911e-01 -8.87348265e-05 6.75811487e+01] [ 1.63864242e-04 -1.23369513e-06 9.99999987e-01 -1.76793559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.325336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:461.98, Y:67.61, Z:-0.18 [[ 8.35361764e-01 -5.49700559e-01 -1.37747079e-04 4.61983982e+02] [ 5.49700552e-01 8.35361775e-01 -8.87623400e-05 6.76099942e+01] [ 1.63861352e-04 -1.57098033e-06 9.99999987e-01 -1.80461041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.03, Y:67.64, Z:-0.18 [[ 8.36624638e-01 -5.47776593e-01 -1.37739823e-04 4.62034507e+02] [ 5.47776586e-01 8.36624650e-01 -8.87735979e-05 6.76407973e+01] [ 1.63864630e-04 -1.18047073e-06 9.99999987e-01 -1.80669972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.08, Y:67.67, Z:-0.19 [[ 8.39341696e-01 -5.43604175e-01 -1.37724322e-04 4.62082895e+02] [ 5.43604168e-01 8.39341707e-01 -8.87976404e-05 6.76720767e+01] [ 1.63868535e-04 -3.35953219e-07 9.99999987e-01 -1.86311622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.13, Y:67.70, Z:-0.19 [[ 8.42507929e-01 -5.38683925e-01 -1.37718855e-04 4.62131588e+02] [ 5.38683918e-01 8.42507940e-01 -8.88061187e-05 6.77037977e+01] [ 1.63867657e-04 6.32926965e-07 9.99999987e-01 -1.90555699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.18, Y:67.74, Z:-0.19 [[ 8.43151013e-01 -5.37676808e-01 -1.37711205e-04 4.62179598e+02] [ 5.37676801e-01 8.43151024e-01 -8.88179792e-05 6.77360792e+01] [ 1.63866711e-04 8.42848969e-07 9.99999987e-01 -1.87781743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.23, Y:67.77, Z:-0.18 [[ 8.41555454e-01 -5.40170713e-01 -1.37693763e-04 4.62229624e+02] [ 5.40170706e-01 8.41555465e-01 -8.88450112e-05 6.77675650e+01] [ 1.63868412e-04 3.89866579e-07 9.99999987e-01 -1.84925639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.28, Y:67.80, Z:-0.18 [[ 8.41575599e-01 -5.40139327e-01 -1.37678244e-04 4.62277310e+02] [ 5.40139320e-01 8.41575610e-01 -8.88690532e-05 6.78002015e+01] [ 1.63868323e-04 4.24593401e-07 9.99999987e-01 -1.82610840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.32, Y:67.84, Z:-0.18 [[ 8.44266537e-01 -5.35923499e-01 -1.37672778e-04 4.62324245e+02] [ 5.35923491e-01 8.44266548e-01 -8.88775213e-05 6.78352763e+01] [ 1.63864073e-04 1.25424148e-06 9.99999987e-01 -1.84738763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.80533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.37, Y:67.87, Z:-0.19 [[ 8.46101858e-01 -5.33021225e-01 -1.37657243e-04 4.62370660e+02] [ 5.33021218e-01 8.46101870e-01 -8.89015750e-05 6.78703206e+01] [ 1.63858477e-04 1.84555642e-06 9.99999987e-01 -1.85954023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.86533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.42, Y:67.91, Z:-0.19 [[ 8.45959951e-01 -5.33246418e-01 -1.37639666e-04 4.62416090e+02] [ 5.33246411e-01 8.45959962e-01 -8.89287799e-05 6.79059835e+01] [ 1.63858600e-04 1.83432833e-06 9.99999987e-01 -1.87692427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.92533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.46, Y:67.94, Z:-0.19 [[ 8.44482750e-01 -5.35582736e-01 -1.37634235e-04 4.62463765e+02] [ 5.35582728e-01 8.44482761e-01 -8.89371849e-05 6.79382602e+01] [ 1.63862960e-04 1.39139933e-06 9.99999987e-01 -1.87472556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.51, Y:67.97, Z:-0.19 [[ 8.40531640e-01 -5.41762442e-01 -1.37617287e-04 4.62511190e+02] [ 5.41762435e-01 8.40531651e-01 -8.89634018e-05 6.79725235e+01] [ 1.63868715e-04 2.20677526e-07 9.99999987e-01 -1.86556377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.56, Y:68.01, Z:-0.19 [[ 8.38663664e-01 -5.44649649e-01 -1.37601831e-04 4.62558872e+02] [ 5.44649641e-01 8.38663675e-01 -8.89873016e-05 6.80052968e+01] [ 1.63868560e-04 -3.14371497e-07 9.99999987e-01 -1.88540597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.61, Y:68.04, Z:-0.19 [[ 8.37199104e-01 -5.46898200e-01 -1.37593726e-04 4.62607605e+02] [ 5.46898193e-01 8.37199116e-01 -8.89998314e-05 6.80366947e+01] [ 1.63867193e-04 -7.39181054e-07 9.99999987e-01 -1.87233571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.66, Y:68.07, Z:-0.18 [[ 8.35840806e-01 -5.48971882e-01 -1.37576169e-04 4.62657562e+02] [ 5.48971875e-01 8.35840818e-01 -8.90269628e-05 6.80681373e+01] [ 1.63865077e-04 -1.11307923e-06 9.99999987e-01 -1.83586042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.22533619499995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:462.71, Y:68.10, Z:-0.18 [[ 8.34018340e-01 -5.51736703e-01 -1.37560589e-04 4.62707000e+02] [ 5.51736696e-01 8.34018351e-01 -8.90510302e-05 6.81005872e+01] [ 1.63860777e-04 -1.62703254e-06 9.99999987e-01 -1.83904465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.76, Y:68.13, Z:-0.18 [[ 8.32696432e-01 -5.53729747e-01 -1.37545132e-04 4.62759576e+02] [ 5.53729740e-01 8.32696444e-01 -8.90748974e-05 6.81263345e+01] [ 1.63856763e-04 -1.99048118e-06 9.99999987e-01 -1.84834390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.81, Y:68.16, Z:-0.19 [[ 8.32760418e-01 -5.53633514e-01 -1.37539686e-04 4.62809071e+02] [ 5.53633507e-01 8.32760429e-01 -8.90833069e-05 6.81555210e+01] [ 1.63857112e-04 -1.96152676e-06 9.99999987e-01 -1.87165000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.86, Y:68.18, Z:-0.18 [[ 8.34242714e-01 -5.51397384e-01 -1.37534347e-04 4.62861319e+02] [ 5.51397376e-01 8.34242726e-01 -8.90915489e-05 6.81826626e+01] [ 1.63861875e-04 -1.51210233e-06 9.99999987e-01 -1.84580886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.91, Y:68.21, Z:-0.18 [[ 8.36476607e-01 -5.48002616e-01 -1.37518966e-04 4.62914965e+02] [ 5.48002609e-01 8.36476618e-01 -8.91152842e-05 6.82082620e+01] [ 1.63866808e-04 -8.17901428e-07 9.99999987e-01 -1.83013779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.97, Y:68.23, Z:-0.18 [[ 8.38929422e-01 -5.44240210e-01 -1.37503705e-04 4.62967366e+02] [ 5.44240203e-01 8.38929433e-01 -8.91388247e-05 6.82344052e+01] [ 1.63868838e-04 -5.38617840e-08 9.99999987e-01 -1.81314404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.02, Y:68.26, Z:-0.19 [[ 8.40819528e-01 -5.41315529e-01 -1.37498305e-04 4.63019644e+02] [ 5.41315522e-01 8.40819539e-01 -8.91471538e-05 6.82596571e+01] [ 1.63868000e-04 5.26701052e-07 9.99999987e-01 -1.87424425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.07, Y:68.29, Z:-0.19 [[ 8.41182906e-01 -5.40750682e-01 -1.37490490e-04 4.63069968e+02] [ 5.40750675e-01 8.41182917e-01 -8.91592057e-05 6.82871451e+01] [ 1.63867553e-04 6.51124651e-07 9.99999987e-01 -1.88137328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.13, Y:68.31, Z:-0.19 [[ 8.42089235e-01 -5.39338206e-01 -1.37483513e-04 4.63125859e+02] [ 5.39338199e-01 8.42089247e-01 -8.91699629e-05 6.83088310e+01] [ 1.63866156e-04 9.38955672e-07 9.99999987e-01 -1.90159559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.18, Y:68.33, Z:-0.19 [[ 8.45544009e-01 -5.33905713e-01 -1.37468271e-04 4.63180168e+02] [ 5.33905706e-01 8.45544020e-01 -8.91934534e-05 6.83333977e+01] [ 1.63856369e-04 2.02189563e-06 9.99999987e-01 -1.87150543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.23, Y:68.36, Z:-0.18 [[ 8.50694915e-01 -5.25659722e-01 -1.37452712e-04 4.63231179e+02] [ 5.25659714e-01 8.50694926e-01 -8.92174256e-05 6.83623561e+01] [ 1.63828331e-04 3.64345713e-06 9.99999987e-01 -1.78385477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.28, Y:68.39, Z:-0.17 [[ 8.54152585e-01 -5.20022444e-01 -1.37448337e-04 4.63281589e+02] [ 5.20022436e-01 8.54152596e-01 -8.92241649e-05 6.83917799e+01] [ 1.63800422e-04 4.73483216e-06 9.99999987e-01 -1.73454044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.33, Y:68.43, Z:-0.18 [[ 8.58286176e-01 -5.13171337e-01 -1.37442600e-04 4.63328297e+02] [ 5.13171329e-01 8.58286187e-01 -8.92330008e-05 6.84259097e+01] [ 1.63756904e-04 6.05584916e-06 9.99999987e-01 -1.77181716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.38, Y:68.46, Z:-0.18 [[ 8.58900475e-01 -5.12142515e-01 -1.37436946e-04 4.63377582e+02] [ 5.12142507e-01 8.58900486e-01 -8.92417081e-05 6.84568777e+01] [ 1.63749133e-04 6.26244311e-06 9.99999987e-01 -1.79462210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.43, Y:68.49, Z:-0.18 [[ 8.56276515e-01 -5.16517678e-01 -1.37431447e-04 4.63425524e+02] [ 5.16517670e-01 8.56276526e-01 -8.92501766e-05 6.84905957e+01] [ 1.63778616e-04 5.43705945e-06 9.99999987e-01 -1.79661465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.47, Y:68.52, Z:-0.18 [[ 8.51646116e-01 -5.24117233e-01 -1.37417018e-04 4.63474178e+02] [ 5.24117225e-01 8.51646127e-01 -8.92723866e-05 6.85235889e+01] [ 1.63819868e-04 4.00585503e-06 9.99999987e-01 -1.82459882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.52, Y:68.56, Z:-0.18 [[ 8.47361699e-01 -5.31016132e-01 -1.37401390e-04 4.63522970e+02] [ 5.31016125e-01 8.47361710e-01 -8.92964338e-05 6.85563010e+01] [ 1.63846524e-04 2.70402419e-06 9.99999987e-01 -1.84948027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.57, Y:68.59, Z:-0.19 [[ 8.43476072e-01 -5.37166731e-01 -1.37386031e-04 4.63571421e+02] [ 5.37166724e-01 8.43476083e-01 -8.93200572e-05 6.85885614e+01] [ 1.63861595e-04 1.54012653e-06 9.99999987e-01 -1.86342470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.30533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.62, Y:68.62, Z:-0.19 [[ 8.41864487e-01 -5.39688954e-01 -1.37380578e-04 4.63620412e+02] [ 5.39688946e-01 8.41864498e-01 -8.93284437e-05 6.86189714e+01] [ 1.63865406e-04 1.05966477e-06 9.99999987e-01 -1.85847719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.36533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.67, Y:68.65, Z:-0.18 [[ 8.43385071e-01 -5.37309597e-01 -1.37375183e-04 4.63666936e+02] [ 5.37309589e-01 8.43385083e-01 -8.93367399e-05 6.86549597e+01] [ 1.63861668e-04 1.53226949e-06 9.99999987e-01 -1.80075024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.42533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.71, Y:68.69, Z:-0.18 [[ 8.45891412e-01 -5.33355136e-01 -1.37360236e-04 4.63713616e+02] [ 5.33355128e-01 8.45891423e-01 -8.93597156e-05 6.86897129e+01] [ 1.63852309e-04 2.32682954e-06 9.99999987e-01 -1.78560835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.76, Y:68.73, Z:-0.18 [[ 8.47940932e-01 -5.30090707e-01 -1.37342558e-04 4.63759346e+02] [ 5.30090699e-01 8.47940943e-01 -8.93868776e-05 6.87257433e+01] [ 1.63841532e-04 2.99077943e-06 9.99999987e-01 -1.84040716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.81, Y:68.76, Z:-0.19 [[ 8.48109811e-01 -5.29820469e-01 -1.37337116e-04 4.63806684e+02] [ 5.29820461e-01 8.48109822e-01 -8.93952386e-05 6.87607828e+01] [ 1.63840384e-04 3.05296476e-06 9.99999987e-01 -1.90035694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.85, Y:68.80, Z:-0.19 [[ 8.47144669e-01 -5.31362296e-01 -1.37324940e-04 4.63854260e+02] [ 5.31362289e-01 8.47144681e-01 -8.94139385e-05 6.87958884e+01] [ 1.63845289e-04 2.77724665e-06 9.99999987e-01 -1.86900094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.90, Y:68.83, Z:-0.18 [[ 8.45924136e-01 -5.33303232e-01 -1.37309873e-04 4.63902703e+02] [ 5.33303225e-01 8.45924147e-01 -8.94370712e-05 6.88297634e+01] [ 1.63850816e-04 2.42917919e-06 9.99999987e-01 -1.82913098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.95, Y:68.86, Z:-0.18 [[ 8.43720470e-01 -5.36782776e-01 -1.37294216e-04 4.63949730e+02] [ 5.36782769e-01 8.43720481e-01 -8.94610997e-05 6.88636436e+01] [ 1.63859119e-04 1.78299171e-06 9.99999987e-01 -1.82189340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.00, Y:68.90, Z:-0.18 [[ 8.42277873e-01 -5.39043566e-01 -1.37285950e-04 4.63995843e+02] [ 5.39043559e-01 8.42277884e-01 -8.94737823e-05 6.88981442e+01] [ 1.63863186e-04 1.35867986e-06 9.99999987e-01 -1.81860854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.04, Y:68.93, Z:-0.18 [[ 8.40450172e-01 -5.41888816e-01 -1.37280488e-04 4.64043993e+02] [ 5.41888809e-01 8.40450183e-01 -8.94821627e-05 6.89299777e+01] [ 1.63866794e-04 8.14539054e-07 9.99999987e-01 -1.79498701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.09, Y:68.96, Z:-0.18 [[ 8.39847235e-01 -5.42822810e-01 -1.37262039e-04 4.64091780e+02] [ 5.42822803e-01 8.39847246e-01 -8.95104526e-05 6.89619456e+01] [ 1.63867461e-04 6.66141199e-07 9.99999987e-01 -1.79698959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.14, Y:69.00, Z:-0.18 [[ 8.42722218e-01 -5.38348627e-01 -1.37256337e-04 4.64136866e+02] [ 5.38348620e-01 8.42722229e-01 -8.95191960e-05 6.90002249e+01] [ 1.63861503e-04 1.54805585e-06 9.99999987e-01 -1.76223433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.18, Y:69.04, Z:-0.18 [[ 8.44824877e-01 -5.35042903e-01 -1.37240812e-04 4.64184512e+02] [ 5.35042895e-01 8.44824889e-01 -8.95429916e-05 6.90356949e+01] [ 1.63853795e-04 2.21842581e-06 9.99999987e-01 -1.77408754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.23, Y:69.07, Z:-0.18 [[ 8.46186747e-01 -5.32886451e-01 -1.37225238e-04 4.64231511e+02] [ 5.32886444e-01 8.46186759e-01 -8.95668523e-05 6.90694658e+01] [ 1.63847141e-04 2.66481458e-06 9.99999987e-01 -1.81477686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.14533619499997 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:464.28, Y:69.11, Z:-0.18 [[ 8.44403492e-01 -5.35707685e-01 -1.37219740e-04 4.64277321e+02] [ 5.35707678e-01 8.44403503e-01 -8.95752737e-05 6.91066500e+01] [ 1.63854992e-04 2.12800542e-06 9.99999987e-01 -1.83294097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.32, Y:69.14, Z:-0.18 [[ 8.41903147e-01 -5.39628644e-01 -1.37204508e-04 4.64324799e+02] [ 5.39628636e-01 8.41903158e-01 -8.95985995e-05 6.91391012e+01] [ 1.63862879e-04 1.39386146e-06 9.99999987e-01 -1.83432580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.37, Y:69.17, Z:-0.18 [[ 8.36780984e-01 -5.47537731e-01 -1.37199110e-04 4.64373249e+02] [ 5.47537723e-01 8.36780995e-01 -8.96068646e-05 6.91725474e+01] [ 1.63868747e-04 -1.40367871e-07 9.99999987e-01 -1.82046834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.42, Y:69.21, Z:-0.18 [[ 8.33987643e-01 -5.51783102e-01 -1.37184314e-04 4.64421388e+02] [ 5.51783095e-01 8.33987655e-01 -8.96295112e-05 6.92055595e+01] [ 1.63866074e-04 -9.46080310e-07 9.99999987e-01 -1.80104296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.47, Y:69.24, Z:-0.18 [[ 8.30637634e-01 -5.56813345e-01 -1.37166846e-04 4.64471086e+02] [ 5.56813338e-01 8.30637646e-01 -8.96562347e-05 6.92364239e+01] [ 1.63857734e-04 -1.90448685e-06 9.99999987e-01 -1.82217611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.52, Y:69.27, Z:-0.19 [[ 8.30125637e-01 -5.57576370e-01 -1.37151387e-04 4.64520425e+02] [ 5.57576363e-01 8.30125648e-01 -8.96798769e-05 6.92664543e+01] [ 1.63856264e-04 -2.02680678e-06 9.99999987e-01 -1.85980847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.57, Y:69.30, Z:-0.19 [[ 8.30736608e-01 -5.56665671e-01 -1.37145938e-04 4.64568887e+02] [ 5.56665664e-01 8.30736619e-01 -8.96882102e-05 6.92989480e+01] [ 1.63858500e-04 -1.83715494e-06 9.99999987e-01 -1.86468291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.62, Y:69.33, Z:-0.18 [[ 8.35265293e-01 -5.49847135e-01 -1.37131181e-04 4.64617925e+02] [ 5.49847127e-01 8.35265304e-01 -8.97107668e-05 6.93320405e+01] [ 1.63868126e-04 -4.68896178e-07 9.99999987e-01 -1.83004694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.67, Y:69.36, Z:-0.19 [[ 8.38135002e-01 -5.45462830e-01 -1.37115160e-04 4.64666598e+02] [ 5.45462823e-01 8.38135014e-01 -8.97352471e-05 6.93630389e+01] [ 1.63868258e-04 4.19029250e-07 9.99999987e-01 -1.85696050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.685336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:464.72, Y:69.40, Z:-0.19 [[ 8.41898269e-01 -5.39636253e-01 -1.37109485e-04 4.64715112e+02] [ 5.39636245e-01 8.41898280e-01 -8.97439168e-05 6.93968430e+01] [ 1.63861311e-04 1.56600034e-06 9.99999987e-01 -1.87182187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.76, Y:69.43, Z:-0.19 [[ 8.44021024e-01 -5.36310070e-01 -1.37093737e-04 4.64763329e+02] [ 5.36310063e-01 8.44021036e-01 -8.97679675e-05 6.94314746e+01] [ 1.63853463e-04 2.24130119e-06 9.99999987e-01 -1.87417203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.80533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.81, Y:69.47, Z:-0.19 [[ 8.43594043e-01 -5.36981445e-01 -1.37079090e-04 4.64809352e+02] [ 5.36981438e-01 8.43594054e-01 -8.97903287e-05 6.94660590e+01] [ 1.63854846e-04 2.13765959e-06 9.99999987e-01 -1.88603766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.86533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.86, Y:69.50, Z:-0.19 [[ 8.42476515e-01 -5.38733053e-01 -1.37070789e-04 4.64856019e+02] [ 5.38733045e-01 8.42476526e-01 -8.98029995e-05 6.95015219e+01] [ 1.63858766e-04 1.81235467e-06 9.99999987e-01 -1.85763653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.92533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.90, Y:69.54, Z:-0.18 [[ 8.40478357e-01 -5.41845101e-01 -1.37052874e-04 4.64902243e+02] [ 5.41845093e-01 8.40478368e-01 -8.98303318e-05 6.95362900e+01] [ 1.63864101e-04 1.23902244e-06 9.99999987e-01 -1.84621255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.95, Y:69.57, Z:-0.18 [[ 8.37121656e-01 -5.47016741e-01 -1.37047343e-04 4.64948020e+02] [ 5.47016733e-01 8.37121667e-01 -8.98387693e-05 6.95719741e+01] [ 1.63868611e-04 2.38789595e-07 9.99999987e-01 -1.83680677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.99, Y:69.61, Z:-0.18 [[ 8.33351404e-01 -5.52743538e-01 -1.37041914e-04 4.64993230e+02] [ 5.52743531e-01 8.33351415e-01 -8.98470501e-05 6.96075374e+01] [ 1.63866449e-04 -8.74865860e-07 9.99999987e-01 -1.80341493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.04, Y:69.64, Z:-0.18 [[ 8.29614322e-01 -5.58336868e-01 -1.37032521e-04 4.65042109e+02] [ 5.58336861e-01 8.29614333e-01 -8.98613731e-05 6.96405561e+01] [ 1.63857061e-04 -1.96002559e-06 9.99999987e-01 -1.80024626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.16533619499995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:465.09, Y:69.67, Z:-0.18 [[ 8.27038895e-01 -5.62144686e-01 -1.37016980e-04 4.65091452e+02] [ 5.62144679e-01 8.27038906e-01 -8.98850627e-05 6.96734805e+01] [ 1.63846784e-04 -2.68492350e-06 9.99999987e-01 -1.82096043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.14, Y:69.71, Z:-0.18 [[ 8.25820075e-01 -5.63933670e-01 -1.37002631e-04 4.65140161e+02] [ 5.63933663e-01 8.25820087e-01 -8.99069293e-05 6.97071690e+01] [ 1.63841069e-04 -3.01344833e-06 9.99999987e-01 -1.78917437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.28533619499996 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:465.19, Y:69.74, Z:-0.18 [[ 8.24804054e-01 -5.65418654e-01 -1.36986899e-04 4.65190976e+02] [ 5.65418647e-01 8.24804065e-01 -8.99308925e-05 6.97355820e+01] [ 1.63835955e-04 -3.27958242e-06 9.99999987e-01 -1.80761383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.24, Y:69.76, Z:-0.18 [[ 8.23702639e-01 -5.67021996e-01 -1.36981332e-04 4.65242384e+02] [ 5.67021989e-01 8.23702650e-01 -8.99393708e-05 6.97625215e+01] [ 1.63829488e-04 -3.58813056e-06 9.99999987e-01 -1.80041370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.40533619499996 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:465.29, Y:69.79, Z:-0.18 [[ 8.22713490e-01 -5.68456238e-01 -1.36963840e-04 4.65294360e+02] [ 5.68456231e-01 8.22713502e-01 -8.99660006e-05 6.97909907e+01] [ 1.63823735e-04 -3.84170599e-06 9.99999987e-01 -1.78395637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.35, Y:69.82, Z:-0.18 [[ 8.21462736e-01 -5.70262181e-01 -1.36948577e-04 4.65346843e+02] [ 5.70262174e-01 8.21462747e-01 -8.99892290e-05 6.98152183e+01] [ 1.63815608e-04 -4.17379482e-06 9.99999987e-01 -1.80709158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.40, Y:69.84, Z:-0.18 [[ 8.20349938e-01 -5.71861837e-01 -1.36941190e-04 4.65400255e+02] [ 5.71861829e-01 8.20349950e-01 -9.00004692e-05 6.98402765e+01] [ 1.63807532e-04 -4.47955981e-06 9.99999987e-01 -1.82992712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.58533619499997 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:465.45, Y:69.87, Z:-0.18 [[ 8.21229056e-01 -5.70598649e-01 -1.36926239e-04 4.65453663e+02] [ 5.70598642e-01 8.21229068e-01 -9.00232097e-05 6.98660738e+01] [ 1.63814929e-04 -4.20025022e-06 9.99999987e-01 -1.84952979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.64533619499997 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:465.50, Y:69.89, Z:-0.19 [[ 8.23214611e-01 -5.67730293e-01 -1.36911440e-04 4.65503587e+02] [ 5.67730286e-01 8.23214622e-01 -9.00457100e-05 6.98939787e+01] [ 1.63829177e-04 -3.60182713e-06 9.99999987e-01 -1.87124594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.705336195 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:465.56, Y:69.92, Z:-0.19 [[ 8.25843393e-01 -5.63899522e-01 -1.36902204e-04 4.65555382e+02] [ 5.63899515e-01 8.25843405e-01 -9.00597507e-05 6.99213325e+01] [ 1.63844432e-04 -2.82383617e-06 9.99999987e-01 -1.87511356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.61, Y:69.95, Z:-0.19 [[ 8.27407190e-01 -5.61602460e-01 -1.36885569e-04 4.65608502e+02] [ 5.61602453e-01 8.27407201e-01 -9.00850278e-05 6.99484924e+01] [ 1.63852079e-04 -2.33827160e-06 9.99999987e-01 -1.85154582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.825336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:465.66, Y:69.97, Z:-0.19 [[ 8.27782133e-01 -5.61049660e-01 -1.36871212e-04 4.65661463e+02] [ 5.61049653e-01 8.27782145e-01 -9.01068356e-05 6.99730286e+01] [ 1.63853955e-04 -2.20271739e-06 9.99999987e-01 -1.88671610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.72, Y:70.00, Z:-0.19 [[ 8.27018072e-01 -5.62175319e-01 -1.36865722e-04 4.65716082e+02] [ 5.62175312e-01 8.27018083e-01 -9.01151731e-05 6.99976439e+01] [ 1.63850954e-04 -2.41565346e-06 9.99999987e-01 -1.86442803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.945336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:465.77, Y:70.03, Z:-0.18 [[ 8.27190407e-01 -5.61921713e-01 -1.36850492e-04 4.65767748e+02] [ 5.61921706e-01 8.27190418e-01 -9.01382958e-05 7.00262139e+01] [ 1.63852082e-04 -2.33772862e-06 9.99999987e-01 -1.83825840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.005336195 meters Centerline goodness : 0.999675 with order 1 Centerline is valid? [True, True] Translation: X:465.82, Y:70.05, Z:-0.18 [[ 8.28749029e-01 -5.59620432e-01 -1.36834788e-04 4.65820954e+02] [ 5.59620425e-01 8.28749040e-01 -9.01621300e-05 7.00518765e+01] [ 1.63858269e-04 -1.85376429e-06 9.99999987e-01 -1.76532723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.065336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:465.87, Y:70.08, Z:-0.17 [[ 8.31853771e-01 -5.54994851e-01 -1.36818953e-04 4.65872871e+02] [ 5.54994843e-01 8.31853783e-01 -9.01861518e-05 7.00775510e+01] [ 1.63866214e-04 -9.12123131e-07 9.99999987e-01 -1.72359468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.125336195 meters Centerline goodness : 0.999674 with order 1 Centerline is valid? [True, True] Translation: X:465.92, Y:70.11, Z:-0.17 [[ 8.35013639e-01 -5.50229228e-01 -1.36813366e-04 4.65923221e+02] [ 5.50229221e-01 8.35013650e-01 -9.01946277e-05 7.01063068e+01] [ 1.63868748e-04 3.50326747e-08 9.99999987e-01 -1.72357037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.185336195 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:465.97, Y:70.14, Z:-0.18 [[ 8.37617290e-01 -5.46257501e-01 -1.36795576e-04 4.65973489e+02] [ 5.46257493e-01 8.37617301e-01 -9.02216005e-05 7.01373735e+01] [ 1.63866567e-04 8.45563920e-07 9.99999987e-01 -1.78086127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.245336195 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:466.02, Y:70.17, Z:-0.18 [[ 8.39086449e-01 -5.43998081e-01 -1.36779956e-04 4.66023591e+02] [ 5.43998074e-01 8.39086460e-01 -9.02452751e-05 7.01675186e+01] [ 1.63863466e-04 1.31555481e-06 9.99999987e-01 -1.81216877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.30533619499994 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:466.07, Y:70.20, Z:-0.18 [[ 8.42403733e-01 -5.38846855e-01 -1.36764507e-04 4.66071358e+02] [ 5.38846847e-01 8.42403744e-01 -9.02686818e-05 7.02010161e+01] [ 1.63851928e-04 2.34755113e-06 9.99999987e-01 -1.79835001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.36533619499994 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:466.12, Y:70.23, Z:-0.18 [[ 8.44726826e-01 -5.35197693e-01 -1.36746459e-04 4.66118911e+02] [ 5.35197685e-01 8.44726837e-01 -9.02960146e-05 7.02336130e+01] [ 1.63839622e-04 3.08907766e-06 9.99999987e-01 -1.81549937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.42533619499994 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:466.17, Y:70.27, Z:-0.18 [[ 8.44900519e-01 -5.34923448e-01 -1.36740915e-04 4.66166706e+02] [ 5.34923440e-01 8.44900530e-01 -9.03044096e-05 7.02665853e+01] [ 1.63838417e-04 3.15232205e-06 9.99999987e-01 -1.80876732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.48533619499995 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:466.21, Y:70.30, Z:-0.18 [[ 8.44283117e-01 -5.35897377e-01 -1.36724046e-04 4.66214563e+02] [ 5.35897370e-01 8.44283128e-01 -9.03299411e-05 7.02988455e+01] [ 1.63841384e-04 2.99398742e-06 9.99999987e-01 -1.79736550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.54533619499995 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:466.26, Y:70.34, Z:-0.18 [[ 8.43910307e-01 -5.36484273e-01 -1.36706089e-04 4.66259799e+02] [ 5.36484265e-01 8.43910318e-01 -9.03571103e-05 7.03357617e+01] [ 1.63842847e-04 2.91263116e-06 9.99999987e-01 -1.84442176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.60533619499995 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:466.30, Y:70.37, Z:-0.18 [[ 8.45230183e-01 -5.34402394e-01 -1.36700546e-04 4.66304966e+02] [ 5.34402386e-01 8.45230194e-01 -9.03654949e-05 7.03715191e+01] [ 1.63834966e-04 3.32654575e-06 9.99999987e-01 -1.82713320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.66533619499995 meters Centerline goodness : 0.999633 with order 1 Centerline is valid? [True, True] Translation: X:466.35, Y:70.41, Z:-0.18 [[ 8.45651738e-01 -5.33735065e-01 -1.36695283e-04 4.66351837e+02] [ 5.33735057e-01 8.45651749e-01 -9.03734562e-05 7.04072364e+01] [ 1.63832087e-04 3.46540583e-06 9.99999987e-01 -1.77374894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.72533619499995 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:466.40, Y:70.44, Z:-0.18 [[ 8.43079079e-01 -5.37789595e-01 -1.36679872e-04 4.66397189e+02] [ 5.37789587e-01 8.43079090e-01 -9.03967578e-05 7.04430533e+01] [ 1.63846377e-04 2.70660354e-06 9.99999987e-01 -1.79208824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.78533619499996 meters Centerline goodness : 0.999589 with order 1 Centerline is valid? [True, True] Translation: X:466.45, Y:70.48, Z:-0.18 [[ 8.40822144e-01 -5.41311467e-01 -1.36662203e-04 4.66446023e+02] [ 5.41311459e-01 8.40822155e-01 -9.04234620e-05 7.04756746e+01] [ 1.63855864e-04 2.05323291e-06 9.99999987e-01 -1.82209705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.84533619499996 meters Centerline goodness : 0.999612 with order 1 Centerline is valid? [True, True] Translation: X:466.49, Y:70.51, Z:-0.19 [[ 8.39860974e-01 -5.42801553e-01 -1.36646771e-04 4.66493808e+02] [ 5.42801545e-01 8.39860985e-01 -9.04467760e-05 7.05097143e+01] [ 1.63858942e-04 1.79063892e-06 9.99999987e-01 -1.86486926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.90533619499996 meters Centerline goodness : 0.999573 with order 1 Centerline is valid? [True, True] Translation: X:466.54, Y:70.54, Z:-0.18 [[ 8.42360148e-01 -5.38914987e-01 -1.36630988e-04 4.66541103e+02] [ 5.38914979e-01 8.42360159e-01 -9.04706125e-05 7.05428673e+01] [ 1.63848469e-04 2.57635266e-06 9.99999987e-01 -1.84443297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.96533619499996 meters Centerline goodness : 0.999614 with order 1 Centerline is valid? [True, True] Translation: X:466.59, Y:70.58, Z:-0.18 [[ 8.44964828e-01 -5.34821858e-01 -1.36625402e-04 4.66587742e+02] [ 5.34821851e-01 8.44964839e-01 -9.04790473e-05 7.05796655e+01] [ 1.63833833e-04 3.38136241e-06 9.99999987e-01 -1.82100070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.02533619499997 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:466.63, Y:70.62, Z:-0.18 [[ 8.47268811e-01 -5.31164329e-01 -1.36609932e-04 4.66633372e+02] [ 5.31164321e-01 8.47268822e-01 -9.05023984e-05 7.06173438e+01] [ 1.63816982e-04 4.11753779e-06 9.99999987e-01 -1.81323248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.08533619499997 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:466.68, Y:70.66, Z:-0.19 [[ 8.46458325e-01 -5.32454960e-01 -1.36594468e-04 4.66677915e+02] [ 5.32454953e-01 8.46458336e-01 -9.05257324e-05 7.06560916e+01] [ 1.63822401e-04 3.89585904e-06 9.99999987e-01 -1.86680263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.14533619499997 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:466.73, Y:70.69, Z:-0.19 [[ 8.44262986e-01 -5.35929092e-01 -1.36579821e-04 4.66725644e+02] [ 5.35929085e-01 8.44262997e-01 -9.05478248e-05 7.06906661e+01] [ 1.63836503e-04 3.24907838e-06 9.99999987e-01 -1.85868406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.205336195 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:466.77, Y:70.72, Z:-0.18 [[ 8.38557943e-01 -5.44812406e-01 -1.36563825e-04 4.66772802e+02] [ 5.44812398e-01 8.38557954e-01 -9.05719443e-05 7.07241008e+01] [ 1.63861400e-04 1.54815848e-06 9.99999987e-01 -1.79969262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.265336195 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:466.82, Y:70.76, Z:-0.17 [[ 8.30837324e-01 -5.56515339e-01 -1.36558300e-04 4.66822471e+02] [ 5.56515332e-01 8.30837335e-01 -9.05802733e-05 7.07560298e+01] [ 1.63867045e-04 -7.39315687e-07 9.99999987e-01 -1.74879977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.325336195 meters Centerline goodness : 0.999502 with order 1 Centerline is valid? [True, True] Translation: X:466.87, Y:70.78, Z:-0.17 [[ 8.25080652e-01 -5.65014955e-01 -1.36542486e-04 4.66874123e+02] [ 5.65014947e-01 8.25080663e-01 -9.06041057e-05 7.07842513e+01] [ 1.63851239e-04 -2.39285069e-06 9.99999987e-01 -1.74696446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.385336195 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:466.93, Y:70.81, Z:-0.17 [[ 8.23093411e-01 -5.67905994e-01 -1.36526831e-04 4.66926161e+02] [ 5.67905987e-01 8.23093422e-01 -9.06276883e-05 7.08117419e+01] [ 1.63842344e-04 -2.93935175e-06 9.99999987e-01 -1.73456279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.445336195 meters Centerline goodness : 0.999244 with order 1 Centerline is valid? [True, True] Translation: X:466.98, Y:70.84, Z:-0.18 [[ 8.23164636e-01 -5.67802751e-01 -1.36511305e-04 4.66976984e+02] [ 5.67802744e-01 8.23164647e-01 -9.06510699e-05 7.08389300e+01] [ 1.63843207e-04 -2.89073843e-06 9.99999987e-01 -1.77990993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.505336195 meters Centerline goodness : 0.999229 with order 1 Centerline is valid? [True, True] Translation: X:467.03, Y:70.87, Z:-0.18 [[ 8.23821347e-01 -5.66849512e-01 -1.36505794e-04 4.67027200e+02] [ 5.66849505e-01 8.23821358e-01 -9.06593672e-05 7.08687676e+01] [ 1.63846607e-04 -2.69111982e-06 9.99999987e-01 -1.77381243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.565336195 meters Centerline goodness : 0.998553 with order 1 Centerline is valid? [True, True] Translation: X:467.08, Y:70.90, Z:-0.18 [[ 8.27668669e-01 -5.61217031e-01 -1.36500580e-04 4.67080554e+02] [ 5.61217023e-01 8.27668680e-01 -9.06672167e-05 7.08954614e+01] [ 1.63861241e-04 -1.56403472e-06 9.99999987e-01 -1.80458391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.625336195 meters Centerline goodness : 0.996318 with order 1 Centerline is valid? [True, True] Translation: X:467.13, Y:70.92, Z:-0.20 [[ 8.34285374e-01 -5.51332836e-01 -1.36485539e-04 4.67131766e+02] [ 5.51332829e-01 8.34285385e-01 -9.06898533e-05 7.09243145e+01] [ 1.63868185e-04 4.12259891e-07 9.99999987e-01 -1.98792586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.685336195 meters Centerline goodness : 0.992655 with order 1 Centerline is valid? [True, True] Translation: X:467.18, Y:70.96, Z:-0.20 [[ 8.39786815e-01 -5.42916279e-01 -1.36470098e-04 4.67180581e+02] [ 5.42916272e-01 8.39786826e-01 -9.07130830e-05 7.09570708e+01] [ 1.63855400e-04 2.08781430e-06 9.99999987e-01 -1.97522760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.745336195 meters Centerline goodness : 0.989730 with order 1 Centerline is valid? [True, True] Translation: X:467.23, Y:70.99, Z:-0.20 [[ 8.41187906e-01 -5.40742904e-01 -1.36465819e-04 4.67227940e+02] [ 5.40742897e-01 8.41187917e-01 -9.07195201e-05 7.09897885e+01] [ 1.63849335e-04 2.51924098e-06 9.99999987e-01 -1.97420333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.80533619499994 meters Centerline goodness : 0.984067 with order 1 Centerline is valid? [True, True] Translation: X:467.27, Y:71.03, Z:-0.18 [[ 8.41225106e-01 -5.40685031e-01 -1.36460760e-04 4.67274184e+02] [ 5.40685023e-01 8.41225117e-01 -9.07271291e-05 7.10265508e+01] [ 1.63849019e-04 2.53964970e-06 9.99999987e-01 -1.83189427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.86533619499994 meters Centerline goodness : 0.979336 with order 1 Centerline is valid? [True, True] Translation: X:467.32, Y:71.06, Z:-0.19 [[ 8.39483451e-01 -5.43385238e-01 -1.36444973e-04 4.67322446e+02] [ 5.43385230e-01 8.39483462e-01 -9.07508648e-05 7.10586096e+01] [ 1.63855979e-04 2.04166609e-06 9.99999987e-01 -1.87718612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.92533619499994 meters Centerline goodness : 0.089896 with order 1 Centerline is valid? [True, False] Translation: X:467.23, Y:70.98, Z:-0.19 [[ 8.35732061e-01 -5.49120534e-01 -4.30829691e-03 4.67232426e+02] [ 5.49117205e-01 8.35608211e-01 1.51397680e-02 7.09823676e+01] [-4.71350921e-03 -1.50185495e-02 9.99876105e-01 -1.94739262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.98533619499995 meters Centerline goodness : 0.114702 with order 1 Centerline is valid? [False, False] Translation: X:467.15, Y:70.92, Z:-0.20 [[ 8.31687066e-01 -5.55198598e-01 -7.15128529e-03 4.67150747e+02] [ 5.55206956e-01 8.31411546e-01 2.23624083e-02 7.09173115e+01] [-6.46991655e-03 -2.25689691e-02 9.99724353e-01 -1.98219353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.04533619499995 meters Centerline goodness : 0.142140 with order 1 Centerline is valid? [False, False] Translation: X:467.06, Y:70.84, Z:-0.20 [[ 8.27046168e-01 -5.62119473e-01 -4.04160687e-03 4.67055264e+02] [ 5.62078230e-01 8.26841460e-01 2.00315550e-02 7.08441331e+01] [-7.91835903e-03 -1.88387200e-02 9.99791179e-01 -2.03956620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.10533619499995 meters Centerline goodness : 0.143637 with order 1 Centerline is valid? [False, False] Translation: X:466.99, Y:70.79, Z:-0.21 [[ 8.26377982e-01 -5.63105401e-01 -3.42616963e-03 4.66993121e+02] [ 5.63010077e-01 8.26089596e-01 2.44056038e-02 7.07909796e+01] [-1.09126042e-02 -2.20972216e-02 9.99696268e-01 -2.08054782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.16533619499995 meters Centerline goodness : 0.135523 with order 1 Centerline is valid? [False, False] Translation: X:466.92, Y:70.72, Z:-0.21 [[ 8.26701763e-01 -5.62606048e-01 -6.21531219e-03 4.66917389e+02] [ 5.62404215e-01 8.25984309e-01 3.80975101e-02 7.07233493e+01] [-1.63001392e-02 -3.49907965e-02 9.99254697e-01 -2.11410589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.22533619499995 meters Centerline goodness : 0.128875 with order 1 Centerline is valid? [False, False] Translation: X:466.89, Y:70.69, Z:-0.21 [[ 8.29311202e-01 -5.58693879e-01 -1.02019249e-02 4.66890539e+02] [ 5.58517007e-01 8.28204814e-01 4.62118940e-02 7.06872007e+01] [-1.73690190e-02 -4.40219899e-02 9.98879563e-01 -2.11568745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.28533619499996 meters Centerline goodness : 0.136219 with order 1 Centerline is valid? [False, False] Translation: X:466.83, Y:70.63, Z:-0.21 [[ 8.30663140e-01 -5.56665806e-01 -1.10421314e-02 4.66829563e+02] [ 5.56431152e-01 8.29289202e-01 5.16119492e-02 7.06327700e+01] [-1.95734870e-02 -4.90163297e-02 9.98606168e-01 -2.14486845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.34533619499996 meters Centerline goodness : 0.130163 with order 1 Centerline is valid? [False, False] Translation: X:466.79, Y:70.60, Z:-0.22 [[ 8.30573753e-01 -5.56831673e-01 -9.25901034e-03 4.66794238e+02] [ 5.56510710e-01 8.29237156e-01 5.15903923e-02 7.06044824e+01] [-2.10492490e-02 -4.80023642e-02 9.98625406e-01 -2.17769499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.40533619499996 meters Centerline goodness : 0.089107 with order 1 Centerline is valid? [False, False] Translation: X:466.77, Y:70.58, Z:-0.22 [[ 8.32343095e-01 -5.54075788e-01 -1.43175966e-02 4.66772318e+02] [ 5.53990844e-01 8.30854113e-01 5.26838456e-02 7.05806925e+01] [-1.72950092e-02 -5.17828525e-02 9.98508597e-01 -2.24140345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.46533619499996 meters Centerline goodness : 0.088273 with order 1 Centerline is valid? [False, False] Translation: X:466.71, Y:70.53, Z:-0.23 [[ 8.35065043e-01 -5.49955148e-01 -1.46870190e-02 4.66714890e+02] [ 5.49798507e-01 8.33276410e-01 5.80691515e-02 7.05329454e+01] [-1.96970824e-02 -5.65664196e-02 9.98204521e-01 -2.31366119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.52533619499997 meters Centerline goodness : 0.088924 with order 1 Centerline is valid? [False, False] Translation: X:466.64, Y:70.48, Z:-0.24 [[ 8.39741014e-01 -5.42829433e-01 -1.30857047e-02 4.66643056e+02] [ 5.42441997e-01 8.37574676e-01 6.50026346e-02 7.04762263e+01] [-2.43250884e-02 -6.16836141e-02 9.97799289e-01 -2.38644010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.58533619499997 meters Centerline goodness : 0.085291 with order 1 Centerline is valid? [False, False] Translation: X:466.60, Y:70.44, Z:-0.25 [[ 8.48730155e-01 -5.28612357e-01 -1.50366544e-02 4.66600630e+02] [ 5.28173912e-01 8.45928769e-01 7.37349071e-02 7.04366294e+01] [-2.62572445e-02 -7.05230077e-02 9.97164511e-01 -2.45548229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.64533619499997 meters Centerline goodness : 0.086532 with order 1 Centerline is valid? [False, False] Translation: X:466.55, Y:70.40, Z:-0.25 [[ 8.55449362e-01 -5.17742220e-01 -1.22222316e-02 4.66551401e+02] [ 5.16876582e-01 8.52070314e-01 8.25516769e-02 7.04042606e+01] [-3.23262877e-02 -7.69361646e-02 9.96511835e-01 -2.53193581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.705336195 meters Centerline goodness : 0.086635 with order 1 Centerline is valid? [False, False] Translation: X:466.52, Y:70.37, Z:-0.26 [[ 8.60410468e-01 -5.09280057e-01 -1.81010960e-02 4.66521683e+02] [ 5.08590448e-01 8.55924785e-01 9.34265403e-02 7.03724491e+01] [-3.20870970e-02 -8.95912178e-02 9.95461617e-01 -2.55112965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.765336195 meters Centerline goodness : 0.087513 with order 1 Centerline is valid? [False, False] Translation: X:466.49, Y:70.34, Z:-0.26 [[ 8.62405470e-01 -5.05731040e-01 -2.22017921e-02 4.66491936e+02] [ 5.05261607e-01 8.57252742e-01 9.91385128e-02 7.03442064e+01] [-3.11048760e-02 -9.67153089e-02 9.94825932e-01 -2.57401336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.825336195 meters Centerline goodness : 0.090537 with order 1 Centerline is valid? [False, False] Translation: X:466.45, Y:70.32, Z:-0.27 [[ 8.61494893e-01 -5.07283560e-01 -2.21345670e-02 4.66452868e+02] [ 5.06426014e-01 8.55239132e-01 1.09994181e-01 7.03160989e+01] [-3.68678917e-02 -1.05968945e-01 9.93685736e-01 -2.69245602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.885336195 meters Centerline goodness : 0.090047 with order 3 Centerline is valid? [False, False] Translation: X:466.42, Y:70.30, Z:-0.28 [[ 8.59210171e-01 -5.11436899e-01 -1.37905737e-02 4.66420779e+02] [ 5.09307338e-01 8.52449342e-01 1.18051492e-01 7.02957252e+01] [-4.86201236e-02 -1.08454683e-01 9.92911711e-01 -2.81892282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.945336195 meters Centerline goodness : 0.092995 with order 1 Centerline is valid? [False, False] Translation: X:466.42, Y:70.30, Z:-0.29 [[ 8.59672765e-01 -5.10667460e-01 -1.34715254e-02 4.66423300e+02] [ 5.08444555e-01 8.52781872e-01 1.19361695e-01 7.03000192e+01] [-4.94658612e-02 -1.09461522e-01 9.92759439e-01 -2.89575001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.005336195 meters SLAMing on 495.065336195 meters Centerline goodness : 0.068912 with order 1 Centerline is valid? [False, False] Translation: X:466.42, Y:70.31, Z:-0.30 [[ 8.63073355e-01 -5.04842178e-01 -1.54518354e-02 4.66423245e+02] [ 5.02629652e-01 8.55477634e-01 1.24585117e-01 7.03107189e+01] [-4.96771220e-02 -1.15292645e-01 9.92088600e-01 -2.99370350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.125336195 meters Centerline goodness : 0.815460 with order 2 Centerline is valid? [False, False] Translation: X:466.43, Y:70.31, Z:-0.30 [[ 8.64867555e-01 -5.01688932e-01 -1.76728010e-02 4.66426122e+02] [ 4.99596901e-01 8.56753005e-01 1.27973534e-01 7.03111466e+01] [-4.90616803e-02 -1.19509434e-01 9.91620112e-01 -3.01584563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.185336195 meters Centerline goodness : 0.800693 with order 1 Centerline is valid? [False, False] Translation: X:466.43, Y:70.32, Z:-0.31 [[ 8.63556562e-01 -5.03972125e-01 -1.67976421e-02 4.66429172e+02] [ 5.01826190e-01 8.55661709e-01 1.26544516e-01 7.03157677e+01] [-4.94018097e-02 -1.17707844e-01 9.91818695e-01 -3.07087552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.245336195 meters Centerline goodness : 0.787249 with order 1 Centerline is valid? [False, False] Translation: X:466.43, Y:70.32, Z:-0.31 [[ 8.61150413e-01 -5.08150126e-01 -1.42623767e-02 4.66431134e+02] [ 5.05843084e-01 8.53782919e-01 1.23197002e-01 7.03170978e+01] [-5.04255987e-02 -1.13305674e-01 9.92279740e-01 -3.10506731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.30533619499994 meters Centerline goodness : 0.774642 with order 1 Centerline is valid? [False, False] Translation: X:466.43, Y:70.32, Z:-0.31 [[ 8.60925978e-01 -5.08542920e-01 -1.38042988e-02 4.66432462e+02] [ 5.06162834e-01 8.53543052e-01 1.23545311e-01 7.03169937e+01] [-5.10455301e-02 -1.13350591e-01 9.92242912e-01 -3.12637724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.36533619499994 meters Centerline goodness : 0.768570 with order 3 Centerline is valid? [False, False] Translation: X:466.43, Y:70.32, Z:-0.31 [[ 8.60985884e-01 -5.08444247e-01 -1.37023903e-02 4.66434161e+02] [ 5.06046273e-01 8.53591955e-01 1.23684857e-01 7.03170385e+01] [-5.11906041e-02 -1.13424960e-01 9.92226940e-01 -3.14162953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.42533619499994 meters Centerline goodness : 0.759085 with order 3 Centerline is valid? [False, False] Translation: X:466.44, Y:70.32, Z:-0.32 [[ 8.63272310e-01 -5.04492963e-01 -1.57406825e-02 4.66437623e+02] [ 5.02162536e-01 8.55302187e-01 1.27636032e-01 7.03157404e+01] [-5.09284395e-02 -1.18089033e-01 9.91696160e-01 -3.16771430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.48533619499995 meters Centerline goodness : 0.748425 with order 3 Centerline is valid? [False, False] Translation: X:466.44, Y:70.32, Z:-0.32 [[ 8.66020491e-01 -4.99671732e-01 -1.83485458e-02 4.66443724e+02] [ 4.97478443e-01 8.57371096e-01 1.32022733e-01 7.03177814e+01] [-5.02365148e-02 -1.23462398e-01 9.91076853e-01 -3.23136321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.54533619499995 meters Centerline goodness : 0.745257 with order 3 Centerline is valid? [False, False] Translation: X:466.45, Y:70.32, Z:-0.32 [[ 8.68282083e-01 -4.95643689e-01 -2.05805316e-02 4.66447452e+02] [ 4.93565791e-01 8.58989763e-01 1.36122730e-01 7.03151258e+01] [-4.97899061e-02 -1.28350774e-01 9.90478190e-01 -3.24360050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.60533619499995 meters Centerline goodness : 0.730518 with order 2 Centerline is valid? [False, False] Translation: X:466.46, Y:70.32, Z:-0.33 [[ 8.69243169e-01 -4.93924352e-01 -2.13318353e-02 4.66455422e+02] [ 4.91916900e-01 8.59792647e-01 1.37019585e-01 7.03180739e+01] [-4.93363546e-02 -1.29596829e-01 9.90338622e-01 -3.31799821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.66533619499995 meters Centerline goodness : 0.647395 with order 2 Centerline is valid? [False, False] Translation: X:466.46, Y:70.32, Z:-0.34 [[ 8.69811834e-01 -4.92903982e-01 -2.17494327e-02 4.66462701e+02] [ 4.90927073e-01 8.60246327e-01 1.37720244e-01 7.03203297e+01] [-4.91729870e-02 -1.30468083e-01 9.90232345e-01 -3.38993746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.72533619499995 meters Centerline goodness : 0.715171 with order 1 Centerline is valid? [False, False] Translation: X:466.47, Y:70.32, Z:-0.34 [[ 8.71664056e-01 -4.89515706e-01 -2.40030526e-02 4.66467085e+02] [ 4.87683883e-01 8.61458350e-01 1.41611938e-01 7.03179808e+01] [-4.86436376e-02 -1.35143938e-01 9.89631200e-01 -3.39908770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.78533619499996 meters Centerline goodness : 0.594263 with order 2 Centerline is valid? [False, False] Translation: X:466.47, Y:70.32, Z:-0.34 [[ 8.73338091e-01 -4.86448924e-01 -2.54562978e-02 4.66470789e+02] [ 4.84656705e-01 8.62500982e-01 1.45601971e-01 7.03160770e+01] [-4.88718401e-02 -1.39497313e-01 9.89015694e-01 -3.41347298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.84533619499996 meters Centerline goodness : 0.692489 with order 2 Centerline is valid? [False, False] Translation: X:466.48, Y:70.31, Z:-0.34 [[ 8.75108230e-01 -4.83146598e-01 -2.74763658e-02 4.66475250e+02] [ 4.81497467e-01 8.63627190e-01 1.49359517e-01 7.03130470e+01] [-4.84332061e-02 -1.43935543e-01 9.88401125e-01 -3.41941879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.90533619499996 meters Centerline goodness : 0.578492 with order 1 Centerline is valid? [False, False] Translation: X:466.48, Y:70.31, Z:-0.34 [[ 8.76980188e-01 -4.79645213e-01 -2.90898546e-02 4.66479184e+02] [ 4.78093945e-01 8.64856659e-01 1.53131120e-01 7.03119770e+01] [-4.82900540e-02 -1.48200641e-01 9.87777627e-01 -3.44286087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.96533619499996 meters Centerline goodness : 0.676167 with order 1 Centerline is valid? [False, False] Translation: X:466.49, Y:70.32, Z:-0.35 [[ 8.78399650e-01 -4.76914765e-01 -3.10863476e-02 4.66489515e+02] [ 4.75570841e-01 8.65768052e-01 1.55814166e-01 7.03170507e+01] [-4.73965096e-02 -1.51650869e-01 9.87297111e-01 -3.54037288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.02533619499997 meters Centerline goodness : 0.469956 with order 2 Centerline is valid? [False, False] Translation: X:466.49, Y:70.32, Z:-0.36 [[ 8.78347661e-01 -4.77023670e-01 -3.08837337e-02 4.66494490e+02] [ 4.75657734e-01 8.65758485e-01 1.55601945e-01 7.03221101e+01] [-4.74879563e-02 -1.51362691e-01 9.87336938e-01 -3.61014249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.08533619499997 meters Centerline goodness : 0.477476 with order 3 Centerline is valid? [False, False] Translation: X:466.50, Y:70.33, Z:-0.37 [[ 8.77761940e-01 -4.78097875e-01 -3.09256791e-02 4.66504417e+02] [ 4.76774289e-01 8.65336131e-01 1.54530446e-01 7.03268157e+01] [-4.71195705e-02 -1.50385513e-01 9.87503895e-01 -3.69961511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.14533619499997 meters Centerline goodness : 0.520475 with order 1 Centerline is valid? [False, False] Translation: X:466.51, Y:70.33, Z:-0.37 [[ 8.77538770e-01 -4.78520688e-01 -3.07190307e-02 4.66506576e+02] [ 4.77166666e-01 8.65144263e-01 1.54393577e-01 7.03296728e+01] [-4.73041274e-02 -1.50144447e-01 9.87531754e-01 -3.72233694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.205336195 meters Centerline goodness : 0.470656 with order 2 Centerline is valid? [False, False] Translation: X:466.52, Y:70.33, Z:-0.38 [[ 8.76753551e-01 -4.79947502e-01 -3.08805255e-02 4.66515639e+02] [ 4.78627860e-01 8.64449758e-01 1.53759509e-01 7.03341278e+01] [-4.71018296e-02 -1.49589476e-01 9.87625641e-01 -3.80016617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.265336195 meters Centerline goodness : 0.518235 with order 2 Centerline is valid? [False, False] Translation: X:466.52, Y:70.33, Z:-0.38 [[ 8.76701797e-01 -4.80022190e-01 -3.11874399e-02 4.66518233e+02] [ 4.78731537e-01 8.64333065e-01 1.54092399e-01 7.03325660e+01] [-4.70114352e-02 -1.50023494e-01 9.87564112e-01 -3.80785097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.325336195 meters Centerline goodness : 0.584471 with order 2 Centerline is valid? [False, False] Translation: X:466.53, Y:70.33, Z:-0.38 [[ 8.74516251e-01 -4.84106545e-01 -2.93628972e-02 4.66525178e+02] [ 4.82629889e-01 8.62679781e-01 1.51168733e-01 7.03305487e+01] [-4.78509954e-02 -1.46370926e-01 9.88071776e-01 -3.83712491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.385336195 meters Centerline goodness : 0.472023 with order 1 Centerline is valid? [False, False] Translation: X:466.53, Y:70.33, Z:-0.39 [[ 8.74425774e-01 -4.84252620e-01 -2.96473587e-02 4.66530262e+02] [ 4.82796112e-01 8.62516072e-01 1.51571567e-01 7.03299671e+01] [-4.78276052e-02 -1.46851715e-01 9.88001566e-01 -3.85466016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.445336195 meters Centerline goodness : 0.470606 with order 1 Centerline is valid? [False, False] Translation: X:466.53, Y:70.33, Z:-0.39 [[ 8.74601967e-01 -4.83936788e-01 -2.96071756e-02 4.66533036e+02] [ 4.82460297e-01 8.62637224e-01 1.51950919e-01 7.03286792e+01] [-4.79943878e-02 -1.47180859e-01 9.87944499e-01 -3.85549214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.505336195 meters Centerline goodness : 0.478653 with order 1 Centerline is valid? [False, False] Translation: X:466.54, Y:70.32, Z:-0.39 [[ 8.75213486e-01 -4.82782527e-01 -3.03708165e-02 4.66543836e+02] [ 4.81393882e-01 8.63084229e-01 1.52792487e-01 7.03249071e+01] [-4.75529704e-02 -1.48346371e-01 9.87791511e-01 -3.89976721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.565336195 meters Centerline goodness : 0.483793 with order 1 Centerline is valid? [False, False] Translation: X:466.56, Y:70.32, Z:-0.40 [[ 8.77046853e-01 -4.79232145e-01 -3.35465250e-02 4.66559436e+02] [ 4.78188761e-01 8.64170496e-01 1.56668004e-01 7.03212103e+01] [-4.60904267e-02 -1.53446751e-01 9.87081439e-01 -3.96659758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.625336195 meters Centerline goodness : 0.485289 with order 1 Centerline is valid? [False, False] Translation: X:466.57, Y:70.31, Z:-0.40 [[ 8.79693807e-01 -4.74164344e-01 -3.61521899e-02 4.66571494e+02] [ 4.73361607e-01 8.65859606e-01 1.61913347e-01 7.03127326e+01] [-4.54708152e-02 -1.59547227e-01 9.86142529e-01 -3.99782036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.685336195 meters Centerline goodness : 0.477623 with order 1 Centerline is valid? [False, False] Translation: X:466.58, Y:70.31, Z:-0.40 [[ 8.82082548e-01 -4.69531593e-01 -3.83465956e-02 4.66577023e+02] [ 4.68953820e-01 8.67408094e-01 1.66389640e-01 7.03071498e+01] [-4.48630453e-02 -1.64752180e-01 9.85314176e-01 -3.99260068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.745336195 meters Centerline goodness : 0.490021 with order 1 Centerline is valid? [False, False] Translation: X:466.57, Y:70.30, Z:-0.41 [[ 8.87505634e-01 -4.59255749e-01 -3.76551046e-02 4.66573179e+02] [ 4.58485755e-01 8.71926955e-01 1.71855164e-01 7.02951141e+01] [-4.60929715e-02 -1.69786756e-01 9.84402304e-01 -4.10019644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.80533619499994 meters Centerline goodness : 0.504904 with order 1 Centerline is valid? [False, False] Translation: X:466.60, Y:70.31, Z:-0.43 [[ 8.92939236e-01 -4.49079549e-01 -3.14178215e-02 4.66599633e+02] [ 4.47208331e-01 8.76885563e-01 1.76285048e-01 7.03066804e+01] [-5.16161757e-02 -1.71462148e-01 9.83837640e-01 -4.27593041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.86533619499994 meters Centerline goodness : 0.506881 with order 1 Centerline is valid? [False, False] Translation: X:466.62, Y:70.31, Z:-0.42 [[ 8.96714535e-01 -4.41168225e-01 -3.56880981e-02 4.66618930e+02] [ 4.40110285e-01 8.80192029e-01 1.77665219e-01 7.03146961e+01] [-4.69678700e-02 -1.75021683e-01 9.83443659e-01 -4.22109212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.92533619499994 meters Centerline goodness : 0.504651 with order 2 Centerline is valid? [False, False] Translation: X:466.64, Y:70.33, Z:-0.42 [[ 8.98682337e-01 -4.36914637e-01 -3.84142801e-02 4.66643988e+02] [ 4.36540457e-01 8.82546915e-01 1.74766622e-01 7.03294497e+01] [-4.24556910e-02 -1.73829064e-01 9.83860239e-01 -4.22925696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.98533619499995 meters Centerline goodness : 0.066797 with order 1 Centerline is valid? [False, False] Translation: X:466.66, Y:70.34, Z:-0.43 [[ 8.98414975e-01 -4.37427298e-01 -3.88315731e-02 4.66655131e+02] [ 4.37143905e-01 8.82375683e-01 1.74121681e-01 7.03354945e+01] [-4.19015407e-02 -1.73408511e-01 9.83958205e-01 -4.31932671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.04533619499995 meters Centerline goodness : 0.416859 with order 2 Centerline is valid? [False, False] Translation: X:466.66, Y:70.34, Z:-0.43 [[ 8.98332744e-01 -4.37608174e-01 -3.86958315e-02 4.66657112e+02] [ 4.37300043e-01 8.82307469e-01 1.74075276e-01 7.03370940e+01] [-4.20351425e-02 -1.73299209e-01 9.83971763e-01 -4.32485003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.10533619499995 meters Centerline goodness : 0.405205 with order 2 Centerline is valid? [False, False] Translation: X:466.67, Y:70.34, Z:-0.44 [[ 8.99280703e-01 -4.35444633e-01 -4.10144890e-02 4.66669976e+02] [ 4.35462941e-01 8.82658208e-01 1.76879944e-01 7.03412767e+01] [-4.08196469e-02 -1.76925010e-01 9.83377495e-01 -4.40605854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.16533619499995 meters Centerline goodness : 0.369270 with order 2 Centerline is valid? [False, False] Translation: X:466.68, Y:70.35, Z:-0.45 [[ 8.98799596e-01 -4.36387444e-01 -4.15365510e-02 4.66680241e+02] [ 4.36518073e-01 8.82319796e-01 1.75965196e-01 7.03495314e+01] [-4.01404808e-02 -1.76288902e-01 9.83519682e-01 -4.48613702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.22533619499995 meters Centerline goodness : 0.390126 with order 2 Centerline is valid? [False, False] Translation: X:466.69, Y:70.35, Z:-0.45 [[ 8.99722211e-01 -4.34286290e-01 -4.35357428e-02 4.66687408e+02] [ 4.34704802e-01 8.82684866e-01 1.78603368e-01 7.03535198e+01] [-3.91366529e-02 -1.79618614e-01 9.82957515e-01 -4.52892626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.28533619499996 meters Centerline goodness : 0.291497 with order 2 Centerline is valid? [False, False] Translation: X:466.73, Y:70.38, Z:-0.45 [[ 8.98813536e-01 -4.35559816e-01 -4.92125461e-02 4.66727072e+02] [ 4.37122459e-01 8.82335834e-01 1.74377270e-01 7.03791447e+01] [-3.25297390e-02 -1.78244560e-01 9.83448368e-01 -4.48108761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.34533619499996 meters Centerline goodness : 0.310884 with order 2 Centerline is valid? [False, False] Translation: X:466.74, Y:70.39, Z:-0.46 [[ 8.98051221e-01 -4.37075813e-01 -4.96863856e-02 4.66738070e+02] [ 4.38734189e-01 8.81771976e-01 1.73177639e-01 7.03890562e+01] [-3.18796949e-02 -1.77321506e-01 9.83636502e-01 -4.56107967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.40533619499996 meters Centerline goodness : 0.322262 with order 2 Centerline is valid? [False, False] Translation: X:466.75, Y:70.39, Z:-0.46 [[ 8.97122792e-01 -4.38983269e-01 -4.96425864e-02 4.66745318e+02] [ 4.40639478e-01 8.81063238e-01 1.71943075e-01 7.03944198e+01] [-3.17418749e-02 -1.76128534e-01 9.83855270e-01 -4.60267875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.46533619499996 meters Centerline goodness : 0.275848 with order 2 Centerline is valid? [False, False] Translation: X:466.75, Y:70.40, Z:-0.47 [[ 8.97047972e-01 -4.39064259e-01 -5.02743674e-02 4.66752296e+02] [ 4.40836997e-01 8.81006406e-01 1.71727850e-01 7.03992871e+01] [-3.11075215e-02 -1.76210921e-01 9.83860780e-01 -4.65789509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.52533619499997 meters Centerline goodness : 0.276212 with order 2 Centerline is valid? [False, False] Translation: X:466.76, Y:70.40, Z:-0.47 [[ 8.96782785e-01 -4.39620352e-01 -5.01456243e-02 4.66755913e+02] [ 4.41373898e-01 8.80819710e-01 1.71305926e-01 7.04035842e+01] [-3.11403174e-02 -1.75757175e-01 9.83940901e-01 -4.67299224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.58533619499997 meters Centerline goodness : 0.278341 with order 2 Centerline is valid? [False, False] Translation: X:466.76, Y:70.40, Z:-0.47 [[ 8.96685954e-01 -4.39820803e-01 -5.01194708e-02 4.66758917e+02] [ 4.41562228e-01 8.80701013e-01 1.71430817e-01 7.04040334e+01] [-3.12585708e-02 -1.75850471e-01 9.83920481e-01 -4.67523900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.64533619499997 meters Centerline goodness : 0.265648 with order 2 Centerline is valid? [False, False] Translation: X:466.80, Y:70.43, Z:-0.46 [[ 8.94034155e-01 -4.44702762e-01 -5.42437466e-02 4.66797750e+02] [ 4.47266941e-01 8.79088623e-01 1.64789189e-01 7.04256622e+01] [-2.55971472e-02 -1.71588598e-01 9.84836098e-01 -4.60849326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.705336195 meters Centerline goodness : 0.278119 with order 2 Centerline is valid? [False, False] Translation: X:466.81, Y:70.43, Z:-0.47 [[ 8.93482229e-01 -4.45720963e-01 -5.49757191e-02 4.66811318e+02] [ 4.48399447e-01 8.78554411e-01 1.64560272e-01 7.04273388e+01] [-2.50488023e-02 -1.71682760e-01 9.84833787e-01 -4.67026346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.765336195 meters Centerline goodness : 0.139289 with order 1 Centerline is valid? [False, False] Translation: X:466.86, Y:70.45, Z:-0.46 [[ 8.92782859e-01 -4.46239065e-01 -6.17208475e-02 4.66856281e+02] [ 4.50120721e-01 8.78118421e-01 1.62170822e-01 7.04458203e+01] [-1.81687428e-02 -1.72565162e-01 9.84830524e-01 -4.60867580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.825336195 meters Centerline goodness : 0.097213 with order 1 Centerline is valid? [False, False] Translation: X:466.87, Y:70.45, Z:-0.47 [[ 8.93133004e-01 -4.45340754e-01 -6.31272623e-02 4.66868299e+02] [ 4.49484095e-01 8.78488686e-01 1.61931085e-01 7.04513026e+01] [-1.66579255e-02 -1.73000696e-01 9.84780825e-01 -4.68413490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.885336195 meters Centerline goodness : 0.105270 with order 3 Centerline is valid? [False, False] Translation: X:466.91, Y:70.47, Z:-0.48 [[ 8.95094200e-01 -4.42194318e-01 -5.71887992e-02 4.66907388e+02] [ 4.45295755e-01 8.79996253e-01 1.65282439e-01 7.04692319e+01] [-2.27610264e-02 -1.73409282e-01 9.84586795e-01 -4.77575338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.945336195 meters Centerline goodness : 0.070213 with order 2 Centerline is valid? [False, False] Translation: X:466.95, Y:70.49, Z:-0.49 [[ 8.97255402e-01 -4.38413198e-01 -5.22169680e-02 4.66948010e+02] [ 4.40611294e-01 8.81590644e-01 1.69291536e-01 7.04900475e+01] [-2.81856533e-02 -1.74905131e-01 9.84181774e-01 -4.87131704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.005336195 meters Centerline goodness : 0.116044 with order 1 Centerline is valid? [False, False] Translation: X:466.98, Y:70.51, Z:-0.49 [[ 9.00127474e-01 -4.32093110e-01 -5.53721524e-02 4.66977043e+02] [ 4.35007942e-01 8.84786541e-01 1.67095382e-01 7.05067493e+01] [-2.32082282e-02 -1.74494470e-01 9.84384609e-01 -4.88716043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.065336195 meters Centerline goodness : 0.159275 with order 1 Centerline is valid? [False, False] Translation: X:467.00, Y:70.52, Z:-0.49 [[ 9.01361197e-01 -4.29078435e-01 -5.86488546e-02 4.67003356e+02] [ 4.32675777e-01 8.86484951e-01 1.64122221e-01 7.05176597e+01] [-1.84299787e-02 -1.73309340e-01 9.84694982e-01 -4.89484724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.125336195 meters Centerline goodness : 0.119314 with order 1 Centerline is valid? [False, False] Translation: X:467.01, Y:70.52, Z:-0.49 [[ 9.01363103e-01 -4.29040395e-01 -5.88973291e-02 4.67006083e+02] [ 4.32681787e-01 8.86486004e-01 1.64100686e-01 7.05176678e+01] [-1.81941654e-02 -1.73398105e-01 9.84683741e-01 -4.90622307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.185336195 meters SLAMing on 498.245336195 meters SLAMing on 498.30533619499994 meters Centerline goodness : 0.105666 with order 3 Centerline is valid? [False, False] Translation: X:467.15, Y:70.59, Z:-0.48 [[ 8.98147106e-01 -4.34539840e-01 -6.71334682e-02 4.67148228e+02] [ 4.39571179e-01 8.83741959e-01 1.60553193e-01 7.05852506e+01] [-1.04380961e-02 -1.73710324e-01 9.84741473e-01 -4.84591007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.36533619499994 meters Centerline goodness : 0.288178 with order 2 Centerline is valid? [False, False] Translation: X:467.18, Y:70.60, Z:-0.48 [[ 8.98208603e-01 -4.34226793e-01 -6.83256714e-02 4.67176223e+02] [ 4.39523391e-01 8.84948306e-01 1.53901541e-01 7.06007288e+01] [-6.36348528e-03 -1.68266419e-01 9.85721014e-01 -4.84994079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.42533619499994 meters Centerline goodness : 0.115589 with order 1 Centerline is valid? [False, False] Translation: X:467.20, Y:70.61, Z:-0.48 [[ 8.99406024e-01 -4.31250106e-01 -7.13593095e-02 4.67199090e+02] [ 4.37109663e-01 8.86588894e-01 1.51311848e-01 7.06118573e+01] [-1.98687930e-03 -1.67282631e-01 9.85906980e-01 -4.84784865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.48533619499995 meters Centerline goodness : 0.181310 with order 1 Centerline is valid? [False, False] Translation: X:467.24, Y:70.63, Z:-0.49 [[ 9.00188900e-01 -4.30579722e-01 -6.52766995e-02 4.67238197e+02] [ 4.35414654e-01 8.86884389e-01 1.54434970e-01 7.06323616e+01] [-8.60368046e-03 -1.67443077e-01 9.85844203e-01 -4.90944695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.54533619499995 meters Centerline goodness : 0.182475 with order 1 Centerline is valid? [False, False] Translation: X:467.26, Y:70.65, Z:-0.49 [[ 9.00774613e-01 -4.29268206e-01 -6.58323926e-02 4.67258963e+02] [ 4.34258541e-01 8.88575230e-01 1.47829567e-01 7.06456703e+01] [-4.96149986e-03 -1.61749400e-01 9.86819393e-01 -4.86442020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.60533619499995 meters Centerline goodness : 0.185800 with order 1 Centerline is valid? [False, False] Translation: X:467.29, Y:70.66, Z:-0.49 [[ 9.01544390e-01 -4.27418151e-01 -6.73159509e-02 4.67286651e+02] [ 4.32685900e-01 8.90281313e-01 1.42063702e-01 7.06610792e+01] [-7.90471741e-04 -1.57203396e-01 9.87565931e-01 -4.86350389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.66533619499995 meters Centerline goodness : 0.190366 with order 1 Centerline is valid? [False, False] Translation: X:467.33, Y:70.68, Z:-0.48 [[ 8.99605751e-01 -4.30715288e-01 -7.20682582e-02 4.67328501e+02] [ 4.36666740e-01 8.89323526e-01 1.35741752e-01 7.06842292e+01] [ 5.62594970e-03 -1.53583872e-01 9.88119600e-01 -4.81628816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.72533619499995 meters Centerline goodness : 0.191932 with order 1 Centerline is valid? [False, False] Translation: X:467.35, Y:70.69, Z:-0.48 [[ 8.98723062e-01 -4.32317620e-01 -7.34733525e-02 4.67353737e+02] [ 4.38418051e-01 8.89372127e-01 1.29641171e-01 7.06916712e+01] [ 9.29898938e-03 -1.48723554e-01 9.88835089e-01 -4.80926638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.78533619499996 meters Centerline goodness : 0.110973 with order 1 Centerline is valid? [False, False] Translation: X:467.39, Y:70.70, Z:-0.48 [[ 8.97378602e-01 -4.34615041e-01 -7.62981652e-02 4.67386419e+02] [ 4.41036470e-01 8.88931960e-01 1.23639811e-01 7.07006390e+01] [ 1.40881561e-02 -1.44601994e-01 9.89389603e-01 -4.77330689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.84533619499996 meters Centerline goodness : 0.109881 with order 1 Centerline is valid? [False, False] Translation: X:467.42, Y:70.72, Z:-0.48 [[ 8.97449088e-01 -4.35763225e-01 -6.85240601e-02 4.67423503e+02] [ 4.41066414e-01 8.88827787e-01 1.24280262e-01 7.07151377e+01] [ 6.74932080e-03 -1.41758869e-01 9.89878209e-01 -4.84829283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.90533619499996 meters Centerline goodness : 0.109381 with order 1 Centerline is valid? [False, False] Translation: X:467.45, Y:70.73, Z:-0.50 [[ 9.00554996e-01 -4.30556782e-01 -6.01793773e-02 4.67449615e+02] [ 4.34741849e-01 8.91733915e-01 1.25738415e-01 7.07253291e+01] [-4.73535580e-04 -1.39396851e-01 9.90236484e-01 -4.98467974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.96533619499996 meters Centerline goodness : 0.109210 with order 1 Centerline is valid? [False, False] Translation: X:467.47, Y:70.73, Z:-0.50 [[ 9.03958548e-01 -4.24160926e-01 -5.42812286e-02 4.67470338e+02] [ 4.27601749e-01 8.95431941e-01 1.23928947e-01 7.07343234e+01] [-3.96067093e-03 -1.35237379e-01 9.90805311e-01 -5.04044103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.02533619499997 meters Centerline goodness : 0.108702 with order 1 Centerline is valid? [False, False] Translation: X:467.50, Y:70.75, Z:-0.52 [[ 9.06399753e-01 -4.19991227e-01 -4.52421991e-02 4.67496501e+02] [ 4.22245704e-01 8.97727176e-01 1.25676106e-01 7.07466545e+01] [-1.21677106e-02 -1.33016116e-01 9.91039182e-01 -5.16039710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.08533619499997 meters Centerline goodness : 0.108861 with order 1 Centerline is valid? [False, False] Translation: X:467.52, Y:70.76, Z:-0.52 [[ 9.08080707e-01 -4.16020862e-01 -4.81255871e-02 4.67521388e+02] [ 4.18724979e-01 8.99809289e-01 1.22526062e-01 7.07581425e+01] [-7.66954786e-03 -1.31414939e-01 9.91297782e-01 -5.15340722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.14533619499997 meters Centerline goodness : 0.108937 with order 1 Centerline is valid? [False, False] Translation: X:467.54, Y:70.77, Z:-0.53 [[ 9.09386563e-01 -4.14231935e-01 -3.77886730e-02 4.67543889e+02] [ 4.15618173e-01 9.01260017e-01 1.22441480e-01 7.07708617e+01] [-1.66617510e-02 -1.27052296e-01 9.91756069e-01 -5.25904318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.205336195 meters Centerline goodness : 0.108349 with order 1 Centerline is valid? [False, False] Translation: X:467.57, Y:70.78, Z:-0.54 [[ 9.09671183e-01 -4.14445179e-01 -2.70838170e-02 4.67567598e+02] [ 4.14537246e-01 9.01979004e-01 1.20800448e-01 7.07845752e+01] [-2.56361289e-02 -1.21115937e-01 9.92307270e-01 -5.36668336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.265336195 meters Centerline goodness : 0.183860 with order 1 Centerline is valid? [False, False] Translation: X:467.59, Y:70.80, Z:-0.54 [[ 9.09629291e-01 -4.14450006e-01 -2.83856728e-02 4.67593768e+02] [ 4.14861310e-01 9.02735213e-01 1.13838609e-01 7.07964740e+01] [-2.15556656e-02 -1.15327050e-01 9.93093664e-01 -5.36130601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.325336195 meters Centerline goodness : 0.080617 with order 1 Centerline is valid? [False, False] Translation: X:467.61, Y:70.81, Z:-0.53 [[ 9.08672587e-01 -4.16597919e-01 -2.75736085e-02 4.67614165e+02] [ 4.17101104e-01 9.02881806e-01 1.04072634e-01 7.08051280e+01] [-1.84607333e-02 -1.06068932e-01 9.94187398e-01 -5.31666734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.385336195 meters Centerline goodness : 0.086538 with order 1 Centerline is valid? [False, False] Translation: X:467.64, Y:70.81, Z:-0.53 [[ 9.08315000e-01 -4.17297084e-01 -2.87576981e-02 4.67641138e+02] [ 4.18035566e-01 9.03238903e-01 9.69832399e-02 7.08128937e+01] [-1.44957515e-02 -1.00113072e-01 9.94870467e-01 -5.30597087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.445336195 meters Centerline goodness : 0.081122 with order 1 Centerline is valid? [False, False] Translation: X:467.67, Y:70.82, Z:-0.53 [[ 9.09740111e-01 -4.13994093e-01 -3.13340317e-02 4.67668311e+02] [ 4.15053464e-01 9.05023170e-01 9.30789162e-02 7.08214181e+01] [-1.01760968e-02 -9.76829220e-02 9.95165561e-01 -5.29827640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.505336195 meters Centerline goodness : 0.081019 with order 1 Centerline is valid? [False, False] Translation: X:467.68, Y:70.83, Z:-0.52 [[ 9.11393735e-01 -4.10449423e-01 -2.98786112e-02 4.67684511e+02] [ 4.11448515e-01 9.07303804e-01 8.66598321e-02 7.08341211e+01] [-8.46050049e-03 -9.12747382e-02 9.95789808e-01 -5.23989343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.565336195 meters Centerline goodness : 0.081171 with order 1 Centerline is valid? [False, False] Translation: X:467.71, Y:70.85, Z:-0.53 [[ 9.15580309e-01 -4.01575057e-01 -2.12172452e-02 4.67713060e+02] [ 4.01980779e-01 9.12492093e-01 7.59580965e-02 7.08508050e+01] [-1.11423084e-02 -7.80746622e-02 9.96885247e-01 -5.27667590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.625336195 meters Centerline goodness : 0.082323 with order 1 Centerline is valid? [False, False] Translation: X:467.72, Y:70.86, Z:-0.53 [[ 9.17647213e-01 -3.97071755e-01 -1.60503405e-02 4.67722462e+02] [ 3.97197519e-01 9.15164074e-01 6.86210446e-02 7.08610370e+01] [-1.25587836e-02 -6.93450657e-02 9.97513679e-01 -5.27411581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.685336195 meters Centerline goodness : 0.090251 with order 1 Centerline is valid? [False, False] Translation: X:467.74, Y:70.87, Z:-0.52 [[ 9.18567238e-01 -3.94996776e-01 -1.45525688e-02 4.67737415e+02] [ 3.95115866e-01 9.16588217e-01 6.12331078e-02 7.08728267e+01] [-1.08481670e-02 -6.19966775e-02 9.98017399e-01 -5.20484999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.745336195 meters Centerline goodness : 0.082802 with order 1 Centerline is valid? [False, False] Translation: X:467.75, Y:70.88, Z:-0.52 [[ 9.18503455e-01 -3.95319781e-01 -8.58336543e-03 4.67747898e+02] [ 3.95230473e-01 9.17203838e-01 5.02990338e-02 7.08835056e+01] [-1.20115073e-02 -4.95922439e-02 9.98697318e-01 -5.15303839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.80533619499994 meters Centerline goodness : 0.115117 with order 1 Centerline is valid? [False, False] Translation: X:467.76, Y:70.89, Z:-0.52 [[ 9.18605021e-01 -3.95166757e-01 2.83719708e-03 4.67757867e+02] [ 3.94691364e-01 9.17808433e-01 4.29698471e-02 7.08927005e+01] [-1.95842586e-02 -3.83525001e-02 9.99072341e-01 -5.18598585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.86533619499994 meters Centerline goodness : 0.117028 with order 1 Centerline is valid? [False, False] Translation: X:467.77, Y:70.91, Z:-0.51 [[ 9.18504820e-01 -3.95340706e-01 7.39069769e-03 4.67772368e+02] [ 3.94927839e-01 9.18147601e-01 3.22022577e-02 7.09073593e+01] [-1.95166146e-02 -2.66591366e-02 9.99454047e-01 -5.13577281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.92533619499994 meters Centerline goodness : 0.116444 with order 1 Centerline is valid? [False, False] Translation: X:467.77, Y:70.92, Z:-0.51 [[ 9.18904686e-01 -3.94149364e-01 1.61386855e-02 4.67774665e+02] [ 3.93822268e-01 9.18966224e-01 2.01271241e-02 7.09153041e+01] [-2.27640001e-02 -1.21391349e-02 9.99667165e-01 -5.12944665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.98533619499995 meters Centerline goodness : 0.115774 with order 1 Centerline is valid? [False, False] Translation: X:467.78, Y:70.93, Z:-0.51 [[ 9.17817028e-01 -3.96235127e-01 2.46906229e-02 4.67782839e+02] [ 3.96206911e-01 9.18140092e-01 6.23339633e-03 7.09256808e+01] [-2.51393414e-02 4.06147816e-03 9.99675706e-01 -5.10728797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.04533619499995 meters Centerline goodness : 0.112203 with order 1 Centerline is valid? [False, False] Translation: X:467.78, Y:70.93, Z:-0.51 [[ 9.19100792e-01 -3.92693818e-01 3.23311012e-02 4.67779439e+02] [ 3.93141883e-01 9.19437106e-01 -8.65262307e-03 7.09317085e+01] [-2.63285826e-02 2.06633427e-02 9.99439759e-01 -5.10834599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.10533619499995 meters Centerline goodness : 0.111964 with order 1 Centerline is valid? [False, False] Translation: X:467.80, Y:70.94, Z:-0.51 [[ 9.18714640e-01 -3.93230958e-01 3.65078759e-02 4.67797772e+02] [ 3.94067357e-01 9.18879478e-01 -1.92723448e-02 7.09389116e+01] [-2.59678554e-02 3.20923474e-02 9.99147512e-01 -5.06336218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.16533619499995 meters Centerline goodness : 0.108555 with order 1 Centerline is valid? [False, False] Translation: X:467.82, Y:70.95, Z:-0.50 [[ 9.19422289e-01 -3.91244816e-01 3.98766719e-02 4.67817412e+02] [ 3.92414865e-01 9.19380500e-01 -2.73874001e-02 7.09471651e+01] [-2.59466562e-02 4.08287849e-02 9.98829205e-01 -5.02908704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.22533619499995 meters Centerline goodness : 0.111006 with order 1 Centerline is valid? [False, False] Translation: X:467.83, Y:70.95, Z:-0.50 [[ 9.19964962e-01 -3.89152681e-01 4.71663077e-02 4.67831531e+02] [ 3.90876577e-01 9.19767861e-01 -3.52503058e-02 7.09537570e+01] [-2.96643029e-02 5.08652511e-02 9.98264872e-01 -5.02786501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.28533619499996 meters Centerline goodness : 0.114830 with order 1 Centerline is valid? [False, False] Translation: X:467.83, Y:70.96, Z:-0.51 [[ 9.21119211e-01 -3.85129669e-01 5.66968991e-02 4.67833793e+02] [ 3.87731284e-01 9.20651598e-01 -4.54432245e-02 7.09591526e+01] [-3.46965567e-02 6.38417886e-02 9.97356694e-01 -5.05357125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.34533619499996 meters Centerline goodness : 0.111880 with order 1 Centerline is valid? [False, False] Translation: X:467.84, Y:70.96, Z:-0.51 [[ 9.21411880e-01 -3.82875653e-01 6.63805895e-02 4.67840865e+02] [ 3.86596671e-01 9.20486489e-01 -5.69880423e-02 7.09614409e+01] [-3.92831019e-02 7.81719741e-02 9.96165639e-01 -5.09704622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.40533619499996 meters Centerline goodness : 0.117471 with order 1 Centerline is valid? [False, False] Translation: X:467.84, Y:70.96, Z:-0.51 [[ 9.19972076e-01 -3.86155171e-01 6.73465900e-02 4.67843456e+02] [ 3.90101379e-01 9.18757816e-01 -6.08686195e-02 7.09617428e+01] [-3.83704738e-02 8.22694279e-02 9.95871200e-01 -5.09597236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.46533619499996 meters Centerline goodness : 0.110536 with order 1 Centerline is valid? [False, False] Translation: X:467.80, Y:70.94, Z:-0.51 [[ 9.18845088e-01 -3.88106365e-01 7.13943582e-02 4.67804336e+02] [ 3.92272425e-01 9.18008148e-01 -5.81668637e-02 7.09372403e+01] [-4.29656726e-02 8.14523750e-02 9.95750703e-01 -5.10138118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.52533619499997 meters Centerline goodness : 0.109413 with order 1 Centerline is valid? [False, False] Translation: X:467.81, Y:70.93, Z:-0.51 [[ 9.17690752e-01 -3.90834920e-01 7.13564923e-02 4.67811354e+02] [ 3.95127542e-01 9.16579052e-01 -6.12949181e-02 7.09318802e+01] [-4.14476716e-02 8.44446949e-02 9.95565761e-01 -5.09825731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.58533619499997 meters Centerline goodness : 0.106667 with order 1 Centerline is valid? [False, False] Translation: X:467.81, Y:70.91, Z:-0.51 [[ 9.17866841e-01 -3.90035084e-01 7.34376951e-02 4.67806050e+02] [ 3.93999943e-01 9.17735705e-01 -5.02515692e-02 7.09075591e+01] [-4.77965199e-02 7.50586967e-02 9.96032974e-01 -5.08686837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.64533619499997 meters Centerline goodness : 0.107837 with order 1 Centerline is valid? [False, False] Translation: X:467.77, Y:70.88, Z:-0.51 [[ 9.18764921e-01 -3.87856497e-01 7.37452233e-02 4.67768991e+02] [ 3.91536197e-01 9.19108290e-01 -4.40381357e-02 7.08824532e+01] [-5.06993691e-02 6.93346186e-02 9.96304313e-01 -5.07964227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.705336195 meters Centerline goodness : 0.105498 with order 1 Centerline is valid? [False, False] Translation: X:467.75, Y:70.87, Z:-0.51 [[ 9.20219228e-01 -3.83239764e-01 7.95226697e-02 4.67754203e+02] [ 3.87136133e-01 9.21122243e-01 -4.07360807e-02 7.08692314e+01] [-5.76384139e-02 6.82722236e-02 9.96000360e-01 -5.10841765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.765336195 meters Centerline goodness : 0.106254 with order 1 Centerline is valid? [False, False] Translation: X:467.71, Y:70.84, Z:-0.51 [[ 9.21448757e-01 -3.80222270e-01 7.97697521e-02 4.67714061e+02] [ 3.83711910e-01 9.22838195e-01 -3.36873213e-02 7.08434492e+01] [-6.08059042e-02 6.16497443e-02 9.96243921e-01 -5.07341303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.825336195 meters Centerline goodness : 0.211173 with order 3 Centerline is valid? [False, False] Translation: X:467.67, Y:70.82, Z:-0.51 [[ 9.23200207e-01 -3.72967553e-01 9.27177589e-02 4.67672675e+02] [ 3.77410727e-01 9.25363828e-01 -3.55377273e-02 7.08228846e+01] [-7.25432410e-02 6.78011139e-02 9.95058032e-01 -5.08798483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.885336195 meters Centerline goodness : 0.086341 with order 1 Centerline is valid? [False, False] Translation: X:467.67, Y:70.82, Z:-0.51 [[ 9.23945765e-01 -3.71244586e-01 9.22045567e-02 4.67673277e+02] [ 3.75464605e-01 9.26248510e-01 -3.30155780e-02 7.08155544e+01] [-7.31474787e-02 6.51241509e-02 9.95192590e-01 -5.07669263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.945336195 meters Centerline goodness : 0.771563 with order 1 Centerline is valid? [False, False] Translation: X:467.68, Y:70.81, Z:-0.51 [[ 9.24145239e-01 -3.70929353e-01 9.14712702e-02 4.67675784e+02] [ 3.74970941e-01 9.26509922e-01 -3.12435126e-02 7.08078848e+01] [-7.31599036e-02 6.31726117e-02 9.95317462e-01 -5.07905114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.005336195 meters Centerline goodness : 0.738677 with order 1 Centerline is valid? [False, False] Translation: X:467.67, Y:70.80, Z:-0.50 [[ 9.23323056e-01 -3.72464383e-01 9.35137301e-02 4.67672936e+02] [ 3.76773565e-01 9.25716938e-01 -3.30125927e-02 7.08023415e+01] [-7.42712289e-02 6.57147895e-02 9.95070526e-01 -5.04707367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.065336195 meters Centerline goodness : 0.872076 with order 3 Centerline is valid? [False, False] Translation: X:467.65, Y:70.80, Z:-0.51 [[ 9.24534515e-01 -3.66277149e-01 1.05247237e-01 4.67653298e+02] [ 3.72936530e-01 9.26397790e-01 -5.20142181e-02 7.07955072e+01] [-7.84491879e-02 8.73394792e-02 9.93084861e-01 -5.05008998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.125336195 meters Centerline goodness : 0.984517 with order 1 Centerline is valid? [False, True] Translation: X:467.70, Y:70.80, Z:-0.50 [[ 9.28601768e-01 -3.60339745e-01 8.86229341e-02 4.67695997e+02] [ 3.65419389e-01 9.29528115e-01 -4.94586032e-02 7.07975861e+01] [-6.45556085e-02 7.83118848e-02 9.94836581e-01 -4.96912202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.185336195 meters Centerline goodness : 0.089665 with order 1 Centerline is valid? [True, False] Translation: X:467.75, Y:70.82, Z:-0.49 [[ 9.32823234e-01 -3.53235178e-01 7.11738904e-02 4.67749809e+02] [ 3.57324831e-01 9.32282845e-01 -5.62819852e-02 7.08162356e+01] [-4.64734200e-02 7.79333418e-02 9.95874799e-01 -4.90652341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.245336195 meters Centerline goodness : 0.100051 with order 1 Centerline is valid? [False, False] Translation: X:467.72, Y:70.82, Z:-0.49 [[ 9.37125497e-01 -3.39991588e-01 7.87497460e-02 4.67724836e+02] [ 3.45367977e-01 9.35910827e-01 -6.92234414e-02 7.08187608e+01] [-5.01673521e-02 9.20686924e-02 9.94488106e-01 -4.89666111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.30533619499994 meters Centerline goodness : 0.095195 with order 1 Centerline is valid? [False, False] Translation: X:467.68, Y:70.80, Z:-0.49 [[ 9.39999266e-01 -3.32339025e-01 7.71501897e-02 4.67680731e+02] [ 3.37020811e-01 9.39684198e-01 -5.84001806e-02 7.08003902e+01] [-5.30881550e-02 8.08973464e-02 9.95307624e-01 -4.85112750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.36533619499994 meters Centerline goodness : 0.092784 with order 1 Centerline is valid? [False, False] Translation: X:467.62, Y:70.78, Z:-0.48 [[ 9.41064455e-01 -3.30519652e-01 7.17945019e-02 4.67618434e+02] [ 3.34013816e-01 9.41563782e-01 -4.35018934e-02 7.07757996e+01] [-5.32208720e-02 6.49184412e-02 9.96470338e-01 -4.78283200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.42533619499994 meters Centerline goodness : 0.995455 with order 1 Centerline is valid? [False, True] Translation: X:467.56, Y:70.75, Z:-0.47 [[ 9.40699246e-01 -3.32479775e-01 6.73953069e-02 4.67555433e+02] [ 3.35167059e-01 9.41573764e-01 -3.31947022e-02 7.07520877e+01] [-5.24210857e-02 5.38149181e-02 9.97173999e-01 -4.70307691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.48533619499995 meters Centerline goodness : 0.997190 with order 1 Centerline is valid? [True, True] Translation: X:467.62, Y:70.75, Z:-0.51 [[ 9.38455766e-01 -3.42110512e-01 4.75517814e-02 4.67619634e+02] [ 3.41618171e-01 9.39659193e-01 1.83745997e-02 7.07463302e+01] [-5.09686123e-02 -9.99196454e-04 9.98699756e-01 -5.05993623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.54533619499995 meters Centerline goodness : 0.997678 with order 1 Centerline is valid? [True, True] Translation: X:467.68, Y:70.77, Z:-0.46 [[ 9.36887645e-01 -3.46381904e-01 4.75511985e-02 4.67676095e+02] [ 3.45894974e-01 9.38093271e-01 1.83761083e-02 7.07728271e+01] [-5.09726107e-02 -7.68628253e-04 9.98699756e-01 -4.59569870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.60533619499995 meters Centerline goodness : 0.998603 with order 1 Centerline is valid? [True, True] Translation: X:467.73, Y:70.80, Z:-0.48 [[ 9.34547262e-01 -3.52647637e-01 4.75505912e-02 4.67728384e+02] [ 3.52168711e-01 9.35756090e-01 1.83776795e-02 7.07984170e+01] [-5.09766005e-02 -4.28979712e-04 9.98699756e-01 -4.76526544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.66533619499995 meters Centerline goodness : 0.999595 with order 1 Centerline is valid? [True, True] Translation: X:467.78, Y:70.82, Z:-0.47 [[ 9.34241513e-01 -3.53457115e-01 4.75485351e-02 4.67782772e+02] [ 3.52978965e-01 9.35450648e-01 1.83829977e-02 7.08216377e+01] [-5.09769093e-02 -3.90526894e-04 9.98699756e-01 -4.74974105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.72533619499995 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:467.84, Y:70.85, Z:-0.46 [[ 9.36777333e-01 -3.46680924e-01 4.75454093e-02 4.67835111e+02] [ 3.46193619e-01 9.37982807e-01 1.83910787e-02 7.08519700e+01] [-5.09726126e-02 -7.68428414e-04 9.98699756e-01 -4.64722581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.78533619499996 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:467.89, Y:70.88, Z:-0.48 [[ 9.38625403e-01 -3.41645786e-01 4.75448107e-02 4.67887371e+02] [ 3.41151937e-01 9.39828212e-01 1.83926259e-02 7.08808260e+01] [-5.09677176e-02 -1.04378164e-03 9.98699756e-01 -4.75742815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.84533619499996 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:467.94, Y:70.91, Z:-0.46 [[ 9.41253726e-01 -3.34336621e-01 4.75441506e-02 4.67940234e+02] [ 3.33833347e-01 9.42452622e-01 1.83943321e-02 7.09115354e+01] [-5.09580083e-02 -1.44191069e-03 9.98699756e-01 -4.61176307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.90533619499996 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:467.99, Y:70.94, Z:-0.48 [[ 9.40985277e-01 -3.35091510e-01 4.75435463e-02 4.67991480e+02] [ 3.34589120e-01 9.42184542e-01 1.83958939e-02 7.09405675e+01] [-5.09591023e-02 -1.40271196e-03 9.98699756e-01 -4.84511200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.96533619499996 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:468.04, Y:70.97, Z:-0.49 [[ 9.40251491e-01 -3.37145063e-01 4.75430364e-02 4.68044418e+02] [ 3.36645225e-01 9.41451823e-01 1.83972118e-02 7.09665949e+01] [-5.09620074e-02 -1.29286965e-03 9.98699756e-01 -4.87853026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.02533619499997 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:468.10, Y:70.99, Z:-0.50 [[ 9.39168482e-01 -3.40150708e-01 4.75400716e-02 4.68096434e+02] [ 3.39654324e-01 9.40370247e-01 1.84048699e-02 7.09920905e+01] [-5.09656983e-02 -1.13808287e-03 9.98699756e-01 -4.96637062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.15, Y:71.02, Z:-0.47 [[ 9.37462581e-01 -3.44824491e-01 4.75392359e-02 4.68149878e+02] [ 3.44333990e-01 9.38666759e-01 1.84070282e-02 7.10228326e+01] [-5.09706946e-02 -8.86525448e-04 9.98699756e-01 -4.73980718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.20, Y:71.05, Z:-0.49 [[ 9.35210034e-01 -3.50887791e-01 4.75389402e-02 4.68200396e+02] [ 3.50405060e-01 9.36417347e-01 1.84077918e-02 7.10511199e+01] [-5.09753577e-02 -5.57266458e-04 9.98699756e-01 -4.88946152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.26, Y:71.08, Z:-0.48 [[ 9.32506654e-01 -3.58010776e-01 4.75355143e-02 4.68255311e+02] [ 3.57536816e-01 9.33717437e-01 1.84166344e-02 7.10776893e+01] [-5.09780922e-02 -1.77937669e-04 9.98699756e-01 -4.80710105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.265336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:468.31, Y:71.11, Z:-0.48 [[ 9.30220355e-01 -3.63909988e-01 4.75353649e-02 4.68308916e+02] [ 3.63443687e-01 9.31434109e-01 1.84170200e-02 7.11054775e+01] [-5.09781978e-02 1.44541385e-04 9.98699756e-01 -4.82701446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.325336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:468.36, Y:71.13, Z:-0.49 [[ 9.28320058e-01 -3.68730688e-01 4.75347278e-02 4.68362336e+02] [ 3.68270605e-01 9.29536182e-01 1.84186643e-02 7.11290747e+01] [-5.09767762e-02 4.07227443e-04 9.98699756e-01 -4.85673125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.385336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:468.42, Y:71.15, Z:-0.49 [[ 9.27965031e-01 -3.69623668e-01 4.75315190e-02 4.68416587e+02] [ 3.69164332e-01 9.29181437e-01 1.84269412e-02 7.11505276e+01] [-5.09764388e-02 4.47384466e-04 9.98699756e-01 -4.86417688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.445336195 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:468.47, Y:71.17, Z:-0.49 [[ 9.27226759e-01 -3.71472213e-01 4.75282382e-02 4.68469536e+02] [ 3.71014868e-01 9.28443915e-01 1.84353994e-02 7.11732629e+01] [-5.09755422e-02 5.39887436e-04 9.98699756e-01 -4.89899178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.505336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:468.53, Y:71.19, Z:-0.49 [[ 9.26776346e-01 -3.72594663e-01 4.75270674e-02 4.68525416e+02] [ 3.72138638e-01 9.27993997e-01 1.84384173e-02 7.11923152e+01] [-5.09748892e-02 5.98369157e-04 9.98699756e-01 -4.90491687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.58, Y:71.21, Z:-0.49 [[ 9.27009110e-01 -3.72015580e-01 4.75238744e-02 4.68582487e+02] [ 3.71558372e-01 9.28226318e-01 1.84466433e-02 7.12080984e+01] [-5.09753497e-02 5.57687000e-04 9.98699756e-01 -4.93859017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.625336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:468.64, Y:71.23, Z:-0.50 [[ 9.27551074e-01 -3.70662634e-01 4.75207025e-02 4.68638001e+02] [ 3.70203233e-01 9.28767455e-01 1.84548110e-02 7.12271243e+01] [-5.09761908e-02 4.74537894e-04 9.98699756e-01 -4.95885915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.685336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:468.69, Y:71.25, Z:-0.50 [[ 9.28895830e-01 -3.67280029e-01 4.75175449e-02 4.68693245e+02] [ 3.66815782e-01 9.30110371e-01 1.84629376e-02 7.12450733e+01] [-5.09776296e-02 2.80039621e-04 9.98699756e-01 -4.98120067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.75, Y:71.26, Z:-0.50 [[ 9.30114843e-01 -3.64182054e-01 4.75164307e-02 4.68748853e+02] [ 3.63713615e-01 9.31327773e-01 1.84658046e-02 7.12640103e+01] [-5.09782863e-02 1.07053831e-04 9.98699756e-01 -5.01682069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.80533619499994 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:468.80, Y:71.28, Z:-0.50 [[ 9.32738529e-01 -3.57409177e-01 4.75133381e-02 4.68804843e+02] [ 3.56931526e-01 9.33947861e-01 1.84737587e-02 7.12831361e+01] [-5.09776714e-02 -2.72178282e-04 9.98699756e-01 -5.02413284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.86533619499994 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:468.86, Y:71.30, Z:-0.51 [[ 9.35843055e-01 -3.49199907e-01 4.75100167e-02 4.68859433e+02] [ 3.48711215e-01 9.37047967e-01 1.84822965e-02 7.13021674e+01] [-5.09731808e-02 -7.29253165e-04 9.98699756e-01 -5.05551373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.92533619499994 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:468.91, Y:71.32, Z:-0.51 [[ 9.36899941e-01 -3.46354823e-01 4.75061792e-02 4.68913593e+02] [ 3.45861972e-01 9.38103159e-01 1.84921550e-02 7.13222346e+01] [-5.09705439e-02 -8.94718114e-04 9.98699756e-01 -5.14900407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.98533619499995 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:468.97, Y:71.34, Z:-0.52 [[ 9.36330580e-01 -3.47891247e-01 4.75050015e-02 4.68967444e+02] [ 3.47400218e-01 9.37534542e-01 1.84951801e-02 7.13441962e+01] [-5.09718911e-02 -8.14354872e-04 9.98699756e-01 -5.19570281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.04533619499995 meters Centerline goodness : 0.999627 with order 1 Centerline is valid? [True, True] Translation: X:469.02, Y:71.37, Z:-0.52 [[ 9.34345580e-01 -3.53187931e-01 4.75039237e-02 4.69022197e+02] [ 3.52703586e-01 9.35552247e-01 1.84979479e-02 7.13663260e+01] [-5.09756545e-02 -5.28671651e-04 9.98699756e-01 -5.19287220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.10533619499995 meters Centerline goodness : 0.999629 with order 1 Centerline is valid? [True, True] Translation: X:469.08, Y:71.39, Z:-0.52 [[ 9.33144434e-01 -3.56349750e-01 4.75007523e-02 4.69077134e+02] [ 3.55869080e-01 9.34352569e-01 1.85060881e-02 7.13882968e+01] [-5.09770898e-02 -3.64804038e-04 9.98699756e-01 -5.20812200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.16533619499995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:469.13, Y:71.41, Z:-0.52 [[ 9.32368071e-01 -3.58376559e-01 4.74976138e-02 4.69131654e+02] [ 3.57898105e-01 9.33577085e-01 1.85141399e-02 7.14105655e+01] [-5.09777176e-02 -2.62686969e-04 9.98699756e-01 -5.17531578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.19, Y:71.44, Z:-0.52 [[ 9.32694086e-01 -3.57527317e-01 4.74969471e-02 4.69185878e+02] [ 3.57047675e-01 9.33902629e-01 1.85158501e-02 7.14357127e+01] [-5.09774460e-02 -3.10949289e-04 9.98699756e-01 -5.16511100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.24, Y:71.46, Z:-0.52 [[ 9.32368735e-01 -3.58374976e-01 4.74964995e-02 4.69237938e+02] [ 3.57896375e-01 9.33577691e-01 1.85169981e-02 7.14606107e+01] [-5.09777012e-02 -2.65845141e-04 9.98699756e-01 -5.22675038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.34533619499996 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:469.29, Y:71.48, Z:-0.52 [[ 9.31839681e-01 -3.59748519e-01 4.74953892e-02 4.69292330e+02] [ 3.59271554e-01 9.33049284e-01 1.85198457e-02 7.14831415e+01] [-5.09780259e-02 -1.93784854e-04 9.98699756e-01 -5.23559870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.35, Y:71.51, Z:-0.53 [[ 9.30665820e-01 -3.62774895e-01 4.74921699e-02 4.69345850e+02] [ 3.62301443e-01 9.31876802e-01 1.85280974e-02 7.15065791e+01] [-5.09783801e-02 -3.69853054e-05 9.98699756e-01 -5.27179871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.40, Y:71.53, Z:-0.53 [[ 9.29551717e-01 -3.65620574e-01 4.74889685e-02 4.69399577e+02] [ 3.65150410e-01 9.30763979e-01 1.85362994e-02 7.15281487e+01] [-5.09782737e-02 1.10167409e-04 9.98699756e-01 -5.29454044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.45, Y:71.55, Z:-0.53 [[ 9.28195278e-01 -3.69051053e-01 4.74852236e-02 4.69451900e+02] [ 3.68584878e-01 9.29409080e-01 1.85458879e-02 7.15524900e+01] [-5.09775774e-02 2.88129829e-04 9.98699756e-01 -5.32068928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.51, Y:71.58, Z:-0.53 [[ 9.27493101e-01 -3.70812365e-01 4.74840700e-02 4.69505440e+02] [ 3.70348344e-01 9.28707728e-01 1.85488410e-02 7.15759739e+01] [-5.09769624e-02 3.81724703e-04 9.98699756e-01 -5.34201870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.56, Y:71.60, Z:-0.54 [[ 9.28110291e-01 -3.69265358e-01 4.74803477e-02 4.69559304e+02] [ 3.68798826e-01 9.29323955e-01 1.85583643e-02 7.16006055e+01] [-5.09775855e-02 2.86487647e-04 9.98699757e-01 -5.39816170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.61, Y:71.62, Z:-0.54 [[ 9.28510418e-01 -3.68258483e-01 4.74772883e-02 4.69612650e+02] [ 3.67790235e-01 9.29723421e-01 1.85661878e-02 7.16237500e+01] [-5.09779031e-02 2.22784241e-04 9.98699757e-01 -5.43630009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.66, Y:71.65, Z:-0.55 [[ 9.29013757e-01 -3.66987335e-01 4.74735156e-02 4.69664789e+02] [ 3.66516934e-01 9.30225927e-01 1.85758296e-02 7.16476654e+01] [-5.09781892e-02 1.42646139e-04 9.98699757e-01 -5.47245616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.72, Y:71.67, Z:-0.55 [[ 9.28996443e-01 -3.67031492e-01 4.74709623e-02 4.69717801e+02] [ 3.66560815e-01 9.30208506e-01 1.85823522e-02 7.16713474e+01] [-5.09782014e-02 1.38055560e-04 9.98699757e-01 -5.48208497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.77, Y:71.69, Z:-0.55 [[ 9.28678672e-01 -3.67835297e-01 4.74670351e-02 4.69771551e+02] [ 3.67365157e-01 9.29890943e-01 1.85923785e-02 7.16942873e+01] [-5.09780991e-02 1.71389465e-04 9.98699757e-01 -5.51517188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.82, Y:71.72, Z:-0.56 [[ 9.26827919e-01 -3.72474457e-01 4.74635305e-02 4.69824686e+02] [ 3.72009927e-01 9.28042351e-01 1.86013210e-02 7.17170467e+01] [-5.09766834e-02 4.16680866e-04 9.98699757e-01 -5.55510354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.88, Y:71.74, Z:-0.56 [[ 9.24785732e-01 -3.77516465e-01 4.74622958e-02 4.69879252e+02] [ 3.77058393e-01 9.26002614e-01 1.86044710e-02 7.17388180e+01] [-5.09737041e-02 6.90907703e-04 9.98699757e-01 -5.60342574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.93, Y:71.76, Z:-0.56 [[ 9.22810247e-01 -3.82320384e-01 4.74591651e-02 4.69933861e+02] [ 3.81868236e-01 9.24029343e-01 1.86124536e-02 7.17566112e+01] [-5.09695816e-02 9.47384759e-04 9.98699757e-01 -5.63930634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.99, Y:71.77, Z:-0.56 [[ 9.23089760e-01 -3.81645214e-01 4.74576154e-02 4.69990119e+02] [ 3.81191972e-01 9.24308449e-01 1.86164044e-02 7.17749330e+01] [-5.09703365e-02 9.05849769e-04 9.98699757e-01 -5.64262837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.04, Y:71.79, Z:-0.57 [[ 9.24457170e-01 -3.78321336e-01 4.74542640e-02 4.70042997e+02] [ 3.77863274e-01 9.25674056e-01 1.86249433e-02 7.17947147e+01] [-5.09733944e-02 7.13261198e-04 9.98699757e-01 -5.69228589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.10, Y:71.81, Z:-0.57 [[ 9.27076919e-01 -3.71855667e-01 4.74526046e-02 4.70097280e+02] [ 3.71388901e-01 9.28290492e-01 1.86291700e-02 7.18148618e+01] [-5.09771642e-02 3.52697166e-04 9.98699757e-01 -5.73239637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.30533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.15, Y:71.83, Z:-0.58 [[ 9.28813051e-01 -3.67498186e-01 4.74489080e-02 4.70152340e+02] [ 3.67025245e-01 9.30024232e-01 1.86385806e-02 7.18339763e+01] [-5.09782788e-02 1.03190161e-04 9.98699757e-01 -5.75281402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.36533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.21, Y:71.86, Z:-0.58 [[ 9.30439825e-01 -3.63360269e-01 4.74451948e-02 4.70205883e+02] [ 3.62881460e-01 9.31648698e-01 1.86480279e-02 7.18556453e+01] [-5.09782064e-02 -1.33886249e-04 9.98699757e-01 -5.75740971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.42533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.26, Y:71.88, Z:-0.58 [[ 9.31675648e-01 -3.60180249e-01 4.74412821e-02 4.70258452e+02] [ 3.59696807e-01 9.32882676e-01 1.86579768e-02 7.18787513e+01] [-5.09773849e-02 -3.18704969e-04 9.98699757e-01 -5.78780010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.31, Y:71.90, Z:-0.58 [[ 9.32838096e-01 -3.57158964e-01 4.74400733e-02 4.70310580e+02] [ 3.56671457e-01 9.34043488e-01 1.86610497e-02 7.19007312e+01] [-5.09760527e-02 -4.87217994e-04 9.98699757e-01 -5.83572555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.36, Y:71.92, Z:-0.59 [[ 9.32504587e-01 -3.58029038e-01 4.74384054e-02 4.70364640e+02] [ 3.57542440e-01 9.33710346e-01 1.86652888e-02 7.19228496e+01] [-5.09764453e-02 -4.44224188e-04 9.98699757e-01 -5.87636953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.42, Y:71.94, Z:-0.59 [[ 9.29072643e-01 -3.66843210e-01 4.74350518e-02 4.70419729e+02] [ 3.66367616e-01 9.30282784e-01 1.86738075e-02 7.19408357e+01] [-5.09783716e-02 2.93431774e-05 9.98699757e-01 -5.92032942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.47, Y:71.96, Z:-0.59 [[ 9.26108305e-01 -3.74263858e-01 4.74338694e-02 4.70474488e+02] [ 3.73797807e-01 9.27322153e-01 1.86768105e-02 7.19589703e+01] [-5.09765331e-02 4.33927000e-04 9.98699757e-01 -5.93456580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.53, Y:71.98, Z:-0.59 [[ 9.23539442e-01 -3.80559164e-01 4.74301830e-02 4.70531320e+02] [ 3.80100906e-01 9.24756253e-01 1.86861676e-02 7.19766324e+01] [-5.09725506e-02 7.70842743e-04 9.98699757e-01 -5.93445805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.78533619499996 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:470.59, Y:71.99, Z:-0.60 [[ 9.23435379e-01 -3.80812001e-01 4.74270051e-02 4.70588401e+02] [ 3.80353662e-01 9.24652160e-01 1.86942298e-02 7.19924522e+01] [-5.09724698e-02 7.76121845e-04 9.98699757e-01 -5.98586080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.64, Y:72.01, Z:-0.60 [[ 9.24448083e-01 -3.78347361e-01 4.74237971e-02 4.70643360e+02] [ 3.77885360e-01 9.25663479e-01 1.87023644e-02 7.20105566e+01] [-5.09744672e-02 6.31393750e-04 9.98699757e-01 -5.97745440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.70, Y:72.03, Z:-0.60 [[ 9.24690708e-01 -3.77754204e-01 4.74220997e-02 4.70698516e+02] [ 3.77291204e-01 9.25905723e-01 1.87066673e-02 7.20299456e+01] [-5.09749158e-02 5.94059652e-04 9.98699757e-01 -5.99426143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.76, Y:72.04, Z:-0.61 [[ 9.24441478e-01 -3.78364183e-01 4.74183336e-02 4.70756864e+02] [ 3.77901495e-01 9.25656612e-01 1.87162089e-02 7.20423004e+01] [-5.09746372e-02 6.17419346e-04 9.98699757e-01 -6.05681283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.02533619499997 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:470.81, Y:72.06, Z:-0.62 [[ 9.24161146e-01 -3.79048793e-01 4.74150580e-02 4.70811330e+02] [ 3.78586580e-01 9.25376461e-01 1.87245035e-02 7.20606782e+01] [-5.09742791e-02 6.46246024e-04 9.98699757e-01 -6.15340916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.87, Y:72.08, Z:-0.62 [[ 9.24328346e-01 -3.78641031e-01 4.74139015e-02 4.70866090e+02] [ 3.78178131e-01 9.25543400e-01 1.87274317e-02 7.20760538e+01] [-5.09745976e-02 6.20604630e-04 9.98699757e-01 -6.16800321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.14533619499997 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:470.92, Y:72.09, Z:-0.62 [[ 9.27045585e-01 -3.71938916e-01 4.74122985e-02 4.70922787e+02] [ 3.71467024e-01 9.28257174e-01 1.87314891e-02 7.20919687e+01] [-5.09777760e-02 2.47161093e-04 9.98699757e-01 -6.15242828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.98, Y:72.11, Z:-0.62 [[ 9.31377227e-01 -3.60955181e-01 4.74111635e-02 4.70977701e+02] [ 3.60468855e-01 9.32583095e-01 1.87343614e-02 7.21131759e+01] [-5.09771144e-02 -3.58509727e-04 9.98699757e-01 -6.19292512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.03, Y:72.14, Z:-0.63 [[ 9.33790902e-01 -3.54664684e-01 4.74079506e-02 4.71031749e+02] [ 3.54169822e-01 9.34993292e-01 1.87424881e-02 7.21371069e+01] [-5.09734145e-02 -7.11099426e-04 9.98699757e-01 -6.25921057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.08, Y:72.16, Z:-0.63 [[ 9.36212243e-01 -3.48223214e-01 4.74049537e-02 4.71084198e+02] [ 3.47719697e-01 9.37411034e-01 1.87500652e-02 7.21617200e+01] [-5.09671346e-02 -1.07040450e-03 9.98699757e-01 -6.27491173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.14, Y:72.19, Z:-0.63 [[ 9.37021594e-01 -3.46039967e-01 4.74011874e-02 4.71136203e+02] [ 3.45533176e-01 9.38219006e-01 1.87595818e-02 7.21870698e+01] [-5.09642600e-02 -1.19945037e-03 9.98699757e-01 -6.30930628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.445336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:471.19, Y:72.21, Z:-0.63 [[ 9.37011212e-01 -3.46068237e-01 4.74000315e-02 4.71189045e+02] [ 3.45561335e-01 9.38208576e-01 1.87625019e-02 7.22132264e+01] [-5.09642220e-02 -1.20105651e-03 9.98699757e-01 -6.31236302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.24, Y:72.24, Z:-0.63 [[ 9.36600319e-01 -3.47179160e-01 4.73969666e-02 4.71241077e+02] [ 3.46673286e-01 9.37798118e-01 1.87702412e-02 7.22427664e+01] [-5.09654227e-02 -1.14895170e-03 9.98699757e-01 -6.30048796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.29, Y:72.27, Z:-0.63 [[ 9.35500719e-01 -3.50131719e-01 4.73939302e-02 4.71291820e+02] [ 3.49629238e-01 9.36699945e-01 1.87779049e-02 7.22712629e+01] [-5.09686319e-02 -9.96439846e-04 9.98699758e-01 -6.32381562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.625336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:471.34, Y:72.30, Z:-0.64 [[ 9.34425664e-01 -3.52991279e-01 4.73902487e-02 4.71343805e+02] [ 3.52491997e-01 9.35626225e-01 1.87871913e-02 7.22969759e+01] [-5.09712742e-02 -8.50550348e-04 9.98699758e-01 -6.40876883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.40, Y:72.32, Z:-0.65 [[ 9.31807865e-01 -3.59845005e-01 4.73885510e-02 4.71397772e+02] [ 3.59354336e-01 9.33011973e-01 1.87914726e-02 7.23211039e+01] [-5.09761030e-02 -4.80760668e-04 9.98699758e-01 -6.45732395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.745336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:471.45, Y:72.34, Z:-0.65 [[ 9.30961450e-01 -3.62029561e-01 4.73853952e-02 4.71451565e+02] [ 3.61541313e-01 9.32166541e-01 1.87994271e-02 7.23432950e+01] [-5.09770283e-02 -3.69763876e-04 9.98699758e-01 -6.50234577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.80533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.50, Y:72.37, Z:-0.65 [[ 9.29472538e-01 -3.65835720e-01 4.73817151e-02 4.71503366e+02] [ 3.65351935e-01 9.30679427e-01 1.88086977e-02 7.23703139e+01] [-5.09780810e-02 -1.71166666e-04 9.98699758e-01 -6.52841905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.86533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.56, Y:72.39, Z:-0.65 [[ 9.29136526e-01 -3.66688419e-01 4.73805832e-02 4.71557541e+02] [ 3.66205596e-01 9.30343800e-01 1.88115486e-02 7.23930514e+01] [-5.09782089e-02 -1.27462197e-04 9.98699758e-01 -6.52817113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.92533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.61, Y:72.41, Z:-0.66 [[ 9.28801033e-01 -3.67537798e-01 4.73772930e-02 4.71610536e+02] [ 3.67055656e-01 9.30008580e-01 1.88198313e-02 7.24125847e+01] [-5.09782884e-02 -8.97753789e-05 9.98699758e-01 -6.55077258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.67, Y:72.43, Z:-0.66 [[ 9.28442600e-01 -3.68442630e-01 4.73747438e-02 4.71665015e+02] [ 3.67961338e-01 9.29650486e-01 1.88262462e-02 7.24347960e+01] [-5.09783453e-02 -4.70148019e-05 9.98699758e-01 -6.56839858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.72, Y:72.45, Z:-0.66 [[ 9.28761806e-01 -3.67637668e-01 4.73714337e-02 4.71718092e+02] [ 3.67154905e-01 9.29969104e-01 1.88345715e-02 7.24546264e+01] [-5.09782678e-02 -1.00176419e-04 9.98699758e-01 -6.60918558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.77, Y:72.47, Z:-0.66 [[ 9.29134617e-01 -3.66694648e-01 4.73698012e-02 4.71772209e+02] [ 3.66210450e-01 9.30341341e-01 1.88386765e-02 7.24731362e+01] [-5.09781262e-02 -1.56350297e-04 9.98699758e-01 -6.64153908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.16533619499995 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:471.83, Y:72.49, Z:-0.67 [[ 9.29570830e-01 -3.65587645e-01 4.73681861e-02 4.71826716e+02] [ 3.65101803e-01 9.30776893e-01 1.88427366e-02 7.24930240e+01] [-5.09778848e-02 -2.21448131e-04 9.98699758e-01 -6.69163909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.22533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.88, Y:72.51, Z:-0.67 [[ 9.29719480e-01 -3.65209926e-01 4.73645206e-02 4.71880711e+02] [ 3.64723124e-01 9.30925156e-01 1.88519460e-02 7.25141304e+01] [-5.09777416e-02 -2.52085447e-04 9.98699758e-01 -6.68091246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.94, Y:72.53, Z:-0.67 [[ 9.30216315e-01 -3.63943076e-01 4.73607975e-02 4.71935392e+02] [ 3.63454157e-01 9.31421133e-01 1.88612949e-02 7.25336929e+01] [-5.09772853e-02 -3.31605546e-04 9.98699758e-01 -6.69711453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.99, Y:72.55, Z:-0.67 [[ 9.30999198e-01 -3.61936186e-01 4.73570458e-02 4.71988176e+02] [ 3.61444191e-01 9.32202764e-01 1.88707100e-02 7.25545008e+01] [-5.09763618e-02 -4.51686820e-04 9.98699758e-01 -6.74037203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.40533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.04, Y:72.58, Z:-0.68 [[ 9.31509358e-01 -3.60621501e-01 4.73545092e-02 4.72040887e+02] [ 3.60127484e-01 9.32712095e-01 1.88770732e-02 7.25778724e+01] [-5.09756019e-02 -5.30510151e-04 9.98699758e-01 -6.77483884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.46533619499996 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:472.09, Y:72.60, Z:-0.68 [[ 9.31233777e-01 -3.61333014e-01 4.73508756e-02 4.72094470e+02] [ 3.60839453e-01 9.32436701e-01 1.88861833e-02 7.26013193e+01] [-5.09758957e-02 -5.01387733e-04 9.98699758e-01 -6.80065023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.15, Y:72.62, Z:-0.68 [[ 9.29543755e-01 -3.65659149e-01 4.73475891e-02 4.72149998e+02] [ 3.65170766e-01 9.30748791e-01 1.88944189e-02 7.26221723e+01] [-5.09776284e-02 -2.73233747e-04 9.98699758e-01 -6.80414079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.20, Y:72.64, Z:-0.68 [[ 9.28077666e-01 -3.69364805e-01 4.73443407e-02 4.72204592e+02] [ 3.68880819e-01 9.29284475e-01 1.89025551e-02 7.26429663e+01] [-5.09782993e-02 -7.86200249e-05 9.98699758e-01 -6.82856049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.26, Y:72.67, Z:-0.69 [[ 9.26186895e-01 -3.74081150e-01 4.73405520e-02 4.72258724e+02] [ 3.73602825e-01 9.27395959e-01 1.89120389e-02 7.26655012e+01] [-5.09780739e-02 1.70481408e-04 9.98699758e-01 -6.88696843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.31, Y:72.69, Z:-0.69 [[ 9.25195530e-01 -3.76526779e-01 4.73372657e-02 4.72312129e+02] [ 3.76051228e-01 9.26405687e-01 1.89202610e-02 7.26858112e+01] [-5.09774971e-02 2.96295982e-04 9.98699758e-01 -6.93972042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.765336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:472.37, Y:72.71, Z:-0.70 [[ 9.23974946e-01 -3.79512481e-01 4.73347289e-02 4.72367353e+02] [ 3.79040516e-01 9.25186506e-01 1.89266055e-02 7.27050565e+01] [-5.09763354e-02 4.54070801e-04 9.98699758e-01 -6.99603858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.42, Y:72.73, Z:-0.70 [[ 9.23706679e-01 -3.80165360e-01 4.73314936e-02 4.72421965e+02] [ 3.79693837e-01 9.24918411e-01 1.89346927e-02 7.27253790e+01] [-5.09760842e-02 4.81374309e-04 9.98699758e-01 -6.98609905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.885336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:472.48, Y:72.75, Z:-0.70 [[ 9.25098543e-01 -3.76766201e-01 4.73277528e-02 4.72476671e+02] [ 3.76289747e-01 9.26308345e-01 1.89440383e-02 7.27456559e+01] [-5.09775657e-02 2.83845886e-04 9.98699758e-01 -7.02240721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.53, Y:72.77, Z:-0.70 [[ 9.26150657e-01 -3.74172967e-01 4.73239006e-02 4.72530149e+02] [ 3.73692634e-01 9.27358924e-01 1.89536566e-02 7.27672937e+01] [-5.09781875e-02 1.30651559e-04 9.98699758e-01 -7.03081383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.58, Y:72.79, Z:-0.71 [[ 9.27228047e-01 -3.71495574e-01 4.73200597e-02 4.72583824e+02] [ 3.71011264e-01 9.28434725e-01 1.89632411e-02 7.27882766e+01] [-5.09783467e-02 -2.69738762e-05 9.98699758e-01 -7.11576849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.64, Y:72.81, Z:-0.72 [[ 9.27355053e-01 -3.71178569e-01 4.73188771e-02 4.72637897e+02] [ 3.70693696e-01 9.28561504e-01 1.89661915e-02 7.28115407e+01] [-5.09783316e-02 -4.75840583e-05 9.98699758e-01 -7.17494698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.69, Y:72.83, Z:-0.72 [[ 9.27314256e-01 -3.71280905e-01 4.73155435e-02 4.72691910e+02] [ 3.70795740e-01 9.28520591e-01 1.89745043e-02 7.28321050e+01] [-5.09783275e-02 -5.09263579e-05 9.98699758e-01 -7.24760052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.75, Y:72.85, Z:-0.72 [[ 9.27218019e-01 -3.71521400e-01 4.73137936e-02 4.72746303e+02] [ 3.71036326e-01 9.28424390e-01 1.89788668e-02 7.28538209e+01] [-5.09783351e-02 -4.24111405e-05 9.98699758e-01 -7.20723085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.80, Y:72.88, Z:-0.72 [[ 9.27042185e-01 -3.71960084e-01 4.73126180e-02 4.72800634e+02] [ 3.71475431e-01 9.28248725e-01 1.89817971e-02 7.28774426e+01] [-5.09783482e-02 -2.14514707e-05 9.98699758e-01 -7.20732495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.30533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.86, Y:72.90, Z:-0.72 [[ 9.27301463e-01 -3.71313649e-01 4.73093059e-02 4.72855283e+02] [ 3.70827734e-01 9.28507496e-01 1.89900483e-02 7.28987888e+01] [-5.09783093e-02 -6.58968275e-05 9.98699759e-01 -7.21099581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.36533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.91, Y:72.92, Z:-0.72 [[ 9.28199994e-01 -3.69062210e-01 4.73059893e-02 4.72909358e+02] [ 3.68572949e-01 9.29404673e-01 1.89983067e-02 7.29194839e+01] [-5.09779646e-02 -1.98520224e-04 9.98699759e-01 -7.23249736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.42533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.96, Y:72.95, Z:-0.73 [[ 9.30199730e-01 -3.63992742e-01 4.73048180e-02 4.72962260e+02] [ 3.63496768e-01 9.31401661e-01 1.90012227e-02 7.29464380e+01] [-5.09760932e-02 -4.79783799e-04 9.98699759e-01 -7.27270168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.02, Y:72.97, Z:-0.73 [[ 9.32397809e-01 -3.58325117e-01 4.73015349e-02 4.73015442e+02] [ 3.57821423e-01 9.33596525e-01 1.90093923e-02 7.29727089e+01] [-5.09720913e-02 -7.98813203e-04 9.98699759e-01 -7.30404451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.07, Y:73.00, Z:-0.74 [[ 9.33752507e-01 -3.54780407e-01 4.72981878e-02 4.73067779e+02] [ 3.54271741e-01 9.34949121e-01 1.90177167e-02 7.29973688e+01] [-5.09685124e-02 -1.00142930e-03 9.98699759e-01 -7.37969949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.12, Y:73.03, Z:-0.74 [[ 9.34600131e-01 -3.52541611e-01 4.72970109e-02 4.73119686e+02] [ 3.52029931e-01 9.35795460e-01 1.90206432e-02 7.30253902e+01] [-5.09658962e-02 -1.12673216e-03 9.98699759e-01 -7.40731172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.66533619499995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:473.17, Y:73.05, Z:-0.75 [[ 9.34519872e-01 -3.52754742e-01 4.72937671e-02 4.73171760e+02] [ 3.52242926e-01 9.35715143e-01 1.90287052e-02 7.30496805e+01] [-5.09659601e-02 -1.12380823e-03 9.98699759e-01 -7.45961464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.72533619499995 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:473.22, Y:73.08, Z:-0.75 [[ 9.33274756e-01 -3.56036346e-01 4.72900648e-02 4.73223713e+02] [ 3.55528268e-01 9.34471620e-01 1.90379017e-02 7.30770476e+01] [-5.09694085e-02 -9.54638177e-04 9.98699759e-01 -7.46466040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.78533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.28, Y:73.11, Z:-0.74 [[ 9.31147466e-01 -3.61563488e-01 4.72888951e-02 4.73276227e+02] [ 3.61062368e-01 9.32347261e-01 1.90408068e-02 7.31051913e+01] [-5.09741323e-02 -6.55558561e-04 9.98699759e-01 -7.44741252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.33, Y:73.13, Z:-0.75 [[ 9.30019928e-01 -3.64454404e-01 4.72855258e-02 4.73327704e+02] [ 3.63956588e-01 9.31221097e-01 1.90491704e-02 7.31313426e+01] [-5.09758332e-02 -5.06229480e-04 9.98699759e-01 -7.47412787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.38, Y:73.16, Z:-0.75 [[ 9.28579649e-01 -3.68108718e-01 4.72843303e-02 4.73379014e+02] [ 3.67615478e-01 9.29782704e-01 1.90521373e-02 7.31577756e+01] [-5.09774103e-02 -3.08975244e-04 9.98699759e-01 -7.52854673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.43, Y:73.18, Z:-0.76 [[ 9.27629684e-01 -3.70496250e-01 4.72831634e-02 4.73432555e+02] [ 3.70005959e-01 9.28833944e-01 1.90550329e-02 7.31825162e+01] [-5.09780254e-02 -1.80961898e-04 9.98699759e-01 -7.55430051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.02533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.48, Y:73.21, Z:-0.76 [[ 9.26774575e-01 -3.72630511e-01 4.72799088e-02 4.73484669e+02] [ 3.72142582e-01 9.27979793e-01 1.90631050e-02 7.32068312e+01] [-5.09782945e-02 -7.23337154e-05 9.98699759e-01 -7.61096307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.08533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.54, Y:73.23, Z:-0.76 [[ 9.26825108e-01 -3.72504949e-01 4.72787615e-02 4.73536195e+02] [ 3.72016711e-01 9.28030202e-01 1.90659500e-02 7.32328398e+01] [-5.09782793e-02 -8.23118270e-05 9.98699759e-01 -7.62368208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.59, Y:73.26, Z:-0.77 [[ 9.27033473e-01 -3.71986572e-01 4.72750535e-02 4.73589656e+02] [ 3.71497192e-01 9.28238103e-01 1.90751397e-02 7.32557074e+01] [-5.09782018e-02 -1.20743397e-04 9.98699759e-01 -7.65643218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.64, Y:73.28, Z:-0.77 [[ 9.27451915e-01 -3.70942535e-01 4.72713559e-02 4.73641798e+02] [ 3.70451331e-01 9.28655803e-01 1.90842986e-02 7.32825917e+01] [-5.09779971e-02 -1.88032542e-04 9.98699759e-01 -7.66320168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.69, Y:73.31, Z:-0.77 [[ 9.27121194e-01 -3.71768779e-01 4.72680339e-02 4.73694986e+02] [ 3.71278229e-01 9.28325348e-01 1.90925230e-02 7.33085944e+01] [-5.09781180e-02 -1.51490808e-04 9.98699759e-01 -7.67118643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.75, Y:73.33, Z:-0.77 [[ 9.25259510e-01 -3.76378650e-01 4.72646845e-02 4.73749206e+02] [ 3.75893677e-01 9.26465921e-01 1.91008110e-02 7.33305319e+01] [-5.09782569e-02 9.32889595e-05 9.98699759e-01 -7.72462903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.80, Y:73.35, Z:-0.78 [[ 9.23507656e-01 -3.80657292e-01 4.72613564e-02 4.73804703e+02] [ 3.80177486e-01 9.24716131e-01 1.91090421e-02 7.33508586e+01] [-5.09773349e-02 3.20357008e-04 9.98699759e-01 -7.75855690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.86, Y:73.37, Z:-0.78 [[ 9.20313913e-01 -3.88315566e-01 4.72580536e-02 4.73860383e+02] [ 3.87845396e-01 9.21526169e-01 1.91172068e-02 7.33674852e+01] [-5.09730421e-02 7.34987171e-04 9.98699759e-01 -7.77961486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.92, Y:73.38, Z:-0.78 [[ 9.17829054e-01 -3.94153344e-01 4.72542958e-02 4.73918188e+02] [ 3.93690406e-01 9.19044091e-01 1.91264910e-02 7.33800987e+01] [-5.09675517e-02 1.04871374e-03 9.98699759e-01 -7.82705294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.97, Y:73.39, Z:-0.79 [[ 9.18082501e-01 -3.93563039e-01 4.72509806e-02 4.73974728e+02] [ 3.93098898e-01 9.19297079e-01 1.91346775e-02 7.33932232e+01] [-5.09683903e-02 1.00709578e-03 9.98699759e-01 -7.86069038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.03, Y:73.41, Z:-0.79 [[ 9.19467166e-01 -3.90317290e-01 4.72498144e-02 4.74031233e+02] [ 3.89848713e-01 9.20680039e-01 1.91375568e-02 7.34083537e+01] [-5.09716803e-02 8.23924230e-04 9.98699759e-01 -7.87153893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.09, Y:73.42, Z:-0.79 [[ 9.21752755e-01 -3.84889183e-01 4.72459136e-02 4.74086332e+02] [ 3.84412970e-01 9.22962650e-01 1.91471821e-02 7.34239997e+01] [-5.09757569e-02 5.12974133e-04 9.98699759e-01 -7.90919874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.14, Y:73.44, Z:-0.80 [[ 9.26600375e-01 -3.73068115e-01 4.72432635e-02 4.74141573e+02] [ 3.72576133e-01 9.27803945e-01 1.91537187e-02 7.34410154e+01] [-5.09781279e-02 -1.46130483e-04 9.98699759e-01 -7.95620295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.80533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.20, Y:73.46, Z:-0.80 [[ 9.31835039e-01 -3.59793894e-01 4.72420852e-02 4.74197729e+02] [ 3.59284623e-01 9.33031395e-01 1.91566245e-02 7.34593902e+01] [-5.09707851e-02 -8.77459155e-04 9.98699759e-01 -7.96214917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.86533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.25, Y:73.48, Z:-0.80 [[ 9.34808519e-01 -3.51996508e-01 4.72386629e-02 4.74251611e+02] [ 3.51476833e-01 9.36000393e-01 1.91650598e-02 7.34792684e+01] [-5.09614412e-02 -1.31236549e-03 9.98699759e-01 -8.04438228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.92533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.31, Y:73.50, Z:-0.81 [[ 9.37516591e-01 -3.44719107e-01 4.72374644e-02 4.74305953e+02] [ 3.44190035e-01 9.38704324e-01 1.91680133e-02 7.35017840e+01] [-5.09495925e-02 -1.71166594e-03 9.98699759e-01 -8.07056962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.98533619499995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:474.36, Y:73.52, Z:-0.81 [[ 9.38085669e-01 -3.43167898e-01 4.72342157e-02 4.74358415e+02] [ 3.42636459e-01 9.39272345e-01 1.91760156e-02 7.35244812e+01] [-5.09463855e-02 -1.80458098e-03 9.98699759e-01 -8.14622064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.04533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.41, Y:73.55, Z:-0.81 [[ 9.37186372e-01 -3.45616465e-01 4.72330704e-02 4.74412960e+02] [ 3.45087985e-01 9.38374368e-01 1.91788361e-02 7.35471103e+01] [-5.09508242e-02 -1.67457873e-03 9.98699759e-01 -8.12288119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.10533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.46, Y:73.57, Z:-0.81 [[ 9.35280590e-01 -3.50741433e-01 4.72299103e-02 4.74464992e+02] [ 3.50219071e-01 9.36471289e-01 1.91866150e-02 7.35720859e+01] [-5.09589959e-02 -1.40405330e-03 9.98699759e-01 -8.10972599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.16533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.52, Y:73.60, Z:-0.81 [[ 9.33481463e-01 -3.55502255e-01 4.72282270e-02 4.74516367e+02] [ 3.54985757e-01 9.34674717e-01 1.91907576e-02 7.35982438e+01] [-5.09653873e-02 -1.14886852e-03 9.98699759e-01 -8.11451098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.22533619499995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:474.57, Y:73.62, Z:-0.81 [[ 9.32339222e-01 -3.58487371e-01 4.72268941e-02 4.74570205e+02] [ 3.57974528e-01 9.33534052e-01 1.91940373e-02 7.36227030e+01] [-5.09687338e-02 -9.89328660e-04 9.98699759e-01 -8.11961891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.28533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.62, Y:73.65, Z:-0.81 [[ 9.30791449e-01 -3.62487532e-01 4.72235942e-02 4.74623078e+02] [ 3.61979413e-01 9.31988295e-01 1.92021527e-02 7.36488812e+01] [-5.09723780e-02 -7.79230561e-04 9.98699759e-01 -8.13741601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.34533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.67, Y:73.68, Z:-0.82 [[ 9.30208011e-01 -3.63982558e-01 4.72202638e-02 4.74673926e+02] [ 3.63475947e-01 9.31405496e-01 1.92103390e-02 7.36768369e+01] [-5.09734416e-02 -7.06181122e-04 9.98699759e-01 -8.18509194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.40533619499996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:474.73, Y:73.70, Z:-0.83 [[ 9.30058040e-01 -3.64365750e-01 4.72190860e-02 4.74725454e+02] [ 3.63859485e-01 9.31255672e-01 1.92132336e-02 7.37016845e+01] [-5.09736859e-02 -6.88310042e-04 9.98699759e-01 -8.27700149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.46533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.78, Y:73.73, Z:-0.83 [[ 9.29591412e-01 -3.65554748e-01 4.72179240e-02 4.74777221e+02] [ 3.65049870e-01 9.30789629e-01 1.92160888e-02 7.37285020e+01] [-5.09744865e-02 -6.26214102e-04 9.98699759e-01 -8.27895380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.52533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.83, Y:73.76, Z:-0.83 [[ 9.29063709e-01 -3.66894319e-01 4.72142360e-02 4.74828898e+02] [ 3.66390709e-01 9.30262459e-01 1.92251461e-02 7.37554047e+01] [-5.09752282e-02 -5.62528126e-04 9.98699760e-01 -8.28583300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.58533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.88, Y:73.78, Z:-0.83 [[ 9.28524955e-01 -3.68256148e-01 4.72103537e-02 4.74881462e+02] [ 3.67753812e-01 9.29724239e-01 1.92346749e-02 7.37793441e+01] [-5.09758975e-02 -4.98088143e-04 9.98699760e-01 -8.31125368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.64533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.93, Y:73.81, Z:-0.83 [[ 9.26667773e-01 -3.72905334e-01 4.72064732e-02 4.74934448e+02] [ 3.72408530e-01 9.27869359e-01 1.92441938e-02 7.38052681e+01] [-5.09777026e-02 -2.52880940e-04 9.98699760e-01 -8.31284840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.99, Y:73.83, Z:-0.84 [[ 9.24561843e-01 -3.78096907e-01 4.72030392e-02 4.74987448e+02] [ 3.77606420e-01 9.25766023e-01 1.92526132e-02 7.38271036e+01] [-5.09783234e-02 2.39390681e-05 9.98699760e-01 -8.38029232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.04, Y:73.85, Z:-0.84 [[ 9.23196439e-01 -3.81418829e-01 4.72018302e-02 4.75042548e+02] [ 3.80932523e-01 9.24402313e-01 1.92555769e-02 7.38485977e+01] [-5.09779206e-02 2.04032277e-04 9.98699760e-01 -8.38055946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.10, Y:73.87, Z:-0.84 [[ 9.22773257e-01 -3.82441918e-01 4.71984683e-02 4.75096895e+02] [ 3.81956528e-01 9.23979500e-01 1.92638140e-02 7.38678685e+01] [-5.09777071e-02 2.51630757e-04 9.98699760e-01 -8.41653677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.885336195 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:475.15, Y:73.88, Z:-0.85 [[ 9.22889369e-01 -3.82162110e-01 4.71946379e-02 4.75152919e+02] [ 3.81675875e-01 9.24095271e-01 1.92731935e-02 7.38846338e+01] [-5.09778261e-02 2.26029325e-04 9.98699760e-01 -8.45802515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.21, Y:73.90, Z:-0.85 [[ 9.23301931e-01 -3.81164763e-01 4.71907518e-02 4.75208058e+02] [ 3.80676739e-01 9.24507111e-01 1.92827042e-02 7.39020633e+01] [-5.09780729e-02 1.60663428e-04 9.98699760e-01 -8.46658686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.005336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:475.26, Y:73.92, Z:-0.85 [[ 9.24472283e-01 -3.78317845e-01 4.71869298e-02 4.75264344e+02] [ 3.77825633e-01 9.25675757e-01 1.92920524e-02 7.39170279e+01] [-5.09783247e-02 -6.53614020e-06 9.98699760e-01 -8.51203392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.32, Y:73.93, Z:-0.85 [[ 9.25907021e-01 -3.74793207e-01 4.71830615e-02 4.75319609e+02] [ 3.74295931e-01 9.27108412e-01 1.93015087e-02 7.39311050e+01] [-5.09778875e-02 -2.10974499e-04 9.98699760e-01 -8.53285409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.125336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:475.38, Y:73.95, Z:-0.86 [[ 9.27655993e-01 -3.70443349e-01 4.71813922e-02 4.75376629e+02] [ 3.69940233e-01 9.28854950e-01 1.93055882e-02 7.39472059e+01] [-5.09762965e-02 -4.54649397e-04 9.98699760e-01 -8.57555607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.43, Y:73.96, Z:-0.86 [[ 9.31010844e-01 -3.61929607e-01 4.71780544e-02 4.75433711e+02] [ 3.61415115e-01 9.32204963e-01 1.93137416e-02 7.39641196e+01] [-5.09698314e-02 -9.30440903e-04 9.98699760e-01 -8.55084031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.245336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:475.49, Y:73.99, Z:-0.86 [[ 9.34882648e-01 -3.51808154e-01 4.71747530e-02 4.75488147e+02] [ 3.51280332e-01 9.36070935e-01 1.93218021e-02 7.39855891e+01] [-5.09564827e-02 -1.49205456e-03 9.98699760e-01 -8.57636777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.30533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.54, Y:74.01, Z:-0.86 [[ 9.37131368e-01 -3.45773999e-01 4.71713960e-02 4.75541986e+02] [ 3.45238116e-01 9.38316042e-01 1.93299941e-02 7.40084996e+01] [-5.09454870e-02 -1.82937996e-03 9.98699760e-01 -8.60163771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.36533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.59, Y:74.03, Z:-0.86 [[ 9.38927456e-01 -3.40867146e-01 4.71680001e-02 4.75592944e+02] [ 3.40324658e-01 9.40109120e-01 1.93382771e-02 7.40340614e+01] [-5.09348504e-02 -2.10480582e-03 9.98699760e-01 -8.63609598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.42533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.64, Y:74.06, Z:-0.87 [[ 9.39370548e-01 -3.39644389e-01 4.71663261e-02 4.75643173e+02] [ 3.39100158e-01 9.40551411e-01 1.93423592e-02 7.40640224e+01] [-5.09318783e-02 -2.17553388e-03 9.98699760e-01 -8.70886488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.48533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.70, Y:74.09, Z:-0.87 [[ 9.38398734e-01 -3.42320412e-01 4.71651556e-02 4.75695475e+02] [ 3.41779406e-01 9.39581077e-01 1.93452130e-02 7.40913010e+01] [-5.09377490e-02 -2.03344458e-03 9.98699760e-01 -8.74253342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.54533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.75, Y:74.12, Z:-0.88 [[ 9.34341576e-01 -3.53244366e-01 4.71618271e-02 4.75745432e+02] [ 3.52716781e-01 9.35529968e-01 1.93533241e-02 7.41191509e+01] [-5.09577553e-02 -1.44784755e-03 9.98699760e-01 -8.79391807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.60533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.80, Y:74.15, Z:-0.88 [[ 9.30546717e-01 -3.63123570e-01 4.71601675e-02 4.75797732e+02] [ 3.62608399e-01 9.31740544e-01 1.93573675e-02 7.41454542e+01] [-5.09701565e-02 -9.12261950e-04 9.98699760e-01 -8.81388994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.66533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.85, Y:74.17, Z:-0.88 [[ 9.25111129e-01 -3.76756726e-01 4.71568400e-02 4.75849645e+02] [ 3.76258740e-01 9.26312226e-01 1.93654702e-02 7.41713121e+01] [-5.09780286e-02 -1.72038798e-04 9.98699760e-01 -8.83257298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.72533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.90, Y:74.19, Z:-0.89 [[ 9.21060833e-01 -3.86553414e-01 4.71529451e-02 4.75902591e+02] [ 3.86067717e-01 9.22266951e-01 1.93749493e-02 7.41942962e+01] [-5.09770557e-02 3.58722947e-04 9.98699760e-01 -8.85202496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.78533619499996 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:475.96, Y:74.22, Z:-0.89 [[ 9.18857683e-01 -3.91761753e-01 4.71517427e-02 4.75956307e+02] [ 3.91282741e-01 9.20066473e-01 1.93778751e-02 7.42173429e+01] [-5.09742479e-02 6.44153742e-04 9.98699760e-01 -8.89206401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.84533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.01, Y:74.24, Z:-0.89 [[ 9.17904393e-01 -3.93990549e-01 4.71484117e-02 4.76010328e+02] [ 3.93514057e-01 9.19114177e-01 1.93859763e-02 7.42385733e+01] [-5.09726651e-02 7.59089996e-04 9.98699760e-01 -8.88118472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.90533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.07, Y:74.26, Z:-0.89 [[ 9.17622115e-01 -3.94647998e-01 4.71445919e-02 4.76066432e+02] [ 3.94171896e-01 9.18832052e-01 1.93952611e-02 7.42558075e+01] [-5.09722632e-02 7.85552631e-04 9.98699760e-01 -8.91910034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.96533619499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.12, Y:74.28, Z:-0.90 [[ 9.18150806e-01 -3.93416827e-01 4.71412470e-02 4.76121089e+02] [ 3.92938685e-01 9.19359940e-01 1.94033877e-02 7.42752368e+01] [-5.09733933e-02 7.08383524e-04 9.98699760e-01 -8.95716540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.02533619499997 meters Centerline goodness : 0.999651 with order 1 Centerline is valid? [True, True] Translation: X:476.18, Y:74.29, Z:-0.90 [[ 9.19812094e-01 -3.89517041e-01 4.71400656e-02 4.76176042e+02] [ 3.89033625e-01 9.21019129e-01 1.94062576e-02 7.42927345e+01] [-5.09759702e-02 4.88960125e-04 9.98699760e-01 -9.00853242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.08533619499997 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:476.23, Y:74.31, Z:-0.90 [[ 9.22287585e-01 -3.83619340e-01 4.71361118e-02 4.76231371e+02] [ 3.83127714e-01 9.23491299e-01 1.94158563e-02 7.43100276e+01] [-5.09780871e-02 1.52147514e-04 9.98699760e-01 -9.02861496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.14533619499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.29, Y:74.33, Z:-0.90 [[ 9.24221463e-01 -3.78936991e-01 4.71321955e-02 4.76286197e+02] [ 3.78438782e-01 9.25422468e-01 1.94253586e-02 7.43287946e+01] [-5.09781795e-02 -1.16682683e-04 9.98699760e-01 -9.03164830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.34, Y:74.35, Z:-0.91 [[ 9.26957203e-01 -3.72194937e-01 4.71303811e-02 4.76342177e+02] [ 3.71687770e-01 9.28154451e-01 1.94297596e-02 7.43466955e+01] [-5.09759312e-02 -4.92769340e-04 9.98699760e-01 -9.06082728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.40, Y:74.36, Z:-0.91 [[ 9.28422599e-01 -3.68524790e-01 4.71270181e-02 4.76397242e+02] [ 3.68012477e-01 9.29617655e-01 1.94379131e-02 7.43639430e+01] [-5.09734609e-02 -7.03267153e-04 9.98699761e-01 -9.07040358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.45, Y:74.39, Z:-0.91 [[ 9.28941702e-01 -3.67214473e-01 4.71258353e-02 4.76450542e+02] [ 3.66700329e-01 9.30135971e-01 1.94407805e-02 7.43867959e+01] [-5.09723705e-02 -7.78292454e-04 9.98699761e-01 -9.08699885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.50, Y:74.41, Z:-0.92 [[ 9.30005466e-01 -3.64512484e-01 4.71220001e-02 4.76504289e+02] [ 3.63994399e-01 9.31198030e-01 1.94500720e-02 7.44089868e+01] [-5.09697077e-02 -9.36529091e-04 9.98699761e-01 -9.15349858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.56, Y:74.44, Z:-0.92 [[ 9.30989002e-01 -3.61993520e-01 4.71186770e-02 4.76555956e+02] [ 3.61471802e-01 9.32179982e-01 1.94581191e-02 7.44352708e+01] [-5.09668005e-02 -1.08322176e-03 9.98699761e-01 -9.17497925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.61, Y:74.46, Z:-0.92 [[ 9.32217515e-01 -3.58818472e-01 4.71148492e-02 4.76607689e+02] [ 3.58292230e-01 9.33406503e-01 1.94673830e-02 7.44604173e+01] [-5.09625633e-02 -1.26695097e-03 9.98699761e-01 -9.21955753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.66, Y:74.49, Z:-0.92 [[ 9.32683988e-01 -3.57604363e-01 4.71136697e-02 4.76660194e+02] [ 3.57076429e-01 9.33872226e-01 1.94702372e-02 7.44860732e+01] [-5.09607893e-02 -1.33639754e-03 9.98699761e-01 -9.23240815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.71, Y:74.52, Z:-0.92 [[ 9.30740342e-01 -3.62633532e-01 4.71098405e-02 4.76711608e+02] [ 3.62111551e-01 9.31931207e-01 1.94794978e-02 7.45153431e+01] [-5.09670496e-02 -1.07133702e-03 9.98699761e-01 -9.24797279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.76, Y:74.54, Z:-0.93 [[ 9.26711938e-01 -3.72808216e-01 4.71064636e-02 4.76764681e+02] [ 3.72298898e-01 9.27908272e-01 1.94876606e-02 7.45404258e+01] [-5.09756373e-02 -5.21763227e-04 9.98699761e-01 -9.26707062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.82, Y:74.57, Z:-0.93 [[ 9.23511699e-01 -3.80667102e-01 4.71030730e-02 4.76816824e+02] [ 3.80167547e-01 9.24712143e-01 1.94958525e-02 7.45666097e+01] [-5.09782133e-02 -9.75881075e-05 9.98699761e-01 -9.30646438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.80533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.87, Y:74.59, Z:-0.93 [[ 9.22842823e-01 -3.82286263e-01 4.70992221e-02 4.76869619e+02] [ 3.81788340e-01 9.24043945e-01 1.95051514e-02 7.45925586e+01] [-5.09783024e-02 -1.82551468e-05 9.98699761e-01 -9.34029839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.86533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.92, Y:74.62, Z:-0.93 [[ 9.22142748e-01 -3.83972313e-01 4.70958139e-02 4.76923510e+02] [ 3.83476166e-01 9.23344604e-01 1.95133770e-02 7.46174628e+01] [-5.09782622e-02 6.60030435e-05 9.98699761e-01 -9.33550564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.92533619499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.97, Y:74.64, Z:-0.94 [[ 9.21194940e-01 -3.86241116e-01 4.70922780e-02 4.76974940e+02] [ 3.85747493e-01 9.22397836e-01 1.95219066e-02 7.46429567e+01] [-5.09779783e-02 1.82246606e-04 9.98699761e-01 -9.37324232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.98533619499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.03, Y:74.67, Z:-0.94 [[ 9.18932830e-01 -3.91592759e-01 4.70910294e-02 4.77027362e+02] [ 3.91105986e-01 9.20138514e-01 1.95249181e-02 7.46689987e+01] [-5.09760864e-02 4.75495211e-04 9.98699761e-01 -9.38242317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.045336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:477.08, Y:74.69, Z:-0.94 [[ 9.17255459e-01 -3.95505970e-01 4.70898237e-02 4.77081424e+02] [ 3.95024192e-01 9.18463147e-01 1.95278255e-02 7.46920088e+01] [-5.09736392e-02 6.89615036e-04 9.98699761e-01 -9.42217220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.14, Y:74.71, Z:-0.94 [[ 9.14837639e-01 -4.01067273e-01 4.70864707e-02 4.77136160e+02] [ 4.00592420e-01 9.16048067e-01 1.95359072e-02 7.47120509e+01] [-5.09686835e-02 9.90299969e-04 9.98699761e-01 -9.43361628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.165336195 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:477.19, Y:74.73, Z:-0.95 [[ 9.12304110e-01 -4.06797791e-01 4.70825714e-02 4.77189492e+02] [ 4.06330055e-01 9.13517306e-01 1.95453001e-02 7.47320086e+01] [-5.09617287e-02 1.29980619e-03 9.98699761e-01 -9.50087743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.2253361950001 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:477.25, Y:74.75, Z:-0.96 [[ 9.10476477e-01 -4.10872213e-01 4.70808905e-02 4.77247154e+02] [ 4.10409696e-01 9.11691672e-01 1.95493483e-02 7.47464594e+01] [-5.09555398e-02 1.52323214e-03 9.98699761e-01 -9.55562682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.285336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:477.30, Y:74.76, Z:-0.96 [[ 9.10491730e-01 -4.10838809e-01 4.70774077e-02 4.77302835e+02] [ 4.10375815e-01 9.11706743e-01 1.95577317e-02 7.47600987e+01] [-5.09558653e-02 1.51227654e-03 9.98699761e-01 -9.59526007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.3453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.36, Y:74.78, Z:-0.96 [[ 9.12380985e-01 -4.06626139e-01 4.70756903e-02 4.77357844e+02] [ 4.06157321e-01 9.13593763e-01 1.95618647e-02 7.47799404e+01] [-5.09624226e-02 1.27226285e-03 9.98699761e-01 -9.59134742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.41, Y:74.80, Z:-0.96 [[ 9.15836460e-01 -3.98782681e-01 4.70739017e-02 4.77413077e+02] [ 3.98303252e-01 9.17045083e-01 1.95661678e-02 7.48010543e+01] [-5.09715389e-02 8.30278287e-04 9.98699761e-01 -9.58905668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.4653361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.47, Y:74.82, Z:-0.96 [[ 9.21823953e-01 -3.84740134e-01 4.70704693e-02 4.77467302e+02] [ 3.84241870e-01 9.23024933e-01 1.95744218e-02 7.48216726e+01] [-5.09782824e-02 4.22742415e-05 9.98699761e-01 -9.61184380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.52, Y:74.84, Z:-0.97 [[ 9.26538121e-01 -3.73244687e-01 4.70692490e-02 4.77520987e+02] [ 3.72731374e-01 9.27732747e-01 1.95773555e-02 7.48421117e+01] [-5.09748276e-02 -5.94980321e-04 9.98699761e-01 -9.65836947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.585336195 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:477.57, Y:74.87, Z:-0.98 [[ 9.29078985e-01 -3.66874761e-01 4.70653747e-02 4.77573196e+02] [ 3.66352787e-01 9.30269852e-01 1.95866653e-02 7.48680880e+01] [-5.09693523e-02 -9.55027876e-04 9.98699761e-01 -9.75590418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.63, Y:74.89, Z:-0.97 [[ 9.29357298e-01 -3.66169610e-01 4.70619648e-02 4.77627074e+02] [ 3.65646319e-01 9.30547587e-01 1.95948551e-02 7.48931211e+01] [-5.09684382e-02 -1.00258747e-03 9.98699761e-01 -9.73914106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.68, Y:74.92, Z:-0.97 [[ 9.28393236e-01 -3.68607512e-01 4.70584885e-02 4.77680129e+02] [ 3.68086924e-01 9.29584709e-01 1.96032001e-02 7.49163714e+01] [-5.09707382e-02 -8.77864077e-04 9.98699761e-01 -9.74877318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.73, Y:74.94, Z:-0.98 [[ 9.25238757e-01 -3.76455726e-01 4.70566552e-02 4.77733492e+02] [ 3.75945022e-01 9.26434500e-01 1.96075998e-02 7.49379759e+01] [-5.09763021e-02 -4.50995999e-04 9.98699761e-01 -9.77458955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.79, Y:74.96, Z:-0.98 [[ 9.22776760e-01 -3.82451424e-01 4.70527206e-02 4.77786080e+02] [ 3.81948008e-01 9.23975590e-01 1.96170373e-02 7.49607762e+01] [-5.09781291e-02 -1.30453261e-04 9.98699761e-01 -9.80695649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.84, Y:74.98, Z:-0.98 [[ 9.19674144e-01 -3.89853339e-01 4.70514984e-02 4.77839596e+02] [ 3.89359422e-01 9.20876918e-01 1.96199682e-02 7.49819668e+01] [-5.09775490e-02 2.75966720e-04 9.98699761e-01 -9.83440222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.89, Y:75.00, Z:-0.99 [[ 9.18877825e-01 -3.91727031e-01 4.70476003e-02 4.77894313e+02] [ 3.91235087e-01 9.20081408e-01 1.96293114e-02 7.50028092e+01] [-5.09769541e-02 3.69733069e-04 9.98699761e-01 -9.87192384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.95, Y:75.02, Z:-0.99 [[ 9.19273871e-01 -3.90797126e-01 4.70441958e-02 4.77950121e+02] [ 3.90303547e-01 9.20476785e-01 1.96374672e-02 7.50224929e+01] [-5.09773558e-02 3.09306019e-04 9.98699761e-01 -9.88531548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.00, Y:75.04, Z:-0.99 [[ 9.20676632e-01 -3.87481230e-01 4.70407942e-02 4.78004889e+02] [ 3.86982903e-01 9.21877586e-01 1.96456122e-02 7.50434460e+01] [-5.09781598e-02 1.16727052e-04 9.98699761e-01 -9.88732219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.06, Y:75.07, Z:-0.99 [[ 9.23149583e-01 -3.81552531e-01 4.70373653e-02 4.78057897e+02] [ 3.81046073e-01 9.24347130e-01 1.96538185e-02 7.50662234e+01] [-5.09778179e-02 -2.20011043e-04 9.98699762e-01 -9.93963180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.11, Y:75.09, Z:-1.00 [[ 9.24629598e-01 -3.77951990e-01 4.70361506e-02 4.78111052e+02] [ 3.77440721e-01 9.25825100e-01 1.96567253e-02 7.50882289e+01] [-5.09765472e-02 -4.21831435e-04 9.98699762e-01 -9.97017946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.16, Y:75.11, Z:-1.00 [[ 9.26421677e-01 -3.73538296e-01 4.70320985e-02 4.78163348e+02] [ 3.73020840e-01 9.27614513e-01 1.96664158e-02 7.51116316e+01] [-5.09738166e-02 -6.75441001e-04 9.98699762e-01 -1.00403944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.22, Y:75.14, Z:-1.01 [[ 9.27421212e-01 -3.71049856e-01 4.70308516e-02 4.78215862e+02] [ 3.70529048e-01 9.28612589e-01 1.96693973e-02 7.51371085e+01] [-5.09717678e-02 -8.15519598e-04 9.98699762e-01 -1.00570305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.27, Y:75.16, Z:-1.01 [[ 9.26841587e-01 -3.72495818e-01 4.70269984e-02 4.78269110e+02] [ 3.71976402e-01 9.28033571e-01 1.96786055e-02 7.51594137e+01] [-5.09728315e-02 -7.46016294e-04 9.98699762e-01 -1.01118246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.32, Y:75.18, Z:-1.01 [[ 9.26273587e-01 -3.73906158e-01 4.70258140e-02 4.78322715e+02] [ 3.73388413e-01 9.27466298e-01 1.96814353e-02 7.51807115e+01] [-5.09738675e-02 -6.71499586e-04 9.98699762e-01 -1.01453957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.38, Y:75.20, Z:-1.02 [[ 9.25072008e-01 -3.76869614e-01 4.70220642e-02 4.78376456e+02] [ 3.76355235e-01 9.26266174e-01 1.96903901e-02 7.52014424e+01] [-5.09756573e-02 -5.18028713e-04 9.98699762e-01 -1.01773132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.43, Y:75.22, Z:-1.02 [[ 9.23807591e-01 -3.79958974e-01 4.70182125e-02 4.78430403e+02] [ 3.79448121e-01 9.25003270e-01 1.96995833e-02 7.52205331e+01] [-5.09770338e-02 -3.57652256e-04 9.98699762e-01 -1.02144928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.49, Y:75.24, Z:-1.02 [[ 9.24379209e-01 -3.78566404e-01 4.70165470e-02 4.78485970e+02] [ 3.78053547e-01 9.25574030e-01 1.97035575e-02 7.52397431e+01] [-5.09763998e-02 -4.38786581e-04 9.98699762e-01 -1.01837586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.54, Y:75.26, Z:-1.02 [[ 9.26379456e-01 -3.73645383e-01 4.70131080e-02 4.78539173e+02] [ 3.73125763e-01 9.27571351e-01 1.97117597e-02 7.52602880e+01] [-5.09732201e-02 -7.18767378e-04 9.98699762e-01 -1.02209925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.59, Y:75.28, Z:-1.03 [[ 9.28088949e-01 -3.69378979e-01 4.70114138e-02 4.78592630e+02] [ 3.68853676e-01 9.29278350e-01 1.97157993e-02 7.52832914e+01] [-5.09692909e-02 -9.57682600e-04 9.98699762e-01 -1.02508429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.785336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:478.65, Y:75.31, Z:-1.03 [[ 9.30721712e-01 -3.62694600e-01 4.70076879e-02 4.78646960e+02] [ 3.62160309e-01 9.31907103e-01 1.97246788e-02 7.53066030e+01] [-5.09608327e-02 -1.33386807e-03 9.98699762e-01 -1.03104925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.8453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.70, Y:75.33, Z:-1.03 [[ 9.32715836e-01 -3.57535481e-01 4.70058510e-02 4.78697897e+02] [ 3.56994414e-01 9.33898149e-01 1.97290553e-02 7.53335078e+01] [-5.09525146e-02 -1.62077611e-03 9.98699762e-01 -1.03256303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.75, Y:75.36, Z:-1.03 [[ 9.33529271e-01 -3.55406332e-01 4.70046703e-02 4.78749934e+02] [ 3.54862427e-01 9.34710282e-01 1.97318682e-02 7.53590835e+01] [-5.09485795e-02 -1.74008513e-03 9.98699762e-01 -1.03495928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.9653361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.80, Y:75.39, Z:-1.04 [[ 9.33696733e-01 -3.54966649e-01 4.70009380e-02 4.78801893e+02] [ 3.54421741e-01 9.34877282e-01 1.97407544e-02 7.53858186e+01] [-5.09474186e-02 -1.77372366e-03 9.98699762e-01 -1.03869789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.85, Y:75.41, Z:-1.04 [[ 9.31757581e-01 -3.60026451e-01 4.69974968e-02 4.78854359e+02] [ 3.59487542e-01 9.32940880e-01 1.97489435e-02 7.54110391e+01] [-5.09560281e-02 -1.50621317e-03 9.98699762e-01 -1.04395552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.91, Y:75.44, Z:-1.05 [[ 9.29858404e-01 -3.64903965e-01 4.69940861e-02 4.78906861e+02] [ 3.64370855e-01 9.31044327e-01 1.97570561e-02 7.54354183e+01] [-5.09630054e-02 -1.24798935e-03 9.98699762e-01 -1.04749673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.96, Y:75.46, Z:-1.05 [[ 9.27690135e-01 -3.70382156e-01 4.69901194e-02 4.78960034e+02] [ 3.69855573e-01 9.28878970e-01 1.97664861e-02 7.54591874e+01] [-5.09692875e-02 -9.57616613e-04 9.98699762e-01 -1.05161860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.205336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:479.01, Y:75.48, Z:-1.06 [[ 9.26901955e-01 -3.72350678e-01 4.69865762e-02 4.79011689e+02] [ 3.71826192e-01 9.28091717e-01 1.97749051e-02 7.54838264e+01] [-5.09710515e-02 -8.58558448e-04 9.98699762e-01 -1.05665213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.06, Y:75.51, Z:-1.06 [[ 9.26972736e-01 -3.72174591e-01 4.69853228e-02 4.79064969e+02] [ 3.71649729e-01 9.28162332e-01 1.97778826e-02 7.55083303e+01] [-5.09708322e-02 -8.71475415e-04 9.98699762e-01 -1.05568970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.12, Y:75.53, Z:-1.06 [[ 9.26932557e-01 -3.72275090e-01 4.69818175e-02 4.79118338e+02] [ 3.71749936e-01 9.28122024e-01 1.97862059e-02 7.55317666e+01] [-5.09707711e-02 -8.74990766e-04 9.98699762e-01 -1.05634382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.17, Y:75.55, Z:-1.06 [[ 9.26030840e-01 -3.74512627e-01 4.69805813e-02 4.79172253e+02] [ 3.73990198e-01 9.27221506e-01 1.97891407e-02 7.55537183e+01] [-5.09726884e-02 -7.55077704e-04 9.98699762e-01 -1.05874100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.23, Y:75.58, Z:-1.06 [[ 9.25446113e-01 -3.75955694e-01 4.69766724e-02 4.79227160e+02] [ 3.75434651e-01 9.26637386e-01 1.97984154e-02 7.55752792e+01] [-5.09736680e-02 -6.85696004e-04 9.98699762e-01 -1.06493461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.28, Y:75.60, Z:-1.07 [[ 9.25691726e-01 -3.75350958e-01 4.69732644e-02 4.79280870e+02] [ 3.74828726e-01 9.26882479e-01 1.98064979e-02 7.55976187e+01] [-5.09730837e-02 -7.27782345e-04 9.98699762e-01 -1.06801985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.33, Y:75.62, Z:-1.07 [[ 9.27104132e-01 -3.71849177e-01 4.69693367e-02 4.79334299e+02] [ 3.71321976e-01 9.28292693e-01 1.98158078e-02 7.56205664e+01] [-5.09697839e-02 -9.30570380e-04 9.98699762e-01 -1.07138000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.39, Y:75.64, Z:-1.08 [[ 9.29163643e-01 -3.66672770e-01 4.69681207e-02 4.79388086e+02] [ 3.66138803e-01 9.30349180e-01 1.98186895e-02 7.56432194e+01] [-5.09637264e-02 -1.21795422e-03 9.98699762e-01 -1.07578940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.44, Y:75.67, Z:-1.08 [[ 9.30094569e-01 -3.64305379e-01 4.69647066e-02 4.79440335e+02] [ 3.63767987e-01 9.31278557e-01 1.98267768e-02 7.56683246e+01] [-5.09602256e-02 -1.35652064e-03 9.98699762e-01 -1.07781802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.49, Y:75.69, Z:-1.08 [[ 9.31204772e-01 -3.61458658e-01 4.69607318e-02 4.79490866e+02] [ 3.60917173e-01 9.32386894e-01 1.98361869e-02 7.56940306e+01] [-5.09555323e-02 -1.52261733e-03 9.98699762e-01 -1.08268265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.54, Y:75.72, Z:-1.08 [[ 9.31880143e-01 -3.59714123e-01 4.69590178e-02 4.79544181e+02] [ 3.59170221e-01 9.33061154e-01 1.98402436e-02 7.57172465e+01] [-5.09524512e-02 -1.62244826e-03 9.98699762e-01 -1.08473242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.60, Y:75.74, Z:-1.08 [[ 9.32668881e-01 -3.57664611e-01 4.69551341e-02 4.79596881e+02] [ 3.57117652e-01 9.33848480e-01 1.98494308e-02 7.57445473e+01] [-5.09484195e-02 -1.74443915e-03 9.98699762e-01 -1.08487143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.65, Y:75.77, Z:-1.09 [[ 9.31614244e-01 -3.60403163e-01 4.69516871e-02 4.79648405e+02] [ 3.59859261e-01 9.32795256e-01 1.98575808e-02 7.57699141e+01] [-5.09530459e-02 -1.60360574e-03 9.98699762e-01 -1.08911557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.70, Y:75.79, Z:-1.09 [[ 9.28945479e-01 -3.67227382e-01 4.69504663e-02 4.79701954e+02] [ 3.66692013e-01 9.30130383e-01 1.98604668e-02 7.57945133e+01] [-5.09633625e-02 -1.23292988e-03 9.98699762e-01 -1.09267923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.76, Y:75.82, Z:-1.10 [[ 9.27284190e-01 -3.71402758e-01 4.69470272e-02 4.79755238e+02] [ 3.70872313e-01 9.28471306e-01 1.98685931e-02 7.58170723e+01] [-5.09682179e-02 -1.01247963e-03 9.98699763e-01 -1.09589389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.81, Y:75.84, Z:-1.10 [[ 9.26146288e-01 -3.74231751e-01 4.69430554e-02 4.79806741e+02] [ 3.73704457e-01 9.27334807e-01 1.98779727e-02 7.58424978e+01] [-5.09708978e-02 -8.67081598e-04 9.98699763e-01 -1.10037320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.165336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:479.86, Y:75.87, Z:-1.11 [[ 9.26284271e-01 -3.73890243e-01 4.69418268e-02 4.79859230e+02] [ 3.73362364e-01 9.27472531e-01 1.98808737e-02 7.58688994e+01] [-5.09705196e-02 -8.89029122e-04 9.98699763e-01 -1.10551171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.91, Y:75.89, Z:-1.11 [[ 9.26551071e-01 -3.73229026e-01 4.69383375e-02 4.79911211e+02] [ 3.72699882e-01 9.27738768e-01 1.98891084e-02 7.58944988e+01] [-5.09697080e-02 -9.34361844e-04 9.98699763e-01 -1.11134002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.96, Y:75.92, Z:-1.11 [[ 9.26320675e-01 -3.73800636e-01 4.69371000e-02 4.79964456e+02] [ 3.73272077e-01 9.27508633e-01 1.98920284e-02 7.59176736e+01] [-5.09702183e-02 -9.06088317e-04 9.98699763e-01 -1.11466351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.3453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.02, Y:75.94, Z:-1.11 [[ 9.25038945e-01 -3.76961818e-01 4.69333455e-02 4.80018288e+02] [ 3.76436870e-01 9.26228502e-01 1.99008830e-02 7.59415873e+01] [-5.09728753e-02 -7.41650115e-04 9.98699763e-01 -1.11183518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.07, Y:75.96, Z:-1.11 [[ 9.22830950e-01 -3.82335744e-01 4.69299171e-02 4.80072658e+02] [ 3.81817313e-01 9.24023361e-01 1.99089643e-02 7.59647710e+01] [-5.09762485e-02 -4.53953523e-04 9.98699763e-01 -1.11121156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.4653361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.13, Y:75.98, Z:-1.11 [[ 9.20985815e-01 -3.86759663e-01 4.69264517e-02 4.80126612e+02] [ 3.86246544e-01 9.22180522e-01 1.99171293e-02 7.59849893e+01] [-5.09778019e-02 -2.18213748e-04 9.98699763e-01 -1.11404292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.525336195 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:480.18, Y:76.00, Z:-1.12 [[ 9.18947563e-01 -3.91578088e-01 4.69252272e-02 4.80182707e+02] [ 3.91071086e-01 9.20144879e-01 1.99200137e-02 7.60019269e+01] [-5.09782484e-02 4.56514985e-05 9.98699763e-01 -1.12089193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.24, Y:76.02, Z:-1.12 [[ 9.19397527e-01 -3.90520853e-01 4.69217581e-02 4.80237873e+02] [ 3.90012057e-01 9.20594082e-01 1.99281818e-02 7.60206118e+01] [-5.09782634e-02 -2.18696453e-05 9.98699763e-01 -1.12449298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.29, Y:76.04, Z:-1.13 [[ 9.21463783e-01 -3.85620228e-01 4.69205310e-02 4.80290957e+02] [ 3.85104921e-01 9.22657549e-01 1.99310705e-02 7.60428892e+01] [-5.09774061e-02 -2.96432254e-04 9.98699763e-01 -1.12644108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.705336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:480.34, Y:76.07, Z:-1.13 [[ 9.25983519e-01 -3.74637638e-01 4.69165636e-02 4.80343933e+02] [ 3.74107702e-01 9.27170862e-01 1.99404053e-02 7.60668401e+01] [-5.09700970e-02 -9.12638885e-04 9.98699763e-01 -1.12895323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.40, Y:76.09, Z:-1.13 [[ 9.29439506e-01 -3.65979722e-01 4.69153338e-02 4.80396271e+02] [ 3.65438582e-01 9.30621785e-01 1.99432983e-02 7.60924415e+01] [-5.09592745e-02 -1.39141626e-03 9.98699763e-01 -1.12972526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.45, Y:76.12, Z:-1.13 [[ 9.30566533e-01 -3.63105030e-01 4.69112370e-02 4.80446760e+02] [ 3.62559754e-01 9.31746911e-01 1.99529303e-02 7.61201373e+01] [-5.09544095e-02 -1.55940262e-03 9.98699763e-01 -1.13361610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.50, Y:76.15, Z:-1.14 [[ 9.30033066e-01 -3.64469407e-01 4.69099825e-02 4.80499343e+02] [ 3.63925714e-01 9.31214174e-01 1.99558793e-02 7.61457534e+01] [-5.09565481e-02 -1.48787876e-03 9.98699763e-01 -1.13564325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.55, Y:76.17, Z:-1.14 [[ 9.28797026e-01 -3.67608373e-01 4.69059580e-02 4.80550942e+02] [ 3.67068195e-01 9.29979745e-01 1.99653343e-02 7.61720657e+01] [-5.09610149e-02 -1.32605777e-03 9.98699763e-01 -1.14204395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.60, Y:76.20, Z:-1.15 [[ 9.27580890e-01 -3.70666481e-01 4.69047154e-02 4.80601847e+02] [ 3.70130055e-01 9.28765315e-01 1.99682531e-02 7.62011469e+01] [-5.09650349e-02 -1.16132503e-03 9.98699763e-01 -1.14760671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.65, Y:76.23, Z:-1.15 [[ 9.25816125e-01 -3.75053026e-01 4.69012717e-02 4.80654237e+02] [ 3.74521804e-01 9.27002893e-01 1.99763383e-02 7.62268023e+01] [-5.09698007e-02 -9.28867226e-04 9.98699763e-01 -1.15164715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.71, Y:76.25, Z:-1.15 [[ 9.24670521e-01 -3.77869114e-01 4.68973437e-02 4.80707076e+02] [ 3.77341038e-01 9.25858693e-01 1.99855555e-02 7.62534497e+01] [-5.09722375e-02 -7.83761690e-04 9.98699763e-01 -1.15121599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.76, Y:76.28, Z:-1.15 [[ 9.23711446e-01 -3.80208010e-01 4.68938478e-02 4.80759090e+02] [ 3.79682527e-01 9.24900767e-01 1.99937550e-02 7.62795522e+01] [-5.09739416e-02 -6.63685740e-04 9.98699763e-01 -1.15085707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.81, Y:76.31, Z:-1.15 [[ 9.24058767e-01 -3.79363253e-01 4.68926112e-02 4.80810338e+02] [ 3.78836536e-01 9.25247542e-01 1.99966548e-02 7.63078763e+01] [-5.09732693e-02 -7.13449832e-04 9.98699763e-01 -1.15425406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.305336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:480.86, Y:76.33, Z:-1.16 [[ 9.25055934e-01 -3.76925687e-01 4.68886488e-02 4.80862510e+02] [ 3.76395366e-01 9.26243106e-01 2.00059416e-02 7.63346344e+01] [-5.09710410e-02 -8.57944856e-04 9.98699763e-01 -1.16053097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.91, Y:76.36, Z:-1.17 [[ 9.26134852e-01 -3.74267301e-01 4.68852116e-02 4.80913381e+02] [ 3.73733165e-01 9.27320312e-01 2.00139938e-02 7.63622908e+01] [-5.09681925e-02 -1.01309867e-03 9.98699763e-01 -1.16512959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.97, Y:76.39, Z:-1.17 [[ 9.25789112e-01 -3.75121861e-01 4.68839959e-02 4.80966406e+02] [ 3.74588676e-01 9.26975000e-01 2.00168412e-02 7.63864450e+01] [-5.09690468e-02 -9.69159701e-04 9.98699763e-01 -1.16794996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.4853361950001 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:481.02, Y:76.41, Z:-1.17 [[ 9.25095745e-01 -3.76829027e-01 4.68801260e-02 4.81018022e+02] [ 3.76297572e-01 9.26282409e-01 2.00259007e-02 7.64123352e+01] [-5.09705767e-02 -8.84997951e-04 9.98699763e-01 -1.16836603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.07, Y:76.44, Z:-1.17 [[ 9.25085212e-01 -3.76855034e-01 4.68789273e-02 4.81071250e+02] [ 3.76323469e-01 9.26271827e-01 2.00287061e-02 7.64380439e+01] [-5.09705484e-02 -8.86619310e-04 9.98699763e-01 -1.16827363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.12, Y:76.46, Z:-1.17 [[ 9.26113278e-01 -3.74321920e-01 4.68753360e-02 4.81122533e+02] [ 3.73786685e-01 9.27298241e-01 2.00371079e-02 7.64642007e+01] [-5.09677453e-02 -1.03525527e-03 9.98699763e-01 -1.17414248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.17, Y:76.49, Z:-1.18 [[ 9.26778412e-01 -3.72672237e-01 4.68740671e-02 4.81174493e+02] [ 3.72134743e-01 9.27962353e-01 2.00400757e-02 7.64900398e+01] [-5.09657495e-02 -1.12924065e-03 9.98699763e-01 -1.17700252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.23, Y:76.51, Z:-1.18 [[ 9.26625558e-01 -3.73052638e-01 4.68700924e-02 4.81227196e+02] [ 3.72515160e-01 9.27809506e-01 2.00493676e-02 7.65142699e+01] [-5.09659867e-02 -1.11843648e-03 9.98699763e-01 -1.18118922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.28, Y:76.54, Z:-1.19 [[ 9.25042888e-01 -3.76960506e-01 4.68661148e-02 4.81280844e+02] [ 3.76427559e-01 9.26228883e-01 2.00586610e-02 7.65356381e+01] [-5.09700722e-02 -9.13424524e-04 9.98699763e-01 -1.18827605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.8453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.33, Y:76.56, Z:-1.19 [[ 9.23740331e-01 -3.80141398e-01 4.68648843e-02 4.81334352e+02] [ 3.79612390e-01 9.24928088e-01 2.00615355e-02 7.65567258e+01] [-5.09728680e-02 -7.41158739e-04 9.98699763e-01 -1.19180051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.39, Y:76.58, Z:-1.20 [[ 9.22503581e-01 -3.83133387e-01 4.68609769e-02 4.81387000e+02] [ 3.82607768e-01 9.23692841e-01 2.00706586e-02 7.65784017e+01] [-5.09748883e-02 -5.85880607e-04 9.98699763e-01 -1.19590588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.9653361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.44, Y:76.60, Z:-1.20 [[ 9.21735104e-01 -3.84978708e-01 4.68592852e-02 4.81441844e+02] [ 3.84455269e-01 9.22925325e-01 2.00746075e-02 7.65969488e+01] [-5.09759175e-02 -4.88171274e-04 9.98699763e-01 -1.19840881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.49, Y:76.62, Z:-1.20 [[ 9.22079484e-01 -3.84153608e-01 4.68554296e-02 4.81493730e+02] [ 3.83628647e-01 9.23269034e-01 2.00836026e-02 7.66207086e+01] [-5.09753557e-02 -5.43592841e-04 9.98699764e-01 -1.20167761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.55, Y:76.64, Z:-1.20 [[ 9.22849132e-01 -3.82301196e-01 4.68537649e-02 4.81546951e+02] [ 3.81773651e-01 9.24037538e-01 2.00874855e-02 7.66447577e+01] [-5.09741073e-02 -6.50185625e-04 9.98699764e-01 -1.20383210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.60, Y:76.67, Z:-1.21 [[ 9.22783830e-01 -3.82459281e-01 4.68497859e-02 4.81601628e+02] [ 3.81931468e-01 9.23972118e-01 2.00967613e-02 7.66672088e+01] [-5.09740888e-02 -6.51558869e-04 9.98699764e-01 -1.20682348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.65, Y:76.69, Z:-1.21 [[ 9.22628291e-01 -3.82834774e-01 4.68462678e-02 4.81653690e+02] [ 3.82307028e-01 9.23816609e-01 2.01049590e-02 7.66901573e+01] [-5.09742376e-02 -6.39746560e-04 9.98699764e-01 -1.21086904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.71, Y:76.71, Z:-1.21 [[ 9.22374499e-01 -3.83446052e-01 4.68445241e-02 4.81707094e+02] [ 3.82918888e-01 9.23563075e-01 2.01090209e-02 7.67140837e+01] [-5.09745974e-02 -6.10395006e-04 9.98699764e-01 -1.21229818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.76, Y:76.74, Z:-1.21 [[ 9.22010595e-01 -3.84320673e-01 4.68410485e-02 4.81759874e+02] [ 3.83794225e-01 9.23199488e-01 2.01171135e-02 7.67390693e+01] [-5.09750546e-02 -5.70867855e-04 9.98699764e-01 -1.21299105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.81, Y:76.76, Z:-1.21 [[ 9.20927649e-01 -3.86908646e-01 4.68397897e-02 4.81814134e+02] [ 3.86385390e-01 9.22117950e-01 2.01200441e-02 7.67604948e+01] [-5.09764299e-02 -4.30894458e-04 9.98699764e-01 -1.21426821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.445336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:481.87, Y:76.78, Z:-1.22 [[ 9.18709386e-01 -3.92146930e-01 4.68385458e-02 4.81867142e+02] [ 3.91630314e-01 9.19902584e-01 2.01229395e-02 7.67832758e+01] [-5.09780482e-02 -1.43739007e-04 9.98699764e-01 -1.21980598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.92, Y:76.81, Z:-1.22 [[ 9.17627577e-01 -3.94671883e-01 4.68373133e-02 4.81921058e+02] [ 3.94158404e-01 9.18822129e-01 2.01258078e-02 7.68057890e+01] [-5.09782503e-02 -6.67556430e-06 9.98699764e-01 -1.21940150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.565336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:481.97, Y:76.83, Z:-1.23 [[ 9.17903476e-01 -3.94030256e-01 4.68333920e-02 4.81974292e+02] [ 3.93515477e-01 9.19097467e-01 2.01349285e-02 7.68279986e+01] [-5.09782230e-02 -5.22563052e-05 9.98699764e-01 -1.22577833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.03, Y:76.85, Z:-1.23 [[ 9.19700536e-01 -3.89817484e-01 4.68321784e-02 4.82027458e+02] [ 3.89297092e-01 9.20892092e-01 2.01377508e-02 7.68512250e+01] [-5.09774301e-02 -2.89069395e-04 9.98699764e-01 -1.22659883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.08, Y:76.88, Z:-1.23 [[ 9.22428417e-01 -3.83317980e-01 4.68309937e-02 4.82079352e+02] [ 3.82789052e-01 9.23616209e-01 2.01405055e-02 7.68767957e+01] [-5.09740828e-02 -6.51782882e-04 9.98699764e-01 -1.22764457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.13, Y:76.90, Z:-1.23 [[ 9.24331021e-01 -3.78707524e-01 4.68270716e-02 4.82131998e+02] [ 3.78172211e-01 9.25515949e-01 2.01496204e-02 7.69022326e+01] [-5.09700145e-02 -9.16221963e-04 9.98699764e-01 -1.22882068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.18, Y:76.93, Z:-1.23 [[ 9.26311445e-01 -3.73837742e-01 4.68236032e-02 4.82184425e+02] [ 3.73295793e-01 9.27493352e-01 2.01576770e-02 7.69299687e+01] [-5.09642812e-02 -1.19323285e-03 9.98699764e-01 -1.23367900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.24, Y:76.96, Z:-1.24 [[ 9.26694806e-01 -3.72886664e-01 4.68216998e-02 4.82235302e+02] [ 3.72343279e-01 9.27876054e-01 2.01620973e-02 7.69585747e+01] [-5.09629113e-02 -1.25036560e-03 9.98699764e-01 -1.23696720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.29, Y:76.98, Z:-1.24 [[ 9.26254525e-01 -3.73979486e-01 4.68177224e-02 4.82287924e+02] [ 3.73437029e-01 9.27436199e-01 2.01713287e-02 7.69831939e+01] [-5.09641137e-02 -1.20031335e-03 9.98699764e-01 -1.24033920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.34, Y:77.01, Z:-1.24 [[ 9.24921238e-01 -3.77265051e-01 4.68164962e-02 4.82340256e+02] [ 3.76726647e-01 9.26104765e-01 2.01741745e-02 7.70099872e+01] [-5.09679911e-02 -1.02250079e-03 9.98699764e-01 -1.24019111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.39, Y:77.04, Z:-1.24 [[ 9.23554723e-01 -3.80598485e-01 4.68130958e-02 4.82392878e+02] [ 3.80063954e-01 9.24740004e-01 2.01820617e-02 7.70367090e+01] [-5.09712045e-02 -8.47268157e-04 9.98699764e-01 -1.24408405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.45, Y:77.06, Z:-1.25 [[ 9.22467579e-01 -3.83226340e-01 4.68095839e-02 4.82445999e+02] [ 3.82694773e-01 9.23654192e-01 2.01902038e-02 7.70621287e+01] [-5.09732863e-02 -7.11025379e-04 9.98699764e-01 -1.25041297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.50, Y:77.09, Z:-1.26 [[ 9.22537275e-01 -3.83058961e-01 4.68060828e-02 4.82498472e+02] [ 3.82526766e-01 9.23723606e-01 2.01983171e-02 7.70870654e+01] [-5.09730299e-02 -7.29120938e-04 9.98699764e-01 -1.25547764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.55, Y:77.11, Z:-1.26 [[ 9.23445850e-01 -3.80863655e-01 4.68042520e-02 4.82550792e+02] [ 3.80328426e-01 9.24630816e-01 2.02025586e-02 7.71149644e+01] [-5.09710740e-02 -8.54981442e-04 9.98699764e-01 -1.25668932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.60, Y:77.14, Z:-1.26 [[ 9.24153209e-01 -3.79144482e-01 4.68007304e-02 4.82601375e+02] [ 3.78606636e-01 9.25336989e-01 2.02107133e-02 7.71401148e+01] [-5.09692274e-02 -9.58728510e-04 9.98699764e-01 -1.26201664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.3453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.65, Y:77.17, Z:-1.26 [[ 9.23930197e-01 -3.79687826e-01 4.67989924e-02 4.82652721e+02] [ 3.79150472e-01 9.25114200e-01 2.02147370e-02 7.71669509e+01] [-5.09697020e-02 -9.33145917e-04 9.98699764e-01 -1.26418700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.70, Y:77.19, Z:-1.27 [[ 9.22614107e-01 -3.82875209e-01 4.67951199e-02 4.82703595e+02] [ 3.82341492e-01 9.23799754e-01 2.02236975e-02 7.71948395e+01] [-5.09724726e-02 -7.66952703e-04 9.98699764e-01 -1.26643481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.4653361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.76, Y:77.22, Z:-1.27 [[ 9.19963735e-01 -3.89200863e-01 4.67911772e-02 4.82755382e+02] [ 3.88674835e-01 9.21152814e-01 2.02328154e-02 7.72201127e+01] [-5.09764538e-02 -4.26903381e-04 9.98699764e-01 -1.26637558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.81, Y:77.24, Z:-1.27 [[ 9.17490076e-01 -3.94997039e-01 4.67899614e-02 4.82809062e+02] [ 3.94478379e-01 9.18682387e-01 2.02356266e-02 7.72426187e+01] [-5.09781260e-02 -1.08358466e-04 9.98699764e-01 -1.26782279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.86, Y:77.27, Z:-1.27 [[ 9.13193591e-01 -4.04831499e-01 4.67859327e-02 4.82860258e+02] [ 4.04325203e-01 9.14391204e-01 2.02449370e-02 7.72665482e+01] [-5.09764335e-02 4.29184963e-04 9.98699764e-01 -1.27092086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.92, Y:77.29, Z:-1.28 [[ 9.09612402e-01 -4.12815356e-01 4.67841955e-02 4.82916202e+02] [ 4.12319363e-01 9.10814318e-01 2.02489508e-02 7.72858997e+01] [-5.09707929e-02 8.71332940e-04 9.98699764e-01 -1.27517795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.97, Y:77.31, Z:-1.28 [[ 9.08557561e-01 -4.15132178e-01 4.67806875e-02 4.82970281e+02] [ 4.14638833e-01 9.09760567e-01 2.02570520e-02 7.73060519e+01] [-5.09685789e-02 9.92391896e-04 9.98699764e-01 -1.28035708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.03, Y:77.33, Z:-1.28 [[ 9.09593623e-01 -4.12857270e-01 4.67794455e-02 4.83025775e+02] [ 4.12360769e-01 9.10795330e-01 2.02599196e-02 7.73263274e+01] [-5.09709556e-02 8.61714427e-04 9.98699764e-01 -1.28471697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.08, Y:77.35, Z:-1.29 [[ 9.12910026e-01 -4.05471683e-01 4.67760577e-02 4.83079830e+02] [ 4.04965058e-01 9.14107500e-01 2.02677384e-02 7.73477126e+01] [-5.09763391e-02 4.40047331e-04 9.98699764e-01 -1.28593127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.13, Y:77.37, Z:-1.29 [[ 9.15600217e-01 -3.99359931e-01 4.67748599e-02 4.83134527e+02] [ 3.98845171e-01 9.16794217e-01 2.02705023e-02 7.73697533e+01] [-5.09781475e-02 9.62506682e-05 9.98699764e-01 -1.28628381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.19, Y:77.39, Z:-1.29 [[ 9.15938116e-01 -3.98584741e-01 4.67714816e-02 4.83188529e+02] [ 3.98068573e-01 9.17131507e-01 2.02782943e-02 7.73907452e+01] [-5.09782181e-02 4.45942719e-05 9.98699764e-01 -1.28764288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.24, Y:77.41, Z:-1.30 [[ 9.15247576e-01 -4.00168318e-01 4.67674142e-02 4.83243707e+02] [ 3.99653736e-01 9.16441652e-01 2.02876706e-02 7.74088648e+01] [-5.09780894e-02 1.22530490e-04 9.98699764e-01 -1.29763155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.30, Y:77.43, Z:-1.30 [[ 9.14589861e-01 -4.01669670e-01 4.67638962e-02 4.83299672e+02] [ 4.01156633e-01 9.15784602e-01 2.02957765e-02 7.74281761e+01] [-5.09778539e-02 1.97335669e-04 9.98699764e-01 -1.30232092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.35, Y:77.45, Z:-1.30 [[ 9.14541847e-01 -4.01779372e-01 4.67605239e-02 4.83353718e+02] [ 4.01266081e-01 9.15736478e-01 2.03035432e-02 7.74496205e+01] [-5.09778623e-02 1.94972296e-04 9.98699764e-01 -1.30470171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.41, Y:77.47, Z:-1.31 [[ 9.15347808e-01 -3.99940259e-01 4.67566008e-02 4.83409704e+02] [ 3.99424107e-01 9.16541206e-01 2.03125735e-02 7.74678066e+01] [-5.09781672e-02 8.26438524e-05 9.98699765e-01 -1.30895329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.46, Y:77.49, Z:-1.31 [[ 9.16341054e-01 -3.97659681e-01 4.67530879e-02 4.83464040e+02] [ 3.97140146e-01 9.17532983e-01 2.03206560e-02 7.74897383e+01] [-5.09782058e-02 -5.31231616e-05 9.98699765e-01 -1.31423547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.52, Y:77.51, Z:-1.32 [[ 9.17468108e-01 -3.95052841e-01 4.67495834e-02 4.83518417e+02] [ 3.94529509e-01 9.18658375e-01 2.03287151e-02 7.75106436e+01] [-5.09778130e-02 -2.06857538e-04 9.98699765e-01 -1.31523146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.57, Y:77.53, Z:-1.32 [[ 9.17565088e-01 -3.94827686e-01 4.67483475e-02 4.83573035e+02] [ 3.94303917e-01 9.18755163e-01 2.03315568e-02 7.75296657e+01] [-5.09777472e-02 -2.22470204e-04 9.98699765e-01 -1.31735638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.63, Y:77.55, Z:-1.32 [[ 9.17573709e-01 -3.94807862e-01 4.67465659e-02 4.83627482e+02] [ 3.94283859e-01 9.18763680e-01 2.03356523e-02 7.75525540e+01] [-5.09777223e-02 -2.28043498e-04 9.98699765e-01 -1.31810728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.68, Y:77.57, Z:-1.32 [[ 9.17722400e-01 -3.94462529e-01 4.67430189e-02 4.83681166e+02] [ 3.93937663e-01 9.18911991e-01 2.03438021e-02 7.75734405e+01] [-5.09775882e-02 -2.56127285e-04 9.98699765e-01 -1.32173914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.74, Y:77.59, Z:-1.33 [[ 9.17136721e-01 -3.95822487e-01 4.67417717e-02 4.83736198e+02] [ 3.95299238e-01 9.18327025e-01 2.03466672e-02 7.75926491e+01] [-5.09779006e-02 -1.83688896e-04 9.98699765e-01 -1.32547067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.79, Y:77.61, Z:-1.33 [[ 9.16588206e-01 -3.97091151e-01 4.67405494e-02 4.83790977e+02] [ 3.96569407e-01 9.17779170e-01 2.03494747e-02 7.76123303e+01] [-5.09780990e-02 -1.16216516e-04 9.98699765e-01 -1.32737515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.665336195 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:483.84, Y:77.63, Z:-1.33 [[ 9.16800550e-01 -3.96601117e-01 4.67365614e-02 4.83844971e+02] [ 3.96078270e-01 9.17991030e-01 2.03586299e-02 7.76345305e+01] [-5.09779995e-02 -1.53466683e-04 9.98699765e-01 -1.33286309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.90, Y:77.65, Z:-1.34 [[ 9.17486580e-01 -3.95011897e-01 4.67330311e-02 4.83898756e+02] [ 3.94486575e-01 9.18675970e-01 2.03667305e-02 7.76536851e+01] [-5.09776135e-02 -2.50648523e-04 9.98699765e-01 -1.33755850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.95, Y:77.68, Z:-1.34 [[ 9.17974937e-01 -3.93875872e-01 4.67312872e-02 4.83953638e+02] [ 3.93348875e-01 9.19163585e-01 2.03707310e-02 7.76754609e+01] [-5.09772369e-02 -3.18121316e-04 9.98699765e-01 -1.33963314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.8453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.01, Y:77.70, Z:-1.34 [[ 9.19062143e-01 -3.91332711e-01 4.67277922e-02 4.84006528e+02] [ 3.90802017e-01 9.20249146e-01 2.03787450e-02 7.76991173e+01] [-5.09760804e-02 -4.68017606e-04 9.98699765e-01 -1.34316434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.06, Y:77.72, Z:-1.34 [[ 9.20077761e-01 -3.88938996e-01 4.67265540e-02 4.84060379e+02] [ 3.88405069e-01 9.21263314e-01 2.03815836e-02 7.77220137e+01] [-5.09746526e-02 -6.03811361e-04 9.98699765e-01 -1.34470107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.9653361950001 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:484.11, Y:77.75, Z:-1.35 [[ 9.20183975e-01 -3.88688047e-01 4.67231618e-02 4.84113648e+02] [ 3.88153403e-01 9.21369204e-01 2.03893570e-02 7.77468802e+01] [-5.09743817e-02 -6.26205300e-04 9.98699765e-01 -1.34811807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.17, Y:77.77, Z:-1.35 [[ 9.19212006e-01 -3.90981526e-01 4.67197404e-02 4.84166822e+02] [ 3.90449440e-01 9.20398386e-01 2.03971937e-02 7.77702136e+01] [-5.09756996e-02 -5.07648848e-04 9.98699765e-01 -1.34889643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.22, Y:77.79, Z:-1.35 [[ 9.18215249e-01 -3.93316838e-01 4.67185310e-02 4.84220492e+02] [ 3.92787629e-01 9.19402915e-01 2.03999633e-02 7.77944061e+01] [-5.09768027e-02 -3.81096354e-04 9.98699765e-01 -1.34987198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.27, Y:77.82, Z:-1.35 [[ 9.18032681e-01 -3.93743181e-01 4.67151281e-02 4.84272996e+02] [ 3.93214128e-01 9.19220416e-01 2.04077530e-02 7.78178585e+01] [-5.09769131e-02 -3.65935864e-04 9.98699765e-01 -1.35262956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.33, Y:77.84, Z:-1.35 [[ 9.17460737e-01 -3.95074500e-01 4.67111935e-02 4.84326300e+02] [ 3.94546712e-01 9.18649034e-01 2.04167549e-02 7.78413413e+01] [-5.09773320e-02 -3.01823245e-04 9.98699765e-01 -1.35493019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.38, Y:77.86, Z:-1.36 [[ 9.15682326e-01 -3.99179554e-01 4.67071990e-02 4.84380462e+02] [ 3.98656627e-01 9.16872770e-01 2.04258889e-02 7.78615209e+01] [-5.09781562e-02 -8.34909917e-05 9.98699765e-01 -1.35744215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.43, Y:77.88, Z:-1.36 [[ 9.14517776e-01 -4.01840829e-01 4.67031569e-02 4.84434442e+02] [ 4.01320895e-01 9.15709531e-01 2.04351270e-02 7.78842503e+01] [-5.09781942e-02 5.46658198e-05 9.98699765e-01 -1.36091853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.49, Y:77.90, Z:-1.37 [[ 9.13784744e-01 -4.03505376e-01 4.66995998e-02 4.84488490e+02] [ 4.02987197e-01 9.14977263e-01 2.04432525e-02 7.79049746e+01] [-5.09780343e-02 1.38608581e-04 9.98699765e-01 -1.36507567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.54, Y:77.92, Z:-1.37 [[ 9.14465699e-01 -4.01959886e-01 4.66983473e-02 4.84542871e+02] [ 4.01439546e-01 9.15657276e-01 2.04461133e-02 7.79241555e+01] [-5.09781989e-02 4.92940265e-05 9.98699765e-01 -1.36825392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.60, Y:77.94, Z:-1.37 [[ 9.15901418e-01 -3.98678103e-01 4.66943441e-02 4.84597472e+02] [ 3.98153027e-01 9.17090917e-01 2.04552517e-02 7.79425456e+01] [-5.09780197e-02 -1.43499594e-04 9.98699765e-01 -1.37177448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.65, Y:77.97, Z:-1.38 [[ 9.17108252e-01 -3.95894188e-01 4.66931085e-02 4.84651008e+02] [ 3.95365358e-01 9.18296086e-01 2.04580716e-02 7.79655608e+01] [-5.09773305e-02 -3.01428696e-04 9.98699765e-01 -1.37505936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.71, Y:77.99, Z:-1.38 [[ 9.19810945e-01 -3.89574003e-01 4.66896252e-02 4.84705183e+02] [ 3.89036609e-01 9.20994929e-01 2.04660183e-02 7.79868291e+01] [-5.09739367e-02 -6.60894241e-04 9.98699765e-01 -1.37848913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.76, Y:78.01, Z:-1.38 [[ 9.22794562e-01 -3.82453464e-01 4.66856004e-02 4.84759254e+02] [ 3.81906470e-01 9.23974142e-01 2.04751952e-02 7.80100263e+01] [-5.09670969e-02 -1.06486592e-03 9.98699765e-01 -1.37970486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.81, Y:78.04, Z:-1.38 [[ 9.24559439e-01 -3.78167458e-01 4.66820842e-02 4.84811586e+02] [ 3.77614593e-01 9.25736279e-01 2.04832088e-02 7.80360300e+01] [-5.09613819e-02 -1.31010782e-03 9.98699765e-01 -1.38145590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.86, Y:78.06, Z:-1.38 [[ 9.24475316e-01 -3.78373498e-01 4.66785484e-02 4.84863021e+02] [ 3.77820488e-01 9.25652087e-01 2.04912632e-02 7.80612540e+01] [-5.09614467e-02 -1.30755503e-03 9.98699765e-01 -1.38407593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.92, Y:78.09, Z:-1.39 [[ 9.22759139e-01 -3.82540049e-01 4.66763598e-02 4.84917253e+02] [ 3.81992102e-01 9.23938276e-01 2.04962473e-02 7.80850381e+01] [-5.09667109e-02 -1.08309871e-03 9.98699765e-01 -1.38803482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.97, Y:78.11, Z:-1.39 [[ 9.21380922e-01 -3.85848180e-01 4.66730908e-02 4.84968981e+02] [ 3.85304091e-01 9.22561844e-01 2.05036887e-02 7.81101780e+01] [-5.09701237e-02 -9.08374750e-04 9.98699765e-01 -1.39284220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.02, Y:78.14, Z:-1.39 [[ 9.19624138e-01 -3.90016903e-01 4.66718416e-02 4.85019613e+02] [ 3.89478023e-01 9.20807446e-01 2.05065319e-02 7.81383032e+01] [-5.09736733e-02 -6.80645102e-04 9.98699765e-01 -1.39341408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.07, Y:78.16, Z:-1.40 [[ 9.19122411e-01 -3.91198292e-01 4.66678800e-02 4.85071466e+02] [ 3.90660475e-01 9.20306202e-01 2.05155436e-02 7.81624926e+01] [-5.09743850e-02 -6.24999703e-04 9.98699765e-01 -1.39748318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.12, Y:78.19, Z:-1.40 [[ 9.17321301e-01 -3.95403407e-01 4.66666577e-02 4.85124445e+02] [ 3.94870876e-01 9.18507480e-01 2.05183234e-02 7.81879630e+01] [-5.09766892e-02 -3.94591153e-04 9.98699765e-01 -1.40114749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.18, Y:78.21, Z:-1.40 [[ 9.14702284e-01 -4.01425315e-01 4.66631358e-02 4.85177379e+02] [ 4.00900184e-01 9.15891758e-01 2.05263300e-02 7.82140317e+01] [-5.09781699e-02 -6.82211955e-05 9.98699765e-01 -1.40090469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.23, Y:78.24, Z:-1.41 [[ 9.12945610e-01 -4.05404986e-01 4.66595235e-02 4.85229851e+02] [ 4.04884621e-01 9.14137176e-01 2.05345381e-02 7.82366736e+01] [-5.09780091e-02 1.44807064e-04 9.98699766e-01 -1.40610863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.28, Y:78.26, Z:-1.41 [[ 9.11172543e-01 -4.09374678e-01 4.66580022e-02 4.85282296e+02] [ 4.08859327e-01 9.12366287e-01 2.05379940e-02 7.82615640e+01] [-5.09769229e-02 3.62903136e-04 9.98699766e-01 -1.40673322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.3453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.33, Y:78.29, Z:-1.41 [[ 9.10676353e-01 -4.10477752e-01 4.66539922e-02 4.85334808e+02] [ 4.09963381e-01 9.11870519e-01 2.05470990e-02 7.82852637e+01] [-5.09765271e-02 4.14671194e-04 9.98699766e-01 -1.40916670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.39, Y:78.31, Z:-1.41 [[ 9.11004570e-01 -4.09749254e-01 4.66499859e-02 4.85387104e+02] [ 4.09233463e-01 9.12198123e-01 2.05561910e-02 7.83093403e+01] [-5.09769135e-02 3.63951321e-04 9.98699766e-01 -1.41319082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.4653361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.44, Y:78.34, Z:-1.42 [[ 9.12197092e-01 -4.07087978e-01 4.66459484e-02 4.85439972e+02] [ 4.06568236e-01 9.13388929e-01 2.05653487e-02 7.83352122e+01] [-5.09777991e-02 2.05109705e-04 9.98699766e-01 -1.41718793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.49, Y:78.36, Z:-1.42 [[ 9.13007019e-01 -4.05268647e-01 4.66423206e-02 4.85492153e+02] [ 4.04746110e-01 9.14197634e-01 2.05735734e-02 7.83585097e+01] [-5.09781234e-02 9.44808474e-05 9.98699766e-01 -1.42375327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.54, Y:78.38, Z:-1.43 [[ 9.13327971e-01 -4.04545028e-01 4.66405226e-02 4.85543169e+02] [ 4.04021339e-01 9.14518080e-01 2.05776487e-02 7.83841730e+01] [-5.09781866e-02 4.96242547e-05 9.98699766e-01 -1.42795260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.60, Y:78.41, Z:-1.43 [[ 9.12159045e-01 -4.07174035e-01 4.66388432e-02 4.85597122e+02] [ 4.06653582e-01 9.13350572e-01 2.05814542e-02 7.84082703e+01] [-5.09778479e-02 1.92292991e-04 9.98699766e-01 -1.42960262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.65, Y:78.43, Z:-1.43 [[ 9.10956071e-01 -4.09858720e-01 4.66354632e-02 4.85651529e+02] [ 4.09341386e-01 9.12148956e-01 2.05891100e-02 7.84301796e+01] [-5.09771154e-02 3.34050379e-04 9.98699766e-01 -1.43376854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.71, Y:78.45, Z:-1.44 [[ 9.08986896e-01 -4.14208010e-01 4.66320386e-02 4.85705868e+02] [ 4.13695986e-01 9.10182070e-01 2.05968635e-02 7.84513553e+01] [-5.09750313e-02 5.69208152e-04 9.98699766e-01 -1.43857506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.76, Y:78.47, Z:-1.44 [[ 9.07271796e-01 -4.17951796e-01 4.66281631e-02 4.85761385e+02] [ 4.17444252e-01 9.08468879e-01 2.06056334e-02 7.84710286e+01] [-5.09723965e-02 7.69748716e-04 9.98699766e-01 -1.44369558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.82, Y:78.49, Z:-1.44 [[ 9.07509136e-01 -4.17436579e-01 4.66247887e-02 4.85817094e+02] [ 4.16927964e-01 9.08705764e-01 2.06132658e-02 7.84919945e+01] [-5.09729454e-02 7.32451219e-04 9.98699766e-01 -1.44246629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.87, Y:78.52, Z:-1.44 [[ 9.09376163e-01 -4.13353909e-01 4.66212383e-02 4.85869429e+02] [ 4.12839510e-01 9.10570316e-01 2.06212927e-02 7.85167506e+01] [-5.09758077e-02 4.94577173e-04 9.98699766e-01 -1.44284911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.92, Y:78.54, Z:-1.45 [[ 9.13214384e-01 -4.04803737e-01 4.66199874e-02 4.85921854e+02] [ 4.04278012e-01 9.14403595e-01 2.06241204e-02 7.85407164e+01] [-5.09782051e-02 1.31923939e-05 9.98699766e-01 -1.44827230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.97, Y:78.57, Z:-1.45 [[ 9.15926334e-01 -3.98629707e-01 4.66187481e-02 4.85974766e+02] [ 3.98095824e-01 9.17111904e-01 2.06269213e-02 7.85656713e+01] [-5.09771124e-02 -3.34011497e-04 9.98699766e-01 -1.45017955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.03, Y:78.59, Z:-1.45 [[ 9.16185310e-01 -3.98034547e-01 4.66151953e-02 4.86027990e+02] [ 3.97499486e-01 9.17370349e-01 2.06349472e-02 7.85890254e+01] [-5.09768199e-02 -3.75919349e-04 9.98699766e-01 -1.45332549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.08, Y:78.61, Z:-1.45 [[ 9.14312363e-01 -4.02318662e-01 4.66111247e-02 4.86080691e+02] [ 4.01788685e-01 9.15499685e-01 2.06441379e-02 7.86117109e+01] [-5.09779919e-02 -1.47368026e-04 9.98699766e-01 -1.45455450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.14, Y:78.63, Z:-1.46 [[ 9.12223126e-01 -4.07033796e-01 4.66096228e-02 4.86135770e+02] [ 4.06509782e-01 9.13413092e-01 2.06475284e-02 7.86318682e+01] [-5.09780815e-02 1.12114721e-04 9.98699766e-01 -1.46069154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.19, Y:78.65, Z:-1.47 [[ 9.12296585e-01 -4.06869522e-01 4.66061411e-02 4.86189403e+02] [ 4.06344893e-01 9.13486280e-01 2.06553844e-02 7.86525599e+01] [-5.09781168e-02 9.43307898e-05 9.98699766e-01 -1.46705692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.365336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:486.24, Y:78.68, Z:-1.47 [[ 9.13343922e-01 -4.04513118e-01 4.66049150e-02 4.86243239e+02] [ 4.03985278e-01 9.14532195e-01 2.06581505e-02 7.86754642e+01] [-5.09781881e-02 -4.02966839e-05 9.98699766e-01 -1.47271616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.30, Y:78.70, Z:-1.47 [[ 9.15848955e-01 -3.98809463e-01 4.66015375e-02 4.86296840e+02] [ 3.98273835e-01 9.17033739e-01 2.06657667e-02 7.87007118e+01] [-5.09768855e-02 -3.66547733e-04 9.98699766e-01 -1.46991792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.35, Y:78.72, Z:-1.47 [[ 9.17799650e-01 -3.94299941e-01 4.65978440e-02 4.86348910e+02] [ 3.93758070e-01 9.18981591e-01 2.06740916e-02 7.87245779e+01] [-5.09743539e-02 -6.26396909e-04 9.98699766e-01 -1.47269713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.40, Y:78.75, Z:-1.47 [[ 9.19895214e-01 -3.89386161e-01 4.65962780e-02 4.86401272e+02] [ 3.88837798e-01 9.21074157e-01 2.06776205e-02 7.87511937e+01] [-5.09702068e-02 -9.02849935e-04 9.98699766e-01 -1.47075375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.45, Y:78.78, Z:-1.47 [[ 9.20577925e-01 -3.87769794e-01 4.65926062e-02 4.86453271e+02] [ 3.87218944e-01 9.21755707e-01 2.06858908e-02 7.87769744e+01] [-5.09683643e-02 -1.00143464e-03 9.98699766e-01 -1.47302106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.51, Y:78.80, Z:-1.47 [[ 9.19915218e-01 -3.89339571e-01 4.65906693e-02 4.86505422e+02] [ 3.88790510e-01 9.21093835e-01 2.06902525e-02 7.88040550e+01] [-5.09699123e-02 -9.19268052e-04 9.98699766e-01 -1.47295815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.56, Y:78.83, Z:-1.48 [[ 9.17776124e-01 -3.94355969e-01 4.65870718e-02 4.86557280e+02] [ 3.93812939e-01 9.18957533e-01 2.06983495e-02 7.88296763e+01] [-5.09740583e-02 -6.49859271e-04 9.98699766e-01 -1.47777773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.61, Y:78.86, Z:-1.48 [[ 9.16742357e-01 -3.96753672e-01 4.65829880e-02 4.86609763e+02] [ 3.96213265e-01 9.17924968e-01 2.07075362e-02 7.88560479e+01] [-5.09754788e-02 -5.26677777e-04 9.98699766e-01 -1.48389332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.8453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.66, Y:78.88, Z:-1.49 [[ 9.16843567e-01 -3.96520153e-01 4.65794192e-02 4.86661726e+02] [ 3.95979037e-01 9.18025854e-01 2.07155610e-02 7.88825824e+01] [-5.09752484e-02 -5.48455265e-04 9.98699766e-01 -1.48687736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.71, Y:78.91, Z:-1.49 [[ 9.17126396e-01 -3.95866025e-01 4.65753670e-02 4.86711831e+02] [ 3.95323604e-01 9.18308084e-01 2.07246676e-02 7.89094802e+01] [-5.09747278e-02 -5.94797732e-04 9.98699766e-01 -1.49087318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.9653361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.76, Y:78.94, Z:-1.49 [[ 9.17027880e-01 -3.96094389e-01 4.65736191e-02 4.86762720e+02] [ 3.95552062e-01 9.18209612e-01 2.07285949e-02 7.89379971e+01] [-5.09748248e-02 -5.86408339e-04 9.98699766e-01 -1.49455081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.81, Y:78.97, Z:-1.50 [[ 9.16081042e-01 -3.98279785e-01 4.65697006e-02 4.86812976e+02] [ 3.97739830e-01 9.17263859e-01 2.07373946e-02 7.89665844e+01] [-5.09759883e-02 -4.74509247e-04 9.98699766e-01 -1.49577544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.87, Y:78.99, Z:-1.50 [[ 9.14131344e-01 -4.02735068e-01 4.65655570e-02 4.86865108e+02] [ 4.02200404e-01 9.15316562e-01 2.07466948e-02 7.89915978e+01] [-5.09776471e-02 -2.36518182e-04 9.98699766e-01 -1.49937708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.92, Y:79.02, Z:-1.50 [[ 9.12773135e-01 -4.05804107e-01 4.65642774e-02 4.86916871e+02] [ 4.05273282e-01 9.13960077e-01 2.07495662e-02 7.90171222e+01] [-5.09781498e-02 -6.83890291e-05 9.98699766e-01 -1.50019367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.97, Y:79.04, Z:-1.50 [[ 9.11454772e-01 -4.08757062e-01 4.65603048e-02 4.86968990e+02] [ 4.08229628e-01 9.12643225e-01 2.07584766e-02 7.90421737e+01] [-5.09781207e-02 8.68834137e-05 9.98699767e-01 -1.50329841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.02, Y:79.06, Z:-1.51 [[ 9.09477332e-01 -4.13138588e-01 4.65563057e-02 4.87023807e+02] [ 4.12616420e-01 9.10668108e-01 2.07674419e-02 7.90641681e+01] [-5.09771744e-02 3.22378508e-04 9.98699767e-01 -1.50828575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.08, Y:79.08, Z:-1.52 [[ 9.07365917e-01 -4.17755828e-01 4.65527778e-02 4.87080119e+02] [ 4.17239313e-01 9.08559156e-01 2.07753470e-02 7.90819982e+01] [-5.09749748e-02 5.72807262e-04 9.98699767e-01 -1.51711710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.14, Y:79.10, Z:-1.52 [[ 9.06510583e-01 -4.19609020e-01 4.65492530e-02 4.87135834e+02] [ 4.19094539e-01 9.07704701e-01 2.07832418e-02 7.91019052e+01] [-5.09738115e-02 6.68309124e-04 9.98699767e-01 -1.52026805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.19, Y:79.12, Z:-1.52 [[ 9.08014358e-01 -4.16345316e-01 4.65457060e-02 4.87190969e+02] [ 4.15826136e-01 9.09206440e-01 2.07911824e-02 7.91201508e+01] [-5.09759671e-02 4.76228982e-04 9.98699767e-01 -1.52231007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.25, Y:79.14, Z:-1.52 [[ 9.12205248e-01 -4.07081317e-01 4.65444552e-02 4.87245760e+02] [ 4.06549888e-01 9.13391920e-01 2.07939822e-02 7.91394519e+01] [-5.09781710e-02 -4.57366417e-05 9.98699767e-01 -1.52232344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.30, Y:79.16, Z:-1.52 [[ 9.15557220e-01 -3.99485550e-01 4.65432286e-02 4.87300033e+02] [ 3.98944136e-01 9.16739370e-01 2.07967273e-02 7.91624399e+01] [-5.09760021e-02 -4.72445682e-04 9.98699767e-01 -1.52348248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.35, Y:79.19, Z:-1.52 [[ 9.20883746e-01 -3.87049314e-01 4.65398077e-02 4.87352875e+02] [ 3.86491554e-01 9.22058272e-01 2.08043799e-02 7.91879221e+01] [-5.09647357e-02 -1.17117275e-03 9.98699767e-01 -1.52479991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.40, Y:79.21, Z:-1.53 [[ 9.24956062e-01 -3.77214327e-01 4.65363727e-02 4.87404635e+02] [ 3.76643696e-01 9.26124389e-01 2.08120607e-02 7.92141712e+01] [-5.09490772e-02 -1.72261028e-03 9.98699767e-01 -1.52789871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.46, Y:79.24, Z:-1.53 [[ 9.26709522e-01 -3.72886303e-01 4.65324297e-02 4.87457069e+02] [ 3.72309776e-01 9.27874950e-01 2.08208728e-02 7.92409746e+01] [-5.09400942e-02 -1.97042263e-03 9.98699767e-01 -1.53007380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.51, Y:79.27, Z:-1.53 [[ 9.26977535e-01 -3.72219962e-01 4.65290252e-02 4.87507821e+02] [ 3.71642215e-01 9.28142359e-01 2.08284783e-02 7.92695370e+01] [-5.09383346e-02 -2.01538143e-03 9.98699767e-01 -1.53378902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.56, Y:79.30, Z:-1.54 [[ 9.25169689e-01 -3.76691480e-01 4.65250008e-02 4.87557876e+02] [ 3.76118913e-01 9.26337068e-01 2.08374639e-02 7.92972538e+01] [-5.09471279e-02 -1.77925726e-03 9.98699767e-01 -1.53774844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.61, Y:79.32, Z:-1.54 [[ 9.23183824e-01 -3.81532715e-01 4.65232663e-02 4.87609236e+02] [ 3.80966077e-01 9.24354092e-01 2.08413357e-02 7.93237030e+01] [-5.09556230e-02 -1.51659780e-03 9.98699767e-01 -1.54005123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.66, Y:79.35, Z:-1.54 [[ 9.20027521e-01 -3.89082662e-01 4.65192761e-02 4.87658961e+02] [ 3.88525179e-01 9.21202178e-01 2.08502383e-02 7.93510012e+01] [-5.09661247e-02 -1.10888293e-03 9.98699767e-01 -1.54451703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.71, Y:79.38, Z:-1.55 [[ 9.16608201e-01 -3.97071296e-01 4.65165699e-02 4.87710294e+02] [ 3.96523747e-01 9.17787521e-01 2.08562741e-02 7.93786134e+01] [-5.09737551e-02 -6.72107283e-04 9.98699767e-01 -1.54830796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.76, Y:79.40, Z:-1.55 [[ 9.14679433e-01 -4.01494849e-01 4.65125868e-02 4.87761875e+02] [ 4.00952552e-01 9.15861177e-01 2.08651531e-02 7.94045617e+01] [-5.09763240e-02 -4.35586066e-04 9.98699767e-01 -1.55169452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.81, Y:79.43, Z:-1.56 [[ 9.12099260e-01 -4.07322851e-01 4.65084475e-02 4.87813991e+02] [ 4.06787635e-01 9.13284228e-01 2.08743756e-02 7.94291250e+01] [-5.09780417e-02 -1.20441218e-04 9.98699767e-01 -1.55582142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.87, Y:79.45, Z:-1.56 [[ 9.10038739e-01 -4.11906103e-01 4.65065223e-02 4.87866252e+02] [ 4.11376635e-01 9.11226287e-01 2.08786639e-02 7.94531382e+01] [-5.09780147e-02 1.31303695e-04 9.98699767e-01 -1.55814524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.92, Y:79.48, Z:-1.56 [[ 9.09188784e-01 -4.13779241e-01 4.65026300e-02 4.87919780e+02] [ 4.13251777e-01 9.10377223e-01 2.08873295e-02 7.94755720e+01] [-5.09776785e-02 2.26768731e-04 9.98699767e-01 -1.56087496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.3453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.97, Y:79.50, Z:-1.56 [[ 9.08795968e-01 -4.14641747e-01 4.64985051e-02 4.87971786e+02] [ 4.14114941e-01 9.09984698e-01 2.08965083e-02 7.94984481e+01] [-5.09774928e-02 2.65063236e-04 9.98699767e-01 -1.56421297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.03, Y:79.52, Z:-1.57 [[ 9.08426074e-01 -4.15451710e-01 4.64967148e-02 4.88027432e+02] [ 4.14925760e-01 9.09615184e-01 2.09004910e-02 7.95185738e+01] [-5.09772625e-02 3.06133717e-04 9.98699767e-01 -1.56827285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.4653361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.08, Y:79.54, Z:-1.57 [[ 9.08226967e-01 -4.15887176e-01 4.64933729e-02 4.88081855e+02] [ 4.15361416e-01 9.09416161e-01 2.09079224e-02 7.95416192e+01] [-5.09771615e-02 3.22414226e-04 9.98699767e-01 -1.57419606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.14, Y:79.56, Z:-1.57 [[ 9.07978969e-01 -4.16428714e-01 4.64899779e-02 4.88137545e+02] [ 4.15903277e-01 9.09168305e-01 2.09154688e-02 7.95621497e+01] [-5.09770162e-02 3.44528389e-04 9.98699767e-01 -1.57357302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.19, Y:79.58, Z:-1.58 [[ 9.07896183e-01 -4.16609579e-01 4.64863384e-02 4.88192710e+02] [ 4.16083964e-01 9.09085441e-01 2.09235546e-02 7.95805470e+01] [-5.09770068e-02 3.45804596e-04 9.98699767e-01 -1.57787299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.25, Y:79.60, Z:-1.58 [[ 9.08400574e-01 -4.15508769e-01 4.64850537e-02 4.88248040e+02] [ 4.14981567e-01 9.09589129e-01 2.09264085e-02 7.96002386e+01] [-5.09774057e-02 2.80878919e-04 9.98699767e-01 -1.58000409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.30, Y:79.62, Z:-1.58 [[ 9.09394023e-01 -4.13330344e-01 4.64815840e-02 4.88302670e+02] [ 4.12799902e-01 9.10581135e-01 2.09341126e-02 7.96209464e+01] [-5.09779575e-02 1.50236440e-04 9.98699767e-01 -1.58165588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.36, Y:79.64, Z:-1.58 [[ 9.09808228e-01 -4.12418021e-01 4.64797052e-02 4.88358508e+02] [ 4.11886176e-01 9.10994713e-01 2.09382831e-02 7.96373277e+01] [-5.09780910e-02 9.45257535e-05 9.98699767e-01 -1.58306734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.41, Y:79.66, Z:-1.59 [[ 9.09990179e-01 -4.12016859e-01 4.64756171e-02 4.88412265e+02] [ 4.11484027e-01 9.11176220e-01 2.09473533e-02 7.96596163e+01] [-5.09781399e-02 6.20883117e-05 9.98699767e-01 -1.58678267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.47, Y:79.68, Z:-1.59 [[ 9.11284134e-01 -4.09147437e-01 4.64715245e-02 4.88467101e+02] [ 4.08610407e-01 9.12468281e-01 2.09564289e-02 7.96785861e+01] [-5.09780612e-02 -1.08512603e-04 9.98699767e-01 -1.59170222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.52, Y:79.70, Z:-1.59 [[ 9.12826107e-01 -4.05695716e-01 4.64702579e-02 4.88520564e+02] [ 4.05154066e-01 9.14008147e-01 2.09592371e-02 7.97003512e+01] [-5.09772670e-02 -3.04524890e-04 9.98699767e-01 -1.59453505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.57, Y:79.72, Z:-1.60 [[ 9.15144716e-01 -4.00438563e-01 4.64661864e-02 4.88573950e+02] [ 3.99889665e-01 9.16323408e-01 2.09682597e-02 7.97232464e+01] [-5.09745541e-02 -6.07644402e-04 9.98699768e-01 -1.59804287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.63, Y:79.75, Z:-1.60 [[ 9.16910418e-01 -3.96379305e-01 4.64621498e-02 4.88626101e+02] [ 3.95824736e-01 9.18086453e-01 2.09772003e-02 7.97503094e+01] [-5.09711984e-02 -8.43345280e-04 9.98699768e-01 -1.60234161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.68, Y:79.77, Z:-1.61 [[ 9.17356059e-01 -3.95347275e-01 4.64585060e-02 4.88678230e+02] [ 3.94790974e-01 9.18531276e-01 2.09852673e-02 7.97744483e+01] [-5.09700590e-02 -9.09563249e-04 9.98699768e-01 -1.60699358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.73, Y:79.80, Z:-1.61 [[ 9.17040127e-01 -3.96080051e-01 4.64542699e-02 4.88729106e+02] [ 3.95524215e-01 9.18215563e-01 2.09946402e-02 7.97996176e+01] [-5.09705918e-02 -8.79138836e-04 9.98699768e-01 -1.61218969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.78, Y:79.83, Z:-1.62 [[ 9.14729895e-01 -4.01386834e-01 4.64524369e-02 4.88781260e+02] [ 4.00837612e-01 9.15908436e-01 2.09986952e-02 7.98251182e+01] [-5.09747786e-02 -5.88250375e-04 9.98699768e-01 -1.61802216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.84, Y:79.85, Z:-1.62 [[ 9.10252978e-01 -4.11438695e-01 4.64512230e-02 4.88835584e+02] [ 4.10902351e-01 9.11437436e-01 2.10013802e-02 7.98467733e+01] [-5.09781640e-02 -2.96521215e-05 9.98699768e-01 -1.61841266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.89, Y:79.87, Z:-1.62 [[ 9.06451811e-01 -4.19746964e-01 4.64499755e-02 4.88889895e+02] [ 4.19221335e-01 9.07641062e-01 2.10041389e-02 7.98680067e+01] [-5.09763287e-02 4.33581034e-04 9.98699768e-01 -1.61988067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.95, Y:79.89, Z:-1.62 [[ 9.01861292e-01 -4.29521809e-01 4.64459526e-02 4.88946942e+02] [ 4.29008610e-01 9.03055959e-01 2.10130310e-02 7.98853499e+01] [-5.09688493e-02 9.74874251e-04 9.98699768e-01 -1.62447075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.4853361950001 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:489.00, Y:79.90, Z:-1.63 [[ 9.00615192e-01 -4.32128722e-01 4.64439870e-02 4.89001353e+02] [ 4.31618757e-01 9.01811243e-01 2.10173745e-02 7.99039318e+01] [-5.09659208e-02 1.11752912e-03 9.98699768e-01 -1.62877122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.06, Y:79.92, Z:-1.62 [[ 9.02270944e-01 -4.28660960e-01 4.64427163e-02 4.89059471e+02] [ 4.28146253e-01 9.03464962e-01 2.10201821e-02 7.99200767e+01] [-5.09698983e-02 9.18375379e-04 9.98699768e-01 -1.62042984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.11, Y:79.94, Z:-1.63 [[ 9.06367360e-01 -4.19930500e-01 4.64390394e-02 4.89114105e+02] [ 4.19403874e-01 9.07556170e-01 2.10283021e-02 7.99388014e+01] [-5.09764621e-02 4.17346397e-04 9.98699768e-01 -1.63119801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.17, Y:79.96, Z:-1.63 [[ 9.11409085e-01 -4.08872861e-01 4.64377281e-02 4.89168546e+02] [ 4.08331664e-01 9.12591333e-01 2.10311975e-02 7.99592069e+01] [-5.09777541e-02 -2.06029692e-04 9.98699768e-01 -1.63437689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.22, Y:79.98, Z:-1.64 [[ 9.14593516e-01 -4.01699630e-01 4.64338975e-02 4.89221154e+02] [ 4.01148732e-01 9.15771275e-01 2.10396516e-02 7.99829260e+01] [-5.09744497e-02 -6.15829860e-04 9.98699768e-01 -1.63510772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.27, Y:80.01, Z:-1.63 [[ 9.18632044e-01 -3.92376648e-01 4.64298847e-02 4.89274182e+02] [ 3.91813352e-01 9.19803923e-01 2.10485032e-02 8.00092345e+01] [-5.09653312e-02 -1.14398076e-03 9.98699768e-01 -1.63370848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.8453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.32, Y:80.04, Z:-1.64 [[ 9.20710814e-01 -3.87474084e-01 4.64266325e-02 4.89324953e+02] [ 3.86904188e-01 9.21879498e-01 2.10556740e-02 8.00395501e+01] [-5.09582887e-02 -1.42352818e-03 9.98699768e-01 -1.64070225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.38, Y:80.07, Z:-1.64 [[ 9.20651777e-01 -3.87614766e-01 4.64230391e-02 4.89376087e+02] [ 3.87044650e-01 9.21820353e-01 2.10635937e-02 8.00658721e+01] [-5.09582623e-02 -1.42444605e-03 9.98699768e-01 -1.64346968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.9653361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.43, Y:80.09, Z:-1.65 [[ 9.18967131e-01 -3.91592498e-01 4.64190334e-02 4.89426804e+02] [ 3.91026996e-01 9.20137947e-01 2.10724177e-02 8.00936020e+01] [-5.09637148e-02 -1.21376408e-03 9.98699768e-01 -1.64946631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.48, Y:80.12, Z:-1.66 [[ 9.16690513e-01 -3.96892795e-01 4.64177989e-02 4.89476778e+02] [ 3.96333925e-01 9.17864510e-01 2.10751368e-02 8.01228171e+01] [-5.09698201e-02 -9.22429505e-04 9.98699768e-01 -1.65548324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.53, Y:80.15, Z:-1.66 [[ 9.15326479e-01 -4.00028969e-01 4.64140136e-02 4.89528183e+02] [ 3.99473699e-01 9.16502183e-01 2.10834697e-02 8.01517893e+01] [-5.09725434e-02 -7.57080349e-04 9.98699768e-01 -1.65722597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.58, Y:80.18, Z:-1.66 [[ 9.13704585e-01 -4.03720209e-01 4.64103885e-02 4.89579057e+02] [ 4.03169284e-01 9.14882331e-01 2.10914466e-02 8.01800151e+01] [-5.09750876e-02 -5.60108326e-04 9.98699768e-01 -1.66478354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.63, Y:80.21, Z:-1.67 [[ 9.12701260e-01 -4.05983504e-01 4.64091058e-02 4.89630395e+02] [ 4.05435356e-01 9.13880301e-01 2.10942685e-02 8.02096318e+01] [-5.09762926e-02 -4.36873103e-04 9.98699768e-01 -1.66789262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.68, Y:80.24, Z:-1.67 [[ 9.11397892e-01 -4.08901473e-01 4.64054686e-02 4.89680286e+02] [ 4.08356693e-01 9.12578493e-01 2.11022670e-02 8.02404216e+01] [-5.09773807e-02 -2.82577989e-04 9.98699768e-01 -1.67043514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.73, Y:80.27, Z:-1.67 [[ 9.09744708e-01 -4.12566948e-01 4.64012801e-02 4.89732621e+02] [ 4.12026456e-01 9.10927278e-01 2.11114731e-02 8.02674905e+01] [-5.09780878e-02 -8.74959340e-05 9.98699768e-01 -1.67246641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.78, Y:80.30, Z:-1.67 [[ 9.07029804e-01 -4.18502326e-01 4.63976036e-02 4.89784183e+02] [ 4.17969159e-01 9.08215694e-01 2.11195499e-02 8.02965167e+01] [-5.09776126e-02 2.36706140e-04 9.98699768e-01 -1.67265684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.84, Y:80.32, Z:-1.68 [[ 9.03284213e-01 -4.26526944e-01 4.63939345e-02 4.89836414e+02] [ 4.26003897e-01 9.04474601e-01 2.11276070e-02 8.03208783e+01] [-5.09736290e-02 6.79763038e-04 9.98699768e-01 -1.67516447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.89, Y:80.34, Z:-1.68 [[ 9.01068755e-01 -4.31187686e-01 4.63926429e-02 4.89890279e+02] [ 4.30670650e-01 9.02261767e-01 2.11304427e-02 8.03427932e+01] [-5.09694946e-02 9.39967942e-04 9.98699768e-01 -1.67845885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.95, Y:80.36, Z:-1.68 [[ 8.99692025e-01 -4.34053403e-01 4.63886194e-02 4.89945255e+02] [ 4.33539712e-01 9.00886480e-01 2.11392719e-02 8.03626236e+01] [-5.09664530e-02 1.09247439e-03 9.98699768e-01 -1.68188728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.00, Y:80.39, Z:-1.69 [[ 9.00867165e-01 -4.31609525e-01 4.63850028e-02 4.89997415e+02] [ 4.31092185e-01 9.02060044e-01 2.11472048e-02 8.03874257e+01] [-5.09693927e-02 9.45389788e-04 9.98699768e-01 -1.68740324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.685336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:490.05, Y:80.41, Z:-1.69 [[ 9.01767268e-01 -4.29725964e-01 4.63830753e-02 4.90050146e+02] [ 4.29205914e-01 9.02958969e-01 2.11514315e-02 8.04100525e+01] [-5.09713332e-02 8.34221639e-04 9.98699768e-01 -1.69410996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.10, Y:80.43, Z:-1.69 [[ 9.03289255e-01 -4.26517880e-01 4.63790933e-02 4.90103652e+02] [ 4.25993150e-01 9.04478902e-01 2.11601594e-02 8.04343096e+01] [-5.09740977e-02 6.43431367e-04 9.98699768e-01 -1.69168891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.16, Y:80.46, Z:-1.69 [[ 9.04644939e-01 -4.23635266e-01 4.63755827e-02 4.90156392e+02] [ 4.23106351e-01 9.05832732e-01 2.11678505e-02 8.04603024e+01] [-5.09759688e-02 4.72414696e-04 9.98699768e-01 -1.69458673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.21, Y:80.49, Z:-1.70 [[ 9.06152262e-01 -4.20401838e-01 4.63721153e-02 4.90207944e+02] [ 4.19868296e-01 9.07337983e-01 2.11754439e-02 8.04852961e+01] [-5.09773771e-02 2.82004668e-04 9.98699768e-01 -1.69774916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.26, Y:80.51, Z:-1.70 [[ 9.06753591e-01 -4.19103407e-01 4.63708851e-02 4.90260463e+02] [ 4.18568028e-01 9.07938485e-01 2.11781376e-02 8.05098640e+01] [-5.09777407e-02 2.06017628e-04 9.98699768e-01 -1.69796525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.31, Y:80.53, Z:-1.70 [[ 9.06366193e-01 -4.19940683e-01 4.63696719e-02 4.90314169e+02] [ 4.19406263e-01 9.07551519e-01 2.11807935e-02 8.05344157e+01] [-5.09775430e-02 2.50175590e-04 9.98699768e-01 -1.69930804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.37, Y:80.56, Z:-1.70 [[ 9.06078931e-01 -4.20560506e-01 4.63662835e-02 4.90366236e+02] [ 4.20026518e-01 9.07264451e-01 2.11882083e-02 8.05581236e+01] [-5.09774044e-02 2.76879464e-04 9.98699768e-01 -1.70489424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.42, Y:80.58, Z:-1.71 [[ 9.06544704e-01 -4.19555690e-01 4.63650899e-02 4.90418724e+02] [ 4.19020254e-01 9.07729572e-01 2.11908200e-02 8.05827667e+01] [-5.09776923e-02 2.17486142e-04 9.98699768e-01 -1.71048936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.47, Y:80.61, Z:-1.71 [[ 9.07325668e-01 -4.17864235e-01 4.63639153e-02 4.90471116e+02] [ 4.17326460e-01 9.08509475e-01 2.11933896e-02 8.06065097e+01] [-5.09780159e-02 1.19582276e-04 9.98699768e-01 -1.71376434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.52, Y:80.63, Z:-1.72 [[ 9.09432517e-01 -4.13259287e-01 4.63601098e-02 4.90523427e+02] [ 4.12715092e-01 9.10613387e-01 2.12017107e-02 8.06318147e+01] [-5.09779404e-02 -1.48008073e-04 9.98699769e-01 -1.71588534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.57, Y:80.66, Z:-1.72 [[ 9.11232435e-01 -4.09275658e-01 4.63560661e-02 4.90574292e+02] [ 4.08725852e-01 9.12410703e-01 2.12105482e-02 8.06586905e+01] [-5.09767320e-02 -3.80816840e-04 9.98699769e-01 -1.71851339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.3453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.63, Y:80.69, Z:-1.72 [[ 9.11346363e-01 -4.09022050e-01 4.63548149e-02 4.90625396e+02] [ 4.08471777e-01 9.12524413e-01 2.12132824e-02 8.06880432e+01] [-5.09766005e-02 -3.98014121e-04 9.98699769e-01 -1.72189340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.405336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:490.68, Y:80.71, Z:-1.73 [[ 9.10406853e-01 -4.11109389e-01 4.63511907e-02 4.90676485e+02] [ 4.10561414e-01 9.11585973e-01 2.12211984e-02 8.07148253e+01] [-5.09773292e-02 -2.89914017e-04 9.98699769e-01 -1.73187641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.4653361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.73, Y:80.74, Z:-1.73 [[ 9.08122313e-01 -4.16131651e-01 4.63499135e-02 4.90730376e+02] [ 4.15590055e-01 9.09304376e-01 2.12239875e-02 8.07387423e+01] [-5.09781522e-02 -1.14134916e-05 9.98699769e-01 -1.72974031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.78, Y:80.76, Z:-1.73 [[ 9.06126482e-01 -4.20460253e-01 4.63462551e-02 4.90782928e+02] [ 4.19923894e-01 9.07310931e-01 2.12319733e-02 8.07631822e+01] [-5.09776647e-02 2.23046684e-04 9.98699769e-01 -1.73321846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.84, Y:80.79, Z:-1.74 [[ 9.03737145e-01 -4.25571754e-01 4.63449639e-02 4.90836506e+02] [ 4.25041950e-01 9.04924541e-01 2.12347913e-02 8.07854660e+01] [-5.09756226e-02 5.07884134e-04 9.98699769e-01 -1.73687763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.89, Y:80.81, Z:-1.74 [[ 9.02438914e-01 -4.28317952e-01 4.63436960e-02 4.90891197e+02] [ 4.27791619e-01 9.03627853e-01 2.12375580e-02 8.08067101e+01] [-5.09738819e-02 6.59846005e-04 9.98699769e-01 -1.74294179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.94, Y:80.83, Z:-1.75 [[ 9.02095830e-01 -4.29040441e-01 4.63401901e-02 4.90944898e+02] [ 4.28514668e-01 9.03285016e-01 2.12452052e-02 8.08283151e+01] [-5.09734516e-02 6.92240119e-04 9.98699769e-01 -1.74574209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.00, Y:80.85, Z:-1.75 [[ 9.02206205e-01 -4.28808720e-01 4.63362112e-02 4.90998136e+02] [ 4.28282196e-01 9.03395059e-01 2.12538798e-02 8.08518727e+01] [-5.09737532e-02 6.69592021e-04 9.98699769e-01 -1.74935683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.05, Y:80.87, Z:-1.75 [[ 9.02914556e-01 -4.27315604e-01 4.63322636e-02 4.91052069e+02] [ 4.26786673e-01 9.04102341e-01 2.12624817e-02 8.08711216e+01] [-5.09748982e-02 5.75788406e-04 9.98699769e-01 -1.75344300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.885336195 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:491.11, Y:80.89, Z:-1.76 [[ 9.03700379e-01 -4.25651389e-01 4.63305547e-02 4.91105587e+02] [ 4.25120079e-01 9.04887102e-01 2.12662048e-02 8.08949493e+01] [-5.09759110e-02 4.77771780e-04 9.98699769e-01 -1.75971067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.16, Y:80.92, Z:-1.76 [[ 9.04844095e-01 -4.23215024e-01 4.63271679e-02 4.91159450e+02] [ 4.22680141e-01 9.06029212e-01 2.12735801e-02 8.09168922e+01] [-5.09770662e-02 3.32300539e-04 9.98699769e-01 -1.75653216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.21, Y:80.94, Z:-1.76 [[ 9.04935843e-01 -4.23019257e-01 4.63230801e-02 4.91213334e+02] [ 4.22483662e-01 9.06120638e-01 2.12824775e-02 8.09407066e+01] [-5.09771968e-02 3.11467767e-04 9.98699769e-01 -1.76044397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.27, Y:80.96, Z:-1.76 [[ 9.04518542e-01 -4.23911215e-01 4.63194122e-02 4.91266778e+02] [ 4.23376381e-01 9.05703680e-01 2.12904575e-02 8.09637741e+01] [-5.09769258e-02 3.52931513e-04 9.98699769e-01 -1.76105265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.32, Y:80.99, Z:-1.76 [[ 9.04362842e-01 -4.24243493e-01 4.63174704e-02 4.91319883e+02] [ 4.23708877e-01 9.05548079e-01 2.12946810e-02 8.09881462e+01] [-5.09768262e-02 3.67005168e-04 9.98699769e-01 -1.76426398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.37, Y:81.01, Z:-1.77 [[ 9.04959637e-01 -4.22969365e-01 4.63138357e-02 4.91371946e+02] [ 4.22432676e-01 9.06143937e-01 2.13025833e-02 8.10138991e+01] [-5.09773415e-02 2.86499519e-04 9.98699769e-01 -1.76697032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.43, Y:81.04, Z:-1.77 [[ 9.05428278e-01 -4.21965377e-01 4.63125583e-02 4.91425066e+02] [ 4.21427233e-01 9.06611918e-01 2.13053599e-02 8.10391985e+01] [-5.09776416e-02 2.26897958e-04 9.98699769e-01 -1.76864349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.48, Y:81.07, Z:-1.77 [[ 9.06258156e-01 -4.20180487e-01 4.63088928e-02 4.91476259e+02] [ 4.19639605e-01 9.07440546e-01 2.13133243e-02 8.10656994e+01] [-5.09780099e-02 1.17671458e-04 9.98699769e-01 -1.77476182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.365336195 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:491.53, Y:81.09, Z:-1.78 [[ 9.06594700e-01 -4.19453998e-01 4.63076002e-02 4.91528489e+02] [ 4.18912025e-01 9.07776590e-01 2.13161323e-02 8.10903115e+01] [-5.09780924e-02 7.37180129e-05 9.98699769e-01 -1.78243424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.58, Y:81.12, Z:-1.78 [[ 9.06173179e-01 -4.20364311e-01 4.63035094e-02 4.91581003e+02] [ 4.19823071e-01 9.07355406e-01 2.13250149e-02 8.11150138e+01] [-5.09780147e-02 1.15124970e-04 9.98699769e-01 -1.78152627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.63, Y:81.14, Z:-1.78 [[ 9.06253551e-01 -4.20191457e-01 4.62994636e-02 4.91632450e+02] [ 4.19649543e-01 9.07435469e-01 2.13337952e-02 8.11422044e+01] [-5.09780539e-02 9.57211008e-05 9.98699769e-01 -1.78356050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.69, Y:81.17, Z:-1.78 [[ 9.08081948e-01 -4.16225797e-01 4.62953768e-02 4.91685008e+02] [ 4.15678270e-01 9.09261275e-01 2.13426600e-02 8.11684187e+01] [-5.09779591e-02 -1.36902089e-04 9.98699769e-01 -1.78466679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.74, Y:81.19, Z:-1.78 [[ 9.09705717e-01 -4.12665214e-01 4.62917829e-02 4.91737674e+02] [ 4.12112674e-01 9.10882705e-01 2.13504522e-02 8.11948522e+01] [-5.09769734e-02 -3.45198025e-04 9.98699769e-01 -1.78267779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.79, Y:81.22, Z:-1.79 [[ 9.10601060e-01 -4.10686126e-01 4.62883972e-02 4.91789485e+02] [ 4.10130655e-01 9.11776667e-01 2.13577900e-02 8.12217263e+01] [-5.09760286e-02 -4.64135491e-04 9.98699769e-01 -1.78902382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.84, Y:81.25, Z:-1.79 [[ 9.10605559e-01 -4.10676564e-01 4.62847284e-02 4.91839587e+02] [ 4.10120677e-01 9.11780969e-01 2.13657378e-02 8.12483704e+01] [-5.09759423e-02 -4.73435456e-04 9.98699769e-01 -1.79188325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.89, Y:81.27, Z:-1.79 [[ 9.08659508e-01 -4.14964916e-01 4.62819278e-02 4.91890851e+02] [ 4.14414268e-01 9.09837381e-01 2.13718027e-02 8.12747551e+01] [-5.09775763e-02 -2.39800535e-04 9.98699769e-01 -1.79291859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.8453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.94, Y:81.30, Z:-1.80 [[ 9.06579925e-01 -4.19488902e-01 4.62806637e-02 4.91944709e+02] [ 4.18943992e-01 9.07760464e-01 2.13745397e-02 8.12979173e+01] [-5.09781390e-02 1.12773820e-05 9.98699769e-01 -1.79699576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.00, Y:81.32, Z:-1.80 [[ 9.03220501e-01 -4.26674530e-01 4.62771272e-02 4.92000071e+02] [ 4.26138619e-01 9.04405152e-01 2.13821937e-02 8.13186828e+01] [-5.09765097e-02 4.07635311e-04 9.98699769e-01 -1.80248663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.9653361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.05, Y:81.34, Z:-1.81 [[ 9.00211228e-01 -4.32987871e-01 4.62736226e-02 4.92053375e+02] [ 4.32459878e-01 9.01399430e-01 2.13897754e-02 8.13403092e+01] [-5.09725304e-02 7.56169133e-04 9.98699769e-01 -1.80532999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.11, Y:81.36, Z:-1.81 [[ 8.98623698e-01 -4.36273504e-01 4.62696386e-02 4.92109688e+02] [ 4.35749411e-01 8.99813625e-01 2.13983900e-02 8.13579601e+01] [-5.09696018e-02 9.32867422e-04 9.98699769e-01 -1.80915480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.16, Y:81.38, Z:-1.81 [[ 8.98956208e-01 -4.35588330e-01 4.62659986e-02 4.92164168e+02] [ 4.35062926e-01 9.00145556e-01 2.14062573e-02 8.13790191e+01] [-5.09704489e-02 8.85332791e-04 9.98699769e-01 -1.81405989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.22, Y:81.40, Z:-1.82 [[ 9.01166183e-01 -4.30998032e-01 4.62623768e-02 4.92217079e+02] [ 4.30466167e-01 9.02352656e-01 2.14140817e-02 8.14017403e+01] [-5.09744057e-02 6.16741745e-04 9.98699769e-01 -1.81762938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.27, Y:81.43, Z:-1.82 [[ 9.03716916e-01 -4.25623832e-01 4.62610936e-02 4.92271030e+02] [ 4.25084769e-01 9.04900137e-01 2.14168535e-02 8.14252504e+01] [-5.09771932e-02 3.10113418e-04 9.98699770e-01 -1.81677288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.32, Y:81.45, Z:-1.82 [[ 9.05122929e-01 -4.22625998e-01 4.62574317e-02 4.92324343e+02] [ 4.22082612e-01 9.06304170e-01 2.14247597e-02 8.14476484e+01] [-5.09779637e-02 1.32416351e-04 9.98699770e-01 -1.81969217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.38, Y:81.47, Z:-1.82 [[ 9.06824739e-01 -4.18962126e-01 4.62561380e-02 4.92377762e+02] [ 4.18413825e-01 9.08003706e-01 2.14275524e-02 8.14728122e+01] [-5.09780777e-02 -7.68269802e-05 9.98699770e-01 -1.82039048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.43, Y:81.50, Z:-1.82 [[ 9.07271732e-01 -4.17993664e-01 4.62525837e-02 4.92431772e+02] [ 4.17443713e-01 9.08449931e-01 2.14352220e-02 8.14969727e+01] [-5.09779434e-02 -1.39720696e-04 9.98699770e-01 -1.82075887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.49, Y:81.52, Z:-1.83 [[ 9.05962869e-01 -4.20823384e-01 4.62488836e-02 4.92486087e+02] [ 4.20276706e-01 9.07142590e-01 2.14432022e-02 8.15169133e+01] [-5.09781330e-02 1.05834713e-05 9.98699770e-01 -1.82767055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.54, Y:81.54, Z:-1.83 [[ 9.03865936e-01 -4.25308749e-01 4.62475740e-02 4.92541060e+02] [ 4.24767781e-01 9.05048286e-01 2.14460265e-02 8.15377759e+01] [-5.09774703e-02 2.60146574e-04 9.98699770e-01 -1.82916014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.565336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:492.59, Y:81.56, Z:-1.84 [[ 9.03094884e-01 -4.26943936e-01 4.62439939e-02 4.92594721e+02] [ 4.26404713e-01 9.04278031e-01 2.14537434e-02 8.15601352e+01] [-5.09769734e-02 3.43891009e-04 9.98699770e-01 -1.83696068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.65, Y:81.58, Z:-1.83 [[ 9.04891079e-01 -4.23124060e-01 4.62402982e-02 4.92648964e+02] [ 4.22579436e-01 9.06071750e-01 2.14617060e-02 8.15838976e+01] [-5.09779921e-02 1.19692840e-04 9.98699770e-01 -1.83430500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.70, Y:81.61, Z:-1.84 [[ 9.07014835e-01 -4.18552564e-01 4.62367909e-02 4.92701532e+02] [ 4.18001604e-01 9.08192562e-01 2.14692594e-02 8.16084905e+01] [-5.09779232e-02 -1.45883950e-04 9.98699770e-01 -1.83941263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.75, Y:81.64, Z:-1.84 [[ 9.09356781e-01 -4.13439874e-01 4.62354427e-02 4.92752249e+02] [ 4.12882145e-01 9.10531318e-01 2.14721624e-02 8.16357836e+01] [-5.09762667e-02 -4.36067646e-04 9.98699770e-01 -1.84087165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.80, Y:81.66, Z:-1.85 [[ 9.09852112e-01 -4.12349140e-01 4.62311628e-02 4.92802953e+02] [ 4.11789536e-01 9.11025756e-01 2.14813734e-02 8.16617842e+01] [-5.09756059e-02 -5.07363920e-04 9.98699770e-01 -1.84687089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.86, Y:81.69, Z:-1.85 [[ 9.09291567e-01 -4.13583966e-01 4.62293119e-02 4.92856362e+02] [ 4.13025753e-01 9.10465874e-01 2.14853559e-02 8.16868755e+01] [-5.09762096e-02 -4.42556561e-04 9.98699770e-01 -1.84547286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.91, Y:81.72, Z:-1.85 [[ 9.09726180e-01 -4.12627511e-01 4.62256901e-02 4.92907969e+02] [ 4.12067667e-01 9.10899710e-01 2.14931454e-02 8.17155985e+01] [-5.09756308e-02 -5.04764722e-04 9.98699770e-01 -1.84545231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.96, Y:81.75, Z:-1.85 [[ 9.11074945e-01 -4.09641288e-01 4.62218594e-02 4.92958088e+02] [ 4.09077181e-01 9.12246431e-01 2.15013804e-02 8.17455167e+01] [-5.09735794e-02 -6.81061038e-04 9.98699770e-01 -1.84854997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.01, Y:81.77, Z:-1.85 [[ 9.11898336e-01 -4.07805212e-01 4.62204997e-02 4.93008937e+02] [ 4.07238597e-01 9.13068612e-01 2.15043029e-02 8.17747547e+01] [-5.09720543e-02 -7.86966611e-04 9.98699770e-01 -1.85418900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.06, Y:81.80, Z:-1.86 [[ 9.12006741e-01 -4.07563131e-01 4.62168697e-02 4.93058117e+02] [ 4.06995811e-01 9.13176675e-01 2.15121016e-02 8.18039129e+01] [-5.09717069e-02 -8.09109351e-04 9.98699770e-01 -1.85849005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.11, Y:81.84, Z:-1.86 [[ 9.11044974e-01 -4.09708819e-01 4.62140545e-02 4.93105646e+02] [ 4.09143947e-01 9.12216093e-01 2.15181477e-02 8.18391204e+01] [-5.09733791e-02 -6.95799605e-04 9.98699770e-01 -1.85601261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.16, Y:81.87, Z:-1.86 [[ 9.09675333e-01 -4.12741374e-01 4.62098247e-02 4.93155925e+02] [ 4.12179945e-01 9.10848105e-01 2.15272274e-02 8.18669163e+01] [-5.09753087e-02 -5.36024726e-04 9.98699770e-01 -1.86270590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.21, Y:81.90, Z:-1.87 [[ 9.07115334e-01 -4.18337846e-01 4.62084143e-02 4.93205280e+02] [ 4.17783500e-01 9.08291471e-01 2.15302543e-02 8.18966216e+01] [-5.09776288e-02 -2.25310753e-04 9.98699770e-01 -1.86860541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.3453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.26, Y:81.93, Z:-1.87 [[ 9.05467033e-01 -4.21893770e-01 4.62071293e-02 4.93255229e+02] [ 4.21343902e-01 9.06645270e-01 2.15330118e-02 8.19258729e+01] [-5.09781188e-02 -2.83401675e-05 9.98699770e-01 -1.87141490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.31, Y:81.95, Z:-1.87 [[ 9.02465143e-01 -4.28277881e-01 4.62030551e-02 4.93306692e+02] [ 4.27735899e-01 9.03647029e-01 2.15417501e-02 8.19544395e+01] [-5.09771086e-02 3.22026712e-04 9.98699770e-01 -1.87155065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.4653361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.36, Y:81.98, Z:-1.87 [[ 8.98975391e-01 -4.35555801e-01 4.61994721e-02 4.93359115e+02] [ 4.35022992e-01 9.00161440e-01 2.15494317e-02 8.19822389e+01] [-5.09729633e-02 7.25423792e-04 9.98699770e-01 -1.86800249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.41, Y:82.01, Z:-1.88 [[ 8.97898308e-01 -4.37772285e-01 4.61958295e-02 4.93411614e+02] [ 4.37242003e-01 8.99085489e-01 2.15572377e-02 8.20066889e+01] [-5.09711611e-02 8.42549784e-04 9.98699770e-01 -1.87654486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.47, Y:82.03, Z:-1.88 [[ 8.94793582e-01 -4.44084140e-01 4.61922303e-02 4.93465286e+02] [ 4.43561833e-01 8.95984293e-01 2.15649471e-02 8.20288590e+01] [-5.09641638e-02 1.19293404e-03 9.98699770e-01 -1.88133743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.645336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:493.52, Y:82.05, Z:-1.88 [[ 8.92808988e-01 -4.48060822e-01 4.61910186e-02 4.93519037e+02] [ 4.47543684e-01 8.94001953e-01 2.15675423e-02 8.20496332e+01] [-5.09584315e-02 1.41680299e-03 9.98699770e-01 -1.88438726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.705336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:493.57, Y:82.07, Z:-1.88 [[ 8.92292862e-01 -4.49087907e-01 4.61898278e-02 4.93572476e+02] [ 4.48572010e-01 8.93486364e-01 2.15700921e-02 8.20714902e+01] [-5.09568489e-02 1.47262467e-03 9.98699770e-01 -1.88386136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.63, Y:82.09, Z:-1.89 [[ 8.92629124e-01 -4.48419604e-01 4.61855546e-02 4.93628175e+02] [ 4.47902340e-01 8.93822035e-01 2.15792381e-02 8.20887962e+01] [-5.09582198e-02 1.42436163e-03 9.98699770e-01 -1.88786668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.68, Y:82.11, Z:-1.89 [[ 8.93880659e-01 -4.45919705e-01 4.61842365e-02 4.93682979e+02] [ 4.45398959e-01 8.95072054e-01 2.15820586e-02 8.21092829e+01] [-5.09620847e-02 1.27862608e-03 9.98699770e-01 -1.88989570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.74, Y:82.13, Z:-1.89 [[ 8.98206105e-01 -4.37142074e-01 4.61800933e-02 4.93736277e+02] [ 4.36609227e-01 8.99392137e-01 2.15909205e-02 8.21291188e+01] [-5.09723125e-02 7.69558219e-04 9.98699770e-01 -1.89396330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.79, Y:82.15, Z:-1.89 [[ 9.03794583e-01 -4.25467879e-01 4.61783063e-02 4.93790400e+02] [ 4.24919515e-01 9.04973521e-01 2.15947418e-02 8.21494564e+01] [-5.09780134e-02 1.04852862e-04 9.98699770e-01 -1.89482640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.005336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:493.84, Y:82.17, Z:-1.90 [[ 9.07181550e-01 -4.18198019e-01 4.61741454e-02 4.93842373e+02] [ 4.17639755e-01 9.08355832e-01 2.16036350e-02 8.21729614e+01] [-5.09771516e-02 -3.14260386e-04 9.98699770e-01 -1.90020458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.90, Y:82.20, Z:-1.90 [[ 9.10241635e-01 -4.11495177e-01 4.61723361e-02 4.93895274e+02] [ 4.10928071e-01 9.11411672e-01 2.16075012e-02 8.21984271e+01] [-5.09733886e-02 -6.94538203e-04 9.98699770e-01 -1.90450007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.95, Y:82.23, Z:-1.91 [[ 9.11624625e-01 -4.08422575e-01 4.61686394e-02 4.93945882e+02] [ 4.07851125e-01 9.12792547e-01 2.16153971e-02 8.22258451e+01] [-5.09706061e-02 -8.75196724e-04 9.98699770e-01 -1.90938602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.00, Y:82.25, Z:-1.91 [[ 9.12154281e-01 -4.07238437e-01 4.61673318e-02 4.93998978e+02] [ 4.06665329e-01 9.13321391e-01 2.16181896e-02 8.22522315e+01] [-5.09693694e-02 -9.44470996e-04 9.98699770e-01 -1.91093157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.05, Y:82.28, Z:-1.91 [[ 9.12630193e-01 -4.06171195e-01 4.61637328e-02 4.94049235e+02] [ 4.05596335e-01 9.13796441e-01 2.16258722e-02 8.22836891e+01] [-5.09680611e-02 -1.01258310e-03 9.98699770e-01 -1.91158559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.10, Y:82.31, Z:-1.92 [[ 9.12376846e-01 -4.06740378e-01 4.61601145e-02 4.94098722e+02] [ 4.06165854e-01 9.13543259e-01 2.16335927e-02 8.23129340e+01] [-5.09685171e-02 -9.89326750e-04 9.98699770e-01 -1.91677160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.15, Y:82.34, Z:-1.92 [[ 9.10763893e-01 -4.10339484e-01 4.61588372e-02 4.94149432e+02] [ 4.09769432e-01 9.11932499e-01 2.16363176e-02 8.23437851e+01] [-5.09719791e-02 -7.91096315e-04 9.98699770e-01 -1.91513743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.20, Y:82.37, Z:-1.92 [[ 9.08560588e-01 -4.15195570e-01 4.61551223e-02 4.94198984e+02] [ 4.14631363e-01 9.09732026e-01 2.16442395e-02 8.23730323e+01] [-5.09753853e-02 -5.27741688e-04 9.98699770e-01 -1.92002060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.25, Y:82.40, Z:-1.92 [[ 9.07019835e-01 -4.18550944e-01 4.61532793e-02 4.94250619e+02] [ 4.17990871e-01 9.08193255e-01 2.16481685e-02 8.24022483e+01] [-5.09769584e-02 -3.43668848e-04 9.98699771e-01 -1.91826607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.30, Y:82.43, Z:-1.92 [[ 9.05760972e-01 -4.21268652e-01 4.61495894e-02 4.94299499e+02] [ 4.20711699e-01 9.06935876e-01 2.16560319e-02 8.24341559e+01] [-5.09777257e-02 -1.99516306e-04 9.98699771e-01 -1.92165404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.35, Y:82.46, Z:-1.92 [[ 9.05335932e-01 -4.22181785e-01 4.61453211e-02 4.94349395e+02] [ 4.21625553e-01 9.06511178e-01 2.16651231e-02 8.24629608e+01] [-5.09778697e-02 -1.58167895e-04 9.98699771e-01 -1.92426074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.40, Y:82.49, Z:-1.93 [[ 9.05188667e-01 -4.22497848e-01 4.61415885e-02 4.94400420e+02] [ 4.21941621e-01 9.06363915e-01 2.16730699e-02 8.24917174e+01] [-5.09778961e-02 -1.49160615e-04 9.98699771e-01 -1.93122000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.7253361950001 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:494.45, Y:82.52, Z:-1.94 [[ 9.05447514e-01 -4.21943241e-01 4.61378444e-02 4.94449014e+02] [ 4.21385889e-01 9.06622229e-01 2.16810372e-02 8.25232613e+01] [-5.09777625e-02 -1.89204669e-04 9.98699771e-01 -1.93588886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.50, Y:82.55, Z:-1.94 [[ 9.05622836e-01 -4.21567286e-01 4.61335240e-02 4.94500466e+02] [ 4.21008978e-01 9.06797097e-01 2.16902265e-02 8.25512972e+01] [-5.09776356e-02 -2.20536695e-04 9.98699771e-01 -1.93544571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.8453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.55, Y:82.58, Z:-1.94 [[ 9.04785242e-01 -4.23362391e-01 4.61297264e-02 4.94550207e+02] [ 4.22806001e-01 9.05960413e-01 2.16983001e-02 8.25791399e+01] [-5.09779502e-02 -1.28376593e-04 9.98699771e-01 -1.94093308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.60, Y:82.61, Z:-1.94 [[ 9.02748465e-01 -4.27688473e-01 4.61278531e-02 4.94600736e+02] [ 4.27137511e-01 9.03926190e-01 2.17022817e-02 8.26081916e+01] [-5.09779903e-02 1.11234904e-04 9.98699771e-01 -1.94351534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.9653361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.65, Y:82.63, Z:-1.95 [[ 9.01182494e-01 -4.30978779e-01 4.61237911e-02 4.94652951e+02] [ 4.30431675e-01 9.02362017e-01 2.17109112e-02 8.26337210e+01] [-5.09772992e-02 2.87647566e-04 9.98699771e-01 -1.94545742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.70, Y:82.66, Z:-1.95 [[ 8.99807044e-01 -4.33843593e-01 4.61196329e-02 4.94704867e+02] [ 4.33299792e-01 9.00988093e-01 2.17197408e-02 8.26585521e+01] [-5.09762105e-02 4.40051552e-04 9.98699771e-01 -1.94675046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.76, Y:82.68, Z:-1.95 [[ 8.99387399e-01 -4.34713080e-01 4.61177183e-02 4.94759155e+02] [ 4.34170213e-01 9.00568877e-01 2.17238053e-02 8.26813066e+01] [-5.09758041e-02 4.84822759e-04 9.98699771e-01 -1.95035021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.81, Y:82.71, Z:-1.95 [[ 8.99862545e-01 -4.33729059e-01 4.61140252e-02 4.94811569e+02] [ 4.33184498e-01 9.01043244e-01 2.17316420e-02 8.27062403e+01] [-5.09763755e-02 4.20390184e-04 9.98699771e-01 -1.95252087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.86, Y:82.73, Z:-1.95 [[ 9.00906052e-01 -4.31557599e-01 4.61120746e-02 4.94864339e+02] [ 4.31009980e-01 9.02085336e-01 2.17357802e-02 8.27294577e+01] [-5.09772674e-02 2.92868398e-04 9.98699771e-01 -1.95340528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.92, Y:82.75, Z:-1.96 [[ 9.01287529e-01 -4.30760784e-01 4.61078910e-02 4.94917529e+02] [ 4.30211668e-01 9.02466116e-01 2.17446511e-02 8.27525922e+01] [-5.09775523e-02 2.37969890e-04 9.98699771e-01 -1.95844979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.97, Y:82.77, Z:-1.96 [[ 9.00500284e-01 -4.32404232e-01 4.61065967e-02 4.94972426e+02] [ 4.31857127e-01 9.01679806e-01 2.17473953e-02 8.27746853e+01] [-5.09770529e-02 3.27926696e-04 9.98699771e-01 -1.96232210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.03, Y:82.79, Z:-1.97 [[ 8.98821280e-01 -4.35883954e-01 4.61029876e-02 4.95027845e+02] [ 4.35341023e-01 9.00002729e-01 2.17550435e-02 8.27935144e+01] [-5.09754891e-02 5.16625736e-04 9.98699771e-01 -1.96523846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.08, Y:82.82, Z:-1.97 [[ 8.98393352e-01 -4.36765404e-01 4.61017044e-02 4.95082028e+02] [ 4.36223493e-01 8.99575269e-01 2.17577626e-02 8.28174267e+01] [-5.09749911e-02 5.63617271e-04 9.98699771e-01 -1.96887321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.14, Y:82.84, Z:-1.97 [[ 8.98215561e-01 -4.37131266e-01 4.60983928e-02 4.95137296e+02] [ 4.36589476e-01 8.99397534e-01 2.17647765e-02 8.28384057e+01] [-5.09748451e-02 5.76612184e-04 9.98699771e-01 -1.97251073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.19, Y:82.86, Z:-1.98 [[ 8.99773207e-01 -4.33916399e-01 4.60948409e-02 4.95192798e+02] [ 4.33370001e-01 9.00953056e-01 2.17722965e-02 8.28590057e+01] [-5.09766442e-02 3.85992184e-04 9.98699771e-01 -1.97751112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.25, Y:82.88, Z:-1.98 [[ 9.01081799e-01 -4.31192744e-01 4.60913128e-02 4.95245903e+02] [ 4.30642397e-01 9.02259812e-01 2.17797628e-02 8.28827906e+01] [-5.09776149e-02 2.23525622e-04 9.98699771e-01 -1.97876351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.30, Y:82.91, Z:-1.98 [[ 9.02291150e-01 -4.28656801e-01 4.60871678e-02 4.95298207e+02] [ 4.28102695e-01 9.03467400e-01 2.17885302e-02 8.29068619e+01] [-5.09780553e-02 7.04428303e-05 9.98699771e-01 -1.98169937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.35, Y:82.93, Z:-1.99 [[ 9.01276051e-01 -4.30787152e-01 4.60858838e-02 4.95352980e+02] [ 4.30235688e-01 9.02453541e-01 2.17912458e-02 8.29258261e+01] [-5.09777577e-02 1.87863918e-04 9.98699771e-01 -1.98613257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.41, Y:82.95, Z:-1.99 [[ 9.00119408e-01 -4.33199149e-01 4.60819825e-02 4.95405605e+02] [ 4.32650418e-01 9.01298174e-01 2.17994927e-02 8.29490054e+01] [-5.09771284e-02 3.15242576e-04 9.98699771e-01 -1.98953476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.46, Y:82.97, Z:-1.99 [[ 8.98666467e-01 -4.36205673e-01 4.60781161e-02 4.95459860e+02] [ 4.35660466e-01 8.99846867e-01 2.18076621e-02 8.29696115e+01] [-5.09758744e-02 4.76598905e-04 9.98699771e-01 -1.98793627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.51, Y:82.99, Z:-1.99 [[ 8.98049520e-01 -4.37474865e-01 4.60738663e-02 4.95514893e+02] [ 4.36930867e-01 8.99230478e-01 2.18166372e-02 8.29891557e+01] [-5.09752552e-02 5.38673759e-04 9.98699771e-01 -1.99229189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.57, Y:83.01, Z:-1.99 [[ 8.97151211e-01 -4.39314267e-01 4.60725534e-02 4.95571399e+02] [ 4.38772547e-01 8.98333215e-01 2.18194094e-02 8.30062224e+01] [-5.09740829e-02 6.40062056e-04 9.98699771e-01 -1.99492873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.63, Y:83.03, Z:-2.00 [[ 8.97475942e-01 -4.38650872e-01 4.60689242e-02 4.95626701e+02] [ 4.38107886e-01 8.98657365e-01 2.18270693e-02 8.30260621e+01] [-5.09746410e-02 5.93889426e-04 9.98699771e-01 -1.99834975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.68, Y:83.04, Z:-2.00 [[ 8.97773462e-01 -4.38042015e-01 4.60652102e-02 4.95681482e+02] [ 4.37497825e-01 8.98954331e-01 2.18349049e-02 8.30441276e+01] [-5.09751259e-02 5.50631105e-04 9.98699771e-01 -2.00332094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.74, Y:83.06, Z:-2.00 [[ 8.98334193e-01 -4.36891110e-01 4.60633772e-02 4.95738037e+02] [ 4.36345209e-01 8.99514272e-01 2.18387711e-02 8.30617003e+01] [-5.09758302e-02 4.81019123e-04 9.98699771e-01 -2.00152118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.79, Y:83.08, Z:-2.01 [[ 8.99264349e-01 -4.34973721e-01 4.60596771e-02 4.95794827e+02] [ 4.34424904e-01 9.00443074e-01 2.18465720e-02 8.30784461e+01] [-5.09768020e-02 3.63627478e-04 9.98699771e-01 -2.00601852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.285336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:495.85, Y:83.10, Z:-2.01 [[ 9.00069408e-01 -4.33305794e-01 4.60559390e-02 4.95848202e+02] [ 4.32754390e-01 9.01246926e-01 2.18544498e-02 8.30996336e+01] [-5.09774331e-02 2.60388025e-04 9.98699771e-01 -2.01140340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.3453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.91, Y:83.12, Z:-2.01 [[ 9.01328681e-01 -4.30680370e-01 4.60546173e-02 4.95905103e+02] [ 4.30125394e-01 9.02504519e-01 2.18572347e-02 8.31159593e+01] [-5.09779821e-02 1.08707814e-04 9.98699771e-01 -2.01361865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.96, Y:83.13, Z:-2.02 [[ 9.02952757e-01 -4.27265301e-01 4.60508568e-02 4.95959990e+02] [ 4.26705474e-01 9.04126293e-01 2.18651548e-02 8.31347647e+01] [-5.09780124e-02 -9.30491094e-05 9.98699772e-01 -2.01931417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.4653361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.02, Y:83.16, Z:-2.02 [[ 9.03804098e-01 -4.25461625e-01 4.60495221e-02 4.96015281e+02] [ 4.24899312e-01 9.04976445e-01 2.18679653e-02 8.31551921e+01] [-5.09777129e-02 -1.97946398e-04 9.98699772e-01 -2.01998076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.07, Y:83.18, Z:-2.02 [[ 9.04134085e-01 -4.24760319e-01 4.60459304e-02 4.96069214e+02] [ 4.24196712e-01 9.05305811e-01 2.18755254e-02 8.31763874e+01] [-5.09775036e-02 -2.45875907e-04 9.98699772e-01 -2.02193908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.12, Y:83.20, Z:-2.03 [[ 9.04125236e-01 -4.24779620e-01 4.60416420e-02 4.96123598e+02] [ 4.24215578e-01 9.05296752e-01 2.18845476e-02 8.31950133e+01] [-5.09774588e-02 -2.54789962e-04 9.98699772e-01 -2.02674657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.18, Y:83.21, Z:-2.03 [[ 9.03362947e-01 -4.26398551e-01 4.60397878e-02 4.96179498e+02] [ 4.25836410e-01 9.04535377e-01 2.18884478e-02 8.32122943e+01] [-5.09778192e-02 -1.67794759e-04 9.98699772e-01 -2.02850242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.23, Y:83.23, Z:-2.03 [[ 9.03028030e-01 -4.27107846e-01 4.60354672e-02 4.96233761e+02] [ 4.26546163e-01 9.04200679e-01 2.18975309e-02 8.32340757e+01] [-5.09779080e-02 -1.37832313e-04 9.98699772e-01 -2.03059580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.29, Y:83.25, Z:-2.03 [[ 9.03649193e-01 -4.25792460e-01 4.60316933e-02 4.96287964e+02] [ 4.25228666e-01 9.04820829e-01 2.19054613e-02 8.32549674e+01] [-5.09776152e-02 -2.20856876e-04 9.98699772e-01 -2.03497238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.34, Y:83.28, Z:-2.04 [[ 9.05481082e-01 -4.21882941e-01 4.60303579e-02 4.96341317e+02] [ 4.21313946e-01 9.06650201e-01 2.19082673e-02 8.32776739e+01] [-5.09761574e-02 -4.44289877e-04 9.98699772e-01 -2.03635423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.40, Y:83.30, Z:-2.04 [[ 9.07200293e-01 -4.18173666e-01 4.60262246e-02 4.96395630e+02] [ 4.17599451e-01 9.08366857e-01 2.19169472e-02 8.33001095e+01] [-5.09737871e-02 -6.62534830e-04 9.98699772e-01 -2.04127154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.45, Y:83.33, Z:-2.04 [[ 9.07292512e-01 -4.17973945e-01 4.60226027e-02 4.96447535e+02] [ 4.17399087e-01 9.08458759e-01 2.19245500e-02 8.33265804e+01] [-5.09735272e-02 -6.82187695e-04 9.98699772e-01 -2.04249227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.50, Y:83.35, Z:-2.04 [[ 9.05151596e-01 -4.22590704e-01 4.60183102e-02 4.96499974e+02] [ 4.22021337e-01 9.06320534e-01 2.19335561e-02 8.33503368e+01] [-5.09762564e-02 -4.32484507e-04 9.98699772e-01 -2.04197561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.55, Y:83.38, Z:-2.04 [[ 9.03248960e-01 -4.26642419e-01 4.60169866e-02 4.96553001e+02] [ 4.26078154e-01 9.04420369e-01 2.19363326e-02 8.33751770e+01] [-5.09776700e-02 -2.07136918e-04 9.98699772e-01 -2.04122857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.61, Y:83.40, Z:-2.05 [[ 9.01454592e-01 -4.30421194e-01 4.60131882e-02 4.96606481e+02] [ 4.29861434e-01 9.02628160e-01 2.19442972e-02 8.33973624e+01] [-5.09780900e-02 -2.49244604e-06 9.98699772e-01 -2.04606386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.66, Y:83.42, Z:-2.05 [[ 9.00789541e-01 -4.31811433e-01 4.60118417e-02 4.96660394e+02] [ 4.31253339e-01 9.01963902e-01 2.19471202e-02 8.34195300e+01] [-5.09780377e-02 7.30240197e-05 9.98699772e-01 -2.05320617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.71, Y:83.44, Z:-2.06 [[ 9.00949956e-01 -4.31477022e-01 4.60082235e-02 4.96714214e+02] [ 4.30918106e-01 9.02123926e-01 2.19547024e-02 8.34418163e+01] [-5.09780688e-02 4.56883578e-05 9.98699772e-01 -2.05562119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.77, Y:83.46, Z:-2.06 [[ 9.02127864e-01 -4.29009277e-01 4.60038723e-02 4.96768272e+02] [ 4.28446685e-01 9.03300077e-01 2.19638163e-02 8.34616939e+01] [-5.09779823e-02 -1.03964097e-04 9.98699772e-01 -2.06165841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.365336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:496.82, Y:83.49, Z:-2.06 [[ 9.02710930e-01 -4.27781188e-01 4.60025308e-02 4.96821353e+02] [ 4.27216857e-01 9.03882307e-01 2.19666255e-02 8.34856664e+01] [-5.09777828e-02 -1.76456332e-04 9.98699772e-01 -2.06305266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.87, Y:83.51, Z:-2.07 [[ 9.05930934e-01 -4.20919605e-01 4.59981467e-02 4.96874097e+02] [ 4.20345937e-01 9.07097766e-01 2.19758021e-02 8.35088120e+01] [-5.09748620e-02 -5.73424873e-04 9.98699772e-01 -2.06692500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.93, Y:83.53, Z:-2.07 [[ 9.09210324e-01 -4.13788450e-01 4.59967969e-02 4.96926505e+02] [ 4.13205489e-01 9.10372541e-01 2.19786268e-02 8.35329265e+01] [-5.09687228e-02 -9.77065450e-04 9.98699772e-01 -2.07139515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.98, Y:83.56, Z:-2.08 [[ 9.10925815e-01 -4.09998263e-01 4.59954677e-02 4.96978072e+02] [ 4.09410327e-01 9.12085523e-01 2.19814082e-02 8.35593488e+01] [-5.09641394e-02 -1.19241269e-03 9.98699772e-01 -2.07813073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.03, Y:83.59, Z:-2.08 [[ 9.12169278e-01 -4.07224439e-01 4.59941726e-02 4.97029281e+02] [ 4.06632839e-01 9.13327122e-01 2.19841177e-02 8.35879231e+01] [-5.09601953e-02 -1.35049575e-03 9.98699772e-01 -2.07682717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.08, Y:83.61, Z:-2.08 [[ 9.12495633e-01 -4.06493038e-01 4.59905457e-02 4.97081933e+02] [ 4.05900128e-01 9.13652807e-01 2.19917027e-02 8.36145415e+01] [-5.09588651e-02 -1.39976426e-03 9.98699772e-01 -2.08041255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.13, Y:83.64, Z:-2.08 [[ 9.11445117e-01 -4.08843492e-01 4.59869267e-02 4.97133499e+02] [ 4.08253186e-01 9.12603621e-01 2.19992678e-02 8.36421828e+01] [-5.09620932e-02 -1.27681587e-03 9.98699772e-01 -2.08126195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.19, Y:83.67, Z:-2.08 [[ 9.08814947e-01 -4.14657603e-01 4.59833140e-02 4.97185350e+02] [ 4.14074327e-01 9.09977006e-01 2.20068165e-02 8.36713420e+01] [-5.09690521e-02 -9.59613972e-04 9.98699772e-01 -2.08030836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.8453361950001 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:497.24, Y:83.70, Z:-2.08 [[ 9.06933685e-01 -4.18756695e-01 4.59795791e-02 4.97237521e+02] [ 4.18178276e-01 9.08098170e-01 2.20146170e-02 8.36975934e+01] [-5.09727399e-02 -7.38136595e-04 9.98699772e-01 -2.08313680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.29, Y:83.72, Z:-2.09 [[ 9.04345388e-01 -4.24317860e-01 4.59757833e-02 4.97290139e+02] [ 4.23746200e-01 9.05513206e-01 2.20225415e-02 8.37225569e+01] [-5.09762366e-02 -4.33920340e-04 9.98699772e-01 -2.08570018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.9653361950001 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:497.34, Y:83.75, Z:-2.09 [[ 9.02587765e-01 -4.28044013e-01 4.59744365e-02 4.97342282e+02] [ 4.27477032e-01 9.03757861e-01 2.20253527e-02 8.37496201e+01] [-5.09775788e-02 -2.26798168e-04 9.98699772e-01 -2.09114685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.39, Y:83.78, Z:-2.09 [[ 9.02140496e-01 -4.28986278e-01 4.59706245e-02 4.97394011e+02] [ 4.28420113e-01 9.03310987e-01 2.20333061e-02 8.37750388e+01] [-5.09777562e-02 -1.82397533e-04 9.98699772e-01 -2.09307198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.45, Y:83.80, Z:-2.10 [[ 9.02428650e-01 -4.28379922e-01 4.59692750e-02 4.97445265e+02] [ 4.27812828e-01 9.03598691e-01 2.20361214e-02 8.38007515e+01] [-5.09776086e-02 -2.19781794e-04 9.98699772e-01 -2.09862167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.145336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:497.50, Y:83.83, Z:-2.10 [[ 9.03039577e-01 -4.27090706e-01 4.59679472e-02 4.97496839e+02] [ 4.26521799e-01 9.04208738e-01 2.20388909e-02 8.38262146e+01] [-5.09772250e-02 -2.95659128e-04 9.98699772e-01 -2.10159638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.205336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:497.55, Y:83.85, Z:-2.10 [[ 9.03629111e-01 -4.25842431e-01 4.59636187e-02 4.97549663e+02] [ 4.25271451e-01 9.04797261e-01 2.20479146e-02 8.38512801e+01] [-5.09766938e-02 -3.76122677e-04 9.98699772e-01 -2.10087292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.60, Y:83.88, Z:-2.10 [[ 9.04169565e-01 -4.24693854e-01 4.59622525e-02 4.97602021e+02] [ 4.24121245e-01 9.05336917e-01 2.20507622e-02 8.38765030e+01] [-5.09761472e-02 -4.44060355e-04 9.98699772e-01 -2.10376419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.325336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:497.65, Y:83.91, Z:-2.11 [[ 9.05951358e-01 -4.20879711e-01 4.59609061e-02 4.97652672e+02] [ 4.20302046e-01 9.07116217e-01 2.20535682e-02 8.39059395e+01] [-5.09737827e-02 -6.61997176e-04 9.98699772e-01 -2.10910339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.385336195 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:497.70, Y:83.93, Z:-2.11 [[ 9.07431086e-01 -4.17680222e-01 4.59571119e-02 4.97704279e+02] [ 4.17098050e-01 9.08593698e-01 2.20614721e-02 8.39325676e+01] [-5.09709828e-02 -8.50643831e-04 9.98699772e-01 -2.11477901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.76, Y:83.96, Z:-2.12 [[ 9.08432669e-01 -4.15497476e-01 4.59557805e-02 4.97756115e+02] [ 4.14912370e-01 9.09593807e-01 2.20642451e-02 8.39594751e+01] [-5.09687315e-02 -9.76259289e-04 9.98699772e-01 -2.11764168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.81, Y:83.99, Z:-2.12 [[ 9.06690539e-01 -4.19285905e-01 4.59521139e-02 4.97807498e+02] [ 4.18705265e-01 9.07853916e-01 2.20718786e-02 8.39877243e+01] [-5.09722342e-02 -7.71971514e-04 9.98699772e-01 -2.11862999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.565336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:497.86, Y:84.01, Z:-2.12 [[ 9.04260227e-01 -4.24502277e-01 4.59484322e-02 4.97860406e+02] [ 4.23927959e-01 9.05426739e-01 2.20795405e-02 8.40122360e+01] [-5.09757543e-02 -4.86825211e-04 9.98699772e-01 -2.12206088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.625336195 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:497.91, Y:84.03, Z:-2.12 [[ 9.00093533e-01 -4.33267483e-01 4.59447447e-02 4.97914671e+02] [ 4.32704133e-01 9.01265382e-01 2.20872110e-02 8.40324591e+01] [-5.09780782e-02 -7.48383539e-08 9.98699772e-01 -2.12415515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.97, Y:84.05, Z:-2.12 [[ 8.97858554e-01 -4.37880688e-01 4.59404001e-02 4.97971235e+02] [ 4.37322897e-01 8.99033058e-01 2.20962440e-02 8.40498477e+01] [-5.09774569e-02 2.51487177e-04 9.98699773e-01 -2.12295741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.02, Y:84.07, Z:-2.13 [[ 8.97853495e-01 -4.37891467e-01 4.59365283e-02 4.98024269e+02] [ 4.37333278e-01 8.99027811e-01 2.21042901e-02 8.40704450e+01] [-5.09774965e-02 2.43158344e-04 9.98699773e-01 -2.12569211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.08, Y:84.09, Z:-2.13 [[ 8.99591414e-01 -4.34310140e-01 4.59346256e-02 4.98078566e+02] [ 4.33747075e-01 9.00763399e-01 2.21082435e-02 8.40910367e+01] [-5.09780638e-02 3.56234465e-05 9.98699773e-01 -2.12892191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.13, Y:84.11, Z:-2.13 [[ 9.01185207e-01 -4.30993786e-01 4.59301528e-02 4.98132584e+02] [ 4.30425935e-01 9.02354880e-01 2.21175318e-02 8.41120546e+01] [-5.09778163e-02 -1.62463547e-04 9.98699773e-01 -2.13285545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.19, Y:84.13, Z:-2.14 [[ 9.03430659e-01 -4.26267044e-01 4.59287706e-02 4.98186146e+02] [ 4.25692927e-01 9.04597269e-01 2.21204018e-02 8.41342783e+01] [-5.09762387e-02 -4.32696413e-04 9.98699773e-01 -2.14111849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.24, Y:84.16, Z:-2.14 [[ 9.05527913e-01 -4.21793636e-01 4.59274119e-02 4.98239233e+02] [ 4.21213613e-01 9.06691599e-01 2.21232223e-02 8.41593298e+01] [-5.09734329e-02 -6.87944167e-04 9.98699773e-01 -2.14365743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.045336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:498.29, Y:84.19, Z:-2.15 [[ 9.07421157e-01 -4.17705473e-01 4.59236545e-02 4.98290558e+02] [ 4.17119813e-01 9.08582016e-01 2.21310193e-02 8.41857072e+01] [-5.09696545e-02 -9.26488981e-04 9.98699773e-01 -2.14850271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.34, Y:84.21, Z:-2.15 [[ 9.07888945e-01 -4.16687897e-01 4.59223331e-02 4.98343291e+02] [ 4.16100797e-01 9.09049076e-01 2.21337608e-02 8.42111721e+01] [-5.09685248e-02 -9.86677330e-04 9.98699773e-01 -2.14797956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.40, Y:84.24, Z:-2.15 [[ 9.07073473e-01 -4.18460497e-01 4.59187059e-02 4.98395815e+02] [ 4.17875284e-01 9.08234557e-01 2.21412833e-02 8.42362875e+01] [-5.09702079e-02 -8.95478421e-04 9.98699773e-01 -2.14991207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.45, Y:84.26, Z:-2.15 [[ 9.05061512e-01 -4.22794896e-01 4.59144358e-02 4.98447877e+02] [ 4.22214796e-01 9.06225159e-01 2.21501346e-02 8.42616041e+01] [-5.09737808e-02 -6.61480217e-04 9.98699773e-01 -2.15234475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.50, Y:84.29, Z:-2.15 [[ 9.04139922e-01 -4.24762342e-01 4.59124597e-02 4.98501266e+02] [ 4.24184565e-01 9.05304725e-01 2.21542300e-02 8.42863813e+01] [-5.09750493e-02 -5.55167061e-04 9.98699773e-01 -2.15484827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.3453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.55, Y:84.31, Z:-2.16 [[ 9.02195051e-01 -4.28878158e-01 4.59087625e-02 4.98554076e+02] [ 4.28305306e-01 9.03362284e-01 2.21618887e-02 8.43110967e+01] [-5.09769946e-02 -3.31379748e-04 9.98699773e-01 -2.15694439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.61, Y:84.34, Z:-2.16 [[ 9.00239675e-01 -4.32968026e-01 4.59044316e-02 4.98605845e+02] [ 4.32400019e-01 9.01409272e-01 2.21708558e-02 8.43363660e+01] [-5.09779520e-02 -1.10006867e-04 9.98699773e-01 -2.16014095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.4653361950001 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:498.66, Y:84.36, Z:-2.17 [[ 8.99508810e-01 -4.34484848e-01 4.59000846e-02 4.98656432e+02] [ 4.33918355e-01 9.00679141e-01 2.21798517e-02 8.43622908e+01] [-5.09780583e-02 -3.40828383e-05 9.98699773e-01 -2.16751708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.71, Y:84.39, Z:-2.17 [[ 8.99040614e-01 -4.35453017e-01 4.58982019e-02 4.98709353e+02] [ 4.34887585e-01 9.00211458e-01 2.21837471e-02 8.43871902e+01] [-5.09780669e-02 1.64685127e-05 9.98699773e-01 -2.17014951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.76, Y:84.41, Z:-2.17 [[ 8.98570049e-01 -4.36423608e-01 4.58944687e-02 4.98760375e+02] [ 4.35859046e-01 8.99741313e-01 2.21914678e-02 8.44114595e+01] [-5.09780300e-02 6.29310243e-05 9.98699773e-01 -2.17409581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.81, Y:84.43, Z:-2.17 [[ 8.97306452e-01 -4.39015944e-01 4.58926187e-02 4.98814744e+02] [ 4.38454571e-01 8.98479247e-01 2.21952931e-02 8.44341340e+01] [-5.09776530e-02 2.05848772e-04 9.98699773e-01 -2.17144400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.87, Y:84.46, Z:-2.17 [[ 8.95838364e-01 -4.42004354e-01 4.58887419e-02 4.98868444e+02] [ 4.41446482e-01 8.97012830e-01 2.22033054e-02 8.44571246e+01] [-5.09767479e-02 3.66850904e-04 9.98699773e-01 -2.17476070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.92, Y:84.48, Z:-2.18 [[ 8.93059150e-01 -4.47593545e-01 4.58843474e-02 4.98922502e+02] [ 4.47042557e-01 8.94236860e-01 2.22123831e-02 8.44776869e+01] [-5.09735941e-02 6.75284035e-04 9.98699773e-01 -2.17627762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.98, Y:84.50, Z:-2.18 [[ 8.90978705e-01 -4.51721140e-01 4.58798326e-02 4.98975440e+02] [ 4.51175128e-01 8.92158730e-01 2.22217045e-02 8.44985658e+01] [-5.09701069e-02 9.00773804e-04 9.98699773e-01 -2.18086834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.885336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:499.03, Y:84.52, Z:-2.18 [[ 8.88624286e-01 -4.56335511e-01 4.58778826e-02 4.99031078e+02] [ 4.55795418e-01 8.89807032e-01 2.22257297e-02 8.45168488e+01] [-5.09648523e-02 1.16060549e-03 9.98699773e-01 -2.18204636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.09, Y:84.53, Z:-2.18 [[ 8.88165222e-01 -4.57228543e-01 4.58758961e-02 4.99089569e+02] [ 4.56689427e-01 8.89348415e-01 2.22298293e-02 8.45306096e+01] [-5.09637679e-02 1.20727543e-03 9.98699773e-01 -2.18235090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.15, Y:84.55, Z:-2.18 [[ 8.89053130e-01 -4.55500027e-01 4.58721948e-02 4.99145617e+02] [ 4.54958216e-01 8.90235091e-01 2.22374645e-02 8.45483681e+01] [-5.09662031e-02 1.09964451e-03 9.98699773e-01 -2.18367437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.20, Y:84.57, Z:-2.19 [[ 8.92329948e-01 -4.49047219e-01 4.58678410e-02 4.99202248e+02] [ 4.48496398e-01 8.93507737e-01 2.22464411e-02 8.45667878e+01] [-5.09729733e-02 7.20395831e-04 9.98699773e-01 -2.18991678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.125336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:499.26, Y:84.58, Z:-2.20 [[ 8.96168342e-01 -4.41337503e-01 4.58640492e-02 4.99258452e+02] [ 4.40776149e-01 8.97341147e-01 2.22542558e-02 8.45815272e+01] [-5.09773362e-02 2.72219438e-04 9.98699773e-01 -2.20029144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.31, Y:84.60, Z:-2.20 [[ 8.98401535e-01 -4.36773733e-01 4.58627050e-02 4.99313739e+02] [ 4.36206280e-01 8.99571401e-01 2.22570256e-02 8.45995381e+01] [-5.09780619e-02 9.85403014e-06 9.98699773e-01 -2.20125659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.37, Y:84.62, Z:-2.20 [[ 9.01670055e-01 -4.29986189e-01 4.58583659e-02 4.99370077e+02] [ 4.29409475e-01 9.02835384e-01 2.22659623e-02 8.46169662e+01] [-5.09766116e-02 -3.84534639e-04 9.98699773e-01 -2.20181571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.43, Y:84.64, Z:-2.20 [[ 9.03993833e-01 -4.25079219e-01 4.58563649e-02 4.99425976e+02] [ 4.24495972e-01 9.05155906e-01 2.22700826e-02 8.46362344e+01] [-5.09737088e-02 -6.66175158e-04 9.98699773e-01 -2.20309852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.48, Y:84.66, Z:-2.21 [[ 9.05215007e-01 -4.22472872e-01 4.58526252e-02 4.99479901e+02] [ 4.21885888e-01 9.06375197e-01 2.22777797e-02 8.46574600e+01] [-5.09714397e-02 -8.21605064e-04 9.98699773e-01 -2.20599358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.53, Y:84.68, Z:-2.21 [[ 9.06965987e-01 -4.18701117e-01 4.58483623e-02 4.99534861e+02] [ 4.18108867e-01 9.08123497e-01 2.22865495e-02 8.46784320e+01] [-5.09673782e-02 -1.04353555e-03 9.98699773e-01 -2.20798023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.59, Y:84.70, Z:-2.21 [[ 9.08088555e-01 -4.16261266e-01 4.58446721e-02 4.99587304e+02] [ 4.15665523e-01 9.09244271e-01 2.22941377e-02 8.47025554e+01] [-5.09641915e-02 -1.18900163e-03 9.98699773e-01 -2.20989339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.64, Y:84.73, Z:-2.21 [[ 9.09784002e-01 -4.12542995e-01 4.58404568e-02 4.99639978e+02] [ 4.11942092e-01 9.10937044e-01 2.23028017e-02 8.47282168e+01] [-5.09586348e-02 -1.40711845e-03 9.98699773e-01 -2.21130396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.69, Y:84.76, Z:-2.21 [[ 9.10575951e-01 -4.10792443e-01 4.58367479e-02 4.99690909e+02] [ 4.10188941e-01 9.11727634e-01 2.23104218e-02 8.47550922e+01] [-5.09555823e-02 -1.51360649e-03 9.98699774e-01 -2.21431199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.74, Y:84.78, Z:-2.22 [[ 9.10340234e-01 -4.11315023e-01 4.58324187e-02 4.99742654e+02] [ 4.10711735e-01 9.11492029e-01 2.23193116e-02 8.47823621e+01] [-5.09561525e-02 -1.49425508e-03 9.98699774e-01 -2.21694695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.79, Y:84.81, Z:-2.22 [[ 9.09798491e-01 -4.12512390e-01 4.58283108e-02 4.99793130e+02] [ 4.11910194e-01 9.10950857e-01 2.23277433e-02 8.48098153e+01] [-5.09578097e-02 -1.43659875e-03 9.98699774e-01 -2.22020633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.84, Y:84.84, Z:-2.22 [[ 9.08436094e-01 -4.15504217e-01 4.58269533e-02 4.99843879e+02] [ 4.14905676e-01 9.09590363e-01 2.23305290e-02 8.48406021e+01] [-5.09621841e-02 -1.27199555e-03 9.98699774e-01 -2.22178906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.8453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.89, Y:84.87, Z:-2.22 [[ 9.06750211e-01 -4.19170951e-01 4.58232403e-02 4.99893553e+02] [ 4.18576693e-01 9.07906691e-01 2.23381458e-02 8.48709191e+01] [-5.09667283e-02 -1.07457801e-03 9.98699774e-01 -2.22294407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.94, Y:84.90, Z:-2.23 [[ 9.05607368e-01 -4.21634494e-01 4.58219285e-02 4.99944273e+02] [ 4.21043246e-01 9.06765390e-01 2.23408364e-02 8.49000658e+01] [-5.09694061e-02 -9.39012548e-04 9.98699774e-01 -2.22563908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.9653361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.99, Y:84.93, Z:-2.23 [[ 9.04479493e-01 -4.24049040e-01 4.58176747e-02 4.99993938e+02] [ 4.23460442e-01 9.05638864e-01 2.23495569e-02 8.49312015e+01] [-5.09715750e-02 -8.12743100e-04 9.98699774e-01 -2.23152426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.04, Y:84.96, Z:-2.23 [[ 9.04489082e-01 -4.24028985e-01 4.58139736e-02 5.00042925e+02] [ 4.23439978e-01 9.05648245e-01 2.23571412e-02 8.49625731e+01] [-5.09714206e-02 -8.22322129e-04 9.98699774e-01 -2.23438424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.09, Y:85.00, Z:-2.24 [[ 9.05385228e-01 -4.22112610e-01 4.58097519e-02 5.00090525e+02] [ 4.21520712e-01 9.06542918e-01 2.23657881e-02 8.49956723e+01] [-5.09693873e-02 -9.39894925e-04 9.98699774e-01 -2.24121386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.14, Y:85.02, Z:-2.25 [[ 9.05549906e-01 -4.21759356e-01 4.58084486e-02 5.00142239e+02] [ 4.21166871e-01 9.06707295e-01 2.23684571e-02 8.50244959e+01] [-5.09689605e-02 -9.62753262e-04 9.98699774e-01 -2.24531811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.19, Y:85.06, Z:-2.25 [[ 9.06018813e-01 -4.20751520e-01 4.58046739e-02 5.00191510e+02] [ 4.20157358e-01 9.07175342e-01 2.23761839e-02 8.50550353e+01] [-5.09676841e-02 -1.02807283e-03 9.98699774e-01 -2.24791677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.24, Y:85.09, Z:-2.25 [[ 9.06336504e-01 -4.20067236e-01 4.58001996e-02 5.00240781e+02] [ 4.19471737e-01 9.07492346e-01 2.23853384e-02 8.50890096e+01] [-5.09666778e-02 -1.07676007e-03 9.98699774e-01 -2.24775337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.29, Y:85.12, Z:-2.25 [[ 9.05700551e-01 -4.21437087e-01 4.57962176e-02 5.00289731e+02] [ 4.20842925e-01 9.06857080e-01 2.23934818e-02 8.51209784e+01] [-5.09680679e-02 -1.00877461e-03 9.98699774e-01 -2.24916181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.34, Y:85.15, Z:-2.25 [[ 9.05031891e-01 -4.22871271e-01 4.57948119e-02 5.00340526e+02] [ 4.22278796e-01 9.06189286e-01 2.23963561e-02 8.51510698e+01] [-5.09695434e-02 -9.31238428e-04 9.98699774e-01 -2.25031305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.39, Y:85.18, Z:-2.25 [[ 9.04404210e-01 -4.24212457e-01 4.57910040e-02 5.00390413e+02] [ 4.23621306e-01 9.05562281e-01 2.24041390e-02 8.51821977e+01] [-5.09707208e-02 -8.64352746e-04 9.98699774e-01 -2.25180045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.44, Y:85.21, Z:-2.26 [[ 9.04028417e-01 -4.25013127e-01 4.57871392e-02 5.00438637e+02] [ 4.24422602e-01 9.05186807e-01 2.24120347e-02 8.52118784e+01] [-5.09713233e-02 -8.28019495e-04 9.98699774e-01 -2.25675839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.49, Y:85.24, Z:-2.26 [[ 9.03012216e-01 -4.27168177e-01 4.57852245e-02 5.00487996e+02] [ 4.26580218e-01 9.04171910e-01 2.24159455e-02 8.52439412e+01] [-5.09730924e-02 -7.10801628e-04 9.98699774e-01 -2.26301034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.54, Y:85.27, Z:-2.27 [[ 9.02396960e-01 -4.28466763e-01 4.57816476e-02 5.00536144e+02] [ 4.27880102e-01 9.03557312e-01 2.24232484e-02 8.52736850e+01] [-5.09739591e-02 -6.45615122e-04 9.98699774e-01 -2.26807507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.59, Y:85.30, Z:-2.27 [[ 9.01880403e-01 -4.29553206e-01 4.57797228e-02 5.00587262e+02] [ 4.28967743e-01 9.03041360e-01 2.24271774e-02 8.53034661e+01] [-5.09746491e-02 -5.88607376e-04 9.98699774e-01 -2.26702049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.64, Y:85.33, Z:-2.27 [[ 9.01480073e-01 -4.30393132e-01 4.57758541e-02 5.00637960e+02] [ 4.29808351e-01 9.02641373e-01 2.24350711e-02 8.53289547e+01] [-5.09750803e-02 -5.49925174e-04 9.98699774e-01 -2.27066592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.69, Y:85.36, Z:-2.28 [[ 9.00668953e-01 -4.32088165e-01 4.57739426e-02 5.00689064e+02] [ 4.31505371e-01 9.01831252e-01 2.24389704e-02 8.53555624e+01] [-5.09759855e-02 -4.58381880e-04 9.98699774e-01 -2.27709591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.74, Y:85.38, Z:-2.28 [[ 9.00015600e-01 -4.33447564e-01 4.57725897e-02 5.00741758e+02] [ 4.32866385e-01 9.01178707e-01 2.24417298e-02 8.53808205e+01] [-5.09765963e-02 -3.84491475e-04 9.98699774e-01 -2.28175554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.79, Y:85.41, Z:-2.28 [[ 8.99549873e-01 -4.34413670e-01 4.57688800e-02 5.00793886e+02] [ 4.33833355e-01 9.00713411e-01 2.24492929e-02 8.54058695e+01] [-5.09769238e-02 -3.38191825e-04 9.98699774e-01 -2.28312669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.9853361950001 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:500.85, Y:85.43, Z:-2.28 [[ 9.01731523e-01 -4.29867272e-01 4.57644930e-02 5.00846276e+02] [ 4.29280638e-01 9.02891888e-01 2.24582327e-02 8.54313580e+01] [-5.09744487e-02 -6.05485585e-04 9.98699774e-01 -2.28468214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.90, Y:85.46, Z:-2.29 [[ 9.06220280e-01 -4.20322285e-01 4.57600251e-02 5.00896670e+02] [ 4.19722973e-01 9.07374148e-01 2.24673326e-02 8.54594710e+01] [-5.09649844e-02 -1.15381866e-03 9.98699774e-01 -2.28630125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.95, Y:85.49, Z:-2.29 [[ 9.09357410e-01 -4.13491531e-01 4.57586516e-02 5.00945938e+02] [ 4.12883412e-01 9.10506662e-01 2.24701296e-02 8.54894858e+01] [-5.09547654e-02 -1.54039063e-03 9.98699774e-01 -2.28890728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.00, Y:85.52, Z:-2.29 [[ 9.12272721e-01 -4.07019350e-01 4.57573044e-02 5.00995533e+02] [ 4.06402943e-01 9.13417548e-01 2.24728727e-02 8.55207805e+01] [-5.09424188e-02 -1.90548561e-03 9.98699774e-01 -2.29165673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.05, Y:85.55, Z:-2.29 [[ 9.12107232e-01 -4.07390546e-01 4.57530423e-02 5.01046163e+02] [ 4.06774171e-01 9.13252076e-01 2.24815466e-02 8.55496623e+01] [-5.09428304e-02 -1.89442535e-03 9.98699774e-01 -2.29387834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.285336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:501.10, Y:85.58, Z:-2.30 [[ 9.09534752e-01 -4.13102404e-01 4.57486460e-02 5.01095755e+02] [ 4.12492771e-01 9.10683201e-01 2.24904893e-02 8.55805462e+01] [-5.09533985e-02 -1.58489587e-03 9.98699774e-01 -2.29718259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.3453361950001 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:501.15, Y:85.61, Z:-2.30 [[ 9.07513963e-01 -4.17523237e-01 4.57466174e-02 5.01145511e+02] [ 4.16918991e-01 9.08665256e-01 2.24946148e-02 8.56115043e+01] [-5.09603862e-02 -1.34154348e-03 9.98699774e-01 -2.29984965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.20, Y:85.64, Z:-2.30 [[ 9.05822353e-01 -4.21181091e-01 4.57422591e-02 5.01195845e+02] [ 4.20581048e-01 9.06975841e-01 2.25034737e-02 8.56402883e+01] [-5.09651615e-02 -1.14582224e-03 9.98699774e-01 -2.30307441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.4653361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.24, Y:85.67, Z:-2.31 [[ 9.05426759e-01 -4.22031310e-01 4.57379319e-02 5.01244397e+02] [ 4.21431906e-01 9.06580579e-01 2.25122654e-02 8.56703547e+01] [-5.09660016e-02 -1.10778363e-03 9.98699774e-01 -2.30727372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.525336195 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:501.29, Y:85.71, Z:-2.31 [[ 9.05170232e-01 -4.22581430e-01 4.57360602e-02 5.01293127e+02] [ 4.21982535e-01 9.06324316e-01 2.25160672e-02 8.57053092e+01] [-5.09665754e-02 -1.08105511e-03 9.98699774e-01 -2.31227734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.585336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:501.34, Y:85.74, Z:-2.31 [[ 9.04123785e-01 -4.24816087e-01 4.57326281e-02 5.01342620e+02] [ 4.24219693e-01 9.05279164e-01 2.25230360e-02 8.57386552e+01] [-5.09689434e-02 -9.62931115e-04 9.98699774e-01 -2.31271819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.39, Y:85.77, Z:-2.32 [[ 9.02563283e-01 -4.28121939e-01 4.57288216e-02 5.01392878e+02] [ 4.27529386e-01 9.03720636e-01 2.25307619e-02 8.57675532e+01] [-5.09719932e-02 -7.85023402e-04 9.98699775e-01 -2.31515685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.44, Y:85.80, Z:-2.32 [[ 8.99559644e-01 -4.34397796e-01 4.57274760e-02 5.01442777e+02] [ 4.33813179e-01 9.00721026e-01 2.25334925e-02 8.57971073e+01] [-5.09761986e-02 -4.33038757e-04 9.98699775e-01 -2.31824459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.49, Y:85.82, Z:-2.32 [[ 8.97064031e-01 -4.39528746e-01 4.57231350e-02 5.01494102e+02] [ 4.38950323e-01 8.98228511e-01 2.25422974e-02 8.58246676e+01] [-5.09778112e-02 -1.51699326e-04 9.98699775e-01 -2.32224611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.54, Y:85.85, Z:-2.33 [[ 8.95782103e-01 -4.42135981e-01 4.57186918e-02 5.01544728e+02] [ 4.41560488e-01 8.96948033e-01 2.25513053e-02 8.58515391e+01] [-5.09780341e-02 -1.34878211e-05 9.98699775e-01 -2.32623028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.60, Y:85.88, Z:-2.33 [[ 8.95281353e-01 -4.43149213e-01 4.57173241e-02 5.01596144e+02] [ 4.42574898e-01 8.96447864e-01 2.25540775e-02 8.58791442e+01] [-5.09780193e-02 4.10951083e-05 9.98699775e-01 -2.32767224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.65, Y:85.90, Z:-2.33 [[ 8.96287098e-01 -4.41111973e-01 4.57128653e-02 5.01646741e+02] [ 4.40534545e-01 8.97452071e-01 2.25631112e-02 8.59048977e+01] [-5.09779641e-02 -8.49291120e-05 9.98699775e-01 -2.33121943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.70, Y:85.93, Z:-2.33 [[ 8.97306943e-01 -4.39033894e-01 4.57109400e-02 5.01697732e+02] [ 4.38453570e-01 8.98470476e-01 2.25670109e-02 8.59334494e+01] [-5.09776127e-02 -2.07410784e-04 9.98699775e-01 -2.33382068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.75, Y:85.96, Z:-2.34 [[ 8.98215273e-01 -4.37173002e-01 4.57065659e-02 5.01748269e+02] [ 4.36589817e-01 8.99377374e-01 2.25758666e-02 8.59618044e+01] [-5.09770106e-02 -3.22966939e-04 9.98699775e-01 -2.33667450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.80, Y:85.99, Z:-2.34 [[ 8.98386837e-01 -4.36820784e-01 4.57022208e-02 5.01799282e+02] [ 4.36236696e-01 8.99548486e-01 2.25846594e-02 8.59891236e+01] [-5.09768121e-02 -3.52774995e-04 9.98699775e-01 -2.33860023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.85, Y:86.02, Z:-2.34 [[ 8.97077013e-01 -4.39504565e-01 4.57008793e-02 5.01852090e+02] [ 4.38923814e-01 8.98240333e-01 2.25873736e-02 8.60155434e+01] [-5.09776268e-02 -2.03409439e-04 9.98699775e-01 -2.33927685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.90, Y:86.04, Z:-2.34 [[ 8.95358905e-01 -4.42994602e-01 4.56969823e-02 5.01903598e+02] [ 4.42417983e-01 8.96524279e-01 2.25952550e-02 8.60410957e+01] [-5.09780301e-02 -1.36960088e-05 9.98699775e-01 -2.34193202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.96, Y:86.06, Z:-2.34 [[ 8.92522771e-01 -4.48681730e-01 4.56925438e-02 5.01956072e+02] [ 4.48112077e-01 8.93691566e-01 2.26042270e-02 8.60649688e+01] [-5.09771447e-02 3.00593361e-04 9.98699775e-01 -2.34377709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.365336195 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:502.01, Y:86.09, Z:-2.35 [[ 8.90577773e-01 -4.52530231e-01 4.56904874e-02 5.02009604e+02] [ 4.51965416e-01 8.91748913e-01 2.26083830e-02 8.60867739e+01] [-5.09754192e-02 5.15996728e-04 9.98699775e-01 -2.34934020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.425336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:502.07, Y:86.11, Z:-2.35 [[ 8.88740266e-01 -4.56128537e-01 4.56891417e-02 5.02065221e+02] [ 4.55568324e-01 8.89913614e-01 2.26111022e-02 8.61067804e+01] [-5.09729581e-02 7.19128711e-04 9.98699775e-01 -2.35495408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.12, Y:86.13, Z:-2.36 [[ 8.88454661e-01 -4.56684967e-01 4.56854085e-02 5.02120836e+02] [ 4.56125101e-01 8.89628175e-01 2.26186425e-02 8.61256616e+01] [-5.09726206e-02 7.42623227e-04 9.98699775e-01 -2.35661179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.18, Y:86.15, Z:-2.36 [[ 8.89075856e-01 -4.55474888e-01 4.56809342e-02 5.02175218e+02] [ 4.54912961e-01 8.90248385e-01 2.26276753e-02 8.61454996e+01] [-5.09737157e-02 6.63129225e-04 9.98699775e-01 -2.35875797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.23, Y:86.16, Z:-2.36 [[ 8.91596104e-01 -4.50521971e-01 4.56764783e-02 5.02229823e+02] [ 4.49953069e-01 8.92765264e-01 2.26366664e-02 8.61626459e+01] [-5.09766888e-02 3.69508079e-04 9.98699775e-01 -2.36124455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.28, Y:86.18, Z:-2.37 [[ 8.94116496e-01 -4.45499190e-01 4.56745468e-02 5.02282513e+02] [ 4.44923521e-01 8.95282338e-01 2.26405630e-02 8.61847225e+01] [-5.09779675e-02 7.83792799e-05 9.98699775e-01 -2.36585472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.34, Y:86.21, Z:-2.37 [[ 8.99354678e-01 -4.34827752e-01 4.56726327e-02 5.02336909e+02] [ 4.34238054e-01 9.00513488e-01 2.26444236e-02 8.62077637e+01] [-5.09752456e-02 -5.32573187e-04 9.98699775e-01 -2.36611584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.39, Y:86.23, Z:-2.37 [[ 9.03270308e-01 -4.26634622e-01 4.56689185e-02 5.02389906e+02] [ 4.26034037e-01 9.04423513e-01 2.26519118e-02 8.62323426e+01] [-5.09681336e-02 -1.00428568e-03 9.98699775e-01 -2.36712487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.8453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.44, Y:86.26, Z:-2.37 [[ 9.08138350e-01 -4.16172418e-01 4.56645920e-02 5.02438835e+02] [ 4.15558114e-01 9.09284306e-01 2.26606305e-02 8.62619012e+01] [-5.09528262e-02 -1.60269590e-03 9.98699775e-01 -2.37109852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.905336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:502.49, Y:86.29, Z:-2.37 [[ 9.10100420e-01 -4.11864225e-01 4.56627349e-02 5.02487976e+02] [ 4.11244309e-01 9.11243351e-01 2.26643720e-02 8.62925791e+01] [-5.09445075e-02 -1.84831460e-03 9.98699775e-01 -2.37343081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.9653361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.54, Y:86.33, Z:-2.38 [[ 9.10349059e-01 -4.11314836e-01 4.56584796e-02 5.02536958e+02] [ 4.10693802e-01 9.11491381e-01 2.26729412e-02 8.63262280e+01] [-5.09430278e-02 -1.88863611e-03 9.98699775e-01 -2.37794285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.58, Y:86.36, Z:-2.38 [[ 9.08683393e-01 -4.14982086e-01 4.56547855e-02 5.02584371e+02] [ 4.14365290e-01 9.09828010e-01 2.26803773e-02 8.63600202e+01] [-5.09499529e-02 -1.69152374e-03 9.98699775e-01 -2.38058128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.63, Y:86.39, Z:-2.38 [[ 9.06603616e-01 -4.19506747e-01 4.56505507e-02 5.02634078e+02] [ 4.18895235e-01 9.07751065e-01 2.26888979e-02 8.63928994e+01] [-5.09574817e-02 -1.44703868e-03 9.98699775e-01 -2.38181569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.68, Y:86.43, Z:-2.38 [[ 9.03307922e-01 -4.26557351e-01 4.56467302e-02 5.02681233e+02] [ 4.25954410e-01 9.04459897e-01 2.26965816e-02 8.64270977e+01] [-5.09670306e-02 -1.05857590e-03 9.98699775e-01 -2.38480920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.73, Y:86.46, Z:-2.39 [[ 9.00871015e-01 -4.31680667e-01 4.56422676e-02 5.02728795e+02] [ 4.31083823e-01 9.02026161e-01 2.27055521e-02 8.64644545e+01] [-5.09720673e-02 -7.79130570e-04 9.98699775e-01 -2.38815705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.265336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:502.78, Y:86.50, Z:-2.39 [[ 8.99849559e-01 -4.33806284e-01 4.56385613e-02 5.02777505e+02] [ 4.33211792e-01 9.01005917e-01 2.27129995e-02 8.64963067e+01] [-5.09736557e-02 -6.67119708e-04 9.98699775e-01 -2.39391863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.83, Y:86.53, Z:-2.40 [[ 8.97845050e-01 -4.37940085e-01 4.56371450e-02 5.02826085e+02] [ 4.37350773e-01 8.99004056e-01 2.27158448e-02 8.65310563e+01] [-5.09761575e-02 -4.35868202e-04 9.98699775e-01 -2.39882825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.88, Y:86.56, Z:-2.40 [[ 8.96328364e-01 -4.41036359e-01 4.56332448e-02 5.02876230e+02] [ 4.40450652e-01 8.97489196e-01 2.27236772e-02 8.65619527e+01] [-5.09773121e-02 -2.68683949e-04 9.98699775e-01 -2.40331565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.92, Y:86.60, Z:-2.41 [[ 8.93538963e-01 -4.46661042e-01 4.56293311e-02 5.02924253e+02] [ 4.46082241e-01 8.94703253e-01 2.27315333e-02 8.65954560e+01] [-5.09780013e-02 4.29236071e-05 9.98699775e-01 -2.40669737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.505336195 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:502.98, Y:86.62, Z:-2.41 [[ 8.90419878e-01 -4.52847449e-01 4.56248749e-02 5.02975355e+02] [ 4.52276279e-01 8.91587931e-01 2.27404738e-02 8.66226019e+01] [-5.09765534e-02 3.86478789e-04 9.98699776e-01 -2.40864580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.565336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:503.03, Y:86.65, Z:-2.41 [[ 8.88975540e-01 -4.55676404e-01 4.56234993e-02 5.03027770e+02] [ 4.55108809e-01 8.90145335e-01 2.27432334e-02 8.66499196e+01] [-5.09750998e-02 5.45478209e-04 9.98699776e-01 -2.40854186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.08, Y:86.68, Z:-2.41 [[ 8.88176285e-01 -4.57232697e-01 4.56195962e-02 5.03078942e+02] [ 4.56666750e-01 8.89346878e-01 2.27510597e-02 8.66772176e+01] [-5.09741738e-02 6.26001045e-04 9.98699776e-01 -2.41046134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.13, Y:86.70, Z:-2.41 [[ 8.88685203e-01 -4.56243209e-01 4.56151678e-02 5.03131041e+02] [ 4.55675503e-01 8.89854944e-01 2.27599350e-02 8.67041559e+01] [-5.09749484e-02 5.59297119e-04 9.98699776e-01 -2.41187080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.18, Y:86.73, Z:-2.42 [[ 8.90142232e-01 -4.53394332e-01 4.56112576e-02 5.03183801e+02] [ 4.52822481e-01 8.91309952e-01 2.27677684e-02 8.67272510e+01] [-5.09765450e-02 3.87250677e-04 9.98699776e-01 -2.41793102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.24, Y:86.75, Z:-2.42 [[ 8.91080221e-01 -4.51548201e-01 4.56098786e-02 5.03236144e+02] [ 4.50973789e-01 8.92246684e-01 2.27705307e-02 8.67524078e+01] [-5.09772551e-02 2.78490227e-04 9.98699776e-01 -2.41922151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.29, Y:86.77, Z:-2.42 [[ 8.91720656e-01 -4.50282596e-01 4.56054216e-02 5.03290202e+02] [ 4.49706072e-01 8.92886076e-01 2.27794537e-02 8.67735822e+01] [-5.09776375e-02 1.96125558e-04 9.98699776e-01 -2.42254562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.925336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:503.34, Y:86.79, Z:-2.42 [[ 8.92345024e-01 -4.49044197e-01 4.56033644e-02 5.03343980e+02] [ 4.48465845e-01 8.93509538e-01 2.27835714e-02 8.67949906e+01] [-5.09778716e-02 1.20744795e-04 9.98699776e-01 -2.42382136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.40, Y:86.82, Z:-2.43 [[ 8.92700831e-01 -4.48336891e-01 4.55988923e-02 5.03396329e+02] [ 4.47757160e-01 8.93864658e-01 2.27925182e-02 8.68196491e+01] [-5.09779651e-02 7.03305860e-05 9.98699776e-01 -2.42554469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.45, Y:86.84, Z:-2.43 [[ 8.94668103e-01 -4.44398630e-01 4.55943332e-02 5.03450966e+02] [ 4.43813311e-01 8.95829130e-01 2.28016347e-02 8.68396966e+01] [-5.09777471e-02 -1.64523314e-04 9.98699776e-01 -2.42734280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.50, Y:86.87, Z:-2.43 [[ 8.96097141e-01 -4.41510135e-01 4.55929243e-02 5.03504172e+02] [ 4.40920930e-01 8.97256201e-01 2.28044515e-02 8.68654488e+01] [-5.09769305e-02 -3.32129227e-04 9.98699776e-01 -2.42900035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.56, Y:86.89, Z:-2.43 [[ 8.98457854e-01 -4.36686528e-01 4.55890506e-02 5.03556036e+02] [ 4.36090708e-01 8.99613527e-01 2.28121930e-02 8.68904185e+01] [-5.09743039e-02 -6.14832575e-04 9.98699776e-01 -2.43149681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.2253361950001 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:503.61, Y:86.92, Z:-2.44 [[ 9.00439434e-01 -4.32586259e-01 4.55845870e-02 5.03607531e+02] [ 4.31984726e-01 9.01592144e-01 2.28211089e-02 8.69174895e+01] [-5.09708036e-02 -8.57181056e-04 9.98699776e-01 -2.43665057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.285336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:503.66, Y:86.95, Z:-2.44 [[ 9.01118473e-01 -4.31170447e-01 4.55800738e-02 5.03658721e+02] [ 4.30566647e-01 9.02269998e-01 2.28301195e-02 8.69472415e+01] [-5.09692059e-02 -9.47382877e-04 9.98699776e-01 -2.44073927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.3453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.71, Y:86.98, Z:-2.45 [[ 9.00753302e-01 -4.31933218e-01 4.55761263e-02 5.03708501e+02] [ 4.31329995e-01 9.01905129e-01 2.28379972e-02 8.69791322e+01] [-5.09698317e-02 -9.13051093e-04 9.98699776e-01 -2.44521230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.76, Y:87.01, Z:-2.45 [[ 8.99011002e-01 -4.35548383e-01 4.55721861e-02 5.03758614e+02] [ 4.34949393e-01 9.00165036e-01 2.28458570e-02 8.70069507e+01] [-5.09729646e-02 -7.17082150e-04 9.98699776e-01 -2.44864545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.4653361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.81, Y:87.04, Z:-2.45 [[ 8.94521395e-01 -4.44696275e-01 4.55707911e-02 5.03810752e+02] [ 4.44108947e-01 8.95681407e-01 2.28486392e-02 8.70350753e+01] [-5.09776151e-02 -2.00200517e-04 9.98699776e-01 -2.44721536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.86, Y:87.06, Z:-2.45 [[ 8.89722466e-01 -4.54221970e-01 4.55668198e-02 5.03862591e+02] [ 4.53646656e-01 8.90888483e-01 2.28565563e-02 8.70599195e+01] [-5.09769051e-02 3.35243762e-04 9.98699776e-01 -2.44814269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.92, Y:87.08, Z:-2.45 [[ 8.87156192e-01 -4.59214201e-01 4.55654295e-02 5.03915470e+02] [ 4.58645306e-01 8.88325354e-01 2.28593278e-02 8.70834659e+01] [-5.09742542e-02 6.18576104e-04 9.98699776e-01 -2.45016610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.97, Y:87.11, Z:-2.46 [[ 8.85151443e-01 -4.63067087e-01 4.55609017e-02 5.03969058e+02] [ 4.62502816e-01 8.86322844e-01 2.28683485e-02 8.71051105e+01] [-5.09712475e-02 8.30093683e-04 9.98699776e-01 -2.45501258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.02, Y:87.13, Z:-2.46 [[ 8.85052452e-01 -4.63256397e-01 4.55595084e-02 5.04023243e+02] [ 4.62692233e-01 8.86223904e-01 2.28711239e-02 8.71271171e+01] [-5.09711199e-02 8.37886385e-04 9.98699776e-01 -2.46083852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.765336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:504.08, Y:87.15, Z:-2.47 [[ 8.86116985e-01 -4.61217276e-01 4.55556138e-02 5.04079015e+02] [ 4.60650018e-01 8.87286942e-01 2.28788788e-02 8.71466578e+01] [-5.09730354e-02 7.11831177e-04 9.98699776e-01 -2.46587153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.825336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:504.13, Y:87.17, Z:-2.47 [[ 8.87702633e-01 -4.58158362e-01 4.55516372e-02 5.04132832e+02] [ 4.57586666e-01 8.88870428e-01 2.28867934e-02 8.71681845e+01] [-5.09752790e-02 5.27155063e-04 9.98699776e-01 -2.46921974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.885336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:504.19, Y:87.19, Z:-2.47 [[ 8.90876624e-01 -4.51955769e-01 4.55502332e-02 5.04187743e+02] [ 4.51375800e-01 8.92040332e-01 2.28895873e-02 8.71894057e+01] [-5.09777262e-02 1.68474732e-04 9.98699776e-01 -2.47409623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.24, Y:87.21, Z:-2.48 [[ 8.94139885e-01 -4.45465382e-01 4.55462460e-02 5.04241368e+02] [ 4.44876561e-01 8.95299139e-01 2.28975184e-02 8.72103481e+01] [-5.09775666e-02 -2.11127152e-04 9.98699776e-01 -2.47720641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.30, Y:87.23, Z:-2.48 [[ 8.95870659e-01 -4.41974467e-01 4.55448331e-02 5.04295507e+02] [ 4.41380987e-01 8.97027536e-01 2.29003285e-02 8.72339333e+01] [-5.09763299e-02 -4.13109070e-04 9.98699776e-01 -2.47873595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.35, Y:87.26, Z:-2.48 [[ 8.97366108e-01 -4.38930630e-01 4.55408616e-02 5.04348638e+02] [ 4.38332825e-01 8.98520755e-01 2.29082237e-02 8.72573053e+01] [-5.09745304e-02 -5.95009076e-04 9.98699776e-01 -2.48259149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.40, Y:87.28, Z:-2.49 [[ 8.97075320e-01 -4.39524776e-01 4.55394563e-02 5.04401988e+02] [ 4.38927594e-01 8.98230289e-01 2.29110170e-02 8.72778384e+01] [-5.09748786e-02 -5.64383891e-04 9.98699776e-01 -2.48663856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.185336195 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:504.46, Y:87.30, Z:-2.49 [[ 8.96572933e-01 -4.40548986e-01 4.55364256e-02 5.04455660e+02] [ 4.39952817e-01 8.97728427e-01 2.29170389e-02 8.73015114e+01] [-5.09754220e-02 -5.12918049e-04 9.98699776e-01 -2.48674179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.51, Y:87.32, Z:-2.49 [[ 8.95834425e-01 -4.42049177e-01 4.55324928e-02 5.04508094e+02] [ 4.41454547e-01 8.96990710e-01 2.29248503e-02 8.73244863e+01] [-5.09761342e-02 -4.36344099e-04 9.98699776e-01 -2.49160491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.56, Y:87.35, Z:-2.50 [[ 8.95095753e-01 -4.43543190e-01 4.55305511e-02 5.04563378e+02] [ 4.42950293e-01 8.96252929e-01 2.29287060e-02 8.73462085e+01] [-5.09767611e-02 -3.55616381e-04 9.98699776e-01 -2.49677333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.62, Y:87.37, Z:-2.50 [[ 8.95123558e-01 -4.43487441e-01 4.55269844e-02 5.04615968e+02] [ 4.42894112e-01 8.96280512e-01 2.29357857e-02 8.73704794e+01] [-5.09766818e-02 -3.66728781e-04 9.98699776e-01 -2.50010264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.67, Y:87.39, Z:-2.50 [[ 8.95862969e-01 -4.41992358e-01 4.55224783e-02 5.04670087e+02] [ 4.41396644e-01 8.97018697e-01 2.29447259e-02 8.73943689e+01] [-5.09759076e-02 -4.61861151e-04 9.98699776e-01 -2.50081714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.4853361950001 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:504.72, Y:87.42, Z:-2.50 [[ 8.96192344e-01 -4.41324542e-01 4.55184662e-02 5.04722837e+02] [ 4.40727563e-01 8.97347419e-01 2.29526824e-02 8.74179077e+01] [-5.09754602e-02 -5.08775575e-04 9.98699777e-01 -2.50389732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.78, Y:87.44, Z:-2.51 [[ 8.96066814e-01 -4.41579834e-01 4.55139055e-02 5.04776673e+02] [ 4.40982725e-01 8.97221821e-01 2.29617225e-02 8.74413093e+01] [-5.09755028e-02 -5.04391463e-04 9.98699777e-01 -2.50739889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.83, Y:87.47, Z:-2.51 [[ 8.95349479e-01 -4.43032907e-01 4.55099234e-02 5.04830806e+02] [ 4.42437272e-01 8.96505247e-01 2.29696124e-02 8.74653662e+01] [-5.09761792e-02 -4.30544135e-04 9.98699777e-01 -2.50908218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.665336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:504.88, Y:87.49, Z:-2.51 [[ 8.94780789e-01 -4.44180773e-01 4.55058375e-02 5.04882916e+02] [ 4.43586209e-01 8.95937108e-01 2.29777041e-02 8.74885621e+01] [-5.09766228e-02 -3.74246273e-04 9.98699777e-01 -2.51249262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.7253361950001 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:504.94, Y:87.51, Z:-2.51 [[ 8.94568069e-01 -4.44609237e-01 4.55038148e-02 5.04935889e+02] [ 4.44015022e-01 8.95724568e-01 2.29817091e-02 8.75130702e+01] [-5.09767650e-02 -3.54325809e-04 9.98699777e-01 -2.51394638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.99, Y:87.54, Z:-2.51 [[ 8.95669886e-01 -4.42385886e-01 4.54992636e-02 5.04989493e+02] [ 4.41788343e-01 8.96824669e-01 2.29907160e-02 8.75384912e+01] [-5.09756303e-02 -4.91047750e-04 9.98699777e-01 -2.51486897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.8453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.04, Y:87.56, Z:-2.52 [[ 8.96454365e-01 -4.40794453e-01 4.54952939e-02 5.05042588e+02] [ 4.40194461e-01 8.97607878e-01 2.29985688e-02 8.75639811e+01] [-5.09745758e-02 -5.90390933e-04 9.98699777e-01 -2.52159337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.09, Y:87.59, Z:-2.53 [[ 8.96329241e-01 -4.41049236e-01 4.54913526e-02 5.05094381e+02] [ 4.40449177e-01 8.97482718e-01 2.30063621e-02 8.75890117e+01] [-5.09746412e-02 -5.84646288e-04 9.98699777e-01 -2.52744393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.9653361950001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:505.15, Y:87.62, Z:-2.53 [[ 8.94902041e-01 -4.43938058e-01 4.54899655e-02 5.05145781e+02] [ 4.43341583e-01 8.96057376e-01 2.30091045e-02 8.76155067e+01] [-5.09762363e-02 -4.23301284e-04 9.98699777e-01 -2.52875649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.025336195 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:505.20, Y:87.64, Z:-2.53 [[ 8.94143733e-01 -4.45463870e-01 4.54854515e-02 5.05198566e+02] [ 4.44868913e-01 8.95299850e-01 2.30180245e-02 8.76392728e+01] [-5.09768162e-02 -3.46358984e-04 9.98699777e-01 -2.53031026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.25, Y:87.67, Z:-2.53 [[ 8.94252072e-01 -4.45246745e-01 4.54815197e-02 5.05251887e+02] [ 4.44651112e-01 8.95407841e-01 2.30257908e-02 8.76651054e+01] [-5.09766677e-02 -3.67452810e-04 9.98699777e-01 -2.53333632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.30, Y:87.69, Z:-2.54 [[ 8.95763961e-01 -4.42197587e-01 4.54776977e-02 5.05302822e+02] [ 4.41597637e-01 8.96917495e-01 2.30333370e-02 8.76920273e+01] [-5.09750287e-02 -5.49589356e-04 9.98699777e-01 -2.53939921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.35, Y:87.72, Z:-2.54 [[ 8.98931249e-01 -4.35722984e-01 4.54762687e-02 5.05352552e+02] [ 4.35114585e-01 9.00080348e-01 2.30361581e-02 8.77220520e+01] [-5.09696793e-02 -9.20534564e-04 9.98699777e-01 -2.54112089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.40, Y:87.75, Z:-2.54 [[ 9.01238504e-01 -4.30930933e-01 4.54718560e-02 5.05400363e+02] [ 4.30315985e-01 9.02384113e-01 2.30448652e-02 8.77524757e+01] [-5.09638257e-02 -1.20165331e-03 9.98699777e-01 -2.54473941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.45, Y:87.78, Z:-2.54 [[ 9.01451445e-01 -4.30485777e-01 4.54674512e-02 5.05451536e+02] [ 4.29869825e-01 9.02596514e-01 2.30535526e-02 8.77827345e+01] [-5.09629894e-02 -1.23657303e-03 9.98699777e-01 -2.54485461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.50, Y:87.81, Z:-2.55 [[ 8.99810504e-01 -4.33905681e-01 4.54633570e-02 5.05501605e+02] [ 4.33293675e-01 9.00957687e-01 2.30616238e-02 8.78124670e+01] [-5.09671305e-02 -1.05210629e-03 9.98699777e-01 -2.54763460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.55, Y:87.84, Z:-2.55 [[ 8.96648988e-01 -4.40402197e-01 4.54587377e-02 5.05551915e+02] [ 4.39798042e-01 8.97800325e-01 2.30707258e-02 8.78399076e+01] [-5.09732678e-02 -6.93679132e-04 9.98699777e-01 -2.55421523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.60, Y:87.87, Z:-2.56 [[ 8.94105286e-01 -4.45543903e-01 4.54573207e-02 5.05603622e+02] [ 4.44946227e-01 8.95260000e-01 2.30735174e-02 8.78662755e+01] [-5.09763859e-02 -4.04090515e-04 9.98699777e-01 -2.55779915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.66, Y:87.89, Z:-2.56 [[ 8.91690813e-01 -4.50357132e-01 4.54526954e-02 5.05655850e+02] [ 4.49765226e-01 8.92848494e-01 2.30826253e-02 8.78910922e+01] [-5.09777955e-02 -1.39523098e-04 9.98699777e-01 -2.56225144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.625336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:505.71, Y:87.92, Z:-2.56 [[ 8.90584811e-01 -4.52540469e-01 4.54512642e-02 5.05708102e+02] [ 4.51951257e-01 8.91743866e-01 2.30854429e-02 8.79164340e+01] [-5.09779833e-02 -1.77887903e-05 9.98699777e-01 -2.56361484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.76, Y:87.94, Z:-2.57 [[ 8.90899378e-01 -4.51921338e-01 4.54467039e-02 5.05761549e+02] [ 4.51330862e-01 8.92057790e-01 2.30944171e-02 8.79419473e+01] [-5.09779461e-02 -6.33017896e-05 9.98699777e-01 -2.56529275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.82, Y:87.97, Z:-2.57 [[ 8.92738046e-01 -4.48278641e-01 4.54427300e-02 5.05815547e+02] [ 4.47683041e-01 8.93893831e-01 2.31022338e-02 8.79663676e+01] [-5.09772140e-02 -2.80303460e-04 9.98699777e-01 -2.56608773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.87, Y:87.99, Z:-2.57 [[ 8.94915258e-01 -4.43916660e-01 4.54387436e-02 5.05865368e+02] [ 4.43315029e-01 8.96067916e-01 2.31100718e-02 8.79931982e+01] [-5.09751462e-02 -5.37877904e-04 9.98699777e-01 -2.56912283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.92, Y:88.02, Z:-2.57 [[ 8.98723735e-01 -4.36154957e-01 4.54367795e-02 5.05918065e+02] [ 4.35543177e-01 8.99871039e-01 2.31139327e-02 8.80203174e+01] [-5.09684983e-02 -9.83360610e-04 9.98699777e-01 -2.57002979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.97, Y:88.05, Z:-2.58 [[ 9.01076247e-01 -4.31274219e-01 4.54328599e-02 5.05968863e+02] [ 4.30655838e-01 9.02220006e-01 2.31216345e-02 8.80484481e+01] [-5.09622000e-02 -1.26842930e-03 9.98699777e-01 -2.57616350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.02, Y:88.08, Z:-2.58 [[ 9.03707087e-01 -4.25734124e-01 4.54307971e-02 5.06019266e+02] [ 4.25108529e-01 9.04846916e-01 2.31256870e-02 8.80766477e+01] [-5.09533107e-02 -1.58582783e-03 9.98699777e-01 -2.58167107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.07, Y:88.11, Z:-2.58 [[ 9.05054251e-01 -4.22862824e-01 4.54294487e-02 5.06068250e+02] [ 4.22233481e-01 9.06192015e-01 2.31283355e-02 8.81082171e+01] [-5.09479170e-02 -1.75056411e-03 9.98699777e-01 -2.58423371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.12, Y:88.14, Z:-2.58 [[ 9.05368783e-01 -4.22189442e-01 4.54251282e-02 5.06119479e+02] [ 4.21558828e-01 9.06505842e-01 2.31368182e-02 8.81380083e+01] [-5.09462644e-02 -1.79798917e-03 9.98699777e-01 -2.58450950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.17, Y:88.17, Z:-2.59 [[ 9.05272450e-01 -4.22396358e-01 4.54214520e-02 5.06166692e+02] [ 4.21765643e-01 9.06409453e-01 2.31440330e-02 8.81720855e+01] [-5.09463887e-02 -1.79444757e-03 9.98699777e-01 -2.58732608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.22, Y:88.20, Z:-2.59 [[ 9.04689336e-01 -4.23644323e-01 4.54168835e-02 5.06215632e+02] [ 4.23014726e-01 9.05826959e-01 2.31529944e-02 8.82029783e+01] [-5.09484721e-02 -1.73425660e-03 9.98699777e-01 -2.59123637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.26, Y:88.24, Z:-2.60 [[ 9.03335871e-01 -4.26523171e-01 4.54124207e-02 5.06262774e+02] [ 4.25896762e-01 9.04475252e-01 2.31617446e-02 8.82374695e+01] [-5.09534314e-02 -1.58183184e-03 9.98699778e-01 -2.59518243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.3453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.31, Y:88.27, Z:-2.60 [[ 9.00640832e-01 -4.32185393e-01 4.54078998e-02 5.06312339e+02] [ 4.31565702e-01 9.01783881e-01 2.31706042e-02 8.82678567e+01] [-5.09621088e-02 -1.27190013e-03 9.98699778e-01 -2.59948004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.36, Y:88.30, Z:-2.60 [[ 8.97966713e-01 -4.37714879e-01 4.54033837e-02 5.06362587e+02] [ 4.37101780e-01 8.99113312e-01 2.31794502e-02 8.82978101e+01] [-5.09687769e-02 -9.68474850e-04 9.98699778e-01 -2.60324002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.4653361950001 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:506.41, Y:88.33, Z:-2.61 [[ 8.93837808e-01 -4.46086044e-01 4.54005951e-02 5.06412452e+02] [ 4.45483408e-01 8.94989940e-01 2.31849109e-02 8.83268267e+01] [-5.09755411e-02 -4.98338060e-04 9.98699778e-01 -2.60507503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.525336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:506.46, Y:88.35, Z:-2.61 [[ 8.91833633e-01 -4.50079957e-01 4.53960697e-02 5.06464870e+02] [ 4.49482030e-01 8.92988216e-01 2.31937682e-02 8.83524821e+01] [-5.09772055e-02 -2.80264983e-04 9.98699778e-01 -2.60875923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.51, Y:88.38, Z:-2.61 [[ 8.92427386e-01 -4.48901917e-01 4.53919626e-02 5.06514584e+02] [ 4.48302058e-01 8.93580965e-01 2.32018033e-02 8.83814549e+01] [-5.09767278e-02 -3.56614451e-04 9.98699778e-01 -2.61406143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.56, Y:88.41, Z:-2.61 [[ 8.95156454e-01 -4.43435104e-01 4.53897777e-02 5.06564542e+02] [ 4.42827984e-01 8.96306228e-01 2.32060770e-02 8.84133732e+01] [-5.09735296e-02 -6.73205892e-04 9.98699778e-01 -2.61485504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.705336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:506.61, Y:88.44, Z:-2.62 [[ 8.96769303e-01 -4.40164683e-01 4.53857840e-02 5.06614206e+02] [ 4.39552975e-01 8.97916643e-01 2.32138851e-02 8.84425852e+01] [-5.09705832e-02 -8.68043191e-04 9.98699778e-01 -2.61868973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.66, Y:88.47, Z:-2.62 [[ 8.97822244e-01 -4.38013429e-01 4.53812042e-02 5.06663077e+02] [ 4.37398519e-01 8.98967872e-01 2.32228348e-02 8.84717831e+01] [-5.09681581e-02 -1.00030621e-03 9.98699778e-01 -2.62455489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.825336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:506.71, Y:88.50, Z:-2.63 [[ 8.98219596e-01 -4.37198338e-01 4.53780907e-02 5.06712968e+02] [ 4.36582081e-01 8.99364500e-01 2.32289170e-02 8.85013293e+01] [-5.09670878e-02 -1.05340720e-03 9.98699778e-01 -2.62551507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.76, Y:88.53, Z:-2.63 [[ 8.98446397e-01 -4.36732553e-01 4.53734387e-02 5.06761934e+02] [ 4.36115245e-01 8.99590734e-01 2.32380004e-02 8.85330998e+01] [-5.09663162e-02 -1.09004940e-03 9.98699778e-01 -2.62962390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.81, Y:88.56, Z:-2.63 [[ 8.98392408e-01 -4.36843751e-01 4.53720019e-02 5.06810065e+02] [ 4.36226442e-01 8.99536745e-01 2.32408053e-02 8.85627673e+01] [-5.09663835e-02 -1.08689609e-03 9.98699778e-01 -2.63372991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.86, Y:88.59, Z:-2.64 [[ 8.97299401e-01 -4.39084777e-01 4.53689631e-02 5.06859261e+02] [ 4.38470027e-01 8.98445115e-01 2.32467359e-02 8.85946248e+01] [-5.09688111e-02 -9.66351730e-04 9.98699778e-01 -2.63626825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.91, Y:88.62, Z:-2.64 [[ 8.96364790e-01 -4.40990054e-01 4.53644807e-02 5.06909994e+02] [ 4.40377297e-01 8.97511570e-01 2.32554798e-02 8.86225513e+01] [-5.09705816e-02 -8.67905860e-04 9.98699778e-01 -2.63865320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.125336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:506.96, Y:88.65, Z:-2.64 [[ 8.94947887e-01 -4.43858943e-01 4.53598694e-02 5.06958920e+02] [ 4.43249407e-01 8.96096383e-01 2.32644707e-02 8.86534600e+01] [-5.09729583e-02 -7.14753701e-04 9.98699778e-01 -2.64263663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.01, Y:88.68, Z:-2.65 [[ 8.94096628e-01 -4.45571678e-01 4.53552527e-02 5.07008137e+02] [ 4.44963886e-01 8.95246048e-01 2.32734677e-02 8.86844081e+01] [-5.09741088e-02 -6.27279477e-04 9.98699778e-01 -2.64761789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.06, Y:88.71, Z:-2.65 [[ 8.93569951e-01 -4.46627107e-01 4.53538286e-02 5.07058457e+02] [ 4.46020532e-01 8.94720013e-01 2.32762425e-02 8.87122769e+01] [-5.09747790e-02 -5.70212114e-04 9.98699778e-01 -2.64918295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.11, Y:88.74, Z:-2.65 [[ 8.94147952e-01 -4.45469277e-01 4.53493420e-02 5.07108590e+02] [ 4.44860769e-01 8.95296993e-01 2.32849805e-02 8.87442620e+01] [-5.09738730e-02 -6.46074516e-04 9.98699778e-01 -2.64847803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.16, Y:88.77, Z:-2.65 [[ 8.95122320e-01 -4.43508539e-01 4.53454308e-02 5.07159028e+02] [ 4.42897128e-01 8.96269819e-01 2.32925949e-02 8.87739064e+01] [-5.09722057e-02 -7.66360483e-04 9.98699778e-01 -2.64908555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.21, Y:88.80, Z:-2.65 [[ 8.96076010e-01 -4.41578919e-01 4.53413900e-02 5.07208243e+02] [ 4.40964640e-01 8.97221976e-01 2.33004580e-02 8.88035376e+01] [-5.09702826e-02 -8.85031719e-04 9.98699778e-01 -2.65415358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.26, Y:88.83, Z:-2.66 [[ 8.95778869e-01 -4.42181530e-01 4.53399616e-02 5.07259244e+02] [ 4.41567882e-01 8.96925173e-01 2.33032372e-02 8.88318534e+01] [-5.09708139e-02 -8.53876649e-04 9.98699778e-01 -2.65692120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.31, Y:88.86, Z:-2.66 [[ 8.94884019e-01 -4.43990205e-01 4.53353116e-02 5.07309016e+02] [ 4.43378415e-01 8.96031316e-01 2.33122799e-02 8.88611686e+01] [-5.09722829e-02 -7.61088126e-04 9.98699778e-01 -2.66203651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.6053361950001 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:507.36, Y:88.89, Z:-2.67 [[ 8.94015475e-01 -4.45736660e-01 4.53338775e-02 5.07360101e+02] [ 4.45126970e-01 8.95163889e-01 2.33150684e-02 8.88886163e+01] [-5.09736308e-02 -6.64700341e-04 9.98699778e-01 -2.66788718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.41, Y:88.92, Z:-2.67 [[ 8.92600394e-01 -4.48563823e-01 4.53324762e-02 5.07412027e+02] [ 4.47957633e-01 8.93750659e-01 2.33177928e-02 8.89167213e+01] [-5.09754487e-02 -5.06442294e-04 9.98699778e-01 -2.67432890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.46, Y:88.94, Z:-2.68 [[ 8.92118550e-01 -4.49521727e-01 4.53289054e-02 5.07463172e+02] [ 4.48916419e-01 8.93269279e-01 2.33247321e-02 8.89439346e+01] [-5.09758925e-02 -4.59536243e-04 9.98699778e-01 -2.67680151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.51, Y:88.97, Z:-2.68 [[ 8.92540818e-01 -4.48683159e-01 4.53245018e-02 5.07514654e+02] [ 4.48076336e-01 8.93690749e-01 2.33332860e-02 8.89718151e+01] [-5.09753405e-02 -5.17073460e-04 9.98699778e-01 -2.67635536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.8453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.56, Y:89.00, Z:-2.68 [[ 8.94078772e-01 -4.45611042e-01 4.53205106e-02 5.07564868e+02] [ 4.44999874e-01 8.95226400e-01 2.33410356e-02 8.90013783e+01] [-5.09731408e-02 -7.01102948e-04 9.98699778e-01 -2.67821790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.61, Y:89.03, Z:-2.68 [[ 8.95452905e-01 -4.42843719e-01 4.53159444e-02 5.07614933e+02] [ 4.42228557e-01 8.96598397e-01 2.33498975e-02 8.90309514e+01] [-5.09705585e-02 -8.68728845e-04 9.98699778e-01 -2.67947657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.9653361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.67, Y:89.06, Z:-2.68 [[ 8.97072894e-01 -4.39552972e-01 4.53145365e-02 5.07665686e+02] [ 4.38933471e-01 8.98216045e-01 2.33526293e-02 8.90607541e+01] [-5.09669614e-02 -1.05894395e-03 9.98699778e-01 -2.68198762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.025336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:507.72, Y:89.09, Z:-2.69 [[ 8.97484125e-01 -4.38713106e-01 4.53106577e-02 5.07716456e+02] [ 4.38092155e-01 8.98626489e-01 2.33601529e-02 8.90895610e+01] [-5.09657625e-02 -1.11512269e-03 9.98699778e-01 -2.68557117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.085336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:507.77, Y:89.12, Z:-2.69 [[ 8.97039668e-01 -4.39621637e-01 4.53061952e-02 5.07765305e+02] [ 4.39001406e-01 8.98182423e-01 2.33688046e-02 8.91223081e+01] [-5.09666603e-02 -1.07326128e-03 9.98699779e-01 -2.69070644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.82, Y:89.15, Z:-2.70 [[ 8.96097376e-01 -4.41539587e-01 4.53021729e-02 5.07815573e+02] [ 4.40921408e-01 8.97241242e-01 2.33765995e-02 8.91519540e+01] [-5.09686720e-02 -9.73011565e-04 9.98699779e-01 -2.69581444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.87, Y:89.18, Z:-2.70 [[ 8.94797544e-01 -4.44168251e-01 4.52981227e-02 5.07865886e+02] [ 4.43553036e-01 8.95943007e-01 2.33844452e-02 8.91807995e+01] [-5.09711644e-02 -8.32224262e-04 9.98699779e-01 -2.69940675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.92, Y:89.21, Z:-2.70 [[ 8.94000003e-01 -4.45771799e-01 4.52934626e-02 5.07916157e+02] [ 4.45158181e-01 8.95146323e-01 2.33934678e-02 8.92101697e+01] [-5.09724248e-02 -7.51004899e-04 9.98699779e-01 -2.70027197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.97, Y:89.24, Z:-2.70 [[ 8.93617999e-01 -4.46537237e-01 4.52920284e-02 5.07966724e+02] [ 4.45924460e-01 8.94764769e-01 2.33962443e-02 8.92374605e+01] [-5.09730056e-02 -7.10481672e-04 9.98699779e-01 -2.70076043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.02, Y:89.27, Z:-2.70 [[ 8.93643424e-01 -4.46486494e-01 4.52906307e-02 5.08016706e+02] [ 4.45873515e-01 8.94790086e-01 2.33989498e-02 8.92666968e+01] [-5.09729223e-02 -7.16424886e-04 9.98699779e-01 -2.70184842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.07, Y:89.30, Z:-2.70 [[ 8.94766708e-01 -4.44231591e-01 4.52861045e-02 5.08066550e+02] [ 4.43615279e-01 8.95911582e-01 2.34077063e-02 8.92954911e+01] [-5.09707882e-02 -8.54828404e-04 9.98699779e-01 -2.70290670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.12, Y:89.33, Z:-2.71 [[ 8.97849390e-01 -4.37968109e-01 4.52814410e-02 5.08115987e+02] [ 4.37343358e-01 8.98989680e-01 2.34167243e-02 8.93260459e+01] [-5.09633266e-02 -1.22115418e-03 9.98699779e-01 -2.70507006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.565336195 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:508.17, Y:89.36, Z:-2.71 [[ 8.99185423e-01 -4.35218678e-01 4.52800009e-02 5.08167025e+02] [ 4.34590300e-01 9.00323718e-01 2.34195086e-02 8.93550073e+01] [-5.09592663e-02 -1.38023156e-03 9.98699779e-01 -2.71072880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.21, Y:89.39, Z:-2.71 [[ 8.99786145e-01 -4.33975796e-01 4.52758478e-02 5.08214967e+02] [ 4.33345443e-01 9.00923347e-01 2.34275349e-02 8.93873986e+01] [-5.09570515e-02 -1.45968896e-03 9.98699779e-01 -2.71400736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.27, Y:89.42, Z:-2.72 [[ 8.99524447e-01 -4.34518124e-01 4.52743743e-02 5.08265683e+02] [ 4.33888313e-01 9.00661950e-01 2.34303821e-02 8.94153269e+01] [-5.09578319e-02 -1.43217962e-03 9.98699779e-01 -2.71611766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.31, Y:89.45, Z:-2.72 [[ 8.97912700e-01 -4.37839513e-01 4.52696742e-02 5.08314545e+02] [ 4.37213454e-01 8.99052272e-01 2.34394597e-02 8.94468004e+01] [-5.09625250e-02 -1.25407797e-03 9.98699779e-01 -2.72144541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.37, Y:89.47, Z:-2.72 [[ 8.95291631e-01 -4.43174551e-01 4.52682249e-02 5.08365695e+02] [ 4.42555141e-01 8.96434832e-01 2.34422582e-02 8.94742186e+01] [-5.09690259e-02 -9.53971950e-04 9.98699779e-01 -2.72309161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.42, Y:89.50, Z:-2.73 [[ 8.93521745e-01 -4.46732689e-01 4.52636330e-02 5.08416945e+02] [ 4.46117383e-01 8.94667159e-01 2.34511212e-02 8.95039239e+01] [-5.09722684e-02 -7.61193173e-04 9.98699779e-01 -2.72564099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.47, Y:89.53, Z:-2.73 [[ 8.90946618e-01 -4.51846977e-01 4.52596310e-02 5.08467871e+02] [ 4.51237855e-01 8.92095332e-01 2.34588424e-02 8.95310578e+01] [-5.09757126e-02 -4.77717498e-04 9.98699779e-01 -2.72805921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.52, Y:89.56, Z:-2.73 [[ 8.90293265e-01 -4.53133406e-01 4.52550316e-02 5.08516989e+02] [ 4.52525493e-01 8.91442620e-01 2.34677119e-02 8.95597900e+01] [-5.09762682e-02 -4.14090416e-04 9.98699779e-01 -2.73206586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.57, Y:89.59, Z:-2.73 [[ 8.90201674e-01 -4.53313626e-01 4.52519221e-02 5.08568922e+02] [ 4.52705641e-01 8.91350990e-01 2.34737063e-02 8.95885186e+01] [-5.09762965e-02 -4.10532239e-04 9.98699779e-01 -2.73222992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.62, Y:89.62, Z:-2.73 [[ 8.90050168e-01 -4.53611436e-01 4.52477953e-02 5.08618614e+02] [ 4.53003431e-01 8.91199474e-01 2.34816584e-02 8.96175306e+01] [-5.09763602e-02 -4.02447498e-04 9.98699779e-01 -2.73412183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.67, Y:89.65, Z:-2.74 [[ 8.88399053e-01 -4.56836903e-01 4.52456160e-02 5.08670388e+02] [ 4.56232857e-01 8.89550445e-01 2.34858569e-02 8.96453101e+01] [-5.09774640e-02 -2.22276367e-04 9.98699779e-01 -2.74003624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.2253361950001 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:508.72, Y:89.67, Z:-2.75 [[ 8.86119577e-01 -4.61243200e-01 4.52416259e-02 5.08723122e+02] [ 4.60644487e-01 8.87273751e-01 2.34935405e-02 8.96706905e+01] [-5.09779430e-02 2.22194080e-05 9.98699779e-01 -2.74734268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.78, Y:89.70, Z:-2.75 [[ 8.83045801e-01 -4.67101350e-01 4.52376260e-02 5.08776348e+02] [ 4.66509899e-01 8.84203713e-01 2.35012401e-02 8.96962733e+01] [-5.09767378e-02 3.51128944e-04 9.98699779e-01 -2.75398999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.3453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.83, Y:89.72, Z:-2.76 [[ 8.81958736e-01 -4.69151018e-01 4.52339439e-02 5.08828369e+02] [ 4.68561895e-01 8.83117834e-01 2.35083250e-02 8.97214433e+01] [-5.09758572e-02 4.61529873e-04 9.98699779e-01 -2.75865121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.88, Y:89.75, Z:-2.76 [[ 8.82421531e-01 -4.68280106e-01 4.52325501e-02 5.08882616e+02] [ 4.67689701e-01 8.83579977e-01 2.35110065e-02 8.97450554e+01] [-5.09763122e-02 4.08179474e-04 9.98699779e-01 -2.75857276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.4653361950001 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:508.94, Y:89.77, Z:-2.76 [[ 8.83929015e-01 -4.65428707e-01 4.52284702e-02 5.08935575e+02] [ 4.64834164e-01 8.85085342e-01 2.35188525e-02 8.97693444e+01] [-5.09774051e-02 2.34741991e-04 9.98699779e-01 -2.75667126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.99, Y:89.79, Z:-2.76 [[ 8.85208481e-01 -4.62990779e-01 4.52270234e-02 5.08986625e+02] [ 4.62392909e-01 8.86363092e-01 2.35216344e-02 8.97941831e+01] [-5.09778641e-02 9.11046857e-05 9.98699779e-01 -2.76214012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.04, Y:89.82, Z:-2.77 [[ 8.87171174e-01 -4.59219019e-01 4.52238963e-02 5.09040108e+02] [ 4.58615934e-01 8.88323069e-01 2.35276451e-02 8.98173068e+01] [-5.09777725e-02 -1.32649062e-04 9.98699779e-01 -2.76768917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.09, Y:89.84, Z:-2.77 [[ 8.88748413e-01 -4.56159411e-01 4.52200270e-02 5.09091378e+02] [ 4.55551982e-01 8.89898023e-01 2.35350796e-02 8.98429568e+01] [-5.09769607e-02 -3.16691724e-04 9.98699779e-01 -2.77314972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.705336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:509.14, Y:89.87, Z:-2.77 [[ 8.91116168e-01 -4.51516610e-01 4.52186583e-02 5.09142422e+02] [ 4.50903058e-01 8.92262522e-01 2.35377089e-02 8.98712611e+01] [-5.09745807e-02 -5.85601610e-04 9.98699779e-01 -2.77465876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.19, Y:89.90, Z:-2.78 [[ 8.93649503e-01 -4.46482089e-01 4.52140478e-02 5.09192554e+02] [ 4.45861632e-01 8.94792135e-01 2.35465621e-02 8.98999655e+01] [-5.09702926e-02 -8.83164416e-04 9.98699779e-01 -2.77832556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.24, Y:89.93, Z:-2.78 [[ 8.94953935e-01 -4.43862098e-01 4.52094292e-02 5.09242135e+02] [ 4.43237849e-01 8.96094499e-01 2.35554265e-02 8.99281498e+01] [-5.09672818e-02 -1.04249147e-03 9.98699779e-01 -2.78453658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.885336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:509.29, Y:89.96, Z:-2.79 [[ 8.95509306e-01 -4.42740866e-01 4.52062950e-02 5.09290388e+02] [ 4.42114885e-01 8.96648921e-01 2.35614399e-02 8.99599930e+01] [-5.09657879e-02 -1.11311272e-03 9.98699779e-01 -2.78829345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.34, Y:89.99, Z:-2.79 [[ 8.93529064e-01 -4.46724306e-01 4.52018307e-02 5.09341413e+02] [ 4.46102974e-01 8.94671220e-01 2.35700014e-02 8.99899119e+01] [-5.09700695e-02 -8.95810251e-04 9.98699779e-01 -2.78768494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.005336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:509.39, Y:90.02, Z:-2.79 [[ 8.91187849e-01 -4.51377215e-01 4.51976455e-02 5.09392370e+02] [ 4.50761440e-01 8.92333010e-01 2.35780241e-02 9.00177345e+01] [-5.09739340e-02 -6.39092852e-04 9.98699780e-01 -2.79035636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.44, Y:90.05, Z:-2.80 [[ 8.87586738e-01 -4.58418028e-01 4.51961724e-02 5.09442644e+02] [ 4.57811194e-01 8.88736662e-01 2.35808475e-02 9.00456662e+01] [-5.09773811e-02 -2.38733881e-04 9.98699780e-01 -2.79528768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.50, Y:90.07, Z:-2.80 [[ 8.85243993e-01 -4.62926028e-01 4.51947376e-02 5.09495003e+02] [ 4.62324910e-01 8.86396916e-01 2.35835972e-02 9.00725701e+01] [-5.09779370e-02 1.74151870e-05 9.98699780e-01 -2.79656890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.55, Y:90.10, Z:-2.80 [[ 8.82353116e-01 -4.68413029e-01 4.51908515e-02 5.09545355e+02] [ 4.67818698e-01 8.83509552e-01 2.35910414e-02 9.00990832e+01] [-5.09769001e-02 3.25496410e-04 9.98699780e-01 -2.79951227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.60, Y:90.13, Z:-2.80 [[ 8.81026182e-01 -4.70904265e-01 4.51889387e-02 5.09597813e+02] [ 4.70313017e-01 8.82184196e-01 2.35947048e-02 9.01260798e+01] [-5.09758147e-02 4.65393385e-04 9.98699780e-01 -2.79989958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.65, Y:90.15, Z:-2.80 [[ 8.80924139e-01 -4.71095507e-01 4.51850078e-02 5.09650146e+02] [ 4.70504123e-01 8.82082085e-01 2.36022302e-02 9.01509412e+01] [-5.09757905e-02 4.67958154e-04 9.98699780e-01 -2.80310559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.70, Y:90.18, Z:-2.81 [[ 8.82051997e-01 -4.68980805e-01 4.51805088e-02 5.09702581e+02] [ 4.68386205e-01 8.83208294e-01 2.36108393e-02 9.01775797e+01] [-5.09768306e-02 3.35939047e-04 9.98699780e-01 -2.80810391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.75, Y:90.20, Z:-2.81 [[ 8.83130903e-01 -4.66946339e-01 4.51766042e-02 5.09754017e+02] [ 4.66348692e-01 8.84285628e-01 2.36183080e-02 9.02042936e+01] [-5.09775043e-02 2.09992632e-04 9.98699780e-01 -2.81143808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.81, Y:90.23, Z:-2.81 [[ 8.85333032e-01 -4.62757935e-01 4.51720668e-02 5.09805549e+02] [ 4.62154383e-01 8.86484682e-01 2.36269829e-02 9.02310398e+01] [-5.09779191e-02 -4.12797577e-05 9.98699780e-01 -2.81444392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.545336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:509.86, Y:90.26, Z:-2.82 [[ 8.87302755e-01 -4.58970280e-01 4.51674924e-02 5.09857235e+02] [ 4.58361367e-01 8.88451580e-01 2.36357246e-02 9.02569017e+01] [-5.09772251e-02 -2.69009988e-04 9.98699780e-01 -2.81636426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.91, Y:90.28, Z:-2.82 [[ 8.87680703e-01 -4.58239339e-01 4.51627960e-02 5.09907911e+02] [ 4.57629023e-01 8.88828783e-01 2.36446950e-02 9.02839723e+01] [-5.09769224e-02 -3.21133202e-04 9.98699780e-01 -2.81959096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.96, Y:90.31, Z:-2.82 [[ 8.87714957e-01 -4.58173435e-01 4.51581364e-02 5.09957866e+02] [ 4.57562582e-01 8.88862751e-01 2.36535908e-02 9.03127226e+01] [-5.09768324e-02 -3.34972839e-04 9.98699780e-01 -2.82094732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.01, Y:90.34, Z:-2.82 [[ 8.86948567e-01 -4.59655428e-01 4.51567037e-02 5.10008464e+02] [ 4.59046353e-01 8.88097305e-01 2.36563257e-02 9.03402834e+01] [-5.09773054e-02 -2.52924008e-04 9.98699780e-01 -2.82174742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.06, Y:90.37, Z:-2.83 [[ 8.85495487e-01 -4.62448959e-01 4.51519870e-02 5.10060351e+02] [ 4.61843050e-01 8.86645899e-01 2.36653249e-02 9.03673070e+01] [-5.09778289e-02 -1.02407012e-04 9.98699780e-01 -2.82839879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.8453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.11, Y:90.40, Z:-2.83 [[ 8.84568124e-01 -4.64220749e-01 4.51478751e-02 5.10109115e+02] [ 4.63616743e-01 8.85719536e-01 2.36731668e-02 9.03965004e+01] [-5.09779302e-02 -9.21788929e-06 9.98699780e-01 -2.83167605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.16, Y:90.43, Z:-2.83 [[ 8.84095509e-01 -4.65120398e-01 4.51458419e-02 5.10159978e+02] [ 4.64517366e-01 8.85247431e-01 2.36770436e-02 9.04255875e+01] [-5.09779165e-02 3.82597019e-05 9.98699780e-01 -2.83197964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.9653361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.21, Y:90.45, Z:-2.83 [[ 8.82813599e-01 -4.67549320e-01 4.51418219e-02 5.10210280e+02] [ 4.66949065e-01 8.83966971e-01 2.36847055e-02 9.04545910e+01] [-5.09776475e-02 1.69751408e-04 9.98699780e-01 -2.83365614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.26, Y:90.48, Z:-2.84 [[ 8.81718111e-01 -4.69612406e-01 4.51371324e-02 5.10261443e+02] [ 4.69014393e-01 8.82872647e-01 2.36936392e-02 9.04806466e+01] [-5.09771664e-02 2.78853897e-04 9.98699780e-01 -2.83725108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.31, Y:90.51, Z:-2.84 [[ 8.79391825e-01 -4.73954416e-01 4.51356884e-02 5.10313795e+02] [ 4.73361962e-01 8.80549223e-01 2.36963897e-02 9.05068340e+01] [-5.09752038e-02 5.27106681e-04 9.98699780e-01 -2.83535472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.37, Y:90.53, Z:-2.84 [[ 8.76988545e-01 -4.78386864e-01 4.51342402e-02 5.10367505e+02] [ 4.77800118e-01 8.78148847e-01 2.36991477e-02 9.05300482e+01] [-5.09719419e-02 7.81264227e-04 9.98699780e-01 -2.83924013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.205336195 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:510.42, Y:90.55, Z:-2.84 [[ 8.75868980e-01 -4.80433964e-01 4.51302195e-02 5.10420522e+02] [ 4.79849535e-01 8.77030451e-01 2.37068018e-02 9.05531477e+01] [-5.09701295e-02 8.91662574e-04 9.98699780e-01 -2.84286821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.48, Y:90.57, Z:-2.84 [[ 8.75884207e-01 -4.80406640e-01 4.51255564e-02 5.10475619e+02] [ 4.79821718e-01 8.77045430e-01 2.37156745e-02 9.05749671e+01] [-5.09703306e-02 8.80037223e-04 9.98699780e-01 -2.84205096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.53, Y:90.60, Z:-2.85 [[ 8.75952123e-01 -4.80283178e-01 4.51214693e-02 5.10528635e+02] [ 4.79697692e-01 8.77113061e-01 2.37234482e-02 9.05982547e+01] [-5.09706032e-02 8.64059872e-04 9.98699780e-01 -2.84957372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.385336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:510.58, Y:90.62, Z:-2.85 [[ 8.76507984e-01 -4.79268139e-01 4.51198983e-02 5.10584489e+02] [ 4.78681155e-01 8.77668165e-01 2.37264357e-02 9.06183804e+01] [-5.09716231e-02 8.01634678e-04 9.98699780e-01 -2.85349378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.445336195 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:510.64, Y:90.64, Z:-2.86 [[ 8.77948098e-01 -4.76625328e-01 4.51157881e-02 5.10639534e+02] [ 4.76034450e-01 8.79106301e-01 2.37342486e-02 9.06385365e+01] [-5.09739177e-02 6.39230958e-04 9.98699780e-01 -2.85857206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.69, Y:90.66, Z:-2.86 [[ 8.79603333e-01 -4.73564051e-01 4.51117081e-02 5.10693343e+02] [ 4.72968744e-01 8.80759266e-01 2.37420011e-02 9.06604789e+01] [-5.09759131e-02 4.52884609e-04 9.98699780e-01 -2.86344694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.75, Y:90.68, Z:-2.87 [[ 8.82368881e-01 -4.68391097e-01 4.51102931e-02 5.10748109e+02] [ 4.67788875e-01 8.83521227e-01 2.37446892e-02 9.06825346e+01] [-5.09777025e-02 1.50518459e-04 9.98699780e-01 -2.86715121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.80, Y:90.71, Z:-2.87 [[ 8.85515974e-01 -4.62414191e-01 4.51062604e-02 5.10802395e+02] [ 4.61803802e-01 8.86664014e-01 2.37523475e-02 9.07054658e+01] [-5.09775205e-02 -2.02840580e-04 9.98699780e-01 -2.87190940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.85, Y:90.73, Z:-2.87 [[ 8.88472219e-01 -4.56708776e-01 4.51022082e-02 5.10854944e+02] [ 4.56090624e-01 8.89616099e-01 2.37600395e-02 9.07321668e+01] [-5.09750691e-02 -5.39440696e-04 9.98699780e-01 -2.87204367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.91, Y:90.76, Z:-2.88 [[ 8.89809454e-01 -4.54098339e-01 4.50980457e-02 5.10905386e+02] [ 4.53476431e-01 8.90951296e-01 2.37679375e-02 9.07575236e+01] [-5.09731432e-02 -6.98034686e-04 9.98699780e-01 -2.87659532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.96, Y:90.78, Z:-2.88 [[ 8.90782238e-01 -4.52187302e-01 4.50959845e-02 5.10957030e+02] [ 4.51562747e-01 8.91922634e-01 2.37718478e-02 9.07849300e+01] [-5.09714570e-02 -8.11873153e-04 9.98699780e-01 -2.87613983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.01, Y:90.81, Z:-2.88 [[ 8.90594668e-01 -4.52557024e-01 4.50918710e-02 5.11007956e+02] [ 4.51932548e-01 8.91735107e-01 2.37796480e-02 9.08130003e+01] [-5.09716511e-02 -7.99543540e-04 9.98699780e-01 -2.87974899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.06, Y:90.84, Z:-2.88 [[ 8.89575518e-01 -4.54557205e-01 4.50904136e-02 5.11057655e+02] [ 4.53935153e-01 8.90717280e-01 2.37824110e-02 9.08425954e+01] [-5.09732769e-02 -6.88126811e-04 9.98699780e-01 -2.88210324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.11, Y:90.87, Z:-2.89 [[ 8.87390757e-01 -4.58808158e-01 4.50856808e-02 5.11108663e+02] [ 4.58191120e-01 8.88535237e-01 2.37913800e-02 9.08701413e+01] [-5.09758953e-02 -4.54392104e-04 9.98699781e-01 -2.88586028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.16, Y:90.90, Z:-2.89 [[ 8.85199940e-01 -4.63021351e-01 4.50809766e-02 5.11159791e+02] [ 4.62409307e-01 8.86347099e-01 2.38002904e-02 9.08995700e+01] [-5.09774354e-02 -2.22152474e-04 9.98699781e-01 -2.88839330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.21, Y:90.93, Z:-2.89 [[ 8.81104191e-01 -4.70769029e-01 4.50768852e-02 5.11210496e+02] [ 4.70166676e-01 8.82256467e-01 2.38080368e-02 9.09270604e+01] [-5.09774599e-02 2.16288249e-04 9.98699781e-01 -2.89032608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.165336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:511.26, Y:90.95, Z:-2.89 [[ 8.77167381e-01 -4.78064420e-01 4.50754502e-02 5.11264401e+02] [ 4.77471509e-01 8.78324545e-01 2.38107533e-02 9.09500486e+01] [-5.09739483e-02 6.36227180e-04 9.98699781e-01 -2.89309330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.2253361950001 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:511.32, Y:90.97, Z:-2.90 [[ 8.75880543e-01 -4.80418407e-01 4.50713787e-02 5.11317035e+02] [ 4.79828210e-01 8.77039093e-01 2.38184579e-02 9.09742710e+01] [-5.09721866e-02 7.64395107e-04 9.98699781e-01 -2.89527897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.285336195 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:511.37, Y:91.00, Z:-2.90 [[ 8.76026205e-01 -4.80153181e-01 4.50667340e-02 5.11371165e+02] [ 4.79562182e-01 8.77184346e-01 2.38272428e-02 9.09983706e+01] [-5.09725600e-02 7.39012230e-04 9.98699781e-01 -2.89749939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.3453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.42, Y:91.02, Z:-2.90 [[ 8.77498340e-01 -4.77457879e-01 4.50625901e-02 5.11423925e+02] [ 4.76862920e-01 8.78654451e-01 2.38350773e-02 9.10234547e+01] [-5.09746908e-02 5.73437566e-04 9.98699781e-01 -2.89883447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.48, Y:91.05, Z:-2.90 [[ 8.81219319e-01 -4.70555255e-01 4.50584474e-02 5.11476588e+02] [ 4.69950839e-01 8.82370514e-01 2.38429061e-02 9.10475793e+01] [-5.09776502e-02 1.64425663e-04 9.98699781e-01 -2.90306801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.4653361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.53, Y:91.07, Z:-2.91 [[ 8.86098168e-01 -4.61302401e-01 4.50569866e-02 5.11527393e+02] [ 4.60685823e-01 8.87242896e-01 2.38456664e-02 9.10737384e+01] [-5.09765544e-02 -3.72486316e-04 9.98699781e-01 -2.90704966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.58, Y:91.10, Z:-2.91 [[ 8.87739673e-01 -4.58135807e-01 4.50539143e-02 5.11577910e+02] [ 4.57514852e-01 8.88882033e-01 2.38514697e-02 9.11014551e+01] [-5.09748272e-02 -5.61060948e-04 9.98699781e-01 -2.90829291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.63, Y:91.13, Z:-2.91 [[ 8.91784443e-01 -4.50212254e-01 4.50492284e-02 5.11629514e+02] [ 4.49580704e-01 8.92920980e-01 2.38603169e-02 9.11294271e+01] [-5.09676082e-02 -1.02499564e-03 9.98699781e-01 -2.91383944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.68, Y:91.16, Z:-2.92 [[ 8.93276994e-01 -4.47243947e-01 4.50451215e-02 5.11680912e+02] [ 4.46608231e-01 8.94411205e-01 2.38680676e-02 9.11587514e+01] [-5.09637102e-02 -1.20327366e-03 9.98699781e-01 -2.91808591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.73, Y:91.19, Z:-2.92 [[ 8.93266277e-01 -4.47265738e-01 4.50412874e-02 5.11730283e+02] [ 4.46629685e-01 8.94400299e-01 2.38753008e-02 9.11879299e+01] [-5.09635450e-02 -1.21022511e-03 9.98699781e-01 -2.92178713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.78, Y:91.22, Z:-2.93 [[ 8.91725251e-01 -4.50330424e-01 4.50398278e-02 5.11780019e+02] [ 4.49698129e-01 8.92861373e-01 2.38780539e-02 9.12161219e+01] [-5.09673366e-02 -1.03833729e-03 9.98699781e-01 -2.92742335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.825336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:511.83, Y:91.24, Z:-2.93 [[ 8.90441302e-01 -4.52864200e-01 4.50367032e-02 5.11831253e+02] [ 4.52234840e-01 8.91579052e-01 2.38839459e-02 9.12442091e+01] [-5.09699652e-02 -9.00085617e-04 9.98699781e-01 -2.93038244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.88, Y:91.27, Z:-2.93 [[ 8.89770909e-01 -4.54180344e-01 4.50327090e-02 5.11880760e+02] [ 4.53552286e-01 8.90909379e-01 2.38914744e-02 9.12743056e+01] [-5.09711009e-02 -8.33250771e-04 9.98699781e-01 -2.93445980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.93, Y:91.30, Z:-2.93 [[ 8.89308883e-01 -4.55084489e-01 4.50312998e-02 5.11930320e+02] [ 4.54457455e-01 8.90447917e-01 2.38941303e-02 9.13042372e+01] [-5.09718752e-02 -7.84452469e-04 9.98699781e-01 -2.93437497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.98, Y:91.33, Z:-2.93 [[ 8.88653534e-01 -4.56363340e-01 4.50266289e-02 5.11980609e+02] [ 4.55737500e-01 8.89793224e-01 2.39029289e-02 9.13346642e+01] [-5.09728098e-02 -7.21098985e-04 9.98699781e-01 -2.93478727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.065336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:512.03, Y:91.36, Z:-2.94 [[ 8.87346101e-01 -4.58900731e-01 4.50224065e-02 5.12029701e+02] [ 4.58277745e-01 8.88487354e-01 2.39108795e-02 9.13628567e+01] [-5.09745589e-02 -5.84458764e-04 9.98699781e-01 -2.93596493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.08, Y:91.39, Z:-2.94 [[ 8.85191586e-01 -4.63043342e-01 4.50190973e-02 5.12080308e+02] [ 4.62425381e-01 8.86335568e-01 2.39171084e-02 9.13908285e+01] [-5.09766849e-02 -3.53249896e-04 9.98699781e-01 -2.94364224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.13, Y:91.42, Z:-2.94 [[ 8.82968539e-01 -4.67268630e-01 4.50176288e-02 5.12132288e+02] [ 4.66656003e-01 8.84115385e-01 2.39198722e-02 9.14172394e+01] [-5.09777841e-02 -1.12747886e-04 9.98699781e-01 -2.94443832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.18, Y:91.44, Z:-2.95 [[ 8.82653032e-01 -4.67864790e-01 4.50129222e-02 5.12183421e+02] [ 4.67252486e-01 8.83800051e-01 2.39287258e-02 9.14443743e+01] [-5.09778312e-02 -8.83626108e-05 9.98699781e-01 -2.94741166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.23, Y:91.47, Z:-2.95 [[ 8.83337897e-01 -4.66570913e-01 4.50082525e-02 5.12233722e+02] [ 4.65956482e-01 8.84483778e-01 2.39375060e-02 9.14705951e+01] [-5.09776132e-02 -1.73019198e-04 9.98699781e-01 -2.95282011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.29, Y:91.50, Z:-2.95 [[ 8.84362039e-01 -4.64627084e-01 4.50050781e-02 5.12285569e+02] [ 4.64009830e-01 8.85506402e-01 2.39434726e-02 9.14983776e+01] [-5.09770707e-02 -2.91899610e-04 9.98699781e-01 -2.94979127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.34, Y:91.52, Z:-2.95 [[ 8.85405449e-01 -4.62636040e-01 4.50009546e-02 5.12337160e+02] [ 4.62015819e-01 8.86548206e-01 2.39512201e-02 9.15229972e+01] [-5.09762132e-02 -4.15387845e-04 9.98699781e-01 -2.95442355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.39, Y:91.55, Z:-2.96 [[ 8.86496556e-01 -4.60542094e-01 4.49981771e-02 5.12387845e+02] [ 4.59918909e-01 8.87637700e-01 2.39564373e-02 9.15509168e+01] [-5.09750262e-02 -5.41786583e-04 9.98699781e-01 -2.95683314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.44, Y:91.58, Z:-2.97 [[ 8.87604475e-01 -4.58403630e-01 4.49934142e-02 5.12437588e+02] [ 4.57777243e-01 8.88743865e-01 2.39653793e-02 9.15791906e+01] [-5.09734377e-02 -6.74816900e-04 9.98699781e-01 -2.96722661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.49, Y:91.61, Z:-2.97 [[ 8.87828817e-01 -4.57969123e-01 4.49919445e-02 5.12488230e+02] [ 4.57342038e-01 8.88967822e-01 2.39681382e-02 9.16072064e+01] [-5.09730581e-02 -7.02896168e-04 9.98699781e-01 -2.96614561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.54, Y:91.63, Z:-2.97 [[ 8.86787874e-01 -4.59981972e-01 4.49872389e-02 5.12539404e+02] [ 4.59357025e-01 8.87928054e-01 2.39769672e-02 9.16338099e+01] [-5.09744041e-02 -5.97279579e-04 9.98699781e-01 -2.97204701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.7253361950001 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:512.59, Y:91.66, Z:-2.97 [[ 8.85075759e-01 -4.63267936e-01 4.49857812e-02 5.12591932e+02] [ 4.62647083e-01 8.86218173e-01 2.39797018e-02 9.16602020e+01] [-5.09762438e-02 -4.11312385e-04 9.98699781e-01 -2.97218652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.64, Y:91.69, Z:-2.98 [[ 8.84125455e-01 -4.65079376e-01 4.49817160e-02 5.12643582e+02] [ 4.64460476e-01 8.85268928e-01 2.39873249e-02 9.16871827e+01] [-5.09769256e-02 -3.15575248e-04 9.98699781e-01 -2.97516834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.8453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.70, Y:91.71, Z:-2.98 [[ 8.83540839e-01 -4.66189496e-01 4.49770975e-02 5.12695699e+02] [ 4.65571592e-01 8.84684851e-01 2.39959817e-02 9.17124831e+01] [-5.09772314e-02 -2.61370990e-04 9.98699781e-01 -2.97662660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.905336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:512.75, Y:91.74, Z:-2.98 [[ 8.84078498e-01 -4.65169282e-01 4.49749670e-02 5.12746477e+02] [ 4.64549855e-01 8.85221686e-01 2.39999742e-02 9.17408779e+01] [-5.09768669e-02 -3.24746735e-04 9.98699782e-01 -2.97715648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.9653361950001 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:512.80, Y:91.77, Z:-2.98 [[ 8.86350511e-01 -4.60825833e-01 4.49702563e-02 5.12798846e+02] [ 4.60200357e-01 8.87490400e-01 2.40087977e-02 9.17680400e+01] [-5.09745449e-02 -5.84882083e-04 9.98699782e-01 -2.97912818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.85, Y:91.80, Z:-2.98 [[ 8.89057659e-01 -4.55581523e-01 4.49661457e-02 5.12848437e+02] [ 4.54948935e-01 8.90193617e-01 2.40164939e-02 9.17982622e+01] [-5.09700468e-02 -8.94747733e-04 9.98699782e-01 -2.98163239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.90, Y:91.83, Z:-2.98 [[ 8.91399343e-01 -4.50982691e-01 4.49646929e-02 5.12898117e+02] [ 4.50344106e-01 8.92531940e-01 2.40192137e-02 9.18308254e+01] [-5.09646742e-02 -1.16112687e-03 9.98699782e-01 -2.98310936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.95, Y:91.86, Z:-2.99 [[ 8.91894976e-01 -4.50001937e-01 4.49622960e-02 5.12947254e+02] [ 4.49361879e-01 8.93026743e-01 2.40236997e-02 9.18614402e+01] [-5.09632441e-02 -1.22227526e-03 9.98699782e-01 -2.99144495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.00, Y:91.89, Z:-3.00 [[ 8.91074980e-01 -4.51623705e-01 4.49600907e-02 5.12996629e+02] [ 4.50985500e-01 8.92207791e-01 2.40278260e-02 9.18931698e+01] [-5.09652791e-02 -1.13424557e-03 9.98699782e-01 -2.99518015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.05, Y:91.93, Z:-3.00 [[ 8.88756357e-01 -4.56170024e-01 4.49560542e-02 5.13045917e+02] [ 4.55537232e-01 8.89892202e-01 2.40353761e-02 9.19253682e+01] [-5.09702601e-02 -8.82436825e-04 9.98699782e-01 -2.99900590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.325336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:513.09, Y:91.95, Z:-3.00 [[ 8.87234008e-01 -4.59124332e-01 4.49517747e-02 5.13094397e+02] [ 4.58494918e-01 8.88371727e-01 2.40433771e-02 9.19541408e+01] [-5.09727852e-02 -7.21941594e-04 9.98699782e-01 -3.00459340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.385336195 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:513.14, Y:91.98, Z:-3.01 [[ 8.85856815e-01 -4.61776171e-01 4.49496602e-02 5.13143890e+02] [ 4.61149962e-01 8.86996301e-01 2.40473295e-02 9.19848467e+01] [-5.09746661e-02 -5.73956673e-04 9.98699782e-01 -3.00801041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.19, Y:92.01, Z:-3.01 [[ 8.83824859e-01 -4.65653908e-01 4.49450385e-02 5.13192564e+02] [ 4.65032260e-01 8.84966840e-01 2.40559644e-02 9.20143344e+01] [-5.09766226e-02 -3.60366508e-04 9.98699782e-01 -3.01281161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.24, Y:92.04, Z:-3.01 [[ 8.82633262e-01 -4.67908802e-01 4.49430386e-02 5.13243589e+02] [ 4.67289881e-01 8.83776724e-01 2.40597003e-02 9.20438364e+01] [-5.09773569e-02 -2.34464641e-04 9.98699782e-01 -3.01200625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.29, Y:92.07, Z:-3.01 [[ 8.80636699e-01 -4.71656091e-01 4.49392546e-02 5.13293728e+02] [ 4.71041675e-01 8.81782587e-01 2.40667660e-02 9.20724201e+01] [-5.09778890e-02 -2.58156735e-05 9.98699782e-01 -3.01410568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.34, Y:92.10, Z:-3.01 [[ 8.80544126e-01 -4.71829032e-01 4.49377996e-02 5.13344387e+02] [ 4.71214703e-01 8.81690061e-01 2.40694825e-02 9.21021996e+01] [-5.09778919e-02 -1.88895139e-05 9.98699782e-01 -3.01432836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.39, Y:92.13, Z:-3.02 [[ 8.81674677e-01 -4.69713451e-01 4.49337067e-02 5.13394919e+02] [ 4.69095983e-01 8.82818923e-01 2.40771208e-02 9.21313037e+01] [-5.09776741e-02 -1.49966456e-04 9.98699782e-01 -3.01573371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.45, Y:92.16, Z:-3.02 [[ 8.82303366e-01 -4.68531929e-01 4.49288490e-02 5.13446180e+02] [ 4.67912467e-01 8.83446535e-01 2.40861821e-02 9.21577155e+01] [-5.09773813e-02 -2.28550975e-04 9.98699782e-01 -3.02036597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.805336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:513.50, Y:92.18, Z:-3.02 [[ 8.82386856e-01 -4.68374892e-01 4.49265694e-02 5.13497864e+02] [ 4.67755010e-01 8.83529797e-01 2.40904333e-02 9.21849903e+01] [-5.09773168e-02 -2.42453813e-04 9.98699782e-01 -3.01930397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.55, Y:92.21, Z:-3.02 [[ 8.82278172e-01 -4.68579732e-01 4.49250677e-02 5.13548669e+02] [ 4.67959972e-01 8.83421179e-01 2.40932334e-02 9.22123860e+01] [-5.09773572e-02 -2.33800496e-04 9.98699782e-01 -3.02008187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.60, Y:92.24, Z:-3.02 [[ 8.83398611e-01 -4.66464110e-01 4.49235851e-02 5.13600448e+02] [ 4.65841473e-01 8.84540053e-01 2.40959976e-02 9.22385782e+01] [-5.09766284e-02 -3.59101760e-04 9.98699782e-01 -3.02260830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.65, Y:92.27, Z:-3.03 [[ 8.86325202e-01 -4.60879274e-01 4.49213956e-02 5.13651881e+02] [ 4.60249238e-01 8.87462577e-01 2.41000786e-02 9.22661294e+01] [-5.09732843e-02 -6.85468933e-04 9.98699782e-01 -3.02945640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.70, Y:92.30, Z:-3.03 [[ 8.90029947e-01 -4.53683939e-01 4.49174458e-02 5.13702686e+02] [ 4.53044338e-01 8.91161971e-01 2.41074381e-02 9.22968534e+01] [-5.09658770e-02 -1.10674738e-03 9.98699782e-01 -3.03138915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.75, Y:92.33, Z:-3.04 [[ 8.91813547e-01 -4.50168157e-01 4.49135542e-02 5.13751423e+02] [ 4.49523729e-01 8.92942831e-01 2.41146861e-02 9.23278089e+01] [-5.09609000e-02 -1.31609532e-03 9.98699782e-01 -3.03941135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.80, Y:92.36, Z:-3.04 [[ 8.91522179e-01 -4.50745063e-01 4.49120648e-02 5.13800787e+02] [ 4.50101227e-01 8.92651799e-01 2.41174598e-02 9.23585104e+01] [-5.09616613e-02 -1.28627482e-03 9.98699782e-01 -3.04161094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.85, Y:92.39, Z:-3.05 [[ 8.89257534e-01 -4.55196744e-01 4.49105963e-02 5.13851001e+02] [ 4.54558426e-01 8.90390282e-01 2.41201939e-02 9.23885800e+01] [-5.09673923e-02 -1.03457419e-03 9.98699782e-01 -3.04803392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.90, Y:92.42, Z:-3.05 [[ 8.87768843e-01 -4.58093748e-01 4.49065535e-02 5.13901253e+02] [ 4.57458746e-01 8.88903453e-01 2.41277185e-02 9.24185943e+01] [-5.09703475e-02 -8.76941113e-04 9.98699782e-01 -3.04869242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.3453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.95, Y:92.45, Z:-3.05 [[ 8.86940519e-01 -4.59695857e-01 4.49024933e-02 5.13950453e+02] [ 4.59062522e-01 8.88076060e-01 2.41352723e-02 9.24479246e+01] [-5.09717140e-02 -7.93499113e-04 9.98699782e-01 -3.05246036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.00, Y:92.48, Z:-3.06 [[ 8.85249249e-01 -4.62944722e-01 4.48993480e-02 5.14000000e+02] [ 4.62315258e-01 8.86386940e-01 2.41411222e-02 9.24784101e+01] [-5.09742008e-02 -6.13256656e-04 9.98699782e-01 -3.05523170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.05, Y:92.51, Z:-3.06 [[ 8.84237603e-01 -4.64874544e-01 4.48945492e-02 5.14051284e+02] [ 4.64247110e-01 8.85376415e-01 2.41500431e-02 9.25058802e+01] [-5.09753153e-02 -5.12211498e-04 9.98699782e-01 -3.05734336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.10, Y:92.54, Z:-3.06 [[ 8.83195647e-01 -4.66851219e-01 4.48930686e-02 5.14101936e+02] [ 4.66226194e-01 8.84335784e-01 2.41527951e-02 9.25361455e+01] [-5.09763088e-02 -4.01318972e-04 9.98699782e-01 -3.05888836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.585336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:514.15, Y:92.56, Z:-3.06 [[ 8.82377265e-01 -4.68396569e-01 4.48889360e-02 5.14152189e+02] [ 4.67773150e-01 8.83518280e-01 2.41604733e-02 9.25635623e+01] [-5.09768783e-02 -3.20813351e-04 9.98699782e-01 -3.06165852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.20, Y:92.59, Z:-3.06 [[ 8.81975930e-01 -4.69151974e-01 4.48874608e-02 5.14202007e+02] [ 4.68529394e-01 8.83117402e-01 2.41632137e-02 9.25933467e+01] [-5.09771172e-02 -2.80278092e-04 9.98699782e-01 -3.06170955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.25, Y:92.62, Z:-3.07 [[ 8.81353428e-01 -4.70320820e-01 4.48827410e-02 5.14253996e+02] [ 4.69699307e-01 8.82495482e-01 2.41719775e-02 9.26205292e+01] [-5.09774004e-02 -2.22662923e-04 9.98699782e-01 -3.06738498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.30, Y:92.65, Z:-3.07 [[ 8.81512007e-01 -4.70023923e-01 4.48786420e-02 5.14304767e+02] [ 4.69401638e-01 8.82653641e-01 2.41795854e-02 9.26500514e+01] [-5.09772804e-02 -2.48486764e-04 9.98699782e-01 -3.07182910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.35, Y:92.68, Z:-3.08 [[ 8.82130034e-01 -4.68863397e-01 4.48744606e-02 5.14354053e+02] [ 4.68239216e-01 8.83270632e-01 2.41873431e-02 9.26791452e+01] [-5.09768530e-02 -3.24399534e-04 9.98699782e-01 -3.07563604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.40, Y:92.71, Z:-3.08 [[ 8.82503417e-01 -4.68160399e-01 4.48726921e-02 5.14404597e+02] [ 4.67535142e-01 8.83643426e-01 2.41906235e-02 9.27070959e+01] [-5.09765514e-02 -3.68747423e-04 9.98699782e-01 -3.07850141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.945336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:514.46, Y:92.74, Z:-3.08 [[ 8.83374214e-01 -4.66515347e-01 4.48712588e-02 5.14455511e+02] [ 4.65887832e-01 8.84512981e-01 2.41932820e-02 9.27371332e+01] [-5.09757482e-02 -4.66747964e-04 9.98699782e-01 -3.08064029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.51, Y:92.77, Z:-3.08 [[ 8.85480089e-01 -4.62506155e-01 4.48672367e-02 5.14505008e+02] [ 4.61873107e-01 8.86615789e-01 2.42007387e-02 9.27689577e+01] [-5.09729911e-02 -7.06302190e-04 9.98699782e-01 -3.08349621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.55, Y:92.80, Z:-3.09 [[ 8.89458430e-01 -4.54808741e-01 4.48632460e-02 5.14552186e+02] [ 4.54165493e-01 8.90588385e-01 2.42081344e-02 9.28039716e+01] [-5.09647569e-02 -1.15679099e-03 9.98699782e-01 -3.08597369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.60, Y:92.84, Z:-3.09 [[ 8.91739611e-01 -4.50319756e-01 4.48618325e-02 5.14599939e+02] [ 4.49670690e-01 8.92866233e-01 2.42107537e-02 9.28381633e+01] [-5.09581961e-02 -1.41663693e-03 9.98699782e-01 -3.08937025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.65, Y:92.88, Z:-3.10 [[ 8.92902658e-01 -4.48009687e-01 4.48571433e-02 5.14645368e+02] [ 4.47357270e-01 8.94027344e-01 2.42194386e-02 9.28764284e+01] [-5.09540558e-02 -1.55843191e-03 9.98699782e-01 -3.09656821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.69, Y:92.91, Z:-3.10 [[ 8.90135993e-01 -4.53482214e-01 4.48530564e-02 5.14692287e+02] [ 4.52836332e-01 8.91264444e-01 2.42270048e-02 9.29111420e+01] [-5.09624502e-02 -1.25423545e-03 9.98699783e-01 -3.09890734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.74, Y:92.94, Z:-3.10 [[ 8.88308738e-01 -4.57051667e-01 4.48481873e-02 5.14741526e+02] [ 4.56409866e-01 8.89439514e-01 2.42360151e-02 9.29404502e+01] [-5.09668610e-02 -1.05990889e-03 9.98699783e-01 -3.10274949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.79, Y:92.97, Z:-3.10 [[ 8.81292613e-01 -4.70438205e-01 4.48466884e-02 5.14789913e+02] [ 4.69813443e-01 8.82432892e-01 2.42387884e-02 9.29729634e+01] [-5.09770451e-02 -2.91888115e-04 9.98699783e-01 -3.10282417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.84, Y:93.00, Z:-3.10 [[ 8.75961253e-01 -4.80292466e-01 4.48445220e-02 5.14840315e+02] [ 4.79680326e-01 8.77108358e-01 2.42427958e-02 9.30027999e+01] [-5.09771372e-02 2.75285117e-04 9.98699783e-01 -3.10349173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.89, Y:93.03, Z:-3.11 [[ 8.69632037e-01 -4.91659893e-01 4.48404856e-02 5.14891664e+02] [ 4.91062360e-01 8.70786819e-01 2.42502593e-02 9.30292896e+01] [-5.09693837e-02 9.30672263e-04 9.98699783e-01 -3.10642502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.545336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:514.94, Y:93.06, Z:-3.11 [[ 8.66309609e-01 -4.97491110e-01 4.48358976e-02 5.14944708e+02] [ 4.96900910e-01 8.67468155e-01 2.42587391e-02 9.30551299e+01] [-5.09622204e-02 1.26341955e-03 9.98699783e-01 -3.11106452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.00, Y:93.08, Z:-3.11 [[ 8.65178195e-01 -4.99456515e-01 4.48316992e-02 5.14996643e+02] [ 4.98868545e-01 8.66337874e-01 2.42664955e-02 9.30795201e+01] [-5.09594583e-02 1.37028180e-03 9.98699783e-01 -3.11471259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.05, Y:93.10, Z:-3.12 [[ 8.64296499e-01 -5.00980852e-01 4.48302184e-02 5.15052096e+02] [ 5.00394785e-01 8.65457141e-01 2.42692308e-02 9.30997986e+01] [-5.09570526e-02 1.45699630e-03 9.98699783e-01 -3.11594251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.7253361950001 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:515.11, Y:93.12, Z:-3.12 [[ 8.66166021e-01 -4.97741939e-01 4.48261703e-02 5.15107151e+02] [ 4.97151145e-01 8.67324265e-01 2.42767055e-02 9.31203661e+01] [-5.09623597e-02 1.25772452e-03 9.98699783e-01 -3.11995199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.16, Y:93.14, Z:-3.12 [[ 8.68905304e-01 -4.92944825e-01 4.48215580e-02 5.15160419e+02] [ 4.92347197e-01 8.70060036e-01 2.42852181e-02 9.31425846e+01] [-5.09687190e-02 9.66213618e-04 9.98699783e-01 -3.12457971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.8453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.22, Y:93.16, Z:-3.13 [[ 8.73197276e-01 -4.85301631e-01 4.48201307e-02 5.15216334e+02] [ 4.84693758e-01 8.74346648e-01 2.42878521e-02 9.31634143e+01] [-5.09752653e-02 5.15951313e-04 9.98699783e-01 -3.12802098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.27, Y:93.18, Z:-3.13 [[ 8.76148912e-01 -4.79952709e-01 4.48160881e-02 5.15271037e+02] [ 4.79337437e-01 8.77294340e-01 2.42953093e-02 9.31824014e+01] [-5.09774999e-02 1.95720019e-04 9.98699783e-01 -3.13171995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.33, Y:93.20, Z:-3.13 [[ 8.77329351e-01 -4.77791807e-01 4.48129374e-02 5.15325278e+02] [ 4.77173417e-01 8.78473099e-01 2.43011193e-02 9.32030507e+01] [-5.09778357e-02 6.34572698e-05 9.98699783e-01 -3.13363561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.38, Y:93.22, Z:-3.13 [[ 8.78055171e-01 -4.76457056e-01 4.48083791e-02 5.15380621e+02] [ 4.75836499e-01 8.79197744e-01 2.43095215e-02 9.32249875e+01] [-5.09778688e-02 -2.36387926e-05 9.98699783e-01 -3.13391210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.085336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:515.43, Y:93.25, Z:-3.14 [[ 8.79874290e-01 -4.73089638e-01 4.48043230e-02 5.15434036e+02] [ 4.72464328e-01 8.81014269e-01 2.43169948e-02 9.32455314e+01] [-5.09773662e-02 -2.27454169e-04 9.98699783e-01 -3.13977964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.49, Y:93.27, Z:-3.14 [[ 8.82476592e-01 -4.68217704e-01 4.48023135e-02 5.15488907e+02] [ 4.67585913e-01 8.83612991e-01 2.43206966e-02 9.32676092e+01] [-5.09752870e-02 -5.13514766e-04 9.98699783e-01 -3.13707819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.54, Y:93.29, Z:-3.14 [[ 8.84145470e-01 -4.65059043e-01 4.47981457e-02 5.15541800e+02] [ 4.64422803e-01 8.85279385e-01 2.43283712e-02 9.32942263e+01] [-5.09730039e-02 -7.04538799e-04 9.98699783e-01 -3.14018209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.59, Y:93.32, Z:-3.15 [[ 8.86046965e-01 -4.61426330e-01 4.47941625e-02 5.15593533e+02] [ 4.60785072e-01 8.87178049e-01 2.43357029e-02 9.33201755e+01] [-5.09695318e-02 -9.22094369e-04 9.98699783e-01 -3.14702010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.64, Y:93.35, Z:-3.15 [[ 8.85846491e-01 -4.61811230e-01 4.47926493e-02 5.15644369e+02] [ 4.61170322e-01 8.86977774e-01 2.43384878e-02 9.33461115e+01] [-5.09698714e-02 -9.03123548e-04 9.98699783e-01 -3.15175627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.70, Y:93.37, Z:-3.15 [[ 8.84922089e-01 -4.63580422e-01 4.47893808e-02 5.15696861e+02] [ 4.62941472e-01 8.86054479e-01 2.43445013e-02 9.33722771e+01] [-5.09714656e-02 -8.08125055e-04 9.98699783e-01 -3.15031740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.75, Y:93.40, Z:-3.15 [[ 8.83109227e-01 -4.67024997e-01 4.47855425e-02 5.15749078e+02] [ 4.66390105e-01 8.84243898e-01 2.43515604e-02 9.33996379e+01] [-5.09741301e-02 -6.17553770e-04 9.98699783e-01 -3.15399182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.80, Y:93.43, Z:-3.15 [[ 8.81966494e-01 -4.69179857e-01 4.47813081e-02 5.15800714e+02] [ 4.68547342e-01 8.83102491e-01 2.43593447e-02 9.34251118e+01] [-5.09753986e-02 -5.01962970e-04 9.98699783e-01 -3.15358280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.85, Y:93.45, Z:-3.16 [[ 8.81732190e-01 -4.69620433e-01 4.47771569e-02 5.15852777e+02] [ 4.68988099e-01 8.82868288e-01 2.43669730e-02 9.34524794e+01] [-5.09755603e-02 -4.85190801e-04 9.98699783e-01 -3.15820239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.90, Y:93.48, Z:-3.16 [[ 8.82422529e-01 -4.68322388e-01 4.47729916e-02 5.15904770e+02] [ 4.67687995e-01 8.83557478e-01 2.43746243e-02 9.34786172e+01] [-5.09746938e-02 -5.68926955e-04 9.98699783e-01 -3.16383795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.96, Y:93.51, Z:-3.17 [[ 8.84513903e-01 -4.64360748e-01 4.47688583e-02 5.15955920e+02] [ 4.63720888e-01 8.85645779e-01 2.43822136e-02 9.35075074e+01] [-5.09714933e-02 -8.06152185e-04 9.98699783e-01 -3.16660803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.01, Y:93.54, Z:-3.17 [[ 8.86581116e-01 -4.60402048e-01 4.47647083e-02 5.16005513e+02] [ 4.59756750e-01 8.87709900e-01 2.43898303e-02 9.35365205e+01] [-5.09672026e-02 -1.04268614e-03 9.98699783e-01 -3.17073784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.805336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:516.06, Y:93.57, Z:-3.17 [[ 8.88692290e-01 -4.56313781e-01 4.47632365e-02 5.16055411e+02] [ 4.55663155e-01 8.89818011e-01 2.43925313e-02 9.35685824e+01] [-5.09617823e-02 -1.28049696e-03 9.98699783e-01 -3.17176124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.10, Y:93.60, Z:-3.17 [[ 8.89858978e-01 -4.54034843e-01 4.47589109e-02 5.16103491e+02] [ 4.53380935e-01 8.90982797e-01 2.44004659e-02 9.36015012e+01] [-5.09580813e-02 -1.42013681e-03 9.98699783e-01 -3.17398910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.15, Y:93.63, Z:-3.18 [[ 8.89607499e-01 -4.54527529e-01 4.47573801e-02 5.16152524e+02] [ 4.53874103e-01 8.90731597e-01 2.44032734e-02 9.36346537e+01] [-5.09587723e-02 -1.39511928e-03 9.98699783e-01 -3.17574984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.20, Y:93.67, Z:-3.18 [[ 8.88990031e-01 -4.55734459e-01 4.47529601e-02 5.16200760e+02] [ 4.55082152e-01 8.90114779e-01 2.44113766e-02 9.36663380e+01] [-5.09603767e-02 -1.33519703e-03 9.98699783e-01 -3.18223649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.045336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:516.25, Y:93.70, Z:-3.19 [[ 8.88234869e-01 -4.57204691e-01 4.47514053e-02 5.16248026e+02] [ 4.56554102e-01 8.89360612e-01 2.44142265e-02 9.37007731e+01] [-5.09624361e-02 -1.25412960e-03 9.98699783e-01 -3.18697064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.30, Y:93.73, Z:-3.19 [[ 8.87525442e-01 -4.58580776e-01 4.47466284e-02 5.16295325e+02] [ 4.57931491e-01 8.88651938e-01 2.44229786e-02 9.37336874e+01] [-5.09640865e-02 -1.18512456e-03 9.98699783e-01 -3.18876541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.34, Y:93.77, Z:-3.19 [[ 8.84953684e-01 -4.63524485e-01 4.47440382e-02 5.16342916e+02] [ 4.62881255e-01 8.86083647e-01 2.44277230e-02 9.37685742e+01] [-5.09698083e-02 -9.06226854e-04 9.98699783e-01 -3.18685682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.39, Y:93.80, Z:-3.19 [[ 8.83706392e-01 -4.65898251e-01 4.47418295e-02 5.16392451e+02] [ 4.65257852e-01 8.84837963e-01 2.44317677e-02 9.37993525e+01] [-5.09719872e-02 -7.74021844e-04 9.98699783e-01 -3.19030346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.44, Y:93.83, Z:-3.19 [[ 8.79391730e-01 -4.73992375e-01 4.47371609e-02 5.16441751e+02] [ 4.73361957e-01 8.80528892e-01 2.44403136e-02 9.38325148e+01] [-5.09768850e-02 -3.15739674e-04 9.98699783e-01 -3.19404803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.3453361950001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:516.49, Y:93.87, Z:-3.20 [[ 8.76334121e-01 -4.79622049e-01 4.47347530e-02 5.16491193e+02] [ 4.78998712e-01 8.77475179e-01 2.44447201e-02 9.38652591e+01] [-5.09778621e-02 6.14674662e-06 9.98699783e-01 -3.19641971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.54, Y:93.90, Z:-3.20 [[ 8.74199640e-01 -4.83502009e-01 4.47302746e-02 5.16539159e+02] [ 4.82883316e-01 8.75343223e-01 2.44529121e-02 9.38969451e+01] [-5.09773749e-02 2.22776389e-04 9.98699784e-01 -3.20019160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.59, Y:93.93, Z:-3.20 [[ 8.72400667e-01 -4.86740608e-01 4.47287091e-02 5.16588894e+02] [ 4.86126014e-01 8.73546458e-01 2.44557754e-02 9.39257689e+01] [-5.09762244e-02 4.08554328e-04 9.98699784e-01 -3.20353020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.525336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:516.64, Y:93.95, Z:-3.21 [[ 8.70031009e-01 -4.90964157e-01 4.47240517e-02 5.16639373e+02] [ 4.90354687e-01 8.71179533e-01 2.44642898e-02 9.39548682e+01] [-5.09737679e-02 6.45957656e-04 9.98699784e-01 -3.20892023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.69, Y:93.98, Z:-3.21 [[ 8.69077832e-01 -4.92649830e-01 4.47198749e-02 5.16690757e+02] [ 4.92042195e-01 8.70227328e-01 2.44719225e-02 9.39810571e+01] [-5.09725457e-02 7.36060083e-04 9.98699784e-01 -3.21417853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.645336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:516.74, Y:94.01, Z:-3.21 [[ 8.70164030e-01 -4.90728871e-01 4.47184063e-02 5.16740823e+02] [ 4.90118561e-01 8.71312108e-01 2.44746058e-02 9.40095252e+01] [-5.09740845e-02 6.20399259e-04 9.98699784e-01 -3.21457715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.79, Y:94.04, Z:-3.21 [[ 8.72050301e-01 -4.87369126e-01 4.47169638e-02 5.16792148e+02] [ 4.86754257e-01 8.73195945e-01 2.44772410e-02 9.40388832e+01] [-5.09761230e-02 4.20787105e-04 9.98699784e-01 -3.21453040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.84, Y:94.07, Z:-3.22 [[ 8.75258034e-01 -4.81585017e-01 4.47129305e-02 5.16842505e+02] [ 4.80962200e-01 8.76399376e-01 2.44846065e-02 9.40692477e+01] [-5.09778040e-02 7.48809231e-05 9.98699784e-01 -3.21736469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.825336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:516.89, Y:94.10, Z:-3.22 [[ 8.76829177e-01 -4.78718818e-01 4.47089200e-02 5.16892961e+02] [ 4.78091897e-01 8.77968270e-01 2.44919274e-02 9.40981059e+01] [-5.09777597e-02 -1.00264177e-04 9.98699784e-01 -3.22052761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.94, Y:94.13, Z:-3.22 [[ 8.77858934e-01 -4.76828298e-01 4.47042114e-02 5.16941980e+02] [ 4.76198487e-01 8.78996431e-01 2.45005189e-02 9.41293671e+01] [-5.09773830e-02 -2.19921599e-04 9.98699784e-01 -3.22134291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.99, Y:94.16, Z:-3.22 [[ 8.77567087e-01 -4.77365670e-01 4.46992787e-02 5.16991396e+02] [ 4.76736097e-01 8.78704716e-01 2.45095150e-02 9.41609496e+01] [-5.09774680e-02 -1.98983969e-04 9.98699784e-01 -3.22212166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.04, Y:94.19, Z:-3.23 [[ 8.76939060e-01 -4.78518800e-01 4.46950101e-02 5.17041145e+02] [ 4.77890326e-01 8.78077296e-01 2.45172966e-02 9.41930746e+01] [-5.09776610e-02 -1.40862096e-04 9.98699784e-01 -3.22975825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.09, Y:94.22, Z:-3.23 [[ 8.75974482e-01 -4.80282477e-01 4.46928319e-02 5.17091194e+02] [ 4.79656092e-01 8.77113870e-01 2.45212666e-02 9.42230499e+01] [-5.09778374e-02 -4.28147045e-05 9.98699784e-01 -3.23198414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.14, Y:94.25, Z:-3.23 [[ 8.73703710e-01 -4.84401192e-01 4.46913067e-02 5.17140206e+02] [ 4.83780036e-01 8.74845956e-01 2.45240460e-02 9.42529885e+01] [-5.09774861e-02 1.94012025e-04 9.98699784e-01 -3.23480542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.19, Y:94.28, Z:-3.24 [[ 8.71313126e-01 -4.88688304e-01 4.46898028e-02 5.17191797e+02] [ 4.88072628e-01 8.72458335e-01 2.45267863e-02 9.42819836e+01] [-5.09759446e-02 4.41358632e-04 9.98699784e-01 -3.23720908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.24, Y:94.31, Z:-3.24 [[ 8.69838220e-01 -4.91309130e-01 4.46856837e-02 5.17243057e+02] [ 4.90696519e-01 8.70985072e-01 2.45342887e-02 9.43113960e+01] [-5.09744834e-02 5.86247372e-04 9.98699784e-01 -3.23787048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.29, Y:94.34, Z:-3.24 [[ 8.68325218e-01 -4.93978627e-01 4.46814516e-02 5.17294222e+02] [ 4.93369145e-01 8.69473736e-01 2.45419937e-02 9.43398038e+01] [-5.09725690e-02 7.34017518e-04 9.98699784e-01 -3.24261976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.34, Y:94.37, Z:-3.25 [[ 8.67993742e-01 -4.94561225e-01 4.46772609e-02 5.17343875e+02] [ 4.93952122e-01 8.69142461e-01 2.45496203e-02 9.43684484e+01] [-5.09721948e-02 7.59510968e-04 9.98699784e-01 -3.24788407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.425336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:517.40, Y:94.40, Z:-3.25 [[ 8.68193440e-01 -4.94210710e-01 4.46757767e-02 5.17395175e+02] [ 4.93601004e-01 8.69341839e-01 2.45523209e-02 9.43983013e+01] [-5.09725418e-02 7.35844266e-04 9.98699784e-01 -3.24797616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.45, Y:94.43, Z:-3.26 [[ 8.68247688e-01 -4.94115456e-01 4.46751474e-02 5.17445589e+02] [ 4.93505564e-01 8.69395989e-01 2.45534660e-02 9.44258099e+01] [-5.09726410e-02 7.28943732e-04 9.98699784e-01 -3.25521934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.50, Y:94.45, Z:-3.26 [[ 8.66072127e-01 -4.97919013e-01 4.46735728e-02 5.17497392e+02] [ 4.97314017e-01 8.67223014e-01 2.45563305e-02 9.44510003e+01] [-5.09690143e-02 9.49240599e-04 9.98699784e-01 -3.25711680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.55, Y:94.48, Z:-3.26 [[ 8.64216228e-01 -5.01133728e-01 4.46687591e-02 5.17548594e+02] [ 5.00532561e-01 8.65369119e-01 2.45650836e-02 9.44779241e+01] [-5.09653567e-02 1.12862451e-03 9.98699784e-01 -3.26010069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.60, Y:94.50, Z:-3.26 [[ 8.62716157e-01 -5.03711956e-01 4.46665174e-02 5.17602626e+02] [ 5.03114022e-01 8.63870730e-01 2.45691590e-02 9.45025068e+01] [-5.09618761e-02 1.27614081e-03 9.98699784e-01 -3.25841439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.65, Y:94.53, Z:-3.26 [[ 8.64028745e-01 -5.01457482e-01 4.46623025e-02 5.17653586e+02] [ 5.00856140e-01 8.65181546e-01 2.45768187e-02 9.45269109e+01] [-5.09652295e-02 1.13431061e-03 9.98699784e-01 -3.26161782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.71, Y:94.55, Z:-3.26 [[ 8.65675565e-01 -4.98609452e-01 4.46590406e-02 5.17705980e+02] [ 4.98004012e-01 8.66826219e-01 2.45827444e-02 9.45537178e+01] [-5.09688160e-02 9.59700260e-04 9.98699784e-01 -3.26302318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.8453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.76, Y:94.58, Z:-3.27 [[ 8.67667454e-01 -4.95135473e-01 4.46548220e-02 5.17758104e+02] [ 4.94525031e-01 8.68815461e-01 2.45904052e-02 9.45785394e+01] [-5.09723817e-02 7.46633019e-04 9.98699784e-01 -3.26643587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.81, Y:94.60, Z:-3.27 [[ 8.67468623e-01 -4.95483874e-01 4.46533238e-02 5.17811802e+02] [ 4.94873753e-01 8.68616801e-01 2.45931254e-02 9.46021735e+01] [-5.09721243e-02 7.63993307e-04 9.98699784e-01 -3.26954123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.86, Y:94.63, Z:-3.26 [[ 8.67297296e-01 -4.95784079e-01 4.46491464e-02 5.17863744e+02] [ 4.95173966e-01 8.68445478e-01 2.46007072e-02 9.46282172e+01] [-5.09719883e-02 7.72968008e-04 9.98699784e-01 -3.26492648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.92, Y:94.65, Z:-3.27 [[ 8.68188587e-01 -4.94222046e-01 4.46446607e-02 5.17917001e+02] [ 4.93609448e-01 8.69335446e-01 2.46088450e-02 9.46501935e+01] [-5.09734198e-02 6.71907959e-04 9.98699784e-01 -3.27278520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.97, Y:94.68, Z:-3.28 [[ 8.68724936e-01 -4.93279102e-01 4.46398104e-02 5.17968774e+02] [ 4.92664807e-01 8.69870887e-01 2.46176403e-02 9.46771241e+01] [-5.09742389e-02 6.06505614e-04 9.98699784e-01 -3.27523378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.02, Y:94.70, Z:-3.27 [[ 8.71560432e-01 -4.88252116e-01 4.46350177e-02 5.18021547e+02] [ 4.87630767e-01 8.72702572e-01 2.46263270e-02 9.47043982e+01] [-5.09769510e-02 3.02075716e-04 9.98699784e-01 -3.27207665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.205336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:518.07, Y:94.73, Z:-3.28 [[ 8.73131981e-01 -4.85436525e-01 4.46309696e-02 5.18072747e+02] [ 4.84811117e-01 8.74271905e-01 2.46336613e-02 9.47312363e+01] [-5.09776817e-02 1.29152711e-04 9.98699784e-01 -3.27533157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.13, Y:94.76, Z:-3.28 [[ 8.74336242e-01 -4.83264266e-01 4.46294198e-02 5.18125479e+02] [ 4.82635883e-01 8.75474528e-01 2.46364688e-02 9.47575887e+01] [-5.09778452e-02 -7.98159193e-07 9.98699784e-01 -3.27678841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.325336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:518.18, Y:94.78, Z:-3.28 [[ 8.75337382e-01 -4.81448937e-01 4.46249802e-02 5.18178659e+02] [ 4.80817783e-01 8.76474134e-01 2.46445078e-02 9.47837824e+01] [-5.09777130e-02 -1.15774935e-04 9.98699784e-01 -3.27995149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.23, Y:94.81, Z:-3.28 [[ 8.77836715e-01 -4.76877018e-01 4.46207580e-02 5.18229720e+02] [ 4.76239555e-01 8.78969941e-01 2.46521501e-02 9.48115970e+01] [-5.09763488e-02 -3.90392491e-04 9.98699784e-01 -3.28157734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.28, Y:94.84, Z:-3.29 [[ 8.79022430e-01 -4.74688002e-01 4.46191553e-02 5.18279281e+02] [ 4.74047570e-01 8.80153981e-01 2.46550505e-02 9.48388744e+01] [-5.09751838e-02 -5.20740300e-04 9.98699784e-01 -3.28915409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.33, Y:94.87, Z:-3.29 [[ 8.79926831e-01 -4.73009735e-01 4.46157282e-02 5.18329290e+02] [ 4.72366831e-01 8.81056979e-01 2.46612506e-02 9.48675779e+01] [-5.09740103e-02 -6.25105992e-04 9.98699784e-01 -3.29014176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.38, Y:94.90, Z:-3.30 [[ 8.78911285e-01 -4.74894226e-01 4.46142087e-02 5.18381063e+02] [ 4.74253605e-01 8.80042729e-01 2.46639992e-02 9.48951738e+01] [-5.09752008e-02 -5.19017875e-04 9.98699784e-01 -3.30015252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.43, Y:94.92, Z:-3.31 [[ 8.77072106e-01 -4.78282551e-01 4.46130367e-02 5.18433500e+02] [ 4.77646194e-01 8.78205953e-01 2.46661189e-02 9.49219137e+01] [-5.09768087e-02 -3.24717642e-04 9.98699784e-01 -3.30545534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.48, Y:94.95, Z:-3.31 [[ 8.76353930e-01 -4.79597304e-01 4.46118327e-02 5.18483525e+02] [ 4.78962537e-01 8.77488668e-01 2.46682964e-02 9.49487467e+01] [-5.09772261e-02 -2.50761892e-04 9.98699784e-01 -3.30930371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.53, Y:94.98, Z:-3.31 [[ 8.75859761e-01 -4.80499484e-01 4.46085724e-02 5.18534908e+02] [ 4.79865586e-01 8.76994985e-01 2.46741907e-02 9.49757249e+01] [-5.09774302e-02 -2.05012054e-04 9.98699785e-01 -3.31148818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.59, Y:95.00, Z:-3.31 [[ 8.75734153e-01 -4.80728576e-01 4.46063764e-02 5.18586228e+02] [ 4.80094773e-01 8.76869430e-01 2.46781600e-02 9.50031758e+01] [-5.09774646e-02 -1.96219376e-04 9.98699785e-01 -3.31263071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.64, Y:95.03, Z:-3.32 [[ 8.75542191e-01 -4.81078554e-01 4.46015426e-02 5.18637076e+02] [ 4.80444759e-01 8.76677472e-01 2.46868933e-02 9.50302156e+01] [-5.09775025e-02 -1.85839238e-04 9.98699785e-01 -3.31525236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.69, Y:95.06, Z:-3.31 [[ 8.75458675e-01 -4.81230725e-01 4.45993063e-02 5.18688638e+02] [ 4.80596922e-01 8.76593952e-01 2.46909326e-02 9.50590048e+01] [-5.09775176e-02 -1.81601828e-04 9.98699785e-01 -3.31064481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.74, Y:95.09, Z:-3.32 [[ 8.75897362e-01 -4.80432204e-01 4.45949489e-02 5.18739714e+02] [ 4.79796965e-01 8.77031836e-01 2.46988001e-02 9.50859481e+01] [-5.09772889e-02 -2.37092737e-04 9.98699785e-01 -3.31643250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.79, Y:95.12, Z:-3.32 [[ 8.77293379e-01 -4.77878391e-01 4.45933954e-02 5.18789784e+02] [ 4.77239708e-01 8.78425917e-01 2.47016046e-02 9.51157927e+01] [-5.09763573e-02 -3.88815138e-04 9.98699785e-01 -3.31647478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.84, Y:95.15, Z:-3.32 [[ 8.79393418e-01 -4.74003179e-01 4.45892765e-02 5.18838417e+02] [ 4.73359128e-01 8.80522912e-01 2.47090375e-02 9.51492624e+01] [-5.09740419e-02 -6.22223910e-04 9.98699785e-01 -3.31899150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.89, Y:95.18, Z:-3.32 [[ 8.80295645e-01 -4.72325915e-01 4.45848296e-02 5.18886587e+02] [ 4.71679306e-01 8.81423678e-01 2.47170588e-02 9.51831706e+01] [-5.09726319e-02 -7.28577735e-04 9.98699785e-01 -3.32175251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.93, Y:95.22, Z:-3.33 [[ 8.79797887e-01 -4.73252873e-01 4.45802099e-02 5.18933005e+02] [ 4.72607031e-01 8.80926359e-01 2.47253882e-02 9.52169805e+01] [-5.09732430e-02 -6.84423695e-04 9.98699785e-01 -3.32939513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.98, Y:95.25, Z:-3.33 [[ 8.79202084e-01 -4.74359047e-01 4.45779098e-02 5.18982066e+02] [ 4.73714414e-01 8.80331247e-01 2.47295345e-02 9.52502534e+01] [-5.09740053e-02 -6.25059855e-04 9.98699785e-01 -3.33013183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.3453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.03, Y:95.29, Z:-3.33 [[ 8.78234355e-01 -4.76148716e-01 4.45737298e-02 5.19028544e+02] [ 4.75506002e-01 8.79364611e-01 2.47370664e-02 9.52868354e+01] [-5.09750830e-02 -5.29865481e-04 9.98699785e-01 -3.33380160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.07, Y:95.32, Z:-3.34 [[ 8.76641238e-01 -4.79075712e-01 4.45713231e-02 5.19074627e+02] [ 4.78436551e-01 8.77773507e-01 2.47414020e-02 9.53236630e+01] [-5.09765314e-02 -3.64783157e-04 9.98699785e-01 -3.33598734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.12, Y:95.36, Z:-3.34 [[ 8.73712194e-01 -4.84397391e-01 4.45664715e-02 5.19120378e+02] [ 4.83764681e-01 8.74848080e-01 2.47501381e-02 9.53588185e+01] [-5.09777944e-02 -6.48125614e-05 9.98699785e-01 -3.34279741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.17, Y:95.39, Z:-3.34 [[ 8.71163570e-01 -4.88966276e-01 4.45647279e-02 5.19169542e+02] [ 4.88339364e-01 8.72302666e-01 2.47532773e-02 9.53912131e+01] [-5.09774487e-02 1.98557447e-04 9.98699785e-01 -3.34016377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.22, Y:95.42, Z:-3.35 [[ 8.67122190e-01 -4.96098235e-01 4.45606258e-02 5.19218103e+02] [ 4.95480311e-01 8.68266187e-01 2.47606596e-02 9.54244097e+01] [-5.09742042e-02 6.08395327e-04 9.98699785e-01 -3.34644015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.645336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:519.27, Y:95.45, Z:-3.35 [[ 8.63946884e-01 -5.01607910e-01 4.45565519e-02 5.19267241e+02] [ 5.00996903e-01 8.65094590e-01 2.47679883e-02 9.54525934e+01] [-5.09694509e-02 9.24468200e-04 9.98699785e-01 -3.35044833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.32, Y:95.48, Z:-3.35 [[ 8.62194346e-01 -5.04614608e-01 4.45534194e-02 5.19318759e+02] [ 5.04007312e-01 8.63344020e-01 2.47736219e-02 9.54811646e+01] [-5.09660597e-02 1.09557241e-03 9.98699785e-01 -3.34915676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.765336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:519.37, Y:95.51, Z:-3.35 [[ 8.60223912e-01 -5.07966724e-01 4.45491760e-02 5.19370924e+02] [ 5.07363513e-01 8.61375734e-01 2.47812503e-02 9.55069302e+01] [-5.09616297e-02 1.28520235e-03 9.98699785e-01 -3.35300009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.825336195 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:519.43, Y:95.53, Z:-3.35 [[ 8.59732382e-01 -5.08798325e-01 4.45476787e-02 5.19425464e+02] [ 5.08196089e-01 8.60884714e-01 2.47839416e-02 9.55288086e+01] [-5.09604436e-02 1.33139894e-03 9.98699785e-01 -3.35493745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.885336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:519.48, Y:95.55, Z:-3.36 [[ 8.60661753e-01 -5.07224787e-01 4.45461753e-02 5.19478401e+02] [ 5.06620304e-01 8.61812909e-01 2.47866435e-02 9.55519603e+01] [-5.09628689e-02 1.23508077e-03 9.98699785e-01 -3.36260398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.53, Y:95.58, Z:-3.36 [[ 8.61370194e-01 -5.06020908e-01 4.45446850e-02 5.19533001e+02] [ 5.05414678e-01 8.62520430e-01 2.47893214e-02 9.55753110e+01] [-5.09646158e-02 1.16075509e-03 9.98699785e-01 -3.36121021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.005336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:519.59, Y:95.59, Z:-3.37 [[ 8.62709402e-01 -5.03734679e-01 4.45405540e-02 5.19588995e+02] [ 5.03125017e-01 8.63857823e-01 2.47967417e-02 9.55920682e+01] [-5.09676847e-02 1.01708479e-03 9.98699785e-01 -3.36902714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.065336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:519.64, Y:95.62, Z:-3.37 [[ 8.63369659e-01 -5.02602329e-01 4.45390912e-02 5.19641155e+02] [ 5.01991025e-01 8.64517207e-01 2.47993687e-02 9.56180239e+01] [-5.09690313e-02 9.47201541e-04 9.98699785e-01 -3.37038675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.69, Y:95.64, Z:-3.37 [[ 8.67782807e-01 -4.94944137e-01 4.45342652e-02 5.19694718e+02] [ 4.94322260e-01 8.68924660e-01 2.48080322e-02 9.56424218e+01] [-5.09755113e-02 4.86294768e-04 9.98699785e-01 -3.36870247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.75, Y:95.66, Z:-3.37 [[ 8.73687224e-01 -4.84445443e-01 4.45336624e-02 5.19749422e+02] [ 4.83809789e-01 8.74821465e-01 2.48091143e-02 9.56647528e+01] [-5.09776661e-02 -1.29584436e-04 9.98699785e-01 -3.37398902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.80, Y:95.69, Z:-3.37 [[ 8.78469915e-01 -4.75718120e-01 4.45295293e-02 5.19801737e+02] [ 4.75070823e-01 8.79597552e-01 2.48165305e-02 9.56915966e+01] [-5.09737382e-02 -6.45895263e-04 9.98699785e-01 -3.37396890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.85, Y:95.72, Z:-3.38 [[ 8.80493230e-01 -4.71963105e-01 4.45252559e-02 5.19852534e+02] [ 4.71310612e-01 8.81617869e-01 2.48241953e-02 9.57210091e+01] [-5.09703655e-02 -8.72310285e-04 9.98699785e-01 -3.37528815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.365336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:519.90, Y:95.75, Z:-3.38 [[ 8.80360206e-01 -4.72211277e-01 4.45243423e-02 5.19903723e+02] [ 4.71559018e-01 8.81484981e-01 2.48258338e-02 9.57490815e+01] [-5.09705777e-02 -8.59821079e-04 9.98699785e-01 -3.38186942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.425336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:519.96, Y:95.78, Z:-3.39 [[ 8.78953736e-01 -4.74824478e-01 4.45201653e-02 5.19955113e+02] [ 4.74175184e-01 8.80080224e-01 2.48333222e-02 9.57758711e+01] [-5.09727863e-02 -7.16983693e-04 9.98699785e-01 -3.38593293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.01, Y:95.81, Z:-3.39 [[ 8.77058405e-01 -4.78316776e-01 4.45153542e-02 5.20005326e+02] [ 4.77671530e-01 8.78187217e-01 2.48419435e-02 9.58059146e+01] [-5.09751333e-02 -5.24117970e-04 9.98699785e-01 -3.38883457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.06, Y:95.83, Z:-3.39 [[ 8.75977690e-01 -4.80293496e-01 4.45111732e-02 5.20057277e+02] [ 4.79650417e-01 8.77107737e-01 2.48494326e-02 9.58342259e+01] [-5.09761153e-02 -4.17745700e-04 9.98699785e-01 -3.38930326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.11, Y:95.86, Z:-3.39 [[ 8.74934214e-01 -4.82192137e-01 4.45068949e-02 5.20107947e+02] [ 4.81551121e-01 8.76065433e-01 2.48570930e-02 9.58628937e+01] [-5.09768469e-02 -3.15976066e-04 9.98699785e-01 -3.39132548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.16, Y:95.89, Z:-3.39 [[ 8.74696562e-01 -4.82623242e-01 4.45054072e-02 5.20158835e+02] [ 4.81982647e-01 8.75828020e-01 2.48597563e-02 9.58927845e+01] [-5.09769789e-02 -2.93909376e-04 9.98699785e-01 -3.39004827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.7253361950001 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:520.21, Y:95.92, Z:-3.39 [[ 8.73873805e-01 -4.84111783e-01 4.45011741e-02 5.20210712e+02] [ 4.83472730e-01 8.75006134e-01 2.48673317e-02 9.59193630e+01] [-5.09773686e-02 -2.15805657e-04 9.98699785e-01 -3.39421541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.26, Y:95.95, Z:-3.39 [[ 8.72995429e-01 -4.85694353e-01 4.44969324e-02 5.20260513e+02] [ 4.85056966e-01 8.74128696e-01 2.48749193e-02 9.59486167e+01] [-5.09776534e-02 -1.32143789e-04 9.98699785e-01 -3.39449952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.8453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.31, Y:95.97, Z:-3.40 [[ 8.71388465e-01 -4.88572003e-01 4.44920363e-02 5.20311069e+02] [ 4.87937912e-01 8.72523580e-01 2.48836735e-02 9.59749683e+01] [-5.09778170e-02 2.60052063e-05 9.98699785e-01 -3.39696454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.36, Y:96.00, Z:-3.40 [[ 8.68494718e-01 -4.93697853e-01 4.44899417e-02 5.20364113e+02] [ 4.93070269e-01 8.69633444e-01 2.48874180e-02 9.59977180e+01] [-5.09768060e-02 3.22076456e-04 9.98699785e-01 -3.40063717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.965336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:520.42, Y:96.02, Z:-3.41 [[ 8.66120890e-01 -4.97851058e-01 4.44851467e-02 5.20418220e+02] [ 4.97228494e-01 8.67262368e-01 2.48959860e-02 9.60203157e+01] [-5.09747866e-02 5.56348967e-04 9.98699786e-01 -3.40610088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.47, Y:96.05, Z:-3.41 [[ 8.65284598e-01 -4.99303577e-01 4.44803640e-02 5.20471141e+02] [ 4.98682490e-01 8.66426880e-01 2.49045280e-02 9.60470637e+01] [-5.09739029e-02 6.32074124e-04 9.98699786e-01 -3.40642362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.53, Y:96.07, Z:-3.41 [[ 8.64481656e-01 -5.00692862e-01 4.44761021e-02 5.20525455e+02] [ 5.00073220e-01 8.65624722e-01 2.49121368e-02 9.60685890e+01] [-5.09729426e-02 7.05222312e-04 9.98699786e-01 -3.41042159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.58, Y:96.09, Z:-3.42 [[ 8.64159529e-01 -5.01249061e-01 4.44712004e-02 5.20579638e+02] [ 5.00629704e-01 8.65302750e-01 2.49208839e-02 9.60904825e+01] [-5.09726216e-02 7.27984579e-04 9.98699786e-01 -3.41552116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.205336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:520.63, Y:96.11, Z:-3.42 [[ 8.64641898e-01 -5.00416961e-01 4.44663198e-02 5.20633201e+02] [ 4.99796057e-01 8.65784279e-01 2.49295892e-02 9.61123061e+01] [-5.09734299e-02 6.68923950e-04 9.98699786e-01 -3.41940691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.69, Y:96.13, Z:-3.42 [[ 8.66799892e-01 -4.96669737e-01 4.44648094e-02 5.20688032e+02] [ 4.96043756e-01 8.67939499e-01 2.49322830e-02 9.61325169e+01] [-5.09758748e-02 4.45190851e-04 9.98699786e-01 -3.41996825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.74, Y:96.16, Z:-3.42 [[ 8.68896446e-01 -4.92993198e-01 4.44597876e-02 5.20739781e+02] [ 4.92361936e-01 8.70033137e-01 2.49412347e-02 9.61568109e+01] [-5.09773475e-02 2.18956940e-04 9.98699786e-01 -3.42395427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.79, Y:96.18, Z:-3.43 [[ 8.71582008e-01 -4.88229787e-01 4.44576080e-02 5.20792910e+02] [ 4.87592115e-01 8.72715114e-01 2.49451192e-02 9.61800469e+01] [-5.09777767e-02 -6.45379894e-05 9.98699786e-01 -3.42696062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.85, Y:96.21, Z:-3.43 [[ 8.73931472e-01 -4.84011815e-01 4.44561151e-02 5.20845671e+02] [ 4.83368538e-01 8.75061406e-01 2.49477795e-02 9.62058799e+01] [-5.09768507e-02 -3.13962312e-04 9.98699786e-01 -3.42885397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.90, Y:96.23, Z:-3.43 [[ 8.74905714e-01 -4.82248913e-01 4.44519621e-02 5.20897353e+02] [ 4.81602984e-01 8.76034134e-01 2.49551773e-02 9.62311021e+01] [-5.09760432e-02 -4.25229595e-04 9.98699786e-01 -3.43190300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.95, Y:96.26, Z:-3.43 [[ 8.74781592e-01 -4.82474479e-01 4.44470885e-02 5.20949130e+02] [ 4.81828400e-01 8.75909926e-01 2.49638545e-02 9.62578419e+01] [-5.09760687e-02 -4.22050867e-04 9.98699786e-01 -3.43495544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.625336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:521.00, Y:96.28, Z:-3.44 [[ 8.73622796e-01 -4.84570012e-01 4.44422492e-02 5.21000984e+02] [ 4.83926201e-01 8.74752427e-01 2.49724667e-02 9.62849994e+01] [-5.09768738e-02 -3.09747361e-04 9.98699786e-01 -3.43577017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.685336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:521.05, Y:96.31, Z:-3.44 [[ 8.71578347e-01 -4.88238114e-01 4.44379205e-02 5.21053332e+02] [ 4.87598665e-01 8.72710452e-01 2.49801671e-02 9.63093649e+01] [-5.09777074e-02 -1.04301988e-04 9.98699786e-01 -3.44191366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.11, Y:96.33, Z:-3.45 [[ 8.68729098e-01 -4.93290138e-01 4.44363958e-02 5.21106148e+02] [ 4.92657134e-01 8.69864819e-01 2.49828792e-02 9.63336124e+01] [-5.09774653e-02 1.88553316e-04 9.98699786e-01 -3.44575264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.16, Y:96.36, Z:-3.45 [[ 8.67536105e-01 -4.95385652e-01 4.44315520e-02 5.21158585e+02] [ 4.94754950e-01 8.68673106e-01 2.49914907e-02 9.63582873e+01] [-5.09769202e-02 3.01709769e-04 9.98699786e-01 -3.44884228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.21, Y:96.38, Z:-3.45 [[ 8.67351631e-01 -4.95708703e-01 4.44300581e-02 5.21212375e+02] [ 4.95078288e-01 8.68488792e-01 2.49941463e-02 9.63815611e+01] [-5.09768233e-02 3.17643571e-04 9.98699786e-01 -3.45262657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.26, Y:96.41, Z:-3.46 [[ 8.68324096e-01 -4.94003701e-01 4.44252994e-02 5.21264309e+02] [ 4.93370621e-01 8.69459775e-01 2.50026018e-02 9.64068586e+01] [-5.09773886e-02 2.07775950e-04 9.98699786e-01 -3.45554695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.32, Y:96.43, Z:-3.46 [[ 8.69986859e-01 -4.91069931e-01 4.44205850e-02 5.21315817e+02] [ 4.90432594e-01 8.71120154e-01 2.50109748e-02 9.64336839e+01] [-5.09778045e-02 2.60833105e-05 9.98699786e-01 -3.46092812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.37, Y:96.46, Z:-3.47 [[ 8.72576735e-01 -4.86453268e-01 4.44191266e-02 5.21367705e+02] [ 4.85809803e-01 8.73706562e-01 2.50135645e-02 9.64603862e+01] [-5.09772126e-02 -2.47007257e-04 9.98699786e-01 -3.46516821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.42, Y:96.49, Z:-3.47 [[ 8.75053257e-01 -4.81984579e-01 4.44146695e-02 5.21418944e+02] [ 4.81334942e-01 8.76179547e-01 2.50214763e-02 9.64858245e+01] [-5.09751907e-02 -5.16791941e-04 9.98699786e-01 -3.47072378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.47, Y:96.51, Z:-3.47 [[ 8.76209572e-01 -4.79879484e-01 4.44124575e-02 5.21471380e+02] [ 4.79226943e-01 8.77334181e-01 2.50254017e-02 9.65108227e+01] [-5.09737440e-02 -6.43850245e-04 9.98699786e-01 -3.47359969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.52, Y:96.54, Z:-3.48 [[ 8.75773653e-01 -4.80675023e-01 4.44075611e-02 5.21523570e+02] [ 4.80023063e-01 8.76898599e-01 2.50340874e-02 9.65355684e+01] [-5.09741887e-02 -6.07540698e-04 9.98699786e-01 -3.47624381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.58, Y:96.56, Z:-3.48 [[ 8.75283086e-01 -4.81568201e-01 4.44025612e-02 5.21576145e+02] [ 4.80916940e-01 8.76408436e-01 2.50429526e-02 9.65610645e+01] [-5.09746689e-02 -5.65728950e-04 9.98699786e-01 -3.47801538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.3453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.63, Y:96.59, Z:-3.48 [[ 8.75675047e-01 -4.80855240e-01 4.44010119e-02 5.21630049e+02] [ 4.80202924e-01 8.76799786e-01 2.50456991e-02 9.65860995e+01] [-5.09741534e-02 -6.10397989e-04 9.98699786e-01 -3.47901275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.405336195 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:521.68, Y:96.61, Z:-3.48 [[ 8.77745744e-01 -4.77065349e-01 4.43966438e-02 5.21683822e+02] [ 4.76407785e-01 8.78867423e-01 2.50534398e-02 9.66104607e+01] [-5.09708919e-02 -8.39643426e-04 9.98699786e-01 -3.48295792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.73, Y:96.64, Z:-3.48 [[ 8.80253181e-01 -4.72423178e-01 4.43923215e-02 5.21733987e+02] [ 4.71759313e-01 8.81371143e-01 2.50610961e-02 9.66416207e+01] [-5.09655538e-02 -1.11761849e-03 9.98699786e-01 -3.48385469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.525336195 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:521.78, Y:96.67, Z:-3.49 [[ 8.83982720e-01 -4.65407624e-01 4.43879884e-02 5.21783675e+02] [ 4.64734504e-01 8.85095135e-01 2.50687685e-02 9.66715435e+01] [-5.09547886e-02 -1.53172841e-03 9.98699786e-01 -3.49001019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.83, Y:96.70, Z:-3.49 [[ 8.86003219e-01 -4.61549712e-01 4.43864639e-02 5.21831525e+02] [ 4.60871615e-01 8.87112606e-01 2.50714675e-02 9.67036324e+01] [-5.09475203e-02 -1.75693963e-03 9.98699786e-01 -3.49149331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.645336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:521.88, Y:96.73, Z:-3.50 [[ 8.85989970e-01 -4.61575354e-01 4.43843005e-02 5.21880462e+02] [ 4.60897097e-01 8.87099259e-01 2.50752969e-02 9.67337239e+01] [-5.09474191e-02 -1.75986625e-03 9.98699786e-01 -3.49555022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.93, Y:96.77, Z:-3.50 [[ 8.84252832e-01 -4.64895013e-01 4.43796756e-02 5.21928833e+02] [ 4.64220511e-01 8.85364408e-01 2.50834796e-02 9.67683407e+01] [-5.09533698e-02 -1.57818219e-03 9.98699786e-01 -3.49609295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.98, Y:96.80, Z:-3.50 [[ 8.82900167e-01 -4.67459203e-01 4.43755319e-02 5.21977744e+02] [ 4.66787562e-01 8.84013475e-01 2.50908081e-02 9.67995915e+01] [-5.09574973e-02 -1.43873235e-03 9.98699786e-01 -3.49796290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.02, Y:96.84, Z:-3.50 [[ 8.80604002e-01 -4.71770954e-01 4.43706888e-02 5.22023822e+02] [ 4.71104334e-01 8.81720323e-01 2.50993698e-02 9.68351001e+01] [-5.09636917e-02 -1.19938173e-03 9.98699787e-01 -3.50366511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.07, Y:96.87, Z:-3.51 [[ 8.78965378e-01 -4.74817059e-01 4.43691916e-02 5.22072758e+02] [ 4.74154174e-01 8.80083921e-01 2.51020161e-02 9.68657819e+01] [-5.09674776e-02 -1.02596571e-03 9.98699787e-01 -3.50690839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.12, Y:96.90, Z:-3.51 [[ 8.76659170e-01 -4.79062118e-01 4.43642580e-02 5.22117704e+02] [ 4.78404209e-01 8.77780647e-01 2.51107325e-02 9.69023866e+01] [-5.09716878e-02 -7.89506185e-04 9.98699787e-01 -3.51290083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.17, Y:96.93, Z:-3.52 [[ 8.75398242e-01 -4.81362509e-01 4.43627362e-02 5.22165150e+02] [ 4.80707411e-01 8.76521364e-01 2.51134209e-02 9.69341612e+01] [-5.09735453e-02 -6.58748429e-04 9.98699787e-01 -3.51800728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.21, Y:96.97, Z:-3.52 [[ 8.72669955e-01 -4.86291357e-01 4.43606395e-02 5.22214421e+02] [ 4.85642415e-01 8.73796644e-01 2.51171239e-02 9.69672935e+01] [-5.09764182e-02 -3.75551249e-04 9.98699787e-01 -3.51798571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.26, Y:97.00, Z:-3.51 [[ 8.69040735e-01 -4.92748113e-01 4.43564765e-02 5.22263330e+02] [ 4.92107167e-01 8.70171993e-01 2.51244735e-02 9.69998653e+01] [-5.09778005e-02 -6.05090425e-06 9.98699787e-01 -3.51417176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.185336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:522.31, Y:97.03, Z:-3.52 [[ 8.66786871e-01 -4.96702612e-01 4.43512827e-02 5.22314314e+02] [ 4.96066358e-01 8.67920773e-01 2.51336386e-02 9.70273582e+01] [-5.09773435e-02 2.15671330e-04 9.98699787e-01 -3.52120845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.36, Y:97.06, Z:-3.53 [[ 8.65217337e-01 -4.99431814e-01 4.43488743e-02 5.22364380e+02] [ 4.98798919e-01 8.66353118e-01 2.51378875e-02 9.70569315e+01] [-5.09764463e-02 3.71434462e-04 9.98699787e-01 -3.52564869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.41, Y:97.09, Z:-3.53 [[ 8.65279723e-01 -4.99324160e-01 4.43439328e-02 5.22413816e+02] [ 4.98690677e-01 8.66415176e-01 2.51466015e-02 9.70856980e+01] [-5.09765620e-02 3.55061541e-04 9.98699787e-01 -3.53216170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.365336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:522.47, Y:97.11, Z:-3.53 [[ 8.65369007e-01 -4.99169543e-01 4.43424116e-02 5.22465530e+02] [ 4.98535720e-01 8.66504270e-01 2.51492836e-02 9.71135814e+01] [-5.09766454e-02 3.42865527e-04 9.98699787e-01 -3.53483267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.52, Y:97.14, Z:-3.54 [[ 8.65160473e-01 -4.99531268e-01 4.43381019e-02 5.22517057e+02] [ 4.98897530e-01 8.66295784e-01 2.51568794e-02 9.71403189e+01] [-5.09765586e-02 3.55431833e-04 9.98699787e-01 -3.53916866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.4853361950001 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:522.57, Y:97.17, Z:-3.54 [[ 8.64046406e-01 -5.01455956e-01 4.43365758e-02 5.22568677e+02] [ 5.00824609e-01 8.65183048e-01 2.51595686e-02 9.71661142e+01] [-5.09756694e-02 4.65813377e-04 9.98699787e-01 -3.54072507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.545336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:522.62, Y:97.19, Z:-3.54 [[ 8.63965527e-01 -5.01595728e-01 4.43316225e-02 5.22621939e+02] [ 5.00964117e-01 8.65102023e-01 2.51682935e-02 9.71910772e+01] [-5.09756848e-02 4.64014185e-04 9.98699787e-01 -3.54191375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.68, Y:97.21, Z:-3.55 [[ 8.64763105e-01 -5.00219815e-01 4.43272987e-02 5.22676191e+02] [ 4.99586006e-01 8.65898375e-01 2.51759064e-02 9.72129779e+01] [-5.09764232e-02 3.74103173e-04 9.98699787e-01 -3.54597429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.73, Y:97.24, Z:-3.55 [[ 8.65562015e-01 -4.98836576e-01 4.43223320e-02 5.22727526e+02] [ 4.98200505e-01 8.66696020e-01 2.51846473e-02 9.72395021e+01] [-5.09770119e-02 2.82534113e-04 9.98699787e-01 -3.54912497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.78, Y:97.26, Z:-3.55 [[ 8.67295985e-01 -4.95815835e-01 4.43207947e-02 5.22779776e+02] [ 4.95175675e-01 8.68427687e-01 2.51873523e-02 9.72641145e+01] [-5.09776934e-02 1.01689927e-04 9.98699787e-01 -3.55271697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.83, Y:97.29, Z:-3.56 [[ 8.68741346e-01 -4.93279399e-01 4.43159992e-02 5.22832252e+02] [ 4.92635505e-01 8.69870928e-01 2.51957870e-02 9.72893695e+01] [-5.09777620e-02 -5.69872411e-05 9.98699787e-01 -3.55958616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.8453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.88, Y:97.32, Z:-3.56 [[ 8.69368044e-01 -4.92174437e-01 4.43117128e-02 5.22882578e+02] [ 4.91528724e-01 8.70496586e-01 2.52033232e-02 9.73176975e+01] [-5.09776261e-02 -1.30484100e-04 9.98699787e-01 -3.56211605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.93, Y:97.35, Z:-3.57 [[ 8.71781829e-01 -4.87886618e-01 4.43067707e-02 5.22932985e+02] [ 4.87234912e-01 8.72906922e-01 2.52120083e-02 9.73450643e+01] [-5.09762883e-02 -3.91565215e-04 9.98699787e-01 -3.56672038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.98, Y:97.37, Z:-3.57 [[ 8.74008255e-01 -4.83886987e-01 4.43052422e-02 5.22984302e+02] [ 4.83229997e-01 8.75130270e-01 2.52146941e-02 9.73727904e+01] [-5.09739209e-02 -6.28228777e-04 9.98699787e-01 -3.56799225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.03, Y:97.40, Z:-3.57 [[ 8.75128599e-01 -4.81858048e-01 4.43030209e-02 5.23033937e+02] [ 4.81198259e-01 8.76248970e-01 2.52185963e-02 9.74036017e+01] [-5.09722601e-02 -7.50978342e-04 9.98699787e-01 -3.56988328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.085336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:523.08, Y:97.43, Z:-3.57 [[ 8.74585929e-01 -4.82842756e-01 4.42981556e-02 5.23084478e+02] [ 4.82183796e-01 8.75706788e-01 2.52271397e-02 9.74340126e+01] [-5.09729372e-02 -7.03448539e-04 9.98699787e-01 -3.57196881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.13, Y:97.46, Z:-3.57 [[ 8.72493454e-01 -4.86614040e-01 4.42938975e-02 5.23134572e+02] [ 4.85959546e-01 8.73616927e-01 2.52346139e-02 9.74626202e+01] [-5.09754160e-02 -4.91993148e-04 9.98699787e-01 -3.57432410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.205336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:523.19, Y:97.49, Z:-3.58 [[ 8.69693332e-01 -4.91601219e-01 4.42916489e-02 5.23186396e+02] [ 4.90952967e-01 8.70820417e-01 2.52385599e-02 9.74880153e+01] [-5.09773790e-02 -2.04690828e-04 9.98699787e-01 -3.57538150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.24, Y:97.51, Z:-3.58 [[ 8.68082189e-01 -4.94441105e-01 4.42866532e-02 5.23237322e+02] [ 4.93796093e-01 8.69211132e-01 2.52473231e-02 9.75127712e+01] [-5.09777662e-02 -4.81752073e-05 9.98699787e-01 -3.57859450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.29, Y:97.54, Z:-3.58 [[ 8.67348613e-01 -4.95727009e-01 4.42844969e-02 5.23288413e+02] [ 4.95083477e-01 8.68478401e-01 2.52511047e-02 9.75399025e+01] [-5.09777836e-02 2.30120715e-05 9.98699787e-01 -3.58043274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.385336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:523.34, Y:97.57, Z:-3.58 [[ 8.67509745e-01 -4.95445424e-01 4.42795089e-02 5.23340077e+02] [ 4.94801079e-01 8.68639069e-01 2.52598484e-02 9.75665297e+01] [-5.09777877e-02 -3.61585348e-06 9.98699787e-01 -3.58395067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.39, Y:97.59, Z:-3.59 [[ 8.70411626e-01 -4.90329854e-01 4.42745527e-02 5.23391740e+02] [ 4.89678430e-01 8.71536882e-01 2.52685324e-02 9.75938603e+01] [-5.09768214e-02 -3.13730899e-04 9.98699787e-01 -3.58918638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.44, Y:97.63, Z:-3.59 [[ 8.75144199e-01 -4.81832727e-01 4.42702480e-02 5.23439964e+02] [ 4.81169998e-01 8.76262833e-01 2.52760720e-02 9.76267867e+01] [-5.09712117e-02 -8.18692600e-04 9.98699787e-01 -3.59070958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.49, Y:97.66, Z:-3.59 [[ 8.79676614e-01 -4.73507481e-01 4.42687274e-02 5.23488498e+02] [ 4.72834034e-01 8.80788829e-01 2.52787349e-02 9.76592980e+01] [-5.09610707e-02 -1.30535098e-03 9.98699787e-01 -3.59337070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.54, Y:97.69, Z:-3.60 [[ 8.81620947e-01 -4.69877883e-01 4.42637667e-02 5.23535663e+02] [ 4.69199423e-01 8.82730110e-01 2.52874183e-02 9.76922934e+01] [-5.09549583e-02 -1.52538386e-03 9.98699787e-01 -3.59654661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.58, Y:97.72, Z:-3.60 [[ 8.81098833e-01 -4.70856421e-01 4.42614733e-02 5.23584770e+02] [ 4.70178991e-01 8.82208626e-01 2.52914319e-02 9.77242548e+01] [-5.09564866e-02 -1.47343628e-03 9.98699787e-01 -3.59807194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.63, Y:97.76, Z:-3.60 [[ 8.78350649e-01 -4.75963687e-01 4.42572751e-02 5.23632845e+02] [ 4.75292342e-01 8.79464133e-01 2.52987761e-02 9.77559093e+01] [-5.09639849e-02 -1.18605250e-03 9.98699787e-01 -3.60111073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.68, Y:97.79, Z:-3.60 [[ 8.75229689e-01 -4.81679054e-01 4.42524695e-02 5.23681119e+02] [ 4.81014556e-01 8.76347273e-01 2.53071793e-02 9.77889165e+01] [-5.09704692e-02 -8.63512669e-04 9.98699788e-01 -3.60430118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.865336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:523.73, Y:97.82, Z:-3.61 [[ 8.73002406e-01 -4.85704594e-01 4.42475609e-02 5.23728931e+02] [ 4.85044815e-01 8.74122783e-01 2.53157587e-02 9.78189380e+01] [-5.09737814e-02 -6.38668298e-04 9.98699788e-01 -3.60970407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.78, Y:97.85, Z:-3.61 [[ 8.72407768e-01 -4.86772050e-01 4.42454369e-02 5.23778499e+02] [ 4.86113454e-01 8.73528840e-01 2.53194703e-02 9.78501484e+01] [-5.09744757e-02 -5.80600414e-04 9.98699788e-01 -3.61160114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.9853361950001 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:523.83, Y:97.88, Z:-3.62 [[ 8.71774549e-01 -4.87905575e-01 4.42412214e-02 5.23827140e+02] [ 4.87248063e-01 8.72896257e-01 2.53268341e-02 9.78807309e+01] [-5.09751001e-02 -5.22839890e-04 9.98699788e-01 -3.61569358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.88, Y:97.91, Z:-3.62 [[ 8.71895204e-01 -4.87690371e-01 4.42363515e-02 5.23877581e+02] [ 4.87032151e-01 8.73016497e-01 2.53353371e-02 9.79101528e+01] [-5.09748646e-02 -5.45233441e-04 9.98699788e-01 -3.61759349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.93, Y:97.94, Z:-3.62 [[ 8.71835260e-01 -4.87797926e-01 4.42319131e-02 5.23927023e+02] [ 4.87139451e-01 8.72956404e-01 2.53430834e-02 9.79397145e+01] [-5.09748354e-02 -5.47883838e-04 9.98699788e-01 -3.62247940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.98, Y:97.97, Z:-3.62 [[ 8.71873961e-01 -4.87728892e-01 4.42303521e-02 5.23977272e+02] [ 4.87070190e-01 8.72994971e-01 2.53458075e-02 9.79701891e+01] [-5.09747576e-02 -5.55063587e-04 9.98699788e-01 -3.62428953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.2253361950001 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:524.03, Y:98.00, Z:-3.63 [[ 8.71404023e-01 -4.88568399e-01 4.42261052e-02 5.24028275e+02] [ 4.87910402e-01 8.72525446e-01 2.53532158e-02 9.79982212e+01] [-5.09751823e-02 -5.14517466e-04 9.98699788e-01 -3.62769208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.285336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:524.08, Y:98.03, Z:-3.63 [[ 8.70113869e-01 -4.90862859e-01 4.42211308e-02 5.24078756e+02] [ 4.90207378e-01 8.71236765e-01 2.53618893e-02 9.80258181e+01] [-5.09762844e-02 -3.90207097e-04 9.98699788e-01 -3.63249647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.3453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.13, Y:98.05, Z:-3.63 [[ 8.68827605e-01 -4.93136176e-01 4.42188291e-02 5.24130789e+02] [ 4.92483429e-01 8.69952093e-01 2.53659016e-02 9.80521404e+01] [-5.09771067e-02 -2.61554952e-04 9.98699788e-01 -3.63454157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.18, Y:98.08, Z:-3.64 [[ 8.68607214e-01 -4.93524712e-01 4.42138623e-02 5.24183009e+02] [ 4.92872028e-01 8.69731738e-01 2.53745560e-02 9.80784787e+01] [-5.09771698e-02 -2.48746462e-04 9.98699788e-01 -3.63558149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.465336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:524.23, Y:98.10, Z:-3.64 [[ 8.68678941e-01 -4.93398589e-01 4.42123297e-02 5.24234621e+02] [ 4.92745605e-01 8.69803291e-01 2.53772261e-02 9.81040965e+01] [-5.09771175e-02 -2.59230756e-04 9.98699788e-01 -3.63920335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.28, Y:98.13, Z:-3.64 [[ 8.69614648e-01 -4.91747979e-01 4.42073395e-02 5.24284843e+02] [ 4.91092419e-01 8.70737498e-01 2.53859162e-02 9.81299849e+01] [-5.09764612e-02 -3.66075287e-04 9.98699788e-01 -3.64254125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.34, Y:98.16, Z:-3.65 [[ 8.70245224e-01 -4.90631493e-01 4.42039476e-02 5.24335334e+02] [ 4.89974192e-01 8.71367056e-01 2.53918210e-02 9.81582948e+01] [-5.09758907e-02 -4.38317467e-04 9.98699788e-01 -3.64566286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.39, Y:98.18, Z:-3.65 [[ 8.70948888e-01 -4.89381719e-01 4.41991754e-02 5.24388221e+02] [ 4.88722387e-01 8.72069528e-01 2.54001252e-02 9.81849119e+01] [-5.09751110e-02 -5.21084281e-04 9.98699788e-01 -3.65114655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.44, Y:98.21, Z:-3.65 [[ 8.70958229e-01 -4.89365449e-01 4.41952619e-02 5.24439087e+02] [ 4.88705751e-01 8.72078653e-01 2.54069328e-02 9.82119703e+01] [-5.09750195e-02 -5.29898571e-04 9.98699788e-01 -3.65185529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.49, Y:98.24, Z:-3.65 [[ 8.70277784e-01 -4.90574980e-01 4.41901329e-02 5.24490712e+02] [ 4.89916387e-01 8.71398857e-01 2.54158505e-02 9.82388531e+01] [-5.09756117e-02 -4.69379811e-04 9.98699788e-01 -3.65288027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.54, Y:98.27, Z:-3.65 [[ 8.69970112e-01 -4.91120532e-01 4.41885491e-02 5.24541883e+02] [ 4.90462502e-01 8.71091516e-01 2.54186039e-02 9.82661657e+01] [-5.09758684e-02 -4.40599336e-04 9.98699788e-01 -3.65416598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.59, Y:98.29, Z:-3.66 [[ 8.70600124e-01 -4.90002994e-01 4.41869859e-02 5.24591152e+02] [ 4.89343386e-01 8.71720601e-01 2.54213210e-02 9.82935984e+01] [-5.09752293e-02 -5.09195897e-04 9.98699788e-01 -3.65815096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.64, Y:98.32, Z:-3.66 [[ 8.72168661e-01 -4.87205837e-01 4.41848362e-02 5.24641297e+02] [ 4.86542447e-01 8.73286903e-01 2.54250569e-02 9.83246951e+01] [-5.09732748e-02 -6.77139498e-04 9.98699788e-01 -3.66173616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.005336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:524.69, Y:98.35, Z:-3.67 [[ 8.73217096e-01 -4.85324631e-01 4.41803835e-02 5.24690330e+02] [ 4.84658441e-01 8.74333671e-01 2.54327917e-02 9.83544790e+01] [-5.09715572e-02 -7.95952757e-04 9.98699788e-01 -3.66725142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.74, Y:98.39, Z:-3.67 [[ 8.72762601e-01 -4.86141620e-01 4.41788066e-02 5.24737512e+02] [ 4.85476337e-01 8.73879717e-01 2.54355307e-02 9.83858392e+01] [-5.09722331e-02 -7.51414742e-04 9.98699788e-01 -3.67096372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.79, Y:98.42, Z:-3.67 [[ 8.71063571e-01 -4.89179711e-01 4.41753879e-02 5.24787615e+02] [ 4.88518023e-01 8.72182821e-01 2.54414667e-02 9.84163223e+01] [-5.09744638e-02 -5.80661678e-04 9.98699788e-01 -3.67177751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.185336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:524.84, Y:98.45, Z:-3.67 [[ 8.69692253e-01 -4.91613976e-01 4.41710758e-02 5.24837717e+02] [ 4.90955041e-01 8.70813125e-01 2.54489512e-02 9.84461303e+01] [-5.09758126e-02 -4.46743398e-04 9.98699788e-01 -3.67417619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.89, Y:98.48, Z:-3.68 [[ 8.67525605e-01 -4.95427780e-01 4.41660384e-02 5.24889234e+02] [ 4.94773327e-01 8.68649101e-01 2.54576905e-02 9.84750400e+01] [-5.09772366e-02 -2.33020608e-04 9.98699788e-01 -3.67577191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.94, Y:98.50, Z:-3.68 [[ 8.65180202e-01 -4.99512727e-01 4.41616622e-02 5.24939544e+02] [ 4.98863192e-01 8.66306548e-01 2.54652797e-02 9.85030272e+01] [-5.09777684e-02 -1.42808076e-06 9.98699788e-01 -3.67871306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.99, Y:98.53, Z:-3.68 [[ 8.63440210e-01 -5.02514868e-01 4.41566767e-02 5.24991137e+02] [ 5.01868806e-01 8.64568552e-01 2.54739214e-02 9.85298291e+01] [-5.09774983e-02 1.65650592e-04 9.98699788e-01 -3.68404837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.04, Y:98.55, Z:-3.69 [[ 8.62537520e-01 -5.04063086e-01 4.41523717e-02 5.25044221e+02] [ 5.03418668e-01 8.63666801e-01 2.54813810e-02 9.85530367e+01] [-5.09771611e-02 2.48481005e-04 9.98699788e-01 -3.68668920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.4853361950001 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:525.10, Y:98.58, Z:-3.69 [[ 8.63118371e-01 -5.03068262e-01 4.41474953e-02 5.25095308e+02] [ 5.02422110e-01 8.64246661e-01 2.54898267e-02 9.85818652e+01] [-5.09774482e-02 1.79940010e-04 9.98699788e-01 -3.68721717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.545336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:525.15, Y:98.61, Z:-3.69 [[ 8.64102990e-01 -5.01375515e-01 4.41431170e-02 5.25147473e+02] [ 5.00726767e-01 8.65229789e-01 2.54974068e-02 9.86080697e+01] [-5.09777152e-02 7.12547507e-05 9.98699788e-01 -3.68953141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.20, Y:98.63, Z:-3.69 [[ 8.66097082e-01 -4.97923370e-01 4.41379913e-02 5.25201511e+02] [ 4.97269678e-01 8.67221020e-01 2.55062767e-02 9.86293649e+01] [-5.09775651e-02 -1.42427095e-04 9.98699789e-01 -3.68937228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.25, Y:98.65, Z:-3.69 [[ 8.66907429e-01 -4.96511345e-01 4.41360833e-02 5.25253766e+02] [ 4.95855654e-01 8.68030202e-01 2.55095779e-02 9.86547126e+01] [-5.09772481e-02 -2.29316178e-04 9.98699789e-01 -3.69181359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.31, Y:98.68, Z:-3.70 [[ 8.68179321e-01 -4.94284454e-01 4.41310078e-02 5.25306893e+02] [ 4.93625437e-01 8.69300145e-01 2.55183554e-02 9.86805602e+01] [-5.09764178e-02 -3.70320465e-04 9.98699789e-01 -3.69749335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.36, Y:98.71, Z:-3.70 [[ 8.70494815e-01 -4.90195502e-01 4.41264935e-02 5.25359632e+02] [ 4.89530825e-01 8.71612291e-01 2.55261590e-02 9.87052688e+01] [-5.09740025e-02 -6.19110255e-04 9.98699789e-01 -3.70181998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.8453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.41, Y:98.73, Z:-3.70 [[ 8.73580948e-01 -4.84674521e-01 4.41241004e-02 5.25411263e+02] [ 4.84002574e-01 8.74694068e-01 2.55302951e-02 9.87322818e+01] [-5.09689724e-02 -9.46601185e-04 9.98699789e-01 -3.70373337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.46, Y:98.76, Z:-3.71 [[ 8.75191591e-01 -4.81760510e-01 4.41190335e-02 5.25461366e+02] [ 4.81084416e-01 8.76302198e-01 2.55390483e-02 9.87614557e+01] [-5.09653109e-02 -1.12658087e-03 9.98699789e-01 -3.70869956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.51, Y:98.79, Z:-3.71 [[ 8.75950250e-01 -4.80379859e-01 4.41174678e-02 5.25512434e+02] [ 4.79701879e-01 8.77059705e-01 2.55417525e-02 9.87904993e+01] [-5.09633968e-02 -1.21007231e-03 9.98699789e-01 -3.71341465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.025336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:525.56, Y:98.82, Z:-3.71 [[ 8.75055470e-01 -4.82008257e-01 4.41130827e-02 5.25563174e+02] [ 4.81331960e-01 8.76165952e-01 2.55493239e-02 9.88195494e+01] [-5.09653662e-02 -1.12403914e-03 9.98699789e-01 -3.71481047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.61, Y:98.85, Z:-3.72 [[ 8.73669983e-01 -4.84515474e-01 4.41080119e-02 5.25612835e+02] [ 4.83841922e-01 8.74782133e-01 2.55580750e-02 9.88488031e+01] [-5.09681835e-02 -9.88017708e-04 9.98699789e-01 -3.71981279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.66, Y:98.88, Z:-3.72 [[ 8.72185789e-01 -4.87182276e-01 4.41064441e-02 5.25661856e+02] [ 4.86511988e-01 8.73299909e-01 2.55607803e-02 9.88802783e+01] [-5.09709128e-02 -8.35435532e-04 9.98699789e-01 -3.72128945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.71, Y:98.91, Z:-3.72 [[ 8.70990861e-01 -4.89315835e-01 4.41014092e-02 5.25712724e+02] [ 4.88647836e-01 8.72106355e-01 2.55694643e-02 9.89093640e+01] [-5.09726630e-02 -7.20711569e-04 9.98699789e-01 -3.72269148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.76, Y:98.94, Z:-3.72 [[ 8.68026046e-01 -4.94556607e-01 4.40970152e-02 5.25763255e+02] [ 4.93894959e-01 8.69145318e-01 2.55770401e-02 9.89375626e+01] [-5.09760084e-02 -4.22243467e-04 9.98699789e-01 -3.72463253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.81, Y:98.96, Z:-3.73 [[ 8.64593592e-01 -5.00533541e-01 4.40918922e-02 5.25813496e+02] [ 4.99879181e-01 8.65717141e-01 2.55858684e-02 9.89632704e+01] [-5.09776922e-02 -8.07588814e-05 9.98699789e-01 -3.72914494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.86, Y:98.99, Z:-3.73 [[ 8.62118031e-01 -5.04785699e-01 4.40896698e-02 5.25864699e+02] [ 5.04136685e-01 8.63244676e-01 2.55896975e-02 9.89890800e+01] [-5.09774861e-02 1.65880347e-04 9.98699789e-01 -3.73497807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.92, Y:99.01, Z:-3.74 [[ 8.60719599e-01 -5.07166645e-01 4.40881612e-02 5.25917674e+02] [ 5.06520614e-01 8.61847958e-01 2.55922964e-02 9.90145177e+01] [-5.09768508e-02 3.03771409e-04 9.98699789e-01 -3.73752212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.505336195 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:525.97, Y:99.04, Z:-3.74 [[ 8.60105660e-01 -5.08207510e-01 4.40837912e-02 5.25972267e+02] [ 5.07562459e-01 8.61234578e-01 2.55998217e-02 9.90382359e+01] [-5.09765070e-02 3.56725994e-04 9.98699789e-01 -3.74033132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.03, Y:99.06, Z:-3.74 [[ 8.60753017e-01 -5.07110707e-01 4.40791849e-02 5.26026871e+02] [ 5.06463811e-01 8.61880880e-01 2.56077507e-02 9.90594178e+01] [-5.09769712e-02 2.82563311e-04 9.98699789e-01 -3.74326667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.08, Y:99.08, Z:-3.74 [[ 8.61611478e-01 -5.05650897e-01 4.40775593e-02 5.26082986e+02] [ 5.05001947e-01 8.62738160e-01 2.56105485e-02 9.90797529e+01] [-5.09773892e-02 1.92910688e-04 9.98699789e-01 -3.74187338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.13, Y:99.11, Z:-3.75 [[ 8.62038554e-01 -5.04922861e-01 4.40730862e-02 5.26134341e+02] [ 5.04272566e-01 8.63164460e-01 2.56182438e-02 9.91052819e+01] [-5.09775586e-02 1.40934448e-04 9.98699789e-01 -3.74599361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.745336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:526.19, Y:99.13, Z:-3.75 [[ 8.64404097e-01 -5.00862570e-01 4.40708847e-02 5.26189070e+02] [ 5.00206793e-01 8.65526820e-01 2.56220306e-02 9.91261929e+01] [-5.09776487e-02 -1.03232320e-04 9.98699789e-01 -3.74764928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.805336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:526.24, Y:99.15, Z:-3.75 [[ 8.68296191e-01 -4.94084935e-01 4.40658651e-02 5.26243705e+02] [ 4.93419958e-01 8.69413489e-01 2.56306605e-02 9.91492758e+01] [-5.09751808e-02 -5.12027552e-04 9.98699789e-01 -3.75231671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.30, Y:99.17, Z:-3.75 [[ 8.72056174e-01 -4.87418322e-01 4.40614329e-02 5.26297160e+02] [ 4.86744419e-01 8.73168111e-01 2.56382776e-02 9.91747374e+01] [-5.09696044e-02 -9.11361694e-04 9.98699789e-01 -3.75361837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.35, Y:99.20, Z:-3.76 [[ 8.74541726e-01 -4.82944872e-01 4.40570084e-02 5.26348007e+02] [ 4.82264900e-01 8.75649962e-01 2.56458785e-02 9.92004815e+01] [-5.09640632e-02 -1.18124207e-03 9.98699789e-01 -3.75721638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.40, Y:99.23, Z:-3.76 [[ 8.75017121e-01 -4.82083199e-01 4.40548228e-02 5.26397751e+02] [ 4.81401947e-01 8.76124570e-01 2.56496324e-02 9.92302395e+01] [-5.09627695e-02 -1.23579001e-03 9.98699789e-01 -3.76087395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.45, Y:99.26, Z:-3.76 [[ 8.73904817e-01 -4.84097072e-01 4.40499105e-02 5.26448551e+02] [ 4.83417948e-01 8.75013572e-01 2.56580658e-02 9.92596137e+01] [-5.09652641e-02 -1.12818995e-03 9.98699789e-01 -3.76455215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.50, Y:99.29, Z:-3.77 [[ 8.70952859e-01 -4.89388519e-01 4.40453774e-02 5.26500069e+02] [ 4.88715738e-01 8.72065475e-01 2.56658451e-02 9.92860185e+01] [-5.09710229e-02 -8.28072009e-04 9.98699789e-01 -3.77167360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.55, Y:99.31, Z:-3.77 [[ 8.67029984e-01 -4.96305504e-01 4.40437745e-02 5.26551745e+02] [ 4.95641460e-01 8.68147836e-01 2.56685955e-02 9.93136275e+01] [-5.09759728e-02 -4.25521188e-04 9.98699789e-01 -3.77135710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.60, Y:99.34, Z:-3.77 [[ 8.64699506e-01 -5.00355173e-01 4.40393662e-02 5.26603501e+02] [ 4.99695980e-01 8.65820225e-01 2.56761566e-02 9.93408551e+01] [-5.09773717e-02 -1.95865633e-04 9.98699789e-01 -3.77276693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.65, Y:99.37, Z:-3.78 [[ 8.62023146e-01 -5.04952496e-01 4.40349121e-02 5.26654149e+02] [ 5.04298890e-01 8.63147133e-01 2.56837931e-02 9.93659781e+01] [-5.09777036e-02 6.67331534e-05 9.98699789e-01 -3.77619938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.3453361950001 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:526.71, Y:99.39, Z:-3.78 [[ 8.60576415e-01 -5.07414491e-01 4.40314542e-02 5.26706289e+02] [ 5.06763797e-01 8.61702090e-01 2.56897199e-02 9.93923082e+01] [-5.09773322e-02 2.05579899e-04 9.98699789e-01 -3.77881252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.76, Y:99.42, Z:-3.78 [[ 8.60809183e-01 -5.07019948e-01 4.40263862e-02 5.26759107e+02] [ 5.06368294e-01 8.61934303e-01 2.56984024e-02 9.94174487e+01] [-5.09774551e-02 1.72145268e-04 9.98699789e-01 -3.78211943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.81, Y:99.44, Z:-3.79 [[ 8.62491366e-01 -5.04153461e-01 4.40219450e-02 5.26808771e+02] [ 5.03497680e-01 8.63614085e-01 2.57060080e-02 9.94449095e+01] [-5.09777446e-02 -6.26274649e-06 9.98699789e-01 -3.78572564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.525336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:526.86, Y:99.47, Z:-3.79 [[ 8.65555661e-01 -4.98874393e-01 4.40197522e-02 5.26860572e+02] [ 4.98211573e-01 8.66674239e-01 2.57097624e-02 9.94710164e+01] [-5.09767274e-02 -3.22080374e-04 9.98699789e-01 -3.78935258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.91, Y:99.50, Z:-3.80 [[ 8.66901037e-01 -4.96533272e-01 4.40147806e-02 5.26910564e+02] [ 4.95867000e-01 8.68017563e-01 2.57182710e-02 9.94992030e+01] [-5.09755798e-02 -4.69718657e-04 9.98699790e-01 -3.79501024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.96, Y:99.53, Z:-3.79 [[ 8.67577651e-01 -4.95350233e-01 4.40132470e-02 5.26962457e+02] [ 4.94682305e-01 8.68693187e-01 2.57208953e-02 9.95263120e+01] [-5.09748592e-02 -5.42299435e-04 9.98699790e-01 -3.79491729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.01, Y:99.55, Z:-3.80 [[ 8.66234916e-01 -4.97694980e-01 4.40088290e-02 5.27014972e+02] [ 4.97029688e-01 8.67352026e-01 2.57284523e-02 9.95511297e+01] [-5.09760685e-02 -4.13189155e-04 9.98699790e-01 -3.79647742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.07, Y:99.58, Z:-3.80 [[ 8.65247437e-01 -4.99410192e-01 4.40037779e-02 5.27067302e+02] [ 4.98746675e-01 8.66365602e-01 2.57370883e-02 9.95787579e+01] [-5.09767238e-02 -3.22211735e-04 9.98699790e-01 -3.79734015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.12, Y:99.61, Z:-3.80 [[ 8.64922277e-01 -4.99973514e-01 4.39993294e-02 5.27119494e+02] [ 4.99310338e-01 8.66040644e-01 2.57446911e-02 9.96051654e+01] [-5.09768713e-02 -2.97836792e-04 9.98699790e-01 -3.79888001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.885336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:527.17, Y:99.63, Z:-3.80 [[ 8.65521417e-01 -4.98935992e-01 4.39949177e-02 5.27171335e+02] [ 4.98271092e-01 8.66638760e-01 2.57522281e-02 9.96311065e+01] [-5.09764144e-02 -3.67709303e-04 9.98699790e-01 -3.80232963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.945336195 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:527.22, Y:99.66, Z:-3.81 [[ 8.66878004e-01 -4.96575692e-01 4.39898611e-02 5.27223224e+02] [ 4.95907313e-01 8.67993269e-01 2.57608629e-02 9.96591874e+01] [-5.09751216e-02 -5.16631613e-04 9.98699790e-01 -3.80620280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.27, Y:99.69, Z:-3.81 [[ 8.69048788e-01 -4.92767183e-01 4.39853127e-02 5.27272512e+02] [ 4.92093524e-01 8.70160871e-01 2.57686266e-02 9.96880573e+01] [-5.09722316e-02 -7.49306138e-04 9.98699790e-01 -3.80851614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.32, Y:99.72, Z:-3.81 [[ 8.70251038e-01 -4.90641030e-01 4.39830681e-02 5.27322583e+02] [ 4.89964461e-01 8.71361353e-01 2.57724573e-02 9.97172063e+01] [-5.09701707e-02 -8.78367507e-04 9.98699790e-01 -3.81110831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.37, Y:99.75, Z:-3.81 [[ 8.71569898e-01 -4.88294833e-01 4.39780460e-02 5.27370260e+02] [ 4.87614842e-01 8.72678122e-01 2.57810241e-02 9.97494615e+01] [-5.09674194e-02 -1.02561660e-03 9.98699790e-01 -3.81428276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.42, Y:99.78, Z:-3.82 [[ 8.71775337e-01 -4.87928099e-01 4.39765017e-02 5.27419536e+02] [ 4.87247510e-01 8.72883192e-01 2.57836581e-02 9.97804603e+01] [-5.09669205e-02 -1.05011633e-03 9.98699790e-01 -3.81719382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.47, Y:99.81, Z:-3.82 [[ 8.71261210e-01 -4.88845686e-01 4.39749781e-02 5.27467538e+02] [ 4.88166132e-01 8.72369702e-01 2.57862564e-02 9.98134678e+01] [-5.09679387e-02 -9.99470041e-04 9.98699790e-01 -3.81856902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.51, Y:99.85, Z:-3.82 [[ 8.69800192e-01 -4.91441018e-01 4.39698949e-02 5.27514242e+02] [ 4.90764334e-01 8.70910438e-01 2.57949212e-02 9.98481327e+01] [-5.09705227e-02 -8.57571240e-04 9.98699790e-01 -3.82450894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.56, Y:99.88, Z:-3.83 [[ 8.66796130e-01 -4.96720500e-01 4.39683223e-02 5.27564343e+02] [ 4.96050443e-01 8.67910388e-01 2.57976014e-02 9.98789748e+01] [-5.09747612e-02 -5.50755337e-04 9.98699790e-01 -3.82824449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.61, Y:99.91, Z:-3.83 [[ 8.63195995e-01 -5.02951145e-01 4.39638570e-02 5.27612929e+02] [ 5.02288744e-01 8.64314821e-01 2.58052089e-02 9.99092213e+01] [-5.09773725e-02 -1.92402445e-04 9.98699790e-01 -3.83318318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.66, Y:99.94, Z:-3.84 [[ 8.60723226e-01 -5.07171417e-01 4.39622751e-02 5.27661584e+02] [ 5.06514365e-01 8.61845201e-01 2.58079036e-02 9.99405567e+01] [-5.09777069e-02 5.40617807e-05 9.98699790e-01 -3.83696808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.545336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:527.71, Y:99.97, Z:-3.84 [[ 8.60504393e-01 -5.07542752e-01 4.39607071e-02 5.27711360e+02] [ 5.06886047e-01 8.61626572e-01 2.58105742e-02 9.99689260e+01] [-5.09776832e-02 7.29565352e-05 9.98699790e-01 -3.84012443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.6053361950001 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:527.76, Y:100.00, Z:-3.84 [[ 8.60921592e-01 -5.06834886e-01 4.39591900e-02 5.27761748e+02] [ 5.06177127e-01 8.62043153e-01 2.58131578e-02 9.99979859e+01] [-5.09777276e-02 2.80316079e-05 9.98699790e-01 -3.84068731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.81, Y:100.03, Z:-3.84 [[ 8.62731590e-01 -5.03748196e-01 4.39540514e-02 5.27809905e+02] [ 5.03085978e-01 8.63850524e-01 2.58219046e-02 1.00029483e+02] [-5.09774683e-02 -1.64705863e-04 9.98699790e-01 -3.84309709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.86, Y:100.06, Z:-3.85 [[ 8.64443959e-01 -5.00804234e-01 4.39517912e-02 5.27859445e+02] [ 5.00138010e-01 8.65560513e-01 2.58257513e-02 1.00059226e+02] [-5.09765805e-02 -3.42953343e-04 9.98699790e-01 -3.84663523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.91, Y:100.09, Z:-3.85 [[ 8.65399429e-01 -4.99151490e-01 4.39501894e-02 5.27909656e+02] [ 4.98482995e-01 8.66514624e-01 2.58284769e-02 1.00090511e+02] [-5.09758046e-02 -4.43527075e-04 9.98699790e-01 -3.84888661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.8453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.96, Y:100.12, Z:-3.85 [[ 8.66523763e-01 -4.97197490e-01 4.39456919e-02 5.27958538e+02] [ 4.96526093e-01 8.67637213e-01 2.58361269e-02 1.00120698e+02] [-5.09745751e-02 -5.67435188e-04 9.98699790e-01 -3.85138130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.01, Y:100.15, Z:-3.85 [[ 8.67224158e-01 -4.95974974e-01 4.39441130e-02 5.28007406e+02] [ 4.95301871e-01 8.68336578e-01 2.58388122e-02 1.00151089e+02] [-5.09736849e-02 -6.42440800e-04 9.98699790e-01 -3.85285346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.06, Y:100.18, Z:-3.86 [[ 8.67767234e-01 -4.95024638e-01 4.39390002e-02 5.28056594e+02] [ 4.94349877e-01 8.68878649e-01 2.58475035e-02 1.00181992e+02] [-5.09728102e-02 -7.08377314e-04 9.98699790e-01 -3.85726040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.11, Y:100.21, Z:-3.86 [[ 8.67577846e-01 -4.95356623e-01 4.39374215e-02 5.28105565e+02] [ 4.94682151e-01 8.68689437e-01 2.58501869e-02 1.00213488e+02] [-5.09730352e-02 -6.91991302e-04 9.98699790e-01 -3.86138649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.085336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:528.15, Y:100.24, Z:-3.86 [[ 8.67489813e-01 -4.95511229e-01 4.39322986e-02 5.28154718e+02] [ 4.94836514e-01 8.68601256e-01 2.58588903e-02 1.00241506e+02] [-5.09730202e-02 -6.93018449e-04 9.98699790e-01 -3.86441821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.20, Y:100.28, Z:-3.87 [[ 8.67581583e-01 -4.95350729e-01 4.39300810e-02 5.28202729e+02] [ 4.94675618e-01 8.68692786e-01 2.58626570e-02 1.00275652e+02] [-5.09728305e-02 -7.06824944e-04 9.98699790e-01 -3.86683491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.25, Y:100.31, Z:-3.87 [[ 8.67850389e-01 -4.94880035e-01 4.39255286e-02 5.28252721e+02] [ 4.94203931e-01 8.68960988e-01 2.58703866e-02 1.00307556e+02] [-5.09723086e-02 -7.43456211e-04 9.98699790e-01 -3.86856869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.30, Y:100.34, Z:-3.87 [[ 8.68370415e-01 -4.93967378e-01 4.39209661e-02 5.28302270e+02] [ 4.93289715e-01 8.69480063e-01 2.58781303e-02 1.00339558e+02] [-5.09713565e-02 -8.06041887e-04 9.98699790e-01 -3.87074825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.35, Y:100.37, Z:-3.88 [[ 8.68968741e-01 -4.92914470e-01 4.39164254e-02 5.28350569e+02] [ 4.92235073e-01 8.70077328e-01 2.58858337e-02 1.00370534e+02] [-5.09701881e-02 -8.76775379e-04 9.98699790e-01 -3.87530210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.385336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:528.40, Y:100.41, Z:-3.88 [[ 8.69553600e-01 -4.91882200e-01 4.39139912e-02 5.28398186e+02] [ 4.91201278e-01 8.70661251e-01 2.58899625e-02 1.00405447e+02] [-5.09690222e-02 -9.42101438e-04 9.98699790e-01 -3.87645963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.45, Y:100.44, Z:-3.88 [[ 8.69727720e-01 -4.91574652e-01 4.39096193e-02 5.28445113e+02] [ 4.90892964e-01 8.70834900e-01 2.58973753e-02 1.00439680e+02] [-5.09685221e-02 -9.68742010e-04 9.98699790e-01 -3.88211427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.49, Y:100.47, Z:-3.89 [[ 8.69270553e-01 -4.92383085e-01 4.39044892e-02 5.28492391e+02] [ 4.91701988e-01 8.70378096e-01 2.59060695e-02 1.00472579e+02] [-5.09692161e-02 -9.31458746e-04 9.98699790e-01 -3.88595379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.54, Y:100.51, Z:-3.89 [[ 8.68013326e-01 -4.94596511e-01 4.38994054e-02 5.28540098e+02] [ 4.93917804e-01 8.69122335e-01 2.59146814e-02 1.00506714e+02] [-5.09712647e-02 -8.11590890e-04 9.98699790e-01 -3.89031885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.59, Y:100.54, Z:-3.89 [[ 8.66638340e-01 -4.97002247e-01 4.38948137e-02 5.28587069e+02] [ 4.96326225e-01 8.67748987e-01 2.59224566e-02 1.00540080e+02] [-5.09731993e-02 -6.79247535e-04 9.98699791e-01 -3.89166776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.64, Y:100.57, Z:-3.89 [[ 8.65726612e-01 -4.98588830e-01 4.38931943e-02 5.28635459e+02] [ 4.97914704e-01 8.66838411e-01 2.59251984e-02 1.00571574e+02] [-5.09743212e-02 -5.89067277e-04 9.98699791e-01 -3.89353600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.68, Y:100.61, Z:-3.90 [[ 8.65214364e-01 -4.99477672e-01 4.38880393e-02 5.28680929e+02] [ 4.98804246e-01 8.66326587e-01 2.59339223e-02 1.00606155e+02] [-5.09747904e-02 -5.46861737e-04 9.98699791e-01 -3.89876431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.73, Y:100.64, Z:-3.90 [[ 8.64994038e-01 -4.99859330e-01 4.38858048e-02 5.28728343e+02] [ 4.99186203e-01 8.66106443e-01 2.59377029e-02 1.00642270e+02] [-5.09749811e-02 -5.28770044e-04 9.98699791e-01 -3.90030928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.77, Y:100.68, Z:-3.90 [[ 8.65377179e-01 -4.99196119e-01 4.38813510e-02 5.28774822e+02] [ 4.98521757e-01 8.66488836e-01 2.59452357e-02 1.00678056e+02] [-5.09744617e-02 -5.76606617e-04 9.98699791e-01 -3.90255289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.82, Y:100.71, Z:-3.90 [[ 8.65617156e-01 -4.98780016e-01 4.38797751e-02 5.28821281e+02] [ 4.98104985e-01 8.66728407e-01 2.59479006e-02 1.00712965e+02] [-5.09741418e-02 -6.04213199e-04 9.98699791e-01 -3.90373266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.87, Y:100.75, Z:-3.91 [[ 8.65347698e-01 -4.99247796e-01 4.38748123e-02 5.28867870e+02] [ 4.98572940e-01 8.66459055e-01 2.59562894e-02 1.00748452e+02] [-5.09743487e-02 -5.86421172e-04 9.98699791e-01 -3.90764677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.91, Y:100.78, Z:-3.91 [[ 8.64386369e-01 -5.00910831e-01 4.38696305e-02 5.28912376e+02] [ 5.00237669e-01 8.65498753e-01 2.59650444e-02 1.00784528e+02] [-5.09752825e-02 -4.98588768e-04 9.98699791e-01 -3.91139010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.96, Y:100.82, Z:-3.91 [[ 8.62876290e-01 -5.03507855e-01 4.38673830e-02 5.28960734e+02] [ 5.02837848e-01 8.63990577e-01 2.59688410e-02 1.00819521e+02] [-5.09765210e-02 -3.49716688e-04 9.98699791e-01 -3.91085764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.01, Y:100.86, Z:-3.92 [[ 8.61412340e-01 -5.06008576e-01 4.38645789e-02 5.29005541e+02] [ 5.05341563e-01 8.62528422e-01 2.59735766e-02 1.00857121e+02] [-5.09772985e-02 -2.07364508e-04 9.98699791e-01 -3.91696464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.2253361950001 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:529.05, Y:100.89, Z:-3.92 [[ 8.60424147e-01 -5.07687237e-01 4.38629369e-02 5.29052524e+02] [ 5.07022260e-01 8.61541443e-01 2.59763492e-02 1.00892356e+02] [-5.09775989e-02 -1.11192691e-04 9.98699791e-01 -3.91980170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.10, Y:100.93, Z:-3.93 [[ 8.59454742e-01 -5.09327039e-01 4.38578939e-02 5.29098097e+02] [ 5.08663759e-01 8.60573046e-01 2.59848610e-02 1.00928066e+02] [-5.09777136e-02 -2.38908180e-05 9.98699791e-01 -3.92553443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.3453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.15, Y:100.96, Z:-3.93 [[ 8.58508378e-01 -5.10921028e-01 4.38528050e-02 5.29145469e+02] [ 5.10259386e-01 8.59627652e-01 2.59934462e-02 1.00960679e+02] [-5.09776821e-02 6.07140683e-05 9.98699791e-01 -3.92904283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.19, Y:100.99, Z:-3.93 [[ 8.56726951e-01 -5.13902996e-01 4.38479392e-02 5.29193353e+02] [ 5.13244830e-01 8.57848273e-01 2.60016518e-02 1.00993269e+02] [-5.09772056e-02 2.28412232e-04 9.98699791e-01 -3.93062073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.24, Y:101.02, Z:-3.93 [[ 8.55796860e-01 -5.15450516e-01 4.38463193e-02 5.29242285e+02] [ 5.14794238e-01 8.56919287e-01 2.60043830e-02 1.01023351e+02] [-5.09767293e-02 3.17363190e-04 9.98699791e-01 -3.93458011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.525336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:529.29, Y:101.05, Z:-3.94 [[ 8.55146522e-01 -5.16529148e-01 4.38413593e-02 5.29291336e+02] [ 5.15873857e-01 8.56269526e-01 2.60127425e-02 1.01054587e+02] [-5.09763597e-02 3.71904795e-04 9.98699791e-01 -3.93518887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.34, Y:101.09, Z:-3.94 [[ 8.54780023e-01 -5.17135855e-01 4.38362745e-02 5.29339029e+02] [ 5.16480922e-01 8.55903236e-01 2.60213085e-02 1.01085112e+02] [-5.09761608e-02 3.98104765e-04 9.98699791e-01 -3.93911142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.39, Y:101.12, Z:-3.95 [[ 8.55344353e-01 -5.16202104e-01 4.38340781e-02 5.29389471e+02] [ 5.15545754e-01 8.56466738e-01 2.60250079e-02 1.01115563e+02] [-5.09765938e-02 3.38129288e-04 9.98699791e-01 -3.94588776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.44, Y:101.14, Z:-3.95 [[ 8.55983098e-01 -5.15142601e-01 4.38296363e-02 5.29439768e+02] [ 5.14484480e-01 8.57104445e-01 2.60324864e-02 1.01144395e+02] [-5.09770189e-02 2.66299308e-04 9.98699791e-01 -3.94875263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.49, Y:101.17, Z:-3.95 [[ 8.56519656e-01 -5.14250411e-01 4.38245730e-02 5.29489811e+02] [ 5.13590686e-01 8.57640061e-01 2.60410075e-02 1.01174221e+02] [-5.09773082e-02 2.03257741e-04 9.98699791e-01 -3.94851832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.54, Y:101.20, Z:-3.95 [[ 8.56572934e-01 -5.14161863e-01 4.38222300e-02 5.29541410e+02] [ 5.13501820e-01 8.57693151e-01 2.60449498e-02 1.01200529e+02] [-5.09773464e-02 1.93395804e-04 9.98699791e-01 -3.95182149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.59, Y:101.23, Z:-3.96 [[ 8.56174412e-01 -5.14825619e-01 4.38173255e-02 5.29593682e+02] [ 5.14166022e-01 8.57294892e-01 2.60531983e-02 1.01226941e+02] [-5.09772233e-02 2.23298215e-04 9.98699791e-01 -3.95866489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.64, Y:101.25, Z:-3.96 [[ 8.56822773e-01 -5.13746208e-01 4.38128899e-02 5.29644312e+02] [ 5.13084819e-01 8.57942196e-01 2.60606554e-02 1.01254468e+02] [-5.09774898e-02 1.50365643e-04 9.98699791e-01 -3.96124606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.005336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:529.70, Y:101.28, Z:-3.96 [[ 8.58641825e-01 -5.10700354e-01 4.38105422e-02 5.29697176e+02] [ 5.10034793e-01 8.59758772e-01 2.60646015e-02 1.01278876e+02] [-5.09776992e-02 -3.52561816e-05 9.98699791e-01 -3.96175352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.065336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:529.75, Y:101.31, Z:-3.96 [[ 8.60544416e-01 -5.07488314e-01 4.38054786e-02 5.29750092e+02] [ 5.06818150e-01 8.61658607e-01 2.60731089e-02 1.01305939e+02] [-5.09771658e-02 -2.35656605e-04 9.98699791e-01 -3.96236992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.80, Y:101.33, Z:-3.97 [[ 8.61631143e-01 -5.05641425e-01 4.38009450e-02 5.29801916e+02] [ 5.04968485e-01 8.62743661e-01 2.60807228e-02 1.01330744e+02] [-5.09764815e-02 -3.53866180e-04 9.98699791e-01 -3.96909429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.85, Y:101.36, Z:-3.97 [[ 8.62764313e-01 -5.03705627e-01 4.37993396e-02 5.29854116e+02] [ 5.03030055e-01 8.63875233e-01 2.60834186e-02 1.01356537e+02] [-5.09755294e-02 -4.71458532e-04 9.98699791e-01 -3.97381592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.91, Y:101.38, Z:-3.98 [[ 8.63819587e-01 -5.01894196e-01 4.37942646e-02 5.29905036e+02] [ 5.01215863e-01 8.64928824e-01 2.60919367e-02 1.01384555e+02] [-5.09743134e-02 -5.88345871e-04 9.98699791e-01 -3.97736274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.95, Y:101.41, Z:-3.98 [[ 8.66041599e-01 -4.98050666e-01 4.37890684e-02 5.29953654e+02] [ 4.97366970e-01 8.67147538e-01 2.61006545e-02 1.01414821e+02] [-5.09710312e-02 -8.25016270e-04 9.98699791e-01 -3.97975850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.00, Y:101.44, Z:-3.98 [[ 8.67586468e-01 -4.95354829e-01 4.37871446e-02 5.30003964e+02] [ 4.94667533e-01 8.68690174e-01 2.61038814e-02 1.01444288e+02] [-5.09681460e-02 -9.87295438e-04 9.98699791e-01 -3.98436192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.05, Y:101.48, Z:-3.99 [[ 8.68220047e-01 -4.94243946e-01 4.37820909e-02 5.30052935e+02] [ 4.93554811e-01 8.69322606e-01 2.61123549e-02 1.01475859e+02] [-5.09666347e-02 -1.06240847e-03 9.98699791e-01 -3.98662972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.10, Y:101.51, Z:-3.99 [[ 8.68253322e-01 -4.94185627e-01 4.37805286e-02 5.30101537e+02] [ 4.93496287e-01 8.69355752e-01 2.61149741e-02 1.01507805e+02] [-5.09664992e-02 -1.06888473e-03 9.98699791e-01 -3.98647212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.15, Y:101.54, Z:-3.99 [[ 8.67855995e-01 -4.94883491e-01 4.37755904e-02 5.30149581e+02] [ 4.94194620e-01 8.68958718e-01 2.61232492e-02 1.01541240e+02] [-5.09671456e-02 -1.03755720e-03 9.98699792e-01 -3.99222829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.6053361950001 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:530.20, Y:101.57, Z:-4.00 [[ 8.67298098e-01 -4.95860970e-01 4.37710871e-02 5.30197248e+02] [ 4.95172960e-01 8.68401359e-01 2.61307926e-02 1.01573135e+02] [-5.09681116e-02 -9.88927921e-04 9.98699792e-01 -3.99619052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.665336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:530.24, Y:101.61, Z:-4.00 [[ 8.65618970e-01 -4.98786630e-01 4.37686628e-02 5.30243557e+02] [ 4.98102145e-01 8.66724421e-01 2.61348525e-02 1.01608855e+02] [-5.09710840e-02 -8.21559253e-04 9.98699792e-01 -3.99978472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.29, Y:101.64, Z:-4.00 [[ 8.63630814e-01 -5.02221641e-01 4.37634630e-02 5.30292399e+02] [ 5.01541112e-01 8.64738705e-01 2.61435569e-02 1.01639671e+02] [-5.09738203e-02 -6.29205397e-04 9.98699792e-01 -4.00354057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.785336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:530.34, Y:101.67, Z:-4.01 [[ 8.59427889e-01 -5.09380919e-01 4.37582425e-02 5.30341683e+02] [ 5.08709175e-01 8.60541128e-01 2.61522918e-02 1.01669443e+02] [-5.09772458e-02 -2.15789548e-04 9.98699792e-01 -4.00733208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.8453361950001 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:530.39, Y:101.70, Z:-4.01 [[ 8.55879891e-01 -5.15320567e-01 4.37530075e-02 5.30390320e+02] [ 5.14656101e-01 8.56997489e-01 2.61610470e-02 1.01698080e+02] [-5.09775432e-02 1.27038223e-04 9.98699792e-01 -4.01263213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.905336195 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:530.44, Y:101.73, Z:-4.02 [[ 8.54781904e-01 -5.17139989e-01 4.37507536e-02 5.30440124e+02] [ 5.16477709e-01 8.55900800e-01 2.61648160e-02 1.01726284e+02] [-5.09771776e-02 2.31077751e-04 9.98699792e-01 -4.01787600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.49, Y:101.75, Z:-4.02 [[ 8.56217212e-01 -5.14760233e-01 4.37491580e-02 5.30492067e+02] [ 5.14094707e-01 8.57334180e-01 2.61674836e-02 1.01754120e+02] [-5.09776284e-02 8.61606671e-05 9.98699792e-01 -4.02423259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.54, Y:101.78, Z:-4.03 [[ 8.57462115e-01 -5.12684242e-01 4.37445986e-02 5.30542651e+02] [ 5.12015623e-01 8.58577233e-01 2.61751034e-02 1.01784203e+02] [-5.09776795e-02 -4.62416154e-05 9.98699792e-01 -4.02548563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.59, Y:101.81, Z:-4.03 [[ 8.59691797e-01 -5.08936928e-01 4.37403487e-02 5.30594405e+02] [ 5.08263087e-01 8.60803768e-01 2.61822034e-02 1.01812769e+02] [-5.09769471e-02 -2.77020846e-04 9.98699792e-01 -4.03146840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.64, Y:101.84, Z:-4.04 [[ 8.60941298e-01 -5.06820714e-01 4.37360866e-02 5.30644529e+02] [ 5.06143778e-01 8.62051388e-01 2.61893209e-02 1.01841024e+02] [-5.09760445e-02 -4.10719830e-04 9.98699792e-01 -4.03646123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.205336195 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:530.70, Y:101.87, Z:-4.04 [[ 8.61443446e-01 -5.05967185e-01 4.37309682e-02 5.30697213e+02] [ 5.05288715e-01 8.62552599e-01 2.61978649e-02 1.01868531e+02] [-5.09755203e-02 -4.71214259e-04 9.98699792e-01 -4.03569792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.75, Y:101.90, Z:-4.04 [[ 8.62313286e-01 -5.04483695e-01 4.37263920e-02 5.30748815e+02] [ 5.03802931e-01 8.63421032e-01 2.62055009e-02 1.01896236e+02] [-5.09745344e-02 -5.67867164e-04 9.98699792e-01 -4.03791887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.80, Y:101.92, Z:-4.04 [[ 8.62769065e-01 -5.03704218e-01 4.37218632e-02 5.30800083e+02] [ 5.03022069e-01 8.63875960e-01 2.62130546e-02 1.01921986e+02] [-5.09738927e-02 -6.22750495e-04 9.98699792e-01 -4.04291086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.85, Y:101.95, Z:-4.05 [[ 8.63808364e-01 -5.01919963e-01 4.37202637e-02 5.30853201e+02] [ 5.01235393e-01 8.64913762e-01 2.62157220e-02 1.01945036e+02] [-5.09724520e-02 -7.31216336e-04 9.98699792e-01 -4.04630226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.91, Y:101.97, Z:-4.05 [[ 8.63973132e-01 -5.01636739e-01 4.37150862e-02 5.30906252e+02] [ 5.00951370e-01 8.65078036e-01 2.62243528e-02 1.01968587e+02] [-5.09720597e-02 -7.58003869e-04 9.98699792e-01 -4.05072668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.96, Y:101.99, Z:-4.06 [[ 8.63318828e-01 -5.02762410e-01 4.37099583e-02 5.30958517e+02] [ 5.02078050e-01 8.64424356e-01 2.62328970e-02 1.01994047e+02] [-5.09728671e-02 -7.01543264e-04 9.98699792e-01 -4.05639198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.01, Y:102.02, Z:-4.06 [[ 8.62894735e-01 -5.03490380e-01 4.37048582e-02 5.31011291e+02] [ 5.02806522e-01 8.64000573e-01 2.62413913e-02 1.02017725e+02] [-5.09733106e-02 -6.68470630e-04 9.98699792e-01 -4.06016744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.07, Y:102.04, Z:-4.06 [[ 8.62601094e-01 -5.03993572e-01 4.37016211e-02 5.31066814e+02] [ 5.03310086e-01 8.63707163e-01 2.62467812e-02 1.02039094e+02] [-5.09736121e-02 -6.45035483e-04 9.98699792e-01 -4.06421654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.12, Y:102.06, Z:-4.08 [[ 8.63561110e-01 -5.02347271e-01 4.36970078e-02 5.31119902e+02] [ 5.01661289e-01 8.64665632e-01 2.62544593e-02 1.02061477e+02] [-5.09721568e-02 -7.51232781e-04 9.98699792e-01 -4.07508486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.17, Y:102.08, Z:-4.08 [[ 8.65781861e-01 -4.98510277e-01 4.36952341e-02 5.31173505e+02] [ 4.97819251e-01 8.66883234e-01 2.62574110e-02 1.02084645e+02] [-5.09682551e-02 -9.80861494e-04 9.98699792e-01 -4.07860267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.23, Y:102.11, Z:-4.08 [[ 8.68477883e-01 -4.93798891e-01 4.36900598e-02 5.31227240e+02] [ 4.93101459e-01 8.69575211e-01 2.62660177e-02 1.02108660e+02] [-5.09619234e-02 -1.26782322e-03 9.98699792e-01 -4.07956039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.28, Y:102.13, Z:-4.08 [[ 8.70138212e-01 -4.90867662e-01 4.36855880e-02 5.31280294e+02] [ 4.90166161e-01 8.71232943e-01 2.62734531e-02 1.02133887e+02] [-5.09571119e-02 -1.44833857e-03 9.98699792e-01 -4.08024121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.33, Y:102.16, Z:-4.09 [[ 8.71194398e-01 -4.88991075e-01 4.36812265e-02 5.31330911e+02] [ 4.88286852e-01 8.72287381e-01 2.62807023e-02 1.02160949e+02] [-5.09536115e-02 -1.56663206e-03 9.98699792e-01 -4.08923853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.39, Y:102.18, Z:-4.09 [[ 8.70212290e-01 -4.90736862e-01 4.36795495e-02 5.31385033e+02] [ 4.90034693e-01 8.71306593e-01 2.62834892e-02 1.02183850e+02] [-5.09565565e-02 -1.46772072e-03 9.98699792e-01 -4.09312290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.44, Y:102.21, Z:-4.10 [[ 8.68287511e-01 -4.94134930e-01 4.36745758e-02 5.31437161e+02] [ 4.93436629e-01 8.69384286e-01 2.62917513e-02 1.02208159e+02] [-5.09616626e-02 -1.27816389e-03 9.98699792e-01 -4.09867721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.49, Y:102.23, Z:-4.10 [[ 8.67408656e-01 -4.95676262e-01 4.36722543e-02 5.31490127e+02] [ 4.94979716e-01 8.68506547e-01 2.62956070e-02 1.02232402e+02] [-5.09637470e-02 -1.19215710e-03 9.98699792e-01 -4.10044741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.54, Y:102.26, Z:-4.11 [[ 8.67123490e-01 -4.96175413e-01 4.36670619e-02 5.31541482e+02] [ 4.95479065e-01 8.68221506e-01 2.63042268e-02 1.02258132e+02] [-5.09641928e-02 -1.17289796e-03 9.98699792e-01 -4.10530206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.59, Y:102.28, Z:-4.11 [[ 8.66296777e-01 -4.97617618e-01 4.36646422e-02 5.31594109e+02] [ 4.96922895e-01 8.67395822e-01 2.63082429e-02 1.02283591e+02] [-5.09659733e-02 -1.09278560e-03 9.98699792e-01 -4.11140692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.65, Y:102.31, Z:-4.12 [[ 8.65237731e-01 -4.99457167e-01 4.36601276e-02 5.31646837e+02] [ 4.98764403e-01 8.66338013e-01 2.63157330e-02 1.02308928e+02] [-5.09680096e-02 -9.93247665e-04 9.98699792e-01 -4.11506356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.3453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.70, Y:102.33, Z:-4.12 [[ 8.63440320e-01 -5.02558515e-01 4.36549272e-02 5.31699567e+02] [ 5.01869268e-01 8.64542808e-01 2.63243571e-02 1.02334078e+02] [-5.09710831e-02 -8.20444947e-04 9.98699793e-01 -4.12024691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.75, Y:102.36, Z:-4.12 [[ 8.61118395e-01 -5.06527145e-01 4.36504357e-02 5.31753958e+02] [ 5.05842602e-01 8.62223810e-01 2.63318026e-02 1.02358124e+02] [-5.09742178e-02 -5.94549623e-04 9.98699793e-01 -4.12236627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.465336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:531.81, Y:102.38, Z:-4.13 [[ 8.59209006e-01 -5.09759635e-01 4.36462848e-02 5.31805226e+02] [ 5.09078902e-01 8.60316770e-01 2.63386811e-02 1.02382296e+02] [-5.09760273e-02 -4.11029295e-04 9.98699793e-01 -4.12737915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.86, Y:102.41, Z:-4.13 [[ 8.58304312e-01 -5.11281629e-01 4.36440512e-02 5.31858272e+02] [ 5.10602672e-01 8.59413166e-01 2.63423818e-02 1.02406224e+02] [-5.09766481e-02 -3.25010743e-04 9.98699793e-01 -4.12946954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.91, Y:102.43, Z:-4.14 [[ 8.58939590e-01 -5.10214098e-01 4.36389164e-02 5.31912739e+02] [ 5.09533331e-01 8.60047333e-01 2.63508855e-02 1.02429922e+02] [-5.09761269e-02 -3.98336332e-04 9.98699793e-01 -4.13638559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.96, Y:102.45, Z:-4.14 [[ 8.59802001e-01 -5.08759821e-01 4.36344363e-02 5.31964675e+02] [ 5.08076804e-01 8.60908358e-01 2.63583018e-02 1.02454339e+02] [-5.09752959e-02 -4.93275719e-04 9.98699793e-01 -4.14217292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.02, Y:102.48, Z:-4.15 [[ 8.61049656e-01 -5.06645664e-01 4.36309700e-02 5.32018319e+02] [ 5.05959640e-01 8.62154151e-01 2.63640383e-02 1.02479277e+02] [-5.09738477e-02 -6.25236249e-04 9.98699793e-01 -4.14849344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.07, Y:102.51, Z:-4.16 [[ 8.62747331e-01 -5.03749701e-01 4.36266247e-02 5.32070335e+02] [ 5.03059606e-01 8.63849287e-01 2.63712270e-02 1.02506424e+02] [-5.09713263e-02 -8.04913062e-04 9.98699793e-01 -4.15514397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.12, Y:102.53, Z:-4.16 [[ 8.65140210e-01 -4.99629355e-01 4.36225169e-02 5.32122111e+02] [ 4.98933671e-01 8.66238646e-01 2.63780203e-02 1.02532492e+02] [-5.09667432e-02 -1.05594358e-03 9.98699793e-01 -4.16353395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.17, Y:102.56, Z:-4.17 [[ 8.65975835e-01 -4.98179754e-01 4.36209246e-02 5.32172778e+02] [ 4.97482099e-01 8.67073020e-01 2.63806532e-02 1.02561617e+02] [-5.09648341e-02 -1.14437908e-03 9.98699793e-01 -4.16935866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.22, Y:102.59, Z:-4.17 [[ 8.64825879e-01 -5.00173748e-01 4.36167424e-02 5.32224290e+02] [ 4.99478274e-01 8.65924448e-01 2.63875660e-02 1.02590435e+02] [-5.09671714e-02 -1.03503478e-03 9.98699793e-01 -4.16501022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.28, Y:102.62, Z:-4.17 [[ 8.62797199e-01 -5.03665535e-01 4.36121800e-02 5.32275613e+02] [ 5.02974126e-01 8.63898331e-01 2.63951043e-02 1.02617466e+02] [-5.09707939e-02 -8.37823939e-04 9.98699793e-01 -4.16613136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.33, Y:102.65, Z:-4.17 [[ 8.60949203e-01 -5.06818103e-01 4.36105665e-02 5.32327688e+02] [ 5.06130591e-01 8.62052772e-01 2.63977700e-02 1.02645766e+02] [-5.09734775e-02 -6.54497259e-04 9.98699793e-01 -4.16571349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.125336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:532.38, Y:102.67, Z:-4.17 [[ 8.60108624e-01 -5.08243704e-01 4.36061135e-02 5.32379188e+02] [ 5.07557649e-01 8.61213100e-01 2.64051237e-02 1.02672455e+02] [-5.09743941e-02 -5.78658155e-04 9.98699793e-01 -4.17144921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.43, Y:102.70, Z:-4.17 [[ 8.59224434e-01 -5.09737203e-01 4.36045380e-02 5.32429634e+02] [ 5.09052936e-01 8.60330018e-01 2.64077252e-02 1.02703159e+02] [-5.09752930e-02 -4.93144605e-04 9.98699793e-01 -4.17326430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.48, Y:102.73, Z:-4.18 [[ 8.58089384e-01 -5.11646004e-01 4.36001816e-02 5.32482282e+02] [ 5.10963831e-01 8.59196261e-01 2.64149159e-02 1.02730358e+02] [-5.09761992e-02 -3.88243117e-04 9.98699793e-01 -4.17944189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.53, Y:102.76, Z:-4.19 [[ 8.57506340e-01 -5.12622755e-01 4.35980243e-02 5.32531420e+02] [ 5.11941662e-01 8.58613882e-01 2.64184760e-02 1.02760132e+02] [-5.09765809e-02 -3.34365684e-04 9.98699793e-01 -4.18849470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.58, Y:102.79, Z:-4.19 [[ 8.57372033e-01 -5.12847554e-01 4.35956697e-02 5.32581699e+02] [ 5.12166554e-01 8.58479633e-01 2.64223611e-02 1.02789639e+02] [-5.09766377e-02 -3.25549571e-04 9.98699793e-01 -4.18749010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.425336195 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:532.63, Y:102.82, Z:-4.19 [[ 8.58258891e-01 -5.11362452e-01 4.35903581e-02 5.32630604e+02] [ 5.10679090e-01 8.59365035e-01 2.64311209e-02 1.02820313e+02] [-5.09759124e-02 -4.24060102e-04 9.98699793e-01 -4.19091127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.68, Y:102.85, Z:-4.20 [[ 8.57970572e-01 -5.11846505e-01 4.35850000e-02 5.32679848e+02] [ 5.11163319e-01 8.59076825e-01 2.64399536e-02 1.02849963e+02] [-5.09760612e-02 -4.05648893e-04 9.98699793e-01 -4.19531107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.73, Y:102.88, Z:-4.20 [[ 8.57459955e-01 -5.12701654e-01 4.35825654e-02 5.32730358e+02] [ 5.12019367e-01 8.58566762e-01 2.64439660e-02 1.02879615e+02] [-5.09764072e-02 -3.59524352e-04 9.98699793e-01 -4.20057141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.78, Y:102.91, Z:-4.21 [[ 8.56825176e-01 -5.13762184e-01 4.35779373e-02 5.32778871e+02] [ 5.13080879e-01 8.57932588e-01 2.64515906e-02 1.02911267e+02] [-5.09767595e-02 -3.05382372e-04 9.98699793e-01 -4.20878949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.83, Y:102.94, Z:-4.21 [[ 8.55298577e-01 -5.16299833e-01 4.35755254e-02 5.32831011e+02] [ 5.15621612e-01 8.56407880e-01 2.64555633e-02 1.02939256e+02] [-5.09774263e-02 -1.58923041e-04 9.98699793e-01 -4.20713580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.88, Y:102.97, Z:-4.21 [[ 8.53259292e-01 -5.19663501e-01 4.35709354e-02 5.32883235e+02] [ 5.18989266e-01 8.54371023e-01 2.64631206e-02 1.02966759e+02] [-5.09776626e-02 3.29442526e-05 9.98699793e-01 -4.20868127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.785336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:532.94, Y:102.99, Z:-4.21 [[ 8.52382619e-01 -5.21100613e-01 4.35663025e-02 5.32935010e+02] [ 5.20427863e-01 8.53495249e-01 2.64707455e-02 1.02993923e+02] [-5.09775539e-02 1.09914321e-04 9.98699793e-01 -4.21265726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.8453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.99, Y:103.02, Z:-4.22 [[ 8.53142548e-01 -5.19855924e-01 4.35615843e-02 5.32985740e+02] [ 5.19181154e-01 8.54253954e-01 2.64785079e-02 1.03020109e+02] [-5.09776648e-02 2.64119444e-05 9.98699793e-01 -4.21777027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.04, Y:103.05, Z:-4.22 [[ 8.55566154e-01 -5.15857678e-01 4.35592853e-02 5.33036278e+02] [ 5.15177522e-01 8.56674272e-01 2.64822893e-02 1.03047388e+02] [-5.09772113e-02 -2.16585759e-04 9.98699793e-01 -4.22134050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.965336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:533.09, Y:103.08, Z:-4.22 [[ 8.57430713e-01 -5.12752671e-01 4.35576798e-02 5.33087428e+02] [ 5.12068368e-01 8.58536274e-01 2.64849298e-02 1.03075631e+02] [-5.09760666e-02 -4.04482209e-04 9.98699793e-01 -4.22282942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.14, Y:103.11, Z:-4.22 [[ 8.57105911e-01 -5.13295814e-01 4.35530014e-02 5.33138311e+02] [ 5.12611821e-01 8.58211665e-01 2.64926209e-02 1.03105210e+02] [-5.09762453e-02 -3.81198590e-04 9.98699793e-01 -4.22471738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.19, Y:103.13, Z:-4.23 [[ 8.56061999e-01 -5.15035332e-01 4.35483641e-02 5.33189365e+02] [ 5.14353199e-01 8.57168901e-01 2.65002415e-02 1.03133628e+02] [-5.09768641e-02 -2.86609337e-04 9.98699793e-01 -4.22662728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.145336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:533.24, Y:103.16, Z:-4.23 [[ 8.55282422e-01 -5.16329275e-01 4.35437387e-02 5.33241013e+02] [ 5.15648429e-01 8.56390117e-01 2.65078395e-02 1.03160394e+02] [-5.09772010e-02 -2.18428736e-04 9.98699793e-01 -4.23334156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.29, Y:103.19, Z:-4.24 [[ 8.54073879e-01 -5.18326297e-01 4.35391642e-02 5.33290432e+02] [ 5.17647658e-01 8.55182927e-01 2.65153511e-02 1.03189083e+02] [-5.09775536e-02 -1.08122334e-04 9.98699793e-01 -4.24307991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.265336195 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:533.34, Y:103.22, Z:-4.24 [[ 8.53464941e-01 -5.19328484e-01 4.35375720e-02 5.33343703e+02] [ 5.18651014e-01 8.54574703e-01 2.65179652e-02 1.03215543e+02] [-5.09776423e-02 -5.13477580e-05 9.98699793e-01 -4.24201261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.40, Y:103.24, Z:-4.24 [[ 8.53082097e-01 -5.19957520e-01 4.35328960e-02 5.33395721e+02] [ 5.19280477e-01 8.54192119e-01 2.65256392e-02 1.03243999e+02] [-5.09776623e-02 -2.27649018e-05 9.98699793e-01 -4.23922863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.45, Y:103.27, Z:-4.25 [[ 8.53292967e-01 -5.19611785e-01 4.35282172e-02 5.33445257e+02] [ 5.18933900e-01 8.54402476e-01 2.65333148e-02 1.03272603e+02] [-5.09776396e-02 -5.24233952e-05 9.98699793e-01 -4.24759141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.445336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:533.49, Y:103.30, Z:-4.25 [[ 8.53803969e-01 -5.18771839e-01 4.35265689e-02 5.33494257e+02] [ 5.18092725e-01 8.54912725e-01 2.65360184e-02 1.03302644e+02] [-5.09775568e-02 -1.05759128e-04 9.98699793e-01 -4.25035769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.55, Y:103.33, Z:-4.25 [[ 8.53759724e-01 -5.18845077e-01 4.35214798e-02 5.33545001e+02] [ 5.18165633e-01 8.54868279e-01 2.65443625e-02 1.03333555e+02] [-5.09775443e-02 -1.11172471e-04 9.98699794e-01 -4.24664684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.59, Y:103.36, Z:-4.25 [[ 8.53110231e-01 -5.19912689e-01 4.35169998e-02 5.33594689e+02] [ 5.19234257e-01 8.54219406e-01 2.65517050e-02 1.03364948e+02] [-5.09776340e-02 -5.60141595e-05 9.98699794e-01 -4.25018957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.625336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:533.65, Y:103.39, Z:-4.26 [[ 8.53084590e-01 -5.19955153e-01 4.35123164e-02 5.33645482e+02] [ 5.19276386e-01 8.54193558e-01 2.65593779e-02 1.03392784e+02] [-5.09776257e-02 -6.24775822e-05 9.98699794e-01 -4.25860644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.69, Y:103.43, Z:-4.26 [[ 8.53326347e-01 -5.19558621e-01 4.35084561e-02 5.33694251e+02] [ 5.18879015e-01 8.54434802e-01 2.65657001e-02 1.03426419e+02] [-5.09775776e-02 -9.35869373e-05 9.98699794e-01 -4.25968479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.74, Y:103.46, Z:-4.27 [[ 8.54154073e-01 -5.18197093e-01 4.35039263e-02 5.33742388e+02] [ 5.17515343e-01 8.55261211e-01 2.65731160e-02 1.03457861e+02] [-5.09773322e-02 -1.83585959e-04 9.98699794e-01 -4.26792031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.805336195 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:533.79, Y:103.49, Z:-4.26 [[ 8.55292769e-01 -5.16315628e-01 4.35023198e-02 5.33791858e+02] [ 5.15631309e-01 8.56398320e-01 2.65757457e-02 1.03490312e+02] [-5.09767865e-02 -2.98884966e-04 9.98699794e-01 -4.26437075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.84, Y:103.52, Z:-4.27 [[ 8.55881498e-01 -5.15339520e-01 4.34975966e-02 5.33840407e+02] [ 5.14653547e-01 8.56986024e-01 2.65834741e-02 1.03521200e+02] [-5.09763472e-02 -3.66111207e-04 9.98699794e-01 -4.27003061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.89, Y:103.55, Z:-4.27 [[ 8.55851541e-01 -5.15389426e-01 4.34957340e-02 5.33888301e+02] [ 5.14703363e-01 8.56956011e-01 2.65865213e-02 1.03554479e+02] [-5.09763427e-02 -3.66714684e-04 9.98699794e-01 -4.27278560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.94, Y:103.58, Z:-4.27 [[ 8.55824183e-01 -5.15435284e-01 4.34906454e-02 5.33939050e+02] [ 5.14748857e-01 8.56928427e-01 2.65948429e-02 1.03584710e+02] [-5.09762907e-02 -3.73749666e-04 9.98699794e-01 -4.27004303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.045336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:533.99, Y:103.62, Z:-4.27 [[ 8.56852744e-01 -5.13723993e-01 4.34860181e-02 5.33987552e+02] [ 5.13034977e-01 8.57955374e-01 2.66024069e-02 1.03616754e+02] [-5.09753576e-02 -4.84497002e-04 9.98699794e-01 -4.27173183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:534.04, Y:103.65, Z:-4.27 [[ 8.58732765e-01 -5.10575310e-01 4.34843795e-02 5.34036426e+02] [ 5.09882116e-01 8.59832773e-01 2.66050850e-02 1.03649580e+02] [-5.09731942e-02 -6.74750762e-04 9.98699794e-01 -4.27064757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.165336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:534.09, Y:103.68, Z:-4.28 [[ 8.59343507e-01 -5.09547110e-01 4.34796458e-02 5.34085009e+02] [ 5.08852208e-01 8.60442437e-01 2.66128190e-02 1.03681318e+02] [-5.09722174e-02 -7.44839408e-04 9.98699794e-01 -4.27699834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:534.13, Y:103.72, Z:-4.28 [[ 8.60270181e-01 -5.07981181e-01 4.34779879e-02 5.34132123e+02] [ 5.07284143e-01 8.61367757e-01 2.66155273e-02 1.03717154e+02] [-5.09707239e-02 -8.40850652e-04 9.98699794e-01 -4.27756433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.285336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:534.18, Y:103.75, Z:-4.28 [[ 8.59478607e-01 -5.09319725e-01 4.34734587e-02 5.34179613e+02] [ 5.08624022e-01 8.60577030e-01 2.66229231e-02 1.03751225e+02] [-5.09718398e-02 -7.70187492e-04 9.98699794e-01 -4.27690509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.3453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:534.23, Y:103.78, Z:-4.28 [[ 8.58303952e-01 -5.11297217e-01 4.34681727e-02 5.34226875e+02] [ 5.10603607e-01 8.59403698e-01 2.66315509e-02 1.03783912e+02] [-5.09733462e-02 -6.62959615e-04 9.98699794e-01 -4.28080571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.405336195 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:534.27, Y:103.82, Z:-4.28 [[ 8.56279464e-01 -5.14680619e-01 4.34665380e-02 5.34273146e+02] [ 5.13991220e-01 8.57381854e-01 2.66342187e-02 1.03821777e+02] [-5.09755371e-02 -4.64915614e-04 9.98699794e-01 -4.28123161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:534.32, Y:103.86, Z:-4.29 [[ 8.54809513e-01 -5.17118706e-01 4.34619496e-02 5.34318815e+02] [ 5.16432071e-01 8.55913627e-01 2.66417040e-02 1.03857107e+02] [-5.09765984e-02 -3.28437390e-04 9.98699794e-01 -4.28581958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:534.37, Y:103.89, Z:-4.29 [[ 8.54457310e-01 -5.17700594e-01 4.34603280e-02 5.34365887e+02] [ 5.17014576e-01 8.55561808e-01 2.66443491e-02 1.03892701e+02] [-5.09767921e-02 -2.96835844e-04 9.98699794e-01 -4.28598480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.585336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:534.41, Y:103.93, Z:-4.29 [[ 8.54667711e-01 -5.17353486e-01 4.34565766e-02 5.34409555e+02] [ 5.16666708e-01 8.55771737e-01 2.66504662e-02 1.03934792e+02] [-5.09766216e-02 -3.24726613e-04 9.98699794e-01 -4.28770798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:534.46, Y:103.97, Z:-4.30 [[ 8.53836949e-01 -5.18723816e-01 4.34519027e-02 5.34455318e+02] [ 5.18038423e-01 8.54941834e-01 2.66580845e-02 1.03970230e+02] [-5.09770327e-02 -2.51902353e-04 9.98699794e-01 -4.29541629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:534.50, Y:104.01, Z:-4.29 [[ 8.51320826e-01 -5.22843186e-01 4.34494535e-02 5.34499945e+02] [ 5.22162935e-01 8.52428884e-01 2.66620758e-02 1.04009699e+02] [-5.09776538e-02 -1.02862310e-05 9.98699794e-01 -4.29271319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.765336195 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:534.54, Y:104.05, Z:-4.30 [[ 8.48204446e-01 -5.27884301e-01 4.34440189e-02 5.34543781e+02] [ 5.27210182e-01 8.49316246e-01 2.66709281e-02 1.04048529e+02] [-5.09768753e-02 2.81729314e-04 9.98699794e-01 -4.29602426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.825336195 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:534.59, Y:104.08, Z:-4.30 [[ 8.46254345e-01 -5.31005034e-01 4.34423388e-02 5.34588782e+02] [ 5.30334874e-01 8.47368536e-01 2.66736644e-02 1.04084193e+02] [-5.09755211e-02 4.66282890e-04 9.98699794e-01 -4.30438991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:534.63, Y:104.12, Z:-4.30 [[ 8.44145972e-01 -5.34350554e-01 4.34403359e-02 5.34634522e+02] [ 5.33684643e-01 8.45262707e-01 2.66769260e-02 1.04123223e+02] [-5.09733261e-02 6.64220513e-04 9.98699794e-01 -4.29790781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:534.68, Y:104.16, Z:-4.31 [[ 8.42169689e-01 -5.37460301e-01 4.34354762e-02 5.34679372e+02] [ 5.36798105e-01 8.43288631e-01 2.66848361e-02 1.04159354e+02] [-5.09706833e-02 8.42921197e-04 9.98699794e-01 -4.30520859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.005336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:534.73, Y:104.19, Z:-4.31 [[ 8.40977070e-01 -5.39324694e-01 4.34332063e-02 5.34727203e+02] [ 5.38664787e-01 8.42097364e-01 2.66885303e-02 1.04193941e+02] [-5.09687719e-02 9.51496778e-04 9.98699794e-01 -4.30705550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:534.77, Y:104.23, Z:-4.31 [[ 8.40785620e-01 -5.39623478e-01 4.34285977e-02 5.34773863e+02] [ 5.38963583e-01 8.41905920e-01 2.66960275e-02 1.04228449e+02] [-5.09685967e-02 9.60796592e-04 9.98699794e-01 -4.30952533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:534.82, Y:104.26, Z:-4.31 [[ 8.42612546e-01 -5.36766425e-01 4.34269757e-02 5.34821334e+02] [ 5.36102595e-01 8.43730519e-01 2.66986657e-02 1.04263751e+02] [-5.09716121e-02 7.84683743e-04 9.98699794e-01 -4.31087590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.185336195 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:534.87, Y:104.30, Z:-4.31 [[ 8.44679577e-01 -5.33508106e-01 4.34224941e-02 5.34868003e+02] [ 5.32839589e-01 8.45794753e-01 2.67059526e-02 1.04299635e+02] [-5.09743599e-02 5.79251102e-04 9.98699794e-01 -4.31078180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:534.91, Y:104.34, Z:-4.31 [[ 8.49443824e-01 -5.25889856e-01 4.34171493e-02 5.34913865e+02] [ 5.25210892e-01 8.50552672e-01 2.67146391e-02 1.04336684e+02] [-5.09775300e-02 1.10574496e-04 9.98699794e-01 -4.31159333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:534.96, Y:104.37, Z:-4.31 [[ 8.52427528e-01 -5.21039988e-01 4.34124379e-02 5.34962193e+02] [ 5.20354325e-01 8.53532246e-01 2.67222931e-02 1.04371261e+02] [-5.09772989e-02 -1.88968405e-04 9.98699794e-01 -4.31498488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:535.01, Y:104.41, Z:-4.32 [[ 8.53430525e-01 -5.19395884e-01 4.34079983e-02 5.35009206e+02] [ 5.18707726e-01 8.54533691e-01 2.67295029e-02 1.04405304e+02] [-5.09767908e-02 -2.95709638e-04 9.98699794e-01 -4.31772168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.425336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:535.06, Y:104.44, Z:-4.32 [[ 8.52982250e-01 -5.20131880e-01 4.34063182e-02 5.35055502e+02] [ 5.19444535e-01 8.54085922e-01 2.67322309e-02 1.04441976e+02] [-5.09770108e-02 -2.54943665e-04 9.98699794e-01 -4.32133035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:535.10, Y:104.48, Z:-4.32 [[ 8.52222206e-01 -5.21376649e-01 4.34016360e-02 5.35103291e+02] [ 5.20690530e-01 8.53326640e-01 2.67398306e-02 1.04475332e+02] [-5.09772955e-02 -1.89456610e-04 9.98699794e-01 -4.32491143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:535.15, Y:104.51, Z:-4.33 [[ 8.52369849e-01 -5.21135687e-01 4.33962658e-02 5.35150407e+02] [ 5.20448812e-01 8.53473813e-01 2.67485431e-02 1.04508941e+02] [-5.09771969e-02 -2.14116678e-04 9.98699795e-01 -4.32801291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:535.20, Y:104.54, Z:-4.32 [[ 8.51820489e-01 -5.22033269e-01 4.33949392e-02 5.35199569e+02] [ 5.21347448e-01 8.52925107e-01 2.67506951e-02 1.04543770e+02] [-5.09773860e-02 -1.62949381e-04 9.98699795e-01 -4.32337969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:535.25, Y:104.58, Z:-4.33 [[ 8.51603756e-01 -5.22387107e-01 4.33907039e-02 5.35246831e+02] [ 5.21701394e-01 8.52708443e-01 2.67575632e-02 1.04576715e+02] [-5.09774256e-02 -1.49850583e-04 9.98699795e-01 -4.32735393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:535.29, Y:104.61, Z:-4.33 [[ 8.50804888e-01 -5.23687663e-01 4.33851821e-02 5.35294654e+02] [ 5.23003182e-01 8.51910339e-01 2.67665134e-02 1.04609258e+02] [-5.09775780e-02 -8.24920966e-05 9.98699795e-01 -4.33343455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:535.34, Y:104.64, Z:-4.34 [[ 8.49964240e-01 -5.25051107e-01 4.33834763e-02 5.35343477e+02] [ 5.24368258e-01 8.51070699e-01 2.67692778e-02 1.04638991e+02] [-5.09776445e-02 -4.01096397e-06 9.98699795e-01 -4.33934872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.8453361950001 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:535.39, Y:104.67, Z:-4.34 [[ 8.49816442e-01 -5.25290484e-01 4.33811226e-02 5.35393054e+02] [ 5.24607753e-01 8.50922974e-01 2.67730916e-02 1.04671017e+02] [-5.09776441e-02 5.85983082e-06 9.98699795e-01 -4.33882198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:535.44, Y:104.70, Z:-4.34 [[ 8.51557944e-01 -5.22462967e-01 4.33764474e-02 5.35442471e+02] [ 5.21776176e-01 8.52661960e-01 2.67806640e-02 1.04701659e+02] [-5.09773519e-02 -1.72490337e-04 9.98699795e-01 -4.34061191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.965336195 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:535.49, Y:104.74, Z:-4.34 [[ 8.54762168e-01 -5.17204276e-01 4.33747964e-02 5.35489307e+02] [ 5.16510558e-01 8.55861844e-01 2.67833378e-02 1.04738596e+02] [-5.09752901e-02 -4.89843581e-04 9.98699795e-01 -4.33913096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:535.54, Y:104.77, Z:-4.34 [[ 8.57306937e-01 -5.12975484e-01 4.33701312e-02 5.35536821e+02] [ 5.12275960e-01 8.58402930e-01 2.67908900e-02 1.04773022e+02] [-5.09721174e-02 -7.50540231e-04 9.98699795e-01 -4.34207375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:535.58, Y:104.81, Z:-4.35 [[ 8.59489567e-01 -5.09310436e-01 4.33654647e-02 5.35582161e+02] [ 5.08605858e-01 8.60582317e-01 2.67984413e-02 1.04808495e+02] [-5.09682780e-02 -9.77051371e-04 9.98699795e-01 -4.34740623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:535.63, Y:104.85, Z:-4.35 [[ 8.60790334e-01 -5.07109098e-01 4.33631588e-02 5.35627310e+02] [ 5.06401537e-01 8.61881156e-01 2.68021720e-02 1.04845131e+02] [-5.09655147e-02 -1.11188035e-03 9.98699795e-01 -4.35027328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:535.67, Y:104.88, Z:-4.35 [[ 8.60680095e-01 -5.07296310e-01 4.33615989e-02 5.35672885e+02] [ 5.06588859e-01 8.61770988e-01 2.68046956e-02 1.04882687e+02] [-5.09656910e-02 -1.10376504e-03 9.98699795e-01 -4.34915569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.265336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:535.72, Y:104.92, Z:-4.35 [[ 8.59129762e-01 -5.09917604e-01 4.33599931e-02 5.35718819e+02] [ 5.09213351e-01 8.60222722e-01 2.68072928e-02 1.04919033e+02] [-5.09687618e-02 -9.51455712e-04 9.98699795e-01 -4.35268029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:535.77, Y:104.96, Z:-4.35 [[ 8.56487179e-01 -5.14344077e-01 4.33576245e-02 5.35765499e+02] [ 5.13645280e-01 8.57583635e-01 2.68111232e-02 1.04955283e+02] [-5.09729316e-02 -6.92944131e-04 9.98699795e-01 -4.35319322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:535.81, Y:104.99, Z:-4.35 [[ 8.53939053e-01 -5.18563985e-01 4.33530458e-02 5.35812771e+02] [ 5.17870231e-01 8.55038707e-01 2.68185249e-02 1.04991409e+02] [-5.09756534e-02 -4.50133991e-04 9.98699795e-01 -4.35440604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:535.86, Y:105.02, Z:-4.36 [[ 8.52431808e-01 -5.21038323e-01 4.33483312e-02 5.35859848e+02] [ 5.20347374e-01 8.53533227e-01 2.68261432e-02 1.05024820e+02] [-5.09766897e-02 -3.11267513e-04 9.98699795e-01 -4.35708287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:535.91, Y:105.06, Z:-4.36 [[ 8.51390865e-01 -5.22737661e-01 4.33466590e-02 5.35907123e+02] [ 5.22048772e-01 8.52493573e-01 2.68288449e-02 1.05060084e+02] [-5.09771959e-02 -2.12763403e-04 9.98699795e-01 -4.35603277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:535.96, Y:105.09, Z:-4.36 [[ 8.51134312e-01 -5.23155468e-01 4.33444260e-02 5.35955654e+02] [ 5.22466937e-01 8.52237244e-01 2.68324520e-02 1.05093226e+02] [-5.09772781e-02 -1.91991115e-04 9.98699795e-01 -4.36264730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.00, Y:105.13, Z:-4.37 [[ 8.50861388e-01 -5.23599627e-01 4.33396954e-02 5.36002775e+02] [ 5.22911282e-01 8.51964436e-01 2.68400908e-02 1.05125331e+02] [-5.09773406e-02 -1.74381196e-04 9.98699795e-01 -4.36681808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.05, Y:105.16, Z:-4.37 [[ 8.49090720e-01 -5.26466352e-01 4.33373887e-02 5.36049481e+02] [ 5.25781541e-01 8.50195966e-01 2.68438147e-02 1.05160163e+02] [-5.09776382e-02 -6.83490344e-06 9.98699795e-01 -4.36936270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.10, Y:105.19, Z:-4.37 [[ 8.46771508e-01 -5.30188669e-01 4.33357628e-02 5.36099731e+02] [ 5.29508583e-01 8.47879667e-01 2.68464393e-02 1.05190988e+02] [-5.09771900e-02 2.13858486e-04 9.98699795e-01 -4.36606210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.15, Y:105.22, Z:-4.38 [[ 8.43376821e-01 -5.35572544e-01 4.33311316e-02 5.36149970e+02] [ 5.34899148e-01 8.44489058e-01 2.68539120e-02 1.05219217e+02] [-5.09748845e-02 5.29818408e-04 9.98699795e-01 -4.37529265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.20, Y:105.25, Z:-4.38 [[ 8.41482669e-01 -5.38543835e-01 4.33296173e-02 5.36200132e+02] [ 5.37874240e-01 8.42597198e-01 2.68563553e-02 1.05247362e+02] [-5.09727387e-02 7.06727405e-04 9.98699795e-01 -4.37752514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.25, Y:105.27, Z:-4.38 [[ 8.41125390e-01 -5.39102104e-01 4.33243627e-02 5.36252816e+02] [ 5.38432812e-01 8.42240101e-01 2.68648292e-02 1.05273092e+02] [-5.09724016e-02 7.30568552e-04 9.98699795e-01 -4.38101647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.30, Y:105.30, Z:-4.38 [[ 8.42645685e-01 -5.36722958e-01 4.33210796e-02 5.36302938e+02] [ 5.36050247e-01 8.43758336e-01 2.68701223e-02 1.05301233e+02] [-5.09743336e-02 5.80282805e-04 9.98699795e-01 -4.38343773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.36, Y:105.33, Z:-4.38 [[ 8.46084982e-01 -5.31284952e-01 4.33186215e-02 5.36355957e+02] [ 5.30604886e-01 8.47193153e-01 2.68740846e-02 1.05327678e+02] [-5.09770363e-02 2.47312832e-04 9.98699795e-01 -4.38300075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.1053361950001 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:536.41, Y:105.36, Z:-4.39 [[ 8.49935581e-01 -5.25103219e-01 4.33141688e-02 5.36408102e+02] [ 5.24414727e-01 8.51038537e-01 2.68812594e-02 1.05355429e+02] [-5.09774627e-02 -1.32750810e-04 9.98699795e-01 -4.38751489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.46, Y:105.38, Z:-4.39 [[ 8.51519258e-01 -5.22531562e-01 4.33095816e-02 5.36460141e+02] [ 5.21839364e-01 8.52619891e-01 2.68886479e-02 1.05380187e+02] [-5.09767780e-02 -2.95556999e-04 9.98699795e-01 -4.38999882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.51, Y:105.41, Z:-4.40 [[ 8.53190562e-01 -5.19798416e-01 4.33067071e-02 5.36511527e+02] [ 5.19102457e-01 8.54288822e-01 2.68932768e-02 1.05408901e+02] [-5.09755185e-02 -4.64471862e-04 9.98699795e-01 -4.39525308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.56, Y:105.44, Z:-4.40 [[ 8.53778577e-01 -5.18832390e-01 4.33023354e-02 5.36563348e+02] [ 5.18134832e-01 8.54875821e-01 2.69003141e-02 1.05435395e+02] [-5.09748738e-02 -5.30463587e-04 9.98699795e-01 -4.39785113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.3453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.62, Y:105.46, Z:-4.40 [[ 8.54002517e-01 -5.18464126e-01 4.32972396e-02 5.36615194e+02] [ 5.17765678e-01 8.55099196e-01 2.69085135e-02 1.05463444e+02] [-5.09745337e-02 -5.62113668e-04 9.98699795e-01 -4.40209283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.67, Y:105.49, Z:-4.40 [[ 8.53228369e-01 -5.19737518e-01 4.32927433e-02 5.36668305e+02] [ 5.19040341e-01 8.54325856e-01 2.69157457e-02 1.05490493e+02] [-5.09752328e-02 -4.94597572e-04 9.98699795e-01 -4.40090849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.72, Y:105.52, Z:-4.40 [[ 8.51666342e-01 -5.22293583e-01 4.32880476e-02 5.36720902e+02] [ 5.21599315e-01 8.52765671e-01 2.69232955e-02 1.05518603e+02] [-5.09764254e-02 -3.50648617e-04 9.98699795e-01 -4.39636970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.77, Y:105.54, Z:-4.41 [[ 8.50116371e-01 -5.24813040e-01 4.32831252e-02 5.36773599e+02] [ 5.24121627e-01 8.51217499e-01 2.69312067e-02 1.05543312e+02] [-5.09772020e-02 -2.09037724e-04 9.98699795e-01 -4.40680947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.82, Y:105.57, Z:-4.41 [[ 8.49359973e-01 -5.26036462e-01 4.32813726e-02 5.36824995e+02] [ 5.25346492e-01 8.50462005e-01 2.69340230e-02 1.05570060e+02] [-5.09774411e-02 -1.38963820e-04 9.98699795e-01 -4.41080741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.88, Y:105.60, Z:-4.40 [[ 8.48560090e-01 -5.27325934e-01 4.32797104e-02 5.36877225e+02] [ 5.26637503e-01 8.49663083e-01 2.69366936e-02 1.05596746e+02] [-5.09775893e-02 -6.46845107e-05 9.98699795e-01 -4.40475115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.93, Y:105.62, Z:-4.41 [[ 8.48170499e-01 -5.27952791e-01 4.32741833e-02 5.36927829e+02] [ 5.27264722e-01 8.49273718e-01 2.69455701e-02 1.05624367e+02] [-5.09776155e-02 -3.74873745e-05 9.98699795e-01 -4.41115124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.98, Y:105.65, Z:-4.41 [[ 8.49151129e-01 -5.26374324e-01 4.32716030e-02 5.36980951e+02] [ 5.25683993e-01 8.50252934e-01 2.69497131e-02 1.05649737e+02] [-5.09774445e-02 -1.37190254e-04 9.98699795e-01 -4.41118626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.03, Y:105.68, Z:-4.42 [[ 8.50040532e-01 -5.24937234e-01 4.32665477e-02 5.37032347e+02] [ 5.24244627e-01 8.51140909e-01 2.69578267e-02 1.05678198e+02] [-5.09770957e-02 -2.32990176e-04 9.98699795e-01 -4.41547779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.08, Y:105.71, Z:-4.42 [[ 8.51632447e-01 -5.22351025e-01 4.32617713e-02 5.37083987e+02] [ 5.21654688e-01 8.52730467e-01 2.69654897e-02 1.05705598e+02] [-5.09760816e-02 -3.96980192e-04 9.98699795e-01 -4.42093876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.13, Y:105.74, Z:-4.43 [[ 8.52199968e-01 -5.21425021e-01 4.32569430e-02 5.37133728e+02] [ 5.20727097e-01 8.53296979e-01 2.69732329e-02 1.05735563e+02] [-5.09755373e-02 -4.61525816e-04 9.98699796e-01 -4.42639258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.18, Y:105.76, Z:-4.43 [[ 8.54798068e-01 -5.17154954e-01 4.32552536e-02 5.37183876e+02] [ 5.16451414e-01 8.55891486e-01 2.69759418e-02 1.05763973e+02] [-5.09725452e-02 -7.19746006e-04 9.98699796e-01 -4.43207768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.23, Y:105.79, Z:-4.44 [[ 8.57230265e-01 -5.13113435e-01 4.32536172e-02 5.37233648e+02] [ 5.12404608e-01 8.58320263e-01 2.69785653e-02 1.05794629e+02] [-5.09685204e-02 -9.63489905e-04 9.98699796e-01 -4.43518830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.28, Y:105.83, Z:-4.43 [[ 8.60236998e-01 -5.08056911e-01 4.32490650e-02 5.37281221e+02] [ 5.07341312e-01 8.61322562e-01 2.69858610e-02 1.05828048e+02] [-5.09617487e-02 -1.27219869e-03 9.98699796e-01 -4.43454440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.33, Y:105.86, Z:-4.44 [[ 8.63343073e-01 -5.02761079e-01 4.32439086e-02 5.37327874e+02] [ 5.02038409e-01 8.64423943e-01 2.69941214e-02 1.05861345e+02] [-5.09526636e-02 -1.59508468e-03 9.98699796e-01 -4.43782002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.38, Y:105.90, Z:-4.44 [[ 8.63823211e-01 -5.01935856e-01 4.32418475e-02 5.37375665e+02] [ 5.01211988e-01 8.64903279e-01 2.69974226e-02 1.05896502e+02] [-5.09509901e-02 -1.64766794e-03 9.98699796e-01 -4.43959233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.42, Y:105.93, Z:-4.44 [[ 8.61839770e-01 -5.05334295e-01 4.32372541e-02 5.37421776e+02] [ 5.04614319e-01 8.62922436e-01 2.70047772e-02 1.05932477e+02] [-5.09568367e-02 -1.45565348e-03 9.98699796e-01 -4.44366694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.365336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:537.47, Y:105.97, Z:-4.45 [[ 8.57857357e-01 -5.12066157e-01 4.32320048e-02 5.37469049e+02] [ 5.11354256e-01 8.58945349e-01 2.70131781e-02 1.05966152e+02] [-5.09664638e-02 -1.06658396e-03 9.98699796e-01 -4.45148092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.52, Y:106.00, Z:-4.45 [[ 8.54804751e-01 -5.17146232e-01 4.32274383e-02 5.37517902e+02] [ 5.16440429e-01 8.55896709e-01 2.70204836e-02 1.05999628e+02] [-5.09717635e-02 -7.72841018e-04 9.98699796e-01 -4.45140223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.57, Y:106.03, Z:-4.45 [[ 8.52282039e-01 -5.21293682e-01 4.32229478e-02 5.37567209e+02] [ 5.20592828e-01 8.53377181e-01 2.70276649e-02 1.06032042e+02] [-5.09748283e-02 -5.33636665e-04 9.98699796e-01 -4.45365140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.62, Y:106.07, Z:-4.45 [[ 8.49844965e-01 -5.25257744e-01 4.32184938e-02 5.37615393e+02] [ 5.24561637e-01 8.50943130e-01 2.70347852e-02 1.06066437e+02] [-5.09767106e-02 -3.04612255e-04 9.98699796e-01 -4.45386165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.66, Y:106.10, Z:-4.46 [[ 8.48194427e-01 -5.27919282e-01 4.32139543e-02 5.37664532e+02] [ 5.27226252e-01 8.49294535e-01 2.70420394e-02 1.06098469e+02] [-5.09773893e-02 -1.53375982e-04 9.98699796e-01 -4.45672495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.71, Y:106.13, Z:-4.46 [[ 8.47381780e-01 -5.29223094e-01 4.32092050e-02 5.37712271e+02] [ 5.28531369e-01 8.48482711e-01 2.70496260e-02 1.06130147e+02] [-5.09775501e-02 -8.39399953e-05 9.98699796e-01 -4.46078718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.76, Y:106.16, Z:-4.46 [[ 8.46393432e-01 -5.30802475e-01 4.32075274e-02 5.37761110e+02] [ 5.30112668e-01 8.47495565e-01 2.70523055e-02 1.06162850e+02] [-5.09776185e-02 7.96389218e-06 9.98699796e-01 -4.46174178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.785336195 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:537.81, Y:106.19, Z:-4.47 [[ 8.46292590e-01 -5.30963623e-01 4.32028191e-02 5.37810799e+02] [ 5.30273642e-01 8.47394614e-01 2.70598226e-02 1.06193557e+02] [-5.09776176e-02 8.78883571e-06 9.98699796e-01 -4.46725119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.8453361950001 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:537.86, Y:106.23, Z:-4.47 [[ 8.47056264e-01 -5.29744848e-01 4.31981661e-02 5.37859370e+02] [ 5.29052902e-01 8.48157055e-01 2.70672485e-02 1.06225873e+02] [-5.09775648e-02 -7.33672690e-05 9.98699796e-01 -4.47146857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.905336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:537.91, Y:106.26, Z:-4.47 [[ 8.49007286e-01 -5.26612767e-01 4.31928564e-02 5.37908114e+02] [ 5.25916329e-01 8.50105241e-01 2.70757189e-02 1.06258541e+02] [-5.09768928e-02 -2.71654140e-04 9.98699796e-01 -4.47364604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.96, Y:106.29, Z:-4.48 [[ 8.50524212e-01 -5.24159667e-01 4.31880537e-02 5.37956139e+02] [ 5.23459673e-01 8.51619904e-01 2.70833775e-02 1.06290730e+02] [-5.09758203e-02 -4.27863843e-04 9.98699796e-01 -4.47589299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.00, Y:106.33, Z:-4.48 [[ 8.51951947e-01 -5.21836007e-01 4.31863627e-02 5.38002948e+02] [ 5.21132889e-01 8.53045636e-01 2.70860736e-02 1.06326499e+02] [-5.09744267e-02 -5.70199091e-04 9.98699796e-01 -4.47908356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.05, Y:106.36, Z:-4.49 [[ 8.52070255e-01 -5.21643201e-01 4.31816118e-02 5.38049371e+02] [ 5.20939452e-01 8.53163538e-01 2.70936456e-02 1.06359012e+02] [-5.09741927e-02 -5.90684339e-04 9.98699796e-01 -4.48538914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.10, Y:106.39, Z:-4.49 [[ 8.50481862e-01 -5.24229104e-01 4.31792613e-02 5.38096632e+02] [ 5.23528489e-01 8.51577156e-01 2.70973910e-02 1.06393156e+02] [-5.09757136e-02 -4.40266114e-04 9.98699796e-01 -4.48784750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.205336195 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:538.15, Y:106.42, Z:-4.48 [[ 8.46242359e-01 -5.31046012e-01 4.31740947e-02 5.38147335e+02] [ 5.30353800e-01 8.47342984e-01 2.71056205e-02 1.06424354e+02] [-5.09775979e-02 -4.03791081e-05 9.98699796e-01 -4.48059466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.20, Y:106.46, Z:-4.49 [[ 8.42989186e-01 -5.36195544e-01 4.31690899e-02 5.38195666e+02] [ 5.35509648e-01 8.44093757e-01 2.71135890e-02 1.06455974e+02] [-5.09769448e-02 2.61001801e-04 9.98699796e-01 -4.48737520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.325336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:538.25, Y:106.48, Z:-4.49 [[ 8.38566029e-01 -5.43087071e-01 4.31676741e-02 5.38245854e+02] [ 5.42410135e-01 8.39676114e-01 2.71158428e-02 1.06484698e+02] [-5.09731285e-02 6.76159302e-04 9.98699796e-01 -4.48956747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.385336195 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:538.30, Y:106.51, Z:-4.49 [[ 8.36082734e-01 -5.46902815e-01 4.31621632e-02 5.38298851e+02] [ 5.46230493e-01 8.37195619e-01 2.71246121e-02 1.06509053e+02] [-5.09697006e-02 8.98069761e-04 9.98699796e-01 -4.49326079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.35, Y:106.54, Z:-4.50 [[ 8.36058117e-01 -5.46940580e-01 4.31604745e-02 5.38348156e+02] [ 5.46268169e-01 8.37170948e-01 2.71272989e-02 1.06538390e+02] [-5.09697159e-02 8.97194942e-04 9.98699796e-01 -4.49652005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.505336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:538.40, Y:106.57, Z:-4.50 [[ 8.37045527e-01 -5.45428432e-01 4.31579804e-02 5.38399722e+02] [ 5.44753806e-01 8.38157017e-01 2.71312662e-02 1.06566810e+02] [-5.09713281e-02 8.00369082e-04 9.98699796e-01 -4.49968564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.45, Y:106.59, Z:-4.50 [[ 8.38706659e-01 -5.42871010e-01 4.31533064e-02 5.38452647e+02] [ 5.42192612e-01 8.39815850e-01 2.71386983e-02 1.06593760e+02] [-5.09736433e-02 6.35996951e-04 9.98699796e-01 -4.49894162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.51, Y:106.62, Z:-4.51 [[ 8.39393696e-01 -5.41808483e-01 4.31484700e-02 5.38505443e+02] [ 5.41128287e-01 8.40501785e-01 2.71463858e-02 1.06617005e+02] [-5.09745081e-02 5.62352510e-04 9.98699796e-01 -4.50527670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.685336195 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:538.56, Y:106.64, Z:-4.51 [[ 8.39475952e-01 -5.41681217e-01 4.31460803e-02 5.38557141e+02] [ 5.41000657e-01 8.40583819e-01 2.71501833e-02 1.06644372e+02] [-5.09746413e-02 5.50131844e-04 9.98699796e-01 -4.50787916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.61, Y:106.67, Z:-4.51 [[ 8.40006265e-01 -5.40858905e-01 4.31406860e-02 5.38612591e+02] [ 5.40176821e-01 8.41113194e-01 2.71587520e-02 1.06666499e+02] [-5.09752530e-02 4.90076741e-04 9.98699796e-01 -4.50873473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.67, Y:106.69, Z:-4.51 [[ 8.42611946e-01 -5.36790830e-01 4.31359948e-02 5.38666809e+02] [ 5.36103019e-01 8.43715325e-01 2.71662010e-02 1.06691972e+02] [-5.09770674e-02 2.34771559e-04 9.98699796e-01 -4.50794636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.72, Y:106.72, Z:-4.52 [[ 8.45246102e-01 -5.32633578e-01 4.31335000e-02 5.38717070e+02] [ 5.31940139e-01 8.46345952e-01 2.71701615e-02 1.06720447e+02] [-5.09776035e-02 -2.10331327e-05 9.98699796e-01 -4.51848016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.77, Y:106.75, Z:-4.52 [[ 8.46537016e-01 -5.30579695e-01 4.31308288e-02 5.38767090e+02] [ 5.29883371e-01 8.47635042e-01 2.71744012e-02 1.06750575e+02] [-5.09773874e-02 -1.49827540e-04 9.98699797e-01 -4.52199460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.82, Y:106.78, Z:-4.52 [[ 8.49306266e-01 -5.26135974e-01 4.31254357e-02 5.38818995e+02] [ 5.25433471e-01 8.50400349e-01 2.71829573e-02 1.06778121e+02] [-5.09758173e-02 -4.27108623e-04 9.98699797e-01 -4.52375633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.045336195 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:538.87, Y:106.81, Z:-4.53 [[ 8.50687136e-01 -5.23900750e-01 4.31207674e-02 5.38870000e+02] [ 5.23194997e-01 8.51779126e-01 2.71903607e-02 1.06806953e+02] [-5.09744199e-02 -5.69920313e-04 9.98699797e-01 -4.52503807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.92, Y:106.84, Z:-4.53 [[ 8.51116586e-01 -5.23203176e-01 4.31160596e-02 5.38920593e+02] [ 5.22496150e-01 8.52207752e-01 2.71978238e-02 1.06836432e+02] [-5.09738280e-02 -6.20543814e-04 9.98699797e-01 -4.52835005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.97, Y:106.87, Z:-4.53 [[ 8.50694202e-01 -5.23890053e-01 4.31113461e-02 5.38969557e+02] [ 5.23183529e-01 8.51785693e-01 2.72052932e-02 1.06866749e+02] [-5.09742103e-02 -5.88238927e-04 9.98699797e-01 -4.52967386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.2253361950001 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:539.02, Y:106.90, Z:-4.53 [[ 8.50384364e-01 -5.24393126e-01 4.31078139e-02 5.39018681e+02] [ 5.23686965e-01 8.51476089e-01 2.72108889e-02 1.06897391e+02] [-5.09744759e-02 -5.64714203e-04 9.98699797e-01 -4.53469769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.07, Y:106.93, Z:-4.54 [[ 8.48840519e-01 -5.26888715e-01 4.31051722e-02 5.39067804e+02] [ 5.26185551e-01 8.49934177e-01 2.72150730e-02 1.06925586e+02] [-5.09758739e-02 -4.19937902e-04 9.98699797e-01 -4.53828640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.3453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.12, Y:106.96, Z:-4.54 [[ 8.47963243e-01 -5.28299720e-01 4.31015604e-02 5.39115987e+02] [ 5.27598085e-01 8.49057883e-01 2.72207921e-02 1.06957641e+02] [-5.09764564e-02 -3.41930445e-04 9.98699797e-01 -4.54199647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.16, Y:106.99, Z:-4.54 [[ 8.48714124e-01 -5.27093004e-01 4.30964152e-02 5.39164129e+02] [ 5.26389399e-01 8.49807499e-01 2.72289355e-02 1.06989138e+02] [-5.09758383e-02 -4.24086028e-04 9.98699797e-01 -4.54377786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.21, Y:107.02, Z:-4.55 [[ 8.49911222e-01 -5.25160991e-01 4.30911614e-02 5.39212204e+02] [ 5.24454479e-01 8.51002721e-01 2.72372475e-02 1.07021359e+02] [-5.09746354e-02 -5.49889675e-04 9.98699797e-01 -4.54657594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.525336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:539.26, Y:107.06, Z:-4.55 [[ 8.51938743e-01 -5.21865868e-01 4.30858825e-02 5.39258042e+02] [ 5.21154713e-01 8.53027222e-01 2.72455954e-02 1.07057935e+02] [-5.09719770e-02 -7.57167533e-04 9.98699797e-01 -4.55172284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.31, Y:107.09, Z:-4.55 [[ 8.52318613e-01 -5.21245635e-01 4.30809679e-02 5.39306367e+02] [ 5.20533296e-01 8.53406317e-01 2.72533642e-02 1.07091073e+02] [-5.09712673e-02 -8.03471378e-04 9.98699797e-01 -4.55212235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.645336195 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:539.36, Y:107.12, Z:-4.56 [[ 8.50495955e-01 -5.24214723e-01 4.30761515e-02 5.39355134e+02] [ 5.23505795e-01 8.51585886e-01 2.72609747e-02 1.07122505e+02] [-5.09736470e-02 -6.34733774e-04 9.98699797e-01 -4.55840380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.40, Y:107.15, Z:-4.56 [[ 8.47721876e-01 -5.28689143e-01 4.30744788e-02 5.39403758e+02] [ 5.27985835e-01 8.48815441e-01 2.72636175e-02 1.07154053e+02] [-5.09762613e-02 -3.69250358e-04 9.98699797e-01 -4.55773535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.45, Y:107.19, Z:-4.56 [[ 8.46653046e-01 -5.30399484e-01 4.30697886e-02 5.39452021e+02] [ 5.29698007e-01 8.47747788e-01 2.72710249e-02 1.07185397e+02] [-5.09768555e-02 -2.75115068e-04 9.98699797e-01 -4.56320847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.50, Y:107.22, Z:-4.56 [[ 8.45866951e-01 -5.31652367e-01 4.30681167e-02 5.39502355e+02] [ 5.30952378e-01 8.46962644e-01 2.72736650e-02 1.07215172e+02] [-5.09771945e-02 -2.02772841e-04 9.98699797e-01 -4.56148007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.55, Y:107.25, Z:-4.57 [[ 8.46174955e-01 -5.31162147e-01 4.30664432e-02 5.39549904e+02] [ 5.30461389e-01 8.47270156e-01 2.72763073e-02 1.07246041e+02] [-5.09770540e-02 -2.35442788e-04 9.98699797e-01 -4.56534206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.945336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:539.60, Y:107.28, Z:-4.57 [[ 8.47485870e-01 -5.29068221e-01 4.30641223e-02 5.39598592e+02] [ 5.28364570e-01 8.48579215e-01 2.72799710e-02 1.07278007e+02] [-5.09762848e-02 -3.65833463e-04 9.98699797e-01 -4.57250155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.65, Y:107.31, Z:-4.57 [[ 8.49087079e-01 -5.26495030e-01 4.30594549e-02 5.39646102e+02] [ 5.25787692e-01 8.50178042e-01 2.72873363e-02 1.07311755e+02] [-5.09748500e-02 -5.29193245e-04 9.98699797e-01 -4.57395872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.69, Y:107.34, Z:-4.58 [[ 8.49590854e-01 -5.25681848e-01 4.30578118e-02 5.39694975e+02] [ 5.24973336e-01 8.50681055e-01 2.72899288e-02 1.07343889e+02] [-5.09742849e-02 -5.81070821e-04 9.98699797e-01 -4.57977713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.74, Y:107.38, Z:-4.58 [[ 8.50996722e-01 -5.23403280e-01 4.30532888e-02 5.39741579e+02] [ 5.22691488e-01 8.52084784e-01 2.72970624e-02 1.07378373e+02] [-5.09724243e-02 -7.26123086e-04 9.98699797e-01 -4.58150904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.79, Y:107.41, Z:-4.58 [[ 8.53222821e-01 -5.19766961e-01 4.30479299e-02 5.39789590e+02] [ 5.19050106e-01 8.54307554e-01 2.73055109e-02 1.07413338e+02] [-5.09686741e-02 -9.53652404e-04 9.98699797e-01 -4.58278534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.84, Y:107.45, Z:-4.59 [[ 8.53960383e-01 -5.18554664e-01 4.30432855e-02 5.39836686e+02] [ 5.17835900e-01 8.55043853e-01 2.73128302e-02 1.07446857e+02] [-5.09670921e-02 -1.03471642e-03 9.98699797e-01 -4.58608882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.88, Y:107.48, Z:-4.59 [[ 8.53069139e-01 -5.20019974e-01 4.30380185e-02 5.39882576e+02] [ 5.19302653e-01 8.54153564e-01 2.73211270e-02 1.07481972e+02] [-5.09686087e-02 -9.57053078e-04 9.98699797e-01 -4.58863730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.365336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:539.93, Y:107.51, Z:-4.59 [[ 8.50967043e-01 -5.23453230e-01 4.30326279e-02 5.39930711e+02] [ 5.22739856e-01 8.52054068e-01 2.73296151e-02 1.07513692e+02] [-5.09719010e-02 -7.61732061e-04 9.98699797e-01 -4.59205952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.98, Y:107.55, Z:-4.59 [[ 8.46983010e-01 -5.29875567e-01 4.30309619e-02 5.39979918e+02] [ 5.29170303e-01 8.48075315e-01 2.73322380e-02 1.07545647e+02] [-5.09761816e-02 -3.79234110e-04 9.98699797e-01 -4.59059489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.4853361950001 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:540.03, Y:107.58, Z:-4.60 [[ 8.42647726e-01 -5.36743468e-01 4.30262665e-02 5.40028442e+02] [ 5.36046729e-01 8.43745488e-01 2.73396275e-02 1.07577266e+02] [-5.09775847e-02 2.64145076e-05 9.98699797e-01 -4.59902679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.08, Y:107.61, Z:-4.60 [[ 8.40935582e-01 -5.39422364e-01 4.30216141e-02 5.40077805e+02] [ 5.38728748e-01 8.42035320e-01 2.73469465e-02 1.07606870e+02] [-5.09772731e-02 1.79959949e-04 9.98699797e-01 -4.60077204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.6053361950001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:540.13, Y:107.64, Z:-4.60 [[ 8.41181777e-01 -5.39038784e-01 4.30163656e-02 5.40127509e+02] [ 5.38344244e-01 8.42280931e-01 2.73551998e-02 1.07639068e+02] [-5.09773781e-02 1.46917245e-04 9.98699797e-01 -4.60376125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.665336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:540.18, Y:107.67, Z:-4.61 [[ 8.44556410e-01 -5.33736312e-01 4.30118523e-02 5.40175427e+02] [ 5.33034510e-01 8.45650942e-01 2.73622944e-02 1.07671503e+02] [-5.09772635e-02 -1.82199466e-04 9.98699797e-01 -4.60698702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.22, Y:107.70, Z:-4.61 [[ 8.47022945e-01 -5.29813418e-01 4.30101342e-02 5.40224351e+02] [ 5.29106410e-01 8.48114122e-01 2.73649949e-02 1.07704981e+02] [-5.09758436e-02 -4.21840853e-04 9.98699797e-01 -4.60844085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.27, Y:107.74, Z:-4.61 [[ 8.48757317e-01 -5.27030873e-01 4.30055337e-02 5.40272458e+02] [ 5.26319922e-01 8.49845928e-01 2.73722229e-02 1.07736694e+02] [-5.09740842e-02 -5.97705332e-04 9.98699797e-01 -4.61435510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.8453361950001 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:540.32, Y:107.77, Z:-4.62 [[ 8.49268325e-01 -5.26207160e-01 4.30039113e-02 5.40320484e+02] [ 5.25495024e-01 8.50356162e-01 2.73747716e-02 1.07770227e+02] [-5.09734417e-02 -6.50185038e-04 9.98699797e-01 -4.61664087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.37, Y:107.80, Z:-4.62 [[ 8.48344986e-01 -5.27694840e-01 4.29993189e-02 5.40369089e+02] [ 5.26984246e-01 8.49433830e-01 2.73819832e-02 1.07803163e+02] [-5.09744074e-02 -5.69404479e-04 9.98699798e-01 -4.61758088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.42, Y:107.84, Z:-4.62 [[ 8.47263664e-01 -5.29429633e-01 4.29947296e-02 5.40418463e+02] [ 5.28720903e-01 8.48353723e-01 2.73891874e-02 1.07835704e+02] [-5.09753863e-02 -4.73651039e-04 9.98699798e-01 -4.62171748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.47, Y:107.87, Z:-4.62 [[ 8.45706510e-01 -5.31913847e-01 4.29902106e-02 5.40467640e+02] [ 5.31207958e-01 8.46798411e-01 2.73962786e-02 1.07868578e+02] [-5.09765019e-02 -3.32469223e-04 9.98699798e-01 -4.62044798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.51, Y:107.90, Z:-4.62 [[ 8.43891290e-01 -5.34789424e-01 4.29856076e-02 5.40514835e+02] [ 5.34086889e-01 8.44985351e-01 2.74034989e-02 1.07901971e+02] [-5.09773101e-02 -1.67524595e-04 9.98699798e-01 -4.62447618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.145336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:540.56, Y:107.93, Z:-4.63 [[ 8.41915428e-01 -5.37894842e-01 4.29831525e-02 5.40564368e+02] [ 5.37196145e-01 8.43011945e-01 2.74073493e-02 1.07932854e+02] [-5.09775828e-02 1.57136568e-05 9.98699798e-01 -4.63163261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.62, Y:107.96, Z:-4.63 [[ 8.39006825e-01 -5.42420860e-01 4.29785756e-02 5.40615461e+02] [ 5.41727711e-01 8.40106857e-01 2.74145246e-02 1.07963176e+02] [-5.09768061e-02 2.81712181e-04 9.98699798e-01 -4.62910383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.67, Y:107.99, Z:-4.63 [[ 8.37064782e-01 -5.45413414e-01 4.29739356e-02 5.40666127e+02] [ 5.44723824e-01 8.38167048e-01 2.74217961e-02 1.07992350e+02] [-5.09755522e-02 4.55106732e-04 9.98699798e-01 -4.63344469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.72, Y:108.02, Z:-4.64 [[ 8.36902227e-01 -5.45663172e-01 4.29693494e-02 5.40715061e+02] [ 5.44973542e-01 8.38004468e-01 2.74289808e-02 1.08022892e+02] [-5.09754915e-02 4.61783453e-04 9.98699798e-01 -4.63545519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.76, Y:108.05, Z:-4.64 [[ 8.38279264e-01 -5.43545744e-01 4.29639365e-02 5.40764359e+02] [ 5.42852895e-01 8.39379485e-01 2.74374567e-02 1.08051967e+02] [-5.09765597e-02 3.22846280e-04 9.98699798e-01 -4.64040075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.81, Y:108.08, Z:-4.64 [[ 8.40051740e-01 -5.40802523e-01 4.29616794e-02 5.40813434e+02] [ 5.40105900e-01 8.41149576e-01 2.74409905e-02 1.08083663e+02] [-5.09773553e-02 1.52004672e-04 9.98699798e-01 -4.64134406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.86, Y:108.12, Z:-4.65 [[ 8.43425031e-01 -5.35526764e-01 4.29569873e-02 5.40861745e+02] [ 5.34822900e-01 8.44518238e-01 2.74483337e-02 1.08115632e+02] [-5.09772765e-02 -1.76231187e-04 9.98699798e-01 -4.64518202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.91, Y:108.15, Z:-4.65 [[ 8.45823313e-01 -5.31731212e-01 4.29516220e-02 5.40909609e+02] [ 5.31022016e-01 8.46913069e-01 2.74567268e-02 1.08149088e+02] [-5.09758886e-02 -4.15282734e-04 9.98699798e-01 -4.64888485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.96, Y:108.18, Z:-4.65 [[ 8.47978639e-01 -5.28287607e-01 4.29468426e-02 5.40955042e+02] [ 5.27573609e-01 8.49065254e-01 2.74642006e-02 1.08182769e+02] [-5.09736686e-02 -6.31434709e-04 9.98699798e-01 -4.65485274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.00, Y:108.22, Z:-4.66 [[ 8.47547270e-01 -5.28979581e-01 4.29444883e-02 5.41002804e+02] [ 5.28266283e-01 8.48634344e-01 2.74678815e-02 1.08216045e+02] [-5.09741160e-02 -5.94202763e-04 9.98699798e-01 -4.65872498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.05, Y:108.25, Z:-4.66 [[ 8.44682845e-01 -5.33542039e-01 4.29393011e-02 5.41051707e+02] [ 5.32834201e-01 8.45773483e-01 2.74759879e-02 1.08249357e+02] [-5.09765169e-02 -3.28967430e-04 9.98699798e-01 -4.66174028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.10, Y:108.28, Z:-4.66 [[ 8.42256779e-01 -5.37364049e-01 4.29348042e-02 5.41101093e+02] [ 5.36660802e-01 8.43350382e-01 2.74830131e-02 1.08281652e+02] [-5.09774667e-02 -1.06327616e-04 9.98699798e-01 -4.66184206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.15, Y:108.31, Z:-4.67 [[ 8.38355639e-01 -5.43430605e-01 4.29301725e-02 5.41149037e+02] [ 5.42734902e-01 8.39454057e-01 2.74902462e-02 1.08313846e+02] [-5.09769486e-02 2.53100074e-04 9.98699798e-01 -4.66568153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.20, Y:108.34, Z:-4.67 [[ 8.35811829e-01 -5.47335403e-01 4.29248634e-02 5.41197694e+02] [ 5.46644405e-01 8.36913213e-01 2.74985337e-02 1.08344854e+02] [-5.09753063e-02 4.81036684e-04 9.98699798e-01 -4.67204779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.25, Y:108.38, Z:-4.67 [[ 8.35311133e-01 -5.48099359e-01 4.29232316e-02 5.41247848e+02] [ 5.47409237e-01 8.36413067e-01 2.75010806e-02 1.08377048e+02] [-5.09748764e-02 5.24614654e-04 9.98699798e-01 -4.66606877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.045336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:541.30, Y:108.41, Z:-4.67 [[ 8.35512287e-01 -5.47793045e-01 4.29185087e-02 5.41298025e+02] [ 5.47102141e-01 8.36613729e-01 2.75084492e-02 1.08407968e+02] [-5.09751508e-02 4.97160664e-04 9.98699798e-01 -4.67402506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.35, Y:108.44, Z:-4.68 [[ 8.36223895e-01 -5.46706507e-01 4.29137712e-02 5.41347248e+02] [ 5.46013793e-01 8.37324200e-01 2.75158378e-02 1.08437739e+02] [-5.09758267e-02 4.22109907e-04 9.98699798e-01 -4.67599374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.165336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:541.40, Y:108.47, Z:-4.68 [[ 8.37968803e-01 -5.44028341e-01 4.29121062e-02 5.41398540e+02] [ 5.43331977e-01 8.39066802e-01 2.75184342e-02 1.08467459e+02] [-5.09769318e-02 2.55930156e-04 9.98699798e-01 -4.67732345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.45, Y:108.50, Z:-4.68 [[ 8.39904561e-01 -5.41035386e-01 4.29073417e-02 5.41446476e+02] [ 5.40334729e-01 8.40999826e-01 2.75258611e-02 1.08499637e+02] [-5.09775318e-02 6.52305310e-05 9.98699798e-01 -4.67877676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.285336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:541.50, Y:108.53, Z:-4.69 [[ 8.43668510e-01 -5.35147222e-01 4.29056574e-02 5.41496672e+02] [ 5.34438788e-01 8.44758761e-01 2.75284862e-02 1.08530220e+02] [-5.09767229e-02 -2.94469379e-04 9.98699798e-01 -4.68729134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.3453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.55, Y:108.56, Z:-4.69 [[ 8.46525785e-01 -5.30616224e-01 4.29012714e-02 5.41545268e+02] [ 5.29901609e-01 8.47611993e-01 2.75353199e-02 1.08561392e+02] [-5.09743196e-02 -5.75905589e-04 9.98699798e-01 -4.68929934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.59, Y:108.59, Z:-4.69 [[ 8.48279298e-01 -5.27808836e-01 4.28959761e-02 5.41594085e+02] [ 5.27090209e-01 8.49362857e-01 2.75435666e-02 1.08594725e+02] [-5.09719867e-02 -7.54588361e-04 9.98699798e-01 -4.68874039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.465336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:541.64, Y:108.63, Z:-4.70 [[ 8.49533958e-01 -5.25787384e-01 4.28914969e-02 5.41639429e+02] [ 5.25065827e-01 8.50615568e-01 2.75505401e-02 1.08630465e+02] [-5.09699014e-02 -8.84260088e-04 9.98699798e-01 -4.69658947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.69, Y:108.66, Z:-4.70 [[ 8.49471181e-01 -5.25888942e-01 4.28897751e-02 5.41687950e+02] [ 5.25167379e-01 8.50552787e-01 2.75532202e-02 1.08663919e+02] [-5.09699516e-02 -8.81355686e-04 9.98699798e-01 -4.69572886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.73, Y:108.70, Z:-4.70 [[ 8.49334610e-01 -5.26109873e-01 4.28849804e-02 5.41734433e+02] [ 5.25388215e-01 8.50416153e-01 2.75606808e-02 1.08697557e+02] [-5.09700263e-02 -8.76976769e-04 9.98699798e-01 -4.69958201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.78, Y:108.73, Z:-4.70 [[ 8.49221832e-01 -5.26292032e-01 4.28832919e-02 5.41780960e+02] [ 5.25570473e-01 8.50303441e-01 2.75633079e-02 1.08733016e+02] [-5.09701600e-02 -8.69170819e-04 9.98699798e-01 -4.69621289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.705336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:541.83, Y:108.77, Z:-4.71 [[ 8.48955253e-01 -5.26722409e-01 4.28775280e-02 5.41827130e+02] [ 5.26000946e-01 8.50036926e-01 2.75722712e-02 1.08765045e+02] [-5.09704152e-02 -8.54004167e-04 9.98699798e-01 -4.70595013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.88, Y:108.80, Z:-4.70 [[ 8.47231132e-01 -5.29491399e-01 4.28750166e-02 5.41875664e+02] [ 5.28773274e-01 8.48315024e-01 2.75761760e-02 1.08800327e+02] [-5.09728687e-02 -6.92231900e-04 9.98699798e-01 -4.70138082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.92, Y:108.84, Z:-4.71 [[ 8.45784369e-01 -5.31799530e-01 4.28726192e-02 5.41922380e+02] [ 5.31084174e-01 8.46870090e-01 2.75799027e-02 1.08835395e+02] [-5.09745182e-02 -5.57681108e-04 9.98699798e-01 -4.71050704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.97, Y:108.87, Z:-4.71 [[ 8.43471496e-01 -5.35460476e-01 4.28709053e-02 5.41970348e+02] [ 5.34749697e-01 8.44560219e-01 2.75825665e-02 1.08868641e+02] [-5.09764354e-02 -3.39904985e-04 9.98699798e-01 -4.71499871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.02, Y:108.90, Z:-4.72 [[ 8.42184998e-01 -5.37482023e-01 4.28661116e-02 5.42017191e+02] [ 5.36773479e-01 8.43275177e-01 2.75900144e-02 1.08900913e+02] [-5.09770646e-02 -2.26504408e-04 9.98699799e-01 -4.71821050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.06, Y:108.94, Z:-4.72 [[ 8.41839721e-01 -5.38022956e-01 4.28623781e-02 5.42062843e+02] [ 5.37314817e-01 8.42930162e-01 2.75958134e-02 1.08938985e+02] [-5.09771724e-02 -2.00660935e-04 9.98699799e-01 -4.72277717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.11, Y:108.97, Z:-4.73 [[ 8.41627251e-01 -5.38355640e-01 4.28576092e-02 5.42110567e+02] [ 5.37647555e-01 8.42717728e-01 2.76032177e-02 1.08972673e+02] [-5.09772150e-02 -1.89331468e-04 9.98699799e-01 -4.72678610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.16, Y:109.01, Z:-4.73 [[ 8.40771260e-01 -5.39691879e-01 4.28528202e-02 5.42157569e+02] [ 5.38985149e-01 8.41862614e-01 2.76106505e-02 1.09006728e+02] [-5.09774311e-02 -1.17207717e-04 9.98699799e-01 -4.72818863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.185336195 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:542.21, Y:109.04, Z:-4.73 [[ 8.39551263e-01 -5.41587904e-01 4.28511286e-02 5.42205490e+02] [ 5.40883504e-01 8.40644123e-01 2.76132756e-02 1.09041231e+02] [-5.09775655e-02 -5.29181858e-06 9.98699799e-01 -4.73189854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.25, Y:109.08, Z:-4.74 [[ 8.37808453e-01 -5.44280437e-01 4.28462463e-02 5.42252455e+02] [ 5.43579162e-01 8.38903322e-01 2.76208492e-02 1.09075176e+02] [-5.09773462e-02 1.49345730e-04 9.98699799e-01 -4.73508289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.305336195 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:542.30, Y:109.11, Z:-4.74 [[ 8.37057967e-01 -5.45434053e-01 4.28445196e-02 5.42301502e+02] [ 5.44734150e-01 8.38153713e-01 2.76235272e-02 1.09106530e+02] [-5.09771056e-02 2.16379430e-04 9.98699799e-01 -4.73675700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.365336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:542.35, Y:109.14, Z:-4.74 [[ 8.35985936e-01 -5.47076162e-01 4.28390907e-02 5.42350957e+02] [ 5.46377980e-01 8.37082779e-01 2.76319440e-02 1.09136774e+02] [-5.09766429e-02 3.06419296e-04 9.98699799e-01 -4.74004744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.40, Y:109.17, Z:-4.74 [[ 8.34988632e-01 -5.48597315e-01 4.28365537e-02 5.42399052e+02] [ 5.47900929e-01 8.36086616e-01 2.76358763e-02 1.09168729e+02] [-5.09760368e-02 3.94545014e-04 9.98699799e-01 -4.74049432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.4853361950001 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:542.45, Y:109.20, Z:-4.74 [[ 8.33384564e-01 -5.51031453e-01 4.28311325e-02 5.42449935e+02] [ 5.50337842e-01 8.34484304e-01 2.76442758e-02 1.09199072e+02] [-5.09747732e-02 5.33280341e-04 9.98699799e-01 -4.73769007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.545336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:542.50, Y:109.23, Z:-4.74 [[ 8.31689054e-01 -5.53587594e-01 4.28263113e-02 5.42500691e+02] [ 5.52896979e-01 8.32790677e-01 2.76517427e-02 1.09227050e+02] [-5.09730145e-02 6.80886427e-04 9.98699799e-01 -4.74324599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.55, Y:109.25, Z:-4.74 [[ 8.30977364e-01 -5.54655750e-01 4.28207869e-02 5.42552899e+02] [ 5.53966110e-01 8.32079598e-01 2.76602950e-02 1.09254569e+02] [-5.09722448e-02 7.36185720e-04 9.98699799e-01 -4.74215523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.665336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:542.60, Y:109.28, Z:-4.75 [[ 8.31446826e-01 -5.53952148e-01 4.28158140e-02 5.42603423e+02] [ 5.53261179e-01 8.32548227e-01 2.76679905e-02 1.09281455e+02] [-5.09729728e-02 6.83864887e-04 9.98699799e-01 -4.74717281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.65, Y:109.31, Z:-4.76 [[ 8.33657634e-01 -5.50619615e-01 4.28134249e-02 5.42654604e+02] [ 5.49924053e-01 8.34756140e-01 2.76716870e-02 1.09306000e+02] [-5.09753429e-02 4.75419001e-04 9.98699799e-01 -4.75639044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.70, Y:109.34, Z:-4.76 [[ 8.35869800e-01 -5.47255894e-01 4.28096219e-02 5.42704413e+02] [ 5.46555610e-01 8.36965303e-01 2.76775691e-02 1.09335303e+02] [-5.09768810e-02 2.62994815e-04 9.98699799e-01 -4.75777288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.8453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.75, Y:109.36, Z:-4.76 [[ 8.40192071e-01 -5.40596980e-01 4.28040818e-02 5.42754591e+02] [ 5.39887577e-01 8.41281690e-01 2.76861344e-02 1.09363462e+02] [-5.09773309e-02 -1.52278607e-04 9.98699799e-01 -4.76290033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.905336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:542.80, Y:109.39, Z:-4.76 [[ 8.42699226e-01 -5.36680512e-01 4.28023652e-02 5.42804077e+02] [ 5.35965910e-01 8.43785443e-01 2.76887880e-02 1.09394490e+02] [-5.09760456e-02 -3.92711639e-04 9.98699799e-01 -4.76438713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.85, Y:109.42, Z:-4.77 [[ 8.44923957e-01 -5.33171529e-01 4.27975278e-02 5.42854266e+02] [ 5.32452038e-01 8.46006941e-01 2.76962630e-02 1.09423994e+02] [-5.09738645e-02 -6.13605186e-04 9.98699799e-01 -4.76582136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.90, Y:109.46, Z:-4.77 [[ 8.45062262e-01 -5.32952428e-01 4.27958182e-02 5.42902750e+02] [ 5.32232523e-01 8.46144971e-01 2.76989044e-02 1.09455337e+02] [-5.09736647e-02 -6.29972578e-04 9.98699799e-01 -4.76627424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.95, Y:109.49, Z:-4.77 [[ 8.44582082e-01 -5.33713487e-01 4.27904222e-02 5.42951812e+02] [ 5.32994135e-01 8.45665159e-01 2.77072378e-02 1.09485298e+02] [-5.09740957e-02 -5.93992583e-04 9.98699799e-01 -4.77057354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.00, Y:109.52, Z:-4.77 [[ 8.43259000e-01 -5.35801690e-01 4.27879399e-02 5.43001608e+02] [ 5.35084826e-01 8.44343725e-01 2.77110706e-02 1.09516183e+02] [-5.09753671e-02 -4.72432291e-04 9.98699799e-01 -4.77394843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.05, Y:109.55, Z:-4.78 [[ 8.42140782e-01 -5.37557902e-01 4.27832433e-02 5.43048865e+02] [ 5.36842932e-01 8.43226756e-01 2.77183200e-02 1.09547263e+02] [-5.09761773e-02 -3.74845896e-04 9.98699799e-01 -4.77853434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.265336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:543.10, Y:109.58, Z:-4.78 [[ 8.40649327e-01 -5.39887491e-01 4.27809178e-02 5.43098720e+02] [ 5.39175347e-01 8.41737157e-01 2.77219087e-02 1.09577259e+02] [-5.09769998e-02 -2.37987646e-04 9.98699799e-01 -4.77922119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.15, Y:109.61, Z:-4.78 [[ 8.40498191e-01 -5.40123180e-01 4.27754695e-02 5.43148557e+02] [ 5.39410914e-01 8.41585941e-01 2.77303129e-02 1.09607915e+02] [-5.09770186e-02 -2.33722756e-04 9.98699799e-01 -4.78200302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.20, Y:109.64, Z:-4.78 [[ 8.41040451e-01 -5.39278803e-01 4.27706976e-02 5.43196169e+02] [ 5.38565070e-01 8.42127239e-01 2.77376711e-02 1.09641842e+02] [-5.09767075e-02 -2.93699668e-04 9.98699799e-01 -4.78463363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.25, Y:109.67, Z:-4.79 [[ 8.41466360e-01 -5.38614428e-01 4.27652083e-02 5.43245986e+02] [ 5.37899407e-01 8.42552301e-01 2.77461317e-02 1.09673689e+02] [-5.09763915e-02 -3.44056285e-04 9.98699799e-01 -4.78566130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.505336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:543.29, Y:109.71, Z:-4.79 [[ 8.41759781e-01 -5.38156126e-01 4.27604344e-02 5.43294309e+02] [ 5.37440141e-01 8.42845086e-01 2.77534870e-02 1.09705518e+02] [-5.09761311e-02 -3.80595258e-04 9.98699799e-01 -4.79074109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.34, Y:109.74, Z:-4.79 [[ 8.41413922e-01 -5.38696920e-01 4.27579204e-02 5.43343500e+02] [ 5.37981435e-01 8.42499557e-01 2.77573596e-02 1.09738552e+02] [-5.09763332e-02 -3.52461364e-04 9.98699799e-01 -4.79139587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.39, Y:109.77, Z:-4.80 [[ 8.40202454e-01 -5.40584872e-01 4.27531498e-02 5.43391813e+02] [ 5.39871453e-01 8.41289448e-01 2.77647056e-02 1.09770787e+02] [-5.09769536e-02 -2.46768652e-04 9.98699799e-01 -4.79720196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.44, Y:109.80, Z:-4.80 [[ 8.38687462e-01 -5.42932696e-01 4.27484353e-02 5.43442893e+02] [ 5.42221950e-01 8.39776205e-01 2.77719624e-02 1.09799836e+02] [-5.09774252e-02 -1.12856700e-04 9.98699799e-01 -4.79781893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.49, Y:109.83, Z:-4.80 [[ 8.38078428e-01 -5.43872718e-01 4.27435896e-02 5.43492012e+02] [ 5.43162813e-01 8.39167720e-01 2.77794185e-02 1.09831835e+02] [-5.09775084e-02 -6.46030172e-05 9.98699799e-01 -4.79598586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.54, Y:109.86, Z:-4.80 [[ 8.37520263e-01 -5.44732249e-01 4.27385756e-02 5.43542185e+02] [ 5.44023068e-01 8.38610027e-01 2.77871303e-02 1.09861025e+02] [-5.09775440e-02 -2.15136118e-05 9.98699800e-01 -4.80250370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.865336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:543.59, Y:109.89, Z:-4.81 [[ 8.37717813e-01 -5.44428536e-01 4.27368036e-02 5.43592776e+02] [ 5.43718822e-01 8.38807229e-01 2.77898554e-02 1.09890590e+02] [-5.09775301e-02 -4.32523602e-05 9.98699800e-01 -4.80611595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.64, Y:109.92, Z:-4.80 [[ 8.39994887e-01 -5.40909025e-01 4.27319246e-02 5.43643144e+02] [ 5.40194364e-01 8.41081064e-01 2.77973557e-02 1.09921569e+02] [-5.09768532e-02 -2.66091852e-04 9.98699800e-01 -4.80474396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.9853361950001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:543.69, Y:109.95, Z:-4.81 [[ 8.41387758e-01 -5.38739963e-01 4.27304674e-02 5.43691256e+02] [ 5.38022389e-01 8.42472012e-01 2.77995956e-02 1.09952520e+02] [-5.09759760e-02 -4.00291223e-04 9.98699800e-01 -4.81162931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.045336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:543.74, Y:109.98, Z:-4.81 [[ 8.43303871e-01 -5.35735903e-01 4.27273092e-02 5.43738947e+02] [ 5.35014221e-01 8.44385396e-01 2.78044488e-02 1.09984438e+02] [-5.09741574e-02 -5.87881259e-04 9.98699800e-01 -4.81320521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.79, Y:110.02, Z:-4.82 [[ 8.43876248e-01 -5.34834025e-01 4.27252012e-02 5.43787333e+02] [ 5.34111023e-01 8.44956891e-01 2.78076876e-02 1.10015979e+02] [-5.09734507e-02 -6.46246145e-04 9.98699800e-01 -4.82053690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.165336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:543.84, Y:110.05, Z:-4.82 [[ 8.44021007e-01 -5.34605687e-01 4.27235186e-02 5.43835547e+02] [ 5.33882261e-01 8.45101367e-01 2.78102726e-02 1.10047469e+02] [-5.09732338e-02 -6.63125535e-04 9.98699800e-01 -4.82383699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.2253361950001 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:543.88, Y:110.08, Z:-4.82 [[ 8.43759982e-01 -5.35017996e-01 4.27181069e-02 5.43882778e+02] [ 5.34294678e-01 8.44840413e-01 2.78185827e-02 1.10080549e+02] [-5.09734255e-02 -6.48149702e-04 9.98699800e-01 -4.82439573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.93, Y:110.11, Z:-4.83 [[ 8.43864255e-01 -5.34853960e-01 4.27125448e-02 5.43932550e+02] [ 5.34129999e-01 8.44944256e-01 2.78271201e-02 1.10112550e+02] [-5.09731648e-02 -6.68260403e-04 9.98699800e-01 -4.82727449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.3453361950001 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:543.98, Y:110.15, Z:-4.83 [[ 8.43552614e-01 -5.35345716e-01 4.27077428e-02 5.43981114e+02] [ 5.34622012e-01 8.44632787e-01 2.78344882e-02 1.10146143e+02] [-5.09734338e-02 -6.47355890e-04 9.98699800e-01 -4.83255741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.03, Y:110.18, Z:-4.83 [[ 8.43441422e-01 -5.35521264e-01 4.27029701e-02 5.44029499e+02] [ 5.34797415e-01 8.44521497e-01 2.78418084e-02 1.10179220e+02] [-5.09734566e-02 -6.45496439e-04 9.98699800e-01 -4.83440440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.08, Y:110.21, Z:-4.84 [[ 8.42722309e-01 -5.36652562e-01 4.26982301e-02 5.44077183e+02] [ 5.35929794e-01 8.43803108e-01 2.78490758e-02 1.10209457e+02] [-5.09741771e-02 -5.85783775e-04 9.98699800e-01 -4.83904720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.13, Y:110.24, Z:-4.84 [[ 8.41874142e-01 -5.37982327e-01 4.26959503e-02 5.44125437e+02] [ 5.37261090e-01 8.42955963e-01 2.78525704e-02 1.10242874e+02] [-5.09749966e-02 -5.09486059e-04 9.98699800e-01 -4.84196184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.585336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:544.17, Y:110.28, Z:-4.84 [[ 8.41865875e-01 -5.37995651e-01 4.26910727e-02 5.44172340e+02] [ 5.37274051e-01 8.42947455e-01 2.78600446e-02 1.10276723e+02] [-5.09749139e-02 -5.17615244e-04 9.98699800e-01 -4.84476091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.645336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:544.22, Y:110.31, Z:-4.85 [[ 8.42419058e-01 -5.37129175e-01 4.26893486e-02 5.44221483e+02] [ 5.36406329e-01 8.43499805e-01 2.78626862e-02 1.10308797e+02] [-5.09743188e-02 -5.73221100e-04 9.98699800e-01 -4.84580995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.705336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:544.27, Y:110.34, Z:-4.85 [[ 8.42359261e-01 -5.37223333e-01 4.26845039e-02 5.44271524e+02] [ 5.36500232e-01 8.43439837e-01 2.78701061e-02 1.10340413e+02] [-5.09742823e-02 -5.76395717e-04 9.98699800e-01 -4.84979182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.765336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:544.32, Y:110.37, Z:-4.85 [[ 8.41089488e-01 -5.39209503e-01 4.26800391e-02 5.44319159e+02] [ 5.38488606e-01 8.42171536e-01 2.78769418e-02 1.10374711e+02] [-5.09754260e-02 -4.64287911e-04 9.98699800e-01 -4.85182701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.825336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:544.37, Y:110.41, Z:-4.85 [[ 8.39964242e-01 -5.40961083e-01 4.26752606e-02 5.44368649e+02] [ 5.40242072e-01 8.41047544e-01 2.78842550e-02 1.10405577e+02] [-5.09762199e-02 -3.66805896e-04 9.98699800e-01 -4.85389947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.885336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:544.42, Y:110.43, Z:-4.86 [[ 8.39901363e-01 -5.41059140e-01 4.26697462e-02 5.44417785e+02] [ 5.40339827e-01 8.40984464e-01 2.78926908e-02 1.10434407e+02] [-5.09761890e-02 -3.70945749e-04 9.98699800e-01 -4.85784867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.46, Y:110.47, Z:-4.86 [[ 8.41156657e-01 -5.39105706e-01 4.26674964e-02 5.44464908e+02] [ 5.38383703e-01 8.42237967e-01 2.78961319e-02 1.10468611e+02] [-5.09751493e-02 -4.93532358e-04 9.98699800e-01 -4.86057103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.51, Y:110.50, Z:-4.87 [[ 8.42205359e-01 -5.37466354e-01 4.26620680e-02 5.44512798e+02] [ 5.36741826e-01 8.43284978e-01 2.79044312e-02 1.10501312e+02] [-5.09739740e-02 -6.02745212e-04 9.98699800e-01 -4.86563034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.56, Y:110.53, Z:-4.87 [[ 8.41874997e-01 -5.37984103e-01 4.26566987e-02 5.44562268e+02] [ 5.37259823e-01 8.42954784e-01 2.79126367e-02 1.10531923e+02] [-5.09742230e-02 -5.81220591e-04 9.98699800e-01 -4.86733006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.125336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:544.61, Y:110.56, Z:-4.87 [[ 8.41568511e-01 -5.38463853e-01 4.26511453e-02 5.44611310e+02] [ 5.37739759e-01 8.42648422e-01 2.79211199e-02 1.10562398e+02] [-5.09744340e-02 -5.62318666e-04 9.98699800e-01 -4.87110190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.185336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:544.66, Y:110.60, Z:-4.87 [[ 8.41326374e-01 -5.38842238e-01 4.26494369e-02 5.44660458e+02] [ 5.38118498e-01 8.42406522e-01 2.79237292e-02 1.10595162e+02] [-5.09746485e-02 -5.42518989e-04 9.98699800e-01 -4.87172029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.245336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:544.71, Y:110.63, Z:-4.88 [[ 8.41316779e-01 -5.38857604e-01 4.26445654e-02 5.44709143e+02] [ 5.38133506e-01 8.42396688e-01 2.79311669e-02 1.10626791e+02] [-5.09745623e-02 -5.50489851e-04 9.98699800e-01 -4.87627728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.305336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:544.76, Y:110.66, Z:-4.88 [[ 8.41678084e-01 -5.38293219e-01 4.26428578e-02 5.44759168e+02] [ 5.37568265e-01 8.42757418e-01 2.79337736e-02 1.10658691e+02] [-5.09741456e-02 -5.87797953e-04 9.98699800e-01 -4.87793562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.365336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:544.81, Y:110.69, Z:-4.88 [[ 8.42965544e-01 -5.36275026e-01 4.26402135e-02 5.44809175e+02] [ 5.35547284e-01 8.44043000e-01 2.79378096e-02 1.10690576e+02] [-5.09725232e-02 -7.14760328e-04 9.98699800e-01 -4.87730067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.86, Y:110.72, Z:-4.89 [[ 8.43375004e-01 -5.35631213e-01 4.26357385e-02 5.44856242e+02] [ 5.34902303e-01 8.44451670e-01 2.79446372e-02 1.10724261e+02] [-5.09718405e-02 -7.61853813e-04 9.98699800e-01 -4.88645137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.90, Y:110.76, Z:-4.89 [[ 8.43677637e-01 -5.35154846e-01 4.26302206e-02 5.44903255e+02] [ 5.34424903e-01 8.44753603e-01 2.79530523e-02 1.10755461e+02] [-5.09712438e-02 -8.00713640e-04 9.98699800e-01 -4.89066690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.95, Y:110.79, Z:-4.89 [[ 8.43835744e-01 -5.34905694e-01 4.26278741e-02 5.44951792e+02] [ 5.34175253e-01 8.44911372e-01 2.79566302e-02 1.10787935e+02] [-5.09709362e-02 -8.20048432e-04 9.98699800e-01 -4.89118036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.00, Y:110.82, Z:-4.89 [[ 8.44203872e-01 -5.34324652e-01 4.26261467e-02 5.44998566e+02] [ 5.33593337e-01 8.45278907e-01 2.79592637e-02 1.10822085e+02] [-5.09703065e-02 -8.58290779e-04 9.98699800e-01 -4.89402272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.05, Y:110.86, Z:-4.90 [[ 8.44250505e-01 -5.34251104e-01 4.26244422e-02 5.45045821e+02] [ 5.33519565e-01 8.45325386e-01 2.79618620e-02 1.10856950e+02] [-5.09701787e-02 -8.65842242e-04 9.98699800e-01 -4.89938547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.09, Y:110.89, Z:-4.90 [[ 8.44221906e-01 -5.34296666e-01 4.26197813e-02 5.45092167e+02] [ 5.33564827e-01 8.45296583e-01 2.79689645e-02 1.10892989e+02] [-5.09700799e-02 -8.71596318e-04 9.98699800e-01 -4.89935433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.14, Y:110.93, Z:-4.90 [[ 8.43938989e-01 -5.34743818e-01 4.26149235e-02 5.45138656e+02] [ 5.34012175e-01 8.45013799e-01 2.79763641e-02 1.10928001e+02] [-5.09703861e-02 -8.53456478e-04 9.98699800e-01 -4.90223472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.8453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.19, Y:110.97, Z:-4.90 [[ 8.42197353e-01 -5.37483078e-01 4.26093827e-02 5.45185059e+02] [ 5.36754504e-01 8.43274246e-01 2.79848004e-02 1.10965303e+02] [-5.09727517e-02 -6.97946754e-04 9.98699800e-01 -4.89921954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.23, Y:111.00, Z:-4.91 [[ 8.37452769e-01 -5.44846505e-01 4.26045275e-02 5.45230737e+02] [ 5.44127025e-01 8.38535759e-01 2.79921901e-02 1.11000345e+02] [-5.09768668e-02 -2.59862281e-04 9.98699801e-01 -4.90893109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.28, Y:111.03, Z:-4.91 [[ 8.33640272e-01 -5.50662236e-01 4.26028001e-02 5.45279463e+02] [ 5.49950176e-01 8.34728156e-01 2.79948189e-02 1.11032949e+02] [-5.09774463e-02 9.18090017e-05 9.98699801e-01 -4.90814070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.025336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:545.33, Y:111.06, Z:-4.91 [[ 8.28833660e-01 -5.57871117e-01 4.25978961e-02 5.45329588e+02] [ 5.57168136e-01 8.29927431e-01 2.80022791e-02 1.11064306e+02] [-5.09748252e-02 5.24958886e-04 9.98699801e-01 -4.91168718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.38, Y:111.09, Z:-4.92 [[ 8.27186285e-01 -5.60311244e-01 4.25929522e-02 5.45378469e+02] [ 5.59611102e-01 8.28281876e-01 2.80097970e-02 1.11094424e+02] [-5.09731745e-02 6.66168973e-04 9.98699801e-01 -4.91549508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.43, Y:111.12, Z:-4.92 [[ 8.25949223e-01 -5.62133318e-01 4.25912383e-02 5.45428384e+02] [ 5.61435459e-01 8.27046269e-01 2.80124028e-02 1.11123304e+02] [-5.09716297e-02 7.75409071e-04 9.98699801e-01 -4.91689279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.48, Y:111.15, Z:-4.92 [[ 8.25805510e-01 -5.62344835e-01 4.25857535e-02 5.45480200e+02] [ 5.61646826e-01 8.26902462e-01 2.80207386e-02 1.11150461e+02] [-5.09715820e-02 7.78473013e-04 9.98699801e-01 -4.92022213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.53, Y:111.18, Z:-4.93 [[ 8.26443186e-01 -5.61407680e-01 4.25802569e-02 5.45530339e+02] [ 5.60707997e-01 8.27539070e-01 2.80290888e-02 1.11179070e+02] [-5.09725719e-02 7.10641091e-04 9.98699801e-01 -4.92751743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.325336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:545.58, Y:111.21, Z:-4.93 [[ 8.27692753e-01 -5.59563913e-01 4.25785618e-02 5.45580903e+02] [ 5.58861657e-01 8.28786990e-01 2.80316635e-02 1.11207653e+02] [-5.09740654e-02 5.93920867e-04 9.98699801e-01 -4.92959243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.63, Y:111.23, Z:-4.93 [[ 8.30919604e-01 -5.54761342e-01 4.25730601e-02 5.45632965e+02] [ 5.54052333e-01 8.32009477e-01 2.80400167e-02 1.11234203e+02] [-5.09767068e-02 2.88703764e-04 9.98699801e-01 -4.93111773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.69, Y:111.26, Z:-4.93 [[ 8.34646533e-01 -5.49138571e-01 4.25675381e-02 5.45685129e+02] [ 5.48421792e-01 8.35731312e-01 2.80483972e-02 1.11261185e+02] [-5.09774812e-02 -6.55319373e-05 9.98699801e-01 -4.93151546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.505336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:545.74, Y:111.29, Z:-4.93 [[ 8.37131687e-01 -5.45342728e-01 4.25657958e-02 5.45735581e+02] [ 5.44620896e-01 8.38213110e-01 2.80510409e-02 1.11292169e+02] [-5.09766393e-02 -3.00193362e-04 9.98699801e-01 -4.93439658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.565336195 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:545.79, Y:111.32, Z:-4.94 [[ 8.39752357e-01 -5.41298944e-01 4.25609107e-02 5.45785601e+02] [ 5.40571530e-01 8.40830033e-01 2.80584511e-02 1.11321089e+02] [-5.09745019e-02 -5.54933825e-04 9.98699801e-01 -4.93993692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.84, Y:111.35, Z:-4.94 [[ 8.40786195e-01 -5.39691848e-01 4.25591884e-02 5.45835196e+02] [ 5.38962241e-01 8.41862388e-01 2.80610632e-02 1.11352637e+02] [-5.09733070e-02 -6.55558952e-04 9.98699801e-01 -4.93895968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.88, Y:111.38, Z:-4.94 [[ 8.42396968e-01 -5.37174530e-01 4.25543391e-02 5.45883081e+02] [ 5.36441336e-01 8.43470721e-01 2.80684152e-02 1.11384044e+02] [-5.09709768e-02 -8.16841294e-04 9.98699801e-01 -4.94190057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.745336195 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:545.93, Y:111.42, Z:-4.95 [[ 8.43706630e-01 -5.35115417e-01 4.25512919e-02 5.45931026e+02] [ 5.34379370e-01 8.44778429e-01 2.80730339e-02 1.11418452e+02] [-5.09687268e-02 -9.46872267e-04 9.98699801e-01 -4.94682034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.805336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:545.98, Y:111.45, Z:-4.95 [[ 8.43690476e-01 -5.35141260e-01 4.25466025e-02 5.45977839e+02] [ 5.34404887e-01 8.44762051e-01 2.80801392e-02 1.11453765e+02] [-5.09685963e-02 -9.53833721e-04 9.98699801e-01 -4.95179751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.02, Y:111.49, Z:-4.95 [[ 8.41786330e-01 -5.38131915e-01 4.25419535e-02 5.46024728e+02] [ 5.37398994e-01 8.42860268e-01 2.80871808e-02 1.11489910e+02] [-5.09715307e-02 -7.81401789e-04 9.98699801e-01 -4.95170001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.07, Y:111.53, Z:-4.96 [[ 8.37494370e-01 -5.44787827e-01 4.25370890e-02 5.46069387e+02] [ 5.44063068e-01 8.38573834e-01 2.80945460e-02 1.11526987e+02] [-5.09760565e-02 -3.86164894e-04 9.98699801e-01 -4.95612235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.9853361950001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:546.12, Y:111.56, Z:-4.96 [[ 8.33939930e-01 -5.50213831e-01 4.25315624e-02 5.46117098e+02] [ 5.49495669e-01 8.35023794e-01 2.81029101e-02 1.11560476e+02] [-5.09774764e-02 -6.52295867e-05 9.98699801e-01 -4.96085276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.045336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:546.16, Y:111.59, Z:-4.96 [[ 8.28619407e-01 -5.58194784e-01 4.25260197e-02 5.46164417e+02] [ 5.57486630e-01 8.29709836e-01 2.81112949e-02 1.11593699e+02] [-5.09758350e-02 4.14122960e-04 9.98699801e-01 -4.96394019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.1053361950001 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:546.21, Y:111.63, Z:-4.97 [[ 8.26393307e-01 -5.61485628e-01 4.25204751e-02 5.46211535e+02] [ 5.60781386e-01 8.27486267e-01 2.81196790e-02 1.11627942e+02] [-5.09739049e-02 6.06776419e-04 9.98699801e-01 -4.96593675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.165336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:546.26, Y:111.66, Z:-4.97 [[ 8.23792996e-01 -5.65294016e-01 4.25179327e-02 5.46259568e+02] [ 5.64594628e-01 8.24889068e-01 2.81235228e-02 1.11660546e+02] [-5.09706370e-02 8.37435307e-04 9.98699801e-01 -4.96689900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.31, Y:111.69, Z:-4.97 [[ 8.22273263e-01 -5.67502759e-01 4.25123320e-02 5.46308903e+02] [ 5.66805877e-01 8.23370930e-01 2.81319863e-02 1.11692633e+02] [-5.09683983e-02 9.64059458e-04 9.98699801e-01 -4.97118673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.36, Y:111.72, Z:-4.97 [[ 8.22193406e-01 -5.67618813e-01 4.25074819e-02 5.46358677e+02] [ 5.66921708e-01 8.23290931e-01 2.81393130e-02 1.11724378e+02] [-5.09684278e-02 9.62456660e-04 9.98699801e-01 -4.97312790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.3453361950001 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:546.41, Y:111.75, Z:-4.97 [[ 8.23324541e-01 -5.65977229e-01 4.25026645e-02 5.46409907e+02] [ 5.65277559e-01 8.24420433e-01 2.81465876e-02 1.11753553e+02] [-5.09703927e-02 8.52026143e-04 9.98699801e-01 -4.97329523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.405336195 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:546.46, Y:111.79, Z:-4.98 [[ 8.23528526e-01 -5.65680740e-01 4.24978440e-02 5.46458005e+02] [ 5.64980301e-01 8.24623926e-01 2.81538639e-02 1.11785287e+02] [-5.09708376e-02 8.24934634e-04 9.98699801e-01 -4.98011710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.51, Y:111.82, Z:-4.98 [[ 8.25147410e-01 -5.63317132e-01 4.24918953e-02 5.46507913e+02] [ 5.62613092e-01 8.26240499e-01 2.81628394e-02 1.11815740e+02] [-5.09731347e-02 6.68002639e-04 9.98699801e-01 -4.98383344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.525336195 meters Centerline goodness : 0.999696 with order 1 Centerline is valid? [True, True] Translation: X:546.56, Y:111.85, Z:-4.99 [[ 8.25873414e-01 -5.62252597e-01 4.24867084e-02 5.46558343e+02] [ 5.61546747e-01 8.26965335e-01 2.81706621e-02 1.11846727e+02] [-5.09740630e-02 5.92871959e-04 9.98699801e-01 -4.98512199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.61, Y:111.88, Z:-4.99 [[ 8.26418171e-01 -5.61451978e-01 4.24815632e-02 5.46607633e+02] [ 5.60744670e-01 8.27509149e-01 2.81784191e-02 1.11876324e+02] [-5.09747113e-02 5.34152557e-04 9.98699801e-01 -4.98621368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.645336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:546.66, Y:111.90, Z:-5.00 [[ 8.26373236e-01 -5.61518252e-01 4.24797462e-02 5.46657837e+02] [ 5.60810891e-01 8.27464179e-01 2.81811580e-02 1.11903610e+02] [-5.09747028e-02 5.34949638e-04 9.98699801e-01 -4.99728665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.71, Y:111.93, Z:-4.99 [[ 8.25628295e-01 -5.62613162e-01 4.24776111e-02 5.46711453e+02] [ 5.61907083e-01 8.26720068e-01 2.81843758e-02 1.11929730e+02] [-5.09739944e-02 5.98652362e-04 9.98699802e-01 -4.99456441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.765336195 meters Centerline goodness : 0.999674 with order 1 Centerline is valid? [True, True] Translation: X:546.76, Y:111.96, Z:-5.00 [[ 8.25242783e-01 -5.63178680e-01 4.24749760e-02 5.46763595e+02] [ 5.62473144e-01 8.26334907e-01 2.81883465e-02 1.11956110e+02] [-5.09736311e-02 6.28803794e-04 9.98699802e-01 -5.00112552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.81, Y:111.98, Z:-5.00 [[ 8.26161193e-01 -5.61830722e-01 4.24726230e-02 5.46814172e+02] [ 5.61123222e-01 8.27252046e-01 2.81918915e-02 1.11984347e+02] [-5.09746350e-02 5.41328360e-04 9.98699802e-01 -5.00442751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.87, Y:112.01, Z:-5.00 [[ 8.29926766e-01 -5.56253346e-01 4.24709102e-02 5.46866661e+02] [ 5.55538383e-01 8.31012742e-01 2.81944716e-02 1.12012795e+02] [-5.09771366e-02 1.94874147e-04 9.98699802e-01 -5.00011108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.945336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:546.92, Y:112.04, Z:-5.01 [[ 8.35353774e-01 -5.48069954e-01 4.24664265e-02 5.46915728e+02] [ 5.47344009e-01 8.36432440e-01 2.82012233e-02 1.12043537e+02] [-5.09765398e-02 -3.14254157e-04 9.98699802e-01 -5.00530152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.005336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:546.96, Y:112.08, Z:-5.01 [[ 8.38572045e-01 -5.43133514e-01 4.24606940e-02 5.46963740e+02] [ 5.42400783e-01 8.39646113e-01 2.82098516e-02 1.12075862e+02] [-5.09736725e-02 -6.25279237e-04 9.98699802e-01 -5.00744122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.065336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:547.01, Y:112.11, Z:-5.02 [[ 8.40883687e-01 -5.39547829e-01 4.24589938e-02 5.47011304e+02] [ 5.38810389e-01 8.41954527e-01 2.82124104e-02 1.12108591e+02] [-5.09704868e-02 -8.46008775e-04 9.98699802e-01 -5.01830091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.06, Y:112.14, Z:-5.01 [[ 8.41087690e-01 -5.39229873e-01 4.24575276e-02 5.47059331e+02] [ 5.38491917e-01 8.42158175e-01 2.82146167e-02 1.12143752e+02] [-5.09701181e-02 -8.67931417e-04 9.98699802e-01 -5.01424084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.11, Y:112.18, Z:-5.01 [[ 8.40037030e-01 -5.40865577e-01 4.24525169e-02 5.47108137e+02] [ 5.40129324e-01 8.41108687e-01 2.82221540e-02 1.12176884e+02] [-5.09715723e-02 -7.77805109e-04 9.98699802e-01 -5.01476071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.15, Y:112.21, Z:-5.02 [[ 8.37028542e-01 -5.45510279e-01 4.24471008e-02 5.47153216e+02] [ 5.44779561e-01 8.38103980e-01 2.82302977e-02 1.12211864e+02] [-5.09750016e-02 -5.05251972e-04 9.98699802e-01 -5.02363087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.305336195 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:547.20, Y:112.24, Z:-5.03 [[ 8.34413077e-01 -5.49502731e-01 4.24448567e-02 5.47200883e+02] [ 5.48776987e-01 8.35491878e-01 2.82336713e-02 1.12243887e+02] [-5.09768125e-02 -2.65784000e-04 9.98699802e-01 -5.02889031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.365336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:547.25, Y:112.28, Z:-5.03 [[ 8.31059884e-01 -5.54561133e-01 4.24431371e-02 5.47248431e+02] [ 5.53841823e-01 8.32142986e-01 2.82362560e-02 1.12275276e+02] [-5.09774890e-02 4.07648453e-05 9.98699802e-01 -5.03278599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.30, Y:112.31, Z:-5.03 [[ 8.29390142e-01 -5.57055446e-01 4.24408240e-02 5.47297063e+02] [ 5.56339216e-01 8.30475282e-01 2.82397324e-02 1.12309563e+02] [-5.09771520e-02 1.89739087e-04 9.98699802e-01 -5.03144581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.4853361950001 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:547.34, Y:112.34, Z:-5.04 [[ 8.29316250e-01 -5.57165794e-01 4.24362520e-02 5.47344304e+02] [ 5.56449357e-01 8.30401254e-01 2.82466011e-02 1.12342632e+02] [-5.09771568e-02 1.88259901e-04 9.98699802e-01 -5.03634805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.545336195 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:547.39, Y:112.38, Z:-5.04 [[ 8.30456506e-01 -5.55464944e-01 4.24345122e-02 5.47392031e+02] [ 5.54746151e-01 8.31539951e-01 2.82492146e-02 1.12377615e+02] [-5.09774406e-02 8.06383029e-05 9.98699802e-01 -5.04105993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.6053361950001 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:547.44, Y:112.41, Z:-5.05 [[ 8.32209483e-01 -5.52835338e-01 4.24318830e-02 5.47436999e+02] [ 5.52112921e-01 8.33290514e-01 2.82531633e-02 1.12413475e+02] [-5.09774327e-02 -8.53595760e-05 9.98699802e-01 -5.04651063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.48, Y:112.45, Z:-5.04 [[ 8.32599731e-01 -5.52247561e-01 4.24301606e-02 5.47484391e+02] [ 5.51524249e-01 8.33680164e-01 2.82557496e-02 1.12447680e+02] [-5.09773521e-02 -1.24467046e-04 9.98699802e-01 -5.04474590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.7253361950001 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:547.53, Y:112.48, Z:-5.05 [[ 8.30796817e-01 -5.54956580e-01 4.24245540e-02 5.47532017e+02] [ 5.54236361e-01 8.31879314e-01 2.82641652e-02 1.12480472e+02] [-5.09774933e-02 3.14519509e-05 9.98699802e-01 -5.04997244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.58, Y:112.51, Z:-5.05 [[ 8.29093262e-01 -5.57498877e-01 4.24189180e-02 5.47580895e+02] [ 5.56781544e-01 8.30177674e-01 2.82726211e-02 1.12513863e+02] [-5.09771932e-02 1.77430991e-04 9.98699802e-01 -5.04837940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.8453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.63, Y:112.55, Z:-5.05 [[ 8.26671160e-01 -5.61084526e-01 4.24139990e-02 5.47629339e+02] [ 5.60371518e-01 8.27758421e-01 2.82799987e-02 1.12545786e+02] [-5.09760145e-02 3.89337679e-04 9.98699802e-01 -5.05247961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.905336195 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:547.68, Y:112.58, Z:-5.06 [[ 8.25826897e-01 -5.62326604e-01 4.24113892e-02 5.47677961e+02] [ 5.61615031e-01 8.26915097e-01 2.82839120e-02 1.12576543e+02] [-5.09754142e-02 4.61258374e-04 9.98699802e-01 -5.05761660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.965336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:547.73, Y:112.61, Z:-5.06 [[ 8.26810988e-01 -5.60878782e-01 4.24096877e-02 5.47726810e+02] [ 5.60165172e-01 8.27897854e-01 2.82864631e-02 1.12608623e+02] [-5.09761664e-02 3.68871493e-04 9.98699802e-01 -5.05744524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.025336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:547.78, Y:112.64, Z:-5.06 [[ 8.27924798e-01 -5.59233784e-01 4.24040536e-02 5.47775461e+02] [ 5.58517583e-01 8.29009957e-01 2.82949066e-02 1.12638620e+02] [-5.09768503e-02 2.57354722e-04 9.98699802e-01 -5.06294768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.085336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:547.82, Y:112.67, Z:-5.06 [[ 8.29924291e-01 -5.56262431e-01 4.24002313e-02 5.47824618e+02] [ 5.55542051e-01 8.31006681e-01 2.83006332e-02 1.12670325e+02] [-5.09774545e-02 6.77285459e-05 9.98699802e-01 -5.06453274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.145336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:547.87, Y:112.70, Z:-5.07 [[ 8.31290257e-01 -5.54219436e-01 4.23948776e-02 5.47874269e+02] [ 5.53495988e-01 8.32370598e-01 2.83086508e-02 1.12700158e+02] [-5.09774541e-02 -6.73109011e-05 9.98699802e-01 -5.06836970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.92, Y:112.73, Z:-5.07 [[ 8.33877247e-01 -5.50319577e-01 4.23922068e-02 5.47924363e+02] [ 5.49590873e-01 8.34954050e-01 2.83126499e-02 1.12730965e+02] [-5.09765502e-02 -3.10904618e-04 9.98699802e-01 -5.06969657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.97, Y:112.76, Z:-5.07 [[ 8.36862377e-01 -5.45769789e-01 4.23874873e-02 5.47972661e+02] [ 5.45034873e-01 8.37934950e-01 2.83197136e-02 1.12763332e+02] [-5.09740012e-02 -5.97044108e-04 9.98699802e-01 -5.07272311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.02, Y:112.80, Z:-5.08 [[ 8.37852004e-01 -5.44249738e-01 4.23821015e-02 5.48020920e+02] [ 5.43512469e-01 8.38922961e-01 2.83277716e-02 1.12796637e+02] [-5.09727003e-02 -6.99279567e-04 9.98699802e-01 -5.07681417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.385336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:548.07, Y:112.83, Z:-5.08 [[ 8.39610908e-01 -5.41532713e-01 4.23774002e-02 5.48068757e+02] [ 5.40791623e-01 8.40679225e-01 2.83348028e-02 1.12830493e+02] [-5.09700226e-02 -8.72866474e-04 9.98699802e-01 -5.08099111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.12, Y:112.86, Z:-5.08 [[ 8.40488482e-01 -5.40170040e-01 4.23726133e-02 5.48116530e+02] [ 5.39426858e-01 8.41555345e-01 2.83419594e-02 1.12864538e+02] [-5.09683766e-02 -9.64164771e-04 9.98699802e-01 -5.08000408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.505336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:548.16, Y:112.90, Z:-5.09 [[ 8.40438353e-01 -5.40248422e-01 4.23676532e-02 5.48162477e+02] [ 5.39504966e-01 8.41505024e-01 2.83493722e-02 1.12899008e+02] [-5.09682966e-02 -9.68340391e-04 9.98699802e-01 -5.08719989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.565336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:548.21, Y:112.93, Z:-5.09 [[ 8.39537349e-01 -5.41647642e-01 4.23659126e-02 5.48207653e+02] [ 5.40905833e-01 8.40605166e-01 2.83519732e-02 1.12934837e+02] [-5.09697845e-02 -8.86571198e-04 9.98699802e-01 -5.09308568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.26, Y:112.97, Z:-5.09 [[ 8.38926908e-01 -5.42593067e-01 4.23604371e-02 5.48255718e+02] [ 5.41852048e-01 8.39995273e-01 2.83601517e-02 1.12969886e+02] [-5.09705887e-02 -8.39004786e-04 9.98699802e-01 -5.09235616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.685336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:548.30, Y:113.01, Z:-5.10 [[ 8.37778730e-01 -5.44364418e-01 4.23577532e-02 5.48300504e+02] [ 5.43625456e-01 8.38848519e-01 2.83641598e-02 1.13008425e+02] [-5.09721779e-02 -7.36136866e-04 9.98699802e-01 -5.09676214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.745336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:548.35, Y:113.04, Z:-5.10 [[ 8.36939377e-01 -5.45654388e-01 4.23529041e-02 5.48345671e+02] [ 5.44916708e-01 8.38010051e-01 2.83713986e-02 1.13043922e+02] [-5.09731374e-02 -6.66335556e-04 9.98699802e-01 -5.10291076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.39, Y:113.08, Z:-5.10 [[ 8.35136196e-01 -5.48410350e-01 4.23511842e-02 5.48391264e+02] [ 5.47676073e-01 8.36209207e-01 2.83739657e-02 1.13082059e+02] [-5.09750266e-02 -5.01395562e-04 9.98699802e-01 -5.09991026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.865336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:548.44, Y:113.11, Z:-5.11 [[ 8.32584147e-01 -5.52277504e-01 4.23461496e-02 5.48438152e+02] [ 5.51547830e-01 8.33660292e-01 2.83814774e-02 1.13114880e+02] [-5.09767550e-02 -2.74041223e-04 9.98699802e-01 -5.10635025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.49, Y:113.15, Z:-5.11 [[ 8.27853480e-01 -5.59343919e-01 4.23437817e-02 5.48486935e+02] [ 5.58623250e-01 8.28935677e-01 2.83850099e-02 1.13145801e+02] [-5.09772540e-02 1.55591729e-04 9.98699802e-01 -5.10944317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.54, Y:113.18, Z:-5.10 [[ 8.24878401e-01 -5.63722524e-01 4.23383959e-02 5.48536317e+02] [ 5.63007186e-01 8.25964130e-01 2.83930409e-02 1.13176909e+02] [-5.09757930e-02 4.16014943e-04 9.98699802e-01 -5.10438903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.59, Y:113.21, Z:-5.11 [[ 8.22098726e-01 -5.67769016e-01 4.23323551e-02 5.48586087e+02] [ 5.67058559e-01 8.23187654e-01 2.84020445e-02 1.13205731e+02] [-5.09732730e-02 6.55639676e-04 9.98699803e-01 -5.11201051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.64, Y:113.23, Z:-5.11 [[ 8.21097046e-01 -5.69216805e-01 4.23304883e-02 5.48637830e+02] [ 5.68508125e-01 8.22187131e-01 2.84048266e-02 1.13233297e+02] [-5.09720873e-02 7.42107318e-04 9.98699803e-01 -5.11129140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.165336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:548.69, Y:113.26, Z:-5.13 [[ 8.22043935e-01 -5.67848913e-01 4.23247144e-02 5.48690097e+02] [ 5.67137975e-01 8.23132549e-01 2.84134273e-02 1.13258397e+02] [-5.09733839e-02 6.46867303e-04 9.98699803e-01 -5.12787675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.2253361950001 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:548.74, Y:113.29, Z:-5.13 [[ 8.26320174e-01 -5.61608213e-01 4.23223950e-02 5.48740964e+02] [ 5.60888877e-01 8.27403257e-01 2.84168817e-02 1.13286750e+02] [-5.09768416e-02 2.56717922e-04 9.98699803e-01 -5.13012713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.285336195 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:548.79, Y:113.31, Z:-5.13 [[ 8.32073615e-01 -5.53048631e-01 4.23167839e-02 5.48793531e+02] [ 5.52317728e-01 8.33148926e-01 2.84252350e-02 1.13311724e+02] [-5.09767204e-02 -2.79578104e-04 9.98699803e-01 -5.13033063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.3453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.84, Y:113.34, Z:-5.12 [[ 8.36569568e-01 -5.46224125e-01 4.23150461e-02 5.48843466e+02] [ 5.45484320e-01 8.37638774e-01 2.84278217e-02 1.13343623e+02] [-5.09726854e-02 -6.99656340e-04 9.98699803e-01 -5.12399262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.405336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:548.89, Y:113.38, Z:-5.12 [[ 8.42296355e-01 -5.37351563e-01 4.23101404e-02 5.48893581e+02] [ 5.36600132e-01 8.43357423e-01 2.84351212e-02 1.13375370e+02] [-5.09622278e-02 -1.24717202e-03 9.98699803e-01 -5.12084453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.94, Y:113.41, Z:-5.12 [[ 8.44528472e-01 -5.33836985e-01 4.23052488e-02 5.48942522e+02] [ 5.33080775e-01 8.45586139e-01 2.84423970e-02 1.13408258e+02] [-5.09563354e-02 -1.46829930e-03 9.98699803e-01 -5.12380097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.525336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:548.99, Y:113.44, Z:-5.13 [[ 8.43200396e-01 -5.35932628e-01 4.23002520e-02 5.48990556e+02] [ 5.35178674e-01 8.44259672e-01 2.84498264e-02 1.13439370e+02] [-5.09595871e-02 -1.35071205e-03 9.98699803e-01 -5.13258225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.04, Y:113.47, Z:-5.14 [[ 8.38188879e-01 -5.43737360e-01 4.22975882e-02 5.49039386e+02] [ 5.42993073e-01 8.39254970e-01 2.84537862e-02 1.13471412e+02] [-5.09698477e-02 -8.82349701e-04 9.98699803e-01 -5.13716236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.09, Y:113.50, Z:-5.14 [[ 8.32984415e-01 -5.51677710e-01 4.22926510e-02 5.49089890e+02] [ 5.50943215e-01 8.34057275e-01 2.84611229e-02 1.13499091e+02] [-5.09758603e-02 -4.06822692e-04 9.98699803e-01 -5.14077976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.705336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:549.14, Y:113.53, Z:-5.15 [[ 8.32279341e-01 -5.52740969e-01 4.22909002e-02 5.49137694e+02] [ 5.52007712e-01 8.33353048e-01 2.84637241e-02 1.13531262e+02] [-5.09763170e-02 -3.44866502e-04 9.98699803e-01 -5.14557569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.19, Y:113.56, Z:-5.15 [[ 8.32284794e-01 -5.52733185e-01 4.22853052e-02 5.49186637e+02] [ 5.51999496e-01 8.33358206e-01 2.84720335e-02 1.13563754e+02] [-5.09762439e-02 -3.55373385e-04 9.98699803e-01 -5.14696329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.23, Y:113.60, Z:-5.15 [[ 8.34033892e-01 -5.50090755e-01 4.22803468e-02 5.49233727e+02] [ 5.49353292e-01 8.35104715e-01 2.84793948e-02 1.13595096e+02] [-5.09747687e-02 -5.25932786e-04 9.98699803e-01 -5.15214375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.28, Y:113.63, Z:-5.15 [[ 8.36078225e-01 -5.46978775e-01 4.22779077e-02 5.49281829e+02] [ 5.46237143e-01 8.37146165e-01 2.84830151e-02 1.13627831e+02] [-5.09723930e-02 -7.20265191e-04 9.98699803e-01 -5.15448536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.33, Y:113.66, Z:-5.15 [[ 8.40375886e-01 -5.40353042e-01 4.22724652e-02 5.49328415e+02] [ 5.39602586e-01 8.41437643e-01 2.84910902e-02 1.13663616e+02] [-5.09648908e-02 -1.13289359e-03 9.98699803e-01 -5.15329322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.37, Y:113.70, Z:-5.16 [[ 8.44689058e-01 -5.33585835e-01 4.22676282e-02 5.49373743e+02] [ 5.32826517e-01 8.45744496e-01 2.84982643e-02 1.13699898e+02] [-5.09538841e-02 -1.55085892e-03 9.98699803e-01 -5.15698902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.065336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:549.42, Y:113.73, Z:-5.16 [[ 8.45874258e-01 -5.31705425e-01 4.22620403e-02 5.49420615e+02] [ 5.30943348e-01 8.46927705e-01 2.85065487e-02 1.13733622e+02] [-5.09499794e-02 -1.67420655e-03 9.98699803e-01 -5.16350926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.47, Y:113.77, Z:-5.16 [[ 8.45474837e-01 -5.32340460e-01 4.22603184e-02 5.49467319e+02] [ 5.31579046e-01 8.46528764e-01 2.85091011e-02 1.13769232e+02] [-5.09511231e-02 -1.63902782e-03 9.98699803e-01 -5.16362801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.52, Y:113.80, Z:-5.16 [[ 8.44695020e-01 -5.33577345e-01 4.22556580e-02 5.49515211e+02] [ 5.32817130e-01 8.45749812e-01 2.85160070e-02 1.13802655e+02] [-5.09532101e-02 -1.57279066e-03 9.98699803e-01 -5.16330806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.56, Y:113.84, Z:-5.17 [[ 8.43562907e-01 -5.35365823e-01 4.22499501e-02 5.49560837e+02] [ 5.34607421e-01 8.44619003e-01 2.85244614e-02 1.13838598e+02] [-5.09561325e-02 -1.47504066e-03 9.98699803e-01 -5.16588063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.61, Y:113.87, Z:-5.17 [[ 8.44301886e-01 -5.34200099e-01 4.22442936e-02 5.49605335e+02] [ 5.33439821e-01 8.45356632e-01 2.85328362e-02 1.13874794e+02] [-5.09537376e-02 -1.55553903e-03 9.98699803e-01 -5.17283361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.65, Y:113.91, Z:-5.17 [[ 8.45280217e-01 -5.32650844e-01 4.22425444e-02 5.49651883e+02] [ 5.31888504e-01 8.46333474e-01 2.85354255e-02 1.13910492e+02] [-5.09506979e-02 -1.65210693e-03 9.98699803e-01 -5.17335534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.425336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:549.70, Y:113.95, Z:-5.18 [[ 8.46658315e-01 -5.30457988e-01 4.22376546e-02 5.49695110e+02] [ 5.29692560e-01 8.47709330e-01 2.85426615e-02 1.13950767e+02] [-5.09459367e-02 -1.79291027e-03 9.98699803e-01 -5.17655047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.4853361950001 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:549.74, Y:113.99, Z:-5.19 [[ 8.46227986e-01 -5.31144605e-01 4.22327468e-02 5.49738841e+02] [ 5.30379668e-01 8.47279358e-01 2.85499214e-02 1.13989107e+02] [-5.09470713e-02 -1.76035229e-03 9.98699803e-01 -5.18635112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.79, Y:114.02, Z:-5.19 [[ 8.44580002e-01 -5.33761334e-01 4.22310191e-02 5.49786487e+02] [ 5.32999528e-01 8.45633644e-01 2.85524768e-02 1.14023949e+02] [-5.09521787e-02 -1.60573762e-03 9.98699803e-01 -5.18565026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.83, Y:114.06, Z:-5.19 [[ 8.40824579e-01 -5.39658209e-01 4.22261188e-02 5.49831411e+02] [ 5.38903431e-01 8.41883267e-01 2.85597220e-02 1.14060444e+02] [-5.09619513e-02 -1.25791594e-03 9.98699803e-01 -5.18707318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.88, Y:114.10, Z:-5.19 [[ 8.38403567e-01 -5.43411961e-01 4.22243843e-02 5.49876144e+02] [ 5.42661794e-01 8.39465528e-01 2.85622862e-02 1.14098520e+02] [-5.09670030e-02 -1.03316254e-03 9.98699803e-01 -5.18789686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.7253361950001 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:549.92, Y:114.13, Z:-5.19 [[ 8.37570067e-01 -5.44695976e-01 4.22217583e-02 5.49922877e+02] [ 5.43947242e-01 8.38633038e-01 2.85661674e-02 1.14133401e+02] [-5.09684379e-02 -9.59757772e-04 9.98699803e-01 -5.19077922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.97, Y:114.17, Z:-5.19 [[ 8.36159739e-01 -5.46858698e-01 4.22191451e-02 5.49969333e+02] [ 5.46112518e-01 8.37224505e-01 2.85700292e-02 1.14167911e+02] [-5.09706718e-02 -8.32704507e-04 9.98699803e-01 -5.19381652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.8453361950001 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:550.01, Y:114.21, Z:-5.20 [[ 8.33603952e-01 -5.50747194e-01 4.22135091e-02 5.50014392e+02] [ 5.50005560e-01 8.34671889e-01 2.85783542e-02 1.14206289e+02] [-5.09738777e-02 -6.05364310e-04 9.98699803e-01 -5.19742224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.905336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:550.06, Y:114.24, Z:-5.20 [[ 8.31433550e-01 -5.54018678e-01 4.22084892e-02 5.50060330e+02] [ 5.53280870e-01 8.32504134e-01 2.85857663e-02 1.14239855e+02] [-5.09757902e-02 -4.14015467e-04 9.98699803e-01 -5.20268829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.11, Y:114.27, Z:-5.21 [[ 8.27848926e-01 -5.59361072e-01 4.22060078e-02 5.50110974e+02] [ 5.58629986e-01 8.28924112e-01 2.85894296e-02 1.14269025e+02] [-5.09773915e-02 -9.01871040e-05 9.98699803e-01 -5.20568281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.025336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:550.16, Y:114.30, Z:-5.21 [[ 8.26313669e-01 -5.61626969e-01 4.22003359e-02 5.50159214e+02] [ 5.60898404e-01 8.27390564e-01 2.85977993e-02 1.14302890e+02] [-5.09774551e-02 3.93486064e-05 9.98699804e-01 -5.21011175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.21, Y:114.34, Z:-5.21 [[ 8.26850876e-01 -5.60836140e-01 4.21954032e-02 5.50208194e+02] [ 5.60106174e-01 8.27926822e-01 2.86050756e-02 1.14335547e+02] [-5.09774663e-02 -1.82259907e-05 9.98699804e-01 -5.21314787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.26, Y:114.37, Z:-5.22 [[ 8.28818509e-01 -5.57924590e-01 4.21904192e-02 5.50255446e+02] [ 5.57190470e-01 8.29891625e-01 2.86124247e-02 1.14368700e+02] [-5.09770509e-02 -2.06407636e-04 9.98699804e-01 -5.21601446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.205336195 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:550.30, Y:114.40, Z:-5.22 [[ 8.30508401e-01 -5.55406378e-01 4.21847399e-02 5.50301562e+02] [ 5.54668579e-01 8.31578991e-01 2.86207956e-02 1.14404414e+02] [-5.09761158e-02 -3.71261496e-04 9.98699804e-01 -5.22033204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.35, Y:114.44, Z:-5.22 [[ 8.31622802e-01 -5.53736800e-01 4.21790436e-02 5.50348318e+02] [ 5.52996426e-01 8.32691613e-01 2.86291878e-02 1.14439347e+02] [-5.09751707e-02 -4.83824974e-04 9.98699804e-01 -5.22076736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.40, Y:114.47, Z:-5.22 [[ 8.32090385e-01 -5.53034057e-01 4.21772836e-02 5.50396341e+02] [ 5.52292649e-01 8.33158479e-01 2.86317806e-02 1.14472979e+02] [-5.09747112e-02 -5.30025623e-04 9.98699804e-01 -5.22231376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.44, Y:114.51, Z:-5.23 [[ 8.29626116e-01 -5.56724345e-01 4.21724121e-02 5.50442264e+02] [ 5.55987323e-01 8.30697241e-01 2.86389540e-02 1.14507211e+02] [-5.09765093e-02 -3.12297620e-04 9.98699804e-01 -5.22765940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.49, Y:114.54, Z:-5.22 [[ 8.26009643e-01 -5.62076285e-01 4.21701226e-02 5.50491089e+02] [ 5.61346032e-01 8.27085394e-01 2.86423249e-02 1.14540109e+02] [-5.09774640e-02 1.31944045e-05 9.98699804e-01 -5.22477591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.505336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:550.54, Y:114.57, Z:-5.24 [[ 8.19240977e-01 -5.71897030e-01 4.21664360e-02 5.50541099e+02] [ 5.71179392e-01 8.20325184e-01 2.86477512e-02 1.14567566e+02] [-5.09737532e-02 6.15187627e-04 9.98699804e-01 -5.23733448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.565336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:550.59, Y:114.60, Z:-5.24 [[ 8.17619931e-01 -5.74212438e-01 4.21630821e-02 5.50592267e+02] [ 5.73497615e-01 8.18705997e-01 2.86526865e-02 1.14596183e+02] [-5.09718971e-02 7.53419478e-04 9.98699804e-01 -5.24050455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.625336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:550.64, Y:114.62, Z:-5.24 [[ 8.19308334e-01 -5.71801170e-01 4.21577616e-02 5.50642787e+02] [ 5.71082748e-01 8.20392022e-01 2.86605127e-02 1.14624625e+02] [-5.09740059e-02 5.93773472e-04 9.98699804e-01 -5.24309908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.69, Y:114.66, Z:-5.24 [[ 8.20534555e-01 -5.70040275e-01 4.21560182e-02 5.50690933e+02] [ 5.69319396e-01 8.21616610e-01 2.86630767e-02 1.14656454e+02] [-5.09751929e-02 4.81193886e-04 9.98699804e-01 -5.24317231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.745336195 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:550.74, Y:114.69, Z:-5.25 [[ 8.25276600e-01 -5.63153507e-01 4.21504664e-02 5.50738506e+02] [ 5.62423181e-01 8.26352301e-01 2.86712386e-02 1.14686618e+02] [-5.09774435e-02 4.46970069e-05 9.98699804e-01 -5.24864088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.79, Y:114.72, Z:-5.25 [[ 8.29775539e-01 -5.56503456e-01 4.21480610e-02 5.50787471e+02] [ 5.55764329e-01 8.30845213e-01 2.86747743e-02 1.14718281e+02] [-5.09761256e-02 -3.69237442e-04 9.98699804e-01 -5.24875234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.84, Y:114.75, Z:-5.25 [[ 8.31556734e-01 -5.53838793e-01 4.21424905e-02 5.50836424e+02] [ 5.53095824e-01 8.32623743e-01 2.86829587e-02 1.14750569e+02] [-5.09745734e-02 -5.42671928e-04 9.98699804e-01 -5.25342771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.88, Y:114.78, Z:-5.26 [[ 8.33283766e-01 -5.51237326e-01 4.21375800e-02 5.50883499e+02] [ 5.50490662e-01 8.34348192e-01 2.86901708e-02 1.14784947e+02] [-5.09725067e-02 -7.10709258e-04 9.98699804e-01 -5.25534198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.93, Y:114.82, Z:-5.26 [[ 8.32961443e-01 -5.51724392e-01 4.21358482e-02 5.50932149e+02] [ 5.50978222e-01 8.34026215e-01 2.86927140e-02 1.14815621e+02] [-5.09728722e-02 -6.83989764e-04 9.98699804e-01 -5.26140098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.98, Y:114.85, Z:-5.26 [[ 8.31873260e-01 -5.53363951e-01 4.21333267e-02 5.50979292e+02] [ 5.52619692e-01 8.32939369e-01 2.86964161e-02 1.14849527e+02] [-5.09740688e-02 -5.88075205e-04 9.98699804e-01 -5.26379812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.03, Y:114.88, Z:-5.27 [[ 8.28845065e-01 -5.57889881e-01 4.21276522e-02 5.51027887e+02] [ 5.57151020e-01 8.29914923e-01 2.87047442e-02 1.14882329e+02] [-5.09764535e-02 -3.20321222e-04 9.98699804e-01 -5.26779688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.08, Y:114.91, Z:-5.27 [[ 8.27150238e-01 -5.60399846e-01 4.21247823e-02 5.51077107e+02] [ 5.59664017e-01 8.28222183e-01 2.87089552e-02 1.14914831e+02] [-5.09771732e-02 -1.70894200e-04 9.98699804e-01 -5.26632597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.13, Y:114.95, Z:-5.27 [[ 8.22592294e-01 -5.67069523e-01 4.21197476e-02 5.51126431e+02] [ 5.66342008e-01 8.23669899e-01 2.87163398e-02 1.14946195e+02] [-5.09769294e-02 2.32342553e-04 9.98699804e-01 -5.26872919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.285336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:551.18, Y:114.98, Z:-5.28 [[ 8.19183098e-01 -5.71983753e-01 4.21145875e-02 5.51175821e+02] [ 5.71262313e-01 8.20264779e-01 2.87239055e-02 1.14975872e+02] [-5.09747201e-02 5.28338725e-04 9.98699804e-01 -5.27912874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.3453361950001 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:551.23, Y:115.01, Z:-5.28 [[ 8.18165591e-01 -5.73438440e-01 4.21120241e-02 5.51225169e+02] [ 5.72718729e-01 8.19248423e-01 2.87276632e-02 1.15005206e+02] [-5.09737557e-02 6.14359456e-04 9.98699804e-01 -5.28324016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.28, Y:115.03, Z:-5.28 [[ 8.18732070e-01 -5.72629519e-01 4.21097540e-02 5.51275297e+02] [ 5.71908568e-01 8.19814076e-01 2.87309904e-02 1.15034662e+02] [-5.09743823e-02 5.59945873e-04 9.98699804e-01 -5.28199652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.33, Y:115.06, Z:-5.28 [[ 8.20993158e-01 -5.69383419e-01 4.21041181e-02 5.51325308e+02] [ 5.68657766e-01 8.22072017e-01 2.87392473e-02 1.15063600e+02] [-5.09762681e-02 3.48108360e-04 9.98699804e-01 -5.28454848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.525336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:551.38, Y:115.09, Z:-5.29 [[ 8.23873106e-01 -5.65208664e-01 4.20983630e-02 5.51375031e+02] [ 5.64477113e-01 8.24947974e-01 2.87476750e-02 1.15092985e+02] [-5.09773943e-02 7.91261831e-05 9.98699804e-01 -5.29336842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.585336195 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:551.42, Y:115.12, Z:-5.29 [[ 8.26207667e-01 -5.61790746e-01 4.20957120e-02 5.51424440e+02] [ 5.61054551e-01 8.27279360e-01 2.87515565e-02 1.15124628e+02] [-5.09772720e-02 -1.36765636e-04 9.98699804e-01 -5.29334810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.47, Y:115.16, Z:-5.29 [[ 8.29835682e-01 -5.56418120e-01 4.20905623e-02 5.51472747e+02] [ 5.55674605e-01 8.30902310e-01 2.87590933e-02 1.15156081e+02] [-5.09752261e-02 -4.76665221e-04 9.98699804e-01 -5.29157187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.52, Y:115.19, Z:-5.29 [[ 8.31924221e-01 -5.53290727e-01 4.20887472e-02 5.51522026e+02] [ 5.52543068e-01 8.32987947e-01 2.87617494e-02 1.15187863e+02] [-5.09730284e-02 -6.71750477e-04 9.98699804e-01 -5.29102433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.57, Y:115.22, Z:-5.29 [[ 8.32687135e-01 -5.52142267e-01 4.20838552e-02 5.51569126e+02] [ 5.51392779e-01 8.33749574e-01 2.87689056e-02 1.15221777e+02] [-5.09719251e-02 -7.50763706e-04 9.98699804e-01 -5.29417166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.62, Y:115.26, Z:-5.30 [[ 8.32960744e-01 -5.51729844e-01 4.20782485e-02 5.51615989e+02] [ 5.50979415e-01 8.34022519e-01 2.87771037e-02 1.15256951e+02] [-5.09713938e-02 -7.85948950e-04 9.98699804e-01 -5.29993965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.885336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:551.66, Y:115.29, Z:-5.31 [[ 8.32657089e-01 -5.52188380e-01 4.20733204e-02 5.51661824e+02] [ 5.51438173e-01 8.33719020e-01 2.87843071e-02 1.15292344e+02] [-5.09716874e-02 -7.66622385e-04 9.98699804e-01 -5.30706178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.71, Y:115.33, Z:-5.31 [[ 8.32177955e-01 -5.52910329e-01 4.20715861e-02 5.51707612e+02] [ 5.52160915e-01 8.33240446e-01 2.87868418e-02 1.15329714e+02] [-5.09722893e-02 -7.25489643e-04 9.98699804e-01 -5.31156526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.75, Y:115.37, Z:-5.32 [[ 8.31464092e-01 -5.53983617e-01 4.20667942e-02 5.51753612e+02] [ 5.53235220e-01 8.32527300e-01 2.87938425e-02 1.15366803e+02] [-5.09730716e-02 -6.68213998e-04 9.98699804e-01 -5.31502510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.065336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:551.80, Y:115.41, Z:-5.32 [[ 8.30294136e-01 -5.55735958e-01 4.20617710e-02 5.51796373e+02] [ 5.54989434e-01 8.31358659e-01 2.88011785e-02 1.15405556e+02] [-5.09742681e-02 -5.69611134e-04 9.98699805e-01 -5.31900914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.84, Y:115.44, Z:-5.32 [[ 8.28542243e-01 -5.58344641e-01 4.20596389e-02 5.51843568e+02] [ 5.57601310e-01 8.29608999e-01 2.88042918e-02 1.15440449e+02] [-5.09757769e-02 -4.13062825e-04 9.98699805e-01 -5.31615007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.89, Y:115.48, Z:-5.32 [[ 8.24808351e-01 -5.63846242e-01 4.20547160e-02 5.51890804e+02] [ 5.63109661e-01 8.25879779e-01 2.88114774e-02 1.15476403e+02] [-5.09773828e-02 -8.25303425e-05 9.98699805e-01 -5.31699624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.94, Y:115.51, Z:-5.32 [[ 8.21931748e-01 -5.68031704e-01 4.20497774e-02 5.51937879e+02] [ 5.67300210e-01 8.23006655e-01 2.88186835e-02 1.15510231e+02] [-5.09771725e-02 1.67856691e-04 9.98699805e-01 -5.32119808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.99, Y:115.54, Z:-5.33 [[ 8.18308759e-01 -5.73239097e-01 4.20441767e-02 5.51987667e+02] [ 5.72514024e-01 8.19388007e-01 2.88268522e-02 1.15542208e+02] [-5.09751728e-02 4.81615129e-04 9.98699805e-01 -5.32615295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.365336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:552.04, Y:115.57, Z:-5.33 [[ 8.16063061e-01 -5.76431909e-01 4.20396825e-02 5.52035366e+02] [ 5.75710720e-01 8.17144909e-01 2.88334048e-02 1.15574315e+02] [-5.09730071e-02 6.72819292e-04 9.98699805e-01 -5.32947642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.425336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:552.09, Y:115.60, Z:-5.33 [[ 8.14838724e-01 -5.78161500e-01 4.20372783e-02 5.52086394e+02] [ 5.77442427e-01 8.15921979e-01 2.88369096e-02 1.15604248e+02] [-5.09715302e-02 7.76677377e-04 9.98699805e-01 -5.33427750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.13, Y:115.64, Z:-5.34 [[ 8.14615839e-01 -5.78475840e-01 4.20325727e-02 5.52134920e+02] [ 5.77756830e-01 8.15699137e-01 2.88437668e-02 1.15635223e+02] [-5.09713555e-02 7.88016657e-04 9.98699805e-01 -5.33580213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.545336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:552.19, Y:115.66, Z:-5.34 [[ 8.15726544e-01 -5.76908931e-01 4.20272513e-02 5.52185572e+02] [ 5.76187442e-01 8.16808192e-01 2.88515183e-02 1.15663530e+02] [-5.09729017e-02 6.80625066e-04 9.98699805e-01 -5.33997169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.6053361950001 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:552.24, Y:115.69, Z:-5.34 [[ 8.17045751e-01 -5.75039494e-01 4.20216775e-02 5.52235316e+02] [ 5.74315112e-01 8.18125463e-01 2.88596342e-02 1.15694608e+02] [-5.09744338e-02 5.54042924e-04 9.98699805e-01 -5.34407848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.29, Y:115.72, Z:-5.34 [[ 8.19116662e-01 -5.72086085e-01 4.20167291e-02 5.52286646e+02] [ 5.71357441e-01 8.20193502e-01 2.88668368e-02 1.15723812e+02] [-5.09761638e-02 3.61263854e-04 9.98699805e-01 -5.34332423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.7253361950001 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:552.34, Y:115.75, Z:-5.35 [[ 8.20019115e-01 -5.70792133e-01 4.20118124e-02 5.52337046e+02] [ 5.70061423e-01 8.21094554e-01 2.88739906e-02 1.15752916e+02] [-5.09767170e-02 2.72089330e-04 9.98699805e-01 -5.34808855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.785336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:552.39, Y:115.78, Z:-5.35 [[ 8.20016281e-01 -5.70796625e-01 4.20061047e-02 5.52387600e+02] [ 5.70065495e-01 8.21091435e-01 2.88822918e-02 1.15782842e+02] [-5.09767675e-02 2.62281396e-04 9.98699805e-01 -5.34967913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.8453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.44, Y:115.81, Z:-5.35 [[ 8.19699147e-01 -5.71252325e-01 4.20010741e-02 5.52437317e+02] [ 5.70521419e-01 8.20774452e-01 2.88896056e-02 1.15813470e+02] [-5.09766629e-02 2.81727311e-04 9.98699805e-01 -5.34944247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.49, Y:115.84, Z:-5.35 [[ 8.21656749e-01 -5.68433442e-01 4.19953569e-02 5.52486601e+02] [ 5.67698421e-01 8.22729247e-01 2.88979139e-02 1.15841485e+02] [-5.09773490e-02 9.65318363e-05 9.98699805e-01 -5.35475275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.54, Y:115.87, Z:-5.36 [[ 8.25385852e-01 -5.63005249e-01 4.19914894e-02 5.52535610e+02] [ 5.62262890e-01 8.26453283e-01 2.89035327e-02 1.15873452e+02] [-5.09768449e-02 -2.46310762e-04 9.98699805e-01 -5.36037175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.58, Y:115.91, Z:-5.36 [[ 8.26657901e-01 -5.61136195e-01 4.19867171e-02 5.52582911e+02] [ 5.60391071e-01 8.27723404e-01 2.89104636e-02 1.15907057e+02] [-5.09760959e-02 -3.70081802e-04 9.98699805e-01 -5.36234915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.63, Y:115.94, Z:-5.36 [[ 8.28861868e-01 -5.57875956e-01 4.19812117e-02 5.52629271e+02] [ 5.57126235e-01 8.29924142e-01 2.89184558e-02 1.15941617e+02] [-5.09741322e-02 -5.80570863e-04 9.98699805e-01 -5.36320919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.68, Y:115.98, Z:-5.37 [[ 8.29866311e-01 -5.56381132e-01 4.19754952e-02 5.52676590e+02] [ 5.55629079e-01 8.30926934e-01 2.89267509e-02 1.15975359e+02] [-5.09728680e-02 -6.82530314e-04 9.98699805e-01 -5.36683219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.205336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:552.72, Y:116.01, Z:-5.37 [[ 8.29438682e-01 -5.57018858e-01 4.19698166e-02 5.52721991e+02] [ 5.56267203e-01 8.30499588e-01 2.89349878e-02 1.16011005e+02] [-5.09732492e-02 -6.53365603e-04 9.98699805e-01 -5.37166704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.77, Y:116.05, Z:-5.37 [[ 8.28136650e-01 -5.58952924e-01 4.19680607e-02 5.52768627e+02] [ 5.58203618e-01 8.29199216e-01 2.89375342e-02 1.16046770e+02] [-5.09746024e-02 -5.37509277e-04 9.98699805e-01 -5.37258363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.81, Y:116.08, Z:-5.38 [[ 8.26176761e-01 -5.61846116e-01 4.19630951e-02 5.52814020e+02] [ 5.61100166e-01 8.27241686e-01 2.89447332e-02 1.16081543e+02] [-5.09761075e-02 -3.67966324e-04 9.98699805e-01 -5.37996289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.86, Y:116.12, Z:-5.38 [[ 8.23255164e-01 -5.66118522e-01 4.19613393e-02 5.52860971e+02] [ 5.65377968e-01 8.24323849e-01 2.89472784e-02 1.16117088e+02] [-5.09773232e-02 -1.06979641e-04 9.98699805e-01 -5.37849610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.91, Y:116.15, Z:-5.38 [[ 8.21323981e-01 -5.68917029e-01 4.19563164e-02 5.52906537e+02] [ 5.68179745e-01 8.22394924e-01 2.89545567e-02 1.16150733e+02] [-5.09774021e-02 5.76573561e-05 9.98699805e-01 -5.38277251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.95, Y:116.19, Z:-5.39 [[ 8.18482886e-01 -5.72997069e-01 4.19538297e-02 5.52953755e+02] [ 5.72264939e-01 8.19557359e-01 2.89581594e-02 1.16186156e+02] [-5.09765104e-02 3.06947912e-04 9.98699805e-01 -5.38656764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.00, Y:116.22, Z:-5.39 [[ 8.16930160e-01 -5.75209016e-01 4.19487891e-02 5.53001556e+02] [ 5.74479420e-01 8.18006356e-01 2.89654595e-02 1.16219308e+02] [-5.09755695e-02 4.35958554e-04 9.98699805e-01 -5.38920507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.05, Y:116.25, Z:-5.39 [[ 8.15530040e-01 -5.77192516e-01 4.19470167e-02 5.53047015e+02] [ 5.76465406e-01 8.16607916e-01 2.89680259e-02 1.16253445e+02] [-5.09743937e-02 5.56708707e-04 9.98699805e-01 -5.39351070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.10, Y:116.29, Z:-5.39 [[ 8.15337623e-01 -5.77464508e-01 4.19440398e-02 5.53095852e+02] [ 5.76737536e-01 8.16415592e-01 2.89723357e-02 1.16286537e+02] [-5.09742637e-02 5.68466827e-04 9.98699805e-01 -5.39460637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.14, Y:116.32, Z:-5.40 [[ 8.15618458e-01 -5.77068136e-01 4.19392021e-02 5.53144009e+02] [ 5.76340280e-01 8.16695831e-01 2.89793369e-02 1.16318955e+02] [-5.09746234e-02 5.35169375e-04 9.98699805e-01 -5.39582314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.19, Y:116.35, Z:-5.40 [[ 8.14597521e-01 -5.78508827e-01 4.19334573e-02 5.53192672e+02] [ 5.77782449e-01 8.15675890e-01 2.89876472e-02 1.16350415e+02] [-5.09737200e-02 6.15150084e-04 9.98699805e-01 -5.39650069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.24, Y:116.38, Z:-5.40 [[ 8.13481332e-01 -5.80077458e-01 4.19316787e-02 5.53241059e+02] [ 5.79353026e-01 8.14561010e-01 2.89902199e-02 1.16381079e+02] [-5.09724836e-02 7.10242237e-04 9.98699805e-01 -5.40240572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.925336195 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:553.29, Y:116.41, Z:-5.41 [[ 8.12381998e-01 -5.81616170e-01 4.19299320e-02 5.53291934e+02] [ 5.80893653e-01 8.13462958e-01 2.89927461e-02 1.16409696e+02] [-5.09710964e-02 8.03646363e-04 9.98699805e-01 -5.40693201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.9853361950001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:553.34, Y:116.44, Z:-5.41 [[ 8.10802887e-01 -5.83815926e-01 4.19242500e-02 5.53344081e+02] [ 5.83095917e-01 8.11885519e-01 2.90009600e-02 1.16437035e+02] [-5.09689138e-02 9.31796925e-04 9.98699806e-01 -5.40876346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.045336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:553.40, Y:116.46, Z:-5.41 [[ 8.10723460e-01 -5.83926628e-01 4.19185418e-02 5.53396270e+02] [ 5.83206340e-01 8.11805907e-01 2.90092084e-02 1.16464348e+02] [-5.09689691e-02 9.28713556e-04 9.98699806e-01 -5.41251488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.44, Y:116.49, Z:-5.42 [[ 8.11181513e-01 -5.83290507e-01 4.19134569e-02 5.53444894e+02] [ 5.82568991e-01 8.12263141e-01 2.90165534e-02 1.16494055e+02] [-5.09698363e-02 8.79788580e-04 9.98699806e-01 -5.41561834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.165336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:553.50, Y:116.52, Z:-5.42 [[ 8.13531029e-01 -5.80009307e-01 4.19102506e-02 5.53497221e+02] [ 5.79283189e-01 8.14609574e-01 2.90211837e-02 1.16520368e+02] [-5.09730480e-02 6.68270219e-04 9.98699806e-01 -5.41860216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.55, Y:116.55, Z:-5.42 [[ 8.16167663e-01 -5.76293646e-01 4.19044138e-02 5.53546136e+02] [ 5.75562185e-01 8.17242591e-01 2.90296091e-02 1.16549973e+02] [-5.09756510e-02 4.25567755e-04 9.98699806e-01 -5.42156447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.60, Y:116.58, Z:-5.43 [[ 8.21489591e-01 -5.68681889e-01 4.19018048e-02 5.53596142e+02] [ 5.67940276e-01 8.22557540e-01 2.90333746e-02 1.16578993e+02] [-5.09773997e-02 -5.28924410e-05 9.98699806e-01 -5.42685246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.3453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.65, Y:116.61, Z:-5.43 [[ 8.26202507e-01 -5.61813049e-01 4.18988580e-02 5.53645298e+02] [ 5.61062342e-01 8.27264084e-01 2.90376266e-02 1.16611457e+02] [-5.09751379e-02 -4.83088491e-04 9.98699806e-01 -5.42710704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.69, Y:116.64, Z:-5.43 [[ 8.28497283e-01 -5.58423803e-01 4.18940163e-02 5.53693324e+02] [ 5.57668401e-01 8.29555523e-01 2.90446102e-02 1.16644505e+02] [-5.09726143e-02 -7.00411582e-04 9.98699806e-01 -5.43073320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.74, Y:116.68, Z:-5.44 [[ 8.30774853e-01 -5.55030174e-01 4.18885253e-02 5.53741892e+02] [ 5.54270050e-01 8.31829707e-01 2.90525273e-02 1.16678103e+02] [-5.09691490e-02 -9.18554109e-04 9.98699806e-01 -5.43560195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.79, Y:116.71, Z:-5.44 [[ 8.31405576e-01 -5.54085301e-01 4.18837377e-02 5.53788029e+02] [ 5.53323631e-01 8.32459314e-01 2.90594277e-02 1.16713464e+02] [-5.09679093e-02 -9.84908466e-04 9.98699806e-01 -5.43607570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.585336195 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:553.83, Y:116.75, Z:-5.44 [[ 8.31565751e-01 -5.53845312e-01 4.18780672e-02 5.53834256e+02] [ 5.53082927e-01 8.32618971e-01 2.90675972e-02 1.16750025e+02] [-5.09674257e-02 -1.00957434e-03 9.98699806e-01 -5.43754781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.88, Y:116.79, Z:-5.44 [[ 8.30987752e-01 -5.54712549e-01 4.18729615e-02 5.53878492e+02] [ 5.53950892e-01 8.32041499e-01 2.90749504e-02 1.16785774e+02] [-5.09682815e-02 -9.65363290e-04 9.98699806e-01 -5.43893027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.92, Y:116.82, Z:-5.44 [[ 8.30657451e-01 -5.55207227e-01 4.18704408e-02 5.53921833e+02] [ 5.54446015e-01 8.31711520e-01 2.90785799e-02 1.16824998e+02] [-5.09687657e-02 -9.39440010e-04 9.98699806e-01 -5.44148222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.765336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:553.97, Y:116.86, Z:-5.45 [[ 8.29816180e-01 -5.56464242e-01 4.18647153e-02 5.53966691e+02] [ 5.55704211e-01 8.30871101e-01 2.90868206e-02 1.16863566e+02] [-5.09699577e-02 -8.72315821e-04 9.98699806e-01 -5.44600485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.01, Y:116.90, Z:-5.45 [[ 8.28071420e-01 -5.59057684e-01 4.18596362e-02 5.54008439e+02] [ 5.58300588e-01 8.29128449e-01 2.90941283e-02 1.16903779e+02] [-5.09723112e-02 -7.21756643e-04 9.98699806e-01 -5.45123793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.885336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:554.05, Y:116.94, Z:-5.45 [[ 8.25976426e-01 -5.62148485e-01 4.18571811e-02 5.54053087e+02] [ 5.61395166e-01 8.27036150e-01 2.90976599e-02 1.16941766e+02] [-5.09746074e-02 -5.35561967e-04 9.98699806e-01 -5.45474473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.945336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:554.10, Y:116.98, Z:-5.46 [[ 8.23710017e-01 -5.65464591e-01 4.18521740e-02 5.54097696e+02] [ 5.64715172e-01 8.24772503e-01 2.91048601e-02 1.16980568e+02] [-5.09762901e-02 -3.39407132e-04 9.98699806e-01 -5.45913153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.14, Y:117.02, Z:-5.46 [[ 8.20845262e-01 -5.69615544e-01 4.18471890e-02 5.54142681e+02] [ 5.68871134e-01 8.21911262e-01 2.91120258e-02 1.17017466e+02] [-5.09773383e-02 -9.08105805e-05 9.98699806e-01 -5.45964258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.19, Y:117.05, Z:-5.46 [[ 8.16120851e-01 -5.76364223e-01 4.18454268e-02 5.54188100e+02] [ 5.75628497e-01 8.17192864e-01 2.91145585e-02 1.17053481e+02] [-5.09763740e-02 3.26421903e-04 9.98699806e-01 -5.46089030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.23, Y:117.09, Z:-5.47 [[ 8.13165095e-01 -5.80527322e-01 4.18396533e-02 5.54233881e+02] [ 5.79796658e-01 8.14240563e-01 2.91228531e-02 1.17087586e+02] [-5.09741548e-02 5.76803537e-04 9.98699806e-01 -5.46564175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.28, Y:117.12, Z:-5.46 [[ 8.09164371e-01 -5.86091008e-01 4.18372077e-02 5.54282009e+02] [ 5.85367555e-01 8.10244704e-01 2.91263659e-02 1.17121561e+02] [-5.09690771e-02 9.22126410e-04 9.98699806e-01 -5.46485858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.33, Y:117.15, Z:-5.47 [[ 8.07353482e-01 -5.88583406e-01 4.18321569e-02 5.54330854e+02] [ 5.87862913e-01 8.08435791e-01 2.91336182e-02 1.17154457e+02] [-5.09661771e-02 1.07044555e-03 9.98699806e-01 -5.46588413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.38, Y:117.18, Z:-5.47 [[ 8.06864443e-01 -5.89253997e-01 4.18270109e-02 5.54380750e+02] [ 5.88534020e-01 8.07947096e-01 2.91410045e-02 1.17183828e+02] [-5.09654653e-02 1.10377850e-03 9.98699806e-01 -5.47223812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.365336195 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:554.43, Y:117.21, Z:-5.48 [[ 8.08015134e-01 -5.87675247e-01 4.18251979e-02 5.54431157e+02] [ 5.86953020e-01 8.09096287e-01 2.91436064e-02 1.17213932e+02] [-5.09675884e-02 1.00095117e-03 9.98699806e-01 -5.47836355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.425336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:554.48, Y:117.25, Z:-5.48 [[ 8.12333136e-01 -5.81692315e-01 4.18201710e-02 5.54480316e+02] [ 5.80961753e-01 8.13408674e-01 2.91508180e-02 1.17245304e+02] [-5.09736967e-02 6.15744483e-04 9.98699806e-01 -5.47967280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.53, Y:117.28, Z:-5.48 [[ 8.18399496e-01 -5.73126130e-01 4.18175076e-02 5.54529799e+02] [ 5.72384114e-01 8.19467164e-01 2.91546382e-02 1.17276853e+02] [-5.09773594e-02 7.55358308e-05 9.98699806e-01 -5.48146275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.58, Y:117.31, Z:-5.48 [[ 8.22146434e-01 -5.67738463e-01 4.18124336e-02 5.54577950e+02] [ 5.66989080e-01 8.23208944e-01 2.91619134e-02 1.17309733e+02] [-5.09767092e-02 -2.68169860e-04 9.98699806e-01 -5.48402476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.63, Y:117.34, Z:-5.49 [[ 8.26078449e-01 -5.62002259e-01 4.18073790e-02 5.54625289e+02] [ 5.61245133e-01 8.27135455e-01 2.91691580e-02 1.17343474e+02] [-5.09734982e-02 -6.31824775e-04 9.98699806e-01 -5.48606506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.67, Y:117.38, Z:-5.49 [[ 8.26805393e-01 -5.60932379e-01 4.18056003e-02 5.54672519e+02] [ 5.60173756e-01 8.27861326e-01 2.91717071e-02 1.17376715e+02] [-5.09725947e-02 -7.00924638e-04 9.98699806e-01 -5.49245934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.72, Y:117.41, Z:-5.50 [[ 8.26278691e-01 -5.61708075e-01 4.18038687e-02 5.54721905e+02] [ 5.60950318e-01 8.27335245e-01 2.91741883e-02 1.17408739e+02] [-5.09731911e-02 -6.56116690e-04 9.98699806e-01 -5.49731863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.77, Y:117.44, Z:-5.50 [[ 8.26191884e-01 -5.61836106e-01 4.17990682e-02 5.54769388e+02] [ 5.61078164e-01 8.27248306e-01 2.91810645e-02 1.17443880e+02] [-5.09731840e-02 -6.56614178e-04 9.98699806e-01 -5.49762239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.8453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.82, Y:117.48, Z:-5.50 [[ 8.26221737e-01 -5.61792564e-01 4.17942122e-02 5.54816492e+02] [ 5.61034216e-01 8.27277867e-01 2.91880178e-02 1.17477419e+02] [-5.09730381e-02 -6.67791715e-04 9.98699806e-01 -5.49904685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.86, Y:117.51, Z:-5.50 [[ 8.25397007e-01 -5.63004002e-01 4.17884568e-02 5.54862670e+02] [ 5.62246786e-01 8.26453949e-01 2.91962555e-02 1.17513322e+02] [-5.09738438e-02 -6.03076407e-04 9.98699807e-01 -5.50443554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.965336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:554.91, Y:117.55, Z:-5.51 [[ 8.24265865e-01 -5.64659128e-01 4.17834106e-02 5.54908563e+02] [ 5.63903669e-01 8.25324063e-01 2.92034755e-02 1.17549402e+02] [-5.09748632e-02 -5.09609453e-04 9.98699807e-01 -5.50816903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.95, Y:117.58, Z:-5.51 [[ 8.21998061e-01 -5.67955826e-01 4.17776060e-02 5.54954291e+02] [ 5.67204189e-01 8.23058977e-01 2.92117770e-02 1.17584077e+02] [-5.09764326e-02 -3.15590961e-04 9.98699807e-01 -5.51155727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.00, Y:117.62, Z:-5.51 [[ 8.21366065e-01 -5.68869653e-01 4.17744603e-02 5.55001288e+02] [ 5.68118968e-01 8.22427655e-01 2.92162748e-02 1.17620341e+02] [-5.09767235e-02 -2.64393456e-04 9.98699807e-01 -5.50887386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.05, Y:117.66, Z:-5.51 [[ 8.22278729e-01 -5.67550004e-01 4.17694343e-02 5.55045506e+02] [ 5.66797250e-01 8.23338853e-01 2.92234585e-02 1.17656896e+02] [-5.09761721e-02 -3.55027866e-04 9.98699807e-01 -5.51462195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.09, Y:117.69, Z:-5.52 [[ 8.23812985e-01 -5.65320885e-01 4.17667559e-02 5.55089490e+02] [ 5.64565069e-01 8.24870929e-01 2.92272860e-02 1.17694960e+02] [-5.09749779e-02 -4.97766300e-04 9.98699807e-01 -5.51537952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.13, Y:117.73, Z:-5.52 [[ 8.25030860e-01 -5.63542463e-01 4.17609012e-02 5.55133564e+02] [ 5.62783943e-01 8.26086866e-01 2.92356491e-02 1.17731798e+02] [-5.09736617e-02 -6.17948077e-04 9.98699807e-01 -5.51991902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.18, Y:117.77, Z:-5.52 [[ 8.25823634e-01 -5.62380260e-01 4.17584440e-02 5.55176313e+02] [ 5.61620077e-01 8.26878444e-01 2.92391584e-02 1.17772383e+02] [-5.09726827e-02 -6.94007515e-04 9.98699807e-01 -5.52185581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.22, Y:117.81, Z:-5.53 [[ 8.24986105e-01 -5.63608294e-01 4.17566335e-02 5.55220340e+02] [ 5.62849550e-01 8.26041951e-01 2.92417437e-02 1.17810549e+02] [-5.09736203e-02 -6.21329936e-04 9.98699807e-01 -5.52561084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.26, Y:117.85, Z:-5.53 [[ 8.22928528e-01 -5.66608775e-01 4.17508566e-02 5.55264179e+02] [ 5.65853462e-01 8.23986831e-01 2.92499896e-02 1.17848702e+02] [-5.09754568e-02 -4.45784134e-04 9.98699807e-01 -5.53002257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.505336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:555.31, Y:117.89, Z:-5.53 [[ 8.22033585e-01 -5.67906806e-01 4.17450120e-02 5.55307875e+02] [ 5.67152741e-01 8.23092777e-01 2.92583285e-02 1.17889536e+02] [-5.09760217e-02 -3.75530693e-04 9.98699807e-01 -5.52837992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.565336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:555.35, Y:117.93, Z:-5.53 [[ 8.22292374e-01 -5.67532428e-01 4.17396063e-02 5.55353064e+02] [ 5.66777489e-01 8.23350944e-01 2.92660382e-02 1.17926860e+02] [-5.09757699e-02 -4.08170780e-04 9.98699807e-01 -5.53387371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.625336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:555.39, Y:117.97, Z:-5.54 [[ 8.23187305e-01 -5.66233672e-01 4.17383565e-02 5.55393609e+02] [ 5.65476973e-01 8.24244617e-01 2.92678204e-02 1.17969291e+02] [-5.09750411e-02 -4.90818725e-04 9.98699807e-01 -5.54122051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.44, Y:118.01, Z:-5.54 [[ 8.23374825e-01 -5.65961159e-01 4.17356574e-02 5.55438000e+02] [ 5.65203914e-01 8.24431746e-01 2.92716689e-02 1.18008484e+02] [-5.09748285e-02 -5.12398310e-04 9.98699807e-01 -5.54084139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.745336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:555.48, Y:118.05, Z:-5.54 [[ 8.23412846e-01 -5.65906186e-01 4.17309719e-02 5.55482373e+02] [ 5.65148533e-01 8.24469474e-01 2.92783473e-02 1.18048378e+02] [-5.09747103e-02 -5.23969718e-04 9.98699807e-01 -5.54296819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.53, Y:118.09, Z:-5.54 [[ 8.22998009e-01 -5.66509689e-01 4.17258763e-02 5.55528348e+02] [ 5.65752443e-01 8.24054929e-01 2.92856074e-02 1.18086099e+02] [-5.09749944e-02 -4.95480134e-04 9.98699807e-01 -5.54184794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.57, Y:118.13, Z:-5.55 [[ 8.20714865e-01 -5.69812676e-01 4.17208027e-02 5.55570420e+02] [ 5.69059316e-01 8.21774559e-01 2.92928335e-02 1.18125899e+02] [-5.09765221e-02 -2.99452441e-04 9.98699807e-01 -5.54681264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.62, Y:118.16, Z:-5.55 [[ 8.15612398e-01 -5.77092706e-01 4.17184043e-02 5.55615873e+02] [ 5.76348631e-01 8.16678631e-01 2.92962489e-02 1.18161751e+02] [-5.09771809e-02 1.49961417e-04 9.98699807e-01 -5.54915896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.66, Y:118.20, Z:-5.55 [[ 8.12244369e-01 -5.81823976e-01 4.17126565e-02 5.55662470e+02] [ 5.81085691e-01 8.13314619e-01 2.93044304e-02 1.18197743e+02] [-5.09755336e-02 4.36269282e-04 9.98699807e-01 -5.55480423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.71, Y:118.23, Z:-5.56 [[ 8.08621161e-01 -5.86849461e-01 4.17076389e-02 5.55707514e+02] [ 5.86117459e-01 8.09695719e-01 2.93115700e-02 1.18234208e+02] [-5.09719757e-02 7.43619568e-04 9.98699807e-01 -5.56130859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.76, Y:118.27, Z:-5.56 [[ 8.07454694e-01 -5.88453513e-01 4.17058814e-02 5.55755872e+02] [ 5.87723515e-01 8.08530615e-01 2.93140705e-02 1.18265921e+02] [-5.09704497e-02 8.41743451e-04 9.98699807e-01 -5.56276684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.165336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:555.80, Y:118.30, Z:-5.57 [[ 8.07932233e-01 -5.87798099e-01 4.17001409e-02 5.55802957e+02] [ 5.87066808e-01 8.09007274e-01 2.93222342e-02 1.18300416e+02] [-5.09712709e-02 7.90390410e-04 9.98699807e-01 -5.56994032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.2253361950001 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:555.85, Y:118.33, Z:-5.57 [[ 8.07627919e-01 -5.88216505e-01 4.16951720e-02 5.55850515e+02] [ 5.87485406e-01 8.08703091e-01 2.93292981e-02 1.18333525e+02] [-5.09709917e-02 8.08145051e-04 9.98699807e-01 -5.57380952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.90, Y:118.36, Z:-5.57 [[ 8.05603283e-01 -5.90986471e-01 4.16934166e-02 5.55901217e+02] [ 5.90258940e-01 8.06680873e-01 2.93317933e-02 1.18362672e+02] [-5.09679747e-02 9.80122928e-04 9.98699807e-01 -5.57342757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.3453361950001 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:555.95, Y:118.39, Z:-5.58 [[ 8.03335360e-01 -5.94066022e-01 4.16876585e-02 5.55950947e+02] [ 5.93342196e-01 8.04415442e-01 2.93399747e-02 1.18393238e+02] [-5.09640783e-02 1.16520768e-03 9.98699807e-01 -5.57650105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.00, Y:118.42, Z:-5.58 [[ 8.02417157e-01 -5.95305861e-01 4.16849811e-02 5.56002177e+02] [ 5.94583507e-01 8.03498224e-01 2.93437782e-02 1.18420029e+02] [-5.09623314e-02 1.23925121e-03 9.98699807e-01 -5.57933138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.05, Y:118.45, Z:-5.58 [[ 8.02691170e-01 -5.94936513e-01 4.16825043e-02 5.56051871e+02] [ 5.94213479e-01 8.03771782e-01 2.93472960e-02 1.18451504e+02] [-5.09629987e-02 1.21149054e-03 9.98699807e-01 -5.58240535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.10, Y:118.48, Z:-5.58 [[ 8.04636971e-01 -5.92302564e-01 4.16775472e-02 5.56103923e+02] [ 5.91575628e-01 8.05714962e-01 2.93543342e-02 1.18478879e+02] [-5.09668707e-02 1.03583865e-03 9.98699807e-01 -5.58436275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.15, Y:118.51, Z:-5.59 [[ 8.06894282e-01 -5.89223851e-01 4.16757823e-02 5.56153163e+02] [ 5.88492672e-01 8.07969400e-01 2.93568397e-02 1.18508852e+02] [-5.09705069e-02 8.38026359e-04 9.98699807e-01 -5.58681512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.645336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:556.20, Y:118.54, Z:-5.59 [[ 8.10449125e-01 -5.84325102e-01 4.16700378e-02 5.56203207e+02] [ 5.83587004e-01 8.11519504e-01 2.93649914e-02 1.18539320e+02] [-5.09747500e-02 5.19260949e-04 9.98699807e-01 -5.59406709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.25, Y:118.57, Z:-5.60 [[ 8.12229046e-01 -5.81848782e-01 4.16649854e-02 5.56251805e+02] [ 5.81107054e-01 8.13296913e-01 2.93721582e-02 1.18571694e+02] [-5.09761585e-02 3.54896871e-04 9.98699807e-01 -5.59626362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.30, Y:118.60, Z:-5.60 [[ 8.14374918e-01 -5.78841950e-01 4.16592154e-02 5.56301790e+02] [ 5.78095860e-01 8.15439742e-01 2.93803397e-02 1.18602080e+02] [-5.09771530e-02 1.56408236e-04 9.98699807e-01 -5.59633020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.35, Y:118.63, Z:-5.60 [[ 8.15936376e-01 -5.76638960e-01 4.16574132e-02 5.56349527e+02] [ 5.75889864e-01 8.16999088e-01 2.93828948e-02 1.18633342e+02] [-5.09773905e-02 1.55092894e-05 9.98699807e-01 -5.60014750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.40, Y:118.66, Z:-5.60 [[ 8.16639883e-01 -5.75642397e-01 4.16549091e-02 5.56397644e+02] [ 5.74891824e-01 8.17701552e-01 2.93864442e-02 1.18664850e+02] [-5.09773671e-02 -5.10756961e-05 9.98699807e-01 -5.60322019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.44, Y:118.70, Z:-5.61 [[ 8.17085880e-01 -5.75009567e-01 4.16492848e-02 5.56443848e+02] [ 5.74257765e-01 8.18146679e-01 2.93944134e-02 1.18697949e+02] [-5.09772930e-02 -1.00334960e-04 9.98699808e-01 -5.60626853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.005336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:556.49, Y:118.73, Z:-5.61 [[ 8.16168548e-01 -5.76311052e-01 4.16470022e-02 5.56492598e+02] [ 5.75560777e-01 8.17230427e-01 2.93976472e-02 1.18730280e+02] [-5.09773863e-02 -2.30541199e-05 9.98699808e-01 -5.61188383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.54, Y:118.76, Z:-5.61 [[ 8.13574077e-01 -5.79968242e-01 4.16420404e-02 5.56541572e+02] [ 5.79222380e-01 8.14639061e-01 2.94046740e-02 1.18762479e+02] [-5.09770097e-02 1.97121256e-04 9.98699808e-01 -5.61469975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.59, Y:118.79, Z:-5.62 [[ 8.11982260e-01 -5.82195123e-01 4.16370978e-02 5.56590733e+02] [ 5.81451823e-01 8.13049034e-01 2.94116709e-02 1.18793771e+02] [-5.09763335e-02 3.28211389e-04 9.98699808e-01 -5.61527562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.64, Y:118.83, Z:-5.62 [[ 8.11174911e-01 -5.83319890e-01 4.16313660e-02 5.56638433e+02] [ 5.82577653e-01 8.12242424e-01 2.94197820e-02 1.18827080e+02] [-5.09759056e-02 3.88914426e-04 9.98699808e-01 -5.61856531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.69, Y:118.86, Z:-5.62 [[ 8.11196481e-01 -5.83290297e-01 4.16256929e-02 5.56688191e+02] [ 5.82547609e-01 8.12263681e-01 2.94278066e-02 1.18857433e+02] [-5.09759926e-02 3.77214682e-04 9.98699808e-01 -5.61920067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.305336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:556.74, Y:118.89, Z:-5.62 [[ 8.11411866e-01 -5.82991060e-01 4.16198092e-02 5.56738327e+02] [ 5.82247552e-01 8.12478494e-01 2.94361255e-02 1.18887984e+02] [-5.09761979e-02 3.48210510e-04 9.98699808e-01 -5.62430220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.79, Y:118.92, Z:-5.63 [[ 8.11547904e-01 -5.82802037e-01 4.16147192e-02 5.56787644e+02] [ 5.82057912e-01 8.12614102e-01 2.94433197e-02 1.18918619e+02] [-5.09763343e-02 3.27512184e-04 9.98699808e-01 -5.62928252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.84, Y:118.95, Z:-5.63 [[ 8.12854099e-01 -5.80978983e-01 4.16129243e-02 5.56837590e+02] [ 5.80232336e-01 8.13918533e-01 2.94458562e-02 1.18949181e+02] [-5.09769539e-02 2.09979427e-04 9.98699808e-01 -5.63205863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.89, Y:118.98, Z:-5.63 [[ 8.14872651e-01 -5.78144746e-01 4.16078810e-02 5.56886202e+02] [ 5.77394033e-01 8.15934221e-01 2.94529809e-02 1.18980044e+02] [-5.09773801e-02 2.37135647e-05 9.98699808e-01 -5.63414431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.545336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:556.94, Y:119.01, Z:-5.64 [[ 8.18119482e-01 -5.73541146e-01 4.16060905e-02 5.56935896e+02] [ 5.72784331e-01 8.19176710e-01 2.94555099e-02 1.19011110e+02] [-5.09766873e-02 -2.66809785e-04 9.98699808e-01 -5.63721348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.98, Y:119.04, Z:-5.64 [[ 8.20280883e-01 -5.70445985e-01 4.16011060e-02 5.56983551e+02] [ 5.69684824e-01 8.21334986e-01 2.94625481e-02 1.19044128e+02] [-5.09752361e-02 -4.68046248e-04 9.98699808e-01 -5.63739356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.665336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:557.03, Y:119.08, Z:-5.64 [[ 8.21283123e-01 -5.69002287e-01 4.15984399e-02 5.57030306e+02] [ 5.68239083e-01 8.22335747e-01 2.94663118e-02 1.19077808e+02] [-5.09742830e-02 -5.62325267e-04 9.98699808e-01 -5.64200741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.08, Y:119.11, Z:-5.64 [[ 8.22945766e-01 -5.66595364e-01 4.15927980e-02 5.57078237e+02] [ 5.65828679e-01 8.23995858e-01 2.94742735e-02 1.19112532e+02] [-5.09722800e-02 -7.21330649e-04 9.98699808e-01 -5.63915219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.12, Y:119.15, Z:-5.65 [[ 8.23603859e-01 -5.65638728e-01 4.15874174e-02 5.57124252e+02] [ 5.64870440e-01 8.24652779e-01 2.94818634e-02 1.19145347e+02] [-5.09712630e-02 -7.89873683e-04 9.98699808e-01 -5.64907762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.8453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.17, Y:119.18, Z:-5.65 [[ 8.23898427e-01 -5.65209890e-01 4.15832052e-02 5.57171540e+02] [ 5.64440756e-01 8.24946727e-01 2.94878034e-02 1.19181028e+02] [-5.09707271e-02 -8.23699106e-04 9.98699808e-01 -5.65045178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.22, Y:119.22, Z:-5.65 [[ 8.22700380e-01 -5.66952666e-01 4.15783596e-02 5.57218263e+02] [ 5.66185408e-01 8.23750054e-01 2.94946341e-02 1.19216660e+02] [-5.09722374e-02 -7.24186217e-04 9.98699808e-01 -5.65324738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.26, Y:119.25, Z:-5.66 [[ 8.21496545e-01 -5.68695953e-01 4.15732945e-02 5.57264596e+02] [ 5.67930562e-01 8.22547580e-01 2.95017718e-02 1.19250798e+02] [-5.09735511e-02 -6.24859136e-04 9.98699808e-01 -5.65727838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.31, Y:119.29, Z:-5.66 [[ 8.20075542e-01 -5.70743367e-01 4.15705940e-02 5.57311936e+02] [ 5.69980407e-01 8.21128344e-01 2.95055765e-02 1.19286345e+02] [-5.09749051e-02 -5.02377549e-04 9.98699808e-01 -5.65952602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.36, Y:119.32, Z:-5.66 [[ 8.19656637e-01 -5.71345167e-01 4.15655864e-02 5.57358146e+02] [ 5.70582622e-01 8.20709739e-01 2.95126293e-02 1.19320300e+02] [-5.09751797e-02 -4.73621180e-04 9.98699808e-01 -5.66379360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.40, Y:119.36, Z:-5.67 [[ 8.19515906e-01 -5.71547420e-01 4.15599253e-02 5.57402662e+02] [ 5.70784731e-01 8.20568904e-01 2.95205992e-02 1.19359334e+02] [-5.09752046e-02 -4.70829828e-04 9.98699808e-01 -5.66892444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.45, Y:119.40, Z:-5.67 [[ 8.19487377e-01 -5.71588695e-01 4.15548118e-02 5.57449561e+02] [ 5.70825694e-01 8.20540149e-01 2.95277954e-02 1.19395110e+02] [-5.09751455e-02 -4.77101309e-04 9.98699808e-01 -5.67423013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.49, Y:119.43, Z:-5.68 [[ 8.18569632e-01 -5.72902593e-01 4.15496931e-02 5.57494984e+02] [ 5.72140917e-01 8.19623362e-01 2.95349964e-02 1.19430137e+02] [-5.09757752e-02 -4.04171666e-04 9.98699808e-01 -5.67619794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.54, Y:119.47, Z:-5.68 [[ 8.16237622e-01 -5.76220399e-01 4.15475175e-02 5.57541019e+02] [ 5.75462850e-01 8.17294324e-01 2.95380566e-02 1.19466986e+02] [-5.09769809e-02 -2.01020234e-04 9.98699808e-01 -5.67539484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.59, Y:119.50, Z:-5.68 [[ 8.13904777e-01 -5.79511208e-01 4.15424441e-02 5.57588828e+02] [ 5.78757567e-01 8.14964269e-01 2.95451901e-02 1.19500911e+02] [-5.09773764e-02 -3.96743614e-06 9.98699808e-01 -5.67932378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.445336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:557.64, Y:119.53, Z:-5.68 [[ 8.10464883e-01 -5.84312693e-01 4.15373288e-02 5.57635710e+02] [ 5.83564961e-01 8.11528553e-01 2.95523799e-02 1.19534486e+02] [-5.09765590e-02 2.88563541e-04 9.98699808e-01 -5.68365837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.68, Y:119.57, Z:-5.69 [[ 8.08775648e-01 -5.86649027e-01 4.15315480e-02 5.57683905e+02] [ 5.85903950e-01 8.09841181e-01 2.95605017e-02 1.19567071e+02] [-5.09755974e-02 4.25684111e-04 9.98699808e-01 -5.68719296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.73, Y:119.60, Z:-5.69 [[ 8.08722489e-01 -5.86722712e-01 4.15258383e-02 5.57731341e+02] [ 5.85977320e-01 8.09787801e-01 2.95685204e-02 1.19600500e+02] [-5.09756398e-02 4.20471988e-04 9.98699808e-01 -5.69107028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.78, Y:119.63, Z:-5.69 [[ 8.09717940e-01 -5.85348558e-01 4.15201498e-02 5.57779054e+02] [ 5.84600949e-01 8.10781697e-01 2.95765060e-02 1.19631552e+02] [-5.09763427e-02 3.24091503e-04 9.98699808e-01 -5.69393134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.82, Y:119.67, Z:-5.70 [[ 8.13170669e-01 -5.80542678e-01 4.15170251e-02 5.57824751e+02] [ 5.79788558e-01 8.14229820e-01 2.95808916e-02 1.19666293e+02] [-5.09773699e-02 1.67826852e-05 9.98699808e-01 -5.69528453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.87, Y:119.70, Z:-5.70 [[ 8.15748033e-01 -5.76915697e-01 4.15141641e-02 5.57874421e+02] [ 5.76156664e-01 8.16803668e-01 2.95849062e-02 1.19698624e+02] [-5.09769183e-02 -2.15166795e-04 9.98699809e-01 -5.69741642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.92, Y:119.73, Z:-5.70 [[ 8.19867963e-01 -5.71045972e-01 4.15093011e-02 5.57920486e+02] [ 5.70279036e-01 8.20917871e-01 2.95917276e-02 1.19733880e+02] [-5.09739640e-02 -5.89425192e-04 9.98699809e-01 -5.69831952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.97, Y:119.77, Z:-5.70 [[ 8.23538758e-01 -5.65739673e-01 4.15034451e-02 5.57967931e+02] [ 5.64965560e-01 8.24583386e-01 2.95999386e-02 1.19766377e+02] [-5.09689109e-02 -9.28679605e-04 9.98699809e-01 -5.70202772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.01, Y:119.80, Z:-5.70 [[ 8.25695147e-01 -5.62587894e-01 4.15016379e-02 5.58013720e+02] [ 5.61809666e-01 8.26736713e-01 2.96024723e-02 1.19802192e+02] [-5.09649202e-02 -1.12659641e-03 9.98699809e-01 -5.70472175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.06, Y:119.84, Z:-5.71 [[ 8.27492233e-01 -5.59941679e-01 4.14960202e-02 5.58059876e+02] [ 5.59159727e-01 8.28531006e-01 2.96103449e-02 1.19838955e+02] [-5.09608056e-02 -1.29942708e-03 9.98699809e-01 -5.70927827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.045336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:558.11, Y:119.88, Z:-5.71 [[ 8.28050834e-01 -5.59115645e-01 4.14911084e-02 5.58105637e+02] [ 5.58332312e-01 8.29088565e-01 2.96172260e-02 1.19875133e+02] [-5.09592579e-02 -1.35874216e-03 9.98699809e-01 -5.71443901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.1053361950001 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:558.15, Y:119.91, Z:-5.72 [[ 8.27402445e-01 -5.60075127e-01 4.14854963e-02 5.58148763e+02] [ 5.59292604e-01 8.28440787e-01 2.96250849e-02 1.19913578e+02] [-5.09605504e-02 -1.30933648e-03 9.98699809e-01 -5.71576349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.19, Y:119.95, Z:-5.72 [[ 8.24079299e-01 -5.64953480e-01 4.14834198e-02 5.58193266e+02] [ 5.64176958e-01 8.25122138e-01 2.96279922e-02 1.19953088e+02] [-5.09673254e-02 -1.01182549e-03 9.98699809e-01 -5.71873041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.24, Y:119.99, Z:-5.72 [[ 8.20730300e-01 -5.69808105e-01 4.14788825e-02 5.58239034e+02] [ 5.69037432e-01 8.21777468e-01 2.96343430e-02 1.19989838e+02] [-5.09722999e-02 -7.18766482e-04 9.98699809e-01 -5.72237320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.28, Y:120.03, Z:-5.73 [[ 8.15304578e-01 -5.77545122e-01 4.14738085e-02 5.58284363e+02] [ 5.76784026e-01 8.16358727e-01 2.96414426e-02 1.20027078e+02] [-5.09767761e-02 -2.45373638e-04 9.98699809e-01 -5.72594285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.3453361950001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:558.33, Y:120.06, Z:-5.73 [[ 8.10261494e-01 -5.84599576e-01 4.14686317e-02 5.58329345e+02] [ 5.83847288e-01 8.11321946e-01 2.96486832e-02 1.20061933e+02] [-5.09770186e-02 1.88161844e-04 9.98699809e-01 -5.72938830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.38, Y:120.10, Z:-5.73 [[ 8.07388951e-01 -5.88560656e-01 4.14660821e-02 5.58375334e+02] [ 5.87813387e-01 8.08452946e-01 2.96522486e-02 1.20097239e+02] [-5.09755231e-02 4.33420249e-04 9.98699809e-01 -5.73093964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.42, Y:120.13, Z:-5.73 [[ 8.05280255e-01 -5.91442949e-01 4.14602151e-02 5.58420293e+02] [ 5.90699066e-01 8.06346620e-01 2.96604496e-02 1.20132902e+02] [-5.09737681e-02 6.05535901e-04 9.98699809e-01 -5.73355515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.47, Y:120.17, Z:-5.73 [[ 8.04512761e-01 -5.92486735e-01 4.14570387e-02 5.58468218e+02] [ 5.91744006e-01 8.05579931e-01 2.96648887e-02 1.20167263e+02] [-5.09730114e-02 6.66172599e-04 9.98699809e-01 -5.73325384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.52, Y:120.20, Z:-5.73 [[ 8.04519585e-01 -5.92477818e-01 4.14520555e-02 5.58516320e+02] [ 5.91734719e-01 8.05586497e-01 2.96718503e-02 1.20201568e+02] [-5.09731293e-02 6.57035677e-04 9.98699809e-01 -5.73431291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.56, Y:120.23, Z:-5.74 [[ 8.04675167e-01 -5.92266844e-01 4.14470953e-02 5.58562604e+02] [ 5.91523108e-01 8.05741635e-01 2.96787773e-02 1.20233903e+02] [-5.09734061e-02 6.35139539e-04 9.98699809e-01 -5.73773194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.61, Y:120.27, Z:-5.75 [[ 8.05961567e-01 -5.90515316e-01 4.14441083e-02 5.58611116e+02] [ 5.89769048e-01 8.07026265e-01 2.96829478e-02 1.20266628e+02] [-5.09747193e-02 5.19137193e-04 9.98699809e-01 -5.74514514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.765336195 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:558.66, Y:120.30, Z:-5.75 [[ 8.08115299e-01 -5.87564850e-01 4.14392315e-02 5.58659899e+02] [ 5.86814346e-01 8.09177015e-01 2.96897547e-02 1.20299514e+02] [-5.09763299e-02 3.24390536e-04 9.98699809e-01 -5.74755138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.71, Y:120.33, Z:-5.75 [[ 8.10111737e-01 -5.84809529e-01 4.14341384e-02 5.58708208e+02] [ 5.84055050e-01 8.11170632e-01 2.96968607e-02 1.20333709e+02] [-5.09771634e-02 1.42042360e-04 9.98699809e-01 -5.74627486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.885336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:558.76, Y:120.37, Z:-5.75 [[ 8.13108609e-01 -5.80635879e-01 4.14290449e-02 5.58755681e+02] [ 5.79875603e-01 8.14163349e-01 2.97039648e-02 1.20366878e+02] [-5.09771976e-02 -1.28857095e-04 9.98699809e-01 -5.75498402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.80, Y:120.40, Z:-5.75 [[ 8.14276968e-01 -5.78996440e-01 4.14263443e-02 5.58803702e+02] [ 5.78233849e-01 8.15330036e-01 2.97077306e-02 1.20400367e+02] [-5.09768131e-02 -2.36206323e-04 9.98699809e-01 -5.75390029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.85, Y:120.43, Z:-5.76 [[ 8.13894014e-01 -5.79535052e-01 4.14204875e-02 5.58850280e+02] [ 5.78772742e-01 8.14947286e-01 2.97158944e-02 1.20433349e+02] [-5.09769162e-02 -2.12539488e-04 9.98699809e-01 -5.75820426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.90, Y:120.46, Z:-5.76 [[ 8.11747338e-01 -5.82538249e-01 4.14179543e-02 5.58899054e+02] [ 5.81779656e-01 8.12803289e-01 2.97194247e-02 1.20464750e+02] [-5.09773511e-02 -2.85406187e-05 9.98699809e-01 -5.76329555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.95, Y:120.50, Z:-5.77 [[ 8.09148001e-01 -5.86143509e-01 4.14161772e-02 5.58947310e+02] [ 5.85389494e-01 8.10207226e-01 2.97219010e-02 1.20496084e+02] [-5.09769854e-02 1.95178288e-04 9.98699809e-01 -5.76748778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.00, Y:120.53, Z:-5.77 [[ 8.07931829e-01 -5.87818854e-01 4.14144230e-02 5.58996202e+02] [ 5.87066910e-01 8.08992525e-01 2.97243451e-02 1.20528771e+02] [-5.09764891e-02 2.97792881e-04 9.98699809e-01 -5.77079162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.05, Y:120.56, Z:-5.77 [[ 8.07385650e-01 -5.88569175e-01 4.14094054e-02 5.59046334e+02] [ 5.87817859e-01 8.08446790e-01 2.97313336e-02 1.20559663e+02] [-5.09762474e-02 3.36535956e-04 9.98699809e-01 -5.76887909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.305336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:559.09, Y:120.59, Z:-5.78 [[ 8.08210662e-01 -5.87435966e-01 4.14066684e-02 5.59094293e+02] [ 5.86682966e-01 8.09270609e-01 2.97351450e-02 1.20591741e+02] [-5.09766933e-02 2.60325825e-04 9.98699809e-01 -5.77550294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.365336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:559.14, Y:120.63, Z:-5.78 [[ 8.09551342e-01 -5.85587172e-01 4.14039666e-02 5.59141251e+02] [ 5.84831559e-01 8.10609428e-01 2.97389064e-02 1.20625300e+02] [-5.09771678e-02 1.39174704e-04 9.98699809e-01 -5.77635335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.19, Y:120.66, Z:-5.78 [[ 8.11016742e-01 -5.83556375e-01 4.13980724e-02 5.59188434e+02] [ 5.82797694e-01 8.12072630e-01 2.97471092e-02 1.20656358e+02] [-5.09773568e-02 1.29749903e-06 9.98699809e-01 -5.78132688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.24, Y:120.69, Z:-5.78 [[ 8.12249599e-01 -5.81839325e-01 4.13955193e-02 5.59236563e+02] [ 5.81078231e-01 8.13303749e-01 2.97506617e-02 1.20688128e+02] [-5.09772359e-02 -1.10927955e-04 9.98699809e-01 -5.78093670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.28, Y:120.72, Z:-5.78 [[ 8.13861668e-01 -5.79582661e-01 4.13898980e-02 5.59282235e+02] [ 5.78818247e-01 8.14913413e-01 2.97584801e-02 1.20723175e+02] [-5.09766821e-02 -2.62058035e-04 9.98699809e-01 -5.78286573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.6053361950001 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:559.33, Y:120.76, Z:-5.79 [[ 8.16854693e-01 -5.75357083e-01 4.13840256e-02 5.59328183e+02] [ 5.74586815e-01 8.17902157e-01 2.97666444e-02 1.20760253e+02] [-5.09745335e-02 -5.36307640e-04 9.98699809e-01 -5.78774101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.37, Y:120.80, Z:-5.79 [[ 8.18853004e-01 -5.72509861e-01 4.13789368e-02 5.59373476e+02] [ 5.71735594e-01 8.19897516e-01 2.97737167e-02 1.20795578e+02] [-5.09722339e-02 -7.22486340e-04 9.98699809e-01 -5.79072421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.42, Y:120.83, Z:-5.79 [[ 8.19483862e-01 -5.71606624e-01 4.13771407e-02 5.59418467e+02] [ 5.70831079e-01 8.20527426e-01 2.97762125e-02 1.20832172e+02] [-5.09713591e-02 -7.81767774e-04 9.98699809e-01 -5.79348757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.46, Y:120.87, Z:-5.80 [[ 8.19016028e-01 -5.72277162e-01 4.13714480e-02 5.59461916e+02] [ 5.71502072e-01 8.20059930e-01 2.97841200e-02 1.20870660e+02] [-5.09718384e-02 -7.49803457e-04 9.98699809e-01 -5.79589265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.8453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.51, Y:120.91, Z:-5.80 [[ 8.18466986e-01 -5.73062548e-01 4.13655559e-02 5.59506417e+02] [ 5.72288047e-01 8.19511324e-01 2.97923009e-02 1.20906108e+02] [-5.09723934e-02 -7.11001529e-04 9.98699810e-01 -5.80075189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.55, Y:120.95, Z:-5.80 [[ 8.17532656e-01 -5.74394863e-01 4.13630052e-02 5.59550752e+02] [ 5.73621884e-01 8.18578122e-01 2.97958419e-02 1.20945531e+02] [-5.09734296e-02 -6.32348807e-04 9.98699810e-01 -5.80320999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.59, Y:120.98, Z:-5.81 [[ 8.16246029e-01 -5.76222138e-01 4.13578040e-02 5.59592949e+02] [ 5.75451135e-01 8.17292952e-01 2.98030597e-02 1.20984734e+02] [-5.09746245e-02 -5.27233892e-04 9.98699810e-01 -5.81261776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.64, Y:121.02, Z:-5.81 [[ 8.13467277e-01 -5.80138495e-01 4.13559632e-02 5.59637225e+02] [ 5.79372402e-01 8.14517799e-01 2.98056138e-02 1.21022052e+02] [-5.09765520e-02 -2.85387713e-04 9.98699810e-01 -5.81013485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.68, Y:121.06, Z:-5.81 [[ 8.10660433e-01 -5.84054659e-01 4.13499388e-02 5.59683840e+02] [ 5.83293215e-01 8.11714330e-01 2.98139693e-02 1.21056590e+02] [-5.09773255e-02 -4.98665407e-05 9.98699810e-01 -5.81290993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.73, Y:121.09, Z:-5.81 [[ 8.05795360e-01 -5.90748825e-01 4.13480798e-02 5.59731260e+02] [ 5.89996003e-01 8.06855433e-01 2.98165472e-02 1.21091882e+02] [-5.09760130e-02 3.69166477e-04 9.98699810e-01 -5.81104692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.78, Y:121.13, Z:-5.81 [[ 8.03650824e-01 -5.93663306e-01 4.13428675e-02 5.59778148e+02] [ 5.92913957e-01 8.04713354e-01 2.98237726e-02 1.21125888e+02] [-5.09744371e-02 5.44863745e-04 9.98699810e-01 -5.81399969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.83, Y:121.16, Z:-5.82 [[ 8.02439094e-01 -5.95300563e-01 4.13369161e-02 5.59826862e+02] [ 5.94552957e-01 8.03502851e-01 2.98320193e-02 1.21157699e+02] [-5.09733478e-02 6.38607146e-04 9.98699810e-01 -5.81657506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.88, Y:121.19, Z:-5.82 [[ 8.02833234e-01 -5.94769327e-01 4.13309345e-02 5.59875342e+02] [ 5.94020591e-01 8.03896196e-01 2.98403042e-02 1.21189240e+02] [-5.09738787e-02 5.94638248e-04 9.98699810e-01 -5.81734521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.92, Y:121.22, Z:-5.82 [[ 8.03636362e-01 -5.93683906e-01 4.13281670e-02 5.59924015e+02] [ 5.92933537e-01 8.04698172e-01 2.98441367e-02 1.21222094e+02] [-5.09746841e-02 5.21022740e-04 9.98699810e-01 -5.82055935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.97, Y:121.25, Z:-5.83 [[ 8.05689731e-01 -5.90894635e-01 4.13229672e-02 5.59972907e+02] [ 5.90140221e-01 8.06748670e-01 2.98513347e-02 1.21253611e+02] [-5.09762424e-02 3.35431204e-04 9.98699810e-01 -5.82555244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.02, Y:121.28, Z:-5.83 [[ 8.08707426e-01 -5.86757991e-01 4.13201969e-02 5.60021423e+02] [ 5.85997964e-01 8.09762345e-01 2.98551688e-02 1.21284582e+02] [-5.09772984e-02 6.94545376e-05 9.98699810e-01 -5.82752680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.07, Y:121.32, Z:-5.83 [[ 8.09683815e-01 -5.85410326e-01 4.13142807e-02 5.60068039e+02] [ 5.84648125e-01 8.10737164e-01 2.98633536e-02 1.21318241e+02] [-5.09773383e-02 -2.55573491e-05 9.98699810e-01 -5.83088811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.12, Y:121.35, Z:-5.83 [[ 8.11357493e-01 -5.83088881e-01 4.13083089e-02 5.60115982e+02] [ 5.82323246e-01 8.12408348e-01 2.98716117e-02 1.21350621e+02] [-5.09770197e-02 -1.81767438e-04 9.98699810e-01 -5.83404577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.16, Y:121.38, Z:-5.83 [[ 8.12649483e-01 -5.81287306e-01 4.13023706e-02 5.60164348e+02] [ 5.80518924e-01 8.13698332e-01 2.98798202e-02 1.21384568e+02] [-5.09764302e-02 -3.05012759e-04 9.98699810e-01 -5.83466902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.21, Y:121.42, Z:-5.83 [[ 8.13570784e-01 -5.79997525e-01 4.12971121e-02 5.60212379e+02] [ 5.79227112e-01 8.14618141e-01 2.98870862e-02 1.21417834e+02] [-5.09758127e-02 -3.94853126e-04 9.98699810e-01 -5.83493736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.26, Y:121.45, Z:-5.84 [[ 8.14578334e-01 -5.78581749e-01 4.12952485e-02 5.60258354e+02] [ 5.77809385e-01 8.15624253e-01 2.98896609e-02 1.21452669e+02] [-5.09750185e-02 -4.86688046e-04 9.98699810e-01 -5.84129502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.865336195 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:560.31, Y:121.49, Z:-5.84 [[ 8.16859753e-01 -5.75356410e-01 4.12934058e-02 5.60305370e+02] [ 5.74579788e-01 8.17902515e-01 2.98922065e-02 1.21487930e+02] [-5.09726531e-02 -6.91384152e-04 9.98699810e-01 -5.84417226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.925336195 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:560.35, Y:121.53, Z:-5.85 [[ 8.19265246e-01 -5.71926357e-01 4.12879902e-02 5.60349437e+02] [ 5.71144993e-01 8.20304459e-01 2.98996848e-02 1.21525435e+02] [-5.09691403e-02 -9.14343748e-04 9.98699810e-01 -5.85002084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.40, Y:121.56, Z:-5.85 [[ 8.17930142e-01 -5.73834246e-01 4.12860811e-02 5.60396544e+02] [ 5.73055173e-01 8.18971074e-01 2.99023207e-02 1.21560617e+02] [-5.09710818e-02 -7.98807132e-04 9.98699810e-01 -5.85179878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.44, Y:121.59, Z:-5.85 [[ 8.15727064e-01 -5.76962082e-01 4.12809153e-02 5.60442080e+02] [ 5.76186639e-01 8.16770703e-01 2.99094505e-02 1.21594448e+02] [-5.09736610e-02 -6.12436345e-04 9.98699810e-01 -5.85445396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.1053361950001 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:560.49, Y:121.63, Z:-5.86 [[ 8.13004318e-01 -5.80792628e-01 4.12783650e-02 5.60488500e+02] [ 5.80021924e-01 8.14051461e-01 2.99129698e-02 1.21630226e+02] [-5.09759457e-02 -3.77016952e-04 9.98699810e-01 -5.85782342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.54, Y:121.66, Z:-5.86 [[ 8.12889997e-01 -5.80952993e-01 4.12731358e-02 5.60537315e+02] [ 5.80182130e-01 8.13937024e-01 2.99201831e-02 1.21663652e+02] [-5.09759533e-02 -3.75881708e-04 9.98699810e-01 -5.85882918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.2253361950001 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:560.58, Y:121.70, Z:-5.86 [[ 8.14982083e-01 -5.78014853e-01 4.12678441e-02 5.60582177e+02] [ 5.77239846e-01 8.16026045e-01 2.99274800e-02 1.21699668e+02] [-5.09741636e-02 -5.68916043e-04 9.98699810e-01 -5.86281349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.63, Y:121.74, Z:-5.86 [[ 8.17358763e-01 -5.74649259e-01 4.12659744e-02 5.60627928e+02] [ 5.73869824e-01 8.18399424e-01 2.99300579e-02 1.21737485e+02] [-5.09713353e-02 -7.82297645e-04 9.98699810e-01 -5.86432830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.3453361950001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:560.67, Y:121.77, Z:-5.87 [[ 8.20048781e-01 -5.70804297e-01 4.12607819e-02 5.60672834e+02] [ 5.70019623e-01 8.21085497e-01 2.99372145e-02 1.21774631e+02] [-5.09669202e-02 -1.03052093e-03 9.98699810e-01 -5.86758489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.405336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:560.72, Y:121.81, Z:-5.87 [[ 8.21118307e-01 -5.69265133e-01 4.12545164e-02 5.60716243e+02] [ 5.68478082e-01 8.22153220e-01 2.99458461e-02 1.21813292e+02] [-5.09646595e-02 -1.13679408e-03 9.98699810e-01 -5.87494915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.76, Y:121.85, Z:-5.88 [[ 8.20797054e-01 -5.69728374e-01 4.12525885e-02 5.60761888e+02] [ 5.68941774e-01 8.21832310e-01 2.99485016e-02 1.21849604e+02] [-5.09652212e-02 -1.11132096e-03 9.98699810e-01 -5.87643254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.81, Y:121.89, Z:-5.88 [[ 8.18256713e-01 -5.73371309e-01 4.12467293e-02 5.60806212e+02] [ 5.72588913e-01 8.19295149e-01 2.99565691e-02 1.21887716e+02] [-5.09694824e-02 -8.94743869e-04 9.98699810e-01 -5.88132881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.85, Y:121.92, Z:-5.88 [[ 8.14572906e-01 -5.78593267e-01 4.12409193e-02 5.60851806e+02] [ 5.77817123e-01 8.15616023e-01 2.99645655e-02 1.21923426e+02] [-5.09740504e-02 -5.78613894e-04 9.98699810e-01 -5.88206574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.90, Y:121.96, Z:-5.89 [[ 8.12519517e-01 -5.81473447e-01 4.12391161e-02 5.60897190e+02] [ 5.80700876e-01 8.13565283e-01 2.99670469e-02 1.21958760e+02] [-5.09757553e-02 -4.01219650e-04 9.98699810e-01 -5.88635124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.705336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:560.94, Y:122.00, Z:-5.89 [[ 8.10233928e-01 -5.84654144e-01 4.12372866e-02 5.60942705e+02] [ 5.83885550e-01 8.11282620e-01 2.99695643e-02 1.21996333e+02] [-5.09769239e-02 -2.04502020e-04 9.98699810e-01 -5.89256403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.765336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:560.99, Y:122.03, Z:-5.90 [[ 8.09350074e-01 -5.85877437e-01 4.12321068e-02 5.60989220e+02] [ 5.85110065e-01 8.10399661e-01 2.99766890e-02 1.22031903e+02] [-5.09771511e-02 -1.36314741e-04 9.98699811e-01 -5.89596769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:561.04, Y:122.07, Z:-5.90 [[ 8.08568111e-01 -5.86956517e-01 4.12269062e-02 5.61035515e+02] [ 5.86190181e-01 8.09618454e-01 2.99838397e-02 1.22065142e+02] [-5.09772742e-02 -7.71689956e-05 9.98699811e-01 -5.90076637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:561.08, Y:122.10, Z:-5.90 [[ 8.08183865e-01 -5.87485645e-01 4.12244812e-02 5.61082378e+02] [ 5.86719827e-01 8.09234586e-01 2.99871733e-02 1.22099577e+02] [-5.09773099e-02 -4.79291592e-05 9.98699811e-01 -5.90005097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:561.13, Y:122.13, Z:-5.90 [[ 8.08152305e-01 -5.87529472e-01 4.12185794e-02 5.61129903e+02] [ 5.86763297e-01 8.09202766e-01 2.99952835e-02 1.22134595e+02] [-5.09773015e-02 -5.52079688e-05 9.98699811e-01 -5.90072726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:561.18, Y:122.17, Z:-5.90 [[ 8.07425461e-01 -5.88528314e-01 4.12134475e-02 5.61177640e+02] [ 5.87763078e-01 8.08476607e-01 3.00023330e-02 1.22166753e+02] [-5.09773307e-02 -9.04813323e-07 9.98699811e-01 -5.90352769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.065336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:561.22, Y:122.20, Z:-5.91 [[ 8.06793306e-01 -5.89394743e-01 4.12116388e-02 5.61224579e+02] [ 5.88630509e-01 8.07845180e-01 3.00048173e-02 1.22200252e+02] [-5.09773053e-02 5.07421782e-05 9.98699811e-01 -5.90949065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:561.27, Y:122.23, Z:-5.91 [[ 8.08304355e-01 -5.87321156e-01 4.12059354e-02 5.61273773e+02] [ 5.86553825e-01 8.09353972e-01 3.00126477e-02 1.22232834e+02] [-5.09772505e-02 -8.98548462e-05 9.98699811e-01 -5.91179578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:561.32, Y:122.27, Z:-5.91 [[ 8.09442460e-01 -5.85751983e-01 4.12009509e-02 5.61320493e+02] [ 5.84982269e-01 8.10490330e-01 3.00194889e-02 1.22266507e+02] [-5.09769474e-02 -1.97223243e-04 9.98699811e-01 -5.91447017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.245336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:561.37, Y:122.30, Z:-5.91 [[ 8.10189621e-01 -5.84718513e-01 4.11951286e-02 5.61367820e+02] [ 5.83947056e-01 8.11236209e-01 3.00274765e-02 1.22301526e+02] [-5.09766014e-02 -2.72175726e-04 9.98699811e-01 -5.91267616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:561.41, Y:122.33, Z:-5.92 [[ 8.09770902e-01 -5.85298630e-01 4.11898034e-02 5.61414403e+02] [ 5.84527551e-01 8.10817769e-01 3.00347796e-02 1.22333690e+02] [-5.09767398e-02 -2.44715645e-04 9.98699811e-01 -5.91855188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:561.46, Y:122.37, Z:-5.92 [[ 8.07937027e-01 -5.87827677e-01 4.11871697e-02 5.61462588e+02] [ 5.87059691e-01 8.08986164e-01 3.00383908e-02 1.22366499e+02] [-5.09772479e-02 -8.98010427e-05 9.98699811e-01 -5.92433814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.425336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:561.51, Y:122.40, Z:-5.93 [[ 8.07009802e-01 -5.89100337e-01 4.11821839e-02 5.61509059e+02] [ 5.88333657e-01 8.08059894e-01 3.00452248e-02 1.22401370e+02] [-5.09773232e-02 -1.79260678e-05 9.98699811e-01 -5.93103254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:561.56, Y:122.43, Z:-5.93 [[ 8.04707649e-01 -5.92241586e-01 4.11764883e-02 5.61560005e+02] [ 5.91478606e-01 8.05760432e-01 3.00530284e-02 1.22431736e+02] [-5.09770382e-02 1.71110104e-04 9.98699811e-01 -5.93082984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:561.61, Y:122.47, Z:-5.93 [[ 8.03883685e-01 -5.93359842e-01 4.11718286e-02 5.61607265e+02] [ 5.92597999e-01 8.04937292e-01 3.00594107e-02 1.22465962e+02] [-5.09767874e-02 2.34073442e-04 9.98699811e-01 -5.93246029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:561.66, Y:122.50, Z:-5.94 [[ 8.02957284e-01 -5.94613234e-01 4.11667622e-02 5.61655802e+02] [ 5.93852680e-01 8.04011822e-01 3.00663477e-02 1.22498128e+02] [-5.09764116e-02 3.04999156e-04 9.98699811e-01 -5.93533592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:561.71, Y:122.53, Z:-5.94 [[ 8.01798787e-01 -5.96174886e-01 4.11607907e-02 5.61705525e+02] [ 5.95415967e-01 8.02854501e-01 3.00745203e-02 1.22528987e+02] [-5.09757998e-02 3.94078125e-04 9.98699811e-01 -5.93891625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:561.75, Y:122.56, Z:-5.95 [[ 8.01271098e-01 -5.96884332e-01 4.11548550e-02 5.61754203e+02] [ 5.96125930e-01 8.02327184e-01 3.00826408e-02 1.22560101e+02] [-5.09755159e-02 4.29125599e-04 9.98699811e-01 -5.94536777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.785336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:561.80, Y:122.59, Z:-5.95 [[ 8.01838854e-01 -5.96121533e-01 4.11530137e-02 5.61803710e+02] [ 5.95361997e-01 8.02894125e-01 3.00851595e-02 1.22590573e+02] [-5.09759243e-02 3.77490601e-04 9.98699811e-01 -5.94828632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.8453361950001 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:561.85, Y:122.62, Z:-5.95 [[ 8.03247109e-01 -5.94223021e-01 4.11470925e-02 5.61852406e+02] [ 5.93460576e-01 8.04300280e-01 3.00932556e-02 1.22619815e+02] [-5.09767233e-02 2.46856690e-04 9.98699811e-01 -5.95262519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:561.90, Y:122.65, Z:-5.95 [[ 8.04934409e-01 -5.91935566e-01 4.11446536e-02 5.61903361e+02] [ 5.91169958e-01 8.05985283e-01 3.00965898e-02 1.22650730e+02] [-5.09772272e-02 9.77024457e-05 9.98699811e-01 -5.94901311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.965336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:561.95, Y:122.68, Z:-5.96 [[ 8.05742515e-01 -5.90835465e-01 4.11394157e-02 5.61954232e+02] [ 5.90068057e-01 8.06792075e-01 3.01037478e-02 1.22679237e+02] [-5.09773164e-02 1.91855917e-05 9.98699811e-01 -5.95610361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.025336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:562.00, Y:122.71, Z:-5.96 [[ 8.06239418e-01 -5.90157353e-01 4.11375686e-02 5.62003515e+02] [ 5.89388933e-01 8.07288237e-01 3.01062718e-02 1.22711238e+02] [-5.09773129e-02 -2.68353904e-05 9.98699811e-01 -5.96055229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.05, Y:122.74, Z:-5.96 [[ 8.08398844e-01 -5.87196248e-01 4.11324121e-02 5.62053963e+02] [ 5.86423628e-01 8.09444573e-01 3.01133151e-02 1.22742016e+02] [-5.09768334e-02 -2.22550775e-04 9.98699811e-01 -5.96055538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.145336195 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:562.10, Y:122.78, Z:-5.96 [[ 8.10528380e-01 -5.84253624e-01 4.11272067e-02 5.62100837e+02] [ 5.83476847e-01 8.11571025e-01 3.01204228e-02 1.22775117e+02] [-5.09756155e-02 -4.16684589e-04 9.98699811e-01 -5.96487298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.205336195 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:562.15, Y:122.81, Z:-5.96 [[ 8.14405788e-01 -5.78836991e-01 4.11211752e-02 5.62147269e+02] [ 5.78052864e-01 8.15442917e-01 3.01286548e-02 1.22810224e+02] [-5.09715510e-02 -7.66737753e-04 9.98699811e-01 -5.96487554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.19, Y:122.84, Z:-5.97 [[ 8.16336318e-01 -5.76111290e-01 4.11193089e-02 5.62194031e+02] [ 5.75323573e-01 8.17370722e-01 3.01312017e-02 1.22844822e+02] [-5.09686447e-02 -9.40286521e-04 9.98699811e-01 -5.96505264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.24, Y:122.88, Z:-5.97 [[ 8.16855164e-01 -5.75375525e-01 4.11174686e-02 5.62240020e+02] [ 5.74586749e-01 8.17888762e-01 3.01337128e-02 1.22879312e+02] [-5.09677163e-02 -9.89326311e-04 9.98699811e-01 -5.96840736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.29, Y:122.92, Z:-5.97 [[ 8.14602009e-01 -5.78561492e-01 4.11116365e-02 5.62285719e+02] [ 5.77776358e-01 8.15638376e-01 3.01416676e-02 1.22916196e+02] [-5.09710365e-02 -8.00131394e-04 9.98699811e-01 -5.97037428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.33, Y:122.95, Z:-5.97 [[ 8.12292436e-01 -5.81800010e-01 4.11065303e-02 5.62332157e+02] [ 5.81018656e-01 8.13331655e-01 3.01486296e-02 1.22950606e+02] [-5.09737154e-02 -6.05842760e-04 9.98699811e-01 -5.97290683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.38, Y:122.99, Z:-5.98 [[ 8.09916431e-01 -5.85103513e-01 4.11005333e-02 5.62379024e+02] [ 5.84325984e-01 8.10958514e-01 3.01568029e-02 1.22986338e+02] [-5.09756788e-02 -4.08380589e-04 9.98699811e-01 -5.97797788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.43, Y:123.02, Z:-5.98 [[ 8.08712350e-01 -5.86767001e-01 4.10952874e-02 5.62426048e+02] [ 5.85991251e-01 8.09755759e-01 3.01639499e-02 1.23020586e+02] [-5.09763561e-02 -3.12479929e-04 9.98699811e-01 -5.98117165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.47, Y:123.06, Z:-5.99 [[ 8.08335999e-01 -5.87285777e-01 4.10892863e-02 5.62472473e+02] [ 5.86510282e-01 8.09379597e-01 3.01721224e-02 1.23055350e+02] [-5.09764883e-02 -2.89923855e-04 9.98699812e-01 -5.98760527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.52, Y:123.09, Z:-5.99 [[ 8.07679452e-01 -5.88188511e-01 4.10874401e-02 5.62520177e+02] [ 5.87414055e-01 8.08723822e-01 3.01746362e-02 1.23089903e+02] [-5.09767660e-02 -2.36093865e-04 9.98699812e-01 -5.99220328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.57, Y:123.12, Z:-5.99 [[ 8.06676828e-01 -5.89563182e-01 4.10822404e-02 5.62567182e+02] [ 5.88790145e-01 8.07722248e-01 3.01817139e-02 1.23123002e+02] [-5.09770669e-02 -1.58070965e-04 9.98699812e-01 -5.99361682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.62, Y:123.16, Z:-5.99 [[ 8.06531953e-01 -5.89761485e-01 4.10804028e-02 5.62615960e+02] [ 5.88988578e-01 8.07577469e-01 3.01842149e-02 1.23156112e+02] [-5.09770951e-02 -1.48645773e-04 9.98699812e-01 -5.99367296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.66, Y:123.19, Z:-6.00 [[ 8.09204250e-01 -5.86089848e-01 4.10751998e-02 5.62664228e+02] [ 5.85311838e-01 8.10245974e-01 3.01912936e-02 1.23190196e+02] [-5.09758259e-02 -3.89122395e-04 9.98699812e-01 -5.99825071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.71, Y:123.22, Z:-6.00 [[ 8.11718563e-01 -5.82602978e-01 4.10700013e-02 5.62710382e+02] [ 5.81820135e-01 8.12756661e-01 3.01983636e-02 1.23224031e+02] [-5.09735736e-02 -6.17218623e-04 9.98699812e-01 -6.00190427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.76, Y:123.26, Z:-6.01 [[ 8.15327394e-01 -5.77541927e-01 4.10677872e-02 5.62755620e+02] [ 5.76752490e-01 8.16360486e-01 3.02013743e-02 1.23261682e+02] [-5.09686786e-02 -9.38059293e-04 9.98699812e-01 -6.00643117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.80, Y:123.30, Z:-6.01 [[ 8.17459868e-01 -5.74519988e-01 4.10627378e-02 5.62801798e+02] [ 5.73726387e-01 8.18489765e-01 3.02082381e-02 1.23297803e+02] [-5.09646672e-02 -1.13524609e-03 9.98699812e-01 -6.01068593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.85, Y:123.34, Z:-6.01 [[ 8.19584327e-01 -5.71485602e-01 4.10577276e-02 5.62846883e+02] [ 5.70687849e-01 8.20611010e-01 3.02150462e-02 1.23335219e+02] [-5.09598872e-02 -1.33263212e-03 9.98699812e-01 -6.01395993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.89, Y:123.37, Z:-6.02 [[ 8.20276712e-01 -5.70491725e-01 4.10525037e-02 5.62892133e+02] [ 5.69692373e-01 8.21302151e-01 3.02221421e-02 1.23372743e+02] [-5.09579916e-02 -1.40322108e-03 9.98699812e-01 -6.01566991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.93, Y:123.41, Z:-6.01 [[ 8.20654954e-01 -5.69947863e-01 4.10472983e-02 5.62934918e+02] [ 5.69147478e-01 8.21679587e-01 3.02292104e-02 1.23414641e+02] [-5.09568009e-02 -1.44578500e-03 9.98699812e-01 -6.01424105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.98, Y:123.45, Z:-6.02 [[ 8.19034425e-01 -5.72274542e-01 4.10421702e-02 5.62978393e+02] [ 5.71476720e-01 8.20061054e-01 3.02361712e-02 1.23452794e+02] [-5.09604764e-02 -1.30982024e-03 9.98699812e-01 -6.01601767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.3453361950001 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:563.02, Y:123.49, Z:-6.02 [[ 8.17181819e-01 -5.74917303e-01 4.10362113e-02 5.63021483e+02] [ 5.74122395e-01 8.18210707e-01 3.02442564e-02 1.23492018e+02] [-5.09642137e-02 -1.15524857e-03 9.98699812e-01 -6.02061412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.07, Y:123.53, Z:-6.02 [[ 8.13684857e-01 -5.79856423e-01 4.10302599e-02 5.63066021e+02] [ 5.79067355e-01 8.14718230e-01 3.02523281e-02 1.23529651e+02] [-5.09701075e-02 -8.56577221e-04 9.98699812e-01 -6.02236225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.11, Y:123.57, Z:-6.03 [[ 8.09939108e-01 -5.85077184e-01 4.10284185e-02 5.63110532e+02] [ 5.84294651e-01 8.10977439e-01 3.02548252e-02 1.23567494e+02] [-5.09745297e-02 -5.31880690e-04 9.98699812e-01 -6.02741068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.16, Y:123.60, Z:-6.03 [[ 8.05456302e-01 -5.91233662e-01 4.10231803e-02 5.63155269e+02] [ 5.90458705e-01 8.06500300e-01 3.02619261e-02 1.23604664e+02] [-5.09770766e-02 -1.52165128e-04 9.98699812e-01 -6.02983194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.585336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:563.20, Y:123.64, Z:-6.03 [[ 8.03481407e-01 -5.93915160e-01 4.10172020e-02 5.63200127e+02] [ 5.93143274e-01 8.04527676e-01 3.02700270e-02 1.23641563e+02] [-5.09773021e-02 7.67358770e-06 9.98699812e-01 -6.03486978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.25, Y:123.68, Z:-6.04 [[ 8.02372587e-01 -5.95412438e-01 4.10153670e-02 5.63245453e+02] [ 5.94642377e-01 8.03420200e-01 3.02725132e-02 1.23678476e+02] [-5.09772053e-02 9.96406112e-05 9.98699812e-01 -6.03599992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.29, Y:123.71, Z:-6.04 [[ 8.01201181e-01 -5.96988171e-01 4.10096411e-02 5.63290235e+02] [ 5.96219773e-01 8.02250016e-01 3.02802680e-02 1.23714532e+02] [-5.09769470e-02 1.90172399e-04 9.98699812e-01 -6.03968573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.34, Y:123.75, Z:-6.04 [[ 8.00605439e-01 -5.97787260e-01 4.10039362e-02 5.63337577e+02] [ 5.97019514e-01 8.01654750e-01 3.02879913e-02 1.23749740e+02] [-5.09767755e-02 2.31419452e-04 9.98699812e-01 -6.04231033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.825336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:563.38, Y:123.79, Z:-6.05 [[ 8.01098479e-01 -5.97126728e-01 4.09987494e-02 5.63382853e+02] [ 5.96357757e-01 8.02146893e-01 3.02950107e-02 1.23785173e+02] [-5.09769800e-02 1.80635227e-04 9.98699812e-01 -6.05003523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.43, Y:123.82, Z:-6.05 [[ 8.01079908e-01 -5.97151768e-01 4.09969195e-02 5.63429931e+02] [ 5.96382703e-01 8.02128253e-01 3.02974867e-02 1.23818628e+02] [-5.09769852e-02 1.79145797e-04 9.98699812e-01 -6.04990583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.48, Y:123.85, Z:-6.05 [[ 8.01724555e-01 -5.96286411e-01 4.09908929e-02 5.63476022e+02] [ 5.95515798e-01 8.02771763e-01 3.03056383e-02 1.23853579e+02] [-5.09771716e-02 1.13949934e-04 9.98699812e-01 -6.05177345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.52, Y:123.89, Z:-6.06 [[ 8.02938478e-01 -5.94650905e-01 4.09890316e-02 5.63523253e+02] [ 5.93878030e-01 8.03984018e-01 3.03081555e-02 1.23887521e+02] [-5.09772984e-02 6.90114863e-06 9.98699812e-01 -6.05618012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.57, Y:123.92, Z:-6.06 [[ 8.04300690e-01 -5.92807486e-01 4.09839536e-02 5.63570072e+02] [ 5.92031865e-01 8.05344194e-01 3.03150207e-02 1.23921958e+02] [-5.09771602e-02 -1.18585574e-04 9.98699812e-01 -6.05759538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.62, Y:123.96, Z:-6.06 [[ 8.06919737e-01 -5.89237935e-01 4.09779735e-02 5.63615658e+02] [ 5.88457287e-01 8.07959486e-01 3.03231020e-02 1.23956743e+02] [-5.09760644e-02 -3.54522403e-04 9.98699812e-01 -6.06326520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.66, Y:123.99, Z:-6.06 [[ 8.09482762e-01 -5.85712058e-01 4.09761238e-02 5.63662650e+02] [ 5.84926756e-01 8.10518999e-01 3.03256013e-02 1.23992960e+02] [-5.09739972e-02 -5.80020328e-04 9.98699812e-01 -6.06160360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.71, Y:124.03, Z:-6.06 [[ 8.10768093e-01 -5.83931920e-01 4.09708585e-02 5.63708578e+02] [ 5.83143983e-01 8.11802329e-01 3.03327132e-02 1.24029780e+02] [-5.09724779e-02 -7.00886418e-04 9.98699812e-01 -6.06401621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.75, Y:124.07, Z:-6.07 [[ 8.11262916e-01 -5.83244630e-01 4.09656308e-02 5.63754849e+02] [ 5.82455460e-01 8.12296211e-01 3.03397719e-02 1.24066605e+02] [-5.09717357e-02 -7.52876520e-04 9.98699812e-01 -6.06887937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.80, Y:124.10, Z:-6.07 [[ 8.10410942e-01 -5.84428200e-01 4.09607620e-02 5.63801215e+02] [ 5.83640207e-01 8.11445136e-01 3.03463436e-02 1.24100985e+02] [-5.09726701e-02 -6.86661338e-04 9.98699812e-01 -6.07119381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.425336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:563.85, Y:124.14, Z:-6.07 [[ 8.10204314e-01 -5.84715043e-01 4.09547084e-02 5.63847041e+02] [ 5.83927004e-01 8.11238471e-01 3.03545112e-02 1.24136120e+02] [-5.09727744e-02 -6.78795709e-04 9.98699813e-01 -6.07362415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.89, Y:124.17, Z:-6.08 [[ 8.10005909e-01 -5.84989993e-01 4.09528365e-02 5.63893126e+02] [ 5.84202178e-01 8.11040237e-01 3.03570365e-02 1.24172969e+02] [-5.09729608e-02 -6.64642725e-04 9.98699813e-01 -6.07523203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.545336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:563.94, Y:124.21, Z:-6.08 [[ 8.09558461e-01 -5.85609428e-01 4.09474744e-02 5.63937787e+02] [ 5.84822038e-01 8.10593113e-01 3.03642675e-02 1.24209013e+02] [-5.09733421e-02 -6.34664249e-04 9.98699813e-01 -6.08160130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.98, Y:124.24, Z:-6.08 [[ 8.09613293e-01 -5.85533752e-01 4.09455817e-02 5.63983049e+02] [ 5.84746136e-01 8.10647773e-01 3.03668196e-02 1.24243450e+02] [-5.09732424e-02 -6.42610098e-04 9.98699813e-01 -6.08384818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.03, Y:124.28, Z:-6.09 [[ 8.10109106e-01 -5.84847744e-01 4.09432852e-02 5.64029690e+02] [ 5.84059096e-01 8.11142799e-01 3.03699156e-02 1.24278585e+02] [-5.09726276e-02 -6.89647050e-04 9.98699813e-01 -6.08550866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.07, Y:124.32, Z:-6.09 [[ 8.10779442e-01 -5.83918508e-01 4.09374222e-02 5.64073616e+02] [ 5.83128276e-01 8.11811925e-01 3.03778167e-02 1.24316494e+02] [-5.09716569e-02 -7.57940892e-04 9.98699813e-01 -6.08813685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.12, Y:124.35, Z:-6.09 [[ 8.10531515e-01 -5.84263021e-01 4.09314699e-02 5.64120067e+02] [ 5.83472823e-01 8.11564024e-01 3.03858348e-02 1.24352823e+02] [-5.09718280e-02 -7.46276392e-04 9.98699813e-01 -6.08869728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.8453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.17, Y:124.39, Z:-6.09 [[ 8.09139797e-01 -5.86189264e-01 4.09259794e-02 5.64167051e+02] [ 5.85401151e-01 8.10173897e-01 3.03932280e-02 1.24386913e+02] [-5.09733442e-02 -6.34254832e-04 9.98699813e-01 -6.09327848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.21, Y:124.42, Z:-6.10 [[ 8.08064828e-01 -5.87670364e-01 4.09240444e-02 5.64212073e+02] [ 5.86884014e-01 8.09100271e-01 3.03958332e-02 1.24422679e+02] [-5.09743857e-02 -5.44136267e-04 9.98699813e-01 -6.09893901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.965336195 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:564.26, Y:124.46, Z:-6.10 [[ 8.06123805e-01 -5.90330296e-01 4.09212946e-02 5.64258957e+02] [ 5.89547175e-01 8.07161692e-01 3.03995348e-02 1.24458465e+02] [-5.09758677e-02 -3.80755017e-04 9.98699813e-01 -6.10077280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.31, Y:124.49, Z:-6.10 [[ 8.04642404e-01 -5.92348282e-01 4.09159482e-02 5.64305120e+02] [ 5.91567398e-01 8.05681975e-01 3.04067290e-02 1.24493583e+02] [-5.09766156e-02 -2.62002501e-04 9.98699813e-01 -6.10393947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.35, Y:124.53, Z:-6.11 [[ 8.04017867e-01 -5.93195906e-01 4.09131546e-02 5.64352026e+02] [ 5.92415927e-01 8.05058117e-01 3.04104874e-02 1.24527731e+02] [-5.09768438e-02 -2.12970748e-04 9.98699813e-01 -6.10566681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.40, Y:124.56, Z:-6.11 [[ 8.03488764e-01 -5.93912575e-01 4.09103847e-02 5.64398690e+02] [ 5.93133334e-01 8.04529566e-01 3.04142132e-02 1.24563753e+02] [-5.09769978e-02 -1.72165665e-04 9.98699813e-01 -6.10604019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.45, Y:124.60, Z:-6.11 [[ 8.03371526e-01 -5.94071508e-01 4.09051917e-02 5.64445162e+02] [ 5.93292118e-01 8.04412216e-01 3.04211959e-02 1.24598989e+02] [-5.09770016e-02 -1.70794762e-04 9.98699813e-01 -6.10777583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.49, Y:124.63, Z:-6.11 [[ 8.03016142e-01 -5.94551927e-01 4.09033267e-02 5.64493685e+02] [ 5.93773031e-01 8.04057203e-01 3.04237033e-02 1.24631470e+02] [-5.09770859e-02 -1.43432589e-04 9.98699813e-01 -6.10917966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.325336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:564.54, Y:124.66, Z:-6.11 [[ 8.02340169e-01 -5.95463958e-01 4.09014416e-02 5.64540986e+02] [ 5.94686117e-01 8.03382018e-01 3.04262374e-02 1.24664000e+02] [-5.09772104e-02 -8.86729761e-05 9.98699813e-01 -6.11385624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.59, Y:124.70, Z:-6.11 [[ 8.00745026e-01 -5.97607702e-01 4.08954452e-02 5.64589241e+02] [ 5.96832238e-01 8.01788646e-01 3.04342949e-02 1.24696741e+02] [-5.09772727e-02 3.76097881e-05 9.98699813e-01 -6.11183221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.64, Y:124.73, Z:-6.12 [[ 7.99568339e-01 -5.99181262e-01 4.08936018e-02 5.64637544e+02] [ 5.98407726e-01 8.00613388e-01 3.04367716e-02 1.24728171e+02] [-5.09771083e-02 1.34768357e-04 9.98699813e-01 -6.11576170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.69, Y:124.76, Z:-6.12 [[ 7.99449520e-01 -5.99340193e-01 4.08876269e-02 5.64687201e+02] [ 5.98566454e-01 8.00494419e-01 3.04447961e-02 1.24757583e+02] [-5.09771070e-02 1.34884215e-04 9.98699813e-01 -6.12000319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.74, Y:124.79, Z:-6.12 [[ 8.00245425e-01 -5.98277484e-01 4.08816827e-02 5.64735561e+02] [ 5.97501949e-01 8.01288992e-01 3.04527759e-02 1.24791252e+02] [-5.09772524e-02 5.71905017e-05 9.98699813e-01 -6.12471066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.78, Y:124.82, Z:-6.13 [[ 8.01728832e-01 -5.96288515e-01 4.08764823e-02 5.64782308e+02] [ 5.95510036e-01 8.02770204e-01 3.04597548e-02 1.24823948e+02] [-5.09772239e-02 -7.81081973e-05 9.98699813e-01 -6.13112761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.685336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:564.83, Y:124.85, Z:-6.14 [[ 8.03244500e-01 -5.94245501e-01 4.08724567e-02 5.64832553e+02] [ 5.93464099e-01 8.04283680e-01 3.04651555e-02 1.24854540e+02] [-5.09768315e-02 -2.14632856e-04 9.98699813e-01 -6.13674415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.88, Y:124.89, Z:-6.14 [[ 8.03949627e-01 -5.93291553e-01 4.08672217e-02 5.64880577e+02] [ 5.92508560e-01 8.04987610e-01 3.04721763e-02 1.24887590e+02] [-5.09764920e-02 -2.83916102e-04 9.98699813e-01 -6.14107057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.805336195 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:564.93, Y:124.92, Z:-6.15 [[ 8.03839530e-01 -5.93441074e-01 4.08619732e-02 5.64928662e+02] [ 5.92657917e-01 8.04877389e-01 3.04792127e-02 1.24919218e+02] [-5.09764951e-02 -2.83224117e-04 9.98699813e-01 -6.14639994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.865336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:564.98, Y:124.95, Z:-6.15 [[ 8.02796933e-01 -5.94851136e-01 4.08559720e-02 5.64978887e+02] [ 5.94069392e-01 8.03835857e-01 3.04872549e-02 1.24949557e+02] [-5.09768735e-02 -2.03792264e-04 9.98699813e-01 -6.14602118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.925336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:565.03, Y:124.98, Z:-6.15 [[ 8.01986853e-01 -5.95943040e-01 4.08531674e-02 5.65026557e+02] [ 5.95162519e-01 8.03026696e-01 3.04910127e-02 1.24982788e+02] [-5.09770908e-02 -1.39117281e-04 9.98699813e-01 -6.14830396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.9853361950001 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:565.08, Y:125.01, Z:-6.15 [[ 8.01058002e-01 -5.97191416e-01 4.08471629e-02 5.65075356e+02] [ 5.96412106e-01 8.02098752e-01 3.04990545e-02 1.25013998e+02] [-5.09772319e-02 -6.97692575e-05 9.98699813e-01 -6.15133020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.12, Y:125.05, Z:-6.15 [[ 8.00381137e-01 -5.98098400e-01 4.08453156e-02 5.65124308e+02] [ 5.97320142e-01 8.01422675e-01 3.05015283e-02 1.25045430e+02] [-5.09772773e-02 -1.51181876e-05 9.98699813e-01 -6.15154364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.17, Y:125.08, Z:-6.15 [[ 7.99896196e-01 -5.98747218e-01 4.08392441e-02 5.65171303e+02] [ 5.97969391e-01 8.00938055e-01 3.05096553e-02 1.25078978e+02] [-5.09772760e-02 1.60607120e-05 9.98699813e-01 -6.15447670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.165336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:565.22, Y:125.11, Z:-6.16 [[ 7.99102418e-01 -5.99806613e-01 4.08332292e-02 5.65218397e+02] [ 5.99029756e-01 8.00145000e-01 3.05177033e-02 1.25111509e+02] [-5.09772245e-02 7.35488335e-05 9.98699813e-01 -6.15979570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.27, Y:125.14, Z:-6.16 [[ 7.97954828e-01 -6.01332746e-01 4.08291724e-02 5.65268716e+02] [ 6.00557605e-01 7.98998687e-01 3.05231300e-02 1.25142887e+02] [-5.09770127e-02 1.64191084e-04 9.98699813e-01 -6.16331140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.285336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:565.31, Y:125.18, Z:-6.17 [[ 7.97403452e-01 -6.02064066e-01 4.08239551e-02 5.65314900e+02] [ 6.01289525e-01 7.98447757e-01 3.05301064e-02 1.25176166e+02] [-5.09768753e-02 2.02204379e-04 9.98699813e-01 -6.16899026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.3453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.36, Y:125.21, Z:-6.17 [[ 7.96498890e-01 -6.03260470e-01 4.08206295e-02 5.65363045e+02] [ 6.02487270e-01 7.97544187e-01 3.05345523e-02 1.25210648e+02] [-5.09765441e-02 2.73172598e-04 9.98699813e-01 -6.16547065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.41, Y:125.24, Z:-6.17 [[ 7.94450679e-01 -6.05955628e-01 4.08153874e-02 5.65410251e+02] [ 6.05185614e-01 7.95498325e-01 3.05415577e-02 1.25243579e+02] [-5.09754011e-02 4.37124057e-04 9.98699813e-01 -6.16843356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.46, Y:125.28, Z:-6.17 [[ 7.93649987e-01 -6.07004360e-01 4.08093663e-02 5.65458137e+02] [ 6.06235317e-01 7.94698347e-01 3.05496011e-02 1.25276367e+02] [-5.09748769e-02 4.94388620e-04 9.98699814e-01 -6.17311663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.50, Y:125.31, Z:-6.18 [[ 7.94167743e-01 -6.06327208e-01 4.08033296e-02 5.65503679e+02] [ 6.05556857e-01 7.95215142e-01 3.05576618e-02 1.25310199e+02] [-5.09753673e-02 4.40826744e-04 9.98699814e-01 -6.17596260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.55, Y:125.34, Z:-6.18 [[ 7.94775172e-01 -6.05531000e-01 4.07999337e-02 5.65549494e+02] [ 6.04759366e-01 7.95821626e-01 3.05621952e-02 1.25343352e+02] [-5.09758262e-02 3.84068059e-04 9.98699814e-01 -6.17791640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.59, Y:125.38, Z:-6.18 [[ 7.94535153e-01 -6.05846116e-01 4.07967367e-02 5.65593786e+02] [ 6.05074679e-01 7.95581752e-01 3.05664622e-02 1.25379378e+02] [-5.09757117e-02 3.98943587e-04 9.98699814e-01 -6.18146351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.64, Y:125.41, Z:-6.18 [[ 7.92462973e-01 -6.08554336e-01 4.07928462e-02 5.65640923e+02] [ 6.07786208e-01 7.93512003e-01 3.05716534e-02 1.25414340e+02] [-5.09741254e-02 5.66425938e-04 9.98699814e-01 -6.18216318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.69, Y:125.45, Z:-6.19 [[ 7.89869621e-01 -6.11916940e-01 4.07877496e-02 5.65688173e+02] [ 6.11152926e-01 7.90921652e-01 3.05784516e-02 1.25446912e+02] [-5.09713868e-02 7.74562518e-04 9.98699814e-01 -6.18847803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.74, Y:125.48, Z:-6.19 [[ 7.88913162e-01 -6.13149679e-01 4.07859539e-02 5.65735638e+02] [ 6.12387185e-01 7.89966295e-01 3.05808466e-02 1.25479969e+02] [-5.09701652e-02 8.51163165e-04 9.98699814e-01 -6.19439593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.78, Y:125.52, Z:-6.20 [[ 7.90896399e-01 -6.10589735e-01 4.07806492e-02 5.65782354e+02] [ 6.09823468e-01 7.91946790e-01 3.05879190e-02 1.25515066e+02] [-5.09727735e-02 6.77121889e-04 9.98699814e-01 -6.19525820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.83, Y:125.55, Z:-6.20 [[ 7.93024655e-01 -6.07823385e-01 4.07753526e-02 5.65828525e+02] [ 6.07053091e-01 7.94072095e-01 3.05949780e-02 1.25549316e+02] [-5.09749128e-02 4.90231888e-04 9.98699814e-01 -6.19736033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.87, Y:125.58, Z:-6.20 [[ 7.95105726e-01 -6.05098760e-01 4.07722412e-02 5.65874319e+02] [ 6.04324664e-01 7.96150359e-01 3.05991239e-02 1.25584097e+02] [-5.09763264e-02 3.10132369e-04 9.98699814e-01 -6.20077095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.065336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:565.92, Y:125.62, Z:-6.21 [[ 7.98091680e-01 -6.01155374e-01 4.07662389e-02 5.65917668e+02] [ 6.00375708e-01 7.99132163e-01 3.06071184e-02 1.25621558e+02] [-5.09772464e-02 4.77730327e-05 9.98699814e-01 -6.20545192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.96, Y:125.66, Z:-6.21 [[ 7.99525894e-01 -5.99246791e-01 4.07630635e-02 5.65963663e+02] [ 5.98464426e-01 8.00564349e-01 3.06113469e-02 1.25656392e+02] [-5.09772068e-02 -7.93211616e-05 9.98699814e-01 -6.20771684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.01, Y:125.69, Z:-6.21 [[ 7.99500601e-01 -5.99280733e-01 4.07601895e-02 5.66009260e+02] [ 5.98498216e-01 8.00538941e-01 3.06151732e-02 1.25691908e+02] [-5.09772024e-02 -8.19486922e-05 9.98699814e-01 -6.21015826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.245336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:566.05, Y:125.73, Z:-6.21 [[ 7.98616102e-01 -6.00459326e-01 4.07543755e-02 5.66051811e+02] [ 5.99677947e-01 7.99655299e-01 3.06229108e-02 1.25731681e+02] [-5.09772647e-02 -1.64494941e-05 9.98699814e-01 -6.21221846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.10, Y:125.76, Z:-6.22 [[ 7.96129722e-01 -6.03752467e-01 4.07483108e-02 5.66098689e+02] [ 6.02974973e-01 7.97171829e-01 3.06309787e-02 1.25764120e+02] [-5.09769344e-02 1.83979080e-04 9.98699814e-01 -6.21551391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.15, Y:125.80, Z:-6.22 [[ 7.93518269e-01 -6.07180917e-01 4.07442079e-02 5.66146138e+02] [ 6.06407646e-01 7.94563513e-01 3.06364352e-02 1.25798282e+02] [-5.09757198e-02 3.97028216e-04 9.98699814e-01 -6.21729245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.425336195 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:566.19, Y:125.83, Z:-6.22 [[ 7.90620313e-01 -6.10950012e-01 4.07382289e-02 5.66192632e+02] [ 6.10181313e-01 7.91668925e-01 3.06443837e-02 1.25830567e+02] [-5.09733764e-02 6.29633770e-04 9.98699814e-01 -6.22387514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.4853361950001 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:566.24, Y:125.86, Z:-6.23 [[ 7.89541714e-01 -6.12343460e-01 4.07353473e-02 5.66240928e+02] [ 6.11576415e-01 7.90591536e-01 3.06482137e-02 1.25863562e+02] [-5.09722540e-02 7.14734485e-04 9.98699814e-01 -6.22604417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.29, Y:125.89, Z:-6.23 [[ 7.89146878e-01 -6.12852596e-01 4.07296063e-02 5.66291512e+02] [ 6.12085834e-01 7.90196906e-01 3.06558411e-02 1.25893558e+02] [-5.09719207e-02 7.38053762e-04 9.98699814e-01 -6.22522436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.34, Y:125.92, Z:-6.23 [[ 7.89105985e-01 -6.12905456e-01 4.07264969e-02 5.66341197e+02] [ 6.12138551e-01 7.90155909e-01 3.06599715e-02 1.25923295e+02] [-5.09719460e-02 7.36291759e-04 9.98699814e-01 -6.22849000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.39, Y:125.96, Z:-6.23 [[ 7.88980243e-01 -6.13067487e-01 4.07238665e-02 5.66390147e+02] [ 6.12300617e-01 7.90030193e-01 3.06634649e-02 1.25955745e+02] [-5.09718575e-02 7.42380577e-04 9.98699814e-01 -6.23222603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.44, Y:125.98, Z:-6.24 [[ 7.90168333e-01 -6.11535776e-01 4.07185501e-02 5.66440636e+02] [ 6.10766508e-01 7.91216526e-01 3.06705230e-02 1.25984230e+02] [-5.09733119e-02 6.34650640e-04 9.98699814e-01 -6.23794589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.49, Y:126.02, Z:-6.24 [[ 7.92069627e-01 -6.09071309e-01 4.07166740e-02 5.66488614e+02] [ 6.08298651e-01 7.93115324e-01 3.06730134e-02 1.26017400e+02] [-5.09750705e-02 4.72735573e-04 9.98699814e-01 -6.23960260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.8453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.54, Y:126.05, Z:-6.24 [[ 7.96174757e-01 -6.03695627e-01 4.07105335e-02 5.66536093e+02] [ 6.02915491e-01 7.97214887e-01 3.06811612e-02 1.26048639e+02] [-5.09771262e-02 1.17445241e-04 9.98699814e-01 -6.24226626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.58, Y:126.08, Z:-6.24 [[ 8.00084346e-01 -5.98504778e-01 4.07071266e-02 5.66583488e+02] [ 5.97717664e-01 8.01119206e-01 3.06856807e-02 1.26081339e+02] [-5.09767875e-02 -2.19764094e-04 9.98699814e-01 -6.24129827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.63, Y:126.12, Z:-6.24 [[ 8.02248808e-01 -5.95600577e-01 4.07038473e-02 5.66629342e+02] [ 5.94809497e-01 8.03280639e-01 3.06900301e-02 1.26115972e+02] [-5.09756121e-02 -4.10005122e-04 9.98699814e-01 -6.24264931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.68, Y:126.15, Z:-6.24 [[ 8.03657552e-01 -5.93698534e-01 4.07012391e-02 5.66675600e+02] [ 5.92904836e-01 8.04687371e-01 3.06934887e-02 1.26152949e+02] [-5.09744523e-02 -5.35092491e-04 9.98699814e-01 -6.24404479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.72, Y:126.19, Z:-6.25 [[ 8.04270324e-01 -5.92868510e-01 4.06961368e-02 5.66722268e+02] [ 5.92073408e-01 8.05299059e-01 3.07002522e-02 1.26186556e+02] [-5.09737735e-02 -5.96201359e-04 9.98699814e-01 -6.24690335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.77, Y:126.22, Z:-6.25 [[ 8.04389501e-01 -5.92707218e-01 4.06901127e-02 5.66767964e+02] [ 5.91911505e-01 8.05417764e-01 3.07082345e-02 1.26223864e+02] [-5.09735318e-02 -6.16435552e-04 9.98699814e-01 -6.25137646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.81, Y:126.26, Z:-6.26 [[ 8.04389596e-01 -5.92707450e-01 4.06848471e-02 5.66810117e+02] [ 5.91911385e-01 8.05417586e-01 3.07152093e-02 1.26262833e+02] [-5.09734247e-02 -6.25170576e-04 9.98699814e-01 -6.25859011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.265336195 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:566.86, Y:126.30, Z:-6.26 [[ 8.03655847e-01 -5.93702092e-01 4.06829879e-02 5.66855430e+02] [ 5.92907175e-01 8.04684725e-01 3.07176716e-02 1.26298662e+02] [-5.09741248e-02 -5.65201015e-04 9.98699814e-01 -6.26236669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.325336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:566.90, Y:126.34, Z:-6.27 [[ 8.01346728e-01 -5.96815542e-01 4.06771505e-02 5.66900459e+02] [ 5.96024230e-01 8.02378381e-01 3.07253997e-02 1.26335343e+02] [-5.09758622e-02 -3.77131185e-04 9.98699814e-01 -6.26585053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.95, Y:126.37, Z:-6.27 [[ 7.98545157e-01 -6.00559307e-01 4.06712666e-02 5.66945011e+02] [ 5.99772435e-01 7.99580201e-01 3.07331863e-02 1.26373192e+02] [-5.09770405e-02 -1.48332423e-04 9.98699814e-01 -6.26788033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.99, Y:126.41, Z:-6.27 [[ 7.96404799e-01 -6.03395160e-01 4.06654240e-02 5.66991339e+02] [ 6.02611580e-01 7.97442337e-01 3.07409152e-02 1.26405441e+02] [-5.09772501e-02 2.32430055e-05 9.98699814e-01 -6.27197339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.505336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:567.04, Y:126.44, Z:-6.27 [[ 7.93524614e-01 -6.07178133e-01 4.06620336e-02 5.67039627e+02] [ 6.06399269e-01 7.94565697e-01 3.07453990e-02 1.26438258e+02] [-5.09765911e-02 2.60196530e-04 9.98699814e-01 -6.27421009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.565336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:567.09, Y:126.47, Z:-6.28 [[ 7.92132892e-01 -6.08993072e-01 4.06561124e-02 5.67085511e+02] [ 6.08216191e-01 7.93175456e-01 3.07532269e-02 1.26472889e+02] [-5.09759326e-02 3.67063311e-04 9.98699815e-01 -6.27602312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.625336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:567.13, Y:126.51, Z:-6.28 [[ 7.91670788e-01 -6.09593874e-01 4.06530633e-02 5.67133358e+02] [ 6.08817578e-01 7.92713787e-01 3.07572570e-02 1.26505938e+02] [-5.09756793e-02 4.00677612e-04 9.98699815e-01 -6.27955263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.18, Y:126.54, Z:-6.28 [[ 7.91658372e-01 -6.09610400e-01 4.06470551e-02 5.67181465e+02] [ 6.08833718e-01 7.92701083e-01 3.07651952e-02 1.26536692e+02] [-5.09757475e-02 3.91773350e-04 9.98699815e-01 -6.28180035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.745336195 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:567.23, Y:126.57, Z:-6.29 [[ 7.91792063e-01 -6.09436956e-01 4.06438977e-02 5.67229595e+02] [ 6.08659831e-01 7.92834444e-01 3.07693658e-02 1.26570644e+02] [-5.09758707e-02 3.75368274e-04 9.98699815e-01 -6.28989151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.28, Y:126.60, Z:-6.29 [[ 7.92998437e-01 -6.07866740e-01 4.06387148e-02 5.67278528e+02] [ 6.07087201e-01 7.94039014e-01 3.07762096e-02 1.26602957e+02] [-5.09765592e-02 2.65757441e-04 9.98699815e-01 -6.29167869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.865336195 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:567.33, Y:126.64, Z:-6.30 [[ 7.95921948e-01 -6.04034094e-01 4.06333168e-02 5.67326852e+02] [ 6.03249179e-01 7.96958477e-01 3.07833348e-02 1.26635291e+02] [-5.09772500e-02 1.08832012e-05 9.98699815e-01 -6.29637942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.37, Y:126.67, Z:-6.30 [[ 7.98084885e-01 -6.01173810e-01 4.06271681e-02 5.67373786e+02] [ 6.00384768e-01 7.99118275e-01 3.07914476e-02 1.26669228e+02] [-5.09769244e-02 -1.82256039e-04 9.98699815e-01 -6.29852843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.9853361950001 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:567.42, Y:126.70, Z:-6.30 [[ 8.01437205e-01 -5.96697862e-01 4.06210284e-02 5.67418683e+02] [ 5.95902639e-01 8.02465845e-01 3.07995452e-02 1.26704567e+02] [-5.09750107e-02 -4.77723337e-04 9.98699815e-01 -6.30468457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.46, Y:126.74, Z:-6.30 [[ 8.02169381e-01 -5.95713354e-01 4.06187618e-02 5.67464354e+02] [ 5.94916717e-01 8.03196927e-01 3.08025341e-02 1.26741092e+02] [-5.09743456e-02 -5.44069263e-04 9.98699815e-01 -6.30148754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.51, Y:126.78, Z:-6.30 [[ 8.04226234e-01 -5.92934046e-01 4.06125739e-02 5.67508895e+02] [ 5.92133446e-01 8.05250696e-01 3.08106905e-02 1.26778568e+02] [-5.09720108e-02 -7.30702272e-04 9.98699815e-01 -6.30315393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.55, Y:126.81, Z:-6.31 [[ 8.05120864e-01 -5.91718825e-01 4.06106726e-02 5.67553319e+02] [ 5.90916552e-01 8.06144016e-01 3.08131964e-02 1.26814928e+02] [-5.09707991e-02 -8.10828668e-04 9.98699815e-01 -6.30526813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.2253361950001 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:567.60, Y:126.85, Z:-6.31 [[ 8.04892580e-01 -5.92029527e-01 4.06075542e-02 5.67596424e+02] [ 5.91227443e-01 8.05915880e-01 3.08173056e-02 1.26854277e+02] [-5.09710276e-02 -7.96320198e-04 9.98699815e-01 -6.31117465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.64, Y:126.89, Z:-6.31 [[ 8.03086601e-01 -5.94477377e-01 4.06024488e-02 5.67640451e+02] [ 5.93678072e-01 8.04112073e-01 3.08240306e-02 1.26893817e+02] [-5.09731081e-02 -6.49582437e-04 9.98699815e-01 -6.31357262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.3453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.69, Y:126.93, Z:-6.32 [[ 7.99493109e-01 -5.99301794e-01 4.05971438e-02 5.67685837e+02] [ 5.98508323e-01 8.00523102e-01 3.08310159e-02 1.26930005e+02] [-5.09760346e-02 -3.51456301e-04 9.98699815e-01 -6.31535127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.405336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:567.73, Y:126.97, Z:-6.32 [[ 7.97533361e-01 -6.01907722e-01 4.05910275e-02 5.67728983e+02] [ 6.01117207e-01 7.98565624e-01 3.08390664e-02 1.26967905e+02] [-5.09768714e-02 -1.95219223e-04 9.98699815e-01 -6.32206770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.77, Y:127.01, Z:-6.33 [[ 7.96174733e-01 -6.03703832e-01 4.05891322e-02 5.67773794e+02] [ 6.02915518e-01 7.97208678e-01 3.08415606e-02 1.27006258e+02] [-5.09771768e-02 -8.34536697e-05 9.98699815e-01 -6.32699326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.525336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:567.82, Y:127.05, Z:-6.33 [[ 7.96841723e-01 -6.02823533e-01 4.05839455e-02 5.67818591e+02] [ 6.02033730e-01 7.97874530e-01 3.08483842e-02 1.27045245e+02] [-5.09770284e-02 -1.48375539e-04 9.98699815e-01 -6.32965497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.86, Y:127.08, Z:-6.33 [[ 7.97431421e-01 -6.02043584e-01 4.05789576e-02 5.67863912e+02] [ 6.01252436e-01 7.98463199e-01 3.08549441e-02 1.27083412e+02] [-5.09768254e-02 -2.06504850e-04 9.98699815e-01 -6.32954739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.645336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:567.91, Y:127.12, Z:-6.33 [[ 7.96999575e-01 -6.02615523e-01 4.05734971e-02 5.67909598e+02] [ 6.01824750e-01 7.98031641e-01 3.08621229e-02 1.27118238e+02] [-5.09769288e-02 -1.78964102e-04 9.98699815e-01 -6.33160379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.705336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:567.96, Y:127.15, Z:-6.33 [[ 7.95535627e-01 -6.04546949e-01 4.05715763e-02 5.67957203e+02] [ 6.03758553e-01 7.96569510e-01 3.08646478e-02 1.27152087e+02] [-5.09772093e-02 -5.84907108e-05 9.98699815e-01 -6.33364474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.765336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:568.00, Y:127.19, Z:-6.34 [[ 7.94686650e-01 -6.05662869e-01 4.05662039e-02 5.68003039e+02] [ 6.04875565e-01 7.95721364e-01 3.08717072e-02 1.27185333e+02] [-5.09772419e-02 4.17192429e-06 9.98699815e-01 -6.33649138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.825336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:568.05, Y:127.22, Z:-6.34 [[ 7.94304415e-01 -6.06164291e-01 4.05629091e-02 5.68051109e+02] [ 6.05377418e-01 7.95339457e-01 3.08760358e-02 1.27219744e+02] [-5.09772324e-02 3.08976391e-05 9.98699815e-01 -6.34181886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.10, Y:127.25, Z:-6.34 [[ 7.94486423e-01 -6.05926047e-01 4.05579860e-02 5.68099038e+02] [ 6.05138534e-01 7.95520978e-01 3.08825012e-02 1.27251855e+02] [-5.09772406e-02 7.47226193e-06 9.98699815e-01 -6.34156746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.15, Y:127.29, Z:-6.34 [[ 7.96137831e-01 -6.03755013e-01 4.05516693e-02 5.68146786e+02] [ 6.02964257e-01 7.97169909e-01 3.08907934e-02 1.27285050e+02] [-5.09770419e-02 -1.42122172e-04 9.98699815e-01 -6.34252874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.19, Y:127.32, Z:-6.34 [[ 7.99095807e-01 -5.99834719e-01 4.05487473e-02 5.68192120e+02] [ 5.99038705e-01 8.00123835e-01 3.08946285e-02 1.27320527e+02] [-5.09756900e-02 -3.97498976e-04 9.98699815e-01 -6.34452488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.065336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:568.24, Y:127.36, Z:-6.35 [[ 8.01551445e-01 -5.96549487e-01 4.05461479e-02 5.68238989e+02] [ 5.95749088e-01 8.02576062e-01 3.08980396e-02 1.27355663e+02] [-5.09735774e-02 -6.11037694e-04 9.98699815e-01 -6.34913414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.29, Y:127.39, Z:-6.35 [[ 8.04687717e-01 -5.92312522e-01 4.05407756e-02 5.68285960e+02] [ 5.91506373e-01 8.05707817e-01 3.09050869e-02 1.27390446e+02] [-5.09694898e-02 -8.88816620e-04 9.98699815e-01 -6.35278561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.33, Y:127.43, Z:-6.36 [[ 8.06735765e-01 -5.89520386e-01 4.05354191e-02 5.68328099e+02] [ 5.88710354e-01 8.07752784e-01 3.09121110e-02 1.27428568e+02] [-5.09659172e-02 -1.07428458e-03 9.98699815e-01 -6.35786571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.37, Y:127.47, Z:-6.36 [[ 8.07040578e-01 -5.89103234e-01 4.05325061e-02 5.68373311e+02] [ 5.88292485e-01 8.08057026e-01 3.09159300e-02 1.27465029e+02] [-5.09652507e-02 -1.10544130e-03 9.98699815e-01 -6.35836713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.305336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:568.42, Y:127.50, Z:-6.36 [[ 8.06494054e-01 -5.89851640e-01 4.05263331e-02 5.68415440e+02] [ 5.89041428e-01 8.07510929e-01 3.09240199e-02 1.27502930e+02] [-5.09660407e-02 -1.06834899e-03 9.98699815e-01 -6.36312618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.46, Y:127.54, Z:-6.37 [[ 8.04195406e-01 -5.92982043e-01 4.05221628e-02 5.68460138e+02] [ 5.92175514e-01 8.05215206e-01 3.09294835e-02 1.27542060e+02] [-5.09696900e-02 -8.77115922e-04 9.98699815e-01 -6.36563030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.51, Y:127.58, Z:-6.37 [[ 8.01754366e-01 -5.96278565e-01 4.05192490e-02 5.68505599e+02] [ 5.95476037e-01 8.02777317e-01 3.09333004e-02 1.27578197e+02] [-5.09727979e-02 -6.72666847e-04 9.98699815e-01 -6.36843813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.4853361950001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:568.55, Y:127.61, Z:-6.37 [[ 7.97648851e-01 -6.01759911e-01 4.05132049e-02 5.68552220e+02] [ 6.00964011e-01 7.98676968e-01 3.09412143e-02 1.27614208e+02] [-5.09761460e-02 -3.33245940e-04 9.98699816e-01 -6.37042394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.60, Y:127.65, Z:-6.37 [[ 7.95551038e-01 -6.04530941e-01 4.05078572e-02 5.68595213e+02] [ 6.03738266e-01 7.96581643e-01 3.09482138e-02 1.27651422e+02] [-5.09769683e-02 -1.64740158e-04 9.98699816e-01 -6.37237543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.64, Y:127.69, Z:-6.38 [[ 7.95859093e-01 -6.04125611e-01 4.05037154e-02 5.68639950e+02] [ 6.03332135e-01 7.96889081e-01 3.09536335e-02 1.27688827e+02] [-5.09768513e-02 -1.97537639e-04 9.98699816e-01 -6.37628186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.68, Y:127.73, Z:-6.38 [[ 7.97239453e-01 -6.02303192e-01 4.04983748e-02 5.68684476e+02] [ 6.01507007e-01 7.98267349e-01 3.09606193e-02 1.27725922e+02] [-5.09762101e-02 -3.22971025e-04 9.98699816e-01 -6.37958566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.7253361950001 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:568.73, Y:127.76, Z:-6.38 [[ 7.97460066e-01 -6.02011481e-01 4.04922189e-02 5.68727951e+02] [ 6.01214511e-01 7.98487353e-01 3.09686683e-02 1.27764472e+02] [-5.09760185e-02 -3.51766624e-04 9.98699816e-01 -6.38378252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.77, Y:127.80, Z:-6.39 [[ 7.96195662e-01 -6.03683155e-01 4.04859977e-02 5.68771419e+02] [ 6.02887928e-01 7.97224300e-01 3.09767993e-02 1.27802065e+02] [-5.09765931e-02 -2.55073986e-04 9.98699816e-01 -6.38767605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.8453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.82, Y:127.84, Z:-6.39 [[ 7.95084633e-01 -6.05145822e-01 4.04840754e-02 5.68816825e+02] [ 6.04352360e-01 7.96114632e-01 3.09793114e-02 1.27837627e+02] [-5.09769656e-02 -1.64527912e-04 9.98699816e-01 -6.39169074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.86, Y:127.87, Z:-6.39 [[ 7.94691853e-01 -6.05661948e-01 4.04779423e-02 5.68861302e+02] [ 6.04868747e-01 7.95722052e-01 3.09873229e-02 1.27874440e+02] [-5.09770337e-02 -1.41530826e-04 9.98699816e-01 -6.39438173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.965336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:568.91, Y:127.91, Z:-6.40 [[ 7.94574180e-01 -6.05816728e-01 4.04717763e-02 5.68906916e+02] [ 6.05023318e-01 7.95604218e-01 3.09953740e-02 1.27910362e+02] [-5.09770320e-02 -1.41755467e-04 9.98699816e-01 -6.40073761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.95, Y:127.95, Z:-6.40 [[ 7.93696693e-01 -6.06966104e-01 4.04686030e-02 5.68953604e+02] [ 6.06173974e-01 7.94727716e-01 3.09995166e-02 1.27946945e+02] [-5.09771763e-02 -7.31999317e-05 9.98699816e-01 -6.39889604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.00, Y:127.98, Z:-6.40 [[ 7.93228562e-01 -6.07578127e-01 4.04631685e-02 5.68997925e+02] [ 6.06786430e-01 7.94259919e-01 3.10066086e-02 1.27982245e+02] [-5.09772101e-02 -4.28260330e-05 9.98699816e-01 -6.40467446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.04, Y:128.02, Z:-6.41 [[ 7.93954065e-01 -6.06629993e-01 4.04597806e-02 5.69044557e+02] [ 6.05836840e-01 7.94984301e-01 3.10110287e-02 1.28017984e+02] [-5.09771106e-02 -1.09306682e-04 9.98699816e-01 -6.40594657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.09, Y:128.05, Z:-6.41 [[ 7.96911559e-01 -6.02739922e-01 4.04543397e-02 5.69089463e+02] [ 6.01941380e-01 7.97937624e-01 3.10181248e-02 1.28053322e+02] [-5.09759019e-02 -3.67561135e-04 9.98699816e-01 -6.41324512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.13, Y:128.09, Z:-6.42 [[ 7.99796649e-01 -5.98906438e-01 4.04524147e-02 5.69133468e+02] [ 5.98102851e-01 8.00818768e-01 3.10206351e-02 1.28092271e+02] [-5.09735110e-02 -6.15495419e-04 9.98699816e-01 -6.41792842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.325336195 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:569.18, Y:128.13, Z:-6.42 [[ 8.00636163e-01 -5.97784050e-01 4.04470471e-02 5.69178137e+02] [ 5.96978677e-01 8.01656875e-01 3.10276323e-02 1.28130030e+02] [-5.09724771e-02 -6.95819790e-04 9.98699816e-01 -6.41980335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.385336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:569.22, Y:128.17, Z:-6.42 [[ 8.01006509e-01 -5.97288080e-01 4.04415920e-02 5.69223245e+02] [ 5.96481716e-01 8.02026438e-01 3.10347409e-02 1.28166790e+02] [-5.09719068e-02 -7.36359254e-04 9.98699816e-01 -6.42165910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.27, Y:128.21, Z:-6.42 [[ 8.01059905e-01 -5.97216895e-01 4.04352492e-02 5.69266658e+02] [ 5.96410023e-01 8.02079433e-01 3.10430027e-02 1.28205083e+02] [-5.09716874e-02 -7.51316847e-04 9.98699816e-01 -6.42334288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.31, Y:128.24, Z:-6.43 [[ 8.00579155e-01 -5.97861391e-01 4.04323223e-02 5.69309740e+02] [ 5.97055148e-01 8.01599180e-01 3.10468145e-02 1.28244339e+02] [-5.09722081e-02 -7.15106363e-04 9.98699816e-01 -6.42618276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.35, Y:128.28, Z:-6.43 [[ 7.97630912e-01 -6.01789546e-01 4.04261102e-02 5.69352777e+02] [ 6.00987917e-01 7.98654567e-01 3.10549011e-02 1.28281365e+02] [-5.09750124e-02 -4.74745314e-04 9.98699816e-01 -6.43059445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.40, Y:128.32, Z:-6.43 [[ 7.92672419e-01 -6.08306159e-01 4.04234222e-02 5.69398492e+02] [ 6.07512768e-01 7.93702471e-01 3.10583996e-02 1.28318683e+02] [-5.09771859e-02 -6.13915941e-05 9.98699816e-01 -6.42874341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.44, Y:128.35, Z:-6.43 [[ 7.89303873e-01 -6.12671017e-01 4.04180795e-02 5.69444725e+02] [ 6.11882966e-01 7.90338016e-01 3.10653509e-02 1.28353077e+02] [-5.09767849e-02 2.11132583e-04 9.98699816e-01 -6.43072344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.49, Y:128.39, Z:-6.43 [[ 7.85021263e-01 -6.18149013e-01 4.04155158e-02 5.69491888e+02] [ 6.17368006e-01 7.86060737e-01 3.10686859e-02 1.28388724e+02] [-5.09741276e-02 5.61667362e-04 9.98699816e-01 -6.43255460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.805336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:569.54, Y:128.42, Z:-6.44 [[ 7.82729892e-01 -6.21048259e-01 4.04101010e-02 5.69539518e+02] [ 6.20270738e-01 7.83771976e-01 3.10757271e-02 1.28421480e+02] [-5.09718309e-02 7.41302653e-04 9.98699816e-01 -6.43707208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.865336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:569.59, Y:128.45, Z:-6.44 [[ 7.80667490e-01 -6.23639149e-01 4.04039814e-02 5.69588469e+02] [ 6.22864675e-01 7.81711841e-01 3.10836817e-02 1.28453472e+02] [-5.09692714e-02 9.00192954e-04 9.98699816e-01 -6.44212906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.64, Y:128.48, Z:-6.45 [[ 7.79653207e-01 -6.24907056e-01 4.03986192e-02 5.69637587e+02] [ 6.24133920e-01 7.80698547e-01 3.10906492e-02 1.28483179e+02] [-5.09679094e-02 9.74224179e-04 9.98699816e-01 -6.44564318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.69, Y:128.52, Z:-6.45 [[ 7.79570552e-01 -6.25010387e-01 4.03951763e-02 5.69686135e+02] [ 6.24237157e-01 7.80615824e-01 3.10951218e-02 1.28515950e+02] [-5.09678879e-02 9.75328752e-04 9.98699816e-01 -6.44613625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.045336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:569.74, Y:128.55, Z:-6.45 [[ 7.79826139e-01 -6.24691854e-01 4.03891165e-02 5.69737810e+02] [ 6.23917789e-01 7.80870793e-01 3.11029908e-02 1.28545570e+02] [-5.09684664e-02 9.44563032e-04 9.98699816e-01 -6.45261207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.79, Y:128.57, Z:-6.45 [[ 7.80259094e-01 -6.24151344e-01 4.03837472e-02 5.69789516e+02] [ 6.23376196e-01 7.81302943e-01 3.11099606e-02 1.28574104e+02] [-5.09692643e-02 9.00437040e-04 9.98699816e-01 -6.45448400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.84, Y:128.60, Z:-6.46 [[ 7.80965392e-01 -6.23267760e-01 4.03776552e-02 5.69839763e+02] [ 6.22491022e-01 7.82008060e-01 3.11178655e-02 1.28604646e+02] [-5.09704141e-02 8.32751805e-04 9.98699816e-01 -6.45659990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.89, Y:128.63, Z:-6.46 [[ 7.83474641e-01 -6.20110929e-01 4.03723147e-02 5.69891556e+02] [ 6.19329632e-01 7.84513897e-01 3.11247927e-02 1.28633702e+02] [-5.09734660e-02 6.18285090e-04 9.98699817e-01 -6.46077284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.285336195 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:569.94, Y:128.67, Z:-6.47 [[ 7.86270336e-01 -6.16562621e-01 4.03669744e-02 5.69940188e+02] [ 6.15776279e-01 7.87305779e-01 3.11317172e-02 1.28667261e+02] [-5.09758054e-02 3.79079525e-04 9.98699817e-01 -6.46770143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.3453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.99, Y:128.70, Z:-6.47 [[ 7.91081446e-01 -6.10377797e-01 4.03619959e-02 5.69989561e+02] [ 6.09583030e-01 7.92110437e-01 3.11381705e-02 1.28697604e+02] [-5.09772061e-02 -2.88411662e-05 9.98699817e-01 -6.47334191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.04, Y:128.73, Z:-6.47 [[ 7.93787691e-01 -6.06854402e-01 4.03588469e-02 5.70037888e+02] [ 6.06054860e-01 7.94812976e-01 3.11422514e-02 1.28730148e+02] [-5.09765476e-02 -2.60660483e-04 9.98699817e-01 -6.47419401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.09, Y:128.76, Z:-6.48 [[ 7.94310941e-01 -6.06169776e-01 4.03525990e-02 5.70086075e+02] [ 6.05368939e-01 7.95335215e-01 3.11503450e-02 1.28763319e+02] [-5.09762407e-02 -3.14849834e-04 9.98699817e-01 -6.47590816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.525336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:570.13, Y:128.80, Z:-6.48 [[ 7.93778868e-01 -6.06866725e-01 4.03470862e-02 5.70133386e+02] [ 6.06066425e-01 7.94803561e-01 3.11574837e-02 1.28795728e+02] [-5.09764479e-02 -2.79137842e-04 9.98699817e-01 -6.47837647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.585336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:570.18, Y:128.83, Z:-6.48 [[ 7.92879022e-01 -6.08042069e-01 4.03447533e-02 5.70182998e+02] [ 6.07243133e-01 7.93904780e-01 3.11605042e-02 1.28826305e+02] [-5.09767900e-02 -2.07435684e-04 9.98699817e-01 -6.47860385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.23, Y:128.86, Z:-6.48 [[ 7.92425289e-01 -6.08633399e-01 4.03428584e-02 5.70231576e+02] [ 6.07835104e-01 7.93451546e-01 3.11629573e-02 1.28858514e+02] [-5.09769200e-02 -1.72509911e-04 9.98699817e-01 -6.47860843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.28, Y:128.89, Z:-6.48 [[ 7.91987413e-01 -6.09203485e-01 4.03367253e-02 5.70281058e+02] [ 6.08405525e-01 7.93013929e-01 3.11708940e-02 1.28890046e+02] [-5.09770023e-02 -1.45869145e-04 9.98699817e-01 -6.48299480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.33, Y:128.92, Z:-6.49 [[ 7.91312589e-01 -6.10080133e-01 4.03313494e-02 5.70329718e+02] [ 6.09282955e-01 7.92339714e-01 3.11778482e-02 1.28922622e+02] [-5.09771156e-02 -9.82200466e-05 9.98699817e-01 -6.48752275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.38, Y:128.96, Z:-6.49 [[ 7.91162514e-01 -6.10275094e-01 4.03260032e-02 5.70377892e+02] [ 6.09477818e-01 7.92189561e-01 3.11847614e-02 1.28955539e+02] [-5.09771220e-02 -9.44098040e-05 9.98699817e-01 -6.49061819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.42, Y:128.99, Z:-6.49 [[ 7.91235485e-01 -6.10180892e-01 4.03197980e-02 5.70424201e+02] [ 6.09383085e-01 7.92262120e-01 3.11927823e-02 1.28990679e+02] [-5.09770884e-02 -1.10633327e-04 9.98699817e-01 -6.49407542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.47, Y:129.03, Z:-6.50 [[ 7.92426819e-01 -6.08633346e-01 4.03135950e-02 5.70470185e+02] [ 6.07833126e-01 7.93451575e-01 3.12007971e-02 1.29025409e+02] [-5.09767309e-02 -2.20409954e-04 9.98699817e-01 -6.49792549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.52, Y:129.06, Z:-6.50 [[ 7.93342599e-01 -6.07439339e-01 4.03109073e-02 5.70517957e+02] [ 6.06637400e-01 7.94366010e-01 3.12042691e-02 1.29059396e+02] [-5.09763152e-02 -3.01571913e-04 9.98699817e-01 -6.49800377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.56, Y:129.10, Z:-6.50 [[ 7.93298829e-01 -6.07496852e-01 4.03056090e-02 5.70563457e+02] [ 6.06694640e-01 7.94322026e-01 3.12111112e-02 1.29097106e+02] [-5.09762848e-02 -3.06541058e-04 9.98699817e-01 -6.49962342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.61, Y:129.13, Z:-6.50 [[ 7.91761406e-01 -6.09499602e-01 4.03002601e-02 5.70610370e+02] [ 6.08699627e-01 7.92786352e-01 3.12180164e-02 1.29131618e+02] [-5.09768647e-02 -1.86467253e-04 9.98699817e-01 -6.50080243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.66, Y:129.17, Z:-6.50 [[ 7.87409448e-01 -6.15111700e-01 4.02983675e-02 5.70657423e+02] [ 6.14318904e-01 7.88439958e-01 3.12204593e-02 1.29165712e+02] [-5.09769129e-02 1.72764364e-04 9.98699817e-01 -6.50346403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.245336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:570.70, Y:129.20, Z:-6.51 [[ 7.84227404e-01 -6.19163877e-01 4.02923301e-02 5.70704631e+02] [ 6.18376005e-01 7.85261684e-01 3.12282490e-02 1.29199037e+02] [-5.09754267e-02 4.25761490e-04 9.98699817e-01 -6.50845027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.305336195 meters Centerline goodness : 0.999696 with order 1 Centerline is valid? [True, True] Translation: X:570.76, Y:129.23, Z:-6.52 [[ 7.80248386e-01 -6.24170848e-01 4.02890744e-02 5.70755410e+02] [ 6.23389396e-01 7.81287524e-01 3.12324488e-02 1.29229051e+02] [-5.09717352e-02 7.46714002e-04 9.98699817e-01 -6.51587187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.80, Y:129.26, Z:-6.52 [[ 7.80229905e-01 -6.24194302e-01 4.02835982e-02 5.70804387e+02] [ 6.23412517e-01 7.81268793e-01 3.12395104e-02 1.29258692e+02] [-5.09718425e-02 7.39299081e-04 9.98699817e-01 -6.51891981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.85, Y:129.29, Z:-6.52 [[ 7.85578823e-01 -6.17449213e-01 4.02788103e-02 5.70853073e+02] [ 6.16658190e-01 7.86610694e-01 3.12456824e-02 1.29292481e+02] [-5.09763650e-02 2.92311876e-04 9.98699817e-01 -6.52160966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.4853361950001 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:570.90, Y:129.33, Z:-6.53 [[ 7.90700871e-01 -6.10876577e-01 4.02733099e-02 5.70899292e+02] [ 6.10076616e-01 7.91725828e-01 3.12527705e-02 1.29327341e+02] [-5.09770051e-02 -1.41788238e-04 9.98699817e-01 -6.52588043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.95, Y:129.36, Z:-6.53 [[ 7.97553557e-01 -6.01902488e-01 4.02705622e-02 5.70947715e+02] [ 6.01090817e-01 7.98569266e-01 3.12563106e-02 1.29361221e+02] [-5.09720844e-02 -7.22316555e-04 9.98699817e-01 -6.52636541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.99, Y:129.40, Z:-6.53 [[ 8.00735782e-01 -5.97662881e-01 4.02652155e-02 5.70993029e+02] [ 5.96845487e-01 8.01746891e-01 3.12631969e-02 1.29396994e+02] [-5.09673637e-02 -1.00144827e-03 9.98699817e-01 -6.53010915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.665336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:571.04, Y:129.43, Z:-6.53 [[ 8.00427270e-01 -5.98076408e-01 4.02591095e-02 5.71040527e+02] [ 5.97259140e-01 8.01438482e-01 3.12710579e-02 1.29430163e+02] [-5.09676816e-02 -9.85086354e-04 9.98699817e-01 -6.53429345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.09, Y:129.46, Z:-6.54 [[ 7.98469382e-01 -6.00688224e-01 4.02530077e-02 5.71088031e+02] [ 5.99873869e-01 7.99482940e-01 3.12789104e-02 1.29461320e+02] [-5.09704660e-02 -8.28524776e-04 9.98699817e-01 -6.53804437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.785336195 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:571.13, Y:129.50, Z:-6.54 [[ 7.96824237e-01 -6.02869109e-01 4.02488739e-02 5.71134595e+02] [ 6.02057260e-01 7.97839804e-01 3.12842286e-02 1.29495164e+02] [-5.09724487e-02 -6.95904868e-04 9.98699817e-01 -6.54254336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.8453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.18, Y:129.53, Z:-6.54 [[ 7.95054138e-01 -6.05201959e-01 4.02430849e-02 5.71183477e+02] [ 6.04392713e-01 7.96071780e-01 3.12916737e-02 1.29528937e+02] [-5.09741665e-02 -5.55947367e-04 9.98699817e-01 -6.54259213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.23, Y:129.56, Z:-6.55 [[ 7.94789529e-01 -6.05549778e-01 4.02376865e-02 5.71232377e+02] [ 6.04740626e-01 7.95807246e-01 3.12986139e-02 1.29562209e+02] [-5.09743112e-02 -5.42446863e-04 9.98699817e-01 -6.54680249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.965336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:571.28, Y:129.60, Z:-6.55 [[ 7.95704299e-01 -6.04347611e-01 4.02322549e-02 5.71278111e+02] [ 6.03536568e-01 7.96720510e-01 3.13055943e-02 1.29598259e+02] [-5.09733238e-02 -6.28358879e-04 9.98699817e-01 -6.55326834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.32, Y:129.63, Z:-6.56 [[ 7.97114788e-01 -6.02486359e-01 4.02268697e-02 5.71323898e+02] [ 6.01672595e-01 7.98128821e-01 3.13125127e-02 1.29631783e+02] [-5.09715858e-02 -7.56261871e-04 9.98699818e-01 -6.55695405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.37, Y:129.67, Z:-6.56 [[ 7.97623793e-01 -6.01812565e-01 4.02233897e-02 5.71370571e+02] [ 6.00997719e-01 7.98636957e-01 3.13169824e-02 1.29667411e+02] [-5.09708390e-02 -8.05004861e-04 9.98699818e-01 -6.55525976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.42, Y:129.70, Z:-6.56 [[ 7.97171542e-01 -6.02411854e-01 4.02180376e-02 5.71416601e+02] [ 6.01597423e-01 7.98185039e-01 3.13238542e-02 1.29702128e+02] [-5.09712970e-02 -7.75417423e-04 9.98699818e-01 -6.55931877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.46, Y:129.74, Z:-6.56 [[ 7.95941374e-01 -6.04036695e-01 4.02119527e-02 5.71463697e+02] [ 6.03223938e-01 7.96956214e-01 3.13316637e-02 1.29736003e+02] [-5.09726401e-02 -6.81354973e-04 9.98699818e-01 -6.56155259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.265336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:571.51, Y:129.77, Z:-6.57 [[ 7.95136632e-01 -6.05095835e-01 4.02090345e-02 5.71510926e+02] [ 6.04284241e-01 7.96152403e-01 3.13354082e-02 1.29770736e+02] [-5.09734444e-02 -6.18245092e-04 9.98699818e-01 -6.56611496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.56, Y:129.80, Z:-6.57 [[ 7.94344332e-01 -6.06135911e-01 4.02037230e-02 5.71556428e+02] [ 6.05325302e-01 7.95360889e-01 3.13422215e-02 1.29804499e+02] [-5.09741148e-02 -5.60185271e-04 9.98699818e-01 -6.57027918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.60, Y:129.84, Z:-6.57 [[ 7.95060652e-01 -6.05196217e-01 4.02007396e-02 5.71602958e+02] [ 6.04384213e-01 7.96076095e-01 3.13460477e-02 1.29840127e+02] [-5.09733572e-02 -6.25316772e-04 9.98699818e-01 -6.56986384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.65, Y:129.88, Z:-6.57 [[ 7.98446505e-01 -6.00722488e-01 4.01954127e-02 5.71647447e+02] [ 5.99904452e-01 7.99457094e-01 3.13528769e-02 1.29878382e+02] [-5.09688861e-02 -9.20187889e-04 9.98699818e-01 -6.56967543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.69, Y:129.92, Z:-6.57 [[ 8.01155620e-01 -5.97105049e-01 4.01899671e-02 5.71690339e+02] [ 5.96282100e-01 8.02162213e-01 3.13598559e-02 1.29917375e+02] [-5.09640012e-02 -1.15956681e-03 9.98699818e-01 -6.57173770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.73, Y:129.96, Z:-6.57 [[ 8.03642797e-01 -5.93753464e-01 4.01880499e-02 5.71733234e+02] [ 5.92926196e-01 8.04645843e-01 3.13623125e-02 1.29958601e+02] [-5.09586290e-02 -1.37554901e-03 9.98699818e-01 -6.57358504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.78, Y:130.00, Z:-6.58 [[ 8.03495957e-01 -5.93952509e-01 4.01828803e-02 5.71777753e+02] [ 5.93125158e-01 8.04498935e-01 3.13689347e-02 1.29997184e+02] [-5.09587419e-02 -1.37133499e-03 9.98699818e-01 -6.57522120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.82, Y:130.04, Z:-6.58 [[ 8.01337535e-01 -5.96861725e-01 4.01775529e-02 5.71820836e+02] [ 5.96037674e-01 8.02343226e-01 3.13757566e-02 1.30037004e+02] [-5.09631756e-02 -1.19523633e-03 9.98699818e-01 -6.57883430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.86, Y:130.08, Z:-6.59 [[ 7.98190872e-01 -6.01063667e-01 4.01721199e-02 5.71863831e+02] [ 6.00244562e-01 7.99200595e-01 3.13827113e-02 1.30075676e+02] [-5.09685896e-02 -9.36297169e-04 9.98699818e-01 -6.58622491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.805336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:571.91, Y:130.11, Z:-6.59 [[ 7.96910959e-01 -6.02759718e-01 4.01701961e-02 5.71909258e+02] [ 6.01942638e-01 7.97922322e-01 3.13851735e-02 1.30113396e+02] [-5.09704145e-02 -8.31034953e-04 9.98699818e-01 -6.59173300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.95, Y:130.15, Z:-6.59 [[ 7.92131673e-01 -6.09027246e-01 4.01650025e-02 5.71952993e+02] [ 6.08217832e-01 7.93149181e-01 3.13918187e-02 1.30153203e+02] [-5.09753116e-02 -4.37383128e-04 9.98699818e-01 -6.59108118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.00, Y:130.19, Z:-6.59 [[ 7.86656799e-01 -6.16083020e-01 4.01596049e-02 5.71998092e+02] [ 6.15282380e-01 7.87681225e-01 3.13987222e-02 1.30187239e+02] [-5.09771864e-02 9.47897888e-06 9.98699818e-01 -6.59473091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.04, Y:130.22, Z:-6.60 [[ 7.83758108e-01 -6.19766655e-01 4.01562146e-02 5.72043769e+02] [ 6.18970609e-01 7.84786107e-01 3.14030576e-02 1.30222201e+02] [-5.09766073e-02 2.43115558e-04 9.98699818e-01 -6.59744550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.09, Y:130.26, Z:-6.60 [[ 7.82505207e-01 -6.21348189e-01 4.01500859e-02 5.72090802e+02] [ 6.20553818e-01 7.83534501e-01 3.14108914e-02 1.30257744e+02] [-5.09760780e-02 3.36103084e-04 9.98699818e-01 -6.60323189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.1053361950001 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:572.14, Y:130.29, Z:-6.61 [[ 7.83553767e-01 -6.20025726e-01 4.01446656e-02 5.72136154e+02] [ 6.19229262e-01 7.84581443e-01 3.14178173e-02 1.30294217e+02] [-5.09766146e-02 2.41202635e-04 9.98699818e-01 -6.60896971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.165336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:572.18, Y:130.33, Z:-6.61 [[ 7.86912148e-01 -6.15758204e-01 4.01385792e-02 5.72182282e+02] [ 6.14955771e-01 7.87935170e-01 3.14255912e-02 1.30331196e+02] [-5.09771638e-02 -4.57285666e-05 9.98699818e-01 -6.60837335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.23, Y:130.37, Z:-6.61 [[ 7.89929437e-01 -6.11883016e-01 4.01330364e-02 5.72226469e+02] [ 6.11075204e-01 7.90948217e-01 3.14326681e-02 1.30367759e+02] [-5.09762694e-02 -3.05286397e-04 9.98699818e-01 -6.61095710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.285336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:572.27, Y:130.40, Z:-6.61 [[ 7.91142959e-01 -6.10313378e-01 4.01297842e-02 5.72272695e+02] [ 6.09503335e-01 7.92159966e-01 3.14368198e-02 1.30403741e+02] [-5.09755201e-02 -4.11781332e-04 9.98699818e-01 -6.61234061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.3453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.32, Y:130.44, Z:-6.61 [[ 7.93157664e-01 -6.07693146e-01 4.01243001e-02 5.72316714e+02] [ 6.06879390e-01 7.94171702e-01 3.14438178e-02 1.30442990e+02] [-5.09737763e-02 -5.89294379e-04 9.98699818e-01 -6.61114183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.36, Y:130.48, Z:-6.61 [[ 7.94139312e-01 -6.06410118e-01 4.01188390e-02 5.72359646e+02] [ 6.05594371e-01 7.95151750e-01 3.14507840e-02 1.30481618e+02] [-5.09726387e-02 -6.80560945e-04 9.98699818e-01 -6.61363563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.465336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:572.40, Y:130.52, Z:-6.62 [[ 7.95217964e-01 -6.04995353e-01 4.01125077e-02 5.72400709e+02] [ 6.04177398e-01 7.96228618e-01 3.14588570e-02 1.30521931e+02] [-5.09711888e-02 -7.81577647e-04 9.98699818e-01 -6.61963743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.44, Y:130.56, Z:-6.62 [[ 7.94724444e-01 -6.05643724e-01 4.01090644e-02 5.72442411e+02] [ 6.04826373e-01 7.95735586e-01 3.14632464e-02 1.30561315e+02] [-5.09717276e-02 -7.45591030e-04 9.98699818e-01 -6.62391480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.48, Y:130.60, Z:-6.63 [[ 7.93666306e-01 -6.07029923e-01 4.01057056e-02 5.72484805e+02] [ 6.06214121e-01 7.94678699e-01 3.14675272e-02 1.30601987e+02] [-5.09728806e-02 -6.62070949e-04 9.98699818e-01 -6.62736321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.53, Y:130.64, Z:-6.63 [[ 7.90293595e-01 -6.11414738e-01 4.01005156e-02 5.72527712e+02] [ 6.10604218e-01 7.91310222e-01 3.14741397e-02 1.30642021e+02] [-5.09757008e-02 -3.88267096e-04 9.98699818e-01 -6.62776411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.57, Y:130.68, Z:-6.63 [[ 7.86819421e-01 -6.15879520e-01 4.00950780e-02 5.72569946e+02] [ 6.15074416e-01 7.87840342e-01 3.14810652e-02 1.30681360e+02] [-5.09770633e-02 -1.08456765e-04 9.98699818e-01 -6.62939079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.61, Y:130.72, Z:-6.63 [[ 7.84447904e-01 -6.18897712e-01 4.00887467e-02 5.72610910e+02] [ 6.18096125e-01 7.85471588e-01 3.14891256e-02 1.30721821e+02] [-5.09771193e-02 7.71204098e-05 9.98699818e-01 -6.63286398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.825336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:572.65, Y:130.76, Z:-6.64 [[ 7.83642452e-01 -6.19917478e-01 4.00852714e-02 5.72654288e+02] [ 6.19116996e-01 7.84667001e-01 3.14935490e-02 1.30760761e+02] [-5.09769911e-02 1.37790881e-04 9.98699818e-01 -6.63758982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.885336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:572.70, Y:130.80, Z:-6.64 [[ 7.82700326e-01 -6.21106974e-01 4.00790069e-02 5.72698271e+02] [ 6.20307641e-01 7.83725771e-01 3.15015191e-02 1.30798947e+02] [-5.09767639e-02 2.05064963e-04 9.98699819e-01 -6.64105216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.74, Y:130.84, Z:-6.64 [[ 7.82554307e-01 -6.21291146e-01 4.00757769e-02 5.72742097e+02] [ 6.20491844e-01 7.83579777e-01 3.15056277e-02 1.30837353e+02] [-5.09767359e-02 2.11828037e-04 9.98699819e-01 -6.64108054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.005336195 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:572.79, Y:130.88, Z:-6.65 [[ 7.83120597e-01 -6.20577597e-01 4.00696465e-02 5.72786020e+02] [ 6.19776962e-01 7.84145026e-01 3.15134227e-02 1.30876418e+02] [-5.09769381e-02 1.55433347e-04 9.98699819e-01 -6.64749685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.83, Y:130.91, Z:-6.65 [[ 7.84389173e-01 -6.18973744e-01 4.00640740e-02 5.72829882e+02] [ 6.18170652e-01 7.85411677e-01 3.15205056e-02 1.30913729e+02] [-5.09771569e-02 4.20913717e-05 9.98699819e-01 -6.65339564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.87, Y:130.95, Z:-6.65 [[ 7.85477409e-01 -6.17592316e-01 4.00621017e-02 5.72873895e+02] [ 6.16787298e-01 7.86498397e-01 3.15230122e-02 1.30950821e+02] [-5.09771489e-02 -5.08184707e-05 9.98699819e-01 -6.65445393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.185336195 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:572.92, Y:130.99, Z:-6.66 [[ 7.86329978e-01 -6.16506850e-01 4.00558389e-02 5.72918332e+02] [ 6.15700017e-01 7.87349533e-01 3.15309682e-02 1.30988482e+02] [-5.09770039e-02 -1.31364812e-04 9.98699819e-01 -6.65815326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.245336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:572.96, Y:131.03, Z:-6.66 [[ 7.86919117e-01 -6.15754903e-01 4.00524916e-02 5.72963996e+02] [ 6.14946880e-01 7.87937729e-01 3.15352195e-02 1.31025502e+02] [-5.09768353e-02 -1.85512308e-04 9.98699819e-01 -6.65959254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.01, Y:131.06, Z:-6.66 [[ 7.86638411e-01 -6.16113829e-01 4.00469729e-02 5.73011407e+02] [ 6.15305914e-01 7.87657108e-01 3.15422263e-02 1.31060459e+02] [-5.09768847e-02 -1.71187489e-04 9.98699819e-01 -6.65852730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.06, Y:131.10, Z:-6.66 [[ 7.86626984e-01 -6.16128775e-01 4.00414739e-02 5.73055068e+02] [ 6.15320524e-01 7.87645415e-01 3.15492054e-02 1.31096467e+02] [-5.09768567e-02 -1.79115628e-04 9.98699819e-01 -6.66307731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.10, Y:131.13, Z:-6.67 [[ 7.88539628e-01 -6.13679224e-01 4.00382985e-02 5.73100474e+02] [ 6.12867605e-01 7.89555376e-01 3.15532348e-02 1.31133034e+02] [-5.09760185e-02 -3.42799892e-04 9.98699819e-01 -6.66510319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.15, Y:131.17, Z:-6.67 [[ 7.93044357e-01 -6.07847087e-01 4.00320801e-02 5.73146089e+02] [ 6.07027600e-01 7.94053769e-01 3.15611222e-02 1.31169656e+02] [-5.09719603e-02 -7.28792331e-04 9.98699819e-01 -6.66583237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.19, Y:131.21, Z:-6.67 [[ 7.96351615e-01 -6.03508056e-01 4.00266339e-02 5.73188776e+02] [ 6.02682724e-01 7.97356253e-01 3.15680277e-02 1.31209234e+02] [-5.09670459e-02 -1.01588915e-03 9.98699819e-01 -6.66698605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.23, Y:131.25, Z:-6.67 [[ 7.99402229e-01 -5.99461809e-01 4.00201936e-02 5.73230142e+02] [ 5.98630984e-01 8.00402330e-01 3.15761903e-02 1.31250262e+02] [-5.09609763e-02 -1.28474909e-03 9.98699819e-01 -6.67303204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.665336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:573.27, Y:131.29, Z:-6.68 [[ 7.99689194e-01 -5.99079074e-01 4.00182077e-02 5.73274485e+02] [ 5.98247644e-01 8.00688792e-01 3.15787068e-02 1.31288346e+02] [-5.09602728e-02 -1.31235210e-03 9.98699819e-01 -6.67505914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.31, Y:131.33, Z:-6.68 [[ 7.99858391e-01 -5.98853573e-01 4.00118920e-02 5.73314325e+02] [ 5.98021463e-01 8.00857422e-01 3.15867072e-02 1.31329458e+02] [-5.09596331e-02 -1.33692260e-03 9.98699819e-01 -6.67619758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.36, Y:131.37, Z:-6.68 [[ 7.99090538e-01 -5.99877961e-01 4.00092987e-02 5.73356011e+02] [ 5.99046967e-01 8.00090497e-01 3.15899917e-02 1.31372132e+02] [-5.09611995e-02 -1.27581446e-03 9.98699819e-01 -6.68101861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.8453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.40, Y:131.41, Z:-6.68 [[ 7.96512020e-01 -6.03297820e-01 4.00042680e-02 5.73398831e+02] [ 6.02470800e-01 7.97515269e-01 3.15963611e-02 1.31413185e+02] [-5.09660303e-02 -1.06547805e-03 9.98699819e-01 -6.68245842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.44, Y:131.46, Z:-6.69 [[ 7.93128496e-01 -6.07739488e-01 3.99987821e-02 5.73440110e+02] [ 6.06917738e-01 7.94136066e-01 3.16033043e-02 1.31456068e+02] [-5.09710514e-02 -7.89510827e-04 9.98699819e-01 -6.68751918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.48, Y:131.49, Z:-6.69 [[ 7.90426183e-01 -6.11250342e-01 3.99933584e-02 5.73483686e+02] [ 6.10432720e-01 7.91437106e-01 3.16101664e-02 1.31494926e+02] [-5.09739528e-02 -5.72248645e-04 9.98699819e-01 -6.69414243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.025336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:573.53, Y:131.53, Z:-6.70 [[ 7.86448364e-01 -6.16360230e-01 3.99879587e-02 5.73525997e+02] [ 6.15548830e-01 7.87464287e-01 3.16169957e-02 1.31534322e+02] [-5.09765482e-02 -2.50593339e-04 9.98699819e-01 -6.69874469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.085336195 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:573.57, Y:131.57, Z:-6.70 [[ 7.83644493e-01 -6.19921583e-01 3.99817362e-02 5.73569213e+02] [ 6.19114398e-01 7.84663769e-01 3.16248625e-02 1.31571851e+02] [-5.09771546e-02 -2.93807549e-05 9.98699819e-01 -6.70108808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.61, Y:131.61, Z:-6.70 [[ 7.83313273e-01 -6.20340268e-01 3.99783422e-02 5.73612699e+02] [ 6.19533409e-01 7.84332807e-01 3.16291525e-02 1.31611132e+02] [-5.09771623e-02 -7.61633058e-06 9.98699819e-01 -6.70024432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.205336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:573.66, Y:131.65, Z:-6.71 [[ 7.84177276e-01 -6.19248118e-01 3.99720890e-02 5.73656706e+02] [ 6.18439436e-01 7.85195365e-01 3.16370531e-02 1.31650110e+02] [-5.09770846e-02 -8.87419115e-05 9.98699819e-01 -6.70503344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.70, Y:131.69, Z:-6.70 [[ 7.84306476e-01 -6.19084825e-01 3.99666370e-02 5.73702056e+02] [ 6.18275580e-01 7.85324117e-01 3.16439390e-02 1.31687010e+02] [-5.09770463e-02 -1.08150599e-04 9.98699819e-01 -6.70453606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.75, Y:131.72, Z:-6.71 [[ 7.84284155e-01 -6.19113508e-01 3.99603405e-02 5.73746894e+02] [ 6.18303895e-01 7.85301503e-01 3.16518884e-02 1.31723823e+02] [-5.09770271e-02 -1.16440329e-04 9.98699819e-01 -6.71100323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.385336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:573.79, Y:131.76, Z:-6.72 [[ 7.84231304e-01 -6.19180578e-01 3.99583984e-02 5.73791613e+02] [ 6.18370927e-01 7.85248622e-01 3.16543400e-02 1.31761767e+02] [-5.09770298e-02 -1.15212466e-04 9.98699819e-01 -6.71510681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.84, Y:131.80, Z:-6.71 [[ 7.84750689e-01 -6.18522532e-01 3.99528851e-02 5.73837476e+02] [ 6.17711674e-01 7.85767046e-01 3.16612971e-02 1.31798991e+02] [-5.09768861e-02 -1.66861193e-04 9.98699819e-01 -6.71279321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.505336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:573.88, Y:131.84, Z:-6.72 [[ 7.85707351e-01 -6.17307186e-01 3.99474207e-02 5.73881667e+02] [ 6.16494406e-01 7.86722171e-01 3.16681900e-02 1.31835939e+02] [-5.09765228e-02 -2.54568315e-04 9.98699819e-01 -6.71742053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.92, Y:131.87, Z:-6.72 [[ 7.87962753e-01 -6.14426077e-01 3.99411491e-02 5.73924986e+02] [ 6.13609185e-01 7.88974266e-01 3.16760980e-02 1.31874465e+02] [-5.09751595e-02 -4.51329446e-04 9.98699819e-01 -6.71776729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.97, Y:131.91, Z:-6.72 [[ 7.91269516e-01 -6.10162075e-01 3.99348926e-02 5.73969052e+02] [ 6.09339335e-01 7.92276277e-01 3.16839839e-02 1.31911627e+02] [-5.09718334e-02 -7.36669659e-04 9.98699820e-01 -6.72397885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.01, Y:131.95, Z:-6.73 [[ 7.93682941e-01 -6.07019561e-01 3.99329574e-02 5.74011536e+02] [ 6.06192713e-01 7.94686331e-01 3.16864226e-02 1.31952724e+02] [-5.09684538e-02 -9.41905305e-04 9.98699820e-01 -6.72641914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.745336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:574.05, Y:131.99, Z:-6.73 [[ 7.93425036e-01 -6.07356972e-01 3.99277077e-02 5.74054903e+02] [ 6.06530218e-01 7.94428503e-01 3.16930365e-02 1.31992430e+02] [-5.09686957e-02 -9.28687357e-04 9.98699820e-01 -6.72890459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.10, Y:132.03, Z:-6.73 [[ 7.89620065e-01 -6.12295969e-01 3.99224170e-02 5.74098960e+02] [ 6.11475155e-01 7.90628398e-01 3.16996995e-02 1.32029277e+02] [-5.09733948e-02 -6.19152658e-04 9.98699820e-01 -6.72974939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.865336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:574.14, Y:132.07, Z:-6.73 [[ 7.85927772e-01 -6.17028324e-01 3.99197350e-02 5.74144844e+02] [ 6.16213411e-01 7.86940879e-01 3.17030766e-02 1.32065582e+02] [-5.09761676e-02 -3.17252234e-04 9.98699820e-01 -6.73277242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.19, Y:132.10, Z:-6.74 [[ 7.82138779e-01 -6.21824563e-01 3.99142036e-02 5.74188973e+02] [ 6.21015507e-01 7.83156570e-01 3.17100391e-02 1.32102965e+02] [-5.09771520e-02 -1.43118558e-05 9.98699820e-01 -6.73599968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.23, Y:132.14, Z:-6.74 [[ 7.80347399e-01 -6.24071269e-01 3.99122548e-02 5.74233535e+02] [ 6.23265019e-01 7.81367413e-01 3.17124917e-02 1.32140932e+02] [-5.09769903e-02 1.29151806e-04 9.98699820e-01 -6.74040947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.045336195 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:574.28, Y:132.18, Z:-6.74 [[ 7.79197001e-01 -6.25507378e-01 3.99068141e-02 5.74280271e+02] [ 6.24702657e-01 7.80218222e-01 3.17193369e-02 1.32176833e+02] [-5.09767028e-02 2.14280572e-04 9.98699820e-01 -6.74324868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.33, Y:132.21, Z:-6.74 [[ 7.76479737e-01 -6.28877655e-01 3.99012886e-02 5.74327614e+02] [ 6.28077009e-01 7.77504157e-01 3.17262862e-02 1.32212581e+02] [-5.09753702e-02 4.26263637e-04 9.98699820e-01 -6.74141767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.165336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:574.37, Y:132.25, Z:-6.75 [[ 7.73085047e-01 -6.33046479e-01 3.98956785e-02 5.74372398e+02] [ 6.32250993e-01 7.74113478e-01 3.17333393e-02 1.32246524e+02] [-5.09724611e-02 6.91512192e-04 9.98699820e-01 -6.74976456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.2253361950001 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:574.42, Y:132.28, Z:-6.75 [[ 7.69754321e-01 -6.37092588e-01 3.98913492e-02 5.74422498e+02] [ 6.36302225e-01 7.70786695e-01 3.17387807e-02 1.32278331e+02] [-5.09682631e-02 9.51890674e-04 9.98699820e-01 -6.75121309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.47, Y:132.31, Z:-6.75 [[ 7.68991043e-01 -6.38014019e-01 3.98859326e-02 5.74470726e+02] [ 6.37224541e-01 7.70024092e-01 3.17455862e-02 1.32310155e+02] [-5.09672581e-02 1.00422366e-03 9.98699820e-01 -6.75273608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.3453361950001 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:574.52, Y:132.35, Z:-6.76 [[ 7.70117312e-01 -6.36654216e-01 3.98840286e-02 5.74517458e+02] [ 6.35862789e-01 7.71148870e-01 3.17479781e-02 1.32345742e+02] [-5.09690077e-02 9.11102133e-04 9.98699820e-01 -6.75852591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.405336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:574.56, Y:132.38, Z:-6.76 [[ 7.74856327e-01 -6.30878242e-01 3.98787734e-02 5.74564060e+02] [ 6.30078785e-01 7.75881674e-01 3.17545778e-02 1.32381015e+02] [-5.09744817e-02 5.21533514e-04 9.98699820e-01 -6.76291965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.61, Y:132.42, Z:-6.76 [[ 7.79344964e-01 -6.25325152e-01 3.98733245e-02 5.74610950e+02] [ 6.24518038e-01 7.80364295e-01 3.17614183e-02 1.32415444e+02] [-5.09769325e-02 1.48509014e-04 9.98699820e-01 -6.76286607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.66, Y:132.45, Z:-6.77 [[ 7.81648466e-01 -6.22443827e-01 3.98667591e-02 5.74656902e+02] [ 6.21632535e-01 7.82664475e-01 3.17696571e-02 1.32450880e+02] [-5.09771230e-02 -5.02292294e-05 9.98699820e-01 -6.76575024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.70, Y:132.49, Z:-6.77 [[ 7.81859927e-01 -6.22178317e-01 3.98647240e-02 5.74702704e+02] [ 6.21366550e-01 7.82875557e-01 3.17722106e-02 1.32487046e+02] [-5.09770985e-02 -7.08122307e-05 9.98699820e-01 -6.76685123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.645336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:574.75, Y:132.52, Z:-6.77 [[ 7.81497067e-01 -6.22634431e-01 3.98584848e-02 5.74749678e+02] [ 6.21822858e-01 7.82512851e-01 3.17800357e-02 1.32522759e+02] [-5.09771211e-02 -5.10877570e-05 9.98699820e-01 -6.76964014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.80, Y:132.56, Z:-6.77 [[ 7.79961770e-01 -6.24556941e-01 3.98530325e-02 5.74797455e+02] [ 6.23747523e-01 7.80979272e-01 3.17868717e-02 1.32557389e+02] [-5.09771036e-02 6.56855751e-05 9.98699820e-01 -6.76871735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.84, Y:132.59, Z:-6.77 [[ 7.77524186e-01 -6.27589290e-01 3.98474952e-02 5.74844598e+02] [ 6.26783484e-01 7.78544551e-01 3.17938115e-02 1.32590455e+02] [-5.09765059e-02 2.55294469e-04 9.98699820e-01 -6.77156203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.89, Y:132.62, Z:-6.78 [[ 7.76127209e-01 -6.29316482e-01 3.98412044e-02 5.74892524e+02] [ 6.28512542e-01 7.77149045e-01 3.18016927e-02 1.32623875e+02] [-5.09758833e-02 3.58537589e-04 9.98699820e-01 -6.77638703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.94, Y:132.66, Z:-6.78 [[ 7.75402718e-01 -6.30209285e-01 3.98356933e-02 5.74940677e+02] [ 6.29406167e-01 7.76425200e-01 3.18085945e-02 1.32656079e+02] [-5.09755077e-02 4.08360368e-04 9.98699820e-01 -6.78206216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.945336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:574.99, Y:132.69, Z:-6.79 [[ 7.76985476e-01 -6.28256987e-01 3.98337572e-02 5.74989425e+02] [ 6.27451175e-01 7.78005837e-01 3.18110189e-02 1.32689863e+02] [-5.09763905e-02 2.77038069e-04 9.98699820e-01 -6.78599357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.04, Y:132.72, Z:-6.79 [[ 7.80467774e-01 -6.23926056e-01 3.98287646e-02 5.75037661e+02] [ 6.23114263e-01 7.81483382e-01 3.18172687e-02 1.32724209e+02] [-5.09771406e-02 -1.44816069e-05 9.98699820e-01 -6.78545895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.065336195 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:575.08, Y:132.76, Z:-6.79 [[ 7.82886065e-01 -6.20889292e-01 3.98233152e-02 5.75083000e+02] [ 6.20073213e-01 7.83898232e-01 3.18240879e-02 1.32760380e+02] [-5.09766617e-02 -2.21263951e-04 9.98699820e-01 -6.78863743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.13, Y:132.80, Z:-6.79 [[ 7.84641357e-01 -6.18669980e-01 3.98170375e-02 5.75128305e+02] [ 6.17850640e-01 7.85650886e-01 3.18319403e-02 1.32795117e+02] [-5.09757567e-02 -3.75674766e-04 9.98699820e-01 -6.79366854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.17, Y:132.83, Z:-6.79 [[ 7.83779930e-01 -6.19761216e-01 3.98127666e-02 5.75173836e+02] [ 6.18943010e-01 7.84790379e-01 3.18372811e-02 1.32831300e+02] [-5.09761882e-02 -3.11588343e-04 9.98699820e-01 -6.79414756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.22, Y:132.86, Z:-6.80 [[ 7.79479598e-01 -6.25161582e-01 3.98064414e-02 5.75222034e+02] [ 6.24349973e-01 7.80495352e-01 3.18451875e-02 1.32864694e+02] [-5.09771304e-02 3.04766752e-05 9.98699820e-01 -6.79581614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.27, Y:132.90, Z:-6.80 [[ 7.74189072e-01 -6.31701806e-01 3.98008631e-02 5.75271042e+02] [ 6.30898419e-01 7.75211342e-01 3.18521579e-02 1.32897095e+02] [-5.09751462e-02 4.50709067e-04 9.98699820e-01 -6.79903115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.365336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:575.32, Y:132.93, Z:-6.80 [[ 7.71029814e-01 -6.35554372e-01 3.97952895e-02 5.75320407e+02] [ 6.34755733e-01 7.72055798e-01 3.18591200e-02 1.32928768e+02] [-5.09723870e-02 6.95956772e-04 9.98699820e-01 -6.80475978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.425336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:575.37, Y:132.96, Z:-6.81 [[ 7.70681836e-01 -6.35976638e-01 3.97897361e-02 5.75367860e+02] [ 6.35178204e-01 7.71707979e-01 3.18660542e-02 1.32962975e+02] [-5.09721229e-02 7.14983941e-04 9.98699821e-01 -6.80827090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.4853361950001 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:575.42, Y:133.00, Z:-6.81 [[ 7.72656234e-01 -6.33576797e-01 3.97842571e-02 5.75415728e+02] [ 6.32774823e-01 7.73679612e-01 3.18728933e-02 1.32995690e+02] [-5.09741942e-02 5.47686542e-04 9.98699821e-01 -6.81172810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.545336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:575.46, Y:133.03, Z:-6.81 [[ 7.75165921e-01 -6.30504168e-01 3.97779960e-02 5.75462340e+02] [ 6.29697737e-01 7.76185790e-01 3.18807053e-02 1.33030930e+02] [-5.09760328e-02 3.35277766e-04 9.98699821e-01 -6.81097749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.6053361950001 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:575.51, Y:133.06, Z:-6.81 [[ 7.79217748e-01 -6.25489862e-01 3.97760452e-02 5.75511494e+02] [ 6.24676743e-01 7.80232294e-01 3.18831390e-02 1.33064390e+02] [-5.09771352e-02 3.26252580e-06 9.98699821e-01 -6.81121970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.56, Y:133.10, Z:-6.81 [[ 7.82739699e-01 -6.21077183e-01 3.97705391e-02 5.75558614e+02] [ 6.20257996e-01 7.83749352e-01 3.18900058e-02 1.33098497e+02] [-5.09762892e-02 -2.93578660e-04 9.98699821e-01 -6.81281012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.60, Y:133.13, Z:-6.82 [[ 7.85324289e-01 -6.17806261e-01 3.97641267e-02 5.75603967e+02] [ 6.16982463e-01 7.86330184e-01 3.18979995e-02 1.33132941e+02] [-5.09745168e-02 -5.16504938e-04 9.98699821e-01 -6.81655928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.65, Y:133.17, Z:-6.82 [[ 7.86767580e-01 -6.15967477e-01 3.97597994e-02 5.75648936e+02] [ 6.15141057e-01 7.87771321e-01 3.19033925e-02 1.33168935e+02] [-5.09730818e-02 -6.42669889e-04 9.98699821e-01 -6.81979337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.8453361950001 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:575.69, Y:133.21, Z:-6.82 [[ 7.89078076e-01 -6.13005261e-01 3.97534953e-02 5.75692599e+02] [ 6.12174677e-01 7.90078374e-01 3.19112458e-02 1.33206269e+02] [-5.09701385e-02 -8.44381258e-04 9.98699821e-01 -6.82358097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.74, Y:133.24, Z:-6.82 [[ 7.90483814e-01 -6.11191868e-01 3.97471994e-02 5.75737808e+02] [ 6.10358596e-01 7.91481874e-01 3.19190858e-02 1.33243965e+02] [-5.09678735e-02 -9.71475894e-04 9.98699821e-01 -6.82350676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.78, Y:133.28, Z:-6.83 [[ 7.91326359e-01 -6.10100971e-01 3.97416514e-02 5.75779564e+02] [ 6.09265976e-01 7.92322978e-01 3.19259919e-02 1.33282387e+02] [-5.09663022e-02 -1.05064295e-03 9.98699821e-01 -6.82886456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.025336195 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:575.82, Y:133.32, Z:-6.83 [[ 7.91286982e-01 -6.10152275e-01 3.97380538e-02 5.75823185e+02] [ 6.09317120e-01 7.92283467e-01 3.19304692e-02 1.33322418e+02] [-5.09662515e-02 -1.05308805e-03 9.98699821e-01 -6.82938980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.86, Y:133.36, Z:-6.83 [[ 7.90820510e-01 -6.10757128e-01 3.97322501e-02 5.75864943e+02] [ 6.09922372e-01 7.91817330e-01 3.19376894e-02 1.33363125e+02] [-5.09668556e-02 -1.02339158e-03 9.98699821e-01 -6.83426434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.91, Y:133.40, Z:-6.84 [[ 7.89788822e-01 -6.12090851e-01 3.97291658e-02 5.75907356e+02] [ 6.11257587e-01 7.90786888e-01 3.19415256e-02 1.33402670e+02] [-5.09684190e-02 -9.42305849e-04 9.98699821e-01 -6.83763450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.205336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:575.95, Y:133.44, Z:-6.85 [[ 7.87258371e-01 -6.15342468e-01 3.97228509e-02 5.75949607e+02] [ 6.14512930e-01 7.88259536e-01 3.19493769e-02 1.33442279e+02] [-5.09717245e-02 -7.42208894e-04 9.98699821e-01 -6.84523679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.99, Y:133.48, Z:-6.85 [[ 7.85948804e-01 -6.17014366e-01 3.97208966e-02 5.75993962e+02] [ 6.16186835e-01 7.86951629e-01 3.19518064e-02 1.33481195e+02] [-5.09731479e-02 -6.36990474e-04 9.98699821e-01 -6.84724766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.04, Y:133.52, Z:-6.85 [[ 7.84421684e-01 -6.18955015e-01 3.97153718e-02 5.76036229e+02] [ 6.18129618e-01 7.85426266e-01 3.19586722e-02 1.33520707e+02] [-5.09744766e-02 -5.19827922e-04 9.98699821e-01 -6.85124115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.08, Y:133.56, Z:-6.85 [[ 7.83511456e-01 -6.20107238e-01 3.97090879e-02 5.76078380e+02] [ 6.19282922e-01 7.84516926e-01 3.19664780e-02 1.33562388e+02] [-5.09750960e-02 -4.54941757e-04 9.98699821e-01 -6.85207058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.12, Y:133.60, Z:-6.85 [[ 7.81970788e-01 -6.22049294e-01 3.97034408e-02 5.76120312e+02] [ 6.21227119e-01 7.82978009e-01 3.19734905e-02 1.33601815e+02] [-5.09760082e-02 -3.37481366e-04 9.98699821e-01 -6.85494578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.505336195 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:576.17, Y:133.64, Z:-6.86 [[ 7.81216439e-01 -6.22996525e-01 3.97014541e-02 5.76165547e+02] [ 6.22175446e-01 7.82224554e-01 3.19759572e-02 1.33639598e+02] [-5.09763624e-02 -2.78873533e-04 9.98699821e-01 -6.85815653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.21, Y:133.68, Z:-6.86 [[ 7.79971262e-01 -6.24555091e-01 3.96959488e-02 5.76209838e+02] [ 6.23735679e-01 7.80980732e-01 3.19827901e-02 1.33677225e+02] [-5.09767856e-02 -1.85877561e-04 9.98699821e-01 -6.86004648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.26, Y:133.71, Z:-6.86 [[ 7.79264192e-01 -6.25437265e-01 3.96931526e-02 5.76255874e+02] [ 6.24618819e-01 7.80274445e-01 3.19862600e-02 1.33714100e+02] [-5.09769516e-02 -1.32656980e-04 9.98699821e-01 -6.85951963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.30, Y:133.75, Z:-6.86 [[ 7.78466056e-01 -6.26430760e-01 3.96875568e-02 5.76300667e+02] [ 6.25613250e-01 7.79477066e-01 3.19932017e-02 1.33751439e+02] [-5.09770660e-02 -7.65602228e-05 9.98699821e-01 -6.86304834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.35, Y:133.79, Z:-6.87 [[ 7.78378593e-01 -6.26539842e-01 3.96811443e-02 5.76346247e+02] [ 6.25722067e-01 7.79389390e-01 3.20011531e-02 1.33786263e+02] [-5.09770602e-02 -7.96448640e-05 9.98699821e-01 -6.87080760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.39, Y:133.82, Z:-6.88 [[ 7.78595376e-01 -6.26270551e-01 3.96791734e-02 5.76391796e+02] [ 6.25452303e-01 7.79605789e-01 3.20035967e-02 1.33821695e+02] [-5.09770234e-02 -1.00422051e-04 9.98699821e-01 -6.87541534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.865336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:576.44, Y:133.86, Z:-6.88 [[ 7.79996511e-01 -6.24525009e-01 3.96731137e-02 5.76438262e+02] [ 6.23704117e-01 7.81004778e-01 3.20111068e-02 1.33855512e+02] [-5.09766281e-02 -2.24267283e-04 9.98699821e-01 -6.87881204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.925336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:576.48, Y:133.89, Z:-6.88 [[ 7.82967597e-01 -6.20796490e-01 3.96668569e-02 5.76483753e+02] [ 6.19970405e-01 7.83971613e-01 3.20188581e-02 1.33892839e+02] [-5.09748845e-02 -4.77451018e-04 9.98699821e-01 -6.88202573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.53, Y:133.93, Z:-6.88 [[ 7.85816903e-01 -6.17186179e-01 3.96612527e-02 5.76529519e+02] [ 6.16355131e-01 7.86816815e-01 3.20257984e-02 1.33927757e+02] [-5.09720207e-02 -7.20997153e-04 9.98699821e-01 -6.88153417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.57, Y:133.97, Z:-6.88 [[ 7.87367746e-01 -6.15206612e-01 3.96592771e-02 5.76573619e+02] [ 6.14372927e-01 7.88365460e-01 3.20282447e-02 1.33965165e+02] [-5.09699922e-02 -8.52420683e-04 9.98699821e-01 -6.88259610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.62, Y:134.01, Z:-6.88 [[ 7.89600615e-01 -6.12338335e-01 3.96564164e-02 5.76616835e+02] [ 6.11500849e-01 7.90595141e-01 3.20317864e-02 1.34005130e+02] [-5.09664609e-02 -1.04238593e-03 9.98699821e-01 -6.88015706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.66, Y:134.04, Z:-6.88 [[ 7.91383324e-01 -6.10032974e-01 3.96510497e-02 5.76658917e+02] [ 6.09192258e-01 7.92375121e-01 3.20384283e-02 1.34044377e+02] [-5.09630030e-02 -1.19956538e-03 9.98699821e-01 -6.88434011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.70, Y:134.08, Z:-6.89 [[ 7.91729026e-01 -6.09584649e-01 3.96447384e-02 5.76703306e+02] [ 6.08742981e-01 7.92720015e-01 3.20462361e-02 1.34082759e+02] [-5.09620712e-02 -1.23847910e-03 9.98699822e-01 -6.88979640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.285336195 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:576.74, Y:134.12, Z:-6.90 [[ 7.90349361e-01 -6.11372731e-01 3.96392566e-02 5.76743757e+02] [ 6.10532965e-01 7.91341963e-01 3.20530153e-02 1.34123367e+02] [-5.09645466e-02 -1.13200731e-03 9.98699822e-01 -6.90073998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.3453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.79, Y:134.16, Z:-6.90 [[ 7.88060206e-01 -6.14320758e-01 3.96373253e-02 5.76787343e+02] [ 6.13484586e-01 7.89055837e-01 3.20554033e-02 1.34161660e+02] [-5.09683626e-02 -9.44699648e-04 9.98699822e-01 -6.90120309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.83, Y:134.20, Z:-6.90 [[ 7.84764709e-01 -6.18525446e-01 3.96310984e-02 5.76830798e+02] [ 6.17694220e-01 7.85764474e-01 3.20631000e-02 1.34200985e+02] [-5.09725524e-02 -6.82088946e-04 9.98699822e-01 -6.90079478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.87, Y:134.24, Z:-6.91 [[ 7.83649375e-01 -6.19938279e-01 3.96255924e-02 5.76872059e+02] [ 6.19108512e-01 7.84650350e-01 3.20699033e-02 1.34243349e+02] [-5.09735956e-02 -5.99018156e-04 9.98699822e-01 -6.90630229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.525336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:576.91, Y:134.28, Z:-6.91 [[ 7.83621941e-01 -6.19973306e-01 3.96201167e-02 5.76913519e+02] [ 6.19143242e-01 7.84622670e-01 3.20766667e-02 1.34282508e+02] [-5.09735188e-02 -6.05452286e-04 9.98699822e-01 -6.91402689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.96, Y:134.32, Z:-6.91 [[ 7.83325083e-01 -6.20348519e-01 3.96172762e-02 5.76957415e+02] [ 6.19518758e-01 7.84326062e-01 3.20801746e-02 1.34320577e+02] [-5.09737510e-02 -5.85559751e-04 9.98699822e-01 -6.91381867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.00, Y:134.36, Z:-6.91 [[ 7.82294842e-01 -6.21647603e-01 3.96110846e-02 5.76998776e+02] [ 6.20819116e-01 7.83296877e-01 3.20878179e-02 1.34362560e+02] [-5.09745539e-02 -5.10815889e-04 9.98699822e-01 -6.91377679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.705336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:577.04, Y:134.40, Z:-6.92 [[ 7.81713203e-01 -6.22379197e-01 3.96055854e-02 5.77041553e+02] [ 6.21551305e-01 7.82715729e-01 3.20946040e-02 1.34402318e+02] [-5.09749285e-02 -4.71872384e-04 9.98699822e-01 -6.91877156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.09, Y:134.44, Z:-6.92 [[ 7.82642021e-01 -6.21211157e-01 3.96000722e-02 5.77086593e+02] [ 6.20381424e-01 7.83643024e-01 3.21014050e-02 1.34439980e+02] [-5.09740713e-02 -5.56759277e-04 9.98699822e-01 -6.91781121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.825336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:577.13, Y:134.48, Z:-6.93 [[ 7.83618294e-01 -6.19979552e-01 3.95944992e-02 5.77128169e+02] [ 6.19147899e-01 7.84617702e-01 3.21082774e-02 1.34477990e+02] [-5.09730204e-02 -6.45782519e-04 9.98699822e-01 -6.92528644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.17, Y:134.52, Z:-6.93 [[ 7.84375677e-01 -6.19021335e-01 3.95901949e-02 5.77169928e+02] [ 6.18188193e-01 7.85373844e-01 3.21135838e-02 1.34518795e+02] [-5.09720971e-02 -7.14922946e-04 9.98699822e-01 -6.92597080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.22, Y:134.55, Z:-6.93 [[ 7.83603034e-01 -6.19999525e-01 3.95837561e-02 5.77215044e+02] [ 6.19167228e-01 7.84601906e-01 3.21215184e-02 1.34553985e+02] [-5.09728167e-02 -6.61554751e-04 9.98699822e-01 -6.93135354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.26, Y:134.59, Z:-6.93 [[ 7.81442404e-01 -6.22720782e-01 3.95802665e-02 5.77258240e+02] [ 6.21891746e-01 7.82443984e-01 3.21258178e-02 1.34590564e+02] [-5.09747558e-02 -4.89835241e-04 9.98699822e-01 -6.93440519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.30, Y:134.63, Z:-6.94 [[ 7.81218917e-01 -6.23001317e-01 3.95773002e-02 5.77302477e+02] [ 6.22172456e-01 7.82220642e-01 3.21294717e-02 1.34629068e+02] [-5.09748843e-02 -4.76244988e-04 9.98699822e-01 -6.93601590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.35, Y:134.67, Z:-6.94 [[ 7.82170639e-01 -6.21806380e-01 3.95716775e-02 5.77346553e+02] [ 6.20975638e-01 7.83170804e-01 3.21363953e-02 1.34666336e+02] [-5.09739981e-02 -5.63097123e-04 9.98699822e-01 -6.93875258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.39, Y:134.71, Z:-6.94 [[ 7.84582784e-01 -6.18760414e-01 3.95651907e-02 5.77387459e+02] [ 6.17925387e-01 7.85579375e-01 3.21443796e-02 1.34706856e+02] [-5.09712674e-02 -7.71591081e-04 9.98699822e-01 -6.94040778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.43, Y:134.75, Z:-6.94 [[ 7.85523553e-01 -6.17565814e-01 3.95627809e-02 5.77428959e+02] [ 6.16729122e-01 7.86518746e-01 3.21473453e-02 1.34746172e+02] [-5.09699703e-02 -8.52977725e-04 9.98699822e-01 -6.94445635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.47, Y:134.79, Z:-6.95 [[ 7.84012661e-01 -6.19483023e-01 3.95592091e-02 5.77471599e+02] [ 6.18648544e-01 7.85009710e-01 3.21517400e-02 1.34786433e+02] [-5.09718204e-02 -7.34124101e-04 9.98699822e-01 -6.94812735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.52, Y:134.83, Z:-6.95 [[ 7.81923436e-01 -6.22118378e-01 3.95533143e-02 5.77516467e+02] [ 6.21286892e-01 7.82922983e-01 3.21589902e-02 1.34825085e+02] [-5.09738976e-02 -5.71912357e-04 9.98699822e-01 -6.95163294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.56, Y:134.86, Z:-6.96 [[ 7.81184195e-01 -6.23046708e-01 3.95481089e-02 5.77559539e+02] [ 6.22216086e-01 7.82184460e-01 3.21653905e-02 1.34862153e+02] [-5.09744568e-02 -5.19625134e-04 9.98699822e-01 -6.95578966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.60, Y:134.90, Z:-6.96 [[ 7.79692872e-01 -6.24912196e-01 3.95445730e-02 5.77603064e+02] [ 6.24083747e-01 7.80694937e-01 3.21697369e-02 1.34900653e+02] [-5.09755088e-02 -4.03389235e-04 9.98699822e-01 -6.95748839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.545336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:577.65, Y:134.94, Z:-6.96 [[ 7.79296112e-01 -6.25407308e-01 3.95381950e-02 5.77645539e+02] [ 6.24579098e-01 7.80298375e-01 3.21775739e-02 1.34939068e+02] [-5.09756792e-02 -3.81128041e-04 9.98699822e-01 -6.96275819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.69, Y:134.98, Z:-6.96 [[ 7.80572236e-01 -6.23813970e-01 3.95362460e-02 5.77688895e+02] [ 6.22983593e-01 7.81572704e-01 3.21799684e-02 1.34978112e+02] [-5.09747646e-02 -4.88357239e-04 9.98699822e-01 -6.96414256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.665336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:577.73, Y:135.02, Z:-6.97 [[ 7.82359140e-01 -6.21571850e-01 3.95298829e-02 5.77731390e+02] [ 6.20738211e-01 7.83356892e-01 3.21877829e-02 1.35017024e+02] [-5.09730260e-02 -6.44697342e-04 9.98699822e-01 -6.96721615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.77, Y:135.06, Z:-6.97 [[ 7.84485183e-01 -6.18886819e-01 3.95234416e-02 5.77773619e+02] [ 6.18049368e-01 7.85479737e-01 3.21956903e-02 1.35056651e+02] [-5.09703509e-02 -8.29603968e-04 9.98699822e-01 -6.96997343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.82, Y:135.10, Z:-6.97 [[ 7.84760507e-01 -6.18537856e-01 3.95204612e-02 5.77815318e+02] [ 6.17699778e-01 7.85754533e-01 3.21993483e-02 1.35096782e+02] [-5.09698974e-02 -8.56996827e-04 9.98699822e-01 -6.97279387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.8453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.86, Y:135.13, Z:-6.98 [[ 7.84183013e-01 -6.19270247e-01 3.95140833e-02 5.77858499e+02] [ 6.18432703e-01 7.85177489e-01 3.22071731e-02 1.35134993e+02] [-5.09705128e-02 -8.19516710e-04 9.98699822e-01 -6.97611939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.90, Y:135.18, Z:-6.98 [[ 7.82845709e-01 -6.20960338e-01 3.95076615e-02 5.77898095e+02] [ 6.20124544e-01 7.83841655e-01 3.22150487e-02 1.35175698e+02] [-5.09720183e-02 -7.19742097e-04 9.98699822e-01 -6.98035541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.94, Y:135.21, Z:-6.98 [[ 7.81255110e-01 -6.22960525e-01 3.95048870e-02 5.77942982e+02] [ 6.22127109e-01 7.82253048e-01 3.22184507e-02 1.35213102e+02] [-5.09736412e-02 -5.93768102e-04 9.98699822e-01 -6.98442240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.98, Y:135.25, Z:-6.99 [[ 7.79197546e-01 -6.25532570e-01 3.94992099e-02 5.77984173e+02] [ 6.24702096e-01 7.80197933e-01 3.22254092e-02 1.35253132e+02] [-5.09752450e-02 -4.34720535e-04 9.98699822e-01 -6.98796574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.085336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:578.03, Y:135.29, Z:-6.99 [[ 7.77067873e-01 -6.28176372e-01 3.94964003e-02 5.78027218e+02] [ 6.27349126e-01 7.78070932e-01 3.22288524e-02 1.35292382e+02] [-5.09764045e-02 -2.65973594e-04 9.98699822e-01 -6.99237095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.145336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:578.07, Y:135.33, Z:-6.99 [[ 7.73647380e-01 -6.32384313e-01 3.94944392e-02 5.78070458e+02] [ 6.31562401e-01 7.74654813e-01 3.22312555e-02 1.35330782e+02] [-5.09770978e-02 7.57645516e-06 9.98699822e-01 -6.99477857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:578.12, Y:135.37, Z:-6.99 [[ 7.71233500e-01 -6.35326143e-01 3.94915304e-02 5.78116865e+02] [ 6.34507891e-01 7.72243908e-01 3.22348191e-02 1.35365375e+02] [-5.09767170e-02 1.97115323e-04 9.98699823e-01 -6.99380038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.265336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:578.16, Y:135.40, Z:-7.00 [[ 7.69020410e-01 -6.38003550e-01 3.94851608e-02 5.78162556e+02] [ 6.37188415e-01 7.70033335e-01 3.22426194e-02 1.35401519e+02] [-5.09757957e-02 3.64254680e-04 9.98699823e-01 -6.99797644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.325336195 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:578.21, Y:135.44, Z:-7.00 [[ 7.69352013e-01 -6.37603983e-01 3.94796412e-02 5.78206663e+02] [ 6.36787975e-01 7.70364234e-01 3.22493765e-02 1.35437991e+02] [-5.09760345e-02 3.29037991e-04 9.98699823e-01 -7.00234378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.385336195 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:578.25, Y:135.48, Z:-7.01 [[ 7.69798173e-01 -6.37065369e-01 3.94776945e-02 5.78252511e+02] [ 6.36248530e-01 7.70809725e-01 3.22517593e-02 1.35475204e+02] [-5.09762698e-02 2.90279682e-04 9.98699823e-01 -7.00743793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.445336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:578.30, Y:135.51, Z:-7.01 [[ 7.69712946e-01 -6.37168659e-01 3.94725433e-02 5.78298916e+02] [ 6.36351633e-01 7.70724345e-01 3.22580626e-02 1.35511639e+02] [-5.09762766e-02 2.88968975e-04 9.98699823e-01 -7.00932429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.505336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:578.34, Y:135.55, Z:-7.01 [[ 7.68252829e-01 -6.38928754e-01 3.94669187e-02 5.78344769e+02] [ 6.38113692e-01 7.69265812e-01 3.22649428e-02 1.35546237e+02] [-5.09755509e-02 3.96747616e-04 9.98699823e-01 -7.01233801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:578.39, Y:135.58, Z:-7.01 [[ 7.66779761e-01 -6.40696235e-01 3.94605218e-02 5.78392121e+02] [ 6.39883105e-01 7.67794296e-01 3.22727644e-02 1.35579278e+02] [-5.09746021e-02 5.04018686e-04 9.98699823e-01 -7.01256752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:578.44, Y:135.61, Z:-7.01 [[ 7.65738214e-01 -6.41940815e-01 3.94585477e-02 5.78439935e+02] [ 6.41129210e-01 7.66753969e-01 3.22751778e-02 1.35612012e+02] [-5.09737520e-02 5.83690503e-04 9.98699823e-01 -7.01461810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:578.49, Y:135.65, Z:-7.02 [[ 7.65187243e-01 -6.42597648e-01 3.94556242e-02 5.78487941e+02] [ 6.41786730e-01 7.66203547e-01 3.22787513e-02 1.35645391e+02] [-5.09732889e-02 6.22807358e-04 9.98699823e-01 -7.01851297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:578.54, Y:135.68, Z:-7.02 [[ 7.65279003e-01 -6.42488748e-01 3.94494125e-02 5.78538070e+02] [ 6.41677294e-01 7.66294879e-01 3.22863411e-02 1.35676349e+02] [-5.09734937e-02 6.05733370e-04 9.98699823e-01 -7.02056947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.805336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:578.58, Y:135.71, Z:-7.02 [[ 7.66396807e-01 -6.41155292e-01 3.94439516e-02 5.78584968e+02] [ 6.40341728e-01 7.67410994e-01 3.22930113e-02 1.35709592e+02] [-5.09745572e-02 5.08347384e-04 9.98699823e-01 -7.02414694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:578.63, Y:135.74, Z:-7.03 [[ 7.68905091e-01 -6.38145275e-01 3.94407148e-02 5.78633273e+02] [ 6.37327537e-01 7.69915915e-01 3.22969641e-02 1.35744140e+02] [-5.09761890e-02 3.03353549e-04 9.98699823e-01 -7.02690887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:578.68, Y:135.78, Z:-7.03 [[ 7.70661958e-01 -6.36022787e-01 3.94355174e-02 5.78682926e+02] [ 6.35201941e-01 7.71670260e-01 3.23033090e-02 1.35776097e+02] [-5.09768566e-02 1.54585804e-04 9.98699823e-01 -7.02905580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.9853361950001 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:578.73, Y:135.81, Z:-7.04 [[ 7.71689441e-01 -6.34776092e-01 3.94299423e-02 5.78731816e+02] [ 6.33953269e-01 7.72696130e-01 3.23101127e-02 1.35806081e+02] [-5.09770508e-02 6.33680325e-05 9.98699823e-01 -7.03644250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:578.78, Y:135.84, Z:-7.04 [[ 7.72343544e-01 -6.33980261e-01 3.94268922e-02 5.78777144e+02] [ 6.33156210e-01 7.73349229e-01 3.23138341e-02 1.35840508e+02] [-5.09770896e-02 6.00052607e-06 9.98699823e-01 -7.03777257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.1053361950001 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:578.82, Y:135.88, Z:-7.04 [[ 7.74976042e-01 -6.30759794e-01 3.94235498e-02 5.78823068e+02] [ 6.29931357e-01 7.75978117e-01 3.23179114e-02 1.35875873e+02] [-5.09766511e-02 -2.11476869e-04 9.98699823e-01 -7.04202412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:578.87, Y:135.91, Z:-7.05 [[ 7.77336035e-01 -6.27849487e-01 3.94171352e-02 5.78868773e+02] [ 6.27016902e-01 7.78334666e-01 3.23257332e-02 1.35911093e+02] [-5.09754177e-02 -4.12747243e-04 9.98699823e-01 -7.04726552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.2253361950001 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:578.91, Y:135.95, Z:-7.05 [[ 7.78381300e-01 -6.26553351e-01 3.94138368e-02 5.78914565e+02] [ 6.25718900e-01 7.79378371e-01 3.23297543e-02 1.35947087e+02] [-5.09746079e-02 -5.02893598e-04 9.98699823e-01 -7.05197479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:578.96, Y:135.98, Z:-7.05 [[ 7.78677560e-01 -6.26185462e-01 3.94084218e-02 5.78960104e+02] [ 6.25350206e-01 7.79673958e-01 3.23363536e-02 1.35984597e+02] [-5.09742747e-02 -5.35528258e-04 9.98699823e-01 -7.04888679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.3453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.00, Y:136.02, Z:-7.05 [[ 7.78248585e-01 -6.26718883e-01 3.94028234e-02 5.79004463e+02] [ 6.25883964e-01 7.79245265e-01 3.23431740e-02 1.36021402e+02] [-5.09745414e-02 -5.09434056e-04 9.98699823e-01 -7.05067949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.05, Y:136.06, Z:-7.06 [[ 7.77435947e-01 -6.27726789e-01 3.94008407e-02 5.79049816e+02] [ 6.26893041e-01 7.78433606e-01 3.23455891e-02 1.36056213e+02] [-5.09751313e-02 -4.46510853e-04 9.98699823e-01 -7.05688383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.09, Y:136.10, Z:-7.06 [[ 7.77578290e-01 -6.27550578e-01 3.93989068e-02 5.79094097e+02] [ 6.26716484e-01 7.78575660e-01 3.23479446e-02 1.36095251e+02] [-5.09750012e-02 -4.61115167e-04 9.98699823e-01 -7.06451083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.525336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:579.14, Y:136.13, Z:-7.07 [[ 7.77178910e-01 -6.28045442e-01 3.93937256e-02 5.79140582e+02] [ 6.27211663e-01 7.78176543e-01 3.23542531e-02 1.36129888e+02] [-5.09752144e-02 -4.36838995e-04 9.98699823e-01 -7.07398496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.19, Y:136.17, Z:-7.07 [[ 7.75723785e-01 -6.29842186e-01 3.93881912e-02 5.79186960e+02] [ 6.29010376e-01 7.76723061e-01 3.23609894e-02 1.36166884e+02] [-5.09760327e-02 -3.27608226e-04 9.98699823e-01 -7.07039812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.23, Y:136.21, Z:-7.07 [[ 7.73973758e-01 -6.31991801e-01 3.93825432e-02 5.79231962e+02] [ 6.31162417e-01 7.74975048e-01 3.23678613e-02 1.36205543e+02] [-5.09767113e-02 -1.95094095e-04 9.98699823e-01 -7.07028067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.28, Y:136.24, Z:-7.07 [[ 7.72510170e-01 -6.33780323e-01 3.93768878e-02 5.79279400e+02] [ 6.32952906e-01 7.73513086e-01 3.23747399e-02 1.36239030e+02] [-5.09770111e-02 -8.61002386e-05 9.98699823e-01 -7.07249140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.33, Y:136.27, Z:-7.07 [[ 7.71614995e-01 -6.34870049e-01 3.93741012e-02 5.79326233e+02] [ 6.34043876e-01 7.72618936e-01 3.23781286e-02 1.36274286e+02] [-5.09770803e-02 -1.85417923e-05 9.98699823e-01 -7.07426601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.37, Y:136.31, Z:-7.08 [[ 7.71632296e-01 -6.34849364e-01 3.93685807e-02 5.79371504e+02] [ 6.34022821e-01 7.72635932e-01 3.23848396e-02 1.36310183e+02] [-5.09770749e-02 -2.86095381e-05 9.98699823e-01 -7.07778188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.42, Y:136.34, Z:-7.08 [[ 7.71914384e-01 -6.34506734e-01 3.93622605e-02 5.79419958e+02] [ 6.33679354e-01 7.72917331e-01 3.23925197e-02 1.36343922e+02] [-5.09770452e-02 -6.12000383e-05 9.98699823e-01 -7.08397067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.47, Y:136.38, Z:-7.09 [[ 7.72436842e-01 -6.33870947e-01 3.93566683e-02 5.79465315e+02] [ 6.33042395e-01 7.73438821e-01 3.23993128e-02 1.36379004e+02] [-5.09769582e-02 -1.11983344e-04 9.98699823e-01 -7.08848339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.51, Y:136.41, Z:-7.09 [[ 7.73211220e-01 -6.32926381e-01 3.93523176e-02 5.79510524e+02] [ 6.32096337e-01 7.74211963e-01 3.24045963e-02 1.36414885e+02] [-5.09767589e-02 -1.81141612e-04 9.98699823e-01 -7.09098644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.56, Y:136.45, Z:-7.09 [[ 7.72597158e-01 -6.33676194e-01 3.93460645e-02 5.79557239e+02] [ 6.32846734e-01 7.73598385e-01 3.24121871e-02 1.36449355e+02] [-5.09768833e-02 -1.41535250e-04 9.98699823e-01 -7.09225822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.61, Y:136.48, Z:-7.10 [[ 7.71401068e-01 -6.35132107e-01 3.93395346e-02 5.79606475e+02] [ 6.34304133e-01 7.72403524e-01 3.24201107e-02 1.36482288e+02] [-5.09770484e-02 -5.56786237e-05 9.98699823e-01 -7.09508856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.65, Y:136.52, Z:-7.10 [[ 7.71238097e-01 -6.35330354e-01 3.93336911e-02 5.79652813e+02] [ 6.34502275e-01 7.72240467e-01 3.24271987e-02 1.36517410e+02] [-5.09770516e-02 -5.17744981e-05 9.98699824e-01 -7.09750166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.70, Y:136.55, Z:-7.10 [[ 7.71992496e-01 -6.34413676e-01 3.93303323e-02 5.79699211e+02] [ 6.33584200e-01 7.72993709e-01 3.24312721e-02 1.36551632e+02] [-5.09769420e-02 -1.17621617e-04 9.98699824e-01 -7.09975497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.75, Y:136.59, Z:-7.10 [[ 7.73439367e-01 -6.32649339e-01 3.93237922e-02 5.79746756e+02] [ 6.31817176e-01 7.74438348e-01 3.24392001e-02 1.36585164e+02] [-5.09764912e-02 -2.44307055e-04 9.98699824e-01 -7.10369023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.79, Y:136.62, Z:-7.11 [[ 7.74703606e-01 -6.31101001e-01 3.93172994e-02 5.79792860e+02] [ 6.30266442e-01 7.75700586e-01 3.24470677e-02 1.36619434e+02] [-5.09758291e-02 -3.56485904e-04 9.98699824e-01 -7.10594647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.425336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:579.84, Y:136.65, Z:-7.11 [[ 7.76669069e-01 -6.28680815e-01 3.93139888e-02 5.79838444e+02] [ 6.27842947e-01 7.77663270e-01 3.24510785e-02 1.36654552e+02] [-5.09744156e-02 -5.20738322e-04 9.98699824e-01 -7.11279339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.88, Y:136.69, Z:-7.11 [[ 7.78543496e-01 -6.26358480e-01 3.93074987e-02 5.79884357e+02] [ 6.25517250e-01 7.79534853e-01 3.24589380e-02 1.36690397e+02] [-5.09724963e-02 -6.83176553e-04 9.98699824e-01 -7.11499338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.93, Y:136.73, Z:-7.12 [[ 7.80506533e-01 -6.23910755e-01 3.93054976e-02 5.79929705e+02] [ 6.23066294e-01 7.81495140e-01 3.24613610e-02 1.36726908e+02] [-5.09700476e-02 -8.46373647e-04 9.98699824e-01 -7.12086042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.97, Y:136.76, Z:-7.13 [[ 7.81562615e-01 -6.22587663e-01 3.92998775e-02 5.79973334e+02] [ 6.21741187e-01 7.82549497e-01 3.24681636e-02 1.36764021e+02] [-5.09683775e-02 -9.41550318e-04 9.98699824e-01 -7.12657813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.665336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:580.02, Y:136.80, Z:-7.13 [[ 7.82364784e-01 -6.21579542e-01 3.92965413e-02 5.80017410e+02] [ 6.20731591e-01 7.83350399e-01 3.24722009e-02 1.36802408e+02] [-5.09670171e-02 -1.01250180e-03 9.98699824e-01 -7.12925131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.06, Y:136.84, Z:-7.13 [[ 7.81665889e-01 -6.22458559e-01 3.92909668e-02 5.80061492e+02] [ 6.21611378e-01 7.82652166e-01 3.24789446e-02 1.36841344e+02] [-5.09679573e-02 -9.63971144e-04 9.98699824e-01 -7.12657846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.11, Y:136.88, Z:-7.13 [[ 7.80169141e-01 -6.24333868e-01 3.92852775e-02 5.80106130e+02] [ 6.23488711e-01 7.81157153e-01 3.24858247e-02 1.36879486e+02] [-5.09699761e-02 -8.50510903e-04 9.98699824e-01 -7.12847958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.8453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.15, Y:136.92, Z:-7.13 [[ 7.78538407e-01 -6.26366555e-01 3.92796123e-02 5.80150303e+02] [ 6.25523633e-01 7.79528326e-01 3.24926732e-02 1.36918721e+02] [-5.09718942e-02 -7.26468267e-04 9.98699824e-01 -7.13028874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.19, Y:136.96, Z:-7.14 [[ 7.76312204e-01 -6.29123930e-01 3.92739347e-02 5.80193265e+02] [ 6.28284177e-01 7.77304813e-01 3.24995343e-02 1.36957553e+02] [-5.09740533e-02 -5.54593399e-04 9.98699824e-01 -7.13578004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.965336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:580.24, Y:137.00, Z:-7.14 [[ 7.75081827e-01 -6.30639261e-01 3.92719305e-02 5.80236265e+02] [ 6.29801326e-01 7.76075971e-01 3.25019560e-02 1.36995819e+02] [-5.09750111e-02 -4.58161595e-04 9.98699824e-01 -7.14160738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.28, Y:137.04, Z:-7.14 [[ 7.74474162e-01 -6.31385545e-01 3.92691414e-02 5.80277957e+02] [ 6.30548397e-01 7.75468970e-01 3.25053254e-02 1.37037114e+02] [-5.09753932e-02 -4.13440485e-04 9.98699824e-01 -7.14348544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.085336195 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:580.32, Y:137.08, Z:-7.15 [[ 7.74729865e-01 -6.31072107e-01 3.92636223e-02 5.80318969e+02] [ 6.30234219e-01 7.75724049e-01 3.25119907e-02 1.37076599e+02] [-5.09751465e-02 -4.42731836e-04 9.98699824e-01 -7.15095954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.36, Y:137.12, Z:-7.15 [[ 7.72317191e-01 -6.34022707e-01 3.92602045e-02 5.80363956e+02] [ 6.33188408e-01 7.73314388e-01 3.25161174e-02 1.37115189e+02] [-5.09764378e-02 -2.53650046e-04 9.98699824e-01 -7.14645854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.41, Y:137.15, Z:-7.15 [[ 7.71226917e-01 -6.35348824e-01 3.92544823e-02 5.80406655e+02] [ 6.34515888e-01 7.72225253e-01 3.25230239e-02 1.37152103e+02] [-5.09767675e-02 -1.75038756e-04 9.98699824e-01 -7.14981107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.265336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:580.45, Y:137.19, Z:-7.15 [[ 7.67888264e-01 -6.39380152e-01 3.92509219e-02 5.80449108e+02] [ 6.38552237e-01 7.68890768e-01 3.25273203e-02 1.37191665e+02] [-5.09769945e-02 8.64164627e-05 9.98699824e-01 -7.15421248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.325336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:580.50, Y:137.23, Z:-7.16 [[ 7.65203458e-01 -6.42591265e-01 3.92445345e-02 5.80495241e+02] [ 6.41767162e-01 7.66209098e-01 3.25350249e-02 1.37226840e+02] [-5.09762422e-02 2.89939948e-04 9.98699824e-01 -7.15775024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.54, Y:137.26, Z:-7.16 [[ 7.63876185e-01 -6.44168878e-01 3.92381194e-02 5.80540716e+02] [ 6.43346454e-01 7.64883199e-01 3.25427599e-02 1.37263055e+02] [-5.09756114e-02 3.85065664e-04 9.98699824e-01 -7.15895084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.445336195 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:580.59, Y:137.30, Z:-7.17 [[ 7.63396096e-01 -6.44738144e-01 3.92317011e-02 5.80586336e+02] [ 6.43916074e-01 7.64403398e-01 3.25504956e-02 1.37300115e+02] [-5.09753917e-02 4.13001728e-04 9.98699824e-01 -7.16718728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.63, Y:137.33, Z:-7.17 [[ 7.63876701e-01 -6.44168997e-01 3.92261339e-02 5.80632798e+02] [ 6.43345831e-01 7.64883109e-01 3.25572031e-02 1.37334920e+02] [-5.09757481e-02 3.66280864e-04 9.98699824e-01 -7.16713186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.68, Y:137.37, Z:-7.17 [[ 7.66023808e-01 -6.41614634e-01 3.92197298e-02 5.80679767e+02] [ 6.40787718e-01 7.67027136e-01 3.25649160e-02 1.37368489e+02] [-5.09767237e-02 1.86020238e-04 9.98699824e-01 -7.16900000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.72, Y:137.40, Z:-7.17 [[ 7.67611996e-01 -6.39713885e-01 3.92169438e-02 5.80724981e+02] [ 6.38884313e-01 7.68613129e-01 3.25682708e-02 1.37403189e+02] [-5.09770329e-02 5.52948711e-05 9.98699824e-01 -7.17223075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.77, Y:137.44, Z:-7.17 [[ 7.69426574e-01 -6.37530432e-01 3.92134629e-02 5.80772108e+02] [ 6.36697806e-01 7.70425168e-01 3.25724613e-02 1.37438315e+02] [-5.09769741e-02 -9.49914853e-05 9.98699824e-01 -7.17068108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.82, Y:137.47, Z:-7.17 [[ 7.71689458e-01 -6.34789824e-01 3.92078990e-02 5.80817763e+02] [ 6.33953311e-01 7.72684799e-01 3.25791573e-02 1.37473442e+02] [-5.09762651e-02 -2.85014868e-04 9.98699824e-01 -7.17273107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.86, Y:137.51, Z:-7.18 [[ 7.74569399e-01 -6.31272646e-01 3.92057598e-02 5.80862410e+02] [ 6.30431484e-01 7.75560813e-01 3.25817314e-02 1.37510527e+02] [-5.09744068e-02 -5.20266831e-04 9.98699824e-01 -7.17746705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.91, Y:137.55, Z:-7.18 [[ 7.76605163e-01 -6.28766918e-01 3.91992806e-02 5.80907121e+02] [ 6.27922164e-01 7.77593518e-01 3.25895247e-02 1.37546667e+02] [-5.09723215e-02 -6.95096043e-04 9.98699824e-01 -7.18357982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.95, Y:137.59, Z:-7.18 [[ 7.78353650e-01 -6.26601370e-01 3.91959015e-02 5.80950627e+02] [ 6.25753661e-01 7.79339473e-01 3.25935883e-02 1.37585813e+02] [-5.09701003e-02 -8.42359565e-04 9.98699824e-01 -7.18377829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.9853361950001 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:581.00, Y:137.62, Z:-7.19 [[ 7.77466434e-01 -6.27702210e-01 3.91902851e-02 5.80995162e+02] [ 6.26855557e-01 7.78453164e-01 3.26003400e-02 1.37624439e+02] [-5.09711069e-02 -7.79022145e-04 9.98699824e-01 -7.19063068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.04, Y:137.66, Z:-7.19 [[ 7.75892311e-01 -6.29647273e-01 3.91846080e-02 5.81040077e+02] [ 6.28802749e-01 7.76880864e-01 3.26071623e-02 1.37662073e+02] [-5.09727829e-02 -6.60257333e-04 9.98699825e-01 -7.19197056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.1053361950001 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:581.08, Y:137.70, Z:-7.20 [[ 7.72819698e-01 -6.33415126e-01 3.91789822e-02 5.81084775e+02] [ 6.32575080e-01 7.73812058e-01 3.26139205e-02 1.37697640e+02] [-5.09753194e-02 -4.21032445e-04 9.98699825e-01 -7.19716065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.13, Y:137.73, Z:-7.20 [[ 7.71777646e-01 -6.34684557e-01 3.91762430e-02 5.81129927e+02] [ 6.33845976e-01 7.72771244e-01 3.26172106e-02 1.37733847e+02] [-5.09759139e-02 -3.41530085e-04 9.98699825e-01 -7.19761447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.17, Y:137.77, Z:-7.20 [[ 7.74306875e-01 -6.31596852e-01 3.91698689e-02 5.81174460e+02] [ 6.30753922e-01 7.75296787e-01 3.26248635e-02 1.37771111e+02] [-5.09740345e-02 -5.55107664e-04 9.98699825e-01 -7.20089193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.22, Y:137.81, Z:-7.20 [[ 7.77119901e-01 -6.28132629e-01 3.91670840e-02 5.81219384e+02] [ 6.27285118e-01 7.78105893e-01 3.26282064e-02 1.37809314e+02] [-5.09709800e-02 -7.87099572e-04 9.98699825e-01 -7.19856398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.3453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.26, Y:137.85, Z:-7.21 [[ 7.80490476e-01 -6.23939904e-01 3.91613750e-02 5.81261496e+02] [ 6.23086753e-01 7.81471593e-01 3.26350571e-02 1.37848712e+02] [-5.09658165e-02 -1.07041728e-03 9.98699825e-01 -7.20617333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.405336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:581.31, Y:137.89, Z:-7.22 [[ 7.80192448e-01 -6.24312896e-01 3.91554821e-02 5.81305570e+02] [ 6.23459860e-01 7.81173665e-01 3.26421258e-02 1.37885439e+02] [-5.09661316e-02 -1.05526866e-03 9.98699825e-01 -7.21564388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.35, Y:137.92, Z:-7.21 [[ 7.79414340e-01 -6.25284224e-01 3.91526049e-02 5.81350303e+02] [ 6.24432237e-01 7.80396468e-01 3.26455766e-02 1.37924004e+02] [-5.09673186e-02 -9.96281844e-04 9.98699825e-01 -7.21479982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.40, Y:137.96, Z:-7.22 [[ 7.78367781e-01 -6.26586867e-01 3.91470858e-02 5.81395403e+02] [ 6.25736192e-01 7.79351045e-01 3.26521935e-02 1.37961205e+02] [-5.09687579e-02 -9.19666992e-04 9.98699825e-01 -7.21851519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.585336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:581.44, Y:138.00, Z:-7.22 [[ 7.77492559e-01 -6.27672903e-01 3.91413807e-02 5.81438898e+02] [ 6.26823258e-01 7.78476712e-01 3.26590309e-02 1.37999017e+02] [-5.09698421e-02 -8.57425751e-04 9.98699825e-01 -7.22067209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.48, Y:138.04, Z:-7.22 [[ 7.76683880e-01 -6.28673687e-01 3.91349697e-02 5.81483859e+02] [ 6.27824923e-01 7.77668794e-01 3.26667114e-02 1.38036368e+02] [-5.09707466e-02 -8.01798831e-04 9.98699825e-01 -7.22247665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.53, Y:138.07, Z:-7.22 [[ 7.75971815e-01 -6.29552780e-01 3.91284993e-02 5.81527723e+02] [ 6.28704741e-01 7.76957353e-01 3.26744599e-02 1.38074202e+02] [-5.09714723e-02 -7.54186931e-04 9.98699825e-01 -7.22387440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.57, Y:138.11, Z:-7.23 [[ 7.75759475e-01 -6.29814825e-01 3.91219091e-02 5.81572223e+02] [ 6.28966721e-01 7.76744957e-01 3.26823486e-02 1.38111812e+02] [-5.09715732e-02 -7.47262655e-04 9.98699825e-01 -7.22517336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.62, Y:138.15, Z:-7.23 [[ 7.75403765e-01 -6.30252889e-01 3.91190216e-02 5.81616896e+02] [ 6.29405167e-01 7.76389576e-01 3.26858044e-02 1.38148573e+02] [-5.09719232e-02 -7.22981492e-04 9.98699825e-01 -7.22987750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.66, Y:138.19, Z:-7.23 [[ 7.75174973e-01 -6.30534397e-01 3.91169441e-02 5.81661256e+02] [ 6.29686908e-01 7.76160984e-01 3.26882905e-02 1.38186955e+02] [-5.09721373e-02 -7.07717097e-04 9.98699825e-01 -7.23313981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.945336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:581.71, Y:138.22, Z:-7.24 [[ 7.74107752e-01 -6.31844519e-01 3.91112795e-02 5.81706515e+02] [ 6.30998356e-01 7.75094902e-01 3.26950667e-02 1.38224764e+02] [-5.09731520e-02 -6.30351570e-04 9.98699825e-01 -7.23857929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.75, Y:138.26, Z:-7.24 [[ 7.73152120e-01 -6.33013860e-01 3.91056597e-02 5.81750263e+02] [ 6.32168851e-01 7.74140257e-01 3.27017871e-02 1.38260666e+02] [-5.09739499e-02 -5.62076042e-04 9.98699825e-01 -7.24106395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.80, Y:138.30, Z:-7.24 [[ 7.71881515e-01 -6.34562854e-01 3.91013016e-02 5.81796559e+02] [ 6.33719564e-01 7.72871119e-01 3.27069971e-02 1.38296934e+02] [-5.09749122e-02 -4.66666667e-04 9.98699825e-01 -7.24127514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.84, Y:138.33, Z:-7.24 [[ 7.71575592e-01 -6.34935144e-01 3.90956498e-02 5.81841199e+02] [ 6.34091989e-01 7.72565311e-01 3.27137516e-02 1.38334490e+02] [-5.09750534e-02 -4.50893918e-04 9.98699825e-01 -7.24361467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.185336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:581.88, Y:138.37, Z:-7.25 [[ 7.71155690e-01 -6.35445462e-01 3.90892186e-02 5.81884460e+02] [ 6.34602573e-01 7.72145636e-01 3.27214342e-02 1.38370864e+02] [-5.09752564e-02 -4.27201464e-04 9.98699825e-01 -7.24936034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.245336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:581.93, Y:138.41, Z:-7.25 [[ 7.71739143e-01 -6.34736945e-01 3.90858680e-02 5.81928361e+02] [ 6.33892944e-01 7.72728142e-01 3.27254361e-02 1.38408425e+02] [-5.09747935e-02 -4.79244108e-04 9.98699825e-01 -7.25075771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.305336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:581.97, Y:138.44, Z:-7.25 [[ 7.72009729e-01 -6.34408191e-01 3.90797301e-02 5.81973705e+02] [ 6.33563398e-01 7.72998051e-01 3.27327641e-02 1.38444867e+02] [-5.09744889e-02 -5.10525702e-04 9.98699825e-01 -7.25403113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.02, Y:138.48, Z:-7.26 [[ 7.72973851e-01 -6.33233519e-01 3.90734724e-02 5.82018929e+02] [ 6.32386847e-01 7.73960563e-01 3.27402324e-02 1.38481387e+02] [-5.09735392e-02 -5.97793522e-04 9.98699825e-01 -7.25514049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.06, Y:138.52, Z:-7.26 [[ 7.74587915e-01 -6.31258513e-01 3.90672753e-02 5.82062571e+02] [ 6.30408952e-01 7.75572141e-01 3.27476253e-02 1.38519437e+02] [-5.09717076e-02 -7.37554716e-04 9.98699825e-01 -7.25703927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.11, Y:138.56, Z:-7.26 [[ 7.77282591e-01 -6.27937896e-01 3.90611358e-02 5.82105249e+02] [ 6.27083763e-01 7.78262852e-01 3.27549469e-02 1.38559985e+02] [-5.09679034e-02 -9.65245948e-04 9.98699825e-01 -7.25972805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.545336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:582.15, Y:138.60, Z:-7.27 [[ 7.78903017e-01 -6.25927123e-01 3.90554300e-02 5.82145924e+02] [ 6.25070120e-01 7.79880769e-01 3.27617488e-02 1.38602218e+02] [-5.09650459e-02 -1.10584269e-03 9.98699825e-01 -7.26652378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.19, Y:138.64, Z:-7.26 [[ 7.77856083e-01 -6.27228055e-01 3.90497302e-02 5.82187912e+02] [ 6.26372346e-01 7.78834968e-01 3.27685412e-02 1.38642956e+02] [-5.09666437e-02 -1.02953795e-03 9.98699825e-01 -7.26484986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.23, Y:138.68, Z:-7.27 [[ 7.75613934e-01 -6.29998651e-01 3.90477252e-02 5.82230213e+02] [ 6.29146319e-01 7.76595761e-01 3.27709302e-02 1.38682818e+02] [-5.09699397e-02 -8.50857499e-04 9.98699825e-01 -7.26739657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.27, Y:138.72, Z:-7.27 [[ 7.70775058e-01 -6.35909825e-01 3.90449028e-02 5.82273505e+02] [ 6.35064853e-01 7.71763227e-01 3.27742925e-02 1.38723542e+02] [-5.09749148e-02 -4.65561753e-04 9.98699825e-01 -7.26586790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.32, Y:138.76, Z:-7.27 [[ 7.65738828e-01 -6.41965719e-01 3.90392376e-02 5.82317403e+02] [ 6.41128219e-01 7.66733337e-01 3.27810394e-02 1.38760459e+02] [-5.09769884e-02 -7.25577921e-05 9.98699825e-01 -7.26844593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.8453361950001 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:582.36, Y:138.80, Z:-7.27 [[ 7.61770350e-01 -6.46670049e-01 3.90356513e-02 5.82363694e+02] [ 6.45838471e-01 7.62769816e-01 3.27853093e-02 1.38796197e+02] [-5.09764941e-02 2.35848810e-04 9.98699825e-01 -7.27290473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.41, Y:138.83, Z:-7.28 [[ 7.60553709e-01 -6.48100854e-01 3.90299725e-02 5.82408108e+02] [ 6.47270810e-01 7.61554449e-01 3.27920683e-02 1.38832751e+02] [-5.09760167e-02 3.22832754e-04 9.98699826e-01 -7.27893142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.45, Y:138.87, Z:-7.28 [[ 7.59730148e-01 -6.49066270e-01 3.90266390e-02 5.82454880e+02] [ 6.48237294e-01 7.60731773e-01 3.27960352e-02 1.38867817e+02] [-5.09756045e-02 3.82386192e-04 9.98699826e-01 -7.28029532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.50, Y:138.90, Z:-7.28 [[ 7.59806345e-01 -6.48977460e-01 3.90201846e-02 5.82500849e+02] [ 6.48147972e-01 7.60807546e-01 3.28037128e-02 1.38902675e+02] [-5.09757211e-02 3.66384416e-04 9.98699826e-01 -7.28409228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.55, Y:138.94, Z:-7.29 [[ 7.60964548e-01 -6.47619398e-01 3.90137418e-02 5.82547409e+02] [ 6.46787731e-01 7.61963939e-01 3.28113734e-02 1.38935939e+02] [-5.09763463e-02 2.65317621e-04 9.98699826e-01 -7.28906181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.59, Y:138.97, Z:-7.29 [[ 7.62846646e-01 -6.45401551e-01 3.90106766e-02 5.82593486e+02] [ 6.44566792e-01 7.63843456e-01 3.28150173e-02 1.38972028e+02] [-5.09769131e-02 1.12160781e-04 9.98699826e-01 -7.29146806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.64, Y:139.01, Z:-7.29 [[ 7.65053111e-01 -6.42784836e-01 3.90050239e-02 5.82642275e+02] [ 6.41946325e-01 7.66046767e-01 3.28217350e-02 1.39005708e+02] [-5.09769860e-02 -7.12387491e-05 9.98699826e-01 -7.29263485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.69, Y:139.04, Z:-7.29 [[ 7.66760932e-01 -6.40747010e-01 3.89992636e-02 5.82688742e+02] [ 6.39905510e-01 7.67752058e-01 3.28285780e-02 1.39041933e+02] [-5.09765781e-02 -2.15827416e-04 9.98699826e-01 -7.29490181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.325336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:582.73, Y:139.08, Z:-7.30 [[ 7.69496349e-01 -6.37459706e-01 3.89935021e-02 5.82733876e+02] [ 6.36613625e-01 7.70483567e-01 3.28354200e-02 1.39077748e+02] [-5.09751098e-02 -4.42941108e-04 9.98699826e-01 -7.29790764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.78, Y:139.11, Z:-7.30 [[ 7.71114653e-01 -6.35501543e-01 3.89869323e-02 5.82779134e+02] [ 6.34652561e-01 7.72099378e-01 3.28432188e-02 1.39111698e+02] [-5.09737024e-02 -5.82730813e-04 9.98699826e-01 -7.30236728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.82, Y:139.15, Z:-7.30 [[ 7.71354638e-01 -6.35210450e-01 3.89834230e-02 5.82823782e+02] [ 6.34360886e-01 7.72338860e-01 3.28473836e-02 1.39148159e+02] [-5.09734139e-02 -6.07422900e-04 9.98699826e-01 -7.30475722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.505336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:582.87, Y:139.18, Z:-7.31 [[ 7.72036155e-01 -6.34382360e-01 3.89768832e-02 5.82867187e+02] [ 6.33531349e-01 7.73019126e-01 3.28551420e-02 1.39184396e+02] [-5.09725987e-02 -6.72280099e-04 9.98699826e-01 -7.31163569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.91, Y:139.22, Z:-7.31 [[ 7.73255257e-01 -6.32896010e-01 3.89736746e-02 5.82911048e+02] [ 6.32042918e-01 7.74236423e-01 3.28589477e-02 1.39222186e+02] [-5.09711353e-02 -7.75319074e-04 9.98699826e-01 -7.31447479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.96, Y:139.26, Z:-7.32 [[ 7.73788518e-01 -6.32244321e-01 3.89672679e-02 5.82955531e+02] [ 6.31390020e-01 7.74768632e-01 3.28665436e-02 1.39261044e+02] [-5.09703024e-02 -8.28210071e-04 9.98699826e-01 -7.31642811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.00, Y:139.30, Z:-7.32 [[ 7.73451251e-01 -6.32657219e-01 3.89615876e-02 5.82998020e+02] [ 6.31803102e-01 7.74431526e-01 3.28732760e-02 1.39298982e+02] [-5.09705970e-02 -8.09824565e-04 9.98699826e-01 -7.32100912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.04, Y:139.34, Z:-7.32 [[ 7.72204742e-01 -6.34178344e-01 3.89572067e-02 5.83042644e+02] [ 6.33325897e-01 7.73186468e-01 3.28784668e-02 1.39337870e+02] [-5.09719967e-02 -7.16300139e-04 9.98699826e-01 -7.32084616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.09, Y:139.38, Z:-7.32 [[ 7.70747277e-01 -6.35949220e-01 3.89515659e-02 5.83085439e+02] [ 6.35098691e-01 7.71730665e-01 3.28851482e-02 1.39376099e+02] [-5.09734022e-02 -6.08049879e-04 9.98699826e-01 -7.32483391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.13, Y:139.41, Z:-7.33 [[ 7.68958580e-01 -6.38111258e-01 3.89451504e-02 5.83128100e+02] [ 6.37263109e-01 7.69944022e-01 3.28927442e-02 1.39414790e+02] [-5.09748161e-02 -4.74850289e-04 9.98699826e-01 -7.33097693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.17, Y:139.45, Z:-7.33 [[ 7.67496650e-01 -6.39869069e-01 3.89418386e-02 5.83171719e+02] [ 6.39022978e-01 7.68483860e-01 3.28966645e-02 1.39452074e+02] [-5.09757325e-02 -3.63350122e-04 9.98699826e-01 -7.33490726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.22, Y:139.49, Z:-7.33 [[ 7.66108596e-01 -6.41530707e-01 3.89354821e-02 5.83216807e+02] [ 6.40686375e-01 7.67097310e-01 3.29041862e-02 1.39490150e+02] [-5.09763494e-02 -2.62746942e-04 9.98699826e-01 -7.33472647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.26, Y:139.53, Z:-7.34 [[ 7.66071836e-01 -6.41574952e-01 3.89297230e-02 5.83259913e+02] [ 6.40730332e-01 7.67060303e-01 3.29109985e-02 1.39526973e+02] [-5.09763174e-02 -2.68734723e-04 9.98699826e-01 -7.33978828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.30, Y:139.57, Z:-7.34 [[ 7.67339401e-01 -6.40058586e-01 3.89262115e-02 5.83304178e+02] [ 6.39211801e-01 7.68326015e-01 3.29151513e-02 1.39565770e+02] [-5.09756462e-02 -3.74998670e-04 9.98699826e-01 -7.34008194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.35, Y:139.60, Z:-7.34 [[ 7.70347743e-01 -6.36435031e-01 3.89205273e-02 5.83345579e+02] [ 6.35583266e-01 7.71330061e-01 3.29218712e-02 1.39604354e+02] [-5.09732048e-02 -6.24053345e-04 9.98699826e-01 -7.34402478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.2253361950001 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:583.39, Y:139.64, Z:-7.35 [[ 7.71358085e-01 -6.35210344e-01 3.89168808e-02 5.83388921e+02] [ 6.34356802e-01 7.72338860e-01 3.29261812e-02 1.39643237e+02] [-5.09720702e-02 -7.10688009e-04 9.98699826e-01 -7.34915959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.285336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:583.43, Y:139.68, Z:-7.36 [[ 7.71000266e-01 -6.35644957e-01 3.89111624e-02 5.83429853e+02] [ 6.34791628e-01 7.71981224e-01 3.29329377e-02 1.39682822e+02] [-5.09723425e-02 -6.90823602e-04 9.98699826e-01 -7.35561211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.3453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.47, Y:139.72, Z:-7.36 [[ 7.70587980e-01 -6.36144926e-01 3.89075766e-02 5.83472480e+02] [ 6.35292019e-01 7.71569306e-01 3.29371734e-02 1.39722513e+02] [-5.09727076e-02 -6.63317032e-04 9.98699826e-01 -7.35743846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.405336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:583.52, Y:139.76, Z:-7.36 [[ 7.69335272e-01 -6.37659722e-01 3.89013891e-02 5.83515697e+02] [ 6.36808378e-01 7.70317955e-01 3.29444797e-02 1.39761694e+02] [-5.09738063e-02 -5.72619779e-04 9.98699826e-01 -7.36047643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.56, Y:139.80, Z:-7.36 [[ 7.65639857e-01 -6.42092507e-01 3.88950143e-02 5.83559305e+02] [ 6.41246470e-01 7.66627113e-01 3.29520043e-02 1.39800796e+02] [-5.09762075e-02 -2.88077248e-04 9.98699826e-01 -7.35934784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.60, Y:139.84, Z:-7.36 [[ 7.60853746e-01 -6.47757043e-01 3.88894587e-02 5.83603751e+02] [ 6.46918022e-01 7.61846970e-01 3.29585595e-02 1.39840194e+02] [-5.09769554e-02 8.16482301e-05 9.98699826e-01 -7.35846713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.585336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:583.65, Y:139.88, Z:-7.36 [[ 7.58656179e-01 -6.50329809e-01 3.88837029e-02 5.83648797e+02] [ 6.49493807e-01 7.59651947e-01 3.29653487e-02 1.39875113e+02] [-5.09764295e-02 2.45358723e-04 9.98699826e-01 -7.36377442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.645336195 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:583.69, Y:139.91, Z:-7.37 [[ 7.58362958e-01 -6.50671981e-01 3.88792574e-02 5.83694550e+02] [ 6.49836161e-01 7.59358877e-01 3.29705909e-02 1.39911271e+02] [-5.09763490e-02 2.61472543e-04 9.98699827e-01 -7.36885804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.705336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:583.74, Y:139.95, Z:-7.37 [[ 7.59464342e-01 -6.49386475e-01 3.88731214e-02 5.83738691e+02] [ 6.48548599e-01 7.60458532e-01 3.29778238e-02 1.39949182e+02] [-5.09767496e-02 1.65627164e-04 9.98699827e-01 -7.37022796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.78, Y:139.99, Z:-7.37 [[ 7.59233074e-01 -6.49657233e-01 3.88666796e-02 5.83783685e+02] [ 6.48819322e-01 7.60227236e-01 3.29854142e-02 1.39986264e+02] [-5.09767213e-02 1.73835242e-04 9.98699827e-01 -7.37131187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.83, Y:140.02, Z:-7.37 [[ 7.58843066e-01 -6.50112912e-01 3.88638973e-02 5.83827264e+02] [ 6.49275430e-01 7.59837589e-01 3.29886920e-02 1.40023211e+02] [-5.09766246e-02 2.00133407e-04 9.98699827e-01 -7.37225284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.87, Y:140.06, Z:-7.37 [[ 7.58523927e-01 -6.50485573e-01 3.88583597e-02 5.83872091e+02] [ 6.49648246e-01 7.59518580e-01 3.29952136e-02 1.40061019e+02] [-5.09765566e-02 2.16606196e-04 9.98699827e-01 -7.37157406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.92, Y:140.10, Z:-7.38 [[ 7.57111322e-01 -6.52129509e-01 3.88529128e-02 5.83917875e+02] [ 6.51294013e-01 7.58107513e-01 3.30016263e-02 1.40095994e+02] [-5.09760194e-02 3.18764619e-04 9.98699827e-01 -7.37681433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.96, Y:140.13, Z:-7.38 [[ 7.53778833e-01 -6.55978960e-01 3.88468216e-02 5.83964816e+02] [ 6.55148181e-01 7.54778961e-01 3.30087948e-02 1.40130975e+02] [-5.09738385e-02 5.69093739e-04 9.98699827e-01 -7.38263412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.01, Y:140.17, Z:-7.39 [[ 7.52474837e-01 -6.57474716e-01 3.88409129e-02 5.84010096e+02] [ 6.56645567e-01 7.53476317e-01 3.30157460e-02 1.40165503e+02] [-5.09727262e-02 6.61195157e-04 9.98699827e-01 -7.38710183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.06, Y:140.20, Z:-7.39 [[ 7.52920897e-01 -6.56964232e-01 3.88345408e-02 5.84057264e+02] [ 6.56134017e-01 7.53921493e-01 3.30232394e-02 1.40199363e+02] [-5.09732821e-02 6.16776226e-04 9.98699827e-01 -7.39104905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.185336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:584.10, Y:140.24, Z:-7.39 [[ 7.57187784e-01 -6.52042196e-01 3.88282640e-02 5.84103844e+02] [ 6.51205097e-01 7.58182629e-01 3.30306180e-02 1.40235421e+02] [-5.09762720e-02 2.74782951e-04 9.98699827e-01 -7.39252813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.15, Y:140.27, Z:-7.39 [[ 7.62710563e-01 -6.45573701e-01 3.88225847e-02 5.84148371e+02] [ 6.44727825e-01 7.63697956e-01 3.30372917e-02 1.40270865e+02] [-5.09767353e-02 -1.67890767e-04 9.98699827e-01 -7.39417871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.305336195 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:584.19, Y:140.31, Z:-7.40 [[ 7.66619274e-01 -6.40927572e-01 3.88167045e-02 5.84191568e+02] [ 6.40075363e-01 7.67601205e-01 3.30441992e-02 1.40310084e+02] [-5.09746875e-02 -4.86703769e-04 9.98699827e-01 -7.39622008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.24, Y:140.35, Z:-7.40 [[ 7.71174700e-01 -6.35439273e-01 3.88138182e-02 5.84235925e+02] [ 6.34579906e-01 7.72150374e-01 3.30475892e-02 1.40346615e+02] [-5.09698402e-02 -8.54995593e-04 9.98699827e-01 -7.39678412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.28, Y:140.39, Z:-7.40 [[ 7.72610523e-01 -6.33692898e-01 3.88109614e-02 5.84277476e+02] [ 6.32831158e-01 7.73584101e-01 3.30509438e-02 1.40386842e+02] [-5.09676910e-02 -9.74721337e-04 9.98699827e-01 -7.39845555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.4853361950001 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:584.32, Y:140.43, Z:-7.41 [[ 7.72813483e-01 -6.33445766e-01 3.88044110e-02 5.84319370e+02] [ 6.32583328e-01 7.73786443e-01 3.30586327e-02 1.40425831e+02] [-5.09671781e-02 -1.00113358e-03 9.98699827e-01 -7.40531345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.36, Y:140.47, Z:-7.41 [[ 7.72139563e-01 -6.34267273e-01 3.88010513e-02 5.84362817e+02] [ 6.33405672e-01 7.73113265e-01 3.30625756e-02 1.40465933e+02] [-5.09681171e-02 -9.52116697e-04 9.98699827e-01 -7.40809858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.40, Y:140.51, Z:-7.41 [[ 7.70948449e-01 -6.35714886e-01 3.87952631e-02 5.84404742e+02] [ 6.34854773e-01 7.71923464e-01 3.30693660e-02 1.40505873e+02] [-5.09696621e-02 -8.65418494e-04 9.98699827e-01 -7.41226313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.45, Y:140.55, Z:-7.42 [[ 7.69004051e-01 -6.38065989e-01 3.87886932e-02 5.84445632e+02] [ 6.37208468e-01 7.69981347e-01 3.30770703e-02 1.40547068e+02] [-5.09719238e-02 -7.19917285e-04 9.98699827e-01 -7.41555106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.7253361950001 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:584.49, Y:140.59, Z:-7.42 [[ 7.67368502e-01 -6.40032441e-01 3.87821746e-02 5.84486987e+02] [ 6.39177038e-01 7.68347653e-01 3.30847115e-02 1.40587597e+02] [-5.09734815e-02 -5.99489952e-04 9.98699827e-01 -7.41986645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.53, Y:140.63, Z:-7.42 [[ 7.65403845e-01 -6.42380818e-01 3.87793503e-02 5.84528384e+02] [ 6.41528253e-01 7.66385467e-01 3.30880216e-02 1.40629402e+02] [-5.09750409e-02 -4.47650136e-04 9.98699827e-01 -7.41799733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.8453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.57, Y:140.67, Z:-7.42 [[ 7.65733447e-01 -6.41988235e-01 3.87736128e-02 5.84567739e+02] [ 6.41134826e-01 7.66714336e-01 3.30947436e-02 1.40671916e+02] [-5.09747208e-02 -4.82638599e-04 9.98699827e-01 -7.41964875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.61, Y:140.71, Z:-7.42 [[ 7.66034395e-01 -6.41629314e-01 3.87701996e-02 5.84610322e+02] [ 6.40775243e-01 7.67014707e-01 3.30987417e-02 1.40711586e+02] [-5.09744362e-02 -5.11790531e-04 9.98699827e-01 -7.42254219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.65, Y:140.75, Z:-7.43 [[ 7.66607515e-01 -6.40944837e-01 3.87638115e-02 5.84648559e+02] [ 6.40089512e-01 7.67586734e-01 3.31062214e-02 1.40753813e+02] [-5.09738492e-02 -5.67168979e-04 9.98699827e-01 -7.42857373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.69, Y:140.80, Z:-7.43 [[ 7.64504373e-01 -6.43452157e-01 3.87606235e-02 5.84688644e+02] [ 6.42599855e-01 7.65486223e-01 3.31099535e-02 1.40796147e+02] [-5.09753943e-02 -4.05133187e-04 9.98699827e-01 -7.43051948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.73, Y:140.84, Z:-7.43 [[ 7.62443679e-01 -6.45892988e-01 3.87541663e-02 5.84729806e+02] [ 6.45043445e-01 7.63427917e-01 3.31175097e-02 1.40835929e+02] [-5.09763798e-02 -2.52114996e-04 9.98699827e-01 -7.43335059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.77, Y:140.88, Z:-7.44 [[ 7.58939821e-01 -6.50006717e-01 3.87506908e-02 5.84771167e+02] [ 6.49162301e-01 7.59928462e-01 3.31215759e-02 1.40877244e+02] [-5.09769997e-02 1.82047278e-05 9.98699827e-01 -7.43717948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.81, Y:140.92, Z:-7.44 [[ 7.56180412e-01 -6.53215168e-01 3.87443978e-02 5.84814079e+02] [ 6.52374571e-01 7.57172301e-01 3.31289356e-02 1.40915752e+02] [-5.09765081e-02 2.24407759e-04 9.98699827e-01 -7.44227043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.86, Y:140.95, Z:-7.45 [[ 7.55523695e-01 -6.53975020e-01 3.87378173e-02 5.84857734e+02] [ 6.53135026e-01 7.56516095e-01 3.31366284e-02 1.40953207e+02] [-5.09763095e-02 2.65517300e-04 9.98699827e-01 -7.44660310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.90, Y:140.99, Z:-7.45 [[ 7.56884076e-01 -6.52400479e-01 3.87312527e-02 5.84898179e+02] [ 6.51558027e-01 7.57874391e-01 3.31442996e-02 1.40993064e+02] [-5.09767815e-02 1.49266026e-04 9.98699828e-01 -7.45226990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.94, Y:141.03, Z:-7.46 [[ 7.58377147e-01 -6.50664534e-01 3.87268208e-02 5.84940115e+02] [ 6.49819551e-01 7.59365303e-01 3.31494771e-02 1.41033711e+02] [-5.09769931e-02 2.56393892e-05 9.98699828e-01 -7.45638462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.98, Y:141.07, Z:-7.46 [[ 7.58865732e-01 -6.50095029e-01 3.87202146e-02 5.84983306e+02] [ 6.49248910e-01 7.59852916e-01 3.31571917e-02 1.41073078e+02] [-5.09769935e-02 -2.27994509e-05 9.98699828e-01 -7.45800954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.03, Y:141.11, Z:-7.46 [[ 7.57606936e-01 -6.51561907e-01 3.87144760e-02 5.85025072e+02] [ 6.50717358e-01 7.58595463e-01 3.31638908e-02 1.41111652e+02] [-5.09769538e-02 6.69877863e-05 9.98699828e-01 -7.46076587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.07, Y:141.15, Z:-7.47 [[ 7.54948750e-01 -6.54640254e-01 3.87107521e-02 5.85070062e+02] [ 6.53799513e-01 7.55940517e-01 3.31682369e-02 1.41147893e+02] [-5.09762890e-02 2.68751888e-04 9.98699828e-01 -7.46555685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.625336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:585.11, Y:141.19, Z:-7.47 [[ 7.53274958e-01 -6.56565929e-01 3.87042389e-02 5.85113388e+02] [ 6.55727333e-01 7.54268539e-01 3.31758355e-02 1.41185413e+02] [-5.09755130e-02 3.88901304e-04 9.98699828e-01 -7.47056650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.16, Y:141.22, Z:-7.47 [[ 7.51311358e-01 -6.58812197e-01 3.87005390e-02 5.85157708e+02] [ 6.57976349e-01 7.52307252e-01 3.31801510e-02 1.41222856e+02] [-5.09741843e-02 5.35414976e-04 9.98699828e-01 -7.47010864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.20, Y:141.26, Z:-7.47 [[ 7.51103540e-01 -6.59049501e-01 3.86940162e-02 5.85201276e+02] [ 6.58213575e-01 7.52099370e-01 3.31877560e-02 1.41259188e+02] [-5.09741192e-02 5.41485713e-04 9.98699828e-01 -7.47333529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.25, Y:141.30, Z:-7.48 [[ 7.51977946e-01 -6.58051842e-01 3.86903406e-02 5.85246720e+02] [ 6.57214374e-01 7.52972479e-01 3.31920405e-02 1.41295187e+02] [-5.09748451e-02 4.68165512e-04 9.98699828e-01 -7.47832957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.29, Y:141.33, Z:-7.48 [[ 7.53025428e-01 -6.56853290e-01 3.86841152e-02 5.85292639e+02] [ 6.56013867e-01 7.54018311e-01 3.31992943e-02 1.41331022e+02] [-5.09755969e-02 3.77403239e-04 9.98699828e-01 -7.48484811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.34, Y:141.37, Z:-7.49 [[ 7.54238241e-01 -6.55460640e-01 3.86784939e-02 5.85337912e+02] [ 6.54619048e-01 7.55229286e-01 3.32058421e-02 1.41368994e+02] [-5.09762539e-02 2.74562948e-04 9.98699828e-01 -7.49138152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.38, Y:141.41, Z:-7.49 [[ 7.54837490e-01 -6.54770759e-01 3.86732144e-02 5.85384004e+02] [ 6.53927946e-01 7.55827497e-01 3.32119898e-02 1.41406128e+02] [-5.09765186e-02 2.19840596e-04 9.98699828e-01 -7.49416191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.045336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:585.43, Y:141.44, Z:-7.50 [[ 7.56380243e-01 -6.52988325e-01 3.86674982e-02 5.85428023e+02] [ 6.52142839e-01 7.57367968e-01 3.32186436e-02 1.41441680e+02] [-5.09769110e-02 9.08063477e-05 9.98699828e-01 -7.49895959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.47, Y:141.48, Z:-7.50 [[ 7.57795634e-01 -6.51345436e-01 3.86639374e-02 5.85474144e+02] [ 6.50497598e-01 7.58781340e-01 3.32227876e-02 1.41478284e+02] [-5.09769853e-02 -2.52849465e-05 9.98699828e-01 -7.50174010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.52, Y:141.51, Z:-7.50 [[ 7.58189458e-01 -6.50887304e-01 3.86582830e-02 5.85521013e+02] [ 6.50038534e-01 7.59174363e-01 3.32293657e-02 1.41514280e+02] [-5.09769497e-02 -6.47811437e-05 9.98699828e-01 -7.50403596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.57, Y:141.55, Z:-7.51 [[ 7.58712146e-01 -6.50278293e-01 3.86525661e-02 5.85566461e+02] [ 6.49428394e-01 7.59696076e-01 3.32360144e-02 1.41549522e+02] [-5.09768615e-02 -1.14493875e-04 9.98699828e-01 -7.50674879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.61, Y:141.59, Z:-7.51 [[ 7.60298170e-01 -6.48423615e-01 3.86459363e-02 5.85610392e+02] [ 6.47570923e-01 7.61279682e-01 3.32437215e-02 1.41585870e+02] [-5.09763802e-02 -2.49155977e-04 9.98699828e-01 -7.51148643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.3453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.65, Y:141.62, Z:-7.51 [[ 7.62055259e-01 -6.46357911e-01 3.86423808e-02 5.85654576e+02] [ 6.45502349e-01 7.63034270e-01 3.32478539e-02 1.41623522e+02] [-5.09754742e-02 -3.92954328e-04 9.98699828e-01 -7.51383893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.405336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:585.70, Y:141.66, Z:-7.52 [[ 7.63452540e-01 -6.44707275e-01 3.86361047e-02 5.85698161e+02] [ 6.43849228e-01 7.64429373e-01 3.32551455e-02 1.41662235e+02] [-5.09744076e-02 -5.12899149e-04 9.98699828e-01 -7.52004191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.74, Y:141.70, Z:-7.52 [[ 7.64381630e-01 -6.43605795e-01 3.86303654e-02 5.85740725e+02] [ 6.42746004e-01 7.65356928e-01 3.32618112e-02 1.41700664e+02] [-5.09735122e-02 -5.95204496e-04 9.98699828e-01 -7.52253673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.525336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:585.78, Y:141.74, Z:-7.53 [[ 7.62214898e-01 -6.46170635e-01 3.86259065e-02 5.85783257e+02] [ 6.45313863e-01 7.63192849e-01 3.32669884e-02 1.41740223e+02] [-5.09751666e-02 -4.30761214e-04 9.98699828e-01 -7.52695785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.83, Y:141.78, Z:-7.53 [[ 7.56464904e-01 -6.52893096e-01 3.86193566e-02 5.85828201e+02] [ 6.52044628e-01 7.57450068e-01 3.32745903e-02 1.41778705e+02] [-5.09769846e-02 1.04842672e-05 9.98699828e-01 -7.52618972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.87, Y:141.82, Z:-7.53 [[ 7.51722806e-01 -6.58347794e-01 3.86135465e-02 5.85872154e+02] [ 6.57506127e-01 7.52713787e-01 3.32813313e-02 1.41815448e+02] [-5.09756399e-02 3.70307712e-04 9.98699828e-01 -7.52884912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.92, Y:141.85, Z:-7.53 [[ 7.44997957e-01 -6.65948367e-01 3.86110913e-02 5.85918351e+02] [ 6.65116661e-01 7.45997313e-01 3.32841795e-02 1.41850328e+02] [-5.09693153e-02 8.84234420e-04 9.98699828e-01 -7.53118106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.97, Y:141.88, Z:-7.54 [[ 7.40379820e-01 -6.71079290e-01 3.86045010e-02 5.85965119e+02] [ 6.70254110e-01 7.41384571e-01 3.32918215e-02 1.41883330e+02] [-5.09622333e-02 1.22623261e-03 9.98699828e-01 -7.53613045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.825336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:586.01, Y:141.92, Z:-7.54 [[ 7.39348474e-01 -6.72215591e-01 3.86009462e-02 5.86010479e+02] [ 6.71391740e-01 7.40354315e-01 3.32959426e-02 1.41919131e+02] [-5.09604288e-02 1.29905209e-03 9.98699828e-01 -7.53962899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.885336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:586.06, Y:141.95, Z:-7.55 [[ 7.39975263e-01 -6.71525926e-01 3.85945623e-02 5.86057467e+02] [ 6.70700752e-01 7.40980019e-01 3.33033408e-02 1.41954795e+02] [-5.09618563e-02 1.24175361e-03 9.98699828e-01 -7.54506637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.10, Y:141.99, Z:-7.55 [[ 7.42744956e-01 -6.68461539e-01 3.85888665e-02 5.86102460e+02] [ 6.67631876e-01 7.43746009e-01 3.33099393e-02 1.41990018e+02] [-5.09667287e-02 1.02236787e-03 9.98699828e-01 -7.54686174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.15, Y:142.02, Z:-7.55 [[ 7.51671505e-01 -6.58408004e-01 3.85856148e-02 5.86150474e+02] [ 6.57564755e-01 7.52661139e-01 3.33137056e-02 1.42021906e+02] [-5.09759032e-02 3.31577085e-04 9.98699828e-01 -7.55158888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.19, Y:142.06, Z:-7.55 [[ 7.57292216e-01 -6.51935632e-01 3.85802097e-02 5.86194612e+02] [ 6.51083605e-01 7.58274304e-01 3.33199640e-02 1.42061577e+02] [-5.09768534e-02 -1.14007385e-04 9.98699828e-01 -7.55137573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.24, Y:142.10, Z:-7.56 [[ 7.65141816e-01 -6.42705223e-01 3.85745601e-02 5.86236433e+02] [ 6.41841022e-01 7.66113208e-01 3.33265032e-02 1.42099645e+02] [-5.09715977e-02 -7.40766145e-04 9.98699829e-01 -7.55729467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.28, Y:142.14, Z:-7.56 [[ 7.68352388e-01 -6.38863860e-01 3.85691082e-02 5.86278764e+02] [ 6.37994486e-01 7.69319153e-01 3.33328116e-02 1.42139184e+02] [-5.09670823e-02 -1.00446711e-03 9.98699829e-01 -7.56070781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.32, Y:142.18, Z:-7.57 [[ 7.70120892e-01 -6.36731281e-01 3.85627667e-02 5.86320090e+02] [ 6.35858864e-01 7.71084911e-01 3.33401464e-02 1.42180044e+02] [-5.09638817e-02 -1.15546626e-03 9.98699829e-01 -7.56603933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.36, Y:142.22, Z:-7.57 [[ 7.69607268e-01 -6.37352377e-01 3.85564558e-02 5.86361911e+02] [ 6.36480372e-01 7.70571661e-01 3.33474432e-02 1.42221790e+02] [-5.09645843e-02 -1.12400733e-03 9.98699829e-01 -7.57002286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.365336195 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:586.40, Y:142.26, Z:-7.57 [[ 7.69019071e-01 -6.38062310e-01 3.85507100e-02 5.86403105e+02] [ 6.37190862e-01 7.69983967e-01 3.33540841e-02 1.42260750e+02] [-5.09654126e-02 -1.08576664e-03 9.98699829e-01 -7.57472961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.44, Y:142.30, Z:-7.58 [[ 7.67029905e-01 -6.40452383e-01 3.85469960e-02 5.86444375e+02] [ 6.39583727e-01 7.67997315e-01 3.33583759e-02 1.42301786e+02] [-5.09684407e-02 -9.32840563e-04 9.98699829e-01 -7.57648107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.49, Y:142.34, Z:-7.58 [[ 7.61423650e-01 -6.47107909e-01 3.85406176e-02 5.86485465e+02] [ 6.46247338e-01 7.62398259e-01 3.33657436e-02 1.42344075e+02] [-5.09745363e-02 -4.98694730e-04 9.98699829e-01 -7.58227806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.53, Y:142.38, Z:-7.59 [[ 7.54400292e-01 -6.55282577e-01 3.85349837e-02 5.86525931e+02] [ 6.54432235e-01 7.55383838e-01 3.33722490e-02 1.42383926e+02] [-5.09769572e-02 4.25010772e-05 9.98699829e-01 -7.58728893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.57, Y:142.42, Z:-7.59 [[ 7.50545370e-01 -6.59694706e-01 3.85297615e-02 5.86569503e+02] [ 6.58849836e-01 7.51533621e-01 3.33782771e-02 1.42424078e+02] [-5.09758839e-02 3.33415708e-04 9.98699829e-01 -7.59090171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.61, Y:142.46, Z:-7.59 [[ 7.46726080e-01 -6.64015082e-01 3.85244412e-02 5.86611698e+02] [ 6.63175613e-01 7.47718923e-01 3.33844166e-02 1.42463627e+02] [-5.09732098e-02 6.19455350e-04 9.98699829e-01 -7.59492460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.7253361950001 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:586.65, Y:142.50, Z:-7.60 [[ 7.44236990e-01 -6.66804079e-01 3.85178321e-02 5.86653328e+02] [ 6.65967936e-01 7.45232635e-01 3.33920402e-02 1.42502812e+02] [-5.09706941e-02 8.00049699e-04 9.98699829e-01 -7.60153093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.785336195 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:586.70, Y:142.54, Z:-7.61 [[ 7.43156685e-01 -6.68007990e-01 3.85157966e-02 5.86696875e+02] [ 6.67173338e-01 7.44153581e-01 3.33943879e-02 1.42542383e+02] [-5.09693859e-02 8.79449965e-04 9.98699829e-01 -7.60550595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.8453361950001 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:586.74, Y:142.58, Z:-7.61 [[ 7.44489068e-01 -6.66523067e-01 3.85101104e-02 5.86740109e+02] [ 6.65686087e-01 7.45484011e-01 3.34009439e-02 1.42581973e+02] [-5.09711711e-02 7.69007130e-04 9.98699829e-01 -7.60582342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.78, Y:142.62, Z:-7.61 [[ 7.46272597e-01 -6.64525875e-01 3.85041725e-02 5.86781834e+02] [ 6.63685880e-01 7.47264995e-01 3.34077876e-02 1.42620445e+02] [-5.09731596e-02 6.23359170e-04 9.98699829e-01 -7.61012085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.965336195 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:586.82, Y:142.66, Z:-7.61 [[ 7.49632442e-01 -6.60733609e-01 3.85006541e-02 5.86823183e+02] [ 6.59888385e-01 7.50620389e-01 3.34118419e-02 1.42661456e+02] [-5.09757029e-02 3.59533812e-04 9.98699829e-01 -7.61205998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.86, Y:142.70, Z:-7.62 [[ 7.52290274e-01 -6.57706272e-01 3.84942040e-02 5.86863891e+02] [ 6.56856692e-01 7.53274478e-01 3.34192715e-02 1.42702874e+02] [-5.09767659e-02 1.44182654e-04 9.98699829e-01 -7.61624066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.91, Y:142.74, Z:-7.62 [[ 7.54176431e-01 -6.55542722e-01 3.84922039e-02 5.86906475e+02] [ 6.54690201e-01 7.55158089e-01 3.34215750e-02 1.42742529e+02] [-5.09769694e-02 -5.29546368e-06 9.98699829e-01 -7.62124110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.95, Y:142.78, Z:-7.62 [[ 7.55348521e-01 -6.54192207e-01 3.84859476e-02 5.86948845e+02] [ 6.53337564e-01 7.56328331e-01 3.34287778e-02 1.42784107e+02] [-5.09768585e-02 -1.06062601e-04 9.98699829e-01 -7.62346947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.99, Y:142.82, Z:-7.63 [[ 7.52311377e-01 -6.57682924e-01 3.84806963e-02 5.86992032e+02] [ 6.56832518e-01 7.53294867e-01 3.34348216e-02 1.42823509e+02] [-5.09768223e-02 1.21975976e-04 9.98699829e-01 -7.62629699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.04, Y:142.86, Z:-7.63 [[ 7.48681225e-01 -6.61812735e-01 3.84750177e-02 5.87038376e+02] [ 6.60967417e-01 7.49669093e-01 3.34413550e-02 1.42859952e+02] [-5.09754462e-02 3.93818418e-04 9.98699829e-01 -7.63037000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.325336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:587.08, Y:142.90, Z:-7.64 [[ 7.45267051e-01 -6.65655418e-01 3.84692964e-02 5.87083287e+02] [ 6.64814854e-01 7.46258967e-01 3.34479352e-02 1.42895314e+02] [-5.09728567e-02 6.47315702e-04 9.98699829e-01 -7.63605147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.385336195 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:587.13, Y:142.93, Z:-7.64 [[ 7.45968982e-01 -6.64868915e-01 3.84656210e-02 5.87128323e+02] [ 6.64027087e-01 7.46959825e-01 3.34521614e-02 1.42932175e+02] [-5.09735758e-02 5.87939458e-04 9.98699829e-01 -7.64323176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.17, Y:142.97, Z:-7.64 [[ 7.48331501e-01 -6.62209043e-01 3.84596802e-02 5.87171757e+02] [ 6.61363343e-01 7.49319041e-01 3.34589902e-02 1.42970336e+02] [-5.09754165e-02 3.97406262e-04 9.98699829e-01 -7.64083241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.505336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:587.22, Y:143.01, Z:-7.65 [[ 7.53582045e-01 -6.56228210e-01 3.84530552e-02 5.87216666e+02] [ 6.55374283e-01 7.54562480e-01 3.34666023e-02 1.43007478e+02] [-5.09769612e-02 -1.86870949e-05 9.98699829e-01 -7.64751733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.26, Y:143.04, Z:-7.65 [[ 7.57936056e-01 -6.51194862e-01 3.84472032e-02 5.87260670e+02] [ 6.50334083e-01 7.58910480e-01 3.34733238e-02 1.43044903e+02] [-5.09756419e-02 -3.67112325e-04 9.98699829e-01 -7.64912830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.30, Y:143.08, Z:-7.65 [[ 7.61538433e-01 -6.46978557e-01 3.84442659e-02 5.87303050e+02] [ 6.46112214e-01 7.62507914e-01 3.34766970e-02 1.43083831e+02] [-5.09727621e-02 -6.54481587e-04 9.98699829e-01 -7.65060269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.35, Y:143.12, Z:-7.65 [[ 7.62635216e-01 -6.45685529e-01 3.84411863e-02 5.87348444e+02] [ 6.44817363e-01 7.63603066e-01 3.34802329e-02 1.43121452e+02] [-5.09715096e-02 -7.45660224e-04 9.98699829e-01 -7.65292552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.39, Y:143.16, Z:-7.66 [[ 7.62308093e-01 -6.46072061e-01 3.84351863e-02 5.87394560e+02] [ 6.45204040e-01 7.63276071e-01 3.34871195e-02 1.43158345e+02] [-5.09717503e-02 -7.28964746e-04 9.98699829e-01 -7.65615675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.44, Y:143.19, Z:-7.66 [[ 7.61569232e-01 -6.46943198e-01 3.84292082e-02 5.87438470e+02] [ 6.46075937e-01 7.62537892e-01 3.34939784e-02 1.43194998e+02] [-5.09724289e-02 -6.79796671e-04 9.98699829e-01 -7.66244168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.49, Y:143.23, Z:-7.67 [[ 7.60221009e-01 -6.48527081e-01 3.84270990e-02 5.87485224e+02] [ 6.47661717e-01 7.61191364e-01 3.34963981e-02 1.43230235e+02] [-5.09736972e-02 -5.76904646e-04 9.98699829e-01 -7.66566174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.53, Y:143.26, Z:-7.67 [[ 7.60241778e-01 -6.48503082e-01 3.84212521e-02 5.87530921e+02] [ 6.47637348e-01 7.61211802e-01 3.35031033e-02 1.43263844e+02] [-5.09735763e-02 -5.87421058e-04 9.98699830e-01 -7.67113858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.9853361950001 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:587.58, Y:143.30, Z:-7.67 [[ 7.62105520e-01 -6.46312039e-01 3.84177638e-02 5.87575693e+02] [ 6.45443315e-01 7.63072868e-01 3.35071028e-02 1.43302508e+02] [-5.09715972e-02 -7.39459208e-04 9.98699830e-01 -7.67467704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.62, Y:143.34, Z:-7.68 [[ 7.66524956e-01 -6.41064752e-01 3.84119238e-02 5.87618757e+02] [ 6.40189072e-01 7.67486012e-01 3.35137963e-02 1.43339329e+02] [-5.09651277e-02 -1.09826739e-03 9.98699830e-01 -7.67936647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.66, Y:143.38, Z:-7.68 [[ 7.69942878e-01 -6.36955836e-01 3.84086944e-02 5.87661624e+02] [ 6.36074844e-01 7.70899066e-01 3.35174971e-02 1.43380065e+02] [-5.09583920e-02 -1.37575385e-03 9.98699830e-01 -7.67706977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.70, Y:143.42, Z:-7.68 [[ 7.71323307e-01 -6.35283850e-01 3.84029315e-02 5.87702929e+02] [ 6.34400458e-01 7.72277278e-01 3.35240987e-02 1.43420611e+02] [-5.09550299e-02 -1.49508136e-03 9.98699830e-01 -7.68102186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.74, Y:143.46, Z:-7.69 [[ 7.68098550e-01 -6.39179425e-01 3.83963596e-02 5.87743294e+02] [ 6.38300496e-01 7.69056635e-01 3.35316240e-02 1.43460954e+02] [-5.09616992e-02 -1.24717639e-03 9.98699830e-01 -7.68808079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.79, Y:143.50, Z:-7.69 [[ 7.63827161e-01 -6.44277870e-01 3.83939415e-02 5.87786584e+02] [ 6.43405199e-01 7.64790949e-01 3.35343925e-02 1.43498989e+02] [-5.09688059e-02 -9.11618305e-04 9.98699830e-01 -7.68882568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.3453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.83, Y:143.54, Z:-7.69 [[ 7.56879962e-01 -6.52425584e-01 3.83872395e-02 5.87830295e+02] [ 6.51562901e-01 7.57852701e-01 3.35420627e-02 1.43536616e+02] [-5.09755729e-02 -3.75613992e-04 9.98699830e-01 -7.69151168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.87, Y:143.58, Z:-7.69 [[ 7.51922217e-01 -6.58133473e-01 3.83837354e-02 5.87871247e+02] [ 6.57277969e-01 7.52901276e-01 3.35460721e-02 1.43577478e+02] [-5.09769563e-02 4.74672519e-06 9.98699830e-01 -7.69397175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.92, Y:143.62, Z:-7.70 [[ 7.49326658e-01 -6.61087552e-01 3.83771931e-02 5.87915003e+02] [ 6.60235525e-01 7.50308744e-01 3.35535548e-02 1.43616306e+02] [-5.09765810e-02 1.95413172e-04 9.98699830e-01 -7.69612973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.96, Y:143.65, Z:-7.70 [[ 7.45276512e-01 -6.65650471e-01 3.83715049e-02 5.87959483e+02] [ 6.64804121e-01 7.46263494e-01 3.35600586e-02 1.43654441e+02] [-5.09745221e-02 4.98011164e-04 9.98699830e-01 -7.69529226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.585336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:588.00, Y:143.69, Z:-7.70 [[ 7.42002082e-01 -6.69298877e-01 3.83656561e-02 5.88003863e+02] [ 6.68457035e-01 7.42992912e-01 3.35667436e-02 1.43691670e+02] [-5.09715943e-02 7.39199054e-04 9.98699830e-01 -7.70249719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.05, Y:143.73, Z:-7.70 [[ 7.38983194e-01 -6.72630711e-01 3.83636002e-02 5.88052442e+02] [ 6.71793213e-01 7.39977699e-01 3.35690931e-02 1.43725269e+02] [-5.09678115e-02 9.65410607e-04 9.98699830e-01 -7.70305351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.10, Y:143.76, Z:-7.71 [[ 7.37907335e-01 -6.73811161e-01 3.83573356e-02 5.88097748e+02] [ 6.72974882e-01 7.38902865e-01 3.35762497e-02 1.43760213e+02] [-5.09663970e-02 1.03736251e-03 9.98699830e-01 -7.70770417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.765336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:588.14, Y:143.80, Z:-7.71 [[ 7.39972394e-01 -6.71543007e-01 3.83516171e-02 5.88144965e+02] [ 6.70703338e-01 7.40965066e-01 3.35827803e-02 1.43795499e+02] [-5.09694897e-02 8.72227278e-04 9.98699830e-01 -7.70804260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.19, Y:143.83, Z:-7.71 [[ 7.45602302e-01 -6.65287010e-01 3.83458136e-02 5.88190550e+02] [ 6.64438670e-01 7.46587574e-01 3.35894056e-02 1.43831334e+02] [-5.09751032e-02 4.34103178e-04 9.98699830e-01 -7.71257133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.24, Y:143.87, Z:-7.72 [[ 7.52656982e-01 -6.57295386e-01 3.83437614e-02 5.88236018e+02] [ 6.56436464e-01 7.53633043e-01 3.35917480e-02 1.43869280e+02] [-5.09768266e-02 -1.12820508e-04 9.98699830e-01 -7.71755074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.28, Y:143.91, Z:-7.72 [[ 7.56171623e-01 -6.53249291e-01 3.83384998e-02 5.88278119e+02] [ 6.52384842e-01 7.57142793e-01 3.35977521e-02 1.43908774e+02] [-5.09754266e-02 -3.94210551e-04 9.98699830e-01 -7.71990415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.32, Y:143.95, Z:-7.72 [[ 7.58923682e-01 -6.50050392e-01 3.83318877e-02 5.88322440e+02] [ 6.49181469e-01 7.59890851e-01 3.36052942e-02 1.43947209e+02] [-5.09731854e-02 -6.19502469e-04 9.98699830e-01 -7.71979045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.36, Y:143.99, Z:-7.72 [[ 7.57934179e-01 -6.51204186e-01 3.83260861e-02 5.88363941e+02] [ 6.50336401e-01 7.58902368e-01 3.36119095e-02 1.43987022e+02] [-5.09739737e-02 -5.50766101e-04 9.98699830e-01 -7.72406301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.41, Y:144.03, Z:-7.73 [[ 7.55810447e-01 -6.53668035e-01 3.83232078e-02 5.88408030e+02] [ 6.52803240e-01 7.56781308e-01 3.36151910e-02 1.44025979e+02] [-5.09754631e-02 -3.89198307e-04 9.98699830e-01 -7.72514826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.45, Y:144.06, Z:-7.73 [[ 7.50864721e-01 -6.59343561e-01 3.83176031e-02 5.88453777e+02] [ 6.58485779e-01 7.51841784e-01 3.36215784e-02 1.44061786e+02] [-5.09769464e-02 -1.36603827e-05 9.98699830e-01 -7.72670156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.245336195 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:588.50, Y:144.09, Z:-7.73 [[ 7.43607174e-01 -6.67518243e-01 3.83114486e-02 5.88502716e+02] [ 6.66670839e-01 7.44593251e-01 3.36285900e-02 1.44094960e+02] [-5.09741434e-02 5.34664777e-04 9.98699830e-01 -7.72746524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.305336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:588.55, Y:144.13, Z:-7.73 [[ 7.39672949e-01 -6.71875424e-01 3.83059187e-02 5.88551063e+02] [ 6.71033502e-01 7.40663711e-01 3.36348878e-02 1.44129882e+02] [-5.09702584e-02 8.25738104e-04 9.98699830e-01 -7.72804857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.60, Y:144.16, Z:-7.73 [[ 7.36499461e-01 -6.75352954e-01 3.83005517e-02 5.88601210e+02] [ 6.74515392e-01 7.37493911e-01 3.36409983e-02 1.44160021e+02] [-5.09659712e-02 1.05773455e-03 9.98699830e-01 -7.72864222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.425336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:588.65, Y:144.19, Z:-7.73 [[ 7.36332982e-01 -6.75534838e-01 3.82938970e-02 5.88653071e+02] [ 6.74697128e-01 7.37327308e-01 3.36485717e-02 1.44189179e+02] [-5.09659184e-02 1.06022922e-03 9.98699830e-01 -7.73191505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.70, Y:144.22, Z:-7.73 [[ 7.38060467e-01 -6.73647402e-01 3.82873998e-02 5.88699851e+02] [ 6.72806766e-01 7.39052320e-01 3.36559629e-02 1.44223042e+02] [-5.09686436e-02 9.19885937e-04 9.98699830e-01 -7.73395415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.75, Y:144.25, Z:-7.74 [[ 7.42832241e-01 -6.68382259e-01 3.82807762e-02 5.88748218e+02] [ 6.67534203e-01 7.43817757e-01 3.36634950e-02 1.44253866e+02] [-5.09740040e-02 5.47398013e-04 9.98699830e-01 -7.73760541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.6053361950001 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:588.80, Y:144.29, Z:-7.74 [[ 7.48835866e-01 -6.61649359e-01 3.82749329e-02 5.88797370e+02] [ 6.60792103e-01 7.49813389e-01 3.36701375e-02 1.44286508e+02] [-5.09768821e-02 7.83667997e-05 9.98699830e-01 -7.74364695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.84, Y:144.32, Z:-7.75 [[ 7.51016105e-01 -6.59173931e-01 3.82692823e-02 5.88842550e+02] [ 6.58313125e-01 7.51990504e-01 3.36765587e-02 1.44322991e+02] [-5.09768465e-02 -9.84671325e-05 9.98699830e-01 -7.74509956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.7253361950001 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:588.89, Y:144.36, Z:-7.75 [[ 7.57515231e-01 -6.51695211e-01 3.82626005e-02 5.88888647e+02] [ 6.50824403e-01 7.58480701e-01 3.36841487e-02 1.44357148e+02] [-5.09732425e-02 -6.14021560e-04 9.98699831e-01 -7.74814589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.93, Y:144.39, Z:-7.75 [[ 7.61540147e-01 -6.46987577e-01 3.82580620e-02 5.88933970e+02] [ 6.46110542e-01 7.62499966e-01 3.36893027e-02 1.44393228e+02] [-5.09683313e-02 -9.36819389e-04 9.98699831e-01 -7.74777894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.8453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.98, Y:144.43, Z:-7.75 [[ 7.63004989e-01 -6.45259797e-01 3.82515359e-02 5.88978737e+02] [ 6.44380219e-01 7.63962476e-01 3.36967110e-02 1.44431379e+02] [-5.09658710e-02 -1.06222555e-03 9.98699831e-01 -7.74883198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:589.02, Y:144.47, Z:-7.75 [[ 7.65844093e-01 -6.41887909e-01 3.82457530e-02 5.89019890e+02] [ 6.41003788e-01 7.66797387e-01 3.37032733e-02 1.44473633e+02] [-5.09604671e-02 -1.29578019e-03 9.98699831e-01 -7.74818405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:589.06, Y:144.51, Z:-7.75 [[ 7.67927734e-01 -6.39394013e-01 3.82399217e-02 5.89062069e+02] [ 6.38506468e-01 7.68877841e-01 3.37098882e-02 1.44513894e+02] [-5.09557291e-02 -1.47032070e-03 9.98699831e-01 -7.74987842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:589.10, Y:144.56, Z:-7.75 [[ 7.69209893e-01 -6.37851366e-01 3.82331671e-02 5.89101963e+02] [ 6.36961536e-01 7.70157860e-01 3.37175475e-02 1.44556403e+02] [-5.09523578e-02 -1.58281426e-03 9.98699831e-01 -7.75199338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:589.14, Y:144.60, Z:-7.76 [[ 7.65108717e-01 -6.42765148e-01 3.82310846e-02 5.89142505e+02] [ 6.41881289e-01 7.66062255e-01 3.37199086e-02 1.44598804e+02] [-5.09613729e-02 -1.25957812e-03 9.98699831e-01 -7.75643172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.145336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:589.18, Y:144.64, Z:-7.76 [[ 7.57141856e-01 -6.52131149e-01 3.82253103e-02 5.89182572e+02] [ 6.51258760e-01 7.58105899e-01 3.37264531e-02 1.44642827e+02] [-5.09729038e-02 -6.41141097e-04 9.98699831e-01 -7.76158583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.205336195 meters Centerline goodness : 0.999631 with order 1 Centerline is valid? [True, True] Translation: X:589.22, Y:144.68, Z:-7.77 [[ 7.51729572e-01 -6.58363041e-01 3.82198528e-02 5.89224612e+02] [ 6.57498331e-01 7.52700508e-01 3.37326366e-02 1.44681172e+02] [-5.09764238e-02 -2.28331041e-04 9.98699831e-01 -7.76698662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.265336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:589.27, Y:144.72, Z:-7.76 [[ 7.45815583e-01 -6.65055432e-01 3.82150292e-02 5.89267587e+02] [ 6.64199155e-01 7.46793963e-01 3.37381002e-02 1.44722294e+02] [-5.09764599e-02 2.19989276e-04 9.98699831e-01 -7.76432028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.325336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:589.31, Y:144.76, Z:-7.76 [[ 7.42029983e-01 -6.69276907e-01 3.82089908e-02 5.89309708e+02] [ 6.68425843e-01 7.43012902e-01 3.37449375e-02 1.44761247e+02] [-5.09744805e-02 5.00121455e-04 9.98699831e-01 -7.76431964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:589.35, Y:144.80, Z:-7.77 [[ 7.38220906e-01 -6.73476177e-01 3.82064521e-02 5.89352877e+02] [ 6.72630555e-01 7.39208510e-01 3.37478116e-02 1.44798199e+02] [-5.09708816e-02 7.85487024e-04 9.98699831e-01 -7.76888520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:589.40, Y:144.84, Z:-7.77 [[ 7.35598643e-01 -6.76339678e-01 3.82004820e-02 5.89397792e+02] [ 6.75497549e-01 7.36589227e-01 3.37545680e-02 1.44836041e+02] [-5.09676172e-02 9.74517606e-04 9.98699831e-01 -7.76806695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:589.44, Y:144.87, Z:-7.77 [[ 7.33135087e-01 -6.79009657e-01 3.81946188e-02 5.89443998e+02] [ 6.78170790e-01 7.34128436e-01 3.37612011e-02 1.44871808e+02] [-5.09639374e-02 1.15095374e-03 9.98699831e-01 -7.77096321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:589.49, Y:144.91, Z:-7.78 [[ 7.32270181e-01 -6.79942690e-01 3.81879683e-02 5.89488873e+02] [ 6.79104696e-01 7.33264267e-01 3.37687220e-02 1.44908448e+02] [-5.09626682e-02 1.20580044e-03 9.98699831e-01 -7.77570051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.625336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:589.54, Y:144.94, Z:-7.78 [[ 7.32471469e-01 -6.79726210e-01 3.81814965e-02 5.89535739e+02] [ 6.78887542e-01 7.33464986e-01 3.37760379e-02 1.44942530e+02] [-5.09632490e-02 1.18095822e-03 9.98699831e-01 -7.77844207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:589.58, Y:144.98, Z:-7.78 [[ 7.34588499e-01 -6.77438130e-01 3.81748226e-02 5.89584896e+02] [ 6.76595975e-01 7.35579062e-01 3.37835793e-02 1.44975486e+02] [-5.09668850e-02 1.01190249e-03 9.98699831e-01 -7.77894143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:589.63, Y:145.01, Z:-7.78 [[ 7.39391980e-01 -6.72192402e-01 3.81690275e-02 5.89632656e+02] [ 6.71342880e-01 7.40376232e-01 3.37901254e-02 1.45009025e+02] [-5.09729063e-02 6.40357133e-04 9.98699831e-01 -7.78027026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:589.68, Y:145.04, Z:-7.78 [[ 7.43378994e-01 -6.67780874e-01 3.81624972e-02 5.89678275e+02] [ 6.66925132e-01 7.44357843e-01 3.37974990e-02 1.45044922e+02] [-5.09758775e-02 3.27177647e-04 9.98699831e-01 -7.78328429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.865336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:589.73, Y:145.08, Z:-7.79 [[ 7.48533517e-01 -6.61998269e-01 3.81558127e-02 5.89726292e+02] [ 6.61134580e-01 7.49505361e-01 3.38050438e-02 1.45078673e+02] [-5.09768667e-02 -7.80811136e-05 9.98699831e-01 -7.78818591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:589.77, Y:145.11, Z:-7.79 [[ 7.51104460e-01 -6.59080208e-01 3.81493090e-02 5.89772975e+02] [ 6.58212371e-01 7.52072601e-01 3.38123818e-02 1.45113688e+02] [-5.09761217e-02 -2.86283675e-04 9.98699831e-01 -7.79062177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:589.82, Y:145.15, Z:-7.79 [[ 7.55807039e-01 -6.53682538e-01 3.81426061e-02 5.89818851e+02] [ 6.52807406e-01 7.56768592e-01 3.38199415e-02 1.45149579e+02] [-5.09726315e-02 -6.61574093e-04 9.98699831e-01 -7.79294541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:589.86, Y:145.19, Z:-7.79 [[ 7.60812061e-01 -6.47850793e-01 3.81360425e-02 5.89864404e+02] [ 6.46967922e-01 7.61766512e-01 3.38273410e-02 1.45186117e+02] [-5.09658298e-02 -1.06345286e-03 9.98699831e-01 -7.79379526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:589.91, Y:145.23, Z:-7.80 [[ 7.65798434e-01 -6.41949315e-01 3.81291972e-02 5.89905797e+02] [ 6.41058707e-01 7.66745670e-01 3.38350551e-02 1.45226977e+02] [-5.09557873e-02 -1.46777836e-03 9.98699831e-01 -7.79713248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.165336195 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:589.95, Y:145.27, Z:-7.80 [[ 7.67752046e-01 -6.39611786e-01 3.81255738e-02 5.89947652e+02] [ 6.38718092e-01 7.68696372e-01 3.38391375e-02 1.45268860e+02] [-5.09509014e-02 -1.62857326e-03 9.98699831e-01 -7.79892505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:589.99, Y:145.31, Z:-7.80 [[ 7.67315677e-01 -6.40135570e-01 3.81195967e-02 5.89987634e+02] [ 6.39242188e-01 7.68260296e-01 3.38458693e-02 1.45310212e+02] [-5.09517175e-02 -1.60281175e-03 9.98699832e-01 -7.80195372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.285336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:590.03, Y:145.35, Z:-7.80 [[ 7.64624801e-01 -6.43347525e-01 3.81166153e-02 5.90029734e+02] [ 6.42457944e-01 7.65573001e-01 3.38492266e-02 1.45351440e+02] [-5.09578677e-02 -1.39363581e-03 9.98699832e-01 -7.80425814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.3453361950001 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:590.07, Y:145.39, Z:-7.80 [[ 7.57160939e-01 -6.52115695e-01 3.81107899e-02 5.90070528e+02] [ 6.51236770e-01 7.58119025e-01 3.38557841e-02 1.45392920e+02] [-5.09704031e-02 -8.15129528e-04 9.98699832e-01 -7.80286572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:590.11, Y:145.43, Z:-7.81 [[ 7.48978711e-01 -6.61497329e-01 3.81074068e-02 5.90113598e+02] [ 6.60630213e-01 7.49947498e-01 3.38595916e-02 1.45430780e+02] [-5.09765838e-02 -1.85208985e-04 9.98699832e-01 -7.80530893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.465336195 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:590.16, Y:145.47, Z:-7.81 [[ 7.43019119e-01 -6.68184755e-01 3.81014703e-02 5.90156848e+02] [ 6.67326016e-01 7.43995339e-01 3.38662706e-02 1.45469319e+02] [-5.09762420e-02 2.62815801e-04 9.98699832e-01 -7.80833399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.525336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:590.20, Y:145.51, Z:-7.81 [[ 7.42250638e-01 -6.69038697e-01 3.80947719e-02 5.90199078e+02] [ 6.68180695e-01 7.43227505e-01 3.38738037e-02 1.45507243e+02] [-5.09759677e-02 3.11338733e-04 9.98699832e-01 -7.81248656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.585336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:590.24, Y:145.55, Z:-7.82 [[ 7.42365765e-01 -6.68911253e-01 3.80894480e-02 5.90240545e+02] [ 6.68052776e-01 7.43342215e-01 3.38797891e-02 1.45545742e+02] [-5.09760668e-02 2.94565855e-04 9.98699832e-01 -7.81709903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:590.28, Y:145.59, Z:-7.82 [[ 7.45391874e-01 -6.65537806e-01 3.80839019e-02 5.90282045e+02] [ 6.64674590e-01 7.46364138e-01 3.38860222e-02 1.45586291e+02] [-5.09768875e-02 5.50363626e-05 9.98699832e-01 -7.82046291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:590.32, Y:145.63, Z:-7.82 [[ 7.48023234e-01 -6.62579322e-01 3.80773347e-02 5.90324985e+02] [ 6.61711886e-01 7.48991734e-01 3.38934002e-02 1.45626991e+02] [-5.09766750e-02 -1.56825845e-04 9.98699832e-01 -7.82116249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.765336195 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:590.37, Y:145.67, Z:-7.82 [[ 7.48960677e-01 -6.61519819e-01 3.80714081e-02 5.90365486e+02] [ 6.60650675e-01 7.49927644e-01 3.39000560e-02 1.45667934e+02] [-5.09763603e-02 -2.37907430e-04 9.98699832e-01 -7.82401992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.825336195 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:590.41, Y:145.71, Z:-7.83 [[ 7.49040181e-01 -6.61430193e-01 3.80645202e-02 5.90408072e+02] [ 6.60560540e-01 7.50006690e-01 3.39077882e-02 1.45708582e+02] [-5.09762797e-02 -2.54375775e-04 9.98699832e-01 -7.82652985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.885336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:590.45, Y:145.75, Z:-7.83 [[ 7.48581541e-01 -6.61949562e-01 3.80585513e-02 5.90450145e+02] [ 6.61080239e-01 7.49548348e-01 3.39144865e-02 1.45746363e+02] [-5.09764037e-02 -2.28002339e-04 9.98699832e-01 -7.83280489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:590.49, Y:145.78, Z:-7.84 [[ 7.47506158e-01 -6.63164007e-01 3.80531716e-02 5.90493701e+02] [ 6.62295947e-01 7.48474099e-01 3.39205216e-02 1.45784142e+02] [-5.09766824e-02 -1.53337478e-04 9.98699832e-01 -7.83678920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:590.54, Y:145.82, Z:-7.84 [[ 7.47013321e-01 -6.63719481e-01 3.80466642e-02 5.90536802e+02] [ 6.62851770e-01 7.47981574e-01 3.39278190e-02 1.45822507e+02] [-5.09767582e-02 -1.25234058e-04 9.98699832e-01 -7.83724104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:590.58, Y:145.86, Z:-7.84 [[ 7.46406991e-01 -6.64401625e-01 3.80405711e-02 5.90580828e+02] [ 6.63534450e-01 7.47375724e-01 3.39346494e-02 1.45860387e+02] [-5.09768356e-02 -8.78301213e-05 9.98699832e-01 -7.84091636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:590.63, Y:145.90, Z:-7.84 [[ 7.45359145e-01 -6.65577323e-01 3.80338381e-02 5.90626803e+02] [ 6.64711291e-01 7.46328900e-01 3.39421940e-02 1.45896448e+02] [-5.09769072e-02 -1.76030796e-05 9.98699832e-01 -7.84451842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:590.67, Y:145.93, Z:-7.84 [[ 7.45194254e-01 -6.65762317e-01 3.80270949e-02 5.90672265e+02] [ 6.64896141e-01 7.46163880e-01 3.39497471e-02 1.45933667e+02] [-5.09769070e-02 -1.50878003e-05 9.98699832e-01 -7.84479883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:590.72, Y:145.97, Z:-7.85 [[ 7.46273218e-01 -6.64552986e-01 3.80212136e-02 5.90717956e+02] [ 6.63684902e-01 7.47241138e-01 3.39563324e-02 1.45971350e+02] [-5.09767970e-02 -1.06596022e-04 9.98699832e-01 -7.84568693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:590.76, Y:146.01, Z:-7.85 [[ 7.48523131e-01 -6.62018099e-01 3.80152476e-02 5.90763524e+02] [ 6.61146398e-01 7.49487794e-01 3.39630102e-02 1.46008114e+02] [-5.09760916e-02 -2.88454712e-04 9.98699832e-01 -7.84594017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.365336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:590.81, Y:146.05, Z:-7.85 [[ 7.50678525e-01 -6.59573260e-01 3.80114079e-02 5.90807380e+02] [ 6.58698200e-01 7.51640142e-01 3.39673071e-02 1.46045740e+02] [-5.09748275e-02 -4.60482070e-04 9.98699832e-01 -7.85063063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:590.85, Y:146.09, Z:-7.86 [[ 7.52188026e-01 -6.57851666e-01 3.80047274e-02 5.90849651e+02] [ 6.56974028e-01 7.53147290e-01 3.39747800e-02 1.46085368e+02] [-5.09735231e-02 -5.87303860e-04 9.98699832e-01 -7.85745200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.4853361950001 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:590.89, Y:146.12, Z:-7.86 [[ 7.54255916e-01 -6.55479835e-01 3.80026149e-02 5.90892648e+02] [ 6.54599062e-01 7.55212303e-01 3.39771428e-02 1.46124517e+02] [-5.09713743e-02 -7.50984878e-04 9.98699832e-01 -7.86173824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.545336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:590.93, Y:146.16, Z:-7.86 [[ 7.54431751e-01 -6.55277842e-01 3.79958350e-02 5.90933854e+02] [ 6.54396431e-01 7.55387549e-01 3.39847229e-02 1.46163913e+02] [-5.09710166e-02 -7.74815144e-04 9.98699832e-01 -7.86491456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:590.98, Y:146.20, Z:-7.87 [[ 7.52408996e-01 -6.57599790e-01 3.79897178e-02 5.90976354e+02] [ 6.56720984e-01 7.53367190e-01 3.39915597e-02 1.46202635e+02] [-5.09730494e-02 -6.26910431e-04 9.98699832e-01 -7.86807982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.665336195 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:591.02, Y:146.24, Z:-7.87 [[ 7.49734972e-01 -6.60647232e-01 3.79829851e-02 5.91019214e+02] [ 6.59771939e-01 7.50696377e-01 3.39990813e-02 1.46239381e+02] [-5.09750882e-02 -4.30192506e-04 9.98699832e-01 -7.87221801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.06, Y:146.28, Z:-7.87 [[ 7.47373139e-01 -6.63318283e-01 3.79769154e-02 5.91064721e+02] [ 6.62446083e-01 7.48337350e-01 3.40058597e-02 1.46277387e+02] [-5.09762527e-02 -2.57407310e-04 9.98699832e-01 -7.87029240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.11, Y:146.32, Z:-7.87 [[ 7.46329276e-01 -6.64492904e-01 3.79709379e-02 5.91107936e+02] [ 6.63621881e-01 7.47294551e-01 3.40125330e-02 1.46316434e+02] [-5.09765618e-02 -1.86203916e-04 9.98699833e-01 -7.87275117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.8453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.15, Y:146.35, Z:-7.88 [[ 7.46166038e-01 -6.64676595e-01 3.79640247e-02 5.91152240e+02] [ 6.63805418e-01 7.47131173e-01 3.40202475e-02 1.46353750e+02] [-5.09765686e-02 -1.84028069e-04 9.98699833e-01 -7.87666180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.905336195 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:591.19, Y:146.39, Z:-7.88 [[ 7.47311701e-01 -6.63388626e-01 3.79572500e-02 5.91194902e+02] [ 6.62515402e-01 7.48274984e-01 3.40278046e-02 1.46392596e+02] [-5.09761191e-02 -2.82113786e-04 9.98699833e-01 -7.87831412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.965336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:591.24, Y:146.43, Z:-7.88 [[ 7.50235815e-01 -6.60080293e-01 3.79503496e-02 5.91236164e+02] [ 6.59202431e-01 7.51194874e-01 3.40354987e-02 1.46431947e+02] [-5.09742700e-02 -5.17687422e-04 9.98699833e-01 -7.88102826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.28, Y:146.47, Z:-7.88 [[ 7.52794390e-01 -6.57161206e-01 3.79441223e-02 5.91278397e+02] [ 6.56279276e-01 7.53749709e-01 3.40424397e-02 1.46472917e+02] [-5.09717419e-02 -7.25016533e-04 9.98699833e-01 -7.88003877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.32, Y:146.51, Z:-7.88 [[ 7.54604533e-01 -6.55082201e-01 3.79382147e-02 5.91318826e+02] [ 6.54197309e-01 7.55557109e-01 3.40490221e-02 1.46513751e+02] [-5.09693962e-02 -8.74468443e-04 9.98699833e-01 -7.88381204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.145336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:591.36, Y:146.55, Z:-7.89 [[ 7.55365564e-01 -6.54204868e-01 3.79322406e-02 5.91359786e+02] [ 6.53318536e-01 7.56316800e-01 3.40556762e-02 1.46554533e+02] [-5.09681800e-02 -9.42649199e-04 9.98699833e-01 -7.88730426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.40, Y:146.60, Z:-7.89 [[ 7.55722585e-01 -6.53792793e-01 3.79256973e-02 5.91399224e+02] [ 6.52905577e-01 7.56672996e-01 3.40629615e-02 1.46595401e+02] [-5.09674698e-02 -9.80249989e-04 9.98699833e-01 -7.89350345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.44, Y:146.64, Z:-7.89 [[ 7.54182021e-01 -6.55569659e-01 3.79196649e-02 5.91437893e+02] [ 6.54684344e-01 7.55134204e-01 3.40696756e-02 1.46639086e+02] [-5.09694816e-02 -8.69325836e-04 9.98699833e-01 -7.89386148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.48, Y:146.68, Z:-7.90 [[ 7.50342165e-01 -6.59961539e-01 3.79130846e-02 5.91478966e+02] [ 6.59081429e-01 7.51299161e-01 3.40769967e-02 1.46679470e+02] [-5.09735758e-02 -5.81597535e-04 9.98699833e-01 -7.89831893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.52, Y:146.72, Z:-7.90 [[ 7.46511397e-01 -6.64291979e-01 3.79064737e-02 5.91523129e+02] [ 6.63417048e-01 7.47473129e-01 3.40843489e-02 1.46717226e+02] [-5.09760301e-02 -2.96554048e-04 9.98699833e-01 -7.90099923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.57, Y:146.75, Z:-7.90 [[ 7.42673079e-01 -6.68580826e-01 3.78995618e-02 5.91566448e+02] [ 6.67711056e-01 7.43639482e-01 3.40920328e-02 1.46754204e+02] [-5.09768899e-02 -1.32785004e-05 9.98699833e-01 -7.90439332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.61, Y:146.79, Z:-7.91 [[ 7.39758925e-01 -6.71804063e-01 3.78950444e-02 5.91609467e+02] [ 6.70938246e-01 7.40728871e-01 3.40970533e-02 1.46794156e+02] [-5.09764924e-02 2.01635158e-04 9.98699833e-01 -7.90540854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.565336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:591.65, Y:146.83, Z:-7.91 [[ 7.36976491e-01 -6.74855587e-01 3.78891515e-02 5.91653579e+02] [ 6.73993450e-01 7.37949710e-01 3.41036004e-02 1.46831257e+02] [-5.09752936e-02 4.03488215e-04 9.98699833e-01 -7.90801798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.70, Y:146.87, Z:-7.91 [[ 7.37079951e-01 -6.74742967e-01 3.78823710e-02 5.91701229e+02] [ 6.73880294e-01 7.38052695e-01 3.41111305e-02 1.46865780e+02] [-5.09754314e-02 3.85552927e-04 9.98699833e-01 -7.91003455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.685336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:591.75, Y:146.90, Z:-7.91 [[ 7.37535205e-01 -6.74245692e-01 3.78756771e-02 5.91746065e+02] [ 6.73381982e-01 7.38507028e-01 3.41185616e-02 1.46903031e+02] [-5.09757469e-02 3.41158208e-04 9.98699833e-01 -7.91235881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.745336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:591.79, Y:146.94, Z:-7.92 [[ 7.39543323e-01 -6.72042869e-01 3.78689291e-02 5.91792121e+02] [ 6.71175881e-01 7.40512221e-01 3.41260496e-02 1.46938139e+02] [-5.09765731e-02 1.79019735e-04 9.98699833e-01 -7.92115376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.84, Y:146.97, Z:-7.92 [[ 7.42699373e-01 -6.68553471e-01 3.78668417e-02 5.91838706e+02] [ 6.67681812e-01 7.43664072e-01 3.41283657e-02 1.46973632e+02] [-5.09768471e-02 -6.41143558e-05 9.98699833e-01 -7.92293498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.89, Y:147.01, Z:-7.92 [[ 7.46145983e-01 -6.64705021e-01 3.78603660e-02 5.91885060e+02] [ 6.63828022e-01 7.47105830e-01 3.41355481e-02 1.47008534e+02] [-5.09757703e-02 -3.37330242e-04 9.98699833e-01 -7.92295754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.93, Y:147.05, Z:-7.92 [[ 7.48003073e-01 -6.62614707e-01 3.78570059e-02 5.91928629e+02] [ 6.61734838e-01 7.48960289e-01 3.41392740e-02 1.47046109e+02] [-5.09745792e-02 -4.84982184e-04 9.98699833e-01 -7.92473904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.97, Y:147.09, Z:-7.93 [[ 7.49904043e-01 -6.60462880e-01 3.78511666e-02 5.91972044e+02] [ 6.59579937e-01 7.50858425e-01 3.41457471e-02 1.47085021e+02] [-5.09728658e-02 -6.40163721e-04 9.98699833e-01 -7.92911214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:592.02, Y:147.12, Z:-7.94 [[ 7.50638135e-01 -6.59628813e-01 3.78446705e-02 5.92016270e+02] [ 6.58744447e-01 7.51591199e-01 3.41529453e-02 1.47121233e+02] [-5.09719880e-02 -7.06536594e-04 9.98699833e-01 -7.93588045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:592.06, Y:147.16, Z:-7.94 [[ 7.51161321e-01 -6.59033231e-01 3.78400606e-02 5.92058216e+02] [ 6.58147852e-01 7.52113444e-01 3.41580521e-02 1.47160716e+02] [-5.09713097e-02 -7.53852991e-04 9.98699833e-01 -7.93710794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.165336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:592.10, Y:147.20, Z:-7.94 [[ 7.52003559e-01 -6.58072402e-01 3.78333394e-02 5.92099892e+02] [ 6.57185432e-01 7.52954200e-01 3.41654949e-02 1.47201878e+02] [-5.09701411e-02 -8.29054307e-04 9.98699833e-01 -7.94039102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:592.14, Y:147.24, Z:-7.95 [[ 7.52086714e-01 -6.57977727e-01 3.78270488e-02 5.92140680e+02] [ 6.57090288e-01 7.53036916e-01 3.41724582e-02 1.47243543e+02] [-5.09698806e-02 -8.44865392e-04 9.98699834e-01 -7.94549381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:592.18, Y:147.28, Z:-7.95 [[ 7.51166403e-01 -6.59028576e-01 3.78202477e-02 5.92181510e+02] [ 6.58142087e-01 7.52117492e-01 3.41799837e-02 1.47283581e+02] [-5.09708558e-02 -7.83758698e-04 9.98699834e-01 -7.94907526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.3453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:592.23, Y:147.32, Z:-7.95 [[ 7.46836957e-01 -6.63931206e-01 3.78141956e-02 5.92225071e+02] [ 6.63050623e-01 7.47793516e-01 3.41866780e-02 1.47322594e+02] [-5.09748126e-02 -4.59148652e-04 9.98699834e-01 -7.94764714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.405336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:592.27, Y:147.36, Z:-7.95 [[ 7.43465974e-01 -6.67704064e-01 3.78104260e-02 5.92267529e+02] [ 6.66828123e-01 7.44426787e-01 3.41908467e-02 1.47363079e+02] [-5.09764612e-02 -2.06675784e-04 9.98699834e-01 -7.94708928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.465336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:592.31, Y:147.40, Z:-7.95 [[ 7.40802066e-01 -6.70658713e-01 3.78046342e-02 5.92308942e+02] [ 6.69786278e-01 7.41766062e-01 3.41972495e-02 1.47403789e+02] [-5.09768779e-02 -1.23678515e-05 9.98699834e-01 -7.94778498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:592.35, Y:147.44, Z:-7.95 [[ 7.41037695e-01 -6.70398722e-01 3.77979884e-02 5.92350037e+02] [ 6.69525574e-01 7.42001046e-01 3.42045934e-02 1.47442988e+02] [-5.09768626e-02 -4.01731502e-05 9.98699834e-01 -7.95249446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:592.39, Y:147.48, Z:-7.96 [[ 7.41235945e-01 -6.70179843e-01 3.77922158e-02 5.92390877e+02] [ 6.69306085e-01 7.42198743e-01 3.42109702e-02 1.47482860e+02] [-5.09768377e-02 -6.38407987e-05 9.98699834e-01 -7.95682513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:592.43, Y:147.52, Z:-7.96 [[ 7.39626002e-01 -6.71956452e-01 3.77876181e-02 5.92433458e+02] [ 6.71084747e-01 7.40590659e-01 3.42160479e-02 1.47522544e+02] [-5.09768511e-02 5.16154166e-05 9.98699834e-01 -7.95877875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:592.48, Y:147.56, Z:-7.96 [[ 7.36512928e-01 -6.75367540e-01 3.77808445e-02 5.92475785e+02] [ 6.74499919e-01 7.37481260e-01 3.42235256e-02 1.47560795e+02] [-5.09761231e-02 2.77107485e-04 9.98699834e-01 -7.96199406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:592.52, Y:147.60, Z:-7.97 [[ 7.33710109e-01 -6.78411781e-01 3.77747552e-02 5.92520402e+02] [ 6.77547832e-01 7.34681718e-01 3.42302454e-02 1.47596155e+02] [-5.09746238e-02 4.79126385e-04 9.98699834e-01 -7.96704004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:592.57, Y:147.63, Z:-7.97 [[ 7.32568958e-01 -6.79644255e-01 3.77678170e-02 5.92565584e+02] [ 6.78781546e-01 7.33541669e-01 3.42378989e-02 1.47632353e+02] [-5.09738588e-02 5.54475274e-04 9.98699834e-01 -7.97043268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:592.61, Y:147.67, Z:-7.97 [[ 7.32853465e-01 -6.79337824e-01 3.77613525e-02 5.92610412e+02] [ 6.78474341e-01 7.33825488e-01 3.42450272e-02 1.47668781e+02] [-5.09741852e-02 5.23521897e-04 9.98699834e-01 -7.97206370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:592.66, Y:147.70, Z:-7.97 [[ 7.35450882e-01 -6.76525382e-01 3.77545748e-02 5.92656731e+02] [ 6.75657798e-01 7.36419246e-01 3.42524979e-02 1.47704122e+02] [-5.09758798e-02 3.18143129e-04 9.98699834e-01 -7.97438851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:592.70, Y:147.74, Z:-7.98 [[ 7.38871659e-01 -6.72788064e-01 3.77477359e-02 5.92700571e+02] [ 6.71915197e-01 7.39835264e-01 3.42600330e-02 1.47740296e+02] [-5.09768475e-02 4.95099516e-05 9.98699834e-01 -7.97900996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.065336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:592.74, Y:147.78, Z:-7.98 [[ 7.45668364e-01 -6.65247518e-01 3.77416423e-02 5.92742953e+02] [ 6.64364567e-01 7.46622738e-01 3.42667446e-02 1.47779862e+02] [-5.09746351e-02 -4.77417530e-04 9.98699834e-01 -7.97771861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:592.78, Y:147.82, Z:-7.98 [[ 7.53221655e-01 -6.56683483e-01 3.77351448e-02 5.92782583e+02] [ 6.55789326e-01 7.54165538e-01 3.42738982e-02 1.47820356e+02] [-5.09656487e-02 -1.06953713e-03 9.98699834e-01 -7.98208592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:592.82, Y:147.86, Z:-7.99 [[ 7.57494495e-01 -6.51750413e-01 3.77291480e-02 5.92822395e+02] [ 6.50849783e-01 7.58432203e-01 3.42804984e-02 1.47862980e+02] [-5.09573298e-02 -1.41128102e-03 9.98699834e-01 -7.98645620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:592.86, Y:147.90, Z:-7.99 [[ 7.58509926e-01 -6.50568759e-01 3.77224294e-02 5.92861608e+02] [ 6.49666302e-01 7.59445875e-01 3.42878899e-02 1.47904330e+02] [-5.09547734e-02 -1.50071361e-03 9.98699834e-01 -7.98984948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:592.90, Y:147.95, Z:-7.99 [[ 7.57770962e-01 -6.51429687e-01 3.77164663e-02 5.92900035e+02] [ 6.50527967e-01 7.58707621e-01 3.42944481e-02 1.47945855e+02] [-5.09561920e-02 -1.45172076e-03 9.98699834e-01 -7.99397467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:592.94, Y:147.99, Z:-8.00 [[ 7.57185784e-01 -6.52110109e-01 3.77106721e-02 5.92942071e+02] [ 6.51208914e-01 7.58122948e-01 3.43008182e-02 1.47986494e+02] [-5.09572362e-02 -1.41456610e-03 9.98699834e-01 -7.99609624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:592.98, Y:148.03, Z:-8.00 [[ 7.55765302e-01 -6.53756228e-01 3.77041574e-02 5.92981014e+02] [ 6.52856717e-01 7.56704083e-01 3.43079779e-02 1.48031730e+02] [-5.09599440e-02 -1.31336687e-03 9.98699834e-01 -7.99537365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:593.02, Y:148.08, Z:-8.00 [[ 7.53378397e-01 -6.56505770e-01 3.76983296e-02 5.93019001e+02] [ 6.55609366e-01 7.54320146e-01 3.43143804e-02 1.48075203e+02] [-5.09641982e-02 -1.13633493e-03 9.98699834e-01 -7.99798446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.545336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:593.06, Y:148.12, Z:-8.00 [[ 7.51044737e-01 -6.59174552e-01 3.76923412e-02 5.93058803e+02] [ 6.58281165e-01 7.51989348e-01 3.43209570e-02 1.48118061e+02] [-5.09677406e-02 -9.64415830e-04 9.98699834e-01 -8.00042730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:593.10, Y:148.16, Z:-8.00 [[ 7.46911336e-01 -6.63854835e-01 3.76857400e-02 5.93099702e+02] [ 6.62967002e-01 7.47861169e-01 3.43282038e-02 1.48159422e+02] [-5.09726457e-02 -6.55722475e-04 9.98699835e-01 -8.00483791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:593.14, Y:148.20, Z:-8.01 [[ 7.44285015e-01 -6.66798400e-01 3.76790496e-02 5.93141020e+02] [ 6.65913952e-01 7.45238001e-01 3.43355458e-02 1.48198218e+02] [-5.09747466e-02 -4.64427389e-04 9.98699835e-01 -8.00894837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:593.18, Y:148.24, Z:-8.01 [[ 7.41051125e-01 -6.70390910e-01 3.76730360e-02 5.93184081e+02] [ 6.69510747e-01 7.42008070e-01 3.43421426e-02 1.48235760e+02] [-5.09763570e-02 -2.26780962e-04 9.98699835e-01 -8.01479339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:593.23, Y:148.27, Z:-8.02 [[ 7.39031930e-01 -6.72616504e-01 3.76675688e-02 5.93226988e+02] [ 6.71738917e-01 7.39991238e-01 3.43481382e-02 1.48274492e+02] [-5.09767955e-02 -8.15990288e-05 9.98699835e-01 -8.01804480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.8453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:593.27, Y:148.31, Z:-8.02 [[ 7.37759735e-01 -6.74012032e-01 3.76610461e-02 5.93272548e+02] [ 6.73135895e-01 7.38720367e-01 3.43552885e-02 1.48310737e+02] [-5.09768596e-02 5.05341294e-06 9.98699835e-01 -8.01987792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:593.32, Y:148.35, Z:-8.03 [[ 7.37643844e-01 -6.74139224e-01 3.76545551e-02 5.93316609e+02] [ 6.73262890e-01 7.38604296e-01 3.43624014e-02 1.48348666e+02] [-5.09768588e-02 4.20073469e-06 9.98699835e-01 -8.02515659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:593.36, Y:148.39, Z:-8.03 [[ 7.38351634e-01 -6.73364302e-01 3.76481251e-02 5.93360859e+02] [ 6.72486601e-01 7.39310837e-01 3.43694448e-02 1.48386790e+02] [-5.09768241e-02 -5.88760876e-05 9.98699835e-01 -8.02815616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:593.41, Y:148.42, Z:-8.03 [[ 7.39718316e-01 -6.71863030e-01 3.76414780e-02 5.93406691e+02] [ 6.70983012e-01 7.40675394e-01 3.43767232e-02 1.48424387e+02] [-5.09765659e-02 -1.72299544e-04 9.98699835e-01 -8.02782518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:593.45, Y:148.46, Z:-8.03 [[ 7.41213754e-01 -6.70213201e-01 3.76355618e-02 5.93451202e+02] [ 6.69330724e-01 7.42168564e-01 3.43831990e-02 1.48460125e+02] [-5.09760047e-02 -2.94662124e-04 9.98699835e-01 -8.03226129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:593.49, Y:148.50, Z:-8.03 [[ 7.42633129e-01 -6.68640371e-01 3.76309759e-02 5.93494713e+02] [ 6.67755617e-01 7.43585830e-01 3.43882173e-02 1.48497896e+02] [-5.09752108e-02 -4.09533896e-04 9.98699835e-01 -8.03472692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:593.54, Y:148.53, Z:-8.04 [[ 7.43193520e-01 -6.68017800e-01 3.76245865e-02 5.93539454e+02] [ 6.67131894e-01 7.44145151e-01 3.43952067e-02 1.48534302e+02] [-5.09747639e-02 -4.61733066e-04 9.98699835e-01 -8.03776491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:593.58, Y:148.57, Z:-8.04 [[ 7.45424856e-01 -6.65527368e-01 3.76178974e-02 5.93582225e+02] [ 6.64637914e-01 7.46373170e-01 3.44025209e-02 1.48573067e+02] [-5.09728086e-02 -6.42213352e-04 9.98699835e-01 -8.04103827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:593.63, Y:148.61, Z:-8.04 [[ 7.47410634e-01 -6.63296876e-01 3.76111482e-02 5.93625142e+02] [ 6.62404221e-01 7.48355936e-01 3.44098980e-02 1.48611884e+02] [-5.09705039e-02 -8.04540313e-04 9.98699835e-01 -8.04439940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:593.67, Y:148.65, Z:-8.05 [[ 7.50144097e-01 -6.60204319e-01 3.76043965e-02 5.93666571e+02] [ 6.59307398e-01 7.51085352e-01 3.44172750e-02 1.48651105e+02] [-5.09665450e-02 -1.02505884e-03 9.98699835e-01 -8.04710236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:593.71, Y:148.69, Z:-8.05 [[ 7.51791355e-01 -6.58328281e-01 3.75983257e-02 5.93706136e+02] [ 6.57428679e-01 7.52730049e-01 3.44239056e-02 1.48694287e+02] [-5.09636201e-02 -1.16137708e-03 9.98699835e-01 -8.04793773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:593.75, Y:148.74, Z:-8.05 [[ 7.52066982e-01 -6.58013767e-01 3.75917174e-02 5.93745939e+02] [ 6.57113413e-01 7.53004954e-01 3.44311205e-02 1.48735825e+02] [-5.09629007e-02 -1.19248710e-03 9.98699835e-01 -8.05025959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:593.79, Y:148.78, Z:-8.05 [[ 7.51998813e-01 -6.58092017e-01 3.75856713e-02 5.93785324e+02] [ 6.57191431e-01 7.52936562e-01 3.44377192e-02 1.48778680e+02] [-5.09628143e-02 -1.19614284e-03 9.98699835e-01 -8.05464400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.625336195 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:593.82, Y:148.82, Z:-8.06 [[ 7.49686912e-01 -6.60724860e-01 3.75791553e-02 5.93823726e+02] [ 6.59827212e-01 7.50627473e-01 3.44448282e-02 1.48821171e+02] [-5.09665007e-02 -1.02708766e-03 9.98699835e-01 -8.05958374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.685336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:593.86, Y:148.86, Z:-8.06 [[ 7.45395607e-01 -6.65562560e-01 3.75748344e-02 5.93863462e+02] [ 6.64670779e-01 7.46341734e-01 3.44495411e-02 1.48863581e+02] [-5.09719918e-02 -7.03642087e-04 9.98699835e-01 -8.06330023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:593.91, Y:148.90, Z:-8.06 [[ 7.41850068e-01 -6.69512577e-01 3.75684136e-02 5.93905880e+02] [ 6.68625481e-01 7.42800588e-01 3.44565418e-02 1.48902705e+02] [-5.09749278e-02 -4.42389304e-04 9.98699835e-01 -8.06495444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:593.95, Y:148.94, Z:-8.06 [[ 7.37613780e-01 -6.74177289e-01 3.75618848e-02 5.93947136e+02] [ 6.73295842e-01 7.38569540e-01 3.44636575e-02 1.48942535e+02] [-5.09766792e-02 -1.30607829e-04 9.98699835e-01 -8.06468595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:593.99, Y:148.98, Z:-8.07 [[ 7.37376749e-01 -6.74436855e-01 3.75560745e-02 5.93989992e+02] [ 6.73555422e-01 7.38332522e-01 3.44699881e-02 1.48981743e+02] [-5.09767015e-02 -1.21270158e-04 9.98699835e-01 -8.06881189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.925336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:594.03, Y:149.02, Z:-8.07 [[ 7.40376103e-01 -6.71143254e-01 3.75493997e-02 5.94030753e+02] [ 6.70257201e-01 7.41327595e-01 3.44772576e-02 1.49021571e+02] [-5.09755851e-02 -3.58382134e-04 9.98699835e-01 -8.07474480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:594.07, Y:149.06, Z:-8.08 [[ 7.42589189e-01 -6.68694046e-01 3.75442267e-02 5.94071949e+02] [ 6.67804570e-01 7.43537482e-01 3.44828898e-02 1.49061422e+02] [-5.09740429e-02 -5.34415012e-04 9.98699835e-01 -8.07982352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:594.11, Y:149.10, Z:-8.08 [[ 7.45819318e-01 -6.65089824e-01 3.75376054e-02 5.94113449e+02] [ 6.64195402e-01 7.46762948e-01 3.44900962e-02 1.49102363e+02] [-5.09707049e-02 -7.91075033e-04 9.98699836e-01 -8.07936729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:594.16, Y:149.14, Z:-8.08 [[ 7.47374423e-01 -6.63342205e-01 3.75311879e-02 5.94157014e+02] [ 6.62445227e-01 7.48315624e-01 3.44970781e-02 1.49141119e+02] [-5.09685422e-02 -9.19877589e-04 9.98699836e-01 -8.08157421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:594.20, Y:149.18, Z:-8.08 [[ 7.49924233e-01 -6.60458588e-01 3.75246407e-02 5.94196854e+02] [ 6.59557636e-01 7.50861629e-01 3.45041985e-02 1.49181471e+02] [-5.09644071e-02 -1.12587124e-03 9.98699836e-01 -8.08493828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:594.24, Y:149.22, Z:-8.09 [[ 7.51971908e-01 -6.58126412e-01 3.75216628e-02 5.94237545e+02] [ 6.57222391e-01 7.52906346e-01 3.45074365e-02 1.49222471e+02] [-5.09605534e-02 -1.28854597e-03 9.98699836e-01 -8.09105474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:594.28, Y:149.26, Z:-8.09 [[ 7.52322175e-01 -6.57726335e-01 3.75155081e-02 5.94278594e+02] [ 6.56821484e-01 7.53255809e-01 3.45141264e-02 1.49262822e+02] [-5.09596243e-02 -1.32475100e-03 9.98699836e-01 -8.09204343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.3453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:594.32, Y:149.30, Z:-8.10 [[ 7.52716751e-01 -6.57275114e-01 3.75088907e-02 5.94318570e+02] [ 6.56369345e-01 7.53649495e-01 3.45213165e-02 1.49304075e+02] [-5.09585588e-02 -1.36508719e-03 9.98699836e-01 -8.09660898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.405336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:594.36, Y:149.35, Z:-8.10 [[ 7.51590595e-01 -6.58562943e-01 3.75023695e-02 5.94356657e+02] [ 6.57658420e-01 7.52524546e-01 3.45283994e-02 1.49346068e+02] [-5.09605779e-02 -1.28747116e-03 9.98699836e-01 -8.10222117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:594.40, Y:149.39, Z:-8.10 [[ 7.50312261e-01 -6.60019330e-01 3.74966057e-02 5.94398231e+02] [ 6.59116307e-01 7.51247663e-01 3.45346576e-02 1.49386062e+02] [-5.09627789e-02 -1.19715277e-03 9.98699836e-01 -8.10477961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:594.44, Y:149.43, Z:-8.11 [[ 7.48394890e-01 -6.62193003e-01 3.74902080e-02 5.94437954e+02] [ 6.61292349e-01 7.49332574e-01 3.45416014e-02 1.49428677e+02] [-5.09658408e-02 -1.05877025e-03 9.98699836e-01 -8.10579774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:594.48, Y:149.47, Z:-8.11 [[ 7.46452475e-01 -6.64382166e-01 3.74838706e-02 5.94477443e+02] [ 6.63483918e-01 7.47392463e-01 3.45484773e-02 1.49471568e+02] [-5.09685545e-02 -9.18851051e-04 9.98699836e-01 -8.10609750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:594.52, Y:149.51, Z:-8.11 [[ 7.43093004e-01 -6.68137883e-01 3.74774153e-02 5.94519910e+02] [ 6.67244033e-01 7.44037176e-01 3.45554784e-02 1.49511287e+02] [-5.09724144e-02 -6.71352567e-04 9.98699836e-01 -8.10872217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:594.56, Y:149.55, Z:-8.11 [[ 7.40690868e-01 -6.70800244e-01 3.74709306e-02 5.94562919e+02] [ 6.69909433e-01 7.41637906e-01 3.45625088e-02 1.49550749e+02] [-5.09744019e-02 -4.98004703e-04 9.98699836e-01 -8.11170474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:594.61, Y:149.59, Z:-8.11 [[ 7.38949441e-01 -6.72718483e-01 3.74641993e-02 5.94605069e+02] [ 6.71829761e-01 7.39898440e-01 3.45698036e-02 1.49591070e+02] [-5.09754485e-02 -3.75773033e-04 9.98699836e-01 -8.11440980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.825336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:594.65, Y:149.63, Z:-8.12 [[ 7.40160803e-01 -6.71385825e-01 3.74574300e-02 5.94645176e+02] [ 6.70495023e-01 7.41107850e-01 3.45771368e-02 1.49631540e+02] [-5.09745950e-02 -4.77620957e-04 9.98699836e-01 -8.12033884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:594.69, Y:149.67, Z:-8.12 [[ 7.41419358e-01 -6.69996041e-01 3.74518572e-02 5.94686576e+02] [ 6.69103159e-01 7.42364444e-01 3.45831720e-02 1.49672012e+02] [-5.09735154e-02 -5.81477217e-04 9.98699836e-01 -8.12040824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:594.73, Y:149.71, Z:-8.13 [[ 7.42778971e-01 -6.68488800e-01 3.74449564e-02 5.94726604e+02] [ 6.67593624e-01 7.43721884e-01 3.45906422e-02 1.49711902e+02] [-5.09720904e-02 -6.95187469e-04 9.98699836e-01 -8.12510737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:594.77, Y:149.75, Z:-8.12 [[ 7.43008089e-01 -6.68234394e-01 3.74402839e-02 5.94768087e+02] [ 6.67338640e-01 7.43950453e-01 3.45956989e-02 1.49752815e+02] [-5.09717520e-02 -7.19535996e-04 9.98699836e-01 -8.12478538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:594.81, Y:149.79, Z:-8.13 [[ 7.43541749e-01 -6.67640921e-01 3.74335054e-02 5.94808269e+02] [ 6.66744046e-01 7.44483047e-01 3.46030318e-02 1.49793845e+02] [-5.09710102e-02 -7.70231947e-04 9.98699836e-01 -8.12773945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.125336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:594.85, Y:149.83, Z:-8.13 [[ 7.44007275e-01 -6.67122453e-01 3.74273672e-02 5.94850210e+02] [ 6.66224588e-01 7.44947628e-01 3.46096698e-02 1.49833738e+02] [-5.09703162e-02 -8.14813855e-04 9.98699836e-01 -8.13070375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.185336195 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:594.89, Y:149.87, Z:-8.13 [[ 7.44331379e-01 -6.66761189e-01 3.74207747e-02 5.94891320e+02] [ 6.65862510e-01 7.45270954e-01 3.46167962e-02 1.49874932e+02] [-5.09697527e-02 -8.49276678e-04 9.98699836e-01 -8.13402309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:594.93, Y:149.92, Z:-8.14 [[ 7.44789490e-01 -6.66249799e-01 3.74141788e-02 5.94930609e+02] [ 6.65350117e-01 7.45728104e-01 3.46239237e-02 1.49916114e+02] [-5.09689869e-02 -8.94006272e-04 9.98699836e-01 -8.13969195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:594.97, Y:149.96, Z:-8.14 [[ 7.44958871e-01 -6.66060677e-01 3.74092943e-02 5.94971853e+02] [ 6.65160491e-01 7.45897003e-01 3.46292004e-02 1.49956829e+02] [-5.09686291e-02 -9.14145435e-04 9.98699836e-01 -8.14492584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:595.01, Y:150.00, Z:-8.15 [[ 7.44696604e-01 -6.66354253e-01 3.74029166e-02 5.95012643e+02] [ 6.65454091e-01 7.45634759e-01 3.46360875e-02 1.49997596e+02] [-5.09688189e-02 -9.03452829e-04 9.98699836e-01 -8.14744144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:595.05, Y:150.04, Z:-8.15 [[ 7.42873287e-01 -6.68386705e-01 3.73964243e-02 5.95054126e+02] [ 6.67488758e-01 7.43813562e-01 3.46430959e-02 1.50038608e+02] [-5.09709522e-02 -7.73737731e-04 9.98699836e-01 -8.14963463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:595.10, Y:150.08, Z:-8.15 [[ 7.40375364e-01 -6.71152990e-01 3.73896239e-02 5.95097382e+02] [ 6.70258186e-01 7.41318630e-01 3.46504338e-02 1.50077645e+02] [-5.09733670e-02 -5.93626048e-04 9.98699837e-01 -8.15269201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:595.14, Y:150.11, Z:-8.16 [[ 7.39282235e-01 -6.72357275e-01 3.73827761e-02 5.95140533e+02] [ 6.71463634e-01 7.40226603e-01 3.46578201e-02 1.50114408e+02] [-5.09741628e-02 -5.20736028e-04 9.98699837e-01 -8.15517164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:595.18, Y:150.15, Z:-8.16 [[ 7.39402768e-01 -6.72225060e-01 3.73766694e-02 5.95183383e+02] [ 6.71330918e-01 7.40346661e-01 3.46644045e-02 1.50154551e+02] [-5.09739738e-02 -5.38842873e-04 9.98699837e-01 -8.15571068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:595.23, Y:150.19, Z:-8.16 [[ 7.41093421e-01 -6.70361081e-01 3.73706105e-02 5.95226763e+02] [ 6.69464235e-01 7.42034746e-01 3.46709352e-02 1.50192771e+02] [-5.09723371e-02 -6.76114742e-04 9.98699837e-01 -8.15998923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:595.27, Y:150.23, Z:-8.16 [[ 7.43274449e-01 -6.67942389e-01 3.73638601e-02 5.95267232e+02] [ 6.67042115e-01 7.44212495e-01 3.46782084e-02 1.50232692e+02] [-5.09696969e-02 -8.52157935e-04 9.98699837e-01 -8.16206093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:595.31, Y:150.27, Z:-8.16 [[ 7.44401954e-01 -6.66685928e-01 3.73577850e-02 5.95310425e+02] [ 6.65783743e-01 7.45338162e-01 3.46847517e-02 1.50271658e+02] [-5.09680187e-02 -9.47190990e-04 9.98699837e-01 -8.16407693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.8453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:595.35, Y:150.31, Z:-8.17 [[ 7.46106235e-01 -6.64778453e-01 3.73509753e-02 5.95351242e+02] [ 6.63873507e-01 7.47039775e-01 3.46920833e-02 1.50313195e+02] [-5.09652137e-02 -1.08765664e-03 9.98699837e-01 -8.16713957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:595.39, Y:150.35, Z:-8.17 [[ 7.46826696e-01 -6.63969352e-01 3.73441682e-02 5.95392393e+02] [ 6.63063029e-01 7.47758899e-01 3.46994092e-02 1.50353437e+02] [-5.09637783e-02 -1.15290784e-03 9.98699837e-01 -8.17188007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.965336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:595.43, Y:150.39, Z:-8.18 [[ 7.45631585e-01 -6.65311551e-01 3.73373695e-02 5.95434910e+02] [ 6.64406541e-01 7.46565062e-01 3.47067232e-02 1.50392785e+02] [-5.09655595e-02 -1.07123650e-03 9.98699837e-01 -8.17575558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:595.48, Y:150.43, Z:-8.18 [[ 7.44034846e-01 -6.67097132e-01 3.73304745e-02 5.95477023e+02] [ 6.66193990e-01 7.44970131e-01 3.47141379e-02 1.50431198e+02] [-5.09677903e-02 -9.59190481e-04 9.98699837e-01 -8.17819023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:595.52, Y:150.47, Z:-8.18 [[ 7.41481843e-01 -6.69934005e-01 3.73243342e-02 5.95520028e+02] [ 6.69034109e-01 7.42420252e-01 3.47207387e-02 1.50469584e+02] [-5.09709451e-02 -7.73544599e-04 9.98699837e-01 -8.17926975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:595.56, Y:150.51, Z:-8.18 [[ 7.39638692e-01 -6.71968566e-01 3.73209206e-02 5.95563173e+02] [ 6.71071067e-01 7.40579394e-01 3.47244075e-02 1.50508146e+02] [-5.09728151e-02 -6.38525383e-04 9.98699837e-01 -8.18180290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.205336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:595.61, Y:150.55, Z:-8.19 [[ 7.38287703e-01 -6.73452982e-01 3.73141878e-02 5.95606218e+02] [ 6.72557009e-01 7.39229858e-01 3.47316409e-02 1.50545358e+02] [-5.09738889e-02 -5.46024813e-04 9.98699837e-01 -8.18793154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:595.65, Y:150.58, Z:-8.19 [[ 7.36516572e-01 -6.75389782e-01 3.73092805e-02 5.95650123e+02] [ 6.74496019e-01 7.37460824e-01 3.47369116e-02 1.50583768e+02] [-5.09750879e-02 -4.19349899e-04 9.98699837e-01 -8.19013341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:595.69, Y:150.62, Z:-8.19 [[ 7.35722375e-01 -6.76255216e-01 3.73024220e-02 5.95694226e+02] [ 6.75362191e-01 7.36667324e-01 3.47442751e-02 1.50621914e+02] [-5.09754727e-02 -3.69495093e-04 9.98699837e-01 -8.19313419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:595.74, Y:150.66, Z:-8.20 [[ 7.37444173e-01 -6.74377588e-01 3.72955855e-02 5.95737014e+02] [ 6.73481786e-01 7.38386491e-01 3.47516121e-02 1.50661525e+02] [-5.09742648e-02 -5.09476287e-04 9.98699837e-01 -8.19703689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:595.78, Y:150.70, Z:-8.20 [[ 7.39540501e-01 -6.72078411e-01 3.72888344e-02 5.95777493e+02] [ 6.71179315e-01 7.40479675e-01 3.47588546e-02 1.50701986e+02] [-5.09722998e-02 -6.78086409e-04 9.98699837e-01 -8.19921809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:595.82, Y:150.74, Z:-8.20 [[ 7.41475307e-01 -6.69943548e-01 3.72828455e-02 5.95820391e+02] [ 6.69041425e-01 7.42411575e-01 3.47652772e-02 1.50742711e+02] [-5.09699892e-02 -8.33826479e-04 9.98699837e-01 -8.19983484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:595.86, Y:150.78, Z:-8.20 [[ 7.40653942e-01 -6.70851837e-01 3.72766722e-02 5.95861635e+02] [ 6.69950529e-01 7.41590995e-01 3.47718952e-02 1.50781446e+02] [-5.09708342e-02 -7.80414937e-04 9.98699837e-01 -8.20485355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:595.90, Y:150.82, Z:-8.21 [[ 7.36916497e-01 -6.74955550e-01 3.72703807e-02 5.95902928e+02] [ 6.74059120e-01 7.37858217e-01 3.47786374e-02 1.50822537e+02] [-5.09742910e-02 -5.06511656e-04 9.98699837e-01 -8.20795182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:595.95, Y:150.86, Z:-8.21 [[ 7.33861177e-01 -6.78276626e-01 3.72638050e-02 5.95945983e+02] [ 6.77384101e-01 7.34806598e-01 3.47856816e-02 1.50861471e+02] [-5.09760045e-02 -2.85952200e-04 9.98699837e-01 -8.21092139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:595.99, Y:150.90, Z:-8.21 [[ 7.29605531e-01 -6.82852600e-01 3.72571588e-02 5.95990397e+02] [ 6.81965641e-01 7.30556176e-01 3.47927986e-02 1.50899189e+02] [-5.09768004e-02 2.30838386e-05 9.98699837e-01 -8.21476552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:596.03, Y:150.94, Z:-8.22 [[ 7.26933447e-01 -6.85696842e-01 3.72505533e-02 5.96033342e+02] [ 6.84813240e-01 7.27887214e-01 3.47998692e-02 1.50937732e+02] [-5.09763619e-02 2.12483214e-04 9.98699837e-01 -8.21652493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:596.08, Y:150.98, Z:-8.22 [[ 7.25684161e-01 -6.87019214e-01 3.72437604e-02 5.96077139e+02] [ 6.86136977e-01 7.26639190e-01 3.48071377e-02 1.50976447e+02] [-5.09759482e-02 2.95332633e-04 9.98699838e-01 -8.21868053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.925336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:596.12, Y:151.01, Z:-8.22 [[ 7.24509866e-01 -6.88257851e-01 3.72368804e-02 5.96122222e+02] [ 6.87376868e-01 7.25466052e-01 3.48144964e-02 1.51011321e+02] [-5.09754431e-02 3.72324072e-04 9.98699838e-01 -8.22288304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:596.17, Y:151.05, Z:-8.22 [[ 7.24603258e-01 -6.88159841e-01 3.72310615e-02 5.96166284e+02] [ 6.87278409e-01 7.25559030e-01 3.48207181e-02 1.51049235e+02] [-5.09755527e-02 3.56898928e-04 9.98699838e-01 -8.22445201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:596.21, Y:151.09, Z:-8.23 [[ 7.24354916e-01 -6.88421611e-01 3.72242164e-02 5.96211755e+02] [ 6.87540148e-01 7.25310659e-01 3.48280342e-02 1.51086082e+02] [-5.09754923e-02 3.65285479e-04 9.98699838e-01 -8.22626938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:596.26, Y:151.12, Z:-8.23 [[ 7.24513974e-01 -6.88254564e-01 3.72176965e-02 5.96258690e+02] [ 6.87372524e-01 7.25469184e-01 3.48350000e-02 1.51120943e+02] [-5.09756396e-02 3.43977654e-04 9.98699838e-01 -8.22879763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:596.30, Y:151.16, Z:-8.23 [[ 7.26865734e-01 -6.85770773e-01 3.72109082e-02 5.96303878e+02] [ 6.84885097e-01 7.27817574e-01 3.48422498e-02 1.51157821e+02] [-5.09765495e-02 1.59558977e-04 9.98699838e-01 -8.23108361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:596.35, Y:151.19, Z:-8.23 [[ 7.31345752e-01 -6.80991375e-01 3.72040082e-02 5.96347761e+02] [ 6.80099104e-01 7.32291413e-01 3.48496159e-02 1.51194761e+02] [-5.09764636e-02 -1.84705889e-04 9.98699838e-01 -8.23341532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.285336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:596.39, Y:151.23, Z:-8.24 [[ 7.34232080e-01 -6.77878731e-01 3.71978211e-02 5.96390473e+02] [ 6.76982117e-01 7.35173624e-01 3.48562187e-02 1.51233265e+02] [-5.09751462e-02 -4.10294320e-04 9.98699838e-01 -8.23518845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.3453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:596.43, Y:151.27, Z:-8.24 [[ 7.37456234e-01 -6.74370173e-01 3.71910263e-02 5.96433956e+02] [ 6.73468714e-01 7.38393141e-01 3.48634671e-02 1.51272225e+02] [-5.09724811e-02 -6.63288549e-04 9.98699838e-01 -8.23707472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:596.48, Y:151.31, Z:-8.24 [[ 7.39815256e-01 -6.71781766e-01 3.71839620e-02 5.96475539e+02] [ 6.70876650e-01 7.40748630e-01 3.48709999e-02 1.51311144e+02] [-5.09696709e-02 -8.52245841e-04 9.98699838e-01 -8.24227478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:596.52, Y:151.35, Z:-8.25 [[ 7.40955200e-01 -6.70524559e-01 3.71780492e-02 5.96516040e+02] [ 6.69617545e-01 7.41886728e-01 3.48773028e-02 1.51351357e+02] [-5.09679894e-02 -9.47444822e-04 9.98699838e-01 -8.24709825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.525336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:596.56, Y:151.39, Z:-8.25 [[ 7.41257530e-01 -6.70190639e-01 3.71723298e-02 5.96555087e+02] [ 6.69282899e-01 7.42188352e-01 3.48833975e-02 1.51392407e+02] [-5.09673967e-02 -9.78776448e-04 9.98699838e-01 -8.25307362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:596.60, Y:151.43, Z:-8.25 [[ 7.39612905e-01 -6.72005468e-01 3.71672305e-02 5.96596378e+02] [ 6.71099739e-01 7.40545684e-01 3.48888298e-02 1.51433179e+02] [-5.09695165e-02 -8.61310033e-04 9.98699838e-01 -8.25373295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.645336195 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:596.64, Y:151.47, Z:-8.26 [[ 7.36471226e-01 -6.75447438e-01 3.71603644e-02 5.96637625e+02] [ 6.74545700e-01 7.37407864e-01 3.48961415e-02 1.51473480e+02] [-5.09728543e-02 -6.33640049e-04 9.98699838e-01 -8.25651213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:596.68, Y:151.51, Z:-8.26 [[ 7.33976832e-01 -6.78157528e-01 3.71534318e-02 5.96679820e+02] [ 6.77258876e-01 7.34916430e-01 3.49035210e-02 1.51512955e+02] [-5.09747529e-02 -4.55884351e-04 9.98699838e-01 -8.25875301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:596.72, Y:151.55, Z:-8.26 [[ 7.30371849e-01 -6.82038721e-01 3.71503039e-02 5.96722533e+02] [ 6.81144893e-01 7.31316037e-01 3.49068499e-02 1.51552040e+02] [-5.09764363e-02 -1.90240672e-04 9.98699838e-01 -8.26250016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.825336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:596.76, Y:151.59, Z:-8.27 [[ 7.27900394e-01 -6.84676098e-01 3.71437491e-02 5.96764648e+02] [ 6.83785335e-01 7.28847475e-01 3.49138233e-02 1.51591140e+02] [-5.09767880e-02 -1.54348552e-05 9.98699838e-01 -8.26705861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:596.81, Y:151.63, Z:-8.27 [[ 7.27739254e-01 -6.84847723e-01 3.71372312e-02 5.96806684e+02] [ 6.83956830e-01 7.28686212e-01 3.49207549e-02 1.51630729e+02] [-5.09767878e-02 -1.29412521e-05 9.98699838e-01 -8.26884993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:596.85, Y:151.67, Z:-8.27 [[ 7.29119922e-01 -6.83377981e-01 3.71304880e-02 5.96848627e+02] [ 6.82484814e-01 7.30064736e-01 3.49279233e-02 1.51670283e+02] [-5.09766337e-02 -1.25650558e-04 9.98699838e-01 -8.27173996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.005336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:596.89, Y:151.71, Z:-8.28 [[ 7.30822003e-01 -6.81557804e-01 3.71235788e-02 5.96890527e+02] [ 6.80661910e-01 7.31764232e-01 3.49352653e-02 1.51710495e+02] [-5.09761098e-02 -2.62854486e-04 9.98699838e-01 -8.27547965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:596.93, Y:151.75, Z:-8.28 [[ 7.30988452e-01 -6.81379653e-01 3.71167229e-02 5.96932035e+02] [ 6.80483160e-01 7.31930111e-01 3.49425479e-02 1.51750219e+02] [-5.09759882e-02 -2.85294122e-04 9.98699838e-01 -8.27781041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:596.97, Y:151.79, Z:-8.28 [[ 7.31112740e-01 -6.81246671e-01 3.71097661e-02 5.96972540e+02] [ 6.80349632e-01 7.32053878e-01 3.49499346e-02 1.51790563e+02] [-5.09758748e-02 -3.04726758e-04 9.98699838e-01 -8.28218098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:597.01, Y:151.83, Z:-8.28 [[ 7.31635933e-01 -6.80685090e-01 3.71034915e-02 5.97014045e+02] [ 6.79786991e-01 7.32576060e-01 3.49565945e-02 1.51830988e+02] [-5.09755623e-02 -3.53029774e-04 9.98699839e-01 -8.28115228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:597.06, Y:151.87, Z:-8.28 [[ 7.32248128e-01 -6.80026849e-01 3.70966695e-02 5.97055282e+02] [ 6.79127539e-01 7.33187095e-01 3.49638327e-02 1.51871197e+02] [-5.09751443e-02 -4.08831245e-04 9.98699839e-01 -8.28411358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:597.10, Y:151.91, Z:-8.29 [[ 7.32492463e-01 -6.79763992e-01 3.70905247e-02 5.97095945e+02] [ 6.78864014e-01 7.33430791e-01 3.49703500e-02 1.51912515e+02] [-5.09749176e-02 -4.36095267e-04 9.98699839e-01 -8.28720846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:597.14, Y:151.95, Z:-8.29 [[ 7.31913868e-01 -6.80387314e-01 3.70835917e-02 5.97136913e+02] [ 6.79487763e-01 7.32852605e-01 3.49777004e-02 1.51952762e+02] [-5.09751904e-02 -4.02817269e-04 9.98699839e-01 -8.29240784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:597.18, Y:152.00, Z:-8.30 [[ 7.32813988e-01 -6.79417988e-01 3.70790726e-02 5.97177238e+02] [ 6.78516952e-01 7.33751300e-01 3.49824904e-02 1.51995102e+02] [-5.09745509e-02 -4.76878995e-04 9.98699839e-01 -8.29849889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:597.22, Y:152.04, Z:-8.30 [[ 7.34347719e-01 -6.77760299e-01 3.70729643e-02 5.97217233e+02] [ 6.76856821e-01 7.35282678e-01 3.49889625e-02 1.52037034e+02] [-5.09732381e-02 -6.00975996e-04 9.98699839e-01 -8.30166763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.545336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:597.26, Y:152.08, Z:-8.30 [[ 7.35091741e-01 -6.76953653e-01 3.70659370e-02 5.97257267e+02] [ 6.76048775e-01 7.36025343e-01 3.49964053e-02 1.52078473e+02] [-5.09724135e-02 -6.67187202e-04 9.98699839e-01 -8.30387337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:597.30, Y:152.12, Z:-8.31 [[ 7.34182766e-01 -6.77939559e-01 3.70623814e-02 5.97297364e+02] [ 6.77035744e-01 7.35117398e-01 3.50001704e-02 1.52120873e+02] [-5.09732015e-02 -6.03964943e-04 9.98699839e-01 -8.30602497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.665336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:597.34, Y:152.16, Z:-8.31 [[ 7.31091932e-01 -6.81271931e-01 3.70559535e-02 5.97336645e+02] [ 6.80372031e-01 7.32030334e-01 3.50069746e-02 1.52164005e+02] [-5.09753512e-02 -3.81482313e-04 9.98699839e-01 -8.30717127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:597.38, Y:152.21, Z:-8.31 [[ 7.27275933e-01 -6.85344482e-01 3.70494029e-02 5.97378135e+02] [ 6.84449484e-01 7.28219013e-01 3.50139060e-02 1.52205048e+02] [-5.09766669e-02 -1.06326432e-04 9.98699839e-01 -8.30959556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:597.42, Y:152.25, Z:-8.31 [[ 7.23762263e-01 -6.89054455e-01 3.70424797e-02 5.97419756e+02] [ 6.88163916e-01 7.24709554e-01 3.50212288e-02 1.52245841e+02] [-5.09765726e-02 1.44254100e-04 9.98699839e-01 -8.31311470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.8453361950001 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:597.46, Y:152.29, Z:-8.32 [[ 7.21885240e-01 -6.91021029e-01 3.70356308e-02 5.97459719e+02] [ 6.90132700e-01 7.22834603e-01 3.50284701e-02 1.52287647e+02] [-5.09760450e-02 2.72964288e-04 9.98699839e-01 -8.31803384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:597.50, Y:152.33, Z:-8.32 [[ 7.17045188e-01 -6.96042422e-01 3.70289834e-02 5.97503366e+02] [ 6.95160377e-01 7.18000393e-01 3.50354958e-02 1.52327054e+02] [-5.09730159e-02 6.19048362e-04 9.98699839e-01 -8.31881988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.965336195 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:597.55, Y:152.37, Z:-8.32 [[ 7.15538445e-01 -6.97591597e-01 3.70229501e-02 5.97546550e+02] [ 6.96711290e-01 7.16495251e-01 3.50418701e-02 1.52366727e+02] [-5.09716821e-02 7.20502084e-04 9.98699839e-01 -8.32029965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:597.59, Y:152.40, Z:-8.33 [[ 7.15306176e-01 -6.97830113e-01 3.70163277e-02 5.97589072e+02] [ 6.96949764e-01 7.16262943e-01 3.50488643e-02 1.52403911e+02] [-5.09715768e-02 7.27851758e-04 9.98699839e-01 -8.32539280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:597.63, Y:152.44, Z:-8.33 [[ 7.18076579e-01 -6.94979334e-01 3.70101646e-02 5.97631848e+02] [ 6.94094850e-01 7.19029526e-01 3.50553711e-02 1.52443154e+02] [-5.09741596e-02 5.16123692e-04 9.98699839e-01 -8.32657350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:597.67, Y:152.48, Z:-8.33 [[ 7.21034918e-01 -6.91909969e-01 3.70032604e-02 5.97673627e+02] [ 6.91021055e-01 7.21983733e-01 3.50626574e-02 1.52481689e+02] [-5.09759543e-02 2.88631707e-04 9.98699839e-01 -8.33210104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:597.72, Y:152.52, Z:-8.33 [[ 7.25557474e-01 -6.87166329e-01 3.69971446e-02 5.97715469e+02] [ 6.86270882e-01 7.26500126e-01 3.50691095e-02 1.52522501e+02] [-5.09767414e-02 -5.45913990e-05 9.98699839e-01 -8.33228077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:597.76, Y:152.56, Z:-8.33 [[ 7.29678809e-01 -6.82788808e-01 3.69902671e-02 5.97755634e+02] [ 6.81887339e-01 7.30615703e-01 3.50763622e-02 1.52564062e+02] [-5.09754176e-02 -3.71283434e-04 9.98699839e-01 -8.33402803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:597.80, Y:152.60, Z:-8.34 [[ 7.32029758e-01 -6.80268084e-01 3.69833275e-02 5.97796566e+02] [ 6.79363020e-01 7.32963180e-01 3.50836776e-02 1.52604965e+02] [-5.09737235e-02 -5.57190988e-04 9.98699839e-01 -8.33729235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:597.84, Y:152.65, Z:-8.34 [[ 7.33861369e-01 -6.78292151e-01 3.69763135e-02 5.97835006e+02] [ 6.77384201e-01 7.34791985e-01 3.50910684e-02 1.52646522e+02] [-5.09718951e-02 -7.04808875e-04 9.98699839e-01 -8.34129277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:597.87, Y:152.69, Z:-8.34 [[ 7.32589987e-01 -6.79665371e-01 3.69715491e-02 5.97874226e+02] [ 6.78758912e-01 7.33522054e-01 3.50960874e-02 1.52689900e+02] [-5.09730419e-02 -6.16273786e-04 9.98699839e-01 -8.34465382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:597.91, Y:152.73, Z:-8.35 [[ 7.30724825e-01 -6.81670629e-01 3.69646316e-02 5.97914156e+02] [ 6.80766359e-01 7.31659017e-01 3.51033717e-02 1.52730101e+02] [-5.09744435e-02 -4.86627507e-04 9.98699839e-01 -8.34957874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:597.95, Y:152.77, Z:-8.35 [[ 7.26820317e-01 -6.85832532e-01 3.69589623e-02 5.97954550e+02] [ 6.84933309e-01 7.27759367e-01 3.51093397e-02 1.52771739e+02] [-5.09763583e-02 -2.03757073e-04 9.98699839e-01 -8.35085129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:598.00, Y:152.81, Z:-8.35 [[ 7.21740254e-01 -6.91176934e-01 3.69520172e-02 5.97996418e+02] [ 6.90284290e-01 7.22685561e-01 3.51166477e-02 1.52810962e+02] [-5.09765062e-02 1.62298708e-04 9.98699840e-01 -8.35436326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:598.04, Y:152.85, Z:-8.36 [[ 7.17995532e-01 -6.95066522e-01 3.69451844e-02 5.98039736e+02] [ 6.94178629e-01 7.18945302e-01 3.51238349e-02 1.52850207e+02] [-5.09749685e-02 4.27800931e-04 9.98699840e-01 -8.35694460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.745336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:598.08, Y:152.89, Z:-8.36 [[ 7.17317388e-01 -6.95766713e-01 3.69384087e-02 5.98082059e+02] [ 6.94879381e-01 7.18267681e-01 3.51309592e-02 1.52888702e+02] [-5.09746172e-02 4.67690673e-04 9.98699840e-01 -8.35961311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:598.13, Y:152.93, Z:-8.36 [[ 7.17966259e-01 -6.95097346e-01 3.69341229e-02 5.98125709e+02] [ 6.94208896e-01 7.18915508e-01 3.51354644e-02 1.52927193e+02] [-5.09750818e-02 4.13918787e-04 9.98699840e-01 -8.35974860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.865336195 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:598.17, Y:152.96, Z:-8.36 [[ 7.19326502e-01 -6.93689939e-01 3.69276532e-02 5.98168858e+02] [ 6.92799283e-01 7.20273681e-01 3.51422628e-02 1.52964752e+02] [-5.09758508e-02 3.04690676e-04 9.98699840e-01 -8.36399091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:598.21, Y:153.00, Z:-8.37 [[ 7.20513121e-01 -6.92457585e-01 3.69233709e-02 5.98211167e+02] [ 6.91565078e-01 7.21458556e-01 3.51467616e-02 1.53003375e+02] [-5.09763235e-02 2.11210968e-04 9.98699840e-01 -8.36845263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:598.25, Y:153.04, Z:-8.37 [[ 7.20838620e-01 -6.92119090e-01 3.69167850e-02 5.98253226e+02] [ 6.91225785e-01 7.21783301e-01 3.51536778e-02 1.53042897e+02] [-5.09764504e-02 1.77705066e-04 9.98699840e-01 -8.37288094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:598.30, Y:153.08, Z:-8.37 [[ 7.22191634e-01 -6.90707523e-01 3.69101801e-02 5.98295640e+02] [ 6.89812017e-01 7.23134228e-01 3.51606114e-02 1.53082106e+02] [-5.09767134e-02 6.83864036e-05 9.98699840e-01 -8.37399632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:598.33, Y:153.12, Z:-8.38 [[ 7.26546936e-01 -6.86125137e-01 3.69031907e-02 5.98334766e+02] [ 6.85223314e-01 7.27483488e-01 3.51679456e-02 1.53123473e+02] [-5.09760734e-02 -2.64236492e-04 9.98699840e-01 -8.37768737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:598.38, Y:153.17, Z:-8.38 [[ 7.30020169e-01 -6.82428862e-01 3.68971611e-02 5.98375335e+02] [ 6.81521977e-01 7.30951821e-01 3.51742705e-02 1.53165888e+02] [-5.09739845e-02 -5.31700708e-04 9.98699840e-01 -8.37932067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:598.41, Y:153.21, Z:-8.38 [[ 7.30526330e-01 -6.81887327e-01 3.68911210e-02 5.98413941e+02] [ 6.80979432e-01 7.31456997e-01 3.51806043e-02 1.53208431e+02] [-5.09734768e-02 -5.78263155e-04 9.98699840e-01 -8.38407534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:598.46, Y:153.25, Z:-8.38 [[ 7.28398646e-01 -6.84160002e-01 3.68850020e-02 5.98455672e+02] [ 6.83254686e-01 7.29331823e-01 3.51870186e-02 1.53250354e+02] [-5.09749565e-02 -4.28326232e-04 9.98699840e-01 -8.38292626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.3453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:598.50, Y:153.29, Z:-8.38 [[ 7.26452713e-01 -6.86226192e-01 3.68791194e-02 5.98496102e+02] [ 6.85323217e-01 7.27388155e-01 3.51931830e-02 1.53292799e+02] [-5.09759186e-02 -2.92066611e-04 9.98699840e-01 -8.38329631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.405336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:598.54, Y:153.33, Z:-8.39 [[ 7.24354221e-01 -6.88441270e-01 3.68724811e-02 5.98536585e+02] [ 6.87540802e-01 7.25292076e-01 3.52001367e-02 1.53333300e+02] [-5.09765452e-02 -1.46032376e-04 9.98699840e-01 -8.38829596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:598.58, Y:153.37, Z:-8.39 [[ 7.24012192e-01 -6.88801289e-01 3.68663779e-02 5.98579152e+02] [ 6.87900961e-01 7.24950183e-01 3.52065276e-02 1.53374241e+02] [-5.09765890e-02 -1.29538443e-04 9.98699840e-01 -8.38993018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:598.62, Y:153.42, Z:-8.39 [[ 7.26287057e-01 -6.86402537e-01 3.68601255e-02 5.98617382e+02] [ 6.85498779e-01 7.27221743e-01 3.52130725e-02 1.53416833e+02] [-5.09758270e-02 -3.07227749e-04 9.98699840e-01 -8.39245849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:598.65, Y:153.46, Z:-8.40 [[ 7.29462362e-01 -6.83027333e-01 3.68554669e-02 5.98654745e+02] [ 6.82119005e-01 7.30392606e-01 3.52179477e-02 1.53461929e+02] [-5.09737814e-02 -5.50352870e-04 9.98699840e-01 -8.39535519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:598.69, Y:153.51, Z:-8.40 [[ 7.30460155e-01 -6.81960509e-01 3.68486852e-02 5.98693752e+02] [ 6.81050465e-01 7.31388721e-01 3.52250420e-02 1.53505566e+02] [-5.09728003e-02 -6.34675467e-04 9.98699840e-01 -8.39909776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.705336195 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:598.73, Y:153.55, Z:-8.40 [[ 7.30283486e-01 -6.82150072e-01 3.68416793e-02 5.98731284e+02] [ 6.81239899e-01 7.31211926e-01 3.52323679e-02 1.53550567e+02] [-5.09728376e-02 -6.31594516e-04 9.98699840e-01 -8.40335508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:598.77, Y:153.60, Z:-8.41 [[ 7.28223596e-01 -6.84349035e-01 3.68346636e-02 5.98768039e+02] [ 6.83441295e-01 7.29154414e-01 3.52397011e-02 1.53595509e+02] [-5.09744130e-02 -4.88051638e-04 9.98699840e-01 -8.40755800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:598.81, Y:153.64, Z:-8.41 [[ 7.26013087e-01 -6.86694039e-01 3.68278996e-02 5.98806998e+02] [ 6.85788947e-01 7.26946480e-01 3.52467686e-02 1.53638626e+02] [-5.09756579e-02 -3.33448756e-04 9.98699840e-01 -8.40851440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:598.85, Y:153.68, Z:-8.41 [[ 7.22300617e-01 -6.90598117e-01 3.68247297e-02 5.98845208e+02] [ 6.89697901e-01 7.23238714e-01 3.52500801e-02 1.53683196e+02] [-5.09767091e-02 -6.32157900e-05 9.98699840e-01 -8.41075651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:598.88, Y:153.73, Z:-8.42 [[ 7.18785014e-01 -6.94256842e-01 3.68176690e-02 5.98883984e+02] [ 6.93361023e-01 7.19727312e-01 3.52574532e-02 1.53726161e+02] [-5.09764101e-02 1.85407659e-04 9.98699840e-01 -8.41522604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:598.92, Y:153.77, Z:-8.42 [[ 7.15471485e-01 -6.97671504e-01 3.68106844e-02 5.98922889e+02] [ 6.96779808e-01 7.16417684e-01 3.52647440e-02 1.53766993e+02] [-5.09750323e-02 4.18022864e-04 9.98699840e-01 -8.41934993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:598.97, Y:153.81, Z:-8.42 [[ 7.13101848e-01 -7.00093655e-01 3.68052755e-02 5.98965306e+02] [ 6.99204881e-01 7.14050793e-01 3.52703883e-02 1.53806997e+02] [-5.09734112e-02 5.83049145e-04 9.98699840e-01 -8.41923551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:599.01, Y:153.85, Z:-8.42 [[ 7.11268861e-01 -7.01956182e-01 3.67984660e-02 5.99007332e+02] [ 7.01069525e-01 7.12219784e-01 3.52774914e-02 1.53845702e+02] [-5.09718486e-02 7.06501908e-04 9.98699841e-01 -8.42343656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:599.05, Y:153.88, Z:-8.43 [[ 7.11861328e-01 -7.01355671e-01 3.67922945e-02 5.99052265e+02] [ 7.00467879e-01 7.12811191e-01 3.52839267e-02 1.53883617e+02] [-5.09725414e-02 6.54557554e-04 9.98699841e-01 -8.42797342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:599.09, Y:153.92, Z:-8.43 [[ 7.14237414e-01 -6.98936115e-01 3.67861783e-02 5.99093313e+02] [ 6.98044777e-01 7.15183951e-01 3.52903022e-02 1.53922861e+02] [-5.09745510e-02 4.72745441e-04 9.98699841e-01 -8.43073854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:599.14, Y:153.96, Z:-8.43 [[ 7.16671777e-01 -6.96440013e-01 3.67814194e-02 5.99135011e+02] [ 6.95545124e-01 7.17614956e-01 3.52952615e-02 1.53962790e+02] [-5.09759290e-02 2.88019158e-04 9.98699841e-01 -8.43236870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:599.18, Y:154.00, Z:-8.43 [[ 7.21168447e-01 -6.91782985e-01 3.67746122e-02 5.99175520e+02] [ 6.90881643e-01 7.22105462e-01 3.53023525e-02 1.54004810e+02] [-5.09767152e-02 -5.20382116e-05 9.98699841e-01 -8.43495442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.425336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:599.22, Y:154.05, Z:-8.44 [[ 7.23724737e-01 -6.89108584e-01 3.67677060e-02 5.99216462e+02] [ 6.88203414e-01 7.24658055e-01 3.53095440e-02 1.54045146e+02] [-5.09761242e-02 -2.50729607e-04 9.98699841e-01 -8.43829425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:599.26, Y:154.09, Z:-8.44 [[ 7.22814972e-01 -6.90062952e-01 3.67646421e-02 5.99257230e+02] [ 6.89158852e-01 7.23749326e-01 3.53127338e-02 1.54086774e+02] [-5.09763943e-02 -1.87894132e-04 9.98699841e-01 -8.44189264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:599.30, Y:154.13, Z:-8.44 [[ 7.17228594e-01 -6.95867809e-01 3.67578139e-02 5.99300656e+02] [ 6.94970907e-01 7.18169860e-01 3.53198401e-02 1.54126032e+02] [-5.09762937e-02 2.13211996e-04 9.98699841e-01 -8.44425466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:599.35, Y:154.16, Z:-8.45 [[ 7.10116667e-01 -7.03124223e-01 3.67511394e-02 5.99346074e+02] [ 7.02236578e-01 7.11066668e-01 3.53267837e-02 1.54162992e+02] [-5.09716275e-02 7.21856438e-04 9.98699841e-01 -8.44515412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.665336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:599.39, Y:154.20, Z:-8.45 [[ 7.06048152e-01 -7.07209932e-01 3.67439649e-02 5.99392108e+02] [ 7.06327396e-01 7.07002900e-01 3.53342444e-02 1.54197562e+02] [-5.09668183e-02 1.00559101e-03 9.98699841e-01 -8.45148695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:599.44, Y:154.23, Z:-8.45 [[ 7.04726335e-01 -7.08527443e-01 3.67376516e-02 5.99436335e+02] [ 7.07646350e-01 7.05682415e-01 3.53408072e-02 1.54234920e+02] [-5.09650465e-02 1.09166757e-03 9.98699841e-01 -8.45336784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:599.48, Y:154.27, Z:-8.46 [[ 7.05066127e-01 -7.08189653e-01 3.67310673e-02 5.99483325e+02] [ 7.07307746e-01 7.06021456e-01 3.53476492e-02 1.54269796e+02] [-5.09657611e-02 1.05773835e-03 9.98699841e-01 -8.45501990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.8453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:599.53, Y:154.30, Z:-8.46 [[ 7.06939928e-01 -7.06319524e-01 3.67242047e-02 5.99529825e+02] [ 7.05434719e-01 7.07892574e-01 3.53547777e-02 1.54303559e+02] [-5.09685615e-02 9.12825007e-04 9.98699841e-01 -8.45882191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:599.57, Y:154.34, Z:-8.46 [[ 7.07597227e-01 -7.05661357e-01 3.67180198e-02 5.99573569e+02] [ 7.04775333e-01 7.08548739e-01 3.53611999e-02 1.54341812e+02] [-5.09695389e-02 8.56467591e-04 9.98699841e-01 -8.46036014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:599.62, Y:154.38, Z:-8.46 [[ 7.10742593e-01 -7.02493602e-01 3.67111108e-02 5.99619686e+02] [ 7.01602966e-01 7.11689789e-01 3.53683711e-02 1.54377156e+02] [-5.09729772e-02 6.18816454e-04 9.98699841e-01 -8.46165192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:599.66, Y:154.41, Z:-8.47 [[ 7.13787962e-01 -6.99399414e-01 3.67042981e-02 5.99664261e+02] [ 6.98504308e-01 7.14730935e-01 3.53754398e-02 1.54412847e+02] [-5.09752592e-02 3.87547356e-04 9.98699841e-01 -8.46547573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:599.71, Y:154.45, Z:-8.47 [[ 7.20191073e-01 -6.92804497e-01 3.66980581e-02 5.99709481e+02] [ 6.91900426e-01 7.21125455e-01 3.53819119e-02 1.54449412e+02] [-5.09766515e-02 -9.03350214e-05 9.98699841e-01 -8.46764336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:599.75, Y:154.49, Z:-8.47 [[ 7.26852197e-01 -6.85813119e-01 3.66912716e-02 5.99752557e+02] [ 6.84899707e-01 7.27777448e-01 3.53889481e-02 1.54488583e+02] [-5.09732849e-02 -5.92693489e-04 9.98699841e-01 -8.47147756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:599.79, Y:154.53, Z:-8.48 [[ 7.31407780e-01 -6.80952940e-01 3.66845147e-02 5.99793562e+02] [ 6.80033029e-01 7.32326571e-01 3.53959510e-02 1.54529201e+02] [-5.09680218e-02 -9.42192336e-04 9.98699841e-01 -8.47728781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:599.83, Y:154.57, Z:-8.48 [[ 7.33108485e-01 -6.79121997e-01 3.66778102e-02 5.99833935e+02] [ 6.78199445e-01 7.34024624e-01 3.54028970e-02 1.54569925e+02] [-5.09653019e-02 -1.07929364e-03 9.98699841e-01 -8.48129706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:599.88, Y:154.61, Z:-8.48 [[ 7.32758273e-01 -6.79500235e-01 3.66707552e-02 5.99875234e+02] [ 6.78577790e-01 7.33674520e-01 3.54102031e-02 1.54611228e+02] [-5.09656400e-02 -1.06315931e-03 9.98699841e-01 -8.48165656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:599.92, Y:154.65, Z:-8.49 [[ 7.31058175e-01 -6.81329357e-01 3.66640589e-02 5.99915244e+02] [ 6.80408857e-01 7.31976375e-01 3.54171352e-02 1.54653803e+02] [-5.09679589e-02 -9.45435845e-04 9.98699841e-01 -8.48642511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:599.95, Y:154.70, Z:-8.49 [[ 7.28542669e-01 -6.84018876e-01 3.66572904e-02 5.99954300e+02] [ 6.83101414e-01 7.29463905e-01 3.54241393e-02 1.54696588e+02] [-5.09709502e-02 -7.67350068e-04 9.98699842e-01 -8.49054527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:599.99, Y:154.74, Z:-8.50 [[ 7.27184886e-01 -6.85462538e-01 3.66503800e-02 5.99994060e+02] [ 6.84546545e-01 7.28107583e-01 3.54312875e-02 1.54737352e+02] [-5.09722398e-02 -6.76205766e-04 9.98699842e-01 -8.49613302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.565336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:600.03, Y:154.78, Z:-8.50 [[ 7.26301790e-01 -6.86398423e-01 3.66458056e-02 6.00032810e+02] [ 6.85483381e-01 7.27225428e-01 3.54360181e-02 1.54780649e+02] [-5.09729886e-02 -6.17152619e-04 9.98699842e-01 -8.49974811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:600.07, Y:154.83, Z:-8.50 [[ 7.25861299e-01 -6.86864597e-01 3.66387923e-02 6.00072515e+02] [ 6.85949781e-01 7.26785162e-01 3.54432679e-02 1.54825030e+02] [-5.09732565e-02 -5.94524877e-04 9.98699842e-01 -8.49864306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:600.11, Y:154.87, Z:-8.50 [[ 7.25925209e-01 -6.86797383e-01 3.66325771e-02 6.00109971e+02] [ 6.85882158e-01 7.26848667e-01 3.54496905e-02 1.54867942e+02] [-5.09730945e-02 -6.08192952e-04 9.98699842e-01 -8.50170076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.745336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:600.15, Y:154.91, Z:-8.50 [[ 7.25616226e-01 -6.87123990e-01 3.66294273e-02 6.00149160e+02] [ 6.86209016e-01 7.26539934e-01 3.54529449e-02 1.54911034e+02] [-5.09733106e-02 -5.89788809e-04 9.98699842e-01 -8.50365490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:600.19, Y:154.95, Z:-8.51 [[ 7.24712610e-01 -6.88077349e-01 3.66223408e-02 6.00190416e+02] [ 6.87163220e-01 7.25637153e-01 3.54602636e-02 1.54952052e+02] [-5.09739353e-02 -5.32974569e-04 9.98699842e-01 -8.50670094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:600.23, Y:154.99, Z:-8.51 [[ 7.23140332e-01 -6.89729734e-01 3.66190461e-02 6.00230465e+02] [ 6.88817546e-01 7.24066790e-01 3.54636656e-02 1.54994041e+02] [-5.09749798e-02 -4.21365452e-04 9.98699842e-01 -8.50848059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:600.27, Y:155.04, Z:-8.51 [[ 7.24294659e-01 -6.88517810e-01 3.66124487e-02 6.00271135e+02] [ 6.87603728e-01 7.25219249e-01 3.54704754e-02 1.55035726e+02] [-5.09741066e-02 -5.16219657e-04 9.98699842e-01 -8.51235494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:600.31, Y:155.08, Z:-8.52 [[ 7.26206487e-01 -6.86501391e-01 3.66057158e-02 6.00311252e+02] [ 6.85584392e-01 7.27128183e-01 3.54774225e-02 1.55077357e+02] [-5.09723475e-02 -6.67626986e-04 9.98699842e-01 -8.51546646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:600.35, Y:155.12, Z:-8.52 [[ 7.29392746e-01 -6.83115473e-01 3.65987925e-02 6.00349452e+02] [ 6.82193838e-01 7.30309806e-01 3.54845632e-02 1.55120951e+02] [-5.09685112e-02 -9.14712278e-04 9.98699842e-01 -8.51891047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:600.39, Y:155.17, Z:-8.52 [[ 7.32015931e-01 -6.80304139e-01 3.65917388e-02 6.00385956e+02] [ 6.79378619e-01 7.32929070e-01 3.54918355e-02 1.55166596e+02] [-5.09643917e-02 -1.12094405e-03 9.98699842e-01 -8.52044657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:600.43, Y:155.21, Z:-8.52 [[ 7.31878075e-01 -6.80452636e-01 3.65881574e-02 6.00425879e+02] [ 6.79527117e-01 7.32791215e-01 3.54955271e-02 1.55208909e+02] [-5.09645053e-02 -1.11575290e-03 9.98699842e-01 -8.52283632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:600.46, Y:155.25, Z:-8.53 [[ 7.28485645e-01 -6.84083682e-01 3.65811571e-02 6.00463044e+02] [ 6.83162353e-01 7.29403013e-01 3.55027401e-02 1.55252470e+02] [-5.09692513e-02 -8.72367202e-04 9.98699842e-01 -8.52845703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:600.50, Y:155.30, Z:-8.53 [[ 7.21862615e-01 -6.91069203e-01 3.65748800e-02 6.00501744e+02] [ 6.90156426e-01 7.22788492e-01 3.55092055e-02 1.55296084e+02] [-5.09752207e-02 -3.90379407e-04 9.98699842e-01 -8.53156374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.3453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:600.54, Y:155.34, Z:-8.53 [[ 7.13346751e-01 -6.99856554e-01 3.65679697e-02 6.00543574e+02] [ 6.98954818e-01 7.14283385e-01 3.55163205e-02 1.55335533e+02] [-5.09762228e-02 2.23906763e-04 9.98699842e-01 -8.53368656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.405336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:600.59, Y:155.37, Z:-8.54 [[ 7.07751647e-01 -7.05514636e-01 3.65609813e-02 6.00587587e+02] [ 7.04620015e-01 7.08695079e-01 3.55235129e-02 1.55374673e+02] [-5.09729458e-02 6.19774424e-04 9.98699842e-01 -8.53546851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:600.63, Y:155.41, Z:-8.54 [[ 7.02629088e-01 -7.10616706e-01 3.65549200e-02 6.00633677e+02] [ 7.09728610e-01 7.03578665e-01 3.55297492e-02 1.55408831e+02] [-5.09672951e-02 9.79837315e-04 9.98699842e-01 -8.53802084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:600.68, Y:155.45, Z:-8.54 [[ 7.03731518e-01 -7.09525295e-01 3.65486964e-02 6.00678826e+02] [ 7.08635394e-01 7.04679403e-01 3.55361501e-02 1.55445828e+02] [-5.09689109e-02 8.91790989e-04 9.98699842e-01 -8.53917282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:600.72, Y:155.48, Z:-8.54 [[ 7.09867634e-01 -7.03386555e-01 3.65417208e-02 6.00724015e+02] [ 7.02488086e-01 7.10807401e-01 3.55433216e-02 1.55481398e+02] [-5.09748201e-02 4.39069854e-04 9.98699842e-01 -8.54318695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:600.77, Y:155.52, Z:-8.54 [[ 7.15354429e-01 -6.97805993e-01 3.65354155e-02 6.00765531e+02] [ 6.96899861e-01 7.16286811e-01 3.55498018e-02 1.55521292e+02] [-5.09767010e-02 3.08178306e-05 9.98699842e-01 -8.54473302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:600.81, Y:155.56, Z:-8.55 [[ 7.23475416e-01 -6.89383051e-01 3.65284984e-02 6.00806120e+02] [ 6.88465707e-01 7.24396768e-01 3.55569078e-02 1.55560385e+02] [-5.09734558e-02 -5.75930225e-04 9.98699842e-01 -8.54907098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.765336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:600.85, Y:155.60, Z:-8.55 [[ 7.28200972e-01 -6.84389850e-01 3.65222789e-02 6.00845641e+02] [ 6.83465869e-01 7.29115668e-01 3.55632951e-02 1.55603544e+02] [-5.09681240e-02 -9.35494969e-04 9.98699842e-01 -8.55341378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:600.88, Y:155.65, Z:-8.56 [[ 7.32092037e-01 -6.80226341e-01 3.65154002e-02 6.00884785e+02] [ 6.79296807e-01 7.33001089e-01 3.55703565e-02 1.55645417e+02] [-5.09617216e-02 -1.23597993e-03 9.98699842e-01 -8.55850494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:600.92, Y:155.69, Z:-8.56 [[ 7.34493951e-01 -6.77632433e-01 3.65092024e-02 6.00922640e+02] [ 6.76699373e-01 7.35399385e-01 3.55767167e-02 1.55689680e+02] [-5.09567821e-02 -1.42512885e-03 9.98699842e-01 -8.56208983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:600.96, Y:155.73, Z:-8.57 [[ 7.31474996e-01 -6.80890521e-01 3.65024609e-02 6.00961397e+02] [ 6.79961150e-01 7.32384215e-01 3.55836324e-02 1.55732862e+02] [-5.09623841e-02 -1.20828201e-03 9.98699843e-01 -8.56769706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:601.00, Y:155.78, Z:-8.57 [[ 7.25230063e-01 -6.87538657e-01 3.64959051e-02 6.01000134e+02] [ 6.86617286e-01 7.26147388e-01 3.55903550e-02 1.55777201e+02] [-5.09711510e-02 -7.52476051e-04 9.98699843e-01 -8.56681044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.065336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:601.04, Y:155.82, Z:-8.57 [[ 7.20912496e-01 -6.92064777e-01 3.64899650e-02 6.01040621e+02] [ 6.91148858e-01 7.21835264e-01 3.55964442e-02 1.55818973e+02] [-5.09747887e-02 -4.41923822e-04 9.98699843e-01 -8.56954019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:601.08, Y:155.86, Z:-8.57 [[ 7.15944214e-01 -6.97203614e-01 3.64829170e-02 6.01081407e+02] [ 6.96293950e-01 7.16873150e-01 3.56036663e-02 1.55860453e+02] [-5.09766284e-02 -8.74045104e-05 9.98699843e-01 -8.57111713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:601.12, Y:155.90, Z:-8.58 [[ 7.13903167e-01 -6.99293760e-01 3.64760979e-02 6.01121814e+02] [ 6.98386459e-01 7.14834411e-01 3.56106511e-02 1.55900695e+02] [-5.09766760e-02 5.18562209e-05 9.98699843e-01 -8.57772660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:601.16, Y:155.94, Z:-8.58 [[ 7.12280586e-01 -7.00946642e-01 3.64715231e-02 6.01162095e+02] [ 7.00041263e-01 7.13213698e-01 3.56153358e-02 1.55942320e+02] [-5.09764399e-02 1.63458841e-04 9.98699843e-01 -8.58223115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.305336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:601.20, Y:155.98, Z:-8.58 [[ 7.11884004e-01 -7.01349751e-01 3.64649372e-02 6.01203178e+02] [ 7.00444555e-01 7.12817293e-01 3.56220776e-02 1.55983596e+02] [-5.09763731e-02 1.82879461e-04 9.98699843e-01 -8.58384764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:601.24, Y:156.02, Z:-8.59 [[ 7.11184536e-01 -7.02059377e-01 3.64580253e-02 6.01244415e+02] [ 7.01154749e-01 7.12118376e-01 3.56291503e-02 1.56022720e+02] [-5.09762088e-02 2.23816831e-04 9.98699843e-01 -8.58726693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:601.29, Y:156.06, Z:-8.59 [[ 7.10228317e-01 -7.03027023e-01 3.64519344e-02 6.01287120e+02] [ 7.02123348e-01 7.11163079e-01 3.56353807e-02 1.56062069e+02] [-5.09759055e-02 2.84497720e-04 9.98699843e-01 -8.58800061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.4853361950001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:601.33, Y:156.10, Z:-8.59 [[ 7.09395720e-01 -7.03867508e-01 3.64450602e-02 6.01330044e+02] [ 7.02964580e-01 7.10331203e-01 3.56424097e-02 1.56101584e+02] [-5.09755976e-02 3.35013485e-04 9.98699843e-01 -8.59097462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:601.37, Y:156.14, Z:-8.59 [[ 7.10232005e-01 -7.03024018e-01 3.64380230e-02 6.01371688e+02] [ 7.02119609e-01 7.11166057e-01 3.56496026e-02 1.56142540e+02] [-5.09760120e-02 2.64361770e-04 9.98699843e-01 -8.59152274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.6053361950001 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:601.41, Y:156.18, Z:-8.60 [[ 7.11643402e-01 -7.01595445e-01 3.64348761e-02 6.01413818e+02] [ 7.00688996e-01 7.12575475e-01 3.56528185e-02 1.56180435e+02] [-5.09764542e-02 1.57423736e-04 9.98699843e-01 -8.59727036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:601.46, Y:156.22, Z:-8.60 [[ 7.12839195e-01 -7.00380771e-01 3.64288167e-02 6.01455320e+02] [ 6.99472418e-01 7.13769411e-01 3.56590087e-02 1.56221281e+02] [-5.09766591e-02 6.18134372e-05 9.98699843e-01 -8.59799205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.7253361950001 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:601.50, Y:156.26, Z:-8.60 [[ 7.13242294e-01 -6.99970627e-01 3.64218395e-02 6.01498066e+02] [ 6.99061376e-01 7.14171632e-01 3.56661337e-02 1.56261038e+02] [-5.09766906e-02 2.25062102e-05 9.98699843e-01 -8.60382330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.785336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:601.54, Y:156.30, Z:-8.61 [[ 7.12190708e-01 -7.01040891e-01 3.64151573e-02 6.01541428e+02] [ 7.00132687e-01 7.13121070e-01 3.56729550e-02 1.56299171e+02] [-5.09766161e-02 8.94948003e-05 9.98699843e-01 -8.60709537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.8453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:601.58, Y:156.34, Z:-8.61 [[ 7.10631255e-01 -7.02621995e-01 3.64081116e-02 6.01583765e+02] [ 7.01715493e-01 7.11563275e-01 3.56801444e-02 1.56337131e+02] [-5.09763294e-02 1.92710181e-04 9.98699843e-01 -8.61077499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.905336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:601.63, Y:156.38, Z:-8.61 [[ 7.08348403e-01 -7.04923722e-01 3.64017343e-02 6.01627515e+02] [ 7.04019913e-01 7.09283036e-01 3.56866496e-02 1.56375728e+02] [-5.09754984e-02 3.48964566e-04 9.98699843e-01 -8.61068667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:601.67, Y:156.41, Z:-8.61 [[ 7.07397970e-01 -7.05877847e-01 3.63947309e-02 6.01673043e+02] [ 7.04974932e-01 7.08333466e-01 3.56937905e-02 1.56413101e+02] [-5.09750619e-02 4.07657989e-04 9.98699843e-01 -8.61070821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:601.72, Y:156.45, Z:-8.61 [[ 7.09368278e-01 -7.03898084e-01 3.63886424e-02 6.01715090e+02] [ 7.02992239e-01 7.10300938e-01 3.56999964e-02 1.56451185e+02] [-5.09760459e-02 2.56488214e-04 9.98699843e-01 -8.61312400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:601.76, Y:156.49, Z:-8.62 [[ 7.12091632e-01 -7.01143140e-01 3.63841384e-02 6.01756856e+02] [ 7.00233452e-01 7.13020543e-01 3.57045861e-02 1.56491040e+02] [-5.09766638e-02 5.24538811e-05 9.98699843e-01 -8.61548863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:601.80, Y:156.53, Z:-8.62 [[ 7.18365160e-01 -6.94714472e-01 3.63771694e-02 6.01796684e+02] [ 6.93796113e-01 7.19285499e-01 3.57116851e-02 1.56533229e+02] [-5.09749949e-02 -4.15691676e-04 9.98699843e-01 -8.61849416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:601.83, Y:156.58, Z:-8.62 [[ 7.24434019e-01 -6.88384028e-01 3.63700760e-02 6.01833653e+02] [ 6.87457265e-01 7.25345895e-01 3.57189078e-02 1.56576794e+02] [-5.09692109e-02 -8.73118915e-04 9.98699843e-01 -8.62279501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:601.87, Y:156.62, Z:-8.63 [[ 7.26667481e-01 -6.86026256e-01 3.63640977e-02 6.01869779e+02] [ 6.85096231e-01 7.27576029e-01 3.57249930e-02 1.56621137e+02] [-5.09659290e-02 -1.04728441e-03 9.98699843e-01 -8.62580961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:601.91, Y:156.67, Z:-8.63 [[ 7.25334961e-01 -6.87435306e-01 3.63578664e-02 6.01907697e+02] [ 6.86506729e-01 7.26244988e-01 3.57313335e-02 1.56665784e+02] [-5.09676985e-02 -9.57265482e-04 9.98699843e-01 -8.62814418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.385336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:601.95, Y:156.71, Z:-8.63 [[ 7.19031443e-01 -6.94026227e-01 3.63508038e-02 6.01947072e+02] [ 6.93105630e-01 7.19949543e-01 3.57385171e-02 1.56707760e+02] [-5.09742128e-02 -5.02170760e-04 9.98699844e-01 -8.63031632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:601.99, Y:156.75, Z:-8.63 [[ 7.13773329e-01 -6.99433191e-01 3.63434342e-02 6.01985615e+02] [ 6.98519168e-01 7.14697974e-01 3.57460100e-02 1.56750220e+02] [-5.09765246e-02 -1.27963156e-04 9.98699844e-01 -8.63480196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.505336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:602.03, Y:156.79, Z:-8.64 [[ 7.06102947e-01 -7.07176176e-01 3.63384747e-02 6.02025864e+02] [ 7.06272032e-01 7.07037255e-01 3.57510510e-02 1.56790923e+02] [-5.09749469e-02 4.20925877e-04 9.98699844e-01 -8.63925346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.565336195 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:602.07, Y:156.83, Z:-8.64 [[ 6.98077070e-01 -7.15100182e-01 3.63336495e-02 6.02068256e+02] [ 7.14206385e-01 6.99021281e-01 3.57559541e-02 1.56831126e+02] [-5.09670835e-02 9.89312829e-04 9.98699844e-01 -8.64118379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:602.11, Y:156.87, Z:-8.64 [[ 6.91566297e-01 -7.21398943e-01 3.63265987e-02 6.02109929e+02] [ 7.20513367e-01 6.92518222e-01 3.57631160e-02 1.56870037e+02] [-5.09563056e-02 1.44123426e-03 9.98699844e-01 -8.64310256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:602.15, Y:156.91, Z:-8.65 [[ 6.89778475e-01 -7.23108909e-01 3.63202594e-02 6.02152036e+02] [ 7.22225353e-01 6.90732277e-01 3.57695529e-02 1.56909198e+02] [-5.09528578e-02 1.55834446e-03 9.98699844e-01 -8.64534799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.745336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:602.20, Y:156.95, Z:-8.65 [[ 6.86974455e-01 -7.25773643e-01 3.63141451e-02 6.02198476e+02] [ 7.24893459e-01 6.87931369e-01 3.57757592e-02 1.56945147e+02] [-5.09467426e-02 1.74685359e-03 9.98699844e-01 -8.64537486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:602.24, Y:156.98, Z:-8.65 [[ 6.85865742e-01 -7.26821819e-01 3.63074120e-02 6.02243263e+02] [ 7.25942737e-01 6.86823667e-01 3.57825910e-02 1.56981399e+02] [-5.09443578e-02 1.81504871e-03 9.98699844e-01 -8.64979020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:602.29, Y:157.02, Z:-8.65 [[ 6.86696060e-01 -7.26037737e-01 3.63005033e-02 6.02288785e+02] [ 7.25157191e-01 6.87652640e-01 3.57895984e-02 1.57016127e+02] [-5.09467359e-02 1.74699482e-03 9.98699844e-01 -8.65443614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.925336195 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:602.34, Y:157.05, Z:-8.66 [[ 6.90289531e-01 -7.22622330e-01 3.62950668e-02 6.02336624e+02] [ 7.21736761e-01 6.91241462e-01 3.57951109e-02 1.57050932e+02] [-5.09550014e-02 1.48649363e-03 9.98699844e-01 -8.65649334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.9853361950001 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:602.38, Y:157.09, Z:-8.66 [[ 6.94033622e-01 -7.19027466e-01 3.62882111e-02 6.02381536e+02] [ 7.18136602e-01 6.94980599e-01 3.58020597e-02 1.57085851e+02] [-5.09622669e-02 1.21205943e-03 9.98699844e-01 -8.65839215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:602.43, Y:157.12, Z:-8.66 [[ 7.01011238e-01 -7.12226703e-01 3.62817863e-02 6.02428574e+02] [ 7.11326311e-01 7.01949162e-01 3.58085693e-02 1.57120629e+02] [-5.09717887e-02 7.05979698e-04 9.98699844e-01 -8.65956310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:602.47, Y:157.16, Z:-8.66 [[ 7.07994146e-01 -7.05286042e-01 3.62751845e-02 6.02473316e+02] [ 7.04376111e-01 7.08922818e-01 3.58152559e-02 1.57157997e+02] [-5.09763061e-02 1.94381904e-04 9.98699844e-01 -8.66164208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:602.52, Y:157.19, Z:-8.67 [[ 7.12912692e-01 -7.00314295e-01 3.62681869e-02 6.02519811e+02] [ 6.99397527e-01 7.13834616e-01 3.58223406e-02 1.57192990e+02] [-5.09763845e-02 -1.72321034e-04 9.98699844e-01 -8.66683659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:602.56, Y:157.23, Z:-8.67 [[ 7.15638455e-01 -6.97529009e-01 3.62613253e-02 6.02562467e+02] [ 6.96608302e-01 7.16556443e-01 3.58292850e-02 1.57232846e+02] [-5.09752519e-02 -3.80873930e-04 9.98699844e-01 -8.67050126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:602.60, Y:157.27, Z:-8.67 [[ 7.18985524e-01 -6.94078842e-01 3.62543562e-02 6.02604697e+02] [ 6.93153374e-01 7.19898713e-01 3.58363353e-02 1.57271887e+02] [-5.09727065e-02 -6.35976998e-04 9.98699844e-01 -8.67159568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.3453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:602.65, Y:157.31, Z:-8.68 [[ 7.20065985e-01 -6.92958187e-01 3.62481541e-02 6.02645398e+02] [ 6.92030982e-01 7.20977411e-01 3.58426076e-02 1.57312705e+02] [-5.09715287e-02 -7.24196923e-04 9.98699844e-01 -8.67668169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:602.69, Y:157.35, Z:-8.68 [[ 7.18331327e-01 -6.94756553e-01 3.62413527e-02 6.02687377e+02] [ 6.93831284e-01 7.19244718e-01 3.58494833e-02 1.57352326e+02] [-5.09730650e-02 -6.06422627e-04 9.98699844e-01 -8.67812574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:602.73, Y:157.39, Z:-8.68 [[ 7.15189022e-01 -6.97991164e-01 3.62353027e-02 6.02728650e+02] [ 6.97069717e-01 7.16106268e-01 3.58555975e-02 1.57392589e+02] [-5.09752176e-02 -3.84997555e-04 9.98699844e-01 -8.68213563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:602.77, Y:157.43, Z:-8.69 [[ 7.08323329e-01 -7.04957834e-01 3.62286386e-02 6.02772482e+02] [ 7.04045064e-01 7.09249210e-01 3.58623296e-02 1.57429217e+02] [-5.09765635e-02 1.04469465e-04 9.98699844e-01 -8.68831372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.585336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:602.82, Y:157.46, Z:-8.69 [[ 7.01319551e-01 -7.11926166e-01 3.62218419e-02 6.02817987e+02] [ 7.11022239e-01 7.02254068e-01 3.58691932e-02 1.57463944e+02] [-5.09731530e-02 5.98768656e-04 9.98699844e-01 -8.69300217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:602.86, Y:157.50, Z:-8.70 [[ 6.98426215e-01 -7.14765196e-01 3.62151513e-02 6.02860462e+02] [ 7.13864718e-01 6.99364055e-01 3.58759470e-02 1.57503355e+02] [-5.09704533e-02 7.96016877e-04 9.98699844e-01 -8.69627985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:602.91, Y:157.54, Z:-8.69 [[ 6.99634252e-01 -7.13583102e-01 3.62086941e-02 6.02905112e+02] [ 7.12680702e-01 7.00570243e-01 3.58824629e-02 1.57540424e+02] [-5.09718528e-02 7.00637516e-04 9.98699844e-01 -8.69445017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.765336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:602.95, Y:157.58, Z:-8.70 [[ 7.06015898e-01 -7.07270100e-01 3.62016397e-02 6.02950130e+02] [ 7.06358964e-01 7.06943387e-01 3.58895786e-02 1.57575616e+02] [-5.09761356e-02 2.32739683e-04 9.98699845e-01 -8.69862503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:602.99, Y:157.62, Z:-8.70 [[ 7.13271395e-01 -6.99952661e-01 3.61965393e-02 6.02989645e+02] [ 6.99031750e-01 7.14189178e-01 3.58947220e-02 1.57616407e+02] [-5.09757828e-02 -3.00148242e-04 9.98699845e-01 -8.70350606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:603.03, Y:157.66, Z:-8.71 [[ 7.17059855e-01 -6.96071466e-01 3.61894757e-02 6.03028504e+02] [ 6.95145228e-01 7.17972262e-01 3.59018421e-02 1.57656091e+02] [-5.09732876e-02 -5.86828338e-04 9.98699845e-01 -8.70874769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:603.07, Y:157.70, Z:-8.71 [[ 7.20421425e-01 -6.92592108e-01 3.61820810e-02 6.03070717e+02] [ 6.91661089e-01 7.21328954e-01 3.59092930e-02 1.57695344e+02] [-5.09696756e-02 -8.44086492e-04 9.98699845e-01 -8.70938451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:603.11, Y:157.74, Z:-8.71 [[ 7.22316049e-01 -6.90616300e-01 3.61752927e-02 6.03111188e+02] [ 6.89682457e-01 7.23220672e-01 3.59161303e-02 1.57736875e+02] [-5.09669845e-02 -9.93332564e-04 9.98699845e-01 -8.70977757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:603.15, Y:157.78, Z:-8.71 [[ 7.22963810e-01 -6.89938520e-01 3.61686149e-02 6.03150606e+02] [ 6.89003493e-01 7.23867208e-01 3.59228538e-02 1.57778116e+02] [-5.09658349e-02 -1.05062128e-03 9.98699845e-01 -8.70996370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:603.19, Y:157.82, Z:-8.71 [[ 7.24258898e-01 -6.88579211e-01 3.61624010e-02 6.03190832e+02] [ 6.87642177e-01 7.25160214e-01 3.59291080e-02 1.57820414e+02] [-5.09635713e-02 -1.15518399e-03 9.98699845e-01 -8.71138485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:603.23, Y:157.86, Z:-8.71 [[ 7.24999409e-01 -6.87799830e-01 3.61559223e-02 6.03230302e+02] [ 6.86861502e-01 7.25899378e-01 3.59356264e-02 1.57863488e+02] [-5.09620793e-02 -1.21919678e-03 9.98699845e-01 -8.71460833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.245336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:603.27, Y:157.91, Z:-8.72 [[ 7.24802290e-01 -6.88007908e-01 3.61491229e-02 6.03269649e+02] [ 6.87069498e-01 7.25702174e-01 3.59424650e-02 1.57906573e+02] [-5.09621972e-02 -1.21422123e-03 9.98699845e-01 -8.71859820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:603.31, Y:157.95, Z:-8.72 [[ 7.24144462e-01 -6.88700609e-01 3.61423501e-02 6.03309295e+02] [ 6.87762720e-01 7.25044889e-01 3.59492741e-02 1.57948891e+02] [-5.09631132e-02 -1.17510674e-03 9.98699845e-01 -8.72102717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:603.35, Y:157.99, Z:-8.73 [[ 7.22781844e-01 -6.90130891e-01 3.61353054e-02 6.03347454e+02] [ 6.89194430e-01 7.23683756e-01 3.59563539e-02 1.57993087e+02] [-5.09651241e-02 -1.08434849e-03 9.98699845e-01 -8.72523075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:603.39, Y:158.04, Z:-8.73 [[ 7.20720378e-01 -6.92283810e-01 3.61284233e-02 6.03385411e+02] [ 6.91349698e-01 7.21624722e-01 3.59632677e-02 1.58036910e+02] [-5.09679513e-02 -9.42085381e-04 9.98699845e-01 -8.72884027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.4853361950001 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:603.42, Y:158.08, Z:-8.73 [[ 7.19926870e-01 -6.93109336e-01 3.61213108e-02 6.03423209e+02] [ 6.92175903e-01 7.20831915e-01 3.59704099e-02 1.58080585e+02] [-5.09688206e-02 -8.93763717e-04 9.98699845e-01 -8.73084076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.545336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:603.46, Y:158.13, Z:-8.74 [[ 7.18114560e-01 -6.94987228e-01 3.61141427e-02 6.03459259e+02] [ 6.94055800e-01 7.19021668e-01 3.59776053e-02 1.58125140e+02] [-5.09708273e-02 -7.70812020e-04 9.98699845e-01 -8.73525726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:603.50, Y:158.17, Z:-8.74 [[ 7.17025653e-01 -6.96110945e-01 3.61076782e-02 6.03498942e+02] [ 6.95180612e-01 7.17933884e-01 3.59840919e-02 1.58168348e+02] [-5.09718459e-02 -7.00159196e-04 9.98699845e-01 -8.73660076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.665336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:603.54, Y:158.21, Z:-8.74 [[ 7.14355258e-01 -6.98851415e-01 3.61007612e-02 6.03536430e+02] [ 6.97924216e-01 7.15266688e-01 3.59910300e-02 1.58214717e+02] [-5.09740542e-02 -5.14786064e-04 9.98699845e-01 -8.73653140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:603.57, Y:158.26, Z:-8.74 [[ 7.08770695e-01 -7.04514928e-01 3.60945693e-02 6.03573838e+02] [ 7.03594696e-01 7.09689159e-01 3.59972387e-02 1.58259332e+02] [-5.09765166e-02 -1.17840378e-04 9.98699845e-01 -8.73862810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.785336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:603.61, Y:158.30, Z:-8.74 [[ 7.04421401e-01 -7.08864007e-01 3.60875075e-02 6.03613527e+02] [ 7.07949084e-01 7.05345153e-01 3.60043168e-02 1.58301909e+02] [-5.09763128e-02 1.85906569e-04 9.98699845e-01 -8.74066644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.8453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:603.65, Y:158.34, Z:-8.74 [[ 6.97120483e-01 -7.16045560e-01 3.60802933e-02 6.03651980e+02] [ 7.15139776e-01 6.98053199e-01 3.60115448e-02 1.58343917e+02] [-5.09718709e-02 6.98067352e-04 9.98699845e-01 -8.74435995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:603.69, Y:158.39, Z:-8.75 [[ 6.90724223e-01 -7.22217922e-01 3.60738288e-02 6.03692907e+02] [ 7.21320133e-01 6.91664635e-01 3.60180194e-02 1.58385343e+02] [-5.09638507e-02 1.14226055e-03 9.98699845e-01 -8.74583636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:603.74, Y:158.42, Z:-8.75 [[ 6.87335574e-01 -7.25444000e-01 3.60667574e-02 6.03735428e+02] [ 7.24550253e-01 6.88279829e-01 3.60250989e-02 1.58423645e+02] [-5.09582135e-02 1.37084617e-03 9.98699845e-01 -8.74882212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:603.78, Y:158.46, Z:-8.75 [[ 6.86568343e-01 -7.26170476e-01 3.60603727e-02 6.03777413e+02] [ 7.25277392e-01 6.87513226e-01 3.60314888e-02 1.58463420e+02] [-5.09569865e-02 1.41569350e-03 9.98699845e-01 -8.74883533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.085336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:603.82, Y:158.50, Z:-8.75 [[ 6.86706599e-01 -7.26040081e-01 3.60534015e-02 6.03823142e+02] [ 7.25146452e-01 6.87650967e-01 3.60384628e-02 1.58499855e+02] [-5.09575248e-02 1.39614596e-03 9.98699846e-01 -8.75046516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.145336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:603.87, Y:158.53, Z:-8.76 [[ 6.87170765e-01 -7.25601128e-01 3.60464092e-02 6.03869612e+02] [ 7.24706530e-01 6.88114214e-01 3.60454553e-02 1.58533986e+02] [-5.09586695e-02 1.35368501e-03 9.98699846e-01 -8.75940238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:603.92, Y:158.57, Z:-8.77 [[ 6.89747788e-01 -7.23152112e-01 3.60418154e-02 6.03916215e+02] [ 7.22253924e-01 6.90687819e-01 3.60500481e-02 1.58569495e+02] [-5.09633113e-02 1.16590166e-03 9.98699846e-01 -8.76581842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.265336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:603.96, Y:158.61, Z:-8.77 [[ 6.95341350e-01 -7.17775662e-01 3.60347945e-02 6.03961914e+02] [ 7.16869839e-01 6.96274028e-01 3.60570646e-02 1.58605095e+02] [-5.09709749e-02 7.60289328e-04 9.98699846e-01 -8.76949708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:604.00, Y:158.64, Z:-8.78 [[ 7.00098346e-01 -7.13136949e-01 3.60277376e-02 6.04003754e+02] [ 7.12224583e-01 7.01024623e-01 3.60641144e-02 1.58643112e+02] [-5.09749837e-02 4.11413592e-04 9.98699846e-01 -8.77545741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:604.05, Y:158.68, Z:-8.78 [[ 7.06541890e-01 -7.06753918e-01 3.60202201e-02 6.04049265e+02] [ 7.05832801e-01 7.07459465e-01 3.60716212e-02 1.58679741e+02] [-5.09766053e-02 -6.18585271e-05 9.98699846e-01 -8.77543784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:604.09, Y:158.72, Z:-8.78 [[ 7.10839808e-01 -7.02431357e-01 3.60132634e-02 6.04093067e+02] [ 7.01504309e-01 7.11751391e-01 3.60785653e-02 1.58718348e+02] [-5.09752059e-02 -3.82621026e-04 9.98699846e-01 -8.77736804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:604.14, Y:158.76, Z:-8.78 [[ 7.12676461e-01 -7.00568214e-01 3.60060996e-02 6.04136832e+02] [ 6.99638421e-01 7.13585244e-01 3.60857133e-02 1.58757105e+02] [-5.09739251e-02 -5.26187805e-04 9.98699846e-01 -8.77835411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.565336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:604.18, Y:158.79, Z:-8.78 [[ 7.14731541e-01 -6.98471818e-01 3.59992177e-02 6.04180275e+02] [ 6.97539014e-01 7.15637233e-01 3.60925774e-02 1.58794570e+02] [-5.09720287e-02 -6.85644711e-04 9.98699846e-01 -8.78430997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:604.22, Y:158.83, Z:-8.79 [[ 7.16516622e-01 -6.96640876e-01 3.59919504e-02 6.04223735e+02] [ 6.95705394e-01 7.17419548e-01 3.60998230e-02 1.58833262e+02] [-5.09699411e-02 -8.26329249e-04 9.98699846e-01 -8.79012860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:604.27, Y:158.87, Z:-8.79 [[ 7.16834240e-01 -6.96314414e-01 3.59848365e-02 6.04265722e+02] [ 6.95378166e-01 7.17736370e-01 3.61069128e-02 1.58872847e+02] [-5.09693898e-02 -8.59601832e-04 9.98699846e-01 -8.79476756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:604.31, Y:158.91, Z:-8.80 [[ 7.16488486e-01 -6.96670541e-01 3.59778814e-02 6.04306859e+02] [ 6.95734393e-01 7.17390720e-01 3.61138418e-02 1.58911648e+02] [-5.09696479e-02 -8.44102354e-04 9.98699846e-01 -8.79776050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.805336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:604.35, Y:158.95, Z:-8.80 [[ 7.15540251e-01 -6.97644754e-01 3.59714683e-02 6.04347507e+02] [ 6.96709513e-01 7.16443426e-01 3.61202284e-02 1.58951489e+02] [-5.09706099e-02 -7.83813133e-04 9.98699846e-01 -8.79760679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:604.39, Y:158.99, Z:-8.80 [[ 7.13704063e-01 -6.99523472e-01 3.59641750e-02 6.04391060e+02] [ 6.98590243e-01 7.14609317e-01 3.61274888e-02 1.58989790e+02] [-5.09723609e-02 -6.60113727e-04 9.98699846e-01 -8.80264190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:604.43, Y:159.03, Z:-8.81 [[ 7.12562596e-01 -7.00686531e-01 3.59573627e-02 6.04431265e+02] [ 6.99754438e-01 7.13469019e-01 3.61342677e-02 1.59030841e+02] [-5.09732590e-02 -5.86603426e-04 9.98699846e-01 -8.80523731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:604.47, Y:159.07, Z:-8.81 [[ 7.12310143e-01 -7.00943535e-01 3.59502643e-02 6.04472446e+02] [ 7.00011413e-01 7.13216536e-01 3.61413286e-02 1.59071451e+02] [-5.09733536e-02 -5.78239671e-04 9.98699846e-01 -8.80758960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:604.51, Y:159.11, Z:-8.81 [[ 7.13173255e-01 -7.00065713e-01 3.59430856e-02 6.04513542e+02] [ 6.99132116e-01 7.14078128e-01 3.61484665e-02 1.59110466e+02] [-5.09724733e-02 -6.51154034e-04 9.98699846e-01 -8.80914856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:604.55, Y:159.15, Z:-8.81 [[ 7.13732130e-01 -6.99496187e-01 3.59378678e-02 6.04554579e+02] [ 6.98561607e-01 7.14635988e-01 3.61536532e-02 1.59151430e+02] [-5.09718362e-02 -6.99209183e-04 9.98699846e-01 -8.81196475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:604.59, Y:159.19, Z:-8.82 [[ 7.13765375e-01 -6.99462628e-01 3.59307921e-02 6.04594289e+02] [ 6.98527651e-01 7.14668823e-01 3.61606839e-02 1.59193169e+02] [-5.09716639e-02 -7.11592357e-04 9.98699846e-01 -8.81676226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.2253361950001 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:604.64, Y:159.23, Z:-8.82 [[ 7.12892096e-01 -7.00353012e-01 3.59237745e-02 6.04636712e+02] [ 6.99418812e-01 7.13796347e-01 3.61676542e-02 1.59232390e+02] [-5.09723846e-02 -6.57871092e-04 9.98699846e-01 -8.81776568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.285336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:604.68, Y:159.27, Z:-8.82 [[ 7.11222958e-01 -7.02048366e-01 3.59165150e-02 6.04678385e+02] [ 7.01115958e-01 7.12129056e-01 3.61748619e-02 1.59271468e+02] [-5.09736966e-02 -5.46750429e-04 9.98699846e-01 -8.82029122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.3453361950001 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:604.72, Y:159.31, Z:-8.82 [[ 7.09611933e-01 -7.03677041e-01 3.59099641e-02 6.04719805e+02] [ 7.02746384e-01 7.10519830e-01 3.61813637e-02 1.59311950e+02] [-5.09747365e-02 -4.39130030e-04 9.98699847e-01 -8.82042831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:604.76, Y:159.35, Z:-8.83 [[ 7.08794672e-01 -7.04500591e-01 3.59030760e-02 6.04762974e+02] [ 7.03570642e-01 7.09703294e-01 3.61881975e-02 1.59350649e+02] [-5.09751378e-02 -3.89651281e-04 9.98699847e-01 -8.82559680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:604.80, Y:159.39, Z:-8.83 [[ 7.08283400e-01 -7.05014970e-01 3.58959244e-02 6.04804910e+02] [ 7.04085322e-01 7.09192330e-01 3.61952899e-02 1.59390465e+02] [-5.09753355e-02 -3.62729541e-04 9.98699847e-01 -8.82662935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:604.85, Y:159.43, Z:-8.83 [[ 7.07949776e-01 -7.05350344e-01 3.58888018e-02 6.04845536e+02] [ 7.04420769e-01 7.08858780e-01 3.62023508e-02 1.59431352e+02] [-5.09754329e-02 -3.48628782e-04 9.98699847e-01 -8.82963899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:604.89, Y:159.47, Z:-8.83 [[ 7.06826726e-01 -7.06476102e-01 3.58817129e-02 6.04888404e+02] [ 7.05547617e-01 7.07736844e-01 3.62093756e-02 1.59470222e+02] [-5.09758688e-02 -2.77497364e-04 9.98699847e-01 -8.83364147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:604.93, Y:159.51, Z:-8.84 [[ 7.06040575e-01 -7.07262127e-01 3.58746347e-02 6.04930265e+02] [ 7.06334300e-01 7.06951363e-01 3.62163870e-02 1.59508882e+02] [-5.09761008e-02 -2.30753729e-04 9.98699847e-01 -8.83936427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:604.97, Y:159.55, Z:-8.84 [[ 7.07870366e-01 -7.05431136e-01 3.58672178e-02 6.04973511e+02] [ 7.04500581e-01 7.08778366e-01 3.62237309e-02 1.59547228e+02] [-5.09752557e-02 -3.73229810e-04 9.98699847e-01 -8.84445552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.765336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:605.01, Y:159.59, Z:-8.85 [[ 7.11808988e-01 -7.01457066e-01 3.58601339e-02 6.05013499e+02] [ 7.00521089e-01 7.12711399e-01 3.62307424e-02 1.59588501e+02] [-5.09722364e-02 -6.68588058e-04 9.98699847e-01 -8.84690269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.05, Y:159.63, Z:-8.85 [[ 7.14075687e-01 -6.99149821e-01 3.58530484e-02 6.05053271e+02] [ 6.98210576e-01 7.14974697e-01 3.62377526e-02 1.59629705e+02] [-5.09696406e-02 -8.43520498e-04 9.98699847e-01 -8.85019184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.09, Y:159.67, Z:-8.85 [[ 7.15347914e-01 -6.97848446e-01 3.58456075e-02 6.05093930e+02] [ 6.96907198e-01 7.16244825e-01 3.62451115e-02 1.59671604e+02] [-5.09678256e-02 -9.46803086e-04 9.98699847e-01 -8.85141921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.14, Y:159.71, Z:-8.86 [[ 7.13736772e-01 -6.99496552e-01 3.58384409e-02 6.05135453e+02] [ 6.98557019e-01 7.14635480e-01 3.62521963e-02 1.59711769e+02] [-5.09697077e-02 -8.39331163e-04 9.98699847e-01 -8.85590019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.17, Y:159.75, Z:-8.86 [[ 7.12004010e-01 -7.01260583e-01 3.58313247e-02 6.05174295e+02] [ 7.00322923e-01 7.12904672e-01 3.62592286e-02 1.59753133e+02] [-5.09714865e-02 -7.23218094e-04 9.98699847e-01 -8.85976619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.22, Y:159.79, Z:-8.86 [[ 7.08590190e-01 -7.04710245e-01 3.58247538e-02 6.05216359e+02] [ 7.03776642e-01 7.09495057e-01 3.62657196e-02 1.59793767e+02] [-5.09743098e-02 -4.84908193e-04 9.98699847e-01 -8.85907401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.26, Y:159.83, Z:-8.86 [[ 7.04837450e-01 -7.08464015e-01 3.58177060e-02 6.05256250e+02] [ 7.07534878e-01 7.05746901e-01 3.62726790e-02 1.59834342e+02] [-5.09761228e-02 -2.24066317e-04 9.98699847e-01 -8.86133313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.30, Y:159.88, Z:-8.87 [[ 7.02475178e-01 -7.10806623e-01 3.58129850e-02 6.05297758e+02] [ 7.09880281e-01 7.03387476e-01 3.62773395e-02 1.59875139e+02] [-5.09765783e-02 -6.09986892e-05 9.98699847e-01 -8.86534665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.34, Y:159.91, Z:-8.87 [[ 7.01018752e-01 -7.12243395e-01 3.58057942e-02 6.05340329e+02] [ 7.11318561e-01 7.01932579e-01 3.62844355e-02 1.59913578e+02] [-5.09766030e-02 3.32562917e-05 9.98699847e-01 -8.87121397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.38, Y:159.95, Z:-8.87 [[ 6.99816386e-01 -7.13425174e-01 3.57986947e-02 6.05382640e+02] [ 7.12501524e-01 7.00731410e-01 3.62914386e-02 1.59952820e+02] [-5.09764957e-02 1.09281153e-04 9.98699847e-01 -8.87253580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.43, Y:159.99, Z:-8.87 [[ 6.97253112e-01 -7.15930911e-01 3.57914444e-02 6.05428795e+02] [ 7.15010183e-01 6.98171076e-01 3.62985876e-02 1.59989127e+02] [-5.09758321e-02 2.81943988e-04 9.98699847e-01 -8.87167534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.47, Y:160.03, Z:-8.87 [[ 6.96486507e-01 -7.16677055e-01 3.57846796e-02 6.05473729e+02] [ 7.15756968e-01 6.97405113e-01 3.63052554e-02 1.60025564e+02] [-5.09755620e-02 3.27013199e-04 9.98699847e-01 -8.87408942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.52, Y:160.06, Z:-8.88 [[ 6.98123763e-01 -7.15082643e-01 3.57774321e-02 6.05518899e+02] [ 7.14160092e-01 6.99039894e-01 3.63123961e-02 1.60062426e+02] [-5.09762165e-02 2.00267588e-04 9.98699847e-01 -8.87746291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.56, Y:160.10, Z:-8.88 [[ 7.03944542e-01 -7.09353630e-01 3.57702256e-02 6.05564304e+02] [ 7.08423262e-01 7.04852734e-01 3.63194936e-02 1.60098748e+02] [-5.09761060e-02 -2.26449340e-04 9.98699847e-01 -8.87842603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.61, Y:160.14, Z:-8.88 [[ 7.12760472e-01 -7.00495202e-01 3.57628548e-02 6.05606766e+02] [ 6.99553186e-01 7.13656575e-01 3.63267501e-02 1.60137065e+02] [-5.09691106e-02 -8.74252507e-04 9.98699848e-01 -8.88418435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.65, Y:160.18, Z:-8.89 [[ 7.21927074e-01 -6.91044760e-01 3.57552814e-02 6.05646165e+02] [ 6.90090652e-01 7.22810292e-01 3.63342028e-02 1.60179197e+02] [-5.09528458e-02 -1.55625928e-03 9.98699848e-01 -8.88673118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.69, Y:160.22, Z:-8.89 [[ 7.28832015e-01 -6.83758698e-01 3.57482391e-02 6.05685829e+02] [ 6.82795428e-01 7.29705232e-01 3.63411302e-02 1.60221965e+02] [-5.09342410e-02 -2.07784498e-03 9.98699848e-01 -8.88780888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.72, Y:160.26, Z:-8.89 [[ 7.31200190e-01 -6.81225986e-01 3.57412509e-02 6.05723635e+02] [ 6.80259358e-01 7.32069688e-01 3.63480017e-02 1.60264763e+02] [-5.09262897e-02 -2.26434536e-03 9.98699848e-01 -8.89272264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.8453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.76, Y:160.31, Z:-8.89 [[ 7.31844916e-01 -6.80533644e-01 3.57348275e-02 6.05759955e+02] [ 6.79565887e-01 7.32713156e-01 3.63543157e-02 1.60309755e+02] [-5.09237132e-02 -2.32155138e-03 9.98699848e-01 -8.89418876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.79, Y:160.36, Z:-8.90 [[ 7.30207775e-01 -6.82290349e-01 3.57279240e-02 6.05794303e+02] [ 6.81324350e-01 7.31077971e-01 3.63610990e-02 1.60355283e+02] [-5.09287251e-02 -2.20885256e-03 9.98699848e-01 -8.90102492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.83, Y:160.40, Z:-8.90 [[ 7.25012190e-01 -6.87808985e-01 3.57228880e-02 6.05830770e+02] [ 6.86849370e-01 7.25889422e-01 3.63660459e-02 1.60400980e+02] [-5.09437596e-02 -1.82958348e-03 9.98699848e-01 -8.90395745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.87, Y:160.44, Z:-8.90 [[ 7.18868935e-01 -6.94227497e-01 3.57160470e-02 6.05868386e+02] [ 6.93275387e-01 7.19754306e-01 3.63727634e-02 1.60444909e+02] [-5.09577511e-02 -1.38619339e-03 9.98699848e-01 -8.90492419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.085336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:605.91, Y:160.49, Z:-8.91 [[ 7.07841097e-01 -7.05468532e-01 3.57089975e-02 6.05907285e+02] [ 7.04530141e-01 7.08740996e-01 3.63796829e-02 1.60488091e+02] [-5.09731519e-02 -5.92969633e-04 9.98699848e-01 -8.90613464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.95, Y:160.53, Z:-8.91 [[ 6.97387999e-01 -7.15803992e-01 3.57018774e-02 6.05948700e+02] [ 7.14878582e-01 6.98301241e-01 3.63866691e-02 1.60527141e+02] [-5.09763882e-02 1.46881119e-04 9.98699848e-01 -8.91213401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.99, Y:160.57, Z:-8.91 [[ 6.91001107e-01 -7.21971874e-01 3.56942957e-02 6.05991390e+02] [ 7.21054231e-01 6.91922153e-01 3.63941050e-02 1.60565083e+02] [-5.09731941e-02 5.89156106e-04 9.98699848e-01 -8.91423260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.265336195 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:606.03, Y:160.60, Z:-8.92 [[ 6.89662562e-01 -7.23250998e-01 3.56867531e-02 6.06032758e+02] [ 7.22334680e-01 6.90584927e-01 3.64014994e-02 1.60603559e+02] [-5.09721546e-02 6.73028033e-04 9.98699848e-01 -8.91779959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:606.08, Y:160.64, Z:-8.92 [[ 6.90156303e-01 -7.22780229e-01 3.56793710e-02 6.06075900e+02] [ 7.21862908e-01 6.91077670e-01 3.64087337e-02 1.60643119e+02] [-5.09727294e-02 6.27897462e-04 9.98699848e-01 -8.92021827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:606.12, Y:160.68, Z:-8.92 [[ 6.91925957e-01 -7.21086639e-01 3.56725137e-02 6.06117851e+02] [ 7.20166717e-01 6.92844727e-01 3.64154511e-02 1.60681313e+02] [-5.09742082e-02 4.93361261e-04 9.98699848e-01 -8.92468676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:606.16, Y:160.72, Z:-8.93 [[ 6.94337661e-01 -7.18765067e-01 3.56649742e-02 6.06161981e+02] [ 7.17841693e-01 6.95252962e-01 3.64228337e-02 1.60719519e+02] [-5.09756395e-02 3.12060318e-04 9.98699848e-01 -8.92714765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:606.21, Y:160.76, Z:-8.93 [[ 6.98254984e-01 -7.14960495e-01 3.56576475e-02 6.06206219e+02] [ 7.14031768e-01 6.99164852e-01 3.64300051e-02 1.60755785e+02] [-5.09765883e-02 2.32604474e-05 9.98699848e-01 -8.93008277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:606.25, Y:160.79, Z:-8.93 [[ 7.01316870e-01 -7.11957675e-01 3.56499384e-02 6.06249751e+02] [ 7.11024668e-01 7.02222349e-01 3.64375476e-02 1.60793365e+02] [-5.09761751e-02 -2.06281231e-04 9.98699848e-01 -8.93282561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:606.29, Y:160.83, Z:-8.94 [[ 7.03706846e-01 -7.09595869e-01 3.56423727e-02 6.06294120e+02] [ 7.08659448e-01 7.04608794e-01 3.64449466e-02 1.60830462e+02] [-5.09751128e-02 -3.88254239e-04 9.98699848e-01 -8.93788374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.685336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:606.34, Y:160.87, Z:-8.94 [[ 7.05367094e-01 -7.07945888e-01 3.56354096e-02 6.06336940e+02] [ 7.07007014e-01 7.06266488e-01 3.64517538e-02 1.60870068e+02] [-5.09739648e-02 -5.17383160e-04 9.98699848e-01 -8.94067961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:606.38, Y:160.91, Z:-8.94 [[ 7.07781356e-01 -7.05532545e-01 3.56283610e-02 6.06380893e+02] [ 7.04590258e-01 7.08677174e-01 3.64586419e-02 1.60908189e+02] [-5.09717646e-02 -7.01350914e-04 9.98699848e-01 -8.94432357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:606.42, Y:160.95, Z:-8.94 [[ 7.10337937e-01 -7.02958841e-01 3.56213808e-02 6.06423667e+02] [ 7.02012967e-01 7.11229966e-01 3.64654606e-02 1.60947392e+02] [-5.09687113e-02 -8.96128841e-04 9.98699849e-01 -8.94406654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:606.46, Y:160.99, Z:-8.95 [[ 7.11611247e-01 -7.01670149e-01 3.56150904e-02 6.06464030e+02] [ 7.00722352e-01 7.12501233e-01 3.64716032e-02 1.60988622e+02] [-5.09668311e-02 -9.97313164e-04 9.98699849e-01 -8.94649985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:606.50, Y:161.03, Z:-8.95 [[ 7.11468990e-01 -7.01814759e-01 3.56078728e-02 6.06503980e+02] [ 7.00866791e-01 7.12358793e-01 3.64786485e-02 1.61029113e+02] [-5.09668352e-02 -9.97051655e-04 9.98699849e-01 -8.95388561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.9853361950001 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:606.54, Y:161.07, Z:-8.96 [[ 7.10365843e-01 -7.02931696e-01 3.56005634e-02 6.06543678e+02] [ 7.01984769e-01 7.11256755e-01 3.64857805e-02 1.61070760e+02] [-5.09681528e-02 -9.27198948e-04 9.98699849e-01 -8.95549609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:606.58, Y:161.11, Z:-8.96 [[ 7.08606787e-01 -7.04705282e-01 3.55933554e-02 6.06583951e+02] [ 7.03760233e-01 7.09499690e-01 3.64928109e-02 1.61111865e+02] [-5.09701512e-02 -8.09865370e-04 9.98699849e-01 -8.95813920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:606.62, Y:161.15, Z:-8.96 [[ 7.06846589e-01 -7.06471180e-01 3.55861163e-02 6.06622941e+02] [ 7.05528007e-01 7.07741472e-01 3.64998688e-02 1.61154313e+02] [-5.09718757e-02 -6.92806091e-04 9.98699849e-01 -8.95999775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:606.66, Y:161.20, Z:-8.96 [[ 7.05491453e-01 -7.07824764e-01 3.55796697e-02 6.06664190e+02] [ 7.06882991e-01 7.06387810e-01 3.65061518e-02 1.61195629e+02] [-5.09730032e-02 -6.04114780e-04 9.98699849e-01 -8.96126386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:606.70, Y:161.24, Z:-8.97 [[ 7.05412145e-01 -7.07904160e-01 3.55725395e-02 6.06704252e+02] [ 7.06962137e-01 7.06308240e-01 3.65130983e-02 1.61237248e+02] [-5.09729520e-02 -6.08344470e-04 9.98699849e-01 -8.96510457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.285336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:606.74, Y:161.28, Z:-8.97 [[ 7.05928456e-01 -7.07389650e-01 3.55654230e-02 6.06742513e+02] [ 7.06446625e-01 7.06823496e-01 3.65200288e-02 1.61278913e+02] [-5.09723670e-02 -6.55454526e-04 9.98699849e-01 -8.96736947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.3453361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:606.78, Y:161.32, Z:-8.97 [[ 7.07274969e-01 -7.06043731e-01 3.55579640e-02 6.06783332e+02] [ 7.05098638e-01 7.08167825e-01 3.65272899e-02 1.61321204e+02] [-5.09708700e-02 -7.62965818e-04 9.98699849e-01 -8.96929756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:606.82, Y:161.36, Z:-8.97 [[ 7.09209110e-01 -7.04101236e-01 3.55512089e-02 6.06822763e+02] [ 7.03153368e-01 7.10099020e-01 3.65338633e-02 1.61363450e+02] [-5.09684169e-02 -9.12196428e-04 9.98699849e-01 -8.97032061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:606.86, Y:161.41, Z:-8.98 [[ 7.11062898e-01 -7.02229430e-01 3.55441081e-02 6.06860895e+02] [ 7.01278875e-01 7.11949937e-01 3.65407704e-02 1.61405834e+02] [-5.09656299e-02 -1.05645396e-03 9.98699849e-01 -8.97533380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:606.90, Y:161.45, Z:-8.98 [[ 7.12771714e-01 -7.00495273e-01 3.55366815e-02 6.06898899e+02] [ 6.99542200e-01 7.13656048e-01 3.65479915e-02 1.61449459e+02] [-5.09626630e-02 -1.19096614e-03 9.98699849e-01 -8.97964861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:606.94, Y:161.49, Z:-8.98 [[ 7.16248077e-01 -6.96940684e-01 3.55299318e-02 6.06937004e+02] [ 6.95982898e-01 7.17127304e-01 3.65545520e-02 1.61493653e+02] [-5.09558387e-02 -1.45390265e-03 9.98699849e-01 -8.98355306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:606.97, Y:161.54, Z:-8.99 [[ 7.18921422e-01 -6.94183053e-01 3.55229350e-02 6.06973412e+02] [ 6.93221561e-01 7.19796593e-01 3.65613501e-02 1.61537676e+02] [-5.09495572e-02 -1.65947338e-03 9.98699849e-01 -8.98720876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:607.01, Y:161.59, Z:-8.99 [[ 7.20427351e-01 -6.92620441e-01 3.55155755e-02 6.07007816e+02] [ 6.91656699e-01 7.21300045e-01 3.65684977e-02 1.61585403e+02] [-5.09454752e-02 -1.78036018e-03 9.98699849e-01 -8.98785506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:607.05, Y:161.63, Z:-8.99 [[ 7.20601432e-01 -6.92439661e-01 3.55090313e-02 6.07045492e+02] [ 6.91475388e-01 7.21473539e-01 3.65748512e-02 1.61630068e+02] [-5.09447040e-02 -1.80226899e-03 9.98699849e-01 -8.98903135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:607.08, Y:161.68, Z:-8.99 [[ 7.20331150e-01 -6.92721175e-01 3.55022204e-02 6.07079841e+02] [ 6.91756918e-01 7.21203274e-01 3.65814612e-02 1.61676268e+02] [-5.09450704e-02 -1.79185941e-03 9.98699849e-01 -8.99082699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:607.11, Y:161.72, Z:-9.00 [[ 7.18687140e-01 -6.94427027e-01 3.54950575e-02 6.07113527e+02] [ 6.93464498e-01 7.19561170e-01 3.65884100e-02 1.61724120e+02] [-5.09488459e-02 -1.68105750e-03 9.98699849e-01 -8.99504159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:607.15, Y:161.77, Z:-9.00 [[ 7.15766420e-01 -6.97437480e-01 3.54879330e-02 6.07147967e+02] [ 6.96478286e-01 7.16644109e-01 3.65953189e-02 1.61771513e+02] [-5.09551652e-02 -1.47712564e-03 9.98699849e-01 -9.00154577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.005336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:607.19, Y:161.82, Z:-9.01 [[ 7.12920630e-01 -7.00346547e-01 3.54808344e-02 6.07185084e+02] [ 6.99390593e-01 7.13801847e-01 3.66022001e-02 1.61815533e+02] [-5.09605096e-02 -1.27950171e-03 9.98699849e-01 -9.00654584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:607.22, Y:161.86, Z:-9.01 [[ 7.07970573e-01 -7.05350461e-01 3.54738701e-02 6.07220768e+02] [ 7.04400400e-01 7.08858139e-01 3.66089484e-02 1.61860548e+02] [-5.09680802e-02 -9.30249907e-04 9.98699850e-01 -9.01346804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:607.26, Y:161.91, Z:-9.02 [[ 7.03458843e-01 -7.09850534e-01 3.54665489e-02 6.07258569e+02] [ 7.08905794e-01 7.04352072e-01 3.66160398e-02 1.61905020e+02] [-5.09728526e-02 -6.15434972e-04 9.98699850e-01 -9.01722300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.185336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:607.30, Y:161.95, Z:-9.02 [[ 7.00824291e-01 -7.12452068e-01 3.54593171e-02 6.07296728e+02] [ 7.11510290e-01 7.01720642e-01 3.66230418e-02 1.61948894e+02] [-5.09746967e-02 -4.36648343e-04 9.98699850e-01 -9.01748946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:607.33, Y:161.99, Z:-9.02 [[ 7.00404307e-01 -7.12865313e-01 3.54520986e-02 6.07334520e+02] [ 7.11923710e-01 7.01300842e-01 3.66300282e-02 1.61991952e+02] [-5.09748631e-02 -4.16639907e-04 9.98699850e-01 -9.02478439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:607.37, Y:162.03, Z:-9.03 [[ 7.00423356e-01 -7.12846952e-01 3.54449619e-02 6.07374172e+02] [ 7.11904976e-01 7.01319499e-01 3.66369327e-02 1.62034008e+02] [-5.09747687e-02 -4.27918666e-04 9.98699850e-01 -9.02822149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:607.41, Y:162.08, Z:-9.03 [[ 7.00601422e-01 -7.12672305e-01 3.54377376e-02 6.07413000e+02] [ 7.11729753e-01 7.01496958e-01 3.66439192e-02 1.62075659e+02] [-5.09745715e-02 -4.50689676e-04 9.98699850e-01 -9.03126062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.425336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:607.45, Y:162.12, Z:-9.03 [[ 7.01063344e-01 -7.12218289e-01 3.54301701e-02 6.07451477e+02] [ 7.11274787e-01 7.01957880e-01 3.66512346e-02 1.62118432e+02] [-5.09741667e-02 -4.94250398e-04 9.98699850e-01 -9.03362795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:607.49, Y:162.16, Z:-9.04 [[ 7.01326584e-01 -7.11959427e-01 3.54231014e-02 6.07490419e+02] [ 7.11015250e-01 7.02220407e-01 3.66580651e-02 1.62159680e+02] [-5.09738798e-02 -5.22910268e-04 9.98699850e-01 -9.04076433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:607.53, Y:162.20, Z:-9.04 [[ 7.03445364e-01 -7.09866430e-01 3.54157031e-02 6.07529116e+02] [ 7.08919233e-01 7.04335987e-01 3.66652113e-02 1.62200910e+02] [-5.09719569e-02 -6.85099810e-04 9.98699850e-01 -9.04211108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:607.57, Y:162.25, Z:-9.04 [[ 7.06649634e-01 -7.06676978e-01 3.54110500e-02 6.07565010e+02] [ 7.05725538e-01 7.07535722e-01 3.66697047e-02 1.62245791e+02] [-5.09682190e-02 -9.22151128e-04 9.98699850e-01 -9.04457293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:607.60, Y:162.29, Z:-9.05 [[ 7.07454494e-01 -7.05871605e-01 3.54036056e-02 6.07603879e+02] [ 7.04918797e-01 7.08339110e-01 3.66768907e-02 1.62288291e+02] [-5.09669342e-02 -9.90564135e-04 9.98699850e-01 -9.04680590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:607.64, Y:162.33, Z:-9.05 [[ 7.05709762e-01 -7.07616299e-01 3.53964079e-02 6.07642254e+02] [ 7.06665329e-01 7.06596355e-01 3.66838358e-02 1.62330134e+02] [-5.09690529e-02 -8.74726741e-04 9.98699850e-01 -9.05008065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:607.68, Y:162.37, Z:-9.05 [[ 7.02807905e-01 -7.10498894e-01 3.53888502e-02 6.07682397e+02] [ 7.09551194e-01 7.03697992e-01 3.66911252e-02 1.62372106e+02] [-5.09720667e-02 -6.76611931e-04 9.98699850e-01 -9.05124797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:607.72, Y:162.41, Z:-9.05 [[ 7.00657128e-01 -7.12620326e-01 3.53816369e-02 6.07721537e+02] [ 7.11674970e-01 7.01549705e-01 3.66980798e-02 1.62413005e+02] [-5.09737745e-02 -5.32545844e-04 9.98699850e-01 -9.05388319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:607.76, Y:162.46, Z:-9.06 [[ 6.99039601e-01 -7.14207472e-01 3.53740552e-02 6.07761583e+02] [ 7.13263773e-01 6.99933929e-01 3.67053865e-02 1.62455322e+02] [-5.09747627e-02 -4.27486654e-04 9.98699850e-01 -9.05621685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:607.80, Y:162.50, Z:-9.06 [[ 6.99052208e-01 -7.14195485e-01 3.53669379e-02 6.07801734e+02] [ 7.13251424e-01 6.99946153e-01 3.67122430e-02 1.62497522e+02] [-5.09746703e-02 -4.38255659e-04 9.98699850e-01 -9.05776015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:607.84, Y:162.54, Z:-9.06 [[ 7.00183061e-01 -7.13087215e-01 3.53596578e-02 6.07840537e+02] [ 7.12141385e-01 7.01075134e-01 3.67192536e-02 1.62538499e+02] [-5.09738071e-02 -5.29123697e-04 9.98699850e-01 -9.06315964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:607.88, Y:162.58, Z:-9.07 [[ 7.02183449e-01 -7.11117880e-01 3.53520079e-02 6.07880375e+02] [ 7.10169178e-01 7.03072467e-01 3.67266172e-02 1.62580990e+02] [-5.09719775e-02 -6.82916328e-04 9.98699850e-01 -9.06595462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:607.92, Y:162.62, Z:-9.07 [[ 7.01477935e-01 -7.11814178e-01 3.53451952e-02 6.07920418e+02] [ 7.10866029e-01 7.02367542e-01 3.67331724e-02 1.62621267e+02] [-5.09725108e-02 -6.41811403e-04 9.98699850e-01 -9.07119378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:607.96, Y:162.66, Z:-9.07 [[ 7.00582573e-01 -7.12695801e-01 3.53377094e-02 6.07958242e+02] [ 7.11748407e-01 7.01472986e-01 3.67403724e-02 1.62663455e+02] [-5.09731577e-02 -5.88106263e-04 9.98699850e-01 -9.07485704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:608.00, Y:162.70, Z:-9.07 [[ 7.01478790e-01 -7.11814073e-01 3.53303418e-02 6.07999989e+02] [ 7.10865203e-01 7.02367630e-01 3.67474559e-02 1.62703400e+02] [-5.09722447e-02 -6.62450262e-04 9.98699851e-01 -9.07263548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:608.04, Y:162.75, Z:-9.07 [[ 7.03305228e-01 -7.10009885e-01 3.53230715e-02 6.08039474e+02] [ 7.09058385e-01 7.04191250e-01 3.67544430e-02 1.62746065e+02] [-5.09702158e-02 -8.03471852e-04 9.98699851e-01 -9.07301578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:608.08, Y:162.79, Z:-9.08 [[ 7.07544987e-01 -7.05785296e-01 3.53158105e-02 6.08075605e+02] [ 7.04828159e-01 7.08424918e-01 3.67614186e-02 1.62790468e+02] [-5.09642688e-02 -1.11877973e-03 9.98699851e-01 -9.07957809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:608.11, Y:162.83, Z:-9.08 [[ 7.08928528e-01 -7.04395846e-01 3.53105490e-02 6.08113498e+02] [ 7.03436733e-01 7.09806304e-01 3.67664717e-02 1.62834294e+02] [-5.09618002e-02 -1.22606340e-03 9.98699851e-01 -9.08262863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:608.15, Y:162.88, Z:-9.09 [[ 7.09802319e-01 -7.03515700e-01 3.53033711e-02 6.08149479e+02] [ 7.02555157e-01 7.10678529e-01 3.67733627e-02 1.62877986e+02] [-5.09599858e-02 -1.29925267e-03 9.98699851e-01 -9.08990197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.565336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:608.18, Y:162.92, Z:-9.09 [[ 7.08275784e-01 -7.05052900e-01 3.52962013e-02 6.08184552e+02] [ 7.04093916e-01 7.09153701e-01 3.67802431e-02 1.62924140e+02] [-5.09624489e-02 -1.19871493e-03 9.98699851e-01 -9.09049326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:608.22, Y:162.97, Z:-9.10 [[ 7.05794972e-01 -7.07536665e-01 3.52891764e-02 6.08222128e+02] [ 7.06580434e-01 7.06675886e-01 3.67869820e-02 1.62967391e+02] [-5.09661486e-02 -1.02942536e-03 9.98699851e-01 -9.09545541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:608.26, Y:163.01, Z:-9.10 [[ 7.00021041e-01 -7.13250123e-01 3.52817754e-02 6.08259195e+02] [ 7.12300726e-01 7.00909317e-01 3.67940789e-02 1.63012712e+02] [-5.09727064e-02 -6.25395200e-04 9.98699851e-01 -9.09890626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.745336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:608.30, Y:163.06, Z:-9.10 [[ 6.97902970e-01 -7.15323073e-01 3.52752831e-02 6.08298350e+02] [ 7.14376001e-01 6.98793723e-01 3.68003021e-02 1.63055911e+02] [-5.09742516e-02 -4.83224461e-04 9.98699851e-01 -9.10238592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.805336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:608.34, Y:163.10, Z:-9.10 [[ 6.95644421e-01 -7.17520021e-01 3.52683964e-02 6.08336704e+02] [ 7.16575427e-01 6.96537802e-01 3.68069010e-02 1.63099722e+02] [-5.09754597e-02 -3.32049072e-04 9.98699851e-01 -9.09854052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.865336195 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:608.37, Y:163.14, Z:-9.10 [[ 6.94894715e-01 -7.18246433e-01 3.52618187e-02 6.08374492e+02] [ 7.17302454e-01 6.95788745e-01 3.68132014e-02 1.63142784e+02] [-5.09757272e-02 -2.87910036e-04 9.98699851e-01 -9.10478860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:608.41, Y:163.19, Z:-9.11 [[ 6.94572657e-01 -7.18558235e-01 3.52546048e-02 6.08413975e+02] [ 7.17614306e-01 6.95466741e-01 3.68201086e-02 1.63185341e+02] [-5.09757974e-02 -2.75031910e-04 9.98699851e-01 -9.11036527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:608.45, Y:163.23, Z:-9.11 [[ 6.94385616e-01 -7.18739327e-01 3.52476398e-02 6.08453452e+02] [ 7.17795293e-01 6.95279589e-01 3.68267750e-02 1.63228038e+02] [-5.09758160e-02 -2.71392886e-04 9.98699851e-01 -9.11192691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:608.49, Y:163.27, Z:-9.12 [[ 6.94699999e-01 -7.18435817e-01 3.52404434e-02 6.08494499e+02] [ 7.17491043e-01 6.95593189e-01 3.68336602e-02 1.63269286e+02] [-5.09756331e-02 -3.03641227e-04 9.98699851e-01 -9.11594444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.1053361950001 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:608.53, Y:163.31, Z:-9.12 [[ 6.95969262e-01 -7.17206669e-01 3.52332199e-02 6.08534983e+02] [ 7.16259968e-01 6.96860410e-01 3.68405684e-02 1.63310806e+02] [-5.09749375e-02 -4.03758255e-04 9.98699851e-01 -9.11512565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:608.57, Y:163.35, Z:-9.12 [[ 6.98077358e-01 -7.15155321e-01 3.52259723e-02 6.08572843e+02] [ 7.14205652e-01 6.98965342e-01 3.68474972e-02 1.63353020e+02] [-5.09734174e-02 -5.63814983e-04 9.98699851e-01 -9.11878646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:608.61, Y:163.39, Z:-9.12 [[ 6.98581023e-01 -7.14663712e-01 3.52183570e-02 6.08612768e+02] [ 7.13713051e-01 6.99467945e-01 3.68547743e-02 1.63394180e+02] [-5.09728816e-02 -6.10244861e-04 9.98699851e-01 -9.12286493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:608.65, Y:163.43, Z:-9.13 [[ 6.99819949e-01 -7.13450931e-01 3.52109062e-02 6.08653686e+02] [ 7.12498375e-01 7.00704835e-01 3.68618914e-02 1.63434754e+02] [-5.09716030e-02 -7.08973567e-04 9.98699851e-01 -9.12617716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:608.69, Y:163.48, Z:-9.13 [[ 7.00848689e-01 -7.12440737e-01 3.52038529e-02 6.08693542e+02] [ 7.11486568e-01 7.01731835e-01 3.68686262e-02 1.63476357e+02] [-5.09703755e-02 -7.92259887e-04 9.98699851e-01 -9.12734874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:608.73, Y:163.52, Z:-9.13 [[ 7.02527568e-01 -7.10785636e-01 3.51965172e-02 6.08733482e+02] [ 7.09829036e-01 7.03408081e-01 3.68756279e-02 1.63517178e+02] [-5.09681812e-02 -9.22635354e-04 9.98699851e-01 -9.13192131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.465336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:608.77, Y:163.56, Z:-9.14 [[ 7.03785655e-01 -7.09540345e-01 3.51887972e-02 6.08772681e+02] [ 7.08581818e-01 7.04664070e-01 3.68829932e-02 1.63557937e+02] [-5.09662528e-02 -1.02357961e-03 9.98699851e-01 -9.13595063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:608.81, Y:163.60, Z:-9.14 [[ 7.03803501e-01 -7.09523007e-01 3.51814486e-02 6.08813924e+02] [ 7.08564109e-01 7.04681510e-01 3.68900015e-02 1.63599407e+02] [-5.09660212e-02 -1.03500041e-03 9.98699852e-01 -9.13764487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:608.85, Y:163.64, Z:-9.14 [[ 7.03288235e-01 -7.10034085e-01 3.51746718e-02 6.08853358e+02] [ 7.09075502e-01 7.04166588e-01 3.68964621e-02 1.63641954e+02] [-5.09665743e-02 -1.00734961e-03 9.98699852e-01 -9.13914242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:608.89, Y:163.68, Z:-9.14 [[ 7.03061601e-01 -7.10258837e-01 3.51677424e-02 6.08892606e+02] [ 7.09300205e-01 7.03939900e-01 3.69030657e-02 1.63684918e+02] [-5.09667056e-02 -1.00064154e-03 9.98699852e-01 -9.14327261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.705336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:608.93, Y:163.73, Z:-9.15 [[ 7.03471636e-01 -7.09853078e-01 3.51605558e-02 6.08929231e+02] [ 7.08893598e-01 7.04349008e-01 3.69099117e-02 1.63728458e+02] [-5.09659170e-02 -1.03998304e-03 9.98699852e-01 -9.14829822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.765336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:608.97, Y:163.77, Z:-9.15 [[ 7.03282977e-01 -7.10040301e-01 3.51543117e-02 6.08966277e+02] [ 7.09080757e-01 7.04160280e-01 3.69158578e-02 1.63773757e+02] [-5.09660167e-02 -1.03504845e-03 9.98699852e-01 -9.14995251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.825336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:609.00, Y:163.82, Z:-9.15 [[ 7.02119239e-01 -7.11191429e-01 3.51471907e-02 6.09002075e+02] [ 7.10232984e-01 7.02997743e-01 3.69226364e-02 1.63820225e+02] [-5.09674583e-02 -9.61399235e-04 9.98699852e-01 -9.15109928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:609.04, Y:163.86, Z:-9.16 [[ 6.97498465e-01 -7.15724156e-01 3.51400573e-02 6.09040670e+02] [ 7.14771080e-01 6.98382790e-01 3.69294242e-02 1.63863116e+02] [-5.09724922e-02 -6.41119945e-04 9.98699852e-01 -9.15510215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:609.08, Y:163.91, Z:-9.16 [[ 6.90727824e-01 -7.22260868e-01 3.51327636e-02 6.09077560e+02] [ 7.21315809e-01 6.91620712e-01 3.69363617e-02 1.63907429e+02] [-5.09762356e-02 -1.71154964e-04 9.98699852e-01 -9.15751329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:609.12, Y:163.95, Z:-9.16 [[ 6.85038497e-01 -7.27659586e-01 3.51252650e-02 6.09116063e+02] [ 7.26721198e-01 6.85938393e-01 3.69434912e-02 1.63949214e+02] [-5.09760534e-02 2.18560958e-04 9.98699852e-01 -9.16174853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:609.16, Y:163.99, Z:-9.17 [[ 6.82958543e-01 -7.29612363e-01 3.51201795e-02 6.09156654e+02] [ 7.28676300e-01 6.83860857e-01 3.69483252e-02 1.63990692e+02] [-5.09752709e-02 3.57068070e-04 9.98699852e-01 -9.16552729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.125336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:609.20, Y:164.03, Z:-9.17 [[ 6.83488421e-01 -7.29116359e-01 3.51128670e-02 6.09195575e+02] [ 7.28179284e-01 6.84389683e-01 3.69552731e-02 1.64033607e+02] [-5.09755781e-02 3.09961095e-04 9.98699852e-01 -9.16770380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.185336195 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:609.23, Y:164.08, Z:-9.17 [[ 6.85549261e-01 -7.27179356e-01 3.51054777e-02 6.09234472e+02] [ 7.26239374e-01 6.86447493e-01 3.69622911e-02 1.64075472e+02] [-5.09762822e-02 1.55508798e-04 9.98699852e-01 -9.17094913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:609.27, Y:164.12, Z:-9.18 [[ 6.87333147e-01 -7.25493714e-01 3.51000738e-02 6.09274914e+02] [ 7.24551268e-01 6.88228792e-01 3.69674221e-02 1.64116765e+02] [-5.09765138e-02 2.28683506e-05 9.98699852e-01 -9.17534121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.305336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:609.31, Y:164.16, Z:-9.18 [[ 6.88836414e-01 -7.24066915e-01 3.50927024e-02 6.09314697e+02] [ 7.23122257e-01 6.89729726e-01 3.69744184e-02 1.64157493e+02] [-5.09764330e-02 -9.30115928e-05 9.98699852e-01 -9.17568336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:609.35, Y:164.20, Z:-9.18 [[ 6.89609405e-01 -7.23330907e-01 3.50894321e-02 6.09354234e+02] [ 7.22385137e-01 6.90501540e-01 3.69775217e-02 1.64198957e+02] [-5.09762912e-02 -1.51962538e-04 9.98699852e-01 -9.17936499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:609.39, Y:164.24, Z:-9.18 [[ 6.89648311e-01 -7.23294188e-01 3.50816908e-02 6.09393181e+02] [ 7.22347998e-01 6.90539999e-01 3.69848646e-02 1.64240783e+02] [-5.09762484e-02 -1.65360312e-04 9.98699852e-01 -9.18233583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.4853361950001 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:609.43, Y:164.28, Z:-9.18 [[ 6.89438118e-01 -7.23494906e-01 3.50742461e-02 6.09433797e+02] [ 7.22548616e-01 6.90329700e-01 3.69919234e-02 1.64282089e+02] [-5.09762619e-02 -1.60794030e-04 9.98699852e-01 -9.18354131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:609.47, Y:164.32, Z:-9.19 [[ 6.89972208e-01 -7.22985935e-01 3.50669519e-02 6.09473914e+02] [ 7.22038635e-01 6.90862718e-01 3.69988367e-02 1.64323558e+02] [-5.09760882e-02 -2.08474942e-04 9.98699852e-01 -9.18792353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:609.51, Y:164.37, Z:-9.19 [[ 6.91385692e-01 -7.21634708e-01 3.50595706e-02 6.09512042e+02] [ 7.20685314e-01 6.92273968e-01 3.70058298e-02 1.64365852e+02] [-5.09755193e-02 -3.18383645e-04 9.98699852e-01 -9.18991649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.665336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:609.55, Y:164.41, Z:-9.19 [[ 6.93203560e-01 -7.19888956e-01 3.50530385e-02 6.09549542e+02] [ 7.18937012e-01 6.94089103e-01 3.70120162e-02 1.64410037e+02] [-5.09744738e-02 -4.55934696e-04 9.98699852e-01 -9.19199012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.7253361950001 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:609.59, Y:164.45, Z:-9.20 [[ 6.94431365e-01 -7.18704982e-01 3.50460845e-02 6.09587050e+02] [ 7.17751196e-01 6.95314924e-01 3.70185997e-02 1.64453745e+02] [-5.09735176e-02 -5.52507681e-04 9.98699852e-01 -9.19610194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.785336195 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:609.63, Y:164.50, Z:-9.20 [[ 6.94136178e-01 -7.18990437e-01 3.50388099e-02 6.09625990e+02] [ 7.18036667e-01 6.95019754e-01 3.70254839e-02 1.64497152e+02] [-5.09736339e-02 -5.41577581e-04 9.98699852e-01 -9.19645739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:609.66, Y:164.54, Z:-9.20 [[ 6.91757535e-01 -7.21279643e-01 3.50312742e-02 6.09662633e+02] [ 7.20328436e-01 6.92643870e-01 3.70326123e-02 1.64540189e+02] [-5.09750667e-02 -3.83565641e-04 9.98699853e-01 -9.20301572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:609.70, Y:164.58, Z:-9.21 [[ 6.88617699e-01 -7.24278229e-01 3.50244552e-02 6.09702402e+02] [ 7.23330554e-01 6.89507808e-01 3.70390605e-02 1.64581773e+02] [-5.09762205e-02 -1.71494053e-04 9.98699853e-01 -9.20549969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.965336195 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:609.74, Y:164.62, Z:-9.21 [[ 6.86775001e-01 -7.26026105e-01 3.50170460e-02 6.09740340e+02] [ 7.25080338e-01 6.87667138e-01 3.70460639e-02 1.64624426e+02] [-5.09764813e-02 -5.21390412e-05 9.98699853e-01 -9.20798934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:609.78, Y:164.67, Z:-9.21 [[ 6.86003424e-01 -7.26755567e-01 3.50092538e-02 6.09780201e+02] [ 7.25810373e-01 6.86896168e-01 3.70534262e-02 1.64666896e+02] [-5.09765061e-02 -8.69772976e-06 9.98699853e-01 -9.21227149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:609.82, Y:164.71, Z:-9.21 [[ 6.85644135e-01 -7.27094894e-01 3.50019231e-02 6.09820008e+02] [ 7.26149789e-01 6.86536973e-01 3.70603498e-02 1.64709191e+02] [-5.09765054e-02 6.42755532e-06 9.98699853e-01 -9.21393124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:609.86, Y:164.75, Z:-9.22 [[ 6.85391275e-01 -7.27333598e-01 3.49948083e-02 6.09859136e+02] [ 7.26388461e-01 6.86284079e-01 3.70670668e-02 1.64750510e+02] [-5.09765028e-02 1.43807581e-05 9.98699853e-01 -9.21769019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.205336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:609.90, Y:164.79, Z:-9.22 [[ 6.83843142e-01 -7.28789725e-01 3.49870483e-02 6.09899507e+02] [ 7.27846114e-01 6.84737558e-01 3.70743899e-02 1.64792461e+02] [-5.09763805e-02 1.12119872e-04 9.98699853e-01 -9.21993143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:609.94, Y:164.83, Z:-9.23 [[ 6.82244086e-01 -7.30287219e-01 3.49797789e-02 6.09937933e+02] [ 7.29345220e-01 6.83140199e-01 3.70812474e-02 1.64833768e+02] [-5.09760541e-02 2.13872767e-04 9.98699853e-01 -9.22714223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.325336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:609.98, Y:164.88, Z:-9.23 [[ 6.80217940e-01 -7.32175176e-01 3.49723428e-02 6.09979371e+02] [ 7.31235303e-01 6.81116284e-01 3.70882592e-02 1.64875531e+02] [-5.09753349e-02 3.44912445e-04 9.98699853e-01 -9.22705493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.385336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:610.02, Y:164.92, Z:-9.22 [[ 6.78048472e-01 -7.34185039e-01 3.49656866e-02 6.10022060e+02] [ 7.33247505e-01 6.78949256e-01 3.70945334e-02 1.64916954e+02] [-5.09741783e-02 4.86610711e-04 9.98699853e-01 -9.22400525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.445336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:610.06, Y:164.96, Z:-9.23 [[ 6.76724314e-01 -7.35406050e-01 3.49591850e-02 6.10062642e+02] [ 7.34469825e-01 6.77626459e-01 3.71006598e-02 1.64957362e+02] [-5.09733184e-02 5.69547897e-04 9.98699853e-01 -9.22689042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.10, Y:165.00, Z:-9.23 [[ 6.75621784e-01 -7.36419450e-01 3.49513799e-02 6.10104316e+02] [ 7.35484198e-01 6.76524937e-01 3.71080113e-02 1.64996834e+02] [-5.09725413e-02 6.35206814e-04 9.98699853e-01 -9.23390154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.565336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:610.15, Y:165.04, Z:-9.24 [[ 6.75887858e-01 -7.36175590e-01 3.49443077e-02 6.10146841e+02] [ 7.35239668e-01 6.76790316e-01 3.71146699e-02 1.65036958e+02] [-5.09728830e-02 6.07086466e-04 9.98699853e-01 -9.23740964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.19, Y:165.08, Z:-9.24 [[ 6.76913661e-01 -7.35232794e-01 3.49375777e-02 6.10187474e+02] [ 7.34295288e-01 6.77814474e-01 3.71210040e-02 1.65077566e+02] [-5.09737754e-02 5.26783929e-04 9.98699853e-01 -9.24237754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.23, Y:165.12, Z:-9.25 [[ 6.79014145e-01 -7.33293708e-01 3.49303348e-02 6.10228862e+02] [ 7.32353279e-01 6.79911906e-01 3.71278182e-02 1.65116919e+02] [-5.09751460e-02 3.71031496e-04 9.98699853e-01 -9.24672314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.27, Y:165.16, Z:-9.25 [[ 6.82707067e-01 -7.29857154e-01 3.49227028e-02 6.10269154e+02] [ 7.28911838e-01 6.83599681e-01 3.71349956e-02 1.65158510e+02] [-5.09763907e-02 1.03247603e-04 9.98699853e-01 -9.24960197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.31, Y:165.20, Z:-9.25 [[ 6.86277859e-01 -7.26500930e-01 3.49155890e-02 6.10307332e+02] [ 7.25550909e-01 6.87165464e-01 3.71416830e-02 1.65200980e+02] [-5.09762541e-02 -1.56477382e-04 9.98699853e-01 -9.25245242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.34, Y:165.25, Z:-9.26 [[ 6.92093818e-01 -7.20962949e-01 3.49080746e-02 6.10344066e+02] [ 7.20005470e-01 6.92973372e-01 3.71487441e-02 1.65246511e+02] [-5.09732343e-02 -5.76411473e-04 9.98699853e-01 -9.25562321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.38, Y:165.29, Z:-9.26 [[ 6.95261691e-01 -7.17908835e-01 3.49010984e-02 6.10381660e+02] [ 7.16947164e-01 6.96136659e-01 3.71552971e-02 1.65291025e+02] [-5.09700501e-02 -8.10411220e-04 9.98699853e-01 -9.25817477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.42, Y:165.34, Z:-9.26 [[ 6.94847488e-01 -7.18310078e-01 3.48941350e-02 6.10418816e+02] [ 7.17348584e-01 6.95722651e-01 3.71618356e-02 1.65335706e+02] [-5.09703611e-02 -7.90549695e-04 9.98699853e-01 -9.26064629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.46, Y:165.38, Z:-9.26 [[ 6.92675312e-01 -7.20405310e-01 3.48869798e-02 6.10455419e+02] [ 7.19446126e-01 6.93553005e-01 3.71685516e-02 1.65380812e+02] [-5.09723916e-02 -6.46435603e-04 9.98699854e-01 -9.26155142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.49, Y:165.42, Z:-9.26 [[ 6.91050471e-01 -7.21964445e-01 3.48796083e-02 6.10493279e+02] [ 7.21006891e-01 6.91929944e-01 3.71754678e-02 1.65423610e+02] [-5.09736114e-02 -5.41686602e-04 9.98699854e-01 -9.26494620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.53, Y:165.47, Z:-9.27 [[ 6.89156524e-01 -7.23772921e-01 3.48718375e-02 6.10530662e+02] [ 7.22817307e-01 6.90038103e-01 3.71827557e-02 1.65466776e+02] [-5.09747683e-02 -4.18771055e-04 9.98699854e-01 -9.26772949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.57, Y:165.51, Z:-9.27 [[ 6.87552100e-01 -7.25297470e-01 3.48667276e-02 6.10566454e+02] [ 7.24343568e-01 6.88435532e-01 3.71875467e-02 1.65512290e+02] [-5.09755277e-02 -3.12885917e-04 9.98699854e-01 -9.26945143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.60, Y:165.56, Z:-9.27 [[ 6.86234309e-01 -7.26544762e-01 3.48594662e-02 6.10604528e+02] [ 7.25592120e-01 6.87119099e-01 3.71943523e-02 1.65555750e+02] [-5.09759668e-02 -2.30286642e-04 9.98699854e-01 -9.27298134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.64, Y:165.60, Z:-9.28 [[ 6.85552312e-01 -7.27188666e-01 3.48521365e-02 6.10640770e+02] [ 7.26236506e-01 6.86437620e-01 3.72012192e-02 1.65601518e+02] [-5.09761226e-02 -1.92487973e-04 9.98699854e-01 -9.27758360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.68, Y:165.65, Z:-9.28 [[ 6.85571789e-01 -7.27170649e-01 3.48449287e-02 6.10675174e+02] [ 7.26218123e-01 6.86456703e-01 3.72079692e-02 1.65647594e+02] [-5.09760780e-02 -2.03715259e-04 9.98699854e-01 -9.28126744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.465336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:610.71, Y:165.69, Z:-9.28 [[ 6.84806183e-01 -7.27892070e-01 3.48371511e-02 6.10709122e+02] [ 7.26940105e-01 6.85691701e-01 3.72152498e-02 1.65693229e+02] [-5.09762306e-02 -1.60710913e-04 9.98699854e-01 -9.28285752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.74, Y:165.74, Z:-9.29 [[ 6.82973449e-01 -7.29612338e-01 3.48296342e-02 6.10743354e+02] [ 7.28662245e-01 6.83860976e-01 3.72222835e-02 1.65740296e+02] [-5.09764649e-02 -4.27919485e-05 9.98699854e-01 -9.28730504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.78, Y:165.78, Z:-9.29 [[ 6.80484148e-01 -7.31934925e-01 3.48222644e-02 6.10780032e+02] [ 7.30987508e-01 6.81374531e-01 3.72291769e-02 1.65783478e+02] [-5.09763388e-02 1.20775591e-04 9.98699854e-01 -9.29245571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.82, Y:165.83, Z:-9.30 [[ 6.75460546e-01 -7.36573823e-01 3.48145608e-02 6.10816734e+02] [ 7.35632150e-01 6.76357001e-01 3.72363794e-02 1.65829310e+02] [-5.09744143e-02 4.59005025e-04 9.98699854e-01 -9.29504111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.85, Y:165.87, Z:-9.30 [[ 6.71643526e-01 -7.40056369e-01 3.48072452e-02 6.10854573e+02] [ 7.39118989e-01 6.72544469e-01 3.72432165e-02 1.65871792e+02] [-5.09714998e-02 7.12530589e-04 9.98699854e-01 -9.29779963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.89, Y:165.92, Z:-9.30 [[ 6.69582573e-01 -7.41921899e-01 3.48004830e-02 6.10891044e+02] [ 7.40986701e-01 6.70485780e-01 3.72495341e-02 1.65915750e+02] [-5.09694741e-02 8.45056178e-04 9.98699854e-01 -9.29813293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.93, Y:165.96, Z:-9.30 [[ 6.68289955e-01 -7.43086746e-01 3.47940212e-02 6.10931230e+02] [ 7.42152808e-01 6.69194466e-01 3.72555689e-02 1.65957564e+02] [-5.09680859e-02 9.24958055e-04 9.98699854e-01 -9.30051144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.97, Y:166.00, Z:-9.30 [[ 6.67105779e-01 -7.44150351e-01 3.47869952e-02 6.10969781e+02] [ 7.43217513e-01 6.68011424e-01 3.72621283e-02 1.66001247e+02] [-5.09667360e-02 9.96522895e-04 9.98699854e-01 -9.30335899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:611.01, Y:166.04, Z:-9.31 [[ 6.66237643e-01 -7.44928030e-01 3.47797706e-02 6.11010733e+02] [ 7.43995898e-01 6.67144014e-01 3.72688703e-02 1.66040726e+02] [-5.09657420e-02 1.04608233e-03 9.98699854e-01 -9.30643328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.005336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:611.05, Y:166.08, Z:-9.31 [[ 6.65858148e-01 -7.45267621e-01 3.47721237e-02 6.11052151e+02] [ 7.44335578e-01 6.66764611e-01 3.72760036e-02 1.66080276e+02] [-5.09654201e-02 1.06159811e-03 9.98699854e-01 -9.30918293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.065336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:611.09, Y:166.12, Z:-9.31 [[ 6.66142720e-01 -7.45013612e-01 3.47648345e-02 6.11092316e+02] [ 7.44080870e-01 6.67048463e-01 3.72828005e-02 1.66122540e+02] [-5.09660233e-02 1.03218211e-03 9.98699854e-01 -9.31067599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.125336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:611.13, Y:166.16, Z:-9.31 [[ 6.67941407e-01 -7.43401766e-01 3.47576041e-02 6.11134598e+02] [ 7.42466487e-01 6.68844531e-01 3.72895400e-02 1.66160877e+02] [-5.09685433e-02 8.99128347e-04 9.98699854e-01 -9.31413103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:611.18, Y:166.20, Z:-9.32 [[ 6.71372793e-01 -7.40304674e-01 3.47500059e-02 6.11176233e+02] [ 7.39364862e-01 6.72271198e-01 3.72966194e-02 1.66201100e+02] [-5.09722898e-02 6.52997835e-04 9.98699854e-01 -9.32035902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:611.22, Y:166.24, Z:-9.32 [[ 6.75532276e-01 -7.36511428e-01 3.47427851e-02 6.11218240e+02] [ 7.35566224e-01 6.76425007e-01 3.73033446e-02 1.66240753e+02] [-5.09752282e-02 3.56005971e-04 9.98699855e-01 -9.32213397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:611.26, Y:166.28, Z:-9.33 [[ 6.77634431e-01 -7.34578132e-01 3.47353667e-02 6.11257824e+02] [ 7.33630028e-01 6.78524081e-01 3.73102510e-02 1.66281541e+02] [-5.09760772e-02 2.00197303e-04 9.98699855e-01 -9.32549487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:611.30, Y:166.32, Z:-9.33 [[ 6.80085681e-01 -7.32309676e-01 3.47275823e-02 6.11301139e+02] [ 7.31358234e-01 6.80971761e-01 3.73174952e-02 1.66320945e+02] [-5.09764656e-02 1.92090875e-05 9.98699855e-01 -9.32840193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:611.34, Y:166.36, Z:-9.33 [[ 6.83556073e-01 -7.29071738e-01 3.47202658e-02 6.11340354e+02] [ 7.28115753e-01 6.84437248e-01 3.73243012e-02 1.66363251e+02] [-5.09759363e-02 -2.32880225e-04 9.98699855e-01 -9.33057507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:611.38, Y:166.41, Z:-9.33 [[ 6.86711379e-01 -7.26100885e-01 3.47129337e-02 6.11379417e+02] [ 7.25140743e-01 6.87588024e-01 3.73311191e-02 1.66405641e+02] [-5.09743561e-02 -4.63941735e-04 9.98699855e-01 -9.33268791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:611.42, Y:166.45, Z:-9.34 [[ 6.86781208e-01 -7.26035191e-01 3.47055340e-02 6.11418782e+02] [ 7.25074618e-01 6.87657380e-01 3.73379971e-02 1.66447990e+02] [-5.09742164e-02 -4.78932940e-04 9.98699855e-01 -9.33523942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:611.46, Y:166.49, Z:-9.34 [[ 6.85410337e-01 -7.27329849e-01 3.46981355e-02 6.11458075e+02] [ 7.26370583e-01 6.86287940e-01 3.73448712e-02 1.66489288e+02] [-5.09749515e-02 -3.92855824e-04 9.98699855e-01 -9.33970664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:611.50, Y:166.53, Z:-9.34 [[ 6.85093981e-01 -7.27628212e-01 3.46903757e-02 6.11496035e+02] [ 7.26668964e-01 6.85971602e-01 3.73520781e-02 1.66533260e+02] [-5.09750384e-02 -3.81264474e-04 9.98699855e-01 -9.34342677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:611.54, Y:166.58, Z:-9.35 [[ 6.86079906e-01 -7.26698996e-01 3.46833049e-02 6.11535101e+02] [ 7.25738227e-01 6.86955863e-01 3.73586425e-02 1.66576116e+02] [-5.09743876e-02 -4.60013704e-04 9.98699855e-01 -9.34525215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:611.57, Y:166.62, Z:-9.35 [[ 6.85706119e-01 -7.27052068e-01 3.46757760e-02 6.11574384e+02] [ 7.26091397e-01 6.86582183e-01 3.73656295e-02 1.66617273e+02] [-5.09745281e-02 -4.44058141e-04 9.98699855e-01 -9.34758766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:611.61, Y:166.66, Z:-9.35 [[ 6.83844223e-01 -7.28803744e-01 3.46724713e-02 6.11612262e+02] [ 7.27845162e-01 6.84722572e-01 3.73686956e-02 1.66660915e+02] [-5.09754691e-02 -3.18176141e-04 9.98699855e-01 -9.34973338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:611.65, Y:166.70, Z:-9.35 [[ 6.82829193e-01 -7.29755180e-01 3.46651180e-02 6.11652859e+02] [ 7.28797475e-01 6.83708499e-01 3.73755158e-02 1.66702554e+02] [-5.09758120e-02 -2.57242847e-04 9.98699855e-01 -9.35305178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:611.69, Y:166.74, Z:-9.36 [[ 6.82285047e-01 -7.30264306e-01 3.46577235e-02 6.11692787e+02] [ 7.29306909e-01 6.83164688e-01 3.73823713e-02 1.66742849e+02] [-5.09759443e-02 -2.29315800e-04 9.98699855e-01 -9.35757070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.025336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:611.73, Y:166.78, Z:-9.36 [[ 6.82045640e-01 -7.30488269e-01 3.46501763e-02 6.11732276e+02] [ 7.29530805e-01 6.82925208e-01 3.73893655e-02 1.66784552e+02] [-5.09759718e-02 -2.22882697e-04 9.98699855e-01 -9.36003332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:611.77, Y:166.83, Z:-9.36 [[ 6.81615492e-01 -7.30890022e-01 3.46424073e-02 6.11772212e+02] [ 7.29932711e-01 6.82495227e-01 3.73965624e-02 1.66825549e+02] [-5.09760519e-02 -2.03450036e-04 9.98699855e-01 -9.36392269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:611.82, Y:166.87, Z:-9.37 [[ 6.81073508e-01 -7.31395455e-01 3.46347356e-02 6.11815152e+02] [ 7.30438436e-01 6.81953560e-01 3.74036662e-02 1.66865181e+02] [-5.09761527e-02 -1.76104122e-04 9.98699855e-01 -9.36630965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.205336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:611.86, Y:166.91, Z:-9.37 [[ 6.81070089e-01 -7.31398990e-01 3.46273216e-02 6.11855901e+02] [ 7.30441626e-01 6.81949766e-01 3.74105286e-02 1.66906767e+02] [-5.09761167e-02 -1.85954979e-04 9.98699855e-01 -9.36763981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.265336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:611.90, Y:166.95, Z:-9.37 [[ 6.82458231e-01 -7.30104259e-01 3.46198523e-02 6.11896380e+02] [ 7.29144876e-01 6.83335704e-01 3.74174395e-02 1.66948238e+02] [-5.09756131e-02 -2.92951646e-04 9.98699855e-01 -9.36778860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:611.94, Y:166.99, Z:-9.37 [[ 6.84827412e-01 -7.27882803e-01 3.46127279e-02 6.11936245e+02] [ 7.26920241e-01 6.85701397e-01 3.74240287e-02 1.66988648e+02] [-5.09743028e-02 -4.68308193e-04 9.98699855e-01 -9.37269667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.385336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:611.97, Y:167.03, Z:-9.38 [[ 6.87147522e-01 -7.25693315e-01 3.46048474e-02 6.11974599e+02] [ 7.24727602e-01 6.88018023e-01 3.74313142e-02 1.67032488e+02] [-5.09724131e-02 -6.41746722e-04 9.98699855e-01 -9.37511738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:612.01, Y:167.08, Z:-9.38 [[ 6.88158394e-01 -7.24735149e-01 3.45975205e-02 6.12011331e+02] [ 7.23767883e-01 6.89027170e-01 3.74380851e-02 1.67077752e+02] [-5.09713278e-02 -7.22758349e-04 9.98699855e-01 -9.37979831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:612.05, Y:167.12, Z:-9.38 [[ 6.88112089e-01 -7.24779463e-01 3.45902022e-02 6.12048966e+02] [ 7.23811913e-01 6.88980549e-01 3.74448455e-02 1.67122445e+02] [-5.09712315e-02 -7.29450426e-04 9.98699856e-01 -9.37990838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:612.08, Y:167.17, Z:-9.38 [[ 6.87900174e-01 -7.24980954e-01 3.45827535e-02 6.12082586e+02] [ 7.24013313e-01 6.88768533e-01 3.74517236e-02 1.67169471e+02] [-5.09712987e-02 -7.24673238e-04 9.98699856e-01 -9.38283321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:612.12, Y:167.22, Z:-9.38 [[ 6.88317795e-01 -7.24584789e-01 3.45759713e-02 6.12115474e+02] [ 7.23616333e-01 6.89185245e-01 3.74579840e-02 1.67217654e+02] [-5.09707346e-02 -7.63259347e-04 9.98699856e-01 -9.38447756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:612.15, Y:167.27, Z:-9.39 [[ 6.87030245e-01 -7.25806073e-01 3.45685872e-02 6.12146527e+02] [ 7.24838817e-01 6.87899032e-01 3.74647973e-02 1.67266538e+02] [-5.09718750e-02 -6.82795041e-04 9.98699856e-01 -9.38963206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.745336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:612.18, Y:167.31, Z:-9.39 [[ 6.80910656e-01 -7.31550565e-01 3.45608069e-02 6.12180156e+02] [ 7.30590276e-01 6.81787137e-01 3.74719731e-02 1.67313898e+02] [-5.09757567e-02 -2.65276297e-04 9.98699856e-01 -9.39312877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.805336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:612.22, Y:167.36, Z:-9.40 [[ 6.71951203e-01 -7.39788913e-01 3.45535126e-02 6.12216670e+02] [ 7.38839023e-01 6.72838944e-01 3.74786981e-02 1.67358612e+02] [-5.09752743e-02 3.45627230e-04 9.98699856e-01 -9.39676201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:612.26, Y:167.40, Z:-9.40 [[ 6.64925573e-01 -7.46110280e-01 3.45460934e-02 6.12255139e+02] [ 7.45168473e-01 6.65821884e-01 3.74855356e-02 1.67401490e+02] [-5.09698884e-02 8.17568426e-04 9.98699856e-01 -9.39931211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:612.29, Y:167.44, Z:-9.40 [[ 6.63583649e-01 -7.47304367e-01 3.45387421e-02 6.12293773e+02] [ 7.46363820e-01 6.64481283e-01 3.74923077e-02 1.67444204e+02] [-5.09685129e-02 8.99185084e-04 9.98699856e-01 -9.40132416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:612.33, Y:167.49, Z:-9.41 [[ 6.62916080e-01 -7.47896961e-01 3.45312539e-02 6.12333337e+02] [ 7.46956857e-01 6.63814178e-01 3.74992032e-02 1.67485788e+02] [-5.09678761e-02 9.34532092e-04 9.98699856e-01 -9.40822573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.045336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:612.37, Y:167.53, Z:-9.41 [[ 6.64949937e-01 -7.46089582e-01 3.45241545e-02 6.12371985e+02] [ 7.45146698e-01 6.65845116e-01 3.75057383e-02 1.67528979e+02] [-5.09703802e-02 7.86121406e-04 9.98699856e-01 -9.40942701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:612.41, Y:167.57, Z:-9.41 [[ 6.66918715e-01 -7.44330589e-01 3.45166966e-02 6.12410985e+02] [ 7.43384989e-01 6.67811024e-01 3.75126006e-02 1.67569974e+02] [-5.09724066e-02 6.41338708e-04 9.98699856e-01 -9.41348169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:612.45, Y:167.61, Z:-9.41 [[ 6.71865199e-01 -7.39869048e-01 3.45100845e-02 6.12450418e+02] [ 7.38917210e-01 6.72750850e-01 3.75186824e-02 1.67611857e+02] [-5.09756005e-02 2.92598357e-04 9.98699856e-01 -9.41453641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:612.49, Y:167.66, Z:-9.42 [[ 6.79133644e-01 -7.33203243e-01 3.45035879e-02 6.12487812e+02] [ 7.32242408e-01 6.80009527e-01 3.75246560e-02 1.67655899e+02] [-5.09759680e-02 -2.19266124e-04 9.98699856e-01 -9.41683883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:612.52, Y:167.70, Z:-9.42 [[ 6.86412205e-01 -7.26394023e-01 3.44964826e-02 6.12524128e+02] [ 7.25424173e-01 6.87278095e-01 3.75311868e-02 1.67699040e+02] [-5.09711066e-02 -7.37282270e-04 9.98699856e-01 -9.42273076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:612.56, Y:167.75, Z:-9.42 [[ 6.92071530e-01 -7.21004504e-01 3.44891838e-02 6.12559244e+02] [ 7.20027578e-01 6.92929429e-01 3.75378928e-02 1.67745594e+02] [-5.09635602e-02 -1.14574336e-03 9.98699856e-01 -9.42282137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.405336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:612.59, Y:167.79, Z:-9.43 [[ 6.93849143e-01 -7.19294367e-01 3.44815853e-02 6.12594773e+02] [ 7.18314981e-01 6.94704232e-01 3.75448714e-02 1.67790134e+02] [-5.09603177e-02 -1.28183758e-03 9.98699856e-01 -9.42820696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:612.63, Y:167.84, Z:-9.43 [[ 6.93599552e-01 -7.19535292e-01 3.44764348e-02 6.12629587e+02] [ 7.18555969e-01 6.94454712e-01 3.75496003e-02 1.67836538e+02] [-5.09605853e-02 -1.27113791e-03 9.98699856e-01 -9.43249347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:612.67, Y:167.88, Z:-9.44 [[ 6.89693655e-01 -7.23280398e-01 3.44692296e-02 6.12665757e+02] [ 7.22305389e-01 6.90553731e-01 3.75562133e-02 1.67880634e+02] [-5.09665280e-02 -1.00497168e-03 9.98699856e-01 -9.43813939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:612.70, Y:167.93, Z:-9.44 [[ 6.84190608e-01 -7.28488535e-01 3.44625381e-02 6.12701510e+02] [ 7.27519765e-01 6.85057706e-01 3.75623525e-02 1.67926286e+02] [-5.09725705e-02 -6.27631162e-04 9.98699856e-01 -9.43754289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:612.74, Y:167.97, Z:-9.44 [[ 6.80135918e-01 -7.32275851e-01 3.44559321e-02 6.12737414e+02] [ 7.31311603e-01 6.81008042e-01 3.75684113e-02 1.67972212e+02] [-5.09752072e-02 -3.53602968e-04 9.98699856e-01 -9.43787049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.705336195 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:612.77, Y:168.02, Z:-9.44 [[ 6.79655847e-01 -7.32721798e-01 3.44484655e-02 6.12773485e+02] [ 7.31757775e-01 6.80528220e-01 3.75752566e-02 1.68015972e+02] [-5.09753624e-02 -3.30310357e-04 9.98699856e-01 -9.44346327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.765336195 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:612.81, Y:168.06, Z:-9.45 [[ 6.80302937e-01 -7.32121273e-01 3.44435159e-02 6.12806208e+02] [ 7.31156251e-01 6.81174204e-01 3.75797931e-02 1.68064081e+02] [-5.09750005e-02 -3.82051601e-04 9.98699857e-01 -9.44577255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:612.84, Y:168.11, Z:-9.45 [[ 6.79242195e-01 -7.33105858e-01 3.44360671e-02 6.12840681e+02] [ 7.32141753e-01 6.80114476e-01 3.75866176e-02 1.68109665e+02] [-5.09754372e-02 -3.18334106e-04 9.98699857e-01 -9.44780413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.885336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:612.88, Y:168.16, Z:-9.45 [[ 6.74972116e-01 -7.37039519e-01 3.44294824e-02 6.12876186e+02] [ 7.36080190e-01 6.75849648e-01 3.75926481e-02 1.68156371e+02] [-5.09764209e-02 -3.11292761e-05 9.98699857e-01 -9.44535840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:612.91, Y:168.20, Z:-9.45 [[ 6.68858993e-01 -7.42591807e-01 3.44246369e-02 6.12914628e+02] [ 7.41639534e-01 6.69744176e-01 3.75970848e-02 1.68199840e+02] [-5.09749872e-02 3.83523356e-04 9.98699857e-01 -9.44867251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:612.95, Y:168.24, Z:-9.45 [[ 6.64932696e-01 -7.46109887e-01 3.44172361e-02 6.12953381e+02] [ 7.45161946e-01 6.65822516e-01 3.76038584e-02 1.68243592e+02] [-5.09723813e-02 6.42379684e-04 9.98699857e-01 -9.45486498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:612.99, Y:168.29, Z:-9.46 [[ 6.63107833e-01 -7.47732509e-01 3.44107179e-02 6.12992376e+02] [ 7.46786436e-01 6.63999639e-01 3.76098222e-02 1.68286106e+02] [-5.09707910e-02 7.58089685e-04 9.98699857e-01 -9.46212503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:613.03, Y:168.33, Z:-9.46 [[ 6.61926211e-01 -7.48778840e-01 3.44084287e-02 6.13032815e+02] [ 7.47834067e-01 6.62819396e-01 3.76119164e-02 1.68326044e+02] [-5.09695811e-02 8.35481898e-04 9.98699857e-01 -9.46492047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:613.07, Y:168.37, Z:-9.46 [[ 6.62045899e-01 -7.48673363e-01 3.44009203e-02 6.13073548e+02] [ 7.47728091e-01 6.62938556e-01 3.76187826e-02 1.68368336e+02] [-5.09698769e-02 8.17173664e-04 9.98699857e-01 -9.46233119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:613.11, Y:168.41, Z:-9.47 [[ 6.63643633e-01 -7.47257799e-01 3.43934636e-02 6.13113794e+02] [ 7.46310270e-01 6.64533893e-01 3.76255987e-02 1.68409237e+02] [-5.09716443e-02 6.98206095e-04 9.98699857e-01 -9.46548073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:613.16, Y:168.45, Z:-9.47 [[ 6.64433746e-01 -7.46555654e-01 3.43868045e-02 6.13155773e+02] [ 7.45606870e-01 6.65322667e-01 3.76316837e-02 1.68449413e+02] [-5.09724667e-02 6.35277128e-04 9.98699857e-01 -9.46693977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:613.20, Y:168.49, Z:-9.47 [[ 6.64428835e-01 -7.46560339e-01 3.43799943e-02 6.13197552e+02] [ 7.45611239e-01 6.65317419e-01 3.76379044e-02 1.68489325e+02] [-5.09725757e-02 6.26401209e-04 9.98699857e-01 -9.46990749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:613.24, Y:168.53, Z:-9.47 [[ 6.62669504e-01 -7.48122748e-01 3.43726859e-02 6.13241890e+02] [ 7.47175398e-01 6.63559953e-01 3.76445775e-02 1.68526808e+02] [-5.09711027e-02 7.36511719e-04 9.98699857e-01 -9.47410085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:613.29, Y:168.56, Z:-9.48 [[ 6.60966627e-01 -7.49628000e-01 3.43653750e-02 6.13287796e+02] [ 7.48682330e-01 6.61858861e-01 3.76512505e-02 1.68562244e+02] [-5.09694595e-02 8.42528973e-04 9.98699857e-01 -9.48216100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:613.34, Y:168.60, Z:-9.48 [[ 6.60392321e-01 -7.50134319e-01 3.43581814e-02 6.13335323e+02] [ 7.49188992e-01 6.61284918e-01 3.76578137e-02 1.68597718e+02] [-5.09689656e-02 8.71840323e-04 9.98699857e-01 -9.48134022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:613.38, Y:168.64, Z:-9.48 [[ 6.61374000e-01 -7.49269275e-01 3.43509132e-02 6.13378622e+02] [ 7.48322437e-01 6.62264993e-01 3.76644425e-02 1.68635549e+02] [-5.09702168e-02 7.95276016e-04 9.98699857e-01 -9.48339141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:613.42, Y:168.67, Z:-9.48 [[ 6.64104137e-01 -7.46850825e-01 3.43444449e-02 6.13423733e+02] [ 7.45900436e-01 6.64991342e-01 3.76703397e-02 1.68672450e+02] [-5.09728828e-02 6.00508043e-04 9.98699857e-01 -9.48453034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.7253361950001 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:613.47, Y:168.71, Z:-9.49 [[ 6.67614690e-01 -7.43714726e-01 3.43370190e-02 6.13469346e+02] [ 7.42759822e-01 6.68497033e-01 3.76771073e-02 1.68709790e+02] [-5.09752149e-02 3.50367719e-04 9.98699857e-01 -9.48742973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.785336195 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:613.51, Y:168.75, Z:-9.49 [[ 6.71432307e-01 -7.40270313e-01 3.43295910e-02 6.13512859e+02] [ 7.39310536e-01 6.72309347e-01 3.76838742e-02 1.68749047e+02] [-5.09763582e-02 7.80577171e-05 9.98699857e-01 -9.49170293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:613.55, Y:168.79, Z:-9.50 [[ 6.72746852e-01 -7.39076200e-01 3.43226596e-02 6.13552657e+02] [ 7.38114543e-01 6.73621831e-01 3.76901862e-02 1.68790162e+02] [-5.09764124e-02 -2.18998499e-05 9.98699857e-01 -9.49676652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.905336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:613.59, Y:168.83, Z:-9.50 [[ 6.76628542e-01 -7.35524505e-01 3.43149788e-02 6.13594577e+02] [ 7.34557902e-01 6.77498053e-01 3.76971779e-02 1.68830116e+02] [-5.09755295e-02 -3.00647654e-04 9.98699857e-01 -9.49811413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:613.63, Y:168.87, Z:-9.50 [[ 6.78540869e-01 -7.33761022e-01 3.43081871e-02 6.13633509e+02] [ 7.32791846e-01 6.79407511e-01 3.77033580e-02 1.68873083e+02] [-5.09744945e-02 -4.42509547e-04 9.98699857e-01 -9.49780300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:613.67, Y:168.92, Z:-9.50 [[ 6.78392879e-01 -7.33898186e-01 3.43009437e-02 6.13672686e+02] [ 7.32928853e-01 6.79259344e-01 3.77099466e-02 1.68915576e+02] [-5.09744980e-02 -4.42007955e-04 9.98699857e-01 -9.50419200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:613.71, Y:168.96, Z:-9.51 [[ 6.76544837e-01 -7.35602500e-01 3.42935346e-02 6.13711242e+02] [ 7.34635008e-01 6.77413358e-01 3.77166833e-02 1.68957851e+02] [-5.09753849e-02 -3.23796239e-04 9.98699857e-01 -9.50883249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:613.75, Y:169.00, Z:-9.51 [[ 6.72452262e-01 -7.39345956e-01 3.42857471e-02 6.13749542e+02] [ 7.38382938e-01 6.73325741e-01 3.77237611e-02 1.69002211e+02] [-5.09763863e-02 -5.14178203e-05 9.98699858e-01 -9.50817755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.205336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:613.79, Y:169.05, Z:-9.51 [[ 6.68950400e-01 -7.42516212e-01 3.42788288e-02 6.13787138e+02] [ 7.41557011e-01 6.69828069e-01 3.77300465e-02 1.69046705e+02] [-5.09760929e-02 1.80176145e-04 9.98699858e-01 -9.50934556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:613.82, Y:169.09, Z:-9.51 [[ 6.65049697e-01 -7.46012318e-01 3.42713074e-02 6.13823705e+02] [ 7.45057378e-01 6.65932002e-01 3.77368772e-02 1.69090195e+02] [-5.09745356e-02 4.37191721e-04 9.98699858e-01 -9.51272571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.325336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:613.86, Y:169.13, Z:-9.52 [[ 6.61739527e-01 -7.48950475e-01 3.42634428e-02 6.13861132e+02] [ 7.47999084e-01 6.62625656e-01 3.77440166e-02 1.69133180e+02] [-5.09722354e-02 6.52316140e-04 9.98699858e-01 -9.51577672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:613.90, Y:169.18, Z:-9.52 [[ 6.59019748e-01 -7.51345141e-01 3.42556797e-02 6.13900100e+02] [ 7.50396603e-01 6.59908930e-01 3.77510609e-02 1.69175457e+02] [-5.09697051e-02 8.26651085e-04 9.98699858e-01 -9.51913224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:613.94, Y:169.22, Z:-9.52 [[ 6.57947517e-01 -7.52284596e-01 3.42483807e-02 6.13939549e+02] [ 7.51336983e-01 6.58837685e-01 3.77576815e-02 1.69218000e+02] [-5.09686460e-02 8.89502223e-04 9.98699858e-01 -9.52315994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:613.98, Y:169.26, Z:-9.53 [[ 6.56795365e-01 -7.53291046e-01 3.42410311e-02 6.13978478e+02] [ 7.52344450e-01 6.57686615e-01 3.77643454e-02 1.69260722e+02] [-5.09674111e-02 9.57602673e-04 9.98699858e-01 -9.52600421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.565336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:614.02, Y:169.30, Z:-9.53 [[ 6.57201815e-01 -7.52936802e-01 3.42337166e-02 6.14015989e+02] [ 7.51989380e-01 6.58092186e-01 3.77709749e-02 1.69304642e+02] [-5.09680985e-02 9.20238073e-04 9.98699858e-01 -9.52753067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:614.05, Y:169.35, Z:-9.53 [[ 6.59500791e-01 -7.50924274e-01 3.42263232e-02 6.14054730e+02] [ 7.49973787e-01 6.60387890e-01 3.77776733e-02 1.69346840e+02] [-5.09708213e-02 7.54439778e-04 9.98699858e-01 -9.53208129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:614.09, Y:169.39, Z:-9.53 [[ 6.61619194e-01 -7.49058775e-01 3.42197970e-02 6.14092648e+02] [ 7.48105481e-01 6.62503276e-01 3.77835839e-02 1.69390912e+02] [-5.09728527e-02 6.01673350e-04 9.98699858e-01 -9.53389329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:614.13, Y:169.43, Z:-9.54 [[ 6.61234584e-01 -7.49398642e-01 3.42125739e-02 6.14131888e+02] [ 7.48445465e-01 6.62118791e-01 3.77901232e-02 1.69433222e+02] [-5.09726551e-02 6.18109409e-04 9.98699858e-01 -9.53602351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:614.17, Y:169.47, Z:-9.54 [[ 6.58893119e-01 -7.51458493e-01 3.42051396e-02 6.14172078e+02] [ 7.50507730e-01 6.59779922e-01 3.77968511e-02 1.69473137e+02] [-5.09706291e-02 7.67136589e-04 9.98699858e-01 -9.54115728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:614.21, Y:169.51, Z:-9.54 [[ 6.57350450e-01 -7.52808694e-01 3.41973092e-02 6.14214116e+02] [ 7.51859384e-01 6.58238809e-01 3.78039344e-02 1.69513505e+02] [-5.09691266e-02 8.61134547e-04 9.98699858e-01 -9.54454771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:614.26, Y:169.55, Z:-9.55 [[ 6.57359915e-01 -7.52800758e-01 3.41900667e-02 6.14255597e+02] [ 7.51851097e-01 6.58247898e-01 3.78104834e-02 1.69553666e+02] [-5.09693001e-02 8.50743008e-04 9.98699858e-01 -9.54565388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:614.30, Y:169.59, Z:-9.55 [[ 6.61684741e-01 -7.49002570e-01 3.41826517e-02 6.14298322e+02] [ 7.48047465e-01 6.62566865e-01 3.78171858e-02 1.69592395e+02] [-5.09734617e-02 5.47191183e-04 9.98699858e-01 -9.54901168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.045336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:614.34, Y:169.64, Z:-9.55 [[ 6.68973930e-01 -7.42499811e-01 3.41747199e-02 6.14337555e+02] [ 7.41535764e-01 6.69846273e-01 3.78243523e-02 1.69635252e+02] [-5.09763832e-02 3.82714006e-05 9.98699858e-01 -9.55413346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:614.38, Y:169.68, Z:-9.56 [[ 6.74962635e-01 -7.37060404e-01 3.41672744e-02 6.14377141e+02] [ 7.36088987e-01 6.75826763e-01 3.78310767e-02 1.69676299e+02] [-5.09749471e-02 -3.84408830e-04 9.98699858e-01 -9.56004298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:614.42, Y:169.72, Z:-9.56 [[ 6.76775060e-01 -7.35396933e-01 3.41594679e-02 6.14415656e+02] [ 7.34423036e-01 6.77636392e-01 3.78381243e-02 1.69718521e+02] [-5.09737391e-02 -5.20398736e-04 9.98699858e-01 -9.56357390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.2253361950001 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:614.45, Y:169.76, Z:-9.56 [[ 6.78652499e-01 -7.33664968e-01 3.41540706e-02 6.14453900e+02] [ 7.32688628e-01 6.79511061e-01 3.78429954e-02 1.69762584e+02] [-5.09721488e-02 -6.57944254e-04 9.98699858e-01 -9.56450437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:614.49, Y:169.81, Z:-9.56 [[ 6.80172228e-01 -7.32256583e-01 3.41472696e-02 6.14493077e+02] [ 7.31278158e-01 6.81028413e-01 3.78491313e-02 1.69805411e+02] [-5.09705364e-02 -7.72775579e-04 9.98699858e-01 -9.56461674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.345336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:614.53, Y:169.85, Z:-9.57 [[ 6.80169229e-01 -7.32259692e-01 3.41403439e-02 6.14528921e+02] [ 7.31280957e-01 6.81025060e-01 3.78553773e-02 1.69850953e+02] [-5.09703967e-02 -7.81879395e-04 9.98699858e-01 -9.56602161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.405336195 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:614.56, Y:169.90, Z:-9.57 [[ 6.79313855e-01 -7.33053640e-01 3.41327957e-02 6.14564570e+02] [ 7.32075564e-01 6.80170438e-01 3.78621820e-02 1.69895081e+02] [-5.09711289e-02 -7.32519210e-04 9.98699859e-01 -9.57166883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:614.60, Y:169.94, Z:-9.57 [[ 6.76551450e-01 -7.35604259e-01 3.41249101e-02 6.14602395e+02] [ 7.34629054e-01 6.77411301e-01 3.78692880e-02 1.69938604e+02] [-5.09734092e-02 -5.51371305e-04 9.98699859e-01 -9.57350760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:614.64, Y:169.98, Z:-9.58 [[ 6.72219986e-01 -7.39564925e-01 3.41176223e-02 6.14639205e+02] [ 7.38594454e-01 6.73085175e-01 3.78758526e-02 1.69982799e+02] [-5.09757179e-02 -2.61818431e-04 9.98699859e-01 -9.57513005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:614.68, Y:170.03, Z:-9.58 [[ 6.67693378e-01 -7.43654433e-01 3.41121308e-02 6.14678278e+02] [ 7.42689008e-01 6.68564195e-01 3.78807978e-02 1.70025439e+02] [-5.09763724e-02 4.19467585e-05 9.98699859e-01 -9.57886286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.645336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:614.72, Y:170.07, Z:-9.58 [[ 6.64263491e-01 -7.46720089e-01 3.41045879e-02 6.14718738e+02] [ 7.45758335e-01 6.65138359e-01 3.78875875e-02 1.70067147e+02] [-5.09756924e-02 2.66439582e-04 9.98699859e-01 -9.58126616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:614.76, Y:170.11, Z:-9.58 [[ 6.63813158e-01 -7.47120794e-01 3.40970735e-02 6.14757610e+02] [ 7.46159220e-01 6.64688226e-01 3.78943489e-02 1.70108789e+02] [-5.09755793e-02 2.87078304e-04 9.98699859e-01 -9.58361249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:614.80, Y:170.15, Z:-9.59 [[ 6.64305460e-01 -7.46683457e-01 3.40891673e-02 6.14797021e+02] [ 7.45720942e-01 6.65179492e-01 3.79014599e-02 1.70151811e+02] [-5.09758081e-02 2.42859145e-04 9.98699859e-01 -9.58516495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:614.84, Y:170.19, Z:-9.59 [[ 6.66515817e-01 -7.44711424e-01 3.40816771e-02 6.14836657e+02] [ 7.43745979e-01 6.67386611e-01 3.79081940e-02 1.70193037e+02] [-5.09763201e-02 8.16993862e-05 9.98699859e-01 -9.58708005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:614.88, Y:170.23, Z:-9.59 [[ 6.68807662e-01 -7.42654106e-01 3.40762304e-02 6.14876057e+02] [ 7.41685733e-01 6.69675199e-01 3.79130895e-02 1.70234614e+02] [-5.09763180e-02 -8.27108973e-05 9.98699859e-01 -9.59126357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:614.92, Y:170.28, Z:-9.59 [[ 6.71201382e-01 -7.40491759e-01 3.40684626e-02 6.14916076e+02] [ 7.39520236e-01 6.72065390e-01 3.79200683e-02 1.70276771e+02] [-5.09757327e-02 -2.57684739e-04 9.98699859e-01 -9.59231291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:614.95, Y:170.32, Z:-9.60 [[ 6.73006173e-01 -7.38852182e-01 3.40609001e-02 6.14954677e+02] [ 7.37878210e-01 6.73867420e-01 3.79268600e-02 1.70317928e+02] [-5.09748741e-02 -3.92214853e-04 9.98699859e-01 -9.59709049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:614.99, Y:170.36, Z:-9.60 [[ 6.74100039e-01 -7.37854571e-01 3.40553859e-02 6.14992488e+02] [ 7.36879075e-01 6.74959559e-01 3.79318106e-02 1.70359803e+02] [-5.09741681e-02 -4.75133753e-04 9.98699859e-01 -9.60144282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.125336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:615.03, Y:170.40, Z:-9.60 [[ 6.76925346e-01 -7.35263783e-01 3.40476811e-02 6.15031835e+02] [ 7.34284650e-01 6.77780721e-01 3.79387252e-02 1.70402277e+02] [-5.09718325e-02 -6.80995099e-04 9.98699859e-01 -9.60332194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:615.07, Y:170.45, Z:-9.61 [[ 6.81153312e-01 -7.31349044e-01 3.40402919e-02 6.15067488e+02] [ 7.30364665e-01 6.82002644e-01 3.79453540e-02 1.70446176e+02] [-5.09668674e-02 -9.84777224e-04 9.98699859e-01 -9.60864114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:615.10, Y:170.49, Z:-9.61 [[ 6.84683199e-01 -7.28045812e-01 3.40325318e-02 6.15100661e+02] [ 7.27056991e-01 6.85527354e-01 3.79523127e-02 1.70494384e+02] [-5.09612538e-02 -1.24172068e-03 9.98699859e-01 -9.61029709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:615.13, Y:170.54, Z:-9.61 [[ 6.86355017e-01 -7.26470297e-01 3.40249616e-02 6.15133927e+02] [ 7.25479203e-01 6.87196503e-01 3.79590982e-02 1.70541339e+02] [-5.09579920e-02 -1.36901548e-03 9.98699859e-01 -9.61426955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.365336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:615.17, Y:170.59, Z:-9.62 [[ 6.86652497e-01 -7.26189501e-01 3.40170238e-02 6.15167094e+02] [ 7.25197711e-01 6.87493162e-01 3.79662103e-02 1.70588536e+02] [-5.09571346e-02 -1.40052531e-03 9.98699859e-01 -9.61887307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:615.20, Y:170.64, Z:-9.62 [[ 6.85085149e-01 -7.27668662e-01 3.40096530e-02 6.15198901e+02] [ 7.26678360e-01 6.85927567e-01 3.79728119e-02 1.70637656e+02] [-5.09597838e-02 -1.30053070e-03 9.98699859e-01 -9.62246268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:615.23, Y:170.68, Z:-9.62 [[ 6.81965045e-01 -7.30593953e-01 3.40022395e-02 6.15234306e+02] [ 7.29606935e-01 6.82811308e-01 3.79794490e-02 1.70682621e+02] [-5.09646695e-02 -1.09238691e-03 9.98699859e-01 -9.62424564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:615.27, Y:170.73, Z:-9.63 [[ 6.74837808e-01 -7.37182629e-01 3.39956507e-02 6.15268718e+02] [ 7.36203579e-01 6.75693276e-01 3.79853458e-02 1.70728158e+02] [-5.09727697e-02 -6.06227811e-04 9.98699859e-01 -9.63002188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:615.31, Y:170.77, Z:-9.63 [[ 6.68684095e-01 -7.42769397e-01 3.39882836e-02 6.15305083e+02] [ 7.41797160e-01 6.69547299e-01 3.79919366e-02 1.70773766e+02] [-5.09760113e-02 -1.92191461e-04 9.98699859e-01 -9.63355364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.665336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:615.34, Y:170.82, Z:-9.64 [[ 6.66459078e-01 -7.44766813e-01 3.39807362e-02 6.15342717e+02] [ 7.43796820e-01 6.67324802e-01 3.79986859e-02 1.70817602e+02] [-5.09763483e-02 -4.98056829e-05 9.98699860e-01 -9.63659841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:615.38, Y:170.86, Z:-9.64 [[ 6.65398890e-01 -7.45714514e-01 3.39732353e-02 6.15380532e+02] [ 7.44745411e-01 6.66265610e-01 3.80053910e-02 1.70861218e+02] [-5.09763700e-02 1.26660725e-05 9.98699860e-01 -9.64078219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:615.42, Y:170.91, Z:-9.64 [[ 6.66260198e-01 -7.44945416e-01 3.39657960e-02 6.15416314e+02] [ 7.43974973e-01 6.67125419e-01 3.80120384e-02 1.70906512e+02] [-5.09763397e-02 -5.62060821e-05 9.98699860e-01 -9.64245577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:615.45, Y:170.95, Z:-9.65 [[ 6.68129161e-01 -7.43269974e-01 3.39583441e-02 6.15453740e+02] [ 7.42297024e-01 6.68991560e-01 3.80186945e-02 1.70949461e+02] [-5.09759997e-02 -1.94220765e-04 9.98699860e-01 -9.64608425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.905336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:615.49, Y:171.00, Z:-9.64 [[ 6.70443439e-01 -7.41183374e-01 3.39529162e-02 6.15489229e+02] [ 7.40207494e-01 6.71302522e-01 3.80235413e-02 1.70995733e+02] [-5.09750949e-02 -3.60430831e-04 9.98699860e-01 -9.64455877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.965336195 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:615.53, Y:171.04, Z:-9.65 [[ 6.71381999e-01 -7.40333651e-01 3.39455035e-02 6.15525902e+02] [ 7.39356349e-01 6.72239464e-01 3.80301578e-02 1.71039633e+02] [-5.09745127e-02 -4.34939833e-04 9.98699860e-01 -9.64632233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:615.56, Y:171.08, Z:-9.65 [[ 6.69605677e-01 -7.41941014e-01 3.39377261e-02 6.15562568e+02] [ 7.40965419e-01 6.70465082e-01 3.80370971e-02 1.71084298e+02] [-5.09753427e-02 -3.23174686e-04 9.98699860e-01 -9.64795102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:615.60, Y:171.13, Z:-9.65 [[ 6.67581122e-01 -7.43763526e-01 3.39302667e-02 6.15599566e+02] [ 7.42789939e-01 6.68442803e-01 3.80437499e-02 1.71128921e+02] [-5.09759961e-02 -1.94228600e-04 9.98699860e-01 -9.65243567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:615.64, Y:171.17, Z:-9.66 [[ 6.64732373e-01 -7.46311004e-01 3.39228148e-02 6.15636910e+02] [ 7.45340380e-01 6.65597390e-01 3.80503934e-02 1.71171602e+02] [-5.09763643e-02 -9.28457885e-06 9.98699860e-01 -9.65865478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:615.68, Y:171.21, Z:-9.66 [[ 6.62144078e-01 -7.48608695e-01 3.39152162e-02 6.15675308e+02] [ 7.47640726e-01 6.63012064e-01 3.80571651e-02 1.71214903e+02] [-5.09761222e-02 1.57070304e-04 9.98699860e-01 -9.65846097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.265336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:615.71, Y:171.26, Z:-9.66 [[ 6.60326975e-01 -7.50212330e-01 3.39079166e-02 6.15713105e+02] [ 7.49246134e-01 6.61196935e-01 3.80636677e-02 1.71258532e+02] [-5.09756434e-02 2.70908938e-04 9.98699860e-01 -9.65925588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:615.75, Y:171.30, Z:-9.66 [[ 6.60468229e-01 -7.50088314e-01 3.39004368e-02 6.15754144e+02] [ 7.49121614e-01 6.61337628e-01 3.80703282e-02 1.71299663e+02] [-5.09757428e-02 2.51307689e-04 9.98699860e-01 -9.66426968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:615.79, Y:171.34, Z:-9.67 [[ 6.63600794e-01 -7.47318711e-01 3.38929256e-02 6.15790411e+02] [ 7.46348041e-01 6.64465758e-01 3.80770140e-02 1.71343160e+02] [-5.09763536e-02 2.79819155e-05 9.98699860e-01 -9.66699069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:615.83, Y:171.39, Z:-9.67 [[ 6.67193109e-01 -7.44113680e-01 3.38849091e-02 6.15827935e+02] [ 7.43138492e-01 6.68052976e-01 3.80841467e-02 1.71388476e+02] [-5.09758489e-02 -2.28299936e-04 9.98699860e-01 -9.66670127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:615.87, Y:171.43, Z:-9.67 [[ 6.69974929e-01 -7.41610343e-01 3.38776125e-02 6.15865743e+02] [ 7.40631615e-01 6.70830764e-01 3.80906363e-02 1.71430104e+02] [-5.09745545e-02 -4.28940506e-04 9.98699860e-01 -9.67327493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:615.90, Y:171.48, Z:-9.68 [[ 6.72203224e-01 -7.39591555e-01 3.38697307e-02 6.15902182e+02] [ 7.38609903e-01 6.73055704e-01 3.80976433e-02 1.71475306e+02] [-5.09729107e-02 -5.92840145e-04 9.98699860e-01 -9.67611674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:615.94, Y:171.52, Z:-9.68 [[ 6.76013003e-01 -7.36111248e-01 3.38622148e-02 6.15937052e+02] [ 7.35124874e-01 6.76860015e-01 3.81043225e-02 1.71520663e+02] [-5.09689996e-02 -8.66061151e-04 9.98699860e-01 -9.67944105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:615.97, Y:171.57, Z:-9.68 [[ 6.77761954e-01 -7.34501502e-01 3.38567298e-02 6.15973682e+02] [ 7.33512873e-01 6.78606333e-01 3.81091954e-02 1.71566081e+02] [-5.09666525e-02 -9.94615576e-04 9.98699860e-01 -9.68151359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:616.01, Y:171.61, Z:-9.69 [[ 6.78609604e-01 -7.33718776e-01 3.38491198e-02 6.16009061e+02] [ 7.32728836e-01 6.79452446e-01 3.81159535e-02 1.71610981e+02] [-5.09652580e-02 -1.06362593e-03 9.98699860e-01 -9.68751982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:616.04, Y:171.66, Z:-9.69 [[ 6.78513148e-01 -7.33808332e-01 3.38413905e-02 6.16044086e+02] [ 7.32818162e-01 6.79355719e-01 3.81228149e-02 1.71656878e+02] [-5.09651813e-02 -1.06724556e-03 9.98699860e-01 -9.68899520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.865336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:616.08, Y:171.70, Z:-9.69 [[ 6.77734600e-01 -7.34527795e-01 3.38338521e-02 6.16078340e+02] [ 7.33538186e-01 6.78577830e-01 3.81295040e-02 1.71702791e+02] [-5.09660824e-02 -1.02326165e-03 9.98699861e-01 -9.69235456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:616.11, Y:171.75, Z:-9.70 [[ 6.78096064e-01 -7.34194479e-01 3.38259581e-02 6.16112536e+02] [ 7.33204106e-01 6.78938396e-01 3.81365057e-02 1.71749646e+02] [-5.09653537e-02 -1.05888302e-03 9.98699861e-01 -9.69783362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:616.15, Y:171.80, Z:-9.70 [[ 6.78553183e-01 -7.33772364e-01 3.38185846e-02 6.16145630e+02] [ 7.32781141e-01 6.79394515e-01 3.81430433e-02 1.71796113e+02] [-5.09644719e-02 -1.10046243e-03 9.98699861e-01 -9.70024775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.045336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:616.18, Y:171.84, Z:-9.70 [[ 6.77201077e-01 -7.35020768e-01 3.38108197e-02 6.16178318e+02] [ 7.34030754e-01 6.78043831e-01 3.81499250e-02 1.71844330e+02] [-5.09662049e-02 -1.01698887e-03 9.98699861e-01 -9.70079364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:616.21, Y:171.89, Z:-9.70 [[ 6.75216896e-01 -7.36844262e-01 3.38034969e-02 6.16213445e+02] [ 7.35856199e-01 6.76061936e-01 3.81564124e-02 1.71890258e+02] [-5.09685911e-02 -8.89341577e-04 9.98699861e-01 -9.70429568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:616.25, Y:171.93, Z:-9.71 [[ 6.71109651e-01 -7.40587368e-01 3.37962369e-02 6.16250584e+02] [ 7.39603696e-01 6.71959798e-01 3.81628417e-02 1.71934315e+02] [-5.09726310e-02 -6.15629669e-04 9.98699861e-01 -9.70570115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.2253361950001 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:616.29, Y:171.98, Z:-9.71 [[ 6.67598576e-01 -7.43754300e-01 3.37887990e-02 6.16285167e+02] [ 7.42774327e-01 6.68452986e-01 3.81694260e-02 1.71980241e+02] [-5.09748983e-02 -3.84402022e-04 9.98699861e-01 -9.71007428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:616.32, Y:172.02, Z:-9.72 [[ 6.66672195e-01 -7.44585118e-01 3.37814529e-02 6.16321622e+02] [ 7.43605880e-01 6.67527447e-01 3.81759264e-02 1.72023327e+02] [-5.09752737e-02 -3.30741639e-04 9.98699861e-01 -9.71835904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.345336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:616.36, Y:172.07, Z:-9.72 [[ 6.67972439e-01 -7.43419214e-01 3.37741288e-02 6.16358974e+02] [ 7.42438157e-01 6.68825603e-01 3.81824050e-02 1.72067621e+02] [-5.09745356e-02 -4.29592226e-04 9.98699861e-01 -9.71706631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:616.40, Y:172.11, Z:-9.72 [[ 6.70682735e-01 -7.40975356e-01 3.37667032e-02 6.16395482e+02] [ 7.39990860e-01 6.71531928e-01 3.81889707e-02 1.72111334e+02] [-5.09725055e-02 -6.25631629e-04 9.98699861e-01 -9.72073409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.465336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:616.43, Y:172.16, Z:-9.72 [[ 6.70925444e-01 -7.40755959e-01 3.37588136e-02 6.16432528e+02] [ 7.39770834e-01 6.71773907e-01 3.81959438e-02 1.72155718e+02] [-5.09721631e-02 -6.52844838e-04 9.98699861e-01 -9.71967038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:616.47, Y:172.20, Z:-9.72 [[ 6.70181081e-01 -7.41429784e-01 3.37519461e-02 6.16470901e+02] [ 7.40445207e-01 6.71030179e-01 3.82020113e-02 1.72199185e+02] [-5.09726835e-02 -6.10798472e-04 9.98699861e-01 -9.72124664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:616.51, Y:172.24, Z:-9.72 [[ 6.71447572e-01 -7.40283339e-01 3.37451632e-02 6.16508010e+02] [ 7.39297011e-01 6.72294637e-01 3.82080020e-02 1.72243349e+02] [-5.09714395e-02 -7.06971875e-04 9.98699861e-01 -9.72374061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:616.55, Y:172.29, Z:-9.73 [[ 6.72477634e-01 -7.39348085e-01 3.37378304e-02 6.16545231e+02] [ 7.38360254e-01 6.73322946e-01 3.82144757e-02 1.72287643e+02] [-5.09702548e-02 -7.87707215e-04 9.98699861e-01 -9.72605339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:616.58, Y:172.33, Z:-9.73 [[ 6.72859501e-01 -7.39000901e-01 3.37307091e-02 6.16580601e+02] [ 7.38012319e-01 6.73703934e-01 3.82207605e-02 1.72331526e+02] [-5.09696878e-02 -8.23523033e-04 9.98699861e-01 -9.73166586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.765336195 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:616.62, Y:172.38, Z:-9.73 [[ 6.72105403e-01 -7.39687151e-01 3.37230804e-02 6.16615359e+02] [ 7.38699093e-01 6.72950450e-01 3.82274903e-02 1.72377832e+02] [-5.09703455e-02 -7.81693879e-04 9.98699861e-01 -9.73199813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.825336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:616.65, Y:172.42, Z:-9.73 [[ 6.72479440e-01 -7.39347458e-01 3.37155741e-02 6.16651395e+02] [ 7.38358642e-01 6.73323599e-01 3.82341094e-02 1.72423041e+02] [-5.09697833e-02 -8.17466975e-04 9.98699861e-01 -9.73381752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:616.69, Y:172.47, Z:-9.74 [[ 6.73201596e-01 -7.38690318e-01 3.37079392e-02 6.16687298e+02] [ 7.37700342e-01 6.74044393e-01 3.82408394e-02 1.72467428e+02] [-5.09687852e-02 -8.77435835e-04 9.98699861e-01 -9.73929368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.945336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:616.72, Y:172.51, Z:-9.74 [[ 6.72372991e-01 -7.39444833e-01 3.37031080e-02 6.16722777e+02] [ 7.38455589e-01 6.73216648e-01 3.82450968e-02 1.72513256e+02] [-5.09696326e-02 -8.26721666e-04 9.98699861e-01 -9.74159702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:616.76, Y:172.56, Z:-9.75 [[ 6.72604486e-01 -7.39234606e-01 3.36957443e-02 6.16758686e+02] [ 7.38244774e-01 6.73447452e-01 3.82515834e-02 1.72557686e+02] [-5.09692074e-02 -8.52479455e-04 9.98699861e-01 -9.74693680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:616.79, Y:172.60, Z:-9.75 [[ 6.73353484e-01 -7.38552668e-01 3.36903853e-02 6.16794544e+02] [ 7.37561746e-01 6.74195169e-01 3.82563028e-02 1.72603352e+02] [-5.09681896e-02 -9.11275362e-04 9.98699861e-01 -9.75068652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:616.83, Y:172.65, Z:-9.75 [[ 6.73459970e-01 -7.38455896e-01 3.36831930e-02 6.16830609e+02] [ 7.37464537e-01 6.74301140e-01 3.82626344e-02 1.72647877e+02] [-5.09678834e-02 -9.28192287e-04 9.98699861e-01 -9.75457065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:616.86, Y:172.70, Z:-9.76 [[ 6.72978528e-01 -7.38894981e-01 3.36765308e-02 6.16863721e+02] [ 7.37903877e-01 6.73819998e-01 3.82684972e-02 1.72695703e+02] [-5.09683204e-02 -9.03834219e-04 9.98699862e-01 -9.75606156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:616.90, Y:172.74, Z:-9.76 [[ 6.72632727e-01 -7.39210081e-01 3.36700252e-02 6.16898985e+02] [ 7.38219085e-01 6.73474325e-01 3.82742201e-02 1.72742032e+02] [-5.09685869e-02 -8.88637856e-04 9.98699862e-01 -9.75754126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:616.93, Y:172.79, Z:-9.76 [[ 6.70673268e-01 -7.40988652e-01 3.36628134e-02 6.16932992e+02] [ 7.39999570e-01 6.71517115e-01 3.82805620e-02 1.72787256e+02] [-5.09706174e-02 -7.63282190e-04 9.98699862e-01 -9.76353903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.365336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:616.97, Y:172.84, Z:-9.76 [[ 6.66224300e-01 -7.44991520e-01 3.36573495e-02 6.16967447e+02] [ 7.44007267e-01 6.67073773e-01 3.82853654e-02 1.72835059e+02] [-5.09742077e-02 -4.65328154e-04 9.98699862e-01 -9.76177272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.00, Y:172.88, Z:-9.76 [[ 6.60731204e-01 -7.49867932e-01 3.36505562e-02 6.17004842e+02] [ 7.48889645e-01 6.61587541e-01 3.82913354e-02 1.72878533e+02] [-5.09762332e-02 -9.97270739e-05 9.98699862e-01 -9.76409522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.4853361950001 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:617.04, Y:172.92, Z:-9.76 [[ 6.54018128e-01 -7.55730372e-01 3.36436074e-02 6.17044630e+02] [ 7.54759446e-01 6.54882802e-01 3.82974398e-02 1.72921519e+02] [-5.09751583e-02 3.45610632e-04 9.98699862e-01 -9.76321528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.545336195 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:617.08, Y:172.96, Z:-9.77 [[ 6.51885626e-01 -7.57570909e-01 3.36369938e-02 6.17082907e+02] [ 7.56602125e-01 6.52752699e-01 3.83032477e-02 1.72963084e+02] [-5.09740647e-02 4.80484312e-04 9.98699862e-01 -9.76766868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.6053361950001 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:617.13, Y:173.00, Z:-9.77 [[ 6.47319616e-01 -7.61476444e-01 3.36294584e-02 6.17126157e+02] [ 7.60512546e-01 6.48192118e-01 3.83098625e-02 1.73002179e+02] [-5.09704077e-02 7.76899604e-04 9.98699862e-01 -9.77252359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.17, Y:173.04, Z:-9.78 [[ 6.47179681e-01 -7.61595697e-01 3.36222519e-02 6.17169701e+02] [ 7.60631631e-01 6.48051998e-01 3.83161861e-02 1.73041037e+02] [-5.09704100e-02 7.76691232e-04 9.98699862e-01 -9.77768418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.21, Y:173.08, Z:-9.78 [[ 6.51530237e-01 -7.57877550e-01 3.36150195e-02 6.17212388e+02] [ 7.56908178e-01 6.52396653e-01 3.83225302e-02 1.73080099e+02] [-5.09741115e-02 4.75196032e-04 9.98699862e-01 -9.78001346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.25, Y:173.12, Z:-9.79 [[ 6.57521702e-01 -7.52685684e-01 3.36076411e-02 6.17254845e+02] [ 7.51709139e-01 6.58380026e-01 3.83289997e-02 1.73118867e+02] [-5.09762889e-02 6.10217993e-05 9.98699862e-01 -9.78501102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.30, Y:173.16, Z:-9.79 [[ 6.61000043e-01 -7.49633183e-01 3.36011023e-02 6.17295982e+02] [ 7.48652384e-01 6.61853501e-01 3.83347311e-02 1.73158299e+02] [-5.09759937e-02 -1.83713548e-04 9.98699862e-01 -9.78882197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.34, Y:173.20, Z:-9.79 [[ 6.62645303e-01 -7.48179478e-01 3.35957028e-02 6.17338488e+02] [ 7.47196566e-01 6.63496328e-01 3.83394625e-02 1.73197523e+02] [-5.09754245e-02 -3.02870991e-04 9.98699862e-01 -9.79325262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.38, Y:173.24, Z:-9.79 [[ 6.63181338e-01 -7.47704708e-01 3.35884452e-02 6.17381201e+02] [ 7.46720865e-01 6.64031286e-01 3.83458197e-02 1.73236923e+02] [-5.09751283e-02 -3.49039198e-04 9.98699862e-01 -9.79482014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.42, Y:173.28, Z:-9.80 [[ 6.63096380e-01 -7.47780382e-01 3.35811195e-02 6.17424717e+02] [ 7.46796311e-01 6.63946064e-01 3.83522340e-02 1.73276510e+02] [-5.09751003e-02 -3.52971348e-04 9.98699862e-01 -9.79538482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.47, Y:173.32, Z:-9.80 [[ 6.63341196e-01 -7.47563545e-01 3.35738541e-02 6.17466784e+02] [ 7.46578875e-01 6.64190185e-01 3.83585932e-02 1.73315824e+02] [-5.09749103e-02 -3.79304868e-04 9.98699862e-01 -9.79918115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.51, Y:173.35, Z:-9.80 [[ 6.63937075e-01 -7.47034697e-01 3.35666772e-02 6.17508743e+02] [ 7.46049033e-01 6.64784910e-01 3.83648725e-02 1.73354879e+02] [-5.09745114e-02 -4.29474168e-04 9.98699862e-01 -9.80363547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.55, Y:173.40, Z:-9.81 [[ 6.66105867e-01 -7.45101849e-01 3.35590353e-02 6.17550027e+02] [ 7.44113388e-01 6.66950440e-01 3.83715559e-02 1.73396169e+02] [-5.09729306e-02 -5.87791027e-04 9.98699862e-01 -9.80704018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.59, Y:173.44, Z:-9.81 [[ 6.67733145e-01 -7.43644223e-01 3.35516999e-02 6.17589514e+02] [ 7.42653596e-01 6.68575177e-01 3.83779689e-02 1.73439011e+02] [-5.09713885e-02 -7.08951265e-04 9.98699862e-01 -9.80815015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.325336195 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:617.63, Y:173.48, Z:-9.81 [[ 6.68622454e-01 -7.42845074e-01 3.35441383e-02 6.17630493e+02] [ 7.41853110e-01 6.69462910e-01 3.83845769e-02 1.73482084e+02] [-5.09703503e-02 -7.79966706e-04 9.98699862e-01 -9.80649023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.67, Y:173.52, Z:-9.81 [[ 6.68862722e-01 -7.42629047e-01 3.35374171e-02 6.17671693e+02] [ 7.41636517e-01 6.69702509e-01 3.83904485e-02 1.73521213e+02] [-5.09699545e-02 -8.05366697e-04 9.98699862e-01 -9.81214165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.71, Y:173.56, Z:-9.81 [[ 6.69194918e-01 -7.42330078e-01 3.35293422e-02 6.17711749e+02] [ 7.41336820e-01 6.70033843e-01 3.83974996e-02 1.73563780e+02] [-5.09694129e-02 -8.38875644e-04 9.98699862e-01 -9.81492736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.75, Y:173.61, Z:-9.81 [[ 6.73443264e-01 -7.38478452e-01 3.35223149e-02 6.17749766e+02] [ 7.37480092e-01 6.74276112e-01 3.84036338e-02 1.73607869e+02] [-5.09635521e-02 -1.14062863e-03 9.98699862e-01 -9.81453386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.565336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:617.78, Y:173.65, Z:-9.82 [[ 6.76506658e-01 -7.35673497e-01 3.35148741e-02 6.17783997e+02] [ 7.34671364e-01 6.77334961e-01 3.84101262e-02 1.73653232e+02] [-5.09581078e-02 -1.36228790e-03 9.98699863e-01 -9.81701170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.82, Y:173.70, Z:-9.82 [[ 6.79629474e-01 -7.32789809e-01 3.35093198e-02 6.17818723e+02] [ 7.31783923e-01 6.80453216e-01 3.84149713e-02 1.73697755e+02] [-5.09516239e-02 -1.58636525e-03 9.98699863e-01 -9.82188279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.85, Y:173.74, Z:-9.83 [[ 6.79607859e-01 -7.32810208e-01 3.35015948e-02 6.17853846e+02] [ 7.31804016e-01 6.80431227e-01 3.84217070e-02 1.73744251e+02] [-5.09513504e-02 -1.59509235e-03 9.98699863e-01 -9.82515963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.89, Y:173.79, Z:-9.83 [[ 6.77774107e-01 -7.34506901e-01 3.34943602e-02 6.17888124e+02] [ 7.33502460e-01 6.78599609e-01 3.84280128e-02 1.73791356e+02] [-5.09549003e-02 -1.47731645e-03 9.98699863e-01 -9.82756056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.805336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:617.92, Y:173.84, Z:-9.83 [[ 6.75982018e-01 -7.36156859e-01 3.34871608e-02 6.17920936e+02] [ 7.35154122e-01 6.76809591e-01 3.84342855e-02 1.73839824e+02] [-5.09580945e-02 -1.36266161e-03 9.98699863e-01 -9.82991027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.95, Y:173.89, Z:-9.84 [[ 6.74104684e-01 -7.37876679e-01 3.34795655e-02 6.17953829e+02] [ 7.36875726e-01 6.74934413e-01 3.84409006e-02 1.73886759e+02] [-5.09611549e-02 -1.24291203e-03 9.98699863e-01 -9.83651278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.99, Y:173.93, Z:-9.84 [[ 6.72217402e-01 -7.39596684e-01 3.34740284e-02 6.17987049e+02] [ 7.38597614e-01 6.73049397e-01 3.84457216e-02 1.73934283e+02] [-5.09640028e-02 -1.12004550e-03 9.98699863e-01 -9.83911861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.9853361950001 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:618.02, Y:173.98, Z:-9.84 [[ 6.70150248e-01 -7.41470592e-01 3.34665004e-02 6.18020535e+02] [ 7.40473522e-01 6.70984639e-01 3.84522735e-02 1.73981506e+02] [-5.09667377e-02 -9.87743206e-04 9.98699863e-01 -9.84050272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:618.06, Y:174.03, Z:-9.84 [[ 6.66133730e-01 -7.45081435e-01 3.34590627e-02 6.18055434e+02] [ 7.44088564e-01 6.66973113e-01 3.84587443e-02 1.74026871e+02] [-5.09711916e-02 -7.22160910e-04 9.98699863e-01 -9.84465232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.1053361950001 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:618.09, Y:174.08, Z:-9.85 [[ 6.63597059e-01 -7.47341928e-01 3.34512522e-02 6.18087945e+02] [ 7.46351574e-01 6.64439411e-01 3.84655366e-02 1.74075769e+02] [-5.09732386e-02 -5.59222233e-04 9.98699863e-01 -9.84741747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:618.12, Y:174.12, Z:-9.85 [[ 6.61609020e-01 -7.49102805e-01 3.34438652e-02 6.18123323e+02] [ 7.48114368e-01 6.62453621e-01 3.84719582e-02 1.74121351e+02] [-5.09744614e-02 -4.33558516e-04 9.98699863e-01 -9.85057517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:618.16, Y:174.17, Z:-9.85 [[ 6.59593369e-01 -7.50878550e-01 3.34363671e-02 6.18157924e+02] [ 7.49892058e-01 6.60440239e-01 3.84784738e-02 1.74167490e+02] [-5.09753829e-02 -3.06480014e-04 9.98699863e-01 -9.85266330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:618.19, Y:174.21, Z:-9.85 [[ 6.58125075e-01 -7.52166097e-01 3.34297615e-02 6.18192824e+02] [ 7.51180970e-01 6.58973532e-01 3.84842118e-02 1.74214548e+02] [-5.09758474e-02 -2.15624067e-04 9.98699863e-01 -9.85397367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:618.23, Y:174.26, Z:-9.86 [[ 6.56595656e-01 -7.53501888e-01 3.34222942e-02 6.18227133e+02] [ 7.52518156e-01 6.57445732e-01 3.84906959e-02 1.74259423e+02] [-5.09761566e-02 -1.21940528e-04 9.98699863e-01 -9.85944574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:618.26, Y:174.30, Z:-9.86 [[ 6.56386191e-01 -7.53684646e-01 3.34159193e-02 6.18261845e+02] [ 7.52700869e-01 6.57236214e-01 3.84962295e-02 1.74304681e+02] [-5.09761693e-02 -1.16201906e-04 9.98699863e-01 -9.86296885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.465336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:618.30, Y:174.35, Z:-9.86 [[ 6.56623211e-01 -7.53478500e-01 3.34082232e-02 6.18298122e+02] [ 7.52494117e-01 6.57472532e-01 3.85029072e-02 1.74350323e+02] [-5.09761018e-02 -1.42411184e-04 9.98699863e-01 -9.86310221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:618.33, Y:174.40, Z:-9.87 [[ 6.57481584e-01 -7.52729935e-01 3.34007701e-02 6.18333392e+02] [ 7.51744257e-01 6.58329402e-01 3.85093716e-02 1.74397255e+02] [-5.09758658e-02 -2.10365561e-04 9.98699863e-01 -9.86622299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.585336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:618.37, Y:174.44, Z:-9.87 [[ 6.57042571e-01 -7.53113477e-01 3.33938735e-02 6.18366550e+02] [ 7.52127989e-01 6.57890610e-01 3.85153511e-02 1.74444475e+02] [-5.09759458e-02 -1.89758423e-04 9.98699863e-01 -9.86958378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:618.40, Y:174.49, Z:-9.87 [[ 6.54376168e-01 -7.55431627e-01 3.33899452e-02 6.18402242e+02] [ 7.54448970e-01 6.55227485e-01 3.85187564e-02 1.74488755e+02] [-5.09762966e-02 -1.47464741e-05 9.98699863e-01 -9.87298042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:618.44, Y:174.53, Z:-9.87 [[ 6.50671341e-01 -7.58625367e-01 3.33820169e-02 6.18441369e+02] [ 7.57646536e-01 6.51527054e-01 3.85256262e-02 1.74531342e+02] [-5.09758044e-02 2.24248642e-04 9.98699863e-01 -9.87407990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:618.48, Y:174.58, Z:-9.88 [[ 6.47303335e-01 -7.61501490e-01 3.33747222e-02 6.18479347e+02] [ 7.60526136e-01 6.48163009e-01 3.85319445e-02 1.74575180e+02] [-5.09743935e-02 4.40492293e-04 9.98699863e-01 -9.87850420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:618.52, Y:174.62, Z:-9.88 [[ 6.45236421e-01 -7.63253938e-01 3.33674523e-02 6.18520539e+02] [ 7.62280593e-01 6.46098368e-01 3.85382390e-02 1.74616239e+02] [-5.09731192e-02 5.69085957e-04 9.98699863e-01 -9.88258231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:618.56, Y:174.66, Z:-9.89 [[ 6.45636526e-01 -7.62915843e-01 3.33600569e-02 6.18560807e+02] [ 7.61941715e-01 6.46497590e-01 3.85446396e-02 1.74657826e+02] [-5.09735126e-02 5.32591761e-04 9.98699864e-01 -9.88667951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:618.60, Y:174.70, Z:-9.89 [[ 6.47539020e-01 -7.61302056e-01 3.33526146e-02 6.18599976e+02] [ 7.60325451e-01 6.48397273e-01 3.85510784e-02 1.74700137e+02] [-5.09747596e-02 3.95514196e-04 9.98699864e-01 -9.89088841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:618.64, Y:174.74, Z:-9.89 [[ 6.49360026e-01 -7.59749739e-01 3.33450209e-02 6.18640700e+02] [ 7.58770745e-01 6.50215552e-01 3.85576455e-02 1.74741677e+02] [-5.09756123e-02 2.63432672e-04 9.98699864e-01 -9.89443138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:618.68, Y:174.78, Z:-9.90 [[ 6.50445678e-01 -7.58820632e-01 3.33416981e-02 6.18678961e+02] [ 7.57840268e-01 6.51299635e-01 3.85605186e-02 1.74783864e+02] [-5.09759529e-02 1.86158731e-04 9.98699864e-01 -9.89737888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.125336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:618.72, Y:174.83, Z:-9.90 [[ 6.48975745e-01 -7.60078470e-01 3.33347087e-02 6.18718913e+02] [ 7.59099451e-01 6.49831243e-01 3.85665599e-02 1.74826212e+02] [-5.09755470e-02 2.75597123e-04 9.98699864e-01 -9.89855461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:618.76, Y:174.86, Z:-9.90 [[ 6.41291506e-01 -7.66573215e-01 3.33273158e-02 6.18762759e+02] [ 7.65602527e-01 6.42156444e-01 3.85729474e-02 1.74863477e+02] [-5.09703389e-02 7.78973619e-04 9.98699864e-01 -9.90132087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:618.81, Y:174.90, Z:-9.90 [[ 6.36563867e-01 -7.70503897e-01 3.33194750e-02 6.18805378e+02] [ 7.69538194e-01 6.37434368e-01 3.85797191e-02 1.74902942e+02] [-5.09648024e-02 1.08215343e-03 9.98699864e-01 -9.90419968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:618.85, Y:174.94, Z:-9.91 [[ 6.32545682e-01 -7.73806341e-01 3.33122448e-02 6.18851561e+02] [ 7.72844853e-01 6.33420837e-01 3.85859611e-02 1.74940247e+02] [-5.09587314e-02 1.33781384e-03 9.98699864e-01 -9.90520444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:618.90, Y:174.98, Z:-9.91 [[ 6.31797367e-01 -7.74417748e-01 3.33052372e-02 6.18898696e+02] [ 7.73456788e-01 6.32673102e-01 3.85920087e-02 1.74976374e+02] [-5.09576642e-02 1.37783231e-03 9.98699864e-01 -9.90523347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.425336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:618.94, Y:175.01, Z:-9.91 [[ 6.34109165e-01 -7.72526253e-01 3.32979770e-02 6.18943651e+02] [ 7.71562353e-01 6.34981661e-01 3.85982719e-02 1.75013618e+02] [-5.09617832e-02 1.21594754e-03 9.98699864e-01 -9.90924894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:618.99, Y:175.05, Z:-9.91 [[ 6.37342499e-01 -7.69861197e-01 3.32907767e-02 6.18988312e+02] [ 7.68893323e-01 6.38210586e-01 3.86044812e-02 1.75050016e+02] [-5.09666182e-02 9.92779439e-04 9.98699864e-01 -9.91340664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:619.03, Y:175.09, Z:-9.92 [[ 6.40135155e-01 -7.67541016e-01 3.32832046e-02 6.19034002e+02] [ 7.66569656e-01 6.40999338e-01 3.86110085e-02 1.75087183e+02] [-5.09700448e-02 7.97630806e-04 9.98699864e-01 -9.91529238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:619.08, Y:175.12, Z:-9.92 [[ 6.42599043e-01 -7.65479706e-01 3.32759632e-02 6.19078821e+02] [ 7.64505250e-01 6.43459735e-01 3.86172482e-02 1.75124580e+02] [-5.09724623e-02 6.24241839e-04 9.98699864e-01 -9.91978862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:619.12, Y:175.16, Z:-9.92 [[ 6.46302639e-01 -7.62355629e-01 3.32685062e-02 6.19122649e+02] [ 7.61376682e-01 6.47158218e-01 3.86236714e-02 1.75163191e+02] [-5.09749605e-02 3.67284129e-04 9.98699864e-01 -9.92444784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:619.16, Y:175.20, Z:-9.93 [[ 6.51951209e-01 -7.57531072e-01 3.32610178e-02 6.19164683e+02] [ 7.56545464e-01 6.52799107e-01 3.86301190e-02 1.75202154e+02] [-5.09762782e-02 -2.14806712e-05 9.98699864e-01 -9.92528891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:619.21, Y:175.24, Z:-9.93 [[ 6.58525012e-01 -7.51823808e-01 3.32531149e-02 6.19205672e+02] [ 7.50830509e-01 6.59363886e-01 3.86369207e-02 1.75243222e+02] [-5.09740599e-02 -4.75925448e-04 9.98699864e-01 -9.92603804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:619.24, Y:175.29, Z:-9.93 [[ 6.63100607e-01 -7.47791624e-01 3.32456314e-02 6.19243329e+02] [ 7.46792902e-01 6.63933017e-01 3.86433588e-02 1.75285699e+02] [-5.09700525e-02 -7.96833080e-04 9.98699864e-01 -9.93124974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:619.28, Y:175.33, Z:-9.93 [[ 6.64413938e-01 -7.46625320e-01 3.32378069e-02 6.19281415e+02] [ 7.45624800e-01 6.65244187e-01 3.86500876e-02 1.75329689e+02] [-5.09683919e-02 -8.96723746e-04 9.98699864e-01 -9.93412668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:619.32, Y:175.37, Z:-9.94 [[ 6.63510400e-01 -7.47428728e-01 3.32301891e-02 6.19318783e+02] [ 7.46428886e-01 6.64341466e-01 3.86566361e-02 1.75372111e+02] [-5.09692729e-02 -8.45107052e-04 9.98699864e-01 -9.93705906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:619.36, Y:175.41, Z:-9.94 [[ 6.59321854e-01 -7.51126473e-01 3.32221942e-02 6.19356837e+02] [ 7.50130947e-01 6.60158084e-01 3.86635059e-02 1.75414575e+02] [-5.09730829e-02 -5.70698458e-04 9.98699864e-01 -9.93925923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.085336195 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:619.40, Y:175.46, Z:-9.94 [[ 6.57174213e-01 -7.53006443e-01 3.32167386e-02 6.19395798e+02] [ 7.52013072e-01 6.58013002e-01 3.86681923e-02 1.75458002e+02] [-5.09744438e-02 -4.32317240e-04 9.98699864e-01 -9.94073208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:619.44, Y:175.50, Z:-9.95 [[ 6.54330412e-01 -7.55479225e-01 3.32092213e-02 6.19435078e+02] [ 7.54488697e-01 6.55172556e-01 3.86746473e-02 1.75499804e+02] [-5.09756630e-02 -2.50015828e-04 9.98699864e-01 -9.94677499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:619.47, Y:175.54, Z:-9.95 [[ 6.52981812e-01 -7.56645490e-01 3.32017325e-02 6.19472824e+02] [ 7.55656139e-01 6.53825339e-01 3.86810753e-02 1.75542580e+02] [-5.09759952e-02 -1.68945678e-04 9.98699865e-01 -9.94741614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.265336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:619.51, Y:175.59, Z:-9.95 [[ 6.52881443e-01 -7.56732441e-01 3.31938912e-02 6.19511874e+02] [ 7.55742860e-01 6.53724700e-01 3.86878031e-02 1.75585837e+02] [-5.09759822e-02 -1.72502457e-04 9.98699865e-01 -9.94933122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:619.55, Y:175.63, Z:-9.95 [[ 6.53660848e-01 -7.56059620e-01 3.31865434e-02 6.19550433e+02] [ 7.55068852e-01 6.54502708e-01 3.86941050e-02 1.75626095e+02] [-5.09757329e-02 -2.34696212e-04 9.98699865e-01 -9.95490196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.385336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:619.59, Y:175.67, Z:-9.96 [[ 6.55021086e-01 -7.54881748e-01 3.31801597e-02 6.19588070e+02] [ 7.53889189e-01 6.55860834e-01 3.86995783e-02 1.75670622e+02] [-5.09751725e-02 -3.34876088e-04 9.98699865e-01 -9.95734441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:619.62, Y:175.71, Z:-9.96 [[ 6.55995021e-01 -7.54035872e-01 3.31728128e-02 6.19624627e+02] [ 7.53041911e-01 6.56833110e-01 3.87058749e-02 1.75714312e+02] [-5.09746200e-02 -4.10342866e-04 9.98699865e-01 -9.96381376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:619.66, Y:175.76, Z:-9.97 [[ 6.56462490e-01 -7.53629294e-01 3.31645483e-02 6.19662212e+02] [ 7.52634456e-01 6.57299538e-01 3.87129549e-02 1.75755511e+02] [-5.09742592e-02 -4.52821005e-04 9.98699865e-01 -9.96690533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:619.70, Y:175.80, Z:-9.97 [[ 6.55966183e-01 -7.54061703e-01 3.31559181e-02 6.19699010e+02] [ 7.53067043e-01 6.56803443e-01 3.87203449e-02 1.75799817e+02] [-5.09744504e-02 -4.30607636e-04 9.98699865e-01 -9.97029163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:619.74, Y:175.85, Z:-9.97 [[ 6.54584374e-01 -7.55261867e-01 3.31482950e-02 6.19735169e+02] [ 7.54268412e-01 6.55423063e-01 3.87268699e-02 1.75845115e+02] [-5.09750851e-02 -3.47292051e-04 9.98699865e-01 -9.97431844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:619.77, Y:175.89, Z:-9.98 [[ 6.53696143e-01 -7.56031115e-01 3.31407005e-02 6.19773436e+02] [ 7.55038318e-01 6.54535610e-01 3.87333679e-02 1.75888932e+02] [-5.09753999e-02 -2.97354468e-04 9.98699865e-01 -9.97824846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:619.81, Y:175.93, Z:-9.98 [[ 6.54081464e-01 -7.55698108e-01 3.31331750e-02 6.19809060e+02] [ 7.54704558e-01 6.54920040e-01 3.87398042e-02 1.75934743e+02] [-5.09751771e-02 -3.33229654e-04 9.98699865e-01 -9.98072257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:619.85, Y:175.98, Z:-9.98 [[ 6.54740530e-01 -7.55127500e-01 3.31254804e-02 6.19845879e+02] [ 7.54132886e-01 6.55577843e-01 3.87463825e-02 1.75979210e+02] [-5.09747900e-02 -3.87812852e-04 9.98699865e-01 -9.98449172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:619.88, Y:176.02, Z:-9.99 [[ 6.55481810e-01 -7.54484466e-01 3.31177773e-02 6.19882240e+02] [ 7.53488698e-01 6.56317751e-01 3.87529656e-02 1.76023332e+02] [-5.09742956e-02 -4.47993164e-04 9.98699865e-01 -9.98765822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:619.92, Y:176.07, Z:-9.99 [[ 6.56463878e-01 -7.53630388e-01 3.31121630e-02 6.19919675e+02] [ 7.52633291e-01 6.57298232e-01 3.87577620e-02 1.76066586e+02] [-5.09735935e-02 -5.21754530e-04 9.98699865e-01 -9.98849475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:619.96, Y:176.11, Z:-9.99 [[ 6.57041607e-01 -7.53127052e-01 3.31054363e-02 6.19956071e+02] [ 7.52129026e-01 6.57874851e-01 3.87635069e-02 1.76111808e+02] [-5.09730796e-02 -5.69677269e-04 9.98699865e-01 -9.99137463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:619.99, Y:176.16, Z:-10.00 [[ 6.58132893e-01 -7.52173936e-01 3.30978093e-02 6.19991026e+02] [ 7.51174376e-01 6.58964296e-01 3.87700181e-02 1.76157212e+02] [-5.09720717e-02 -6.53597914e-04 9.98699865e-01 -9.99633917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:620.03, Y:176.20, Z:-10.00 [[ 6.58500189e-01 -7.51852748e-01 3.30899670e-02 6.20026822e+02] [ 7.50852446e-01 6.59330699e-01 3.87767102e-02 1.76202179e+02] [-5.09716072e-02 -6.88788376e-04 9.98699865e-01 -1.00030937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:620.06, Y:176.25, Z:-10.01 [[ 6.57741804e-01 -7.52516609e-01 3.30828076e-02 6.20059656e+02] [ 7.51516839e-01 6.58572953e-01 3.87828174e-02 1.76250650e+02] [-5.09721566e-02 -6.46793263e-04 9.98699865e-01 -1.00065029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:620.10, Y:176.30, Z:-10.00 [[ 6.55624697e-01 -7.54362159e-01 3.30755068e-02 6.20096736e+02] [ 7.53364414e-01 6.56458277e-01 3.87890428e-02 1.76295994e+02] [-5.09736763e-02 -5.13144597e-04 9.98699865e-01 -1.00039645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:620.13, Y:176.34, Z:-10.00 [[ 6.53412377e-01 -7.56279552e-01 3.30681689e-02 6.20134109e+02] [ 7.55283937e-01 6.54248499e-01 3.87952975e-02 1.76341588e+02] [-5.09748901e-02 -3.73470735e-04 9.98699865e-01 -1.00006312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:620.17, Y:176.39, Z:-10.00 [[ 6.51865286e-01 -7.57613767e-01 3.30609874e-02 6.20171845e+02] [ 7.56619553e-01 6.52703074e-01 3.88014165e-02 1.76385554e+02] [-5.09754954e-02 -2.78706987e-04 9.98699865e-01 -1.00041742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:620.21, Y:176.43, Z:-10.01 [[ 6.50310551e-01 -7.58949049e-01 3.30534136e-02 6.20208640e+02] [ 7.57956227e-01 6.51149988e-01 3.88078673e-02 1.76429316e+02] [-5.09759238e-02 -1.84124932e-04 9.98699865e-01 -1.00104854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.465336195 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:620.25, Y:176.47, Z:-10.01 [[ 6.49634165e-01 -7.59528431e-01 3.30456498e-02 6.20246632e+02] [ 7.58536021e-01 6.50474089e-01 3.88144772e-02 1.76473211e+02] [-5.09760379e-02 -1.48894762e-04 9.98699866e-01 -1.00126983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.525336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:620.28, Y:176.52, Z:-10.02 [[ 6.50227490e-01 -7.59020877e-01 3.30381503e-02 6.20283391e+02] [ 7.58027488e-01 6.51066255e-01 3.88208596e-02 1.76516378e+02] [-5.09758677e-02 -1.98564021e-04 9.98699866e-01 -1.00169177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:620.32, Y:176.56, Z:-10.02 [[ 6.52750541e-01 -7.56852515e-01 3.30303039e-02 6.20320918e+02] [ 7.55856002e-01 6.53585593e-01 3.88275345e-02 1.76560992e+02] [-5.09748479e-02 -3.78540673e-04 9.98699866e-01 -1.00175345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:620.36, Y:176.61, Z:-10.03 [[ 6.55193349e-01 -7.54739148e-01 3.30226190e-02 6.20356784e+02] [ 7.53739612e-01 6.56024780e-01 3.88340693e-02 1.76605317e+02] [-5.09732488e-02 -5.53367942e-04 9.98699866e-01 -1.00254856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:620.39, Y:176.65, Z:-10.03 [[ 6.55586682e-01 -7.54397850e-01 3.30149324e-02 6.20392312e+02] [ 7.53397552e-01 6.56417196e-01 3.88406030e-02 1.76651911e+02] [-5.09728368e-02 -5.90012839e-04 9.98699866e-01 -1.00252427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.765336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:620.43, Y:176.70, Z:-10.03 [[ 6.52806210e-01 -7.56805486e-01 3.30076961e-02 6.20427597e+02] [ 7.55807941e-01 6.53640028e-01 3.88467516e-02 1.76697132e+02] [-5.09745862e-02 -4.11921908e-04 9.98699866e-01 -1.00270754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:620.46, Y:176.74, Z:-10.03 [[ 6.49644572e-01 -7.59521471e-01 3.30009863e-02 6.20463953e+02] [ 7.58527123e-01 6.50482199e-01 3.88524509e-02 1.76743034e+02] [-5.09758248e-02 -2.08140642e-04 9.98699866e-01 -1.00267494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:620.50, Y:176.79, Z:-10.03 [[ 6.43167161e-01 -7.65014668e-01 3.29933430e-02 6.20501904e+02] [ 7.64027140e-01 6.44012820e-01 3.88589405e-02 1.76786693e+02] [-5.09757953e-02 2.15015036e-04 9.98699866e-01 -1.00300704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:620.54, Y:176.83, Z:-10.03 [[ 6.40309433e-01 -7.67408481e-01 3.29856709e-02 6.20538651e+02] [ 7.66423779e-01 6.41158380e-01 3.88654519e-02 1.76829840e+02] [-5.09747167e-02 3.95087111e-04 9.98699866e-01 -1.00344654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.005336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:620.58, Y:176.87, Z:-10.04 [[ 6.38235648e-01 -7.69134300e-01 3.29800976e-02 6.20576769e+02] [ 7.68151649e-01 6.39086968e-01 3.88701807e-02 1.76871512e+02] [-5.09735398e-02 5.25381362e-04 9.98699866e-01 -1.00402935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:620.62, Y:176.91, Z:-10.04 [[ 6.38190522e-01 -7.69172068e-01 3.29725065e-02 6.20615127e+02] [ 7.68189136e-01 6.39041517e-01 3.88766189e-02 1.76914362e+02] [-5.09736100e-02 5.18431535e-04 9.98699866e-01 -1.00418778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:620.65, Y:176.96, Z:-10.04 [[ 6.39631338e-01 -7.67974653e-01 3.29648897e-02 6.20654793e+02] [ 7.66989794e-01 6.40480103e-01 3.88830764e-02 1.76956961e+02] [-5.09745731e-02 4.12899776e-04 9.98699866e-01 -1.00443068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:620.69, Y:177.00, Z:-10.05 [[ 6.41221332e-01 -7.66647912e-01 3.29572787e-02 6.20693951e+02] [ 7.65660965e-01 6.42067669e-01 3.88895264e-02 1.77000196e+02] [-5.09753773e-02 2.97307874e-04 9.98699866e-01 -1.00457794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:620.73, Y:177.04, Z:-10.05 [[ 6.43713788e-01 -7.64556637e-01 3.29500650e-02 6.20731678e+02] [ 7.63566628e-01 6.44556540e-01 3.88956375e-02 1.77042849e+02] [-5.09760977e-02 1.21911868e-04 9.98699866e-01 -1.00496515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:620.77, Y:177.09, Z:-10.05 [[ 6.44559279e-01 -7.63844328e-01 3.29420549e-02 6.20769306e+02] [ 7.62853041e-01 6.45400527e-01 3.89024203e-02 1.77087017e+02] [-5.09762127e-02 5.50308226e-05 9.98699866e-01 -1.00508969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:620.81, Y:177.13, Z:-10.05 [[ 6.49458822e-01 -7.59683196e-01 3.29344953e-02 6.20807130e+02] [ 7.58686195e-01 6.50293289e-01 3.89088192e-02 1.77129746e+02] [-5.09754574e-02 -2.82728955e-04 9.98699866e-01 -1.00522571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:620.84, Y:177.17, Z:-10.05 [[ 6.52183583e-01 -7.57345584e-01 3.29278127e-02 6.20843288e+02] [ 7.56345306e-01 6.53014120e-01 3.89144737e-02 1.77174886e+02] [-5.09740314e-02 -4.74584316e-04 9.98699866e-01 -1.00548049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:620.88, Y:177.22, Z:-10.06 [[ 6.55740638e-01 -7.54268178e-01 3.29200861e-02 6.20880821e+02] [ 7.53263675e-01 6.56566060e-01 3.89210090e-02 1.77219554e+02] [-5.09710898e-02 -7.24582219e-04 9.98699866e-01 -1.00595221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:620.92, Y:177.26, Z:-10.06 [[ 6.56961369e-01 -7.53205484e-01 3.29128972e-02 6.20916727e+02] [ 7.52199342e-01 6.57784792e-01 3.89270872e-02 1.77264193e+02] [-5.09696988e-02 -8.16532887e-04 9.98699866e-01 -1.00597313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:620.95, Y:177.31, Z:-10.06 [[ 6.57054868e-01 -7.53124221e-01 3.29060566e-02 6.20952077e+02] [ 7.52117688e-01 6.57877812e-01 3.89328689e-02 1.77309324e+02] [-5.09694511e-02 -8.31803837e-04 9.98699866e-01 -1.00635449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:620.99, Y:177.35, Z:-10.07 [[ 6.56644353e-01 -7.53482522e-01 3.28980786e-02 6.20987797e+02] [ 7.52476100e-01 6.57467434e-01 3.89396091e-02 1.77354485e+02] [-5.09697302e-02 -8.14456580e-04 9.98699866e-01 -1.00681468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.02, Y:177.40, Z:-10.07 [[ 6.55903614e-01 -7.54127747e-01 3.28906006e-02 6.21024008e+02] [ 7.53121818e-01 6.56727297e-01 3.89459244e-02 1.77399578e+02] [-5.09703575e-02 -7.74143656e-04 9.98699867e-01 -1.00713498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.06, Y:177.44, Z:-10.07 [[ 6.54346954e-01 -7.55479160e-01 3.28831486e-02 6.21060799e+02] [ 7.54474617e-01 6.55172327e-01 3.89522153e-02 1.77444970e+02] [-5.09717159e-02 -6.78762501e-04 9.98699867e-01 -1.00729511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.10, Y:177.49, Z:-10.08 [[ 6.51239198e-01 -7.58160074e-01 3.28756638e-02 6.21098545e+02] [ 7.57158609e-01 6.52068304e-01 3.89585315e-02 1.77488372e+02] [-5.09739814e-02 -4.79230908e-04 9.98699867e-01 -1.00755942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.14, Y:177.53, Z:-10.08 [[ 6.48297630e-01 -7.60677239e-01 3.28682347e-02 6.21136796e+02] [ 7.59678677e-01 6.49130228e-01 3.89647982e-02 1.77530332e+02] [-5.09753998e-02 -2.91489249e-04 9.98699867e-01 -1.00797922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.18, Y:177.57, Z:-10.08 [[ 6.45510614e-01 -7.63044080e-01 3.28599852e-02 6.21177773e+02] [ 7.62048217e-01 6.46346438e-01 3.89717540e-02 1.77570669e+02] [-5.09761006e-02 -1.15787704e-04 9.98699867e-01 -1.00842755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.22, Y:177.61, Z:-10.09 [[ 6.43738365e-01 -7.64540173e-01 3.28518090e-02 6.21218091e+02] [ 7.63545900e-01 6.44576081e-01 3.89786450e-02 1.77610058e+02] [-5.09762303e-02 -8.18510704e-06 9.98699867e-01 -1.00879211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.26, Y:177.65, Z:-10.09 [[ 6.45477470e-01 -7.63072837e-01 3.28432875e-02 6.21258265e+02] [ 7.62076294e-01 6.46312484e-01 3.89858239e-02 1.77651198e+02] [-5.09760500e-02 -1.35380166e-04 9.98699867e-01 -1.00902770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.30, Y:177.69, Z:-10.09 [[ 6.50697446e-01 -7.58626837e-01 3.28352890e-02 6.21295751e+02] [ 7.57624250e-01 6.51525193e-01 3.89925594e-02 1.77692432e+02] [-5.09738200e-02 -4.95547588e-04 9.98699867e-01 -1.00912468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.33, Y:177.74, Z:-10.09 [[ 6.54709747e-01 -7.55167150e-01 3.28286879e-02 6.21332351e+02] [ 7.54159911e-01 6.55531827e-01 3.89981162e-02 1.77737715e+02] [-5.09703460e-02 -7.74366413e-04 9.98699867e-01 -1.00905996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.37, Y:177.78, Z:-10.09 [[ 6.61476144e-01 -7.49247670e-01 3.28213225e-02 6.21367193e+02] [ 7.48232771e-01 6.62288747e-01 3.90043140e-02 1.77783692e+02] [-5.09610840e-02 -1.24243416e-03 9.98699867e-01 -1.00891721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.40, Y:177.83, Z:-10.09 [[ 6.62943166e-01 -7.47950194e-01 3.28156300e-02 6.21402091e+02] [ 7.46933467e-01 6.63753483e-01 3.90091028e-02 1.77828683e+02] [-5.09583546e-02 -1.34972585e-03 9.98699867e-01 -1.00949327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.44, Y:177.88, Z:-10.10 [[ 6.61329167e-01 -7.49378006e-01 3.28075765e-02 6.21435854e+02] [ 7.48362694e-01 6.62141254e-01 3.90158748e-02 1.77876212e+02] [-5.09608883e-02 -1.25036963e-03 9.98699867e-01 -1.01018566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.47, Y:177.92, Z:-10.11 [[ 6.56741935e-01 -7.53401740e-01 3.28001396e-02 6.21471516e+02] [ 7.52391092e-01 6.57559821e-01 3.90221258e-02 1.77921932e+02] [-5.09673914e-02 -9.48933589e-04 9.98699867e-01 -1.01073175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.51, Y:177.97, Z:-10.11 [[ 6.51145390e-01 -7.58244236e-01 3.27926663e-02 6.21507268e+02] [ 7.57239356e-01 6.51970353e-01 3.90284051e-02 1.77966799e+02] [-5.09729094e-02 -5.81268518e-04 9.98699867e-01 -1.01119871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.54, Y:178.01, Z:-10.11 [[ 6.47685907e-01 -7.61201746e-01 3.27851670e-02 6.21541578e+02] [ 7.60200315e-01 6.48515052e-01 3.90347038e-02 1.78014303e+02] [-5.09749589e-02 -3.58933266e-04 9.98699867e-01 -1.01087441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.58, Y:178.06, Z:-10.12 [[ 6.47843707e-01 -7.61067778e-01 3.27775746e-02 6.21577773e+02] [ 7.60065853e-01 6.48672254e-01 3.90410781e-02 1.78058123e+02] [-5.09748097e-02 -3.79401553e-04 9.98699867e-01 -1.01150800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.61, Y:178.10, Z:-10.12 [[ 6.49721865e-01 -7.59465390e-01 3.27691765e-02 6.21612912e+02] [ 7.58461067e-01 6.50547503e-01 3.90481257e-02 1.78103784e+02] [-5.09736060e-02 -5.16276504e-04 9.98699867e-01 -1.01155203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.65, Y:178.15, Z:-10.12 [[ 6.50948066e-01 -7.58414991e-01 3.27614974e-02 6.21648395e+02] [ 7.57409011e-01 6.51771686e-01 3.90545675e-02 1.78148351e+02] [-5.09725859e-02 -6.08641877e-04 9.98699867e-01 -1.01176415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.68, Y:178.19, Z:-10.12 [[ 6.50474254e-01 -7.58821706e-01 3.27546006e-02 6.21683514e+02] [ 7.57815949e-01 6.51298147e-01 3.90603509e-02 1.78194240e+02] [-5.09728528e-02 -5.85793873e-04 9.98699867e-01 -1.01206299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.865336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:621.72, Y:178.24, Z:-10.12 [[ 6.49206076e-01 -7.59907303e-01 3.27469250e-02 6.21722235e+02] [ 7.58902600e-01 6.50031253e-01 3.90667848e-02 1.78237747e+02] [-5.09736598e-02 -5.10667535e-04 9.98699867e-01 -1.01232364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.76, Y:178.28, Z:-10.13 [[ 6.48672718e-01 -7.60362972e-01 3.27392048e-02 6.21759352e+02] [ 7.59358523e-01 6.49498203e-01 3.90732536e-02 1.78281766e+02] [-5.09739099e-02 -4.84959435e-04 9.98699867e-01 -1.01285176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.80, Y:178.33, Z:-10.13 [[ 6.48380784e-01 -7.60612261e-01 3.27314553e-02 6.21797291e+02] [ 7.59607801e-01 6.49206256e-01 3.90797441e-02 1.78325836e+02] [-5.09739981e-02 -4.75486335e-04 9.98699868e-01 -1.01316596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.83, Y:178.37, Z:-10.13 [[ 6.49310183e-01 -7.59819348e-01 3.27237568e-02 6.21833531e+02] [ 7.58813555e-01 6.50134031e-01 3.90861895e-02 1.78370396e+02] [-5.09732709e-02 -5.47830587e-04 9.98699868e-01 -1.01331853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.87, Y:178.42, Z:-10.14 [[ 6.51567063e-01 -7.57885247e-01 3.27156702e-02 6.21867879e+02] [ 7.56876669e-01 6.52387499e-01 3.90929569e-02 1.78415741e+02] [-5.09712696e-02 -7.09955621e-04 9.98699868e-01 -1.01365263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.90, Y:178.46, Z:-10.14 [[ 6.52414258e-01 -7.57156311e-01 3.27101829e-02 6.21903016e+02] [ 7.56146587e-01 6.53233283e-01 3.90975478e-02 1.78460072e+02] [-5.09703352e-02 -7.74104483e-04 9.98699868e-01 -1.01404668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.94, Y:178.51, Z:-10.14 [[ 6.55347109e-01 -7.54619607e-01 3.27019097e-02 6.21938497e+02] [ 7.53606368e-01 6.56161781e-01 3.91044664e-02 1.78506227e+02] [-5.09667404e-02 -9.82631642e-04 9.98699868e-01 -1.01407900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.97, Y:178.55, Z:-10.15 [[ 6.56754547e-01 -7.53395352e-01 3.26941759e-02 6.21972062e+02] [ 7.52380273e-01 6.57566925e-01 3.91109313e-02 1.78552571e+02] [-5.09646026e-02 -1.08782896e-03 9.98699868e-01 -1.01474981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.01, Y:178.60, Z:-10.15 [[ 6.55025682e-01 -7.54899308e-01 3.26862477e-02 6.22005698e+02] [ 7.53885764e-01 6.55839974e-01 3.91175561e-02 1.78599707e+02] [-5.09667639e-02 -9.81307071e-04 9.98699868e-01 -1.01493076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.04, Y:178.65, Z:-10.15 [[ 6.51780360e-01 -7.57703412e-01 3.26787666e-02 6.22040742e+02] [ 7.56693058e-01 6.52598608e-01 3.91238048e-02 1.78645306e+02] [-5.09703580e-02 -7.72331709e-04 9.98699868e-01 -1.01515074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.07, Y:178.69, Z:-10.16 [[ 6.49392891e-01 -7.59750931e-01 3.26710218e-02 6.22074184e+02] [ 7.58742833e-01 6.50213915e-01 3.91302712e-02 1.78691191e+02] [-5.09724130e-02 -6.22016349e-04 9.98699868e-01 -1.01574662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.11, Y:178.74, Z:-10.16 [[ 6.47418460e-01 -7.61434377e-01 3.26653796e-02 6.22110593e+02] [ 7.60428176e-01 6.48241808e-01 3.91349807e-02 1.78736130e+02] [-5.09737844e-02 -4.97033883e-04 9.98699868e-01 -1.01597659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.15, Y:178.78, Z:-10.16 [[ 6.45919309e-01 -7.62706830e-01 3.26578846e-02 6.22145016e+02] [ 7.61701935e-01 6.46744251e-01 3.91412342e-02 1.78783248e+02] [-5.09745857e-02 -4.06505013e-04 9.98699868e-01 -1.01602683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.645336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:622.18, Y:178.83, Z:-10.16 [[ 6.45901036e-01 -7.62722634e-01 3.26501898e-02 6.22179227e+02] [ 7.61717435e-01 6.46725607e-01 3.91476518e-02 1.78828495e+02] [-5.09745140e-02 -4.15290069e-04 9.98699868e-01 -1.01641914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.22, Y:178.87, Z:-10.17 [[ 6.45644077e-01 -7.62940507e-01 3.26421293e-02 6.22215350e+02] [ 7.61935246e-01 6.46468573e-01 3.91543717e-02 1.78874123e+02] [-5.09745669e-02 -4.08599392e-04 9.98699868e-01 -1.01657523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.25, Y:178.92, Z:-10.17 [[ 6.44527065e-01 -7.63884708e-01 3.26345615e-02 6.22250542e+02] [ 7.62880336e-01 6.45352644e-01 3.91606783e-02 1.78918388e+02] [-5.09750439e-02 -3.43851861e-04 9.98699868e-01 -1.01688007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.29, Y:178.96, Z:-10.17 [[ 6.41950508e-01 -7.66051597e-01 3.26266086e-02 6.22287957e+02] [ 7.65049675e-01 6.42779058e-01 3.91673032e-02 1.78963256e+02] [-5.09758759e-02 -1.82493912e-04 9.98699868e-01 -1.01696138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.32, Y:179.01, Z:-10.17 [[ 6.39617661e-01 -7.68000808e-01 3.26191124e-02 6.22324447e+02] [ 7.67001093e-01 6.40448872e-01 3.91735451e-02 1.79007906e+02] [-5.09761880e-02 -3.71964211e-05 9.98699868e-01 -1.01712496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.36, Y:179.05, Z:-10.18 [[ 6.38033905e-01 -7.69317384e-01 3.26113357e-02 6.22361544e+02] [ 7.68319053e-01 6.38866778e-01 3.91800180e-02 1.79050202e+02] [-5.09761679e-02 5.77306218e-05 9.98699868e-01 -1.01780260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.40, Y:179.10, Z:-10.18 [[ 6.36779158e-01 -7.70356616e-01 3.26034892e-02 6.22396104e+02] [ 7.69359310e-01 6.37613258e-01 3.91865463e-02 1.79095008e+02] [-5.09760322e-02 1.30621965e-04 9.98699868e-01 -1.01838004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.43, Y:179.14, Z:-10.18 [[ 6.35901371e-01 -7.71081590e-01 3.25979655e-02 6.22432804e+02] [ 7.70084999e-01 6.36736326e-01 3.91911408e-02 1.79140321e+02] [-5.09758760e-02 1.81504057e-04 9.98699868e-01 -1.01840066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.47, Y:179.18, Z:-10.19 [[ 6.36451515e-01 -7.70627893e-01 3.25901839e-02 6.22470301e+02] [ 7.69630375e-01 6.37285362e-01 3.91976107e-02 1.79183394e+02] [-5.09760193e-02 1.35016773e-04 9.98699868e-01 -1.01870362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.51, Y:179.23, Z:-10.19 [[ 6.36960110e-01 -7.70207913e-01 3.25820317e-02 6.22506930e+02] [ 7.69209500e-01 6.37792883e-01 3.92043858e-02 1.79227371e+02] [-5.09761161e-02 9.07784118e-05 9.98699869e-01 -1.01903439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.54, Y:179.27, Z:-10.19 [[ 6.35626003e-01 -7.71309509e-01 3.25764548e-02 6.22544268e+02] [ 7.70312301e-01 6.36460220e-01 3.92090193e-02 1.79272255e+02] [-5.09759071e-02 1.71771653e-04 9.98699869e-01 -1.01897112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.59, Y:179.31, Z:-10.19 [[ 6.32801739e-01 -7.73628616e-01 3.25687395e-02 6.22586703e+02] [ 7.72634136e-01 6.33639206e-01 3.92154270e-02 1.79312535e+02] [-5.09750067e-02 3.48129428e-04 9.98699869e-01 -1.01949323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.365336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:622.63, Y:179.35, Z:-10.20 [[ 6.28965814e-01 -7.76750783e-01 3.25611004e-02 6.22628651e+02] [ 7.75760131e-01 6.29807806e-01 3.92217688e-02 1.79352210e+02] [-5.09727748e-02 5.90451696e-04 9.98699869e-01 -1.01984892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.67, Y:179.39, Z:-10.20 [[ 6.27737495e-01 -7.77744112e-01 3.25535557e-02 6.22668773e+02] [ 7.76754467e-01 6.28580671e-01 3.92280298e-02 1.79390999e+02] [-5.09719051e-02 6.61214587e-04 9.98699869e-01 -1.02040197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.71, Y:179.43, Z:-10.20 [[ 6.30273072e-01 -7.75691111e-01 3.25446610e-02 6.22712807e+02] [ 7.74698339e-01 6.31112562e-01 3.92354077e-02 1.79430868e+02] [-5.09739014e-02 4.83273924e-04 9.98699869e-01 -1.02025338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.545336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:622.75, Y:179.47, Z:-10.21 [[ 6.33442968e-01 -7.73104989e-01 3.25373961e-02 6.22752706e+02] [ 7.72108480e-01 6.34278019e-01 3.92414315e-02 1.79473439e+02] [-5.09755016e-02 2.65190632e-04 9.98699869e-01 -1.02054050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.6053361950001 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:622.79, Y:179.52, Z:-10.21 [[ 6.38438271e-01 -7.68985302e-01 3.25296751e-02 6.22793001e+02] [ 7.67983078e-01 6.39266455e-01 3.92478309e-02 1.79515556e+02] [-5.09761351e-02 -7.50773097e-05 9.98699869e-01 -1.02079006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.665336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:622.83, Y:179.56, Z:-10.21 [[ 6.41498874e-01 -7.66434286e-01 3.25219985e-02 6.22834123e+02] [ 7.65428446e-01 6.42322662e-01 3.92541909e-02 1.79556779e+02] [-5.09753744e-02 -2.88256435e-04 9.98699869e-01 -1.02131309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.87, Y:179.60, Z:-10.22 [[ 6.42686687e-01 -7.65438857e-01 3.25142861e-02 6.22872568e+02] [ 7.64431418e-01 6.43508519e-01 3.92605781e-02 1.79600032e+02] [-5.09747921e-02 -3.77309022e-04 9.98699869e-01 -1.02178495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.91, Y:179.64, Z:-10.22 [[ 6.41937025e-01 -7.66067997e-01 3.25066188e-02 6.22911931e+02] [ 7.65061042e-01 6.42759450e-01 3.92669253e-02 1.79642283e+02] [-5.09750713e-02 -3.37345519e-04 9.98699869e-01 -1.02218540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.95, Y:179.69, Z:-10.22 [[ 6.39285835e-01 -7.68282136e-01 3.24989419e-02 6.22951416e+02] [ 7.67277706e-01 6.40111342e-01 3.92732781e-02 1.79685063e+02] [-5.09758993e-02 -1.71136776e-04 9.98699869e-01 -1.02224716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.99, Y:179.73, Z:-10.22 [[ 6.35067380e-01 -7.71773096e-01 3.24917073e-02 6.22991302e+02] [ 7.70772898e-01 6.35898010e-01 3.92792625e-02 1.79727232e+02] [-5.09760900e-02 9.87490618e-05 9.98699869e-01 -1.02240215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.965336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:623.03, Y:179.77, Z:-10.23 [[ 6.32046111e-01 -7.74249640e-01 3.24839754e-02 6.23030724e+02] [ 7.73252368e-01 6.32880251e-01 3.92856557e-02 1.79768466e+02] [-5.09753713e-02 2.87965017e-04 9.98699869e-01 -1.02287045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:623.07, Y:179.81, Z:-10.23 [[ 6.30631768e-01 -7.75402390e-01 3.24762352e-02 6.23071460e+02] [ 7.74406314e-01 6.31467335e-01 3.92920533e-02 1.79809148e+02] [-5.09748337e-02 3.70984529e-04 9.98699869e-01 -1.02318857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:623.11, Y:179.85, Z:-10.24 [[ 6.30379141e-01 -7.75608139e-01 3.24677411e-02 6.23108114e+02] [ 7.74611974e-01 6.31214602e-01 3.92990709e-02 1.79851597e+02] [-5.09747915e-02 3.76586467e-04 9.98699869e-01 -1.02359613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:623.15, Y:179.89, Z:-10.24 [[ 6.29683832e-01 -7.76173011e-01 3.24611928e-02 6.23147200e+02] [ 7.75177316e-01 6.30519854e-01 3.93044790e-02 1.79894481e+02] [-5.09745024e-02 4.13785336e-04 9.98699869e-01 -1.02373631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:623.19, Y:179.94, Z:-10.24 [[ 6.30601237e-01 -7.75428054e-01 3.24563310e-02 6.23186559e+02] [ 7.74431165e-01 6.31435835e-01 3.93084933e-02 1.79935044e+02] [-5.09749989e-02 3.47209703e-04 9.98699869e-01 -1.02413196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:623.22, Y:179.98, Z:-10.24 [[ 6.36754676e-01 -7.70383355e-01 3.24495021e-02 6.23224500e+02] [ 7.69379566e-01 6.37580961e-01 3.93141298e-02 1.79977729e+02] [-5.09761360e-02 -6.74721467e-05 9.98699869e-01 -1.02436883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:623.26, Y:180.02, Z:-10.24 [[ 6.46000196e-01 -7.62647572e-01 3.24411591e-02 6.23259536e+02] [ 7.61633545e-01 6.46813885e-01 3.93210131e-02 1.80022390e+02] [-5.09714673e-02 -6.93107105e-04 9.98699869e-01 -1.02442526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:623.29, Y:180.07, Z:-10.25 [[ 6.52839115e-01 -7.56801965e-01 3.24326478e-02 6.23292932e+02] [ 7.55780307e-01 6.53643201e-01 3.93280321e-02 1.80069256e+02] [-5.09629117e-02 -1.16292119e-03 9.98699869e-01 -1.02463222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:623.32, Y:180.12, Z:-10.25 [[ 6.56389210e-01 -7.53725334e-01 3.24241568e-02 6.23324632e+02] [ 7.52699563e-01 6.57188042e-01 3.93350314e-02 1.80118614e+02] [-5.09565778e-02 -1.41344153e-03 9.98699870e-01 -1.02505362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:623.36, Y:180.17, Z:-10.25 [[ 6.57105261e-01 -7.53101475e-01 3.24167223e-02 6.23355934e+02] [ 7.52074644e-01 6.57902730e-01 3.93411573e-02 1.80168035e+02] [-5.09549337e-02 -1.47148655e-03 9.98699870e-01 -1.02537112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:623.38, Y:180.22, Z:-10.26 [[ 6.54546839e-01 -7.55326477e-01 3.24090704e-02 6.23384310e+02] [ 7.54302046e-01 6.55347389e-01 3.93474599e-02 1.80218215e+02] [-5.09593779e-02 -1.30852734e-03 9.98699870e-01 -1.02595778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:623.42, Y:180.27, Z:-10.26 [[ 6.47887052e-01 -7.61046996e-01 3.24011948e-02 6.23417037e+02] [ 7.60029313e-01 6.48696162e-01 3.93539441e-02 1.80266815e+02] [-5.09687316e-02 -8.71052960e-04 9.98699870e-01 -1.02595307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:623.45, Y:180.31, Z:-10.26 [[ 6.41981780e-01 -7.66035257e-01 3.23941225e-02 6.23451931e+02] [ 7.65023569e-01 6.42798373e-01 3.93597648e-02 1.80313221e+02] [-5.09738568e-02 -4.85984696e-04 9.98699870e-01 -1.02599496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.745336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:623.49, Y:180.36, Z:-10.26 [[ 6.31659450e-01 -7.74569213e-01 3.23863208e-02 6.23487674e+02] [ 7.73568229e-01 6.32489130e-01 3.93661832e-02 1.80357574e+02] [-5.09758294e-02 1.87007240e-04 9.98699870e-01 -1.02607235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:623.53, Y:180.40, Z:-10.27 [[ 6.28095759e-01 -7.77462085e-01 3.23793899e-02 6.23525299e+02] [ 7.76464628e-01 6.28929676e-01 3.93718831e-02 1.80400311e+02] [-5.09745055e-02 4.12138133e-04 9.98699870e-01 -1.02655834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:623.56, Y:180.44, Z:-10.27 [[ 6.25832689e-01 -7.79285297e-01 3.23708409e-02 6.23563750e+02] [ 7.78289906e-01 6.26669071e-01 3.93789107e-02 1.80443047e+02] [-5.09732109e-02 5.49289180e-04 9.98699870e-01 -1.02694155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:623.60, Y:180.48, Z:-10.28 [[ 6.27041706e-01 -7.78313129e-01 3.23631362e-02 6.23603356e+02] [ 7.77316114e-01 6.27876152e-01 3.93852417e-02 1.80484866e+02] [-5.09740921e-02 4.60198126e-04 9.98699870e-01 -1.02756313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:623.64, Y:180.53, Z:-10.28 [[ 6.30982559e-01 -7.75122013e-01 3.23554473e-02 6.23643699e+02] [ 7.74120454e-01 6.31811545e-01 3.93915573e-02 1.80526418e+02] [-5.09758083e-02 1.91627906e-04 9.98699870e-01 -1.02784544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:623.68, Y:180.57, Z:-10.28 [[ 6.37004075e-01 -7.70181431e-01 3.23476881e-02 6.23682771e+02] [ 7.69173118e-01 6.37824833e-01 3.93979280e-02 1.80568451e+02] [-5.09757113e-02 -2.15668557e-04 9.98699870e-01 -1.02805274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:623.72, Y:180.61, Z:-10.28 [[ 6.42316530e-01 -7.65756760e-01 3.23428499e-02 6.23720440e+02] [ 7.64742594e-01 6.43130045e-01 3.94018994e-02 1.80612214e+02] [-5.09729293e-02 -5.74536408e-04 9.98699870e-01 -1.02845777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:623.76, Y:180.65, Z:-10.29 [[ 6.44776394e-01 -7.63687001e-01 3.23352016e-02 6.23756845e+02] [ 7.62669910e-01 6.45586248e-01 3.94081750e-02 1.80654943e+02] [-5.09706724e-02 -7.48375686e-04 9.98699870e-01 -1.02887002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:623.79, Y:180.70, Z:-10.29 [[ 6.47423034e-01 -7.61444963e-01 3.23262039e-02 6.23793583e+02] [ 7.60424699e-01 6.48228888e-01 3.94155543e-02 1.80698421e+02] [-5.09675545e-02 -9.36893924e-04 9.98699870e-01 -1.02927781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:623.83, Y:180.74, Z:-10.29 [[ 6.48447856e-01 -7.60572771e-01 3.23177573e-02 6.23830212e+02] [ 7.59551079e-01 6.49251897e-01 3.94224786e-02 1.80742110e+02] [-5.09660291e-02 -1.01643430e-03 9.98699870e-01 -1.02947795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:623.86, Y:180.79, Z:-10.30 [[ 6.50142364e-01 -7.59125163e-01 3.23093216e-02 6.23864805e+02] [ 7.58101338e-01 6.50943688e-01 3.94293911e-02 1.80788377e+02] [-5.09633919e-02 -1.14097761e-03 9.98699870e-01 -1.02953971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.405336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:623.90, Y:180.83, Z:-10.30 [[ 6.50774732e-01 -7.58583454e-01 3.23015735e-02 6.23899655e+02] [ 7.57558647e-01 6.51574800e-01 3.94357375e-02 1.80833969e+02] [-5.09621892e-02 -1.19344519e-03 9.98699870e-01 -1.02980082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:623.93, Y:180.88, Z:-10.30 [[ 6.49019863e-01 -7.60085646e-01 3.22959338e-02 6.23933944e+02] [ 7.59062462e-01 6.49822004e-01 3.94403556e-02 1.80880996e+02] [-5.09646566e-02 -1.08294313e-03 9.98699870e-01 -1.03004071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:623.97, Y:180.93, Z:-10.30 [[ 6.45831164e-01 -7.62797210e-01 3.22881497e-02 6.23968775e+02] [ 7.61777075e-01 6.46637181e-01 3.94467271e-02 1.80927151e+02] [-5.09685714e-02 -8.79553423e-04 9.98699870e-01 -1.03047062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:624.00, Y:180.97, Z:-10.31 [[ 6.43657411e-01 -7.64632668e-01 3.22803410e-02 6.24003218e+02] [ 7.63614512e-01 6.44465925e-01 3.94531161e-02 1.80972818e+02] [-5.09707213e-02 -7.44553700e-04 9.98699870e-01 -1.03102318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:624.04, Y:181.02, Z:-10.31 [[ 6.42207645e-01 -7.65851058e-01 3.22722484e-02 6.24036736e+02] [ 7.64834104e-01 6.43017670e-01 3.94597347e-02 1.81020064e+02] [-5.09719055e-02 -6.58427119e-04 9.98699870e-01 -1.03112856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:624.07, Y:181.07, Z:-10.31 [[ 6.41409993e-01 -7.66519552e-01 3.22644929e-02 6.24071544e+02] [ 7.65503123e-01 6.42220677e-01 3.94660750e-02 1.81065695e+02] [-5.09724426e-02 -6.15364795e-04 9.98699871e-01 -1.03126658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:624.10, Y:181.11, Z:-10.31 [[ 6.42847319e-01 -7.65314871e-01 3.22563622e-02 6.24104995e+02] [ 7.64296590e-01 6.43655674e-01 3.94727192e-02 1.81112799e+02] [-5.09710496e-02 -7.21504051e-04 9.98699871e-01 -1.03136886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:624.14, Y:181.16, Z:-10.32 [[ 6.45878677e-01 -7.62758644e-01 3.22487982e-02 6.24136218e+02] [ 7.61736856e-01 6.46682595e-01 3.94788980e-02 1.81161429e+02] [-5.09676072e-02 -9.33480223e-04 9.98699871e-01 -1.03159950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:624.17, Y:181.21, Z:-10.32 [[ 6.49351703e-01 -7.59804532e-01 3.22403259e-02 6.24167310e+02] [ 7.58778744e-01 6.50150512e-01 3.94858157e-02 1.81211264e+02] [-5.09625661e-02 -1.17690771e-03 9.98699871e-01 -1.03164339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:624.20, Y:181.26, Z:-10.32 [[ 6.52578175e-01 -7.57035527e-01 3.22325488e-02 6.24197185e+02] [ 7.56006037e-01 6.53372207e-01 3.94921632e-02 1.81260427e+02] [-5.09568221e-02 -1.40372232e-03 9.98699871e-01 -1.03212486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:624.23, Y:181.31, Z:-10.32 [[ 6.52985289e-01 -7.56684743e-01 3.22243933e-02 6.24228843e+02] [ 7.55654499e-01 6.53778343e-01 3.94988167e-02 1.81309788e+02] [-5.09557624e-02 -1.44163845e-03 9.98699871e-01 -1.03241174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:624.26, Y:181.36, Z:-10.33 [[ 6.51887435e-01 -7.57631081e-01 3.22167308e-02 6.24258008e+02] [ 7.56601680e-01 6.52681582e-01 3.95050655e-02 1.81359525e+02] [-5.09575323e-02 -1.37762317e-03 9.98699871e-01 -1.03332876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:624.29, Y:181.41, Z:-10.33 [[ 6.49589248e-01 -7.59602693e-01 3.22111472e-02 6.24287601e+02] [ 7.58575478e-01 6.50386220e-01 3.95096177e-02 1.81410025e+02] [-5.09612983e-02 -1.23043646e-03 9.98699871e-01 -1.03322603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.185336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:624.32, Y:181.46, Z:-10.34 [[ 6.45443252e-01 -7.63129040e-01 3.22036730e-02 6.24317334e+02] [ 7.62105877e-01 6.46245419e-01 3.95157089e-02 1.81460642e+02] [-5.09670611e-02 -9.62539181e-04 9.98699871e-01 -1.03368811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:624.35, Y:181.51, Z:-10.34 [[ 6.40573208e-01 -7.67221852e-01 3.21961953e-02 6.24350957e+02] [ 7.66203509e-01 6.41381486e-01 3.95218006e-02 1.81507937e+02] [-5.09720326e-02 -6.47768807e-04 9.98699871e-01 -1.03415818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:624.38, Y:181.55, Z:-10.35 [[ 6.29248190e-01 -7.76537577e-01 3.21885985e-02 6.24383814e+02] [ 7.75530886e-01 6.30070935e-01 3.95279868e-02 1.81554208e+02] [-5.09760674e-02 9.03381462e-05 9.98699871e-01 -1.03456315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:624.42, Y:181.60, Z:-10.35 [[ 6.24139306e-01 -7.80650070e-01 3.21806636e-02 6.24421093e+02] [ 7.79648466e-01 6.24968236e-01 3.95344457e-02 1.81596882e+02] [-5.09744604e-02 4.14603540e-04 9.98699871e-01 -1.03474654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.425336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:624.46, Y:181.64, Z:-10.35 [[ 6.20454533e-01 -7.83582250e-01 3.21718788e-02 6.24459838e+02] [ 7.82584193e-01 6.21287730e-01 3.95415933e-02 1.81638825e+02] [-5.09720841e-02 6.43442980e-04 9.98699871e-01 -1.03492823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:624.50, Y:181.68, Z:-10.35 [[ 6.20672184e-01 -7.83410198e-01 3.21636707e-02 6.24500772e+02] [ 7.82411564e-01 6.21504689e-01 3.95482687e-02 1.81680360e+02] [-5.09723892e-02 6.18717612e-04 9.98699871e-01 -1.03536736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.545336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:624.54, Y:181.72, Z:-10.35 [[ 6.23908094e-01 -7.80835878e-01 3.21562270e-02 6.24539183e+02] [ 7.79833496e-01 6.24736083e-01 3.95543201e-02 1.81724199e+02] [-5.09745876e-02 3.98242477e-04 9.98699871e-01 -1.03518720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:624.58, Y:181.77, Z:-10.36 [[ 6.29347280e-01 -7.76458937e-01 3.21484031e-02 6.24577932e+02] [ 7.75450472e-01 6.30167849e-01 3.95606781e-02 1.81766755e+02] [-5.09761321e-02 3.20891511e-05 9.98699871e-01 -1.03582620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:624.62, Y:181.81, Z:-10.36 [[ 6.34518025e-01 -7.72239472e-01 3.21414623e-02 6.24615065e+02] [ 7.71225265e-01 6.35331486e-01 3.95663164e-02 1.81809256e+02] [-5.09751543e-02 -3.17233168e-04 9.98699871e-01 -1.03623168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:624.65, Y:181.85, Z:-10.37 [[ 6.37876954e-01 -7.69467663e-01 3.21326436e-02 6.24650549e+02] [ 7.68449561e-01 6.38685535e-01 3.95734770e-02 1.81854659e+02] [-5.09731655e-02 -5.50693164e-04 9.98699871e-01 -1.03651700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:624.69, Y:181.90, Z:-10.37 [[ 6.38920503e-01 -7.68601698e-01 3.21250704e-02 6.24686278e+02] [ 7.67582191e-01 6.39727312e-01 3.95796239e-02 1.81899593e+02] [-5.09722510e-02 -6.29601296e-04 9.98699871e-01 -1.03661543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:624.72, Y:181.94, Z:-10.37 [[ 6.36718113e-01 -7.70427399e-01 3.21195765e-02 6.24723465e+02] [ 7.69409981e-01 6.37527554e-01 3.95840817e-02 1.81943872e+02] [-5.09737762e-02 -4.90779073e-04 9.98699871e-01 -1.03707358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:624.76, Y:181.99, Z:-10.37 [[ 6.30687164e-01 -7.75372502e-01 3.21120614e-02 6.24762315e+02] [ 7.74361121e-01 6.31504135e-01 3.95901774e-02 1.81987039e+02] [-5.09760344e-02 -1.02684835e-04 9.98699872e-01 -1.03717459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:624.80, Y:182.03, Z:-10.37 [[ 6.23887941e-01 -7.80854103e-01 3.21046168e-02 6.24800157e+02] [ 7.79849589e-01 6.24713341e-01 3.95962134e-02 1.82031957e+02] [-5.09750481e-02 3.33172205e-04 9.98699872e-01 -1.03719825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:624.84, Y:182.07, Z:-10.38 [[ 6.19177459e-01 -7.84594826e-01 3.20972518e-02 6.24839122e+02] [ 7.83594988e-01 6.20008518e-01 3.96021827e-02 1.82074132e+02] [-5.09722371e-02 6.30466728e-04 9.98699872e-01 -1.03770902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:624.88, Y:182.12, Z:-10.38 [[ 6.17138065e-01 -7.86200271e-01 3.20896001e-02 6.24879191e+02] [ 7.85202273e-01 6.17971332e-01 3.96083819e-02 1.82116906e+02] [-5.09705735e-02 7.52986801e-04 9.98699872e-01 -1.03774518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:624.92, Y:182.16, Z:-10.38 [[ 6.17447011e-01 -7.85957980e-01 3.20817989e-02 6.24918266e+02] [ 7.84959327e-01 6.18279492e-01 3.96146997e-02 1.82158502e+02] [-5.09710077e-02 7.22929352e-04 9.98699872e-01 -1.03803767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:624.96, Y:182.20, Z:-10.38 [[ 6.19048043e-01 -7.84697803e-01 3.20761329e-02 6.24957617e+02] [ 7.83697217e-01 6.19878201e-01 3.96192869e-02 1.82201343e+02] [-5.09724629e-02 6.11734065e-04 9.98699872e-01 -1.03838253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:625.00, Y:182.24, Z:-10.39 [[ 6.21899116e-01 -7.82440478e-01 3.20685061e-02 6.24996982e+02] [ 7.81436560e-01 6.22725241e-01 3.96254592e-02 1.82241136e+02] [-5.09744314e-02 4.16465008e-04 9.98699872e-01 -1.03880701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:625.04, Y:182.28, Z:-10.39 [[ 6.25296423e-01 -7.79728523e-01 3.20595475e-02 6.25035497e+02] [ 7.78720650e-01 6.26117718e-01 3.96327060e-02 1.82284463e+02] [-5.09758020e-02 1.83242384e-04 9.98699872e-01 -1.03914791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:625.07, Y:182.33, Z:-10.39 [[ 6.29351220e-01 -7.76459736e-01 3.20518434e-02 6.25074215e+02] [ 7.75447280e-01 6.30166859e-01 3.96389354e-02 1.82327966e+02] [-5.09760468e-02 -9.22975622e-05 9.98699872e-01 -1.03926105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:625.11, Y:182.37, Z:-10.40 [[ 6.34253587e-01 -7.72460710e-01 3.20443332e-02 6.25111321e+02] [ 7.71442806e-01 6.35062415e-01 3.96450058e-02 1.82371209e+02] [-5.09743610e-02 -4.24616798e-04 9.98699872e-01 -1.03980733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:625.15, Y:182.42, Z:-10.40 [[ 6.35204502e-01 -7.71679188e-01 3.20385951e-02 6.25148190e+02] [ 7.70660054e-01 6.36011782e-01 3.96496425e-02 1.82415952e+02] [-5.09737278e-02 -4.94765970e-04 9.98699872e-01 -1.03987379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:625.18, Y:182.46, Z:-10.40 [[ 6.35808790e-01 -7.71181695e-01 3.20308512e-02 6.25183335e+02] [ 7.70161615e-01 6.36614873e-01 3.96558974e-02 1.82460570e+02] [-5.09732184e-02 -5.44636035e-04 9.98699872e-01 -1.04033848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.625336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:625.22, Y:182.51, Z:-10.40 [[ 6.35321946e-01 -7.71583158e-01 3.20227297e-02 6.25215631e+02] [ 7.70563257e-01 6.36128255e-01 3.96624545e-02 1.82508459e+02] [-5.09734451e-02 -5.22888884e-04 9.98699872e-01 -1.04037261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:625.25, Y:182.55, Z:-10.41 [[ 6.34319937e-01 -7.72407478e-01 3.20141445e-02 6.25251983e+02] [ 7.71388275e-01 6.35127129e-01 3.96693830e-02 1.82553520e+02] [-5.09739797e-02 -4.67744872e-04 9.98699872e-01 -1.04089920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:625.28, Y:182.60, Z:-10.41 [[ 6.29516683e-01 -7.76327471e-01 3.20063125e-02 6.25284715e+02] [ 7.75312973e-01 6.30329781e-01 3.96757011e-02 1.82599559e+02] [-5.09758686e-02 -1.61606464e-04 9.98699872e-01 -1.04125312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:625.32, Y:182.64, Z:-10.41 [[ 6.25453935e-01 -7.79604583e-01 3.20010795e-02 6.25321515e+02] [ 7.78594130e-01 6.26272053e-01 3.96799213e-02 1.82644822e+02] [-5.09760303e-02 9.78897639e-05 9.98699872e-01 -1.04129216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.865336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:625.36, Y:182.69, Z:-10.42 [[ 6.19669797e-01 -7.84210289e-01 3.19932070e-02 6.25359111e+02] [ 7.83205588e-01 6.20494969e-01 3.96862678e-02 1.82689377e+02] [-5.09740035e-02 4.64877021e-04 9.98699872e-01 -1.04158480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.925336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:625.40, Y:182.73, Z:-10.42 [[ 6.17138441e-01 -7.86204221e-01 3.19854317e-02 6.25396512e+02] [ 7.85201862e-01 6.17966455e-01 3.96925334e-02 1.82733718e+02] [-5.09723611e-02 6.19232360e-04 9.98699872e-01 -1.04194588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:625.43, Y:182.78, Z:-10.42 [[ 6.15872551e-01 -7.87196562e-01 3.19776886e-02 6.25434454e+02] [ 7.86195213e-01 6.16701787e-01 3.96987705e-02 1.82777361e+02] [-5.09714334e-02 6.91322680e-04 9.98699872e-01 -1.04237990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:625.47, Y:182.82, Z:-10.43 [[ 6.16588428e-01 -7.86636280e-01 3.19698669e-02 6.25473180e+02] [ 7.85633851e-01 6.17416358e-01 3.97050684e-02 1.82819518e+02] [-5.09721661e-02 6.34923931e-04 9.98699872e-01 -1.04287471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:625.51, Y:182.86, Z:-10.43 [[ 6.18597458e-01 -7.85057725e-01 3.19617446e-02 6.25512030e+02] [ 7.84052846e-01 6.19422411e-01 3.97116057e-02 1.82863236e+02] [-5.09737237e-02 4.94198463e-04 9.98699872e-01 -1.04294124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:625.55, Y:182.90, Z:-10.44 [[ 6.20257610e-01 -7.83747058e-01 3.19538222e-02 6.25551139e+02] [ 7.82740106e-01 6.21080034e-01 3.97179794e-02 1.82904058e+02] [-5.09747304e-02 3.76159201e-04 9.98699873e-01 -1.04356644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:625.59, Y:182.95, Z:-10.44 [[ 6.22436360e-01 -7.82018095e-01 3.19480423e-02 6.25591676e+02] [ 7.81008620e-01 6.23255685e-01 3.97226280e-02 1.82945863e+02] [-5.09756128e-02 2.26888444e-04 9.98699873e-01 -1.04368850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.285336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:625.63, Y:182.99, Z:-10.44 [[ 6.24593284e-01 -7.80296756e-01 3.19405992e-02 6.25630890e+02] [ 7.79284717e-01 6.25409439e-01 3.97286120e-02 1.82987503e+02] [-5.09760593e-02 7.65965814e-05 9.98699873e-01 -1.04364024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:625.67, Y:183.03, Z:-10.44 [[ 6.26535901e-01 -7.78738149e-01 3.19321334e-02 6.25672890e+02] [ 7.77723733e-01 6.27349099e-01 3.97354153e-02 1.83027659e+02] [-5.09760789e-02 -6.12862627e-05 9.98699873e-01 -1.04384115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:625.71, Y:183.07, Z:-10.44 [[ 6.28193089e-01 -7.77402268e-01 3.19242424e-02 6.25712502e+02] [ 7.76385801e-01 6.29003721e-01 3.97417541e-02 1.83067233e+02] [-5.09757970e-02 -1.79966758e-04 9.98699873e-01 -1.04439054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:625.75, Y:183.11, Z:-10.45 [[ 6.29616632e-01 -7.76250173e-01 3.19149696e-02 6.25752376e+02] [ 7.75231845e-01 6.30424926e-01 3.97491993e-02 1.83109521e+02] [-5.09753152e-02 -2.85256245e-04 9.98699873e-01 -1.04482546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:625.79, Y:183.15, Z:-10.45 [[ 6.30968643e-01 -7.75151928e-01 3.19070637e-02 6.25790765e+02] [ 7.74131872e-01 6.31774755e-01 3.97555444e-02 1.83150072e+02] [-5.09746643e-02 -3.84226944e-04 9.98699873e-01 -1.04526280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:625.83, Y:183.19, Z:-10.45 [[ 6.34564845e-01 -7.72211005e-01 3.19001767e-02 6.25831841e+02] [ 7.71186936e-01 6.35365853e-01 3.97610698e-02 1.83191668e+02] [-5.09722187e-02 -6.29977541e-04 9.98699873e-01 -1.04502689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:625.87, Y:183.24, Z:-10.45 [[ 6.37916153e-01 -7.69445153e-01 3.18926003e-02 6.25868668e+02] [ 7.68417308e-01 6.38712310e-01 3.97671460e-02 1.83236657e+02] [-5.09688342e-02 -8.61278709e-04 9.98699873e-01 -1.04504501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:625.91, Y:183.28, Z:-10.45 [[ 6.41704611e-01 -7.66288823e-01 3.18846621e-02 6.25905780e+02] [ 7.65256747e-01 6.42495275e-01 3.97735097e-02 1.83281695e+02] [-5.09637407e-02 -1.12289183e-03 9.98699873e-01 -1.04536015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.765336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:625.94, Y:183.33, Z:-10.46 [[ 6.43247341e-01 -7.64994594e-01 3.18767961e-02 6.25937818e+02] [ 7.63960615e-01 6.44035515e-01 3.97798130e-02 1.83328946e+02] [-5.09611307e-02 -1.23564220e-03 9.98699873e-01 -1.04572480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:625.97, Y:183.38, Z:-10.46 [[ 6.42948841e-01 -7.65245832e-01 3.18685598e-02 6.25971045e+02] [ 7.64211835e-01 6.43736991e-01 3.97864102e-02 1.83376688e+02] [-5.09613553e-02 -1.22629578e-03 9.98699873e-01 -1.04578876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.00, Y:183.42, Z:-10.46 [[ 6.42808249e-01 -7.65364256e-01 3.18607892e-02 6.26003200e+02] [ 7.64330097e-01 6.43596185e-01 3.97926319e-02 1.83424403e+02] [-5.09613405e-02 -1.22687197e-03 9.98699873e-01 -1.04602384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.03, Y:183.47, Z:-10.46 [[ 6.42912691e-01 -7.65276866e-01 3.18526215e-02 6.26033529e+02] [ 7.64242276e-01 6.43700062e-01 3.97991688e-02 1.83474919e+02] [-5.09609176e-02 -1.24427082e-03 9.98699873e-01 -1.04632845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.06, Y:183.53, Z:-10.47 [[ 6.41962379e-01 -7.66074546e-01 3.18448239e-02 6.26062699e+02] [ 7.65040626e-01 6.42750629e-01 3.98054070e-02 1.83525692e+02] [-5.09621897e-02 -1.19098975e-03 9.98699873e-01 -1.04689596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.09, Y:183.58, Z:-10.47 [[ 6.38985295e-01 -7.68559823e-01 3.18369564e-02 6.26091531e+02] [ 7.67528655e-01 6.39777142e-01 3.98116985e-02 1.83576551e+02] [-5.09662289e-02 -1.00331359e-03 9.98699873e-01 -1.04741186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.125336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:626.12, Y:183.63, Z:-10.48 [[ 6.35332300e-01 -7.71582642e-01 3.18291391e-02 6.26120437e+02] [ 7.70554930e-01 6.36128628e-01 3.98179474e-02 1.83626050e+02] [-5.09702636e-02 -7.71528069e-04 9.98699873e-01 -1.04805522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.15, Y:183.68, Z:-10.48 [[ 6.30572826e-01 -7.75477487e-01 3.18210212e-02 6.26151506e+02] [ 7.74454367e-01 6.31375045e-01 3.98244339e-02 1.83675274e+02] [-5.09739506e-02 -4.68276965e-04 9.98699873e-01 -1.04837051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.18, Y:183.72, Z:-10.49 [[ 6.27143142e-01 -7.78254073e-01 3.18131748e-02 6.26184995e+02] [ 7.77234187e-01 6.27949468e-01 3.98307009e-02 1.83723221e+02] [-5.09754714e-02 -2.53263788e-04 9.98699873e-01 -1.04854490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.22, Y:183.77, Z:-10.49 [[ 6.21897021e-01 -7.82452885e-01 3.18052948e-02 6.26218018e+02] [ 7.81438122e-01 6.22709785e-01 3.98369922e-02 1.83771162e+02] [-5.09760377e-02 7.93630387e-05 9.98699873e-01 -1.04863785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.25, Y:183.82, Z:-10.49 [[ 6.17561201e-01 -7.85879799e-01 3.17978588e-02 6.26251612e+02] [ 7.84869240e-01 6.18379186e-01 3.98429267e-02 1.83818859e+02] [-5.09748853e-02 3.51715575e-04 9.98699874e-01 -1.04903064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.29, Y:183.86, Z:-10.50 [[ 6.16074631e-01 -7.87046025e-01 3.17899912e-02 6.26286005e+02] [ 7.86036690e-01 6.16894126e-01 3.98492031e-02 1.83863724e+02] [-5.09742158e-02 4.38016395e-04 9.98699874e-01 -1.04968712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.4853361950001 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:626.32, Y:183.91, Z:-10.50 [[ 6.16256185e-01 -7.86904211e-01 3.17817190e-02 6.26323162e+02] [ 7.85894347e-01 6.17075028e-01 3.98557995e-02 1.83908119e+02] [-5.09744016e-02 4.15690358e-04 9.98699874e-01 -1.04957741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.36, Y:183.95, Z:-10.50 [[ 6.17428060e-01 -7.85985373e-01 3.17739683e-02 6.26356720e+02] [ 7.84973973e-01 6.18245004e-01 3.98619776e-02 1.83953988e+02] [-5.09750285e-02 3.29834643e-04 9.98699874e-01 -1.04975360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.40, Y:184.00, Z:-10.50 [[ 6.16442158e-01 -7.86759175e-01 3.17658239e-02 6.26395691e+02] [ 7.85748466e-01 6.17259957e-01 3.98684668e-02 1.83996042e+02] [-5.09746531e-02 3.83343654e-04 9.98699874e-01 -1.05022845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.43, Y:184.04, Z:-10.51 [[ 6.14359070e-01 -7.88387214e-01 3.17574163e-02 6.26433941e+02] [ 7.87378326e-01 6.15179114e-01 3.98751628e-02 1.84040016e+02] [-5.09735677e-02 5.07433339e-04 9.98699874e-01 -1.05052765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.47, Y:184.08, Z:-10.51 [[ 6.11388880e-01 -7.90693116e-01 3.17495424e-02 6.26472874e+02] [ 7.89686995e-01 6.12212317e-01 3.98814312e-02 1.84083017e+02] [-5.09714340e-02 6.89137173e-04 9.98699874e-01 -1.05104998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.51, Y:184.13, Z:-10.51 [[ 6.09837230e-01 -7.91890785e-01 3.17417507e-02 6.26510779e+02] [ 7.90885958e-01 6.10662246e-01 3.98876317e-02 1.84126566e+02] [-5.09701367e-02 7.79142069e-04 9.98699874e-01 -1.05133830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.55, Y:184.17, Z:-10.52 [[ 6.08764069e-01 -7.92716384e-01 3.17339417e-02 6.26548721e+02] [ 7.91712352e-01 6.09590053e-01 3.98938434e-02 1.84168058e+02] [-5.09691985e-02 8.38215228e-04 9.98699874e-01 -1.05170101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.59, Y:184.21, Z:-10.52 [[ 6.06878448e-01 -7.94161247e-01 3.17247946e-02 6.26591986e+02] [ 7.93158802e-01 6.07706356e-01 3.99011162e-02 1.84207530e+02] [-5.09672795e-02 9.47672594e-04 9.98699874e-01 -1.05171761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.63, Y:184.25, Z:-10.52 [[ 6.06049773e-01 -7.94794120e-01 3.17171681e-02 6.26631851e+02] [ 7.93792223e-01 6.06878344e-01 3.99071775e-02 1.84249431e+02] [-5.09664525e-02 9.91105551e-04 9.98699874e-01 -1.05171058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.67, Y:184.29, Z:-10.52 [[ 6.05974956e-01 -7.94851489e-01 3.17090301e-02 6.26673657e+02] [ 7.93849332e-01 6.06803213e-01 3.99136427e-02 1.84288467e+02] [-5.09665596e-02 9.85524492e-04 9.98699874e-01 -1.05229934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.72, Y:184.33, Z:-10.53 [[ 6.07884843e-01 -7.93392146e-01 3.17004867e-02 6.26715460e+02] [ 7.92387647e-01 6.08710257e-01 3.99204269e-02 1.84329930e+02] [-5.09689646e-02 8.52051687e-04 9.98699874e-01 -1.05250171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.75, Y:184.37, Z:-10.53 [[ 6.13729840e-01 -7.88879732e-01 3.16930831e-02 6.26753845e+02] [ 7.87868859e-01 6.14547436e-01 3.99263038e-02 1.84371088e+02] [-5.09739548e-02 4.66029120e-04 9.98699874e-01 -1.05280185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.79, Y:184.42, Z:-10.53 [[ 6.21226038e-01 -7.82990643e-01 3.16837916e-02 6.26788995e+02] [ 7.81971643e-01 6.22033481e-01 3.99336758e-02 1.84415439e+02] [-5.09760737e-02 -3.20126562e-05 9.98699874e-01 -1.05311062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.82, Y:184.46, Z:-10.54 [[ 6.24713119e-01 -7.80211648e-01 3.16749481e-02 6.26822814e+02] [ 7.79188700e-01 6.25515556e-01 3.99406891e-02 1.84460271e+02] [-5.09753637e-02 -2.70710822e-04 9.98699874e-01 -1.05359141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.86, Y:184.51, Z:-10.54 [[ 6.26033317e-01 -7.79153112e-01 3.16656586e-02 6.26858088e+02] [ 7.78128435e-01 6.26833544e-01 3.99480527e-02 1.84505674e+02] [-5.09747465e-02 -3.68862568e-04 9.98699874e-01 -1.05404870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.89, Y:184.55, Z:-10.54 [[ 6.23880401e-01 -7.80878390e-01 3.16573194e-02 6.26893121e+02] [ 7.79855590e-01 6.24683026e-01 3.99546601e-02 1.84552410e+02] [-5.09755207e-02 -2.38791848e-04 9.98699874e-01 -1.05424511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.93, Y:184.60, Z:-10.55 [[ 6.21296268e-01 -7.82936311e-01 3.16493409e-02 6.26928393e+02] [ 7.81915848e-01 6.22101862e-01 3.99609791e-02 1.84598072e+02] [-5.09760154e-02 -8.04858860e-05 9.98699875e-01 -1.05450401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.96, Y:184.64, Z:-10.55 [[ 6.15610953e-01 -7.87414742e-01 3.16414065e-02 6.26964087e+02] [ 7.86399816e-01 6.16423513e-01 3.99672606e-02 1.84641730e+02] [-5.09753171e-02 2.78512909e-04 9.98699875e-01 -1.05505030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:627.00, Y:184.68, Z:-10.55 [[ 6.08442953e-01 -7.92966949e-01 3.16321021e-02 6.27003550e+02] [ 7.91959054e-01 6.09264217e-01 3.99746232e-02 1.84683883e+02] [-5.09708629e-02 7.29051866e-04 9.98699875e-01 -1.05521907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:627.04, Y:184.73, Z:-10.55 [[ 6.04660147e-01 -7.95855567e-01 3.16231436e-02 6.27041319e+02] [ 7.94851224e-01 6.05485751e-01 3.99817089e-02 1.84725904e+02] [-5.09670284e-02 9.60348422e-04 9.98699875e-01 -1.05545816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:627.08, Y:184.77, Z:-10.55 [[ 6.06508924e-01 -7.94447819e-01 3.16162758e-02 6.27080642e+02] [ 7.93441277e-01 6.07331844e-01 3.99871390e-02 1.84767110e+02] [-5.09692664e-02 8.33101623e-04 9.98699875e-01 -1.05548802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:627.12, Y:184.81, Z:-10.56 [[ 6.09230792e-01 -7.92362819e-01 3.16070478e-02 6.27117627e+02] [ 7.91353082e-01 6.10049789e-01 3.99944318e-02 1.84811626e+02] [-5.09719735e-02 6.46495327e-04 9.98699875e-01 -1.05555981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:627.15, Y:184.85, Z:-10.56 [[ 6.12712751e-01 -7.89673713e-01 3.15992279e-02 6.27154871e+02] [ 7.88660063e-01 6.13526900e-01 4.00006092e-02 1.84853722e+02] [-5.09744059e-02 4.12165765e-04 9.98699875e-01 -1.05611563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.865336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:627.19, Y:184.90, Z:-10.56 [[ 6.13541301e-01 -7.89030508e-01 3.15900224e-02 6.27193249e+02] [ 7.88015629e-01 6.14353919e-01 4.00078779e-02 1.84895870e+02] [-5.09748902e-02 3.46945927e-04 9.98699875e-01 -1.05619527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:627.23, Y:184.94, Z:-10.57 [[ 6.14545295e-01 -7.88249146e-01 3.15810751e-02 6.27232399e+02] [ 7.87232872e-01 6.15356165e-01 4.00149394e-02 1.84936317e+02] [-5.09753510e-02 2.70667738e-04 9.98699875e-01 -1.05691017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:627.27, Y:184.98, Z:-10.57 [[ 6.17829190e-01 -7.85678254e-01 3.15717210e-02 6.27268745e+02] [ 7.84658228e-01 6.18635336e-01 4.00223183e-02 1.84980732e+02] [-5.09760474e-02 4.60541964e-05 9.98699875e-01 -1.05737888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:627.30, Y:185.03, Z:-10.58 [[ 6.20862995e-01 -7.83283412e-01 3.15632477e-02 6.27304910e+02] [ 7.82259937e-01 6.21664758e-01 4.00289996e-02 1.85025559e+02] [-5.09758101e-02 -1.61860431e-04 9.98699875e-01 -1.05754541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:627.34, Y:185.07, Z:-10.58 [[ 6.23928372e-01 -7.80844229e-01 3.15543463e-02 6.27338197e+02] [ 7.79817265e-01 6.24725660e-01 4.00360152e-02 1.85069975e+02] [-5.09747013e-02 -3.72981752e-04 9.98699875e-01 -1.05807344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.165336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:627.37, Y:185.12, Z:-10.58 [[ 6.24368172e-01 -7.80492883e-01 3.15475013e-02 6.27373014e+02] [ 7.79465198e-01 6.25164531e-01 4.00414083e-02 1.85115548e+02] [-5.09744130e-02 -4.10401592e-04 9.98699875e-01 -1.05796616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:627.41, Y:185.16, Z:-10.58 [[ 6.21765438e-01 -7.82568243e-01 3.15386122e-02 6.27408670e+02] [ 7.81542861e-01 6.22564760e-01 4.00484085e-02 1.85159062e+02] [-5.09754413e-02 -2.51939034e-04 9.98699875e-01 -1.05845624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.285336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:627.44, Y:185.20, Z:-10.59 [[ 6.18509904e-01 -7.85144092e-01 3.15317968e-02 6.27443795e+02] [ 7.84121765e-01 6.19313130e-01 4.00537739e-02 1.85204361e+02] [-5.09760397e-02 -4.88876969e-05 9.98699875e-01 -1.05902048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:627.48, Y:185.25, Z:-10.59 [[ 6.13612072e-01 -7.88978106e-01 3.15241583e-02 6.27480827e+02] [ 7.87960489e-01 6.14421257e-01 4.00597848e-02 1.85248045e+02] [-5.09754061e-02 2.58623660e-04 9.98699875e-01 -1.05919720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:627.52, Y:185.29, Z:-10.59 [[ 6.10937707e-01 -7.91051142e-01 3.15152351e-02 6.27517371e+02] [ 7.90035908e-01 6.11749880e-01 4.00668036e-02 1.85291475e+02] [-5.09743319e-02 4.19846263e-04 9.98699875e-01 -1.05921679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:627.56, Y:185.33, Z:-10.59 [[ 6.08996214e-01 -7.92547155e-01 3.15058513e-02 6.27556521e+02] [ 7.91533535e-01 6.09810399e-01 4.00741810e-02 1.85332893e+02] [-5.09732739e-02 5.32913346e-04 9.98699876e-01 -1.05924501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:627.59, Y:185.38, Z:-10.59 [[ 6.10812066e-01 -7.91148886e-01 3.14969733e-02 6.27593469e+02] [ 7.90133043e-01 6.11623476e-01 4.00811576e-02 1.85376003e+02] [-5.09744514e-02 4.04744685e-04 9.98699876e-01 -1.05947682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:627.63, Y:185.42, Z:-10.60 [[ 6.12659187e-01 -7.89719708e-01 3.14881502e-02 6.27628629e+02] [ 7.88701615e-01 6.13467772e-01 4.00880879e-02 1.85419178e+02] [-5.09753184e-02 2.74419578e-04 9.98699876e-01 -1.06000007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:627.66, Y:185.46, Z:-10.60 [[ 6.14770997e-01 -7.88077217e-01 3.14789006e-02 6.27663687e+02] [ 7.87056592e-01 6.15576383e-01 4.00953498e-02 1.85464770e+02] [-5.09758994e-02 1.26218095e-04 9.98699876e-01 -1.06017763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:627.70, Y:185.51, Z:-10.60 [[ 6.15252935e-01 -7.87701382e-01 3.14699610e-02 6.27700044e+02] [ 7.86679906e-01 6.16057243e-01 4.01023651e-02 1.85510146e+02] [-5.09759857e-02 8.36881112e-05 9.98699876e-01 -1.06025356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:627.74, Y:185.55, Z:-10.60 [[ 6.17533750e-01 -7.85914889e-01 3.14619454e-02 6.27736150e+02] [ 7.84890766e-01 6.18334684e-01 4.01086526e-02 1.85554896e+02] [-5.09759993e-02 -7.42562412e-05 9.98699876e-01 -1.06038960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:627.77, Y:185.60, Z:-10.61 [[ 6.20054294e-01 -7.83928174e-01 3.14529791e-02 6.27769405e+02] [ 7.82901128e-01 6.20851476e-01 4.01156827e-02 1.85599834e+02] [-5.09754424e-02 -2.49328567e-04 9.98699876e-01 -1.06100195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:627.80, Y:185.65, Z:-10.61 [[ 6.24347271e-01 -7.80513795e-01 3.14436314e-02 6.27801732e+02] [ 7.79482021e-01 6.25138324e-01 4.01230084e-02 1.85646929e+02] [-5.09731805e-02 -5.40945454e-04 9.98699876e-01 -1.06122609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:627.83, Y:185.69, Z:-10.62 [[ 6.25305121e-01 -7.79746979e-01 3.14349354e-02 6.27834805e+02] [ 7.78713892e-01 6.26094459e-01 4.01298202e-02 1.85693706e+02] [-5.09723449e-02 -6.14561220e-04 9.98699876e-01 -1.06151549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.005336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:627.87, Y:185.74, Z:-10.62 [[ 6.23294120e-01 -7.81355772e-01 3.14260585e-02 6.27868710e+02] [ 7.80324373e-01 6.24085661e-01 4.01367706e-02 1.85740693e+02] [-5.09736499e-02 -4.94493722e-04 9.98699876e-01 -1.06163562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:627.90, Y:185.79, Z:-10.62 [[ 6.21654530e-01 -7.82661193e-01 3.14181921e-02 6.27901372e+02] [ 7.81631144e-01 6.22447829e-01 4.01429273e-02 1.85786781e+02] [-5.09744968e-02 -3.97595126e-04 9.98699876e-01 -1.06219619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:627.93, Y:185.83, Z:-10.63 [[ 6.20821256e-01 -7.83322678e-01 3.14094161e-02 6.27933679e+02] [ 7.82293127e-01 6.21615200e-01 4.01497928e-02 1.85833815e+02] [-5.09748137e-02 -3.54474472e-04 9.98699876e-01 -1.06269782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:627.97, Y:185.88, Z:-10.63 [[ 6.20921689e-01 -7.83243417e-01 3.14007397e-02 6.27967521e+02] [ 7.82213422e-01 6.21715057e-01 4.01565773e-02 1.85878760e+02] [-5.09746875e-02 -3.72009729e-04 9.98699876e-01 -1.06322514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.00, Y:185.93, Z:-10.63 [[ 6.21664601e-01 -7.82654259e-01 3.13916512e-02 6.28000483e+02] [ 7.81623153e-01 6.22456525e-01 4.01636809e-02 1.85925298e+02] [-5.09742140e-02 -4.31897226e-04 9.98699876e-01 -1.06332388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.03, Y:185.97, Z:-10.63 [[ 6.21696227e-01 -7.82629491e-01 3.13828330e-02 6.28034220e+02] [ 7.81598006e-01 6.22487656e-01 4.01705700e-02 1.85972902e+02] [-5.09740989e-02 -4.45132122e-04 9.98699876e-01 -1.06346364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.07, Y:186.02, Z:-10.64 [[ 6.20289127e-01 -7.83745502e-01 3.13749258e-02 6.28067533e+02] [ 7.82715130e-01 6.21082004e-01 4.01767450e-02 1.86019766e+02] [-5.09747449e-02 -3.63568979e-04 9.98699876e-01 -1.06367233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.10, Y:186.07, Z:-10.64 [[ 6.20057379e-01 -7.83929220e-01 3.13659645e-02 6.28103309e+02] [ 7.82898728e-01 6.20850101e-01 4.01837398e-02 1.86065016e+02] [-5.09747700e-02 -3.59850621e-04 9.98699877e-01 -1.06357962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.14, Y:186.11, Z:-10.64 [[ 6.20677733e-01 -7.83438465e-01 3.13579998e-02 6.28135854e+02] [ 7.82407032e-01 6.21469230e-01 4.01899542e-02 1.86111180e+02] [-5.09743880e-02 -4.10290111e-04 9.98699877e-01 -1.06445463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.545336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:628.17, Y:186.16, Z:-10.64 [[ 6.22177596e-01 -7.82248219e-01 3.13490593e-02 6.28170918e+02] [ 7.81214921e-01 6.22966656e-01 4.01969268e-02 1.86157797e+02] [-5.09733930e-02 -5.19274449e-04 9.98699877e-01 -1.06411781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.20, Y:186.20, Z:-10.65 [[ 6.23491520e-01 -7.81201579e-01 3.13435402e-02 6.28204006e+02] [ 7.80166740e-01 6.24278558e-01 4.02012299e-02 1.86203988e+02] [-5.09723643e-02 -6.11938327e-04 9.98699877e-01 -1.06498356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.24, Y:186.25, Z:-10.66 [[ 6.24396861e-01 -7.80478411e-01 3.13370292e-02 6.28236217e+02] [ 7.79442406e-01 6.25182364e-01 4.02063046e-02 1.86249378e+02] [-5.09715107e-02 -6.79280975e-04 9.98699877e-01 -1.06560584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.27, Y:186.30, Z:-10.66 [[ 6.24106640e-01 -7.80710873e-01 3.13278745e-02 6.28269939e+02] [ 7.79674802e-01 6.24892056e-01 4.02134364e-02 1.86295739e+02] [-5.09716070e-02 -6.71918314e-04 9.98699877e-01 -1.06559481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.30, Y:186.34, Z:-10.65 [[ 6.22976394e-01 -7.81613422e-01 3.13188608e-02 6.28302741e+02] [ 7.80578137e-01 6.23762845e-01 4.02204552e-02 1.86342281e+02] [-5.09723894e-02 -6.09576157e-04 9.98699877e-01 -1.06549042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.34, Y:186.39, Z:-10.66 [[ 6.22234715e-01 -7.82204315e-01 3.13108370e-02 6.28337580e+02] [ 7.81169463e-01 6.23021735e-01 4.02267007e-02 1.86387843e+02] [-5.09728308e-02 -5.71379910e-04 9.98699877e-01 -1.06550123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.37, Y:186.43, Z:-10.65 [[ 6.19230219e-01 -7.84585327e-01 3.13017599e-02 6.28373639e+02] [ 7.83553144e-01 6.20020737e-01 4.02337626e-02 1.86434021e+02] [-5.09745600e-02 -3.87369181e-04 9.98699877e-01 -1.06526365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.41, Y:186.48, Z:-10.66 [[ 6.14693262e-01 -7.88145218e-01 3.12939020e-02 6.28408176e+02] [ 7.87117303e-01 6.15489321e-01 4.02398736e-02 1.86479121e+02] [-5.09759264e-02 -1.03207480e-04 9.98699877e-01 -1.06561554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.44, Y:186.52, Z:-10.66 [[ 6.11926751e-01 -7.90295442e-01 3.12852237e-02 6.28444803e+02] [ 7.89269979e-01 6.12725966e-01 4.02466196e-02 1.86523981e+02] [-5.09759889e-02 6.45047061e-05 9.98699877e-01 -1.06627056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.48, Y:186.57, Z:-10.67 [[ 6.09872816e-01 -7.91881863e-01 3.12772023e-02 6.28479570e+02] [ 7.90858159e-01 6.10674284e-01 4.02528523e-02 1.86568546e+02] [-5.09756868e-02 1.86710266e-04 9.98699877e-01 -1.06698135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.145336195 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:628.52, Y:186.61, Z:-10.67 [[ 6.09427399e-01 -7.92225012e-01 3.12693875e-02 6.28517225e+02] [ 7.91201448e-01 6.10229045e-01 4.02589221e-02 1.86612375e+02] [-5.09756136e-02 2.05494453e-04 9.98699877e-01 -1.06692132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.55, Y:186.66, Z:-10.67 [[ 6.09994293e-01 -7.91788957e-01 3.12603722e-02 6.28553725e+02] [ 7.90764461e-01 6.10794747e-01 4.02659212e-02 1.86657175e+02] [-5.09757828e-02 1.57609241e-04 9.98699877e-01 -1.06717398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.59, Y:186.70, Z:-10.68 [[ 6.09886535e-01 -7.91872275e-01 3.12524136e-02 6.28589661e+02] [ 7.90847572e-01 6.10686725e-01 4.02720973e-02 1.86701027e+02] [-5.09757914e-02 1.54485501e-04 9.98699877e-01 -1.06754499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.63, Y:186.74, Z:-10.68 [[ 6.09553387e-01 -7.92129100e-01 3.12435235e-02 6.28627814e+02] [ 7.91104381e-01 6.10353555e-01 4.02789931e-02 1.86744229e+02] [-5.09757582e-02 1.64691676e-04 9.98699877e-01 -1.06773131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.385336195 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:628.67, Y:186.79, Z:-10.68 [[ 6.08981302e-01 -7.92569358e-01 3.12343646e-02 6.28665559e+02] [ 7.91544853e-01 6.09781745e-01 4.02860942e-02 1.86786697e+02] [-5.09756691e-02 1.89922472e-04 9.98699877e-01 -1.06787178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.445336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:628.70, Y:186.83, Z:-10.68 [[ 6.09387239e-01 -7.92257649e-01 3.12251436e-02 6.28702468e+02] [ 7.91232368e-01 6.10186688e-01 4.02932399e-02 1.86829998e+02] [-5.09757945e-02 1.52158083e-04 9.98699877e-01 -1.06818590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.74, Y:186.87, Z:-10.69 [[ 6.10599567e-01 -7.91324016e-01 3.12165305e-02 6.28739965e+02] [ 7.90297171e-01 6.11397006e-01 4.02999117e-02 1.86873448e+02] [-5.09759812e-02 6.32270956e-05 9.98699878e-01 -1.06863268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.78, Y:186.92, Z:-10.69 [[ 6.12741001e-01 -7.89667368e-01 3.12076043e-02 6.28776445e+02] [ 7.88638015e-01 6.13535200e-01 4.03068228e-02 1.86916789e+02] [-5.09759464e-02 -8.61398341e-05 9.98699878e-01 -1.06917987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.81, Y:186.96, Z:-10.69 [[ 6.15343581e-01 -7.87641365e-01 3.11986732e-02 6.28812090e+02] [ 7.86609048e-01 6.16133921e-01 4.03137346e-02 1.86962992e+02] [-5.09753258e-02 -2.65639191e-04 9.98699878e-01 -1.06913515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.85, Y:187.01, Z:-10.70 [[ 6.17218900e-01 -7.86173000e-01 3.11904351e-02 6.28847527e+02] [ 7.85138480e-01 6.18006356e-01 4.03201074e-02 1.87007434e+02] [-5.09744669e-02 -3.97521555e-04 9.98699878e-01 -1.06969475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.88, Y:187.05, Z:-10.70 [[ 6.17627678e-01 -7.85852142e-01 3.11843439e-02 6.28882858e+02] [ 7.84816975e-01 6.18414283e-01 4.03248178e-02 1.87053319e+02] [-5.09741881e-02 -4.31721129e-04 9.98699878e-01 -1.06952393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.92, Y:187.10, Z:-10.70 [[ 6.14761827e-01 -7.88096416e-01 3.11758822e-02 6.28917755e+02] [ 7.87063789e-01 6.15551763e-01 4.03313587e-02 1.87098476e+02] [-5.09753685e-02 -2.56771732e-04 9.98699878e-01 -1.06994932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.95, Y:187.14, Z:-10.70 [[ 6.12216077e-01 -7.90075984e-01 3.11675141e-02 6.28951692e+02] [ 7.89045583e-01 6.13008914e-01 4.03378244e-02 1.87142511e+02] [-5.09759103e-02 -1.02875234e-04 9.98699878e-01 -1.07032264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.99, Y:187.19, Z:-10.70 [[ 6.08970410e-01 -7.92580631e-01 3.11605982e-02 6.28987118e+02] [ 7.91553217e-01 6.09767114e-01 4.03431662e-02 1.87187217e+02] [-5.09759202e-02 9.74772322e-05 9.98699878e-01 -1.07042993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:629.02, Y:187.23, Z:-10.71 [[ 6.06831231e-01 -7.94220020e-01 3.11515226e-02 6.29022375e+02] [ 7.93194398e-01 6.07630241e-01 4.03501728e-02 1.87232189e+02] [-5.09755222e-02 2.23468175e-04 9.98699878e-01 -1.07079714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:629.06, Y:187.28, Z:-10.71 [[ 6.01603297e-01 -7.98187709e-01 3.11424816e-02 6.29059493e+02] [ 7.97166996e-01 6.02408567e-01 4.03571495e-02 1.87277371e+02] [-5.09730784e-02 5.46764366e-04 9.98699878e-01 -1.07082766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:629.10, Y:187.32, Z:-10.71 [[ 5.94779569e-01 -8.03285700e-01 3.11343688e-02 6.29098834e+02] [ 8.02271558e-01 5.95593101e-01 4.03634073e-02 1.87319616e+02] [-5.09667632e-02 9.70888529e-04 9.98699878e-01 -1.07093521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:629.14, Y:187.36, Z:-10.71 [[ 5.91343899e-01 -8.05818596e-01 3.11252922e-02 6.29137587e+02] [ 8.04807570e-01 5.92161300e-01 4.03704053e-02 1.87362155e+02] [-5.09624168e-02 1.17707790e-03 9.98699878e-01 -1.07129765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.2253361950001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:629.18, Y:187.40, Z:-10.71 [[ 5.89243707e-01 -8.07355936e-01 3.11166527e-02 6.29179237e+02] [ 8.06346692e-01 5.90063306e-01 4.03770634e-02 1.87401627e+02] [-5.09594568e-02 1.29887949e-03 9.98699878e-01 -1.07137066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:629.22, Y:187.44, Z:-10.72 [[ 5.90155670e-01 -8.06689903e-01 3.11076553e-02 6.29217802e+02] [ 8.05679369e-01 5.90973678e-01 4.03839940e-02 1.87441905e+02] [-5.09611657e-02 1.22995307e-03 9.98699878e-01 -1.07221234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.345336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:629.26, Y:187.48, Z:-10.73 [[ 5.95333668e-01 -8.02876511e-01 3.10987423e-02 6.29260091e+02] [ 8.01860377e-01 5.96144710e-01 4.03908566e-02 1.87482967e+02] [-5.09682207e-02 8.90812357e-04 9.98699878e-01 -1.07278777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.405336195 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:629.30, Y:187.52, Z:-10.73 [[ 6.01315509e-01 -7.98406438e-01 3.10937224e-02 6.29299092e+02] [ 7.97384073e-01 6.02118682e-01 4.03947206e-02 1.87524795e+02] [-5.09735161e-02 5.03667085e-04 9.98699878e-01 -1.07304359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:629.34, Y:187.57, Z:-10.73 [[ 6.13518707e-01 -7.89068150e-01 3.10845778e-02 6.29339552e+02] [ 7.88033202e-01 6.14305600e-01 4.04017564e-02 1.87565742e+02] [-5.09751694e-02 -2.91553937e-04 9.98699878e-01 -1.07305864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:629.37, Y:187.61, Z:-10.74 [[ 6.26531202e-01 -7.78776560e-01 3.10760930e-02 6.29374919e+02] [ 7.77728371e-01 6.27300368e-01 4.04082816e-02 1.87609136e+02] [-5.09630671e-02 -1.14829000e-03 9.98699878e-01 -1.07356490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.585336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:629.41, Y:187.65, Z:-10.74 [[ 6.33692586e-01 -7.72960903e-01 3.10668399e-02 6.29408656e+02] [ 7.71905313e-01 6.34451562e-01 4.04153943e-02 1.87654880e+02] [-5.09499248e-02 -1.63027694e-03 9.98699879e-01 -1.07356737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:629.44, Y:187.70, Z:-10.74 [[ 6.42035903e-01 -7.66045227e-01 3.10581809e-02 6.29440744e+02] [ 7.64981149e-01 6.42782933e-01 4.04220475e-02 1.87702681e+02] [-5.09287852e-02 -2.19348285e-03 9.98699879e-01 -1.07401440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:629.47, Y:187.75, Z:-10.74 [[ 6.44650620e-01 -7.63846520e-01 3.10494983e-02 6.29471339e+02] [ 7.62779577e-01 6.45393551e-01 4.04287158e-02 1.87750104e+02] [-5.09204799e-02 -2.37847352e-03 9.98699879e-01 -1.07442255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:629.50, Y:187.80, Z:-10.74 [[ 6.44470228e-01 -7.63999087e-01 3.10406381e-02 6.29500348e+02] [ 7.62931993e-01 6.45212944e-01 4.04355174e-02 1.87801134e+02] [-5.09205198e-02 -2.37759120e-03 9.98699879e-01 -1.07449579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:629.53, Y:187.85, Z:-10.75 [[ 6.38980411e-01 -7.68596761e-01 3.10331007e-02 6.29528734e+02] [ 7.67534736e-01 6.39730357e-01 4.04413013e-02 1.87852737e+02] [-5.09358698e-02 -2.02221662e-03 9.98699879e-01 -1.07472865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:629.56, Y:187.90, Z:-10.75 [[ 6.33850764e-01 -7.72832842e-01 3.10259189e-02 6.29559094e+02] [ 7.71775563e-01 6.34607387e-01 4.04468104e-02 1.87901275e+02] [-5.09479007e-02 -1.69219562e-03 9.98699879e-01 -1.07499543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.945336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:629.59, Y:187.95, Z:-10.75 [[ 6.23215025e-01 -7.81435213e-01 3.10167800e-02 6.29587928e+02] [ 7.80388040e-01 6.23985573e-01 4.04538173e-02 1.87951064e+02] [-5.09660606e-02 -1.00630262e-03 9.98699879e-01 -1.07527789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:629.62, Y:188.00, Z:-10.76 [[ 6.14929893e-01 -7.87971897e-01 3.10083209e-02 6.29619524e+02] [ 7.86932592e-01 6.15711020e-01 4.04603002e-02 1.87997336e+02] [-5.09737445e-02 -4.78789734e-04 9.98699879e-01 -1.07567906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:629.65, Y:188.04, Z:-10.76 [[ 6.04379845e-01 -7.96093006e-01 3.09988628e-02 6.29653470e+02] [ 7.95063826e-01 6.05174265e-01 4.04675453e-02 1.88043301e+02] [-5.09756438e-02 1.88305696e-04 9.98699879e-01 -1.07582705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:629.69, Y:188.09, Z:-10.76 [[ 5.96932233e-01 -8.01692920e-01 3.09898538e-02 6.29687903e+02] [ 8.00670833e-01 5.97735758e-01 4.04744432e-02 1.88089131e+02] [-5.09718183e-02 6.52172284e-04 9.98699879e-01 -1.07633249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:629.72, Y:188.13, Z:-10.77 [[ 5.93672124e-01 -8.04110438e-01 3.09808484e-02 6.29723321e+02] [ 8.03091263e-01 5.94479339e-01 4.04813352e-02 1.88132466e+02] [-5.09689385e-02 8.47808439e-04 9.98699879e-01 -1.07659272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:629.76, Y:188.18, Z:-10.77 [[ 5.91026568e-01 -8.06057293e-01 3.09715323e-02 6.29762393e+02] [ 8.05040404e-01 5.91836661e-01 4.04884615e-02 1.88175304e+02] [-5.09661079e-02 1.00357835e-03 9.98699879e-01 -1.07668754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.305336195 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:629.80, Y:188.22, Z:-10.77 [[ 5.90769563e-01 -8.06245961e-01 3.09640677e-02 6.29799476e+02] [ 8.05229031e-01 5.91579605e-01 4.04941693e-02 1.88218118e+02] [-5.09659714e-02 1.01044351e-03 9.98699879e-01 -1.07702397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.365336195 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:629.84, Y:188.26, Z:-10.78 [[ 5.92802165e-01 -8.04752990e-01 3.09551103e-02 6.29838161e+02] [ 8.03733662e-01 5.93609188e-01 4.05010156e-02 1.88259351e+02] [-5.09685512e-02 8.70574433e-04 9.98699879e-01 -1.07755892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:629.88, Y:188.30, Z:-10.78 [[ 5.96819567e-01 -8.01778490e-01 3.09460411e-02 6.29877130e+02] [ 8.00754781e-01 5.97621024e-01 4.05079440e-02 1.88300576e+02] [-5.09724029e-02 6.04256724e-04 9.98699879e-01 -1.07811484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:629.92, Y:188.34, Z:-10.79 [[ 6.01308853e-01 -7.98417556e-01 3.09365410e-02 6.29916181e+02] [ 7.97388993e-01 6.02104071e-01 4.05151981e-02 1.88342716e+02] [-5.09750627e-02 3.06309949e-04 9.98699879e-01 -1.07851529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:629.95, Y:188.39, Z:-10.79 [[ 6.02638007e-01 -7.97415134e-01 3.09279293e-02 6.29950796e+02] [ 7.96384911e-01 6.03431073e-01 4.05217709e-02 1.88386755e+02] [-5.09755469e-02 2.10576935e-04 9.98699879e-01 -1.07883731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:629.99, Y:188.43, Z:-10.79 [[ 6.05857088e-01 -7.94972480e-01 3.09183542e-02 6.29986403e+02] [ 7.93938687e-01 6.06645495e-01 4.05290754e-02 1.88431072e+02] [-5.09759799e-02 -7.55014341e-06 9.98699880e-01 -1.07882905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.02, Y:188.47, Z:-10.79 [[ 6.10707136e-01 -7.91253063e-01 3.09092989e-02 6.30023525e+02] [ 7.90214118e-01 6.11488742e-01 4.05359802e-02 1.88473795e+02] [-5.09749068e-02 -3.30647959e-04 9.98699880e-01 -1.07906385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.06, Y:188.52, Z:-10.79 [[ 6.14417915e-01 -7.88375337e-01 3.09023295e-02 6.30059761e+02] [ 7.87332465e-01 6.15194273e-01 4.05412926e-02 1.88518807e+02] [-5.09726913e-02 -5.78889285e-04 9.98699880e-01 -1.07903223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.09, Y:188.56, Z:-10.80 [[ 6.15666328e-01 -7.87401120e-01 3.08941544e-02 6.30093663e+02] [ 7.86356707e-01 6.16440612e-01 4.05475214e-02 1.88564734e+02] [-5.09715752e-02 -6.69918103e-04 9.98699880e-01 -1.07978194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.13, Y:188.61, Z:-10.80 [[ 6.16596158e-01 -7.86673545e-01 3.08854635e-02 6.30127378e+02] [ 7.85627887e-01 6.17368759e-01 4.05541403e-02 1.88609728e+02] [-5.09705896e-02 -7.41045684e-04 9.98699880e-01 -1.08030770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.16, Y:188.65, Z:-10.81 [[ 6.15739093e-01 -7.87344922e-01 3.08762616e-02 6.30161838e+02] [ 7.86299756e-01 6.16512358e-01 4.05611450e-02 1.88654996e+02] [-5.09712084e-02 -6.97085629e-04 9.98699880e-01 -1.08073000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.20, Y:188.70, Z:-10.81 [[ 6.11668910e-01 -7.90511437e-01 3.08676805e-02 6.30197519e+02] [ 7.89469944e-01 6.12447117e-01 4.05676744e-02 1.88700865e+02] [-5.09740324e-02 -4.44879143e-04 9.98699880e-01 -1.08070565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.23, Y:188.74, Z:-10.81 [[ 6.07315790e-01 -7.93860951e-01 3.08597223e-02 6.30233383e+02] [ 7.92823443e-01 6.08099302e-01 4.05737272e-02 1.88744605e+02] [-5.09756732e-02 -1.74753956e-04 9.98699880e-01 -1.08100187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.085336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:630.27, Y:188.79, Z:-10.81 [[ 6.01260776e-01 -7.98457095e-01 3.08503935e-02 6.30271095e+02] [ 7.97425213e-01 6.02051682e-01 4.05808192e-02 1.88788138e+02] [-5.09755743e-02 2.01226753e-04 9.98699880e-01 -1.08128458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.31, Y:188.83, Z:-10.82 [[ 5.99114473e-01 -8.00069158e-01 3.08413949e-02 6.30309049e+02] [ 7.99039052e-01 5.99907690e-01 4.05876569e-02 1.88830217e+02] [-5.09749225e-02 3.26826244e-04 9.98699880e-01 -1.08178503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.205336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:630.35, Y:188.87, Z:-10.82 [[ 5.98979784e-01 -8.00170267e-01 3.08344231e-02 6.30345895e+02] [ 7.99140023e-01 5.99772821e-01 4.05929528e-02 1.88873943e+02] [-5.09749228e-02 3.26663463e-04 9.98699880e-01 -1.08195030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.38, Y:188.92, Z:-10.82 [[ 6.03696715e-01 -7.96617896e-01 3.08253913e-02 6.30383765e+02] [ 7.95582634e-01 6.04483191e-01 4.05998101e-02 1.88917237e+02] [-5.09759662e-02 1.41739864e-05 9.98699880e-01 -1.08212098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.42, Y:188.96, Z:-10.83 [[ 6.08213287e-01 -7.93175218e-01 3.08167543e-02 6.30418468e+02] [ 7.92135172e-01 6.08993426e-01 4.06063649e-02 1.88961022e+02] [-5.09751631e-02 -2.86295702e-04 9.98699880e-01 -1.08252118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.45, Y:189.01, Z:-10.83 [[ 6.15049851e-01 -7.87886162e-01 3.08070970e-02 6.30451922e+02] [ 7.86839042e-01 6.15820469e-01 4.06136903e-02 1.89005584e+02] [-5.09706055e-02 -7.39217469e-04 9.98699880e-01 -1.08279132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.49, Y:189.05, Z:-10.83 [[ 6.18236931e-01 -7.85388175e-01 3.07979168e-02 6.30485063e+02] [ 7.84337596e-01 6.19002825e-01 4.06206506e-02 1.89052024e+02] [-5.09669762e-02 -9.57222314e-04 9.98699880e-01 -1.08319243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.52, Y:189.10, Z:-10.84 [[ 6.21440725e-01 -7.82855955e-01 3.07892796e-02 6.30517270e+02] [ 7.81801932e-01 6.22201873e-01 4.06271963e-02 1.89099419e+02] [-5.09623900e-02 -1.17627602e-03 9.98699880e-01 -1.08359428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.55, Y:189.15, Z:-10.84 [[ 6.22157047e-01 -7.82287135e-01 3.07806411e-02 6.30548587e+02] [ 7.81232093e-01 6.22916782e-01 4.06337401e-02 1.89146830e+02] [-5.09610300e-02 -1.23374311e-03 9.98699880e-01 -1.08371646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.58, Y:189.19, Z:-10.84 [[ 6.21455542e-01 -7.82844878e-01 3.07718538e-02 6.30579622e+02] [ 7.81790188e-01 6.22215766e-01 4.06403936e-02 1.89193422e+02] [-5.09618566e-02 -1.19906450e-03 9.98699881e-01 -1.08381427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.61, Y:189.24, Z:-10.84 [[ 6.18544671e-01 -7.85147214e-01 3.07626759e-02 6.30610745e+02] [ 7.84095010e-01 6.19308331e-01 4.06473397e-02 1.89242754e+02] [-5.09657269e-02 -1.02133471e-03 9.98699881e-01 -1.08371381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.745336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:630.64, Y:189.29, Z:-10.84 [[ 6.14397173e-01 -7.88397278e-01 3.07546231e-02 6.30642303e+02] [ 7.87348810e-01 6.15165954e-01 4.06534316e-02 1.89290644e+02] [-5.09702519e-02 -7.62737533e-04 9.98699881e-01 -1.08431816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.805336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:630.67, Y:189.34, Z:-10.85 [[ 6.10551850e-01 -7.91379223e-01 3.07467694e-02 6.30674536e+02] [ 7.90334211e-01 6.11325323e-01 4.06593706e-02 1.89337741e+02] [-5.09732599e-02 -5.24430250e-04 9.98699881e-01 -1.08464101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.71, Y:189.38, Z:-10.85 [[ 6.06407933e-01 -7.94559384e-01 3.07376644e-02 6.30707756e+02] [ 7.93518080e-01 6.07186390e-01 4.06662526e-02 1.89384801e+02] [-5.09752442e-02 -2.69445707e-04 9.98699881e-01 -1.08486908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.74, Y:189.43, Z:-10.85 [[ 6.04058569e-01 -7.96347282e-01 3.07286774e-02 6.30740787e+02] [ 7.95307937e-01 6.04839639e-01 4.06730424e-02 1.89429892e+02] [-5.09757889e-02 -1.30138779e-04 9.98699881e-01 -1.08535545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.77, Y:189.48, Z:-10.86 [[ 6.01385425e-01 -7.98368272e-01 3.07192562e-02 6.30773992e+02] [ 7.97331188e-01 6.02169495e-01 4.06801567e-02 1.89475771e+02] [-5.09759455e-02 2.89677107e-05 9.98699881e-01 -1.08570852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.81, Y:189.52, Z:-10.86 [[ 5.99510462e-01 -7.99777527e-01 3.07101518e-02 6.30808031e+02] [ 7.98741934e-01 6.00296501e-01 4.06870286e-02 1.89521687e+02] [-5.09757678e-02 1.37186706e-04 9.98699881e-01 -1.08586998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.84, Y:189.57, Z:-10.86 [[ 5.97259991e-01 -8.01459845e-01 3.07021142e-02 6.30843585e+02] [ 8.00426155e-01 5.98048529e-01 4.06930929e-02 1.89566529e+02] [-5.09752341e-02 2.70418915e-04 9.98699881e-01 -1.08608050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.88, Y:189.61, Z:-10.87 [[ 5.94742646e-01 -8.03330032e-01 3.06927419e-02 6.30879214e+02] [ 8.02298456e-01 5.95533949e-01 4.07001607e-02 1.89609783e+02] [-5.09742312e-02 4.18618226e-04 9.98699881e-01 -1.08671304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.91, Y:189.65, Z:-10.87 [[ 5.93229181e-01 -8.04448683e-01 3.06831539e-02 6.30914269e+02] [ 8.03418225e-01 5.94021939e-01 4.07073876e-02 1.89654256e+02] [-5.09734709e-02 5.02594888e-04 9.98699881e-01 -1.08700721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.95, Y:189.70, Z:-10.87 [[ 5.91354111e-01 -8.05828400e-01 3.06741713e-02 6.30952669e+02] [ 8.04799441e-01 5.92148813e-01 4.07141552e-02 1.89696474e+02] [-5.09722967e-02 6.10072901e-04 9.98699881e-01 -1.08733484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.99, Y:189.74, Z:-10.88 [[ 5.90336355e-01 -8.06574631e-01 3.06651685e-02 6.30990358e+02] [ 8.05546325e-01 5.91131901e-01 4.07209348e-02 1.89739653e+02] [-5.09716323e-02 6.63165627e-04 9.98699881e-01 -1.08755684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.03, Y:189.78, Z:-10.88 [[ 5.90217764e-01 -8.06661766e-01 3.06559394e-02 6.31026547e+02] [ 8.05633216e-01 5.91012996e-01 4.07278816e-02 1.89783564e+02] [-5.09716834e-02 6.59123807e-04 9.98699881e-01 -1.08769190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.06, Y:189.83, Z:-10.88 [[ 5.91612103e-01 -8.05640056e-01 3.06466802e-02 6.31062844e+02] [ 8.04609772e-01 5.92405087e-01 4.07348477e-02 1.89827742e+02] [-5.09728742e-02 5.59389448e-04 9.98699881e-01 -1.08793028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.10, Y:189.87, Z:-10.88 [[ 5.96169596e-01 -8.02273743e-01 3.06374692e-02 6.31099421e+02] [ 8.01238625e-01 5.96956258e-01 4.07417743e-02 1.89870304e+02] [-5.09752847e-02 2.58916573e-04 9.98699882e-01 -1.08812429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.14, Y:189.92, Z:-10.88 [[ 5.99634912e-01 -7.99687380e-01 3.06278732e-02 6.31135421e+02] [ 7.98648500e-01 6.00416600e-01 4.07489868e-02 1.89915341e+02] [-5.09759340e-02 2.63898994e-05 9.98699882e-01 -1.08845335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.17, Y:189.96, Z:-10.89 [[ 6.03975634e-01 -7.96414373e-01 3.06199180e-02 6.31171813e+02] [ 7.95370954e-01 6.04751253e-01 4.07549637e-02 1.89957643e+02] [-5.09752727e-02 -2.60811598e-04 9.98699882e-01 -1.08875038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.21, Y:190.00, Z:-10.89 [[ 6.05697695e-01 -7.95105839e-01 3.06105667e-02 6.31207236e+02] [ 7.94060389e-01 6.06470575e-01 4.07619862e-02 1.90002990e+02] [-5.09745012e-02 -3.82802631e-04 9.98699882e-01 -1.08877324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.24, Y:190.05, Z:-10.89 [[ 6.08118971e-01 -7.93255851e-01 3.06018142e-02 6.31241286e+02] [ 7.92207720e-01 6.08888211e-01 4.07685560e-02 1.90046538e+02] [-5.09729795e-02 -5.49138852e-04 9.98699882e-01 -1.08895309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.27, Y:190.09, Z:-10.90 [[ 6.11655693e-01 -7.90532392e-01 3.05916697e-02 6.31272670e+02] [ 7.89480456e-01 6.12419720e-01 4.07761668e-02 1.90092637e+02] [-5.09698224e-02 -7.89449212e-04 9.98699882e-01 -1.08966548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.31, Y:190.14, Z:-10.90 [[ 6.13516852e-01 -7.89089222e-01 3.05822083e-02 6.31306413e+02] [ 7.88035135e-01 6.14277910e-01 4.07832616e-02 1.90137746e+02] [-5.09676072e-02 -9.21363649e-04 9.98699882e-01 -1.09007872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.34, Y:190.18, Z:-10.91 [[ 6.14550988e-01 -7.88284458e-01 3.05728187e-02 6.31338002e+02] [ 7.87229025e-01 6.15310177e-01 4.07902993e-02 1.90182780e+02] [-5.09661254e-02 -9.99908479e-04 9.98699882e-01 -1.09072799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.37, Y:190.23, Z:-10.91 [[ 6.13624219e-01 -7.89006475e-01 3.05630619e-02 6.31369398e+02] [ 7.87951571e-01 6.14384144e-01 4.07976084e-02 1.90227753e+02] [-5.09670378e-02 -9.52187972e-04 9.98699882e-01 -1.09107993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.40, Y:190.27, Z:-10.91 [[ 6.12240001e-01 -7.90081433e-01 3.05534224e-02 6.31402547e+02] [ 7.89027504e-01 6.13001276e-01 4.08048262e-02 1.90273073e+02] [-5.09684225e-02 -8.74856148e-04 9.98699882e-01 -1.09108119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.43, Y:190.32, Z:-10.91 [[ 6.11924109e-01 -7.90326364e-01 3.05470785e-02 6.31434771e+02] [ 7.89272503e-01 6.12685478e-01 4.08095748e-02 1.90318640e+02] [-5.09686342e-02 -8.62393585e-04 9.98699882e-01 -1.09134000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.47, Y:190.37, Z:-10.92 [[ 6.12728623e-01 -7.89703147e-01 3.05380689e-02 6.31466213e+02] [ 7.88648176e-01 6.13488454e-01 4.08163156e-02 1.90366980e+02] [-5.09675256e-02 -9.25532520e-04 9.98699882e-01 -1.09160647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.50, Y:190.41, Z:-10.92 [[ 6.12702085e-01 -7.89724068e-01 3.05295378e-02 6.31498331e+02] [ 7.88668805e-01 6.13461510e-01 4.08226957e-02 1.90413591e+02] [-5.09673616e-02 -9.34456677e-04 9.98699882e-01 -1.09187071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.53, Y:190.46, Z:-10.92 [[ 6.10955361e-01 -7.91076524e-01 3.05201569e-02 6.31530688e+02] [ 7.90022592e-01 6.11716633e-01 4.08297079e-02 1.90460593e+02] [-5.09691110e-02 -8.33515422e-04 9.98699882e-01 -1.09202252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.56, Y:190.51, Z:-10.92 [[ 6.08967714e-01 -7.92607956e-01 3.05115003e-02 6.31561213e+02] [ 7.91555615e-01 6.09731183e-01 4.08361758e-02 1.90509135e+02] [-5.09708910e-02 -7.16363304e-04 9.98699882e-01 -1.09220288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.59, Y:190.56, Z:-10.92 [[ 6.07311980e-01 -7.93877666e-01 3.05026122e-02 6.31593340e+02] [ 7.92826588e-01 6.08077187e-01 4.08428137e-02 1.90555047e+02] [-5.09721403e-02 -6.21048153e-04 9.98699882e-01 -1.09246603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.62, Y:190.60, Z:-10.93 [[ 6.04821524e-01 -7.95777032e-01 3.04932819e-02 6.31624703e+02] [ 7.94728006e-01 6.05589541e-01 4.08497786e-02 1.90600725e+02] [-5.09737281e-02 -4.72960202e-04 9.98699883e-01 -1.09325791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.66, Y:190.65, Z:-10.94 [[ 5.99979364e-01 -7.99434474e-01 3.04841625e-02 6.31657957e+02] [ 7.98389785e-01 6.00753270e-01 4.08565827e-02 1.90646405e+02] [-5.09756210e-02 -1.74862564e-04 9.98699883e-01 -1.09369813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.6053361950001 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:631.69, Y:190.69, Z:-10.93 [[ 5.95386253e-01 -8.02861412e-01 3.04755996e-02 6.31694166e+02] [ 8.01820851e-01 5.96165699e-01 4.08629689e-02 1.90691592e+02] [-5.09758081e-02 1.06721274e-04 9.98699883e-01 -1.09339066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.73, Y:190.73, Z:-10.94 [[ 5.93592173e-01 -8.04189111e-01 3.04664890e-02 6.31730211e+02] [ 8.03149944e-01 5.94373478e-01 4.08697605e-02 1.90734605e+02] [-5.09754894e-02 2.09188925e-04 9.98699883e-01 -1.09368131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.77, Y:190.78, Z:-10.94 [[ 5.93667394e-01 -8.04133850e-01 3.04594357e-02 6.31765860e+02] [ 8.03094340e-01 5.94448243e-01 4.08750166e-02 1.90779025e+02] [-5.09755424e-02 1.95635836e-04 9.98699883e-01 -1.09384335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.80, Y:190.82, Z:-10.94 [[ 5.95905025e-01 -8.02477408e-01 3.04501485e-02 6.31800352e+02] [ 8.01435374e-01 5.96682502e-01 4.08819340e-02 1.90822628e+02] [-5.09758992e-02 4.20762535e-05 9.98699883e-01 -1.09436643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.84, Y:190.87, Z:-10.95 [[ 6.01553517e-01 -7.98252209e-01 3.04430125e-02 6.31837346e+02] [ 7.97204446e-01 6.02323256e-01 4.08872471e-02 1.90867433e+02] [-5.09748697e-02 -3.26562359e-04 9.98699883e-01 -1.09450638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.87, Y:190.91, Z:-10.95 [[ 6.05956943e-01 -7.94915028e-01 3.04348803e-02 6.31871492e+02] [ 7.93862722e-01 6.06720460e-01 4.08932995e-02 1.90913888e+02] [-5.09721629e-02 -6.18461814e-04 9.98699883e-01 -1.09516697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.965336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:631.90, Y:190.96, Z:-10.96 [[ 6.09211080e-01 -7.92424177e-01 3.04266962e-02 6.31903286e+02] [ 7.91368447e-01 6.09969853e-01 4.08993880e-02 1.90959942e+02] [-5.09690313e-02 -8.37633061e-04 9.98699883e-01 -1.09560430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.94, Y:191.01, Z:-10.95 [[ 6.13840086e-01 -7.88844181e-01 3.04172049e-02 6.31937889e+02] [ 7.87783678e-01 6.14592174e-01 4.09064455e-02 1.91007072e+02] [-5.09629876e-02 -1.14783847e-03 9.98699883e-01 -1.09546654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.97, Y:191.05, Z:-10.96 [[ 6.17637996e-01 -7.85874410e-01 3.04091680e-02 6.31967265e+02] [ 7.84809997e-01 6.18384542e-01 4.09124192e-02 1.91054929e+02] [-5.09565827e-02 -1.40364554e-03 9.98699883e-01 -1.09586379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:632.00, Y:191.10, Z:-10.96 [[ 6.19234350e-01 -7.84617534e-01 3.03997701e-02 6.31998581e+02] [ 7.83551264e-01 6.19978241e-01 4.09194011e-02 1.91102915e+02] [-5.09532755e-02 -1.51892042e-03 9.98699883e-01 -1.09626105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:632.03, Y:191.15, Z:-10.96 [[ 6.19327454e-01 -7.84544370e-01 3.03913930e-02 6.32029028e+02] [ 7.83477708e-01 6.20070782e-01 4.09256219e-02 1.91151820e+02] [-5.09527810e-02 -1.53538223e-03 9.98699883e-01 -1.09645152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:632.06, Y:191.20, Z:-10.97 [[ 6.18065187e-01 -7.85539514e-01 3.03825166e-02 6.32060237e+02] [ 7.84473726e-01 6.18809767e-01 4.09322105e-02 1.91198013e+02] [-5.09548668e-02 -1.46448832e-03 9.98699883e-01 -1.09670204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:632.09, Y:191.25, Z:-10.97 [[ 6.16131464e-01 -7.87057479e-01 3.03734082e-02 6.32091616e+02] [ 7.85993194e-01 6.16878189e-01 4.09389682e-02 1.91245436e+02] [-5.09580142e-02 -1.35049426e-03 9.98699883e-01 -1.09665457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:632.12, Y:191.30, Z:-10.97 [[ 6.13751704e-01 -7.88914999e-01 3.03639729e-02 6.32119411e+02] [ 7.87852628e-01 6.14501151e-01 4.09459651e-02 1.91295106e+02] [-5.09615823e-02 -1.20831994e-03 9.98699883e-01 -1.09720876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.445336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:632.15, Y:191.34, Z:-10.98 [[ 6.11959634e-01 -7.90306253e-01 3.03551117e-02 6.32152362e+02] [ 7.89245261e-01 6.12711032e-01 4.09525332e-02 1.91341833e+02] [-5.09639549e-02 -1.10366917e-03 9.98699883e-01 -1.09758803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:632.18, Y:191.39, Z:-10.98 [[ 6.08838867e-01 -7.92713277e-01 3.03462442e-02 6.32181104e+02] [ 7.91654929e-01 6.09593984e-01 4.09591031e-02 1.91390605e+02] [-5.09677128e-02 -9.13740161e-04 9.98699884e-01 -1.09794497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:632.21, Y:191.44, Z:-10.98 [[ 6.03998519e-01 -7.96407754e-01 3.03393820e-02 6.32210920e+02] [ 7.95353771e-01 6.04759717e-01 4.09641855e-02 1.91439645e+02] [-5.09722310e-02 -6.11765488e-04 9.98699884e-01 -1.09812290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.625336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:632.24, Y:191.49, Z:-10.98 [[ 6.00975724e-01 -7.98691568e-01 3.03308048e-02 6.32242339e+02] [ 7.97640157e-01 6.01740471e-01 4.09705353e-02 1.91487377e+02] [-5.09740938e-02 -4.29229216e-04 9.98699884e-01 -1.09830802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:632.27, Y:191.54, Z:-10.98 [[ 5.98533974e-01 -8.00523363e-01 3.03220617e-02 6.32273172e+02] [ 7.99473965e-01 5.99301481e-01 4.09770049e-02 1.91537579e+02] [-5.09751063e-02 -2.84430691e-04 9.98699884e-01 -1.09801170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:632.30, Y:191.59, Z:-10.99 [[ 5.96897690e-01 -8.01744377e-01 3.03166781e-02 6.32302971e+02] [ 8.00696347e-01 5.97667063e-01 4.09809876e-02 1.91585906e+02] [-5.09755563e-02 -1.87003434e-04 9.98699884e-01 -1.09892038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:632.33, Y:191.63, Z:-10.99 [[ 5.94880126e-01 -8.03242806e-01 3.03089176e-02 6.32334358e+02] [ 8.02196421e-01 5.95651736e-01 4.09867263e-02 1.91633646e+02] [-5.09758524e-02 -6.84836817e-05 9.98699884e-01 -1.09921504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:632.37, Y:191.68, Z:-10.99 [[ 5.90037585e-01 -8.06807021e-01 3.02998155e-02 6.32365336e+02] [ 8.05764952e-01 5.90815013e-01 4.09934541e-02 1.91681456e+02] [-5.09753924e-02 2.26850682e-04 9.98699884e-01 -1.09934422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:632.40, Y:191.73, Z:-11.00 [[ 5.86185572e-01 -8.09610247e-01 3.02939409e-02 6.32397952e+02] [ 8.08571671e-01 5.86967660e-01 4.09977949e-02 1.91728788e+02] [-5.09737985e-02 4.62506613e-04 9.98699884e-01 -1.09953195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:632.43, Y:191.77, Z:-11.00 [[ 5.80890657e-01 -8.13418007e-01 3.02851587e-02 6.32432137e+02] [ 8.12384218e-01 5.81679062e-01 4.10042813e-02 1.91773858e+02] [-5.09698635e-02 7.84181076e-04 9.98699884e-01 -1.09986458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:632.47, Y:191.82, Z:-11.00 [[ 5.76586199e-01 -8.16475185e-01 3.02758433e-02 6.32467770e+02] [ 8.15445215e-01 5.77379586e-01 4.10111582e-02 1.91817256e+02] [-5.09652469e-02 1.04182371e-03 9.98699884e-01 -1.10025451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:632.50, Y:191.86, Z:-11.00 [[ 5.74328769e-01 -8.18065055e-01 3.02660142e-02 6.32504789e+02] [ 8.17036899e-01 5.75124505e-01 4.10184108e-02 1.91860579e+02] [-5.09624549e-02 1.17039702e-03 9.98699884e-01 -1.10047767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:632.54, Y:191.90, Z:-11.00 [[ 5.73551518e-01 -8.18610521e-01 3.02567692e-02 6.32543122e+02] [ 8.17582762e-01 5.74347767e-01 4.10252291e-02 1.91902638e+02] [-5.09615920e-02 1.20733049e-03 9.98699884e-01 -1.10045864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:632.58, Y:191.94, Z:-11.01 [[ 5.74829194e-01 -8.17714086e-01 3.02501530e-02 6.32580877e+02] [ 8.16684829e-01 5.75623506e-01 4.10301070e-02 1.91944496e+02] [-5.09635956e-02 1.11953769e-03 9.98699884e-01 -1.10136158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:632.62, Y:191.99, Z:-11.02 [[ 5.78212795e-01 -8.15325375e-01 3.02406421e-02 6.32620663e+02] [ 8.14292470e-01 5.79002357e-01 4.10371157e-02 1.91985949e+02] [-5.09680048e-02 8.96541783e-04 9.98699884e-01 -1.10150348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.345336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:632.66, Y:192.03, Z:-11.02 [[ 5.83636617e-01 -8.11451901e-01 3.02342683e-02 6.32658804e+02] [ 8.10413511e-01 5.84418952e-01 4.10418111e-02 1.92027886e+02] [-5.09729350e-02 5.48755658e-04 9.98699884e-01 -1.10163285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:632.70, Y:192.07, Z:-11.02 [[ 5.88786047e-01 -8.07723534e-01 3.02271853e-02 6.32696765e+02] [ 8.06679922e-01 5.89561401e-01 4.10470271e-02 1.92071492e+02] [-5.09754315e-02 2.15746621e-04 9.98699884e-01 -1.10176588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:632.74, Y:192.11, Z:-11.02 [[ 5.96589293e-01 -8.01977567e-01 3.02191719e-02 6.32735276e+02] [ 8.00926187e-01 5.97354082e-01 4.10529257e-02 1.92113685e+02] [-5.09750712e-02 -2.88409780e-04 9.98699884e-01 -1.10189823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:632.77, Y:192.16, Z:-11.02 [[ 6.02051358e-01 -7.97885655e-01 3.02099963e-02 6.32769619e+02] [ 7.96828740e-01 6.02808479e-01 4.10596768e-02 1.92158058e+02] [-5.09717690e-02 -6.47840895e-04 9.98699884e-01 -1.10224723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.585336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:632.80, Y:192.20, Z:-11.03 [[ 6.02918636e-01 -7.97230864e-01 3.02004501e-02 6.32804974e+02] [ 7.96172776e-01 6.03674115e-01 4.10666971e-02 1.92203472e+02] [-5.09708684e-02 -7.15100817e-04 9.98699884e-01 -1.10266641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:632.84, Y:192.25, Z:-11.03 [[ 6.02092106e-01 -7.97855574e-01 3.01923687e-02 6.32839910e+02] [ 7.96797971e-01 6.02848266e-01 4.10726377e-02 1.92246750e+02] [-5.09714500e-02 -6.72292850e-04 9.98699885e-01 -1.10308581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:632.88, Y:192.29, Z:-11.03 [[ 6.00688400e-01 -7.98913283e-01 3.01829876e-02 6.32876960e+02] [ 7.97856666e-01 6.01445935e-01 4.10795304e-02 1.92290700e+02] [-5.09724177e-02 -5.94299466e-04 9.98699885e-01 -1.10333735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:632.91, Y:192.34, Z:-11.04 [[ 6.00963849e-01 -7.98706443e-01 3.01739986e-02 6.32910673e+02] [ 7.97649233e-01 6.01720558e-01 4.10861320e-02 1.92336548e+02] [-5.09720736e-02 -6.23013211e-04 9.98699885e-01 -1.10371055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:632.94, Y:192.38, Z:-11.04 [[ 6.02002062e-01 -7.97924552e-01 3.01649830e-02 6.32944086e+02] [ 7.96866028e-01 6.02756932e-01 4.10927501e-02 1.92381419e+02] [-5.09710668e-02 -7.00470096e-04 9.98699885e-01 -1.10403938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.885336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:632.98, Y:192.43, Z:-11.04 [[ 6.03708811e-01 -7.96634367e-01 3.01555611e-02 6.32976248e+02] [ 7.95573885e-01 6.04460926e-01 4.10996631e-02 1.92428753e+02] [-5.09692625e-02 -8.21251881e-04 9.98699885e-01 -1.10421229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.01, Y:192.48, Z:-11.05 [[ 6.03752260e-01 -7.96601788e-01 3.01463083e-02 6.33009794e+02] [ 7.95540927e-01 6.04503841e-01 4.11064488e-02 1.92475131e+02] [-5.09690298e-02 -8.35489335e-04 9.98699885e-01 -1.10458865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.04, Y:192.52, Z:-11.04 [[ 6.02476816e-01 -7.97567181e-01 3.01376527e-02 6.33040099e+02] [ 7.96507207e-01 6.03229648e-01 4.11127938e-02 1.92524509e+02] [-5.09701407e-02 -7.64647553e-04 9.98699885e-01 -1.10432591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.065336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:633.07, Y:192.57, Z:-11.05 [[ 6.00450183e-01 -7.99094361e-01 3.01293786e-02 6.33072209e+02] [ 7.98035998e-01 6.01205277e-01 4.11188566e-02 1.92571621e+02] [-5.09717878e-02 -6.45496241e-04 9.98699885e-01 -1.10453502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.125336195 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:633.10, Y:192.62, Z:-11.05 [[ 5.98927270e-01 -8.00236790e-01 3.01198601e-02 6.33104561e+02] [ 7.99179517e-01 5.99683889e-01 4.11258278e-02 1.92617429e+02] [-5.09727952e-02 -5.60204562e-04 9.98699885e-01 -1.10526071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.14, Y:192.66, Z:-11.06 [[ 5.96606809e-01 -8.01968638e-01 3.01101296e-02 6.33135665e+02] [ 8.00913202e-01 5.97365988e-01 4.11329507e-02 1.92663806e+02] [-5.09741038e-02 -4.24598214e-04 9.98699885e-01 -1.10593797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.17, Y:192.71, Z:-11.06 [[ 5.95691943e-01 -8.02648783e-01 3.01004969e-02 6.33167366e+02] [ 8.01593858e-01 5.96451832e-01 4.11399985e-02 1.92709092e+02] [-5.09744663e-02 -3.78392187e-04 9.98699885e-01 -1.10583382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.20, Y:192.76, Z:-11.06 [[ 5.93140355e-01 -8.04536565e-01 3.00904418e-02 6.33202335e+02] [ 8.03483685e-01 5.93903076e-01 4.11473517e-02 1.92755562e+02] [-5.09753549e-02 -2.28975720e-04 9.98699885e-01 -1.10615187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.24, Y:192.80, Z:-11.07 [[ 5.93007659e-01 -8.04634675e-01 3.00824959e-02 6.33235284e+02] [ 8.03581626e-01 5.93770147e-01 4.11531601e-02 1.92801390e+02] [-5.09753476e-02 -2.30398206e-04 9.98699885e-01 -1.10657608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.27, Y:192.85, Z:-11.07 [[ 5.95022484e-01 -8.03146246e-01 3.00724219e-02 6.33267892e+02] [ 8.02090919e-01 5.95781814e-01 4.11605203e-02 1.92847380e+02] [-5.09745194e-02 -3.70618469e-04 9.98699885e-01 -1.10683179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.30, Y:192.90, Z:-11.07 [[ 5.98835881e-01 -8.00307230e-01 3.00653451e-02 6.33299504e+02] [ 7.99248044e-01 5.99589818e-01 4.11656888e-02 1.92895471e+02] [-5.09720732e-02 -6.21823254e-04 9.98699885e-01 -1.10698195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.33, Y:192.94, Z:-11.08 [[ 6.00242438e-01 -7.99253150e-01 3.00569021e-02 6.33331544e+02] [ 7.98192331e-01 6.00994077e-01 4.11718525e-02 1.92941952e+02] [-5.09707530e-02 -7.21904309e-04 9.98699885e-01 -1.10765113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.36, Y:192.99, Z:-11.08 [[ 6.00990743e-01 -7.98690958e-01 3.00479609e-02 6.33363485e+02] [ 7.97629110e-01 6.01740927e-01 4.11783769e-02 1.92990839e+02] [-5.09698852e-02 -7.80695034e-04 9.98699886e-01 -1.10780761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.40, Y:193.04, Z:-11.08 [[ 6.00158932e-01 -7.99316490e-01 3.00400614e-02 6.33396588e+02] [ 7.98255136e-01 6.00909814e-01 4.11841389e-02 1.93036498e+02] [-5.09705291e-02 -7.37395495e-04 9.98699886e-01 -1.10833878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.43, Y:193.08, Z:-11.08 [[ 5.99288791e-01 -7.99969419e-01 3.00312139e-02 6.33429082e+02] [ 7.98908560e-01 6.00040372e-01 4.11905895e-02 1.93083456e+02] [-5.09711527e-02 -6.92864727e-04 9.98699886e-01 -1.10849459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.46, Y:193.13, Z:-11.08 [[ 5.99739981e-01 -7.99631519e-01 3.00231589e-02 6.33460236e+02] [ 7.98569942e-01 6.00490549e-01 4.11964598e-02 1.93131393e+02] [-5.09706108e-02 -7.31571749e-04 9.98699886e-01 -1.10819363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.49, Y:193.18, Z:-11.09 [[ 5.99616138e-01 -7.99724724e-01 3.00142024e-02 6.33491579e+02] [ 7.98662938e-01 6.00366409e-01 4.12029841e-02 1.93179630e+02] [-5.09705640e-02 -7.34743116e-04 9.98699886e-01 -1.10918699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.52, Y:193.23, Z:-11.09 [[ 5.99034195e-01 -8.00161018e-01 3.00062945e-02 6.33521900e+02] [ 7.99099490e-01 5.99784832e-01 4.12087422e-02 1.93229743e+02] [-5.09709495e-02 -7.07431082e-04 9.98699886e-01 -1.10945606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.55, Y:193.28, Z:-11.10 [[ 5.97074332e-01 -8.01624812e-01 2.99983812e-02 6.33553533e+02] [ 8.00564835e-01 5.97827157e-01 4.12145021e-02 1.93277655e+02] [-5.09724144e-02 -5.92472213e-04 9.98699886e-01 -1.10973512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.59, Y:193.33, Z:-11.10 [[ 5.95261066e-01 -8.02972527e-01 2.99897258e-02 6.33586267e+02] [ 8.01913938e-01 5.96015841e-01 4.12207992e-02 1.93325219e+02] [-5.09735209e-02 -4.87957772e-04 9.98699886e-01 -1.10955582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.085336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:633.62, Y:193.37, Z:-11.10 [[ 5.93114490e-01 -8.04559715e-01 2.99811035e-02 6.33617822e+02] [ 8.03502829e-01 5.93871647e-01 4.12270695e-02 1.93372083e+02] [-5.09745666e-02 -3.62470797e-04 9.98699886e-01 -1.11001935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.65, Y:193.42, Z:-11.11 [[ 5.91682782e-01 -8.05613453e-01 2.99741727e-02 6.33649062e+02] [ 8.04557659e-01 5.92441463e-01 4.12321079e-02 1.93417943e+02] [-5.09750835e-02 -2.80378073e-04 9.98699886e-01 -1.11068397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.68, Y:193.46, Z:-11.11 [[ 5.90532712e-01 -8.06457217e-01 2.99645198e-02 6.33681809e+02] [ 8.05402152e-01 5.91292405e-01 4.12391218e-02 1.93464517e+02] [-5.09753804e-02 -2.19561662e-04 9.98699886e-01 -1.11105495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.71, Y:193.51, Z:-11.10 [[ 5.92054503e-01 -8.05340998e-01 2.99556811e-02 6.33714076e+02] [ 8.04284176e-01 5.92811749e-01 4.12455411e-02 1.93513767e+02] [-5.09748050e-02 -3.26728075e-04 9.98699886e-01 -1.11049356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.75, Y:193.56, Z:-11.11 [[ 5.95310102e-01 -8.02937750e-01 2.99474895e-02 6.33745937e+02] [ 8.01877572e-01 5.96062643e-01 4.12514880e-02 1.93561009e+02] [-5.09729567e-02 -5.43207446e-04 9.98699886e-01 -1.11142004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.78, Y:193.61, Z:-11.11 [[ 6.01459793e-01 -7.98341917e-01 2.99382737e-02 6.33776250e+02] [ 7.97275658e-01 6.02203693e-01 4.12581753e-02 1.93610192e+02] [-5.09670698e-02 -9.46076726e-04 9.98699886e-01 -1.11149840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.80, Y:193.66, Z:-11.12 [[ 6.07075799e-01 -7.94080115e-01 2.99289941e-02 6.33803107e+02] [ 7.93008305e-01 6.07811678e-01 4.12649057e-02 1.93659621e+02] [-5.09588332e-02 -1.31698466e-03 9.98699886e-01 -1.11169848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.83, Y:193.71, Z:-11.12 [[ 6.09898730e-01 -7.91914374e-01 2.99192934e-02 6.33831502e+02] [ 7.90839607e-01 6.10630284e-01 4.12719380e-02 1.93708289e+02] [-5.09534676e-02 -1.51034035e-03 9.98699886e-01 -1.11226917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.86, Y:193.76, Z:-11.13 [[ 6.10699403e-01 -7.91297350e-01 2.99122633e-02 6.33858721e+02] [ 7.90221595e-01 6.11429503e-01 4.12770326e-02 1.93759303e+02] [-5.09516468e-02 -1.57054272e-03 9.98699886e-01 -1.11270051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.89, Y:193.81, Z:-11.13 [[ 6.09452444e-01 -7.92258489e-01 2.99032644e-02 6.33889091e+02] [ 7.91183567e-01 6.10183769e-01 4.12835508e-02 1.93806980e+02] [-5.09537302e-02 -1.50138950e-03 9.98699886e-01 -1.11313152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.92, Y:193.86, Z:-11.13 [[ 6.05559860e-01 -7.95238085e-01 2.98938903e-02 6.33916549e+02] [ 7.94166428e-01 6.06295961e-01 4.12903376e-02 1.93856399e+02] [-5.09601939e-02 -1.26304691e-03 9.98699887e-01 -1.11345942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.94, Y:193.91, Z:-11.14 [[ 6.00991409e-01 -7.98696586e-01 2.98846078e-02 6.33944236e+02] [ 7.97628833e-01 6.01733162e-01 4.12970549e-02 1.93907300e+02] [-5.09663763e-02 -9.82350330e-04 9.98699887e-01 -1.11351891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.97, Y:193.95, Z:-11.14 [[ 5.98557701e-01 -8.00522414e-01 2.98754557e-02 6.33974636e+02] [ 7.99456594e-01 5.99302229e-01 4.13036747e-02 1.93954759e+02] [-5.09689446e-02 -8.38502566e-04 9.98699887e-01 -1.11392582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.865336195 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:634.00, Y:194.01, Z:-11.14 [[ 5.95558585e-01 -8.02756408e-01 2.98684005e-02 6.34003108e+02] [ 8.01693125e-01 5.96306732e-01 4.13087760e-02 1.94005223e+02] [-5.09716129e-02 -6.56504793e-04 9.98699887e-01 -1.11400208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.03, Y:194.05, Z:-11.14 [[ 5.93400595e-01 -8.04353256e-01 2.98592130e-02 6.34032370e+02] [ 8.03291653e-01 5.94151123e-01 4.13154159e-02 1.94053692e+02] [-5.09730743e-02 -5.30935884e-04 9.98699887e-01 -1.11442594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.06, Y:194.10, Z:-11.14 [[ 5.88704113e-01 -8.07797294e-01 2.98496020e-02 6.34063139e+02] [ 8.06739730e-01 5.89460322e-01 4.13223585e-02 1.94102652e+02] [-5.09752454e-02 -2.45782567e-04 9.98699887e-01 -1.11448989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.10, Y:194.15, Z:-11.15 [[ 5.81977770e-01 -8.12656977e-01 2.98414758e-02 6.34095998e+02] [ 8.11605426e-01 5.82742319e-01 4.13282261e-02 1.94147983e+02] [-5.09755621e-02 1.67394799e-04 9.98699887e-01 -1.11527096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.13, Y:194.19, Z:-11.15 [[ 5.76573870e-01 -8.16500235e-01 2.98318402e-02 6.34131168e+02] [ 8.15453420e-01 5.77344890e-01 4.13351802e-02 1.94194667e+02] [-5.09734449e-02 4.93691306e-04 9.98699887e-01 -1.11499636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.17, Y:194.24, Z:-11.15 [[ 5.74914424e-01 -8.17669830e-01 2.98237218e-02 6.34165821e+02] [ 8.16624280e-01 5.75687158e-01 4.13410368e-02 1.94240476e+02] [-5.09724522e-02 5.87217017e-04 9.98699887e-01 -1.11544964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.20, Y:194.28, Z:-11.16 [[ 5.73241029e-01 -8.18844175e-01 2.98150920e-02 6.34200761e+02] [ 8.17799884e-01 5.74015465e-01 4.13472597e-02 1.94284204e+02] [-5.09712867e-02 6.80833069e-04 9.98699887e-01 -1.11572477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.24, Y:194.33, Z:-11.16 [[ 5.73149866e-01 -8.18908332e-01 2.98056030e-02 6.34238024e+02] [ 8.17863773e-01 5.73923939e-01 4.13540988e-02 1.94328041e+02] [-5.09713652e-02 6.74826698e-04 9.98699887e-01 -1.11585449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.27, Y:194.37, Z:-11.16 [[ 5.75816815e-01 -8.17035596e-01 2.97964674e-02 6.34274917e+02] [ 8.15988178e-01 5.76587016e-01 4.13606802e-02 1.94372211e+02] [-5.09734042e-02 4.97389978e-04 9.98699887e-01 -1.11622674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.31, Y:194.42, Z:-11.16 [[ 5.79557701e-01 -8.14386636e-01 2.97872335e-02 6.34309105e+02] [ 8.13335355e-01 5.80322621e-01 4.13673292e-02 1.94417411e+02] [-5.09752055e-02 2.52255899e-04 9.98699887e-01 -1.11647313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.34, Y:194.46, Z:-11.17 [[ 5.87174180e-01 -8.08912698e-01 2.97780068e-02 6.34340699e+02] [ 8.07853950e-01 5.87928729e-01 4.13739699e-02 1.94463276e+02] [-5.09752753e-02 -2.37446451e-04 9.98699887e-01 -1.11682461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.37, Y:194.51, Z:-11.17 [[ 5.92458568e-01 -8.05050739e-01 2.97683261e-02 6.34372920e+02] [ 8.03986723e-01 5.93205671e-01 4.13809340e-02 1.94508717e+02] [-5.09724913e-02 -5.83149914e-04 9.98699887e-01 -1.11706851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.41, Y:194.56, Z:-11.17 [[ 5.93680889e-01 -8.04150112e-01 2.97590282e-02 6.34405352e+02] [ 8.03084627e-01 5.94425897e-01 4.13876194e-02 1.94555909e+02] [-5.09713958e-02 -6.72020628e-04 9.98699887e-01 -1.11730761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.44, Y:194.60, Z:-11.18 [[ 5.93342655e-01 -8.04400048e-01 2.97498921e-02 6.34437379e+02] [ 8.03334549e-01 5.94087640e-01 4.13941856e-02 1.94603139e+02] [-5.09715281e-02 -6.61819853e-04 9.98699888e-01 -1.11759415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.47, Y:194.65, Z:-11.18 [[ 5.89659691e-01 -8.07104003e-01 2.97418423e-02 6.34473779e+02] [ 8.06041629e-01 5.90409126e-01 4.13999686e-02 1.94648579e+02] [-5.09739355e-02 -4.38729634e-04 9.98699888e-01 -1.11813767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.51, Y:194.69, Z:-11.19 [[ 5.87030674e-01 -8.09018482e-01 2.97335359e-02 6.34507221e+02] [ 8.07958250e-01 5.87783137e-01 4.14059334e-02 1.94694040e+02] [-5.09750364e-02 -2.83097344e-04 9.98699888e-01 -1.11860078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.54, Y:194.74, Z:-11.19 [[ 5.83432023e-01 -8.11617867e-01 2.97239290e-02 6.34542160e+02] [ 8.10560636e-01 5.84188696e-01 4.14128287e-02 1.94738945e+02] [-5.09757750e-02 -6.85236005e-05 9.98699888e-01 -1.11857689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.58, Y:194.79, Z:-11.19 [[ 5.81292746e-01 -8.13151755e-01 2.97147651e-02 6.34576940e+02] [ 8.12096184e-01 5.82051734e-01 4.14194030e-02 1.94785455e+02] [-5.09757908e-02 5.44487856e-05 9.98699888e-01 -1.11874380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.61, Y:194.83, Z:-11.19 [[ 5.78680176e-01 -8.15013354e-01 2.97066578e-02 6.34613879e+02] [ 8.13959927e-01 5.79442136e-01 4.14252169e-02 1.94827824e+02] [-5.09753942e-02 2.08077192e-04 9.98699888e-01 -1.11915570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.65, Y:194.87, Z:-11.19 [[ 5.77366067e-01 -8.15945160e-01 2.96971684e-02 6.34649146e+02] [ 8.14892612e-01 5.78129241e-01 4.14320186e-02 1.94872509e+02] [-5.09750564e-02 2.78561512e-04 9.98699888e-01 -1.11929827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.69, Y:194.92, Z:-11.20 [[ 5.77455357e-01 -8.15882311e-01 2.96877871e-02 6.34685152e+02] [ 8.14829335e-01 5.78217940e-01 4.14387396e-02 1.94915881e+02] [-5.09751457e-02 2.61457691e-04 9.98699888e-01 -1.11963552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.72, Y:194.96, Z:-11.20 [[ 5.79406108e-01 -8.14498482e-01 2.96780290e-02 6.34721567e+02] [ 8.13443326e-01 5.80165672e-01 4.14457271e-02 1.94959632e+02] [-5.09756554e-02 1.27487231e-04 9.98699888e-01 -1.11998912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.76, Y:195.00, Z:-11.21 [[ 5.82612668e-01 -8.12208250e-01 2.96688110e-02 6.34756662e+02] [ 8.11149772e-01 5.83367596e-01 4.14523247e-02 1.95003749e+02] [-5.09757430e-02 -8.48001794e-05 9.98699888e-01 -1.12053584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.79, Y:195.05, Z:-11.21 [[ 5.84402054e-01 -8.10921958e-01 2.96617239e-02 6.34790441e+02] [ 8.09861561e-01 5.85154284e-01 4.14573954e-02 1.95050851e+02] [-5.09753970e-02 -2.05897010e-04 9.98699888e-01 -1.12054472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.82, Y:195.10, Z:-11.21 [[ 5.84877310e-01 -8.10579529e-01 2.96539864e-02 6.34822475e+02] [ 8.09518412e-01 5.85628523e-01 4.14629291e-02 1.95096188e+02] [-5.09752218e-02 -2.45278461e-04 9.98699888e-01 -1.12117050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.86, Y:195.14, Z:-11.21 [[ 5.83846753e-01 -8.11322496e-01 2.96441836e-02 6.34856068e+02] [ 8.10261978e-01 5.84598812e-01 4.14699365e-02 1.95141188e+02] [-5.09754469e-02 -1.92532897e-04 9.98699888e-01 -1.12136273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.89, Y:195.19, Z:-11.21 [[ 5.81265283e-01 -8.13174319e-01 2.96343864e-02 6.34890756e+02] [ 8.12115841e-01 5.82020210e-01 4.14769364e-02 1.95187018e+02] [-5.09757914e-02 -4.25485432e-05 9.98699888e-01 -1.12140924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.93, Y:195.23, Z:-11.21 [[ 5.78666521e-01 -8.15026003e-01 2.96255242e-02 6.34925863e+02] [ 8.13969616e-01 5.79424372e-01 4.14832655e-02 1.95232566e+02] [-5.09756908e-02 1.09299638e-04 9.98699888e-01 -1.12131960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.96, Y:195.28, Z:-11.22 [[ 5.74069777e-01 -8.18270595e-01 2.96162787e-02 6.34962075e+02] [ 8.17218151e-01 5.74833093e-01 4.14898651e-02 1.95277180e+02] [-5.09743537e-02 3.84882941e-04 9.98699888e-01 -1.12183495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.00, Y:195.32, Z:-11.22 [[ 5.71006471e-01 -8.20411501e-01 2.96070786e-02 6.35001137e+02] [ 8.19361578e-01 5.71773251e-01 4.14964292e-02 1.95319183e+02] [-5.09726834e-02 5.64173068e-04 9.98699888e-01 -1.12227216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.04, Y:195.36, Z:-11.23 [[ 5.70941090e-01 -8.20457332e-01 2.95979441e-02 6.35037717e+02] [ 8.19407133e-01 5.71707492e-01 4.15029435e-02 1.95361267e+02] [-5.09727607e-02 5.57030690e-04 9.98699889e-01 -1.12279817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.07, Y:195.41, Z:-11.23 [[ 5.73895318e-01 -8.18394009e-01 2.95873311e-02 6.35073780e+02] [ 8.17340664e-01 5.74657390e-01 4.15105081e-02 1.95406228e+02] [-5.09745296e-02 3.60242614e-04 9.98699889e-01 -1.12305640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.785336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:635.11, Y:195.45, Z:-11.23 [[ 5.80829986e-01 -8.13487339e-01 2.95782947e-02 6.35108714e+02] [ 8.12427229e-01 5.81582618e-01 4.15169460e-02 1.95451054e+02] [-5.09757320e-02 -8.40752327e-05 9.98699889e-01 -1.12330351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.14, Y:195.50, Z:-11.24 [[ 5.88220975e-01 -8.08159476e-01 2.95693214e-02 6.35143669e+02] [ 8.07092228e-01 5.88963452e-01 4.15233360e-02 1.95495969e+02] [-5.09727271e-02 -5.59727676e-04 9.98699889e-01 -1.12372136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.18, Y:195.54, Z:-11.24 [[ 5.92032577e-01 -8.05371725e-01 2.95603271e-02 6.35177364e+02] [ 8.04300662e-01 5.92769539e-01 4.15297381e-02 1.95542572e+02] [-5.09693382e-02 -8.11567200e-04 9.98699889e-01 -1.12393143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.21, Y:195.59, Z:-11.24 [[ 5.95658973e-01 -8.02693655e-01 2.95513838e-02 6.35210729e+02] [ 8.01618964e-01 5.96390634e-01 4.15361008e-02 1.95588374e+02] [-5.09649331e-02 -1.05240146e-03 9.98699889e-01 -1.12418563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.24, Y:195.63, Z:-11.24 [[ 5.96343204e-01 -8.02185785e-01 2.95423435e-02 6.35243581e+02] [ 8.01110153e-01 5.97073481e-01 4.15425298e-02 1.95634639e+02] [-5.09637767e-02 -1.10693401e-03 9.98699889e-01 -1.12449269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.28, Y:195.68, Z:-11.24 [[ 5.96719944e-01 -8.01905909e-01 2.95333828e-02 6.35277667e+02] [ 8.00829620e-01 5.97449252e-01 4.15488991e-02 1.95681638e+02] [-5.09630052e-02 -1.14184910e-03 9.98699889e-01 -1.12405436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.31, Y:195.73, Z:-11.25 [[ 5.95727583e-01 -8.02643719e-01 2.95246832e-02 6.35311482e+02] [ 8.01568027e-01 5.96457771e-01 4.15550801e-02 1.95726862e+02] [-5.09641508e-02 -1.08946535e-03 9.98699889e-01 -1.12508226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.34, Y:195.77, Z:-11.25 [[ 5.93758777e-01 -8.04101469e-01 2.95184991e-02 6.35344258e+02] [ 8.03027352e-01 5.94491280e-01 4.15594726e-02 1.95773030e+02] [-5.09665232e-02 -9.72139461e-04 9.98699889e-01 -1.12538679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.265336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:635.38, Y:195.82, Z:-11.26 [[ 5.92579147e-01 -8.04971509e-01 2.95097335e-02 6.35377956e+02] [ 8.03898157e-01 5.93312772e-01 4.15656957e-02 1.95819719e+02] [-5.09677026e-02 -9.08144184e-04 9.98699889e-01 -1.12551290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.41, Y:195.87, Z:-11.26 [[ 5.93350333e-01 -8.04403556e-01 2.95008811e-02 6.35409514e+02] [ 8.03329190e-01 5.94082472e-01 4.15719777e-02 1.95866874e+02] [-5.09666030e-02 -9.67827929e-04 9.98699889e-01 -1.12561016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.44, Y:195.92, Z:-11.26 [[ 5.97299466e-01 -8.01475885e-01 2.94915772e-02 6.35437192e+02] [ 8.00397607e-01 5.98025830e-01 4.15785769e-02 1.95915480e+02] [-5.09609516e-02 -1.22987393e-03 9.98699889e-01 -1.12600853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.47, Y:195.96, Z:-11.26 [[ 5.99602779e-01 -7.99754471e-01 2.94837915e-02 6.35466920e+02] [ 7.98673837e-01 6.00325633e-01 4.15840971e-02 1.95963423e+02] [-5.09569434e-02 -1.38600725e-03 9.98699889e-01 -1.12631953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.49, Y:196.01, Z:-11.27 [[ 5.98866672e-01 -8.00306136e-01 2.94753658e-02 6.35492853e+02] [ 7.99225875e-01 5.99590083e-01 4.15900685e-02 1.96012985e+02] [-5.09579240e-02 -1.34943092e-03 9.98699889e-01 -1.12722641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.52, Y:196.06, Z:-11.27 [[ 5.95412551e-01 -8.02879581e-01 2.94664704e-02 6.35520628e+02] [ 8.01802135e-01 5.96140150e-01 4.15963699e-02 1.96061547e+02] [-5.09630221e-02 -1.14072186e-03 9.98699889e-01 -1.12724789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.55, Y:196.11, Z:-11.28 [[ 5.91131421e-01 -8.06037150e-01 2.94576887e-02 6.35550453e+02] [ 8.04963283e-01 5.91864290e-01 4.16025880e-02 1.96110177e+02] [-5.09681855e-02 -8.80239159e-04 9.98699889e-01 -1.12773845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.58, Y:196.16, Z:-11.28 [[ 5.84020797e-01 -8.11204317e-01 2.94493594e-02 6.35579180e+02] [ 8.10136639e-01 5.84762654e-01 4.16084833e-02 1.96158444e+02] [-5.09738668e-02 -4.42214587e-04 9.98699890e-01 -1.12751415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.61, Y:196.21, Z:-11.28 [[ 5.79480809e-01 -8.14454007e-01 2.94391190e-02 6.35610744e+02] [ 8.13390122e-01 5.80228094e-01 4.16157274e-02 1.96206712e+02] [-5.09754998e-02 -1.70026769e-04 9.98699890e-01 -1.12760103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.64, Y:196.25, Z:-11.28 [[ 5.73924498e-01 -8.18379219e-01 2.94299991e-02 6.35640243e+02] [ 8.17320114e-01 5.74678542e-01 4.16221758e-02 1.96254807e+02] [-5.09755127e-02 1.65743836e-04 9.98699890e-01 -1.12794876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.67, Y:196.30, Z:-11.28 [[ 5.70541960e-01 -8.20741316e-01 2.94204646e-02 6.35672712e+02] [ 8.19684985e-01 5.71299886e-01 4.16289142e-02 1.96302091e+02] [-5.09744778e-02 3.64470770e-04 9.98699890e-01 -1.12804143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.71, Y:196.35, Z:-11.28 [[ 5.66751451e-01 -8.23363696e-01 2.94111762e-02 6.35705132e+02] [ 8.22310531e-01 5.67513769e-01 4.16354755e-02 1.96347340e+02] [-5.09723864e-02 5.88153737e-04 9.98699890e-01 -1.12833636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.74, Y:196.39, Z:-11.28 [[ 5.63788083e-01 -8.25395995e-01 2.94015197e-02 6.35740152e+02] [ 8.24345222e-01 5.64553695e-01 4.16422934e-02 1.96392531e+02] [-5.09701188e-02 7.59573473e-04 9.98699890e-01 -1.12841199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.045336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:635.78, Y:196.44, Z:-11.29 [[ 5.61070086e-01 -8.27246300e-01 2.93924846e-02 6.35775566e+02] [ 8.26197718e-01 5.61838696e-01 4.16486697e-02 1.96436772e+02] [-5.09675431e-02 9.16181008e-04 9.98699890e-01 -1.12897236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.81, Y:196.48, Z:-11.29 [[ 5.59831252e-01 -8.28085506e-01 2.93830505e-02 6.35810318e+02] [ 8.27037727e-01 5.60600956e-01 4.16553244e-02 1.96479956e+02] [-5.09663366e-02 9.80938875e-04 9.98699890e-01 -1.12942149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.85, Y:196.53, Z:-11.30 [[ 5.60523019e-01 -8.27617779e-01 2.93727095e-02 6.35845276e+02] [ 8.26568976e-01 5.61291328e-01 4.16626150e-02 1.96525026e+02] [-5.09673680e-02 9.25715624e-04 9.98699890e-01 -1.12962363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.88, Y:196.57, Z:-11.30 [[ 5.62272953e-01 -8.26430224e-01 2.93634433e-02 6.35878678e+02] [ 8.25379457e-01 5.63038573e-01 4.16691447e-02 1.96569694e+02] [-5.09693918e-02 8.06549824e-04 9.98699890e-01 -1.13027392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.92, Y:196.61, Z:-11.30 [[ 5.67755601e-01 -8.22673650e-01 2.93537500e-02 6.35915415e+02] [ 8.21617463e-01 5.68513726e-01 4.16759719e-02 1.96614254e+02] [-5.09737338e-02 4.55787158e-04 9.98699890e-01 -1.13031133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.95, Y:196.66, Z:-11.31 [[ 5.70735341e-01 -8.20609558e-01 2.93449045e-02 6.35948824e+02] [ 8.19550309e-01 5.71489182e-01 4.16821993e-02 1.96660917e+02] [-5.09751067e-02 2.60121319e-04 9.98699890e-01 -1.13066994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.98, Y:196.71, Z:-11.31 [[ 5.74829573e-01 -8.17747123e-01 2.93360625e-02 6.35982539e+02] [ 8.16683802e-01 5.75577660e-01 4.16884214e-02 1.96707703e+02] [-5.09757689e-02 -5.45044839e-06 9.98699890e-01 -1.13069634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.02, Y:196.75, Z:-11.31 [[ 5.76032732e-01 -8.16900383e-01 2.93267201e-02 6.36018312e+02] [ 8.15835628e-01 5.76778776e-01 4.16949926e-02 1.96752577e+02] [-5.09756851e-02 -9.18973600e-05 9.98699890e-01 -1.13095040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.05, Y:196.80, Z:-11.31 [[ 5.75609184e-01 -8.17199213e-01 2.93174659e-02 6.36053131e+02] [ 8.16134514e-01 5.76355307e-01 4.17014986e-02 1.96798471e+02] [-5.09757089e-02 -7.67697831e-05 9.98699890e-01 -1.13106117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.585336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:636.09, Y:196.84, Z:-11.31 [[ 5.74680550e-01 -8.17852852e-01 2.93083238e-02 6.36085726e+02] [ 8.16788674e-01 5.75427416e-01 4.17079227e-02 1.96844824e+02] [-5.09757566e-02 -3.00250124e-05 9.98699891e-01 -1.13119384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.12, Y:196.89, Z:-11.32 [[ 5.72974255e-01 -8.19049513e-01 2.92984482e-02 6.36120615e+02] [ 8.17986540e-01 5.73722835e-01 4.17148589e-02 1.96888823e+02] [-5.09757236e-02 6.41960713e-05 9.98699891e-01 -1.13173183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.15, Y:196.93, Z:-11.32 [[ 5.72532904e-01 -8.19358437e-01 2.92886547e-02 6.36153978e+02] [ 8.18295516e-01 5.73281558e-01 4.17217339e-02 1.96933963e+02] [-5.09757003e-02 7.97093497e-05 9.98699891e-01 -1.13183472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.765336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:636.19, Y:196.98, Z:-11.32 [[ 5.73348542e-01 -8.18788238e-01 2.92791782e-02 6.36187872e+02] [ 8.17724233e-01 5.74095654e-01 4.17283832e-02 1.96980207e+02] [-5.09757584e-02 1.73858455e-05 9.98699891e-01 -1.13242913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.22, Y:197.03, Z:-11.33 [[ 5.74547958e-01 -8.17947280e-01 2.92726956e-02 6.36221102e+02] [ 8.16881950e-01 5.75293180e-01 4.17329303e-02 1.97027269e+02] [-5.09757190e-02 -6.52332051e-05 9.98699891e-01 -1.13265716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.25, Y:197.07, Z:-11.33 [[ 5.77399838e-01 -8.15936932e-01 2.92634487e-02 6.36252233e+02] [ 8.14868679e-01 5.78140863e-01 4.17394133e-02 1.97073548e+02] [-5.09751243e-02 -2.54462746e-04 9.98699891e-01 -1.13291162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.28, Y:197.12, Z:-11.33 [[ 5.78598136e-01 -8.15087998e-01 2.92532342e-02 6.36282613e+02] [ 8.14018296e-01 5.79337068e-01 4.17465710e-02 1.97119681e+02] [-5.09746119e-02 -3.41820339e-04 9.98699891e-01 -1.13322996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.31, Y:197.17, Z:-11.33 [[ 5.82658987e-01 -8.12190473e-01 2.92427992e-02 6.36310749e+02] [ 8.11116729e-01 5.83392034e-01 4.17538792e-02 1.97169856e+02] [-5.09721190e-02 -6.08949287e-04 9.98699891e-01 -1.13348954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.34, Y:197.22, Z:-11.34 [[ 5.86383896e-01 -8.09505600e-01 2.92337132e-02 6.36339742e+02] [ 8.08428184e-01 5.87111534e-01 4.17602397e-02 1.97219032e+02] [-5.09685982e-02 -8.54174344e-04 9.98699891e-01 -1.13386282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.37, Y:197.27, Z:-11.34 [[ 5.87798984e-01 -8.08478989e-01 2.92246225e-02 6.36369213e+02] [ 8.07399986e-01 5.88524267e-01 4.17666007e-02 1.97266447e+02] [-5.09668186e-02 -9.54405650e-04 9.98699891e-01 -1.13433891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.40, Y:197.32, Z:-11.34 [[ 5.85526260e-01 -8.10126812e-01 2.92155118e-02 6.36396815e+02] [ 8.09049533e-01 5.86254102e-01 4.17729725e-02 1.97317388e+02] [-5.09691187e-02 -8.22376197e-04 9.98699891e-01 -1.13388129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.42, Y:197.37, Z:-11.34 [[ 5.81121982e-01 -8.13292247e-01 2.92055405e-02 6.36424699e+02] [ 8.12218583e-01 5.81855145e-01 4.17799428e-02 1.97366768e+02] [-5.09726976e-02 -5.57960423e-04 9.98699891e-01 -1.13421169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.46, Y:197.41, Z:-11.35 [[ 5.77684127e-01 -8.15738119e-01 2.91953911e-02 6.36455133e+02] [ 8.14667201e-01 5.78421295e-01 4.17870340e-02 1.97414677e+02] [-5.09745124e-02 -3.55178691e-04 9.98699891e-01 -1.13510304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.49, Y:197.46, Z:-11.36 [[ 5.72828629e-01 -8.19155267e-01 2.91892288e-02 6.36486717e+02] [ 8.18088527e-01 5.73571831e-01 4.17913380e-02 1.97461550e+02] [-5.09757140e-02 -5.99015982e-05 9.98699891e-01 -1.13563418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.425336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:636.52, Y:197.51, Z:-11.36 [[ 5.70027704e-01 -8.21107171e-01 2.91792750e-02 6.36518694e+02] [ 8.20042621e-01 5.70774039e-01 4.17982867e-02 1.97507699e+02] [-5.09756456e-02 1.02067723e-04 9.98699891e-01 -1.13597260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.55, Y:197.56, Z:-11.36 [[ 5.68201993e-01 -8.22371964e-01 2.91693158e-02 6.36548997e+02] [ 8.21308718e-01 5.68950184e-01 4.18052357e-02 1.97555746e+02] [-5.09753414e-02 2.03195084e-04 9.98699892e-01 -1.13592739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.58, Y:197.60, Z:-11.36 [[ 5.68220435e-01 -8.22359555e-01 2.91598839e-02 6.36581779e+02] [ 8.21295956e-01 5.68968124e-01 4.18118136e-02 1.97601365e+02] [-5.09753888e-02 1.90567788e-04 9.98699892e-01 -1.13618174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.61, Y:197.65, Z:-11.36 [[ 5.69190954e-01 -8.21688471e-01 2.91498649e-02 6.36613302e+02] [ 8.20623632e-01 5.69936876e-01 4.18187974e-02 1.97649377e+02] [-5.09756066e-02 1.18186817e-04 9.98699892e-01 -1.13645192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.665336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:636.64, Y:197.70, Z:-11.36 [[ 5.73030488e-01 -8.19015804e-01 2.91405850e-02 6.36644026e+02] [ 8.17947157e-01 5.73770944e-01 4.18252628e-02 1.97697392e+02] [-5.09755722e-02 -1.31692099e-04 9.98699892e-01 -1.13619916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.68, Y:197.75, Z:-11.36 [[ 5.76013582e-01 -8.16920856e-01 2.91319078e-02 6.36675356e+02] [ 8.15849211e-01 5.76749692e-01 4.18313058e-02 1.97746217e+02] [-5.09746850e-02 -3.28156322e-04 9.98699892e-01 -1.13643649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.70, Y:197.79, Z:-11.37 [[ 5.80868770e-01 -8.13476070e-01 2.91231048e-02 6.36703811e+02] [ 8.12399753e-01 5.81598032e-01 4.18374336e-02 1.97794358e+02] [-5.09716915e-02 -6.42455421e-04 9.98699892e-01 -1.13682156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.73, Y:197.84, Z:-11.37 [[ 5.83428671e-01 -8.11642422e-01 2.91129533e-02 6.36732143e+02] [ 8.10563461e-01 5.84154015e-01 4.18444964e-02 1.97843593e+02] [-5.09692170e-02 -8.15382741e-04 9.98699892e-01 -1.13709711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.76, Y:197.89, Z:-11.38 [[ 5.83830899e-01 -8.11353458e-01 2.91040651e-02 6.36759298e+02] [ 8.10273830e-01 5.84555250e-01 4.18506775e-02 1.97893928e+02] [-5.09686260e-02 -8.51456312e-04 9.98699892e-01 -1.13799694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.79, Y:197.94, Z:-11.37 [[ 5.82074508e-01 -8.12614746e-01 2.90954034e-02 6.36789939e+02] [ 8.11536387e-01 5.82800746e-01 4.18566984e-02 1.97944331e+02] [-5.09701931e-02 -7.51738618e-04 9.98699892e-01 -1.13745144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.82, Y:197.99, Z:-11.38 [[ 5.80395117e-01 -8.13815263e-01 2.90899479e-02 6.36818552e+02] [ 8.12738217e-01 5.81123301e-01 4.18604896e-02 1.97993107e+02] [-5.09715519e-02 -6.53111345e-04 9.98699892e-01 -1.13834162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.85, Y:198.04, Z:-11.39 [[ 5.78322856e-01 -8.15289510e-01 2.90807347e-02 6.36846107e+02] [ 8.14213998e-01 5.79053304e-01 4.18668890e-02 1.98041472e+02] [-5.09729310e-02 -5.34637513e-04 9.98699892e-01 -1.13900696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.88, Y:198.09, Z:-11.39 [[ 5.77064557e-01 -8.16180958e-01 2.90713107e-02 6.36875115e+02] [ 8.15106244e-01 5.77796180e-01 4.18734318e-02 1.98090606e+02] [-5.09735900e-02 -4.67466521e-04 9.98699892e-01 -1.13922349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.90, Y:198.14, Z:-11.40 [[ 5.75998651e-01 -8.16933878e-01 2.90618947e-02 6.36902757e+02] [ 8.15859791e-01 5.76731193e-01 4.18799659e-02 1.98139341e+02] [-5.09740642e-02 -4.12372477e-04 9.98699892e-01 -1.13984743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.93, Y:198.19, Z:-11.40 [[ 5.75711524e-01 -8.17136596e-01 2.90520938e-02 6.36933150e+02] [ 8.16062425e-01 5.76443942e-01 4.18867637e-02 1.98187674e+02] [-5.09741110e-02 -4.06370387e-04 9.98699892e-01 -1.14014687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.96, Y:198.24, Z:-11.40 [[ 5.75579217e-01 -8.17230129e-01 2.90427602e-02 6.36962981e+02] [ 8.16155750e-01 5.76311330e-01 4.18932343e-02 1.98236608e+02] [-5.09740850e-02 -4.09459233e-04 9.98699892e-01 -1.14037579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.99, Y:198.29, Z:-11.40 [[ 5.75511372e-01 -8.17278238e-01 2.90334777e-02 6.36994409e+02] [ 8.16203596e-01 5.76243098e-01 4.18996664e-02 1.98285520e+02] [-5.09740267e-02 -4.16505519e-04 9.98699892e-01 -1.14037967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.03, Y:198.33, Z:-11.40 [[ 5.75945305e-01 -8.16972775e-01 2.90256935e-02 6.37025544e+02] [ 8.15897473e-01 5.76676062e-01 4.19050582e-02 1.98334677e+02] [-5.09737142e-02 -4.53031603e-04 9.98699892e-01 -1.14034924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.05, Y:198.38, Z:-11.41 [[ 5.77830584e-01 -8.15640747e-01 2.90170272e-02 6.37053239e+02] [ 8.14563459e-01 5.78558410e-01 4.19110582e-02 1.98384573e+02] [-5.09724120e-02 -5.81281229e-04 9.98699893e-01 -1.14106849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.08, Y:198.43, Z:-11.41 [[ 5.79880005e-01 -8.14185307e-01 2.90080165e-02 6.37084014e+02] [ 8.13105881e-01 5.80604656e-01 4.19172939e-02 1.98434220e+02] [-5.09706343e-02 -7.20411746e-04 9.98699893e-01 -1.14113054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.11, Y:198.48, Z:-11.41 [[ 5.83092144e-01 -8.11888268e-01 2.89998774e-02 6.37111314e+02] [ 8.10805708e-01 5.83812104e-01 4.19229241e-02 1.98484125e+02] [-5.09672097e-02 -9.31661532e-04 9.98699893e-01 -1.14149113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.14, Y:198.54, Z:-11.42 [[ 5.85048665e-01 -8.10479864e-01 2.89905092e-02 6.37136069e+02] [ 8.09395251e-01 5.85765528e-01 4.19294014e-02 1.98535641e+02] [-5.09645765e-02 -1.06595985e-03 9.98699893e-01 -1.14205506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.17, Y:198.59, Z:-11.42 [[ 5.84898073e-01 -8.10588880e-01 2.89812465e-02 6.37165382e+02] [ 8.09504083e-01 5.85614658e-01 4.19358027e-02 1.98585293e+02] [-5.09645381e-02 -1.06773279e-03 9.98699893e-01 -1.14221316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.19, Y:198.64, Z:-11.43 [[ 5.82646249e-01 -8.12209300e-01 2.89724364e-02 6.37191582e+02] [ 8.11126194e-01 5.83365387e-01 4.19418885e-02 1.98635383e+02] [-5.09671085e-02 -9.36981958e-04 9.98699893e-01 -1.14273870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.22, Y:198.68, Z:-11.43 [[ 5.80998659e-01 -8.13389038e-01 2.89625859e-02 6.37222436e+02] [ 8.12307054e-01 5.81719484e-01 4.19486896e-02 1.98683953e+02] [-5.09687048e-02 -8.45619592e-04 9.98699893e-01 -1.14289181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.925336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:637.25, Y:198.73, Z:-11.43 [[ 5.74875745e-01 -8.17728308e-01 2.89532772e-02 6.37251005e+02] [ 8.16651443e-01 5.75604195e-01 4.19551135e-02 1.98733573e+02] [-5.09735118e-02 -4.74241533e-04 9.98699893e-01 -1.14325877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.28, Y:198.78, Z:-11.44 [[ 5.67532574e-01 -8.22842039e-01 2.89440158e-02 6.37282117e+02] [ 8.21771412e-01 5.68270163e-01 4.19615018e-02 1.98781833e+02] [-5.09757083e-02 -2.91543814e-05 9.98699893e-01 -1.14366106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.31, Y:198.83, Z:-11.44 [[ 5.63001778e-01 -8.25949018e-01 2.89347025e-02 6.37312875e+02] [ 8.24882132e-01 5.63744767e-01 4.19679229e-02 1.98830362e+02] [-5.09751518e-02 2.39703826e-04 9.98699893e-01 -1.14393067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.1053361950001 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:637.34, Y:198.88, Z:-11.44 [[ 5.59017826e-01 -8.28650943e-01 2.89255191e-02 6.37343999e+02] [ 8.27587320e-01 5.59765478e-01 4.19742514e-02 1.98878007e+02] [-5.09735100e-02 4.74038094e-04 9.98699893e-01 -1.14418281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.38, Y:198.92, Z:-11.45 [[ 5.57694246e-01 -8.29542635e-01 2.89161642e-02 6.37375174e+02] [ 8.28479874e-01 5.58443122e-01 4.19806950e-02 1.98924769e+02] [-5.09728094e-02 5.44068087e-04 9.98699893e-01 -1.14460941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.41, Y:198.97, Z:-11.45 [[ 5.56787212e-01 -8.30152045e-01 2.89064440e-02 6.37406331e+02] [ 8.29089756e-01 5.57536758e-01 4.19873869e-02 1.98972648e+02] [-5.09723202e-02 5.87996487e-04 9.98699893e-01 -1.14481990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.44, Y:199.02, Z:-11.45 [[ 5.55637021e-01 -8.30922647e-01 2.88973290e-02 6.37438727e+02] [ 8.29861071e-01 5.56387577e-01 4.19936593e-02 1.99018865e+02] [-5.09715974e-02 6.47536664e-04 9.98699893e-01 -1.14529060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.345336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:637.47, Y:199.06, Z:-11.46 [[ 5.53331350e-01 -8.32460157e-01 2.88877763e-02 6.37474237e+02] [ 8.31400324e-01 5.54084364e-01 4.20002296e-02 1.99064281e+02] [-5.09697829e-02 7.77262854e-04 9.98699893e-01 -1.14551251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.51, Y:199.11, Z:-11.46 [[ 5.52113514e-01 -8.33268678e-01 2.88786837e-02 6.37507949e+02] [ 8.32209620e-01 5.52867618e-01 4.20064807e-02 1.99109344e+02] [-5.09687737e-02 8.40772741e-04 9.98699893e-01 -1.14601719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.54, Y:199.16, Z:-11.46 [[ 5.53318823e-01 -8.32469043e-01 2.88716525e-02 6.37541353e+02] [ 8.31408644e-01 5.54071039e-01 4.20113127e-02 1.99155862e+02] [-5.09700638e-02 7.58491368e-04 9.98699894e-01 -1.14621323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.58, Y:199.20, Z:-11.46 [[ 5.57770146e-01 -8.29493469e-01 2.88625874e-02 6.37576124e+02] [ 8.28428734e-01 5.58516212e-01 4.20175397e-02 1.99202866e+02] [-5.09734978e-02 4.74467541e-04 9.98699894e-01 -1.14615450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.61, Y:199.25, Z:-11.47 [[ 5.61096383e-01 -8.27247405e-01 2.88544631e-02 6.37607545e+02] [ 8.26179396e-01 5.61837756e-01 4.20231181e-02 1.99250971e+02] [-5.09750422e-02 2.59943291e-04 9.98699894e-01 -1.14652762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.64, Y:199.30, Z:-11.47 [[ 5.64942869e-01 -8.24625670e-01 2.88454286e-02 6.37639489e+02] [ 8.23553904e-01 5.65678799e-01 4.20293187e-02 1.99298540e+02] [-5.09757025e-02 1.16013866e-05 9.98699894e-01 -1.14675478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.67, Y:199.35, Z:-11.47 [[ 5.66558705e-01 -8.23516664e-01 2.88364075e-02 6.37671235e+02] [ 8.22443142e-01 5.67292072e-01 4.20355072e-02 1.99346174e+02] [-5.09756060e-02 -9.92769585e-05 9.98699894e-01 -1.14724045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.70, Y:199.39, Z:-11.48 [[ 5.67512992e-01 -8.22859639e-01 2.88273851e-02 6.37704600e+02] [ 8.21784954e-01 5.68244653e-01 4.20416937e-02 1.99392628e+02] [-5.09754203e-02 -1.69296072e-04 9.98699894e-01 -1.14752443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.74, Y:199.44, Z:-11.47 [[ 5.66894840e-01 -8.23285922e-01 2.88189397e-02 6.37736280e+02] [ 8.22211492e-01 5.67626877e-01 4.20474821e-02 1.99440345e+02] [-5.09755048e-02 -1.41237246e-04 9.98699894e-01 -1.14738621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.77, Y:199.48, Z:-11.48 [[ 5.64927431e-01 -8.24637501e-01 2.88095401e-02 6.37770256e+02] [ 8.23564494e-01 5.65661552e-01 4.20539214e-02 1.99484965e+02] [-5.09756898e-02 -3.08994382e-05 9.98699894e-01 -1.14782462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.80, Y:199.53, Z:-11.48 [[ 5.64170733e-01 -8.25155719e-01 2.87997042e-02 6.37803631e+02] [ 8.24083043e-01 5.64905336e-01 4.20606562e-02 1.99531085e+02] [-5.09756976e-02 3.95661375e-06 9.98699894e-01 -1.14797980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.84, Y:199.58, Z:-11.48 [[ 5.66066911e-01 -8.23856397e-01 2.87904421e-02 6.37837908e+02] [ 8.22781712e-01 5.66798572e-01 4.20669952e-02 1.99576566e+02] [-5.09755446e-02 -1.24484749e-04 9.98699894e-01 -1.14816477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.87, Y:199.62, Z:-11.48 [[ 5.72340311e-01 -8.19510961e-01 2.87811282e-02 6.37869585e+02] [ 8.18430402e-01 5.73063268e-01 4.20733666e-02 1.99624442e+02] [-5.09729924e-02 -5.24933382e-04 9.98699894e-01 -1.14830713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.90, Y:199.67, Z:-11.49 [[ 5.77688345e-01 -8.15750179e-01 2.87718926e-02 6.37900377e+02] [ 8.14664600e-01 5.78403742e-01 4.20796814e-02 1.99672028e+02] [-5.09682780e-02 -8.69499131e-04 9.98699894e-01 -1.14862845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.93, Y:199.72, Z:-11.49 [[ 5.83307584e-01 -8.11741942e-01 2.87624982e-02 6.37929488e+02] [ 8.10651134e-01 5.84014982e-01 4.20861017e-02 1.99720394e+02] [-5.09607838e-02 -1.23279050e-03 9.98699894e-01 -1.14919989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.96, Y:199.77, Z:-11.49 [[ 5.84482448e-01 -8.10896666e-01 2.87552758e-02 6.37960593e+02] [ 8.09804592e-01 5.85187891e-01 4.20910358e-02 1.99768777e+02] [-5.09587198e-02 -1.31531720e-03 9.98699894e-01 -1.14947114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.99, Y:199.82, Z:-11.50 [[ 5.82806281e-01 -8.12102525e-01 2.87459109e-02 6.37992456e+02] [ 8.11011596e-01 5.83513493e-01 4.20974306e-02 1.99817588e+02] [-5.09610566e-02 -1.22137986e-03 9.98699894e-01 -1.14965557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.02, Y:199.86, Z:-11.50 [[ 5.78967820e-01 -8.14843802e-01 2.87374661e-02 6.38024229e+02] [ 8.13755937e-01 5.79679736e-01 4.21031945e-02 1.99864373e+02] [-5.09660539e-02 -9.91111091e-04 9.98699894e-01 -1.15042544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.06, Y:199.91, Z:-11.50 [[ 5.74312343e-01 -8.18132023e-01 2.87284974e-02 6.38056964e+02] [ 8.17047929e-01 5.75029988e-01 4.21093133e-02 1.99912716e+02] [-5.09707252e-02 -7.11339088e-04 9.98699894e-01 -1.15000408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.09, Y:199.96, Z:-11.51 [[ 5.72721290e-01 -8.19246915e-01 2.87196104e-02 6.38089041e+02] [ 8.18163915e-01 5.73440584e-01 4.21153736e-02 1.99960158e+02] [-5.09718801e-02 -6.23022184e-04 9.98699895e-01 -1.15053760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.12, Y:200.01, Z:-11.50 [[ 5.73438370e-01 -8.18745449e-01 2.87110677e-02 6.38120971e+02] [ 8.17661528e-01 5.74156277e-01 4.21211966e-02 2.00008699e+02] [-5.09711777e-02 -6.77974875e-04 9.98699895e-01 -1.15047198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.15, Y:200.06, Z:-11.51 [[ 5.75320007e-01 -8.17424639e-01 2.87027609e-02 6.38150970e+02] [ 8.16338788e-01 5.76034991e-01 4.21268563e-02 2.00055644e+02] [-5.09693250e-02 -8.05246205e-04 9.98699895e-01 -1.15072156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.18, Y:200.10, Z:-11.52 [[ 5.77157756e-01 -8.16128471e-01 2.86922293e-02 6.38179987e+02] [ 8.15040658e-01 5.77869751e-01 4.21340281e-02 2.00104296e+02] [-5.09671513e-02 -9.32647684e-04 9.98699895e-01 -1.15151525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.21, Y:200.15, Z:-11.52 [[ 5.80250905e-01 -8.13932533e-01 2.86830701e-02 6.38207978e+02] [ 8.12841719e-01 5.80958293e-01 4.21402624e-02 2.00154026e+02] [-5.09629980e-02 -1.13712940e-03 9.98699895e-01 -1.15186271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.24, Y:200.20, Z:-11.52 [[ 5.80197686e-01 -8.13970779e-01 2.86743013e-02 6.38237192e+02] [ 8.12879717e-01 5.80904692e-01 4.21462283e-02 2.00201429e+02] [-5.09628344e-02 -1.14438625e-03 9.98699895e-01 -1.15228916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.26, Y:200.25, Z:-11.52 [[ 5.81058175e-01 -8.13357083e-01 2.86644971e-02 6.38263212e+02] [ 8.12264946e-01 5.81763518e-01 4.21528952e-02 2.00252511e+02] [-5.09613146e-02 -1.21011815e-03 9.98699895e-01 -1.15211597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.29, Y:200.30, Z:-11.52 [[ 5.79798343e-01 -8.14255963e-01 2.86549983e-02 6.38291578e+02] [ 8.13164600e-01 5.80504885e-01 4.21593514e-02 2.00302897e+02] [-5.09628698e-02 -1.14269183e-03 9.98699895e-01 -1.15236905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.32, Y:200.36, Z:-11.53 [[ 5.77994457e-01 -8.15537735e-01 2.86463037e-02 6.38317139e+02] [ 8.14447647e-01 5.78702964e-01 4.21652584e-02 2.00355278e+02] [-5.09650602e-02 -1.04037103e-03 9.98699895e-01 -1.15276077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.34, Y:200.41, Z:-11.54 [[ 5.75109411e-01 -8.17575110e-01 2.86374688e-02 6.38344215e+02] [ 8.16487235e-01 5.75821309e-01 4.21712580e-02 2.00405342e+02] [-5.09682357e-02 -8.70959644e-04 9.98699895e-01 -1.15352483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.37, Y:200.46, Z:-11.53 [[ 5.70201403e-01 -8.21005770e-01 2.86336442e-02 6.38370904e+02] [ 8.19922049e-01 5.70919609e-01 4.21738546e-02 2.00456982e+02] [-5.09724870e-02 -5.70234862e-04 9.98699895e-01 -1.15343918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.40, Y:200.51, Z:-11.54 [[ 5.66440797e-01 -8.23605030e-01 2.86282808e-02 6.38400024e+02] [ 8.22524421e-01 5.67163677e-01 4.21774951e-02 2.00507329e+02] [-5.09745181e-02 -3.43593868e-04 9.98699895e-01 -1.15395550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.43, Y:200.56, Z:-11.54 [[ 5.61242162e-01 -8.27156666e-01 2.86196701e-02 6.38427358e+02] [ 8.26080333e-01 5.61971395e-01 4.21833371e-02 2.00557146e+02] [-5.09756644e-02 -3.29207379e-05 9.98699895e-01 -1.15402158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.46, Y:200.61, Z:-11.55 [[ 5.58627670e-01 -8.28924840e-01 2.86135444e-02 6.38456287e+02] [ 8.27850603e-01 5.59359986e-01 4.21874919e-02 2.00607313e+02] [-5.09755317e-02 1.20639663e-04 9.98699895e-01 -1.15451723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.325336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:638.49, Y:200.66, Z:-11.55 [[ 5.56677084e-01 -8.30236335e-01 2.86051043e-02 6.38487181e+02] [ 8.29163529e-01 5.57411495e-01 4.21932139e-02 2.00656291e+02] [-5.09751532e-02 2.30313945e-04 9.98699895e-01 -1.15483625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.52, Y:200.70, Z:-11.55 [[ 5.52705031e-01 -8.32886173e-01 2.85966936e-02 6.38518159e+02] [ 8.31816593e-01 5.53444132e-01 4.21989135e-02 2.00704107e+02] [-5.09735638e-02 4.63652486e-04 9.98699895e-01 -1.15516746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.55, Y:200.75, Z:-11.55 [[ 5.49147505e-01 -8.35236345e-01 2.85878582e-02 6.38549650e+02] [ 8.34169616e-01 5.49890715e-01 4.22048982e-02 2.00750146e+02] [-5.09712627e-02 6.70408120e-04 9.98699895e-01 -1.15541953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.58, Y:200.80, Z:-11.56 [[ 5.45957745e-01 -8.37325074e-01 2.85807809e-02 6.38583162e+02] [ 8.36260937e-01 5.46704662e-01 4.22096904e-02 2.00795922e+02] [-5.09684783e-02 8.56283276e-04 9.98699895e-01 -1.15570148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.62, Y:200.84, Z:-11.56 [[ 5.45662420e-01 -8.37517870e-01 2.85716747e-02 6.38616829e+02] [ 8.36453675e-01 5.46409253e-01 4.22158534e-02 2.00840427e+02] [-5.09683591e-02 8.63277575e-04 9.98699895e-01 -1.15609663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.65, Y:200.89, Z:-11.56 [[ 5.47963765e-01 -8.36014302e-01 2.85621996e-02 6.38650484e+02] [ 8.34947723e-01 5.48707190e-01 4.22222631e-02 2.00886956e+02] [-5.09707001e-02 7.11673266e-04 9.98699895e-01 -1.15627497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.69, Y:200.93, Z:-11.56 [[ 5.50185945e-01 -8.34553859e-01 2.85531387e-02 6.38685223e+02] [ 8.33484989e-01 5.50926072e-01 4.22283897e-02 2.00932731e+02] [-5.09725341e-02 5.65146025e-04 9.98699896e-01 -1.15640836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.72, Y:200.98, Z:-11.57 [[ 5.50579863e-01 -8.34294349e-01 2.85438777e-02 6.38720129e+02] [ 8.33224805e-01 5.51319017e-01 4.22346486e-02 2.00976429e+02] [-5.09729113e-02 5.29919891e-04 9.98699896e-01 -1.15687301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.805336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:638.76, Y:201.02, Z:-11.57 [[ 5.51095063e-01 -8.33954454e-01 2.85342119e-02 6.38759696e+02] [ 8.32884116e-01 5.51833066e-01 4.22411780e-02 2.01018327e+02] [-5.09733401e-02 4.86787219e-04 9.98699896e-01 -1.15720848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.79, Y:201.06, Z:-11.58 [[ 5.52537078e-01 -8.33000062e-01 2.85249722e-02 6.38794875e+02] [ 8.31928128e-01 5.53272759e-01 4.22474166e-02 2.01061941e+02] [-5.09741907e-02 3.87462592e-04 9.98699896e-01 -1.15758447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.83, Y:201.11, Z:-11.58 [[ 5.57478729e-01 -8.29701357e-01 2.85153336e-02 6.38831987e+02] [ 8.28624736e-01 5.58207535e-01 4.22539212e-02 2.01105778e+02] [-5.09756099e-02 7.28484560e-05 9.98699896e-01 -1.15762348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.87, Y:201.15, Z:-11.58 [[ 5.62082023e-01 -8.26590108e-01 2.85060254e-02 6.38866418e+02] [ 8.25509134e-01 5.62804358e-01 4.22601999e-02 2.01149827e+02] [-5.09751785e-02 -2.21714317e-04 9.98699896e-01 -1.15784648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.90, Y:201.20, Z:-11.58 [[ 5.70392630e-01 -8.20877619e-01 2.84988203e-02 6.38898751e+02] [ 8.19789171e-01 5.71103651e-01 4.22650582e-02 2.01195509e+02] [-5.09702207e-02 -7.44653407e-04 9.98699896e-01 -1.15826055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.1053361950001 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:638.93, Y:201.24, Z:-11.58 [[ 5.76811230e-01 -8.16380444e-01 2.84916742e-02 6.38929322e+02] [ 8.15286217e-01 5.77513326e-01 4.22698750e-02 2.01243541e+02] [-5.09626209e-02 -1.15286934e-03 9.98699896e-01 -1.15845377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.96, Y:201.29, Z:-11.59 [[ 5.78709238e-01 -8.15036420e-01 2.84824929e-02 6.38960653e+02] [ 8.13940259e-01 5.79408310e-01 4.22760607e-02 2.01290102e+02] [-5.09595222e-02 -1.28249917e-03 9.98699896e-01 -1.15905164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.99, Y:201.34, Z:-11.59 [[ 5.76723174e-01 -8.16443309e-01 2.84728655e-02 6.38991139e+02] [ 8.15348534e-01 5.77424415e-01 4.22825438e-02 2.01339060e+02] [-5.09622276e-02 -1.17001377e-03 9.98699896e-01 -1.15906301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.285336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:639.02, Y:201.39, Z:-11.59 [[ 5.72834925e-01 -8.19176390e-01 2.84638448e-02 6.39023065e+02] [ 8.18084660e-01 5.73540898e-01 4.22886155e-02 2.01387751e+02] [-5.09670144e-02 -9.38561098e-04 9.98699896e-01 -1.15923058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.345336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:639.06, Y:201.44, Z:-11.60 [[ 5.66273959e-01 -8.23725757e-01 2.84548930e-02 6.39056116e+02] [ 8.22639398e-01 5.66988169e-01 4.22946381e-02 2.01435134e+02] [-5.09727704e-02 -5.42236120e-04 9.98699896e-01 -1.15968277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:639.09, Y:201.48, Z:-11.60 [[ 5.62045870e-01 -8.26616756e-01 2.84460854e-02 6.39088249e+02] [ 8.25533772e-01 5.62765186e-01 4.23005610e-02 2.01482397e+02] [-5.09748190e-02 -2.91651413e-04 9.98699896e-01 -1.16023599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.465336195 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:639.12, Y:201.53, Z:-11.60 [[ 5.56522542e-01 -8.30345617e-01 2.84397072e-02 6.39120958e+02] [ 8.29267234e-01 5.57248737e-01 4.23048487e-02 2.01529775e+02] [-5.09756366e-02 4.05154089e-05 9.98699896e-01 -1.16029507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:639.15, Y:201.58, Z:-11.61 [[ 5.54081101e-01 -8.31977064e-01 2.84306067e-02 6.39153122e+02] [ 8.30900505e-01 5.54809998e-01 4.23109638e-02 2.01577360e+02] [-5.09753362e-02 1.79300055e-04 9.98699896e-01 -1.16104972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.585336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:639.18, Y:201.63, Z:-11.61 [[ 5.52584653e-01 -8.32972024e-01 2.84219896e-02 6.39183748e+02] [ 8.31896479e-01 5.53315046e-01 4.23167515e-02 2.01626305e+02] [-5.09749845e-02 2.60565642e-04 9.98699896e-01 -1.16074924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:639.22, Y:201.67, Z:-11.61 [[ 5.53095031e-01 -8.32633544e-01 2.84124775e-02 6.39215328e+02] [ 8.31557224e-01 5.53824281e-01 4.23231371e-02 2.01672998e+02] [-5.09751836e-02 2.17884117e-04 9.98699896e-01 -1.16148212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.705336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:639.25, Y:201.72, Z:-11.62 [[ 5.54307452e-01 -8.31827102e-01 2.84063511e-02 6.39245768e+02] [ 8.30749511e-01 5.55034822e-01 4.23272486e-02 2.01721339e+02] [-5.09754666e-02 1.36252983e-04 9.98699896e-01 -1.16184181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:639.28, Y:201.77, Z:-11.62 [[ 5.56105949e-01 -8.30626138e-01 2.83970373e-02 6.39275555e+02] [ 8.29546658e-01 5.56830511e-01 4.23334962e-02 2.01769541e+02] [-5.09756453e-02 1.47583056e-05 9.98699897e-01 -1.16200545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:639.31, Y:201.82, Z:-11.63 [[ 5.57446462e-01 -8.29727409e-01 2.83878338e-02 6.39306091e+02] [ 8.28646445e-01 5.58168810e-01 4.23396670e-02 2.01818583e+02] [-5.09755856e-02 -7.86200362e-05 9.98699897e-01 -1.16258867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:639.33, Y:201.87, Z:-11.63 [[ 5.60329629e-01 -8.27783363e-01 2.83797649e-02 6.39334924e+02] [ 8.26699620e-01 5.61047800e-01 4.23450748e-02 2.01867348e+02] [-5.09749531e-02 -2.65659269e-04 9.98699897e-01 -1.16304766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:639.36, Y:201.92, Z:-11.63 [[ 5.61089101e-01 -8.27269074e-01 2.83707417e-02 6.39363062e+02] [ 8.26184367e-01 5.61805815e-01 4.23511194e-02 2.01917038e+02] [-5.09746190e-02 -3.23288224e-04 9.98699897e-01 -1.16314577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:639.39, Y:201.97, Z:-11.64 [[ 5.61045256e-01 -8.27299140e-01 2.83611286e-02 6.39391150e+02] [ 8.26214146e-01 5.61761535e-01 4.23575560e-02 2.01965483e+02] [-5.09745608e-02 -3.32140233e-04 9.98699897e-01 -1.16358964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:639.42, Y:202.02, Z:-11.63 [[ 5.62512293e-01 -8.26302691e-01 2.83510896e-02 6.39419205e+02] [ 8.25216089e-01 5.63226131e-01 4.23642743e-02 2.02016794e+02] [-5.09737884e-02 -4.34649748e-04 9.98699897e-01 -1.16349464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:639.45, Y:202.07, Z:-11.64 [[ 5.64045462e-01 -8.25257164e-01 2.83430901e-02 6.39447839e+02] [ 8.24168970e-01 5.64756871e-01 4.23696256e-02 2.02066958e+02] [-5.09727919e-02 -5.38899695e-04 9.98699897e-01 -1.16420040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:639.48, Y:202.12, Z:-11.64 [[ 5.65515306e-01 -8.24250909e-01 2.83351046e-02 6.39475990e+02] [ 8.23161182e-01 5.66224364e-01 4.23749653e-02 2.02118274e+02] [-5.09716302e-02 -6.39333313e-04 9.98699897e-01 -1.16422499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.245336195 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:639.50, Y:202.17, Z:-11.65 [[ 5.65852433e-01 -8.24019777e-01 2.83271986e-02 6.39500775e+02] [ 8.22929497e-01 5.66560639e-01 4.23802497e-02 2.02169984e+02] [-5.09712397e-02 -6.69680178e-04 9.98699897e-01 -1.16469129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:639.53, Y:202.22, Z:-11.65 [[ 5.62783693e-01 -8.26119019e-01 2.83175136e-02 6.39526684e+02] [ 8.25031055e-01 5.63495453e-01 4.23867200e-02 2.02220345e+02] [-5.09732657e-02 -4.91726764e-04 9.98699897e-01 -1.16492153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:639.56, Y:202.27, Z:-11.65 [[ 5.58654575e-01 -8.28917223e-01 2.83072906e-02 6.39555952e+02] [ 8.27832479e-01 5.59371231e-01 4.23935462e-02 2.02268122e+02] [-5.09750246e-02 -2.49653968e-04 9.98699897e-01 -1.16531910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:639.59, Y:202.32, Z:-11.65 [[ 5.50572756e-01 -8.34307421e-01 2.82978234e-02 6.39586541e+02] [ 8.33229368e-01 5.51299439e-01 4.23998647e-02 2.02316684e+02] [-5.09750959e-02 2.34367126e-04 9.98699897e-01 -1.16549567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:639.62, Y:202.36, Z:-11.66 [[ 5.45540292e-01 -8.37607038e-01 2.82885074e-02 6.39618048e+02] [ 8.36533057e-01 5.46272981e-01 4.24060792e-02 2.02363235e+02] [-5.09728776e-02 5.30046767e-04 9.98699897e-01 -1.16633624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:639.65, Y:202.41, Z:-11.66 [[ 5.40616053e-01 -8.40793937e-01 2.82814094e-02 6.39652010e+02] [ 8.39724027e-01 5.41354673e-01 4.24108125e-02 2.02409652e+02] [-5.09690271e-02 8.20612950e-04 9.98699897e-01 -1.16638248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:639.69, Y:202.46, Z:-11.66 [[ 5.39222746e-01 -8.41688481e-01 2.82724532e-02 6.39686483e+02] [ 8.40619483e-01 5.39962686e-01 4.24167822e-02 2.02455454e+02] [-5.09677867e-02 8.94281196e-04 9.98699897e-01 -1.16649704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:639.72, Y:202.50, Z:-11.67 [[ 5.39987767e-01 -8.41198194e-01 2.82632280e-02 6.39719951e+02] [ 8.40128203e-01 5.40726269e-01 4.24229282e-02 2.02500345e+02] [-5.09687604e-02 8.36872741e-04 9.98699897e-01 -1.16684600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:639.75, Y:202.55, Z:-11.67 [[ 5.43240369e-01 -8.39101683e-01 2.82536181e-02 6.39754618e+02] [ 8.38028509e-01 5.43974237e-01 4.24293274e-02 2.02545724e+02] [-5.09717604e-02 6.28013945e-04 9.98699897e-01 -1.16722095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:639.79, Y:202.59, Z:-11.67 [[ 5.47863881e-01 -8.36090554e-01 2.82445360e-02 6.39788897e+02] [ 8.35013034e-01 5.48591353e-01 4.24353724e-02 2.02591006e+02] [-5.09745222e-02 3.35747906e-04 9.98699898e-01 -1.16741268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:639.82, Y:202.64, Z:-11.67 [[ 5.51600190e-01 -8.33630608e-01 2.82354161e-02 6.39822153e+02] [ 8.32549533e-01 5.52322369e-01 4.24414396e-02 2.02639030e+02] [-5.09755351e-02 9.66763239e-05 9.98699898e-01 -1.16724810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:639.86, Y:202.69, Z:-11.67 [[ 5.57672467e-01 -8.29581011e-01 2.82270622e-02 6.39855692e+02] [ 8.28494410e-01 5.58386305e-01 4.24469950e-02 2.02685923e+02] [-5.09748259e-02 -2.85557152e-04 9.98699898e-01 -1.16732387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:639.89, Y:202.73, Z:-11.68 [[ 5.61341500e-01 -8.27103055e-01 2.82180162e-02 6.39886558e+02] [ 8.26013002e-01 5.62050054e-01 4.24530078e-02 2.02733791e+02] [-5.09729499e-02 -5.22186792e-04 9.98699898e-01 -1.16812900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:639.92, Y:202.78, Z:-11.69 [[ 5.64010112e-01 -8.25285905e-01 2.82093635e-02 6.39917220e+02] [ 8.24193281e-01 5.64714697e-01 4.24587565e-02 2.02780115e+02] [-5.09708555e-02 -6.97200161e-04 9.98699898e-01 -1.16854899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:639.95, Y:202.83, Z:-11.69 [[ 5.64071860e-01 -8.25244032e-01 2.81997385e-02 6.39947677e+02] [ 8.24151036e-01 5.64775867e-01 4.24651482e-02 2.02827315e+02] [-5.09706419e-02 -7.12551445e-04 9.98699898e-01 -1.16899128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.145336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:639.98, Y:202.88, Z:-11.69 [[ 5.61689615e-01 -8.26867632e-01 2.81903312e-02 6.39979797e+02] [ 8.25776359e-01 5.62396289e-01 4.24713923e-02 2.02875596e+02] [-5.09723572e-02 -5.76830990e-04 9.98699898e-01 -1.16860025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:640.01, Y:202.92, Z:-11.69 [[ 5.55927102e-01 -8.30753181e-01 2.81817291e-02 6.40012973e+02] [ 8.29666558e-01 5.56640906e-01 4.24770994e-02 2.02922622e+02] [-5.09750887e-02 -2.32732578e-04 9.98699898e-01 -1.16887472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:640.05, Y:202.97, Z:-11.69 [[ 5.51375396e-01 -8.33781453e-01 2.81720087e-02 6.40046088e+02] [ 8.32698421e-01 5.52094637e-01 4.24835453e-02 2.02968672e+02] [-5.09756070e-02 3.44055960e-05 9.98699898e-01 -1.16930615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:640.08, Y:203.01, Z:-11.70 [[ 5.45300694e-01 -8.37767272e-01 2.81629278e-02 6.40080699e+02] [ 8.36689186e-01 5.46027327e-01 4.24895643e-02 2.03013254e+02] [-5.09740946e-02 3.94028242e-04 9.98699898e-01 -1.17013303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.385336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:640.11, Y:203.06, Z:-11.70 [[ 5.42421443e-01 -8.39634647e-01 2.81538421e-02 6.40114317e+02] [ 8.38558750e-01 5.43151313e-01 4.24955837e-02 2.03058784e+02] [-5.09725607e-02 5.58134777e-04 9.98699898e-01 -1.17040095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:640.15, Y:203.10, Z:-11.71 [[ 5.40436279e-01 -8.40914100e-01 2.81443452e-02 6.40151284e+02] [ 8.39839604e-01 5.41168209e-01 4.25018724e-02 2.03104184e+02] [-5.09712487e-02 6.67181988e-04 9.98699898e-01 -1.17057460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:640.19, Y:203.15, Z:-11.71 [[ 5.40362363e-01 -8.40961869e-01 2.81363138e-02 6.40185214e+02] [ 8.39887160e-01 5.41093982e-01 4.25071886e-02 2.03149715e+02] [-5.09713148e-02 6.62043812e-04 9.98699898e-01 -1.17074450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:640.22, Y:203.19, Z:-11.71 [[ 5.41491262e-01 -8.40235738e-01 2.81268061e-02 6.40219142e+02] [ 8.39159722e-01 5.42220956e-01 4.25134789e-02 2.03194145e+02] [-5.09722880e-02 5.82205390e-04 9.98699898e-01 -1.17123884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:640.25, Y:203.24, Z:-11.72 [[ 5.44184895e-01 -8.38494034e-01 2.81168252e-02 6.40253343e+02] [ 8.37415341e-01 5.44910626e-01 4.25200788e-02 2.03239968e+02] [-5.09739892e-02 4.06676107e-04 9.98699898e-01 -1.17178371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:640.29, Y:203.29, Z:-11.72 [[ 5.47950435e-01 -8.36038440e-01 2.81077957e-02 6.40286257e+02] [ 8.34956188e-01 5.48670848e-01 4.25260469e-02 2.03287064e+02] [-5.09753380e-02 1.66612024e-04 9.98699898e-01 -1.17208401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:640.32, Y:203.33, Z:-11.73 [[ 5.54007946e-01 -8.32037061e-01 2.80984798e-02 6.40319027e+02] [ 8.30949294e-01 5.54720004e-01 4.25322014e-02 2.03332680e+02] [-5.09751567e-02 -2.14765591e-04 9.98699899e-01 -1.17276455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:640.35, Y:203.38, Z:-11.73 [[ 5.57256353e-01 -8.29865192e-01 2.80912951e-02 6.40350377e+02] [ 8.28774410e-01 5.57963785e-01 4.25369461e-02 2.03380400e+02] [-5.09738563e-02 -4.22636935e-04 9.98699899e-01 -1.17282892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:640.38, Y:203.43, Z:-11.73 [[ 5.59793941e-01 -8.28155864e-01 2.80821870e-02 6.40381668e+02] [ 8.27062621e-01 5.60497563e-01 4.25429583e-02 2.03427317e+02] [-5.09721978e-02 -5.89563128e-04 9.98699899e-01 -1.17315820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:640.41, Y:203.47, Z:-11.73 [[ 5.59383638e-01 -8.28433268e-01 2.80760902e-02 6.40413419e+02] [ 8.27340172e-01 5.60087488e-01 4.25469815e-02 2.03474723e+02] [-5.09724018e-02 -5.71607997e-04 9.98699899e-01 -1.17327640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:640.44, Y:203.52, Z:-11.74 [[ 5.57712908e-01 -8.29559264e-01 2.80667141e-02 6.40444477e+02] [ 8.28467278e-01 5.58418479e-01 4.25531657e-02 2.03521676e+02] [-5.09733446e-02 -4.80095610e-04 9.98699899e-01 -1.17377082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.045336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:640.48, Y:203.57, Z:-11.74 [[ 5.53467821e-01 -8.32397850e-01 2.80569232e-02 6.40478472e+02] [ 8.31309156e-01 5.54178461e-01 4.25596202e-02 2.03568070e+02] [-5.09750789e-02 -2.31403128e-04 9.98699899e-01 -1.17420138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:640.51, Y:203.61, Z:-11.74 [[ 5.47445263e-01 -8.36371320e-01 2.80481425e-02 6.40512476e+02] [ 8.35287488e-01 5.48163296e-01 4.25654062e-02 2.03614856e+02] [-5.09754472e-02 1.26032501e-04 9.98699899e-01 -1.17426915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:640.55, Y:203.66, Z:-11.75 [[ 5.43310154e-01 -8.39063654e-01 2.80403344e-02 6.40546673e+02] [ 8.37983114e-01 5.44033132e-01 4.25705492e-02 2.03660494e+02] [-5.09742716e-02 3.68315070e-04 9.98699899e-01 -1.17461899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.2253361950001 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:640.58, Y:203.71, Z:-11.75 [[ 5.40203579e-01 -8.41067394e-01 2.80309196e-02 6.40581271e+02] [ 8.39989214e-01 5.40930070e-01 4.25767476e-02 2.03706111e+02] [-5.09726815e-02 5.45558710e-04 9.98699899e-01 -1.17504393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:640.62, Y:203.75, Z:-11.75 [[ 5.39270761e-01 -8.41666108e-01 2.80215631e-02 6.40616164e+02] [ 8.40588415e-01 5.39997975e-01 4.25829046e-02 2.03753011e+02] [-5.09721749e-02 5.90885954e-04 9.98699899e-01 -1.17517167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:640.65, Y:203.80, Z:-11.75 [[ 5.38961838e-01 -8.41864238e-01 2.80132423e-02 6.40649189e+02] [ 8.40786528e-01 5.39689026e-01 4.25883778e-02 2.03798000e+02] [-5.09720717e-02 5.99646380e-04 9.98699899e-01 -1.17532581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:640.68, Y:203.84, Z:-11.75 [[ 5.39607140e-01 -8.41451094e-01 2.80033869e-02 6.40683807e+02] [ 8.40372491e-01 5.40333003e-01 4.25948571e-02 2.03843817e+02] [-5.09726432e-02 5.48786959e-04 9.98699899e-01 -1.17543619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:640.72, Y:203.89, Z:-11.76 [[ 5.40530010e-01 -8.40858871e-01 2.79940681e-02 6.40716368e+02] [ 8.39779155e-01 5.41254217e-01 4.26009807e-02 2.03889409e+02] [-5.09733199e-02 4.81726343e-04 9.98699899e-01 -1.17582082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:640.75, Y:203.94, Z:-11.76 [[ 5.42715003e-01 -8.39450594e-01 2.79843649e-02 6.40749998e+02] [ 8.38368671e-01 5.43435908e-01 4.26073537e-02 2.03935009e+02] [-5.09744771e-02 3.37564651e-04 9.98699899e-01 -1.17613872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:640.78, Y:203.98, Z:-11.76 [[ 5.44923409e-01 -8.38019044e-01 2.79742790e-02 6.40780277e+02] [ 8.36934886e-01 5.45640949e-01 4.26139747e-02 2.03981400e+02] [-5.09752345e-02 1.91297703e-04 9.98699899e-01 -1.17637127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:640.81, Y:204.03, Z:-11.76 [[ 5.48677871e-01 -8.35566049e-01 2.79637725e-02 6.40812661e+02] [ 8.34478332e-01 5.49390003e-01 4.26208680e-02 2.04028757e+02] [-5.09755674e-02 -4.99648631e-05 9.98699899e-01 -1.17644385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:640.84, Y:204.08, Z:-11.77 [[ 5.51085395e-01 -8.33980480e-01 2.79543537e-02 6.40842836e+02] [ 8.32890401e-01 5.51793907e-01 4.26270448e-02 2.04077420e+02] [-5.09751653e-02 -2.08228952e-04 9.98699899e-01 -1.17656232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:640.87, Y:204.13, Z:-11.77 [[ 5.51431863e-01 -8.33751752e-01 2.79448946e-02 6.40873543e+02] [ 8.32661064e-01 5.52139437e-01 4.26332450e-02 2.04125289e+02] [-5.09750211e-02 -2.40704014e-04 9.98699900e-01 -1.17668832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:640.90, Y:204.17, Z:-11.77 [[ 5.50559970e-01 -8.34328065e-01 2.79356340e-02 6.40903827e+02] [ 8.33237810e-01 5.51268211e-01 4.26393121e-02 2.04171833e+02] [-5.09752018e-02 -1.98471855e-04 9.98699900e-01 -1.17746993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:640.93, Y:204.22, Z:-11.78 [[ 5.48744890e-01 -8.35523324e-01 2.79252800e-02 6.40932862e+02] [ 8.34434267e-01 5.49454971e-01 4.26460921e-02 2.04219585e+02] [-5.09754886e-02 -1.00014586e-04 9.98699900e-01 -1.17789556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:640.96, Y:204.27, Z:-11.78 [[ 5.47624416e-01 -8.36258466e-01 2.79155165e-02 6.40963520e+02] [ 8.35170037e-01 5.48335459e-01 4.26524822e-02 2.04267940e+02] [-5.09755669e-02 -4.33376704e-05 9.98699900e-01 -1.17810757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:640.99, Y:204.32, Z:-11.78 [[ 5.46113298e-01 -8.37246390e-01 2.79060624e-02 6.40993158e+02] [ 8.36158930e-01 5.46825823e-01 4.26586668e-02 2.04316343e+02] [-5.09755703e-02 3.74381082e-05 9.98699900e-01 -1.17838381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:641.02, Y:204.36, Z:-11.79 [[ 5.44978060e-01 -8.37986094e-01 2.78966016e-02 6.41022537e+02] [ 8.36899285e-01 5.45691577e-01 4.26648528e-02 2.04364476e+02] [-5.09754939e-02 9.52371991e-05 9.98699900e-01 -1.17867356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:641.05, Y:204.41, Z:-11.79 [[ 5.43101700e-01 -8.39203628e-01 2.78893275e-02 6.41053296e+02] [ 8.38118174e-01 5.43817277e-01 4.26696072e-02 2.04412912e+02] [-5.09751873e-02 2.00616064e-04 9.98699900e-01 -1.17902273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:641.09, Y:204.46, Z:-11.79 [[ 5.39174111e-01 -8.41732728e-01 2.78799820e-02 6.41085184e+02] [ 8.40650315e-01 5.39894279e-01 4.26757126e-02 2.04460537e+02] [-5.09737868e-02 4.27676250e-04 9.98699900e-01 -1.17945219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:641.12, Y:204.51, Z:-11.80 [[ 5.36990405e-01 -8.43127830e-01 2.78705316e-02 6.41116892e+02] [ 8.42046968e-01 5.37712898e-01 4.26818836e-02 2.04506516e+02] [-5.09726282e-02 5.48534705e-04 9.98699900e-01 -1.17992881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:641.15, Y:204.55, Z:-11.80 [[ 5.35837190e-01 -8.43861534e-01 2.78606766e-02 6.41148621e+02] [ 8.42781326e-01 5.36560662e-01 4.26883155e-02 2.04554090e+02] [-5.09719705e-02 6.06470942e-04 9.98699900e-01 -1.18025463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.365336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:641.18, Y:204.60, Z:-11.81 [[ 5.36409771e-01 -8.43497989e-01 2.78513976e-02 6.41180184e+02] [ 8.42416977e-01 5.37132040e-01 4.26943686e-02 2.04601392e+02] [-5.09724921e-02 5.60813707e-04 9.98699900e-01 -1.18071753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:641.21, Y:204.65, Z:-11.81 [[ 5.36646239e-01 -8.43347870e-01 2.78421429e-02 6.41211643e+02] [ 8.42266343e-01 5.37367736e-01 4.27004030e-02 2.04648911e+02] [-5.09727632e-02 5.35489259e-04 9.98699900e-01 -1.18067579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:641.24, Y:204.70, Z:-11.81 [[ 5.36313737e-01 -8.43559666e-01 2.78328028e-02 6.41242748e+02] [ 8.42478108e-01 5.37035188e-01 4.27064902e-02 2.04696811e+02] [-5.09726671e-02 5.44449707e-04 9.98699900e-01 -1.18084859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:641.27, Y:204.74, Z:-11.81 [[ 5.35042665e-01 -8.44366754e-01 2.78232323e-02 6.41274290e+02] [ 8.43285960e-01 5.35765260e-01 4.27127244e-02 2.04743086e+02] [-5.09719257e-02 6.09811319e-04 9.98699900e-01 -1.18121393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:641.31, Y:204.79, Z:-11.82 [[ 5.33973148e-01 -8.45043845e-01 2.78132573e-02 6.41306509e+02] [ 8.43963629e-01 5.34696607e-01 4.27192188e-02 2.04789604e+02] [-5.09712673e-02 6.62461819e-04 9.98699900e-01 -1.18160262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:641.34, Y:204.83, Z:-11.82 [[ 5.32913650e-01 -8.45712712e-01 2.78037902e-02 6.41340482e+02] [ 8.44633082e-01 5.33637984e-01 4.27253796e-02 2.04833832e+02] [-5.09705552e-02 7.15062966e-04 9.98699900e-01 -1.18233337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:641.37, Y:204.88, Z:-11.82 [[ 5.33094154e-01 -8.45599269e-01 2.77938773e-02 6.41372994e+02] [ 8.44519150e-01 5.33817756e-01 4.27318272e-02 2.04881435e+02] [-5.09708671e-02 6.92374327e-04 9.98699901e-01 -1.18235215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:641.41, Y:204.93, Z:-11.83 [[ 5.33668724e-01 -8.45237079e-01 2.77843860e-02 6.41405390e+02] [ 8.44156148e-01 5.34391113e-01 4.27379976e-02 2.04927309e+02] [-5.09714693e-02 6.46427573e-04 9.98699901e-01 -1.18289294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:641.44, Y:204.97, Z:-11.83 [[ 5.34570536e-01 -8.44667343e-01 2.77744647e-02 6.41439485e+02] [ 8.43585307e-01 5.35291269e-01 4.27444443e-02 2.04973231e+02] [-5.09722647e-02 5.80209812e-04 9.98699901e-01 -1.18300616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:641.47, Y:205.02, Z:-11.83 [[ 5.36481946e-01 -8.43454934e-01 2.77650221e-02 6.41471731e+02] [ 8.42370951e-01 5.37199748e-01 4.27505770e-02 2.05019463e+02] [-5.09735479e-02 4.53535334e-04 9.98699901e-01 -1.18335831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:641.50, Y:205.07, Z:-11.84 [[ 5.38408793e-01 -8.42226588e-01 2.77551014e-02 6.41503600e+02] [ 8.41140636e-01 5.39123611e-01 4.27570168e-02 2.05066877e+02] [-5.09745269e-02 3.25189877e-04 9.98699901e-01 -1.18351515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:641.53, Y:205.11, Z:-11.84 [[ 5.41428338e-01 -8.40288940e-01 2.77462012e-02 6.41534536e+02] [ 8.39200133e-01 5.42138801e-01 4.27627916e-02 2.05113590e+02] [-5.09753931e-02 1.31628498e-04 9.98699901e-01 -1.18375286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:641.56, Y:205.16, Z:-11.84 [[ 5.43611856e-01 -8.38878347e-01 2.77356951e-02 6.41564692e+02] [ 8.37787349e-01 5.44318949e-01 4.27696047e-02 2.05160908e+02] [-5.09755597e-02 -1.34497549e-05 9.98699901e-01 -1.18414441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:641.59, Y:205.21, Z:-11.84 [[ 5.46042130e-01 -8.37298808e-01 2.77254071e-02 6.41593961e+02] [ 8.36205426e-01 5.46745531e-01 4.27762729e-02 2.05209741e+02] [-5.09752648e-02 -1.73511286e-04 9.98699901e-01 -1.18414336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:641.62, Y:205.26, Z:-11.84 [[ 5.45716206e-01 -8.37511579e-01 2.77160243e-02 6.41623904e+02] [ 8.36418162e-01 5.46419553e-01 4.27823515e-02 2.05258316e+02] [-5.09752923e-02 -1.64836403e-04 9.98699901e-01 -1.18441471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:641.66, Y:205.30, Z:-11.85 [[ 5.43491663e-01 -8.38957186e-01 2.77065414e-02 6.41656027e+02] [ 8.37865327e-01 5.44197426e-01 4.27884918e-02 2.05304458e+02] [-5.09755412e-02 -4.08381955e-05 9.98699901e-01 -1.18503264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:641.69, Y:205.35, Z:-11.86 [[ 5.38652807e-01 -8.42072473e-01 2.76966342e-02 6.41686506e+02] [ 8.40984366e-01 5.39364340e-01 4.27949037e-02 2.05349765e+02] [-5.09749873e-02 2.40841361e-04 9.98699901e-01 -1.18571048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:641.72, Y:205.40, Z:-11.86 [[ 5.35498398e-01 -8.44082235e-01 2.76883775e-02 6.41718047e+02] [ 8.42996522e-01 5.36213579e-01 4.28002452e-02 2.05395804e+02] [-5.09738106e-02 4.21743230e-04 9.98699901e-01 -1.18593610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:641.75, Y:205.44, Z:-11.86 [[ 5.33275384e-01 -8.45488778e-01 2.76783491e-02 6.41751532e+02] [ 8.44404615e-01 5.33992913e-01 4.28067295e-02 2.05442020e+02] [-5.09726516e-02 5.43950564e-04 9.98699901e-01 -1.18603631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:641.78, Y:205.49, Z:-11.86 [[ 5.33167206e-01 -8.45557222e-01 2.76715402e-02 6.41783866e+02] [ 8.44472923e-01 5.33884528e-01 4.28111304e-02 2.05488492e+02] [-5.09726677e-02 5.42375626e-04 9.98699901e-01 -1.18631204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:641.82, Y:205.53, Z:-11.87 [[ 5.33289301e-01 -8.45480564e-01 2.76611260e-02 6.41817019e+02] [ 8.44395812e-01 5.34005939e-01 4.28178582e-02 2.05533923e+02] [-5.09728725e-02 5.22633250e-04 9.98699901e-01 -1.18652595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:641.85, Y:205.58, Z:-11.87 [[ 5.33213655e-01 -8.45528626e-01 2.76503250e-02 6.41850610e+02] [ 8.44443578e-01 5.33929844e-01 4.28248320e-02 2.05577821e+02] [-5.09729551e-02 5.14354179e-04 9.98699902e-01 -1.18681303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:641.88, Y:205.62, Z:-11.87 [[ 5.34456953e-01 -8.44743561e-01 2.76420090e-02 6.41884748e+02] [ 8.43657183e-01 5.35171123e-01 4.28301990e-02 2.05622789e+02] [-5.09737399e-02 4.29481753e-04 9.98699902e-01 -1.18729401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:641.92, Y:205.67, Z:-11.88 [[ 5.36470719e-01 -8.43466451e-01 2.76317500e-02 6.41918259e+02] [ 8.42378032e-01 5.37181774e-01 4.28368166e-02 2.05668695e+02] [-5.09746901e-02 2.95681402e-04 9.98699902e-01 -1.18757075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:641.95, Y:205.71, Z:-11.88 [[ 5.39471826e-01 -8.41550451e-01 2.76222228e-02 6.41950651e+02] [ 8.40459192e-01 5.40178514e-01 4.28429591e-02 2.05714854e+02] [-5.09754428e-02 1.02781649e-04 9.98699902e-01 -1.18790268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:641.99, Y:205.76, Z:-11.88 [[ 5.44006160e-01 -8.38626685e-01 2.76148499e-02 6.41985417e+02] [ 8.37531387e-01 5.44706572e-01 4.28477109e-02 2.05760955e+02] [-5.09752239e-02 -1.81115161e-04 9.98699902e-01 -1.18806334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:642.02, Y:205.81, Z:-11.89 [[ 5.45737335e-01 -8.37501466e-01 2.76053542e-02 6.42015535e+02] [ 8.36404414e-01 5.46434997e-01 4.28538277e-02 2.05807608e+02] [-5.09746752e-02 -2.97693557e-04 9.98699902e-01 -1.18854797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:642.05, Y:205.85, Z:-11.89 [[ 5.46574890e-01 -8.36955459e-01 2.75943734e-02 6.42048163e+02] [ 8.35857353e-01 5.47270891e-01 4.28608973e-02 2.05854129e+02] [-5.09742593e-02 -3.61730268e-04 9.98699902e-01 -1.18869683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:642.08, Y:205.90, Z:-11.89 [[ 5.46347468e-01 -8.37104280e-01 2.75838593e-02 6.42081015e+02] [ 8.36006022e-01 5.47043230e-01 4.28676628e-02 2.05901155e+02] [-5.09742674e-02 -3.60366574e-04 9.98699902e-01 -1.18864480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:642.11, Y:205.95, Z:-11.89 [[ 5.45465494e-01 -8.37679561e-01 2.75744071e-02 6.42112205e+02] [ 8.36581730e-01 5.46161928e-01 4.28737420e-02 2.05947407e+02] [-5.09745487e-02 -3.17901623e-04 9.98699902e-01 -1.18879257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:642.14, Y:205.99, Z:-11.89 [[ 5.44443049e-01 -8.38344810e-01 2.75635046e-02 6.42142962e+02] [ 8.37247474e-01 5.45140265e-01 4.28807501e-02 2.05993942e+02] [-5.09748304e-02 -2.68651723e-04 9.98699902e-01 -1.18891880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:642.17, Y:206.04, Z:-11.89 [[ 5.43977340e-01 -8.38647306e-01 2.75563206e-02 6.42174030e+02] [ 8.37550124e-01 5.44674797e-01 4.28853662e-02 2.06040392e+02] [-5.09749301e-02 -2.48867706e-04 9.98699902e-01 -1.18948241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:642.21, Y:206.09, Z:-11.90 [[ 5.44956305e-01 -8.38011840e-01 2.75460067e-02 6.42205040e+02] [ 8.36913510e-01 5.45651953e-01 4.28919899e-02 2.06086997e+02] [-5.09745278e-02 -3.20635155e-04 9.98699902e-01 -1.18984582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:642.24, Y:206.13, Z:-11.90 [[ 5.45161318e-01 -8.37878824e-01 2.75356799e-02 6.42235641e+02] [ 8.36779990e-01 5.45856169e-01 4.28986186e-02 2.06134551e+02] [-5.09743648e-02 -3.45361506e-04 9.98699902e-01 -1.19017329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:642.26, Y:206.18, Z:-11.90 [[ 5.46886068e-01 -8.36754431e-01 2.75254566e-02 6.42263554e+02] [ 8.35653838e-01 5.47578130e-01 4.29051772e-02 2.06182999e+02] [-5.09734352e-02 -4.62490151e-04 9.98699902e-01 -1.19042643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:642.29, Y:206.23, Z:-11.91 [[ 5.47679681e-01 -8.36235541e-01 2.75152152e-02 6.42294476e+02] [ 8.35133962e-01 5.48370173e-01 4.29117441e-02 2.06230832e+02] [-5.09728488e-02 -5.22999660e-04 9.98699902e-01 -1.19064824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:642.32, Y:206.28, Z:-11.91 [[ 5.48508103e-01 -8.35692706e-01 2.75056964e-02 6.42323844e+02] [ 8.34590138e-01 5.49197014e-01 4.29178445e-02 2.06277935e+02] [-5.09721760e-02 -5.84802506e-04 9.98699903e-01 -1.19106617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:642.35, Y:206.33, Z:-11.91 [[ 5.49794310e-01 -8.34847444e-01 2.74947502e-02 6.42352711e+02] [ 8.33743467e-01 5.50480960e-01 4.29248560e-02 2.06327252e+02] [-5.09710428e-02 -6.76273274e-04 9.98699903e-01 -1.19138054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.645336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:642.38, Y:206.38, Z:-11.92 [[ 5.50204063e-01 -8.34577767e-01 2.74852518e-02 6.42381191e+02] [ 8.33473150e-01 5.50889683e-01 4.29309370e-02 2.06376743e+02] [-5.09705472e-02 -7.12556609e-04 9.98699903e-01 -1.19188297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:642.41, Y:206.43, Z:-11.92 [[ 5.50246838e-01 -8.34549884e-01 2.74756018e-02 6.42411134e+02] [ 8.33444924e-01 5.50931905e-01 4.29371121e-02 2.06425367e+02] [-5.09703475e-02 -7.26609393e-04 9.98699903e-01 -1.19161269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:642.44, Y:206.47, Z:-11.92 [[ 5.49904144e-01 -8.34776033e-01 2.74664623e-02 6.42441123e+02] [ 8.33671063e-01 5.50589194e-01 4.29429577e-02 2.06474533e+02] [-5.09704893e-02 -7.16515554e-04 9.98699903e-01 -1.19219288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:642.47, Y:206.52, Z:-11.93 [[ 5.49532474e-01 -8.35021040e-01 2.74576611e-02 6.42469342e+02] [ 8.33916094e-01 5.50217564e-01 4.29485845e-02 2.06523344e+02] [-5.09706591e-02 -7.04256353e-04 9.98699903e-01 -1.19256154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:642.50, Y:206.57, Z:-11.93 [[ 5.49301034e-01 -8.35173639e-01 2.74475285e-02 6.42496317e+02] [ 8.34068560e-01 5.49985909e-01 4.29550591e-02 2.06573494e+02] [-5.09706869e-02 -7.02137809e-04 9.98699903e-01 -1.19292118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:642.52, Y:206.62, Z:-11.94 [[ 5.48648535e-01 -8.35602743e-01 2.74379551e-02 6.42523997e+02] [ 8.34497894e-01 5.49333781e-01 4.29611733e-02 2.06623028e+02] [-5.09710698e-02 -6.73669014e-04 9.98699903e-01 -1.19360793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:642.55, Y:206.67, Z:-11.94 [[ 5.47913724e-01 -8.36085061e-01 2.74284824e-02 6.42551335e+02] [ 8.34980513e-01 5.48599454e-01 4.29672203e-02 2.06673453e+02] [-5.09715015e-02 -6.40081350e-04 9.98699903e-01 -1.19365250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:642.58, Y:206.72, Z:-11.94 [[ 5.46729741e-01 -8.36860084e-01 2.74187854e-02 6.42579415e+02] [ 8.35756198e-01 5.47416536e-01 4.29734073e-02 2.06723081e+02] [-5.09722258e-02 -5.79419978e-04 9.98699903e-01 -1.19396239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:642.61, Y:206.77, Z:-11.94 [[ 5.44478763e-01 -8.38326657e-01 2.74097042e-02 6.42606968e+02] [ 8.37224330e-01 5.45168057e-01 4.29791988e-02 2.06772749e+02] [-5.09735033e-02 -4.53189815e-04 9.98699903e-01 -1.19379723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:642.64, Y:206.82, Z:-11.94 [[ 5.42549699e-01 -8.39576734e-01 2.73994877e-02 6.42635778e+02] [ 8.38475666e-01 5.43241002e-01 4.29857109e-02 2.06821546e+02] [-5.09743280e-02 -3.48080828e-04 9.98699903e-01 -1.19399067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:642.66, Y:206.87, Z:-11.94 [[ 5.39255388e-01 -8.41696778e-01 2.73890697e-02 6.42663572e+02] [ 8.40598090e-01 5.39950469e-01 4.29923479e-02 2.06873147e+02] [-5.09752617e-02 -1.60655587e-04 9.98699903e-01 -1.19385206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:642.69, Y:206.92, Z:-11.95 [[ 5.36164972e-01 -8.43669035e-01 2.73803268e-02 6.42693252e+02] [ 8.42572620e-01 5.36863632e-01 4.29979152e-02 2.06921838e+02] [-5.09755113e-02 1.59377394e-05 9.98699903e-01 -1.19461177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:642.72, Y:206.97, Z:-11.95 [[ 5.31517379e-01 -8.46605043e-01 2.73710809e-02 6.42723500e+02] [ 8.45512185e-01 5.32221588e-01 4.30038001e-02 2.06967529e+02] [-5.09747142e-02 2.85315302e-04 9.98699903e-01 -1.19517576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:642.75, Y:207.02, Z:-11.95 [[ 5.29203696e-01 -8.48053494e-01 2.73627147e-02 6.42753242e+02] [ 8.46962288e-01 5.29910463e-01 4.30091228e-02 2.07015461e+02] [-5.09738256e-02 4.14600666e-04 9.98699903e-01 -1.19528691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:642.79, Y:207.06, Z:-11.95 [[ 5.28914144e-01 -8.48234445e-01 2.73524014e-02 6.42785117e+02] [ 8.47143141e-01 5.29620760e-01 4.30156806e-02 2.07063000e+02] [-5.09737816e-02 4.19797377e-04 9.98699904e-01 -1.19528229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:642.82, Y:207.11, Z:-11.96 [[ 5.29252429e-01 -8.48023712e-01 2.73432005e-02 6.42817269e+02] [ 8.46931824e-01 5.29958143e-01 4.30215285e-02 2.07109580e+02] [-5.09740280e-02 3.88578192e-04 9.98699904e-01 -1.19552370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:642.85, Y:207.16, Z:-11.96 [[ 5.30981681e-01 -8.46942358e-01 2.73330658e-02 6.42849853e+02] [ 8.45848702e-01 5.31684651e-01 4.30279664e-02 2.07155544e+02] [-5.09747789e-02 2.72576321e-04 9.98699904e-01 -1.19593340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:642.88, Y:207.20, Z:-11.96 [[ 5.32797188e-01 -8.45801755e-01 2.73230058e-02 6.42882036e+02] [ 8.44706267e-01 5.33497299e-01 4.30343537e-02 2.07203081e+02] [-5.09752817e-02 1.51331547e-04 9.98699904e-01 -1.19614054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.7253361950001 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:642.91, Y:207.25, Z:-11.97 [[ 5.37382909e-01 -8.42895951e-01 2.73134544e-02 6.42912635e+02] [ 8.41796368e-01 5.38076572e-01 4.30404150e-02 2.07248925e+02] [-5.09753214e-02 -1.36816685e-04 9.98699904e-01 -1.19677924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:642.94, Y:207.30, Z:-11.97 [[ 5.41259660e-01 -8.40412137e-01 2.73024030e-02 6.42942889e+02] [ 8.39309017e-01 5.41947684e-01 4.30474242e-02 2.07295752e+02] [-5.09740519e-02 -3.84681119e-04 9.98699904e-01 -1.19698402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:642.97, Y:207.34, Z:-11.97 [[ 5.47853558e-01 -8.36128970e-01 2.72914701e-02 6.42971810e+02] [ 8.35020128e-01 5.48532322e-01 4.30543544e-02 2.07344993e+02] [-5.09692465e-02 -7.98554428e-04 9.98699904e-01 -1.19681266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:643.00, Y:207.39, Z:-11.97 [[ 5.51509446e-01 -8.33722396e-01 2.72818181e-02 6.42999842e+02] [ 8.32610291e-01 5.52182850e-01 4.30604696e-02 2.07393441e+02] [-5.09650300e-02 -1.03313324e-03 9.98699904e-01 -1.19710431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:643.03, Y:207.44, Z:-11.98 [[ 5.53405212e-01 -8.32465482e-01 2.72744147e-02 6.43028253e+02] [ 8.31351617e-01 5.54075700e-01 4.30651584e-02 2.07442643e+02] [-5.09623483e-02 -1.15785431e-03 9.98699904e-01 -1.19756325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:643.06, Y:207.49, Z:-11.98 [[ 5.53171362e-01 -8.32621203e-01 2.72649439e-02 6.43055303e+02] [ 8.31507232e-01 5.53841674e-01 4.30711537e-02 2.07491746e+02] [-5.09624179e-02 -1.15473072e-03 9.98699904e-01 -1.19824649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:643.08, Y:207.54, Z:-11.98 [[ 5.50916447e-01 -8.34115154e-01 2.72576346e-02 6.43083300e+02] [ 8.33002772e-01 5.51589393e-01 4.30757789e-02 2.07540244e+02] [-5.09651820e-02 -1.02546990e-03 9.98699904e-01 -1.19835742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:643.11, Y:207.59, Z:-11.99 [[ 5.44982340e-01 -8.38004672e-01 2.72473785e-02 6.43112248e+02] [ 8.36896771e-01 5.45662637e-01 4.30822654e-02 2.07588782e+02] [-5.09710160e-02 -6.75830718e-04 9.98699904e-01 -1.19854134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:643.14, Y:207.64, Z:-11.99 [[ 5.36256207e-01 -8.43615680e-01 2.72371914e-02 6.43143430e+02] [ 8.42514572e-01 5.36947445e-01 4.30887048e-02 2.07635985e+02] [-5.09752473e-02 -1.58854776e-04 9.98699904e-01 -1.19870829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:643.17, Y:207.68, Z:-11.99 [[ 5.32996786e-01 -8.45679090e-01 2.72268740e-02 6.43174928e+02] [ 8.44580325e-01 5.33691743e-01 4.30952232e-02 2.07683812e+02] [-5.09754869e-02 2.56666668e-05 9.98699904e-01 -1.19898903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:643.21, Y:207.73, Z:-11.99 [[ 5.27127811e-01 -8.49350037e-01 2.72173593e-02 6.43207180e+02] [ 8.48255801e-01 5.27829877e-01 4.31012315e-02 2.07730147e+02] [-5.09741680e-02 3.67425150e-04 9.98699904e-01 -1.19930716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:643.24, Y:207.77, Z:-12.00 [[ 5.23146236e-01 -8.51808553e-01 2.72066964e-02 6.43239419e+02] [ 8.50717266e-01 5.23852877e-01 4.31079611e-02 2.07774917e+02] [-5.09720362e-02 5.93438805e-04 9.98699905e-01 -1.19980435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:643.27, Y:207.82, Z:-12.00 [[ 5.22110107e-01 -8.52444386e-01 2.71956835e-02 6.43272975e+02] [ 8.51353598e-01 5.22817517e-01 4.31149078e-02 2.07820488e+02] [-5.09714408e-02 6.42413844e-04 9.98699905e-01 -1.20008286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:643.30, Y:207.87, Z:-12.01 [[ 5.24563249e-01 -8.50937344e-01 2.71851677e-02 6.43304701e+02] [ 8.49844180e-01 5.25266982e-01 4.31215373e-02 2.07865964e+02] [-5.09731974e-02 4.83182893e-04 9.98699905e-01 -1.20052222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:643.34, Y:207.91, Z:-12.00 [[ 5.30886659e-01 -8.47007036e-01 2.71742059e-02 6.43338282e+02] [ 8.45908307e-01 5.31581672e-01 4.31284441e-02 2.07913486e+02] [-5.09754053e-02 9.05709040e-05 9.98699905e-01 -1.20002535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:643.37, Y:207.96, Z:-12.01 [[ 5.36623030e-01 -8.43384701e-01 2.71656082e-02 6.43368150e+02] [ 8.42281007e-01 5.37310130e-01 4.31338589e-02 2.07961052e+02] [-5.09747931e-02 -2.65546208e-04 9.98699905e-01 -1.20092213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:643.40, Y:208.01, Z:-12.01 [[ 5.39303718e-01 -8.41673298e-01 2.71580414e-02 6.43398102e+02] [ 8.40567184e-01 5.39986915e-01 4.31386225e-02 2.08008113e+02] [-5.09736137e-02 -4.36661101e-04 9.98699905e-01 -1.20119523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:643.43, Y:208.06, Z:-12.01 [[ 5.41722218e-01 -8.40119071e-01 2.71474530e-02 6.43431557e+02] [ 8.39010663e-01 5.42401688e-01 4.31452849e-02 2.08056169e+02] [-5.09720010e-02 -5.95756902e-04 9.98699905e-01 -1.20065804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:643.46, Y:208.10, Z:-12.02 [[ 5.41978627e-01 -8.39953954e-01 2.71389614e-02 6.43460250e+02] [ 8.38845072e-01 5.42657322e-01 4.31506256e-02 2.08104573e+02] [-5.09716947e-02 -6.21332750e-04 9.98699905e-01 -1.20169572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:643.49, Y:208.15, Z:-12.02 [[ 5.42790565e-01 -8.39429808e-01 2.71293276e-02 6.43490566e+02] [ 8.38319967e-01 5.43467693e-01 4.31566816e-02 2.08152116e+02] [-5.09709180e-02 -6.81982597e-04 9.98699905e-01 -1.20200953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:643.52, Y:208.20, Z:-12.02 [[ 5.43622285e-01 -8.38891758e-01 2.71187980e-02 6.43521264e+02] [ 8.37780918e-01 5.44297771e-01 4.31632972e-02 2.08200900e+02] [-5.09700356e-02 -7.44918807e-04 9.98699905e-01 -1.20215130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:643.55, Y:208.25, Z:-12.02 [[ 5.45692634e-01 -8.37546797e-01 2.71092504e-02 6.43549513e+02] [ 8.36433995e-01 5.46364882e-01 4.31692929e-02 2.08251494e+02] [-5.09678454e-02 -8.82066520e-04 9.98699905e-01 -1.20224471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:643.58, Y:208.30, Z:-12.02 [[ 5.46621531e-01 -8.36941126e-01 2.71007835e-02 6.43576895e+02] [ 8.35827316e-01 5.47292108e-01 4.31746075e-02 2.08299412e+02] [-5.09666496e-02 -9.48594959e-04 9.98699905e-01 -1.20249056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:643.61, Y:208.35, Z:-12.03 [[ 5.45482297e-01 -8.37684346e-01 2.70924305e-02 6.43605824e+02] [ 8.36571189e-01 5.46153958e-01 4.31798485e-02 2.08348937e+02] [-5.09677213e-02 -8.89096093e-04 9.98699905e-01 -1.20293871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:643.63, Y:208.40, Z:-12.03 [[ 5.42734296e-01 -8.39467687e-01 2.70829504e-02 6.43634442e+02] [ 8.38356441e-01 5.43409114e-01 4.31857937e-02 2.08396522e+02] [-5.09702004e-02 -7.33245440e-04 9.98699905e-01 -1.20345818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:643.66, Y:208.44, Z:-12.04 [[ 5.37300286e-01 -8.42956411e-01 2.70719866e-02 6.43663953e+02] [ 8.41849201e-01 5.37981706e-01 4.31926655e-02 2.08444130e+02] [-5.09737678e-02 -4.16901185e-04 9.98699905e-01 -1.20370123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:643.69, Y:208.49, Z:-12.04 [[ 5.34081219e-01 -8.44999946e-01 2.70618410e-02 6.43694470e+02] [ 8.43895022e-01 5.34766338e-01 4.31990212e-02 2.08491661e+02] [-5.09749322e-02 -2.34433020e-04 9.98699906e-01 -1.20380023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:643.73, Y:208.54, Z:-12.04 [[ 5.31787715e-01 -8.46445536e-01 2.70514422e-02 6.43725560e+02] [ 8.45342144e-01 5.32475297e-01 4.32055320e-02 2.08538331e+02] [-5.09753544e-02 -1.08446998e-04 9.98699906e-01 -1.20391398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:643.75, Y:208.59, Z:-12.04 [[ 5.31094694e-01 -8.46880868e-01 2.70411157e-02 6.43754728e+02] [ 8.45777710e-01 5.31782652e-01 4.32119941e-02 2.08586695e+02] [-5.09754073e-02 -7.88878082e-05 9.98699906e-01 -1.20421304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:643.79, Y:208.63, Z:-12.04 [[ 5.30496735e-01 -8.47255892e-01 2.70308645e-02 6.43785835e+02] [ 8.46152893e-01 5.31184950e-01 4.32184057e-02 2.08633903e+02] [-5.09754373e-02 -5.49789602e-05 9.98699906e-01 -1.20433096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:643.82, Y:208.68, Z:-12.05 [[ 5.29343276e-01 -8.47977353e-01 2.70204419e-02 6.43817511e+02] [ 8.46874960e-01 5.30032460e-01 4.32249210e-02 2.08680926e+02] [-5.09754654e-02 2.11434162e-06 9.98699906e-01 -1.20460939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:643.85, Y:208.73, Z:-12.05 [[ 5.28830776e-01 -8.48297403e-01 2.70097400e-02 6.43849443e+02] [ 8.47195085e-01 5.29520080e-01 4.32316072e-02 2.08726029e+02] [-5.09754598e-02 2.03145852e-05 9.98699906e-01 -1.20513885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.645336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:643.88, Y:208.77, Z:-12.05 [[ 5.30800077e-01 -8.47066911e-01 2.69986477e-02 6.43883644e+02] [ 8.45962643e-01 5.31486252e-01 4.32385334e-02 2.08772696e+02] [-5.09753410e-02 -1.11169467e-04 9.98699906e-01 -1.20490014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:643.91, Y:208.82, Z:-12.06 [[ 5.36387495e-01 -8.43540098e-01 2.69918284e-02 6.43913093e+02] [ 8.42431104e-01 5.37066007e-01 4.32427899e-02 2.08820054e+02] [-5.09734208e-02 -4.56135951e-04 9.98699906e-01 -1.20552665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:643.94, Y:208.87, Z:-12.06 [[ 5.39643626e-01 -8.41460997e-01 2.69842007e-02 6.43942393e+02] [ 8.40349153e-01 5.40317454e-01 4.32475492e-02 2.08869259e+02] [-5.09711605e-02 -6.62114027e-04 9.98699906e-01 -1.20560046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:643.97, Y:208.92, Z:-12.06 [[ 5.42978642e-01 -8.39313158e-01 2.69743803e-02 6.43970890e+02] [ 8.38198344e-01 5.43647547e-01 4.32536735e-02 2.08917160e+02] [-5.09679330e-02 -8.75939986e-04 9.98699906e-01 -1.20624725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:644.00, Y:208.96, Z:-12.07 [[ 5.43305530e-01 -8.39101922e-01 2.69641524e-02 6.44000555e+02] [ 8.37986532e-01 5.43973474e-01 4.32600486e-02 2.08963191e+02] [-5.09673736e-02 -9.07827070e-04 9.98699906e-01 -1.20692646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:644.03, Y:209.01, Z:-12.07 [[ 5.41298869e-01 -8.40398149e-01 2.69533862e-02 6.44029196e+02] [ 8.39284025e-01 5.41968922e-01 4.32667556e-02 2.09010252e+02] [-5.09691990e-02 -7.98699392e-04 9.98699906e-01 -1.20707470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:644.06, Y:209.06, Z:-12.07 [[ 5.39428333e-01 -8.41600348e-01 2.69430658e-02 6.44059140e+02] [ 8.40487396e-01 5.40100332e-01 4.32731813e-02 2.09057787e+02] [-5.09706832e-02 -6.97472838e-04 9.98699906e-01 -1.20693520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.065336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:644.09, Y:209.11, Z:-12.07 [[ 5.38182903e-01 -8.42397648e-01 2.69326168e-02 6.44091098e+02] [ 8.41285367e-01 5.38856011e-01 4.32796837e-02 2.09105692e+02] [-5.09715062e-02 -6.34369394e-04 9.98699906e-01 -1.20724811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:644.12, Y:209.15, Z:-12.07 [[ 5.37255962e-01 -8.42989431e-01 2.69230614e-02 6.44121081e+02] [ 8.41877593e-01 5.37929802e-01 4.32856270e-02 2.09152259e+02] [-5.09720431e-02 -5.89539035e-04 9.98699907e-01 -1.20745814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:644.15, Y:209.20, Z:-12.08 [[ 5.36858721e-01 -8.43242823e-01 2.69119884e-02 6.44151366e+02] [ 8.42130959e-01 5.37532517e-01 4.32925103e-02 2.09199982e+02] [-5.09721675e-02 -5.78543100e-04 9.98699907e-01 -1.20763404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:644.18, Y:209.25, Z:-12.08 [[ 5.35426482e-01 -8.44153303e-01 2.69013763e-02 6.44183290e+02] [ 8.43042253e-01 5.36101620e-01 4.32991035e-02 2.09246649e+02] [-5.09729527e-02 -5.04489797e-04 9.98699907e-01 -1.20777352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:644.21, Y:209.29, Z:-12.08 [[ 5.34170073e-01 -8.44949240e-01 2.68908021e-02 6.44213564e+02] [ 8.43838866e-01 5.34846322e-01 4.33056696e-02 2.09292914e+02] [-5.09735392e-02 -4.41088740e-04 9.98699907e-01 -1.20823991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:644.25, Y:209.34, Z:-12.08 [[ 5.33648133e-01 -8.45279330e-01 2.68798159e-02 6.44246986e+02] [ 8.44169031e-01 5.34324504e-01 4.33124877e-02 2.09338524e+02] [-5.09736949e-02 -4.22520047e-04 9.98699907e-01 -1.20849904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:644.28, Y:209.38, Z:-12.09 [[ 5.33853690e-01 -8.45149859e-01 2.68691927e-02 6.44280240e+02] [ 8.44039064e-01 5.34529247e-01 4.33190769e-02 2.09384462e+02] [-5.09734810e-02 -4.47400794e-04 9.98699907e-01 -1.20874634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:644.32, Y:209.43, Z:-12.09 [[ 5.34620790e-01 -8.44665154e-01 2.68586684e-02 6.44315708e+02] [ 8.43553419e-01 5.35294798e-01 4.33256012e-02 2.09428833e+02] [-5.09729311e-02 -5.06045548e-04 9.98699907e-01 -1.20911530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:644.35, Y:209.47, Z:-12.09 [[ 5.34641563e-01 -8.44652339e-01 2.68481834e-02 6.44349077e+02] [ 8.43540262e-01 5.35315006e-01 4.33320976e-02 2.09473660e+02] [-5.09727930e-02 -5.19616699e-04 9.98699907e-01 -1.20939251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:644.38, Y:209.52, Z:-12.10 [[ 5.36331176e-01 -8.43580837e-01 2.68373029e-02 6.44384330e+02] [ 8.42467078e-01 5.37001833e-01 4.33388352e-02 2.09517801e+02] [-5.09714918e-02 -6.34424256e-04 9.98699907e-01 -1.20992933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:644.42, Y:209.56, Z:-12.10 [[ 5.39721438e-01 -8.41416115e-01 2.68270660e-02 6.44417836e+02] [ 8.40299351e-01 5.40387081e-01 4.33451711e-02 2.09563354e+02] [-5.09683253e-02 -8.51551912e-04 9.98699907e-01 -1.21039048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.7253361950001 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:644.45, Y:209.61, Z:-12.11 [[ 5.42427518e-01 -8.39674499e-01 2.68164863e-02 6.44448839e+02] [ 8.38555275e-01 5.43089016e-01 4.33517154e-02 2.09609049e+02] [-5.09650691e-02 -1.02805731e-03 9.98699907e-01 -1.21085115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:644.48, Y:209.66, Z:-12.11 [[ 5.46103802e-01 -8.37288542e-01 2.68055029e-02 6.44480074e+02] [ 8.36166097e-01 5.46759818e-01 4.33585057e-02 2.09655651e+02] [-5.09597519e-02 -1.26439209e-03 9.98699907e-01 -1.21096624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.845336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:644.51, Y:209.70, Z:-12.11 [[ 5.47149706e-01 -8.36605778e-01 2.67949751e-02 6.44511041e+02] [ 8.35482197e-01 5.47803774e-01 4.33650108e-02 2.09702503e+02] [-5.09578071e-02 -1.34042825e-03 9.98699907e-01 -1.21131895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:644.54, Y:209.75, Z:-12.11 [[ 5.45423085e-01 -8.37732804e-01 2.67844437e-02 6.44538531e+02] [ 8.36610256e-01 5.46078924e-01 4.33715145e-02 2.09750971e+02] [-5.09601607e-02 -1.24768497e-03 9.98699908e-01 -1.21140676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:644.57, Y:209.80, Z:-12.11 [[ 5.42177398e-01 -8.39837334e-01 2.67753848e-02 6.44568889e+02] [ 8.38717056e-01 5.42837108e-01 4.33771063e-02 2.09798108e+02] [-5.09643858e-02 -1.06111469e-03 9.98699908e-01 -1.21143759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:644.60, Y:209.85, Z:-12.12 [[ 5.35786605e-01 -8.43929116e-01 2.67649220e-02 6.44597824e+02] [ 8.42813556e-01 5.36454263e-01 4.33835612e-02 2.09846192e+02] [-5.09708070e-02 -6.86491922e-04 9.98699908e-01 -1.21168377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:644.63, Y:209.89, Z:-12.12 [[ 5.28919202e-01 -8.48250361e-01 2.67544884e-02 6.44630464e+02] [ 8.47139932e-01 5.29595358e-01 4.33899946e-02 2.09892506e+02] [-5.09746315e-02 -2.85005837e-04 9.98699908e-01 -1.21193329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:644.66, Y:209.94, Z:-12.12 [[ 5.23354016e-01 -8.51695568e-01 2.67438582e-02 6.44663172e+02] [ 8.50589255e-01 5.24036887e-01 4.33965457e-02 2.09939003e+02] [-5.09754138e-02 3.62819696e-05 9.98699908e-01 -1.21212570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:644.69, Y:209.99, Z:-12.13 [[ 5.21068784e-01 -8.53095908e-01 2.67337412e-02 6.44694580e+02] [ 8.51991111e-01 5.21754104e-01 4.34027772e-02 2.09985449e+02] [-5.09751708e-02 1.61077501e-04 9.98699908e-01 -1.21264213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.265336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:644.73, Y:210.03, Z:-12.13 [[ 5.19961314e-01 -8.53771698e-01 2.67230256e-02 6.44725625e+02] [ 8.52667452e-01 5.20647522e-01 4.34093738e-02 2.10030808e+02] [-5.09749718e-02 2.14659186e-04 9.98699908e-01 -1.21316325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:644.76, Y:210.08, Z:-12.13 [[ 5.20441805e-01 -8.53479230e-01 2.67120030e-02 6.44757773e+02] [ 8.52374251e-01 5.21126831e-01 4.34161555e-02 2.10075402e+02] [-5.09751284e-02 1.73041193e-04 9.98699908e-01 -1.21335273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:644.79, Y:210.12, Z:-12.14 [[ 5.21735399e-01 -8.52689404e-01 2.67011855e-02 6.44788129e+02] [ 8.51583048e-01 5.22418197e-01 4.34228073e-02 2.10123373e+02] [-5.09753529e-02 8.30612630e-05 9.98699908e-01 -1.21355161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:644.82, Y:210.17, Z:-12.14 [[ 5.23966993e-01 -8.51320270e-01 2.66906128e-02 6.44819328e+02] [ 8.50211798e-01 5.24646352e-01 4.34293051e-02 2.10169779e+02] [-5.09753803e-02 -6.28485118e-05 9.98699908e-01 -1.21389786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:644.85, Y:210.22, Z:-12.14 [[ 5.25214269e-01 -8.50551674e-01 2.66799849e-02 6.44848257e+02] [ 8.49441876e-01 5.25891460e-01 4.34358331e-02 2.10217812e+02] [-5.09751968e-02 -1.50022900e-04 9.98699908e-01 -1.21427346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:644.88, Y:210.27, Z:-12.15 [[ 5.26461279e-01 -8.49780718e-01 2.66693115e-02 6.44877277e+02] [ 8.48669597e-01 5.27136296e-01 4.34423855e-02 2.10265114e+02] [-5.09748637e-02 -2.37300021e-04 9.98699908e-01 -1.21463049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:644.90, Y:210.31, Z:-12.15 [[ 5.27757409e-01 -8.48976711e-01 2.66582315e-02 6.44904478e+02] [ 8.47864218e-01 5.28430162e-01 4.34491836e-02 2.10312984e+02] [-5.09743586e-02 -3.28067932e-04 9.98699908e-01 -1.21503327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:644.93, Y:210.36, Z:-12.15 [[ 5.29020606e-01 -8.48190482e-01 2.66477977e-02 6.44931474e+02] [ 8.47076667e-01 5.29691168e-01 4.34555819e-02 2.10362413e+02] [-5.09737140e-02 -4.16170565e-04 9.98699909e-01 -1.21519432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.745336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:644.96, Y:210.41, Z:-12.15 [[ 5.27018315e-01 -8.49436375e-01 2.66372030e-02 6.44958548e+02] [ 8.48323817e-01 5.27690961e-01 4.34620752e-02 2.10411219e+02] [-5.09744788e-02 -3.08335893e-04 9.98699909e-01 -1.21547497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.805336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:644.99, Y:210.46, Z:-12.16 [[ 5.23618940e-01 -8.51536321e-01 2.66289168e-02 6.44987171e+02] [ 8.50426203e-01 5.24295604e-01 4.34671515e-02 2.10459815e+02] [-5.09752823e-02 -1.14295202e-04 9.98699909e-01 -1.21593206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.865336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:645.01, Y:210.51, Z:-12.16 [[ 5.18557025e-01 -8.54628614e-01 2.66184938e-02 6.45014826e+02] [ 8.53522203e-01 5.19239734e-01 4.34735334e-02 2.10509157e+02] [-5.09751053e-02 1.75969316e-04 9.98699909e-01 -1.21629144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:645.04, Y:210.56, Z:-12.16 [[ 5.16090203e-01 -8.56120860e-01 2.66078132e-02 6.45042938e+02] [ 8.55016085e-01 5.16775558e-01 4.34800695e-02 2.10557670e+02] [-5.09744620e-02 3.10470367e-04 9.98699909e-01 -1.21643802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:645.07, Y:210.61, Z:-12.17 [[ 5.15428732e-01 -8.56519597e-01 2.65970240e-02 6.45068889e+02] [ 8.55415012e-01 5.16114392e-01 4.34866683e-02 2.10606757e+02] [-5.09742905e-02 3.37215256e-04 9.98699909e-01 -1.21702949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:645.10, Y:210.66, Z:-12.17 [[ 5.15766241e-01 -8.56316752e-01 2.65857997e-02 6.45095846e+02] [ 8.55211544e-01 5.16450896e-01 4.34935293e-02 2.10655852e+02] [-5.09744978e-02 3.03988697e-04 9.98699909e-01 -1.21745597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:645.12, Y:210.70, Z:-12.18 [[ 5.15743571e-01 -8.56330720e-01 2.65756651e-02 6.45124158e+02] [ 8.55225212e-01 5.16427740e-01 4.34997209e-02 2.10704485e+02] [-5.09745580e-02 2.93477451e-04 9.98699909e-01 -1.21770276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:645.15, Y:210.75, Z:-12.18 [[ 5.15947896e-01 -8.56207945e-01 2.65654713e-02 6.45151177e+02] [ 8.55101953e-01 5.16631283e-01 4.35059454e-02 2.10753915e+02] [-5.09746896e-02 2.69385455e-04 9.98699909e-01 -1.21810117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.2253361950001 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:645.18, Y:210.80, Z:-12.19 [[ 5.15643822e-01 -8.56391426e-01 2.65551054e-02 6.45178690e+02] [ 8.55285352e-01 5.16327076e-01 4.35122716e-02 2.10802844e+02] [-5.09746563e-02 2.75358641e-04 9.98699909e-01 -1.21856911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:645.21, Y:210.85, Z:-12.19 [[ 5.14976683e-01 -8.56793084e-01 2.65448109e-02 6.45205372e+02] [ 8.55687219e-01 5.15660274e-01 4.35185509e-02 2.10851442e+02] [-5.09744979e-02 3.03016450e-04 9.98699909e-01 -1.21909985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:645.23, Y:210.90, Z:-12.20 [[ 5.12371324e-01 -8.58353987e-01 2.65341198e-02 6.45234059e+02] [ 8.57249867e-01 5.13057730e-01 4.35250685e-02 2.10898654e+02] [-5.09734514e-02 4.45373725e-04 9.98699909e-01 -1.21953364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:645.26, Y:210.95, Z:-12.19 [[ 5.11000075e-01 -8.59171364e-01 2.65233865e-02 6.45261338e+02] [ 8.58068002e-01 5.11687700e-01 4.35316082e-02 2.10947731e+02] [-5.09728018e-02 5.14214248e-04 9.98699909e-01 -1.21948482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:645.29, Y:211.00, Z:-12.19 [[ 5.11934398e-01 -8.58615295e-01 2.65131559e-02 6.45290064e+02] [ 8.57510864e-01 5.12620304e-01 4.35378383e-02 2.10997237e+02] [-5.09734359e-02 4.46802198e-04 9.98699909e-01 -1.21948535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:645.32, Y:211.05, Z:-12.20 [[ 5.13783144e-01 -8.57510603e-01 2.65037062e-02 6.45317747e+02] [ 8.56404400e-01 5.14466189e-01 4.35435900e-02 2.11045927e+02] [-5.09743509e-02 3.25928047e-04 9.98699910e-01 -1.21979272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:645.35, Y:211.09, Z:-12.20 [[ 5.13540615e-01 -8.57656192e-01 2.64932609e-02 6.45348438e+02] [ 8.56549855e-01 5.14223442e-01 4.35499444e-02 2.11093335e+02] [-5.09743353e-02 3.28133618e-04 9.98699910e-01 -1.21995961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:645.38, Y:211.14, Z:-12.20 [[ 5.12317102e-01 -8.58387943e-01 2.64825737e-02 6.45377720e+02] [ 8.57282245e-01 5.13000964e-01 4.35564423e-02 2.11141533e+02] [-5.09739107e-02 3.88329941e-04 9.98699910e-01 -1.22013906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:645.41, Y:211.19, Z:-12.21 [[ 5.11732596e-01 -8.58736862e-01 2.64717141e-02 6.45407262e+02] [ 8.57631289e-01 5.12416660e-01 4.35630413e-02 2.11187966e+02] [-5.09737367e-02 4.10342084e-04 9.98699910e-01 -1.22058760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:645.44, Y:211.23, Z:-12.21 [[ 5.12241467e-01 -8.58433763e-01 2.64604339e-02 6.45439456e+02] [ 8.57327431e-01 5.12924303e-01 4.35698919e-02 2.11232872e+02] [-5.09740658e-02 3.66950523e-04 9.98699910e-01 -1.22088527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:645.47, Y:211.28, Z:-12.21 [[ 5.16295558e-01 -8.56001948e-01 2.64492340e-02 6.45471045e+02] [ 8.54892052e-01 5.16972583e-01 4.35766897e-02 2.11279985e+02] [-5.09752601e-02 1.12788570e-04 9.98699910e-01 -1.22089843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:645.50, Y:211.33, Z:-12.21 [[ 5.21712319e-01 -8.52711704e-01 2.64387291e-02 6.45500420e+02] [ 8.51597214e-01 5.22381758e-01 4.35830623e-02 2.11326660e+02] [-5.09748971e-02 -2.22672512e-04 9.98699910e-01 -1.22148967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:645.53, Y:211.37, Z:-12.22 [[ 5.24685395e-01 -8.50885896e-01 2.64277956e-02 6.45529466e+02] [ 8.49768744e-01 5.25350379e-01 4.35896911e-02 2.11374315e+02] [-5.09737058e-02 -4.13359618e-04 9.98699910e-01 -1.22186019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:645.56, Y:211.42, Z:-12.22 [[ 5.26893161e-01 -8.49520863e-01 2.64178020e-02 6.45560503e+02] [ 8.48401684e-01 5.27554730e-01 4.35957470e-02 2.11422542e+02] [-5.09723330e-02 -5.57393223e-04 9.98699910e-01 -1.22241238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:645.59, Y:211.47, Z:-12.23 [[ 5.27341578e-01 -8.49242882e-01 2.64081025e-02 6.45589508e+02] [ 8.48123061e-01 5.28002058e-01 4.36016217e-02 2.11470479e+02] [-5.09718993e-02 -5.95627296e-04 9.98699910e-01 -1.22277505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:645.62, Y:211.52, Z:-12.23 [[ 5.28138169e-01 -8.48748051e-01 2.63973724e-02 6.45617992e+02] [ 8.47627286e-01 5.28797046e-01 4.36081169e-02 2.11517913e+02] [-5.09711568e-02 -6.55977908e-04 9.98699910e-01 -1.22317269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:645.65, Y:211.57, Z:-12.23 [[ 5.28756581e-01 -8.48363275e-01 2.63861984e-02 6.45646348e+02] [ 8.47241694e-01 5.29414067e-01 4.36148770e-02 2.11565260e+02] [-5.09704845e-02 -7.06165816e-04 9.98699910e-01 -1.22341555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:645.67, Y:211.61, Z:-12.24 [[ 5.28499109e-01 -8.48524036e-01 2.63752169e-02 6.45674685e+02] [ 8.47402324e-01 5.29156371e-01 4.36215168e-02 2.11614464e+02] [-5.09705196e-02 -7.03512646e-04 9.98699910e-01 -1.22352289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:645.70, Y:211.66, Z:-12.24 [[ 5.28622852e-01 -8.48447288e-01 2.63643553e-02 6.45701018e+02] [ 8.47325153e-01 5.29279393e-01 4.36280805e-02 2.11662703e+02] [-5.09702365e-02 -7.23618902e-04 9.98699911e-01 -1.22391835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:645.73, Y:211.71, Z:-12.24 [[ 5.28621144e-01 -8.48448620e-01 2.63557317e-02 6.45727401e+02] [ 8.47326227e-01 5.29277244e-01 4.36332894e-02 2.11712834e+02] [-5.09700932e-02 -7.33576680e-04 9.98699911e-01 -1.22400499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:645.76, Y:211.76, Z:-12.24 [[ 5.27213549e-01 -8.49324295e-01 2.63460967e-02 6.45755485e+02] [ 8.48202701e-01 5.27871013e-01 4.36391063e-02 2.11763353e+02] [-5.09710939e-02 -6.60297750e-04 9.98699911e-01 -1.22369584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:645.78, Y:211.81, Z:-12.25 [[ 5.25664245e-01 -8.50284340e-01 2.63371054e-02 6.45781924e+02] [ 8.49163675e-01 5.26323292e-01 4.36445320e-02 2.11812900e+02] [-5.09720941e-02 -5.77856739e-04 9.98699911e-01 -1.22455734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:645.81, Y:211.86, Z:-12.25 [[ 5.24821532e-01 -8.50805077e-01 2.63264184e-02 6.45809493e+02] [ 8.49684743e-01 5.25481140e-01 4.36509775e-02 2.11862711e+02] [-5.09725097e-02 -5.39816817e-04 9.98699911e-01 -1.22499806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:645.84, Y:211.91, Z:-12.25 [[ 5.23886616e-01 -8.51381373e-01 2.63167685e-02 6.45835413e+02] [ 8.50261472e-01 5.24546960e-01 4.36567946e-02 2.11911522e+02] [-5.09729626e-02 -4.95076052e-04 9.98699911e-01 -1.22514615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:645.86, Y:211.96, Z:-12.25 [[ 5.23257531e-01 -8.51768491e-01 2.63057722e-02 6.45863557e+02] [ 8.50648746e-01 5.23918139e-01 4.36634195e-02 2.11959972e+02] [-5.09731962e-02 -4.70240988e-04 9.98699911e-01 -1.22512144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:645.89, Y:212.01, Z:-12.25 [[ 5.23119527e-01 -8.51853586e-01 2.62950370e-02 6.45891285e+02] [ 8.50733623e-01 5.23779766e-01 4.36698835e-02 2.12008862e+02] [-5.09731552e-02 -4.74496727e-04 9.98699911e-01 -1.22541116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:645.92, Y:212.06, Z:-12.26 [[ 5.24543794e-01 -8.50977639e-01 2.62843403e-02 6.45918372e+02] [ 8.49856252e-01 5.25201609e-01 4.36763208e-02 2.12057115e+02] [-5.09721502e-02 -5.72232025e-04 9.98699911e-01 -1.22602860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:645.94, Y:212.11, Z:-12.27 [[ 5.27682164e-01 -8.49035483e-01 2.62732029e-02 6.45944930e+02] [ 8.47911342e-01 5.28335263e-01 4.36830194e-02 2.12107777e+02] [-5.09694930e-02 -7.73403442e-04 9.98699911e-01 -1.22659480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:645.97, Y:212.16, Z:-12.27 [[ 5.28743861e-01 -8.48375000e-01 2.62638458e-02 6.45971223e+02] [ 8.47249763e-01 5.29395071e-01 4.36886445e-02 2.12157576e+02] [-5.09683043e-02 -8.48065442e-04 9.98699911e-01 -1.22704603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:646.00, Y:212.21, Z:-12.27 [[ 5.28405236e-01 -8.48586274e-01 2.62534024e-02 6.45998931e+02] [ 8.47460987e-01 5.29056358e-01 4.36949193e-02 2.12205137e+02] [-5.09684382e-02 -8.39889886e-04 9.98699911e-01 -1.22735441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:646.03, Y:212.25, Z:-12.28 [[ 5.27466384e-01 -8.49170502e-01 2.62425713e-02 6.46025554e+02] [ 8.48045613e-01 5.28118192e-01 4.37014233e-02 2.12253304e+02] [-5.09691389e-02 -7.96134265e-04 9.98699911e-01 -1.22753642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:646.05, Y:212.30, Z:-12.28 [[ 5.27928940e-01 -8.48883335e-01 2.62319898e-02 6.46050875e+02] [ 8.47757776e-01 5.28579591e-01 4.37077740e-02 2.12301950e+02] [-5.09684954e-02 -8.36225418e-04 9.98699911e-01 -1.22788399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:646.08, Y:212.35, Z:-12.28 [[ 5.28726193e-01 -8.48387320e-01 2.62215122e-02 6.46078205e+02] [ 8.47260839e-01 5.29375247e-01 4.37140589e-02 2.12351046e+02] [-5.09674728e-02 -8.96307549e-04 9.98699912e-01 -1.22789388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.205336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:646.10, Y:212.40, Z:-12.28 [[ 5.28684384e-01 -8.48413695e-01 2.62111532e-02 6.46104196e+02] [ 8.47286939e-01 5.29332959e-01 4.37202693e-02 2.12400759e+02] [-5.09673025e-02 -9.05855887e-04 9.98699912e-01 -1.22815194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:646.13, Y:212.45, Z:-12.29 [[ 5.26752581e-01 -8.49614758e-01 2.62008001e-02 6.46132977e+02] [ 8.48489172e-01 5.27403186e-01 4.37264728e-02 2.12449563e+02] [-5.09690421e-02 -8.01937208e-04 9.98699912e-01 -1.22859163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:646.16, Y:212.50, Z:-12.29 [[ 5.25101433e-01 -8.50636538e-01 2.61909475e-02 6.46161162e+02] [ 8.49511924e-01 5.25753717e-01 4.37323735e-02 2.12498936e+02] [-5.09703428e-02 -7.14409748e-04 9.98699912e-01 -1.22902103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:646.19, Y:212.55, Z:-12.29 [[ 5.22841232e-01 -8.52027918e-01 2.61815474e-02 6.46189270e+02] [ 8.50904759e-01 5.23496016e-01 4.37380004e-02 2.12547480e+02] [-5.09719332e-02 -5.90026769e-04 9.98699912e-01 -1.22929715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:646.22, Y:212.60, Z:-12.29 [[ 5.20911429e-01 -8.53209445e-01 2.61710691e-02 6.46218400e+02] [ 8.52087457e-01 5.21568217e-01 4.37442693e-02 2.12596205e+02] [-5.09730216e-02 -4.86850196e-04 9.98699912e-01 -1.22934141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:646.25, Y:212.64, Z:-12.30 [[ 5.18211109e-01 -8.54852524e-01 2.61611928e-02 6.46250113e+02] [ 8.53732320e-01 5.18870936e-01 4.37501750e-02 2.12643347e+02] [-5.09742301e-02 -3.37170879e-04 9.98699912e-01 -1.22951720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:646.28, Y:212.69, Z:-12.30 [[ 5.16378724e-01 -8.55960965e-01 2.61503263e-02 6.46280942e+02] [ 8.54841848e-01 5.17040393e-01 4.37566692e-02 2.12691112e+02] [-5.09747758e-02 -2.40619706e-04 9.98699912e-01 -1.22965637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:646.31, Y:212.74, Z:-12.31 [[ 5.14296632e-01 -8.57213887e-01 2.61405001e-02 6.46313160e+02] [ 8.56096084e-01 5.14960518e-01 4.37625386e-02 2.12737245e+02] [-5.09751813e-02 -1.28146396e-04 9.98699912e-01 -1.23054932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.685336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:646.35, Y:212.78, Z:-12.31 [[ 5.13285412e-01 -8.57820083e-01 2.61302781e-02 6.46346795e+02] [ 8.56702753e-01 5.13950094e-01 4.37686412e-02 2.12782669e+02] [-5.09752784e-02 -7.99238285e-05 9.98699912e-01 -1.23070389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.745336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:646.38, Y:212.83, Z:-12.31 [[ 5.14403320e-01 -8.57150507e-01 2.61195831e-02 6.46380652e+02] [ 8.56031988e-01 5.15065998e-01 4.37750227e-02 2.12827156e+02] [-5.09750921e-02 -1.58818331e-04 9.98699912e-01 -1.23102124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:646.41, Y:212.87, Z:-12.31 [[ 5.16524553e-01 -8.55874171e-01 2.61110984e-02 6.46411685e+02] [ 8.54753759e-01 5.17184025e-01 4.37800831e-02 2.12873965e+02] [-5.09744853e-02 -2.94928365e-04 9.98699912e-01 -1.23114149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:646.44, Y:212.92, Z:-12.31 [[ 5.21305347e-01 -8.52970964e-01 2.61011668e-02 6.46444537e+02] [ 8.51846583e-01 5.21958030e-01 4.37860035e-02 2.12919528e+02] [-5.09719032e-02 -5.91688006e-04 9.98699912e-01 -1.23111716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:646.47, Y:212.97, Z:-12.32 [[ 5.26036949e-01 -8.50061393e-01 2.60912954e-02 6.46473124e+02] [ 8.48933112e-01 5.26682867e-01 4.37918849e-02 2.12969336e+02] [-5.09676289e-02 -8.86384956e-04 9.98699912e-01 -1.23152823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:646.50, Y:213.02, Z:-12.32 [[ 5.33649473e-01 -8.45303468e-01 2.60823156e-02 6.46501389e+02] [ 8.44169171e-01 5.34284767e-01 4.37972325e-02 2.13018814e+02] [-5.09573365e-02 -1.35448330e-03 9.98699913e-01 -1.23206944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:646.53, Y:213.07, Z:-12.32 [[ 5.39310030e-01 -8.41703568e-01 2.60728791e-02 6.46525684e+02] [ 8.40564764e-01 5.39937208e-01 4.38028495e-02 2.13068023e+02] [-5.09467322e-02 -1.70737261e-03 9.98699913e-01 -1.23244139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:646.55, Y:213.12, Z:-12.33 [[ 5.41284653e-01 -8.40435421e-01 2.60619890e-02 6.46549577e+02] [ 8.39294838e-01 5.41908589e-01 4.38093279e-02 2.13118436e+02] [-5.09421267e-02 -1.83962405e-03 9.98699913e-01 -1.23278359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:646.57, Y:213.17, Z:-12.33 [[ 5.40699427e-01 -8.40812374e-01 2.60515124e-02 6.46573768e+02] [ 8.39671927e-01 5.41323611e-01 4.38155570e-02 2.13169177e+02] [-5.09429613e-02 -1.81632294e-03 9.98699913e-01 -1.23269064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.2253361950001 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:646.60, Y:213.22, Z:-12.33 [[ 5.38058829e-01 -8.42504865e-01 2.60432266e-02 6.46597710e+02] [ 8.41366144e-01 5.38686158e-01 4.38204814e-02 2.13221886e+02] [-5.09480945e-02 -1.66610776e-03 9.98699913e-01 -1.23277710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:646.62, Y:213.27, Z:-12.33 [[ 5.35477467e-01 -8.44148167e-01 2.60337209e-02 6.46619990e+02] [ 8.43011098e-01 5.36107786e-01 4.38261280e-02 2.13274079e+02] [-5.09526261e-02 -1.52118837e-03 9.98699913e-01 -1.23289585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:646.64, Y:213.33, Z:-12.33 [[ 5.33866106e-01 -8.45168470e-01 2.60237969e-02 6.46643418e+02] [ 8.44032320e-01 5.34498079e-01 4.38320201e-02 2.13325571e+02] [-5.09551108e-02 -1.43550416e-03 9.98699913e-01 -1.23306478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:646.66, Y:213.38, Z:-12.33 [[ 5.29751243e-01 -8.47754044e-01 2.60134846e-02 6.46664846e+02] [ 8.46620680e-01 5.30388198e-01 4.38381394e-02 2.13378775e+02] [-5.09612052e-02 -1.19975480e-03 9.98699913e-01 -1.23330110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:646.69, Y:213.43, Z:-12.34 [[ 5.23627863e-01 -8.51550177e-01 2.60030070e-02 6.46687696e+02] [ 8.50421125e-01 5.24272431e-01 4.38443534e-02 2.13430761e+02] [-5.09683266e-02 -8.44618585e-04 9.98699913e-01 -1.23373241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:646.71, Y:213.48, Z:-12.34 [[ 5.20304053e-01 -8.53585419e-01 2.59927761e-02 6.46711439e+02] [ 8.52458586e-01 5.20952493e-01 4.38504179e-02 2.13480975e+02] [-5.09710788e-02 -6.57785016e-04 9.98699913e-01 -1.23432436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:646.73, Y:213.53, Z:-12.35 [[ 5.18884867e-01 -8.54449214e-01 2.59814641e-02 6.46732408e+02] [ 8.53323125e-01 5.19534597e-01 4.38571192e-02 2.13534230e+02] [-5.09719505e-02 -5.86211340e-04 9.98699913e-01 -1.23470557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:646.75, Y:213.59, Z:-12.35 [[ 5.19013457e-01 -8.54371432e-01 2.59708798e-02 6.46753290e+02] [ 8.53244933e-01 5.19662475e-01 4.38633860e-02 2.13586996e+02] [-5.09717157e-02 -6.06166007e-04 9.98699913e-01 -1.23491824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:646.78, Y:213.64, Z:-12.35 [[ 5.18252158e-01 -8.54833770e-01 2.59601098e-02 6.46775610e+02] [ 8.53707530e-01 5.18901626e-01 4.38697592e-02 2.13639875e+02] [-5.09720949e-02 -5.73256157e-04 9.98699913e-01 -1.23533878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:646.80, Y:213.69, Z:-12.36 [[ 5.17619316e-01 -8.55217414e-01 2.59503086e-02 6.46798309e+02] [ 8.54091365e-01 5.18269115e-01 4.38755562e-02 2.13690731e+02] [-5.09723832e-02 -5.46900878e-04 9.98699913e-01 -1.23577899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:646.82, Y:213.74, Z:-12.36 [[ 5.17584092e-01 -8.55238994e-01 2.59416686e-02 6.46820935e+02] [ 8.54112717e-01 5.18233494e-01 4.38806640e-02 2.13744148e+02] [-5.09722966e-02 -5.54824601e-04 9.98699913e-01 -1.23552689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:646.85, Y:213.79, Z:-12.36 [[ 5.16815553e-01 -8.55703926e-01 2.59321290e-02 6.46846570e+02] [ 8.54577950e-01 5.17465477e-01 4.38863009e-02 2.13794560e+02] [-5.09726615e-02 -5.20097209e-04 9.98699914e-01 -1.23584122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:646.87, Y:213.85, Z:-12.36 [[ 5.16125047e-01 -8.56120891e-01 2.59221240e-02 6.46872713e+02] [ 8.54995143e-01 5.16775367e-01 4.38922097e-02 2.13845700e+02] [-5.09729529e-02 -4.90578665e-04 9.98699914e-01 -1.23609241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:646.90, Y:213.90, Z:-12.37 [[ 5.13698111e-01 -8.57579621e-01 2.59122486e-02 6.46895791e+02] [ 8.56455426e-01 5.14351112e-01 4.38980390e-02 2.13896472e+02] [-5.09740575e-02 -3.57653783e-04 9.98699914e-01 -1.23659816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:646.92, Y:213.94, Z:-12.37 [[ 5.10257627e-01 -8.59631492e-01 2.59008218e-02 6.46924238e+02] [ 8.58509581e-01 5.10914543e-01 4.39047801e-02 2.13944534e+02] [-5.09750381e-02 -1.66645194e-04 9.98699914e-01 -1.23719250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:646.95, Y:214.00, Z:-12.37 [[ 5.09136903e-01 -8.60296064e-01 2.58900998e-02 6.46949456e+02] [ 8.59174688e-01 5.09794734e-01 4.39111018e-02 2.13995666e+02] [-5.09751846e-02 -1.12643934e-04 9.98699914e-01 -1.23747477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:646.97, Y:214.05, Z:-12.38 [[ 5.09247523e-01 -8.60230864e-01 2.58808992e-02 6.46974093e+02] [ 8.59109129e-01 5.09904740e-01 4.39165239e-02 2.14045604e+02] [-5.09751425e-02 -1.29864207e-04 9.98699914e-01 -1.23753480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:647.00, Y:214.09, Z:-12.38 [[ 5.09572500e-01 -8.60038741e-01 2.58695253e-02 6.47002383e+02] [ 8.58916417e-01 5.10228712e-01 4.39232228e-02 2.14093932e+02] [-5.09750478e-02 -1.62306454e-04 9.98699914e-01 -1.23792494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:647.03, Y:214.14, Z:-12.38 [[ 5.08449951e-01 -8.60703176e-01 2.58590640e-02 6.47029734e+02] [ 8.59581397e-01 5.09107093e-01 4.39293809e-02 2.14144406e+02] [-5.09751905e-02 -1.07921222e-04 9.98699914e-01 -1.23795674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:647.06, Y:214.19, Z:-12.38 [[ 5.05357927e-01 -8.62522543e-01 2.58501152e-02 6.47055203e+02] [ 8.61402861e-01 5.06018635e-01 4.39346461e-02 2.14194504e+02] [-5.09752627e-02 6.46415440e-05 9.98699914e-01 -1.23835860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:647.08, Y:214.24, Z:-12.38 [[ 5.03676468e-01 -8.63505839e-01 2.58395375e-02 6.47082545e+02] [ 8.62387127e-01 5.04338818e-01 4.39408664e-02 2.14244264e+02] [-5.09750765e-02 1.51704073e-04 9.98699914e-01 -1.23843527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:647.11, Y:214.29, Z:-12.39 [[ 5.03914181e-01 -8.63367424e-01 2.58300091e-02 6.47109772e+02] [ 8.62248243e-01 5.04575738e-01 4.39464668e-02 2.14292914e+02] [-5.09751437e-02 1.26632137e-04 9.98699914e-01 -1.23887392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:647.13, Y:214.34, Z:-12.39 [[ 5.03941186e-01 -8.63351984e-01 2.58192469e-02 6.47134644e+02] [ 8.62232459e-01 5.04602160e-01 4.39527889e-02 2.14342572e+02] [-5.09751752e-02 1.12572151e-04 9.98699914e-01 -1.23928997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:647.16, Y:214.39, Z:-12.40 [[ 5.03320982e-01 -8.63714033e-01 2.58081251e-02 6.47160060e+02] [ 8.62594648e-01 5.03982193e-01 4.39593184e-02 2.14392793e+02] [-5.09751156e-02 1.36303367e-04 9.98699914e-01 -1.23967645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.665336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:647.19, Y:214.44, Z:-12.40 [[ 5.00739430e-01 -8.65213531e-01 2.57986226e-02 6.47185281e+02] [ 8.64095839e-01 5.01403499e-01 4.39648945e-02 2.14443300e+02] [-5.09745412e-02 2.77526219e-04 9.98699914e-01 -1.23986304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:647.21, Y:214.49, Z:-12.40 [[ 4.98279908e-01 -8.66632642e-01 2.57875453e-02 6.47211770e+02] [ 8.65516505e-01 4.98946587e-01 4.39713909e-02 2.14492236e+02] [-5.09736503e-02 4.09485513e-04 9.98699915e-01 -1.23998768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:647.24, Y:214.54, Z:-12.40 [[ 4.94228757e-01 -8.68949569e-01 2.57794914e-02 6.47239387e+02] [ 8.67836311e-01 4.94900231e-01 4.39761122e-02 2.14541420e+02] [-5.09713000e-02 6.38119435e-04 9.98699915e-01 -1.24028867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:647.27, Y:214.59, Z:-12.41 [[ 4.90256602e-01 -8.71197125e-01 2.57688531e-02 6.47267556e+02] [ 8.70086617e-01 4.90932615e-01 4.39823451e-02 2.14590425e+02] [-5.09680630e-02 8.58499237e-04 9.98699915e-01 -1.24078341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:647.30, Y:214.64, Z:-12.41 [[ 4.87234890e-01 -8.72890961e-01 2.57591300e-02 6.47298521e+02] [ 8.71782502e-01 4.87914257e-01 4.39880389e-02 2.14635745e+02] [-5.09650083e-02 1.02385151e-03 9.98699915e-01 -1.24117436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:647.33, Y:214.68, Z:-12.41 [[ 4.86893349e-01 -8.73081847e-01 2.57479132e-02 6.47328452e+02] [ 8.71973308e-01 4.87572585e-01 4.39946036e-02 2.14683073e+02] [-5.09648663e-02 1.03081316e-03 9.98699915e-01 -1.24128521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:647.36, Y:214.73, Z:-12.42 [[ 4.87337418e-01 -8.72834367e-01 2.57372937e-02 6.47359595e+02] [ 8.71725155e-01 4.88015555e-01 4.40008152e-02 2.14729110e+02] [-5.09656234e-02 9.92602707e-04 9.98699915e-01 -1.24183852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:647.39, Y:214.77, Z:-12.42 [[ 4.89207708e-01 -8.71787805e-01 2.57262756e-02 6.47391754e+02] [ 8.70676803e-01 4.89882910e-01 4.40072563e-02 2.14774991e+02] [-5.09678521e-02 8.70582425e-04 9.98699915e-01 -1.24221564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:647.43, Y:214.82, Z:-12.43 [[ 4.94034287e-01 -8.69062031e-01 2.57159259e-02 6.47426219e+02] [ 8.67946989e-01 4.94702794e-01 4.40133033e-02 2.14820314e+02] [-5.09720312e-02 5.75979534e-04 9.98699915e-01 -1.24253870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:647.45, Y:214.87, Z:-12.43 [[ 4.99072856e-01 -8.66178693e-01 2.57051733e-02 6.47453186e+02] [ 8.65059464e-01 4.99734330e-01 4.40195824e-02 2.14869014e+02] [-5.09745818e-02 2.67524717e-04 9.98699915e-01 -1.24289030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:647.48, Y:214.92, Z:-12.43 [[ 5.05432900e-01 -8.62483197e-01 2.56966490e-02 6.47484310e+02] [ 8.61358879e-01 5.06085685e-01 4.40245579e-02 2.14916943e+02] [-5.09751476e-02 -1.17423154e-04 9.98699915e-01 -1.24283951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:647.51, Y:214.96, Z:-12.43 [[ 5.07198891e-01 -8.61446148e-01 2.56869220e-02 6.47513497e+02] [ 8.60320208e-01 5.07848874e-01 4.40302326e-02 2.14964122e+02] [-5.09747487e-02 -2.33107100e-04 9.98699915e-01 -1.24309475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:647.55, Y:215.01, Z:-12.43 [[ 5.05553694e-01 -8.62413024e-01 2.56756294e-02 6.47545240e+02] [ 8.61287992e-01 5.06205248e-01 4.40368167e-02 2.15010517e+02] [-5.09750626e-02 -1.48864104e-04 9.98699915e-01 -1.24334329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.445336195 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:647.58, Y:215.06, Z:-12.44 [[ 5.03664386e-01 -8.63518098e-01 2.56647761e-02 6.47575350e+02] [ 8.62394173e-01 5.04317848e-01 4.40431411e-02 2.15059567e+02] [-5.09752541e-02 -4.98082224e-05 9.98699915e-01 -1.24363079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:647.61, Y:215.11, Z:-12.43 [[ 5.00813187e-01 -8.65175121e-01 2.56546741e-02 6.47610283e+02] [ 8.64053057e-01 5.01469838e-01 4.40490247e-02 2.15107082e+02] [-5.09751655e-02 1.06667158e-04 9.98699915e-01 -1.24300845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:647.64, Y:215.15, Z:-12.44 [[ 4.99634840e-01 -8.65856414e-01 2.56456061e-02 6.47642545e+02] [ 8.64734974e-01 5.00292557e-01 4.40543035e-02 2.15154267e+02] [-5.09750071e-02 1.65587685e-04 9.98699916e-01 -1.24379966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:647.67, Y:215.20, Z:-12.44 [[ 4.99642637e-01 -8.65852198e-01 2.56360332e-02 6.47673046e+02] [ 8.64730467e-01 5.00299858e-01 4.40598734e-02 2.15201093e+02] [-5.09750420e-02 1.54067655e-04 9.98699916e-01 -1.24430573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:647.71, Y:215.25, Z:-12.45 [[ 5.02775472e-01 -8.64037126e-01 2.56255829e-02 6.47706126e+02] [ 8.62912712e-01 5.03428092e-01 4.40659505e-02 2.15248056e+02] [-5.09752556e-02 -4.26378175e-05 9.98699916e-01 -1.24497872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:647.73, Y:215.30, Z:-12.46 [[ 5.08384851e-01 -8.60748891e-01 2.56162102e-02 6.47733529e+02] [ 8.59619982e-01 5.09029663e-01 4.40713984e-02 2.15296111e+02] [-5.09738181e-02 -3.85025131e-04 9.98699916e-01 -1.24555675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.805336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:647.76, Y:215.34, Z:-12.46 [[ 5.09234583e-01 -8.60246770e-01 2.56053599e-02 6.47760767e+02] [ 8.59116908e-01 5.09877724e-01 4.40777015e-02 2.15344797e+02] [-5.09733030e-02 -4.47892299e-04 9.98699916e-01 -1.24604765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.865336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:647.79, Y:215.39, Z:-12.46 [[ 5.11045988e-01 -8.59172215e-01 2.55949824e-02 6.47789572e+02] [ 8.58040699e-01 5.11686216e-01 4.40837267e-02 2.15393022e+02] [-5.09721128e-02 -5.67275074e-04 9.98699916e-01 -1.24621234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:647.82, Y:215.44, Z:-12.47 [[ 5.12046564e-01 -8.58576587e-01 2.55843769e-02 6.47817891e+02] [ 8.57444020e-01 5.12684928e-01 4.40898808e-02 2.15440106e+02] [-5.09712638e-02 -6.38901046e-04 9.98699916e-01 -1.24651367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:647.84, Y:215.49, Z:-12.47 [[ 5.12949137e-01 -8.58037986e-01 2.55733544e-02 6.47844262e+02] [ 8.56904430e-01 5.13585744e-01 4.40962732e-02 2.15490408e+02] [-5.09703877e-02 -7.05224667e-04 9.98699916e-01 -1.24660209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:647.87, Y:215.54, Z:-12.47 [[ 5.12254122e-01 -8.58453414e-01 2.55627026e-02 6.47871535e+02] [ 8.57320065e-01 5.12891099e-01 4.41024472e-02 2.15538105e+02] [-5.09707790e-02 -6.76242445e-04 9.98699916e-01 -1.24709040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:647.90, Y:215.59, Z:-12.47 [[ 5.09093950e-01 -8.60331600e-01 2.55516548e-02 6.47900623e+02] [ 8.59200282e-01 5.09734525e-01 4.41088471e-02 2.15586399e+02] [-5.09727956e-02 -5.01558183e-04 9.98699916e-01 -1.24732685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:647.93, Y:215.64, Z:-12.47 [[ 5.04504107e-01 -8.63031444e-01 2.55408042e-02 6.47930598e+02] [ 8.61903235e-01 5.05150144e-01 4.41151291e-02 2.15635717e+02] [-5.09746845e-02 -2.42562028e-04 9.98699916e-01 -1.24723347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:647.96, Y:215.68, Z:-12.48 [[ 5.02206988e-01 -8.64370470e-01 2.55310131e-02 6.47960105e+02] [ 8.63243696e-01 5.02855523e-01 4.41207949e-02 2.15682704e+02] [-5.09751231e-02 -1.18285345e-04 9.98699916e-01 -1.24769952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:647.99, Y:215.73, Z:-12.48 [[ 5.01591070e-01 -8.64728363e-01 2.55197311e-02 6.47989277e+02] [ 8.63601720e-01 5.02239833e-01 4.41273195e-02 2.15730036e+02] [-5.09751702e-02 -9.49857607e-05 9.98699916e-01 -1.24818065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:648.02, Y:215.78, Z:-12.48 [[ 5.02121889e-01 -8.64420559e-01 2.55089326e-02 6.48018191e+02] [ 8.63293201e-01 5.02769408e-01 4.41335610e-02 2.15778827e+02] [-5.09750684e-02 -1.38738951e-04 9.98699916e-01 -1.24843948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:648.05, Y:215.83, Z:-12.49 [[ 5.03287741e-01 -8.63742603e-01 2.54983361e-02 6.48045509e+02] [ 8.62614063e-01 5.03933197e-01 4.41396823e-02 2.15827661e+02] [-5.09747821e-02 -2.19737647e-04 9.98699917e-01 -1.24877472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:648.07, Y:215.88, Z:-12.49 [[ 5.06703527e-01 -8.61743529e-01 2.54877423e-02 6.48070047e+02] [ 8.60612135e-01 5.07343968e-01 4.41457987e-02 2.15876959e+02] [-5.09734086e-02 -4.33771629e-04 9.98699917e-01 -1.24864913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:648.10, Y:215.93, Z:-12.49 [[ 5.10730932e-01 -8.59362989e-01 2.54787842e-02 6.48095593e+02] [ 8.58228353e-01 5.11365610e-01 4.41509682e-02 2.15926993e+02] [-5.09706820e-02 -6.82650186e-04 9.98699917e-01 -1.24921917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:648.12, Y:215.98, Z:-12.50 [[ 5.11677160e-01 -8.58800248e-01 2.54679676e-02 6.48121018e+02] [ 8.57664603e-01 5.12310032e-01 4.41572068e-02 2.15977053e+02] [-5.09697154e-02 -7.51259796e-04 9.98699917e-01 -1.24953766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:648.15, Y:216.03, Z:-12.50 [[ 5.10409011e-01 -8.59554873e-01 2.54570600e-02 6.48145861e+02] [ 8.58419851e-01 5.11042998e-01 4.41634943e-02 2.16027225e+02] [-5.09705989e-02 -6.88599800e-04 9.98699917e-01 -1.24980082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:648.17, Y:216.08, Z:-12.50 [[ 5.07047101e-01 -8.61542627e-01 2.54468021e-02 6.48170126e+02] [ 8.60409794e-01 5.07684992e-01 4.41694040e-02 2.16078563e+02] [-5.09727839e-02 -5.01290524e-04 9.98699917e-01 -1.24988178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:648.19, Y:216.13, Z:-12.50 [[ 5.03296000e-01 -8.63739627e-01 2.54360493e-02 6.48194829e+02] [ 8.62609266e-01 5.03938261e-01 4.41755954e-02 2.16128436e+02] [-5.09744108e-02 -2.92028670e-04 9.98699917e-01 -1.25034459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:648.22, Y:216.18, Z:-12.50 [[ 5.00599763e-01 -8.65305411e-01 2.54248469e-02 6.48220435e+02] [ 8.64176731e-01 5.01244974e-01 4.41820419e-02 2.16178608e+02] [-5.09750367e-02 -1.45958583e-04 9.98699917e-01 -1.25047977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:648.25, Y:216.23, Z:-12.51 [[ 4.96388701e-01 -8.67728284e-01 2.54142372e-02 6.48246424e+02] [ 8.66602441e-01 4.97038849e-01 4.41881439e-02 2.16228381e+02] [-5.09751655e-02 8.95446671e-05 9.98699917e-01 -1.25063390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:648.27, Y:216.28, Z:-12.51 [[ 4.90749174e-01 -8.70930492e-01 2.54032970e-02 6.48273786e+02] [ 8.69808565e-01 4.91406057e-01 4.41944325e-02 2.16277198e+02] [-5.09736128e-02 4.07624088e-04 9.98699917e-01 -1.25073492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:648.30, Y:216.32, Z:-12.51 [[ 4.85658244e-01 -8.73779869e-01 2.53931362e-02 6.48301711e+02] [ 8.72661490e-01 4.86321149e-01 4.42002699e-02 2.16324619e+02] [-5.09705252e-02 6.93386617e-04 9.98699917e-01 -1.25113895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.065336195 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:648.33, Y:216.37, Z:-12.52 [[ 4.84231515e-01 -8.74571656e-01 2.53822347e-02 6.48329559e+02] [ 8.73454033e-01 4.84895695e-01 4.42065292e-02 2.16373488e+02] [-5.09695138e-02 7.64020586e-04 9.98699917e-01 -1.25157514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:648.36, Y:216.42, Z:-12.52 [[ 4.85909084e-01 -8.73641034e-01 2.53713516e-02 6.48359395e+02] [ 8.72521813e-01 4.86570566e-01 4.42127745e-02 2.16421458e+02] [-5.09710469e-02 6.53668936e-04 9.98699917e-01 -1.25173595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:648.39, Y:216.47, Z:-12.52 [[ 4.87708593e-01 -8.72638057e-01 2.53604035e-02 6.48389121e+02] [ 8.71517149e-01 4.88367213e-01 4.42190534e-02 2.16469608e+02] [-5.09724184e-02 5.36014229e-04 9.98699918e-01 -1.25209549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:648.42, Y:216.52, Z:-12.52 [[ 4.89508073e-01 -8.71630196e-01 2.53504887e-02 6.48417748e+02] [ 8.70507638e-01 4.90163875e-01 4.42247367e-02 2.16520345e+02] [-5.09735098e-02 4.19428371e-04 9.98699918e-01 -1.25193147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:648.45, Y:216.57, Z:-12.53 [[ 4.89829142e-01 -8.71450079e-01 2.53410919e-02 6.48449571e+02] [ 8.70327001e-01 4.90484054e-01 4.42301205e-02 2.16566220e+02] [-5.09737435e-02 3.89834547e-04 9.98699918e-01 -1.25253141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.365336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:648.48, Y:216.61, Z:-12.53 [[ 4.92675989e-01 -8.69844125e-01 2.53291785e-02 6.48477260e+02] [ 8.68718562e-01 4.93326620e-01 4.42369419e-02 2.16613613e+02] [-5.09748020e-02 2.09448380e-04 9.98699918e-01 -1.25314708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:648.51, Y:216.66, Z:-12.53 [[ 4.95719774e-01 -8.68113419e-01 2.53179228e-02 6.48507385e+02] [ 8.66985255e-01 4.96365884e-01 4.42433829e-02 2.16661352e+02] [-5.09752275e-02 1.79460366e-05 9.98699918e-01 -1.25324363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:648.53, Y:216.71, Z:-12.53 [[ 4.99325075e-01 -8.66045043e-01 2.53071782e-02 6.48534017e+02] [ 8.64913891e-01 4.99965940e-01 4.42495279e-02 2.16711908e+02] [-5.09748115e-02 -2.06368838e-04 9.98699918e-01 -1.25340890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:648.56, Y:216.76, Z:-12.54 [[ 5.02727361e-01 -8.64074795e-01 2.52972130e-02 6.48561390e+02] [ 8.62940845e-01 5.03363262e-01 4.42552243e-02 2.16760212e+02] [-5.09735115e-02 -4.18313753e-04 9.98699918e-01 -1.25385974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:648.59, Y:216.81, Z:-12.54 [[ 5.04418755e-01 -8.63088765e-01 2.52884073e-02 6.48588254e+02] [ 8.61953320e-01 5.05051982e-01 4.42602555e-02 2.16809311e+02] [-5.09724895e-02 -5.28276293e-04 9.98699918e-01 -1.25417711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:648.61, Y:216.86, Z:-12.54 [[ 5.05611082e-01 -8.62391143e-01 2.52774720e-02 6.48613716e+02] [ 8.61254512e-01 5.06242178e-01 4.42664998e-02 2.16861198e+02] [-5.09715599e-02 -6.11296025e-04 9.98699918e-01 -1.25411399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:648.64, Y:216.91, Z:-12.54 [[ 5.05229390e-01 -8.62615100e-01 2.52676122e-02 6.48638685e+02] [ 8.61478468e-01 5.05860483e-01 4.42721272e-02 2.16910583e+02] [-5.09716919e-02 -6.00075945e-04 9.98699918e-01 -1.25441214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.785336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:648.66, Y:216.96, Z:-12.55 [[ 5.04284416e-01 -8.63168205e-01 2.52562212e-02 6.48664310e+02] [ 8.62031940e-01 5.04916170e-01 4.42786245e-02 2.16960565e+02] [-5.09721753e-02 -5.57350934e-04 9.98699918e-01 -1.25470617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:648.69, Y:217.01, Z:-12.55 [[ 5.02896312e-01 -8.63977978e-01 2.52458450e-02 6.48691161e+02] [ 8.62842433e-01 5.03529359e-01 4.42845398e-02 2.17010563e+02] [-5.09728913e-02 -4.87345401e-04 9.98699918e-01 -1.25478969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:648.72, Y:217.06, Z:-12.55 [[ 5.01951113e-01 -8.64527770e-01 2.52351969e-02 6.48717650e+02] [ 8.63392613e-01 5.02584857e-01 4.42906067e-02 2.17058931e+02] [-5.09732873e-02 -4.43836771e-04 9.98699918e-01 -1.25514426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:648.74, Y:217.11, Z:-12.55 [[ 5.00427885e-01 -8.65410698e-01 2.52241221e-02 6.48742179e+02] [ 8.64276341e-01 5.01063060e-01 4.42969131e-02 2.17109774e+02] [-5.09738983e-02 -3.66798533e-04 9.98699918e-01 -1.25539703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:648.77, Y:217.16, Z:-12.56 [[ 4.98871309e-01 -8.66309246e-01 2.52132538e-02 6.48767029e+02] [ 8.65175720e-01 4.99507966e-01 4.43030983e-02 2.17159479e+02] [-5.09744048e-02 -2.87649657e-04 9.98699919e-01 -1.25592361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:648.79, Y:217.21, Z:-12.56 [[ 5.00306549e-01 -8.65481494e-01 2.52019880e-02 6.48793410e+02] [ 8.64346593e-01 5.00940750e-01 4.43095060e-02 2.17209573e+02] [-5.09737602e-02 -3.85083618e-04 9.98699919e-01 -1.25649068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:648.82, Y:217.26, Z:-12.57 [[ 5.01900506e-01 -8.64558370e-01 2.51933982e-02 6.48818758e+02] [ 8.63422057e-01 5.02532174e-01 4.43143894e-02 2.17259098e+02] [-5.09728695e-02 -4.88878789e-04 9.98699919e-01 -1.25678002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:648.84, Y:217.31, Z:-12.57 [[ 5.02959743e-01 -8.63942897e-01 2.51826720e-02 6.48843884e+02] [ 8.62805507e-01 5.03589468e-01 4.43204840e-02 2.17310361e+02] [-5.09720958e-02 -5.63671213e-04 9.98699919e-01 -1.25673925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:648.87, Y:217.36, Z:-12.57 [[ 5.02089691e-01 -8.64449111e-01 2.51729161e-02 6.48868266e+02] [ 8.63312078e-01 5.02720061e-01 4.43260244e-02 2.17360876e+02] [-5.09725224e-02 -5.23557407e-04 9.98699919e-01 -1.25697904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:648.90, Y:217.41, Z:-12.57 [[ 5.01133181e-01 -8.65004279e-01 2.51621294e-02 6.48895239e+02] [ 8.63867636e-01 5.01764255e-01 4.43321468e-02 2.17410550e+02] [-5.09729538e-02 -4.79560498e-04 9.98699919e-01 -1.25732438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:648.92, Y:217.46, Z:-12.58 [[ 5.01355687e-01 -8.64875649e-01 2.51512909e-02 6.48921390e+02] [ 8.63738536e-01 5.01985914e-01 4.43382950e-02 2.17460753e+02] [-5.09727054e-02 -5.05117232e-04 9.98699919e-01 -1.25752967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:648.95, Y:217.51, Z:-12.58 [[ 5.00982722e-01 -8.65092048e-01 2.51408390e-02 6.48945965e+02] [ 8.63954910e-01 5.01612903e-01 4.43442207e-02 2.17509826e+02] [-5.09728019e-02 -4.95137103e-04 9.98699919e-01 -1.25786326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:648.97, Y:217.56, Z:-12.58 [[ 5.00998252e-01 -8.65083390e-01 2.51292828e-02 6.48972869e+02] [ 8.63945913e-01 5.01627820e-01 4.43507685e-02 2.17558994e+02] [-5.09726605e-02 -5.09316256e-04 9.98699919e-01 -1.25836879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:649.00, Y:217.61, Z:-12.59 [[ 4.99850568e-01 -8.65747326e-01 2.51192461e-02 6.48999243e+02] [ 8.64610400e-01 5.00481130e-01 4.43564523e-02 2.17608098e+02] [-5.09731887e-02 -4.53236493e-04 9.98699919e-01 -1.25888258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.625336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:649.03, Y:217.66, Z:-12.59 [[ 4.97813857e-01 -8.66920367e-01 2.51085962e-02 6.49025711e+02] [ 8.65784622e-01 4.98446545e-01 4.43624800e-02 2.17657348e+02] [-5.09740305e-02 -3.45620863e-04 9.98699919e-01 -1.25917468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:649.05, Y:217.71, Z:-12.60 [[ 4.95713304e-01 -8.68123498e-01 2.50980685e-02 6.49053686e+02] [ 8.66988987e-01 4.96348202e-01 4.43684353e-02 2.17705064e+02] [-5.09746624e-02 -2.34274601e-04 9.98699919e-01 -1.25954641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:649.08, Y:217.75, Z:-12.60 [[ 4.93865095e-01 -8.69176566e-01 2.50871688e-02 6.49082757e+02] [ 8.68043096e-01 4.94501849e-01 4.43745974e-02 2.17753160e+02] [-5.09750115e-02 -1.38321109e-04 9.98699919e-01 -1.25997772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:649.11, Y:217.80, Z:-12.60 [[ 4.95134245e-01 -8.68454521e-01 2.50763644e-02 6.49109812e+02] [ 8.67319814e-01 4.95768791e-01 4.43807022e-02 2.17801176e+02] [-5.09747004e-02 -2.25177810e-04 9.98699920e-01 -1.26038092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:649.14, Y:217.85, Z:-12.61 [[ 4.96187134e-01 -8.67853636e-01 2.50677940e-02 6.49138565e+02] [ 8.66717916e-01 4.96819865e-01 4.43855426e-02 2.17849888e+02] [-5.09743325e-02 -2.96828989e-04 9.98699920e-01 -1.26079742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:649.17, Y:217.90, Z:-12.61 [[ 4.98408964e-01 -8.66579850e-01 2.50573099e-02 6.49165467e+02] [ 8.65442215e-01 4.99038246e-01 4.43914604e-02 2.17898740e+02] [-5.09733011e-02 -4.39447961e-04 9.98699920e-01 -1.26118349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:649.19, Y:217.95, Z:-12.62 [[ 5.01341853e-01 -8.64886698e-01 2.50468622e-02 6.49189058e+02] [ 8.63746644e-01 5.01966741e-01 4.43973546e-02 2.17949849e+02] [-5.09713732e-02 -6.24108861e-04 9.98699920e-01 -1.26152266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:649.22, Y:218.00, Z:-12.62 [[ 5.00172653e-01 -8.65563687e-01 2.50363961e-02 6.49217195e+02] [ 8.64424183e-01 5.00798544e-01 4.44032557e-02 2.17998712e+02] [-5.09720365e-02 -5.67227931e-04 9.98699920e-01 -1.26185791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:649.24, Y:218.05, Z:-12.62 [[ 4.96967131e-01 -8.67408434e-01 2.50255483e-02 6.49244368e+02] [ 8.66270947e-01 4.97596679e-01 4.44093687e-02 2.18046769e+02] [-5.09736907e-02 -3.91091206e-04 9.98699920e-01 -1.26209511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:649.27, Y:218.10, Z:-12.62 [[ 4.91923130e-01 -8.70279220e-01 2.50142800e-02 6.49271551e+02] [ 8.69145083e-01 4.92558695e-01 4.44157149e-02 2.18095995e+02] [-5.09750748e-02 -1.08078987e-04 9.98699920e-01 -1.26219935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:649.30, Y:218.15, Z:-12.62 [[ 4.88716659e-01 -8.72084193e-01 2.50037644e-02 6.49299273e+02] [ 8.70952101e-01 4.89355858e-01 4.44216338e-02 2.18145105e+02] [-5.09751433e-02 6.74886297e-05 9.98699920e-01 -1.26230549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:649.33, Y:218.19, Z:-12.63 [[ 4.86026417e-01 -8.73586663e-01 2.49933059e-02 6.49328028e+02] [ 8.72456244e-01 4.86668571e-01 4.44275174e-02 2.18192950e+02] [-5.09747431e-02 2.12618764e-04 9.98699920e-01 -1.26297632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:649.35, Y:218.24, Z:-12.64 [[ 4.85227192e-01 -8.74031126e-01 2.49832481e-02 6.49354687e+02] [ 8.72901005e-01 4.85869868e-01 4.44331725e-02 2.18242371e+02] [-5.09745833e-02 2.47718850e-04 9.98699920e-01 -1.26364069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:649.38, Y:218.29, Z:-12.64 [[ 4.86972253e-01 -8.73060366e-01 2.49724332e-02 6.49384749e+02] [ 8.71928651e-01 4.87612120e-01 4.44392499e-02 2.18290424e+02] [-5.09750089e-02 1.33498385e-04 9.98699920e-01 -1.26363944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:649.41, Y:218.34, Z:-12.64 [[ 4.87458848e-01 -8.72789048e-01 2.49629520e-02 6.49412389e+02] [ 8.71656705e-01 4.88097602e-01 4.44445752e-02 2.18339869e+02] [-5.09750955e-02 9.42230854e-05 9.98699920e-01 -1.26402064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:649.44, Y:218.39, Z:-12.64 [[ 4.89549036e-01 -8.71618667e-01 2.49527644e-02 6.49440641e+02] [ 8.70484505e-01 4.90184555e-01 4.44502941e-02 2.18388458e+02] [-5.09751658e-02 -3.96038358e-05 9.98699920e-01 -1.26442560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:649.47, Y:218.44, Z:-12.65 [[ 4.90394080e-01 -8.71143806e-01 2.49422311e-02 6.49466909e+02] [ 8.70008728e-01 4.91027961e-01 4.44562039e-02 2.18436780e+02] [-5.09750795e-02 -1.01100481e-04 9.98699920e-01 -1.26485958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:649.49, Y:218.49, Z:-12.65 [[ 4.93304661e-01 -8.69499248e-01 2.49312665e-02 6.49493809e+02] [ 8.68361747e-01 4.93934182e-01 4.44623521e-02 2.18485648e+02] [-5.09743864e-02 -2.84127436e-04 9.98699921e-01 -1.26515472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:649.52, Y:218.54, Z:-12.65 [[ 4.95388457e-01 -8.68314026e-01 2.49204545e-02 6.49519756e+02] [ 8.67174713e-01 4.96014695e-01 4.44684112e-02 2.18536111e+02] [-5.09734568e-02 -4.18749585e-04 9.98699921e-01 -1.26534108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:649.55, Y:218.59, Z:-12.66 [[ 4.96028891e-01 -8.67948651e-01 2.49094202e-02 6.49546832e+02] [ 8.66808566e-01 4.96653722e-01 4.44745913e-02 2.18586501e+02] [-5.09730178e-02 -4.68983381e-04 9.98699921e-01 -1.26574625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:649.57, Y:218.64, Z:-12.66 [[ 4.97008836e-01 -8.67388175e-01 2.48992093e-02 6.49570407e+02] [ 8.66247100e-01 4.97631856e-01 4.44803071e-02 2.18636862e+02] [-5.09723322e-02 -5.38237814e-04 9.98699921e-01 -1.26636527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.885336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:649.60, Y:218.69, Z:-12.66 [[ 4.98368291e-01 -8.66608105e-01 2.48885498e-02 6.49596638e+02] [ 8.65465757e-01 4.98988974e-01 4.44862708e-02 2.18687878e+02] [-5.09712747e-02 -6.30359147e-04 9.98699921e-01 -1.26648331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:649.62, Y:218.74, Z:-12.67 [[ 4.98693279e-01 -8.66421414e-01 2.48786391e-02 6.49620027e+02] [ 8.65278557e-01 4.99313025e-01 4.44918126e-02 2.18737923e+02] [-5.09708877e-02 -6.60815014e-04 9.98699921e-01 -1.26700396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:649.65, Y:218.79, Z:-12.67 [[ 4.97728566e-01 -8.66976297e-01 2.48671532e-02 6.49646029e+02] [ 8.65833811e-01 4.98348994e-01 4.44982313e-02 2.18788273e+02] [-5.09714326e-02 -6.17218796e-04 9.98699921e-01 -1.26729947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:649.67, Y:218.84, Z:-12.67 [[ 4.96070164e-01 -8.67926587e-01 2.48562274e-02 6.49669061e+02] [ 8.66784984e-01 4.96692215e-01 4.45043335e-02 2.18842385e+02] [-5.09723889e-02 -5.32267324e-04 9.98699921e-01 -1.26745190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:649.70, Y:218.89, Z:-12.68 [[ 4.94148173e-01 -8.69022455e-01 2.48506702e-02 6.49696701e+02] [ 8.67882076e-01 4.94772464e-01 4.45074364e-02 2.18891178e+02] [-5.09733890e-02 -4.25817150e-04 9.98699921e-01 -1.26801236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:649.72, Y:218.94, Z:-12.69 [[ 4.91662892e-01 -8.70431255e-01 2.48401003e-02 6.49722399e+02] [ 8.69292366e-01 4.92289899e-01 4.45133348e-02 2.18939883e+02] [-5.09743283e-02 -2.92245322e-04 9.98699921e-01 -1.26880952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:649.75, Y:218.99, Z:-12.69 [[ 4.89809496e-01 -8.71475863e-01 2.48289598e-02 6.49748205e+02] [ 8.70337997e-01 4.90438356e-01 4.45195480e-02 2.18991582e+02] [-5.09747857e-02 -1.96510243e-04 9.98699921e-01 -1.26860057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:649.77, Y:219.04, Z:-12.69 [[ 4.87940371e-01 -8.72524044e-01 2.48190771e-02 6.49772635e+02] [ 8.71387248e-01 4.88571165e-01 4.45250567e-02 2.19041301e+02] [-5.09750680e-02 -9.85453911e-05 9.98699921e-01 -1.26912851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.365336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:649.80, Y:219.09, Z:-12.69 [[ 4.86950864e-01 -8.73076992e-01 2.48076850e-02 6.49798552e+02] [ 8.71940590e-01 4.87582365e-01 4.45314031e-02 2.19092658e+02] [-5.09751332e-02 -5.37777108e-05 9.98699921e-01 -1.26902532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.425336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:649.82, Y:219.14, Z:-12.70 [[ 4.87214843e-01 -8.72929992e-01 2.47976907e-02 6.49823053e+02] [ 8.71793116e-01 4.87845490e-01 4.45369678e-02 2.19143328e+02] [-5.09750965e-02 -8.06157173e-05 9.98699921e-01 -1.26951660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:649.85, Y:219.19, Z:-12.70 [[ 4.88216155e-01 -8.72370587e-01 2.47900120e-02 6.49846714e+02] [ 8.71232771e-01 4.88845106e-01 4.45412415e-02 2.19194578e+02] [-5.09749450e-02 -1.47882843e-04 9.98699921e-01 -1.26989228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:649.87, Y:219.25, Z:-12.70 [[ 4.88999776e-01 -8.71931875e-01 2.47795066e-02 6.49869345e+02] [ 8.70793199e-01 4.89627167e-01 4.45470852e-02 2.19246850e+02] [-5.09747431e-02 -2.05688895e-04 9.98699922e-01 -1.26991274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:649.89, Y:219.30, Z:-12.70 [[ 4.89761764e-01 -8.71504402e-01 2.47687679e-02 6.49894999e+02] [ 8.70364876e-01 4.90387611e-01 4.45530553e-02 2.19296451e+02] [-5.09744807e-02 -2.62517396e-04 9.98699922e-01 -1.27024852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:649.92, Y:219.35, Z:-12.71 [[ 4.91003638e-01 -8.70805640e-01 2.47581195e-02 6.49915440e+02] [ 8.69664925e-01 4.91627314e-01 4.45589718e-02 2.19348092e+02] [-5.09739717e-02 -3.47349055e-04 9.98699922e-01 -1.27083859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:649.94, Y:219.40, Z:-12.70 [[ 4.91133481e-01 -8.70732656e-01 2.47496703e-02 6.49940595e+02] [ 8.69591611e-01 4.91756555e-01 4.45636643e-02 2.19400949e+02] [-5.09738503e-02 -3.64601833e-04 9.98699922e-01 -1.27028273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:649.96, Y:219.45, Z:-12.71 [[ 4.90627529e-01 -8.71018088e-01 2.47410040e-02 6.49963550e+02] [ 8.69877164e-01 4.91250823e-01 4.45684752e-02 2.19452045e+02] [-5.09739866e-02 -3.44886480e-04 9.98699922e-01 -1.27136460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:649.99, Y:219.50, Z:-12.72 [[ 4.89675510e-01 -8.71553900e-01 2.47324678e-02 6.49987263e+02] [ 8.70413418e-01 4.90299613e-01 4.45732117e-02 2.19504325e+02] [-5.09742758e-02 -2.98938326e-04 9.98699922e-01 -1.27167026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.905336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:650.01, Y:219.56, Z:-12.72 [[ 4.89325302e-01 -8.71750846e-01 2.47226764e-02 6.50011191e+02] [ 8.70610341e-01 4.89949363e-01 4.45786418e-02 2.19556723e+02] [-5.09743283e-02 -2.89639667e-04 9.98699922e-01 -1.27206964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:650.04, Y:219.61, Z:-12.72 [[ 4.87588867e-01 -8.72723536e-01 2.47128693e-02 6.50037285e+02] [ 8.71584001e-01 4.88214696e-01 4.45840779e-02 2.19607299e+02] [-5.09747601e-02 -1.99358600e-04 9.98699922e-01 -1.27227351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:650.06, Y:219.66, Z:-12.73 [[ 4.85267163e-01 -8.74016898e-01 2.47031010e-02 6.50060516e+02] [ 8.72878755e-01 4.85895520e-01 4.45894897e-02 2.19657506e+02] [-5.09750935e-02 -7.50031149e-05 9.98699922e-01 -1.27279929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:650.09, Y:219.71, Z:-12.73 [[ 4.82908793e-01 -8.75322460e-01 2.46918699e-02 6.50087827e+02] [ 8.74185698e-01 4.83539645e-01 4.45957081e-02 2.19708286e+02] [-5.09751229e-02 4.96199434e-05 9.98699922e-01 -1.27285212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:650.11, Y:219.76, Z:-12.73 [[ 4.80737071e-01 -8.76517346e-01 2.46821889e-02 6.50114313e+02] [ 8.75381877e-01 4.81370247e-01 4.46010655e-02 2.19758420e+02] [-5.09748790e-02 1.64955243e-04 9.98699922e-01 -1.27301370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:650.14, Y:219.81, Z:-12.73 [[ 4.76195422e-01 -8.78993285e-01 2.46723731e-02 6.50143560e+02] [ 8.77860826e-01 4.76833966e-01 4.46064948e-02 2.19805411e+02] [-5.09734349e-02 4.17501270e-04 9.98699922e-01 -1.27337385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:650.17, Y:219.85, Z:-12.74 [[ 4.73076380e-01 -8.80676126e-01 2.46637433e-02 6.50171900e+02] [ 8.79545689e-01 4.73718498e-01 4.46112659e-02 2.19853806e+02] [-5.09717482e-02 5.88352912e-04 9.98699922e-01 -1.27358507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.325336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:650.20, Y:219.90, Z:-12.74 [[ 4.70652184e-01 -8.81974328e-01 2.46537218e-02 6.50204027e+02] [ 8.80845373e-01 4.71296902e-01 4.46168034e-02 2.19900333e+02] [-5.09700979e-02 7.17120773e-04 9.98699922e-01 -1.27393014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:650.23, Y:219.95, Z:-12.75 [[ 4.74225176e-01 -8.80058631e-01 2.46432269e-02 6.50233212e+02] [ 8.78926770e-01 4.74864778e-01 4.46225993e-02 2.19949162e+02] [-5.09727041e-02 4.98431764e-04 9.98699922e-01 -1.27453504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:650.26, Y:220.00, Z:-12.75 [[ 4.79145640e-01 -8.77389674e-01 2.46336529e-02 6.50259581e+02] [ 8.76253977e-01 4.79778407e-01 4.46278840e-02 2.19998066e+02] [-5.09747393e-02 2.02080287e-04 9.98699922e-01 -1.27509021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.505336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:650.29, Y:220.05, Z:-12.75 [[ 4.86698028e-01 -8.73223187e-01 2.46230487e-02 6.50288097e+02] [ 8.72081778e-01 4.87320431e-01 4.46337340e-02 2.20048057e+02] [-5.09745262e-02 -2.49838217e-04 9.98699923e-01 -1.27472495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:650.31, Y:220.10, Z:-12.75 [[ 4.88320814e-01 -8.72317029e-01 2.46126578e-02 6.50314910e+02] [ 8.71174176e-01 4.88940562e-01 4.46394632e-02 2.20097515e+02] [-5.09738906e-02 -3.56467174e-04 9.98699923e-01 -1.27532194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:650.34, Y:220.15, Z:-12.76 [[ 4.91914279e-01 -8.70295885e-01 2.46051700e-02 6.50339979e+02] [ 8.69150280e-01 4.92528924e-01 4.46435901e-02 2.20148024e+02] [-5.09718906e-02 -5.75229035e-04 9.98699923e-01 -1.27568729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:650.37, Y:220.20, Z:-12.76 [[ 4.91477700e-01 -8.70542803e-01 2.45946833e-02 6.50367228e+02] [ 8.69397217e-01 4.92092382e-01 4.46493666e-02 2.20198622e+02] [-5.09720410e-02 -5.61618793e-04 9.98699923e-01 -1.27594697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:650.40, Y:220.25, Z:-12.76 [[ 4.89020847e-01 -8.71925571e-01 2.45847663e-02 6.50396069e+02] [ 8.70781449e-01 4.89638249e-01 4.46548264e-02 2.20247806e+02] [-5.09733269e-02 -4.29182589e-04 9.98699923e-01 -1.27610550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:650.42, Y:220.30, Z:-12.77 [[ 4.86481416e-01 -8.73345237e-01 2.45749607e-02 6.50423988e+02] [ 8.72202644e-01 4.87101644e-01 4.46602221e-02 2.20297801e+02] [-5.09742960e-02 -2.92022363e-04 9.98699923e-01 -1.27650681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:650.45, Y:220.35, Z:-12.77 [[ 4.85070064e-01 -8.74130193e-01 2.45650151e-02 6.50452661e+02] [ 8.72988327e-01 4.85691628e-01 4.46656919e-02 2.20346720e+02] [-5.09746520e-02 -2.21018615e-04 9.98699923e-01 -1.27664241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:650.48, Y:220.39, Z:-12.77 [[ 4.82195642e-01 -8.75719370e-01 2.45549906e-02 6.50481074e+02] [ 8.74579272e-01 4.82820444e-01 4.46712022e-02 2.20394545e+02] [-5.09750885e-02 -6.49731771e-05 9.98699923e-01 -1.27713843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.9853361950001 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:650.51, Y:220.44, Z:-12.78 [[ 4.80848308e-01 -8.76460192e-01 2.45445585e-02 6.50510104e+02] [ 8.75320764e-01 4.81474331e-01 4.46769334e-02 2.20441166e+02] [-5.09751285e-02 1.53388149e-06 9.98699923e-01 -1.27781728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.045336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:650.54, Y:220.49, Z:-12.78 [[ 4.80265727e-01 -8.76779879e-01 2.45331616e-02 6.50538846e+02] [ 8.75640548e-01 4.80891925e-01 4.46831908e-02 2.20489062e+02] [-5.09751219e-02 2.24259455e-05 9.98699923e-01 -1.27798874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.1053361950001 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:650.57, Y:220.54, Z:-12.78 [[ 4.81669926e-01 -8.76009553e-01 2.45223702e-02 6.50567643e+02] [ 8.74868919e-01 4.82293747e-01 4.46891124e-02 2.20537046e+02] [-5.09750752e-02 -7.15418909e-05 9.98699923e-01 -1.27775769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:650.60, Y:220.59, Z:-12.78 [[ 4.81460466e-01 -8.76124978e-01 2.45120964e-02 6.50595549e+02] [ 8.74984207e-01 4.82084036e-01 4.46947469e-02 2.20586345e+02] [-5.09750745e-02 -7.10564380e-05 9.98699923e-01 -1.27837424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:650.62, Y:220.63, Z:-12.79 [[ 4.81026892e-01 -8.76363374e-01 2.45023743e-02 6.50623601e+02] [ 8.75222640e-01 4.81650531e-01 4.47000761e-02 2.20634697e+02] [-5.09750911e-02 -5.69059333e-05 9.98699923e-01 -1.27853540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:650.65, Y:220.68, Z:-12.79 [[ 4.82621516e-01 -8.75486520e-01 2.44913369e-02 6.50651781e+02] [ 8.74344346e-01 4.83242514e-01 4.47061227e-02 2.20681720e+02] [-5.09748630e-02 -1.62274707e-04 9.98699923e-01 -1.27883360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:650.68, Y:220.73, Z:-12.79 [[ 4.84207786e-01 -8.74610516e-01 2.44799092e-02 6.50680554e+02] [ 8.73466902e-01 4.84826128e-01 4.47123794e-02 2.20730110e+02] [-5.09744167e-02 -2.67691803e-04 9.98699923e-01 -1.27920308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:650.71, Y:220.78, Z:-12.79 [[ 4.86410179e-01 -8.73387880e-01 2.44693614e-02 6.50707627e+02] [ 8.72242422e-01 4.87025097e-01 4.47181510e-02 2.20779124e+02] [-5.09734842e-02 -4.08148759e-04 9.98699924e-01 -1.27939020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:650.74, Y:220.83, Z:-12.80 [[ 4.86348288e-01 -8.73422645e-01 2.44586541e-02 6.50735036e+02] [ 8.72276936e-01 4.86962740e-01 4.47240066e-02 2.20828152e+02] [-5.09734134e-02 -4.16724197e-04 9.98699924e-01 -1.27957829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:650.76, Y:220.88, Z:-12.80 [[ 4.84758459e-01 -8.74306319e-01 2.44478350e-02 6.50763365e+02] [ 8.73161432e-01 4.85374440e-01 4.47299199e-02 2.20876038e+02] [-5.09740059e-02 -3.36300402e-04 9.98699924e-01 -1.27998947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:650.79, Y:220.92, Z:-12.80 [[ 4.84654832e-01 -8.74364081e-01 2.44366199e-02 6.50792666e+02] [ 8.73218958e-01 4.85270375e-01 4.47360461e-02 2.20924639e+02] [-5.09739595e-02 -3.43021099e-04 9.98699924e-01 -1.28004027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:650.82, Y:220.97, Z:-12.80 [[ 4.85102702e-01 -8.74115987e-01 2.44256087e-02 6.50819441e+02] [ 8.72970247e-01 4.85717095e-01 4.47420574e-02 2.20974327e+02] [-5.09736833e-02 -3.81663290e-04 9.98699924e-01 -1.28021901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:650.85, Y:221.02, Z:-12.81 [[ 4.84084458e-01 -8.74680574e-01 2.44158006e-02 6.50848029e+02] [ 8.73535281e-01 4.84699683e-01 4.47474090e-02 2.21023410e+02] [-5.09740202e-02 -3.33462062e-04 9.98699924e-01 -1.28069059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:650.88, Y:221.07, Z:-12.81 [[ 4.81065044e-01 -8.76345119e-01 2.44060598e-02 6.50875620e+02] [ 8.75201685e-01 4.81683718e-01 4.47527212e-02 2.21072563e+02] [-5.09748304e-02 -1.68745084e-04 9.98699924e-01 -1.28090264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:650.91, Y:221.12, Z:-12.81 [[ 4.77021405e-01 -8.78553046e-01 2.43951937e-02 6.50907402e+02] [ 8.77412173e-01 4.77644788e-01 4.47586436e-02 2.21119550e+02] [-5.09750798e-02 5.38088495e-05 9.98699924e-01 -1.28143051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:650.94, Y:221.17, Z:-12.82 [[ 4.74349077e-01 -8.79999068e-01 2.43843077e-02 6.50937723e+02] [ 8.78859790e-01 4.74975370e-01 4.47645735e-02 2.21166877e+02] [-5.09747285e-02 1.96353411e-04 9.98699924e-01 -1.28165366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:650.97, Y:221.22, Z:-12.81 [[ 4.73591646e-01 -8.80407211e-01 2.43740726e-02 6.50969389e+02] [ 8.79268186e-01 4.74218399e-01 4.47701458e-02 2.21215370e+02] [-5.09745929e-02 2.28579536e-04 9.98699924e-01 -1.28145674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:651.00, Y:221.26, Z:-12.82 [[ 4.76115382e-01 -8.79045241e-01 2.43640665e-02 6.50997897e+02] [ 8.77904144e-01 4.76738356e-01 4.47755905e-02 2.21262977e+02] [-5.09750547e-02 7.09676189e-05 9.98699924e-01 -1.28203196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:651.03, Y:221.31, Z:-12.82 [[ 4.83253164e-01 -8.75141817e-01 2.43552742e-02 6.51027634e+02] [ 8.73995448e-01 4.83866381e-01 4.47803725e-02 2.21312031e+02] [-5.09738749e-02 -3.53857892e-04 9.98699924e-01 -1.28225752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:651.05, Y:221.36, Z:-12.83 [[ 4.90723906e-01 -8.70974930e-01 2.43458025e-02 6.51052427e+02] [ 8.69823101e-01 4.91326805e-01 4.47855214e-02 2.21363493e+02] [-5.09688117e-02 -8.00784554e-04 9.98699924e-01 -1.28265792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:651.08, Y:221.41, Z:-12.83 [[ 4.94523625e-01 -8.68823420e-01 2.43361497e-02 6.51078200e+02] [ 8.67668712e-01 4.95120989e-01 4.47907660e-02 2.21414547e+02] [-5.09646050e-02 -1.03437633e-03 9.98699924e-01 -1.28281902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:651.10, Y:221.47, Z:-12.83 [[ 4.96933366e-01 -8.67447664e-01 2.43265063e-02 6.51103531e+02] [ 8.66291046e-01 4.97527025e-01 4.47960029e-02 2.21466107e+02] [-5.09612824e-02 -1.18679389e-03 9.98699925e-01 -1.28285661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.305336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:651.13, Y:221.52, Z:-12.83 [[ 4.96937984e-01 -8.67445275e-01 2.43173811e-02 6.51129018e+02] [ 8.66288412e-01 4.97531166e-01 4.48009559e-02 2.21517408e+02] [-5.09610325e-02 -1.19743121e-03 9.98699925e-01 -1.28343062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:651.15, Y:221.57, Z:-12.84 [[ 4.95544954e-01 -8.68242096e-01 2.43076305e-02 6.51151850e+02] [ 8.67085929e-01 4.96139489e-01 4.48062457e-02 2.21568786e+02] [-5.09626441e-02 -1.12670453e-03 9.98699925e-01 -1.28367805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:651.18, Y:221.62, Z:-12.84 [[ 4.94328017e-01 -8.68935829e-01 2.42968570e-02 6.51177859e+02] [ 8.67780209e-01 4.94923616e-01 4.48120870e-02 2.21618856e+02] [-5.09639163e-02 -1.06753840e-03 9.98699925e-01 -1.28391809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:651.20, Y:221.67, Z:-12.84 [[ 4.90253543e-01 -8.71241442e-01 2.42860920e-02 6.51201329e+02] [ 8.70088335e-01 4.90853994e-01 4.48179204e-02 2.21671205e+02] [-5.09681548e-02 -8.41098879e-04 9.98699925e-01 -1.28422992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.545336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:651.23, Y:221.72, Z:-12.85 [[ 4.86292065e-01 -8.73459044e-01 2.42760314e-02 6.51225857e+02] [ 8.72308405e-01 4.86897229e-01 4.48233691e-02 2.21721257e+02] [-5.09713096e-02 -6.21062455e-04 9.98699925e-01 -1.28473591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.6053361950001 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:651.25, Y:221.77, Z:-12.85 [[ 4.80937334e-01 -8.76419115e-01 2.42655145e-02 6.51250120e+02] [ 8.75271914e-01 4.81548992e-01 4.48290619e-02 2.21772218e+02] [-5.09740808e-02 -3.21046236e-04 9.98699925e-01 -1.28455493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:651.28, Y:221.82, Z:-12.85 [[ 4.76320129e-01 -8.78937346e-01 2.42544139e-02 6.51277035e+02] [ 8.77793073e-01 4.76937247e-01 4.48350669e-02 2.21821728e+02] [-5.09750481e-02 -6.54883815e-05 9.98699925e-01 -1.28478976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.7253361950001 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:651.30, Y:221.87, Z:-12.85 [[ 4.73625708e-01 -8.80392479e-01 2.42440045e-02 6.51302465e+02] [ 8.79249814e-01 4.74245798e-01 4.48406950e-02 2.21871255e+02] [-5.09750279e-02 7.88305568e-05 9.98699925e-01 -1.28538486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:651.33, Y:221.92, Z:-12.85 [[ 4.73116899e-01 -8.80666294e-01 2.42338194e-02 6.51329247e+02] [ 8.79523706e-01 4.73737131e-01 4.48461988e-02 2.21922244e+02] [-5.09749957e-02 9.67241248e-05 9.98699925e-01 -1.28540669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:651.36, Y:221.97, Z:-12.86 [[ 4.72314044e-01 -8.81097412e-01 2.42238418e-02 6.51355872e+02] [ 8.79955114e-01 4.72934809e-01 4.48515876e-02 2.21971295e+02] [-5.09749157e-02 1.31858732e-04 9.98699925e-01 -1.28564551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:651.38, Y:222.02, Z:-12.86 [[ 4.72407263e-01 -8.81047742e-01 2.42126723e-02 6.51384341e+02] [ 8.79905070e-01 4.73027338e-01 4.48576165e-02 2.22018765e+02] [-5.09749577e-02 1.13789290e-04 9.98699925e-01 -1.28608136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.965336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:651.41, Y:222.07, Z:-12.87 [[ 4.73313631e-01 -8.80561400e-01 2.42038639e-02 6.51411550e+02] [ 8.79417847e-01 4.73932081e-01 4.48623688e-02 2.22068608e+02] [-5.09750578e-02 5.13391805e-05 9.98699925e-01 -1.28665275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:651.44, Y:222.12, Z:-12.87 [[ 4.77798749e-01 -8.78136099e-01 2.41939499e-02 6.51437655e+02] [ 8.76989136e-01 4.78410852e-01 4.48677146e-02 2.22117815e+02] [-5.09746081e-02 -2.19906683e-04 9.98699925e-01 -1.28662915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:651.46, Y:222.17, Z:-12.87 [[ 4.81109656e-01 -8.76326736e-01 2.41857700e-02 6.51464717e+02] [ 8.75177249e-01 4.81717007e-01 4.48721236e-02 2.22168243e+02] [-5.09733383e-02 -4.21576249e-04 9.98699925e-01 -1.28665520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:651.49, Y:222.22, Z:-12.87 [[ 4.84763993e-01 -8.74310803e-01 2.41762619e-02 6.51491598e+02] [ 8.73158536e-01 4.85366051e-01 4.48772458e-02 2.22218929e+02] [-5.09709976e-02 -6.45163406e-04 9.98699925e-01 -1.28695867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:651.52, Y:222.27, Z:-12.88 [[ 4.85305731e-01 -8.74010429e-01 2.41685431e-02 6.51515027e+02] [ 8.72857582e-01 4.85906679e-01 4.48814023e-02 2.22268837e+02] [-5.09704702e-02 -6.85505656e-04 9.98699926e-01 -1.28789503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:651.54, Y:222.32, Z:-12.88 [[ 4.83340570e-01 -8.75099020e-01 2.41577730e-02 6.51540840e+02] [ 8.73947238e-01 4.83943556e-01 4.48871987e-02 2.22319147e+02] [-5.09717422e-02 -5.83185247e-04 9.98699926e-01 -1.28808812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:651.57, Y:222.37, Z:-12.88 [[ 4.76997958e-01 -8.78572628e-01 2.41471801e-02 6.51569656e+02] [ 8.77424949e-01 4.77608717e-01 4.48928965e-02 2.22368008e+02] [-5.09745737e-02 -2.26481702e-04 9.98699926e-01 -1.28827438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:651.60, Y:222.42, Z:-12.88 [[ 4.71933917e-01 -8.81303472e-01 2.41364407e-02 6.51598297e+02] [ 8.80159033e-01 4.72550724e-01 4.48986697e-02 2.22417095e+02] [-5.09750460e-02 5.47012819e-05 9.98699926e-01 -1.28844739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:651.63, Y:222.47, Z:-12.88 [[ 4.66782807e-01 -8.84042844e-01 2.41259463e-02 6.51629928e+02] [ 8.82901732e-01 4.67405749e-01 4.49043081e-02 2.22465339e+02] [-5.09739382e-02 3.40280753e-04 9.98699926e-01 -1.28839794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:651.66, Y:222.51, Z:-12.89 [[ 4.65641559e-01 -8.84644767e-01 2.41158644e-02 6.51658726e+02] [ 8.83504180e-01 4.66265461e-01 4.49097219e-02 2.22513616e+02] [-5.09735451e-02 3.94634086e-04 9.98699926e-01 -1.28872448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.565336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:651.69, Y:222.56, Z:-12.89 [[ 4.66924881e-01 -8.83968360e-01 2.41058821e-02 6.51688923e+02] [ 8.82826593e-01 4.67546620e-01 4.49150794e-02 2.22562568e+02] [-5.09741328e-02 3.09345633e-04 9.98699926e-01 -1.28877630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:651.72, Y:222.61, Z:-12.90 [[ 4.68081986e-01 -8.83356468e-01 2.40957530e-02 6.51719447e+02] [ 8.82213608e-01 4.68701714e-01 4.49205127e-02 2.22608824e+02] [-5.09745462e-02 2.31118411e-04 9.98699926e-01 -1.28952416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:651.75, Y:222.65, Z:-12.90 [[ 4.68433111e-01 -8.83170558e-01 2.40870533e-02 6.51753508e+02] [ 8.82027212e-01 4.69051943e-01 4.49251772e-02 2.22654095e+02] [-5.09746729e-02 2.00995920e-04 9.98699926e-01 -1.28987569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:651.78, Y:222.70, Z:-12.90 [[ 4.69124233e-01 -8.82803929e-01 2.40765028e-02 6.51784982e+02] [ 8.81659809e-01 4.69741633e-01 4.49308307e-02 2.22701530e+02] [-5.09748496e-02 1.49143376e-04 9.98699926e-01 -1.29028501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:651.82, Y:222.75, Z:-12.90 [[ 4.71495403e-01 -8.81540026e-01 2.40679708e-02 6.51818571e+02] [ 8.80394018e-01 4.72109291e-01 4.49354006e-02 2.22747497e+02] [-5.09750668e-02 2.46266514e-06 9.98699926e-01 -1.29040213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.865336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:651.85, Y:222.79, Z:-12.91 [[ 4.74472665e-01 -8.79941454e-01 2.40567592e-02 6.51852667e+02] [ 8.78793074e-01 4.75082102e-01 4.49414021e-02 2.22792678e+02] [-5.09747384e-02 -1.82553480e-04 9.98699926e-01 -1.29119198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.925336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:651.88, Y:222.84, Z:-12.91 [[ 4.76744201e-01 -8.78713119e-01 2.40462285e-02 6.51882836e+02] [ 8.77562884e-01 4.77350132e-01 4.49470359e-02 2.22840971e+02] [-5.09740204e-02 -3.26161152e-04 9.98699926e-01 -1.29111584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:651.91, Y:222.89, Z:-12.91 [[ 4.81454016e-01 -8.76141739e-01 2.40350521e-02 6.51912644e+02] [ 8.74987970e-01 4.82053190e-01 4.49530116e-02 2.22889226e+02] [-5.09713833e-02 -6.12426569e-04 9.98699926e-01 -1.29132708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:651.94, Y:222.94, Z:-12.91 [[ 4.86353815e-01 -8.73431639e-01 2.40237192e-02 6.51941311e+02] [ 8.72274234e-01 4.86945935e-01 4.49590673e-02 2.22937789e+02] [-5.09669242e-02 -9.10742671e-04 9.98699927e-01 -1.29114023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:651.97, Y:222.99, Z:-12.92 [[ 4.93797033e-01 -8.69245588e-01 2.40124480e-02 6.51967895e+02] [ 8.68082876e-01 4.94378662e-01 4.49650864e-02 2.22988378e+02] [-5.09569449e-02 -1.35883131e-03 9.98699927e-01 -1.29172522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:651.99, Y:223.04, Z:-12.92 [[ 4.97635204e-01 -8.67054262e-01 2.40023120e-02 6.51989157e+02] [ 8.65888730e-01 4.98211161e-01 4.49704963e-02 2.23039092e+02] [-5.09500802e-02 -1.59557062e-03 9.98699927e-01 -1.29209970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:652.01, Y:223.09, Z:-12.92 [[ 4.96844010e-01 -8.67508195e-01 2.39908486e-02 6.52012763e+02] [ 8.66342896e-01 4.97420437e-01 4.49766110e-02 2.23090893e+02] [-5.09511170e-02 -1.56205846e-03 9.98699927e-01 -1.29220303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.285336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:652.04, Y:223.14, Z:-12.93 [[ 4.90397674e-01 -8.71168773e-01 2.39810327e-02 6.52042582e+02] [ 8.70007525e-01 4.90982220e-01 4.49818441e-02 2.23139289e+02] [-5.09610386e-02 -1.19531289e-03 9.98699927e-01 -1.29250899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:652.07, Y:223.19, Z:-12.93 [[ 4.86928113e-01 -8.73113053e-01 2.39710026e-02 6.52068402e+02] [ 8.71953878e-01 4.87516757e-01 4.49871886e-02 2.23188441e+02] [-5.09651670e-02 -1.00391821e-03 9.98699927e-01 -1.29319912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:652.09, Y:223.24, Z:-12.93 [[ 4.77960891e-01 -8.78054271e-01 2.39600298e-02 6.52092890e+02] [ 8.76900892e-01 4.78560813e-01 4.49930319e-02 2.23241933e+02] [-5.09726552e-02 -4.94338090e-04 9.98699927e-01 -1.29256960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.465336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:652.12, Y:223.29, Z:-12.94 [[ 4.71109968e-01 -8.81749247e-01 2.39512799e-02 6.52119981e+02] [ 8.80600337e-01 4.71718406e-01 4.49976893e-02 2.23290817e+02] [-5.09749382e-02 -1.07354793e-04 9.98699927e-01 -1.29403766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.525336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:652.15, Y:223.34, Z:-12.94 [[ 4.68212690e-01 -8.83291423e-01 2.39403156e-02 6.52147931e+02] [ 8.82144219e-01 4.68824338e-01 4.50035219e-02 2.23338707e+02] [-5.09750275e-02 4.75909774e-05 9.98699927e-01 -1.29441612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:652.17, Y:223.39, Z:-12.94 [[ 4.66288051e-01 -8.84309255e-01 2.39289556e-02 6.52173743e+02] [ 8.83163076e-01 4.66901618e-01 4.50095613e-02 2.23388284e+02] [-5.09748398e-02 1.45749424e-04 9.98699927e-01 -1.29437877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:652.20, Y:223.44, Z:-12.95 [[ 4.65277524e-01 -8.84841669e-01 2.39174974e-02 6.52201373e+02] [ 8.83695879e-01 4.65891816e-01 4.50156493e-02 2.23437417e+02] [-5.09746885e-02 1.91024111e-04 9.98699927e-01 -1.29476070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:652.23, Y:223.48, Z:-12.95 [[ 4.64724521e-01 -8.85132528e-01 2.39066317e-02 6.52230717e+02] [ 8.83986826e-01 4.65338977e-01 4.50214190e-02 2.23484778e+02] [-5.09746100e-02 2.10590047e-04 9.98699927e-01 -1.29523493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:652.26, Y:223.53, Z:-12.96 [[ 4.65993340e-01 -8.84465498e-01 2.38953808e-02 6.52260904e+02] [ 8.83318610e-01 4.66605580e-01 4.50273897e-02 2.23531633e+02] [-5.09748907e-02 1.24770831e-04 9.98699927e-01 -1.29576676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:652.29, Y:223.58, Z:-12.95 [[ 4.67640677e-01 -8.83595912e-01 2.38843228e-02 6.52288476e+02] [ 8.82447586e-01 4.68250214e-01 4.50332546e-02 2.23582018e+02] [-5.09750389e-02 1.72814098e-05 9.98699927e-01 -1.29526435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.885336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:652.32, Y:223.63, Z:-12.96 [[ 4.72196305e-01 -8.81170055e-01 2.38743356e-02 6.52317118e+02] [ 8.80018330e-01 4.72799395e-01 4.50385487e-02 2.23631024e+02] [-5.09743918e-02 -2.57183293e-04 9.98699928e-01 -1.29579680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:652.35, Y:223.68, Z:-12.96 [[ 4.77050417e-01 -8.78551871e-01 2.38644014e-02 6.52347068e+02] [ 8.77396574e-01 4.77646635e-01 4.50438119e-02 2.23678704e+02] [-5.09720762e-02 -5.49625206e-04 9.98699928e-01 -1.29606814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:652.37, Y:223.73, Z:-12.96 [[ 4.79646774e-01 -8.77137356e-01 2.38543836e-02 6.52374083e+02] [ 8.75980036e-01 4.80239058e-01 4.50491165e-02 2.23729563e+02] [-5.09700696e-02 -7.11699619e-04 9.98699928e-01 -1.29557876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:652.40, Y:223.78, Z:-12.96 [[ 4.81578090e-01 -8.76078779e-01 2.38435870e-02 6.52401340e+02] [ 8.74919875e-01 4.82167268e-01 4.50548302e-02 2.23778059e+02] [-5.09681778e-02 -8.36190903e-04 9.98699928e-01 -1.29640661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:652.43, Y:223.83, Z:-12.97 [[ 4.83843768e-01 -8.74829820e-01 2.38326259e-02 6.52426937e+02] [ 8.73669111e-01 4.84429381e-01 4.50606275e-02 2.23827762e+02] [-5.09656049e-02 -9.80474750e-04 9.98699928e-01 -1.29682924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:652.45, Y:223.88, Z:-12.98 [[ 4.84154903e-01 -8.74657974e-01 2.38213955e-02 6.52450833e+02] [ 8.73496765e-01 4.84739524e-01 4.50665637e-02 2.23877290e+02] [-5.09650012e-02 -1.01128583e-03 9.98699928e-01 -1.29755094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:652.47, Y:223.93, Z:-12.98 [[ 4.82492026e-01 -8.75576615e-01 2.38125044e-02 6.52473915e+02] [ 8.74416289e-01 4.83078395e-01 4.50712611e-02 2.23929069e+02] [-5.09666487e-02 -9.24482347e-04 9.98699928e-01 -1.29774512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:652.50, Y:223.98, Z:-12.98 [[ 4.80128430e-01 -8.76875232e-01 2.38016353e-02 6.52498037e+02] [ 8.75716207e-01 4.80717368e-01 4.50770003e-02 2.23979616e+02] [-5.09687646e-02 -7.99271601e-04 9.98699928e-01 -1.29785344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.365336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:652.52, Y:224.03, Z:-12.98 [[ 4.74636235e-01 -8.79860474e-01 2.37905467e-02 6.52522969e+02] [ 8.78704862e-01 4.75231841e-01 4.50828518e-02 2.24029137e+02] [-5.09726447e-02 -4.93086053e-04 9.98699928e-01 -1.29801353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:652.55, Y:224.08, Z:-12.98 [[ 4.70300159e-01 -8.82186102e-01 2.37790333e-02 6.52546837e+02] [ 8.81033128e-01 4.70900857e-01 4.50889238e-02 2.24081472e+02] [-5.09743890e-02 -2.55211897e-04 9.98699928e-01 -1.29753797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:652.57, Y:224.13, Z:-12.98 [[ 4.68255521e-01 -8.83273347e-01 2.37689141e-02 6.52570810e+02] [ 8.82121497e-01 4.68858371e-01 4.50942575e-02 2.24131969e+02] [-5.09748101e-02 -1.48564981e-04 9.98699928e-01 -1.29816269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:652.59, Y:224.18, Z:-12.99 [[ 4.65803161e-01 -8.84569382e-01 2.37575940e-02 6.52594093e+02] [ 8.83418905e-01 4.66408627e-01 4.51002207e-02 2.24183112e+02] [-5.09750211e-02 -1.99176493e-05 9.98699928e-01 -1.29868823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:652.62, Y:224.23, Z:-12.99 [[ 4.63641034e-01 -8.85704862e-01 2.37463520e-02 6.52620178e+02] [ 8.84555564e-01 4.64248737e-01 4.51061391e-02 2.24234083e+02] [-5.09749406e-02 9.19108011e-05 9.98699928e-01 -1.29860975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:652.65, Y:224.28, Z:-13.00 [[ 4.60206134e-01 -8.87494756e-01 2.37354665e-02 6.52646410e+02] [ 8.86347527e-01 4.60817731e-01 4.51118665e-02 2.24283685e+02] [-5.09742687e-02 2.77114404e-04 9.98699928e-01 -1.29968430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:652.67, Y:224.33, Z:-13.00 [[ 4.58217608e-01 -8.88523263e-01 2.37283539e-02 6.52670187e+02] [ 8.87377213e-01 4.58831411e-01 4.51156073e-02 2.24334410e+02] [-5.09735807e-02 3.83234933e-04 9.98699929e-01 -1.29993044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:652.70, Y:224.38, Z:-13.00 [[ 4.58652995e-01 -8.88298893e-01 2.37172140e-02 6.52695467e+02] [ 8.87152240e-01 4.59265671e-01 4.51214628e-02 2.24383272e+02] [-5.09738477e-02 3.45685471e-04 9.98699929e-01 -1.30044662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:652.72, Y:224.43, Z:-13.01 [[ 4.59380606e-01 -8.87923065e-01 2.37084360e-02 6.52719186e+02] [ 8.86775672e-01 4.59991896e-01 4.51260746e-02 2.24433135e+02] [-5.09741709e-02 2.94020742e-04 9.98699929e-01 -1.30109067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:652.74, Y:224.48, Z:-13.01 [[ 4.60772263e-01 -8.87201982e-01 2.36973439e-02 6.52743895e+02] [ 8.86053333e-01 4.61381190e-01 4.51318987e-02 2.24484498e+02] [-5.09746187e-02 2.01583413e-04 9.98699929e-01 -1.30116899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:652.77, Y:224.54, Z:-13.01 [[ 4.60410584e-01 -8.87389983e-01 2.36878081e-02 6.52767160e+02] [ 8.86241325e-01 4.61019494e-01 4.51369031e-02 2.24536355e+02] [-5.09745770e-02 2.11606559e-04 9.98699929e-01 -1.30130813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:652.79, Y:224.59, Z:-13.02 [[ 4.59632012e-01 -8.87793759e-01 2.36781502e-02 6.52793717e+02] [ 8.86645375e-01 4.60241438e-01 4.51419689e-02 2.24586926e+02] [-5.09744242e-02 2.45428366e-04 9.98699929e-01 -1.30191175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:652.82, Y:224.64, Z:-13.02 [[ 4.59677898e-01 -8.87770260e-01 2.36684384e-02 6.52818049e+02] [ 8.86621583e-01 4.60286771e-01 4.51470604e-02 2.24639407e+02] [-5.09744866e-02 2.31842480e-04 9.98699929e-01 -1.30153843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:652.84, Y:224.69, Z:-13.02 [[ 4.61236223e-01 -8.86961900e-01 2.36587191e-02 6.52840481e+02] [ 8.85811894e-01 4.61842582e-01 4.51521530e-02 2.24690590e+02] [-5.09748434e-02 1.31366310e-04 9.98699929e-01 -1.30224070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:652.87, Y:224.74, Z:-13.02 [[ 4.62364510e-01 -8.86374546e-01 2.36479181e-02 6.52865111e+02] [ 8.85223481e-01 4.62968855e-01 4.51578093e-02 2.24742758e+02] [-5.09749822e-02 5.43239889e-05 9.98699929e-01 -1.30181695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:652.89, Y:224.80, Z:-13.02 [[ 4.62945411e-01 -8.86071556e-01 2.36377658e-02 6.52887993e+02] [ 8.84919824e-01 4.63548484e-01 4.51631228e-02 2.24795036e+02] [-5.09750090e-02 9.46714206e-06 9.98699929e-01 -1.30180855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:652.91, Y:224.85, Z:-13.02 [[ 4.62054432e-01 -8.86536706e-01 2.36298948e-02 6.52911468e+02] [ 8.85385370e-01 4.62658262e-01 4.51672407e-02 2.24847027e+02] [-5.09749828e-02 5.18394158e-05 9.98699929e-01 -1.30246790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:652.94, Y:224.90, Z:-13.03 [[ 4.60160935e-01 -8.87521204e-01 2.36225767e-02 6.52935140e+02] [ 8.86370964e-01 4.60766849e-01 4.51710677e-02 2.24898836e+02] [-5.09747806e-02 1.52405357e-04 9.98699929e-01 -1.30265556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:652.96, Y:224.95, Z:-13.03 [[ 4.55318338e-01 -8.90015545e-01 2.36123000e-02 6.52959168e+02] [ 8.88868345e-01 4.55929989e-01 4.51764390e-02 2.24949347e+02] [-5.09732887e-02 4.18564856e-04 9.98699929e-01 -1.30313592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.505336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:652.99, Y:225.00, Z:-13.03 [[ 4.50020386e-01 -8.92706347e-01 2.36014848e-02 6.52986504e+02] [ 8.91562507e-01 4.50638297e-01 4.51820885e-02 2.24998457e+02] [-5.09700701e-02 7.09338110e-04 9.98699929e-01 -1.30341702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.565336195 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:653.01, Y:225.05, Z:-13.04 [[ 4.47377410e-01 -8.94034075e-01 2.35907898e-02 6.53013017e+02] [ 8.92891775e-01 4.47998162e-01 4.51876719e-02 2.25048464e+02] [-5.09679490e-02 8.48078573e-04 9.98699929e-01 -1.30387619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:653.04, Y:225.10, Z:-13.04 [[ 4.45795623e-01 -8.94824125e-01 2.35806559e-02 6.53042085e+02] [ 8.93682645e-01 4.46417883e-01 4.51929596e-02 2.25097758e+02] [-5.09665770e-02 9.26799336e-04 9.98699929e-01 -1.30371082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:653.07, Y:225.15, Z:-13.04 [[ 4.47944706e-01 -8.93750433e-01 2.35733707e-02 6.53072425e+02] [ 8.92607262e-01 4.48563852e-01 4.51967594e-02 2.25146096e+02] [-5.09687852e-02 7.96112780e-04 9.98699929e-01 -1.30444020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:653.10, Y:225.19, Z:-13.05 [[ 4.50433836e-01 -8.92498819e-01 2.35630386e-02 6.53099107e+02] [ 8.91353646e-01 4.51049271e-01 4.52021453e-02 2.25194046e+02] [-5.09709527e-02 6.42424693e-04 9.98699930e-01 -1.30484948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:653.13, Y:225.24, Z:-13.05 [[ 4.56561506e-01 -8.89380079e-01 2.35513563e-02 6.53129424e+02] [ 8.88230386e-01 4.57168457e-01 4.52082313e-02 2.25242556e+02] [-5.09742375e-02 2.78692086e-04 9.98699930e-01 -1.30500522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.865336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:653.16, Y:225.29, Z:-13.05 [[ 4.60323325e-01 -8.87439136e-01 2.35418032e-02 6.53158153e+02] [ 8.86286629e-01 4.60924915e-01 4.52132054e-02 2.25291219e+02] [-5.09749716e-02 5.20923714e-05 9.98699930e-01 -1.30542643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.925336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:653.19, Y:225.34, Z:-13.06 [[ 4.65390705e-01 -8.84792490e-01 2.35316867e-02 6.53187077e+02] [ 8.83636296e-01 4.65985178e-01 4.52184700e-02 2.25339046e+02] [-5.09743799e-02 -2.50803151e-04 9.98699930e-01 -1.30585068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.9853361950001 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:653.21, Y:225.39, Z:-13.06 [[ 4.68356587e-01 -8.83226405e-01 2.35207439e-02 6.53214672e+02] [ 8.82067937e-01 4.68946617e-01 4.52241613e-02 2.25388097e+02] [-5.09731467e-02 -4.34139777e-04 9.98699930e-01 -1.30616576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:653.24, Y:225.44, Z:-13.06 [[ 4.71928691e-01 -8.81323207e-01 2.35098957e-02 6.53242990e+02] [ 8.80162080e-01 4.72513469e-01 4.52298001e-02 2.25437518e+02] [-5.09708148e-02 -6.52721634e-04 9.98699930e-01 -1.30572243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:653.27, Y:225.49, Z:-13.07 [[ 4.74136178e-01 -8.80137871e-01 2.34992055e-02 6.53271451e+02] [ 8.78975007e-01 4.74717495e-01 4.52353535e-02 2.25486218e+02] [-5.09688317e-02 -7.92503332e-04 9.98699930e-01 -1.30658763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:653.30, Y:225.54, Z:-13.07 [[ 4.74945420e-01 -8.79701717e-01 2.34890801e-02 6.53297028e+02] [ 8.78538059e-01 4.75525147e-01 4.52406106e-02 2.25537565e+02] [-5.09678911e-02 -8.50769945e-04 9.98699930e-01 -1.30697025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:653.32, Y:225.59, Z:-13.07 [[ 4.73795723e-01 -8.80321736e-01 2.34788115e-02 6.53324359e+02] [ 8.79158573e-01 4.74376441e-01 4.52459392e-02 2.25588617e+02] [-5.09687788e-02 -7.95734075e-04 9.98699930e-01 -1.30672082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:653.35, Y:225.64, Z:-13.08 [[ 4.70922850e-01 -8.81862155e-01 2.34693232e-02 6.53351435e+02] [ 8.80700647e-01 4.71506872e-01 4.52508603e-02 2.25637110e+02] [-5.09709683e-02 -6.40215933e-04 9.98699930e-01 -1.30781507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:653.38, Y:225.69, Z:-13.08 [[ 4.68924297e-01 -8.82926794e-01 2.34580457e-02 6.53377162e+02] [ 8.81766320e-01 4.69510370e-01 4.52567058e-02 2.25686395e+02] [-5.09721539e-02 -5.37454287e-04 9.98699930e-01 -1.30825137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:653.40, Y:225.74, Z:-13.08 [[ 4.64879953e-01 -8.85063173e-01 2.34480241e-02 6.53403926e+02] [ 8.83905131e-01 4.65470816e-01 4.52618975e-02 2.25737463e+02] [-5.09740095e-02 -3.15519973e-04 9.98699930e-01 -1.30768643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:653.43, Y:225.79, Z:-13.09 [[ 4.62115038e-01 -8.86510225e-01 2.34374052e-02 6.53428870e+02] [ 8.85353755e-01 4.62708971e-01 4.52673955e-02 2.25787315e+02] [-5.09747066e-02 -1.68349466e-04 9.98699930e-01 -1.30897768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:653.46, Y:225.84, Z:-13.09 [[ 4.60433218e-01 -8.87385181e-01 2.34262948e-02 6.53458064e+02] [ 8.86229547e-01 4.61028776e-01 4.52731445e-02 2.25836874e+02] [-5.09749136e-02 -8.41850447e-05 9.98699930e-01 -1.30885393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:653.48, Y:225.89, Z:-13.09 [[ 4.58806564e-01 -8.88227569e-01 2.34162750e-02 6.53482976e+02] [ 8.87072764e-01 4.59403728e-01 4.52783263e-02 2.25887701e+02] [-5.09749818e-02 -2.05350884e-06 9.98699931e-01 -1.30903932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:653.51, Y:225.94, Z:-13.09 [[ 4.57755880e-01 -8.88769800e-01 2.34050633e-02 6.53509879e+02] [ 8.87615406e-01 4.58353837e-01 4.52841211e-02 2.25938666e+02] [-5.09749599e-02 4.56220455e-05 9.98699931e-01 -1.30911246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:653.54, Y:225.99, Z:-13.09 [[ 4.56970926e-01 -8.89173915e-01 2.33949040e-02 6.53535838e+02] [ 8.88019780e-01 4.57569386e-01 4.52893691e-02 2.25991092e+02] [-5.09749174e-02 7.92125196e-05 9.98699931e-01 -1.30873613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:653.56, Y:226.04, Z:-13.09 [[ 4.56022552e-01 -8.89660928e-01 2.33851325e-02 6.53562443e+02] [ 8.88507174e-01 4.56621744e-01 4.52944140e-02 2.26041174e+02] [-5.09748304e-02 1.22583719e-04 9.98699931e-01 -1.30925243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:653.59, Y:226.09, Z:-13.10 [[ 4.54948364e-01 -8.90210989e-01 2.33747944e-02 6.53588392e+02] [ 8.89057685e-01 4.55548422e-01 4.52997485e-02 2.26091990e+02] [-5.09746846e-02 1.72494085e-04 9.98699931e-01 -1.30956740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:653.62, Y:226.14, Z:-13.10 [[ 4.52961130e-01 -8.91224068e-01 2.33639707e-02 6.53615118e+02] [ 8.90071818e-01 4.53563210e-01 4.53053303e-02 2.26141499e+02] [-5.09742383e-02 2.74058336e-04 9.98699931e-01 -1.30993861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:653.64, Y:226.19, Z:-13.10 [[ 4.52705504e-01 -8.91354241e-01 2.33525862e-02 6.53644378e+02] [ 8.90201862e-01 4.53307336e-01 4.53111977e-02 2.26190857e+02] [-5.09742268e-02 2.75887154e-04 9.98699931e-01 -1.31004554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:653.67, Y:226.24, Z:-13.11 [[ 4.53490467e-01 -8.90955420e-01 2.33417202e-02 6.53672823e+02] [ 8.89802223e-01 4.54090731e-01 4.53167945e-02 2.26239104e+02] [-5.09745025e-02 2.18780190e-04 9.98699931e-01 -1.31108200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:653.70, Y:226.29, Z:-13.11 [[ 4.53739146e-01 -8.90829095e-01 2.33304488e-02 6.53701004e+02] [ 8.89675433e-01 4.54338515e-01 4.53225966e-02 2.26286718e+02] [-5.09746092e-02 1.91890866e-04 9.98699931e-01 -1.31124327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:653.73, Y:226.34, Z:-13.11 [[ 4.53726566e-01 -8.90835728e-01 2.33218549e-02 6.53728987e+02] [ 8.89681847e-01 4.54325514e-01 4.53270184e-02 2.26336180e+02] [-5.09746411e-02 1.82958544e-04 9.98699931e-01 -1.31142776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:653.76, Y:226.38, Z:-13.12 [[ 4.54287762e-01 -8.90549964e-01 2.33107465e-02 6.53759080e+02] [ 8.89395413e-01 4.54885417e-01 4.53327305e-02 2.26384351e+02] [-5.09747802e-02 1.38366365e-04 9.98699931e-01 -1.31185341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:653.79, Y:226.43, Z:-13.12 [[ 4.56109741e-01 -8.89618481e-01 2.32994314e-02 6.53786450e+02] [ 8.88462412e-01 4.56704454e-01 4.53385454e-02 2.26432326e+02] [-5.09749619e-02 2.13168171e-05 9.98699931e-01 -1.31233932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:653.81, Y:226.48, Z:-13.12 [[ 4.60586450e-01 -8.87309297e-01 2.32880606e-02 6.53813177e+02] [ 8.86149952e-01 4.61174750e-01 4.53443852e-02 2.26483077e+02] [-5.09743601e-02 -2.48295622e-04 9.98699931e-01 -1.31207504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:653.84, Y:226.53, Z:-13.13 [[ 4.65217609e-01 -8.84890251e-01 2.32770046e-02 6.53840619e+02] [ 8.83727564e-01 4.65799276e-01 4.53500600e-02 2.26530946e+02] [-5.09722378e-02 -5.27115948e-04 9.98699931e-01 -1.31311826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.425336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:653.87, Y:226.58, Z:-13.13 [[ 4.66284016e-01 -8.84329073e-01 2.32659902e-02 6.53867185e+02] [ 8.83165404e-01 4.66863716e-01 4.53557100e-02 2.26581208e+02] [-5.09714196e-02 -6.00924927e-04 9.98699932e-01 -1.31337387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.4853361950001 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:653.89, Y:226.63, Z:-13.14 [[ 4.67423160e-01 -8.83727762e-01 2.32557896e-02 6.53891845e+02] [ 8.82563087e-01 4.68000836e-01 4.53609397e-02 2.26631231e+02] [-5.09704507e-02 -6.78052350e-04 9.98699932e-01 -1.31354116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:653.92, Y:226.68, Z:-13.13 [[ 4.68739914e-01 -8.83030355e-01 2.32440267e-02 6.53916364e+02] [ 8.81864522e-01 4.69315249e-01 4.53669664e-02 2.26682628e+02] [-5.09691847e-02 -7.67225447e-04 9.98699932e-01 -1.31309133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:653.94, Y:226.73, Z:-13.13 [[ 4.69309710e-01 -8.82727924e-01 2.32337688e-02 6.53942494e+02] [ 8.81561460e-01 4.69883766e-01 4.53722192e-02 2.26731981e+02] [-5.09684957e-02 -8.11627886e-04 9.98699932e-01 -1.31339389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.665336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:653.96, Y:226.78, Z:-13.14 [[ 4.69755101e-01 -8.82491285e-01 2.32223303e-02 6.53962451e+02] [ 8.81324243e-01 4.70327980e-01 4.53780729e-02 2.26783192e+02] [-5.09678656e-02 -8.50178519e-04 9.98699932e-01 -1.31419029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:653.99, Y:226.83, Z:-13.14 [[ 4.70245834e-01 -8.82230125e-01 2.32133946e-02 6.53986171e+02] [ 8.81062540e-01 4.70817604e-01 4.53826435e-02 2.26834948e+02] [-5.09672101e-02 -8.88546629e-04 9.98699932e-01 -1.31417267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:654.01, Y:226.89, Z:-13.14 [[ 4.70194009e-01 -8.82258013e-01 2.32032747e-02 6.54011684e+02] [ 8.81090207e-01 4.70765328e-01 4.53878171e-02 2.26887233e+02] [-5.09670625e-02 -8.96901533e-04 9.98699932e-01 -1.31427301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:654.03, Y:226.94, Z:-13.15 [[ 4.69311457e-01 -8.82727956e-01 2.31972392e-02 6.54034231e+02] [ 8.81560569e-01 4.69883633e-01 4.53909016e-02 2.26938556e+02] [-5.09678208e-02 -8.52698762e-04 9.98699932e-01 -1.31533107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:654.05, Y:226.99, Z:-13.16 [[ 4.68302111e-01 -8.83264068e-01 2.31887600e-02 6.54054156e+02] [ 8.82097123e-01 4.68875185e-01 4.53952329e-02 2.26991856e+02] [-5.09686122e-02 -8.03944938e-04 9.98699932e-01 -1.31560037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:654.08, Y:227.04, Z:-13.16 [[ 4.65082017e-01 -8.84964114e-01 2.31783329e-02 6.54080052e+02] [ 8.83798998e-01 4.65658803e-01 4.54005562e-02 2.27042907e+02] [-5.09710578e-02 -6.29994886e-04 9.98699932e-01 -1.31556813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:654.11, Y:227.09, Z:-13.16 [[ 4.63058888e-01 -8.86024657e-01 2.31683803e-02 6.54105049e+02] [ 8.84860608e-01 4.63637825e-01 4.54056346e-02 2.27094618e+02] [-5.09722492e-02 -5.24695564e-04 9.98699932e-01 -1.31617417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:654.13, Y:227.14, Z:-13.17 [[ 4.62033870e-01 -8.86559849e-01 2.31589554e-02 6.54128069e+02] [ 8.85396230e-01 4.62613669e-01 4.54104412e-02 2.27144690e+02] [-5.09727232e-02 -4.76310067e-04 9.98699932e-01 -1.31681866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:654.15, Y:227.20, Z:-13.17 [[ 4.62403140e-01 -8.86367534e-01 2.31501862e-02 6.54150242e+02] [ 8.85203450e-01 4.62982006e-01 4.54149113e-02 2.27196256e+02] [-5.09724226e-02 -5.07372831e-04 9.98699932e-01 -1.31694199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:654.18, Y:227.25, Z:-13.17 [[ 4.63574662e-01 -8.85755669e-01 2.31393106e-02 6.54175348e+02] [ 8.84590545e-01 4.64151431e-01 4.54204519e-02 2.27247859e+02] [-5.09715668e-02 -5.86955299e-04 9.98699932e-01 -1.31698955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:654.20, Y:227.30, Z:-13.17 [[ 4.65316414e-01 -8.84842169e-01 2.31294178e-02 6.54196802e+02] [ 8.83675663e-01 4.65890381e-01 4.54254890e-02 2.27299469e+02] [-5.09701615e-02 -6.98322042e-04 9.98699932e-01 -1.31739183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:654.22, Y:227.35, Z:-13.17 [[ 4.67924355e-01 -8.83466094e-01 2.31183574e-02 6.54217514e+02] [ 8.82297623e-01 4.68494310e-01 4.54311172e-02 2.27353213e+02] [-5.09676706e-02 -8.61054418e-04 9.98699932e-01 -1.31719321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:654.24, Y:227.40, Z:-13.18 [[ 4.68605464e-01 -8.83105282e-01 2.31080237e-02 6.54239103e+02] [ 8.81936112e-01 4.69173987e-01 4.54363728e-02 2.27404583e+02] [-5.09667844e-02 -9.11931988e-04 9.98699933e-01 -1.31782386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:654.26, Y:227.46, Z:-13.18 [[ 4.69631259e-01 -8.82560418e-01 2.30995335e-02 6.54257742e+02] [ 8.81390378e-01 4.70197986e-01 4.54406887e-02 2.27458322e+02] [-5.09655074e-02 -9.80661282e-04 9.98699933e-01 -1.31808364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:654.28, Y:227.51, Z:-13.17 [[ 4.69283093e-01 -8.82745871e-01 2.30890883e-02 6.54278354e+02] [ 8.81575793e-01 4.69849744e-01 4.54459955e-02 2.27513417e+02] [-5.09656671e-02 -9.72255976e-04 9.98699933e-01 -1.31739980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:654.30, Y:227.57, Z:-13.18 [[ 4.68062230e-01 -8.83394072e-01 2.30794800e-02 6.54298254e+02] [ 8.82224539e-01 4.68630005e-01 4.54508745e-02 2.27566025e+02] [-5.09667699e-02 -9.12554052e-04 9.98699933e-01 -1.31846732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:654.32, Y:227.62, Z:-13.19 [[ 4.66094497e-01 -8.84434084e-01 2.30710138e-02 6.54317450e+02] [ 8.83265605e-01 4.66664438e-01 4.54551715e-02 2.27618997e+02] [-5.09685247e-02 -8.08572301e-04 9.98699933e-01 -1.31864841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:654.34, Y:227.67, Z:-13.18 [[ 4.63902062e-01 -8.85586313e-01 2.30599070e-02 6.54339284e+02] [ 8.84418970e-01 4.64474327e-01 4.54608055e-02 2.27673491e+02] [-5.09702018e-02 -6.94742253e-04 9.98699933e-01 -1.31826614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:654.36, Y:227.73, Z:-13.19 [[ 4.57114729e-01 -8.89108969e-01 2.30513603e-02 6.54361615e+02] [ 8.87945820e-01 4.57695469e-01 4.54651387e-02 2.27727054e+02] [-5.09739658e-02 -3.14425524e-04 9.98699933e-01 -1.31882579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:654.38, Y:227.78, Z:-13.20 [[ 4.51695572e-01 -8.91874537e-01 2.30417090e-02 6.54383989e+02] [ 8.90714694e-01 4.52282887e-01 4.54700295e-02 2.27778268e+02] [-5.09749322e-02 -1.50221871e-05 9.98699933e-01 -1.31954081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:654.41, Y:227.83, Z:-13.20 [[ 4.46710013e-01 -8.94382335e-01 2.30305003e-02 6.54406869e+02] [ 8.93225496e-01 4.47303223e-01 4.54757060e-02 2.27830021e+02] [-5.09742851e-02 2.56976857e-04 9.98699933e-01 -1.31999129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:654.43, Y:227.88, Z:-13.20 [[ 4.47175425e-01 -8.94150020e-01 2.30191688e-02 6.54428706e+02] [ 8.92992578e-01 4.47767456e-01 4.54814411e-02 2.27880726e+02] [-5.09744661e-02 2.17764145e-04 9.98699933e-01 -1.32025459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:654.45, Y:227.93, Z:-13.21 [[ 4.49395070e-01 -8.93036731e-01 2.30101874e-02 6.54453675e+02] [ 8.91877589e-01 4.49983768e-01 4.54859845e-02 2.27931538e+02] [-5.09748658e-02 8.10932918e-05 9.98699933e-01 -1.32072549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:654.48, Y:227.98, Z:-13.21 [[ 4.50302312e-01 -8.92579895e-01 2.29991267e-02 6.54477948e+02] [ 8.91419870e-01 4.50889268e-01 4.54915765e-02 2.27980607e+02] [-5.09749259e-02 1.69165177e-05 9.98699933e-01 -1.32118953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.1053361950001 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:654.50, Y:228.03, Z:-13.21 [[ 4.53033711e-01 -8.91196962e-01 2.29876310e-02 6.54500273e+02] [ 8.90034851e-01 4.53616525e-01 4.54973847e-02 2.28032574e+02] [-5.09747003e-02 -1.52056336e-04 9.98699933e-01 -1.32113861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.165336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:654.53, Y:228.08, Z:-13.21 [[ 4.55841163e-01 -8.89764532e-01 2.29763415e-02 6.54525543e+02] [ 8.88600302e-01 4.56419732e-01 4.55030853e-02 2.28083751e+02] [-5.09738870e-02 -3.25395340e-04 9.98699933e-01 -1.32111258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:654.55, Y:228.13, Z:-13.22 [[ 4.57232074e-01 -8.89050760e-01 2.29690270e-02 6.54551176e+02] [ 8.87885442e-01 4.57808448e-01 4.55067772e-02 2.28132946e+02] [-5.09732494e-02 -4.13293397e-04 9.98699933e-01 -1.32202844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:654.58, Y:228.18, Z:-13.22 [[ 4.58815519e-01 -8.88234850e-01 2.29602138e-02 6.54576463e+02] [ 8.87068284e-01 4.59389364e-01 4.55112234e-02 2.28184365e+02] [-5.09723327e-02 -5.13978142e-04 9.98699933e-01 -1.32203570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.345336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:654.60, Y:228.24, Z:-13.23 [[ 4.60844763e-01 -8.87183954e-01 2.29507581e-02 6.54598659e+02] [ 8.86015842e-01 4.61415454e-01 4.55159913e-02 2.28235828e+02] [-5.09708916e-02 -6.41070912e-04 9.98699934e-01 -1.32271428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:654.62, Y:228.29, Z:-13.23 [[ 4.62045914e-01 -8.86559260e-01 2.29401863e-02 6.54621589e+02] [ 8.85390113e-01 4.62614481e-01 4.55213189e-02 2.28286159e+02] [-5.09698091e-02 -7.21925300e-04 9.98699934e-01 -1.32345308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:654.65, Y:228.34, Z:-13.23 [[ 4.63049506e-01 -8.86035720e-01 2.29315703e-02 6.54645969e+02] [ 8.84865716e-01 4.63616306e-01 4.55256588e-02 2.28337540e+02] [-5.09688098e-02 -7.89273485e-04 9.98699934e-01 -1.32337962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:654.67, Y:228.39, Z:-13.23 [[ 4.63148216e-01 -8.85984408e-01 2.29207037e-02 6.54667828e+02] [ 8.84814070e-01 4.63714327e-01 4.55311292e-02 2.28390296e+02] [-5.09685292e-02 -8.07100168e-04 9.98699934e-01 -1.32343691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:654.69, Y:228.44, Z:-13.24 [[ 4.61937939e-01 -8.86616287e-01 2.29107134e-02 6.54692904e+02] [ 8.85446474e-01 4.62505135e-01 4.55361556e-02 2.28439304e+02] [-5.09694198e-02 -7.48667501e-04 9.98699934e-01 -1.32376878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:654.72, Y:228.49, Z:-13.24 [[ 4.60516598e-01 -8.87355602e-01 2.29019361e-02 6.54716142e+02] [ 8.86186481e-01 4.61085217e-01 4.55405696e-02 2.28491359e+02] [-5.09704238e-02 -6.76802005e-04 9.98699934e-01 -1.32391401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:654.74, Y:228.54, Z:-13.24 [[ 4.57734373e-01 -8.88794234e-01 2.28921936e-02 6.54740897e+02] [ 8.87626656e-01 4.58306153e-01 4.55454664e-02 2.28543246e+02] [-5.09721812e-02 -5.28004231e-04 9.98699934e-01 -1.32362583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:654.77, Y:228.59, Z:-13.24 [[ 4.54430469e-01 -8.90488203e-01 2.28847086e-02 6.54767553e+02] [ 8.89322566e-01 4.55006199e-01 4.55492270e-02 2.28592615e+02] [-5.09737336e-02 -3.47068850e-04 9.98699934e-01 -1.32436392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:654.79, Y:228.64, Z:-13.24 [[ 4.52590932e-01 -8.91424759e-01 2.28768109e-02 6.54793927e+02] [ 8.90260113e-01 4.53168663e-01 4.55531933e-02 2.28642819e+02] [-5.09742981e-02 -2.50649924e-04 9.98699934e-01 -1.32439854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:654.82, Y:228.69, Z:-13.24 [[ 4.52020038e-01 -8.91714667e-01 2.28656384e-02 6.54819137e+02] [ 8.90550109e-01 4.52597944e-01 4.55588007e-02 2.28694302e+02] [-5.09743917e-02 -2.30494019e-04 9.98699934e-01 -1.32444148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:654.85, Y:228.74, Z:-13.25 [[ 4.53560835e-01 -8.90932202e-01 2.28556623e-02 6.54845204e+02] [ 8.89766394e-01 4.54136217e-01 4.55638049e-02 2.28744558e+02] [-5.09738450e-02 -3.29757151e-04 9.98699934e-01 -1.32481887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:654.87, Y:228.79, Z:-13.26 [[ 4.56405293e-01 -8.89478666e-01 2.28453875e-02 6.54867630e+02] [ 8.88310768e-01 4.56976421e-01 4.55689560e-02 2.28794328e+02] [-5.09724176e-02 -5.04108949e-04 9.98699934e-01 -1.32559112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:654.89, Y:228.84, Z:-13.26 [[ 4.56689270e-01 -8.89333199e-01 2.28335461e-02 6.54893652e+02] [ 8.88164823e-01 4.57259419e-01 4.55748887e-02 2.28844190e+02] [-5.09721156e-02 -5.33610266e-04 9.98699934e-01 -1.32559831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:654.92, Y:228.90, Z:-13.26 [[ 4.56345712e-01 -8.89509828e-01 2.28222756e-02 6.54918247e+02] [ 8.88341391e-01 4.56915734e-01 4.55805319e-02 2.28895580e+02] [-5.09721879e-02 -5.26508261e-04 9.98699934e-01 -1.32577589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.185336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:654.94, Y:228.94, Z:-13.26 [[ 4.54979997e-01 -8.90209417e-01 2.28122106e-02 6.54944023e+02] [ 8.89041603e-01 4.55551296e-01 4.55855686e-02 2.28944404e+02] [-5.09728346e-02 -4.59517603e-04 9.98699934e-01 -1.32640953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:654.97, Y:229.00, Z:-13.26 [[ 4.54160254e-01 -8.90628134e-01 2.28033093e-02 6.54969277e+02] [ 8.89460624e-01 4.54732172e-01 4.55900209e-02 2.28995466e+02] [-5.09731536e-02 -4.22529763e-04 9.98699934e-01 -1.32644624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.305336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:654.99, Y:229.05, Z:-13.27 [[ 4.55062082e-01 -8.90167925e-01 2.27939953e-02 6.54994681e+02] [ 8.88999604e-01 4.55632341e-01 4.55946773e-02 2.29045962e+02] [-5.09726007e-02 -4.84555987e-04 9.98699935e-01 -1.32724510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:655.02, Y:229.10, Z:-13.27 [[ 4.57986143e-01 -8.88667304e-01 2.27841013e-02 6.55020058e+02] [ 8.87496869e-01 4.58552050e-01 4.55996208e-02 2.29096797e+02] [-5.09705885e-02 -6.63175898e-04 9.98699935e-01 -1.32726947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:655.04, Y:229.15, Z:-13.27 [[ 4.63928771e-01 -8.85579719e-01 2.27740283e-02 6.55041635e+02] [ 8.84405273e-01 4.64486307e-01 4.56046511e-02 2.29149681e+02] [-5.09647784e-02 -1.01583904e-03 9.98699935e-01 -1.32740677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:655.07, Y:229.20, Z:-13.27 [[ 4.66296545e-01 -8.84335462e-01 2.27667111e-02 6.55065678e+02] [ 8.83159350e-01 4.66850559e-01 4.56083037e-02 2.29201362e+02] [-5.09616921e-02 -1.16036068e-03 9.98699935e-01 -1.32724851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:655.09, Y:229.25, Z:-13.27 [[ 4.67482698e-01 -8.83709265e-01 2.27565754e-02 6.55089271e+02] [ 8.82532166e-01 4.68034611e-01 4.56133604e-02 2.29254030e+02] [-5.09598141e-02 -1.24004695e-03 9.98699935e-01 -1.32738529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:655.11, Y:229.31, Z:-13.28 [[ 4.65521938e-01 -8.84743913e-01 2.27493687e-02 6.55110484e+02] [ 8.83567866e-01 4.66076088e-01 4.56169544e-02 2.29305420e+02] [-5.09622595e-02 -1.13508187e-03 9.98699935e-01 -1.32820667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:655.13, Y:229.36, Z:-13.28 [[ 4.63380046e-01 -8.85867893e-01 2.27378494e-02 6.55133874e+02] [ 8.84692909e-01 4.63936447e-01 4.56226955e-02 2.29356307e+02] [-5.09645982e-02 -1.02463260e-03 9.98699935e-01 -1.32843420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:655.16, Y:229.41, Z:-13.29 [[ 4.59696898e-01 -8.87785022e-01 2.27270168e-02 6.55156431e+02] [ 8.86612093e-01 4.60257617e-01 4.56280912e-02 2.29408225e+02] [-5.09682185e-02 -8.25044074e-04 9.98699935e-01 -1.32883298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:655.18, Y:229.46, Z:-13.29 [[ 4.56913468e-01 -8.89221048e-01 2.27158763e-02 6.55176772e+02] [ 8.88049606e-01 4.57477288e-01 4.56336368e-02 2.29460977e+02] [-5.09703878e-02 -6.77798225e-04 9.98699935e-01 -1.32928106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:655.20, Y:229.51, Z:-13.30 [[ 4.55489855e-01 -8.89951397e-01 2.27047011e-02 6.55198992e+02] [ 8.88780582e-01 4.56054976e-01 4.56391962e-02 2.29511379e+02] [-5.09712583e-02 -6.08693429e-04 9.98699935e-01 -1.32990908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:655.22, Y:229.56, Z:-13.30 [[ 4.52044464e-01 -8.91706623e-01 2.26958388e-02 6.55222743e+02] [ 8.90537782e-01 4.52613655e-01 4.56436029e-02 2.29562510e+02] [-5.09731496e-02 -4.21436036e-04 9.98699935e-01 -1.33009866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.965336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:655.25, Y:229.61, Z:-13.30 [[ 4.51195012e-01 -8.92137013e-01 2.26850659e-02 6.55247558e+02] [ 8.90968445e-01 4.51764765e-01 4.56489565e-02 2.29614910e+02] [-5.09734371e-02 -3.84903584e-04 9.98699935e-01 -1.32974985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:655.27, Y:229.67, Z:-13.30 [[ 4.47981273e-01 -8.93755317e-01 2.26762698e-02 6.55271418e+02] [ 8.92588586e-01 4.48554778e-01 4.56533256e-02 2.29665178e+02] [-5.09744516e-02 -2.11255271e-04 9.98699935e-01 -1.33001358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:655.30, Y:229.71, Z:-13.31 [[ 4.46429077e-01 -8.94531933e-01 2.26649420e-02 6.55296361e+02] [ 8.93365915e-01 4.47004029e-01 4.56589486e-02 2.29714295e+02] [-5.09747080e-02 -1.35395654e-04 9.98699935e-01 -1.33050337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:655.32, Y:229.76, Z:-13.31 [[ 4.46343286e-01 -8.94574966e-01 2.26561411e-02 6.55322257e+02] [ 8.93408782e-01 4.46917901e-01 4.56633153e-02 2.29764524e+02] [-5.09746937e-02 -1.40318768e-04 9.98699935e-01 -1.33084411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:655.35, Y:229.81, Z:-13.31 [[ 4.46631611e-01 -8.94431300e-01 2.26462974e-02 6.55348284e+02] [ 8.93264683e-01 4.47205347e-01 4.56681966e-02 2.29814734e+02] [-5.09746098e-02 -1.67722525e-04 9.98699935e-01 -1.33144423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:655.37, Y:229.86, Z:-13.32 [[ 4.49517622e-01 -8.92984602e-01 2.26364419e-02 6.55374138e+02] [ 8.91815893e-01 4.50087084e-01 4.56730812e-02 2.29863483e+02] [-5.09737284e-02 -3.43316206e-04 9.98699935e-01 -1.33184645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:655.40, Y:229.91, Z:-13.32 [[ 4.53074939e-01 -8.91185209e-01 2.26279127e-02 6.55398799e+02] [ 8.90014028e-01 4.53639299e-01 4.56773065e-02 2.29914543e+02] [-5.09718504e-02 -5.56083139e-04 9.98699936e-01 -1.33191659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:655.42, Y:229.97, Z:-13.32 [[ 4.54918511e-01 -8.90245818e-01 2.26170810e-02 6.55423895e+02] [ 8.89073205e-01 4.55479890e-01 4.56826692e-02 2.29965597e+02] [-5.09704307e-02 -6.73651135e-04 9.98699936e-01 -1.33188242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:655.45, Y:230.02, Z:-13.32 [[ 4.59710547e-01 -8.87781033e-01 2.26064134e-02 6.55448117e+02] [ 8.86605152e-01 4.60265049e-01 4.56879475e-02 2.30015784e+02] [-5.09658352e-02 -9.60268780e-04 9.98699936e-01 -1.33206306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:655.47, Y:230.07, Z:-13.32 [[ 4.62317623e-01 -8.86426375e-01 2.25985878e-02 6.55470072e+02] [ 8.85248682e-01 4.62868263e-01 4.56918180e-02 2.30067796e+02] [-5.09626017e-02 -1.11876264e-03 9.98699936e-01 -1.33239888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.565336195 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:655.49, Y:230.12, Z:-13.33 [[ 4.63387883e-01 -8.85867635e-01 2.25876993e-02 6.55491566e+02] [ 8.84689015e-01 4.63936539e-01 4.56972000e-02 2.30120120e+02] [-5.09609295e-02 -1.19243935e-03 9.98699936e-01 -1.33257064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:655.52, Y:230.17, Z:-13.33 [[ 4.61209246e-01 -8.87004131e-01 2.25766078e-02 6.55516161e+02] [ 8.85826596e-01 4.61760226e-01 4.57026791e-02 2.30169530e+02] [-5.09634447e-02 -1.07953849e-03 9.98699936e-01 -1.33328050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:655.54, Y:230.22, Z:-13.34 [[ 4.54446912e-01 -8.90487968e-01 2.25650671e-02 6.55540159e+02] [ 8.89314378e-01 4.55006244e-01 4.57083765e-02 2.30219905e+02] [-5.09700057e-02 -7.04591966e-04 9.98699936e-01 -1.33350861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:655.57, Y:230.27, Z:-13.34 [[ 4.47670167e-01 -8.93914270e-01 2.25543560e-02 6.55566098e+02] [ 8.92744696e-01 4.48237849e-01 4.57136611e-02 2.30270570e+02] [-5.09738101e-02 -3.29360623e-04 9.98699936e-01 -1.33407492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:655.59, Y:230.32, Z:-13.34 [[ 4.45065604e-01 -8.95214138e-01 2.25445033e-02 6.55591979e+02] [ 8.94045976e-01 4.45636185e-01 4.57185197e-02 2.30320449e+02] [-5.09745116e-02 -1.91918159e-04 9.98699936e-01 -1.33415456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.865336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:655.62, Y:230.37, Z:-13.34 [[ 4.44387307e-01 -8.95551323e-01 2.25332820e-02 6.55617252e+02] [ 8.94383313e-01 4.44958200e-01 4.57240497e-02 2.30372521e+02] [-5.09746018e-02 -1.65795928e-04 9.98699936e-01 -1.33399663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:655.64, Y:230.42, Z:-13.35 [[ 4.45880610e-01 -8.94808994e-01 2.25243345e-02 6.55640308e+02] [ 8.93639811e-01 4.46449096e-01 4.57284569e-02 2.30424395e+02] [-5.09742033e-02 -2.60790243e-04 9.98699936e-01 -1.33450230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:655.67, Y:230.47, Z:-13.35 [[ 4.47670792e-01 -8.93914970e-01 2.25141667e-02 6.55665664e+02] [ 8.92744401e-01 4.48236417e-01 4.57334624e-02 2.30472881e+02] [-5.09734961e-02 -3.74139140e-04 9.98699936e-01 -1.33479806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:655.69, Y:230.52, Z:-13.35 [[ 4.47845723e-01 -8.93827580e-01 2.25047818e-02 6.55690960e+02] [ 8.92656668e-01 4.48410638e-01 4.57380801e-02 2.30522266e+02] [-5.09733411e-02 -3.94559940e-04 9.98699936e-01 -1.33508862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:655.72, Y:230.57, Z:-13.35 [[ 4.48839413e-01 -8.93329296e-01 2.24933350e-02 6.55715322e+02] [ 8.92157475e-01 4.49402440e-01 4.57437088e-02 2.30572882e+02] [-5.09727548e-02 -4.63982486e-04 9.98699936e-01 -1.33536393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:655.74, Y:230.62, Z:-13.35 [[ 4.48932778e-01 -8.93282654e-01 2.24824489e-02 6.55743021e+02] [ 8.92110506e-01 4.49495126e-01 4.57490585e-02 2.30623557e+02] [-5.09725917e-02 -4.81423054e-04 9.98699936e-01 -1.33537087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:655.77, Y:230.67, Z:-13.36 [[ 4.49583172e-01 -8.92955761e-01 2.24717602e-02 6.55769418e+02] [ 8.91782942e-01 4.50144118e-01 4.57543082e-02 2.30673746e+02] [-5.09721038e-02 -5.30434618e-04 9.98699937e-01 -1.33627802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:655.80, Y:230.72, Z:-13.36 [[ 4.51485361e-01 -8.91995782e-01 2.24609539e-02 6.55795763e+02] [ 8.90821507e-01 4.52043252e-01 4.57596124e-02 2.30724450e+02] [-5.09707039e-02 -6.51094314e-04 9.98699937e-01 -1.33616643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:655.82, Y:230.77, Z:-13.37 [[ 4.53500595e-01 -8.90973162e-01 2.24507055e-02 6.55820452e+02] [ 8.89797381e-01 4.54055304e-01 4.57646400e-02 2.30774755e+02] [-5.09689279e-02 -7.77712480e-04 9.98699937e-01 -1.33658166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:655.84, Y:230.82, Z:-13.37 [[ 4.57009898e-01 -8.89178513e-01 2.24393605e-02 6.55842727e+02] [ 8.88000281e-01 4.57559383e-01 4.57702020e-02 2.30824953e+02] [-5.09652201e-02 -9.91276917e-04 9.98699937e-01 -1.33746265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:655.87, Y:230.88, Z:-13.37 [[ 4.58453907e-01 -8.88435151e-01 2.24275867e-02 6.55866119e+02] [ 8.87255747e-01 4.59000871e-01 4.57759705e-02 2.30876647e+02] [-5.09632631e-02 -1.08716739e-03 9.98699937e-01 -1.33742207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:655.89, Y:230.93, Z:-13.37 [[ 4.59127958e-01 -8.88087283e-01 2.24164140e-02 6.55890047e+02] [ 8.86907198e-01 4.59673451e-01 4.57814411e-02 2.30928365e+02] [-5.09621460e-02 -1.13826059e-03 9.98699937e-01 -1.33749951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:655.91, Y:230.98, Z:-13.38 [[ 4.58312871e-01 -8.88508461e-01 2.24059784e-02 6.55912637e+02] [ 8.87328628e-01 4.58858909e-01 4.57865478e-02 2.30979205e+02] [-5.09629180e-02 -1.10309813e-03 9.98699937e-01 -1.33800762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:655.93, Y:231.03, Z:-13.37 [[ 4.55866428e-01 -8.89766408e-01 2.23950633e-02 6.55934957e+02] [ 8.88587820e-01 4.56415149e-01 4.57918860e-02 2.31032687e+02] [-5.09655281e-02 -9.75002984e-04 9.98699937e-01 -1.33735625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:655.96, Y:231.08, Z:-13.39 [[ 4.53311593e-01 -8.91070996e-01 2.23848296e-02 6.55956410e+02] [ 8.89893741e-01 4.53863168e-01 4.57968881e-02 2.31084403e+02] [-5.09679283e-02 -8.40140519e-04 9.98699937e-01 -1.33854937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.765336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:655.98, Y:231.14, Z:-13.38 [[ 4.46587670e-01 -8.94460016e-01 2.23770543e-02 6.55977894e+02] [ 8.93286759e-01 4.47147698e-01 4.58006869e-02 2.31137729e+02] [-5.09727315e-02 -4.64895718e-04 9.98699937e-01 -1.33818273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:656.00, Y:231.19, Z:-13.38 [[ 4.42274400e-01 -8.96600860e-01 2.23663581e-02 6.56000728e+02] [ 8.95430050e-01 4.42839525e-01 4.58059097e-02 2.31189375e+02] [-5.09743254e-02 -2.31272064e-04 9.98699937e-01 -1.33841399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:656.03, Y:231.24, Z:-13.39 [[ 4.37878617e-01 -8.98756031e-01 2.23587274e-02 6.56025847e+02] [ 8.97587813e-01 4.38449080e-01 4.58096341e-02 2.31241204e+02] [-5.09748484e-02 9.86192495e-06 9.98699937e-01 -1.33854800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:656.05, Y:231.29, Z:-13.39 [[ 4.32852970e-01 -9.01187464e-01 2.23486314e-02 6.56049072e+02] [ 9.00022195e-01 4.33429435e-01 4.58145590e-02 2.31293982e+02] [-5.09740609e-02 2.83296401e-04 9.98699937e-01 -1.33850367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:656.07, Y:231.35, Z:-13.39 [[ 4.30946528e-01 -9.02100926e-01 2.23385266e-02 6.56073720e+02] [ 9.00936623e-01 4.31524942e-01 4.58194854e-02 2.31346216e+02] [-5.09734316e-02 3.79848555e-04 9.98699937e-01 -1.33851925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:656.10, Y:231.40, Z:-13.39 [[ 4.30651624e-01 -9.02241988e-01 2.23287559e-02 6.56096847e+02] [ 9.01077628e-01 4.31229922e-01 4.58242464e-02 2.31396955e+02] [-5.09733869e-02 3.85656320e-04 9.98699937e-01 -1.33890807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:656.12, Y:231.45, Z:-13.40 [[ 4.32051688e-01 -9.01572595e-01 2.23202735e-02 6.56122639e+02] [ 9.00407126e-01 4.32627747e-01 4.58283776e-02 2.31447839e+02] [-5.09739790e-02 2.97105441e-04 9.98699938e-01 -1.33960551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:656.15, Y:231.50, Z:-13.40 [[ 4.35221898e-01 -9.00046748e-01 2.23103115e-02 6.56148892e+02] [ 8.98879011e-01 4.35793345e-01 4.58332269e-02 2.31496919e+02] [-5.09747321e-02 1.06646686e-04 9.98699938e-01 -1.34037994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:656.17, Y:231.55, Z:-13.41 [[ 4.39197248e-01 -8.98113870e-01 2.22991678e-02 6.56171061e+02] [ 8.96943342e-01 4.39762957e-01 4.58386480e-02 2.31547638e+02] [-5.09746735e-02 -1.31118016e-04 9.98699938e-01 -1.34071740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.305336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:656.20, Y:231.60, Z:-13.41 [[ 4.41762382e-01 -8.96855144e-01 2.22901244e-02 6.56196346e+02] [ 8.95682782e-01 4.42324281e-01 4.58430451e-02 2.31599245e+02] [-5.09740341e-02 -2.86852150e-04 9.98699938e-01 -1.34058181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:656.22, Y:231.65, Z:-13.42 [[ 4.47001573e-01 -8.94255579e-01 2.22834928e-02 6.56219317e+02] [ 8.93079790e-01 4.47556264e-01 4.58462684e-02 2.31650446e+02] [-5.09713981e-02 -5.92417018e-04 9.98699938e-01 -1.34164680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:656.24, Y:231.70, Z:-13.42 [[ 4.50557391e-01 -8.92469517e-01 2.22755382e-02 6.56243528e+02] [ 8.91291338e-01 4.51106989e-01 4.58501330e-02 2.31702110e+02] [-5.09684970e-02 -8.04122068e-04 9.98699938e-01 -1.34185019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:656.26, Y:231.75, Z:-13.42 [[ 4.54002446e-01 -8.90722192e-01 2.22655980e-02 6.56262919e+02] [ 8.89541663e-01 4.54546976e-01 4.58549597e-02 2.31754712e+02] [-5.09647904e-02 -1.01208678e-03 9.98699938e-01 -1.34207639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:656.28, Y:231.81, Z:-13.42 [[ 4.53906508e-01 -8.90771361e-01 2.22545645e-02 6.56284139e+02] [ 8.89590629e-01 4.54450597e-01 4.58603139e-02 2.31806668e+02] [-5.09646543e-02 -1.01884292e-03 9.98699938e-01 -1.34196642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:656.30, Y:231.86, Z:-13.43 [[ 4.51698044e-01 -8.91893533e-01 2.22441617e-02 6.56304251e+02] [ 8.90713905e-01 4.52244523e-01 4.58653591e-02 2.31859958e+02] [-5.09668175e-02 -9.04108891e-04 9.98699938e-01 -1.34258764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.665336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:656.33, Y:231.91, Z:-13.42 [[ 4.45560771e-01 -8.94975549e-01 2.22343675e-02 6.56325006e+02] [ 8.93799466e-01 4.46114838e-01 4.58701066e-02 2.31914183e+02] [-5.09717051e-02 -5.64854257e-04 9.98699938e-01 -1.34219857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.7253361950001 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:656.35, Y:231.97, Z:-13.43 [[ 4.38591892e-01 -8.98411499e-01 2.22245332e-02 6.56346944e+02] [ 8.97239517e-01 4.39154580e-01 4.58748709e-02 2.31966472e+02] [-5.09745171e-02 -1.79617053e-04 9.98699938e-01 -1.34280749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:656.37, Y:232.02, Z:-13.42 [[ 4.34019031e-01 -9.00629784e-01 2.22142602e-02 6.56368565e+02] [ 8.99460423e-01 4.34587147e-01 4.58798449e-02 2.32020749e+02] [-5.09747868e-02 6.81219930e-05 9.98699938e-01 -1.34228358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:656.39, Y:232.07, Z:-13.43 [[ 4.29357384e-01 -9.02861669e-01 2.22045741e-02 6.56391742e+02] [ 9.01695018e-01 4.29931045e-01 4.58845323e-02 2.32073176e+02] [-5.09738211e-02 3.20891117e-04 9.98699938e-01 -1.34275523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:656.42, Y:232.12, Z:-13.43 [[ 4.20478534e-01 -9.07030971e-01 2.21950322e-02 6.56415693e+02] [ 9.05869762e-01 4.21063131e-01 4.58891474e-02 2.32124087e+02] [-5.09683877e-02 8.10407055e-04 9.98699938e-01 -1.34327144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:656.44, Y:232.18, Z:-13.43 [[ 4.13162885e-01 -9.10386904e-01 2.21836932e-02 6.56441353e+02] [ 9.09230145e-01 4.13756240e-01 4.58946282e-02 2.32176076e+02] [-5.09605100e-02 1.20812562e-03 9.98699938e-01 -1.34332468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.025336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:656.47, Y:232.23, Z:-13.43 [[ 4.10225489e-01 -9.11714501e-01 2.21746883e-02 6.56465748e+02] [ 9.10559428e-01 4.10822117e-01 4.58989787e-02 2.32228018e+02] [-5.09566168e-02 1.36244048e-03 9.98699938e-01 -1.34326013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:656.49, Y:232.28, Z:-13.44 [[ 4.10633137e-01 -9.11531219e-01 2.21644714e-02 6.56492793e+02] [ 9.10375614e-01 4.11228735e-01 4.59039119e-02 2.32279191e+02] [-5.09575162e-02 1.32832692e-03 9.98699938e-01 -1.34394537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:656.52, Y:232.33, Z:-13.44 [[ 4.11474428e-01 -9.11151988e-01 2.21551399e-02 6.56521300e+02] [ 9.09995592e-01 4.12068490e-01 4.59084152e-02 2.32328920e+02] [-5.09589788e-02 1.27094078e-03 9.98699939e-01 -1.34440840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:656.55, Y:232.38, Z:-13.45 [[ 4.13253369e-01 -9.10346769e-01 2.21452721e-02 6.56548565e+02] [ 9.09188961e-01 4.13844673e-01 4.59131747e-02 2.32379505e+02] [-5.09616131e-02 1.16046278e-03 9.98699939e-01 -1.34452202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:656.58, Y:232.43, Z:-13.45 [[ 4.14806600e-01 -9.09640321e-01 2.21352979e-02 6.56575398e+02] [ 9.08481249e-01 4.15395424e-01 4.59179829e-02 2.32427837e+02] [-5.09637501e-02 1.06242077e-03 9.98699939e-01 -1.34497825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:656.60, Y:232.47, Z:-13.45 [[ 4.16091782e-01 -9.09053447e-01 2.21237347e-02 6.56604180e+02] [ 9.07893249e-01 4.16678383e-01 4.59235535e-02 2.32474928e+02] [-5.09654466e-02 9.77576178e-04 9.98699939e-01 -1.34540827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:656.64, Y:232.52, Z:-13.46 [[ 4.18297597e-01 -9.08040769e-01 2.21152194e-02 6.56636570e+02] [ 9.06878934e-01 4.18880949e-01 4.59276538e-02 2.32522258e+02] [-5.09678261e-02 8.44399376e-04 9.98699939e-01 -1.34556556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:656.66, Y:232.57, Z:-13.46 [[ 4.20145388e-01 -9.07187531e-01 2.21051274e-02 6.56663320e+02] [ 9.06024256e-01 4.20725863e-01 4.59325106e-02 2.32570147e+02] [-5.09695997e-02 7.29449168e-04 9.98699939e-01 -1.34614628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:656.69, Y:232.62, Z:-13.46 [[ 4.24211231e-01 -9.05293735e-01 2.20926522e-02 6.56693131e+02] [ 9.04127556e-01 4.24785848e-01 4.59385101e-02 2.32618739e+02] [-5.09724914e-02 4.86943749e-04 9.98699939e-01 -1.34623325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:656.72, Y:232.67, Z:-13.47 [[ 4.26655372e-01 -9.04144663e-01 2.20821514e-02 6.56721417e+02] [ 9.02976675e-01 4.27226303e-01 4.59435572e-02 2.32666361e+02] [-5.09736980e-02 3.37602157e-04 9.98699939e-01 -1.34662595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:656.75, Y:232.71, Z:-13.47 [[ 4.30120317e-01 -9.02501747e-01 2.20705415e-02 6.56751721e+02] [ 9.01331292e-01 4.30686172e-01 4.59491338e-02 2.32713829e+02] [-5.09746505e-02 1.29213705e-04 9.98699939e-01 -1.34693142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:656.78, Y:232.76, Z:-13.48 [[ 4.32432723e-01 -9.01396315e-01 2.20595287e-02 6.56781108e+02] [ 9.00224144e-01 4.32995014e-01 4.59544203e-02 2.32760460e+02] [-5.09748110e-02 -1.36747754e-05 9.98699939e-01 -1.34751426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:656.81, Y:232.81, Z:-13.47 [[ 4.33802039e-01 -9.00738422e-01 2.20473523e-02 6.56807442e+02] [ 8.99565101e-01 4.34361927e-01 4.59602613e-02 2.32810411e+02] [-5.09747037e-02 -1.04626405e-04 9.98699939e-01 -1.34736467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:656.83, Y:232.86, Z:-13.48 [[ 4.34249367e-01 -9.00523108e-01 2.20367564e-02 6.56833029e+02] [ 8.99349252e-01 4.34808131e-01 4.59653412e-02 2.32859590e+02] [-5.09746128e-02 -1.41679993e-04 9.98699939e-01 -1.34826946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:656.86, Y:232.91, Z:-13.48 [[ 4.35050998e-01 -9.00136308e-01 2.20285290e-02 6.56860857e+02] [ 8.98961755e-01 4.35608297e-01 4.59692838e-02 2.32908323e+02] [-5.09744314e-02 -1.96177736e-04 9.98699939e-01 -1.34846633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:656.89, Y:232.96, Z:-13.49 [[ 4.35248921e-01 -9.00040898e-01 2.20172356e-02 6.56886296e+02] [ 8.98865949e-01 4.35805385e-01 4.59746922e-02 2.32957932e+02] [-5.09743331e-02 -2.19891809e-04 9.98699939e-01 -1.34878029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:656.91, Y:233.01, Z:-13.49 [[ 4.33060745e-01 -9.01096044e-01 2.20070646e-02 6.56911199e+02] [ 8.99922203e-01 4.33619543e-01 4.59795603e-02 2.33007378e+02] [-5.09746932e-02 -1.07296580e-04 9.98699939e-01 -1.34923313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:656.94, Y:233.05, Z:-13.49 [[ 4.28997750e-01 -9.03037729e-01 2.19952504e-02 6.56938864e+02] [ 9.01866127e-01 4.29561228e-01 4.59852112e-02 2.33054791e+02] [-5.09746874e-02 1.09219102e-04 9.98699940e-01 -1.34935731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:656.97, Y:233.11, Z:-13.49 [[ 4.26790734e-01 -9.04083190e-01 2.19830654e-02 6.56966832e+02] [ 9.02912669e-01 4.27356452e-01 4.59910354e-02 2.33105447e+02] [-5.09743269e-02 2.20240479e-04 9.98699940e-01 -1.34887966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:657.00, Y:233.15, Z:-13.49 [[ 4.23386575e-01 -9.05682548e-01 2.19757040e-02 6.56995226e+02] [ 9.04513981e-01 4.23956318e-01 4.59945527e-02 2.33152841e+02] [-5.09732022e-02 4.03855363e-04 9.98699940e-01 -1.34906076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:657.02, Y:233.20, Z:-13.50 [[ 4.21495629e-01 -9.06564391e-01 2.19645322e-02 6.57022866e+02] [ 9.05396738e-01 4.22067243e-01 4.59998871e-02 2.33200340e+02] [-5.09723692e-02 4.97864452e-04 9.98699940e-01 -1.34993781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:657.05, Y:233.25, Z:-13.50 [[ 4.19360365e-01 -9.07554393e-01 2.19523821e-02 6.57053102e+02] [ 9.06387786e-01 4.19934111e-01 4.60056847e-02 2.33249204e+02] [-5.09712154e-02 6.04410274e-04 9.98699940e-01 -1.35045755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:657.08, Y:233.30, Z:-13.51 [[ 4.21198021e-01 -9.06703243e-01 2.19421176e-02 6.57083533e+02] [ 9.05535221e-01 4.21768882e-01 4.60105798e-02 2.33296819e+02] [-5.09724443e-02 4.89795182e-04 9.98699940e-01 -1.35068797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.405336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:657.11, Y:233.35, Z:-13.51 [[ 4.23975797e-01 -9.05407954e-01 2.19307867e-02 6.57109697e+02] [ 9.04237909e-01 4.24542498e-01 4.60159800e-02 2.33346851e+02] [-5.09737853e-02 3.20986864e-04 9.98699940e-01 -1.35109630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:657.14, Y:233.40, Z:-13.51 [[ 4.30834769e-01 -9.02164583e-01 2.19195659e-02 6.57138021e+02] [ 9.00989999e-01 4.31392002e-01 4.60213244e-02 2.33395730e+02] [-5.09747343e-02 -7.82769631e-05 9.98699940e-01 -1.35140327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:657.16, Y:233.45, Z:-13.52 [[ 4.35560043e-01 -8.99893036e-01 2.19082748e-02 6.57163869e+02] [ 8.98715276e-01 4.36110531e-01 4.60266989e-02 2.33446069e+02] [-5.09735351e-02 -3.58089733e-04 9.98699940e-01 -1.35181507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:657.19, Y:233.50, Z:-13.52 [[ 4.41395692e-01 -8.97045353e-01 2.18969633e-02 6.57190280e+02] [ 8.95863776e-01 4.41937939e-01 4.60320796e-02 2.33497550e+02] [-5.09699619e-02 -7.01665413e-04 9.98699940e-01 -1.35177443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:657.22, Y:233.55, Z:-13.52 [[ 4.44570647e-01 -8.95476285e-01 2.18897675e-02 6.57215493e+02] [ 8.94292627e-01 4.45108335e-01 4.60355012e-02 2.33547660e+02] [-5.09670176e-02 -8.90174927e-04 9.98699940e-01 -1.35234293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:657.24, Y:233.60, Z:-13.53 [[ 4.47757027e-01 -8.93887488e-01 2.18815845e-02 6.57239384e+02] [ 8.92701733e-01 4.48290074e-01 4.60393904e-02 2.33598564e+02] [-5.09633322e-02 -1.08073222e-03 9.98699940e-01 -1.35252796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:657.26, Y:233.65, Z:-13.53 [[ 4.50231540e-01 -8.92643887e-01 2.18735257e-02 6.57262091e+02] [ 8.91456475e-01 4.50760886e-01 4.60432189e-02 2.33648939e+02] [-5.09599277e-02 -1.23081328e-03 9.98699940e-01 -1.35299140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:657.28, Y:233.70, Z:-13.53 [[ 4.50750507e-01 -8.92382224e-01 2.18619815e-02 6.57284895e+02] [ 8.91194240e-01 4.51278567e-01 4.60486996e-02 2.33700697e+02] [-5.09588846e-02 -1.27320274e-03 9.98699940e-01 -1.35344521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:657.30, Y:233.75, Z:-13.54 [[ 4.49664866e-01 -8.92930030e-01 2.18510991e-02 6.57304288e+02] [ 8.91742438e-01 4.50193809e-01 4.60538629e-02 2.33754022e+02] [-5.09601067e-02 -1.22325174e-03 9.98699941e-01 -1.35385836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:657.32, Y:233.81, Z:-13.54 [[ 4.46524486e-01 -8.94504837e-01 2.18398460e-02 6.57324821e+02] [ 8.93318852e-01 4.47057020e-01 4.60591988e-02 2.33805420e+02] [-5.09638326e-02 -1.05661394e-03 9.98699941e-01 -1.35420853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:657.34, Y:233.86, Z:-13.54 [[ 4.43674577e-01 -8.95922097e-01 2.18280772e-02 6.57344473e+02] [ 8.94737539e-01 4.44210279e-01 4.60647755e-02 2.33857983e+02] [-5.09667066e-02 -9.07369706e-04 9.98699941e-01 -1.35419236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:657.36, Y:233.91, Z:-13.55 [[ 4.39310800e-01 -8.98070181e-01 2.18167648e-02 6.57362468e+02] [ 8.96887978e-01 4.39851678e-01 4.60701326e-02 2.33910436e+02] [-5.09703529e-02 -6.71912727e-04 9.98699941e-01 -1.35454332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:657.38, Y:233.96, Z:-13.54 [[ 4.35423258e-01 -8.99961737e-01 2.18049995e-02 6.57384658e+02] [ 8.98781605e-01 4.35968641e-01 4.60757004e-02 2.33963624e+02] [-5.09726634e-02 -4.64499141e-04 9.98699941e-01 -1.35444776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:657.40, Y:234.02, Z:-13.55 [[ 4.28912977e-01 -9.03082848e-01 2.17951565e-02 6.57404784e+02] [ 9.01906449e-01 4.29466365e-01 4.60803560e-02 2.34017208e+02] [-5.09746657e-02 -1.07270405e-04 9.98699941e-01 -1.35475419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:657.43, Y:234.07, Z:-13.55 [[ 4.24876924e-01 -9.04988967e-01 2.17846203e-02 6.57426499e+02] [ 9.03814795e-01 4.25435022e-01 4.60853365e-02 2.34069261e+02] [-5.09746615e-02 1.08666115e-04 9.98699941e-01 -1.35509910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:657.45, Y:234.12, Z:-13.56 [[ 4.21920372e-01 -9.06371405e-01 2.17733028e-02 6.57446423e+02] [ 9.05198785e-01 4.22481725e-01 4.60906829e-02 2.34120741e+02] [-5.09740995e-02 2.62569183e-04 9.98699941e-01 -1.35571684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:657.46, Y:234.18, Z:-13.56 [[ 4.23335799e-01 -9.05711453e-01 2.17615564e-02 6.57463924e+02] [ 9.04537674e-01 4.23894721e-01 4.60962282e-02 2.34175181e+02] [-5.09744907e-02 1.69963978e-04 9.98699941e-01 -1.35583522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:657.48, Y:234.23, Z:-13.56 [[ 4.25488603e-01 -9.04702366e-01 2.17503517e-02 6.57483444e+02] [ 9.03526990e-01 4.26044162e-01 4.61015145e-02 2.34228409e+02] [-5.09747596e-02 3.63607913e-05 9.98699941e-01 -1.35619223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:657.50, Y:234.28, Z:-13.56 [[ 4.27475641e-01 -9.03765450e-01 2.17390870e-02 6.57503617e+02] [ 9.02588587e-01 4.28028041e-01 4.61068258e-02 2.34281751e+02] [-5.09746950e-02 -8.80930780e-05 9.98699941e-01 -1.35630291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:657.52, Y:234.34, Z:-13.57 [[ 4.27217323e-01 -9.03887834e-01 2.17288541e-02 6.57521200e+02] [ 9.02710883e-01 4.27769537e-01 4.61116478e-02 2.34336091e+02] [-5.09746993e-02 -8.48216660e-05 9.98699941e-01 -1.35653550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:657.54, Y:234.39, Z:-13.56 [[ 4.24798032e-01 -9.05027618e-01 2.17173336e-02 6.57541946e+02] [ 9.03851872e-01 4.25352805e-01 4.61170729e-02 2.34387790e+02] [-5.09747535e-02 3.88108506e-05 9.98699941e-01 -1.35638059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:657.57, Y:234.44, Z:-13.56 [[ 4.21223359e-01 -9.06697170e-01 2.17053748e-02 6.57565106e+02] [ 9.05523333e-01 4.21782160e-01 4.61227008e-02 2.34440765e+02] [-5.09742621e-02 2.26764367e-04 9.98699942e-01 -1.35616221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:657.59, Y:234.49, Z:-13.57 [[ 4.17359387e-01 -9.08482500e-01 2.16953605e-02 6.57588280e+02] [ 9.07310808e-01 4.17922672e-01 4.61274109e-02 2.34491155e+02] [-5.09729286e-02 4.32727106e-04 9.98699942e-01 -1.35659713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.785336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:657.61, Y:234.54, Z:-13.57 [[ 4.12678416e-01 -9.10618659e-01 2.16837190e-02 6.57612214e+02] [ 9.09449594e-01 4.13247133e-01 4.61328827e-02 2.34543018e+02] [-5.09701985e-02 6.82204475e-04 9.98699942e-01 -1.35697719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:657.64, Y:234.59, Z:-13.58 [[ 4.12360919e-01 -9.10762732e-01 2.16729983e-02 6.57637194e+02] [ 9.09593601e-01 4.12929501e-01 4.61379187e-02 2.34593001e+02] [-5.09701172e-02 6.88146018e-04 9.98699942e-01 -1.35778513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.905336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:657.66, Y:234.64, Z:-13.58 [[ 4.15267502e-01 -9.09441406e-01 2.16617359e-02 6.57662315e+02] [ 9.08270190e-01 4.15831776e-01 4.61432058e-02 2.34643680e+02] [-5.09721801e-02 5.12935125e-04 9.98699942e-01 -1.35786143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:657.69, Y:234.69, Z:-13.58 [[ 4.20508469e-01 -9.07030268e-01 2.16499582e-02 6.57687570e+02] [ 9.05855531e-01 4.21065376e-01 4.61487311e-02 2.34693602e+02] [-5.09743437e-02 2.05802138e-04 9.98699942e-01 -1.35815646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:657.71, Y:234.75, Z:-13.58 [[ 4.23712153e-01 -9.05538316e-01 2.16418571e-02 6.57712029e+02] [ 9.04361424e-01 4.24264491e-01 4.61525299e-02 2.34745951e+02] [-5.09747557e-02 1.66729496e-05 9.98699942e-01 -1.35820531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:657.73, Y:234.80, Z:-13.59 [[ 4.28826577e-01 -9.03127795e-01 2.16321925e-02 6.57734185e+02] [ 9.01947571e-01 4.29371757e-01 4.61570593e-02 2.34797524e+02] [-5.09739757e-02 -2.82270307e-04 9.98699942e-01 -1.35902719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:657.76, Y:234.85, Z:-13.60 [[ 4.31000410e-01 -9.02092673e-01 2.16207214e-02 6.57757697e+02] [ 9.00910870e-01 4.31542159e-01 4.61624320e-02 2.34848408e+02] [-5.09730444e-02 -4.17684174e-04 9.98699942e-01 -1.35950451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:657.78, Y:234.90, Z:-13.59 [[ 4.34150011e-01 -9.00581364e-01 2.16096178e-02 6.57779089e+02] [ 8.99397416e-01 4.34687057e-01 4.61676292e-02 2.34903012e+02] [-5.09711277e-02 -6.08042330e-04 9.98699942e-01 -1.35898021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:657.80, Y:234.95, Z:-13.60 [[ 4.36325545e-01 -8.99529571e-01 2.16002171e-02 6.57800491e+02] [ 8.98344112e-01 4.36859246e-01 4.61720271e-02 2.34954711e+02] [-5.09693583e-02 -7.41607096e-04 9.98699942e-01 -1.36034906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:657.82, Y:235.01, Z:-13.60 [[ 4.35333799e-01 -9.00010157e-01 2.15916725e-02 6.57823175e+02] [ 8.98825089e-01 4.35868368e-01 4.61760225e-02 2.35007166e+02] [-5.09700163e-02 -6.94846278e-04 9.98699942e-01 -1.36007802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:657.84, Y:235.06, Z:-13.61 [[ 4.30282368e-01 -9.02436328e-01 2.15814282e-02 6.57843872e+02] [ 9.01254035e-01 4.30823047e-01 4.61808099e-02 2.35059471e+02] [-5.09730171e-02 -4.20438983e-04 9.98699942e-01 -1.36099807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.445336195 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:657.87, Y:235.11, Z:-13.61 [[ 4.22251490e-01 -9.06222041e-01 2.15706221e-02 6.57866590e+02] [ 9.05044339e-01 4.22802095e-01 4.61858568e-02 2.35109388e+02] [-5.09747456e-02 2.03225629e-05 9.98699942e-01 -1.36121954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.505336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:657.89, Y:235.16, Z:-13.61 [[ 4.16019481e-01 -9.09100045e-01 2.15615359e-02 6.57893333e+02] [ 9.07925931e-01 4.16577698e-01 4.61900982e-02 2.35160347e+02] [-5.09734754e-02 3.60296906e-04 9.98699942e-01 -1.36109541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:657.92, Y:235.21, Z:-13.61 [[ 4.13478754e-01 -9.10258676e-01 2.15513971e-02 6.57920542e+02] [ 9.09085880e-01 4.14039733e-01 4.61948283e-02 2.35211781e+02] [-5.09723780e-02 4.91490777e-04 9.98699942e-01 -1.36103082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:657.95, Y:235.26, Z:-13.62 [[ 4.11639226e-01 -9.11092256e-01 2.15418003e-02 6.57946609e+02] [ 9.09920361e-01 4.12202087e-01 4.61993031e-02 2.35260815e+02] [-5.09714023e-02 5.83877338e-04 9.98699943e-01 -1.36167187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:657.98, Y:235.31, Z:-13.62 [[ 4.12196799e-01 -9.10840393e-01 2.15308528e-02 6.57975337e+02] [ 9.09667888e-01 4.12758387e-01 4.62044046e-02 2.35310406e+02] [-5.09718781e-02 5.40617712e-04 9.98699943e-01 -1.36182007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.00, Y:235.36, Z:-13.62 [[ 4.16342158e-01 -9.08953304e-01 2.15197297e-02 6.58001632e+02] [ 9.07777985e-01 4.16897834e-01 4.62095846e-02 2.35360056e+02] [-5.09738832e-02 2.96138681e-04 9.98699943e-01 -1.36230275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.03, Y:235.41, Z:-13.62 [[ 4.20481180e-01 -9.07046295e-01 2.15080378e-02 6.58026926e+02] [ 9.05868178e-01 4.21030897e-01 4.62150259e-02 2.35411576e+02] [-5.09747164e-02 5.08984129e-05 9.98699943e-01 -1.36212902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.05, Y:235.46, Z:-13.62 [[ 4.28288292e-01 -9.03386429e-01 2.14964806e-02 6.58052989e+02] [ 9.02203345e-01 4.28827236e-01 4.62204010e-02 2.35460792e+02] [-5.09731593e-02 -4.01459878e-04 9.98699943e-01 -1.36231329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.08, Y:235.51, Z:-13.63 [[ 4.34434404e-01 -9.00447203e-01 2.14845022e-02 6.58076134e+02] [ 8.99260199e-01 4.34964659e-01 4.62259682e-02 2.35512527e+02] [-5.09690429e-02 -7.61993257e-04 9.98699943e-01 -1.36274397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.10, Y:235.56, Z:-13.63 [[ 4.36702404e-01 -8.99349692e-01 2.14742103e-02 6.58099155e+02] [ 8.98161121e-01 4.37229137e-01 4.62307488e-02 2.35563736e+02] [-5.09667601e-02 -9.01778348e-04 9.98699943e-01 -1.36311978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.12, Y:235.62, Z:-13.64 [[ 4.37594230e-01 -8.98916379e-01 2.14623666e-02 6.58123332e+02] [ 8.97727017e-01 4.38119175e-01 4.62362465e-02 2.35616289e+02] [-5.09655936e-02 -9.65368368e-04 9.98699943e-01 -1.36356192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.15, Y:235.67, Z:-13.64 [[ 4.37394467e-01 -8.99013821e-01 2.14529511e-02 6.58146451e+02] [ 8.97824363e-01 4.37919192e-01 4.62406148e-02 2.35668317e+02] [-5.09656108e-02 -9.64406909e-04 9.98699943e-01 -1.36366757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.17, Y:235.72, Z:-13.64 [[ 4.35778246e-01 -8.99798590e-01 2.14433381e-02 6.58169617e+02] [ 8.98609858e-01 4.36304614e-01 4.62450722e-02 2.35720116e+02] [-5.09670781e-02 -8.83401507e-04 9.98699943e-01 -1.36412053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.19, Y:235.77, Z:-13.65 [[ 4.31418124e-01 -9.01897454e-01 2.14332620e-02 6.58193026e+02] [ 9.00711052e-01 4.31949722e-01 4.62497417e-02 2.35771498e+02] [-5.09706159e-02 -6.47800778e-04 9.98699943e-01 -1.36479332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.21, Y:235.82, Z:-13.65 [[ 4.28110055e-01 -9.03472614e-01 2.14246836e-02 6.58214411e+02] [ 9.02287969e-01 4.28645558e-01 4.62537152e-02 2.35822284e+02] [-5.09725605e-02 -4.70446280e-04 9.98699943e-01 -1.36487161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.24, Y:235.87, Z:-13.66 [[ 4.23450519e-01 -9.05666157e-01 2.14119398e-02 6.58236580e+02] [ 9.04483988e-01 4.23991466e-01 4.62596139e-02 2.35872275e+02] [-5.09742465e-02 -2.21900735e-04 9.98699943e-01 -1.36575849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.26, Y:235.92, Z:-13.66 [[ 4.22911113e-01 -9.05918439e-01 2.14002715e-02 6.58260295e+02] [ 9.04736320e-01 4.23452169e-01 4.62650111e-02 2.35924654e+02] [-5.09743181e-02 -2.04384445e-04 9.98699943e-01 -1.36552284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.28, Y:235.98, Z:-13.66 [[ 4.23886404e-01 -9.05462748e-01 2.13899120e-02 6.58282062e+02] [ 9.04279806e-01 4.24425657e-01 4.62698002e-02 2.35976221e+02] [-5.09740079e-02 -2.70673776e-04 9.98699944e-01 -1.36575641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.30, Y:236.03, Z:-13.67 [[ 4.24252518e-01 -9.05291522e-01 2.13790044e-02 6.58303298e+02] [ 9.04108108e-01 4.24790735e-01 4.62748395e-02 2.36027734e+02] [-5.09738229e-02 -3.03285930e-04 9.98699944e-01 -1.36685526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.33, Y:236.08, Z:-13.67 [[ 4.23964092e-01 -9.05426904e-01 2.13674981e-02 6.58327132e+02] [ 9.04243394e-01 4.24502098e-01 4.62801520e-02 2.36080040e+02] [-5.09738425e-02 -2.99703608e-04 9.98699944e-01 -1.36695706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.645336195 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:658.35, Y:236.13, Z:-13.67 [[ 4.24124607e-01 -9.05351971e-01 2.13571313e-02 6.58349398e+02] [ 9.04168125e-01 4.24661873e-01 4.62849355e-02 2.36133032e+02] [-5.09737170e-02 -3.20142753e-04 9.98699944e-01 -1.36669871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.37, Y:236.18, Z:-13.67 [[ 4.23657530e-01 -9.05570887e-01 2.13463283e-02 6.58371744e+02] [ 9.04387068e-01 4.24194855e-01 4.62899172e-02 2.36184239e+02] [-5.09738041e-02 -3.05728725e-04 9.98699944e-01 -1.36744184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.39, Y:236.23, Z:-13.68 [[ 4.23615707e-01 -9.05590721e-01 2.13349177e-02 6.58393761e+02] [ 9.04406662e-01 4.24152503e-01 4.62951758e-02 2.36234723e+02] [-5.09737404e-02 -3.15921930e-04 9.98699944e-01 -1.36814308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.42, Y:236.29, Z:-13.68 [[ 4.21936120e-01 -9.06374715e-01 2.13257325e-02 6.58419992e+02] [ 9.05191439e-01 4.22474642e-01 4.62994066e-02 2.36286138e+02] [-5.09741926e-02 -2.31521511e-04 9.98699944e-01 -1.36788737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.44, Y:236.34, Z:-13.68 [[ 4.21205304e-01 -9.06714805e-01 2.13155789e-02 6.58444169e+02] [ 9.05531728e-01 4.21744261e-01 4.63040806e-02 2.36336548e+02] [-5.09743185e-02 -2.01591369e-04 9.98699944e-01 -1.36825345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.47, Y:236.39, Z:-13.68 [[ 4.21947244e-01 -9.06369971e-01 2.13072595e-02 6.58466714e+02] [ 9.05186260e-01 4.22484807e-01 4.63079086e-02 2.36388244e+02] [-5.09740912e-02 -2.52455818e-04 9.98699944e-01 -1.36807030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.49, Y:236.44, Z:-13.69 [[ 4.25175998e-01 -9.04860150e-01 2.12950674e-02 6.58489619e+02] [ 9.03674250e-01 4.25708713e-01 4.63135145e-02 2.36439260e+02] [-5.09727495e-02 -4.47590698e-04 9.98699944e-01 -1.36877288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.51, Y:236.49, Z:-13.69 [[ 4.30444762e-01 -9.02365938e-01 2.12842795e-02 6.58509782e+02] [ 9.01176708e-01 4.30970000e-01 4.63184718e-02 2.36490689e+02] [-5.09690972e-02 -7.56646623e-04 9.98699944e-01 -1.36897353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.53, Y:236.54, Z:-13.69 [[ 4.35342561e-01 -9.00013455e-01 2.12752351e-02 6.58528406e+02] [ 8.98821185e-01 4.35860863e-01 4.63226257e-02 2.36544137e+02] [-5.09640288e-02 -1.04357845e-03 9.98699944e-01 -1.36918801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.55, Y:236.60, Z:-13.70 [[ 4.37502588e-01 -8.98965702e-01 2.12638785e-02 6.58546876e+02] [ 8.97771938e-01 4.38017440e-01 4.63278383e-02 2.36596225e+02] [-5.09610873e-02 -1.17843570e-03 9.98699944e-01 -1.36952313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.56, Y:236.65, Z:-13.70 [[ 4.37458531e-01 -8.98987422e-01 2.12520498e-02 6.58564107e+02] [ 8.97793421e-01 4.37972833e-01 4.63332639e-02 2.36650728e+02] [-5.09608419e-02 -1.18893107e-03 9.98699944e-01 -1.36982847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.58, Y:236.71, Z:-13.70 [[ 4.34596235e-01 -9.00374879e-01 2.12412283e-02 6.58582715e+02] [ 8.99182279e-01 4.35113776e-01 4.63382244e-02 2.36705835e+02] [-5.09641242e-02 -1.03868181e-03 9.98699945e-01 -1.36977580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.60, Y:236.76, Z:-13.70 [[ 4.29804610e-01 -9.02672205e-01 2.12341086e-02 6.58600266e+02] [ 9.01482212e-01 4.30328117e-01 4.63414867e-02 2.36759806e+02] [-5.09688060e-02 -7.75613411e-04 9.98699945e-01 -1.37032262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.62, Y:236.81, Z:-13.71 [[ 4.24332173e-01 -9.05257856e-01 2.12231077e-02 6.58615995e+02] [ 9.04070802e-01 4.24862312e-01 4.63465243e-02 2.36814495e+02] [-5.09724538e-02 -4.79129343e-04 9.98699945e-01 -1.37058342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.64, Y:236.87, Z:-13.71 [[ 4.20096890e-01 -9.07231318e-01 2.12117581e-02 6.58635812e+02] [ 9.06046493e-01 4.20631990e-01 4.63517182e-02 2.36867210e+02] [-5.09740744e-02 -2.53373635e-04 9.98699945e-01 -1.37095694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.545336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:658.65, Y:236.92, Z:-13.71 [[ 4.14599823e-01 -9.09756853e-01 2.12003472e-02 6.58654643e+02] [ 9.08575021e-01 4.15141501e-01 4.63569367e-02 2.36920059e+02] [-5.09746848e-02 4.25281216e-05 9.98699945e-01 -1.37114859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.67, Y:236.97, Z:-13.72 [[ 4.08113282e-01 -9.12685284e-01 2.11924659e-02 6.58674975e+02] [ 9.11507151e-01 4.08662959e-01 4.63605394e-02 2.36973523e+02] [-5.09731579e-02 3.96732299e-04 9.98699945e-01 -1.37152456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.70, Y:237.03, Z:-13.72 [[ 4.06070777e-01 -9.13596098e-01 2.11823966e-02 6.58698064e+02] [ 9.12418957e-01 4.06622577e-01 4.63651397e-02 2.37026160e+02] [-5.09722514e-02 4.99691890e-04 9.98699945e-01 -1.37202900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.72, Y:237.08, Z:-13.73 [[ 4.04646533e-01 -9.14227981e-01 2.11750626e-02 6.58721159e+02] [ 9.13051526e-01 4.05199794e-01 4.63684889e-02 2.37076266e+02] [-5.09715010e-02 5.71074975e-04 9.98699945e-01 -1.37253287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.785336195 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:658.74, Y:237.13, Z:-13.73 [[ 4.06915800e-01 -9.13220479e-01 2.11633883e-02 6.58742170e+02] [ 9.12042377e-01 4.07465546e-01 4.63738167e-02 2.37129602e+02] [-5.09728706e-02 4.31668230e-04 9.98699945e-01 -1.37310062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.76, Y:237.18, Z:-13.73 [[ 4.10791935e-01 -9.11483695e-01 2.11532280e-02 6.58764581e+02] [ 9.10303031e-01 4.11336154e-01 4.63784507e-02 2.37179950e+02] [-5.09742891e-02 2.03954074e-04 9.98699945e-01 -1.37338724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.78, Y:237.23, Z:-13.73 [[ 4.17959642e-01 -9.08219563e-01 2.11415214e-02 6.58784738e+02] [ 9.07034378e-01 4.18493945e-01 4.63837866e-02 2.37232165e+02] [-5.09742610e-02 -2.10464155e-04 9.98699945e-01 -1.37347730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.81, Y:237.28, Z:-13.73 [[ 4.21846166e-01 -9.06421078e-01 2.11339105e-02 6.58807037e+02] [ 9.05233442e-01 4.22374998e-01 4.63872541e-02 2.37284869e+02] [-5.09728202e-02 -4.37162720e-04 9.98699945e-01 -1.37344291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.82, Y:237.34, Z:-13.74 [[ 4.25735120e-01 -9.04601228e-01 2.11240336e-02 6.58824748e+02] [ 9.03411109e-01 4.26258340e-01 4.63917515e-02 2.37338024e+02] [-5.09703308e-02 -6.66911303e-04 9.98699945e-01 -1.37355950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.085336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:658.85, Y:237.39, Z:-13.74 [[ 4.26454612e-01 -9.04262504e-01 2.11136758e-02 6.58845822e+02] [ 9.03071736e-01 4.26976354e-01 4.63964650e-02 2.37390271e+02] [-5.09696239e-02 -7.18822604e-04 9.98699945e-01 -1.37396863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.87, Y:237.44, Z:-13.75 [[ 4.25109868e-01 -9.04895733e-01 2.11024147e-02 6.58866735e+02] [ 9.03705489e-01 4.25632802e-01 4.64015863e-02 2.37440734e+02] [-5.09704773e-02 -6.55404192e-04 9.98699945e-01 -1.37456110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.89, Y:237.49, Z:-13.75 [[ 4.20275496e-01 -9.07151414e-01 2.10907275e-02 6.58888488e+02] [ 9.05963711e-01 4.20804176e-01 4.64068978e-02 2.37492884e+02] [-5.09731492e-02 -3.96248243e-04 9.98699945e-01 -1.37464324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.91, Y:237.54, Z:-13.74 [[ 4.13319262e-01 -9.10342148e-01 2.10798896e-02 6.58911777e+02] [ 9.09158275e-01 4.13856465e-01 4.64118203e-02 2.37544983e+02] [-5.09746848e-02 -1.79432656e-05 9.98699946e-01 -1.37438699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.94, Y:237.60, Z:-13.75 [[ 4.10244406e-01 -9.11732192e-01 2.10698257e-02 6.58935113e+02] [ 9.10549905e-01 4.10785090e-01 4.64163886e-02 2.37596410e+02] [-5.09744860e-02 1.43064026e-04 9.98699946e-01 -1.37470456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.96, Y:237.65, Z:-13.75 [[ 4.09338408e-01 -9.12139575e-01 2.10585932e-02 6.58959247e+02] [ 9.10957563e-01 4.09879694e-01 4.64214841e-02 2.37647647e+02] [-5.09743625e-02 1.81388333e-04 9.98699946e-01 -1.37498206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.98, Y:237.70, Z:-13.75 [[ 4.10060179e-01 -9.11815565e-01 2.10481410e-02 6.58982195e+02] [ 9.10632883e-01 4.10599997e-01 4.64262228e-02 2.37698399e+02] [-5.09745192e-02 1.29584144e-04 9.98699946e-01 -1.37543047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:659.01, Y:237.75, Z:-13.75 [[ 4.13804581e-01 -9.10122565e-01 2.10401065e-02 6.59006352e+02] [ 9.08937489e-01 4.14339124e-01 4.64298637e-02 2.37750682e+02] [-5.09746059e-02 -8.87487078e-05 9.98699946e-01 -1.37547309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:659.03, Y:237.80, Z:-13.76 [[ 4.17037912e-01 -9.08645765e-01 2.10298137e-02 6.59028484e+02] [ 9.07458561e-01 4.17567712e-01 4.64345252e-02 2.37801155e+02] [-5.09739059e-02 -2.81272979e-04 9.98699946e-01 -1.37581934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:659.05, Y:237.85, Z:-13.76 [[ 4.21726304e-01 -9.06479549e-01 2.10178890e-02 6.59049946e+02] [ 9.05289356e-01 4.22249353e-01 4.64399222e-02 2.37852692e+02] [-5.09716297e-02 -5.57665514e-04 9.98699946e-01 -1.37616393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.685336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:659.07, Y:237.90, Z:-13.76 [[ 4.23169575e-01 -9.05806953e-01 2.10065610e-02 6.59070394e+02] [ 9.04615674e-01 4.23690147e-01 4.64450457e-02 2.37904524e+02] [-5.09705182e-02 -6.51265866e-04 9.98699946e-01 -1.37645054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:659.09, Y:237.96, Z:-13.77 [[ 4.22404297e-01 -9.06164286e-01 2.09975507e-02 6.59092031e+02] [ 9.04973245e-01 4.22925414e-01 4.64491188e-02 2.37955663e+02] [-5.09709304e-02 -6.18085804e-04 9.98699946e-01 -1.37684418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:659.11, Y:238.01, Z:-13.78 [[ 4.18686164e-01 -9.07888416e-01 2.09885976e-02 6.59113625e+02] [ 9.06699319e-01 4.19211700e-01 4.64531641e-02 2.38007559e+02] [-5.09729552e-02 -4.18949951e-04 9.98699946e-01 -1.37756400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:659.14, Y:238.06, Z:-13.78 [[ 4.14745404e-01 -9.09695645e-01 2.09781606e-02 6.59137881e+02] [ 9.08508600e-01 4.15275559e-01 4.64578769e-02 2.38059189e+02] [-5.09742457e-02 -2.09351611e-04 9.98699946e-01 -1.37752178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:659.16, Y:238.11, Z:-13.78 [[ 4.13207457e-01 -9.10395481e-01 2.09681986e-02 6.59158406e+02] [ 9.09209106e-01 4.13739108e-01 4.64623727e-02 2.38110583e+02] [-5.09744980e-02 -1.34121801e-04 9.98699946e-01 -1.37785165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:659.18, Y:238.16, Z:-13.78 [[ 4.12897967e-01 -9.10536152e-01 2.09567270e-02 6.59182825e+02] [ 9.09349695e-01 4.13429437e-01 4.64675464e-02 2.38162370e+02] [-5.09745087e-02 -1.29362143e-04 9.98699946e-01 -1.37849659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:659.21, Y:238.21, Z:-13.79 [[ 4.13819696e-01 -9.10117847e-01 2.09466917e-02 6.59205334e+02] [ 9.08930624e-01 4.14349451e-01 4.64720697e-02 2.38213608e+02] [-5.09743102e-02 -1.91968174e-04 9.98699946e-01 -1.37864545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:659.23, Y:238.27, Z:-13.78 [[ 4.17250291e-01 -9.08550441e-01 2.09354062e-02 6.59226012e+02] [ 9.07360973e-01 4.17774986e-01 4.64771532e-02 2.38265822e+02] [-5.09731270e-02 -3.96635124e-04 9.98699946e-01 -1.37849958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:659.25, Y:238.32, Z:-13.79 [[ 4.21049537e-01 -9.06796251e-01 2.09247862e-02 6.59246435e+02] [ 9.05604360e-01 4.21568704e-01 4.64819340e-02 2.38317797e+02] [-5.09708785e-02 -6.21619155e-04 9.98699947e-01 -1.37888067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:659.27, Y:238.37, Z:-13.79 [[ 4.22466773e-01 -9.06137098e-01 2.09137796e-02 6.59268450e+02] [ 9.04944152e-01 4.22983512e-01 4.64868857e-02 2.38369444e+02] [-5.09696756e-02 -7.13362068e-04 9.98699947e-01 -1.37910344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:659.29, Y:238.42, Z:-13.80 [[ 4.22880805e-01 -9.05944212e-01 2.09023911e-02 6.59286710e+02] [ 9.04750778e-01 4.23396415e-01 4.64920059e-02 2.38421929e+02] [-5.09691611e-02 -7.49122236e-04 9.98699947e-01 -1.37955812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:659.31, Y:238.47, Z:-13.80 [[ 4.20508180e-01 -9.07048210e-01 2.08905511e-02 6.59309080e+02] [ 9.05855866e-01 4.21026305e-01 4.64973254e-02 2.38472536e+02] [-5.09707873e-02 -6.28677432e-04 9.98699947e-01 -1.37998993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.405336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:659.33, Y:238.52, Z:-13.80 [[ 4.17887578e-01 -9.08258793e-01 2.08790958e-02 6.59330939e+02] [ 9.07067693e-01 4.18408557e-01 4.65024687e-02 2.38524953e+02] [-5.09722685e-02 -4.94050728e-04 9.98699947e-01 -1.38016747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:659.36, Y:238.58, Z:-13.80 [[ 4.13943331e-01 -9.10063414e-01 2.08686792e-02 6.59355974e+02] [ 9.08874350e-01 4.14468940e-01 4.65071428e-02 2.38577387e+02] [-5.09738685e-02 -2.84314367e-04 9.98699947e-01 -1.38005355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:659.38, Y:238.63, Z:-13.80 [[ 4.09760609e-01 -9.11954565e-01 2.08593930e-02 6.59380432e+02] [ 9.10767715e-01 4.10291198e-01 4.65113075e-02 2.38628408e+02] [-5.09746246e-02 -6.04400157e-05 9.98699947e-01 -1.38023787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:659.41, Y:238.68, Z:-13.81 [[ 4.07185811e-01 -9.13107363e-01 2.08484575e-02 6.59406011e+02] [ 9.11921764e-01 4.07719190e-01 4.65162088e-02 2.38677439e+02] [-5.09746090e-02 7.14219422e-05 9.98699947e-01 -1.38086290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:659.43, Y:238.73, Z:-13.81 [[ 4.05112227e-01 -9.14029497e-01 2.08365523e-02 6.59431024e+02] [ 9.12844838e-01 4.05647690e-01 4.65215410e-02 2.38728173e+02] [-5.09743601e-02 1.74094070e-04 9.98699947e-01 -1.38115719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:659.46, Y:238.78, Z:-13.82 [[ 4.05345950e-01 -9.13926126e-01 2.08253769e-02 6.59456334e+02] [ 9.12741074e-01 4.05880541e-01 4.65265432e-02 2.38777771e+02] [-5.09744386e-02 1.48830979e-04 9.98699947e-01 -1.38156005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:659.48, Y:238.83, Z:-13.81 [[ 4.07073929e-01 -9.13158039e-01 2.08137644e-02 6.59482925e+02] [ 9.11971712e-01 4.07605685e-01 4.65317375e-02 2.38828820e+02] [-5.09746388e-02 3.97072131e-05 9.98699947e-01 -1.38140644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:659.51, Y:238.88, Z:-13.82 [[ 4.10413855e-01 -9.11662043e-01 2.08035583e-02 6.59510968e+02] [ 9.10473546e-01 4.10940744e-01 4.65363000e-02 2.38877626e+02] [-5.09744080e-02 -1.58052752e-04 9.98699947e-01 -1.38184584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:659.54, Y:238.93, Z:-13.82 [[ 4.14021832e-01 -9.10029454e-01 2.07922130e-02 6.59535421e+02] [ 9.08838625e-01 4.14543430e-01 4.65413685e-02 2.38929658e+02] [-5.09732914e-02 -3.72376394e-04 9.98699947e-01 -1.38193503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:659.56, Y:238.98, Z:-13.82 [[ 4.20443371e-01 -9.07080744e-01 2.07820820e-02 6.59560248e+02] [ 9.05886036e-01 4.20956019e-01 4.65458919e-02 2.38978517e+02] [-5.09692247e-02 -7.43713838e-04 9.98699947e-01 -1.38231007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:659.58, Y:239.03, Z:-13.83 [[ 4.26941951e-01 -9.04040465e-01 2.07703867e-02 6.59581485e+02] [ 9.02841855e-01 4.27445410e-01 4.65511101e-02 2.39029313e+02] [-5.09622937e-02 -1.12224733e-03 9.98699948e-01 -1.38303953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:659.60, Y:239.08, Z:-13.83 [[ 4.30296789e-01 -9.02448747e-01 2.07589284e-02 6.59604473e+02] [ 9.01248030e-01 4.30795202e-01 4.65562192e-02 2.39080728e+02] [-5.09574485e-02 -1.32404830e-03 9.98699948e-01 -1.38343405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:659.63, Y:239.13, Z:-13.83 [[ 4.32411155e-01 -9.01437804e-01 2.07479698e-02 6.59625592e+02] [ 9.00235690e-01 4.32906187e-01 4.65611025e-02 2.39133428e+02] [-5.09538625e-02 -1.45547721e-03 9.98699948e-01 -1.38343249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:659.65, Y:239.18, Z:-13.84 [[ 4.30671993e-01 -9.02270241e-01 2.07375859e-02 6.59646824e+02] [ 9.01068862e-01 4.31168806e-01 4.65657268e-02 2.39184731e+02] [-5.09562697e-02 -1.36856142e-03 9.98699948e-01 -1.38357084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:659.67, Y:239.23, Z:-13.84 [[ 4.27628551e-01 -9.03716906e-01 2.07262257e-02 6.59667939e+02] [ 9.02516964e-01 4.28128826e-01 4.65707827e-02 2.39234338e+02] [-5.09602983e-02 -1.20922603e-03 9.98699948e-01 -1.38392580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:659.69, Y:239.28, Z:-13.84 [[ 4.23702617e-01 -9.05564425e-01 2.07162976e-02 6.59690206e+02] [ 9.04366450e-01 4.24207585e-01 4.65751986e-02 2.39284998e+02] [-5.09648535e-02 -9.98908997e-04 9.98699948e-01 -1.38420689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:659.71, Y:239.34, Z:-13.84 [[ 4.20500687e-01 -9.07055945e-01 2.07047270e-02 6.59710941e+02] [ 9.05859509e-01 4.21009289e-01 4.65803417e-02 2.39337251e+02] [-5.09678583e-02 -8.31491799e-04 9.98699948e-01 -1.38416756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:659.73, Y:239.39, Z:-13.84 [[ 4.19454943e-01 -9.07540265e-01 2.06934423e-02 6.59733107e+02] [ 9.06344169e-01 4.19964345e-01 4.65853545e-02 2.39388640e+02] [-5.09685929e-02 -7.85076457e-04 9.98699948e-01 -1.38443244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:659.75, Y:239.44, Z:-13.85 [[ 4.17560729e-01 -9.08413612e-01 2.06820532e-02 6.59752813e+02] [ 9.07218332e-01 4.18072042e-01 4.65904102e-02 2.39440603e+02] [-5.09699510e-02 -6.91187822e-04 9.98699948e-01 -1.38477082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:659.77, Y:239.49, Z:-13.85 [[ 4.15124107e-01 -9.09529879e-01 2.06730397e-02 6.59773918e+02] [ 9.08335775e-01 4.15638160e-01 4.65944093e-02 2.39494000e+02] [-5.09715117e-02 -5.64400997e-04 9.98699948e-01 -1.38484510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:659.79, Y:239.55, Z:-13.85 [[ 4.13341336e-01 -9.10341688e-01 2.06628180e-02 6.59793149e+02] [ 9.09148367e-01 4.13857204e-01 4.65989418e-02 2.39546813e+02] [-5.09724154e-02 -4.75701648e-04 9.98699948e-01 -1.38520815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:659.81, Y:239.60, Z:-13.86 [[ 4.12863213e-01 -9.10558883e-01 2.06515621e-02 6.59811014e+02] [ 9.09365585e-01 4.13379132e-01 4.66039296e-02 2.39598936e+02] [-5.09725470e-02 -4.61228312e-04 9.98699948e-01 -1.38559494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:659.83, Y:239.65, Z:-13.86 [[ 4.11839118e-01 -9.11022796e-01 2.06399009e-02 6.59829610e+02] [ 9.09829820e-01 4.12355782e-01 4.66090936e-02 2.39651732e+02] [-5.09729292e-02 -4.16650671e-04 9.98699948e-01 -1.38571316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:659.85, Y:239.70, Z:-13.87 [[ 4.09583893e-01 -9.12039192e-01 2.06287859e-02 6.59851081e+02] [ 9.10847250e-01 4.10102939e-01 4.66140124e-02 2.39703365e+02] [-5.09737320e-02 -3.02675713e-04 9.98699948e-01 -1.38656840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:659.87, Y:239.76, Z:-13.87 [[ 4.06122027e-01 -9.13586220e-01 2.06183637e-02 6.59872893e+02] [ 9.12396022e-01 4.06645058e-01 4.66186220e-02 2.39755241e+02] [-5.09744863e-02 -1.20736218e-04 9.98699949e-01 -1.38661233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:659.89, Y:239.81, Z:-13.87 [[ 4.04792738e-01 -9.14176240e-01 2.06068289e-02 6.59892880e+02] [ 9.12986544e-01 4.05316911e-01 4.66237201e-02 2.39806984e+02] [-5.09745934e-02 -5.91858061e-05 9.98699949e-01 -1.38683412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.965336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:659.92, Y:239.86, Z:-13.87 [[ 4.02578619e-01 -9.15153706e-01 2.05948938e-02 6.59915721e+02] [ 9.13965013e-01 4.03105063e-01 4.66289916e-02 2.39859410e+02] [-5.09746004e-02 5.11773639e-05 9.98699949e-01 -1.38696086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:659.94, Y:239.91, Z:-13.87 [[ 4.02997301e-01 -9.14969638e-01 2.05848714e-02 6.59938579e+02] [ 9.13780479e-01 4.03522690e-01 4.66334157e-02 2.39910966e+02] [-5.09746221e-02 1.69129561e-05 9.98699949e-01 -1.38701394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.085336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:659.96, Y:239.96, Z:-13.87 [[ 4.02413832e-01 -9.15226659e-01 2.05735297e-02 6.59961106e+02] [ 9.14037580e-01 4.02939401e-01 4.66384188e-02 2.39963368e+02] [-5.09746100e-02 3.70344261e-05 9.98699949e-01 -1.38737819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:659.99, Y:240.01, Z:-13.87 [[ 4.00629261e-01 -9.16009466e-01 2.05633925e-02 6.59985637e+02] [ 9.14821184e-01 4.01156630e-01 4.66428880e-02 2.40014105e+02] [-5.09744682e-02 1.25321363e-04 9.98699949e-01 -1.38733592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:660.01, Y:240.06, Z:-13.87 [[ 3.98040707e-01 -9.17137491e-01 2.05528022e-02 6.60012532e+02] [ 9.15950463e-01 3.98570892e-01 4.66475541e-02 2.40063958e+02] [-5.09739694e-02 2.57723280e-04 9.98699949e-01 -1.38744793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.265336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:660.04, Y:240.11, Z:-13.88 [[ 3.96123643e-01 -9.17967377e-01 2.05415449e-02 6.60038502e+02] [ 9.16781202e-01 3.96655734e-01 4.66525107e-02 2.40113367e+02] [-5.09734045e-02 3.51939764e-04 9.98699949e-01 -1.38793714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:660.07, Y:240.16, Z:-13.89 [[ 3.96537345e-01 -9.17788993e-01 2.05304074e-02 6.60065207e+02] [ 9.16602325e-01 3.97068336e-01 4.66574115e-02 2.40162212e+02] [-5.09736335e-02 3.16813049e-04 9.98699949e-01 -1.38854863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.385336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:660.09, Y:240.21, Z:-13.89 [[ 3.99689670e-01 -9.16420834e-01 2.05188276e-02 6.60093581e+02] [ 9.15232087e-01 4.00215989e-01 4.66625035e-02 2.40211253e+02] [-5.09744533e-02 1.28968775e-04 9.98699949e-01 -1.38877487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:660.12, Y:240.26, Z:-13.89 [[ 4.03599698e-01 -9.14705810e-01 2.05076737e-02 6.60119451e+02] [ 9.13514577e-01 4.04120366e-01 4.66674050e-02 2.40260857e+02] [-5.09745151e-02 -1.00891690e-04 9.98699949e-01 -1.38883799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.505336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:660.15, Y:240.31, Z:-13.89 [[ 4.09707926e-01 -9.11986480e-01 2.04957583e-02 6.60145430e+02] [ 9.10791530e-01 4.10220007e-01 4.66726375e-02 2.40311163e+02] [-5.09725845e-02 -4.54786438e-04 9.98699949e-01 -1.38928648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.565336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:660.17, Y:240.36, Z:-13.90 [[ 4.13723942e-01 -9.10171901e-01 2.04843987e-02 6.60169858e+02] [ 9.08974459e-01 4.14230168e-01 4.66776227e-02 2.40361665e+02] [-5.09699165e-02 -6.91854836e-04 9.98699949e-01 -1.38961133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:660.19, Y:240.41, Z:-13.90 [[ 4.20560727e-01 -9.07033367e-01 2.04730568e-02 6.60191565e+02] [ 9.05831909e-01 4.21057345e-01 4.66825968e-02 2.40413646e+02] [-5.09630039e-02 -1.08771877e-03 9.98699949e-01 -1.38976551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:660.21, Y:240.47, Z:-13.90 [[ 4.25338885e-01 -9.04802829e-01 2.04615234e-02 6.60210853e+02] [ 9.03598526e-01 4.25828565e-01 4.66876515e-02 2.40466135e+02] [-5.09562203e-02 -1.36907125e-03 9.98699950e-01 -1.38979332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:660.23, Y:240.52, Z:-13.90 [[ 4.25937852e-01 -9.04521212e-01 2.04529463e-02 6.60230918e+02] [ 9.03316406e-01 4.26426292e-01 4.66914086e-02 2.40518852e+02] [-5.09550436e-02 -1.41215636e-03 9.98699950e-01 -1.38990084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:660.25, Y:240.57, Z:-13.90 [[ 4.22779216e-01 -9.06002141e-01 2.04415269e-02 6.60248752e+02] [ 9.04798806e-01 4.23271268e-01 4.66964075e-02 2.40571535e+02] [-5.09593562e-02 -1.24680142e-03 9.98699950e-01 -1.39027262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:660.27, Y:240.63, Z:-13.91 [[ 4.16988050e-01 -9.08682339e-01 2.04296810e-02 6.60266470e+02] [ 9.07481916e-01 4.17487165e-01 4.67015895e-02 2.40625081e+02] [-5.09660392e-02 -9.34438664e-04 9.98699950e-01 -1.39063517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:660.28, Y:240.68, Z:-13.91 [[ 4.13352732e-01 -9.10342035e-01 2.04180883e-02 6.60284303e+02] [ 9.09143367e-01 4.13856046e-01 4.67066573e-02 2.40677084e+02] [-5.09691828e-02 -7.43354854e-04 9.98699950e-01 -1.39121237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:660.30, Y:240.73, Z:-13.92 [[ 4.08473591e-01 -9.12542009e-01 2.04060625e-02 6.60298874e+02] [ 9.11345790e-01 4.08982699e-01 4.67119108e-02 2.40730642e+02] [-5.09723074e-02 -4.83602763e-04 9.98699950e-01 -1.39183472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:660.32, Y:240.78, Z:-13.92 [[ 4.04342875e-01 -9.14380003e-01 2.03972926e-02 6.60317262e+02] [ 9.13185906e-01 4.04856939e-01 4.67157400e-02 2.40783808e+02] [-5.09739239e-02 -2.62656553e-04 9.98699950e-01 -1.39189574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:660.33, Y:240.84, Z:-13.92 [[ 3.95805789e-01 -9.18107938e-01 2.03860910e-02 6.60334752e+02] [ 9.16918430e-01 3.96330386e-01 4.67206277e-02 2.40837872e+02] [-5.09742064e-02 2.00087715e-04 9.98699950e-01 -1.39208030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:660.36, Y:240.89, Z:-13.92 [[ 3.85722672e-01 -9.22389753e-01 2.03755599e-02 6.60355210e+02] [ 9.21205823e-01 3.86259737e-01 4.67252200e-02 2.40890128e+02] [-5.09691226e-02 7.47107713e-04 9.98699950e-01 -1.39193575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:660.38, Y:240.94, Z:-13.92 [[ 3.80410613e-01 -9.24593426e-01 2.03656968e-02 6.60377519e+02] [ 9.23412376e-01 3.80953982e-01 4.67295186e-02 2.40942804e+02] [-5.09641990e-02 1.02953164e-03 9.98699950e-01 -1.39237842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.285336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:660.40, Y:240.99, Z:-13.93 [[ 3.78074906e-01 -9.25551197e-01 2.03555042e-02 6.60400082e+02] [ 9.24371285e-01 3.78620740e-01 4.67339581e-02 2.40994044e+02] [-5.09616869e-02 1.14710672e-03 9.98699950e-01 -1.39258288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:660.43, Y:241.05, Z:-13.92 [[ 3.72413410e-01 -9.27843925e-01 2.03445956e-02 6.60428188e+02] [ 9.26667111e-01 3.72965894e-01 4.67387064e-02 2.41045253e+02] [-5.09540651e-02 1.44654657e-03 9.98699950e-01 -1.39244878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:660.46, Y:241.09, Z:-13.93 [[ 3.69694206e-01 -9.28930927e-01 2.03353495e-02 6.60456918e+02] [ 9.27755517e-01 3.70249669e-01 4.67427289e-02 2.41094115e+02] [-5.09499229e-02 1.58571667e-03 9.98699950e-01 -1.39286570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:660.48, Y:241.14, Z:-13.93 [[ 3.69370879e-01 -9.29059790e-01 2.03239051e-02 6.60483504e+02] [ 9.27884301e-01 3.69926177e-01 4.67477044e-02 2.41142638e+02] [-5.09497570e-02 1.59099181e-03 9.98699950e-01 -1.39344974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:660.52, Y:241.19, Z:-13.93 [[ 3.72228825e-01 -9.27918705e-01 2.03120267e-02 6.60515651e+02] [ 9.26741233e-01 3.72779904e-01 4.67528651e-02 2.41191020e+02] [-5.09547734e-02 1.42122861e-03 9.98699951e-01 -1.39348541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:660.55, Y:241.24, Z:-13.94 [[ 3.78234462e-01 -9.25487181e-01 2.03019448e-02 6.60546689e+02] [ 9.24305929e-01 3.78777389e-01 4.67572426e-02 2.41237954e+02] [-5.09631463e-02 1.08000744e-03 9.98699951e-01 -1.39440197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.645336195 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:660.57, Y:241.29, Z:-13.95 [[ 3.82813597e-01 -9.23602741e-01 2.02910448e-02 6.60574913e+02] [ 9.22418564e-01 3.83350116e-01 4.67619724e-02 2.41287523e+02] [-5.09680602e-02 8.15717572e-04 9.98699951e-01 -1.39452847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:660.60, Y:241.34, Z:-13.95 [[ 3.91160791e-01 -9.20098868e-01 2.02807614e-02 6.60604315e+02] [ 9.18909650e-01 3.91686043e-01 4.67664319e-02 2.41336041e+02] [-5.09734322e-02 3.42992912e-04 9.98699951e-01 -1.39489452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:660.63, Y:241.38, Z:-13.95 [[ 4.00700565e-01 -9.15984817e-01 2.02699764e-02 6.60631135e+02] [ 9.14789969e-01 4.01212880e-01 4.67711060e-02 2.41384453e+02] [-5.09741986e-02 -1.98437520e-04 9.98699951e-01 -1.39506474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:660.65, Y:241.44, Z:-13.95 [[ 4.06063483e-01 -9.13620294e-01 2.02584970e-02 6.60653812e+02] [ 9.12422216e-01 4.06568197e-01 4.67760777e-02 2.41435618e+02] [-5.09720344e-02 -5.09754271e-04 9.98699951e-01 -1.39544178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:660.68, Y:241.49, Z:-13.96 [[ 4.11385120e-01 -9.11236700e-01 2.02474586e-02 6.60677156e+02] [ 9.10035464e-01 4.11882272e-01 4.67808553e-02 2.41487845e+02] [-5.09680014e-02 -8.19042393e-04 9.98699951e-01 -1.39617046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:660.70, Y:241.54, Z:-13.96 [[ 4.12225746e-01 -9.10856946e-01 2.02375623e-02 6.60700089e+02] [ 9.09655042e-01 4.12721280e-01 4.67851360e-02 2.41538671e+02] [-5.09670387e-02 -8.76837036e-04 9.98699951e-01 -1.39649953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.005336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:660.72, Y:241.59, Z:-13.97 [[ 4.11320870e-01 -9.11266173e-01 2.02263111e-02 6.60721107e+02] [ 9.10064523e-01 4.11817021e-01 4.67899997e-02 2.41591220e+02] [-5.09676831e-02 -8.38455230e-04 9.98699951e-01 -1.39660338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:660.74, Y:241.64, Z:-13.97 [[ 4.10115552e-01 -9.11809514e-01 2.02149778e-02 6.60741436e+02] [ 9.10608281e-01 4.10612710e-01 4.67948956e-02 2.41644428e+02] [-5.09685578e-02 -7.83388275e-04 9.98699951e-01 -1.39669967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:660.76, Y:241.70, Z:-13.97 [[ 4.08704910e-01 -9.12442910e-01 2.02047727e-02 6.60761103e+02] [ 9.11242230e-01 4.09203401e-01 4.67993014e-02 2.41696884e+02] [-5.09695525e-02 -7.15662095e-04 9.98699951e-01 -1.39686157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:660.78, Y:241.75, Z:-13.97 [[ 4.06108841e-01 -9.13601558e-01 2.01941410e-02 6.60782257e+02] [ 9.12402072e-01 4.06610200e-01 4.68038886e-02 2.41748638e+02] [-5.09712493e-02 -5.82296857e-04 9.98699951e-01 -1.39710481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:660.80, Y:241.80, Z:-13.98 [[ 4.01031549e-01 -9.15841879e-01 2.01829060e-02 6.60801576e+02] [ 9.14644951e-01 4.01538984e-01 4.68087329e-02 2.41800751e+02] [-5.09736215e-02 -3.11585646e-04 9.98699951e-01 -1.39772298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:660.82, Y:241.85, Z:-13.98 [[ 3.97925335e-01 -9.17196013e-01 2.01717881e-02 6.60822232e+02] [ 9.16000570e-01 3.98436257e-01 4.68135236e-02 2.41852162e+02] [-5.09743489e-02 -1.50917682e-04 9.98699951e-01 -1.39803017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:660.84, Y:241.90, Z:-13.98 [[ 3.95093283e-01 -9.18419764e-01 2.01602160e-02 6.60842155e+02] [ 9.17225649e-01 3.95607300e-01 4.68185066e-02 2.41904692e+02] [-5.09745704e-02 -6.21025594e-06 9.98699952e-01 -1.39813745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:660.86, Y:241.96, Z:-13.98 [[ 3.93208500e-01 -9.19228529e-01 2.01491397e-02 6.60863656e+02] [ 9.18035226e-01 3.93724402e-01 4.68232730e-02 2.41957212e+02] [-5.09744963e-02 8.63111344e-05 9.98699952e-01 -1.39807355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:660.88, Y:242.01, Z:-13.99 [[ 3.91569040e-01 -9.19928346e-01 2.01376474e-02 6.60884635e+02] [ 9.18735711e-01 3.92086484e-01 4.68282150e-02 2.42008314e+02] [-5.09743018e-02 1.64696651e-04 9.98699952e-01 -1.39857281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:660.91, Y:242.06, Z:-13.99 [[ 3.89816934e-01 -9.20672363e-01 2.01285544e-02 6.60905564e+02] [ 9.19480514e-01 3.90336185e-01 4.68321232e-02 2.42060298e+02] [-5.09739447e-02 2.51858852e-04 9.98699952e-01 -1.39869693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:660.93, Y:242.11, Z:-13.98 [[ 3.90721204e-01 -9.20289213e-01 2.01172881e-02 6.60926433e+02] [ 9.19096606e-01 3.91238710e-01 4.68369623e-02 2.42114045e+02] [-5.09742130e-02 1.89536884e-04 9.98699952e-01 -1.39817834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:660.95, Y:242.16, Z:-13.99 [[ 3.92759334e-01 -9.19421445e-01 2.01075255e-02 6.60949004e+02] [ 9.18227479e-01 3.93273699e-01 4.68411531e-02 2.42164772e+02] [-5.09745216e-02 6.59823304e-05 9.98699952e-01 -1.39894379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:660.97, Y:242.22, Z:-13.99 [[ 3.95441230e-01 -9.18271420e-01 2.00956199e-02 6.60970701e+02] [ 9.17075699e-01 3.95951501e-01 4.68462603e-02 2.42218710e+02] [-5.09744728e-02 -9.57381167e-05 9.98699952e-01 -1.39891466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:660.99, Y:242.27, Z:-14.00 [[ 3.95450377e-01 -9.18267615e-01 2.00894777e-02 6.60991809e+02] [ 9.17071755e-01 3.95960323e-01 4.68488941e-02 2.42270439e+02] [-5.09744583e-02 -1.02920303e-04 9.98699952e-01 -1.39951707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.845336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:661.01, Y:242.32, Z:-14.00 [[ 3.95777417e-01 -9.18126895e-01 2.00808492e-02 6.61014195e+02] [ 9.16930666e-01 3.96286497e-01 4.68525923e-02 2.42322274e+02] [-5.09743945e-02 -1.30451473e-04 9.98699952e-01 -1.39980663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:661.04, Y:242.38, Z:-13.99 [[ 3.97309880e-01 -9.17465023e-01 2.00696661e-02 6.61037609e+02] [ 9.16267704e-01 3.97816390e-01 4.68573822e-02 2.42375482e+02] [-5.09740513e-02 -2.27714017e-04 9.98699952e-01 -1.39906261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.965336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:661.06, Y:242.43, Z:-14.01 [[ 3.98401338e-01 -9.16991802e-01 2.00601175e-02 6.61058170e+02] [ 9.15793676e-01 3.98905935e-01 4.68614697e-02 2.42427323e+02] [-5.09736834e-02 -2.98743512e-04 9.98699952e-01 -1.40051552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:661.08, Y:242.48, Z:-14.01 [[ 3.97908996e-01 -9.17205797e-01 2.00488558e-02 6.61078286e+02] [ 9.16007700e-01 3.98413661e-01 4.68662873e-02 2.42479635e+02] [-5.09737684e-02 -2.83610993e-04 9.98699952e-01 -1.40103774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:661.10, Y:242.53, Z:-14.01 [[ 3.96542372e-01 -9.17797716e-01 2.00374699e-02 6.61099508e+02] [ 9.16600125e-01 3.97048240e-01 4.68711548e-02 2.42532901e+02] [-5.09740809e-02 -2.20051482e-04 9.98699952e-01 -1.40111869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:661.12, Y:242.58, Z:-14.01 [[ 3.94173930e-01 -9.18817639e-01 2.00264342e-02 6.61121910e+02] [ 9.17621119e-01 3.94682322e-01 4.68758695e-02 2.42584054e+02] [-5.09744553e-02 -1.00566812e-04 9.98699952e-01 -1.40147484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:661.14, Y:242.63, Z:-14.02 [[ 3.93951746e-01 -9.18913169e-01 2.00152425e-02 6.61142175e+02] [ 9.17716529e-01 3.94459856e-01 4.68806477e-02 2.42633931e+02] [-5.09744542e-02 -1.00394131e-04 9.98699952e-01 -1.40215155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.265336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:661.16, Y:242.69, Z:-14.02 [[ 3.91261571e-01 -9.20062051e-01 2.00051458e-02 6.61162559e+02] [ 9.18866682e-01 3.91772666e-01 4.68849558e-02 2.42686073e+02] [-5.09745379e-02 3.77804337e-05 9.98699952e-01 -1.40212711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:661.18, Y:242.74, Z:-14.03 [[ 3.88859442e-01 -9.21080119e-01 1.99937429e-02 6.61184445e+02] [ 9.19885838e-01 3.89373073e-01 4.68898180e-02 2.42736515e+02] [-5.09743042e-02 1.58412510e-04 9.98699953e-01 -1.40256790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:661.20, Y:242.79, Z:-14.03 [[ 3.85820998e-01 -9.22357238e-01 1.99820505e-02 6.61204901e+02] [ 9.21164400e-01 3.86337969e-01 4.68948002e-02 2.42789408e+02] [-5.09735832e-02 3.13754955e-04 9.98699953e-01 -1.40273484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:661.23, Y:242.84, Z:-14.03 [[ 3.84059386e-01 -9.23092361e-01 1.99720057e-02 6.61229949e+02] [ 9.21900290e-01 3.84578123e-01 4.68990777e-02 2.42840599e+02] [-5.09729769e-02 4.00166889e-04 9.98699953e-01 -1.40323747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:661.25, Y:242.89, Z:-14.04 [[ 3.84872167e-01 -9.22754002e-01 1.99616555e-02 6.61251048e+02] [ 9.21561245e-01 3.85389328e-01 4.69034827e-02 2.42891447e+02] [-5.09733853e-02 3.44043111e-04 9.98699953e-01 -1.40369437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:661.27, Y:242.94, Z:-14.04 [[ 3.84870965e-01 -9.22754747e-01 1.99503841e-02 6.61271703e+02] [ 9.21561743e-01 3.85387554e-01 4.69082765e-02 2.42942562e+02] [-5.09734645e-02 3.31877134e-04 9.98699953e-01 -1.40386147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:661.29, Y:243.00, Z:-14.04 [[ 3.85826144e-01 -9.22356022e-01 1.99387713e-02 6.61292201e+02] [ 9.21162230e-01 3.86340908e-01 4.69132121e-02 2.42995217e+02] [-5.09738467e-02 2.66499240e-04 9.98699953e-01 -1.40369558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:661.31, Y:243.05, Z:-14.03 [[ 3.86094844e-01 -9.22243828e-01 1.99271964e-02 6.61314600e+02] [ 9.21049632e-01 3.86608671e-01 4.69181282e-02 2.43048966e+02] [-5.09739811e-02 2.39089534e-04 9.98699953e-01 -1.40341494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:661.34, Y:243.10, Z:-14.04 [[ 3.85324105e-01 -9.22566326e-01 1.99175307e-02 6.61336300e+02] [ 9.21372348e-01 3.85838438e-01 4.69222311e-02 2.43099812e+02] [-5.09738193e-02 2.71195338e-04 9.98699953e-01 -1.40440623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:661.36, Y:243.15, Z:-14.04 [[ 3.82125132e-01 -9.23896117e-01 1.99085079e-02 6.61361540e+02] [ 9.22703729e-01 3.82643141e-01 4.69260591e-02 2.43151493e+02] [-5.09726577e-02 4.38027935e-04 9.98699953e-01 -1.40436721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.865336195 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:661.39, Y:243.20, Z:-14.04 [[ 3.79333310e-01 -9.25046108e-01 1.98982115e-02 6.61385328e+02] [ 9.23855061e-01 3.79854395e-01 4.69304247e-02 2.43203858e+02] [-5.09712298e-02 5.80790095e-04 9.98699953e-01 -1.40412591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:661.41, Y:243.25, Z:-14.05 [[ 3.76837456e-01 -9.26065886e-01 1.98873547e-02 6.61411940e+02] [ 9.24876006e-01 3.77361201e-01 4.69350249e-02 2.43252534e+02] [-5.09696415e-02 7.06461804e-04 9.98699953e-01 -1.40478578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.9853361950001 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:661.44, Y:243.30, Z:-14.05 [[ 3.76188853e-01 -9.26329803e-01 1.98756835e-02 6.61436026e+02] [ 9.25140030e-01 3.76712840e-01 4.69399669e-02 2.43303306e+02] [-5.09693154e-02 7.29498088e-04 9.98699953e-01 -1.40510134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:661.46, Y:243.35, Z:-14.05 [[ 3.76872687e-01 -9.26052036e-01 1.98646304e-02 6.61462973e+02] [ 9.24861631e-01 3.77395235e-01 4.69446440e-02 2.43352942e+02] [-5.09700000e-02 6.79880381e-04 9.98699953e-01 -1.40535393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:661.49, Y:243.40, Z:-14.06 [[ 3.78991774e-01 -9.25187059e-01 1.98530040e-02 6.61487938e+02] [ 9.23995203e-01 3.79511005e-01 4.69495603e-02 2.43402509e+02] [-5.09715591e-02 5.50583376e-04 9.98699953e-01 -1.40575769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:661.51, Y:243.45, Z:-14.06 [[ 3.84772259e-01 -9.22798271e-01 1.98408793e-02 6.61511123e+02] [ 9.21602926e-01 3.85283408e-01 4.69546836e-02 2.43453577e+02] [-5.09740624e-02 2.18552738e-04 9.98699954e-01 -1.40576316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.2253361950001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:661.53, Y:243.51, Z:-14.06 [[ 3.89192622e-01 -9.20942925e-01 1.98300883e-02 6.61534284e+02] [ 9.19744911e-01 3.89697483e-01 4.69592405e-02 2.43506011e+02] [-5.09745158e-02 -3.75671397e-05 9.98699954e-01 -1.40574939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:661.56, Y:243.56, Z:-14.06 [[ 3.96030634e-01 -9.18023358e-01 1.98204683e-02 6.61555627e+02] [ 9.16821420e-01 3.96526080e-01 4.69633006e-02 2.43558120e+02] [-5.09727395e-02 -4.27075833e-04 9.98699954e-01 -1.40606193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:661.58, Y:243.61, Z:-14.07 [[ 3.99038919e-01 -9.16719993e-01 1.98089784e-02 6.61575086e+02] [ 9.15516197e-01 3.99529832e-01 4.69681465e-02 2.43609179e+02] [-5.09709167e-02 -6.06677806e-04 9.98699954e-01 -1.40670240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:661.59, Y:243.66, Z:-14.07 [[ 3.98727248e-01 -9.16855847e-01 1.97974140e-02 6.61594777e+02] [ 9.15651976e-01 3.99217977e-01 4.69730204e-02 2.43660404e+02] [-5.09709720e-02 -6.01881863e-04 9.98699954e-01 -1.40690505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.465336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:661.61, Y:243.71, Z:-14.08 [[ 3.94314130e-01 -9.18762706e-01 1.97852857e-02 6.61612775e+02] [ 9.17560952e-01 3.94810023e-01 4.69781284e-02 2.43711688e+02] [-5.09731814e-02 -3.69934272e-04 9.98699954e-01 -1.40775729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:661.63, Y:243.76, Z:-14.08 [[ 3.94007955e-01 -9.18894329e-01 1.97722895e-02 6.61634317e+02] [ 9.17692467e-01 3.94503583e-01 4.69835976e-02 2.43763478e+02] [-5.09732005e-02 -3.67030112e-04 9.98699954e-01 -1.40810826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:661.65, Y:243.82, Z:-14.08 [[ 3.93633179e-01 -9.19055176e-01 1.97611541e-02 6.61651244e+02] [ 9.17853282e-01 3.94128728e-01 4.69882807e-02 2.43817676e+02] [-5.09732611e-02 -3.58306177e-04 9.98699954e-01 -1.40812081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:661.67, Y:243.87, Z:-14.08 [[ 3.94147581e-01 -9.18834938e-01 1.97494815e-02 6.61671434e+02] [ 9.17632520e-01 3.94641860e-01 4.69931862e-02 2.43872112e+02] [-5.09729535e-02 -3.99484173e-04 9.98699954e-01 -1.40803144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:661.69, Y:243.93, Z:-14.09 [[ 3.96169559e-01 -9.17965146e-01 1.97400729e-02 6.61688563e+02] [ 9.16761447e-01 3.96660709e-01 4.69971381e-02 2.43926146e+02] [-5.09718461e-02 -5.21897661e-04 9.98699954e-01 -1.40893067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.765336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:661.70, Y:243.98, Z:-14.09 [[ 3.97702889e-01 -9.17302106e-01 1.97296331e-02 6.61702778e+02] [ 9.16097371e-01 3.98191492e-01 4.70015204e-02 2.43980905e+02] [-5.09707657e-02 -6.18375435e-04 9.98699954e-01 -1.40926481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:661.72, Y:244.03, Z:-14.10 [[ 3.98384441e-01 -9.17006563e-01 1.97180278e-02 6.61720480e+02] [ 9.15801225e-01 3.98871553e-01 4.70063885e-02 2.44032969e+02] [-5.09701272e-02 -6.68819772e-04 9.98699954e-01 -1.41001473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:661.74, Y:244.09, Z:-14.10 [[ 3.97315461e-01 -9.17470489e-01 1.97059901e-02 6.61735332e+02] [ 9.16265470e-01 3.97803361e-01 4.70114344e-02 2.44088225e+02] [-5.09707128e-02 -6.22451490e-04 9.98699954e-01 -1.40988084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:661.75, Y:244.14, Z:-14.10 [[ 3.94814518e-01 -9.18549738e-01 1.96945759e-02 6.61753150e+02] [ 9.17345814e-01 3.95305115e-01 4.70162157e-02 2.44140374e+02] [-5.09720992e-02 -4.95947797e-04 9.98699955e-01 -1.41010553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:661.77, Y:244.19, Z:-14.10 [[ 3.89847941e-01 -9.20668872e-01 1.96827579e-02 6.61770059e+02] [ 9.19467366e-01 3.90344429e-01 4.70211627e-02 2.44194837e+02] [-5.09739757e-02 -2.33449897e-04 9.98699955e-01 -1.41004183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:661.79, Y:244.25, Z:-14.10 [[ 3.88231897e-01 -9.21351748e-01 1.96710684e-02 6.61790213e+02] [ 9.20150867e-01 3.88729896e-01 4.70260524e-02 2.44246137e+02] [-5.09742680e-02 -1.56662887e-04 9.98699955e-01 -1.41045517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.125336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:661.81, Y:244.30, Z:-14.11 [[ 3.83700205e-01 -9.23248378e-01 1.96617909e-02 6.61807324e+02] [ 9.22049760e-01 3.84203626e-01 4.70299310e-02 2.44298638e+02] [-5.09744389e-02 8.37553921e-05 9.98699955e-01 -1.41081175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.185336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:661.83, Y:244.35, Z:-14.11 [[ 3.81213792e-01 -9.24278054e-01 1.96500362e-02 6.61828003e+02] [ 9.23080543e-01 3.81719839e-01 4.70348419e-02 2.44350768e+02] [-5.09740808e-02 2.08235623e-04 9.98699955e-01 -1.41108294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.245336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:661.85, Y:244.40, Z:-14.11 [[ 3.78756032e-01 -9.25288161e-01 1.96389008e-02 6.61848249e+02] [ 9.24091758e-01 3.79264695e-01 4.70394909e-02 2.44401854e+02] [-5.09734258e-02 3.31655431e-04 9.98699955e-01 -1.41136622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:661.87, Y:244.45, Z:-14.11 [[ 3.77276077e-01 -9.25892828e-01 1.96273593e-02 6.61868854e+02] [ 9.24696990e-01 3.77786065e-01 4.70443061e-02 2.44453870e+02] [-5.09729285e-02 4.00668824e-04 9.98699955e-01 -1.41139075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.365336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:661.89, Y:244.51, Z:-14.12 [[ 3.76008447e-01 -9.26408583e-01 1.96159349e-02 6.61888556e+02] [ 9.25213196e-01 3.76519491e-01 4.70490692e-02 2.44506292e+02] [-5.09724434e-02 4.58074396e-04 9.98699955e-01 -1.41163828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:661.91, Y:244.56, Z:-14.12 [[ 3.75461045e-01 -9.26630813e-01 1.96045830e-02 6.61911811e+02] [ 9.25435481e-01 3.75972219e-01 4.70537989e-02 2.44557090e+02] [-5.09722786e-02 4.75908202e-04 9.98699955e-01 -1.41177544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:661.93, Y:244.61, Z:-14.12 [[ 3.76787972e-01 -9.26092297e-01 1.95928988e-02 6.61931845e+02] [ 9.24895982e-01 3.77296840e-01 4.70586637e-02 2.44608570e+02] [-5.09730047e-02 3.90254923e-04 9.98699955e-01 -1.41234599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:661.95, Y:244.66, Z:-14.12 [[ 3.77763353e-01 -9.25695112e-01 1.95808389e-02 6.61952239e+02] [ 9.24498001e-01 3.78270347e-01 4.70636812e-02 2.44661465e+02] [-5.09734703e-02 3.23512378e-04 9.98699955e-01 -1.41237663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:661.98, Y:244.71, Z:-14.13 [[ 3.77593320e-01 -9.25764722e-01 1.95694895e-02 6.61975863e+02] [ 9.24567460e-01 3.78099957e-01 4.70683999e-02 2.44712100e+02] [-5.09734873e-02 3.20599865e-04 9.98699955e-01 -1.41277087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.665336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:662.00, Y:244.76, Z:-14.13 [[ 3.77733841e-01 -9.25707634e-01 1.95581434e-02 6.61999947e+02] [ 9.24510052e-01 3.78239719e-01 4.70731140e-02 2.44762919e+02] [-5.09736077e-02 3.00592006e-04 9.98699955e-01 -1.41282760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:662.02, Y:244.81, Z:-14.13 [[ 3.78172811e-01 -9.25528635e-01 1.95466267e-02 6.62020402e+02] [ 9.24330566e-01 3.78677535e-01 4.70778958e-02 2.44814338e+02] [-5.09738090e-02 2.63964343e-04 9.98699956e-01 -1.41325089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:662.04, Y:244.87, Z:-14.13 [[ 3.81356131e-01 -9.24221779e-01 1.95346928e-02 6.62042967e+02] [ 9.23021727e-01 3.81856121e-01 4.70828471e-02 2.44865990e+02] [-5.09744348e-02 7.56134651e-05 9.98699956e-01 -1.41348141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:662.06, Y:244.92, Z:-14.14 [[ 3.83468237e-01 -9.23347685e-01 1.95234342e-02 6.62063678e+02] [ 9.22146255e-01 3.83964908e-01 4.70875152e-02 2.44916754e+02] [-5.09744617e-02 -5.31046982e-05 9.98699956e-01 -1.41393157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:662.08, Y:244.97, Z:-14.14 [[ 3.85092554e-01 -9.22671674e-01 1.95117205e-02 6.62084599e+02] [ 9.21469126e-01 3.85586512e-01 4.70923685e-02 2.44968349e+02] [-5.09742507e-02 -1.55472391e-04 9.98699956e-01 -1.41392750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:662.11, Y:245.02, Z:-14.14 [[ 3.84454551e-01 -9.22937905e-01 1.95018215e-02 6.62105282e+02] [ 9.21735492e-01 3.84948835e-01 4.70964675e-02 2.45020990e+02] [-5.09743185e-02 -1.30930252e-04 9.98699956e-01 -1.41411533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:662.13, Y:245.07, Z:-14.14 [[ 3.82624508e-01 -9.23698325e-01 1.94907594e-02 6.62126103e+02] [ 9.22496661e-01 3.83120611e-01 4.71010451e-02 2.45073330e+02] [-5.09744681e-02 -4.18537763e-05 9.98699956e-01 -1.41416582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:662.15, Y:245.13, Z:-14.14 [[ 3.79704979e-01 -9.24902525e-01 1.94794241e-02 6.62148989e+02] [ 9.23702194e-01 3.80204297e-01 4.71057325e-02 2.45125175e+02] [-5.09743717e-02 1.06905553e-04 9.98699956e-01 -1.41421074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:662.17, Y:245.18, Z:-14.15 [[ 3.77864766e-01 -9.25656028e-01 1.94714304e-02 6.62169551e+02] [ 9.24456522e-01 3.78366064e-01 4.71090366e-02 2.45178001e+02] [-5.09740921e-02 1.99645681e-04 9.98699956e-01 -1.41457442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:662.19, Y:245.23, Z:-14.15 [[ 3.74353980e-01 -9.27081651e-01 1.94604484e-02 6.62191591e+02] [ 9.25883818e-01 3.74859262e-01 4.71135727e-02 2.45228667e+02] [-5.09730581e-02 3.80960769e-04 9.98699956e-01 -1.41508060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:662.21, Y:245.28, Z:-14.15 [[ 3.70140396e-01 -9.28772225e-01 1.94484391e-02 6.62214686e+02] [ 9.27576438e-01 3.70650503e-01 4.71185296e-02 2.45280201e+02] [-5.09709553e-02 5.99442608e-04 9.98699956e-01 -1.41536935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:662.24, Y:245.33, Z:-14.16 [[ 3.68628377e-01 -9.29373617e-01 1.94370830e-02 6.62239967e+02] [ 9.28178416e-01 3.69139853e-01 4.71232137e-02 2.45329256e+02] [-5.09700735e-02 6.70127181e-04 9.98699956e-01 -1.41578232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:662.26, Y:245.38, Z:-14.16 [[ 3.68886261e-01 -9.29271534e-01 1.94253264e-02 6.62262751e+02] [ 9.28075936e-01 3.69396810e-01 4.71280596e-02 2.45380478e+02] [-5.09704178e-02 6.43284242e-04 9.98699956e-01 -1.41601753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:662.29, Y:245.43, Z:-14.16 [[ 3.70111439e-01 -9.28784481e-01 1.94141890e-02 6.62286961e+02] [ 9.27587971e-01 3.70619846e-01 4.71326471e-02 2.45432585e+02] [-5.09713549e-02 5.64036365e-04 9.98699956e-01 -1.41617278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.505336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:662.31, Y:245.48, Z:-14.16 [[ 3.73102024e-01 -9.27587384e-01 1.94042380e-02 6.62312695e+02] [ 9.26389030e-01 3.73606067e-01 4.71367436e-02 2.45484149e+02] [-5.09729897e-02 3.89058747e-04 9.98699956e-01 -1.41647051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:662.34, Y:245.54, Z:-14.17 [[ 3.75426830e-01 -9.26649093e-01 1.93946903e-02 6.62336748e+02] [ 9.25449275e-01 3.75927381e-01 4.71406717e-02 2.45535153e+02] [-5.09738558e-02 2.50929086e-04 9.98699956e-01 -1.41683117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:662.36, Y:245.59, Z:-14.17 [[ 3.75872125e-01 -9.26468804e-01 1.93829886e-02 6.62361071e+02] [ 9.25268499e-01 3.76371503e-01 4.71454826e-02 2.45588144e+02] [-5.09740235e-02 2.13796092e-04 9.98699957e-01 -1.41673185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:662.39, Y:245.64, Z:-14.18 [[ 3.75444031e-01 -9.26642571e-01 1.93733361e-02 6.62390053e+02] [ 9.25442291e-01 3.75943473e-01 4.71494487e-02 2.45636389e+02] [-5.09739657e-02 2.26925514e-04 9.98699957e-01 -1.41765244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:662.42, Y:245.69, Z:-14.17 [[ 3.74728122e-01 -9.26932547e-01 1.93620337e-02 6.62415100e+02] [ 9.25732414e-01 3.75227917e-01 4.71540897e-02 2.45686627e+02] [-5.09738360e-02 2.54098688e-04 9.98699957e-01 -1.41743151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:662.44, Y:245.74, Z:-14.18 [[ 3.76398126e-01 -9.26255913e-01 1.93502954e-02 6.62440101e+02] [ 9.25054634e-01 3.76895159e-01 4.71589062e-02 2.45736404e+02] [-5.09742483e-02 1.49556501e-04 9.98699957e-01 -1.41802286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.865336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:662.46, Y:245.79, Z:-14.18 [[ 3.78356702e-01 -9.25457844e-01 1.93386882e-02 6.62464523e+02] [ 9.24255273e-01 3.78850601e-01 4.71636655e-02 2.45786948e+02] [-5.09744578e-02 2.91955804e-05 9.98699957e-01 -1.41807229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:662.49, Y:245.84, Z:-14.18 [[ 3.81921953e-01 -9.23992472e-01 1.93270429e-02 6.62489395e+02] [ 9.22787765e-01 3.82410617e-01 4.71684371e-02 2.45837617e+02] [-5.09741472e-02 -1.79902910e-04 9.98699957e-01 -1.41843839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:662.51, Y:245.89, Z:-14.19 [[ 3.84652224e-01 -9.22859385e-01 1.93189487e-02 6.62509663e+02] [ 9.21653072e-01 3.85136911e-01 4.71717520e-02 2.45888436e+02] [-5.09733343e-02 -3.39350921e-04 9.98699957e-01 -1.41877084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.045336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:662.53, Y:245.94, Z:-14.18 [[ 3.87046701e-01 -9.21857952e-01 1.93071799e-02 6.62529700e+02] [ 9.20650146e-01 3.87527652e-01 4.71765685e-02 2.45942854e+02] [-5.09721609e-02 -4.84377161e-04 9.98699957e-01 -1.41821679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:662.55, Y:245.99, Z:-14.19 [[ 3.87671872e-01 -9.21595432e-01 1.92971386e-02 6.62550375e+02] [ 9.20387095e-01 3.88151490e-01 4.71806754e-02 2.45994310e+02] [-5.09717080e-02 -5.29783429e-04 9.98699957e-01 -1.41917684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:662.57, Y:246.05, Z:-14.20 [[ 3.84188782e-01 -9.23053055e-01 1.92883059e-02 6.62570621e+02] [ 9.21846356e-01 3.84672508e-01 4.71842861e-02 2.46046678e+02] [-5.09732804e-02 -3.46818887e-04 9.98699957e-01 -1.41956765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:662.59, Y:246.10, Z:-14.20 [[ 3.79252471e-01 -9.25092404e-01 1.92770968e-02 6.62591142e+02] [ 9.23888075e-01 3.79742065e-01 4.71888651e-02 2.46099253e+02] [-5.09743853e-02 -8.66139050e-05 9.98699957e-01 -1.41995083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:662.62, Y:246.15, Z:-14.20 [[ 3.70313145e-01 -9.28707166e-01 1.92658700e-02 6.62615278e+02] [ 9.27507376e-01 3.70813761e-01 4.71934483e-02 2.46149829e+02] [-5.09729433e-02 3.92882313e-04 9.98699957e-01 -1.42041194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:662.64, Y:246.20, Z:-14.21 [[ 3.65049915e-01 -9.30788824e-01 1.92542325e-02 6.62638893e+02] [ 9.29591637e-01 3.65556724e-01 4.71981957e-02 2.46201464e+02] [-5.09700672e-02 6.68876153e-04 9.98699957e-01 -1.42068182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.405336195 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:662.66, Y:246.25, Z:-14.21 [[ 3.59791748e-01 -9.32834176e-01 1.92431300e-02 6.62663966e+02] [ 9.31639627e-01 3.60304743e-01 4.72027219e-02 2.46251847e+02] [-5.09657032e-02 9.44512685e-04 9.98699957e-01 -1.42050756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:662.69, Y:246.30, Z:-14.21 [[ 3.57633701e-01 -9.33663909e-01 1.92312465e-02 6.62689745e+02] [ 9.32470290e-01 3.58148857e-01 4.72075629e-02 2.46301991e+02] [-5.09636467e-02 1.04955060e-03 9.98699958e-01 -1.42132743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:662.72, Y:246.35, Z:-14.21 [[ 3.58012773e-01 -9.33518850e-01 1.92200828e-02 6.62716085e+02] [ 9.32324779e-01 3.58526879e-01 4.72121077e-02 2.46352164e+02] [-5.09643088e-02 1.01682185e-03 9.98699958e-01 -1.42149838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.585336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:662.74, Y:246.40, Z:-14.21 [[ 3.59883861e-01 -9.32799349e-01 1.92088650e-02 6.62739801e+02] [ 9.31604008e-01 3.60395004e-01 4.72166714e-02 2.46404978e+02] [-5.09664593e-02 9.02537582e-04 9.98699958e-01 -1.42099614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:662.77, Y:246.46, Z:-14.21 [[ 3.63410379e-01 -9.31431262e-01 1.92015787e-02 6.62765818e+02] [ 9.30233839e-01 3.63916627e-01 4.72196343e-02 2.46455067e+02] [-5.09696173e-02 7.01853033e-04 9.98699958e-01 -1.42122819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.705336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:662.79, Y:246.50, Z:-14.22 [[ 3.66342757e-01 -9.30282072e-01 1.91898732e-02 6.62790701e+02] [ 9.29082811e-01 3.66844637e-01 4.72243909e-02 2.46504964e+02] [-5.09717063e-02 5.28667730e-04 9.98699958e-01 -1.42224221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:662.82, Y:246.56, Z:-14.22 [[ 3.68363492e-01 -9.29484002e-01 1.91788140e-02 6.62815428e+02] [ 9.28283420e-01 3.68862203e-01 4.72288818e-02 2.46556633e+02] [-5.09728297e-02 4.05979224e-04 9.98699958e-01 -1.42214046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:662.84, Y:246.61, Z:-14.23 [[ 3.69797624e-01 -9.28914583e-01 1.91680553e-02 6.62839056e+02] [ 9.27713007e-01 3.70293933e-01 4.72332479e-02 2.46608004e+02] [-5.09734674e-02 3.15711380e-04 9.98699958e-01 -1.42258883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:662.86, Y:246.66, Z:-14.23 [[ 3.70386527e-01 -9.28680146e-01 1.91574123e-02 6.62861412e+02] [ 9.27478032e-01 3.70881534e-01 4.72375642e-02 2.46658124e+02] [-5.09737185e-02 2.71921739e-04 9.98699958e-01 -1.42304238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:662.88, Y:246.71, Z:-14.23 [[ 3.71420361e-01 -9.28267407e-01 1.91451722e-02 6.62882557e+02] [ 9.27064487e-01 3.71913405e-01 4.72425246e-02 2.46708075e+02] [-5.09740420e-02 2.01973760e-04 9.98699958e-01 -1.42345628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.005336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:662.90, Y:246.76, Z:-14.23 [[ 3.71953640e-01 -9.28054116e-01 1.91323846e-02 6.62904331e+02] [ 9.26850647e-01 3.72445343e-01 4.72477028e-02 2.46761276e+02] [-5.09741925e-02 1.58907985e-04 9.98699958e-01 -1.42329925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:662.92, Y:246.81, Z:-14.24 [[ 3.73817828e-01 -9.27305016e-01 1.91216709e-02 6.62924416e+02] [ 9.26100340e-01 3.74306565e-01 4.72520383e-02 2.46813611e+02] [-5.09744191e-02 4.49316302e-05 9.98699958e-01 -1.42367591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:662.94, Y:246.87, Z:-14.24 [[ 3.75648023e-01 -9.26565293e-01 1.91133444e-02 6.62943890e+02] [ 9.25359483e-01 3.76133956e-01 4.72554062e-02 2.46866742e+02] [-5.09743971e-02 -6.46854324e-05 9.98699958e-01 -1.42377645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:662.96, Y:246.92, Z:-14.24 [[ 3.75702163e-01 -9.26543568e-01 1.91023734e-02 6.62963953e+02] [ 9.25337505e-01 3.76187466e-01 4.72598406e-02 2.46919766e+02] [-5.09743748e-02 -7.94817370e-05 9.98699958e-01 -1.42402729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:662.98, Y:246.97, Z:-14.24 [[ 3.73952020e-01 -9.27251497e-01 1.90931251e-02 6.62983354e+02] [ 9.26046162e-01 3.74439128e-01 4.72635767e-02 2.46971676e+02] [-5.09744353e-02 6.80526811e-06 9.98699958e-01 -1.42419651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.00, Y:247.02, Z:-14.25 [[ 3.71476147e-01 -9.28246417e-01 1.90803899e-02 6.63001447e+02] [ 9.27042122e-01 3.71965821e-01 4.72687173e-02 2.47024102e+02] [-5.09742704e-02 1.29124159e-04 9.98699958e-01 -1.42463196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.02, Y:247.08, Z:-14.24 [[ 3.70964567e-01 -9.28451239e-01 1.90679643e-02 6.63022885e+02] [ 9.27246956e-01 3.71454273e-01 4.72737292e-02 2.47076935e+02] [-5.09742293e-02 1.43833316e-04 9.98699959e-01 -1.42446926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.04, Y:247.13, Z:-14.25 [[ 3.72180790e-01 -9.27964583e-01 1.90576013e-02 6.63042008e+02] [ 9.26759446e-01 3.72668390e-01 4.72779065e-02 2.47129855e+02] [-5.09743884e-02 6.58834321e-05 9.98699959e-01 -1.42512673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.06, Y:247.18, Z:-14.25 [[ 3.73790346e-01 -9.27317635e-01 1.90467905e-02 6.63061084e+02] [ 9.26111433e-01 3.74275303e-01 4.72822615e-02 2.47183038e+02] [-5.09744182e-02 -3.42024148e-05 9.98699959e-01 -1.42526019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.08, Y:247.24, Z:-14.25 [[ 3.73918568e-01 -9.27266176e-01 1.90353336e-02 6.63080627e+02] [ 9.26059672e-01 3.74402773e-01 4.72868734e-02 2.47235628e+02] [-5.09744000e-02 -5.35851649e-05 9.98699959e-01 -1.42546306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.10, Y:247.29, Z:-14.26 [[ 3.73309055e-01 -9.27511965e-01 1.90237624e-02 6.63101884e+02] [ 9.26305543e-01 3.73793463e-01 4.72915281e-02 2.47287837e+02] [-5.09744162e-02 -3.25391449e-05 9.98699959e-01 -1.42602928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.12, Y:247.34, Z:-14.26 [[ 3.70956273e-01 -9.28455696e-01 1.90122138e-02 6.63121695e+02] [ 9.27250268e-01 3.71443150e-01 4.72961705e-02 2.47340110e+02] [-5.09743555e-02 8.42692690e-05 9.98699959e-01 -1.42623277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.7253361950001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:663.14, Y:247.39, Z:-14.26 [[ 3.69448920e-01 -9.29056767e-01 1.90004806e-02 6.63142756e+02] [ 9.27851889e-01 3.69937155e-01 4.73008836e-02 2.47392897e+02] [-5.09741898e-02 1.54371431e-04 9.98699959e-01 -1.42623134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.16, Y:247.44, Z:-14.27 [[ 3.66512257e-01 -9.30219407e-01 1.89900301e-02 6.63164503e+02] [ 9.29015859e-01 3.67003764e-01 4.73050789e-02 2.47444139e+02] [-5.09735149e-02 3.04147869e-04 9.98699959e-01 -1.42656056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.19, Y:247.49, Z:-14.27 [[ 3.63544710e-01 -9.31383399e-01 1.89791284e-02 6.63186482e+02] [ 9.30181197e-01 3.64039498e-01 4.73094523e-02 2.47494247e+02] [-5.09723909e-02 4.54927279e-04 9.98699959e-01 -1.42671725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.21, Y:247.55, Z:-14.27 [[ 3.61349467e-01 -9.32237549e-01 1.89661360e-02 6.63207259e+02] [ 9.31036243e-01 3.61846428e-01 4.73146603e-02 2.47545530e+02] [-5.09713315e-02 5.61032695e-04 9.98699959e-01 -1.42693954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.23, Y:247.60, Z:-14.27 [[ 3.57915512e-01 -9.33561588e-01 1.89538266e-02 6.63233088e+02] [ 9.32361859e-01 3.58416267e-01 4.73195908e-02 2.47595819e+02] [-5.09691122e-02 7.35409459e-04 9.98699959e-01 -1.42706790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.26, Y:247.65, Z:-14.27 [[ 3.55663196e-01 -9.34422204e-01 1.89429705e-02 6.63256740e+02] [ 9.33223455e-01 3.56166293e-01 4.73239364e-02 2.47646570e+02] [-5.09673845e-02 8.46641880e-04 9.98699959e-01 -1.42749759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.085336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:663.28, Y:247.70, Z:-14.28 [[ 3.55746365e-01 -9.34390780e-01 1.89312746e-02 6.63281428e+02] [ 9.33191738e-01 3.56248764e-01 4.73286147e-02 2.47696963e+02] [-5.09676644e-02 8.29526393e-04 9.98699959e-01 -1.42764627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.31, Y:247.75, Z:-14.28 [[ 3.54911095e-01 -9.34708582e-01 1.89204057e-02 6.63307346e+02] [ 9.33509759e-01 3.55414014e-01 4.73329593e-02 2.47747067e+02] [-5.09671006e-02 8.63390965e-04 9.98699960e-01 -1.42800524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.205336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:663.33, Y:247.80, Z:-14.28 [[ 3.54328572e-01 -9.34929800e-01 1.89085327e-02 6.63332832e+02] [ 9.33731038e-01 3.54831638e-01 4.73377019e-02 2.47798500e+02] [-5.09667738e-02 8.82383589e-04 9.98699960e-01 -1.42800728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.36, Y:247.85, Z:-14.29 [[ 3.53277053e-01 -9.35327857e-01 1.88977343e-02 6.63358287e+02] [ 9.34129431e-01 3.53780920e-01 4.73420123e-02 2.47848053e+02] [-5.09659607e-02 9.28083251e-04 9.98699960e-01 -1.42851087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.39, Y:247.90, Z:-14.29 [[ 3.51676277e-01 -9.35931163e-01 1.88852864e-02 6.63385061e+02] [ 9.34733336e-01 3.52181564e-01 4.73469774e-02 2.47898112e+02] [-5.09645614e-02 1.00189805e-03 9.98699960e-01 -1.42889390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.41, Y:247.95, Z:-14.29 [[ 3.50004343e-01 -9.36557921e-01 1.88737842e-02 6.63413662e+02] [ 9.35360753e-01 3.50511187e-01 4.73515621e-02 2.47945261e+02] [-5.09629531e-02 1.08054457e-03 9.98699960e-01 -1.42940053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.445336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:663.44, Y:247.99, Z:-14.30 [[ 3.49635858e-01 -9.36695810e-01 1.88607353e-02 6.63440116e+02] [ 9.35498561e-01 3.50142513e-01 4.73567591e-02 2.47994959e+02] [-5.09628230e-02 1.08656965e-03 9.98699960e-01 -1.42951825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.47, Y:248.04, Z:-14.30 [[ 3.51776219e-01 -9.35894332e-01 1.88491641e-02 6.63468576e+02] [ 9.34695683e-01 3.52279551e-01 4.73613642e-02 2.48043597e+02] [-5.09654074e-02 9.57630650e-04 9.98699960e-01 -1.43030907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.565336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:663.50, Y:248.09, Z:-14.31 [[ 3.58176911e-01 -9.33463690e-01 1.88372103e-02 6.63497600e+02] [ 9.32261372e-01 3.58671417e-01 4.73661182e-02 2.48091070e+02] [-5.09709204e-02 5.95753661e-04 9.98699960e-01 -1.43055695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.52, Y:248.14, Z:-14.31 [[ 3.63579945e-01 -9.31372791e-01 1.88241122e-02 6.63521692e+02] [ 9.30167359e-01 3.64066809e-01 4.73713230e-02 2.48141147e+02] [-5.09735958e-02 2.86311697e-04 9.98699960e-01 -1.43094355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.55, Y:248.19, Z:-14.31 [[ 3.73239276e-01 -9.27544380e-01 1.88113428e-02 6.63547372e+02] [ 9.26333698e-01 3.73712935e-01 4.73763933e-02 2.48189411e+02] [-5.09737494e-02 -2.57150012e-04 9.98699960e-01 -1.43129812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.57, Y:248.24, Z:-14.31 [[ 3.77992585e-01 -9.25617759e-01 1.87981300e-02 6.63570248e+02] [ 9.24404403e-01 3.78459351e-01 4.73816353e-02 2.48239593e+02] [-5.09716112e-02 -5.32832653e-04 9.98699960e-01 -1.43133450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.59, Y:248.29, Z:-14.32 [[ 3.81005421e-01 -9.24381946e-01 1.87852695e-02 6.63591385e+02] [ 9.23166826e-01 3.81467573e-01 4.73867335e-02 2.48289240e+02] [-5.09694121e-02 -7.12664771e-04 9.98699961e-01 -1.43169070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.61, Y:248.34, Z:-14.32 [[ 3.82926333e-01 -9.23588084e-01 1.87742795e-02 6.63613136e+02] [ 9.22371793e-01 3.83385394e-01 4.73910873e-02 2.48340869e+02] [-5.09676281e-02 -8.30429411e-04 9.98699961e-01 -1.43180229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.64, Y:248.39, Z:-14.32 [[ 3.83482170e-01 -9.23357663e-01 1.87630578e-02 6.63635370e+02] [ 9.22140878e-01 3.83939923e-01 4.73955298e-02 2.48392657e+02] [-5.09669126e-02 -8.73158037e-04 9.98699961e-01 -1.43190552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.65, Y:248.44, Z:-14.32 [[ 3.83156974e-01 -9.23492895e-01 1.87511762e-02 6.63653967e+02] [ 9.22276042e-01 3.83614546e-01 4.74002300e-02 2.48444768e+02] [-5.09669996e-02 -8.67968125e-04 9.98699961e-01 -1.43238990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.67, Y:248.50, Z:-14.33 [[ 3.80706224e-01 -9.24506093e-01 1.87417896e-02 6.63672325e+02] [ 9.23290276e-01 3.81166541e-01 4.74039412e-02 2.48495933e+02] [-5.09689756e-02 -7.42863336e-04 9.98699961e-01 -1.43310350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.69, Y:248.55, Z:-14.33 [[ 3.76786243e-01 -9.26110884e-01 1.87284954e-02 6.63691965e+02] [ 9.24896768e-01 3.77251026e-01 4.74091929e-02 2.48547789e+02] [-5.09715137e-02 -5.41206810e-04 9.98699961e-01 -1.43304617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.71, Y:248.60, Z:-14.33 [[ 3.68405776e-01 -9.29476675e-01 1.87161615e-02 6.63713788e+02] [ 9.28266559e-01 3.68880877e-01 4.74140616e-02 2.48598679e+02] [-5.09742984e-02 -9.40273348e-05 9.98699961e-01 -1.43318640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.73, Y:248.65, Z:-14.33 [[ 3.62961213e-01 -9.31616512e-01 1.87038166e-02 6.63734664e+02] [ 9.30408946e-01 3.63442758e-01 4.74189309e-02 2.48650528e+02] [-5.09740257e-02 1.90965617e-04 9.98699961e-01 -1.43335765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.76, Y:248.70, Z:-14.34 [[ 3.57050089e-01 -9.33898219e-01 1.86909069e-02 6.63758154e+02] [ 9.32693463e-01 3.57538622e-01 4.74240189e-02 2.48700155e+02] [-5.09719279e-02 5.00136478e-04 9.98699961e-01 -1.43379429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.78, Y:248.75, Z:-14.34 [[ 3.54520409e-01 -9.34861715e-01 1.86776344e-02 6.63779654e+02] [ 9.33658011e-01 3.55011529e-01 4.74292456e-02 2.48749833e+02] [-5.09705614e-02 6.23887452e-04 9.98699961e-01 -1.43403473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.80, Y:248.80, Z:-14.34 [[ 3.53131080e-01 -9.35387657e-01 1.86646852e-02 6.63802224e+02] [ 9.34184416e-01 3.53623331e-01 4.74343409e-02 2.48800253e+02] [-5.09697652e-02 6.85717939e-04 9.98699961e-01 -1.43435013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.82, Y:248.85, Z:-14.35 [[ 3.54192341e-01 -9.34986562e-01 1.86524745e-02 6.63824156e+02] [ 9.33782510e-01 3.54682606e-01 4.74391420e-02 2.48852393e+02] [-5.09706686e-02 6.14773719e-04 9.98699961e-01 -1.43466058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.85, Y:248.90, Z:-14.35 [[ 3.55479967e-01 -9.34498007e-01 1.86405134e-02 6.63845611e+02] [ 9.33293035e-01 3.55967966e-01 4.74438415e-02 2.48903075e+02] [-5.09716010e-02 5.31726101e-04 9.98699962e-01 -1.43519872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.585336195 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:663.87, Y:248.96, Z:-14.35 [[ 3.57597154e-01 -9.33690136e-01 1.86280819e-02 6.63867092e+02] [ 9.32483807e-01 3.58081789e-01 4.74487220e-02 2.48955062e+02] [-5.09727806e-02 4.02856774e-04 9.98699962e-01 -1.43510127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.89, Y:249.01, Z:-14.36 [[ 3.57825513e-01 -9.33602874e-01 1.86165561e-02 6.63889095e+02] [ 9.32396192e-01 3.58309267e-01 4.74532438e-02 2.49005111e+02] [-5.09729693e-02 3.78024720e-04 9.98699962e-01 -1.43569259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.91, Y:249.06, Z:-14.36 [[ 3.56090154e-01 -9.34266404e-01 1.86034459e-02 6.63912399e+02] [ 9.33060355e-01 3.56575484e-01 4.74583829e-02 2.49055529e+02] [-5.09723055e-02 4.58674974e-04 9.98699962e-01 -1.43614827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.93, Y:249.11, Z:-14.37 [[ 3.54879001e-01 -9.34727376e-01 1.85910472e-02 6.63934218e+02] [ 9.33521703e-01 3.55365264e-01 4.74632394e-02 2.49105394e+02] [-5.09718016e-02 5.11439004e-04 9.98699962e-01 -1.43660527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.96, Y:249.16, Z:-14.37 [[ 3.54224262e-01 -9.34975948e-01 1.85781883e-02 6.63956319e+02] [ 9.33770352e-01 3.54710717e-01 4.74682721e-02 2.49156709e+02] [-5.09715752e-02 5.33347737e-04 9.98699962e-01 -1.43675916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.98, Y:249.21, Z:-14.37 [[ 3.55067820e-01 -9.34656166e-01 1.85659642e-02 6.63981673e+02] [ 9.33449882e-01 3.55552566e-01 4.74730528e-02 2.49206321e+02] [-5.09721577e-02 4.74243684e-04 9.98699962e-01 -1.43682012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.945336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:664.00, Y:249.26, Z:-14.37 [[ 3.59353725e-01 -9.33016974e-01 1.85533210e-02 6.64003947e+02] [ 9.31808224e-01 3.59832286e-01 4.74779935e-02 2.49255737e+02] [-5.09738577e-02 2.26743293e-04 9.98699962e-01 -1.43724975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.02, Y:249.31, Z:-14.37 [[ 3.63561587e-01 -9.31385652e-01 1.85402347e-02 6.64023562e+02] [ 9.30174493e-01 3.64034020e-01 4.74831032e-02 2.49308512e+02] [-5.09743571e-02 -1.73789524e-05 9.98699962e-01 -1.43741618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.065336195 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:664.05, Y:249.36, Z:-14.38 [[ 3.69134507e-01 -9.29191272e-01 1.85282162e-02 6.64045638e+02] [ 9.27977070e-01 3.69599062e-01 4.74877924e-02 2.49359634e+02] [-5.09732536e-02 -3.35623033e-04 9.98699962e-01 -1.43761164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.07, Y:249.41, Z:-14.38 [[ 3.70763716e-01 -9.28542640e-01 1.85157181e-02 6.64066345e+02] [ 9.27327382e-01 3.71225502e-01 4.74926650e-02 2.49409552e+02] [-5.09724713e-02 -4.38424617e-04 9.98699962e-01 -1.43810836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.09, Y:249.46, Z:-14.38 [[ 3.71594045e-01 -9.28210930e-01 1.85022893e-02 6.64085063e+02] [ 9.26995000e-01 3.72054056e-01 4.74978960e-02 2.49462794e+02] [-5.09719180e-02 -4.98405626e-04 9.98699963e-01 -1.43807195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.11, Y:249.51, Z:-14.39 [[ 3.70422324e-01 -9.28679375e-01 1.84910675e-02 6.64106147e+02] [ 9.27463808e-01 3.70883295e-01 4.75022643e-02 2.49513471e+02] [-5.09724012e-02 -4.46103236e-04 9.98699963e-01 -1.43853393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.13, Y:249.56, Z:-14.39 [[ 3.69837840e-01 -9.28912560e-01 1.84777839e-02 6.64126354e+02] [ 9.27697025e-01 3.70298897e-01 4.75074309e-02 2.49563629e+02] [-5.09725522e-02 -4.28260449e-04 9.98699963e-01 -1.43892656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.15, Y:249.62, Z:-14.39 [[ 3.69894911e-01 -9.28890103e-01 1.84643075e-02 6.64147488e+02] [ 9.27674280e-01 3.70355204e-01 4.75126681e-02 2.49615647e+02] [-5.09723995e-02 -4.45831005e-04 9.98699963e-01 -1.43908298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.17, Y:249.67, Z:-14.40 [[ 3.70523833e-01 -9.28639650e-01 1.84523871e-02 6.64166764e+02] [ 9.27423284e-01 3.70982692e-01 4.75172972e-02 2.49666887e+02] [-5.09719624e-02 -4.93117639e-04 9.98699963e-01 -1.43968237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.4853361950001 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:664.19, Y:249.72, Z:-14.40 [[ 3.71308885e-01 -9.28326289e-01 1.84394330e-02 6.64189013e+02] [ 9.27109287e-01 3.71766053e-01 4.75223235e-02 2.49718340e+02] [-5.09713775e-02 -5.50091378e-04 9.98699963e-01 -1.43956911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.21, Y:249.77, Z:-14.40 [[ 3.71491658e-01 -9.28253400e-01 1.84275149e-02 6.64208542e+02] [ 9.27036080e-01 3.71947976e-01 4.75269445e-02 2.49770102e+02] [-5.09711247e-02 -5.72892207e-04 9.98699963e-01 -1.43986664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.23, Y:249.82, Z:-14.40 [[ 3.71585676e-01 -9.28216013e-01 1.84151675e-02 6.64228407e+02] [ 9.26998410e-01 3.72041238e-01 4.75317283e-02 2.49821985e+02] [-5.09709130e-02 -5.91278380e-04 9.98699963e-01 -1.44025741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.25, Y:249.87, Z:-14.41 [[ 3.71153782e-01 -9.28389049e-01 1.84022663e-02 6.64248956e+02] [ 9.27171411e-01 3.71609250e-01 4.75367226e-02 2.49872862e+02] [-5.09710250e-02 -5.81379182e-04 9.98699963e-01 -1.44053311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.27, Y:249.92, Z:-14.41 [[ 3.70524305e-01 -9.28640721e-01 1.83888920e-02 6.64269534e+02] [ 9.27423135e-01 3.70979915e-01 4.75418957e-02 2.49923546e+02] [-5.09712498e-02 -5.61144002e-04 9.98699963e-01 -1.44091666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.29, Y:249.98, Z:-14.41 [[ 3.70107034e-01 -9.28807350e-01 1.83763539e-02 6.64287495e+02] [ 9.27589729e-01 3.70562549e-01 4.75467415e-02 2.49977456e+02] [-5.09713515e-02 -5.51666391e-04 9.98699963e-01 -1.44102394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.845336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:664.31, Y:250.03, Z:-14.42 [[ 3.70618305e-01 -9.28603653e-01 1.83664627e-02 6.64306608e+02] [ 9.27385593e-01 3.71072644e-01 4.75505620e-02 2.50028122e+02] [-5.09709175e-02 -5.90315818e-04 9.98699964e-01 -1.44160416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.32, Y:250.08, Z:-14.42 [[ 3.70242491e-01 -9.28753780e-01 1.83552434e-02 6.64324466e+02] [ 9.27535689e-01 3.70696747e-01 4.75548924e-02 2.50079262e+02] [-5.09710151e-02 -5.81698492e-04 9.98699964e-01 -1.44229718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.34, Y:250.13, Z:-14.42 [[ 3.68808153e-01 -9.29324494e-01 1.83447673e-02 6.64341604e+02] [ 9.28106905e-01 3.69263754e-01 4.75589333e-02 2.50132479e+02] [-5.09717393e-02 -5.14217123e-04 9.98699964e-01 -1.44245246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.36, Y:250.19, Z:-14.42 [[ 3.66588936e-01 -9.30202393e-01 1.83319448e-02 6.64360770e+02] [ 9.28985648e-01 3.67046786e-01 4.75638754e-02 2.50185878e+02] [-5.09727121e-02 -4.06276839e-04 9.98699964e-01 -1.44248543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.38, Y:250.24, Z:-14.43 [[ 3.63870923e-01 -9.31269195e-01 1.83204219e-02 6.64380448e+02] [ 9.30053569e-01 3.64331736e-01 4.75683133e-02 2.50236987e+02] [-5.09736159e-02 -2.69752257e-04 9.98699964e-01 -1.44265490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.40, Y:250.29, Z:-14.43 [[ 3.60620676e-01 -9.32532834e-01 1.83095709e-02 6.64400598e+02] [ 9.31318612e-01 3.61085173e-01 4.75724896e-02 2.50288486e+02] [-5.09742231e-02 -1.03579264e-04 9.98699964e-01 -1.44282379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.42, Y:250.34, Z:-14.43 [[ 3.57563246e-01 -9.33709665e-01 1.82971848e-02 6.64420731e+02] [ 9.32496727e-01 3.58031087e-01 4.75772530e-02 2.50340659e+02] [-5.09743019e-02 5.01878618e-05 9.98699964e-01 -1.44292168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.44, Y:250.39, Z:-14.43 [[ 3.55340382e-01 -9.34558132e-01 1.82841748e-02 6.64441525e+02] [ 9.33346054e-01 3.55810446e-01 4.75822523e-02 2.50392402e+02] [-5.09740812e-02 1.57566672e-04 9.98699964e-01 -1.44324500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.47, Y:250.44, Z:-14.44 [[ 3.52765917e-01 -9.35533205e-01 1.82710137e-02 6.64466575e+02] [ 9.34322164e-01 3.53238647e-01 4.75873055e-02 2.50440426e+02] [-5.09735326e-02 2.83833601e-04 9.98699964e-01 -1.44382591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.385336195 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:664.49, Y:250.49, Z:-14.44 [[ 3.53625170e-01 -9.35209005e-01 1.82580363e-02 6.64488962e+02] [ 9.33997274e-01 3.54096127e-01 4.75922841e-02 2.50490888e+02] [-5.09738326e-02 2.23126582e-04 9.98699964e-01 -1.44405981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.445336195 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:664.51, Y:250.54, Z:-14.44 [[ 3.58413127e-01 -9.33384779e-01 1.82451429e-02 6.64510546e+02] [ 9.32170399e-01 3.58877210e-01 4.75972264e-02 2.50541918e+02] [-5.09742926e-02 -5.18886230e-05 9.98699964e-01 -1.44415797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.505336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:664.53, Y:250.59, Z:-14.45 [[ 3.63629015e-01 -9.31365415e-01 1.82319253e-02 6.64530646e+02] [ 9.30148204e-01 3.64085623e-01 4.76022888e-02 2.50593974e+02] [-5.09731074e-02 -3.51180864e-04 9.98699964e-01 -1.44458858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.55, Y:250.65, Z:-14.45 [[ 3.70325283e-01 -9.28723454e-01 1.82189848e-02 6.64550235e+02] [ 9.27502744e-01 3.70772451e-01 4.76072411e-02 2.50646261e+02] [-5.09690590e-02 -7.32006654e-04 9.98699965e-01 -1.44498927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.57, Y:250.70, Z:-14.46 [[ 3.75022564e-01 -9.26836867e-01 1.82071089e-02 6.64568052e+02] [ 9.25613689e-01 3.75462936e-01 4.76117825e-02 2.50697756e+02] [-5.09644499e-02 -1.00274355e-03 9.98699965e-01 -1.44553111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.685336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:664.59, Y:250.75, Z:-14.46 [[ 3.75788753e-01 -9.26526743e-01 1.81936000e-02 6.64586980e+02] [ 9.25302953e-01 3.76227420e-01 4.76169440e-02 2.50749545e+02] [-5.09633033e-02 -1.05932016e-03 9.98699965e-01 -1.44563475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.60, Y:250.80, Z:-14.46 [[ 3.77098198e-01 -9.25994820e-01 1.81808149e-02 6.64604535e+02] [ 9.24770177e-01 3.77534478e-01 4.76218251e-02 2.50801129e+02] [-5.09614478e-02 -1.14502906e-03 9.98699965e-01 -1.44608366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.62, Y:250.85, Z:-14.46 [[ 3.76284642e-01 -9.26325926e-01 1.81699672e-02 6.64622474e+02] [ 9.25101467e-01 3.76721440e-01 4.76259636e-02 2.50852974e+02] [-5.09621811e-02 -1.11185532e-03 9.98699965e-01 -1.44620831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.64, Y:250.91, Z:-14.46 [[ 3.74841069e-01 -9.26911263e-01 1.81571729e-02 6.64638376e+02] [ 9.25687252e-01 3.75279117e-01 4.76308409e-02 2.50906086e+02] [-5.09635707e-02 -1.04613185e-03 9.98699965e-01 -1.44623517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.925336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:664.66, Y:250.96, Z:-14.46 [[ 3.73341483e-01 -9.27516527e-01 1.81446912e-02 6.64656504e+02] [ 9.26292994e-01 3.73780870e-01 4.76355953e-02 2.50959349e+02] [-5.09649403e-02 -9.77043407e-04 9.98699965e-01 -1.44605421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.67, Y:251.01, Z:-14.47 [[ 3.72568426e-01 -9.27827553e-01 1.81328266e-02 6.64673150e+02] [ 9.26604169e-01 3.73008223e-01 4.76401112e-02 2.51012679e+02] [-5.09655012e-02 -9.47248522e-04 9.98699965e-01 -1.44659299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.69, Y:251.07, Z:-14.47 [[ 3.73566728e-01 -9.27426294e-01 1.81209763e-02 6.64688867e+02] [ 9.26202219e-01 3.74004599e-01 4.76446183e-02 2.51065151e+02] [-5.09642002e-02 -1.01475567e-03 9.98699965e-01 -1.44721276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.1053361950001 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:664.71, Y:251.12, Z:-14.47 [[ 3.74169572e-01 -9.27183504e-01 1.81074737e-02 6.64705740e+02] [ 9.25958898e-01 3.74605954e-01 4.76497494e-02 2.51118237e+02] [-5.09632291e-02 -1.06230996e-03 9.98699965e-01 -1.44723665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.165336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:664.72, Y:251.17, Z:-14.47 [[ 3.74248015e-01 -9.27152091e-01 1.80948585e-02 6.64719248e+02] [ 9.25927217e-01 3.74683645e-01 4.76545396e-02 2.51170880e+02] [-5.09628535e-02 -1.08009485e-03 9.98699965e-01 -1.44745245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.74, Y:251.22, Z:-14.48 [[ 3.73896994e-01 -9.27293914e-01 1.80840863e-02 6.64736949e+02] [ 9.26069009e-01 3.74332535e-01 4.76586271e-02 2.51224509e+02] [-5.09630167e-02 -1.07230548e-03 9.98699966e-01 -1.44796833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.75, Y:251.28, Z:-14.48 [[ 3.72178583e-01 -9.27985180e-01 1.80722986e-02 6.64751992e+02] [ 9.26760867e-01 3.72615787e-01 4.76630966e-02 2.51276639e+02] [-5.09646710e-02 -9.90484652e-04 9.98699966e-01 -1.44848020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.77, Y:251.33, Z:-14.48 [[ 3.70824899e-01 -9.28527206e-01 1.80588539e-02 6.64767646e+02] [ 9.27303285e-01 3.71263198e-01 4.76681900e-02 2.51330292e+02] [-5.09657992e-02 -9.30517189e-04 9.98699966e-01 -1.44847172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.78, Y:251.38, Z:-14.49 [[ 3.68491633e-01 -9.29455889e-01 1.80462495e-02 6.64784901e+02] [ 9.28232839e-01 3.68932359e-01 4.76729614e-02 2.51383393e+02] [-5.09677601e-02 -8.15966037e-04 9.98699966e-01 -1.44890856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.80, Y:251.44, Z:-14.49 [[ 3.65711618e-01 -9.30553475e-01 1.80344628e-02 6.64801229e+02] [ 9.29331529e-01 3.66155394e-01 4.76774198e-02 2.51436813e+02] [-5.09698045e-02 -6.76191474e-04 9.98699966e-01 -1.44934658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.82, Y:251.49, Z:-14.50 [[ 3.63108837e-01 -9.31572432e-01 1.80215722e-02 6.64818932e+02] [ 9.30351490e-01 3.63555367e-01 4.76822918e-02 2.51488530e+02] [-5.09713478e-02 -5.47465044e-04 9.98699966e-01 -1.44963804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.84, Y:251.54, Z:-14.50 [[ 3.56769345e-01 -9.34018919e-01 1.80081444e-02 6.64838552e+02] [ 9.32800784e-01 3.57223477e-01 4.76873625e-02 2.51540706e+02] [-5.09738308e-02 -2.15377822e-04 9.98699966e-01 -1.44992060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.86, Y:251.59, Z:-14.50 [[ 3.51761620e-01 -9.35916621e-01 1.79955655e-02 6.64861075e+02] [ 9.34700694e-01 3.52221629e-01 4.76921089e-02 2.51591113e+02] [-5.09742649e-02 4.42140242e-05 9.98699966e-01 -1.45019111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.88, Y:251.64, Z:-14.50 [[ 3.46502864e-01 -9.37876523e-01 1.79830944e-02 6.64883931e+02] [ 9.36662953e-01 3.46969057e-01 4.76968109e-02 2.51642112e+02] [-5.09732965e-02 3.17016726e-04 9.98699966e-01 -1.45035144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.91, Y:251.69, Z:-14.51 [[ 3.45191519e-01 -9.38360201e-01 1.79707871e-02 6.64905598e+02] [ 9.37147042e-01 3.45658782e-01 4.77014475e-02 2.51691643e+02] [-5.09729002e-02 3.75134879e-04 9.98699966e-01 -1.45067387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.93, Y:251.74, Z:-14.51 [[ 3.45884942e-01 -9.38105022e-01 1.79603486e-02 6.64930572e+02] [ 9.36891315e-01 3.46350777e-01 4.77053774e-02 2.51741534e+02] [-5.09732349e-02 3.26322929e-04 9.98699966e-01 -1.45107408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.95, Y:251.79, Z:-14.51 [[ 3.47201875e-01 -9.37618649e-01 1.79479216e-02 6.64953009e+02] [ 9.36404047e-01 3.47665373e-01 4.77100523e-02 2.51792035e+02] [-5.09737056e-02 2.41486794e-04 9.98699966e-01 -1.45129633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.98, Y:251.84, Z:-14.52 [[ 3.50908657e-01 -9.36237922e-01 1.79351089e-02 6.64977227e+02] [ 9.35021250e-01 3.51366693e-01 4.77148684e-02 2.51841282e+02] [-5.09742691e-02 2.61474926e-05 9.98699967e-01 -1.45153078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.00, Y:251.89, Z:-14.52 [[ 3.54823397e-01 -9.34761555e-01 1.79218577e-02 6.64999959e+02] [ 9.33542726e-01 3.55275661e-01 4.77198451e-02 2.51891544e+02] [-5.09738764e-02 -2.01297673e-04 9.98699967e-01 -1.45161314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.02, Y:251.94, Z:-14.52 [[ 3.62390392e-01 -9.31854320e-01 1.79089096e-02 6.65023184e+02] [ 9.30631625e-01 3.62832097e-01 4.77247039e-02 2.51940390e+02] [-5.09703988e-02 -6.28376473e-04 9.98699967e-01 -1.45224585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.04, Y:251.99, Z:-14.52 [[ 3.67071750e-01 -9.30020429e-01 1.78978359e-02 6.65044832e+02] [ 9.28795326e-01 3.67506733e-01 4.77288564e-02 2.51992037e+02] [-5.09663867e-02 -8.96488538e-04 9.98699967e-01 -1.45237849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.185336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:665.06, Y:252.04, Z:-14.52 [[ 3.72463076e-01 -9.27874645e-01 1.78857369e-02 6.65064618e+02] [ 9.26646822e-01 3.72890319e-01 4.77333900e-02 2.52044258e+02] [-5.09600204e-02 -1.20516402e-03 9.98699967e-01 -1.45244419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.08, Y:252.10, Z:-14.53 [[ 3.75512152e-01 -9.26645120e-01 1.78730362e-02 6.65082701e+02] [ 9.25415674e-01 3.75934702e-01 4.77381451e-02 2.52096836e+02] [-5.09554137e-02 -1.38626576e-03 9.98699967e-01 -1.45270270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.10, Y:252.15, Z:-14.53 [[ 3.79938463e-01 -9.24839308e-01 1.78611154e-02 6.65099804e+02] [ 9.23607648e-01 3.80354515e-01 4.77426048e-02 2.52150305e+02] [-5.09477934e-02 -1.64258912e-03 9.98699967e-01 -1.45317852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.11, Y:252.21, Z:-14.53 [[ 3.82932897e-01 -9.23603694e-01 1.78497456e-02 6.65112850e+02] [ 9.22370496e-01 3.83344369e-01 4.77468553e-02 2.52205557e+02] [-5.09417714e-02 -1.81976285e-03 9.98699967e-01 -1.45324110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.13, Y:252.26, Z:-14.54 [[ 3.83686701e-01 -9.23291028e-01 1.78379717e-02 6.65126497e+02] [ 9.22057293e-01 3.84096559e-01 4.77512535e-02 2.52259383e+02] [-5.09398075e-02 -1.87388903e-03 9.98699967e-01 -1.45363845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.14, Y:252.31, Z:-14.54 [[ 3.82383163e-01 -9.23831833e-01 1.78286651e-02 6.65137049e+02] [ 9.22598517e-01 3.82794281e-01 4.77547281e-02 2.52314331e+02] [-5.09420490e-02 -1.81190399e-03 9.98699967e-01 -1.45424142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.15, Y:252.37, Z:-14.54 [[ 3.78485451e-01 -9.25435754e-01 1.78165489e-02 6.65152013e+02] [ 9.24203971e-01 3.78901140e-01 4.77592480e-02 2.52369365e+02] [-5.09488264e-02 -1.61005530e-03 9.98699967e-01 -1.45425473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.17, Y:252.42, Z:-14.55 [[ 3.68304190e-01 -9.29534839e-01 1.78047027e-02 6.65166493e+02] [ 9.28307481e-01 3.68732766e-01 4.77636639e-02 2.52424145e+02] [-5.09631669e-02 -1.06331881e-03 9.98699967e-01 -1.45453701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.18, Y:252.48, Z:-14.55 [[ 3.64062297e-01 -9.31204615e-01 1.77935362e-02 6.65184663e+02] [ 9.29979021e-01 3.64495892e-01 4.77678234e-02 2.52477555e+02] [-5.09672884e-02 -8.42848089e-04 9.98699968e-01 -1.45469083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.20, Y:252.53, Z:-14.55 [[ 3.52238531e-01 -9.35741326e-01 1.77816861e-02 6.65200803e+02] [ 9.34521100e-01 3.52687010e-01 4.77722342e-02 2.52530469e+02] [-5.09738235e-02 -2.09860772e-04 9.98699968e-01 -1.45504960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.22, Y:252.58, Z:-14.55 [[ 3.46436009e-01 -9.37905306e-01 1.77687751e-02 6.65219322e+02] [ 9.36687635e-01 3.46891380e-01 4.77770360e-02 2.52582408e+02] [-5.09741704e-02 9.21062254e-05 9.98699968e-01 -1.45546797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.24, Y:252.63, Z:-14.56 [[ 3.41382198e-01 -9.39756846e-01 1.77557406e-02 6.65237551e+02] [ 9.38541392e-01 3.41843454e-01 4.77818796e-02 2.52633184e+02] [-5.09730321e-02 3.52614459e-04 9.98699968e-01 -1.45594074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.905336195 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:665.26, Y:252.69, Z:-14.56 [[ 3.40790550e-01 -9.39971815e-01 1.77422779e-02 6.65258298e+02] [ 9.38756392e-01 3.41251887e-01 4.77868780e-02 2.52685990e+02] [-5.09729043e-02 3.70360330e-04 9.98699968e-01 -1.45590772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.28, Y:252.74, Z:-14.56 [[ 3.43889419e-01 -9.38842748e-01 1.77302566e-02 6.65278101e+02] [ 9.37625581e-01 3.44346132e-01 4.77913378e-02 2.52736706e+02] [-5.09738962e-02 1.89406724e-04 9.98699968e-01 -1.45621580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.30, Y:252.79, Z:-14.57 [[ 3.46772232e-01 -9.37782035e-01 1.77165158e-02 6.65297585e+02] [ 9.36563210e-01 3.47224503e-01 4.77964311e-02 2.52787635e+02] [-5.09742428e-02 1.81618172e-05 9.98699968e-01 -1.45674514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.32, Y:252.84, Z:-14.57 [[ 3.51709207e-01 -9.35941899e-01 1.77029857e-02 6.65319147e+02] [ 9.34720456e-01 3.52154358e-01 4.78014419e-02 2.52838287e+02] [-5.09735559e-02 -2.64864346e-04 9.98699968e-01 -1.45694461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.34, Y:252.89, Z:-14.57 [[ 3.55585901e-01 -9.34476159e-01 1.76911062e-02 6.65338821e+02] [ 9.33252663e-01 3.56025378e-01 4.78058380e-02 2.52889793e+02] [-5.09718987e-02 -4.88810028e-04 9.98699968e-01 -1.45693473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.36, Y:252.94, Z:-14.57 [[ 3.61329772e-01 -9.32270497e-01 1.76781524e-02 6.65358677e+02] [ 9.31044085e-01 3.61761047e-01 4.78106278e-02 2.52940413e+02] [-5.09677046e-02 -8.16264027e-04 9.98699968e-01 -1.45713863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.38, Y:252.99, Z:-14.57 [[ 3.65434655e-01 -9.30669365e-01 1.76648035e-02 6.65377521e+02] [ 9.29440828e-01 3.65859835e-01 4.78155593e-02 2.52991834e+02] [-5.09633184e-02 -1.05507279e-03 9.98699968e-01 -1.45734504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.325336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:665.40, Y:253.04, Z:-14.58 [[ 3.71704597e-01 -9.28183229e-01 1.76517882e-02 6.65395509e+02] [ 9.26951625e-01 3.72120810e-01 4.78203636e-02 2.53044793e+02] [-5.09546573e-02 -1.41269524e-03 9.98699969e-01 -1.45754890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.41, Y:253.10, Z:-14.58 [[ 3.75813363e-01 -9.26527488e-01 1.76388737e-02 6.65410635e+02] [ 9.25293831e-01 3.76223450e-01 4.78251268e-02 2.53097524e+02] [-5.09474525e-02 -1.65218071e-03 9.98699969e-01 -1.45803282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.42, Y:253.15, Z:-14.58 [[ 3.80437519e-01 -9.24638649e-01 1.76256042e-02 6.65424391e+02] [ 9.23402735e-01 3.80840752e-01 4.78300167e-02 2.53151632e+02] [-5.09380304e-02 -1.92080181e-03 9.98699969e-01 -1.45812634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.505336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:665.44, Y:253.21, Z:-14.58 [[ 3.81681865e-01 -9.24125915e-01 1.76138284e-02 6.65438784e+02] [ 9.22889261e-01 3.82082826e-01 4.78343528e-02 2.53205891e+02] [-5.09349064e-02 -2.00189193e-03 9.98699969e-01 -1.45813121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.45, Y:253.26, Z:-14.59 [[ 3.80853296e-01 -9.24467928e-01 1.76015950e-02 6.65449924e+02] [ 9.23231430e-01 3.81254733e-01 4.78388539e-02 2.53262049e+02] [-5.09361776e-02 -1.96923946e-03 9.98699969e-01 -1.45882601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.46, Y:253.32, Z:-14.59 [[ 3.78023480e-01 -9.25628878e-01 1.75906016e-02 6.65462919e+02] [ 9.24393427e-01 3.78428130e-01 4.78428959e-02 2.53316545e+02] [-5.09415445e-02 -1.82510155e-03 9.98699969e-01 -1.45901748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.47, Y:253.37, Z:-14.59 [[ 3.72313031e-01 -9.27940731e-01 1.75785916e-02 6.65473945e+02] [ 9.26707590e-01 3.72724667e-01 4.78473083e-02 2.53372038e+02] [-5.09514409e-02 -1.52396214e-03 9.98699969e-01 -1.45923286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.49, Y:253.43, Z:-14.59 [[ 3.65603700e-01 -9.30604838e-01 1.75661788e-02 6.65487083e+02] [ 9.29374483e-01 3.66023590e-01 4.78518649e-02 2.53426114e+02] [-5.09608129e-02 -1.16926048e-03 9.98699969e-01 -1.45940229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.50, Y:253.48, Z:-14.60 [[ 3.62345714e-01 -9.31878456e-01 1.75535721e-02 6.65500997e+02] [ 9.30649355e-01 3.62769259e-01 4.78564891e-02 2.53478604e+02] [-5.09643274e-02 -1.00437316e-03 9.98699969e-01 -1.45976482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.51, Y:253.53, Z:-14.60 [[ 3.60002025e-01 -9.32786572e-01 1.75429231e-02 6.65512383e+02] [ 9.31558350e-01 3.60428112e-01 4.78603924e-02 2.53534309e+02] [-5.09664940e-02 -8.87581650e-04 9.98699969e-01 -1.45983893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.925336195 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:665.53, Y:253.59, Z:-14.60 [[ 3.59874756e-01 -9.32835903e-01 1.75310743e-02 6.65526673e+02] [ 9.31607528e-01 3.60300403e-01 4.78647321e-02 2.53589137e+02] [-5.09663938e-02 -8.93227990e-04 9.98699969e-01 -1.46028320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.54, Y:253.64, Z:-14.61 [[ 3.60534687e-01 -9.32581272e-01 1.75188813e-02 6.65537867e+02] [ 9.31352380e-01 3.60958840e-01 4.78691945e-02 2.53643859e+02] [-5.09655093e-02 -9.42253207e-04 9.98699969e-01 -1.46120018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.55, Y:253.70, Z:-14.62 [[ 3.60471635e-01 -9.32605884e-01 1.75061612e-02 6.65550628e+02] [ 9.31376796e-01 3.60895218e-01 4.78738459e-02 2.53697719e+02] [-5.09653202e-02 -9.52331149e-04 9.98699970e-01 -1.46156141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.1053361950001 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:665.56, Y:253.75, Z:-14.62 [[ 3.58244738e-01 -9.33463803e-01 1.74938901e-02 6.65563929e+02] [ 9.32235511e-01 3.58670624e-01 4.78783295e-02 2.53751211e+02] [-5.09672320e-02 -8.43734044e-04 9.98699970e-01 -1.46173269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.165336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:665.58, Y:253.81, Z:-14.62 [[ 3.54805458e-01 -9.34776716e-01 1.74808038e-02 6.65576960e+02] [ 9.33549766e-01 3.55235193e-01 4.78831070e-02 2.53805939e+02] [-5.09698102e-02 -6.69987345e-04 9.98699970e-01 -1.46181376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.59, Y:253.86, Z:-14.62 [[ 3.52780522e-01 -9.35543020e-01 1.74688663e-02 6.65590367e+02] [ 9.34316788e-01 3.53212302e-01 4.78874617e-02 2.53860593e+02] [-5.09709990e-02 -5.72308718e-04 9.98699970e-01 -1.46214161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.60, Y:253.92, Z:-14.62 [[ 3.51586651e-01 -9.35992565e-01 1.74569681e-02 6.65601804e+02] [ 9.34766670e-01 3.52019387e-01 4.78917986e-02 2.53916178e+02] [-5.09715587e-02 -5.19925124e-04 9.98699970e-01 -1.46240766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.62, Y:253.97, Z:-14.63 [[ 3.51490162e-01 -9.36029025e-01 1.74450534e-02 6.65615109e+02] [ 9.34802960e-01 3.51922415e-01 4.78961383e-02 2.53969709e+02] [-5.09714810e-02 -5.27333850e-04 9.98699970e-01 -1.46275689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.63, Y:254.02, Z:-14.63 [[ 3.51244219e-01 -9.36121572e-01 1.74327676e-02 6.65626628e+02] [ 9.34895399e-01 3.51676165e-01 4.79006096e-02 2.54024434e+02] [-5.09714828e-02 -5.26998029e-04 9.98699970e-01 -1.46309942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.465336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:665.64, Y:254.08, Z:-14.63 [[ 3.50261782e-01 -9.36489843e-01 1.74200275e-02 6.65640363e+02] [ 9.35263894e-01 3.50694362e-01 4.79052423e-02 2.54076893e+02] [-5.09718783e-02 -4.87052757e-04 9.98699970e-01 -1.46317995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.66, Y:254.13, Z:-14.63 [[ 3.48147488e-01 -9.37278149e-01 1.74068570e-02 6.65655572e+02] [ 9.36052940e-01 3.48582161e-01 4.79100275e-02 2.54131418e+02] [-5.09727417e-02 -3.86016081e-04 9.98699970e-01 -1.46336516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.67, Y:254.18, Z:-14.64 [[ 3.45007730e-01 -9.38438638e-01 1.73950738e-02 6.65671173e+02] [ 9.37214676e-01 3.45445901e-01 4.79143053e-02 2.54184576e+02] [-5.09736924e-02 -2.27887268e-04 9.98699970e-01 -1.46374855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.69, Y:254.24, Z:-14.64 [[ 3.40447765e-01 -9.40102738e-01 1.73828110e-02 6.65686797e+02] [ 9.38880690e-01 3.40891248e-01 4.79187537e-02 2.54239002e+02] [-5.09741997e-02 6.55298144e-06 9.98699970e-01 -1.46403494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.70, Y:254.29, Z:-14.65 [[ 3.39130297e-01 -9.40579023e-01 1.73707406e-02 6.65704928e+02] [ 9.39357374e-01 3.39574877e-01 4.79231289e-02 2.54292425e+02] [-5.09741569e-02 6.51483911e-05 9.98699971e-01 -1.46451252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.72, Y:254.34, Z:-14.65 [[ 3.39314382e-01 -9.40512850e-01 1.73588450e-02 6.65721779e+02] [ 9.39290894e-01 3.39758116e-01 4.79274374e-02 2.54344528e+02] [-5.09741792e-02 4.25361828e-05 9.98699971e-01 -1.46505089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.74, Y:254.40, Z:-14.65 [[ 3.41893400e-01 -9.39578631e-01 1.73464262e-02 6.65738267e+02] [ 9.38355235e-01 3.42333146e-01 4.79319317e-02 2.54398754e+02] [-5.09740755e-02 -1.10501228e-04 9.98699971e-01 -1.46531732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.75, Y:254.45, Z:-14.65 [[ 3.43873599e-01 -9.38855931e-01 1.73346247e-02 6.65753413e+02] [ 9.37631395e-01 3.44310163e-01 4.79361993e-02 2.54452574e+02] [-5.09736725e-02 -2.30505038e-04 9.98699971e-01 -1.46545913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.77, Y:254.51, Z:-14.66 [[ 3.44175712e-01 -9.38745394e-01 1.73252559e-02 6.65770738e+02] [ 9.37520548e-01 3.44611403e-01 4.79395852e-02 2.54505660e+02] [-5.09735456e-02 -2.56857412e-04 9.98699971e-01 -1.46581862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.79, Y:254.56, Z:-14.66 [[ 3.42602788e-01 -9.39320808e-01 1.73132653e-02 6.65788292e+02] [ 9.38096475e-01 3.43039918e-01 4.79439152e-02 2.54559404e+02] [-5.09738583e-02 -1.84205846e-04 9.98699971e-01 -1.46610523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.81, Y:254.61, Z:-14.66 [[ 3.40376165e-01 -9.40130168e-01 1.73012464e-02 6.65807924e+02] [ 9.38906654e-01 3.40815582e-01 4.79482520e-02 2.54611540e+02] [-5.09741326e-02 -7.61867683e-05 9.98699971e-01 -1.46635366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.83, Y:254.66, Z:-14.67 [[ 3.36571769e-01 -9.41499092e-01 1.72888431e-02 6.65825168e+02] [ 9.40277135e-01 3.37015498e-01 4.79527239e-02 2.54663041e+02] [-5.09740541e-02 1.16770811e-04 9.98699971e-01 -1.46668044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.84, Y:254.72, Z:-14.67 [[ 3.34084016e-01 -9.42384961e-01 1.72758634e-02 6.65842123e+02] [ 9.41163939e-01 3.34530310e-01 4.79573996e-02 2.54715766e+02] [-5.09736321e-02 2.37619024e-04 9.98699971e-01 -1.46686732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.86, Y:254.77, Z:-14.67 [[ 3.31112015e-01 -9.43433523e-01 1.72632938e-02 6.65863683e+02] [ 9.42213678e-01 3.31561517e-01 4.79619239e-02 2.54765977e+02] [-5.09727307e-02 3.84942275e-04 9.98699971e-01 -1.46715907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.88, Y:254.82, Z:-14.67 [[ 3.29797440e-01 -9.43894101e-01 1.72503374e-02 6.65884069e+02] [ 9.42674640e-01 3.30247983e-01 4.79665834e-02 2.54819486e+02] [-5.09722643e-02 4.42199178e-04 9.98699971e-01 -1.46698576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.365336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:665.90, Y:254.87, Z:-14.67 [[ 3.29623842e-01 -9.43954933e-01 1.72396700e-02 6.65900250e+02] [ 9.42735355e-01 3.30074067e-01 4.79704171e-02 2.54873504e+02] [-5.09722799e-02 4.40253192e-04 9.98699971e-01 -1.46731451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.92, Y:254.93, Z:-14.68 [[ 3.31221785e-01 -9.43395638e-01 1.72278830e-02 6.65918823e+02] [ 9.42175078e-01 3.31669345e-01 4.79746499e-02 2.54925580e+02] [-5.09730361e-02 3.41432848e-04 9.98699971e-01 -1.46776134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.94, Y:254.98, Z:-14.69 [[ 3.33673568e-01 -9.42531469e-01 1.72156568e-02 6.65936166e+02] [ 9.41309525e-01 3.34117331e-01 4.79790368e-02 2.54979119e+02] [-5.09738014e-02 1.95925297e-04 9.98699972e-01 -1.46868740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.95, Y:255.03, Z:-14.69 [[ 3.34298768e-01 -9.42310093e-01 1.72052972e-02 6.65951504e+02] [ 9.41087663e-01 3.34741192e-01 4.79827515e-02 2.55030910e+02] [-5.09739527e-02 1.51118176e-04 9.98699972e-01 -1.46894307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.97, Y:255.08, Z:-14.69 [[ 3.32043246e-01 -9.43107475e-01 1.71922442e-02 6.65969135e+02] [ 9.41885866e-01 3.32487929e-01 4.79874280e-02 2.55084312e+02] [-5.09735157e-02 2.59230470e-04 9.98699972e-01 -1.46887886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.99, Y:255.14, Z:-14.69 [[ 3.28783655e-01 -9.44248974e-01 1.71808732e-02 6.65989113e+02] [ 9.43028696e-01 3.29231978e-01 4.79914988e-02 2.55136928e+02] [-5.09724164e-02 4.23236041e-04 9.98699972e-01 -1.46892711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.01, Y:255.19, Z:-14.69 [[ 3.24004777e-01 -9.45899632e-01 1.71694888e-02 6.66008805e+02] [ 9.44681420e-01 3.24458687e-01 4.79955713e-02 2.55187657e+02] [-5.09697830e-02 6.68902677e-04 9.98699972e-01 -1.46919497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.03, Y:255.24, Z:-14.70 [[ 3.21932297e-01 -9.46607231e-01 1.71565440e-02 6.66028979e+02] [ 9.45389770e-01 3.22388218e-01 4.80001981e-02 2.55237794e+02] [-5.09684023e-02 7.66807130e-04 9.98699972e-01 -1.46978022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.845336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:666.05, Y:255.29, Z:-14.70 [[ 3.20172296e-01 -9.47204194e-01 1.71439958e-02 6.66051095e+02] [ 9.45987344e-01 3.20629843e-01 4.80046795e-02 2.55289414e+02] [-5.09671104e-02 8.48234648e-04 9.98699972e-01 -1.46980636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.07, Y:255.34, Z:-14.70 [[ 3.20296784e-01 -9.47162315e-01 1.71323922e-02 6.66072795e+02] [ 9.45945184e-01 3.20753583e-01 4.80088204e-02 2.55341624e+02] [-5.09674216e-02 8.29233098e-04 9.98699972e-01 -1.47003827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.10, Y:255.39, Z:-14.70 [[ 3.22288753e-01 -9.46486575e-01 1.71208257e-02 6.66095550e+02] [ 9.45268268e-01 3.22742404e-01 4.80129448e-02 2.55391579e+02] [-5.09692242e-02 7.09741138e-04 9.98699972e-01 -1.47047557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.025336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:666.12, Y:255.44, Z:-14.71 [[ 3.23853139e-01 -9.45952660e-01 1.71087661e-02 6.66118379e+02] [ 9.44733377e-01 3.24304163e-01 4.80172417e-02 2.55443473e+02] [-5.09704816e-02 6.12687849e-04 9.98699972e-01 -1.47050013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.14, Y:255.49, Z:-14.71 [[ 3.27152024e-01 -9.44817045e-01 1.70968920e-02 6.66142780e+02] [ 9.43595976e-01 3.27598187e-01 4.80214692e-02 2.55493459e+02] [-5.09724135e-02 4.22237617e-04 9.98699972e-01 -1.47107228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.17, Y:255.55, Z:-14.71 [[ 3.32736568e-01 -9.42864993e-01 1.70874802e-02 6.66165764e+02] [ 9.41641133e-01 3.33175019e-01 4.80248180e-02 2.55545256e+02] [-5.09740412e-02 1.10661124e-04 9.98699972e-01 -1.47127598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.19, Y:255.60, Z:-14.72 [[ 3.37336264e-01 -9.41229340e-01 1.70755570e-02 6.66186371e+02] [ 9.40003140e-01 3.37768126e-01 4.80290570e-02 2.55596025e+02] [-5.09739365e-02 -1.50865506e-04 9.98699972e-01 -1.47167874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.21, Y:255.65, Z:-14.72 [[ 3.41576957e-01 -9.39698851e-01 1.70661084e-02 6.66207141e+02] [ 9.38470548e-01 3.42002803e-01 4.80324141e-02 2.55648301e+02] [-5.09726613e-02 -3.90725770e-04 9.98699973e-01 -1.47189299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.23, Y:255.70, Z:-14.72 [[ 3.46829495e-01 -9.37773133e-01 1.70543813e-02 6.66226646e+02] [ 9.36542263e-01 3.47247861e-01 4.80365776e-02 2.55699025e+02] [-5.09695093e-02 -6.88353074e-04 9.98699973e-01 -1.47215019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.25, Y:255.75, Z:-14.72 [[ 3.48907233e-01 -9.37002320e-01 1.70410066e-02 6.66246588e+02] [ 9.35770294e-01 3.49322184e-01 4.80413218e-02 2.55751609e+02] [-5.09676316e-02 -8.15496864e-04 9.98699973e-01 -1.47246277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.27, Y:255.81, Z:-14.73 [[ 3.49643533e-01 -9.36728032e-01 1.70292022e-02 6.66265119e+02] [ 9.35495478e-01 3.50056910e-01 4.80455057e-02 2.55805116e+02] [-5.09667620e-02 -8.68058681e-04 9.98699973e-01 -1.47276169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.28, Y:255.86, Z:-14.73 [[ 3.51802480e-01 -9.35919561e-01 1.70173659e-02 6.66283990e+02] [ 9.34685855e-01 3.52212407e-01 4.80496977e-02 2.55856683e+02] [-5.09643794e-02 -9.98111680e-04 9.98699973e-01 -1.47293977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.30, Y:255.91, Z:-14.73 [[ 3.54585016e-01 -9.34869132e-01 1.70050840e-02 6.66300014e+02] [ 9.33634005e-01 3.54990640e-01 4.80540440e-02 2.55908328e+02] [-5.09608880e-02 -1.16271926e-03 9.98699973e-01 -1.47317003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.32, Y:255.96, Z:-14.73 [[ 3.56586200e-01 -9.34107852e-01 1.69942273e-02 6.66315742e+02] [ 9.32871677e-01 3.56988620e-01 4.80578831e-02 2.55961609e+02] [-5.09579917e-02 -1.28334463e-03 9.98699973e-01 -1.47343562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.33, Y:256.02, Z:-14.74 [[ 3.56515287e-01 -9.34135147e-01 1.69816745e-02 6.66330206e+02] [ 9.32898793e-01 3.56917156e-01 4.80623184e-02 2.56016592e+02] [-5.09577518e-02 -1.29276762e-03 9.98699973e-01 -1.47373735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.35, Y:256.07, Z:-14.74 [[ 3.53860717e-01 -9.35144169e-01 1.69698783e-02 6.66346186e+02] [ 9.33908762e-01 3.54265490e-01 4.80664830e-02 2.56068152e+02] [-5.09609335e-02 -1.16052209e-03 9.98699973e-01 -1.47435302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.36, Y:256.12, Z:-14.74 [[ 3.47447559e-01 -9.37546090e-01 1.69564760e-02 6.66361243e+02] [ 9.36313255e-01 3.47860097e-01 4.80712105e-02 2.56122250e+02] [-5.09674568e-02 -8.25651492e-04 9.98699973e-01 -1.47430349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.38, Y:256.18, Z:-14.75 [[ 3.42120095e-01 -9.39503443e-01 1.69446333e-02 6.66376057e+02] [ 9.38272764e-01 3.42539018e-01 4.80753846e-02 2.56176627e+02] [-5.09711874e-02 -5.48867190e-04 9.98699973e-01 -1.47454445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.39, Y:256.23, Z:-14.75 [[ 3.37082207e-01 -9.41322934e-01 1.69327761e-02 6.66393785e+02] [ 9.40094307e-01 3.37507112e-01 4.80795605e-02 2.56230396e+02] [-5.09733253e-02 -2.88357950e-04 9.98699973e-01 -1.47477886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.41, Y:256.28, Z:-14.75 [[ 3.30519820e-01 -9.43647355e-01 1.69209624e-02 6.66412896e+02] [ 9.42421503e-01 3.30952666e-01 4.80837178e-02 2.56283022e+02] [-5.09741107e-02 5.40570307e-05 9.98699974e-01 -1.47507701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.43, Y:256.34, Z:-14.75 [[ 3.27390921e-01 -9.44737674e-01 1.69089610e-02 6.66429868e+02] [ 9.43513045e-01 3.27827216e-01 4.80879378e-02 2.56335348e+02] [-5.09737041e-02 2.10271047e-04 9.98699974e-01 -1.47543132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.45, Y:256.39, Z:-14.76 [[ 3.25852679e-01 -9.45269507e-01 1.68994113e-02 6.66447808e+02] [ 9.44045417e-01 3.26290482e-01 4.80912936e-02 2.56386308e+02] [-5.09733505e-02 2.83134880e-04 9.98699974e-01 -1.47590212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.47, Y:256.44, Z:-14.76 [[ 3.23754390e-01 -9.45990417e-01 1.68885990e-02 6.66470991e+02] [ 9.44767104e-01 3.24194358e-01 4.80950903e-02 2.56436524e+02] [-5.09726831e-02 3.84796122e-04 9.98699974e-01 -1.47620192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.2253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.49, Y:256.49, Z:-14.76 [[ 3.23009595e-01 -9.46245214e-01 1.68759333e-02 6.66489570e+02] [ 9.45022015e-01 3.23449883e-01 4.80995342e-02 2.56487782e+02] [-5.09724726e-02 4.11517368e-04 9.98699974e-01 -1.47644546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.51, Y:256.54, Z:-14.77 [[ 3.23621915e-01 -9.46036204e-01 1.68628603e-02 6.66510828e+02] [ 9.44812482e-01 3.24060746e-01 4.81041169e-02 2.56538659e+02] [-5.09728273e-02 3.64694495e-04 9.98699974e-01 -1.47665564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.53, Y:256.59, Z:-14.77 [[ 3.24926580e-01 -9.45589120e-01 1.68503118e-02 6.66532037e+02] [ 9.44364567e-01 3.25363084e-01 4.81085121e-02 2.56590109e+02] [-5.09733551e-02 2.81103062e-04 9.98699974e-01 -1.47681748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.55, Y:256.64, Z:-14.77 [[ 3.28176371e-01 -9.44466394e-01 1.68374598e-02 6.66552117e+02] [ 9.43240116e-01 3.28608006e-01 4.81130098e-02 2.56642757e+02] [-5.09740449e-02 9.22146016e-05 9.98699974e-01 -1.47692446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.57, Y:256.69, Z:-14.77 [[ 3.30734587e-01 -9.43573812e-01 1.68253937e-02 6.66570343e+02] [ 9.42346155e-01 3.31162282e-01 4.81172290e-02 2.56694615e+02] [-5.09740930e-02 -5.86867858e-05 9.98699974e-01 -1.47730596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.59, Y:256.75, Z:-14.78 [[ 3.32974078e-01 -9.42786026e-01 1.68158381e-02 6.66591063e+02] [ 9.41557188e-01 3.33398369e-01 4.81205682e-02 2.56746909e+02] [-5.09737723e-02 -1.89828522e-04 9.98699974e-01 -1.47753954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.61, Y:256.80, Z:-14.78 [[ 3.35034922e-01 -9.42055852e-01 1.68039498e-02 6.66611492e+02] [ 9.40825881e-01 3.35455918e-01 4.81247193e-02 2.56798676e+02] [-5.09731579e-02 -3.13870715e-04 9.98699974e-01 -1.47784260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.63, Y:256.85, Z:-14.78 [[ 3.36430404e-01 -9.41558614e-01 1.67916398e-02 6.66628893e+02] [ 9.40327807e-01 3.36848948e-01 4.81290141e-02 2.56851218e+02] [-5.09725340e-02 -4.02417882e-04 9.98699974e-01 -1.47807685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.65, Y:256.90, Z:-14.78 [[ 3.36813482e-01 -9.41421873e-01 1.67790137e-02 6.66649405e+02] [ 9.40190677e-01 3.37230880e-01 4.81334155e-02 2.56902612e+02] [-5.09722517e-02 -4.36511014e-04 9.98699974e-01 -1.47841302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.67, Y:256.95, Z:-14.79 [[ 3.38075460e-01 -9.40969650e-01 1.67660632e-02 6.66670245e+02] [ 9.39737671e-01 3.38490545e-01 4.81379260e-02 2.56953209e+02] [-5.09714813e-02 -5.18550280e-04 9.98699975e-01 -1.47884348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.69, Y:257.01, Z:-14.79 [[ 3.39068887e-01 -9.40612374e-01 1.67526576e-02 6.66688183e+02] [ 9.39379728e-01 3.39481984e-01 4.81425909e-02 2.57006361e+02] [-5.09707422e-02 -5.86547765e-04 9.98699975e-01 -1.47871082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.71, Y:257.06, Z:-14.79 [[ 3.41791610e-01 -9.39626650e-01 1.67407750e-02 6.66708104e+02] [ 9.38392611e-01 3.42200527e-01 4.81467226e-02 2.57059208e+02] [-5.09686457e-02 -7.46726237e-04 9.98699975e-01 -1.47877166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.73, Y:257.11, Z:-14.79 [[ 3.43847045e-01 -9.38876642e-01 1.67290219e-02 6.66726989e+02] [ 9.37641513e-01 3.44252658e-01 4.81508060e-02 2.57110202e+02] [-5.09666773e-02 -8.70686955e-04 9.98699975e-01 -1.47922679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.005336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:666.74, Y:257.16, Z:-14.79 [[ 3.46777654e-01 -9.37798404e-01 1.67156456e-02 6.66744867e+02] [ 9.36561791e-01 3.47178721e-01 4.81554491e-02 2.57164094e+02] [-5.09634198e-02 -1.04399872e-03 9.98699975e-01 -1.47921782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.76, Y:257.22, Z:-14.80 [[ 3.49487466e-01 -9.36792133e-01 1.67036058e-02 6.66762693e+02] [ 9.35554168e-01 3.49884337e-01 4.81596250e-02 2.57216131e+02] [-5.09598879e-02 -1.20405727e-03 9.98699975e-01 -1.47985437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.78, Y:257.27, Z:-14.80 [[ 3.53052539e-01 -9.35454602e-01 1.66910747e-02 6.66780348e+02] [ 9.34214931e-01 3.53444048e-01 4.81639676e-02 2.57268198e+02] [-5.09545662e-02 -1.41135979e-03 9.98699975e-01 -1.48030281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.80, Y:257.32, Z:-14.81 [[ 3.54905033e-01 -9.34753578e-01 1.66783210e-02 6.66796599e+02] [ 9.33512927e-01 3.55293430e-01 4.81683836e-02 2.57321754e+02] [-5.09512668e-02 -1.52577355e-03 9.98699975e-01 -1.48072256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.81, Y:257.38, Z:-14.81 [[ 3.54978463e-01 -9.34725904e-01 1.66665607e-02 6.66812501e+02] [ 9.33485035e-01 3.55366156e-01 4.81724524e-02 2.57375186e+02] [-5.09507707e-02 -1.54219810e-03 9.98699975e-01 -1.48111276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.83, Y:257.43, Z:-14.81 [[ 3.54124520e-01 -9.35049986e-01 1.66537863e-02 6.66829350e+02] [ 9.33809265e-01 3.54512689e-01 4.81768682e-02 2.57427739e+02] [-5.09517585e-02 -1.50915037e-03 9.98699975e-01 -1.48135979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.85, Y:257.48, Z:-14.82 [[ 3.49072198e-01 -9.36948067e-01 1.66409135e-02 6.66849242e+02] [ 9.35709249e-01 3.49466397e-01 4.81813143e-02 2.57479321e+02] [-5.09588294e-02 -1.24770061e-03 9.98699975e-01 -1.48162081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.87, Y:257.53, Z:-14.82 [[ 3.40491201e-01 -9.40100662e-01 1.66279069e-02 6.66870124e+02] [ 9.38865281e-01 3.40896044e-01 4.81858026e-02 2.57529483e+02] [-5.09678926e-02 -7.95477320e-04 9.98699976e-01 -1.48190807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.89, Y:257.58, Z:-14.82 [[ 3.36032012e-01 -9.41704012e-01 1.66144934e-02 6.66889676e+02] [ 9.40470335e-01 3.36442018e-01 4.81904271e-02 2.57582861e+02] [-5.09709322e-02 -5.68087983e-04 9.98699976e-01 -1.48193948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.91, Y:257.63, Z:-14.82 [[ 3.33045071e-01 -9.42764731e-01 1.66024607e-02 6.66912659e+02] [ 9.41532154e-01 3.33458372e-01 4.81945723e-02 2.57633992e+02] [-5.09723725e-02 -4.19214177e-04 9.98699976e-01 -1.48235359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.93, Y:257.69, Z:-14.83 [[ 3.34255094e-01 -9.42336610e-01 1.65905226e-02 6.66932703e+02] [ 9.41103300e-01 3.34666201e-01 4.81986815e-02 2.57685270e+02] [-5.09716693e-02 -4.97259205e-04 9.98699976e-01 -1.48284142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.95, Y:257.74, Z:-14.83 [[ 3.39328413e-01 -9.40521884e-01 1.65775156e-02 6.66949712e+02] [ 9.39286158e-01 3.39732201e-01 4.82031547e-02 2.57738008e+02] [-5.09680378e-02 -7.85669067e-04 9.98699976e-01 -1.48346128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.97, Y:257.79, Z:-14.84 [[ 3.41838089e-01 -9.39612861e-01 1.65648067e-02 6.66967738e+02] [ 9.38375851e-01 3.42237925e-01 4.82075217e-02 2.57789589e+02] [-5.09655124e-02 -9.35152554e-04 9.98699976e-01 -1.48377393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.99, Y:257.84, Z:-14.84 [[ 3.43374501e-01 -9.39052716e-01 1.65514092e-02 6.66987277e+02] [ 9.37814833e-01 3.43771626e-01 4.82121211e-02 2.57840921e+02] [-5.09636281e-02 -1.03265603e-03 9.98699976e-01 -1.48421660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.00, Y:257.89, Z:-14.85 [[ 3.43432994e-01 -9.39031550e-01 1.65386309e-02 6.67003942e+02] [ 9.37793433e-01 3.43829386e-01 4.82165042e-02 2.57892681e+02] [-5.09632860e-02 -1.04931891e-03 9.98699976e-01 -1.48467931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.02, Y:257.95, Z:-14.84 [[ 3.42829400e-01 -9.39252316e-01 1.65253950e-02 6.67022044e+02] [ 9.38014236e-01 3.43225909e-01 4.82210401e-02 2.57946167e+02] [-5.09636673e-02 -1.03053454e-03 9.98699976e-01 -1.48444281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.965336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:667.04, Y:258.00, Z:-14.84 [[ 3.41243876e-01 -9.39829729e-01 1.65135335e-02 6.67040243e+02] [ 9.38592124e-01 3.41641865e-01 4.82251018e-02 2.57999374e+02] [-5.09650988e-02 -9.57048198e-04 9.98699976e-01 -1.48441941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.06, Y:258.05, Z:-14.85 [[ 3.37457616e-01 -9.41196077e-01 1.65016038e-02 6.67058078e+02] [ 9.39959885e-01 3.37859972e-01 4.82291836e-02 2.58050511e+02] [-5.09683498e-02 -7.64459641e-04 9.98699976e-01 -1.48466633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.085336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:667.07, Y:258.10, Z:-14.85 [[ 3.35259384e-01 -9.41981576e-01 1.64880251e-02 6.67073719e+02] [ 9.40746100e-01 3.35663931e-01 4.82338253e-02 2.58104175e+02] [-5.09698101e-02 -6.59797284e-04 9.98699977e-01 -1.48455876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.09, Y:258.16, Z:-14.85 [[ 3.34856382e-01 -9.42125138e-01 1.64750796e-02 6.67091887e+02] [ 9.40889617e-01 3.35260794e-01 4.82382466e-02 2.58155585e+02] [-5.09699130e-02 -6.51653341e-04 9.98699977e-01 -1.48474551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.11, Y:258.21, Z:-14.85 [[ 3.35591183e-01 -9.41863880e-01 1.64617447e-02 6.67107143e+02] [ 9.40627822e-01 3.35993949e-01 4.82427968e-02 2.58209115e+02] [-5.09691944e-02 -7.05482260e-04 9.98699977e-01 -1.48513105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.12, Y:258.26, Z:-14.85 [[ 3.35968578e-01 -9.41729549e-01 1.64490722e-02 6.67121829e+02] [ 9.40493118e-01 3.36370199e-01 4.82471173e-02 2.58262360e+02] [-5.09687137e-02 -7.39276155e-04 9.98699977e-01 -1.48537345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.325336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:667.13, Y:258.32, Z:-14.86 [[ 3.37270070e-01 -9.41264440e-01 1.64363316e-02 6.67134414e+02] [ 9.40027245e-01 3.37669329e-01 4.82514573e-02 2.58316844e+02] [-5.09674260e-02 -8.23172899e-04 9.98699977e-01 -1.48553187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.15, Y:258.37, Z:-14.86 [[ 3.38543162e-01 -9.40807522e-01 1.64235455e-02 6.67147731e+02] [ 9.39569578e-01 3.38940091e-01 4.82558090e-02 2.58369963e+02] [-5.09660261e-02 -9.05610480e-04 9.98699977e-01 -1.48576130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.16, Y:258.42, Z:-14.86 [[ 3.42486681e-01 -9.39379356e-01 1.64103108e-02 6.67157403e+02] [ 9.38139543e-01 3.42877734e-01 4.82603092e-02 2.58424967e+02] [-5.09614684e-02 -1.13335167e-03 9.98699977e-01 -1.48601735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.505336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:667.17, Y:258.48, Z:-14.86 [[ 3.45339811e-01 -9.38334447e-01 1.63976066e-02 6.67167736e+02] [ 9.37093247e-01 3.45726441e-01 4.82646254e-02 2.58478814e+02] [-5.09574468e-02 -1.30161019e-03 9.98699977e-01 -1.48634457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.18, Y:258.53, Z:-14.87 [[ 3.46843642e-01 -9.37779846e-01 1.63843909e-02 6.67177438e+02] [ 9.36537818e-01 3.47227602e-01 4.82691113e-02 2.58534103e+02] [-5.09549126e-02 -1.39723266e-03 9.98699977e-01 -1.48677388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.19, Y:258.59, Z:-14.87 [[ 3.44782443e-01 -9.38539841e-01 1.63717396e-02 6.67186171e+02] [ 9.37298457e-01 3.45168482e-01 4.82734020e-02 2.58589553e+02] [-5.09575195e-02 -1.29861518e-03 9.98699977e-01 -1.48723639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.20, Y:258.64, Z:-14.88 [[ 3.42791215e-01 -9.39269168e-01 1.63588690e-02 6.67198704e+02] [ 9.38028399e-01 3.43179224e-01 4.82777632e-02 2.58643458e+02] [-5.09598384e-02 -1.20410939e-03 9.98699977e-01 -1.48762099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.21, Y:258.70, Z:-14.88 [[ 3.40606471e-01 -9.40063849e-01 1.63460210e-02 6.67210161e+02] [ 9.38823777e-01 3.40996704e-01 4.82821129e-02 2.58697027e+02] [-5.09622082e-02 -1.09916689e-03 9.98699978e-01 -1.48779408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.22, Y:258.75, Z:-14.88 [[ 3.36953257e-01 -9.41379703e-01 1.63327159e-02 6.67217512e+02] [ 9.40140939e-01 3.37347621e-01 4.82866133e-02 2.58753257e+02] [-5.09658405e-02 -9.15276720e-04 9.98699978e-01 -1.48801044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.23, Y:258.81, Z:-14.88 [[ 3.32891449e-01 -9.42823918e-01 1.63200411e-02 6.67229487e+02] [ 9.41586656e-01 3.33290501e-01 4.82908968e-02 2.58808968e+02] [-5.09691272e-02 -7.08893698e-04 9.98699978e-01 -1.48826331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.24, Y:258.86, Z:-14.88 [[ 3.28674884e-01 -9.44302320e-01 1.63079650e-02 6.67244344e+02] [ 9.43066652e-01 3.29078843e-01 4.82949746e-02 2.58862159e+02] [-5.09716628e-02 -4.93847169e-04 9.98699978e-01 -1.48845989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.26, Y:258.92, Z:-14.89 [[ 3.22267483e-01 -9.46508335e-01 1.62984642e-02 6.67258674e+02] [ 9.45275272e-01 3.22679323e-01 4.82981807e-02 2.58916672e+02] [-5.09738080e-02 -1.58397967e-04 9.98699978e-01 -1.48884400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.27, Y:258.97, Z:-14.89 [[ 3.17886991e-01 -9.47988716e-01 1.62866282e-02 6.67274081e+02] [ 9.46757366e-01 3.18303926e-01 4.83021716e-02 2.58969389e+02] [-5.09740113e-02 6.48532133e-05 9.98699978e-01 -1.48924124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.29, Y:259.02, Z:-14.89 [[ 3.10476480e-01 -9.50441739e-01 1.62743955e-02 6.67291765e+02] [ 9.49213466e-01 3.10902393e-01 4.83062928e-02 2.59022713e+02] [-5.09720654e-02 4.49907573e-04 9.98699978e-01 -1.48934505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.165336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:667.31, Y:259.07, Z:-14.90 [[ 3.05752203e-01 -9.51972222e-01 1.62628234e-02 6.67309250e+02] [ 9.50745872e-01 3.06183624e-01 4.83101883e-02 2.59073874e+02] [-5.09693675e-02 6.90865722e-04 9.98699978e-01 -1.48958946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.2253361950001 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:667.33, Y:259.13, Z:-14.90 [[ 3.05298854e-01 -9.52117891e-01 1.62520983e-02 6.67327243e+02] [ 9.50891556e-01 3.05730315e-01 4.83137961e-02 2.59125784e+02] [-5.09691888e-02 7.03836437e-04 9.98699978e-01 -1.48981374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.35, Y:259.18, Z:-14.90 [[ 3.05530715e-01 -9.52043727e-01 1.62395983e-02 6.67345984e+02] [ 9.50817064e-01 3.05961243e-01 4.83179973e-02 2.59178831e+02] [-5.09695339e-02 6.78254935e-04 9.98699978e-01 -1.49012100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.36, Y:259.23, Z:-14.91 [[ 3.08820987e-01 -9.50981732e-01 1.62278604e-02 6.67363215e+02] [ 9.49753381e-01 3.09246674e-01 4.83219393e-02 2.59232413e+02] [-5.09716934e-02 4.89636287e-04 9.98699978e-01 -1.49051781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.38, Y:259.29, Z:-14.91 [[ 3.12241011e-01 -9.49864515e-01 1.62158681e-02 6.67380269e+02] [ 9.48634431e-01 3.12661666e-01 4.83259633e-02 2.59285162e+02] [-5.09731980e-02 2.93583177e-04 9.98699978e-01 -1.49090487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.40, Y:259.34, Z:-14.91 [[ 3.16443154e-01 -9.48473028e-01 1.62063343e-02 6.67396495e+02] [ 9.47240931e-01 3.16857873e-01 4.83291603e-02 2.59337616e+02] [-5.09740096e-02 5.78713388e-05 9.98699978e-01 -1.49132478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.525336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:667.41, Y:259.39, Z:-14.92 [[ 3.18523931e-01 -9.47776481e-01 1.61940859e-02 6.67414551e+02] [ 9.46543268e-01 3.18935320e-01 4.83332641e-02 2.59390377e+02] [-5.09739969e-02 -6.68982737e-05 9.98699979e-01 -1.49163699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.43, Y:259.44, Z:-14.92 [[ 3.21094578e-01 -9.46908882e-01 1.61814866e-02 6.67429587e+02] [ 9.45674345e-01 3.21501976e-01 4.83374819e-02 2.59443777e+02] [-5.09735709e-02 -2.18486645e-04 9.98699979e-01 -1.49177803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.45, Y:259.50, Z:-14.92 [[ 3.22386866e-01 -9.46469902e-01 1.61688950e-02 6.67446317e+02] [ 9.45234599e-01 3.22791936e-01 4.83416934e-02 2.59497728e+02] [-5.09731468e-02 -3.01328023e-04 9.98699979e-01 -1.49205194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.46, Y:259.55, Z:-14.93 [[ 3.23264185e-01 -9.46170815e-01 1.61572122e-02 6.67463775e+02] [ 9.44934942e-01 3.23667512e-01 4.83455978e-02 2.59551311e+02] [-5.09727584e-02 -3.60885886e-04 9.98699979e-01 -1.49254978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.48, Y:259.60, Z:-14.93 [[ 3.22995703e-01 -9.46262704e-01 1.61453290e-02 6.67482098e+02] [ 9.45026747e-01 3.23398774e-01 4.83495660e-02 2.59603494e+02] [-5.09727706e-02 -3.58934369e-04 9.98699979e-01 -1.49306032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.50, Y:259.66, Z:-14.93 [[ 3.21359167e-01 -9.46819947e-01 1.61329868e-02 6.67499826e+02] [ 9.45584483e-01 3.21763744e-01 4.83536839e-02 2.59655636e+02] [-5.09732427e-02 -2.83797570e-04 9.98699979e-01 -1.49337598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.52, Y:259.71, Z:-14.94 [[ 3.20254679e-01 -9.47194317e-01 1.61203708e-02 6.67519156e+02] [ 9.45959114e-01 3.20660053e-01 4.83578895e-02 2.59708604e+02] [-5.09734771e-02 -2.37628728e-04 9.98699979e-01 -1.49352358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.945336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:667.54, Y:259.76, Z:-14.94 [[ 3.22380299e-01 -9.46473163e-01 1.61088137e-02 6.67538567e+02] [ 9.45236861e-01 3.22782308e-01 4.83617391e-02 2.59761530e+02] [-5.09727283e-02 -3.64227409e-04 9.98699979e-01 -1.49360826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.56, Y:259.82, Z:-14.94 [[ 3.26516728e-01 -9.45054341e-01 1.60971708e-02 6.67555521e+02] [ 9.43816102e-01 3.26912731e-01 4.83656141e-02 2.59815397e+02] [-5.09705036e-02 -5.99413148e-04 9.98699979e-01 -1.49387857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.57, Y:259.87, Z:-14.94 [[ 3.33820706e-01 -9.42499334e-01 1.60854430e-02 6.67572484e+02] [ 9.41257880e-01 3.34206512e-01 4.83695143e-02 2.59867950e+02] [-5.09640948e-02 -1.00619546e-03 9.98699979e-01 -1.49440513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.59, Y:259.92, Z:-14.95 [[ 3.37690533e-01 -9.41119947e-01 1.60732739e-02 6.67587890e+02] [ 9.39876727e-01 3.38070609e-01 4.83735577e-02 2.59920676e+02] [-5.09592216e-02 -1.22839635e-03 9.98699979e-01 -1.49468887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.60, Y:259.97, Z:-14.95 [[ 3.40523801e-01 -9.40098717e-01 1.60606093e-02 6.67601704e+02] [ 9.38854161e-01 3.40899480e-01 4.83777621e-02 2.59974838e+02] [-5.09549255e-02 -1.39520955e-03 9.98699979e-01 -1.49495903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.61, Y:260.03, Z:-14.96 [[ 3.41021424e-01 -9.39918518e-01 1.60489411e-02 6.67614526e+02] [ 9.38673583e-01 3.41395845e-01 4.83816327e-02 2.60029748e+02] [-5.09538343e-02 -1.43445623e-03 9.98699980e-01 -1.49550154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.63, Y:260.08, Z:-14.96 [[ 3.40201464e-01 -9.40215809e-01 1.60373382e-02 6.67628967e+02] [ 9.38971022e-01 3.40576373e-01 4.83854785e-02 2.60084018e+02] [-5.09547303e-02 -1.40221472e-03 9.98699980e-01 -1.49574140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.64, Y:260.14, Z:-14.96 [[ 3.38373792e-01 -9.40875315e-01 1.60255598e-02 6.67641473e+02] [ 9.39631075e-01 3.38750514e-01 4.83893792e-02 2.60136603e+02] [-5.09570391e-02 -1.31558376e-03 9.98699980e-01 -1.49609863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.425336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:667.65, Y:260.19, Z:-14.96 [[ 3.33827985e-01 -9.42497964e-01 1.60144900e-02 6.67651428e+02] [ 9.41255383e-01 3.34210141e-01 4.83930425e-02 2.60191312e+02] [-5.09625490e-02 -1.08122699e-03 9.98699980e-01 -1.49608803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.4853361950001 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:667.66, Y:260.25, Z:-14.96 [[ 3.29668427e-01 -9.43961155e-01 1.60020746e-02 6.67664630e+02] [ 9.42720072e-01 3.30055423e-01 4.83971476e-02 2.60246001e+02] [-5.09665988e-02 -8.69534543e-04 9.98699980e-01 -1.49630466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.68, Y:260.30, Z:-14.97 [[ 3.22515524e-01 -9.46429100e-01 1.59904640e-02 6.67677019e+02] [ 9.45190792e-01 3.22911307e-01 4.84009834e-02 2.60300574e+02] [-5.09716008e-02 -4.96029157e-04 9.98699980e-01 -1.49675679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.69, Y:260.35, Z:-14.97 [[ 3.16760982e-01 -9.48370810e-01 1.59776945e-02 6.67692149e+02] [ 9.47134716e-01 3.17163627e-01 4.84051984e-02 2.60353225e+02] [-5.09736208e-02 -1.99849029e-04 9.98699980e-01 -1.49696120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.71, Y:260.41, Z:-14.97 [[ 3.09290350e-01 -9.50833640e-01 1.59645858e-02 6.67706670e+02] [ 9.49600529e-01 3.09702040e-01 4.84095214e-02 2.60406409e+02] [-5.09736663e-02 1.87381323e-04 9.98699980e-01 -1.49722821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.7253361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.73, Y:260.46, Z:-14.98 [[ 3.05684610e-01 -9.51999184e-01 1.59522189e-02 6.67725385e+02] [ 9.50767429e-01 3.06100342e-01 4.84135963e-02 2.60458816e+02] [-5.09726838e-02 3.67558862e-04 9.98699980e-01 -1.49750867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.74, Y:260.51, Z:-14.98 [[ 3.02566428e-01 -9.52995006e-01 1.59397516e-02 6.67741627e+02] [ 9.51764403e-01 3.02985556e-01 4.84177007e-02 2.60512227e+02] [-5.09713415e-02 5.21317357e-04 9.98699980e-01 -1.49783400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.76, Y:260.57, Z:-14.98 [[ 3.01314382e-01 -9.53391821e-01 1.59272904e-02 6.67759370e+02] [ 9.52161554e-01 3.01734493e-01 4.84217996e-02 2.60565737e+02] [-5.09707606e-02 5.75168983e-04 9.98699980e-01 -1.49837539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.78, Y:260.62, Z:-14.99 [[ 3.00228509e-01 -9.53734517e-01 1.59158291e-02 6.67777100e+02] [ 9.52504530e-01 3.00649439e-01 4.84255665e-02 2.60617049e+02] [-5.09702194e-02 6.21163651e-04 9.98699980e-01 -1.49914736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.80, Y:260.67, Z:-14.99 [[ 2.99656978e-01 -9.53914454e-01 1.59031407e-02 6.67797723e+02] [ 9.52684499e-01 3.00078002e-01 4.84297330e-02 2.60669689e+02] [-5.09700050e-02 6.38368194e-04 9.98699981e-01 -1.49929672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.82, Y:260.72, Z:-14.99 [[ 3.02308904e-01 -9.53077536e-01 1.58914344e-02 6.67818000e+02] [ 9.51846213e-01 3.02725910e-01 4.84335740e-02 2.60721676e+02] [-5.09717003e-02 4.84300980e-04 9.98699981e-01 -1.49946823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.84, Y:260.78, Z:-15.00 [[ 3.05259920e-01 -9.52136665e-01 1.58792850e-02 6.67835586e+02] [ 9.50903849e-01 3.05672492e-01 4.84375569e-02 2.60775399e+02] [-5.09730346e-02 3.13628430e-04 9.98699981e-01 -1.49989390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.85, Y:260.83, Z:-15.00 [[ 3.06273664e-01 -9.51811254e-01 1.58675529e-02 6.67853238e+02] [ 9.50577801e-01 3.06684325e-01 4.84413999e-02 2.60827663e+02] [-5.09733994e-02 2.47018467e-04 9.98699981e-01 -1.50035358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.87, Y:260.88, Z:-15.01 [[ 3.09526542e-01 -9.50758606e-01 1.58553522e-02 6.67871582e+02] [ 9.49523552e-01 3.09932361e-01 4.84453930e-02 2.60880921e+02] [-5.09739611e-02 5.98954266e-05 9.98699981e-01 -1.50050623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.89, Y:260.93, Z:-15.01 [[ 3.10062437e-01 -9.50584169e-01 1.58437235e-02 6.67890962e+02] [ 9.49348691e-01 3.10466967e-01 4.84491958e-02 2.60934145e+02] [-5.09739913e-02 1.89424179e-05 9.98699981e-01 -1.50066093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.325336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:667.91, Y:260.99, Z:-15.01 [[ 3.08027539e-01 -9.51245698e-01 1.58321805e-02 6.67912101e+02] [ 9.50010895e-01 3.08434125e-01 4.84529675e-02 2.60986977e+02] [-5.09738616e-02 1.15895648e-04 9.98699981e-01 -1.50063681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.385336195 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:667.93, Y:261.04, Z:-15.01 [[ 3.04868902e-01 -9.52262915e-01 1.58206828e-02 6.67930388e+02] [ 9.51029274e-01 3.05278998e-01 4.84567214e-02 2.61037722e+02] [-5.09732610e-02 2.72985058e-04 9.98699981e-01 -1.50090405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.445336195 meters Centerline goodness : 0.999549 with order 1 Centerline is valid? [True, True] Translation: X:667.95, Y:261.09, Z:-15.02 [[ 3.00330633e-01 -9.53704163e-01 1.58076254e-02 6.67954965e+02] [ 9.52472265e-01 3.00745936e-01 4.84609806e-02 2.61088379e+02] [-5.09715181e-02 5.02007833e-04 9.98699981e-01 -1.50163865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.505336195 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:667.97, Y:261.14, Z:-15.01 [[ 2.97923097e-01 -9.54459168e-01 1.57963590e-02 6.67973722e+02] [ 9.53228128e-01 2.98340936e-01 4.84646528e-02 2.61142545e+02] [-5.09702327e-02 6.18794264e-04 9.98699981e-01 -1.50094766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.565336195 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:668.00, Y:261.19, Z:-15.01 [[ 2.97297161e-01 -9.54654494e-01 1.57859039e-02 6.67996251e+02] [ 9.53423548e-01 2.97715276e-01 4.84680580e-02 2.61194144e+02] [-5.09699541e-02 6.41236437e-04 9.98699981e-01 -1.50109148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.625336195 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:668.02, Y:261.25, Z:-15.01 [[ 2.97780660e-01 -9.54503983e-01 1.57742090e-02 6.68016664e+02] [ 9.53272624e-01 2.98197557e-01 4.84718638e-02 2.61247239e+02] [-5.09704177e-02 6.03138038e-04 9.98699981e-01 -1.50121212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.685336195 meters Centerline goodness : 0.999315 with order 1 Centerline is valid? [True, True] Translation: X:668.04, Y:261.30, Z:-15.03 [[ 3.01722630e-01 -9.53265429e-01 1.57631642e-02 6.68040107e+02] [ 9.52032170e-01 3.02133874e-01 4.84754554e-02 2.61298125e+02] [-5.09725616e-02 3.80897519e-04 9.98699981e-01 -1.50288393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.745336195 meters Centerline goodness : 0.999548 with order 1 Centerline is valid? [True, True] Translation: X:668.06, Y:261.35, Z:-15.03 [[ 3.03499864e-01 -9.52701288e-01 1.57508091e-02 6.68058853e+02] [ 9.51467057e-01 3.03908178e-01 4.84794695e-02 2.61351458e+02] [-5.09732528e-02 2.72863588e-04 9.98699982e-01 -1.50318232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.805336195 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:668.08, Y:261.40, Z:-15.04 [[ 3.05835910e-01 -9.51954132e-01 1.57393484e-02 6.68078314e+02] [ 9.50718711e-01 3.06240612e-01 4.84831901e-02 2.61402428e+02] [-5.09738008e-02 1.35792466e-04 9.98699982e-01 -1.50359540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.865336195 meters Centerline goodness : 0.999616 with order 1 Centerline is valid? [True, True] Translation: X:668.09, Y:261.46, Z:-15.02 [[ 3.09016313e-01 -9.50926666e-01 1.57287551e-02 6.68094114e+02] [ 9.49689725e-01 3.09416344e-01 4.84866265e-02 2.61457043e+02] [-5.09739600e-02 -4.57214586e-05 9.98699982e-01 -1.50230837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.925336195 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:668.11, Y:261.51, Z:-15.02 [[ 3.11877391e-01 -9.49992349e-01 1.57171725e-02 6.68112903e+02] [ 9.48754020e-01 3.12273105e-01 4.84903807e-02 2.61511191e+02] [-5.09735410e-02 -2.11322852e-04 9.98699982e-01 -1.50233584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.9853361950001 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:668.13, Y:261.56, Z:-15.03 [[ 3.13153527e-01 -9.49572644e-01 1.57055141e-02 6.68129409e+02] [ 9.48333595e-01 3.13546981e-01 4.84941565e-02 2.61564381e+02] [-5.09731409e-02 -2.92049489e-04 9.98699982e-01 -1.50318519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.045336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:668.14, Y:261.62, Z:-15.03 [[ 3.11937057e-01 -9.49973140e-01 1.56941400e-02 6.68142669e+02] [ 9.48734411e-01 3.12331517e-01 4.84978372e-02 2.61620529e+02] [-5.09734172e-02 -2.38701911e-04 9.98699982e-01 -1.50257711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.1053361950001 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:668.16, Y:261.67, Z:-15.03 [[ 3.08514846e-01 -9.51090245e-01 1.56823133e-02 6.68161472e+02] [ 9.49852751e-01 3.08913160e-01 4.85016612e-02 2.61672976e+02] [-5.09739298e-02 -6.75940685e-05 9.98699982e-01 -1.50337491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.165336195 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:668.18, Y:261.73, Z:-15.03 [[ 3.00230185e-01 -9.53738055e-01 1.56703150e-02 6.68181701e+02] [ 9.52503870e-01 3.00638639e-01 4.85055374e-02 2.61725489e+02] [-5.09726791e-02 3.63209210e-04 9.98699982e-01 -1.50347342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.225336195 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:668.20, Y:261.78, Z:-15.03 [[ 2.95207277e-01 -9.55304911e-01 1.56585496e-02 6.68197745e+02] [ 9.54072692e-01 2.95621622e-01 4.85093352e-02 2.61777369e+02] [-5.09702120e-02 6.19085823e-04 9.98699982e-01 -1.50338882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.285336195 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:668.22, Y:261.83, Z:-15.04 [[ 2.91974334e-01 -9.56298198e-01 1.56442990e-02 6.68217059e+02] [ 9.55067142e-01 2.92392122e-01 4.85139306e-02 2.61829328e+02] [-5.09680542e-02 7.76533316e-04 9.98699982e-01 -1.50405596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.345336195 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:668.24, Y:261.88, Z:-15.04 [[ 2.87779437e-01 -9.57569126e-01 1.56321626e-02 6.68238432e+02] [ 9.56339702e-01 2.88202002e-01 4.85178409e-02 2.61881474e+02] [-5.09644071e-02 9.87220770e-04 9.98699982e-01 -1.50384209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.405336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:668.26, Y:261.93, Z:-15.04 [[ 2.87199613e-01 -9.57743385e-01 1.56202315e-02 6.68257305e+02] [ 9.56514009e-01 2.87622318e-01 4.85216818e-02 2.61934689e+02] [-5.09640470e-02 1.00556201e-03 9.98699982e-01 -1.50399388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.465336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:668.28, Y:261.99, Z:-15.04 [[ 2.88993892e-01 -9.57203705e-01 1.56075939e-02 6.68277207e+02] [ 9.55973321e-01 2.89413652e-01 4.85257465e-02 2.61988892e+02] [-5.09660751e-02 8.96799093e-04 9.98699982e-01 -1.50399549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.525336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:668.30, Y:262.04, Z:-15.06 [[ 2.91853172e-01 -9.56335963e-01 1.55965728e-02 6.68299262e+02] [ 9.55104140e-01 2.92268694e-01 4.85292885e-02 2.62039638e+02] [-5.09686938e-02 7.32924483e-04 9.98699983e-01 -1.50580399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.585336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:668.32, Y:262.09, Z:-15.06 [[ 2.93425971e-01 -9.55854709e-01 1.55876619e-02 6.68318607e+02] [ 9.54622053e-01 2.93839014e-01 4.85321506e-02 2.62091141e+02] [-5.09699478e-02 6.39732387e-04 9.98699983e-01 -1.50603629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.645336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:668.34, Y:262.15, Z:-15.05 [[ 2.94404362e-01 -9.55554015e-01 1.55754901e-02 6.68337797e+02] [ 9.54320731e-01 2.94815525e-01 4.85360565e-02 2.62145245e+02] [-5.09707200e-02 5.74786317e-04 9.98699983e-01 -1.50451687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.705336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:668.36, Y:262.20, Z:-15.05 [[ 2.93830278e-01 -9.55730885e-01 1.55641691e-02 6.68357789e+02] [ 9.54497656e-01 2.94241607e-01 4.85396866e-02 2.62196327e+02] [-5.09705038e-02 5.93533342e-04 9.98699983e-01 -1.50496387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.765336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:668.38, Y:262.25, Z:-15.05 [[ 2.93223096e-01 -9.55917561e-01 1.55509603e-02 6.68381863e+02] [ 9.54684370e-01 2.93634538e-01 4.85439180e-02 2.62247892e+02] [-5.09702828e-02 6.12060864e-04 9.98699983e-01 -1.50549681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.825336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:668.40, Y:262.30, Z:-15.06 [[ 2.93674076e-01 -9.55779309e-01 1.55386424e-02 6.68401668e+02] [ 9.54545716e-01 2.94084310e-01 4.85478606e-02 2.62301108e+02] [-5.09707116e-02 5.75096441e-04 9.98699983e-01 -1.50554623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.885336195 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:668.42, Y:262.35, Z:-15.06 [[ 2.96647828e-01 -9.54860723e-01 1.55263210e-02 6.68421993e+02] [ 9.53625652e-01 2.97053594e-01 4.85518009e-02 2.62352118e+02] [-5.09723571e-02 4.03511673e-04 9.98699983e-01 -1.50626551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:668.44, Y:262.41, Z:-15.06 [[ 2.98565318e-01 -9.54263106e-01 1.55137237e-02 6.68441871e+02] [ 9.53027014e-01 2.98967961e-01 4.85558257e-02 2.62406084e+02] [-5.09731394e-02 2.87912211e-04 9.98699983e-01 -1.50631673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.005336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:668.46, Y:262.46, Z:-15.08 [[ 2.99536012e-01 -9.53959039e-01 1.55025372e-02 6.68461705e+02] [ 9.52722354e-01 2.99936828e-01 4.85593970e-02 2.62457173e+02] [-5.09734576e-02 2.24325585e-04 9.98699983e-01 -1.50789980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.065336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:668.48, Y:262.51, Z:-15.07 [[ 3.01964205e-01 -9.53193417e-01 1.54896432e-02 6.68481202e+02] [ 9.51955504e-01 3.02361213e-01 4.85635096e-02 2.62510266e+02] [-5.09738850e-02 8.10095531e-05 9.98699983e-01 -1.50711253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.125336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:668.50, Y:262.56, Z:-15.08 [[ 3.01460596e-01 -9.53353004e-01 1.54776944e-02 6.68499180e+02] [ 9.52115106e-01 3.01857650e-01 4.85673175e-02 2.62562079e+02] [-5.09738585e-02 9.54141759e-05 9.98699983e-01 -1.50846452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.185336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:668.52, Y:262.62, Z:-15.08 [[ 3.01962352e-01 -9.53194409e-01 1.54647004e-02 6.68517809e+02] [ 9.51956090e-01 3.02358092e-01 4.85714547e-02 2.62615119e+02] [-5.09739164e-02 5.49650224e-05 9.98699983e-01 -1.50827118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.245336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:668.54, Y:262.67, Z:-15.08 [[ 3.01078045e-01 -9.53474285e-01 1.54531389e-02 6.68535580e+02] [ 9.52236145e-01 3.01474345e-01 4.85751328e-02 2.62667800e+02] [-5.09738649e-02 9.01313636e-05 9.98699983e-01 -1.50843435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:668.56, Y:262.72, Z:-15.09 [[ 2.98676099e-01 -9.54229630e-01 1.54402408e-02 6.68556668e+02] [ 9.52992281e-01 2.99074859e-01 4.85792323e-02 2.62718813e+02] [-5.09735307e-02 2.04974667e-04 9.98699984e-01 -1.50873923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.365336195 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:668.58, Y:262.77, Z:-15.09 [[ 2.97545446e-01 -9.54583003e-01 1.54272070e-02 6.68577571e+02] [ 9.53345912e-01 2.97945008e-01 4.85833710e-02 2.62771401e+02] [-5.09733195e-02 2.51703890e-04 9.98699984e-01 -1.50913593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:668.60, Y:262.82, Z:-15.09 [[ 2.97575542e-01 -9.54573812e-01 1.54154023e-02 6.68598780e+02] [ 9.53336515e-01 2.97974464e-01 4.85871164e-02 2.62823280e+02] [-5.09733851e-02 2.37728412e-04 9.98699984e-01 -1.50935546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.4853361950001 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:668.62, Y:262.88, Z:-15.09 [[ 2.98832617e-01 -9.54181232e-01 1.54027075e-02 6.68618129e+02] [ 9.52943204e-01 2.99229262e-01 4.85911404e-02 2.62875274e+02] [-5.09736951e-02 1.57287755e-04 9.98699984e-01 -1.50933723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.545336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:668.64, Y:262.93, Z:-15.10 [[ 3.03540264e-01 -9.52694322e-01 1.53895232e-02 6.68638105e+02] [ 9.51454139e-01 3.03930119e-01 4.85953157e-02 2.62925630e+02] [-5.09738210e-02 -1.08209367e-04 9.98699984e-01 -1.50991934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.6053361950001 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:668.66, Y:262.98, Z:-15.10 [[ 3.07074497e-01 -9.51561224e-01 1.53782697e-02 6.68656450e+02] [ 9.50319424e-01 3.07459171e-01 4.85988767e-02 2.62978535e+02] [-5.09729967e-02 -3.09207208e-04 9.98699984e-01 -1.51008584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.665336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:668.67, Y:263.03, Z:-15.10 [[ 3.12849616e-01 -9.49678364e-01 1.53662880e-02 6.68674152e+02] [ 9.48434065e-01 3.13226126e-01 4.86026649e-02 2.63030993e+02] [-5.09700221e-02 -6.31414101e-04 9.98699984e-01 -1.51033241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.725336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:668.69, Y:263.08, Z:-15.11 [[ 3.16420951e-01 -9.48494627e-01 1.53533442e-02 6.68691095e+02] [ 9.47248721e-01 3.16792114e-01 4.86067534e-02 2.63084179e+02] [-5.09670628e-02 -8.36759467e-04 9.98699984e-01 -1.51065890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.785336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:668.71, Y:263.14, Z:-15.11 [[ 3.18152404e-01 -9.47915451e-01 1.53409584e-02 6.68709057e+02] [ 9.46668683e-01 3.18520656e-01 4.86106622e-02 2.63137461e+02] [-5.09652100e-02 -9.42794166e-04 9.98699984e-01 -1.51062903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:668.73, Y:263.19, Z:-15.10 [[ 3.17245334e-01 -9.48219604e-01 1.53290723e-02 6.68725907e+02] [ 9.46973008e-01 3.17614170e-01 4.86144102e-02 2.63191623e+02] [-5.09658673e-02 -9.06477105e-04 9.98699984e-01 -1.51046917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.905336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:668.74, Y:263.24, Z:-15.11 [[ 3.13276577e-01 -9.49538404e-01 1.53168547e-02 6.68742166e+02] [ 9.48293174e-01 3.13649998e-01 4.86182592e-02 2.63243662e+02] [-5.09690357e-02 -7.06093037e-04 9.98699984e-01 -1.51117280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.965336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:668.76, Y:263.30, Z:-15.11 [[ 3.09446153e-01 -9.50793825e-01 1.53029515e-02 6.68760258e+02] [ 9.49549895e-01 3.09823880e-01 4.86226350e-02 2.63296617e+02] [-5.09713209e-02 -5.15171334e-04 9.98699985e-01 -1.51120781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.025336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:668.78, Y:263.35, Z:-15.11 [[ 3.04194360e-01 -9.52487260e-01 1.52908961e-02 6.68777607e+02] [ 9.51245242e-01 3.04578331e-01 4.86264259e-02 2.63349469e+02] [-5.09733267e-02 -2.46492332e-04 9.98699985e-01 -1.51136588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.085336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:668.79, Y:263.40, Z:-15.12 [[ 3.01481226e-01 -9.53349708e-01 1.52775869e-02 6.68794016e+02] [ 9.52108577e-01 3.01868052e-01 4.86306071e-02 2.63402290e+02] [-5.09737904e-02 -1.15293504e-04 9.98699985e-01 -1.51153557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.145336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:668.81, Y:263.45, Z:-15.12 [[ 2.96822222e-01 -9.54810749e-01 1.52644071e-02 6.68813606e+02] [ 9.53571310e-01 2.97214433e-01 4.86347437e-02 2.63453630e+02] [-5.09737781e-02 1.19827982e-04 9.98699985e-01 -1.51171205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.205336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:668.83, Y:263.51, Z:-15.12 [[ 2.92684204e-01 -9.56087524e-01 1.52513711e-02 6.68832971e+02] [ 9.54849582e-01 2.93081116e-01 4.86388313e-02 2.63506877e+02] [-5.09728686e-02 3.26947702e-04 9.98699985e-01 -1.51166913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.265336195 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:668.85, Y:263.56, Z:-15.12 [[ 2.87937937e-01 -9.57527806e-01 1.52395966e-02 6.68853624e+02] [ 9.56291653e-01 2.88340387e-01 4.86425202e-02 2.63558338e+02] [-5.09707568e-02 5.67472137e-04 9.98699985e-01 -1.51184906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.325336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:668.87, Y:263.61, Z:-15.12 [[ 2.86688809e-01 -9.57902699e-01 1.52298083e-02 6.68873949e+02] [ 9.56666910e-01 2.87092374e-01 4.86455847e-02 2.63610539e+02] [-5.09700987e-02 6.23708860e-04 9.98699985e-01 -1.51203704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.385336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:668.90, Y:263.66, Z:-15.12 [[ 2.90060431e-01 -9.56887343e-01 1.52170675e-02 6.68895327e+02] [ 9.55649932e-01 2.90458994e-01 4.86495699e-02 2.63660530e+02] [-5.09720918e-02 4.30874258e-04 9.98699985e-01 -1.51248860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:668.91, Y:263.71, Z:-15.13 [[ 2.94623659e-01 -9.55492371e-01 1.52062209e-02 6.68914174e+02] [ 9.54252897e-01 2.95015760e-01 4.86529599e-02 2.63712298e+02] [-5.09736068e-02 1.76267314e-04 9.98699985e-01 -1.51264110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.505336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:668.93, Y:263.77, Z:-15.13 [[ 3.04338119e-01 -9.52442894e-01 1.51935423e-02 6.68933364e+02] [ 9.51199294e-01 3.04716930e-01 4.86569189e-02 2.63765790e+02] [-5.09726662e-02 -3.56068458e-04 9.98699985e-01 -1.51268751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.565336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:668.95, Y:263.82, Z:-15.13 [[ 3.11208269e-01 -9.50220466e-01 1.51815442e-02 6.68951523e+02] [ 9.48973981e-01 3.11577475e-01 4.86606622e-02 2.63818992e+02] [-5.09685843e-02 -7.36710030e-04 9.98699985e-01 -1.51285513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.625336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:668.97, Y:263.87, Z:-15.13 [[ 3.20034058e-01 -9.47284587e-01 1.51694860e-02 6.68965988e+02] [ 9.46034544e-01 3.20391034e-01 4.86644209e-02 2.63873881e+02] [-5.09592232e-02 -1.22341433e-03 9.98699985e-01 -1.51307044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.685336195 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:668.98, Y:263.93, Z:-15.14 [[ 3.22760233e-01 -9.46359381e-01 1.51576177e-02 6.68979393e+02] [ 9.45108144e-01 3.23112999e-01 4.86681173e-02 2.63927809e+02] [-5.09551527e-02 -1.38254499e-03 9.98699985e-01 -1.51427088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:668.99, Y:263.98, Z:-15.13 [[ 3.25164412e-01 -9.45536203e-01 1.51457466e-02 6.68993518e+02] [ 9.44283904e-01 3.25513386e-01 4.86718114e-02 2.63982679e+02] [-5.09511030e-02 -1.52445624e-03 9.98699986e-01 -1.51304415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.805336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:669.01, Y:264.04, Z:-15.13 [[ 3.24274039e-01 -9.45842134e-01 1.51329493e-02 6.69006848e+02] [ 9.44589979e-01 3.24623534e-01 4.86757900e-02 2.64035088e+02] [-5.09521245e-02 -1.48986276e-03 9.98699986e-01 -1.51348658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.865336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:669.02, Y:264.09, Z:-15.14 [[ 3.21175395e-01 -9.46899031e-01 1.51192477e-02 6.69015775e+02] [ 9.45647829e-01 3.21528284e-01 4.86800455e-02 2.64090947e+02] [-5.09563536e-02 -1.33734905e-03 9.98699986e-01 -1.51372102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:669.03, Y:264.15, Z:-15.14 [[ 3.19210073e-01 -9.47563551e-01 1.51078139e-02 6.69029610e+02] [ 9.46312917e-01 3.19564971e-01 4.86835937e-02 2.64145388e+02] [-5.09587270e-02 -1.24357405e-03 9.98699986e-01 -1.51378005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.9853361950001 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:669.04, Y:264.20, Z:-15.14 [[ 3.10452231e-01 -9.50469107e-01 1.50959698e-02 6.69039707e+02] [ 9.49221624e-01 3.10818047e-01 4.86872661e-02 2.64200874e+02] [-5.09678422e-02 -7.85649365e-04 9.98699986e-01 -1.51397005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.045336195 meters Centerline goodness : 0.999443 with order 1 Centerline is valid? [True, True] Translation: X:669.05, Y:264.25, Z:-15.14 [[ 3.02090529e-01 -9.53159892e-01 1.50841554e-02 6.69051925e+02] [ 9.51915488e-01 3.02466687e-01 4.86909261e-02 2.64254866e+02] [-5.09726924e-02 -3.50226428e-04 9.98699986e-01 -1.51432693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.1053361950001 meters Centerline goodness : 0.997806 with order 1 Centerline is valid? [True, True] Translation: X:669.06, Y:264.31, Z:-15.17 [[ 2.87918346e-01 -9.57536362e-01 1.50712318e-02 6.69062911e+02] [ 9.56297465e-01 2.88312265e-01 4.86949260e-02 2.64308222e+02] [-5.09723833e-02 3.92418222e-04 9.98699986e-01 -1.51727773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.165336195 meters Centerline goodness : 0.996034 with order 1 Centerline is valid? [True, True] Translation: X:669.08, Y:264.36, Z:-15.14 [[ 2.78893217e-01 -9.60204041e-01 1.50590114e-02 6.69078657e+02] [ 9.58968703e-01 2.79298160e-01 4.86987049e-02 2.64363866e+02] [-5.09666474e-02 8.59382150e-04 9.98699986e-01 -1.51448431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.225336195 meters Centerline goodness : 0.993424 with order 1 Centerline is valid? [True, True] Translation: X:669.09, Y:264.42, Z:-15.20 [[ 2.67949181e-01 -9.63315518e-01 1.50482381e-02 6.69089686e+02] [ 9.62084683e-01 2.68367610e-01 4.87020337e-02 2.64416836e+02] [-5.09538845e-02 1.42800931e-03 9.98699986e-01 -1.51989751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.285336195 meters Centerline goodness : 0.988870 with order 1 Centerline is valid? [True, True] Translation: X:669.12, Y:264.47, Z:-15.17 [[ 2.62831918e-01 -9.64724460e-01 1.50365657e-02 6.69116505e+02] [ 9.63495661e-01 2.63256286e-01 4.87056373e-02 2.64467697e+02] [-5.09459901e-02 1.68626975e-03 9.98699986e-01 -1.51717937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.345336195 meters Centerline goodness : 0.985790 with order 1 Centerline is valid? [True, True] Translation: X:669.13, Y:264.52, Z:-15.17 [[ 2.60267968e-01 -9.65419525e-01 1.50241636e-02 6.69131698e+02] [ 9.64191640e-01 2.60694974e-01 4.87094626e-02 2.64519787e+02] [-5.09417902e-02 1.80866005e-03 9.98699986e-01 -1.51735419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.405336195 meters Centerline goodness : 0.115256 with order 1 Centerline is valid? [True, False] Translation: X:670.45, Y:263.06, Z:-14.47 [[ 9.94637227e-01 -3.97958138e-02 -9.54624487e-02 6.70454257e+02] [ 5.13403159e-03 9.40869030e-01 -3.38731619e-01 2.63063552e+02] [ 1.03297762e-01 3.36424971e-01 9.36027676e-01 -1.44692419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.465336195 meters Centerline goodness : 0.091515 with order 1 Centerline is valid? [False, False] Translation: X:670.41, Y:263.01, Z:-14.50 [[ 9.95736520e-01 -2.04314901e-02 -8.99518543e-02 6.70408367e+02] [-3.12979512e-03 9.67116448e-01 -2.54314729e-01 2.63009449e+02] [ 9.21899466e-02 2.53511994e-01 9.62929220e-01 -1.44967839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.525336195 meters Centerline goodness : 0.129349 with order 1 Centerline is valid? [False, False] Translation: X:670.39, Y:262.96, Z:-14.51 [[ 9.96282970e-01 -3.64982799e-03 -8.60634827e-02 6.70393575e+02] [-1.22101632e-02 9.83030483e-01 -1.83035467e-01 2.62963069e+02] [ 8.52710749e-02 1.83405968e-01 9.79331963e-01 -1.45126900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.585336195 meters Centerline goodness : 0.132004 with order 1 Centerline is valid? [False, False] Translation: X:670.39, Y:262.92, Z:-14.52 [[ 9.96468735e-01 1.14460085e-02 -8.31808201e-02 6.70389751e+02] [-2.16493315e-02 9.92192852e-01 -1.22819590e-01 2.62922032e+02] [ 8.11256210e-02 1.24186690e-01 9.88936954e-01 -1.45229002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.645336195 meters Centerline goodness : 0.134471 with order 1 Centerline is valid? [False, False] Translation: X:670.39, Y:262.89, Z:-14.53 [[ 9.96433513e-01 2.71400167e-02 -7.98978973e-02 6.70385886e+02] [-3.32819199e-02 9.96508403e-01 -7.65722993e-02 2.62887072e+02] [ 7.75407526e-02 7.89583606e-02 9.93857640e-01 -1.45309039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.705336195 meters Centerline goodness : 0.136170 with order 1 Centerline is valid? [False, False] Translation: X:670.38, Y:262.87, Z:-14.53 [[ 9.96248803e-01 3.70377291e-02 -7.82082404e-02 6.70382929e+02] [-4.08490700e-02 9.98025656e-01 -4.77089522e-02 2.62865869e+02] [ 7.62867991e-02 5.07247204e-02 9.95794822e-01 -1.45349030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.765336195 meters Centerline goodness : 0.143741 with order 1 Centerline is valid? [False, False] Translation: X:670.41, Y:262.85, Z:-14.54 [[ 9.96355701e-01 4.61078712e-02 -7.17591861e-02 6.70408879e+02] [-4.84452873e-02 9.98339052e-01 -3.11799780e-02 2.62851880e+02] [ 7.02023554e-02 3.45427433e-02 9.96934515e-01 -1.45417893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.825336195 meters Centerline goodness : 0.147003 with order 1 Centerline is valid? [False, False] Translation: X:670.43, Y:262.84, Z:-14.55 [[ 9.96454666e-01 5.14713968e-02 -6.65491808e-02 6.70432917e+02] [-5.27023221e-02 9.98467693e-01 -1.68739552e-02 2.62844135e+02] [ 6.55786810e-02 2.03214278e-02 9.97640454e-01 -1.45474891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.885336195 meters Centerline goodness : 0.146357 with order 1 Centerline is valid? [False, False] Translation: X:670.43, Y:262.85, Z:-14.55 [[ 9.96494469e-01 5.22419364e-02 -6.53418154e-02 6.70431159e+02] [-5.34680335e-02 9.98422152e-01 -1.71573604e-02 2.62845575e+02] [ 6.43423823e-02 2.05909131e-02 9.97715426e-01 -1.45506439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.945336195 meters Centerline goodness : 0.088631 with order 1 Centerline is valid? [False, False] Translation: X:670.46, Y:262.84, Z:-14.56 [[ 9.96798030e-01 5.24728695e-02 -6.03347701e-02 6.70455631e+02] [-5.30372166e-02 9.98562156e-01 -7.78939528e-03 2.62839708e+02] [ 5.98392862e-02 1.09644421e-02 9.98147805e-01 -1.45565183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.005336195 meters Centerline goodness : 0.088330 with order 1 Centerline is valid? [False, False] Translation: X:670.50, Y:262.84, Z:-14.56 [[ 9.97139261e-01 4.91536263e-02 -5.74213894e-02 6.70496979e+02] [-4.99595052e-02 9.98670706e-01 -1.26833813e-02 2.62842421e+02] [ 5.67216253e-02 1.55158416e-02 9.98269461e-01 -1.45576871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.065336195 meters Centerline goodness : 0.086690 with order 1 Centerline is valid? [False, False] Translation: X:670.55, Y:262.85, Z:-14.55 [[ 9.97141050e-01 4.44657957e-02 -6.10943532e-02 6.70552750e+02] [-4.60877425e-02 9.98614421e-01 -2.53999761e-02 2.62852307e+02] [ 5.98802720e-02 2.81430597e-02 9.97808760e-01 -1.45489536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.125336195 meters Centerline goodness : 0.085348 with order 1 Centerline is valid? [False, False] Translation: X:670.64, Y:262.85, Z:-14.54 [[ 9.97234735e-01 3.97307823e-02 -6.28040403e-02 6.70636489e+02] [-4.18331915e-02 9.98595148e-01 -3.25225125e-02 2.62854937e+02] [ 6.14236650e-02 3.50598726e-02 9.97495834e-01 -1.45391676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.185336195 meters Centerline goodness : 0.087388 with order 1 Centerline is valid? [False, False] Translation: X:670.66, Y:262.85, Z:-14.55 [[ 9.97546596e-01 4.10991041e-02 -5.66714414e-02 6.70664539e+02] [-4.24556581e-02 9.98834862e-01 -2.29441698e-02 2.62845287e+02] [ 5.56624265e-02 2.52939018e-02 9.98129206e-01 -1.45470320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.245336195 meters Centerline goodness : 0.087030 with order 1 Centerline is valid? [False, False] Translation: X:670.69, Y:262.84, Z:-14.55 [[ 9.97875246e-01 4.04193859e-02 -5.11005550e-02 6.70691433e+02] [-4.12279235e-02 9.99039135e-01 -1.48682543e-02 2.62837190e+02] [ 5.04504885e-02 1.69434327e-02 9.98582830e-01 -1.45539421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.305336195 meters Centerline goodness : 0.089212 with order 1 Centerline is valid? [False, False] Translation: X:670.72, Y:262.83, Z:-14.56 [[ 9.98172853e-01 3.99689746e-02 -4.53148597e-02 6.70718451e+02] [-4.03038780e-02 9.99166321e-01 -6.50081742e-03 2.62829448e+02] [ 4.50172507e-02 8.31530405e-03 9.98951602e-01 -1.45614566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.365336195 meters Centerline goodness : 0.090067 with order 1 Centerline is valid? [False, False] Translation: X:670.75, Y:262.83, Z:-14.57 [[ 9.98371311e-01 4.06094922e-02 -4.00698792e-02 6.70750265e+02] [-4.11979679e-02 9.99053319e-01 -1.39711221e-02 2.62830605e+02] [ 3.94645857e-02 1.55991651e-02 9.99099201e-01 -1.45723456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.425336195 meters Centerline goodness : 0.092508 with order 1 Centerline is valid? [False, False] Translation: X:670.75, Y:262.83, Z:-14.57 [[ 9.98371811e-01 4.09332203e-02 -3.97265560e-02 6.70751539e+02] [-4.15208227e-02 9.99038422e-01 -1.40802303e-02 2.62831879e+02] [ 3.91120066e-02 1.57067843e-02 9.99111379e-01 -1.45744195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.4853361950001 meters SLAMing on 804.545336195 meters Centerline goodness : 0.158844 with order 2 Centerline is valid? [False, False] Translation: X:670.79, Y:262.84, Z:-14.59 [[ 9.98184552e-01 4.96848959e-02 -3.40442644e-02 6.70789351e+02] [-5.02383484e-02 9.98615439e-01 -1.55984907e-02 2.62835891e+02] [ 3.32221187e-02 1.72805001e-02 9.99298592e-01 -1.45897155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.6053361950001 meters Centerline goodness : 0.790045 with order 1 Centerline is valid? [False, False] Translation: X:670.82, Y:262.84, Z:-14.60 [[ 9.97967112e-01 5.64865587e-02 -2.95112245e-02 6.70821441e+02] [-5.70695112e-02 9.98183661e-01 -1.92989392e-02 2.62840423e+02] [ 2.83674915e-02 2.09438977e-02 9.99378126e-01 -1.46007813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.665336195 meters Centerline goodness : 0.780031 with order 1 Centerline is valid? [False, False] Translation: X:670.83, Y:262.84, Z:-14.61 [[ 9.97821281e-01 5.88079491e-02 -2.99051120e-02 6.70829136e+02] [-5.93599481e-02 9.98075827e-01 -1.79175726e-02 2.62841580e+02] [ 2.87938737e-02 1.96537011e-02 9.99392138e-01 -1.46061858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.725336195 meters Centerline goodness : 0.752524 with order 2 Centerline is valid? [False, False] Translation: X:670.85, Y:262.85, Z:-14.63 [[ 9.97931744e-01 6.00870455e-02 -2.28425396e-02 6.70846838e+02] [-6.04909223e-02 9.98016715e-01 -1.74208196e-02 2.62845267e+02] [ 2.17504707e-02 1.87665551e-02 9.99587282e-01 -1.46277387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.785336195 meters Centerline goodness : 0.744380 with order 2 Centerline is valid? [False, False] Translation: X:670.85, Y:262.85, Z:-14.63 [[ 9.97954930e-01 5.97859237e-02 -2.26186069e-02 6.70848782e+02] [-6.01984892e-02 9.98023742e-01 -1.80209064e-02 2.62849585e+02] [ 2.14965101e-02 1.93456583e-02 9.99581735e-01 -1.46298736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.845336195 meters Centerline goodness : 0.738799 with order 1 Centerline is valid? [False, False] Translation: X:670.88, Y:262.85, Z:-14.64 [[ 9.98258444e-01 5.67266049e-02 -1.61916754e-02 6.70880101e+02] [-5.69565109e-02 9.98276955e-01 -1.41094461e-02 2.62847167e+02] [ 1.53633954e-02 1.50070951e-02 9.99769350e-01 -1.46412148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.905336195 meters Centerline goodness : 0.719961 with order 2 Centerline is valid? [False, False] Translation: X:670.89, Y:262.85, Z:-14.65 [[ 9.98346300e-01 5.49391978e-02 -1.69218562e-02 6.70888475e+02] [-5.52068084e-02 9.98350313e-01 -1.57753133e-02 2.62847378e+02] [ 1.60272574e-02 1.66834274e-02 9.99732359e-01 -1.46466905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.965336195 meters Centerline goodness : 0.715518 with order 1 Centerline is valid? [False, False] Translation: X:670.92, Y:262.85, Z:-14.66 [[ 9.98636418e-01 5.13525175e-02 -9.39276776e-03 6.70923494e+02] [-5.14800094e-02 9.98577616e-01 -1.38763933e-02 2.62845272e+02] [ 8.66681991e-03 1.43410115e-02 9.99859601e-01 -1.46595992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.025336195 meters Centerline goodness : 0.705011 with order 2 Centerline is valid? [False, False] Translation: X:670.93, Y:262.85, Z:-14.66 [[ 9.98646766e-01 5.11637087e-02 -9.32269585e-03 6.70926153e+02] [-5.12928867e-02 9.98582863e-01 -1.41882468e-02 2.62847594e+02] [ 8.58356098e-03 1.46472347e-02 9.99855880e-01 -1.46614261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.085336195 meters Centerline goodness : 0.701995 with order 3 Centerline is valid? [False, False] Translation: X:670.93, Y:262.85, Z:-14.66 [[ 9.98651468e-01 5.10745457e-02 -9.30786994e-03 6.70928771e+02] [-5.12066597e-02 9.98581997e-01 -1.45558575e-02 2.62849716e+02] [ 8.55123755e-03 1.50128534e-02 9.99850734e-01 -1.46629535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.145336195 meters Centerline goodness : 0.655139 with order 3 Centerline is valid? [False, False] Translation: X:670.94, Y:262.85, Z:-14.67 [[ 9.98631717e-01 5.13891640e-02 -9.68753703e-03 6.70939755e+02] [-5.15299425e-02 9.98560438e-01 -1.48901473e-02 2.62851390e+02] [ 8.90839900e-03 1.53689716e-02 9.99842205e-01 -1.46711076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.205336195 meters Centerline goodness : 0.662010 with order 3 Centerline is valid? [False, False] Translation: X:670.98, Y:262.85, Z:-14.69 [[ 9.98778706e-01 4.93208180e-02 -2.92465919e-03 6.70976010e+02] [-4.93482536e-02 9.98729569e-01 -1.01979765e-02 2.62850593e+02] [ 2.41797107e-03 1.03298486e-02 9.99943722e-01 -1.46871838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.265336195 meters Centerline goodness : 0.672239 with order 2 Centerline is valid? [False, False] Translation: X:670.99, Y:262.85, Z:-14.69 [[ 9.98857630e-01 4.76470480e-02 -3.63242781e-03 6.70985040e+02] [-4.76858133e-02 9.98796645e-01 -1.14597503e-02 2.62851101e+02] [ 3.08203343e-03 1.16198743e-02 9.99927737e-01 -1.46925564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.325336195 meters Centerline goodness : 0.436322 with order 3 Centerline is valid? [False, False] Translation: X:671.02, Y:262.85, Z:-14.69 [[ 9.99164505e-01 4.00558966e-02 -8.11282537e-03 6.71016515e+02] [-4.01529413e-02 9.99119371e-01 -1.21747448e-02 2.62850562e+02] [ 7.61801066e-03 1.24903267e-02 9.99892973e-01 -1.46932260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.385336195 meters Centerline goodness : 0.498342 with order 3 Centerline is valid? [False, False] Translation: X:671.05, Y:262.85, Z:-14.71 [[ 9.99381822e-01 3.51442211e-02 -9.26368456e-04 6.71045924e+02] [-3.51513108e-02 9.99338969e-01 -9.27422301e-03 2.62845914e+02] [ 5.99820753e-04 9.30105296e-03 9.99956564e-01 -1.47055788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.445336195 meters Centerline goodness : 0.432873 with order 2 Centerline is valid? [False, False] Translation: X:671.08, Y:262.84, Z:-14.72 [[ 9.99490662e-01 3.12004861e-02 6.70421376e-03 6.71079673e+02] [-3.11611840e-02 9.99497024e-01 -5.88892550e-03 2.62837584e+02] [-6.88457904e-03 5.67701480e-03 9.99960186e-01 -1.47203880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.505336195 meters Centerline goodness : 0.439513 with order 3 Centerline is valid? [False, False] Translation: X:671.09, Y:262.83, Z:-14.72 [[ 9.99571725e-01 2.86242381e-02 6.08431466e-03 6.71087355e+02] [-2.85703065e-02 9.99553282e-01 -8.77346909e-03 2.62833970e+02] [-6.33273055e-03 8.59588091e-03 9.99943002e-01 -1.47247264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.565336195 meters Centerline goodness : 0.449170 with order 2 Centerline is valid? [False, False] Translation: X:671.15, Y:262.83, Z:-14.72 [[ 9.99593173e-01 2.84777197e-02 -1.58370012e-03 6.71145881e+02] [-2.84888134e-02 9.99566051e-01 -7.48977189e-03 2.62825978e+02] [ 1.36972125e-03 7.53184258e-03 9.99970697e-01 -1.47220244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.625336195 meters Centerline goodness : 0.438559 with order 1 Centerline is valid? [False, False] Translation: X:671.15, Y:262.82, Z:-14.73 [[ 9.99542640e-01 3.01728525e-02 -2.02739078e-03 6.71153136e+02] [-3.01851021e-02 9.99524404e-01 -6.31068948e-03 2.62821661e+02] [ 1.83601506e-03 6.36900022e-03 9.99978032e-01 -1.47255858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.685336195 meters Centerline goodness : 0.447217 with order 1 Centerline is valid? [False, False] Translation: X:671.17, Y:262.82, Z:-14.73 [[ 9.99459440e-01 3.27422036e-02 -2.96258069e-03 6.71168262e+02] [-3.27577401e-02 9.99448964e-01 -5.35716789e-03 2.62818893e+02] [ 2.78554272e-03 5.45131947e-03 9.99981262e-01 -1.47344823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.745336195 meters Centerline goodness : 0.448919 with order 1 Centerline is valid? [False, False] Translation: X:671.20, Y:262.81, Z:-14.74 [[ 9.99157671e-01 4.04655580e-02 -6.81816249e-03 6.71200785e+02] [-4.05017348e-02 9.99165654e-01 -5.25409378e-03 2.62814399e+02] [ 6.59986395e-03 5.52581551e-03 9.99962953e-01 -1.47356788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.805336195 meters Centerline goodness : 0.452539 with order 1 Centerline is valid? [False, False] Translation: X:671.21, Y:262.82, Z:-14.74 [[ 9.99046666e-01 4.29952687e-02 -7.56088497e-03 6.71210947e+02] [-4.30282435e-02 9.99064800e-01 -4.25396164e-03 2.62815045e+02] [ 7.37091380e-03 4.57523779e-03 9.99962368e-01 -1.47413100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.865336195 meters Centerline goodness : 0.462170 with order 1 Centerline is valid? [False, False] Translation: X:671.23, Y:262.82, Z:-14.75 [[ 9.98933073e-01 4.53939161e-02 -8.49162807e-03 6.71225433e+02] [-4.54277870e-02 9.98960248e-01 -3.83921731e-03 2.62816170e+02] [ 8.30852177e-03 4.22087702e-03 9.99956575e-01 -1.47492622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.925336195 meters Centerline goodness : 0.452234 with order 1 Centerline is valid? [False, False] Translation: X:671.24, Y:262.82, Z:-14.76 [[ 9.98851056e-01 4.70041904e-02 -9.33674773e-03 6.71236820e+02] [-4.70402380e-02 9.98886219e-01 -3.67937561e-03 2.62817458e+02] [ 9.15340256e-03 4.11435105e-03 9.99949642e-01 -1.47554741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.9853361950001 meters Centerline goodness : 0.475310 with order 1 Centerline is valid? [False, False] Translation: X:671.25, Y:262.82, Z:-14.76 [[ 9.98590999e-01 5.21330818e-02 -9.90749276e-03 6.71249340e+02] [-5.21310539e-02 9.98640145e-01 4.62994538e-04 2.62819497e+02] [ 9.91815734e-03 5.41458610e-05 9.99950812e-01 -1.47626106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.045336195 meters Centerline goodness : 0.472393 with order 1 Centerline is valid? [False, False] Translation: X:671.26, Y:262.82, Z:-14.77 [[ 9.98520552e-01 5.33680531e-02 -1.04191245e-02 6.71257637e+02] [-5.33632598e-02 9.98574894e-01 7.37704657e-04 2.62822199e+02] [ 1.04436460e-02 -1.80614813e-04 9.99945447e-01 -1.47663264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.1053361950001 meters Centerline goodness : 0.464077 with order 1 Centerline is valid? [False, False] Translation: X:671.26, Y:262.82, Z:-14.77 [[ 9.98516782e-01 5.33956539e-02 -1.06367092e-02 6.71262307e+02] [-5.33962016e-02 9.98573378e-01 2.32688738e-04 2.62824953e+02] [ 1.06339592e-02 3.35616260e-04 9.99943402e-01 -1.47679116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.165336195 meters Centerline goodness : 0.478387 with order 1 Centerline is valid? [False, False] Translation: X:671.28, Y:262.83, Z:-14.78 [[ 9.98504653e-01 5.34209570e-02 -1.16042794e-02 6.71275807e+02] [-5.34297059e-02 9.98571514e-01 -4.45009327e-04 2.62829271e+02] [ 1.15639301e-02 1.06435712e-03 9.99932569e-01 -1.47754427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.225336195 meters Centerline goodness : 0.481301 with order 1 Centerline is valid? [False, False] Translation: X:671.33, Y:262.84, Z:-14.78 [[ 9.98542718e-01 5.35854496e-02 -6.40624746e-03 6.71326638e+02] [-5.35909659e-02 9.98562732e-01 -6.92420692e-04 2.62839218e+02] [ 6.35993629e-03 1.03472863e-03 9.99979240e-01 -1.47849272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.285336195 meters Centerline goodness : 0.446670 with order 1 Centerline is valid? [False, False] Translation: X:671.33, Y:262.84, Z:-14.79 [[ 9.98562334e-01 5.32023388e-02 -6.54030708e-03 6.71330497e+02] [-5.32138338e-02 9.98581865e-01 -1.59617157e-03 2.62844539e+02] [ 6.44611198e-03 1.94191162e-03 9.99977338e-01 -1.47855818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.345336195 meters Centerline goodness : 0.356608 with order 1 Centerline is valid? [False, False] Translation: X:671.37, Y:262.85, Z:-14.79 [[ 9.98766847e-01 4.96441140e-02 -4.97105764e-04 6.71372811e+02] [-4.96460944e-02 9.98751867e-01 -5.47478038e-03 2.62849857e+02] [ 2.24694688e-04 5.49270850e-03 9.99984890e-01 -1.47888787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.405336195 meters Centerline goodness : 0.085129 with order 1 Centerline is valid? [False, False] Translation: X:671.40, Y:262.85, Z:-14.81 [[ 9.99122500e-01 4.12955394e-02 6.99341832e-03 6.71404298e+02] [-4.12612031e-02 9.99135958e-01 -4.98496942e-03 2.62853212e+02] [-7.19323272e-03 4.69203825e-03 9.99963120e-01 -1.48053350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.465336195 meters Centerline goodness : 0.085345 with order 1 Centerline is valid? [False, False] Translation: X:671.45, Y:262.85, Z:-14.81 [[ 9.99631243e-01 2.62310110e-02 7.02222490e-03 6.71453857e+02] [-2.62261839e-02 9.99655731e-01 -7.78610853e-04 2.62854007e+02] [-7.04023112e-03 5.94157573e-04 9.99975041e-01 -1.48079478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.525336195 meters Centerline goodness : 0.310733 with order 1 Centerline is valid? [False, False] Translation: X:671.48, Y:262.85, Z:-14.81 [[ 9.99851524e-01 1.69584947e-02 3.05589920e-03 6.71481033e+02] [-1.69494913e-02 9.99852000e-01 -2.94845258e-03 2.62850469e+02] [-3.10544824e-03 2.89621887e-03 9.99990984e-01 -1.48053282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.585336195 meters Centerline goodness : 0.300895 with order 1 Centerline is valid? [False, False] Translation: X:671.51, Y:262.84, Z:-14.80 [[ 9.99970108e-01 7.65426194e-03 -1.09375064e-03 6.71510716e+02] [-7.65941896e-03 9.99959188e-01 -4.79127010e-03 2.62842441e+02] [ 1.05703236e-03 4.79950437e-03 9.99987924e-01 -1.48031587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.645336195 meters Centerline goodness : 0.320493 with order 1 Centerline is valid? [False, False] Translation: X:671.51, Y:262.84, Z:-14.80 [[ 9.99969316e-01 7.71737445e-03 -1.34520250e-03 6.71514466e+02] [-7.72247293e-03 9.99962858e-01 -3.82705448e-03 2.62835374e+02] [ 1.31561772e-03 3.83732534e-03 9.99991772e-01 -1.48039238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.705336195 meters Centerline goodness : 0.289929 with order 1 Centerline is valid? [False, False] Translation: X:671.53, Y:262.83, Z:-14.81 [[ 9.99966920e-01 7.82362085e-03 -2.22495076e-03 6.71527694e+02] [-7.83016189e-03 9.99965003e-01 -2.94650031e-03 2.62826199e+02] [ 2.20182060e-03 2.96382456e-03 9.99993184e-01 -1.48109382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.765336195 meters Centerline goodness : 0.350635 with order 1 Centerline is valid? [False, False] Translation: X:671.53, Y:262.82, Z:-14.81 [[ 9.99962263e-01 8.32466290e-03 -2.48429544e-03 6.71529915e+02] [-8.33012823e-03 9.99962889e-01 -2.19777311e-03 2.62820401e+02] [ 2.46590753e-03 2.21838468e-03 9.99994499e-01 -1.48121520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.825336195 meters Centerline goodness : 0.282135 with order 1 Centerline is valid? [False, False] Translation: X:671.55, Y:262.81, Z:-14.82 [[ 9.99945723e-01 9.73753498e-03 -3.70564653e-03 6.71546223e+02] [-9.74025323e-03 9.99952306e-01 -7.16204623e-04 2.62807689e+02] [ 3.69849572e-03 7.52259685e-04 9.99992878e-01 -1.48201448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.885336195 meters Centerline goodness : 0.307122 with order 1 Centerline is valid? [False, False] Translation: X:671.56, Y:262.80, Z:-14.83 [[ 9.99931834e-01 1.07680626e-02 -4.51396100e-03 6.71557160e+02] [-1.07676263e-02 9.99942020e-01 1.20946468e-04 2.62799549e+02] [ 4.51500164e-03 -7.23335787e-05 9.99989805e-01 -1.48258424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.945336195 meters Centerline goodness : 0.300062 with order 2 Centerline is valid? [False, False] Translation: X:671.57, Y:262.79, Z:-14.83 [[ 9.99894031e-01 1.33574487e-02 -5.78845084e-03 6.71573102e+02] [-1.33480236e-02 9.99909527e-01 1.66384467e-03 2.62791078e+02] [ 5.81015186e-03 -1.58640398e-03 9.99981863e-01 -1.48317836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.005336195 meters Centerline goodness : 0.307498 with order 2 Centerline is valid? [False, False] Translation: X:671.61, Y:262.78, Z:-14.83 [[ 9.99748019e-01 2.01038786e-02 -9.98657477e-03 6.71607704e+02] [-2.00866220e-02 9.99796577e-01 1.82529562e-03 2.62779817e+02] [ 1.00212388e-02 -1.62423913e-03 9.99948467e-01 -1.48325485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.065336195 meters Centerline goodness : 0.308486 with order 1 Centerline is valid? [False, False] Translation: X:671.62, Y:262.78, Z:-14.84 [[ 9.99691163e-01 2.23049998e-02 -1.09574265e-02 6.71619544e+02] [-2.22777714e-02 9.99748437e-01 2.60074890e-03 2.62778019e+02] [ 1.10126797e-02 -2.35583865e-03 9.99936583e-01 -1.48377598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.125336195 meters Centerline goodness : 0.283675 with order 1 Centerline is valid? [False, False] Translation: X:671.63, Y:262.77, Z:-14.84 [[ 9.99629721e-01 2.44082965e-02 -1.20272859e-02 6.71634824e+02] [-2.43670818e-02 9.99696735e-01 3.56149344e-03 2.62772225e+02] [ 1.21105684e-02 -3.26710483e-03 9.99921327e-01 -1.48432941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.185336195 meters Centerline goodness : 0.054472 with order 1 Centerline is valid? [False, False] Translation: X:671.68, Y:262.77, Z:-14.85 [[ 9.99680855e-01 2.45859171e-02 -5.80697910e-03 6.71678064e+02] [-2.45633842e-02 9.99690588e-01 3.92028568e-03 2.62767406e+02] [ 5.90156617e-03 -3.77639548e-03 9.99975455e-01 -1.48469903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.245336195 meters Centerline goodness : 0.058189 with order 3 Centerline is valid? [False, False] Translation: X:671.73, Y:262.76, Z:-14.84 [[ 9.99614836e-01 2.46742834e-02 -1.27027438e-02 6.71725142e+02] [-2.46114060e-02 9.99684173e-01 5.08268118e-03 2.62757679e+02] [ 1.28241434e-02 -4.76809113e-03 9.99906399e-01 -1.48362991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.305336195 meters Centerline goodness : 0.103616 with order 3 Centerline is valid? [False, False] Translation: X:671.74, Y:262.75, Z:-14.84 [[ 9.99599632e-01 2.46423094e-02 -1.39043891e-02 6.71738100e+02] [-2.45679002e-02 9.99683049e-01 5.49717966e-03 2.62753922e+02] [ 1.40354453e-02 -5.15337713e-03 9.99888218e-01 -1.48431465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.365336195 meters Centerline goodness : 0.130714 with order 1 Centerline is valid? [False, False] Translation: X:671.79, Y:262.75, Z:-14.85 [[ 9.99682407e-01 2.36375323e-02 -8.73792231e-03 6.71791475e+02] [-2.36001018e-02 9.99711961e-01 4.36227665e-03 2.62750062e+02] [ 8.83851891e-03 -4.15467537e-03 9.99952308e-01 -1.48541738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.425336195 meters Centerline goodness : 0.113984 with order 2 Centerline is valid? [False, False] Translation: X:671.80, Y:262.75, Z:-14.86 [[ 9.99664445e-01 2.39700152e-02 -9.82016311e-03 6.71803809e+02] [-2.39258189e-02 9.99703183e-01 4.59360674e-03 2.62748998e+02] [ 9.92735714e-03 -4.35710989e-03 9.99941230e-01 -1.48607192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.4853361950001 meters Centerline goodness : 0.177910 with order 2 Centerline is valid? [False, False] Translation: X:671.85, Y:262.75, Z:-14.85 [[ 9.99641989e-01 2.05383414e-02 -1.71484632e-02 6.71853489e+02] [-2.05306029e-02 9.99789028e-01 6.27204406e-04 2.62746665e+02] [ 1.71577271e-02 -2.74911571e-04 9.99852758e-01 -1.48523295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.545336195 meters Centerline goodness : 0.062387 with order 3 Centerline is valid? [False, False] Translation: X:671.90, Y:262.74, Z:-14.86 [[ 9.99739439e-01 1.98124035e-02 -1.13367856e-02 6.71902417e+02] [-1.97939882e-02 9.99802576e-01 1.73429565e-03 2.62741539e+02] [ 1.13689080e-02 -1.50944356e-03 9.99934233e-01 -1.48600278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.6053361950001 meters Centerline goodness : 0.176807 with order 2 Centerline is valid? [False, False] Translation: X:671.93, Y:262.74, Z:-14.86 [[ 9.99759880e-01 1.55853266e-02 -1.54038854e-02 6.71931154e+02] [-1.55301762e-02 9.99872578e-01 3.69345919e-03 2.62738762e+02] [ 1.54594864e-02 -3.45334726e-03 9.99874531e-01 -1.48585402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.665336195 meters Centerline goodness : 0.201615 with order 3 Centerline is valid? [False, False] Translation: X:671.98, Y:262.74, Z:-14.87 [[ 9.99879945e-01 1.24163518e-02 -9.26988119e-03 6.71979732e+02] [-1.24074089e-02 9.99922503e-01 1.02161488e-03 2.62735121e+02] [ 9.28184753e-03 -9.06477027e-04 9.99956512e-01 -1.48659101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.725336195 meters Centerline goodness : 0.195795 with order 3 Centerline is valid? [False, False] Translation: X:671.99, Y:262.73, Z:-14.87 [[ 9.99880780e-01 1.17551972e-02 -1.00120649e-02 6.71988788e+02] [-1.17485536e-02 9.99930723e-01 7.22117398e-04 2.62734062e+02] [ 1.00198600e-02 -6.04404025e-04 9.99949617e-01 -1.48695092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.785336195 meters Centerline goodness : 0.092142 with order 2 Centerline is valid? [False, False] Translation: X:672.04, Y:262.73, Z:-14.86 [[ 9.99733320e-01 1.44759944e-02 -1.79926301e-02 6.72042501e+02] [-1.43781493e-02 9.99881195e-01 5.55559360e-03 2.62730433e+02] [ 1.80709152e-02 -5.29541131e-03 9.99822685e-01 -1.48649127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.845336195 meters Centerline goodness : 0.263119 with order 1 Centerline is valid? [False, False] Translation: X:672.06, Y:262.73, Z:-14.87 [[ 9.99745434e-01 1.21225669e-02 -1.90291801e-02 6.72057735e+02] [-1.20927974e-02 9.99925470e-01 1.67870950e-03 2.62731669e+02] [ 1.90481121e-02 -1.44816614e-03 9.99817519e-01 -1.48714504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.905336195 meters SLAMing on 807.965336195 meters SLAMing on 808.025336195 meters Centerline goodness : 0.124066 with order 1 Centerline is valid? [False, False] Translation: X:672.19, Y:262.73, Z:-14.85 [[ 9.99545790e-01 1.49613050e-02 -2.61605183e-02 6.72190248e+02] [-1.48045046e-02 9.99871326e-01 6.17723342e-03 2.62725402e+02] [ 2.62495716e-02 -5.78713414e-03 9.99638669e-01 -1.48545647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.085336195 meters Centerline goodness : 0.189680 with order 1 Centerline is valid? [False, False] Translation: X:672.24, Y:262.72, Z:-14.86 [[ 9.99723200e-01 1.32159769e-02 -1.94643432e-02 6.72235195e+02] [-1.31380246e-02 9.99905174e-01 4.12732547e-03 2.62722909e+02] [ 1.95170442e-02 -3.87046000e-03 9.99802033e-01 -1.48592998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.145336195 meters Centerline goodness : 0.191149 with order 1 Centerline is valid? [False, False] Translation: X:672.27, Y:262.72, Z:-14.86 [[ 9.99840134e-01 1.33042542e-02 -1.19458138e-02 6.72272722e+02] [-1.32558099e-02 9.99903628e-01 4.12540289e-03 2.62720947e+02] [ 1.19995479e-02 -3.96639194e-03 9.99920136e-01 -1.48610498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.205336195 meters Centerline goodness : 0.196717 with order 1 Centerline is valid? [False, False] Translation: X:672.29, Y:262.72, Z:-14.87 [[ 9.99822723e-01 1.36105778e-02 -1.30105683e-02 6.72287223e+02] [-1.35528363e-02 9.99897958e-01 4.51596454e-03 2.62716985e+02] [ 1.30707056e-02 -4.33883386e-03 9.99905161e-01 -1.48679014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.265336195 meters Centerline goodness : 0.197790 with order 1 Centerline is valid? [False, False] Translation: X:672.29, Y:262.72, Z:-14.87 [[ 9.99811743e-01 1.38679726e-02 -1.35704590e-02 6.72292581e+02] [-1.38047598e-02 9.99893471e-01 4.74076081e-03 2.62715876e+02] [ 1.36347581e-02 -4.55253140e-03 9.99896679e-01 -1.48689888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.325336195 meters Centerline goodness : 0.115225 with order 1 Centerline is valid? [False, False] Translation: X:672.34, Y:262.71, Z:-14.87 [[ 9.99870692e-01 1.45508926e-02 -6.84619218e-03 6.72337563e+02] [-1.45135896e-02 9.99879725e-01 5.46722585e-03 2.62709375e+02] [ 6.92492177e-03 -5.36715608e-03 9.99961619e-01 -1.48738531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.385336195 meters Centerline goodness : 0.179194 with order 3 Centerline is valid? [False, False] Translation: X:672.38, Y:262.70, Z:-14.88 [[ 9.99894740e-01 1.45035028e-02 -3.97357266e-04 6.72382786e+02] [-1.45012692e-02 9.99881630e-01 5.14199855e-03 2.62703967e+02] [ 4.71887221e-04 -5.13569511e-03 9.99986701e-01 -1.48794395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.445336195 meters Centerline goodness : 0.112567 with order 1 Centerline is valid? [False, False] Translation: X:672.39, Y:262.70, Z:-14.88 [[ 9.99889697e-01 1.48168746e-02 -1.02619127e-03 6.72387677e+02] [-1.48108602e-02 9.99874410e-01 5.63947119e-03 2.62700689e+02] [ 1.10962173e-03 -5.62365037e-03 9.99983572e-01 -1.48803549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.505336195 meters Centerline goodness : 0.112845 with order 1 Centerline is valid? [False, False] Translation: X:672.40, Y:262.70, Z:-14.89 [[ 9.99874182e-01 1.57241476e-02 -2.09086707e-03 6.72402290e+02] [-1.57109265e-02 9.99857378e-01 6.19608004e-03 2.62698715e+02] [ 2.18799695e-03 -6.16245101e-03 9.99978618e-01 -1.48871262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.565336195 meters Centerline goodness : 0.111114 with order 1 Centerline is valid? [False, False] Translation: X:672.42, Y:262.70, Z:-14.89 [[ 9.99854274e-01 1.67414264e-02 -3.34005038e-03 6.72416747e+02] [-1.67186518e-02 9.99837558e-01 6.73385924e-03 2.62695547e+02] [ 3.45224222e-03 -6.67703680e-03 9.99971749e-01 -1.48938502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.625336195 meters Centerline goodness : 0.111393 with order 1 Centerline is valid? [False, False] Translation: X:672.43, Y:262.69, Z:-14.90 [[ 9.99829781e-01 1.79284070e-02 -4.35672377e-03 6.72426086e+02] [-1.78957978e-02 9.99812384e-01 7.41194299e-03 2.62694631e+02] [ 4.48879071e-03 -7.33271429e-03 9.99963040e-01 -1.48977001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.685336195 meters Centerline goodness : 0.112002 with order 1 Centerline is valid? [False, False] Translation: X:672.43, Y:262.70, Z:-14.90 [[ 9.99827856e-01 1.79416366e-02 -4.72816943e-03 6.72428535e+02] [-1.79072752e-02 9.99813640e-01 7.21216401e-03 2.62696424e+02] [ 4.85668632e-03 -7.12625385e-03 9.99962814e-01 -1.48982140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.745336195 meters Centerline goodness : 0.107909 with order 1 Centerline is valid? [False, False] Translation: X:672.48, Y:262.70, Z:-14.89 [[ 9.99744828e-01 1.88954781e-02 -1.23790348e-02 6.72478651e+02] [-1.88052800e-02 9.99796055e-01 7.36269598e-03 2.62695750e+02] [ 1.25156319e-02 -7.12802600e-03 9.99896270e-01 -1.48940868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.805336195 meters Centerline goodness : 0.111294 with order 1 Centerline is valid? [False, False] Translation: X:672.52, Y:262.70, Z:-14.90 [[ 9.99799451e-01 1.93778968e-02 -5.05514024e-03 6.72519104e+02] [-1.93396186e-02 9.99784735e-01 7.51420149e-03 2.62695498e+02] [ 5.19966147e-03 -7.41493004e-03 9.99958990e-01 -1.48975769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.865336195 meters Centerline goodness : 0.111774 with order 1 Centerline is valid? [False, False] Translation: X:672.52, Y:262.70, Z:-14.90 [[ 9.99798676e-01 1.92587717e-02 -5.63085003e-03 6.72523049e+02] [-1.92167807e-02 9.99787817e-01 7.41867566e-03 2.62695839e+02] [ 5.77252984e-03 -7.30897529e-03 9.99956627e-01 -1.48974366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.925336195 meters Centerline goodness : 0.111098 with order 1 Centerline is valid? [False, False] Translation: X:672.55, Y:262.70, Z:-14.90 [[ 9.99847011e-01 1.44128269e-02 -9.91088171e-03 6.72554283e+02] [-1.43233883e-02 9.99856578e-01 9.03681426e-03 2.62696106e+02] [ 1.00397063e-02 -8.89347431e-03 9.99910051e-01 -1.48973989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.9853361950001 meters Centerline goodness : 0.110243 with order 1 Centerline is valid? [False, False] Translation: X:672.56, Y:262.70, Z:-14.90 [[ 9.99896529e-01 1.03004170e-02 -1.00415199e-02 6.72558642e+02] [-1.02542634e-02 9.99936672e-01 4.63698136e-03 2.62698074e+02] [ 1.00886468e-02 -4.53353318e-03 9.99938831e-01 -1.48981412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.045336195 meters Centerline goodness : 0.110034 with order 1 Centerline is valid? [False, False] Translation: X:672.59, Y:262.70, Z:-14.90 [[ 9.99952974e-01 9.55574016e-03 -1.65457457e-03 6.72589322e+02] [-9.54903522e-03 9.99946351e-01 4.01392204e-03 2.62697658e+02] [ 1.69284180e-03 -3.99793369e-03 9.99990575e-01 -1.48973423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.1053361950001 meters Centerline goodness : 0.110840 with order 1 Centerline is valid? [False, False] Translation: X:672.59, Y:262.70, Z:-14.90 [[ 9.99950999e-01 9.67673633e-03 -2.08831736e-03 6.72593681e+02] [-9.66854381e-03 9.99945661e-01 3.89809949e-03 2.62698593e+02] [ 2.12592476e-03 -3.87771749e-03 9.99990222e-01 -1.48980132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.165336195 meters Centerline goodness : 0.110977 with order 1 Centerline is valid? [False, False] Translation: X:672.60, Y:262.70, Z:-14.90 [[ 9.99945106e-01 1.00953997e-02 -2.80481521e-03 6.72598173e+02] [-1.00853082e-02 9.99942701e-01 3.58904676e-03 2.62702054e+02] [ 2.84088736e-03 -3.56056231e-03 9.99989626e-01 -1.48987579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.225336195 meters Centerline goodness : 0.111499 with order 1 Centerline is valid? [False, False] Translation: X:672.63, Y:262.71, Z:-14.90 [[ 9.99909997e-01 1.15793966e-02 -6.77615547e-03 6.72626246e+02] [-1.15163317e-02 9.99890686e-01 9.27305030e-03 2.62709474e+02] [ 6.88279107e-03 -9.19417924e-03 9.99934045e-01 -1.48977101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.285336195 meters Centerline goodness : 0.112143 with order 1 Centerline is valid? [False, False] Translation: X:672.63, Y:262.72, Z:-14.90 [[ 9.99875484e-01 1.38976622e-02 -7.47476442e-03 6.72634530e+02] [-1.38245452e-02 9.99856937e-01 9.74614171e-03 2.62715796e+02] [ 7.60914364e-03 -9.64159294e-03 9.99924567e-01 -1.49019153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.345336195 meters Centerline goodness : 0.112907 with order 1 Centerline is valid? [False, False] Translation: X:672.64, Y:262.72, Z:-14.90 [[ 9.99866820e-01 1.42178625e-02 -8.01211993e-03 6.72638202e+02] [-1.41458951e-02 9.99859720e-01 8.96852513e-03 2.62722375e+02] [ 8.13850925e-03 -8.85399210e-03 9.99927683e-01 -1.49030014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.405336195 meters Centerline goodness : 0.113298 with order 1 Centerline is valid? [False, False] Translation: X:672.64, Y:262.73, Z:-14.90 [[ 9.99855317e-01 1.46220964e-02 -8.69131172e-03 6.72642323e+02] [-1.45511465e-02 9.99860738e-01 8.17125035e-03 2.62730197e+02] [ 8.80958216e-03 -8.04359956e-03 9.99928843e-01 -1.49038882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.465336195 meters Centerline goodness : 0.117629 with order 1 Centerline is valid? [False, False] Translation: X:672.65, Y:262.74, Z:-14.90 [[ 9.99855819e-01 1.43467863e-02 -9.08359816e-03 6.72645718e+02] [-1.42818077e-02 9.99872243e-01 7.17830843e-03 2.62736780e+02] [ 9.18542333e-03 -7.04754325e-03 9.99932978e-01 -1.49041194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.525336195 meters Centerline goodness : 0.116029 with order 1 Centerline is valid? [False, False] Translation: X:672.65, Y:262.74, Z:-14.90 [[ 9.99903369e-01 1.00575574e-02 -9.59680507e-03 6.72649205e+02] [-1.00384134e-02 9.99947531e-01 2.04092145e-03 2.62743823e+02] [ 9.61682822e-03 -1.94438754e-03 9.99951867e-01 -1.49040970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.585336195 meters Centerline goodness : 0.115110 with order 1 Centerline is valid? [False, False] Translation: X:672.65, Y:262.75, Z:-14.90 [[ 9.99903810e-01 9.50671329e-03 -1.00991419e-02 6.72651882e+02] [-9.49137886e-03 9.99953731e-01 1.56523485e-03 2.62745923e+02] [ 1.01135549e-02 -1.46922951e-03 9.99947777e-01 -1.49042507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.645336195 meters Centerline goodness : 0.113775 with order 1 Centerline is valid? [False, False] Translation: X:672.66, Y:262.75, Z:-14.90 [[ 9.99903317e-01 8.78526830e-03 -1.07784574e-02 6.72655815e+02] [-8.77651627e-03 9.99961117e-01 8.59024441e-04 2.62748913e+02] [ 1.07855851e-02 -7.64344081e-04 9.99941542e-01 -1.49047504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.705336195 meters Centerline goodness : 0.104582 with order 1 Centerline is valid? [False, False] Translation: X:672.66, Y:262.75, Z:-14.90 [[ 9.99902329e-01 8.17088797e-03 -1.13388500e-02 6.72659086e+02] [-8.17041359e-03 9.99966618e-01 8.81596156e-05 2.62752352e+02] [ 1.13391918e-02 4.49208911e-06 9.99935709e-01 -1.49046808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.765336195 meters Centerline goodness : 0.097327 with order 1 Centerline is valid? [False, False] Translation: X:672.68, Y:262.75, Z:-14.91 [[ 9.99986698e-01 3.99709178e-03 -3.25998046e-03 6.72676054e+02] [-3.97953421e-03 9.99977638e-01 5.37461005e-03 2.62750784e+02] [ 3.28139037e-03 -5.36156535e-03 9.99980243e-01 -1.49100918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.825336195 meters Centerline goodness : 0.105115 with order 1 Centerline is valid? [False, False] Translation: X:672.70, Y:262.76, Z:-14.91 [[ 9.99983649e-01 -1.22903899e-03 -5.58488770e-03 6.72702513e+02] [ 1.27701646e-03 9.99962246e-01 8.59515857e-03 2.62755020e+02] [ 5.57411306e-03 -8.60215002e-03 9.99947465e-01 -1.49085156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.885336195 meters Centerline goodness : 0.107087 with order 1 Centerline is valid? [False, False] Translation: X:672.73, Y:262.76, Z:-14.92 [[ 9.99999223e-01 -2.74432985e-04 1.21597747e-03 6.72725186e+02] [ 2.74702995e-04 9.99999938e-01 -2.21889968e-04 2.62764039e+02] [-1.21591650e-03 2.22223828e-04 9.99999236e-01 -1.49161115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.945336195 meters Centerline goodness : 0.103310 with order 1 Centerline is valid? [False, False] Translation: X:672.73, Y:262.76, Z:-14.92 [[ 9.99999578e-01 -8.19261800e-04 4.15206382e-04 6.72729124e+02] [ 8.19394762e-04 9.99999613e-01 -3.20162227e-04 2.62763017e+02] [-4.14943925e-04 3.20502310e-04 9.99999863e-01 -1.49163459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.005336195 meters Centerline goodness : 0.105055 with order 1 Centerline is valid? [False, False] Translation: X:672.73, Y:262.77, Z:-14.92 [[ 9.99995350e-01 2.40439409e-03 1.87565489e-03 6.72730871e+02] [-2.37071332e-03 9.99839522e-01 -1.77569657e-02 2.62772251e+02] [-1.91804863e-03 1.77524365e-02 9.99840573e-01 -1.49174724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.065336195 meters Centerline goodness : 0.110279 with order 1 Centerline is valid? [False, False] Translation: X:672.75, Y:262.77, Z:-14.92 [[ 9.99980919e-01 -3.64753911e-04 6.16680129e-03 6.72749003e+02] [ 4.23380869e-04 9.99954706e-01 -9.50823568e-03 2.62769877e+02] [-6.16305381e-03 9.51066516e-03 9.99935780e-01 -1.49183043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.125336195 meters Centerline goodness : 0.109461 with order 1 Centerline is valid? [False, False] Translation: X:672.75, Y:262.77, Z:-14.92 [[ 9.99983978e-01 -2.55767945e-04 5.65488108e-03 6.72750858e+02] [ 3.09694041e-04 9.99954470e-01 -9.53738514e-03 2.62770303e+02] [-5.65218425e-03 9.53898362e-03 9.99938528e-01 -1.49174869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.185336195 meters Centerline goodness : 0.105037 with order 1 Centerline is valid? [False, False] Translation: X:672.80, Y:262.77, Z:-14.92 [[ 9.99997062e-01 1.97874429e-03 1.40020747e-03 6.72801901e+02] [-1.96650497e-03 9.99960315e-01 -8.68912593e-03 2.62773658e+02] [-1.41734546e-03 8.68634689e-03 9.99961269e-01 -1.49174026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.245336195 meters Centerline goodness : 0.103162 with order 1 Centerline is valid? [False, False] Translation: X:672.81, Y:262.79, Z:-14.92 [[ 9.99943565e-01 9.61490644e-03 4.51892538e-03 6.72810857e+02] [-9.51993960e-03 9.99742742e-01 -2.05868821e-02 2.62787998e+02] [-4.71570379e-03 2.05427004e-02 9.99777855e-01 -1.49211416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.305336195 meters Centerline goodness : 0.102636 with order 1 Centerline is valid? [False, False] Translation: X:672.81, Y:262.79, Z:-14.92 [[ 9.99903977e-01 1.32833078e-02 3.94841845e-03 6.72812941e+02] [-1.32151008e-02 9.99771100e-01 -1.68258240e-02 2.62789986e+02] [-4.17101726e-03 1.67720296e-02 9.99850640e-01 -1.49206617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.365336195 meters Centerline goodness : 0.082086 with order 1 Centerline is valid? [False, False] Translation: X:672.82, Y:262.79, Z:-14.92 [[ 9.99960272e-01 8.74637507e-03 1.71889142e-03 6.72821890e+02] [-8.74592972e-03 9.99961718e-01 -2.66441035e-04 2.62788250e+02] [-1.72115601e-03 2.51397146e-04 9.99998487e-01 -1.49218423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.425336195 meters Centerline goodness : 0.082711 with order 1 Centerline is valid? [False, False] Translation: X:672.81, Y:262.80, Z:-14.92 [[ 9.99948400e-01 1.01518948e-02 -3.69844935e-04 6.72805596e+02] [-1.01552582e-02 9.99891727e-01 -1.06491906e-02 2.62797090e+02] [ 2.61695428e-04 1.06523970e-02 9.99943227e-01 -1.49233297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.4853361950001 meters Centerline goodness : 0.081899 with order 1 Centerline is valid? [False, False] Translation: X:672.83, Y:262.81, Z:-14.92 [[ 9.99980735e-01 6.18732142e-03 4.97542202e-04 6.72827690e+02] [-6.18467659e-03 9.99967601e-01 -5.15236091e-03 2.62805085e+02] [-5.29405395e-04 5.14918451e-03 9.99986603e-01 -1.49246000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.545336195 meters Centerline goodness : 0.363987 with order 1 Centerline is valid? [False, False] Translation: X:672.83, Y:262.81, Z:-14.92 [[ 9.99982597e-01 5.88929841e-03 3.49659965e-04 6.72828017e+02] [-5.88721392e-03 9.99966482e-01 -5.68996932e-03 2.62807563e+02] [-3.83158172e-04 5.68781178e-03 9.99983751e-01 -1.49242360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.6053361950001 meters Centerline goodness : 0.656296 with order 1 Centerline is valid? [False, False] Translation: X:672.88, Y:262.81, Z:-14.92 [[ 9.99996995e-01 1.23338753e-03 -2.11859848e-03 6.72875405e+02] [-1.25643563e-03 9.99939670e-01 -1.09122753e-02 2.62814061e+02] [ 2.10501161e-03 1.09149044e-02 9.99938215e-01 -1.49231238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.665336195 meters Centerline goodness : 0.091487 with order 1 Centerline is valid? [False, False] Translation: X:672.89, Y:262.82, Z:-14.93 [[ 9.99993921e-01 -8.41647839e-04 3.38358221e-03 6.72893783e+02] [ 9.20469862e-04 9.99726653e-01 -2.33617762e-02 2.62824742e+02] [-3.36299493e-03 2.33647486e-02 9.99721351e-01 -1.49250834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.725336195 meters Centerline goodness : 0.979583 with order 2 Centerline is valid? [False, True] Translation: X:672.96, Y:262.83, Z:-14.92 [[ 9.99960203e-01 -8.59485509e-03 2.39184999e-03 6.72957472e+02] [ 8.64052321e-03 9.99766878e-01 -1.97871536e-02 2.62828323e+02] [-2.22122468e-03 1.98070330e-02 9.99801354e-01 -1.49235209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.785336195 meters Centerline goodness : 0.984095 with order 2 Centerline is valid? [True, True] Translation: X:673.01, Y:262.81, Z:-14.93 [[ 9.99968147e-01 -7.60199170e-03 2.43217389e-03 6.73005057e+02] [ 7.60210503e-03 9.99971103e-01 -3.73527900e-05 2.62812369e+02] [-2.43181965e-03 5.58412415e-05 9.99997042e-01 -1.49304428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.845336195 meters Centerline goodness : 0.984902 with order 2 Centerline is valid? [True, True] Translation: X:673.07, Y:262.82, Z:-14.92 [[ 9.99873728e-01 -1.57038800e-02 2.43232726e-03 6.73074290e+02] [ 1.57038135e-02 9.99876686e-01 4.64511632e-05 2.62815633e+02] [-2.43275678e-03 -8.24848405e-06 9.99997041e-01 -1.49201148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.905336195 meters Centerline goodness : 0.987109 with order 2 Centerline is valid? [True, True] Translation: X:673.13, Y:262.82, Z:-14.91 [[ 9.99883903e-01 -1.50421015e-02 2.43224607e-03 6.73128206e+02] [ 1.50421156e-02 9.99886861e-01 1.24794914e-05 2.62815180e+02] [-2.43215861e-03 2.41080840e-05 9.99997042e-01 -1.49144577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.965336195 meters Centerline goodness : 0.992523 with order 2 Centerline is valid? [True, True] Translation: X:673.17, Y:262.81, Z:-14.90 [[ 9.99925711e-01 -1.19438423e-02 2.43230609e-03 6.73172579e+02] [ 1.19437833e-02 9.99928670e-01 3.87897259e-05 2.62809343e+02] [-2.43259589e-03 -9.73590734e-06 9.99997041e-01 -1.48951483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.025336195 meters Centerline goodness : 0.966464 with order 1 Centerline is valid? [True, True] Translation: X:673.26, Y:262.80, Z:-14.98 [[ 9.99901692e-01 -1.38090630e-02 2.43244318e-03 6.73260075e+02] [ 1.38088667e-02 9.99904648e-01 9.74562740e-05 2.62804049e+02] [-2.43355702e-03 -6.38574096e-05 9.99997037e-01 -1.49758323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.085336195 meters Centerline goodness : 0.972375 with order 1 Centerline is valid? [True, True] Translation: X:673.32, Y:262.80, Z:-14.97 [[ 9.99878682e-01 -1.53852656e-02 2.43202676e-03 6.73320904e+02] [ 1.53853341e-02 9.99881639e-01 -9.47161889e-06 2.62799283e+02] [-2.43159318e-03 4.68880141e-05 9.99997043e-01 -1.49743520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.145336195 meters Centerline goodness : 0.985551 with order 1 Centerline is valid? [True, True] Translation: X:673.38, Y:262.79, Z:-14.96 [[ 9.99852220e-01 -1.70183390e-02 2.43202668e-03 6.73381786e+02] [ 1.70184124e-02 9.99855176e-01 -9.49150447e-06 2.62793775e+02] [-2.43151294e-03 5.08793350e-05 9.99997043e-01 -1.49644790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.205336195 meters Centerline goodness : 0.988126 with order 1 Centerline is valid? [True, True] Translation: X:673.44, Y:262.79, Z:-14.96 [[ 9.99897459e-01 -1.41123191e-02 2.43202666e-03 6.73442156e+02] [ 1.41123839e-02 9.99900415e-01 -9.49789230e-06 2.62785948e+02] [-2.43165043e-03 4.38186122e-05 9.99997043e-01 -1.49635643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.265336195 meters Centerline goodness : 0.996507 with order 1 Centerline is valid? [True, True] Translation: X:673.50, Y:262.79, Z:-14.96 [[ 9.99841532e-01 -1.76350853e-02 2.43202662e-03 6.73503715e+02] [ 1.76351606e-02 9.99844488e-01 -9.50694214e-06 2.62785367e+02] [-2.43148076e-03 5.23946156e-05 9.99997043e-01 -1.49579641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.325336195 meters Centerline goodness : 0.998741 with order 1 Centerline is valid? [True, True] Translation: X:673.56, Y:262.78, Z:-14.87 [[ 9.99803154e-01 -1.96910727e-02 2.43202642e-03 6.73564296e+02] [ 1.96911541e-02 9.99806110e-01 -9.55788881e-06 2.62781561e+02] [-2.43136667e-03 5.74454145e-05 9.99997043e-01 -1.48705656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.385336195 meters Centerline goodness : 0.999105 with order 1 Centerline is valid? [True, True] Translation: X:673.62, Y:262.78, Z:-14.89 [[ 9.99918805e-01 -1.25087763e-02 2.43202639e-03 6.73624764e+02] [ 1.25088365e-02 9.99921761e-01 -9.56502644e-06 2.62775461e+02] [-2.43171647e-03 3.99860704e-05 9.99997043e-01 -1.48918829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.445336195 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:673.69, Y:262.77, Z:-14.92 [[ 9.99961334e-01 -8.45073937e-03 2.43202630e-03 6.73685687e+02] [ 8.45078769e-03 9.99964291e-01 -9.58873073e-06 2.62772155e+02] [-2.43185842e-03 3.01408979e-05 9.99997043e-01 -1.49166634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.505336195 meters Centerline goodness : 0.999533 with order 1 Centerline is valid? [True, True] Translation: X:673.75, Y:262.77, Z:-14.86 [[ 9.99996844e-01 -6.30769129e-04 2.43202631e-03 6.73746416e+02] [ 6.30794309e-04 9.99999801e-01 -9.58631049e-06 2.62769511e+02] [-2.43201978e-03 1.11203886e-05 9.99997043e-01 -1.48637429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.565336195 meters Centerline goodness : 0.999713 with order 1 Centerline is valid? [True, True] Translation: X:673.81, Y:262.77, Z:-14.87 [[ 9.99987829e-01 4.29275281e-03 2.43202628e-03 6.73807796e+02] [-4.29274218e-03 9.99990786e-01 -9.59345304e-06 2.62769010e+02] [-2.43204506e-03 -8.46725515e-07 9.99997043e-01 -1.48655859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.625336195 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:673.87, Y:262.77, Z:-14.86 [[ 9.99974533e-01 6.70954123e-03 2.43202608e-03 6.73868848e+02] [-6.70953762e-03 9.99977491e-01 -9.64505168e-06 2.62768908e+02] [-2.43203605e-03 -6.67296441e-06 9.99997043e-01 -1.48634894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:673.93, Y:262.77, Z:-14.86 [[ 9.99984243e-01 5.05954730e-03 2.43202587e-03 6.73930104e+02] [-5.05953868e-03 9.99987200e-01 -9.69629817e-06 2.62766774e+02] [-2.43204380e-03 -2.60878359e-06 9.99997043e-01 -1.48573652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:673.99, Y:262.77, Z:-14.85 [[ 9.99992219e-01 3.10597476e-03 2.43202564e-03 6.73991778e+02] [-3.10596022e-03 9.99995176e-01 -9.75416704e-06 2.62768204e+02] [-2.43204421e-03 2.20031624e-06 9.99997043e-01 -1.48535461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.805336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:674.05, Y:262.76, Z:-14.85 [[ 9.99996087e-01 1.38225848e-03 2.43202540e-03 6.74053234e+02] [-1.38223870e-03 9.99999045e-01 -9.81505317e-06 2.62764484e+02] [-2.43203664e-03 6.45337515e-06 9.99997043e-01 -1.48544186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:674.11, Y:262.76, Z:-14.86 [[ 9.99997043e-01 5.98950389e-06 2.43202374e-03 6.74114316e+02] [-5.96469399e-06 1.00000000e+00 -1.02085946e-05 2.62763747e+02] [-2.43202380e-03 1.01940581e-05 9.99997043e-01 -1.48561581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.925336195 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:674.18, Y:262.76, Z:-14.86 [[ 9.99995560e-01 -1.72199465e-03 2.43202350e-03 6.74175438e+02] [ 1.72202471e-03 9.99998517e-01 -1.02665598e-05 2.62759606e+02] [-2.43200221e-03 1.44545187e-05 9.99997043e-01 -1.48553890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:674.24, Y:262.75, Z:-14.86 [[ 9.99985298e-01 -4.84665188e-03 2.43202324e-03 6.74236271e+02] [ 4.84669133e-03 9.99988255e-01 -1.03274998e-05 2.62753663e+02] [-2.43194462e-03 2.21146139e-05 9.99997043e-01 -1.48571626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.045336195 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:674.30, Y:262.75, Z:-14.85 [[ 9.99980212e-01 -5.80173990e-03 2.43202298e-03 6.74297483e+02] [ 5.80178232e-03 9.99983169e-01 -1.03878619e-05 2.62747132e+02] [-2.43192178e-03 2.44977243e-05 9.99997043e-01 -1.48513669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.1053361950001 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:674.36, Y:262.74, Z:-14.85 [[ 9.99982180e-01 -5.45207996e-03 2.43202272e-03 6.74358403e+02] [ 5.45212149e-03 9.99985137e-01 -1.04480748e-05 2.62744153e+02] [-2.43192961e-03 2.37075720e-05 9.99997043e-01 -1.48494681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.165336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:674.42, Y:262.74, Z:-14.85 [[ 9.99990685e-01 -3.56596227e-03 2.43202247e-03 6.74419573e+02] [ 3.56599837e-03 9.99993642e-01 -1.05076118e-05 2.62737417e+02] [-2.43196953e-03 1.91801021e-05 9.99997043e-01 -1.48479138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:674.48, Y:262.73, Z:-14.85 [[ 9.99995761e-01 -1.60120933e-03 2.43202208e-03 6.74481074e+02] [ 1.60123984e-03 9.99998718e-01 -1.05964620e-05 2.62734280e+02] [-2.43200199e-03 1.44906677e-05 9.99997043e-01 -1.48478847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:674.54, Y:262.73, Z:-14.85 [[ 9.99996778e-01 -7.27296748e-04 2.43202182e-03 6.74542244e+02] [ 7.27324811e-04 9.99999735e-01 -1.06544798e-05 2.62727894e+02] [-2.43201343e-03 1.24233153e-05 9.99997043e-01 -1.48533994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.345336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:674.60, Y:262.72, Z:-14.85 [[ 9.99995347e-01 -1.84162302e-03 2.43202141e-03 6.74602786e+02] [ 1.84165461e-03 9.99998304e-01 -1.07492699e-05 2.62718010e+02] [-2.43199749e-03 1.52281633e-05 9.99997043e-01 -1.48540993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:674.66, Y:262.71, Z:-14.86 [[ 9.99993165e-01 -2.78477855e-03 2.43202041e-03 6.74663938e+02] [ 2.78481346e-03 9.99996122e-01 -1.09701043e-05 2.62711158e+02] [-2.43198043e-03 1.77427525e-05 9.99997043e-01 -1.48553006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:674.73, Y:262.71, Z:-14.86 [[ 9.99993226e-01 -2.76271419e-03 2.43202002e-03 6.74725181e+02] [ 2.76274925e-03 9.99996184e-01 -1.10556366e-05 2.62708220e+02] [-2.43198020e-03 1.77746232e-05 9.99997043e-01 -1.48559930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:674.79, Y:262.70, Z:-14.86 [[ 9.99996936e-01 4.61290003e-04 2.43201976e-03 6.74786856e+02] [-4.61264342e-04 9.99999894e-01 -1.11120260e-05 2.62700815e+02] [-2.43202463e-03 9.99018792e-06 9.99997043e-01 -1.48570385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:674.85, Y:262.70, Z:-14.85 [[ 9.99979880e-01 5.85872722e-03 2.43201950e-03 6.74848637e+02] [-5.85871738e-03 9.99982838e-01 -1.11686156e-05 2.62697660e+02] [-2.43204320e-03 -3.08012401e-06 9.99997043e-01 -1.48539389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:674.91, Y:262.70, Z:-14.86 [[ 9.99866840e-01 1.61365320e-02 2.43201922e-03 6.74909018e+02] [-1.61365525e-02 9.99869797e-01 -1.12302085e-05 2.62696240e+02] [-2.43188378e-03 -2.80156926e-05 9.99997043e-01 -1.48579668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.705336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:674.97, Y:262.70, Z:-14.85 [[ 9.99693516e-01 2.46365512e-02 2.43201908e-03 6.74971013e+02] [-2.46365966e-02 9.99696473e-01 -1.12607515e-05 2.62696308e+02] [-2.43155832e-03 -4.86593727e-05 9.99997043e-01 -1.48518228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:675.03, Y:262.70, Z:-14.85 [[ 9.99596266e-01 2.83088357e-02 2.43201850e-03 6.75032094e+02] [-2.83088917e-02 9.99599223e-01 -1.13844713e-05 2.62697910e+02] [-2.43136608e-03 -5.74678734e-05 9.99997043e-01 -1.48498495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:675.09, Y:262.70, Z:-14.85 [[ 9.99636385e-01 2.68548437e-02 2.43201659e-03 6.75094494e+02] [-2.68548944e-02 9.99639342e-01 -1.17792541e-05 2.62699307e+02] [-2.43145579e-03 -5.35365777e-05 9.99997043e-01 -1.48453803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:675.16, Y:262.70, Z:-14.85 [[ 9.99803271e-01 1.96851278e-02 2.43201440e-03 6.75155966e+02] [-1.96851563e-02 9.99806228e-01 -1.22144236e-05 2.62697419e+02] [-2.43178359e-03 -3.56625629e-05 9.99997043e-01 -1.48482076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:675.22, Y:262.70, Z:-14.85 [[ 9.99938577e-01 1.08132685e-02 2.43201314e-03 6.75217983e+02] [-1.08132702e-02 9.99941535e-01 -1.24600235e-05 2.62695526e+02] [-2.43200569e-03 -1.38387570e-05 9.99997043e-01 -1.48515830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.005336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:675.28, Y:262.69, Z:-14.85 [[ 9.99983162e-01 5.26881845e-03 2.43201093e-03 6.75280365e+02] [-5.26880272e-03 9.99986120e-01 -1.28774604e-05 2.62693671e+02] [-2.43204502e-03 6.34577612e-08 9.99997043e-01 -1.48538275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:675.34, Y:262.69, Z:-14.86 [[ 9.99996264e-01 -1.24757022e-03 2.43200853e-03 6.75342132e+02] [ 1.24760630e-03 9.99999222e-01 -1.33153361e-05 2.62688469e+02] [-2.43199003e-03 1.63494755e-05 9.99997043e-01 -1.48565036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:675.40, Y:262.69, Z:-14.86 [[ 9.99986901e-01 -4.50362365e-03 2.43200802e-03 6.75403229e+02] [ 4.50366958e-03 9.99989858e-01 -1.34081563e-05 2.62685513e+02] [-2.43192297e-03 2.43609413e-05 9.99997043e-01 -1.48561390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:675.46, Y:262.68, Z:-14.86 [[ 9.99971132e-01 -7.19863896e-03 2.43200577e-03 6.75464843e+02] [ 7.19869383e-03 9.99974089e-01 -1.38055914e-05 2.62678092e+02] [-2.43184337e-03 3.13124577e-05 9.99997043e-01 -1.48556891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:675.53, Y:262.67, Z:-14.86 [[ 9.99971118e-01 -7.20059635e-03 2.43200351e-03 6.75526448e+02] [ 7.20065216e-03 9.99974075e-01 -1.41917844e-05 2.62670219e+02] [-2.43183827e-03 3.17033858e-05 9.99997043e-01 -1.48561525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:675.59, Y:262.67, Z:-14.86 [[ 9.99985143e-01 -4.87837109e-03 2.43200317e-03 6.75588006e+02] [ 4.87842017e-03 9.99988100e-01 -1.42509127e-05 2.62665307e+02] [-2.43190471e-03 2.61150343e-05 9.99997043e-01 -1.48560341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:675.65, Y:262.66, Z:-14.86 [[ 9.99997040e-01 7.56782545e-05 2.43200282e-03 6.75649816e+02] [-7.56436776e-05 9.99999997e-01 -1.43094433e-05 2.62661876e+02] [-2.43200390e-03 1.41254353e-05 9.99997043e-01 -1.48554660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:675.71, Y:262.66, Z:-14.85 [[ 9.99946327e-01 1.00712179e-02 2.43200248e-03 6.75711055e+02] [-1.00712128e-02 9.99949284e-01 -1.43680108e-05 2.62657026e+02] [-2.43202384e-03 -1.01259748e-05 9.99997043e-01 -1.48546485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:675.77, Y:262.66, Z:-14.85 [[ 9.99772751e-01 2.11785482e-02 2.43200213e-03 6.75772750e+02] [-2.11785757e-02 9.99775709e-01 -1.44268827e-05 2.62656080e+02] [-2.43176219e-03 -3.70827370e-05 9.99997043e-01 -1.48538868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:675.83, Y:262.66, Z:-14.86 [[ 9.99615715e-01 2.76135245e-02 2.43200175e-03 6.75833438e+02] [-2.76135709e-02 9.99618673e-01 -1.44906732e-05 2.62655687e+02] [-2.43147450e-03 -5.26711481e-05 9.99997043e-01 -1.48571564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:675.90, Y:262.66, Z:-14.86 [[ 9.99391107e-01 3.48066296e-02 2.43200028e-03 6.75895736e+02] [-3.48066967e-02 9.99394063e-01 -1.47335438e-05 2.62659715e+02] [-2.43103946e-03 -6.99253233e-05 9.99997043e-01 -1.48568649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:675.96, Y:262.66, Z:-14.86 [[ 9.99296387e-01 3.74274813e-02 2.43199786e-03 6.75957743e+02] [-3.74275552e-02 9.99299343e-01 -1.51215969e-05 2.62661315e+02] [-2.43085983e-03 -7.59127771e-05 9.99997043e-01 -1.48560576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:676.02, Y:262.67, Z:-14.86 [[ 9.99262320e-01 3.83262348e-02 2.43199540e-03 6.76019712e+02] [-3.83263105e-02 9.99265277e-01 -1.55085270e-05 2.62665538e+02] [-2.43080294e-03 -7.77123240e-05 9.99997043e-01 -1.48570249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:676.08, Y:262.67, Z:-14.86 [[ 9.99299128e-01 3.73542145e-02 2.43199286e-03 6.76082301e+02] [-3.73542863e-02 9.99302085e-01 -1.58961859e-05 2.62667908e+02] [-2.43088933e-03 -7.49603129e-05 9.99997043e-01 -1.48562648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:676.14, Y:262.67, Z:-14.86 [[ 9.99370543e-01 3.53921358e-02 2.43199022e-03 6.76144943e+02] [-3.53922009e-02 9.99373500e-01 -1.62900104e-05 2.62672326e+02] [-2.43104312e-03 -6.97937300e-05 9.99997043e-01 -1.48586031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:676.21, Y:262.68, Z:-14.86 [[ 9.99456582e-01 3.28728825e-02 2.43198923e-03 6.76207204e+02] [-3.28729397e-02 9.99459539e-01 -1.64377113e-05 2.62676789e+02] [-2.43121518e-03 -6.35178565e-05 9.99997043e-01 -1.48559436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:676.27, Y:262.68, Z:-14.86 [[ 9.99516093e-01 3.10107411e-02 2.43198633e-03 6.76268261e+02] [-3.10107918e-02 9.99519050e-01 -1.68550792e-05 2.62683581e+02] [-2.43133936e-03 -5.85708990e-05 9.99997043e-01 -1.48551091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:676.33, Y:262.69, Z:-14.85 [[ 9.99532122e-01 3.04897165e-02 2.43198361e-03 6.76330936e+02] [-3.04897648e-02 9.99535079e-01 -1.72387625e-05 2.62687973e+02] [-2.43137854e-03 -5.69199115e-05 9.99997043e-01 -1.48534266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:676.39, Y:262.69, Z:-14.86 [[ 9.99522580e-01 3.08009364e-02 2.43198056e-03 6.76391856e+02] [-3.08009846e-02 9.99525537e-01 -1.76591484e-05 2.62693184e+02] [-2.43137059e-03 -5.72566782e-05 9.99997043e-01 -1.48571719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:676.45, Y:262.70, Z:-14.86 [[ 9.99521973e-01 3.08206247e-02 2.43197770e-03 6.76453094e+02] [-3.08206720e-02 9.99524930e-01 -1.80453373e-05 2.62696198e+02] [-2.43137850e-03 -5.69184757e-05 9.99997043e-01 -1.48591136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:676.51, Y:262.70, Z:-14.86 [[ 9.99523727e-01 3.07636926e-02 2.43197727e-03 6.76514131e+02] [-3.07637396e-02 9.99526684e-01 -1.81025203e-05 2.62702363e+02] [-2.43138308e-03 -5.67228169e-05 9.99997043e-01 -1.48629140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:676.58, Y:262.71, Z:-14.86 [[ 9.99521008e-01 3.08519008e-02 2.43197447e-03 6.76575080e+02] [-3.08519472e-02 9.99523965e-01 -1.84708859e-05 2.62706900e+02] [-2.43138663e-03 -5.65691095e-05 9.99997043e-01 -1.48597084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:676.64, Y:262.71, Z:-14.86 [[ 9.99482441e-01 3.20770186e-02 2.43197402e-03 6.76636144e+02] [-3.20770684e-02 9.99485398e-01 -1.85301828e-05 2.62710623e+02] [-2.43131691e-03 -5.94900047e-05 9.99997043e-01 -1.48583195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:676.70, Y:262.72, Z:-14.86 [[ 9.99390718e-01 3.48177912e-02 2.43197357e-03 6.76697999e+02] [-3.48178490e-02 9.99393675e-01 -1.85892556e-05 2.62716370e+02] [-2.43114624e-03 -6.60981589e-05 9.99997043e-01 -1.48574205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:676.76, Y:262.72, Z:-14.86 [[ 9.99157060e-01 4.09787226e-02 2.43197311e-03 6.76757209e+02] [-4.09787984e-02 9.99160016e-01 -1.86484762e-05 2.62724246e+02] [-2.43069449e-03 -8.10265793e-05 9.99997043e-01 -1.48619478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:676.82, Y:262.73, Z:-14.86 [[ 9.99034462e-01 4.38660447e-02 2.43197284e-03 6.76817815e+02] [-4.38661290e-02 9.99037418e-01 -1.86846158e-05 2.62730105e+02] [-2.43045148e-03 -8.80146590e-05 9.99997043e-01 -1.48611304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:676.88, Y:262.74, Z:-14.86 [[ 9.99011907e-01 4.43767415e-02 2.43197284e-03 6.76877747e+02] [-4.43768273e-02 9.99014863e-01 -1.86846158e-05 2.62739435e+02] [-2.43040617e-03 -8.92570849e-05 9.99997043e-01 -1.48598409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:676.94, Y:262.75, Z:-14.86 [[ 9.99104517e-01 4.22403841e-02 2.43197284e-03 6.76937652e+02] [-4.22404636e-02 9.99107473e-01 -1.86846157e-05 2.62745994e+02] [-2.43059148e-03 -8.40597762e-05 9.99997043e-01 -1.48604259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:677.00, Y:262.75, Z:-14.86 [[ 9.99348466e-01 3.60101270e-02 2.43197266e-03 6.76998473e+02] [-3.60101880e-02 9.99351423e-01 -1.87072074e-05 2.62751828e+02] [-2.43106899e-03 -6.88807738e-05 9.99997043e-01 -1.48600275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:677.06, Y:262.76, Z:-14.86 [[ 9.99522609e-01 3.07999970e-02 2.43197266e-03 6.77059106e+02] [-3.08000426e-02 9.99525566e-01 -1.87072074e-05 2.62756848e+02] [-2.43139503e-03 -5.62065849e-05 9.99997043e-01 -1.48600145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:677.12, Y:262.76, Z:-14.86 [[ 9.99747124e-01 2.23556151e-02 2.43197266e-03 6.77119157e+02] [-2.23556358e-02 9.99750081e-01 -1.87072075e-05 2.62759489e+02] [-2.43178308e-03 -3.56658181e-05 9.99997043e-01 -1.48622227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:677.18, Y:262.76, Z:-14.86 [[ 9.99885162e-01 1.49582490e-02 2.43197244e-03 6.77179688e+02] [-1.49582476e-02 9.99888119e-01 -1.87366776e-05 2.62764852e+02] [-2.43198061e-03 -1.76435200e-05 9.99997043e-01 -1.48621973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:677.24, Y:262.77, Z:-14.86 [[ 9.99932498e-01 1.13615854e-02 2.43197221e-03 6.77240939e+02] [-1.13615734e-02 9.99935455e-01 -1.87659748e-05 2.62766714e+02] [-2.43202845e-03 -8.86632267e-06 9.99997043e-01 -1.48603681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:677.30, Y:262.77, Z:-14.86 [[ 9.99949238e-01 9.77785350e-03 2.43197176e-03 6.77301820e+02] [-9.77783664e-03 9.99952196e-01 -1.88235714e-05 2.62769047e+02] [-2.43203956e-03 -4.95680670e-06 9.99997043e-01 -1.48586243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:677.36, Y:262.77, Z:-14.85 [[ 9.99943005e-01 1.03957508e-02 2.43197154e-03 6.77362646e+02] [-1.03957357e-02 9.99945963e-01 -1.88521582e-05 2.62769995e+02] [-2.43203611e-03 -6.43104964e-06 9.99997043e-01 -1.48531040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.1053361950001 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:677.42, Y:262.77, Z:-14.85 [[ 9.99937024e-01 1.09559995e-02 2.43197131e-03 6.77422758e+02] [-1.09559859e-02 9.99939981e-01 -1.88820413e-05 2.62772093e+02] [-2.43203222e-03 -7.76379131e-06 9.99997043e-01 -1.48521330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:677.48, Y:262.77, Z:-14.86 [[ 9.99938058e-01 1.08612232e-02 2.43197108e-03 6.77484432e+02] [-1.08612093e-02 9.99941015e-01 -1.89115936e-05 2.62771596e+02] [-2.43203303e-03 -7.50372482e-06 9.99997043e-01 -1.48564088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:677.54, Y:262.77, Z:-14.86 [[ 9.99941909e-01 1.05006641e-02 2.43197062e-03 6.77544600e+02] [-1.05006490e-02 9.99944866e-01 -1.89705192e-05 2.62771249e+02] [-2.43203574e-03 -6.56785285e-06 9.99997043e-01 -1.48611342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:677.61, Y:262.77, Z:-14.86 [[ 9.99949282e-01 9.77334275e-03 2.43197039e-03 6.77605600e+02] [-9.77332545e-03 9.99952240e-01 -1.89997355e-05 2.62769761e+02] [-2.43203993e-03 -4.76966628e-06 9.99997043e-01 -1.48592161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:677.67, Y:262.77, Z:-14.86 [[ 9.99957001e-01 8.94882493e-03 2.43197016e-03 6.77667271e+02] [-8.94880511e-03 9.99959958e-01 -1.90298855e-05 2.62768511e+02] [-2.43204307e-03 -2.73415973e-06 9.99997043e-01 -1.48600119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:677.73, Y:262.77, Z:-14.86 [[ 9.99942954e-01 1.04006970e-02 2.43196969e-03 6.77727894e+02] [-1.04006813e-02 9.99945911e-01 -1.90896836e-05 2.62765014e+02] [-2.43203669e-03 -6.20554703e-06 9.99997043e-01 -1.48612008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:677.79, Y:262.76, Z:-14.86 [[ 9.99914224e-01 1.28697010e-02 2.43196847e-03 6.77788540e+02] [-1.28696922e-02 9.99917182e-01 -1.92432130e-05 2.62763472e+02] [-2.43201472e-03 -1.20571234e-05 9.99997043e-01 -1.48633865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:677.85, Y:262.76, Z:-14.86 [[ 9.99821028e-01 1.87616101e-02 2.43196824e-03 6.77848698e+02] [-1.87616187e-02 9.99823985e-01 -1.92724293e-05 2.62763844e+02] [-2.43190176e-03 -2.63586807e-05 9.99997043e-01 -1.48611777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:677.91, Y:262.77, Z:-14.86 [[ 9.99686577e-01 2.49165097e-02 2.43196824e-03 6.77907910e+02] [-2.49165366e-02 9.99689535e-01 -1.92724293e-05 2.62765361e+02] [-2.43169340e-03 -4.13298367e-05 9.99997043e-01 -1.48599247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:677.97, Y:262.77, Z:-14.86 [[ 9.99591960e-01 2.84604783e-02 2.43196848e-03 6.77967230e+02] [-2.84605157e-02 9.99594917e-01 -1.92424300e-05 2.62766846e+02] [-2.43153098e-03 -4.99804987e-05 9.99997043e-01 -1.48603721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:678.03, Y:262.77, Z:-14.87 [[ 9.99535975e-01 3.03631258e-02 2.43196895e-03 6.78026471e+02] [-3.03631689e-02 9.99538933e-01 -1.91832119e-05 2.62769070e+02] [-2.43143011e-03 -5.46679735e-05 9.99997043e-01 -1.48657015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:678.09, Y:262.77, Z:-14.87 [[ 9.99617422e-01 2.75516685e-02 2.43196918e-03 6.78087276e+02] [-2.75517034e-02 9.99620380e-01 -1.91539300e-05 2.62772381e+02] [-2.43157367e-03 -4.78582914e-05 9.99997043e-01 -1.48652869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:678.15, Y:262.77, Z:-14.86 [[ 9.99692521e-01 2.46768753e-02 2.43196918e-03 6.78147553e+02] [-2.46769017e-02 9.99695479e-01 -1.91539300e-05 2.62773600e+02] [-2.43170125e-03 -4.08654237e-05 9.99997043e-01 -1.48638132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:678.21, Y:262.78, Z:-14.86 [[ 9.99758060e-01 2.18610735e-02 2.43196918e-03 6.78206998e+02] [-2.18610916e-02 9.99761018e-01 -1.91539301e-05 2.62775872e+02] [-2.43180670e-03 -3.40162050e-05 9.99997043e-01 -1.48613907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:678.27, Y:262.78, Z:-14.86 [[ 9.99809919e-01 1.93445223e-02 2.43196941e-03 6.78267939e+02] [-1.93445330e-02 9.99812877e-01 -1.91235763e-05 2.62777523e+02] [-2.43188427e-03 -2.79253712e-05 9.99997043e-01 -1.48606474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:678.33, Y:262.78, Z:-14.86 [[ 9.99858648e-01 1.66364184e-02 2.43196941e-03 6.78327365e+02] [-1.66364211e-02 9.99861605e-01 -1.91235765e-05 2.62778006e+02] [-2.43195099e-03 -2.13383940e-05 9.99997043e-01 -1.48617178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.065336195 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:678.39, Y:262.78, Z:-14.86 [[ 9.99940825e-01 1.06033686e-02 2.43196965e-03 6.78387618e+02] [-1.06033535e-02 9.99943783e-01 -1.90936615e-05 2.62777460e+02] [-2.43203539e-03 -6.69450238e-06 9.99997043e-01 -1.48603382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:678.45, Y:262.78, Z:-14.86 [[ 9.99988126e-01 4.22300624e-03 2.43196965e-03 6.78448863e+02] [-4.22297230e-03 9.99991083e-01 -1.90936615e-05 2.62775080e+02] [-2.43202860e-03 8.82329435e-06 9.99997043e-01 -1.48598105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:678.51, Y:262.77, Z:-14.86 [[ 9.99996053e-01 1.40684008e-03 2.43196919e-03 6.78509943e+02] [-1.40679766e-03 9.99999010e-01 -1.91518334e-05 2.62772653e+02] [-2.43199373e-03 1.57304692e-05 9.99997043e-01 -1.48600415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.245336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:678.57, Y:262.77, Z:-14.86 [[ 9.99997004e-01 -2.79896283e-04 2.43196873e-03 6.78571253e+02] [ 2.79943828e-04 9.99999961e-01 -1.92097404e-05 2.62767340e+02] [-2.43196326e-03 1.98904975e-05 9.99997043e-01 -1.48610032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:678.63, Y:262.77, Z:-14.86 [[ 9.99997039e-01 8.58329733e-05 2.43196827e-03 6.78632931e+02] [-8.57863671e-05 9.99999996e-01 -1.92683073e-05 2.62765334e+02] [-2.43196991e-03 1.90596205e-05 9.99997043e-01 -1.48627776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:678.69, Y:262.76, Z:-14.86 [[ 9.99984871e-01 4.93389800e-03 2.43196780e-03 6.78693050e+02] [-4.93386559e-03 9.99987828e-01 -1.93268909e-05 2.62762974e+02] [-2.43203356e-03 7.32759620e-06 9.99997043e-01 -1.48641907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:678.75, Y:262.76, Z:-14.86 [[ 9.99902546e-01 1.37471607e-02 2.43196757e-03 6.78753800e+02] [-1.37471543e-02 9.99905503e-01 -1.93558332e-05 2.62761568e+02] [-2.43200385e-03 -1.40786866e-05 9.99997043e-01 -1.48627696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:678.81, Y:262.76, Z:-14.86 [[ 9.99806920e-01 1.94989079e-02 2.43196735e-03 6.78814265e+02] [-1.94989184e-02 9.99809878e-01 -1.93836457e-05 2.62760935e+02] [-2.43188294e-03 -2.80408298e-05 9.99997043e-01 -1.48600733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:678.87, Y:262.76, Z:-14.86 [[ 9.99656465e-01 2.60966769e-02 2.43196735e-03 6.78874142e+02] [-2.60967069e-02 9.99659423e-01 -1.93836457e-05 2.62761362e+02] [-2.43164493e-03 -4.40893525e-05 9.99997043e-01 -1.48605732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:678.93, Y:262.77, Z:-14.86 [[ 9.99505224e-01 3.13590795e-02 2.43196758e-03 6.78934349e+02] [-3.13591252e-02 9.99508182e-01 -1.93546916e-05 2.62765480e+02] [-2.43137844e-03 -5.69192607e-05 9.99997043e-01 -1.48608837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:678.99, Y:262.77, Z:-14.86 [[ 9.99419731e-01 3.39747904e-02 2.43196782e-03 6.78993763e+02] [-3.39748439e-02 9.99422688e-01 -1.93254685e-05 2.62767299e+02] [-2.43122039e-03 -6.33114723e-05 9.99997043e-01 -1.48599579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:679.05, Y:262.77, Z:-14.86 [[ 9.99361521e-01 3.56459881e-02 2.43196830e-03 6.79052812e+02] [-3.56460467e-02 9.99364478e-01 -1.92640806e-05 2.62771774e+02] [-2.43110942e-03 -6.74382748e-05 9.99997043e-01 -1.48618314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:679.11, Y:262.78, Z:-14.86 [[ 9.99406801e-01 3.43530571e-02 2.43196879e-03 6.79112556e+02] [-3.43531120e-02 9.99409757e-01 -1.92016095e-05 2.62776367e+02] [-2.43119298e-03 -6.43554774e-05 9.99997043e-01 -1.48607451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:679.17, Y:262.78, Z:-14.86 [[ 9.99559589e-01 2.95755653e-02 2.43196926e-03 6.79170828e+02] [-2.95756062e-02 9.99562546e-01 -1.91418529e-05 2.62781823e+02] [-2.43147152e-03 -5.27935426e-05 9.99997043e-01 -1.48594035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.905336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:679.23, Y:262.78, Z:-14.86 [[ 9.99653642e-01 2.62046135e-02 2.43196996e-03 6.79230574e+02] [-2.62046447e-02 9.99656599e-01 -1.90531856e-05 2.62784036e+02] [-2.43163410e-03 -4.46823223e-05 9.99997043e-01 -1.48603561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:679.29, Y:262.79, Z:-14.87 [[ 9.99720384e-01 2.35210327e-02 2.43197042e-03 6.79290077e+02] [-2.35210561e-02 9.99723342e-01 -1.89942417e-05 2.62788138e+02] [-2.43174436e-03 -3.82135821e-05 9.99997043e-01 -1.48653704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.025336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:679.35, Y:262.79, Z:-14.86 [[ 9.99726882e-01 2.32432316e-02 2.43197065e-03 6.79350762e+02] [-2.32432542e-02 9.99729839e-01 -1.89650116e-05 2.62793254e+02] [-2.43175443e-03 -3.75670801e-05 9.99997043e-01 -1.48633572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:679.41, Y:262.80, Z:-14.86 [[ 9.99755809e-01 2.19638029e-02 2.43197065e-03 6.79410747e+02] [-2.19638217e-02 9.99758766e-01 -1.89650116e-05 2.62799903e+02] [-2.43180052e-03 -3.44549893e-05 9.99997043e-01 -1.48645994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:679.47, Y:262.81, Z:-14.86 [[ 9.99888659e-01 1.47225829e-02 2.43197045e-03 6.79471488e+02] [-1.47225802e-02 9.99891617e-01 -1.89906914e-05 2.62805635e+02] [-2.43198645e-03 -1.68163030e-05 9.99997043e-01 -1.48602211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:679.53, Y:262.81, Z:-14.86 [[ 9.99971628e-01 7.12938520e-03 2.43197045e-03 6.79530930e+02] [-7.12936010e-03 9.99974586e-01 -1.89906914e-05 2.62807472e+02] [-2.43204403e-03 1.65175947e-06 9.99997043e-01 -1.48589532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:679.59, Y:262.81, Z:-14.86 [[ 9.99993237e-01 -2.75871045e-03 2.43197068e-03 6.79592539e+02] [ 2.75876473e-03 9.99996194e-01 -1.89612176e-05 2.62808562e+02] [-2.43190911e-03 2.56703243e-05 9.99997043e-01 -1.48630476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:679.65, Y:262.81, Z:-14.87 [[ 9.99951045e-01 -9.59129072e-03 2.43197023e-03 6.79654378e+02] [ 9.59136533e-03 9.99954002e-01 -1.90188466e-05 2.62806563e+02] [-2.43167594e-03 4.23438305e-05 9.99997043e-01 -1.48659954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.385336195 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:679.72, Y:262.80, Z:-14.87 [[ 9.99914347e-01 -1.28601981e-02 2.43196702e-03 6.79716457e+02] [ 1.28602834e-02 9.99917303e-01 -1.94200543e-05 2.62804680e+02] [-2.43151616e-03 5.06941760e-05 9.99997043e-01 -1.48657029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.445336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:679.78, Y:262.80, Z:-14.86 [[ 9.99876716e-01 -1.55125174e-02 2.43196610e-03 6.79777115e+02] [ 1.55126108e-02 9.99879672e-01 -1.95343251e-05 2.62801815e+02] [-2.43137044e-03 5.72580604e-05 9.99997043e-01 -1.48642445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.505336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:679.84, Y:262.79, Z:-14.86 [[ 9.99876486e-01 -1.55273455e-02 2.43196565e-03 6.79838777e+02] [ 1.55274390e-02 9.99879442e-01 -1.95910012e-05 2.62794399e+02] [-2.43136826e-03 5.73507797e-05 9.99997043e-01 -1.48638918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:679.90, Y:262.79, Z:-14.87 [[ 9.99903170e-01 -1.37016863e-02 2.43196475e-03 6.79899509e+02] [ 1.37017748e-02 9.99906126e-01 -1.97018884e-05 2.62790107e+02] [-2.43146650e-03 5.30222139e-05 9.99997043e-01 -1.48672322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:679.96, Y:262.78, Z:-14.87 [[ 9.99962568e-01 -8.30354675e-03 2.43196392e-03 6.79960370e+02] [ 8.30361946e-03 9.99965524e-01 -1.98032439e-05 2.62784692e+02] [-2.43171564e-03 3.99966056e-05 9.99997043e-01 -1.48702427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.685336195 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:680.02, Y:262.78, Z:-14.87 [[ 9.99994188e-01 -2.38926965e-03 2.43196348e-03 6.80022017e+02] [ 2.38932500e-03 9.99997145e-01 -1.98576382e-05 2.62777963e+02] [-2.43190909e-03 2.56682739e-05 9.99997043e-01 -1.48660365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:680.08, Y:262.77, Z:-14.87 [[ 9.99991867e-01 3.21724651e-03 2.43196302e-03 6.80082903e+02] [-3.21720759e-03 9.99994825e-01 -1.99142459e-05 2.62771334e+02] [-2.43201450e-03 1.20899541e-05 9.99997043e-01 -1.48662376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:680.14, Y:262.77, Z:-14.87 [[ 9.99974494e-01 6.71549450e-03 2.43196252e-03 6.80144517e+02] [-6.71546578e-03 9.99977451e-01 -1.99742129e-05 2.62767317e+02] [-2.43204182e-03 3.64194233e-06 9.99997043e-01 -1.48668246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:680.20, Y:262.76, Z:-14.87 [[ 9.99934979e-01 1.11410841e-02 2.43196203e-03 6.80204414e+02] [-1.11410683e-02 9.99937936e-01 -2.00339547e-05 2.62760814e+02] [-2.43203430e-03 -7.06200298e-06 9.99997043e-01 -1.48722298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:680.27, Y:262.76, Z:-14.87 [[ 9.99903284e-01 1.36933370e-02 2.43196117e-03 6.80265322e+02] [-1.36933285e-02 9.99906242e-01 -2.01383906e-05 2.62758783e+02] [-2.43200891e-03 -1.31652003e-05 9.99997043e-01 -1.48661786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:680.33, Y:262.75, Z:-14.87 [[ 9.99870976e-01 1.58781831e-02 2.43196117e-03 6.80325193e+02] [-1.58781811e-02 9.99873934e-01 -2.01383908e-05 2.62754800e+02] [-2.43197434e-03 -1.84793274e-05 9.99997043e-01 -1.48668316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:680.39, Y:262.75, Z:-14.87 [[ 9.99901739e-01 1.38057436e-02 2.43196010e-03 6.80386158e+02] [-1.38057351e-02 9.99904696e-01 -2.02667788e-05 2.62749917e+02] [-2.43200812e-03 -1.33102096e-05 9.99997043e-01 -1.48664712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:680.45, Y:262.75, Z:-14.87 [[ 9.99928221e-01 1.17319541e-02 2.43196009e-03 6.80447079e+02] [-1.17319395e-02 9.99931178e-01 -2.02681660e-05 2.62747177e+02] [-2.43203050e-03 -8.26489744e-06 9.99997043e-01 -1.48656587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:680.51, Y:262.74, Z:-14.87 [[ 9.99929841e-01 1.15930520e-02 2.43196009e-03 6.80507021e+02] [-1.15930369e-02 9.99932798e-01 -2.02681661e-05 2.62744823e+02] [-2.43203162e-03 -7.92705904e-06 9.99997043e-01 -1.48710801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:680.57, Y:262.74, Z:-14.87 [[ 9.99929698e-01 1.16053345e-02 2.43195984e-03 6.80568420e+02] [-1.16053195e-02 9.99932656e-01 -2.02976257e-05 2.62742054e+02] [-2.43203162e-03 -7.92747209e-06 9.99997043e-01 -1.48652809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:680.63, Y:262.74, Z:-14.87 [[ 9.99910164e-01 1.31814157e-02 2.43195934e-03 6.80628994e+02] [-1.31814052e-02 9.99913121e-01 -2.03574930e-05 2.62740343e+02] [-2.43201639e-03 -1.17009773e-05 9.99997043e-01 -1.48662465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:680.69, Y:262.74, Z:-14.86 [[ 9.99883020e-01 1.51007462e-02 2.43195808e-03 6.80689636e+02] [-1.51007410e-02 9.99885977e-01 -2.05063029e-05 2.62741012e+02] [-2.43199045e-03 -1.62204651e-05 9.99997043e-01 -1.48615624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:680.75, Y:262.74, Z:-14.86 [[ 9.99893511e-01 1.43893120e-02 2.43195808e-03 6.80749677e+02] [-1.43893047e-02 9.99896468e-01 -2.05063031e-05 2.62739649e+02] [-2.43200137e-03 -1.44900665e-05 9.99997043e-01 -1.48613210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:680.81, Y:262.74, Z:-14.86 [[ 9.99955706e-01 9.09242880e-03 2.43195784e-03 6.80810580e+02] [-9.09240574e-03 9.99958663e-01 -2.05357271e-05 2.62735390e+02] [-2.43204403e-03 -1.57752995e-06 9.99997043e-01 -1.48614200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:680.87, Y:262.73, Z:-14.87 [[ 9.99988957e-01 4.02138780e-03 2.43195734e-03 6.80870913e+02] [-4.02134960e-03 9.99991914e-01 -2.05944930e-05 2.62730573e+02] [-2.43202049e-03 1.08145149e-05 9.99997043e-01 -1.48654385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:680.93, Y:262.73, Z:-14.86 [[ 9.99995088e-01 1.97705827e-03 2.43195709e-03 6.80931809e+02] [-1.97701396e-03 9.99998045e-01 -2.06235147e-05 2.62725709e+02] [-2.43199311e-03 1.58154003e-05 9.99997043e-01 -1.48646165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:680.99, Y:262.72, Z:-14.87 [[ 9.99994371e-01 2.31170189e-03 2.43195658e-03 6.80992944e+02] [-2.31165843e-03 9.99997328e-01 -2.06833124e-05 2.62722275e+02] [-2.43199790e-03 1.50613430e-05 9.99997043e-01 -1.48655273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:681.05, Y:262.72, Z:-14.87 [[ 9.99978871e-01 6.02851819e-03 2.43195325e-03 6.81054347e+02] [-6.02848478e-03 9.99981828e-01 -2.10677591e-05 2.62715954e+02] [-2.43203607e-03 6.40632075e-06 9.99997043e-01 -1.48654104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:681.12, Y:262.71, Z:-14.86 [[ 9.99916901e-01 1.26600698e-02 2.43195274e-03 6.81115587e+02] [-1.26600559e-02 9.99919858e-01 -2.11266713e-05 2.62711207e+02] [-2.43202531e-03 -9.66374192e-06 9.99997043e-01 -1.48638285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:681.18, Y:262.71, Z:-14.86 [[ 9.99852367e-01 1.70096966e-02 2.43195223e-03 6.81177138e+02] [-1.70096954e-02 9.99855324e-01 -2.11859257e-05 2.62709749e+02] [-2.43196075e-03 -2.01839687e-05 9.99997043e-01 -1.48637029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:681.24, Y:262.71, Z:-14.86 [[ 9.99774524e-01 2.10947211e-02 2.43195170e-03 6.81237836e+02] [-2.10947318e-02 9.99777481e-01 -2.12460055e-05 2.62710030e+02] [-2.43185872e-03 -3.00601539e-05 9.99997043e-01 -1.48633421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:681.30, Y:262.71, Z:-14.86 [[ 9.99748808e-01 2.22801802e-02 2.43194879e-03 6.81298154e+02] [-2.22801936e-02 9.99751765e-01 -2.15738475e-05 2.62707512e+02] [-2.43182577e-03 -3.26158616e-05 9.99997043e-01 -1.48631096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:681.36, Y:262.71, Z:-14.86 [[ 9.99745490e-01 2.24285653e-02 2.43194879e-03 6.81358922e+02] [-2.24285792e-02 9.99748448e-01 -2.15738476e-05 2.62707580e+02] [-2.43182090e-03 -3.29767992e-05 9.99997043e-01 -1.48631443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:681.42, Y:262.71, Z:-14.86 [[ 9.99741980e-01 2.25844720e-02 2.43194879e-03 6.81418837e+02] [-2.25844864e-02 9.99744938e-01 -2.15738475e-05 2.62710191e+02] [-2.43181573e-03 -3.33560333e-05 9.99997043e-01 -1.48630931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.125336195 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:681.48, Y:262.71, Z:-14.86 [[ 9.99783668e-01 2.06568017e-02 2.43194853e-03 6.81479548e+02] [-2.06568103e-02 9.99786625e-01 -2.16032067e-05 2.62711754e+02] [-2.43187587e-03 -2.86377662e-05 9.99997043e-01 -1.48614653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.185336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:681.54, Y:262.71, Z:-14.86 [[ 9.99847105e-01 1.73162305e-02 2.43194853e-03 6.81539508e+02] [-1.73162292e-02 9.99850063e-01 -2.16032066e-05 2.62711615e+02] [-2.43195798e-03 -2.05122745e-05 9.99997043e-01 -1.48648423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:681.60, Y:262.71, Z:-14.86 [[ 9.99928794e-01 1.16829977e-02 2.43194826e-03 6.81600822e+02] [-1.16829797e-02 9.99931751e-01 -2.16331651e-05 2.62711750e+02] [-2.43203503e-03 -6.78077745e-06 9.99997043e-01 -1.48635493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.305336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:681.66, Y:262.71, Z:-14.86 [[ 9.99976930e-01 6.34234357e-03 2.43194773e-03 6.81661791e+02] [-6.34230957e-03 9.99979887e-01 -2.16926620e-05 2.62709380e+02] [-2.43203640e-03 6.26799617e-06 9.99997043e-01 -1.48630279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:681.72, Y:262.71, Z:-14.87 [[ 9.99988032e-01 4.24523517e-03 2.43194720e-03 6.81722950e+02] [-4.24519483e-03 9.99990989e-01 -2.17519371e-05 2.62705485e+02] [-2.43201763e-03 1.14275871e-05 9.99997043e-01 -1.48659913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.425336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:681.78, Y:262.70, Z:-14.86 [[ 9.99992187e-01 3.11621438e-03 2.43194375e-03 6.81784368e+02] [-3.11616977e-03 9.99995144e-01 -2.21318486e-05 2.62703100e+02] [-2.43200091e-03 1.45533261e-05 9.99997043e-01 -1.48637732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.4853361950001 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:681.85, Y:262.70, Z:-14.86 [[ 9.99978089e-01 6.15684471e-03 2.43194321e-03 6.81845752e+02] [-6.15680895e-03 9.99981046e-01 -2.21904315e-05 2.62701571e+02] [-2.43203374e-03 7.21693553e-06 9.99997043e-01 -1.48649724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:681.91, Y:262.70, Z:-14.87 [[ 9.99958892e-01 8.73499134e-03 2.43194267e-03 6.81907230e+02] [-8.73496306e-03 9.99961849e-01 -2.22499494e-05 2.62698791e+02] [-2.43204424e-03 1.00610542e-06 9.99997043e-01 -1.48660867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:681.97, Y:262.69, Z:-14.87 [[ 9.99927490e-01 1.17940965e-02 2.43194212e-03 6.81968459e+02] [-1.17940772e-02 9.99930447e-01 -2.23097081e-05 2.62694583e+02] [-2.43203609e-03 -6.37442261e-06 9.99997043e-01 -1.48683239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.665336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:682.03, Y:262.69, Z:-14.87 [[ 9.99869520e-01 1.59696131e-02 2.43193853e-03 6.82030038e+02] [-1.59696051e-02 9.99872477e-01 -2.26945654e-05 2.62693717e+02] [-2.43199082e-03 -1.61454938e-05 9.99997043e-01 -1.48666820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:682.09, Y:262.69, Z:-14.87 [[ 9.99794436e-01 2.01288932e-02 2.43193798e-03 6.82090340e+02] [-2.01288974e-02 9.99797393e-01 -2.27528467e-05 2.62693191e+02] [-2.43190324e-03 -2.62040606e-05 9.99997043e-01 -1.48687748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:682.15, Y:262.69, Z:-14.87 [[ 9.99766375e-01 2.14774689e-02 2.43193771e-03 6.82151678e+02] [-2.14774770e-02 9.99769332e-01 -2.27818316e-05 2.62691940e+02] [-2.43186604e-03 -2.94553770e-05 9.99997043e-01 -1.48672971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:682.21, Y:262.69, Z:-14.87 [[ 9.99775620e-01 2.10426804e-02 2.43193714e-03 6.82212018e+02] [-2.10426871e-02 9.99778578e-01 -2.28423460e-05 2.62690620e+02] [-2.43187932e-03 -2.83372717e-05 9.99997043e-01 -1.48670066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.905336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:682.27, Y:262.69, Z:-14.86 [[ 9.99815996e-01 1.90278683e-02 2.43193686e-03 6.82273717e+02] [-1.90278689e-02 9.99818953e-01 -2.28722287e-05 2.62689489e+02] [-2.43193178e-03 -2.34065558e-05 9.99997043e-01 -1.48640598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.965336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:682.34, Y:262.69, Z:-14.87 [[ 9.99838444e-01 1.78092936e-02 2.43193629e-03 6.82335242e+02] [-1.78092905e-02 9.99841402e-01 -2.29328363e-05 2.62687388e+02] [-2.43195901e-03 -2.03819284e-05 9.99997043e-01 -1.48675429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.025336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:682.40, Y:262.68, Z:-14.87 [[ 9.99867513e-01 1.60948105e-02 2.43193572e-03 6.82396213e+02] [-1.60948021e-02 9.99870470e-01 -2.29927420e-05 2.62683410e+02] [-2.43199078e-03 -1.61518285e-05 9.99997043e-01 -1.48682622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.085336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:682.46, Y:262.68, Z:-14.87 [[ 9.99877974e-01 1.54311968e-02 2.43193516e-03 6.82456134e+02] [-1.54311863e-02 9.99880932e-01 -2.30524231e-05 2.62683294e+02] [-2.43200132e-03 -1.44780345e-05 9.99997043e-01 -1.48702933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.145336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:682.52, Y:262.68, Z:-14.87 [[ 9.99891773e-01 1.45095923e-02 2.43193488e-03 6.82517319e+02] [-1.45095790e-02 9.99894730e-01 -2.30819643e-05 2.62681328e+02] [-2.43201378e-03 -1.22068851e-05 9.99997043e-01 -1.48710744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.205336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:682.58, Y:262.68, Z:-14.87 [[ 9.99878854e-01 1.53740955e-02 2.43193431e-03 6.82578961e+02] [-1.53740847e-02 9.99881812e-01 -2.31417402e-05 2.62679595e+02] [-2.43200267e-03 -1.42498274e-05 9.99997043e-01 -1.48691921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.265336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:682.64, Y:262.67, Z:-14.87 [[ 9.99851222e-01 1.70768744e-02 2.43193372e-03 6.82639850e+02] [-1.70768685e-02 9.99854179e-01 -2.32035841e-05 2.62674726e+02] [-2.43197534e-03 -1.83296803e-05 9.99997043e-01 -1.48673150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:682.70, Y:262.68, Z:-14.87 [[ 9.99774284e-01 2.11060950e-02 2.43192987e-03 6.82699821e+02] [-2.11061000e-02 9.99777241e-01 -2.36000684e-05 2.62675780e+02] [-2.43188624e-03 -2.77338136e-05 9.99997043e-01 -1.48656469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.385336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:682.76, Y:262.68, Z:-14.86 [[ 9.99606544e-01 2.79435507e-02 2.43192958e-03 6.82760809e+02] [-2.79435758e-02 9.99609502e-01 -2.36300549e-05 2.62676528e+02] [-2.43164022e-03 -4.43360512e-05 9.99997043e-01 -1.48643667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:682.82, Y:262.68, Z:-14.87 [[ 9.99463010e-01 3.26768547e-02 2.43192899e-03 6.82820798e+02] [-3.26768937e-02 9.99465967e-01 -2.36906623e-05 2.62678893e+02] [-2.43140440e-03 -5.57899445e-05 9.99997043e-01 -1.48653285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:682.88, Y:262.68, Z:-14.87 [[ 9.99305238e-01 3.71904284e-02 2.43192870e-03 6.82881241e+02] [-3.71904807e-02 9.99308194e-01 -2.37206032e-05 2.62683002e+02] [-2.43112845e-03 -6.67404744e-05 9.99997043e-01 -1.48686580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.565336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:682.94, Y:262.69, Z:-14.87 [[ 9.99286397e-01 3.76932809e-02 2.43192870e-03 6.82941168e+02] [-3.76933347e-02 9.99289353e-01 -2.37206031e-05 2.62687449e+02] [-2.43109456e-03 -6.79638262e-05 9.99997043e-01 -1.48671009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:683.00, Y:262.69, Z:-14.87 [[ 9.99364566e-01 3.55605201e-02 2.43192841e-03 6.83001940e+02] [-3.55605676e-02 9.99367523e-01 -2.37497121e-05 2.62693565e+02] [-2.43123483e-03 -6.27461339e-05 9.99997043e-01 -1.48682960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.685336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:683.06, Y:262.70, Z:-14.87 [[ 9.99406919e-01 3.43496265e-02 2.43192841e-03 6.83062691e+02] [-3.43496703e-02 9.99409876e-01 -2.37497120e-05 2.62697822e+02] [-2.43130907e-03 -5.98003127e-05 9.99997043e-01 -1.48658645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.745336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:683.12, Y:262.71, Z:-14.87 [[ 9.99510317e-01 3.11963307e-02 2.43192841e-03 6.83123339e+02] [-3.11963652e-02 9.99513275e-01 -2.37497122e-05 2.62706130e+02] [-2.43148564e-03 -5.21292447e-05 9.99997043e-01 -1.48701257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.805336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:683.18, Y:262.71, Z:-14.87 [[ 9.99630668e-01 2.70668323e-02 2.43192841e-03 6.83183594e+02] [-2.70668546e-02 9.99633625e-01 -2.37497121e-05 2.62709397e+02] [-2.43168025e-03 -4.20837121e-05 9.99997043e-01 -1.48700319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:683.24, Y:262.71, Z:-14.87 [[ 9.99818612e-01 1.88899277e-02 2.43192841e-03 6.83244741e+02] [-1.88899258e-02 9.99821569e-01 -2.37497122e-05 2.62713997e+02] [-2.43194311e-03 -2.21935429e-05 9.99997043e-01 -1.48737724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.925336195 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:683.30, Y:262.72, Z:-14.87 [[ 9.99941924e-01 1.04992544e-02 2.43192782e-03 6.83304653e+02] [-1.04992276e-02 9.99944881e-01 -2.38099620e-05 2.62717108e+02] [-2.43204377e-03 -1.72478452e-06 9.99997043e-01 -1.48732967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.9853361950001 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:683.37, Y:262.72, Z:-14.87 [[ 9.99987331e-01 4.40712773e-03 2.43192753e-03 6.83365708e+02] [-4.40708279e-03 9.99990288e-01 -2.38396685e-05 2.62718604e+02] [-2.43200898e-03 1.31216605e-05 9.99997043e-01 -1.48714906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.045336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:683.43, Y:262.72, Z:-14.88 [[ 9.99995769e-01 1.59646130e-03 2.43192693e-03 6.83427113e+02] [-1.59640789e-03 9.99998725e-01 -2.39005479e-05 2.62719023e+02] [-2.43196199e-03 2.00180994e-05 9.99997043e-01 -1.48765653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.1053361950001 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:683.49, Y:262.72, Z:-14.87 [[ 9.99997026e-01 -1.83988007e-04 2.43192302e-03 6.83488897e+02] [ 1.84047627e-04 9.99999983e-01 -2.42918404e-05 2.62717672e+02] [-2.43191851e-03 2.47393578e-05 9.99997043e-01 -1.48706251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.165336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:683.55, Y:262.72, Z:-14.87 [[ 9.99996533e-01 1.00966815e-03 2.43192243e-03 6.83550539e+02] [-1.00961191e-03 9.99999490e-01 -2.43514866e-05 2.62715424e+02] [-2.43194577e-03 2.18961044e-05 9.99997043e-01 -1.48694053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:683.61, Y:262.71, Z:-14.87 [[ 9.99989208e-01 3.95836431e-03 2.43192183e-03 6.83611252e+02] [-3.95831665e-03 9.99992166e-01 -2.44107060e-05 2.62713708e+02] [-2.43199941e-03 1.47841259e-05 9.99997043e-01 -1.48727184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.285336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:683.67, Y:262.71, Z:-14.87 [[ 9.99967455e-01 7.69250728e-03 2.43192094e-03 6.83672493e+02] [-7.69247045e-03 9.99970412e-01 -2.44991662e-05 2.62712204e+02] [-2.43203745e-03 5.79088893e-06 9.99997043e-01 -1.48709860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.345336195 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:683.73, Y:262.71, Z:-14.87 [[ 9.99908064e-01 1.33398006e-02 2.43192035e-03 6.83732741e+02] [-1.33397803e-02 9.99911021e-01 -2.45576780e-05 2.62710898e+02] [-2.43203156e-03 -7.88586298e-06 9.99997043e-01 -1.48747329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.405336195 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:683.79, Y:262.71, Z:-14.88 [[ 9.99840446e-01 1.76965889e-02 2.43191933e-03 6.83793115e+02] [-1.76965813e-02 9.99843403e-01 -2.46579203e-05 2.62713841e+02] [-2.43197486e-03 -1.83826721e-05 9.99997043e-01 -1.48761867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.465336195 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:683.85, Y:262.72, Z:-14.87 [[ 9.99798548e-01 1.99235970e-02 2.43191933e-03 6.83853997e+02] [-1.99235959e-02 9.99801505e-01 -2.46579202e-05 2.62715664e+02] [-2.43192789e-03 -2.37996253e-05 9.99997043e-01 -1.48737190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:683.91, Y:262.72, Z:-14.87 [[ 9.99809699e-01 1.93559317e-02 2.43191933e-03 6.83914787e+02] [-1.93559290e-02 9.99812656e-01 -2.46579202e-05 2.62716818e+02] [-2.43194101e-03 -2.24188302e-05 9.99997043e-01 -1.48720920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:683.97, Y:262.72, Z:-14.87 [[ 9.99852043e-01 1.70287262e-02 2.43191933e-03 6.83974500e+02] [-1.70287166e-02 9.99855001e-01 -2.46579203e-05 2.62718189e+02] [-2.43198660e-03 -1.67581931e-05 9.99997043e-01 -1.48745414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.645336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:684.03, Y:262.72, Z:-14.87 [[ 9.99888113e-01 1.47596699e-02 2.43191906e-03 6.84034926e+02] [-1.47596535e-02 9.99891070e-01 -2.46846499e-05 2.62720477e+02] [-2.43201849e-03 -1.12123948e-05 9.99997043e-01 -1.48740096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:684.10, Y:262.72, Z:-14.88 [[ 9.99958523e-01 8.77715017e-03 2.43191906e-03 6.84095570e+02] [-8.77711609e-03 9.99961480e-01 -2.46846500e-05 2.62718812e+02] [-2.43204205e-03 3.33839016e-06 9.99997043e-01 -1.48824501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:684.16, Y:262.72, Z:-14.88 [[ 9.99993118e-01 2.80174202e-03 2.43191876e-03 6.84156908e+02] [-2.80169020e-03 9.99996075e-01 -2.47146732e-05 2.62720643e+02] [-2.43197846e-03 1.79010202e-05 9.99997043e-01 -1.48802871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:684.22, Y:262.72, Z:-14.88 [[ 9.99995048e-01 -1.99740003e-03 2.43191818e-03 6.84218223e+02] [ 1.99746618e-03 9.99998005e-01 -2.47717525e-05 2.62717613e+02] [-2.43186385e-03 2.96293041e-05 9.99997043e-01 -1.48779925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:684.28, Y:262.71, Z:-14.88 [[ 9.99989847e-01 -3.79361233e-03 2.43191759e-03 6.84280444e+02] [ 3.79368393e-03 9.99992804e-01 -2.48294485e-05 2.62713112e+02] [-2.43180589e-03 3.40551231e-05 9.99997043e-01 -1.48756112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.945336195 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:684.34, Y:262.71, Z:-14.87 [[ 9.99993310e-01 -2.73251736e-03 2.43191325e-03 6.84342117e+02] [ 2.73258684e-03 9.99996266e-01 -2.52474569e-05 2.62711911e+02] [-2.43183518e-03 3.18927021e-05 9.99997043e-01 -1.48702170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.005336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:684.40, Y:262.71, Z:-14.87 [[ 9.99997042e-01 -3.92525696e-05 2.43191231e-03 6.84404511e+02] [ 3.93143036e-05 9.99999999e-01 -2.53371633e-05 2.62710779e+02] [-2.43191132e-03 2.54326973e-05 9.99997043e-01 -1.48693955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:684.47, Y:262.71, Z:-14.87 [[ 9.99991588e-01 3.30286277e-03 2.43191105e-03 6.84465670e+02] [-3.30281062e-03 9.99994545e-01 -2.54577060e-05 2.62707697e+02] [-2.43198187e-03 1.74253503e-05 9.99997043e-01 -1.48733622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:684.53, Y:262.71, Z:-14.88 [[ 9.99952135e-01 9.47703882e-03 2.43191011e-03 6.84526812e+02] [-9.47700472e-03 9.99955092e-01 -2.55478094e-05 2.62706327e+02] [-2.43204301e-03 2.49936303e-06 9.99997043e-01 -1.48755308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.185336195 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:684.59, Y:262.71, Z:-14.87 [[ 9.99855067e-01 1.68502690e-02 2.43190918e-03 6.84587917e+02] [-1.68502565e-02 9.99858024e-01 -2.56359676e-05 2.62705851e+02] [-2.43199588e-03 -1.53460413e-05 9.99997043e-01 -1.48733562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:684.65, Y:262.70, Z:-14.88 [[ 9.99747534e-01 2.23372788e-02 2.43190853e-03 6.84648281e+02] [-2.23372823e-02 9.99750491e-01 -2.56975716e-05 2.62704103e+02] [-2.43187576e-03 -2.86311435e-05 9.99997043e-01 -1.48803470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:684.71, Y:262.70, Z:-14.88 [[ 9.99708318e-01 2.40284176e-02 2.43190820e-03 6.84708830e+02] [-2.40284261e-02 9.99711275e-01 -2.57281155e-05 2.62703310e+02] [-2.43182426e-03 -3.27143156e-05 9.99997043e-01 -1.48809027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:684.77, Y:262.70, Z:-14.88 [[ 9.99750010e-01 2.22261794e-02 2.43190820e-03 6.84769532e+02] [-2.22261825e-02 9.99752968e-01 -2.57281155e-05 2.62704292e+02] [-2.43187928e-03 -2.83303519e-05 9.99997043e-01 -1.48776896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:684.83, Y:262.70, Z:-14.88 [[ 9.99843987e-01 1.74953595e-02 2.43190820e-03 6.84828622e+02] [-1.74953487e-02 9.99846944e-01 -2.57281155e-05 2.62702538e+02] [-2.43198611e-03 -1.68229804e-05 9.99997043e-01 -1.48764486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:684.89, Y:262.70, Z:-14.88 [[ 9.99874365e-01 1.56633399e-02 2.43190852e-03 6.84888795e+02] [-1.56633237e-02 9.99877322e-01 -2.56983863e-05 2.62700644e+02] [-2.43201270e-03 -1.23966126e-05 9.99997043e-01 -1.48764173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.545336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:684.95, Y:262.70, Z:-14.88 [[ 9.99842264e-01 1.75935764e-02 2.43190852e-03 6.84949180e+02] [-1.75935659e-02 9.99845221e-01 -2.56983863e-05 2.62701791e+02] [-2.43198423e-03 -1.70916101e-05 9.99997043e-01 -1.48771419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:685.01, Y:262.71, Z:-14.88 [[ 9.99735342e-01 2.28764402e-02 2.43190852e-03 6.85009484e+02] [-2.28764454e-02 9.99738300e-01 -2.56983864e-05 2.62706949e+02] [-2.43185997e-03 -2.99418373e-05 9.99997043e-01 -1.48778840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.665336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:685.07, Y:262.71, Z:-14.88 [[ 9.99659327e-01 2.59868404e-02 2.43190852e-03 6.85068882e+02] [-2.59868547e-02 9.99662284e-01 -2.56983863e-05 2.62708509e+02] [-2.43175504e-03 -3.75080218e-05 9.99997043e-01 -1.48783342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:685.13, Y:262.71, Z:-14.88 [[ 9.99599351e-01 2.81997091e-02 2.43190819e-03 6.85129785e+02] [-2.81997299e-02 9.99602308e-01 -2.57287537e-05 2.62714044e+02] [-2.43166659e-03 -4.28607088e-05 9.99997043e-01 -1.48754017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.785336195 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:685.19, Y:262.72, Z:-14.88 [[ 9.99561243e-01 2.95196030e-02 2.43190819e-03 6.85189301e+02] [-2.95196278e-02 9.99564200e-01 -2.57287536e-05 2.62719932e+02] [-2.43160787e-03 -4.60715598e-05 9.99997043e-01 -1.48759450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:685.25, Y:262.72, Z:-14.88 [[ 9.99606050e-01 2.79612518e-02 2.43190882e-03 6.85248830e+02] [-2.79612721e-02 9.99609007e-01 -2.56693160e-05 2.62724687e+02] [-2.43167571e-03 -4.23400607e-05 9.99997043e-01 -1.48792483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:685.31, Y:262.73, Z:-14.88 [[ 9.99709883e-01 2.39631994e-02 2.43190913e-03 6.85308681e+02] [-2.39632079e-02 9.99712841e-01 -2.56397884e-05 2.62726531e+02] [-2.43182520e-03 -3.26439944e-05 9.99997043e-01 -1.48776466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.965336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:685.37, Y:262.73, Z:-14.88 [[ 9.99871161e-01 1.58665141e-02 2.43190976e-03 6.85368525e+02] [-1.58664988e-02 9.99874119e-01 -2.55802951e-05 2.62731071e+02] [-2.43200950e-03 -1.30088938e-05 9.99997043e-01 -1.48778383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:685.43, Y:262.73, Z:-14.88 [[ 9.99966284e-01 7.84330499e-03 2.43190945e-03 6.85428469e+02] [-7.84326590e-03 9.99969241e-01 -2.56098828e-05 2.62732205e+02] [-2.43203551e-03 6.53490685e-06 9.99997043e-01 -1.48805041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.085336195 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:685.49, Y:262.73, Z:-14.88 [[ 9.99996978e-01 -3.59711200e-04 2.43190915e-03 6.85489429e+02] [ 3.59774613e-04 9.99999935e-01 -2.56381890e-05 2.62730746e+02] [-2.43189977e-03 2.65130507e-05 9.99997043e-01 -1.48799920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.145336195 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:685.55, Y:262.73, Z:-14.88 [[ 9.99988286e-01 -4.18498888e-03 2.43190854e-03 6.85551062e+02] [ 4.18506375e-03 9.99991242e-01 -2.56962938e-05 2.62729543e+02] [-2.43177970e-03 3.58736850e-05 9.99997043e-01 -1.48789252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:685.61, Y:262.73, Z:-14.87 [[ 9.99967448e-01 -7.69343749e-03 2.43190453e-03 6.85613335e+02] [ 7.69352364e-03 9.99970404e-01 -2.60698663e-05 2.62727073e+02] [-2.43163199e-03 4.47789326e-05 9.99997043e-01 -1.48749458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.265336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:685.68, Y:262.72, Z:-14.87 [[ 9.99949569e-01 -9.74395408e-03 2.43190000e-03 6.85675439e+02] [ 9.74404730e-03 9.99952525e-01 -2.64860501e-05 2.62723535e+02] [-2.43152647e-03 5.01812630e-05 9.99997043e-01 -1.48737459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.325336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:685.74, Y:262.72, Z:-14.87 [[ 9.99942025e-01 -1.04896397e-02 2.43189869e-03 6.85737985e+02] [ 1.04897354e-02 9.99944981e-01 -2.66052725e-05 2.62718320e+02] [-2.43148581e-03 5.21137039e-05 9.99997043e-01 -1.48714558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.385336195 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:685.80, Y:262.71, Z:-14.87 [[ 9.99928290e-01 -1.17260744e-02 2.43189739e-03 6.85798633e+02] [ 1.17261740e-02 9.99931246e-01 -2.67235746e-05 2.62711568e+02] [-2.43141683e-03 5.52385103e-05 9.99997043e-01 -1.48737813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.445336195 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:685.86, Y:262.70, Z:-14.88 [[ 9.99930514e-01 -1.15348419e-02 2.43189643e-03 6.85859940e+02] [ 1.15349412e-02 9.99933470e-01 -2.68114327e-05 2.62702313e+02] [-2.43142537e-03 5.48613520e-05 9.99997043e-01 -1.48771226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:685.92, Y:262.70, Z:-14.88 [[ 9.99948531e-01 -9.84996156e-03 2.43189547e-03 6.85921053e+02] [ 9.85005609e-03 9.99951487e-01 -2.68979379e-05 2.62696461e+02] [-2.43151255e-03 5.08508602e-05 9.99997043e-01 -1.48774234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:685.98, Y:262.69, Z:-14.88 [[ 9.99986492e-01 -4.59358394e-03 2.43189479e-03 6.85981721e+02] [ 4.59366308e-03 9.99989449e-01 -2.69589554e-05 2.62688541e+02] [-2.43174529e-03 3.81298966e-05 9.99997043e-01 -1.48783539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.625336195 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:686.04, Y:262.69, Z:-14.88 [[ 9.99984252e-01 5.05780754e-03 2.43189378e-03 6.86041995e+02] [-5.05775671e-03 9.99987209e-01 -2.70497967e-05 2.62685091e+02] [-2.43199949e-03 1.47494436e-05 9.99997043e-01 -1.48775931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.685336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:686.10, Y:262.68, Z:-14.88 [[ 9.99829217e-01 1.83199930e-02 2.43189346e-03 6.86101589e+02] [-1.83199813e-02 9.99832175e-01 -2.70791031e-05 2.62681863e+02] [-2.43198141e-03 -1.74777641e-05 9.99997043e-01 -1.48788579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:686.16, Y:262.68, Z:-14.88 [[ 9.99567373e-01 2.93113144e-02 2.43189346e-03 6.86162436e+02] [-2.93113353e-02 9.99570330e-01 -2.70791030e-05 2.62682235e+02] [-2.43164227e-03 -4.42146565e-05 9.99997043e-01 -1.48804885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:686.22, Y:262.68, Z:-14.88 [[ 9.99403862e-01 3.44384429e-02 2.43189346e-03 6.86221483e+02] [-3.44384789e-02 9.99406819e-01 -2.70791031e-05 2.62683990e+02] [-2.43138346e-03 -5.66877512e-05 9.99997043e-01 -1.48839072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:686.28, Y:262.69, Z:-14.88 [[ 9.99248626e-01 3.86816434e-02 2.43189446e-03 6.86281304e+02] [-3.86816922e-02 9.99251583e-01 -2.69887937e-05 2.62688190e+02] [-2.43111836e-03 -6.71012779e-05 9.99997043e-01 -1.48820138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:686.34, Y:262.69, Z:-14.88 [[ 9.99227331e-01 3.92278869e-02 2.43189514e-03 6.86340337e+02] [-3.92279374e-02 9.99230288e-01 -2.69270091e-05 2.62688184e+02] [-2.43107957e-03 -6.84920270e-05 9.99997043e-01 -1.48818077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:686.40, Y:262.69, Z:-14.88 [[ 9.99253178e-01 3.85638657e-02 2.43189614e-03 6.86400065e+02] [-3.85639145e-02 9.99256135e-01 -2.68362439e-05 2.62691543e+02] [-2.43112205e-03 -6.69672331e-05 9.99997043e-01 -1.48776949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:686.46, Y:262.69, Z:-14.88 [[ 9.99330059e-01 3.65173813e-02 2.43189680e-03 6.86459104e+02] [-3.65174242e-02 9.99333016e-01 -2.67762074e-05 2.62694261e+02] [-2.43125256e-03 -6.20483384e-05 9.99997043e-01 -1.48782566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:686.52, Y:262.70, Z:-14.88 [[ 9.99483077e-01 3.20571987e-02 2.43189779e-03 6.86518839e+02] [-3.20572286e-02 9.99486035e-01 -2.66865436e-05 2.62700530e+02] [-2.43150337e-03 -5.12871546e-05 9.99997043e-01 -1.48789249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.165336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:686.58, Y:262.70, Z:-14.88 [[ 9.99661472e-01 2.59041994e-02 2.43189846e-03 6.86578446e+02] [-2.59042113e-02 9.99664429e-01 -2.66251210e-05 2.62704773e+02] [-2.43177209e-03 -3.63803039e-05 9.99997043e-01 -1.48795618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.225336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:686.64, Y:262.71, Z:-14.88 [[ 9.99788861e-01 2.04039238e-02 2.43189879e-03 6.86637996e+02] [-2.04039194e-02 9.99791818e-01 -2.65948548e-05 2.62708432e+02] [-2.43193515e-03 -2.30310275e-05 9.99997043e-01 -1.48794050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.285336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:686.70, Y:262.71, Z:-14.88 [[ 9.99928884e-01 1.16752653e-02 2.43189840e-03 6.86699015e+02] [-1.16752350e-02 9.99931842e-01 -2.66306977e-05 2.62712790e+02] [-2.43204357e-03 -1.76418156e-06 9.99997043e-01 -1.48794304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.345336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:686.76, Y:262.71, Z:-14.88 [[ 9.99993572e-01 2.63454621e-03 2.43189840e-03 6.86759466e+02] [-2.63448924e-03 9.99996529e-01 -2.66306975e-05 2.62712491e+02] [-2.43196012e-03 2.02237162e-05 9.99997043e-01 -1.48802266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.405336195 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:686.82, Y:262.71, Z:-14.88 [[ 9.99965916e-01 -7.89005257e-03 2.43189806e-03 6.86820898e+02] [ 7.89014073e-03 9.99968872e-01 -2.66612302e-05 2.62709874e+02] [-2.43161201e-03 4.58483395e-05 9.99997043e-01 -1.48786489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.465336195 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:686.88, Y:262.70, Z:-14.88 [[ 9.99845182e-01 -1.74269528e-02 2.43189741e-03 6.86883141e+02] [ 1.74270693e-02 9.99848137e-01 -2.67208716e-05 2.62703888e+02] [-2.43106243e-03 6.90975795e-05 9.99997043e-01 -1.48765241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.525336195 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:686.95, Y:262.70, Z:-14.88 [[ 9.99791291e-01 -2.02844742e-02 2.43189279e-03 6.86945683e+02] [ 2.02846002e-02 9.99794246e-01 -2.71352476e-05 2.62698974e+02] [-2.43084199e-03 7.64595571e-05 9.99997043e-01 -1.48776723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.585336195 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:687.01, Y:262.69, Z:-14.88 [[ 9.99854940e-01 -1.68578128e-02 2.43189148e-03 6.87007300e+02] [ 1.68579289e-02 9.99857895e-01 -2.72518902e-05 2.62693598e+02] [-2.43108649e-03 6.82445907e-05 9.99997043e-01 -1.48787763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.645336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:687.07, Y:262.69, Z:-14.88 [[ 9.99960109e-01 -8.59458079e-03 2.43189082e-03 6.87068459e+02] [ 8.59467261e-03 9.99963065e-01 -2.73107091e-05 2.62688985e+02] [-2.43156627e-03 4.82109250e-05 9.99997043e-01 -1.48801654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:687.13, Y:262.68, Z:-14.88 [[ 9.99991110e-01 -3.44456589e-03 2.43189015e-03 6.87129774e+02] [ 3.44464264e-03 9.99994067e-01 -2.73696328e-05 2.62684736e+02] [-2.43178145e-03 3.57463820e-05 9.99997043e-01 -1.48827648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.765336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:687.19, Y:262.68, Z:-14.88 [[ 9.99996815e-01 6.75202319e-04 2.43188916e-03 6.87190734e+02] [-6.75137541e-04 9.99999772e-01 -2.74579533e-05 2.62679959e+02] [-2.43190714e-03 2.58160062e-05 9.99997043e-01 -1.48812049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.825336195 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:687.25, Y:262.68, Z:-14.88 [[ 9.99993305e-01 2.73406168e-03 2.43188849e-03 6.87252132e+02] [-2.73400285e-03 9.99996262e-01 -2.75165348e-05 2.62676171e+02] [-2.43195464e-03 2.08675605e-05 9.99997043e-01 -1.48794281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.885336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:687.31, Y:262.67, Z:-14.88 [[ 9.99958846e-01 8.74028339e-03 2.43188781e-03 6.87313299e+02] [-8.74024217e-03 9.99961803e-01 -2.75771412e-05 2.62671468e+02] [-2.43203595e-03 6.32071796e-06 9.99997043e-01 -1.48813556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.945336195 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:687.37, Y:262.67, Z:-14.89 [[ 9.99849127e-01 1.71990757e-02 2.43188553e-03 6.87373714e+02] [-1.71990590e-02 9.99852085e-01 -2.77765014e-05 2.62670408e+02] [-2.43200355e-03 -1.40538320e-05 9.99997043e-01 -1.48862877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:687.43, Y:262.67, Z:-14.89 [[ 9.99763574e-01 2.16074464e-02 2.43188520e-03 6.87434525e+02] [-2.16074427e-02 9.99766532e-01 -2.78049691e-05 2.62669843e+02] [-2.43191823e-03 -2.47484250e-05 9.99997043e-01 -1.48881896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:687.49, Y:262.67, Z:-14.89 [[ 9.99708445e-01 2.40231177e-02 2.43188520e-03 6.87493824e+02] [-2.40231212e-02 9.99711403e-01 -2.78049689e-05 2.62670628e+02] [-2.43185133e-03 -3.06246107e-05 9.99997043e-01 -1.48888326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:687.55, Y:262.67, Z:-14.88 [[ 9.99787918e-01 2.04500433e-02 2.43188554e-03 6.87554557e+02] [-2.04500362e-02 9.99790876e-01 -2.77758653e-05 2.62669131e+02] [-2.43194499e-03 -2.19621728e-05 9.99997043e-01 -1.48828436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:687.62, Y:262.67, Z:-14.88 [[ 9.99912385e-01 1.30118125e-02 2.43188520e-03 6.87615950e+02] [-1.30117834e-02 9.99915343e-01 -2.78057314e-05 2.62667116e+02] [-2.43204112e-03 -3.83986809e-06 9.99997043e-01 -1.48807693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.245336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:687.68, Y:262.66, Z:-14.88 [[ 9.99985621e-01 4.77944139e-03 2.43188450e-03 6.87677454e+02] [-4.77938775e-03 9.99988578e-01 -2.78661517e-05 2.62661062e+02] [-2.43198991e-03 1.62428320e-05 9.99997043e-01 -1.48802329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.305336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:687.74, Y:262.66, Z:-14.88 [[ 9.99996398e-01 1.13559708e-03 2.43188382e-03 6.87739028e+02] [-1.13553253e-03 9.99999355e-01 -2.79257197e-05 2.62657884e+02] [-2.43191396e-03 2.51641359e-05 9.99997043e-01 -1.48822075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.365336195 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:687.80, Y:262.65, Z:-14.88 [[ 9.99997029e-01 1.64524676e-04 2.43188314e-03 6.87800313e+02] [-1.64457107e-04 9.99999986e-01 -2.79845175e-05 2.62651241e+02] [-2.43188771e-03 2.75844939e-05 9.99997043e-01 -1.48840823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:687.86, Y:262.64, Z:-14.88 [[ 9.99992696e-01 2.94851279e-03 2.43188247e-03 6.87861715e+02] [-2.94845331e-03 9.99995653e-01 -2.80427976e-05 2.62644357e+02] [-2.43195458e-03 2.08723008e-05 9.99997043e-01 -1.48837869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.4853361950001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:687.92, Y:262.64, Z:-14.89 [[ 9.99974696e-01 6.68524672e-03 2.43188180e-03 6.87923417e+02] [-6.68519815e-03 9.99977653e-01 -2.81004245e-05 2.62642160e+02] [-2.43201532e-03 1.18421017e-05 9.99997043e-01 -1.48857073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:687.98, Y:262.64, Z:-14.89 [[ 9.99898968e-01 1.40049988e-02 2.43188114e-03 6.87984831e+02] [-1.40049718e-02 9.99901925e-01 -2.81575698e-05 2.62640246e+02] [-2.43203698e-03 -5.90370179e-06 9.99997043e-01 -1.48876452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:688.05, Y:262.64, Z:-14.89 [[ 9.99825758e-01 1.85078045e-02 2.43188045e-03 6.88046124e+02] [-1.85077906e-02 9.99828716e-01 -2.82169158e-05 2.62636509e+02] [-2.43198614e-03 -1.67967351e-05 9.99997043e-01 -1.48880866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:688.11, Y:262.63, Z:-14.88 [[ 9.99688604e-01 2.48350788e-02 2.43187976e-03 6.88106784e+02] [-2.48350834e-02 9.99691561e-01 -2.82769330e-05 2.62634964e+02] [-2.43183193e-03 -3.21278090e-05 9.99997043e-01 -1.48822569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:688.17, Y:262.63, Z:-14.88 [[ 9.99604455e-01 2.80181819e-02 2.43187976e-03 6.88167239e+02] [-2.80181960e-02 9.99607413e-01 -2.82769331e-05 2.62633653e+02] [-2.43171730e-03 -3.98711355e-05 9.99997043e-01 -1.48812116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:688.23, Y:262.63, Z:-14.88 [[ 9.99583761e-01 2.87470204e-02 2.43187941e-03 6.88226403e+02] [-2.87470366e-02 9.99586718e-01 -2.83066219e-05 2.62632967e+02] [-2.43168809e-03 -4.16144867e-05 9.99997043e-01 -1.48830638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.845336195 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:688.29, Y:262.63, Z:-14.88 [[ 9.99511882e-01 3.11461587e-02 2.43187975e-03 6.88287064e+02] [-3.11461821e-02 9.99514840e-01 -2.82776608e-05 2.62633220e+02] [-2.43158064e-03 -4.74799115e-05 9.99997043e-01 -1.48806197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:688.35, Y:262.64, Z:-14.88 [[ 9.99379357e-01 3.51423918e-02 2.43187975e-03 6.88347345e+02] [-3.51424270e-02 9.99382314e-01 -2.82776608e-05 2.62635595e+02] [-2.43137135e-03 -5.72020459e-05 9.99997043e-01 -1.48794718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:688.41, Y:262.64, Z:-14.89 [[ 9.99192631e-01 4.01020314e-02 2.43187975e-03 6.88407824e+02] [-4.01020813e-02 9.99195588e-01 -2.82776609e-05 2.62643048e+02] [-2.43105751e-03 -6.92686089e-05 9.99997043e-01 -1.48856415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:688.47, Y:262.65, Z:-14.89 [[ 9.99194082e-01 4.00658464e-02 2.43187975e-03 6.88467252e+02] [-4.00658961e-02 9.99197039e-01 -2.82776607e-05 2.62648401e+02] [-2.43106001e-03 -6.91805701e-05 9.99997043e-01 -1.48888934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:688.53, Y:262.65, Z:-14.89 [[ 9.99234520e-01 3.90443344e-02 2.43188010e-03 6.88526418e+02] [-3.90443812e-02 9.99237477e-01 -2.82474919e-05 2.62650218e+02] [-2.43112864e-03 -6.67253847e-05 9.99997043e-01 -1.48892454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:688.59, Y:262.66, Z:-14.89 [[ 9.99350089e-01 3.59650571e-02 2.43188044e-03 6.88586405e+02] [-3.59650948e-02 9.99353046e-01 -2.82177716e-05 2.62655044e+02] [-2.43132198e-03 -5.92633782e-05 9.99997043e-01 -1.48871028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.205336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:688.65, Y:262.66, Z:-14.89 [[ 9.99659566e-01 2.59776380e-02 2.43188113e-03 6.88646988e+02] [-2.59776463e-02 9.99662524e-01 -2.81583386e-05 2.62658507e+02] [-2.43179192e-03 -3.50257954e-05 9.99997043e-01 -1.48865035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.265336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:688.71, Y:262.66, Z:-14.89 [[ 9.99925549e-01 1.19575622e-02 2.43188113e-03 6.88708313e+02] [-1.19575291e-02 9.99928506e-01 -2.81583386e-05 2.62660790e+02] [-2.43204397e-03 -9.23047185e-07 9.99997043e-01 -1.48851809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:688.77, Y:262.66, Z:-14.89 [[ 9.99994588e-01 2.21589436e-03 2.43188044e-03 6.88769960e+02] [-2.21583229e-03 9.99997545e-01 -2.82183169e-05 2.62661459e+02] [-2.43193699e-03 2.28295250e-05 9.99997043e-01 -1.48874027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:688.83, Y:262.66, Z:-14.89 [[ 9.99953940e-01 -9.28462106e-03 2.43187975e-03 6.88830817e+02] [ 9.28471728e-03 9.99956896e-01 -2.82775733e-05 2.62659729e+02] [-2.43151238e-03 5.08555868e-05 9.99997043e-01 -1.48878773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.445336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:688.89, Y:262.66, Z:-14.88 [[ 9.99892444e-01 -1.44632733e-02 2.43187527e-03 6.88892933e+02] [ 1.44633857e-02 9.99895399e-01 -2.86573661e-05 2.62656239e+02] [-2.43120642e-03 6.38274339e-05 9.99997043e-01 -1.48846520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:688.95, Y:262.65, Z:-14.89 [[ 9.99919810e-01 -1.24281514e-02 2.43187040e-03 6.88953422e+02] [ 1.24282589e-02 9.99922766e-01 -2.90646697e-05 2.62653408e+02] [-2.43132136e-03 5.92862539e-05 9.99997043e-01 -1.48875933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.565336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:689.01, Y:262.65, Z:-14.88 [[ 9.99945570e-01 -1.01461125e-02 2.43186971e-03 6.89014861e+02] [ 1.01462133e-02 9.99948525e-01 -2.91223686e-05 2.62651658e+02] [-2.43144905e-03 5.37950524e-05 9.99997043e-01 -1.48842505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:689.08, Y:262.64, Z:-14.88 [[ 9.99951429e-01 -9.55119325e-03 2.43186900e-03 6.89075681e+02] [ 9.55129245e-03 9.99954385e-01 -2.91815526e-05 2.62644996e+02] [-2.43147935e-03 5.24076273e-05 9.99997043e-01 -1.48837143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:689.14, Y:262.64, Z:-14.89 [[ 9.99941503e-01 -1.05392914e-02 2.43186829e-03 6.89136017e+02] [ 1.05393937e-02 9.99944459e-01 -2.92407498e-05 2.62637362e+02] [-2.43142504e-03 5.48694566e-05 9.99997043e-01 -1.48887106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:689.20, Y:262.63, Z:-14.89 [[ 9.99929394e-01 -1.16315902e-02 2.43186794e-03 6.89198385e+02] [ 1.16316958e-02 9.99932349e-01 -2.92700995e-05 2.62628825e+02] [-2.43136296e-03 5.75547810e-05 9.99997043e-01 -1.48886942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:689.26, Y:262.62, Z:-14.89 [[ 9.99927462e-01 -1.17964797e-02 2.43186655e-03 6.89260065e+02] [ 1.17965861e-02 9.99930417e-01 -2.93849844e-05 2.62622425e+02] [-2.43135069e-03 5.80705759e-05 9.99997043e-01 -1.48878149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:689.32, Y:262.61, Z:-14.89 [[ 9.99966622e-01 -7.80008583e-03 2.43186585e-03 6.89320979e+02] [ 7.80018049e-03 9.99969578e-01 -2.94427878e-05 2.62613282e+02] [-2.43156221e-03 4.84107976e-05 9.99997043e-01 -1.48858606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.925336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:689.38, Y:262.60, Z:-14.89 [[ 9.99996899e-01 5.35989822e-04 2.43186513e-03 6.89382261e+02] [-5.35919662e-04 9.99999856e-01 -2.95018622e-05 2.62604668e+02] [-2.43188059e-03 2.81984864e-05 9.99997043e-01 -1.48866401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:689.44, Y:262.60, Z:-14.89 [[ 9.99973868e-01 6.80799002e-03 2.43186441e-03 6.89442774e+02] [-6.80793826e-03 9.99976825e-01 -2.95611563e-05 2.62601778e+02] [-2.43200931e-03 1.30044010e-05 9.99997043e-01 -1.48887526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:689.50, Y:262.60, Z:-14.89 [[ 9.99894275e-01 1.43361600e-02 2.43186322e-03 6.89503823e+02] [-1.43361303e-02 9.99897232e-01 -2.96588208e-05 2.62597043e+02] [-2.43203850e-03 -5.20782275e-06 9.99997043e-01 -1.48881187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:689.56, Y:262.59, Z:-14.89 [[ 9.99832363e-01 1.81474921e-02 2.43186250e-03 6.89564657e+02] [-1.81474735e-02 9.99835321e-01 -2.97175138e-05 2.62592121e+02] [-2.43200132e-03 -1.44196283e-05 9.99997043e-01 -1.48880697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:689.63, Y:262.59, Z:-14.89 [[ 9.99836365e-01 1.79256373e-02 2.43185782e-03 6.89625365e+02] [-1.79256171e-02 9.99839323e-01 -3.00962071e-05 2.62585631e+02] [-2.43200657e-03 -1.35012697e-05 9.99997043e-01 -1.48879817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:689.69, Y:262.58, Z:-14.89 [[ 9.99841206e-01 1.76535875e-02 2.43185312e-03 6.89686458e+02] [-1.76535656e-02 9.99844163e-01 -3.04712310e-05 2.62580963e+02] [-2.43201207e-03 -1.24644862e-05 9.99997043e-01 -1.48853673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:689.75, Y:262.57, Z:-14.89 [[ 9.99845086e-01 1.74324310e-02 2.43185238e-03 6.89747665e+02] [-1.74324083e-02 9.99848044e-01 -3.05301577e-05 2.62573865e+02] [-2.43201506e-03 -1.18676154e-05 9.99997043e-01 -1.48865284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:689.81, Y:262.57, Z:-14.89 [[ 9.99799573e-01 1.98721021e-02 2.43185162e-03 6.89808717e+02] [-1.98720864e-02 9.99802530e-01 -3.05904805e-05 2.62569339e+02] [-2.43197930e-03 -1.77416162e-05 9.99997043e-01 -1.48927221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.405336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:689.87, Y:262.56, Z:-14.89 [[ 9.99740844e-01 2.26347115e-02 2.43184859e-03 6.89869518e+02] [-2.26347034e-02 9.99743802e-01 -3.08291768e-05 2.62562955e+02] [-2.43192337e-03 -2.42229845e-05 9.99997043e-01 -1.48918427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:689.93, Y:262.56, Z:-14.89 [[ 9.99689569e-01 2.47962244e-02 2.43184783e-03 6.89930643e+02] [-2.47962226e-02 9.99692526e-01 -3.08891542e-05 2.62562010e+02] [-2.43186603e-03 -2.94210748e-05 9.99997043e-01 -1.48944791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:689.99, Y:262.56, Z:-14.89 [[ 9.99634086e-01 2.69402986e-02 2.43184289e-03 6.89991851e+02] [-2.69403023e-02 9.99637044e-01 -3.12732265e-05 2.62558774e+02] [-2.43180275e-03 -3.42527994e-05 9.99997043e-01 -1.48926374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:690.05, Y:262.56, Z:-14.89 [[ 9.99610707e-01 2.77942382e-02 2.43184210e-03 6.90052662e+02] [-2.77942442e-02 9.99613665e-01 -3.13346322e-05 2.62557872e+02] [-2.43177352e-03 -3.62687794e-05 9.99997043e-01 -1.48930852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:690.11, Y:262.56, Z:-14.89 [[ 9.99603814e-01 2.80410475e-02 2.43183696e-03 6.90114015e+02] [-2.80410532e-02 9.99606772e-01 -3.17282594e-05 2.62559150e+02] [-2.43177039e-03 -3.64755807e-05 9.99997043e-01 -1.48910462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:690.17, Y:262.56, Z:-14.89 [[ 9.99622256e-01 2.73757322e-02 2.43183619e-03 6.90174956e+02] [-2.73757358e-02 9.99625214e-01 -3.17878435e-05 2.62559001e+02] [-2.43179498e-03 -3.47974692e-05 9.99997043e-01 -1.48933453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:690.24, Y:262.56, Z:-14.89 [[ 9.99668675e-01 2.56247113e-02 2.43183110e-03 6.90236757e+02] [-2.56247088e-02 9.99671633e-01 -3.21723262e-05 2.62558376e+02] [-2.43185697e-03 -3.01532971e-05 9.99997043e-01 -1.48911888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:690.30, Y:262.56, Z:-14.89 [[ 9.99756135e-01 2.19489450e-02 2.43183031e-03 6.90298480e+02] [-2.19489315e-02 9.99759093e-01 -3.22319488e-05 2.62558608e+02] [-2.43195192e-03 -2.11519883e-05 9.99997043e-01 -1.48895331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:690.36, Y:262.56, Z:-14.89 [[ 9.99863437e-01 1.63460807e-02 2.43182952e-03 6.90360895e+02] [-1.63460505e-02 9.99866394e-01 -3.22911448e-05 2.62556597e+02] [-2.43203245e-03 -7.46407315e-06 9.99997043e-01 -1.48871146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:690.42, Y:262.55, Z:-14.89 [[ 9.99935966e-01 1.10521696e-02 2.43182384e-03 6.90422609e+02] [-1.10521227e-02 9.99938923e-01 -3.27138963e-05 2.62554579e+02] [-2.43203687e-03 5.83498602e-06 9.99997043e-01 -1.48887791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:690.48, Y:262.55, Z:-14.89 [[ 9.99956063e-01 9.05310593e-03 2.43181812e-03 6.90484673e+02] [-9.05305213e-03 9.99959020e-01 -3.31333295e-05 2.62551707e+02] [-2.43201842e-03 1.11164975e-05 9.99997043e-01 -1.48892765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:690.55, Y:262.55, Z:-14.89 [[ 9.99952949e-01 9.39074434e-03 2.43181230e-03 6.90545806e+02] [-9.39069051e-03 9.99955906e-01 -3.35551440e-05 2.62549466e+02] [-2.43202018e-03 1.07171685e-05 9.99997043e-01 -1.48889406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:690.61, Y:262.55, Z:-14.89 [[ 9.99948749e-01 9.82778490e-03 2.43180690e-03 6.90608267e+02] [-9.82773142e-03 9.99951706e-01 -3.39420839e-05 2.62546414e+02] [-2.43202303e-03 1.00411993e-05 9.99997043e-01 -1.48904815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:690.67, Y:262.54, Z:-14.89 [[ 9.99947662e-01 9.93783179e-03 2.43180100e-03 6.90670302e+02] [-9.93777762e-03 9.99950618e-01 -3.43598112e-05 2.62542111e+02] [-2.43202237e-03 1.01913153e-05 9.99997043e-01 -1.48931213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:690.73, Y:262.54, Z:-14.89 [[ 9.99944868e-01 1.02150686e-02 2.43179492e-03 6.90731334e+02] [-1.02150142e-02 9.99947825e-01 -3.47846395e-05 2.62539574e+02] [-2.43202337e-03 9.94190204e-06 9.99997043e-01 -1.48940944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:690.79, Y:262.54, Z:-14.89 [[ 9.99938486e-01 1.08217557e-02 2.43178927e-03 6.90793784e+02] [-1.08217022e-02 9.99941443e-01 -3.51755981e-05 2.62538706e+02] [-2.43202753e-03 8.85733510e-06 9.99997043e-01 -1.48937776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:690.86, Y:262.54, Z:-14.89 [[ 9.99933117e-01 1.13069901e-02 2.43178318e-03 6.90855712e+02] [-1.13069370e-02 9.99936074e-01 -3.55916973e-05 2.62535710e+02] [-2.43203016e-03 8.09329764e-06 9.99997043e-01 -1.48909933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:690.92, Y:262.53, Z:-14.89 [[ 9.99920583e-01 1.23658343e-02 2.43177701e-03 6.90917405e+02] [-1.23657833e-02 9.99923540e-01 -3.60077955e-05 2.62532907e+02] [-2.43203635e-03 5.93410824e-06 9.99997043e-01 -1.48896805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:690.98, Y:262.53, Z:-14.89 [[ 9.99900224e-01 1.39150823e-02 2.43177079e-03 6.90978476e+02] [-1.39150349e-02 9.99903181e-01 -3.64236331e-05 2.62530775e+02] [-2.43204218e-03 2.58182366e-06 9.99997043e-01 -1.48911553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:691.04, Y:262.53, Z:-14.89 [[ 9.99848329e-01 1.72454392e-02 2.43176500e-03 6.91040446e+02] [-1.72454007e-02 9.99851286e-01 -3.68059738e-05 2.62529243e+02] [-2.43203810e-03 -5.13637050e-06 9.99997043e-01 -1.48898701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:691.10, Y:262.53, Z:-14.89 [[ 9.99798673e-01 1.99173262e-02 2.43175851e-03 6.91101559e+02] [-1.99172946e-02 9.99801630e-01 -3.72299204e-05 2.62528160e+02] [-2.43201764e-03 -1.12116256e-05 9.99997043e-01 -1.48935297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:691.16, Y:262.53, Z:-14.89 [[ 9.99791211e-01 2.02884265e-02 2.43175249e-03 6.91163915e+02] [-2.02883950e-02 9.99794169e-01 -3.76190914e-05 2.62528353e+02] [-2.43201519e-03 -1.17251182e-05 9.99997043e-01 -1.48931381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:691.23, Y:262.53, Z:-14.89 [[ 9.99814365e-01 1.91134153e-02 2.43174614e-03 6.91225880e+02] [-1.91133793e-02 9.99817322e-01 -3.80251361e-05 2.62527208e+02] [-2.43202870e-03 -8.46080912e-06 9.99997043e-01 -1.48920579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:691.29, Y:262.53, Z:-14.89 [[ 9.99824087e-01 1.85978805e-02 2.43173954e-03 6.91288525e+02] [-1.85978420e-02 9.99827044e-01 -3.84424616e-05 2.62525780e+02] [-2.43203391e-03 -6.78940872e-06 9.99997043e-01 -1.48907341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:691.35, Y:262.52, Z:-14.89 [[ 9.99809147e-01 1.93844517e-02 2.43173280e-03 6.91350970e+02] [-1.93844145e-02 9.99812104e-01 -3.88645292e-05 2.62523534e+02] [-2.43202925e-03 -8.28060483e-06 9.99997043e-01 -1.48914138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:691.41, Y:262.52, Z:-14.89 [[ 9.99815715e-01 1.90426751e-02 2.43172601e-03 6.91413178e+02] [-1.90426358e-02 9.99818672e-01 -3.92843417e-05 2.62521113e+02] [-2.43203315e-03 -7.02937079e-06 9.99997043e-01 -1.48908663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:691.48, Y:262.52, Z:-14.89 [[ 9.99857803e-01 1.66871499e-02 2.43171910e-03 6.91475301e+02] [-1.66871026e-02 9.99860760e-01 -3.97079454e-05 2.62517052e+02] [-2.43204312e-03 -8.76047126e-07 9.99997043e-01 -1.48932790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:691.54, Y:262.51, Z:-14.90 [[ 9.99883054e-01 1.50984868e-02 2.43171211e-03 6.91536503e+02] [-1.50984338e-02 9.99886011e-01 -4.01311453e-05 2.62510301e+02] [-2.43204084e-03 3.41140773e-06 9.99997043e-01 -1.48968891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.085336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:691.60, Y:262.51, Z:-14.89 [[ 9.99823483e-01 1.86303236e-02 2.43170564e-03 6.91598789e+02] [-1.86302802e-02 9.99826440e-01 -4.05197736e-05 2.62506523e+02] [-2.43203849e-03 -4.79073608e-06 9.99997043e-01 -1.48937339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:691.66, Y:262.51, Z:-14.89 [[ 9.99686619e-01 2.49148820e-02 2.43169871e-03 6.91660715e+02] [-2.49148561e-02 9.99689576e-01 -4.09312477e-05 2.62505075e+02] [-2.43196365e-03 -1.96670029e-05 9.99997043e-01 -1.48945258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:691.72, Y:262.50, Z:-14.90 [[ 9.99396728e-01 3.46448811e-02 2.43169158e-03 6.91721706e+02] [-3.46448830e-02 9.99399685e-01 -4.13505284e-05 2.62503177e+02] [-2.43166438e-03 -4.29200876e-05 9.99997043e-01 -1.48983672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:691.78, Y:262.51, Z:-14.90 [[ 9.99124358e-01 4.17684516e-02 2.43168500e-03 6.91784157e+02] [-4.17684737e-02 9.99127316e-01 -4.17338093e-05 2.62505126e+02] [-2.43130607e-03 -5.98705056e-05 9.99997043e-01 -1.48955881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:691.85, Y:262.50, Z:-14.89 [[ 9.98927727e-01 4.62329303e-02 2.43167773e-03 6.91846700e+02] [-4.62329646e-02 9.98930684e-01 -4.21534822e-05 2.62504751e+02] [-2.43102637e-03 -7.03153881e-05 9.99997043e-01 -1.48948436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:691.91, Y:262.50, Z:-14.90 [[ 9.98888090e-01 4.70815215e-02 2.43167036e-03 6.91908313e+02] [-4.70815573e-02 9.98891048e-01 -4.25742772e-05 2.62504066e+02] [-2.43097822e-03 -7.19598889e-05 9.99997043e-01 -1.48973253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.445336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:691.97, Y:262.51, Z:-14.89 [[ 9.98921587e-01 4.63653873e-02 2.43166630e-03 6.91970838e+02] [-4.63654203e-02 9.98924545e-01 -4.28051553e-05 2.62506175e+02] [-2.43103583e-03 -6.99862362e-05 9.99997043e-01 -1.48940473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:692.03, Y:262.51, Z:-14.90 [[ 9.98971957e-01 4.52671589e-02 2.43165922e-03 6.92032577e+02] [-4.52671878e-02 9.98974915e-01 -4.32036816e-05 2.62507515e+02] [-2.43112226e-03 -6.69151079e-05 9.99997043e-01 -1.48959124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:692.10, Y:262.51, Z:-14.90 [[ 9.99047759e-01 4.35621718e-02 2.43165176e-03 6.92095247e+02] [-4.35621946e-02 9.99050716e-01 -4.36194989e-05 2.62508413e+02] [-2.43124359e-03 -6.23501244e-05 9.99997043e-01 -1.48975596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:692.16, Y:262.51, Z:-14.90 [[ 9.99123617e-01 4.17861878e-02 2.43164428e-03 6.92156139e+02] [-4.17862043e-02 9.99126574e-01 -4.40321703e-05 2.62508806e+02] [-2.43136036e-03 -5.76156037e-05 9.99997043e-01 -1.48991288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:692.22, Y:262.51, Z:-14.90 [[ 9.99193484e-01 4.00807662e-02 2.43163734e-03 6.92218491e+02] [-4.00807767e-02 9.99196442e-01 -4.44125700e-05 2.62511001e+02] [-2.43146346e-03 -5.30851625e-05 9.99997043e-01 -1.48959868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:692.28, Y:262.51, Z:-14.90 [[ 9.99192680e-01 4.01008233e-02 2.43162968e-03 6.92280082e+02] [-4.01008329e-02 9.99195637e-01 -4.48278033e-05 2.62514942e+02] [-2.43147140e-03 -5.27187626e-05 9.99997043e-01 -1.48977617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:692.34, Y:262.52, Z:-14.90 [[ 9.99194552e-01 4.00541319e-02 2.43162261e-03 6.92341860e+02] [-4.00541404e-02 9.99197510e-01 -4.52082550e-05 2.62516827e+02] [-2.43148203e-03 -5.22247112e-05 9.99997043e-01 -1.48950049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:692.40, Y:262.52, Z:-14.90 [[ 9.99249446e-01 3.86604579e-02 2.43162152e-03 6.92402196e+02] [-3.86604622e-02 9.99252404e-01 -4.52667429e-05 2.62520415e+02] [-2.43155368e-03 -4.87748440e-05 9.99997043e-01 -1.48981852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:692.46, Y:262.53, Z:-14.90 [[ 9.99320924e-01 3.67665401e-02 2.43161874e-03 6.92463892e+02] [-3.67665384e-02 9.99323881e-01 -4.54154606e-05 2.62527228e+02] [-2.43164445e-03 -4.40175837e-05 9.99997043e-01 -1.48995622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:692.52, Y:262.53, Z:-14.90 [[ 9.99347175e-01 3.60459442e-02 2.43161184e-03 6.92524991e+02] [-3.60459395e-02 9.99350133e-01 -4.57821895e-05 2.62531398e+02] [-2.43168187e-03 -4.18974314e-05 9.99997043e-01 -1.48954866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:692.59, Y:262.54, Z:-14.90 [[ 9.99398534e-01 3.45927384e-02 2.43161072e-03 6.92586236e+02] [-3.45927292e-02 9.99401491e-01 -4.58411650e-05 2.62538064e+02] [-2.43174116e-03 -3.83024582e-05 9.99997043e-01 -1.48976502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:692.65, Y:262.54, Z:-14.90 [[ 9.99585322e-01 2.86927179e-02 2.43160906e-03 6.92647199e+02] [-2.86926911e-02 9.99588279e-01 -4.59293107e-05 2.62543894e+02] [-2.43192575e-03 -2.38591427e-05 9.99997043e-01 -1.48999670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:692.71, Y:262.54, Z:-14.90 [[ 9.99720267e-01 2.35260436e-02 2.43160795e-03 6.92708284e+02] [-2.35260014e-02 9.99723224e-01 -4.59880851e-05 2.62544009e+02] [-2.43201686e-03 -1.12307911e-05 9.99997043e-01 -1.48997120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:692.77, Y:262.54, Z:-14.90 [[ 9.99842914e-01 1.75566318e-02 2.43160686e-03 6.92769277e+02] [-1.75565717e-02 9.99845870e-01 -4.60455854e-05 2.62543785e+02] [-2.43204048e-03 3.34767210e-06 9.99997043e-01 -1.48990995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:692.83, Y:262.55, Z:-14.90 [[ 9.99883377e-01 1.50771387e-02 2.43160578e-03 6.92830744e+02] [-1.50770712e-02 9.99886333e-01 -4.61025550e-05 2.62545347e+02] [-2.43202448e-03 9.43568501e-06 9.99997043e-01 -1.48953783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:692.89, Y:262.55, Z:-14.90 [[ 9.99879074e-01 1.53598371e-02 2.43160466e-03 6.92890626e+02] [-1.53597702e-02 9.99882031e-01 -4.61617668e-05 2.62545192e+02] [-2.43202684e-03 8.80729579e-06 9.99997043e-01 -1.48975072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:692.95, Y:262.55, Z:-14.90 [[ 9.99842594e-01 1.75748380e-02 2.43160410e-03 6.92951193e+02] [-1.75747776e-02 9.99845551e-01 -4.61910426e-05 2.62546084e+02] [-2.43204034e-03 3.44887055e-06 9.99997043e-01 -1.49004872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:693.01, Y:262.55, Z:-14.90 [[ 9.99761012e-01 2.17257046e-02 2.43160301e-03 6.93011312e+02] [-2.17256564e-02 9.99763969e-01 -4.62482133e-05 2.62547832e+02] [-2.43203385e-03 -6.59101098e-06 9.99997043e-01 -1.49038818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:693.07, Y:262.55, Z:-14.90 [[ 9.99690734e-01 2.47492285e-02 2.43160013e-03 6.93071733e+02] [-2.47491888e-02 9.99693691e-01 -4.63994782e-05 2.62550108e+02] [-2.43200366e-03 -1.37950022e-05 9.99997043e-01 -1.48992076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:693.13, Y:262.55, Z:-14.90 [[ 9.99666912e-01 2.56934265e-02 2.43160013e-03 6.93132579e+02] [-2.56933897e-02 9.99669869e-01 -4.63994783e-05 2.62554106e+02] [-2.43198954e-03 -1.60920263e-05 9.99997043e-01 -1.49003521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:693.19, Y:262.56, Z:-14.90 [[ 9.99668023e-01 2.56501703e-02 2.43159956e-03 6.93193492e+02] [-2.56501332e-02 9.99670980e-01 -4.64289608e-05 2.62555676e+02] [-2.43199043e-03 -1.59573053e-05 9.99997043e-01 -1.49004630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:693.25, Y:262.56, Z:-14.90 [[ 9.99709658e-01 2.39726364e-02 2.43159956e-03 6.93253215e+02] [-2.39725944e-02 9.99712615e-01 -4.64289609e-05 2.62558176e+02] [-2.43201378e-03 -1.18762695e-05 9.99997043e-01 -1.49019962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:693.31, Y:262.56, Z:-14.90 [[ 9.99836770e-01 1.79030965e-02 2.43160013e-03 6.93314401e+02] [-1.79030366e-02 9.99839727e-01 -4.63990765e-05 2.62555792e+02] [-2.43204110e-03 2.85847653e-06 9.99997043e-01 -1.49011858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:693.38, Y:262.55, Z:-14.90 [[ 9.99952104e-01 9.48037926e-03 2.43159902e-03 6.93375797e+02] [-9.48029432e-03 9.99955060e-01 -4.64571700e-05 2.62552800e+02] [-2.43193018e-03 2.34026704e-05 9.99997043e-01 -1.48993282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:693.44, Y:262.55, Z:-14.90 [[ 9.99984059e-01 5.09595867e-03 2.43159790e-03 6.93436930e+02] [-5.09586062e-03 9.99987015e-01 -4.65157445e-05 2.62548273e+02] [-2.43180337e-03 3.41239190e-05 9.99997043e-01 -1.49007640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:693.50, Y:262.54, Z:-14.90 [[ 9.99991470e-01 3.33880548e-03 2.43159067e-03 6.93498199e+02] [-3.33870133e-03 9.99994425e-01 -4.68907806e-05 2.62541411e+02] [-2.43173367e-03 3.87720256e-05 9.99997043e-01 -1.49020680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:693.56, Y:262.54, Z:-14.90 [[ 9.99977845e-01 6.19654453e-03 2.43158955e-03 6.93559676e+02] [-6.19644868e-03 9.99980801e-01 -4.69486625e-05 2.62536503e+02] [-2.43183379e-03 3.18804024e-05 9.99997043e-01 -1.49016821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:693.62, Y:262.53, Z:-14.90 [[ 9.99920535e-01 1.23697427e-02 2.43158842e-03 6.93620887e+02] [-1.23696650e-02 9.99923492e-01 -4.70074907e-05 2.62531185e+02] [-2.43198385e-03 1.69258211e-05 9.99997043e-01 -1.49031124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:693.68, Y:262.53, Z:-14.90 [[ 9.99774502e-01 2.10958137e-02 2.43158672e-03 6.93681758e+02] [-2.10957615e-02 9.99777459e-01 -4.70951764e-05 2.62528881e+02] [-2.43203910e-03 -4.21161703e-06 9.99997043e-01 -1.49038272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:693.74, Y:262.53, Z:-14.90 [[ 9.99615291e-01 2.76289283e-02 2.43158559e-03 6.93742137e+02] [-2.76288953e-02 9.99618248e-01 -4.71531473e-05 2.62529246e+02] [-2.43196012e-03 -2.00470166e-05 9.99997043e-01 -1.49045062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:693.80, Y:262.53, Z:-14.90 [[ 9.99355247e-01 3.58214730e-02 2.43158503e-03 6.93802894e+02] [-3.58214642e-02 9.99358204e-01 -4.71819966e-05 2.62529577e+02] [-2.43171458e-03 -3.99513604e-05 9.99997043e-01 -1.49037346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:693.86, Y:262.53, Z:-14.90 [[ 9.99083717e-01 4.27295364e-02 2.43158503e-03 6.93862910e+02] [-4.27295480e-02 9.99086675e-01 -4.71819966e-05 2.62533927e+02] [-2.43138027e-03 -5.67617649e-05 9.99997043e-01 -1.49043039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:693.92, Y:262.54, Z:-14.90 [[ 9.98800355e-01 4.89074535e-02 2.43158560e-03 6.93922800e+02] [-4.89074835e-02 9.98803312e-01 -4.71525296e-05 2.62540231e+02] [-2.43098186e-03 -7.18267695e-05 9.99997043e-01 -1.49040571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:693.98, Y:262.54, Z:-14.90 [[ 9.98726349e-01 5.03961083e-02 2.43158675e-03 6.93981083e+02] [-5.03961428e-02 9.98729306e-01 -4.70932869e-05 2.62543485e+02] [-2.43087027e-03 -7.55092868e-05 9.99997043e-01 -1.49043781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:694.04, Y:262.55, Z:-14.90 [[ 9.98728892e-01 5.03456791e-02 2.43158845e-03 6.94040940e+02] [-5.03457137e-02 9.98731849e-01 -4.70056412e-05 2.62552313e+02] [-2.43087136e-03 -7.54741639e-05 9.99997043e-01 -1.49012438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:694.10, Y:262.56, Z:-14.90 [[ 9.98810009e-01 4.87098967e-02 2.43158957e-03 6.94099633e+02] [-4.87099267e-02 9.98812966e-01 -4.69476764e-05 2.62557817e+02] [-2.43099000e-03 -7.15507403e-05 9.99997043e-01 -1.49031797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:694.16, Y:262.56, Z:-14.90 [[ 9.98969372e-01 4.53241814e-02 2.43159069e-03 6.94159485e+02] [-4.53242015e-02 9.98972329e-01 -4.68892455e-05 2.62564822e+02] [-2.43121703e-03 -6.33689863e-05 9.99997043e-01 -1.49037327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.665336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:694.22, Y:262.57, Z:-14.91 [[ 9.99099549e-01 4.23577554e-02 2.43159182e-03 6.94218019e+02] [-4.23577668e-02 9.99102506e-01 -4.68305282e-05 2.62569656e+02] [-2.43139312e-03 -5.62084399e-05 9.99997043e-01 -1.49058028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:694.28, Y:262.58, Z:-14.90 [[ 9.99320661e-01 3.67736938e-02 2.43159350e-03 6.94277608e+02] [-3.67736889e-02 9.99323618e-01 -4.67430429e-05 2.62577469e+02] [-2.43166773e-03 -4.27073747e-05 9.99997043e-01 -1.49029413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:694.34, Y:262.58, Z:-14.90 [[ 9.99554120e-01 2.97598547e-02 2.43159465e-03 6.94337251e+02] [-2.97598292e-02 9.99557077e-01 -4.66832046e-05 2.62583528e+02] [-2.43190693e-03 -2.57014520e-05 9.99997043e-01 -1.49023240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:694.40, Y:262.59, Z:-14.90 [[ 9.99734057e-01 2.29325680e-02 2.43159582e-03 6.94397146e+02] [-2.29325224e-02 9.99737014e-01 -4.66225683e-05 2.62585710e+02] [-2.43202552e-03 -9.15245613e-06 9.99997043e-01 -1.49042485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:694.46, Y:262.58, Z:-14.90 [[ 9.99862687e-01 1.63919035e-02 2.43159639e-03 6.94457983e+02] [-1.63918387e-02 9.99865644e-01 -4.65925910e-05 2.62584520e+02] [-2.43203343e-03 6.72785740e-06 9.99997043e-01 -1.49048502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:694.52, Y:262.58, Z:-14.91 [[ 9.99930016e-01 1.15779957e-02 2.43159639e-03 6.94517340e+02] [-1.15779167e-02 9.99932973e-01 -4.65925910e-05 2.62583958e+02] [-2.43197286e-03 1.84365099e-05 9.99997043e-01 -1.49052485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.025336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:694.58, Y:262.58, Z:-14.90 [[ 9.99939385e-01 1.07384045e-02 2.43159695e-03 6.94577998e+02] [-1.07383230e-02 9.99942341e-01 -4.65631677e-05 2.62583625e+02] [-2.43195677e-03 2.04490718e-05 9.99997043e-01 -1.49037375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.085336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:694.64, Y:262.58, Z:-14.90 [[ 9.99898933e-01 1.40075251e-02 2.43159695e-03 6.94638268e+02] [-1.40074533e-02 9.99901890e-01 -4.65631677e-05 2.62582933e+02] [-2.43201062e-03 1.24979809e-05 9.99997043e-01 -1.49026747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.145336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:694.70, Y:262.58, Z:-14.90 [[ 9.99779968e-01 2.08351602e-02 2.43159695e-03 6.94697363e+02] [-2.08351086e-02 9.99782924e-01 -4.65631679e-05 2.62584776e+02] [-2.43203926e-03 -4.10966411e-06 9.99997043e-01 -1.49046890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.205336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:694.76, Y:262.59, Z:-14.91 [[ 9.99678103e-01 2.52542607e-02 2.43159750e-03 6.94755753e+02] [-2.52542222e-02 9.99681060e-01 -4.65345128e-05 2.62587173e+02] [-2.43199716e-03 -1.48885701e-05 9.99997043e-01 -1.49073417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:694.82, Y:262.59, Z:-14.91 [[ 9.99592744e-01 2.84329561e-02 2.43159858e-03 6.94815946e+02] [-2.84329271e-02 9.99595702e-01 -4.64782485e-05 2.62589605e+02] [-2.43193700e-03 -2.26781452e-05 9.99997043e-01 -1.49061426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:694.87, Y:262.59, Z:-14.91 [[ 9.99669710e-01 2.55843247e-02 2.43159971e-03 6.94874731e+02] [-2.55842875e-02 9.99672667e-01 -4.64189462e-05 2.62592044e+02] [-2.43199137e-03 -1.58071315e-05 9.99997043e-01 -1.49064408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:694.93, Y:262.59, Z:-14.91 [[ 9.99856042e-01 1.67923589e-02 2.43160139e-03 6.94934599e+02] [-1.67922959e-02 9.99858998e-01 -4.63308397e-05 2.62590003e+02] [-2.43203653e-03 5.49199995e-06 9.99997043e-01 -1.49094338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:695.00, Y:262.59, Z:-14.91 [[ 9.99945016e-01 1.02005728e-02 2.43160193e-03 6.94995539e+02] [-1.02004904e-02 9.99947973e-01 -4.63023564e-05 2.62587628e+02] [-2.43194773e-03 2.14962784e-05 9.99997043e-01 -1.49115657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:695.06, Y:262.58, Z:-14.91 [[ 9.99995328e-01 1.85235463e-03 2.43160142e-03 6.95056362e+02] [-1.85224745e-03 9.99998284e-01 -4.63293951e-05 2.62581296e+02] [-2.43168306e-03 4.18252511e-05 9.99997043e-01 -1.49093511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:695.12, Y:262.57, Z:-14.91 [[ 9.99993655e-01 -2.60335750e-03 2.43160033e-03 6.95117275e+02] [ 2.60347799e-03 9.99996610e-01 -4.63864668e-05 2.62572844e+02] [-2.43147132e-03 5.27167904e-05 9.99997043e-01 -1.49101921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:695.18, Y:262.57, Z:-14.91 [[ 9.99996288e-01 -1.22974261e-03 2.43159328e-03 6.95179735e+02] [ 1.22985993e-03 9.99999243e-01 -4.67531929e-05 2.62568521e+02] [-2.43153394e-03 4.97435384e-05 9.99997043e-01 -1.49092831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:695.24, Y:262.56, Z:-14.91 [[ 9.99995465e-01 1.77696035e-03 2.43159113e-03 6.95241328e+02] [-1.77685164e-03 9.99998420e-01 -4.68646156e-05 2.62562875e+02] [-2.43167056e-03 4.25438264e-05 9.99997043e-01 -1.49072948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:695.30, Y:262.56, Z:-14.91 [[ 9.99970374e-01 7.30335695e-03 2.43158942e-03 6.95301241e+02] [-7.30326436e-03 9.99973330e-01 -4.69529819e-05 2.62555632e+02] [-2.43186749e-03 2.91930505e-05 9.99997043e-01 -1.49103212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:695.36, Y:262.55, Z:-14.91 [[ 9.99897676e-01 1.40969536e-02 2.43158886e-03 6.95363008e+02] [-1.40968810e-02 9.99900633e-01 -4.69820439e-05 2.62552172e+02] [-2.43200954e-03 1.26994176e-05 9.99997043e-01 -1.49108148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:695.42, Y:262.55, Z:-14.91 [[ 9.99754739e-01 2.20124661e-02 2.43158775e-03 6.95423484e+02] [-2.20124168e-02 9.99757696e-01 -4.70393168e-05 2.62548511e+02] [-2.43203402e-03 -6.49734320e-06 9.99997043e-01 -1.49112640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:695.48, Y:262.55, Z:-14.91 [[ 9.99540937e-01 3.01993943e-02 2.43158720e-03 6.95482784e+02] [-3.01993691e-02 9.99543894e-01 -4.70677301e-05 2.62549097e+02] [-2.43189956e-03 -2.63862765e-05 9.99997043e-01 -1.49107276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:695.54, Y:262.55, Z:-14.91 [[ 9.99399793e-01 3.45563588e-02 2.43158778e-03 6.95542149e+02] [-3.45563466e-02 9.99402750e-01 -4.70380207e-05 2.62549397e+02] [-2.43176097e-03 -3.70170019e-05 9.99997043e-01 -1.49101881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:695.60, Y:262.55, Z:-14.91 [[ 9.99326292e-01 3.66203408e-02 2.43158894e-03 6.95602354e+02] [-3.66203348e-02 9.99329249e-01 -4.69780872e-05 2.62552202e+02] [-2.43167830e-03 -4.20991632e-05 9.99997043e-01 -1.49121868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:695.66, Y:262.55, Z:-14.92 [[ 9.99488068e-01 3.19012405e-02 2.43159007e-03 6.95662367e+02] [-3.19012208e-02 9.99491025e-01 -4.69193741e-05 2.62553884e+02] [-2.43184924e-03 -3.06753370e-05 9.99997043e-01 -1.49156696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:695.72, Y:262.55, Z:-14.92 [[ 9.99684936e-01 2.49823236e-02 2.43159124e-03 6.95722122e+02] [-2.49822835e-02 9.99687893e-01 -4.68584656e-05 2.62553398e+02] [-2.43200296e-03 -1.39029996e-05 9.99997043e-01 -1.49176348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:695.78, Y:262.55, Z:-14.91 [[ 9.99773172e-01 2.11587536e-02 2.43159182e-03 6.95782669e+02] [-2.11587023e-02 9.99776129e-01 -4.68284122e-05 2.62553645e+02] [-2.43203829e-03 -4.63153735e-06 9.99997043e-01 -1.49141954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:695.84, Y:262.55, Z:-14.91 [[ 9.99836971e-01 1.78918802e-02 2.43159182e-03 6.95842250e+02] [-1.78918192e-02 9.99839927e-01 -4.68284121e-05 2.62553378e+02] [-2.43204044e-03 3.31517641e-06 9.99997043e-01 -1.49146720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:695.90, Y:262.55, Z:-14.91 [[ 9.99864596e-01 1.62750615e-02 2.43159138e-03 6.95903153e+02] [-1.62749957e-02 9.99867552e-01 -4.68510592e-05 2.62553693e+02] [-2.43203183e-03 7.27057615e-06 9.99997043e-01 -1.49139865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:695.96, Y:262.55, Z:-14.92 [[ 9.99875308e-01 1.56030576e-02 2.43159138e-03 6.95963118e+02] [-1.56029898e-02 9.99878265e-01 -4.68510592e-05 2.62553257e+02] [-2.43202639e-03 8.90512175e-06 9.99997043e-01 -1.49153633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:696.02, Y:262.55, Z:-14.92 [[ 9.99923176e-01 1.21544215e-02 2.43159074e-03 6.96023882e+02] [-1.21543434e-02 9.99926132e-01 -4.68846486e-05 2.62550987e+02] [-2.43198098e-03 1.73266578e-05 9.99997043e-01 -1.49176424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:696.08, Y:262.55, Z:-14.92 [[ 9.99951584e-01 9.53508668e-03 2.43159074e-03 6.96083937e+02] [-9.53500086e-03 9.99954540e-01 -4.68846486e-05 2.62547496e+02] [-2.43192724e-03 2.36971588e-05 9.99997043e-01 -1.49163200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.585336195 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:696.14, Y:262.54, Z:-14.91 [[ 9.99964794e-01 8.03112622e-03 2.43159091e-03 6.96143722e+02] [-8.03103598e-03 9.99967750e-01 -4.68755955e-05 2.62542257e+02] [-2.43188896e-03 2.73457511e-05 9.99997043e-01 -1.49114204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:696.21, Y:262.54, Z:-14.91 [[ 9.99978583e-01 6.07625706e-03 2.43158793e-03 6.96205045e+02] [-6.07616066e-03 9.99981539e-01 -4.70296808e-05 2.62537225e+02] [-2.43182881e-03 3.22539546e-05 9.99997043e-01 -1.49143713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.705336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:696.27, Y:262.53, Z:-14.91 [[ 9.99985425e-01 4.82046121e-03 2.43158681e-03 6.96266193e+02] [-4.82036096e-03 9.99988381e-01 -4.70875990e-05 2.62531381e+02] [-2.43178554e-03 3.53657866e-05 9.99997043e-01 -1.49128669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:696.33, Y:262.52, Z:-14.92 [[ 9.99993090e-01 2.81197560e-03 2.43158567e-03 6.96327546e+02] [-2.81186927e-03 9.99996046e-01 -4.71464440e-05 2.62523712e+02] [-2.43170863e-03 4.03088172e-05 9.99997043e-01 -1.49169898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:696.39, Y:262.51, Z:-14.92 [[ 9.99993923e-01 2.49841120e-03 2.43157830e-03 6.96389132e+02] [-2.49830303e-03 9.99996878e-01 -4.75233692e-05 2.62514255e+02] [-2.43168944e-03 4.14482610e-05 9.99997043e-01 -1.49178785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:696.45, Y:262.50, Z:-14.91 [[ 9.99985408e-01 4.82401467e-03 2.43157717e-03 6.96450343e+02] [-4.82391323e-03 9.99988364e-01 -4.75810249e-05 2.62503293e+02] [-2.43177841e-03 3.58506133e-05 9.99997043e-01 -1.49116622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:696.51, Y:262.49, Z:-14.92 [[ 9.99962441e-01 8.31887998e-03 2.43157544e-03 6.96511224e+02] [-8.31878866e-03 9.99965397e-01 -4.76691946e-05 2.62494058e+02] [-2.43188786e-03 2.74396420e-05 9.99997043e-01 -1.49192295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:696.57, Y:262.49, Z:-14.92 [[ 9.99932732e-01 1.13410198e-02 2.43157371e-03 6.96571974e+02] [-1.13409372e-02 9.99935688e-01 -4.77576926e-05 2.62487453e+02] [-2.43195895e-03 2.01781554e-05 9.99997043e-01 -1.49196655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:696.63, Y:262.48, Z:-14.92 [[ 9.99831131e-01 1.82152987e-02 2.43157258e-03 6.96633230e+02] [-1.82152363e-02 9.99834088e-01 -4.78151041e-05 2.62479030e+02] [-2.43204012e-03 3.51536051e-06 9.99997043e-01 -1.49197218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:696.69, Y:262.47, Z:-14.92 [[ 9.99591497e-01 2.84767880e-02 2.43157143e-03 6.96693762e+02] [-2.84767558e-02 9.99594454e-01 -4.78735374e-05 2.62472210e+02] [-2.43194860e-03 -2.13892848e-05 9.99997043e-01 -1.49166407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:696.75, Y:262.47, Z:-14.92 [[ 9.99202647e-01 3.98516976e-02 2.43157084e-03 6.96752850e+02] [-3.98516990e-02 9.99205604e-01 -4.79034189e-05 2.62471458e+02] [-2.43154824e-03 -4.90370062e-05 9.99997043e-01 -1.49186282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:696.81, Y:262.47, Z:-14.92 [[ 9.98846413e-01 4.79575906e-02 2.43157143e-03 6.96813154e+02] [-4.79576161e-02 9.98849370e-01 -4.78735177e-05 2.62473839e+02] [-2.43106949e-03 -6.87940776e-05 9.99997043e-01 -1.49220110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:696.87, Y:262.47, Z:-14.92 [[ 9.98712683e-01 5.06662081e-02 2.43157143e-03 6.96873329e+02] [-5.06662416e-02 9.98715640e-01 -4.78735178e-05 2.62474161e+02] [-2.43087398e-03 -7.53866960e-05 9.99997043e-01 -1.49159898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:696.93, Y:262.47, Z:-14.92 [[ 9.98829510e-01 4.83083656e-02 2.43157292e-03 6.96932463e+02] [-4.83083923e-02 9.98832467e-01 -4.77974037e-05 2.62474485e+02] [-2.43104300e-03 -6.97239214e-05 9.99997043e-01 -1.49172253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:696.99, Y:262.48, Z:-14.92 [[ 9.99087912e-01 4.26313365e-02 2.43157263e-03 6.96993028e+02] [-4.26313463e-02 9.99090870e-01 -4.78123881e-05 2.62478979e+02] [-2.43140032e-03 -5.58924359e-05 9.99997043e-01 -1.49188669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:697.05, Y:262.48, Z:-14.92 [[ 9.99359709e-01 3.56967840e-02 2.43157204e-03 6.97053941e+02] [-3.56967732e-02 9.99362666e-01 -4.78423346e-05 2.62479448e+02] [-2.43173013e-03 -3.89875741e-05 9.99997043e-01 -1.49151848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.545336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:697.11, Y:262.48, Z:-14.92 [[ 9.99599659e-01 2.81888289e-02 2.43157204e-03 6.97114121e+02] [-2.81887959e-02 9.99602616e-01 -4.78423346e-05 2.62477493e+02] [-2.43195439e-03 -2.07199066e-05 9.99997043e-01 -1.49177747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:697.18, Y:262.48, Z:-14.92 [[ 9.99728576e-01 2.31702861e-02 2.43156921e-03 6.97175696e+02] [-2.31702379e-02 9.99731533e-01 -4.79857700e-05 2.62475394e+02] [-2.43202826e-03 -8.36729145e-06 9.99997043e-01 -1.49173552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:697.24, Y:262.47, Z:-14.92 [[ 9.99852885e-01 1.69792998e-02 2.43156799e-03 6.97235512e+02] [-1.69792331e-02 9.99855841e-01 -4.80473102e-05 2.62470840e+02] [-2.43203327e-03 6.75408195e-06 9.99997043e-01 -1.49158871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:697.30, Y:262.47, Z:-14.92 [[ 9.99845496e-01 1.74089767e-02 2.43156739e-03 6.97296608e+02] [-1.74089113e-02 9.99848452e-01 -4.80779268e-05 2.62468376e+02] [-2.43203588e-03 5.73955773e-06 9.99997043e-01 -1.49198213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:697.36, Y:262.47, Z:-14.91 [[ 9.99741631e-01 2.25999832e-02 2.43156620e-03 6.97357958e+02] [-2.25999329e-02 9.99744588e-01 -4.81379405e-05 2.62466612e+02] [-2.43203306e-03 -6.82772990e-06 9.99997043e-01 -1.49143846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:697.42, Y:262.47, Z:-14.92 [[ 9.99584976e-01 2.87047632e-02 2.43156493e-03 6.97417917e+02] [-2.87047309e-02 9.99587933e-01 -4.82018276e-05 2.62465715e+02] [-2.43194659e-03 -2.16155943e-05 9.99997043e-01 -1.49168737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:697.48, Y:262.47, Z:-14.92 [[ 9.99460976e-01 3.27390570e-02 2.43156431e-03 6.97478244e+02] [-3.27390366e-02 9.99463933e-01 -4.82333325e-05 2.62468227e+02] [-2.43183994e-03 -3.13997392e-05 9.99997043e-01 -1.49192365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:697.54, Y:262.47, Z:-14.92 [[ 9.99380935e-01 3.50974910e-02 2.43156431e-03 6.97538213e+02] [-3.50974775e-02 9.99383893e-01 -4.82333324e-05 2.62471080e+02] [-2.43175907e-03 -3.71383008e-05 9.99997043e-01 -1.49249233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:697.60, Y:262.48, Z:-14.92 [[ 9.99258296e-01 3.84310490e-02 2.43156370e-03 6.97597841e+02] [-3.84310453e-02 9.99261253e-01 -4.82640355e-05 2.62476563e+02] [-2.43162223e-03 -4.52192967e-05 9.99997043e-01 -1.49209403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:697.66, Y:262.48, Z:-14.93 [[ 9.99238217e-01 3.89496228e-02 2.43156427e-03 6.97657621e+02] [-3.89496207e-02 9.99241174e-01 -4.82350140e-05 2.62481705e+02] [-2.43159788e-03 -4.65102368e-05 9.99997043e-01 -1.49295021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:697.72, Y:262.49, Z:-14.93 [[ 9.99370304e-01 3.53989172e-02 2.43156544e-03 6.97718633e+02] [-3.53989047e-02 9.99373261e-01 -4.81760969e-05 2.62486237e+02] [-2.43174687e-03 -3.79289928e-05 9.99997043e-01 -1.49286185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:697.78, Y:262.49, Z:-14.92 [[ 9.99603474e-01 2.80532050e-02 2.43156486e-03 6.97778632e+02] [-2.80531707e-02 9.99606431e-01 -4.82053839e-05 2.62487428e+02] [-2.43196019e-03 -2.00268349e-05 9.99997043e-01 -1.49241798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:697.84, Y:262.49, Z:-14.92 [[ 9.99752134e-01 2.21304563e-02 2.43156550e-03 6.97838750e+02] [-2.21304046e-02 9.99755091e-01 -4.81730753e-05 2.62486995e+02] [-2.43203608e-03 -5.65039350e-06 9.99997043e-01 -1.49232468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:697.90, Y:262.49, Z:-14.93 [[ 9.99865212e-01 1.62371793e-02 2.43156487e-03 6.97899299e+02] [-1.62371100e-02 9.99868168e-01 -4.82046740e-05 2.62486280e+02] [-2.43202703e-03 8.71659013e-06 9.99997043e-01 -1.49295551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:697.96, Y:262.49, Z:-14.93 [[ 9.99934827e-01 1.11547427e-02 2.43156429e-03 6.97959930e+02] [-1.11546584e-02 9.99937784e-01 -4.82340860e-05 2.62487146e+02] [-2.43195105e-03 2.11076734e-05 9.99997043e-01 -1.49276763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:698.02, Y:262.48, Z:-14.92 [[ 9.99950551e-01 9.64280263e-03 2.43156369e-03 6.98021041e+02] [-9.64271377e-03 9.99953507e-01 -4.82644053e-05 2.62484388e+02] [-2.43191604e-03 2.48151460e-05 9.99997043e-01 -1.49242289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:698.08, Y:262.49, Z:-14.93 [[ 9.99923662e-01 1.21143771e-02 2.43156238e-03 6.98081509e+02] [-1.21142954e-02 9.99926618e-01 -4.83304075e-05 2.62486531e+02] [-2.43196944e-03 1.88700531e-05 9.99997043e-01 -1.49256810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:698.14, Y:262.49, Z:-14.93 [[ 9.99901498e-01 1.38232408e-02 2.43156172e-03 6.98141892e+02] [-1.38231640e-02 9.99904454e-01 -4.83633495e-05 2.62486640e+02] [-2.43199794e-03 1.47467090e-05 9.99997043e-01 -1.49261769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:698.20, Y:262.48, Z:-14.93 [[ 9.99888218e-01 1.47525742e-02 2.43156112e-03 6.98202491e+02] [-1.47525002e-02 9.99891175e-01 -4.83936164e-05 2.62484044e+02] [-2.43201044e-03 1.25166011e-05 9.99997043e-01 -1.49251321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:698.26, Y:262.48, Z:-14.93 [[ 9.99878709e-01 1.53836044e-02 2.43156112e-03 6.98262804e+02] [-1.53835322e-02 9.99881665e-01 -4.83936165e-05 2.62483423e+02] [-2.43201785e-03 1.09817481e-05 9.99997043e-01 -1.49295353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:698.32, Y:262.48, Z:-14.93 [[ 9.99870520e-01 1.59069314e-02 2.43156048e-03 6.98323246e+02] [-1.59068606e-02 9.99873477e-01 -4.84259862e-05 2.62480827e+02] [-2.43202314e-03 9.74122245e-06 9.99997043e-01 -1.49309327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.805336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:698.38, Y:262.48, Z:-14.93 [[ 9.99872345e-01 1.57917862e-02 2.43155986e-03 6.98383995e+02] [-1.57917151e-02 9.99875302e-01 -4.84569131e-05 2.62476223e+02] [-2.43202187e-03 1.00522269e-05 9.99997043e-01 -1.49325193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:698.44, Y:262.47, Z:-14.93 [[ 9.99880860e-01 1.52431587e-02 2.43155986e-03 6.98444592e+02] [-1.52430860e-02 9.99883816e-01 -4.84569131e-05 2.62474345e+02] [-2.43201599e-03 1.13866639e-05 9.99997043e-01 -1.49286868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:698.51, Y:262.47, Z:-14.93 [[ 9.99890209e-01 1.46170356e-02 2.43155924e-03 6.98505367e+02] [-1.46169609e-02 9.99893165e-01 -4.84880118e-05 2.62470795e+02] [-2.43200822e-03 1.29406819e-05 9.99997043e-01 -1.49304033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:698.57, Y:262.46, Z:-14.93 [[ 9.99898727e-01 1.40222573e-02 2.43155924e-03 6.98565313e+02] [-1.40221808e-02 9.99901683e-01 -4.84880119e-05 2.62462403e+02] [-2.43200009e-03 1.43873380e-05 9.99997043e-01 -1.49347165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:698.63, Y:262.46, Z:-14.93 [[ 9.99898595e-01 1.40316557e-02 2.43155602e-03 6.98625555e+02] [-1.40315789e-02 9.99901551e-01 -4.86490961e-05 2.62456917e+02] [-2.43199926e-03 1.45255927e-05 9.99997043e-01 -1.49348368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:698.69, Y:262.45, Z:-14.93 [[ 9.99859501e-01 1.65851333e-02 2.43155541e-03 6.98685678e+02] [-1.65850640e-02 9.99862457e-01 -4.86793144e-05 2.62450336e+02] [-2.43202832e-03 8.34497294e-06 9.99997043e-01 -1.49349102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:698.75, Y:262.45, Z:-14.94 [[ 9.99783710e-01 2.06547797e-02 2.43155563e-03 6.98746570e+02] [-2.06547225e-02 9.99786667e-01 -4.86683234e-05 2.62446248e+02] [-2.43204213e-03 -1.56530978e-06 9.99997043e-01 -1.49374177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:698.81, Y:262.44, Z:-14.93 [[ 9.99601931e-01 2.81081359e-02 2.43155505e-03 6.98807466e+02] [-2.81081006e-02 9.99604888e-01 -4.86975545e-05 2.62442656e+02] [-2.43196311e-03 -1.96682242e-05 9.99997043e-01 -1.49329902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:698.87, Y:262.44, Z:-14.93 [[ 9.99297190e-01 3.74060752e-02 2.43155445e-03 6.98867133e+02] [-3.74060674e-02 9.99300147e-01 -4.87271136e-05 2.62442941e+02] [-2.43167541e-03 -4.22620220e-05 9.99997043e-01 -1.49342766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:698.93, Y:262.44, Z:-14.93 [[ 9.98973802e-01 4.52264339e-02 2.43155505e-03 6.98927197e+02] [-4.52264493e-02 9.98976759e-01 -4.86975355e-05 2.62443910e+02] [-2.43126940e-03 -6.13230387e-05 9.99997043e-01 -1.49343490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:698.99, Y:262.45, Z:-14.94 [[ 9.98695316e-01 5.10073914e-02 2.43155620e-03 6.98986493e+02] [-5.10074240e-02 9.98698273e-01 -4.86398303e-05 2.62448944e+02] [-2.43087197e-03 -7.54510474e-05 9.99997043e-01 -1.49360840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:699.05, Y:262.45, Z:-14.94 [[ 9.98581669e-01 5.31858713e-02 2.43155734e-03 6.99046446e+02] [-5.31859105e-02 9.98584627e-01 -4.85827621e-05 2.62452029e+02] [-2.43069970e-03 -8.08107352e-05 9.99997043e-01 -1.49382994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.525336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:699.11, Y:262.46, Z:-14.94 [[ 9.98637532e-01 5.21264499e-02 2.43155848e-03 6.99105738e+02] [-5.21264861e-02 9.98640489e-01 -4.85257802e-05 2.62456784e+02] [-2.43078222e-03 -7.82889339e-05 9.99997043e-01 -1.49404705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.585336195 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:699.16, Y:262.46, Z:-14.94 [[ 9.98836518e-01 4.81632369e-02 2.43155961e-03 6.99164954e+02] [-4.81632615e-02 9.98839476e-01 -4.84691725e-05 2.62462248e+02] [-2.43107215e-03 -6.86990618e-05 9.99997043e-01 -1.49406233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:699.23, Y:262.47, Z:-14.93 [[ 9.99096587e-01 4.24275658e-02 2.43156085e-03 6.99225032e+02] [-4.24275736e-02 9.99099544e-01 -4.84066282e-05 2.62467310e+02] [-2.43142511e-03 -5.48023299e-05 9.99997043e-01 -1.49328855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:699.28, Y:262.47, Z:-14.93 [[ 9.99369969e-01 3.54083644e-02 2.43156203e-03 6.99283665e+02] [-3.54083515e-02 9.99372927e-01 -4.83473689e-05 2.62472837e+02] [-2.43174916e-03 -3.77806945e-05 9.99997043e-01 -1.49271586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:699.34, Y:262.47, Z:-14.93 [[ 9.99485033e-01 3.19962018e-02 2.43156320e-03 6.99344358e+02] [-3.19961790e-02 9.99487990e-01 -4.82881990e-05 2.62473751e+02] [-2.43186326e-03 -2.95373992e-05 9.99997043e-01 -1.49348006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.825336195 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:699.40, Y:262.48, Z:-14.93 [[ 9.99678593e-01 2.52348561e-02 2.43156320e-03 6.99404351e+02] [-2.52348133e-02 9.99681550e-01 -4.82881990e-05 2.62475266e+02] [-2.43200742e-03 -1.30873647e-05 9.99997043e-01 -1.49336516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:699.46, Y:262.48, Z:-14.94 [[ 9.99783954e-01 2.06429961e-02 2.43156289e-03 6.99464627e+02] [-2.06429397e-02 9.99786911e-01 -4.83040387e-05 2.62476212e+02] [-2.43204189e-03 -1.90100335e-06 9.99997043e-01 -1.49371757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:699.53, Y:262.48, Z:-14.93 [[ 9.99842484e-01 1.75810696e-02 2.43156289e-03 6.99525314e+02] [-1.75810042e-02 9.99845441e-01 -4.83040386e-05 2.62477072e+02] [-2.43203631e-03 5.54711269e-06 9.99997043e-01 -1.49264345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:699.59, Y:262.48, Z:-14.94 [[ 9.99894096e-01 1.43486927e-02 2.43156228e-03 6.99585092e+02] [-1.43486176e-02 9.99897052e-01 -4.83344919e-05 2.62475998e+02] [-2.43200550e-03 1.34398156e-05 9.99997043e-01 -1.49383853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.065336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:699.65, Y:262.48, Z:-14.93 [[ 9.99932685e-01 1.13451512e-02 2.43156228e-03 6.99645394e+02] [-1.13450672e-02 9.99935641e-01 -4.83344919e-05 2.62476176e+02] [-2.43195415e-03 2.07450007e-05 9.99997043e-01 -1.49332617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.125336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:699.71, Y:262.48, Z:-14.92 [[ 9.99965004e-01 8.00490777e-03 2.43156228e-03 6.99706047e+02] [-8.00481390e-03 9.99967960e-01 -4.83344919e-05 2.62476209e+02] [-2.43187129e-03 2.88685968e-05 9.99997043e-01 -1.49200586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:699.77, Y:262.47, Z:-14.92 [[ 9.99971249e-01 7.18253629e-03 2.43156166e-03 6.99766138e+02] [-7.18243992e-03 9.99974205e-01 -4.83658224e-05 2.62473969e+02] [-2.43184633e-03 3.08998863e-05 9.99997043e-01 -1.49230715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:699.83, Y:262.47, Z:-14.93 [[ 9.99968097e-01 7.60867537e-03 2.43156104e-03 6.99826968e+02] [-7.60858018e-03 9.99971053e-01 -4.83968490e-05 2.62472519e+02] [-2.43185889e-03 2.98945779e-05 9.99997043e-01 -1.49261842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:699.89, Y:262.47, Z:-14.93 [[ 9.99956608e-01 8.99271998e-03 2.43155853e-03 6.99887215e+02] [-8.99262857e-03 9.99959564e-01 -4.85229422e-05 2.62469005e+02] [-2.43189656e-03 2.66547340e-05 9.99997043e-01 -1.49262336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.365336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:699.95, Y:262.46, Z:-14.93 [[ 9.99939964e-01 1.06843923e-02 2.43155796e-03 6.99947957e+02] [-1.06843058e-02 9.99942920e-01 -4.85513724e-05 2.62464271e+02] [-2.43193791e-03 2.25689487e-05 9.99997043e-01 -1.49278056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:700.01, Y:262.46, Z:-14.92 [[ 9.99936394e-01 1.10134518e-02 2.43155735e-03 7.00009260e+02] [-1.10133663e-02 9.99939350e-01 -4.85819209e-05 2.62459704e+02] [-2.43194493e-03 2.17991991e-05 9.99997043e-01 -1.49239729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.4853361950001 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:700.07, Y:262.45, Z:-14.92 [[ 9.99952261e-01 9.46377709e-03 2.43155606e-03 7.00069839e+02] [-9.46368677e-03 9.99955217e-01 -4.86465725e-05 2.62453174e+02] [-2.43190754e-03 2.56327652e-05 9.99997043e-01 -1.49238954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.545336195 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:700.13, Y:262.44, Z:-14.94 [[ 9.99968179e-01 7.59793359e-03 2.43155339e-03 7.00130070e+02] [-7.59783744e-03 9.99971135e-01 -4.87796112e-05 2.62442389e+02] [-2.43185382e-03 3.03035117e-05 9.99997043e-01 -1.49376981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:700.19, Y:262.43, Z:-14.92 [[ 9.99944571e-01 1.02441135e-02 2.43155279e-03 7.00190755e+02] [-1.02440251e-02 9.99947527e-01 -4.88094441e-05 2.62432746e+02] [-2.43192521e-03 2.38978509e-05 9.99997043e-01 -1.49213191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:700.25, Y:262.43, Z:-14.93 [[ 9.99898647e-01 1.40279804e-02 2.43155154e-03 7.00250788e+02] [-1.40279031e-02 9.99901603e-01 -4.88717512e-05 2.62426423e+02] [-2.43199785e-03 1.47572286e-05 9.99997043e-01 -1.49250517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:700.31, Y:262.42, Z:-14.93 [[ 9.99736364e-01 2.28317745e-02 2.43155027e-03 7.00310870e+02] [-2.28317231e-02 9.99739321e-01 -4.89345469e-05 2.62417300e+02] [-2.43203368e-03 -6.59483642e-06 9.99997043e-01 -1.49257528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:700.37, Y:262.41, Z:-14.93 [[ 9.99469071e-01 3.24909750e-02 2.43154792e-03 7.00371353e+02] [-3.24909518e-02 9.99472028e-01 -4.90510373e-05 2.62410950e+02] [-2.43185785e-03 -2.99783116e-05 9.99997043e-01 -1.49253783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:700.43, Y:262.41, Z:-14.92 [[ 9.99152034e-01 4.11010996e-02 2.43154792e-03 7.00430828e+02] [-4.11011019e-02 9.99154991e-01 -4.90510373e-05 2.62407717e+02] [-2.43150929e-03 -5.09298553e-05 9.99997043e-01 -1.49231609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:700.49, Y:262.41, Z:-14.93 [[ 9.98965026e-01 4.54198728e-02 2.43154859e-03 7.00490509e+02] [-4.54198879e-02 9.98967983e-01 -4.90178877e-05 2.62405560e+02] [-2.43126558e-03 -6.14735090e-05 9.99997043e-01 -1.49256445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:700.55, Y:262.40, Z:-14.93 [[ 9.98717222e-01 5.05766509e-02 2.43154921e-03 7.00549604e+02] [-5.05766814e-02 9.98720179e-01 -4.89871675e-05 2.62404841e+02] [-2.43091487e-03 -7.40553619e-05 9.99997043e-01 -1.49273990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:700.61, Y:262.41, Z:-14.94 [[ 9.98665315e-01 5.15914436e-02 2.43154982e-03 7.00609489e+02] [-5.15914772e-02 9.98668272e-01 -4.89570007e-05 2.62406400e+02] [-2.43083742e-03 -7.65555885e-05 9.99997043e-01 -1.49361907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:700.67, Y:262.41, Z:-14.94 [[ 9.98756760e-01 4.97897824e-02 2.43154982e-03 7.00669745e+02] [-4.97898106e-02 9.98759717e-01 -4.89570005e-05 2.62408266e+02] [-2.43097157e-03 -7.21702697e-05 9.99997043e-01 -1.49407530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:700.73, Y:262.41, Z:-14.94 [[ 9.99103818e-01 4.22569237e-02 2.43155040e-03 7.00730594e+02] [-4.22569297e-02 9.99106776e-01 -4.89282395e-05 2.62409054e+02] [-2.43144603e-03 -5.38654632e-05 9.99997043e-01 -1.49368476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:700.79, Y:262.41, Z:-14.92 [[ 9.99530329e-01 3.05484745e-02 2.43155040e-03 7.00791020e+02] [-3.05484458e-02 9.99533286e-01 -4.89282394e-05 2.62408390e+02] [-2.43191024e-03 -2.53748263e-05 9.99997043e-01 -1.49237904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:700.85, Y:262.40, Z:-14.93 [[ 9.99847045e-01 1.73197351e-02 2.43155040e-03 7.00851426e+02] [-1.73196674e-02 9.99850002e-01 -4.89282395e-05 2.62404675e+02] [-2.43203309e-03 6.80711173e-06 9.99997043e-01 -1.49332468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.325336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:700.91, Y:262.40, Z:-14.93 [[ 9.99960723e-01 8.52296340e-03 2.43154978e-03 7.00911978e+02] [-8.52286955e-03 9.99963678e-01 -4.89585841e-05 2.62400994e+02] [-2.43187874e-03 2.82328796e-05 9.99997043e-01 -1.49277838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:700.97, Y:262.39, Z:-14.93 [[ 9.99990612e-01 3.58659700e-03 2.43154914e-03 7.00972716e+02] [-3.58648847e-03 9.99993567e-01 -4.89904835e-05 2.62394553e+02] [-2.43170921e-03 4.02693006e-05 9.99997043e-01 -1.49339465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:701.03, Y:262.39, Z:-14.93 [[ 9.99995545e-01 -1.73106676e-03 2.43154071e-03 7.01033943e+02] [ 1.73119201e-03 9.99998500e-01 -4.94055977e-05 2.62386939e+02] [-2.43145154e-03 5.36148415e-05 9.99997043e-01 -1.49340223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:701.09, Y:262.38, Z:-14.93 [[ 9.99992916e-01 -2.87332204e-03 2.43153298e-03 7.01094704e+02] [ 2.87345158e-03 9.99995870e-01 -4.97829662e-05 2.62380626e+02] [-2.43137990e-03 5.67695058e-05 9.99997043e-01 -1.49330586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:701.16, Y:262.37, Z:-14.93 [[ 9.99997039e-01 9.79477235e-05 2.43153181e-03 7.01155783e+02] [-9.78268242e-05 9.99999994e-01 -4.98403092e-05 2.62371926e+02] [-2.43153667e-03 4.96022926e-05 9.99997043e-01 -1.49287129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:701.22, Y:262.36, Z:-14.93 [[ 9.99971005e-01 7.21636991e-03 2.43153058e-03 7.01216116e+02] [-7.21626990e-03 9.99973961e-01 -4.99000405e-05 2.62363815e+02] [-2.43182736e-03 3.23520128e-05 9.99997043e-01 -1.49335196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:701.28, Y:262.36, Z:-14.92 [[ 9.99883755e-01 1.50520692e-02 2.43152997e-03 7.01275577e+02] [-1.50519923e-02 9.99886711e-01 -4.99296148e-05 2.62358137e+02] [-2.43200605e-03 1.33244404e-05 9.99997043e-01 -1.49232828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:701.34, Y:262.35, Z:-14.93 [[ 9.99690147e-01 2.47729254e-02 2.43152987e-03 7.01336399e+02] [-2.47728772e-02 9.99693104e-01 -4.99344910e-05 2.62353552e+02] [-2.43202067e-03 -1.03169723e-05 9.99997043e-01 -1.49299010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:701.40, Y:262.35, Z:-14.93 [[ 9.99333655e-01 3.64188629e-02 2.43152967e-03 7.01396989e+02] [-3.64188491e-02 9.99336612e-01 -4.99444572e-05 2.62351099e+02] [-2.43173554e-03 -3.86423352e-05 9.99997043e-01 -1.49304820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:701.46, Y:262.35, Z:-14.92 [[ 9.99060709e-01 4.32641545e-02 2.43152846e-03 7.01457513e+02] [-4.32641609e-02 9.99063667e-01 -5.00032696e-05 2.62352388e+02] [-2.43141509e-03 -5.52417364e-05 9.99997043e-01 -1.49208316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:701.52, Y:262.36, Z:-14.93 [[ 9.98775961e-01 4.94031168e-02 2.43152846e-03 7.01516931e+02] [-4.94031414e-02 9.98778918e-01 -5.00032696e-05 2.62356749e+02] [-2.43102968e-03 -7.01830805e-05 9.99997043e-01 -1.49292134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:701.58, Y:262.36, Z:-14.92 [[ 9.98790996e-01 4.90982073e-02 2.43152911e-03 7.01578420e+02] [-4.90982311e-02 9.98793953e-01 -4.99716769e-05 2.62356936e+02] [-2.43105009e-03 -6.94725170e-05 9.99997043e-01 -1.49231188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:701.64, Y:262.36, Z:-14.92 [[ 9.98958517e-01 4.55627967e-02 2.43152781e-03 7.01638426e+02] [-4.55628098e-02 9.98961475e-01 -5.00345535e-05 2.62359141e+02] [-2.43128232e-03 -6.08047958e-05 9.99997043e-01 -1.49206219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:701.70, Y:262.36, Z:-14.93 [[ 9.99103666e-01 4.22605362e-02 2.43152717e-03 7.01698511e+02] [-4.22605395e-02 9.99106623e-01 -5.00657701e-05 2.62361329e+02] [-2.43147071e-03 -5.27367555e-05 9.99997043e-01 -1.49265790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:701.76, Y:262.36, Z:-14.93 [[ 9.99242252e-01 3.88459695e-02 2.43152364e-03 7.01759132e+02] [-3.88459622e-02 9.99245209e-01 -5.02365437e-05 2.62361727e+02] [-2.43163984e-03 -4.42563985e-05 9.99997043e-01 -1.49296025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:701.82, Y:262.36, Z:-14.93 [[ 9.99482647e-01 3.20706395e-02 2.43152304e-03 7.01820928e+02] [-3.20706121e-02 9.99485604e-01 -5.02658624e-05 2.62363667e+02] [-2.43188433e-03 -2.77405748e-05 9.99997043e-01 -1.49295165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:701.88, Y:262.36, Z:-14.93 [[ 9.99655264e-01 2.61426999e-02 2.43152185e-03 7.01882657e+02] [-2.61426549e-02 9.99658221e-01 -5.03233925e-05 2.62363255e+02] [-2.43200639e-03 -1.32603922e-05 9.99997043e-01 -1.49274745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:701.94, Y:262.36, Z:-14.93 [[ 9.99871968e-01 1.58156874e-02 2.43152057e-03 7.01944158e+02] [-1.58156116e-02 9.99874924e-01 -5.03849499e-05 2.62362012e+02] [-2.43201332e-03 1.19225141e-05 9.99997043e-01 -1.49295846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.405336195 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:702.01, Y:262.36, Z:-14.93 [[ 9.99968168e-01 7.59944742e-03 2.43151544e-03 7.02005493e+02] [-7.59934676e-03 9.99971123e-01 -5.06314703e-05 2.62359370e+02] [-2.43182999e-03 3.21519296e-05 9.99997043e-01 -1.49287795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:702.07, Y:262.36, Z:-14.93 [[ 9.99980088e-01 5.82332620e-03 2.43151423e-03 7.02066817e+02] [-5.82322015e-03 9.99983044e-01 -5.06895655e-05 2.62355253e+02] [-2.43176818e-03 3.65293136e-05 9.99997043e-01 -1.49259397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:702.13, Y:262.35, Z:-14.92 [[ 9.99965948e-01 7.88614309e-03 2.43151303e-03 7.02127851e+02] [-7.88604300e-03 9.99968903e-01 -5.07469279e-05 2.62352713e+02] [-2.43183761e-03 3.15701835e-05 9.99997043e-01 -1.49185798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:702.19, Y:262.35, Z:-14.92 [[ 9.99889813e-01 1.46441027e-02 2.43151173e-03 7.02188856e+02] [-1.46440225e-02 9.99892769e-01 -5.08091281e-05 2.62352651e+02] [-2.43199505e-03 1.51964172e-05 9.99997043e-01 -1.49229363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:702.25, Y:262.35, Z:-14.92 [[ 9.99778990e-01 2.08820435e-02 2.43150979e-03 7.02248803e+02] [-2.08819814e-02 9.99781946e-01 -5.09015648e-05 2.62352451e+02] [-2.43204252e-03 1.15572718e-07 9.99997043e-01 -1.49249468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.705336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:702.31, Y:262.36, Z:-14.93 [[ 9.99545606e-01 3.00444595e-02 2.43150919e-03 7.02309277e+02] [-3.00444245e-02 9.99548563e-01 -5.09303447e-05 2.62357006e+02] [-2.43194169e-03 -2.21460920e-05 9.99997043e-01 -1.49272167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:702.37, Y:262.36, Z:-14.93 [[ 9.99342675e-01 3.61705034e-02 2.43150919e-03 7.02368517e+02] [-3.61704865e-02 9.99345633e-01 -5.09303447e-05 2.62357936e+02] [-2.43176027e-03 -3.70520035e-05 9.99997043e-01 -1.49335278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:702.43, Y:262.36, Z:-14.92 [[ 9.99298550e-01 3.73697193e-02 2.43150981e-03 7.02427752e+02] [-3.73697060e-02 9.99301507e-01 -5.09009416e-05 2.62358809e+02] [-2.43171357e-03 -3.99995696e-05 9.99997043e-01 -1.49222330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:702.49, Y:262.36, Z:-14.92 [[ 9.99362503e-01 3.56184727e-02 2.43150970e-03 7.02488322e+02] [-3.56184542e-02 9.99365460e-01 -5.09060881e-05 2.62361230e+02] [-2.43178001e-03 -3.57329813e-05 9.99997043e-01 -1.49245101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:702.55, Y:262.36, Z:-14.93 [[ 9.99426655e-01 3.37705404e-02 2.43150970e-03 7.02548643e+02] [-3.37705165e-02 9.99429612e-01 -5.09060881e-05 2.62362673e+02] [-2.43184192e-03 -3.12364371e-05 9.99997043e-01 -1.49289142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:702.61, Y:262.36, Z:-14.92 [[ 9.99349661e-01 3.59769854e-02 2.43150970e-03 7.02609162e+02] [-3.59769680e-02 9.99352618e-01 -5.09060881e-05 2.62363611e+02] [-2.43176703e-03 -3.66053648e-05 9.99997043e-01 -1.49234791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:702.67, Y:262.37, Z:-14.93 [[ 9.99258905e-01 3.84152177e-02 2.43150909e-03 7.02669548e+02] [-3.84152074e-02 9.99261862e-01 -5.09351341e-05 2.62365827e+02] [-2.43167099e-03 -4.25095398e-05 9.99997043e-01 -1.49291779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.125336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:702.73, Y:262.37, Z:-14.93 [[ 9.99246611e-01 3.87336827e-02 2.43150909e-03 7.02729856e+02] [-3.87336734e-02 9.99249568e-01 -5.09351339e-05 2.62367404e+02] [-2.43165731e-03 -4.32845190e-05 9.99997043e-01 -1.49261469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:702.79, Y:262.37, Z:-14.92 [[ 9.99360015e-01 3.56881986e-02 2.43150909e-03 7.02790464e+02] [-3.56881803e-02 9.99362973e-01 -5.09351339e-05 2.62366700e+02] [-2.43177794e-03 -3.58735987e-05 9.99997043e-01 -1.49233993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:702.85, Y:262.37, Z:-14.93 [[ 9.99406062e-01 3.43745623e-02 2.43150909e-03 7.02849927e+02] [-3.43745401e-02 9.99409020e-01 -5.09351339e-05 2.62369523e+02] [-2.43182299e-03 -3.26771251e-05 9.99997043e-01 -1.49267479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:702.91, Y:262.37, Z:-14.93 [[ 9.99417556e-01 3.40387617e-02 2.43150968e-03 7.02910024e+02] [-3.40387386e-02 9.99420513e-01 -5.09067707e-05 2.62369401e+02] [-2.43183346e-03 -3.18884021e-05 9.99997043e-01 -1.49267525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:702.97, Y:262.37, Z:-14.93 [[ 9.99425591e-01 3.38020099e-02 2.43150968e-03 7.02969387e+02] [-3.38019861e-02 9.99428548e-01 -5.09067708e-05 2.62371215e+02] [-2.43184094e-03 -3.13123270e-05 9.99997043e-01 -1.49284781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:703.03, Y:262.38, Z:-14.92 [[ 9.99414447e-01 3.41299088e-02 2.43151028e-03 7.03030243e+02] [-3.41298860e-02 9.99417404e-01 -5.08780733e-05 2.62375429e+02] [-2.43183016e-03 -3.21388874e-05 9.99997043e-01 -1.49206262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:703.09, Y:262.38, Z:-14.92 [[ 9.99384054e-01 3.50085666e-02 2.43150968e-03 7.03090311e+02] [-3.50085463e-02 9.99387012e-01 -5.09069066e-05 2.62380572e+02] [-2.43180137e-03 -3.42480686e-05 9.99997043e-01 -1.49219361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:703.15, Y:262.38, Z:-14.92 [[ 9.99365788e-01 3.55261757e-02 2.43151090e-03 7.03150218e+02] [-3.55261571e-02 9.99368746e-01 -5.08487320e-05 2.62384059e+02] [-2.43178246e-03 -3.55657551e-05 9.99997043e-01 -1.49214003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:703.21, Y:262.39, Z:-14.92 [[ 9.99356563e-01 3.57847488e-02 2.43151210e-03 7.03208670e+02] [-3.57847311e-02 9.99359520e-01 -5.07913759e-05 2.62391087e+02] [-2.43177232e-03 -3.62523116e-05 9.99997043e-01 -1.49229332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:703.27, Y:262.39, Z:-14.92 [[ 9.99413392e-01 3.41607803e-02 2.43151387e-03 7.03268782e+02] [-3.41607580e-02 9.99416350e-01 -5.07063564e-05 2.62394830e+02] [-2.43182688e-03 -3.23857452e-05 9.99997043e-01 -1.49237739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:703.33, Y:262.40, Z:-14.93 [[ 9.99513862e-01 3.10825780e-02 2.43151448e-03 7.03327665e+02] [-3.10825467e-02 9.99516820e-01 -5.06769038e-05 2.62398940e+02] [-2.43191479e-03 -2.49253946e-05 9.99997043e-01 -1.49252026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:703.39, Y:262.40, Z:-14.93 [[ 9.99599118e-01 2.82079864e-02 2.43151632e-03 7.03387397e+02] [-2.82079468e-02 9.99602075e-01 -5.05884994e-05 2.62400294e+02] [-2.43197576e-03 -1.80198636e-05 9.99997043e-01 -1.49254501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:703.45, Y:262.40, Z:-14.93 [[ 9.99686989e-01 2.49000207e-02 2.43151751e-03 7.03446982e+02] [-2.48999714e-02 9.99689946e-01 -5.05313847e-05 2.62400373e+02] [-2.43202184e-03 -1.00291486e-05 9.99997043e-01 -1.49295056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.905336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:703.51, Y:262.40, Z:-14.93 [[ 9.99733486e-01 2.29574494e-02 2.43151810e-03 7.03506212e+02] [-2.29573945e-02 9.99736443e-01 -5.05031123e-05 2.62400190e+02] [-2.43203667e-03 -5.33166751e-06 9.99997043e-01 -1.49289868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:703.57, Y:262.40, Z:-14.93 [[ 9.99709086e-01 2.39964726e-02 2.43151867e-03 7.03565953e+02] [-2.39964208e-02 9.99712043e-01 -5.04752213e-05 2.62399972e+02] [-2.43202973e-03 -7.88720787e-06 9.99997043e-01 -1.49273430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:703.63, Y:262.40, Z:-14.93 [[ 9.99689711e-01 2.47905155e-02 2.43151925e-03 7.03625259e+02] [-2.47904661e-02 9.99692668e-01 -5.04474985e-05 2.62399888e+02] [-2.43202259e-03 -9.84665033e-06 9.99997043e-01 -1.49296213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:703.69, Y:262.40, Z:-14.92 [[ 9.99549151e-01 2.99262950e-02 2.43152093e-03 7.03685110e+02] [-2.99262610e-02 9.99552108e-01 -5.03664738e-05 2.62398820e+02] [-2.43193915e-03 -2.24225639e-05 9.99997043e-01 -1.49223352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:703.74, Y:262.40, Z:-14.92 [[ 9.99369550e-01 3.54201940e-02 2.43152216e-03 7.03743599e+02] [-3.54201764e-02 9.99372507e-01 -5.03068441e-05 2.62398099e+02] [-2.43177828e-03 -3.58498158e-05 9.99997043e-01 -1.49242742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:703.80, Y:262.40, Z:-14.92 [[ 9.99254616e-01 3.85266229e-02 2.43152337e-03 7.03802869e+02] [-3.85266147e-02 9.99257573e-01 -5.02483445e-05 2.62398966e+02] [-2.43165404e-03 -4.34674738e-05 9.99997043e-01 -1.49221821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:703.86, Y:262.40, Z:-14.92 [[ 9.99057790e-01 4.33315104e-02 2.43152459e-03 7.03861936e+02] [-4.33315165e-02 9.99060747e-01 -5.01891202e-05 2.62400082e+02] [-2.43141555e-03 -5.52198166e-05 9.99997043e-01 -1.49208175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:703.92, Y:262.40, Z:-14.92 [[ 9.98954540e-01 4.56499068e-02 2.43152638e-03 7.03920559e+02] [-4.56499200e-02 9.98957498e-01 -5.01024861e-05 2.62401793e+02] [-2.43127868e-03 -6.09488787e-05 9.99997043e-01 -1.49196635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:703.98, Y:262.40, Z:-14.92 [[ 9.98995937e-01 4.47348340e-02 2.43152876e-03 7.03979735e+02] [-4.47348447e-02 9.98998894e-01 -4.99864428e-05 2.62403799e+02] [-2.43133068e-03 -5.88378085e-05 9.99997043e-01 -1.49212906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:704.04, Y:262.40, Z:-14.92 [[ 9.99143984e-01 4.12963216e-02 2.43153120e-03 7.04038438e+02] [-4.12963225e-02 9.99146942e-01 -4.98677276e-05 2.62404408e+02] [-2.43151631e-03 -5.05882565e-05 9.99997043e-01 -1.49205139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:704.10, Y:262.40, Z:-14.93 [[ 9.99311520e-01 3.70212714e-02 2.43153300e-03 7.04097918e+02] [-3.70212599e-02 9.99314477e-01 -4.97795674e-05 2.62403747e+02] [-2.43170903e-03 -4.02731200e-05 9.99997043e-01 -1.49308931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:704.16, Y:262.41, Z:-14.92 [[ 9.99359891e-01 3.56916855e-02 2.43153417e-03 7.04156734e+02] [-3.56916702e-02 9.99362848e-01 -4.97224681e-05 2.62405187e+02] [-2.43175959e-03 -3.70948754e-05 9.99997043e-01 -1.49232685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:704.22, Y:262.41, Z:-14.93 [[ 9.99327674e-01 3.65826076e-02 2.43153593e-03 7.04215412e+02] [-3.65825951e-02 9.99330632e-01 -4.96363366e-05 2.62405097e+02] [-2.43172416e-03 -3.93489296e-05 9.99997043e-01 -1.49303105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.685336195 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:704.27, Y:262.41, Z:-14.93 [[ 9.99295637e-01 3.74475198e-02 2.43153769e-03 7.04274115e+02] [-3.74475101e-02 9.99298595e-01 -4.95501711e-05 2.62409551e+02] [-2.43168772e-03 -4.15397622e-05 9.99997043e-01 -1.49257654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:704.33, Y:262.41, Z:-14.93 [[ 9.99347891e-01 3.60261092e-02 2.43153938e-03 7.04334240e+02] [-3.60260955e-02 9.99350848e-01 -4.94666665e-05 2.62408962e+02] [-2.43174304e-03 -3.81644612e-05 9.99997043e-01 -1.49323779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:704.39, Y:262.41, Z:-14.93 [[ 9.99502494e-01 3.14460297e-02 2.43153997e-03 7.04392858e+02] [-3.14460025e-02 9.99505451e-01 -4.94378274e-05 2.62408784e+02] [-2.43189208e-03 -2.70489802e-05 9.99997043e-01 -1.49302586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:704.45, Y:262.41, Z:-14.93 [[ 9.99683868e-01 2.50250310e-02 2.43154113e-03 7.04452216e+02] [-2.50249850e-02 9.99686825e-01 -4.93807948e-05 2.62408350e+02] [-2.43201539e-03 -1.14840962e-05 9.99997043e-01 -1.49296355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:704.51, Y:262.41, Z:-14.93 [[ 9.99777666e-01 2.09453293e-02 2.43154245e-03 7.04511493e+02] [-2.09452714e-02 9.99780623e-01 -4.93156949e-05 2.62405039e+02] [-2.43204196e-03 -1.62458608e-06 9.99997043e-01 -1.49336878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.9853361950001 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:704.57, Y:262.40, Z:-14.93 [[ 9.99838942e-01 1.77813999e-02 2.43154310e-03 7.04571139e+02] [-1.77813326e-02 9.99841898e-01 -4.92833967e-05 2.62403759e+02] [-2.43203500e-03 6.03938249e-06 9.99997043e-01 -1.49332432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:704.63, Y:262.40, Z:-14.93 [[ 9.99821561e-01 1.87332396e-02 2.43154369e-03 7.04630559e+02] [-1.87331752e-02 9.99824517e-01 -4.92545426e-05 2.62398596e+02] [-2.43203969e-03 3.69521975e-06 9.99997043e-01 -1.49306525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:704.69, Y:262.40, Z:-14.93 [[ 9.99750551e-01 2.22018588e-02 2.43154491e-03 7.04689241e+02] [-2.22018048e-02 9.99753508e-01 -4.91940584e-05 2.62397322e+02] [-2.43203776e-03 -4.80289844e-06 9.99997043e-01 -1.49310590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:704.75, Y:262.40, Z:-14.93 [[ 9.99674624e-01 2.53916192e-02 2.43154614e-03 7.04749317e+02] [-2.53915748e-02 9.99677581e-01 -4.91332094e-05 2.62397468e+02] [-2.43200974e-03 -1.26235630e-05 9.99997043e-01 -1.49297036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.225336195 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:704.81, Y:262.40, Z:-14.94 [[ 9.99605634e-01 2.79761307e-02 2.43154740e-03 7.04807556e+02] [-2.79760941e-02 9.99608591e-01 -4.90707057e-05 2.62398116e+02] [-2.43196848e-03 -1.89738450e-05 9.99997043e-01 -1.49354914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:704.87, Y:262.40, Z:-14.93 [[ 9.99600932e-01 2.81436337e-02 2.43154925e-03 7.04867040e+02] [-2.81435979e-02 9.99603889e-01 -4.89792516e-05 2.62398699e+02] [-2.43196454e-03 -1.94728385e-05 9.99997043e-01 -1.49321513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:704.93, Y:262.40, Z:-14.93 [[ 9.99601437e-01 2.81257066e-02 2.43155042e-03 7.04926411e+02] [-2.81256708e-02 9.99604394e-01 -4.89207015e-05 2.62398555e+02] [-2.43196442e-03 -1.94877833e-05 9.99997043e-01 -1.49264374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:704.99, Y:262.40, Z:-14.93 [[ 9.99638615e-01 2.67717485e-02 2.43155166e-03 7.04985359e+02] [-2.67717088e-02 9.99641572e-01 -4.88589115e-05 2.62396770e+02] [-2.43198817e-03 -1.62555385e-05 9.99997043e-01 -1.49309047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:705.04, Y:262.40, Z:-14.93 [[ 9.99665213e-01 2.57594451e-02 2.43155290e-03 7.05043823e+02] [-2.57594026e-02 9.99668170e-01 -4.87974346e-05 2.62396407e+02] [-2.43200303e-03 -1.38542522e-05 9.99997043e-01 -1.49320579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:705.10, Y:262.40, Z:-14.93 [[ 9.99730664e-01 2.30800308e-02 2.43155459e-03 7.05103723e+02] [-2.30799806e-02 9.99733621e-01 -4.87130952e-05 2.62395393e+02] [-2.43203117e-03 -7.42025780e-06 9.99997043e-01 -1.49310449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.585336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:705.16, Y:262.39, Z:-14.93 [[ 9.99803822e-01 1.96571916e-02 2.43155575e-03 7.05163376e+02] [-1.96571314e-02 9.99806779e-01 -4.86550053e-05 2.62394989e+02] [-2.43204234e-03 8.48049312e-07 9.99997043e-01 -1.49275608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:705.22, Y:262.39, Z:-14.93 [[ 9.99841904e-01 1.76140319e-02 2.43155635e-03 7.05222425e+02] [-1.76139657e-02 9.99844861e-01 -4.86248654e-05 2.62392517e+02] [-2.43203560e-03 5.78782772e-06 9.99997043e-01 -1.49276495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:705.28, Y:262.39, Z:-14.93 [[ 9.99816399e-01 1.90067053e-02 2.43155696e-03 7.05281916e+02] [-1.90066434e-02 9.99819356e-01 -4.85947094e-05 2.62392553e+02] [-2.43204134e-03 2.37005149e-06 9.99997043e-01 -1.49317718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.765336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:705.34, Y:262.39, Z:-14.93 [[ 9.99735233e-01 2.28812489e-02 2.43155816e-03 7.05341144e+02] [-2.28811985e-02 9.99738190e-01 -4.85346070e-05 2.62393542e+02] [-2.43203208e-03 -7.11520817e-06 9.99997043e-01 -1.49329261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:705.40, Y:262.39, Z:-14.94 [[ 9.99708583e-01 2.40174352e-02 2.43155934e-03 7.05399837e+02] [-2.40173883e-02 9.99711540e-01 -4.84751395e-05 2.62393787e+02] [-2.43202218e-03 -9.93869184e-06 9.99997043e-01 -1.49355850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.885336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:705.46, Y:262.40, Z:-14.93 [[ 9.99757865e-01 2.18700590e-02 2.43156110e-03 7.05459285e+02] [-2.18700060e-02 9.99760822e-01 -4.83869843e-05 2.62398366e+02] [-2.43203774e-03 -4.80298765e-06 9.99997043e-01 -1.49328171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.945336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:705.52, Y:262.40, Z:-14.93 [[ 9.99848435e-01 1.72393533e-02 2.43156226e-03 7.05518398e+02] [-1.72392867e-02 9.99851391e-01 -4.83282176e-05 2.62397318e+02] [-2.43203406e-03 6.40249373e-06 9.99997043e-01 -1.49310278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.005336195 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:705.58, Y:262.39, Z:-14.93 [[ 9.99923857e-01 1.20982399e-02 2.43156284e-03 7.05577806e+02] [-1.20981582e-02 9.99926813e-01 -4.82992502e-05 2.62394302e+02] [-2.43196922e-03 1.88781406e-05 9.99997043e-01 -1.49259545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:705.64, Y:262.39, Z:-14.93 [[ 9.99994541e-01 2.23711770e-03 2.43156340e-03 7.05638556e+02] [-2.23700694e-03 9.99997497e-01 -4.82708103e-05 2.62387126e+02] [-2.43166530e-03 4.28311226e-05 9.99997043e-01 -1.49321550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:705.70, Y:262.38, Z:-14.93 [[ 9.99980232e-01 -5.79859912e-03 2.43156340e-03 7.05699642e+02] [ 5.79873363e-03 9.99983186e-01 -4.82708102e-05 2.62379424e+02] [-2.43124262e-03 6.23698444e-05 9.99997043e-01 -1.49326032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.185336195 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:705.76, Y:262.37, Z:-14.93 [[ 9.99940510e-01 -1.06331640e-02 2.43155600e-03 7.05761732e+02] [ 1.06333137e-02 9.99943464e-01 -4.86409874e-05 2.62368865e+02] [-2.43090132e-03 7.44935914e-05 9.99997043e-01 -1.49338128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:705.82, Y:262.36, Z:-14.94 [[ 9.99946349e-01 -1.00690699e-02 2.43154783e-03 7.05822978e+02] [ 1.00692189e-02 9.99949303e-01 -4.90457089e-05 2.62355895e+02] [-2.43093072e-03 7.35268650e-05 9.99997043e-01 -1.49370755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:705.88, Y:262.35, Z:-14.94 [[ 9.99979877e-01 -5.85947235e-03 2.43154665e-03 7.05884214e+02] [ 5.85960907e-03 9.99982831e-01 -4.91046074e-05 2.62346880e+02] [-2.43121717e-03 6.33515321e-05 9.99997043e-01 -1.49384925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.365336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:705.95, Y:262.33, Z:-14.94 [[ 9.99989873e-01 3.78694440e-03 2.43154487e-03 7.05945356e+02] [-3.78683597e-03 9.99992829e-01 -4.91925338e-05 2.62333775e+02] [-2.43171372e-03 3.99841741e-05 9.99997043e-01 -1.49383240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:706.01, Y:262.32, Z:-14.94 [[ 9.99886418e-01 1.48740741e-02 2.43154370e-03 7.06006927e+02] [-1.48739983e-02 9.99889375e-01 -4.92500165e-05 2.62324221e+02] [-2.43200726e-03 1.30776458e-05 9.99997043e-01 -1.49400490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:706.07, Y:262.31, Z:-14.94 [[ 9.99671085e-01 2.55305621e-02 2.43154249e-03 7.06066829e+02] [-2.55305177e-02 9.99674042e-01 -4.93095804e-05 2.62313910e+02] [-2.43200881e-03 -1.27851771e-05 9.99997043e-01 -1.49408499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:706.13, Y:262.31, Z:-14.94 [[ 9.99497444e-01 3.16061194e-02 2.43154189e-03 7.06127192e+02] [-3.16060929e-02 9.99500401e-01 -4.93391805e-05 2.62306779e+02] [-2.43188652e-03 -2.75371542e-05 9.99997043e-01 -1.49400666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:706.19, Y:262.30, Z:-14.94 [[ 9.99168405e-01 4.07011749e-02 2.43154189e-03 7.06186670e+02] [-4.07011753e-02 9.99171363e-01 -4.93391804e-05 2.62301143e+02] [-2.43153519e-03 -4.96684628e-05 9.99997043e-01 -1.49351715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:706.25, Y:262.30, Z:-14.94 [[ 9.98830342e-01 4.82911528e-02 2.43154310e-03 7.06246565e+02] [-4.82911758e-02 9.98833299e-01 -4.92798111e-05 2.62298987e+02] [-2.43108599e-03 -6.81999047e-05 9.99997043e-01 -1.49402171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:706.31, Y:262.30, Z:-14.94 [[ 9.98621490e-01 5.24328892e-02 2.43154430e-03 7.06306408e+02] [-5.24329246e-02 9.98624447e-01 -4.92203481e-05 2.62297305e+02] [-2.43078035e-03 -7.83404816e-05 9.99997043e-01 -1.49365900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:706.37, Y:262.30, Z:-14.94 [[ 9.98292203e-01 5.83674954e-02 2.43154490e-03 7.06365441e+02] [-5.83675484e-02 9.98295160e-01 -4.91908320e-05 2.62300784e+02] [-2.43027065e-03 -9.28164905e-05 9.99997043e-01 -1.49444071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:706.42, Y:262.30, Z:-14.94 [[ 9.98278048e-01 5.86091003e-02 2.43154669e-03 7.06424042e+02] [-5.86091543e-02 9.98281005e-01 -4.91022370e-05 2.62301690e+02] [-2.43024471e-03 -9.34932096e-05 9.99997043e-01 -1.49446841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:706.48, Y:262.31, Z:-14.94 [[ 9.98424898e-01 5.60518609e-02 2.43154897e-03 7.06484004e+02] [-5.60519076e-02 9.98427855e-01 -4.89888794e-05 2.62306061e+02] [-2.43047214e-03 -8.73812415e-05 9.99997043e-01 -1.49390188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:706.54, Y:262.31, Z:-14.94 [[ 9.98781546e-01 4.92900786e-02 2.43154956e-03 7.06542996e+02] [-4.92901053e-02 9.98784503e-01 -4.89597417e-05 2.62309859e+02] [-2.43100725e-03 -7.09512473e-05 9.99997043e-01 -1.49410935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:706.60, Y:262.31, Z:-14.94 [[ 9.99151102e-01 4.11237587e-02 2.43155132e-03 7.06602870e+02] [-4.11237615e-02 9.99154059e-01 -4.88722827e-05 2.62311058e+02] [-2.43150418e-03 -5.11637413e-05 9.99997043e-01 -1.49389636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:706.66, Y:262.31, Z:-14.94 [[ 9.99446585e-01 3.31754615e-02 2.43155246e-03 7.06662656e+02] [-3.31754409e-02 9.99449542e-01 -4.88154184e-05 2.62314044e+02] [-2.43183346e-03 -3.18794217e-05 9.99997043e-01 -1.49405415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:706.72, Y:262.32, Z:-14.94 [[ 9.99573776e-01 2.90921627e-02 2.43155302e-03 7.06723288e+02] [-2.90921301e-02 9.99576733e-01 -4.87871459e-05 2.62315259e+02] [-2.43194315e-03 -2.19727054e-05 9.99997043e-01 -1.49439213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.205336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:706.78, Y:262.32, Z:-14.94 [[ 9.99648675e-01 2.63934296e-02 2.43155302e-03 7.06783356e+02] [-2.63933890e-02 9.99651633e-01 -4.87871459e-05 2.62316725e+02] [-2.43199361e-03 -1.54069190e-05 9.99997043e-01 -1.49447171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:706.84, Y:262.32, Z:-14.94 [[ 9.99654058e-01 2.61887825e-02 2.43155302e-03 7.06844065e+02] [-2.61887413e-02 9.99657015e-01 -4.87871458e-05 2.62320146e+02] [-2.43199671e-03 -1.49090448e-05 9.99997043e-01 -1.49444498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:706.90, Y:262.33, Z:-14.94 [[ 9.99577745e-01 2.89554598e-02 2.43155302e-03 7.06904122e+02] [-2.89554268e-02 9.99580703e-01 -4.87871459e-05 2.62326448e+02] [-2.43194613e-03 -2.16401104e-05 9.99997043e-01 -1.49403368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:706.96, Y:262.33, Z:-14.94 [[ 9.99530068e-01 3.05570049e-02 2.43155421e-03 7.06963746e+02] [-3.05569768e-02 9.99533025e-01 -4.87278316e-05 2.62329265e+02] [-2.43190772e-03 -2.55960128e-05 9.99997043e-01 -1.49396209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:707.02, Y:262.33, Z:-14.94 [[ 9.99588566e-01 2.85794726e-02 2.43155480e-03 7.07023592e+02] [-2.85794387e-02 9.99591523e-01 -4.86985175e-05 2.62331772e+02] [-2.43195334e-03 -2.08139900e-05 9.99997043e-01 -1.49419891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:707.08, Y:262.33, Z:-14.94 [[ 9.99686195e-01 2.49318998e-02 2.43155597e-03 7.07082927e+02] [-2.49318553e-02 9.99689152e-01 -4.86400707e-05 2.62332043e+02] [-2.43201281e-03 -1.19983943e-05 9.99997043e-01 -1.49413289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:707.14, Y:262.33, Z:-14.94 [[ 9.99776005e-01 2.10244654e-02 2.43155655e-03 7.07142195e+02] [-2.10244094e-02 9.99778961e-01 -4.86107532e-05 2.62332389e+02] [-2.43204110e-03 -2.52217587e-06 9.99997043e-01 -1.49427095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:707.20, Y:262.33, Z:-14.94 [[ 9.99745467e-01 2.24296513e-02 2.43155714e-03 7.07202168e+02] [-2.24295995e-02 9.99748424e-01 -4.85814202e-05 2.62332592e+02] [-2.43203508e-03 -5.96979820e-06 9.99997043e-01 -1.49403493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:707.26, Y:262.34, Z:-14.94 [[ 9.99635446e-01 2.68898292e-02 2.43155828e-03 7.07261654e+02] [-2.68897907e-02 9.99638403e-01 -4.85242179e-05 2.62336763e+02] [-2.43198385e-03 -1.68775652e-05 9.99997043e-01 -1.49434987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:707.32, Y:262.34, Z:-14.94 [[ 9.99554345e-01 2.97522809e-02 2.43155943e-03 7.07320027e+02] [-2.97522510e-02 9.99557303e-01 -4.84666692e-05 2.62342021e+02] [-2.43192498e-03 -2.38992967e-05 9.99997043e-01 -1.49442614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:707.38, Y:262.35, Z:-14.95 [[ 9.99555770e-01 2.97043646e-02 2.43156113e-03 7.07379955e+02] [-2.97043348e-02 9.99558728e-01 -4.83814495e-05 2.62346491e+02] [-2.43192528e-03 -2.38679486e-05 9.99997043e-01 -1.49454866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:707.44, Y:262.35, Z:-14.94 [[ 9.99575248e-01 2.90415426e-02 2.43156228e-03 7.07440130e+02] [-2.90415110e-02 9.99578205e-01 -4.83234854e-05 2.62347451e+02] [-2.43194005e-03 -2.23132827e-05 9.99997043e-01 -1.49445504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:707.50, Y:262.35, Z:-14.95 [[ 9.99630140e-01 2.70863702e-02 2.43156346e-03 7.07499816e+02] [-2.70863329e-02 9.99633097e-01 -4.82638162e-05 2.62352004e+02] [-2.43197860e-03 -1.76161721e-05 9.99997043e-01 -1.49468516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:707.56, Y:262.35, Z:-14.95 [[ 9.99695946e-01 2.45377828e-02 2.43156464e-03 7.07558762e+02] [-2.45377381e-02 9.99698903e-01 -4.82041641e-05 2.62353405e+02] [-2.43201533e-03 -1.14755890e-05 9.99997043e-01 -1.49480987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:707.62, Y:262.35, Z:-14.95 [[ 9.99836235e-01 1.79329502e-02 2.43156638e-03 7.07618892e+02] [-1.79328862e-02 9.99839192e-01 -4.81162773e-05 2.62352993e+02] [-2.43203823e-03 4.50339428e-06 9.99997043e-01 -1.49470399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.1053361950001 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:707.68, Y:262.35, Z:-14.95 [[ 9.99950738e-01 9.62333975e-03 2.43156751e-03 7.07678962e+02] [-9.62325133e-03 9.99953694e-01 -4.80592599e-05 2.62350656e+02] [-2.43191741e-03 2.46573071e-05 9.99997043e-01 -1.49489150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:707.74, Y:262.35, Z:-14.95 [[ 9.99979895e-01 5.85632972e-03 2.43156751e-03 7.07739531e+02] [-5.85623017e-03 9.99982851e-01 -4.80592599e-05 2.62346830e+02] [-2.43180726e-03 3.38184747e-05 9.99997043e-01 -1.49472782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:707.80, Y:262.34, Z:-14.95 [[ 9.99953910e-01 9.28790354e-03 2.43156751e-03 7.07800862e+02] [-9.28781414e-03 9.99956866e-01 -4.80592599e-05 2.62342045e+02] [-2.43190900e-03 2.54730978e-05 9.99997043e-01 -1.49451275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:707.86, Y:262.34, Z:-14.94 [[ 9.99883129e-01 1.50935462e-02 2.43156634e-03 7.07861449e+02] [-1.50934738e-02 9.99886086e-01 -4.81181757e-05 2.62340493e+02] [-2.43201563e-03 1.14117692e-05 9.99997043e-01 -1.49446051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:707.92, Y:262.34, Z:-14.94 [[ 9.99721227e-01 2.34852194e-02 2.43156577e-03 7.07921154e+02] [-2.34851718e-02 9.99724184e-01 -4.81471215e-05 2.62338549e+02] [-2.43202585e-03 -8.97204038e-06 9.99997043e-01 -1.49421214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:707.98, Y:262.34, Z:-14.94 [[ 9.99567279e-01 2.93145557e-02 2.43156633e-03 7.07980013e+02] [-2.93145254e-02 9.99570236e-01 -4.81187226e-05 2.62337354e+02] [-2.43193191e-03 -2.31823124e-05 9.99997043e-01 -1.49401434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:708.04, Y:262.33, Z:-14.94 [[ 9.99447925e-01 3.31350578e-02 2.43156873e-03 7.08039526e+02] [-3.31350391e-02 9.99450883e-01 -4.79974834e-05 2.62333697e+02] [-2.43182391e-03 -3.25991397e-05 9.99997043e-01 -1.49384425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.525336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:708.10, Y:262.33, Z:-14.95 [[ 9.99298689e-01 3.73659927e-02 2.43156996e-03 7.08098136e+02] [-3.73659866e-02 9.99301647e-01 -4.79348182e-05 2.62333213e+02] [-2.43166300e-03 -4.29568097e-05 9.99997043e-01 -1.49468465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:708.16, Y:262.33, Z:-14.95 [[ 9.99206958e-01 3.97434510e-02 2.43157181e-03 7.08156897e+02] [-3.97434522e-02 9.99209916e-01 -4.78408429e-05 2.62333883e+02] [-2.43155202e-03 -4.88361550e-05 9.99997043e-01 -1.49467986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:708.21, Y:262.34, Z:-14.95 [[ 9.99190130e-01 4.01643176e-02 2.43157416e-03 7.08214950e+02] [-4.01643204e-02 9.99193087e-01 -4.77208951e-05 2.62335899e+02] [-2.43152877e-03 -4.99802764e-05 9.99997043e-01 -1.49510520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:708.27, Y:262.33, Z:-14.95 [[ 9.99381235e-01 3.50889596e-02 2.43157746e-03 7.08274909e+02] [-3.50889477e-02 9.99384192e-01 -4.75525657e-05 2.62334383e+02] [-2.43174864e-03 -3.77983524e-05 9.99997043e-01 -1.49502704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.765336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:708.33, Y:262.33, Z:-14.95 [[ 9.99570411e-01 2.92075555e-02 2.43157858e-03 7.08334116e+02] [-2.92075264e-02 9.99573368e-01 -4.74950327e-05 2.62332724e+02] [-2.43192841e-03 -2.35457662e-05 9.99997043e-01 -1.49500210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:708.39, Y:262.33, Z:-14.95 [[ 9.99626072e-01 2.72360767e-02 2.43157972e-03 7.08393799e+02] [-2.72360419e-02 9.99629029e-01 -4.74363864e-05 2.62331832e+02] [-2.43196966e-03 -1.88079586e-05 9.99997043e-01 -1.49492567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:708.45, Y:262.33, Z:-14.95 [[ 9.99571855e-01 2.91580913e-02 2.43158085e-03 7.08453744e+02] [-2.91580623e-02 9.99574812e-01 -4.73785799e-05 2.62332141e+02] [-2.43192844e-03 -2.35418910e-05 9.99997043e-01 -1.49488243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:708.51, Y:262.33, Z:-14.95 [[ 9.99413699e-01 3.41518125e-02 2.43158196e-03 7.08512492e+02] [-3.41517985e-02 9.99416656e-01 -4.73214953e-05 2.62333077e+02] [-2.43177963e-03 -3.57491465e-05 9.99997043e-01 -1.49505785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:708.57, Y:262.33, Z:-14.95 [[ 9.99311747e-01 3.70151379e-02 2.43158418e-03 7.08571831e+02] [-3.70151325e-02 9.99314704e-01 -4.72070223e-05 2.62334709e+02] [-2.43166520e-03 -4.28308789e-05 9.99997043e-01 -1.49493533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:708.63, Y:262.33, Z:-14.95 [[ 9.99327127e-01 3.65975567e-02 2.43158644e-03 7.08629591e+02] [-3.65975504e-02 9.99330084e-01 -4.70905517e-05 2.62333296e+02] [-2.43168088e-03 -4.19312416e-05 9.99997043e-01 -1.49497856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:708.69, Y:262.33, Z:-14.94 [[ 9.99342479e-01 3.61759142e-02 2.43158923e-03 7.08688158e+02] [-3.61759070e-02 9.99345437e-01 -4.69461544e-05 2.62334004e+02] [-2.43169592e-03 -4.10496594e-05 9.99997043e-01 -1.49439079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:708.75, Y:262.33, Z:-14.95 [[ 9.99354139e-01 3.58523609e-02 2.43159105e-03 7.08746631e+02] [-3.58523530e-02 9.99357097e-01 -4.68517545e-05 2.62334441e+02] [-2.43170751e-03 -4.03567658e-05 9.99997043e-01 -1.49478463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:708.80, Y:262.34, Z:-14.95 [[ 9.99371923e-01 3.53531703e-02 2.43159286e-03 7.08804295e+02] [-3.53531611e-02 9.99374881e-01 -4.67573136e-05 2.62336059e+02] [-2.43172585e-03 -3.92365478e-05 9.99997043e-01 -1.49486365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:708.86, Y:262.34, Z:-14.95 [[ 9.99358827e-01 3.57214554e-02 2.43159558e-03 7.08863351e+02] [-3.57214477e-02 9.99361784e-01 -4.66153632e-05 2.62336578e+02] [-2.43170887e-03 -4.02746397e-05 9.99997043e-01 -1.49489586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:708.92, Y:262.34, Z:-14.95 [[ 9.99295766e-01 3.74440903e-02 2.43159773e-03 7.08922576e+02] [-3.74440879e-02 9.99298723e-01 -4.65030040e-05 2.62339885e+02] [-2.43163377e-03 -4.45787043e-05 9.99997043e-01 -1.49468153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:708.98, Y:262.34, Z:-14.94 [[ 9.99228207e-01 3.92055851e-02 2.43159986e-03 7.08981440e+02] [-3.92055883e-02 9.99231164e-01 -4.63914997e-05 2.62342083e+02] [-2.43154916e-03 -4.89766079e-05 9.99997043e-01 -1.49382751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:709.04, Y:262.35, Z:-14.95 [[ 9.99168984e-01 4.06869718e-02 2.43160157e-03 7.09040434e+02] [-4.06869795e-02 9.99171941e-01 -4.63019418e-05 2.62346776e+02] [-2.43147194e-03 -5.26710589e-05 9.99997043e-01 -1.49451447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.545336195 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:709.10, Y:262.35, Z:-14.95 [[ 9.99247946e-01 3.86992218e-02 2.43160327e-03 7.09099905e+02] [-3.86992239e-02 9.99250903e-01 -4.62123472e-05 2.62352334e+02] [-2.43157014e-03 -4.79235662e-05 9.99997043e-01 -1.49495436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.6053361950001 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:709.16, Y:262.36, Z:-14.95 [[ 9.99333933e-01 3.64112405e-02 2.43160484e-03 7.09158366e+02] [-3.64112360e-02 9.99336890e-01 -4.61294963e-05 2.62355106e+02] [-2.43167205e-03 -4.24389667e-05 9.99997043e-01 -1.49494078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:709.22, Y:262.36, Z:-14.95 [[ 9.99395855e-01 3.46700602e-02 2.43160699e-03 7.09216903e+02] [-3.46700508e-02 9.99398812e-01 -4.60158009e-05 2.62360838e+02] [-2.43174051e-03 -3.83159373e-05 9.99997043e-01 -1.49489569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:709.27, Y:262.37, Z:-14.95 [[ 9.99380488e-01 3.51102270e-02 2.43160913e-03 7.09274824e+02] [-3.51102192e-02 9.99383445e-01 -4.59024717e-05 2.62366280e+02] [-2.43172156e-03 -3.95002950e-05 9.99997043e-01 -1.49467107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:709.33, Y:262.37, Z:-14.94 [[ 9.99357240e-01 3.57658360e-02 2.43161176e-03 7.09334076e+02] [-3.57658305e-02 9.99360197e-01 -4.57625559e-05 2.62369022e+02] [-2.43169275e-03 -4.12354726e-05 9.99997043e-01 -1.49424638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:709.39, Y:262.37, Z:-14.94 [[ 9.99304360e-01 3.72140072e-02 2.43161545e-03 7.09393442e+02] [-3.72140065e-02 9.99307318e-01 -4.55659915e-05 2.62374577e+02] [-2.43162680e-03 -4.49558590e-05 9.99997043e-01 -1.49421464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:709.45, Y:262.38, Z:-14.94 [[ 9.99318457e-01 3.68335334e-02 2.43161769e-03 7.09451833e+02] [-3.68335318e-02 9.99321414e-01 -4.54462409e-05 2.62382754e+02] [-2.43164157e-03 -4.41498001e-05 9.99997043e-01 -1.49429504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:709.51, Y:262.39, Z:-14.95 [[ 9.99497515e-01 3.16038692e-02 2.43162045e-03 7.09510905e+02] [-3.16038525e-02 9.99500472e-01 -4.52978864e-05 2.62387879e+02] [-2.43183738e-03 -3.15734490e-05 9.99997043e-01 -1.49456362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:709.57, Y:262.39, Z:-14.95 [[ 9.99647564e-01 2.64354691e-02 2.43162259e-03 7.09569518e+02] [-2.64354374e-02 9.99650522e-01 -4.51827509e-05 2.62389713e+02] [-2.43196722e-03 -1.91141798e-05 9.99997043e-01 -1.49482686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:709.63, Y:262.39, Z:-14.95 [[ 9.99818048e-01 1.89197833e-02 2.43162474e-03 7.09627262e+02] [-1.89197296e-02 9.99821005e-01 -4.50669143e-05 2.62392510e+02] [-2.43204214e-03 -9.46968284e-07 9.99997043e-01 -1.49503192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:709.69, Y:262.39, Z:-14.95 [[ 9.99915543e-01 1.27669289e-02 2.43162737e-03 7.09686737e+02] [-1.27668574e-02 9.99918499e-01 -4.49244444e-05 2.62394219e+02] [-2.43200274e-03 1.38764103e-05 9.99997043e-01 -1.49463534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:709.75, Y:262.39, Z:-14.95 [[ 9.99951759e-01 9.51668938e-03 2.43162843e-03 7.09746622e+02] [-9.51660841e-03 9.99954715e-01 -4.48671174e-05 2.62393872e+02] [-2.43194530e-03 2.17240974e-05 9.99997043e-01 -1.49471826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.265336195 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:709.81, Y:262.39, Z:-14.95 [[ 9.99978110e-01 6.15357543e-03 2.43162948e-03 7.09806702e+02] [-6.15348466e-03 9.99981066e-01 -4.48099292e-05 2.62392409e+02] [-2.43185918e-03 2.98459536e-05 9.99997043e-01 -1.49494915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:709.87, Y:262.39, Z:-14.95 [[ 9.99995595e-01 1.70210182e-03 2.43163228e-03 7.09866933e+02] [-1.70199826e-03 9.99998551e-01 -4.46573040e-05 2.62389541e+02] [-2.43170477e-03 4.05184733e-05 9.99997043e-01 -1.49510438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.385336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:709.93, Y:262.38, Z:-14.95 [[ 9.99996697e-01 -8.32236864e-04 2.43163172e-03 7.09928580e+02] [ 8.32347989e-04 9.99999653e-01 -4.46878716e-05 2.62383801e+02] [-2.43159368e-03 4.67116877e-05 9.99997043e-01 -1.49529855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:709.99, Y:262.38, Z:-14.95 [[ 9.99996980e-01 -3.55858213e-04 2.43163067e-03 7.09989476e+02] [ 3.55968068e-04 9.99999936e-01 -4.47448771e-05 2.62378534e+02] [-2.43161459e-03 4.56103249e-05 9.99997043e-01 -1.49530201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:710.05, Y:262.38, Z:-14.95 [[ 9.99992801e-01 2.91283116e-03 2.43162911e-03 7.10050332e+02] [-2.91273076e-03 9.99995757e-01 -4.48296887e-05 2.62375127e+02] [-2.43174937e-03 3.77466851e-05 9.99997043e-01 -1.49501142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:710.11, Y:262.37, Z:-14.95 [[ 9.99976957e-01 6.33821206e-03 2.43162805e-03 7.10111747e+02] [-6.33812165e-03 9.99979913e-01 -4.48868636e-05 2.62371762e+02] [-2.43186371e-03 2.94738749e-05 9.99997043e-01 -1.49501634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:710.17, Y:262.37, Z:-14.95 [[ 9.99924591e-01 1.20373971e-02 2.43162699e-03 7.10172102e+02] [-1.20373234e-02 9.99927548e-01 -4.49441375e-05 2.62367300e+02] [-2.43199183e-03 1.56704678e-05 9.99997043e-01 -1.49520032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:710.23, Y:262.36, Z:-14.95 [[ 9.99867265e-01 1.61102307e-02 2.43162699e-03 7.10231065e+02] [-1.61101690e-02 9.99870222e-01 -4.49441374e-05 2.62364373e+02] [-2.43203548e-03 5.76424982e-06 9.99997043e-01 -1.49537335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:710.29, Y:262.36, Z:-14.95 [[ 9.99718252e-01 2.36115204e-02 2.43162752e-03 7.10289630e+02] [-2.36114810e-02 9.99721209e-01 -4.49156439e-05 2.62362886e+02] [-2.43201013e-03 -1.25113379e-05 9.99997043e-01 -1.49506734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:710.35, Y:262.36, Z:-14.95 [[ 9.99554227e-01 2.97562414e-02 2.43162960e-03 7.10348405e+02] [-2.97562205e-02 9.99557185e-01 -4.48028925e-05 2.62360484e+02] [-2.43188600e-03 -2.75731858e-05 9.99997043e-01 -1.49499519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:710.41, Y:262.36, Z:-14.95 [[ 9.99482755e-01 3.20672737e-02 2.43163166e-03 7.10406840e+02] [-3.20672598e-02 9.99485712e-01 -4.46907600e-05 2.62358150e+02] [-2.43181421e-03 -3.33081203e-05 9.99997043e-01 -1.49486967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.925336195 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:710.46, Y:262.36, Z:-14.95 [[ 9.99515233e-01 3.10384575e-02 2.43163336e-03 7.10464501e+02] [-3.10384409e-02 9.99518191e-01 -4.45981888e-05 2.62355182e+02] [-2.43184603e-03 -3.08975391e-05 9.99997043e-01 -1.49503258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:710.52, Y:262.35, Z:-14.95 [[ 9.99527964e-01 3.06257446e-02 2.43163618e-03 7.10523123e+02] [-3.06257271e-02 9.99530921e-01 -4.44438342e-05 2.62350740e+02] [-2.43185667e-03 -3.00477708e-05 9.99997043e-01 -1.49519056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:710.58, Y:262.35, Z:-14.95 [[ 9.99550537e-01 2.98799367e-02 2.43163783e-03 7.10581159e+02] [-2.98799173e-02 9.99553495e-01 -4.43532291e-05 2.62348339e+02] [-2.43187736e-03 -2.83238432e-05 9.99997043e-01 -1.49503043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:710.64, Y:262.35, Z:-14.95 [[ 9.99528870e-01 3.05961769e-02 2.43164058e-03 7.10639299e+02] [-3.05961599e-02 9.99531827e-01 -4.42021542e-05 2.62346955e+02] [-2.43185456e-03 -3.02175348e-05 9.99997043e-01 -1.49511181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.165336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:710.70, Y:262.34, Z:-14.95 [[ 9.99489885e-01 3.18442656e-02 2.43164318e-03 7.10696949e+02] [-3.18442526e-02 9.99492842e-01 -4.40583963e-05 2.62343629e+02] [-2.43181296e-03 -3.33979383e-05 9.99997043e-01 -1.49512705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:710.76, Y:262.34, Z:-14.95 [[ 9.99406361e-01 3.43658508e-02 2.43164561e-03 7.10755762e+02] [-3.43658456e-02 9.99409319e-01 -4.39239172e-05 2.62342263e+02] [-2.43171877e-03 -3.96677153e-05 9.99997043e-01 -1.49479194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:710.81, Y:262.34, Z:-14.95 [[ 9.99404820e-01 3.44106393e-02 2.43164768e-03 7.10814152e+02] [-3.44106345e-02 9.99407778e-01 -4.38090281e-05 2.62341130e+02] [-2.43171510e-03 -3.98915858e-05 9.99997043e-01 -1.49489576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:710.87, Y:262.34, Z:-14.95 [[ 9.99458157e-01 3.28249762e-02 2.43164929e-03 7.10871738e+02] [-3.28249669e-02 9.99461115e-01 -4.37194944e-05 2.62338538e+02] [-2.43177400e-03 -3.61230022e-05 9.99997043e-01 -1.49500621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:710.93, Y:262.34, Z:-14.95 [[ 9.99568842e-01 2.92611966e-02 2.43165196e-03 7.10930242e+02] [-2.92611772e-02 9.99571799e-01 -4.35702068e-05 2.62335674e+02] [-2.43188565e-03 -2.76015778e-05 9.99997043e-01 -1.49486206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:710.99, Y:262.33, Z:-14.95 [[ 9.99640129e-01 2.67151638e-02 2.43165354e-03 7.10988776e+02] [-2.67151371e-02 9.99643086e-01 -4.34819920e-05 2.62333806e+02] [-2.43194728e-03 -2.14956136e-05 9.99997043e-01 -1.49463645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:711.05, Y:262.33, Z:-14.95 [[ 9.99704121e-01 2.42024305e-02 2.43165554e-03 7.11047508e+02] [-2.42023966e-02 9.99707078e-01 -4.33701612e-05 2.62329362e+02] [-2.43199291e-03 -1.54945629e-05 9.99997043e-01 -1.49451668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.585336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:711.11, Y:262.32, Z:-14.95 [[ 9.99742727e-01 2.25514352e-02 2.43165701e-03 7.11107252e+02] [-2.25513966e-02 9.99745684e-01 -4.32873268e-05 2.62323770e+02] [-2.43201479e-03 -1.15610716e-05 9.99997043e-01 -1.49475213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:711.17, Y:262.32, Z:-14.95 [[ 9.99754830e-01 2.20083385e-02 2.43165801e-03 7.11165842e+02] [-2.20082985e-02 9.99757787e-01 -4.32312614e-05 2.62321317e+02] [-2.43202048e-03 -1.02959928e-05 9.99997043e-01 -1.49494689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.705336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:711.23, Y:262.32, Z:-14.95 [[ 9.99768895e-01 2.13598419e-02 2.43165904e-03 7.11225112e+02] [-2.13598001e-02 9.99771853e-01 -4.31730184e-05 2.62318954e+02] [-2.43202643e-03 -8.77671016e-06 9.99997043e-01 -1.49538377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.765336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:711.29, Y:262.32, Z:-14.96 [[ 9.99730526e-01 2.30859731e-02 2.43166000e-03 7.11285060e+02] [-2.30859365e-02 9.99733483e-01 -4.31192131e-05 2.62316244e+02] [-2.43200737e-03 -1.30295547e-05 9.99997043e-01 -1.49557919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.825336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:711.34, Y:262.31, Z:-14.95 [[ 9.99686752e-01 2.49095208e-02 2.43166097e-03 7.11343900e+02] [-2.49094898e-02 9.99689710e-01 -4.30644680e-05 2.62311909e+02] [-2.43197916e-03 -1.75204558e-05 9.99997043e-01 -1.49520176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:711.40, Y:262.31, Z:-14.95 [[ 9.99557180e-01 2.96568759e-02 2.43166264e-03 7.11402736e+02] [-2.96568591e-02 9.99560138e-01 -4.29697264e-05 2.62311762e+02] [-2.43186739e-03 -2.91647778e-05 9.99997043e-01 -1.49523896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:711.46, Y:262.31, Z:-14.95 [[ 9.99443019e-01 3.32827057e-02 2.43166431e-03 7.11461019e+02] [-3.32826999e-02 9.99445977e-01 -4.28749436e-05 2.62311562e+02] [-2.43174411e-03 -3.80812904e-05 9.99997043e-01 -1.49528786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:711.52, Y:262.31, Z:-14.95 [[ 9.99401684e-01 3.45016098e-02 2.43166688e-03 7.11518780e+02] [-3.45016080e-02 9.99404641e-01 -4.27285909e-05 2.62312420e+02] [-2.43169337e-03 -4.11933919e-05 9.99997043e-01 -1.49528444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:711.58, Y:262.32, Z:-14.96 [[ 9.99265102e-01 3.82536630e-02 2.43166893e-03 7.11576700e+02] [-3.82536725e-02 9.99268059e-01 -4.26118289e-05 2.62315854e+02] [-2.43151915e-03 -5.04397533e-05 9.99997043e-01 -1.49561700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:711.64, Y:262.32, Z:-14.94 [[ 9.99312744e-01 3.69881842e-02 2.43167140e-03 7.11635799e+02] [-3.69881903e-02 9.99315702e-01 -4.24705818e-05 2.62321864e+02] [-2.43157832e-03 -4.75017307e-05 9.99997043e-01 -1.49449009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:711.69, Y:262.32, Z:-14.95 [[ 9.99393985e-01 3.47238946e-02 2.43167432e-03 7.11694109e+02] [-3.47238944e-02 9.99396943e-01 -4.23023137e-05 2.62320134e+02] [-2.43167679e-03 -4.21605246e-05 9.99997043e-01 -1.49498426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:711.75, Y:262.32, Z:-14.95 [[ 9.99649917e-01 2.63463495e-02 2.43167511e-03 7.11753178e+02] [-2.63463246e-02 9.99652874e-01 -4.22570149e-05 2.62321038e+02] [-2.43194433e-03 -2.18234804e-05 9.99997043e-01 -1.49489682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:711.81, Y:262.32, Z:-14.95 [[ 9.99889734e-01 1.46494716e-02 2.43167716e-03 7.11811908e+02] [-1.46494124e-02 9.99892691e-01 -4.21387079e-05 2.62318425e+02] [-2.43203353e-03 6.51141992e-06 9.99997043e-01 -1.49480277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.365336195 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:711.87, Y:262.31, Z:-14.95 [[ 9.99976178e-01 6.45986543e-03 2.43167867e-03 7.11871997e+02] [-6.45978227e-03 9.99979135e-01 -4.20514840e-05 2.62314434e+02] [-2.43189958e-03 2.63423675e-05 9.99997043e-01 -1.49517384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:711.93, Y:262.31, Z:-14.95 [[ 9.99993590e-01 -2.62804217e-03 2.43167867e-03 7.11932258e+02] [ 2.62815219e-03 9.99996546e-01 -4.20514840e-05 2.62305587e+02] [-2.43155976e-03 4.84420361e-05 9.99997043e-01 -1.49509990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:711.99, Y:262.30, Z:-14.94 [[ 9.99970860e-01 -7.23644034e-03 2.43167818e-03 7.11994156e+02] [ 7.23656405e-03 9.99973815e-01 -4.20797201e-05 2.62304223e+02] [-2.43131000e-03 5.96754887e-05 9.99997043e-01 -1.49444836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:712.06, Y:262.29, Z:-14.95 [[ 9.99976011e-01 -6.48570626e-03 2.43167603e-03 7.12055373e+02] [ 6.48582805e-03 9.99978966e-01 -4.22035112e-05 2.62289820e+02] [-2.43135116e-03 5.79739314e-05 9.99997043e-01 -1.49520679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.6053361950001 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:712.12, Y:262.28, Z:-14.95 [[ 9.99993551e-01 -2.64295338e-03 2.43167441e-03 7.12116274e+02] [ 2.64306405e-03 9.99996506e-01 -4.22965014e-05 2.62283682e+02] [-2.43155413e-03 4.87232998e-05 9.99997043e-01 -1.49532639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:712.18, Y:262.28, Z:-14.95 [[ 9.99973724e-01 6.82924862e-03 2.43167343e-03 7.12177194e+02] [-6.82916582e-03 9.99976680e-01 -4.23529634e-05 2.62276565e+02] [-2.43190596e-03 2.57455495e-05 9.99997043e-01 -1.49505096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:712.24, Y:262.27, Z:-14.95 [[ 9.99857020e-01 1.67340094e-02 2.43167245e-03 7.12237151e+02] [-1.67339558e-02 9.99859977e-01 -4.24091611e-05 2.62270009e+02] [-2.43204164e-03 1.71159820e-06 9.99997043e-01 -1.49516225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:712.30, Y:262.26, Z:-14.95 [[ 9.99730032e-01 2.31073557e-02 2.43167245e-03 7.12296597e+02] [-2.31073209e-02 9.99732989e-01 -4.24091612e-05 2.62264788e+02] [-2.43200313e-03 -1.37917234e-05 9.99997043e-01 -1.49536701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:712.35, Y:262.26, Z:-14.95 [[ 9.99468241e-01 3.25164898e-02 2.43167296e-03 7.12354916e+02] [-3.25164829e-02 9.99471198e-01 -4.23798017e-05 2.62262583e+02] [-2.43176513e-03 -3.67121863e-05 9.99997043e-01 -1.49486745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.905336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:712.41, Y:262.26, Z:-14.96 [[ 9.99257137e-01 3.84611688e-02 2.43167494e-03 7.12413690e+02] [-3.84611798e-02 9.99260094e-01 -4.22657663e-05 2.62256879e+02] [-2.43150132e-03 -5.12907186e-05 9.99997043e-01 -1.49561700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:712.47, Y:262.26, Z:-14.95 [[ 9.98941179e-01 4.59413629e-02 2.43167698e-03 7.12472281e+02] [-4.59413963e-02 9.98944136e-01 -4.21484325e-05 2.62257321e+02] [-2.43104581e-03 -6.96108309e-05 9.99997043e-01 -1.49503749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.025336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:712.53, Y:262.26, Z:-14.96 [[ 9.98800430e-01 4.89059142e-02 2.43167911e-03 7.12530306e+02] [-4.89059566e-02 9.98803387e-01 -4.20252294e-05 2.62257046e+02] [-2.43082461e-03 -7.69487758e-05 9.99997043e-01 -1.49603070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.085336195 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:712.59, Y:262.26, Z:-14.96 [[ 9.98789823e-01 4.91220550e-02 2.43168174e-03 7.12589700e+02] [-4.91220985e-02 9.98792780e-01 -4.18725015e-05 2.62258102e+02] [-2.43080303e-03 -7.76274814e-05 9.99997043e-01 -1.49589886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:712.65, Y:262.26, Z:-14.95 [[ 9.98820573e-01 4.84927883e-02 2.43168277e-03 7.12648606e+02] [-4.84928301e-02 9.98823530e-01 -4.18125240e-05 2.62259846e+02] [-2.43084957e-03 -7.61559701e-05 9.99997043e-01 -1.49521225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:712.71, Y:262.26, Z:-14.95 [[ 9.98930716e-01 4.61682953e-02 2.43168492e-03 7.12706680e+02] [-4.61683305e-02 9.98933673e-01 -4.16872308e-05 2.62262756e+02] [-2.43101657e-03 -7.06241775e-05 9.99997043e-01 -1.49493841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:712.77, Y:262.26, Z:-14.96 [[ 9.99092640e-01 4.25203953e-02 2.43168754e-03 7.12765796e+02] [-4.25204201e-02 9.99095597e-01 -4.15336290e-05 2.62264476e+02] [-2.43125434e-03 -6.19004327e-05 9.99997043e-01 -1.49582172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:712.83, Y:262.27, Z:-14.96 [[ 9.99388067e-01 3.48938106e-02 2.43168872e-03 7.12825187e+02] [-3.48938130e-02 9.99391025e-01 -4.14644637e-05 2.62268568e+02] [-2.43165473e-03 -4.34118012e-05 9.99997043e-01 -1.49592678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.385336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:712.88, Y:262.27, Z:-14.96 [[ 9.99593532e-01 2.84052239e-02 2.43168971e-03 7.12883446e+02] [-2.84052072e-02 9.99596490e-01 -4.14062276e-05 2.62269594e+02] [-2.43188465e-03 -2.76832529e-05 9.99997043e-01 -1.49632504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:712.94, Y:262.27, Z:-14.96 [[ 9.99795694e-01 2.00662956e-02 2.43169118e-03 7.12943405e+02] [-2.00662544e-02 9.99798652e-01 -4.13198171e-05 2.62269318e+02] [-2.43203070e-03 -7.48355868e-06 9.99997043e-01 -1.49582921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:713.00, Y:262.27, Z:-14.95 [[ 9.99899531e-01 1.39647600e-02 2.43169213e-03 7.13003257e+02] [-1.39647009e-02 9.99902488e-01 -4.12638378e-05 2.62269017e+02] [-2.43203125e-03 7.30183873e-06 9.99997043e-01 -1.49538042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:713.06, Y:262.27, Z:-14.95 [[ 9.99936970e-01 1.09609354e-02 2.43169266e-03 7.13063414e+02] [-1.09608675e-02 9.99939927e-01 -4.12323644e-05 2.62268787e+02] [-2.43199853e-03 1.45763045e-05 9.99997043e-01 -1.49525357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:713.12, Y:262.27, Z:-14.96 [[ 9.99965119e-01 7.99051772e-03 2.43169266e-03 7.13122841e+02] [-7.99044108e-03 9.99968075e-01 -4.12323645e-05 2.62268897e+02] [-2.43194450e-03 2.18006293e-05 9.99997043e-01 -1.49576344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:713.18, Y:262.27, Z:-14.95 [[ 9.99966850e-01 7.77081733e-03 2.43169319e-03 7.13182968e+02] [-7.77074011e-03 9.99969806e-01 -4.12014033e-05 2.62266635e+02] [-2.43193993e-03 2.23039817e-05 9.99997043e-01 -1.49534877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.745336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:713.24, Y:262.27, Z:-14.96 [[ 9.99928469e-01 1.17108629e-02 2.43169266e-03 7.13243114e+02] [-1.17107972e-02 9.99931425e-01 -4.12327893e-05 2.62265091e+02] [-2.43200877e-03 1.27527802e-05 9.99997043e-01 -1.49613580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:713.30, Y:262.27, Z:-14.96 [[ 9.99847653e-01 1.72845873e-02 2.43169212e-03 7.13303497e+02] [-1.72845381e-02 9.99850610e-01 -4.12641927e-05 2.62266758e+02] [-2.43204209e-03 -7.72768874e-07 9.99997043e-01 -1.49587429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:713.36, Y:262.27, Z:-14.96 [[ 9.99560157e-01 2.95563907e-02 2.43169212e-03 7.13362871e+02] [-2.95563777e-02 9.99563114e-01 -4.12641927e-05 2.62269933e+02] [-2.43184937e-03 -3.06259679e-05 9.99997043e-01 -1.49602811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:713.42, Y:262.27, Z:-14.96 [[ 9.99281592e-01 3.78204612e-02 2.43169309e-03 7.13421358e+02] [-3.78204729e-02 9.99284549e-01 -4.12072588e-05 2.62273263e+02] [-2.43151181e-03 -5.07901273e-05 9.99997043e-01 -1.49605109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:713.48, Y:262.28, Z:-14.96 [[ 9.98933389e-01 4.61104305e-02 2.43169509e-03 7.13479479e+02] [-4.61104670e-02 9.98936346e-01 -4.10889428e-05 2.62279735e+02] [-2.43100323e-03 -7.10814791e-05 9.99997043e-01 -1.49638298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:713.54, Y:262.28, Z:-14.96 [[ 9.98855364e-01 4.77707886e-02 2.43169767e-03 7.13538598e+02] [-4.77708304e-02 9.98858321e-01 -4.09355452e-05 2.62283001e+02] [-2.43087697e-03 -7.52755280e-05 9.99997043e-01 -1.49645835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:713.60, Y:262.29, Z:-14.97 [[ 9.98992579e-01 4.48097580e-02 2.43169961e-03 7.13596762e+02] [-4.48097913e-02 9.98995536e-01 -4.08197374e-05 2.62287637e+02] [-2.43108618e-03 -6.81853373e-05 9.99997043e-01 -1.49664957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:713.66, Y:262.29, Z:-14.97 [[ 9.99170454e-01 4.06508352e-02 2.43170201e-03 7.13655821e+02] [-4.06508565e-02 9.99173411e-01 -4.06762449e-05 2.62293880e+02] [-2.43134552e-03 -5.82082674e-05 9.99997043e-01 -1.49658457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:713.71, Y:262.30, Z:-14.96 [[ 9.99350052e-01 3.59660915e-02 2.43170387e-03 7.13714780e+02] [-3.59660992e-02 9.99353010e-01 -4.05649310e-05 2.62299625e+02] [-2.43158954e-03 -4.69203367e-05 9.99997043e-01 -1.49629928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:713.77, Y:262.30, Z:-14.96 [[ 9.99509856e-01 3.12111273e-02 2.43170580e-03 7.13773654e+02] [-3.12111212e-02 9.99512813e-01 -4.04488062e-05 2.62302856e+02] [-2.43178356e-03 -3.54672841e-05 9.99997043e-01 -1.49622966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:713.83, Y:262.31, Z:-14.96 [[ 9.99760931e-01 2.17294167e-02 2.43170772e-03 7.13833036e+02] [-2.17293828e-02 9.99763888e-01 -4.03333533e-05 2.62308187e+02] [-2.43200998e-03 -1.25157970e-05 9.99997043e-01 -1.49623816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:713.89, Y:262.31, Z:-14.96 [[ 9.99884940e-01 1.49730706e-02 2.43170963e-03 7.13893111e+02] [-1.49730171e-02 9.99887897e-01 -4.02177956e-05 2.62309845e+02] [-2.43203921e-03 3.80313838e-06 9.99997043e-01 -1.49618118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.465336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:713.95, Y:262.31, Z:-14.96 [[ 9.99966237e-01 7.84935781e-03 2.43171057e-03 7.13953585e+02] [-7.84928335e-03 9.99969193e-01 -4.01607628e-05 2.62309496e+02] [-2.43195089e-03 2.10722216e-05 9.99997043e-01 -1.49645097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:714.01, Y:262.31, Z:-14.96 [[ 9.99982316e-01 5.42727193e-03 2.43171057e-03 7.14013373e+02] [-5.42719032e-03 9.99985272e-01 -4.01607629e-05 2.62312137e+02] [-2.43189272e-03 2.69626966e-05 9.99997043e-01 -1.49622513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:714.07, Y:262.31, Z:-14.96 [[ 9.99991106e-01 3.44603878e-03 2.43171103e-03 7.14073783e+02] [-3.44595138e-03 9.99994062e-01 -4.01326461e-05 2.62311695e+02] [-2.43183489e-03 3.17527312e-05 9.99997043e-01 -1.49604956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:714.14, Y:262.31, Z:-14.96 [[ 9.99992866e-01 2.89051663e-03 2.43171103e-03 7.14135564e+02] [-2.89042758e-03 9.99995822e-01 -4.01326460e-05 2.62313680e+02] [-2.43181688e-03 3.31036750e-05 9.99997043e-01 -1.49610312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:714.20, Y:262.31, Z:-14.96 [[ 9.99989938e-01 3.76965230e-03 2.43171009e-03 7.14195556e+02] [-3.76956572e-03 9.99992894e-01 -4.01898546e-05 2.62312753e+02] [-2.43184431e-03 3.10229592e-05 9.99997043e-01 -1.49623356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:714.26, Y:262.31, Z:-14.96 [[ 9.99971718e-01 7.11682302e-03 2.43170962e-03 7.14255835e+02] [-7.11674626e-03 9.99974675e-01 -4.02181915e-05 2.62314007e+02] [-2.43193426e-03 2.29111937e-05 9.99997043e-01 -1.49579647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.825336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:714.32, Y:262.32, Z:-14.96 [[ 9.99923630e-01 1.21169772e-02 2.43170911e-03 7.14315594e+02] [-1.21169152e-02 9.99926587e-01 -4.02488429e-05 2.62318364e+02] [-2.43201829e-03 1.07809561e-05 9.99997043e-01 -1.49623698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:714.37, Y:262.32, Z:-14.96 [[ 9.99896073e-01 1.42102286e-02 2.43170962e-03 7.14374827e+02] [-1.42101728e-02 9.99899030e-01 -4.02181709e-05 2.62319703e+02] [-2.43203560e-03 5.65897724e-06 9.99997043e-01 -1.49612405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:714.43, Y:262.32, Z:-14.96 [[ 9.99901637e-01 1.38131687e-02 2.43171106e-03 7.14433654e+02] [-1.38131119e-02 9.99904594e-01 -4.01308414e-05 2.62321132e+02] [-2.43203339e-03 6.53739691e-06 9.99997043e-01 -1.49611702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.005336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:714.49, Y:262.32, Z:-14.96 [[ 9.99923519e-01 1.21261545e-02 2.43171248e-03 7.14491948e+02] [-1.21260930e-02 9.99926475e-01 -4.00445140e-05 2.62322954e+02] [-2.43201928e-03 1.05542797e-05 9.99997043e-01 -1.49613083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.065336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:714.55, Y:262.32, Z:-14.96 [[ 9.99945436e-01 1.01593299e-02 2.43171388e-03 7.14551594e+02] [-1.01592628e-02 9.99948393e-01 -3.99594117e-05 2.62321416e+02] [-2.43199435e-03 1.52528109e-05 9.99997043e-01 -1.49609546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:714.61, Y:262.32, Z:-14.96 [[ 9.99973360e-01 6.88224625e-03 2.43171482e-03 7.14610903e+02] [-6.88216957e-03 9.99976317e-01 -3.99021026e-05 2.62321063e+02] [-2.43193185e-03 2.31655659e-05 9.99997043e-01 -1.49613842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:714.67, Y:262.32, Z:-14.95 [[ 9.99984291e-01 5.05018420e-03 2.43171529e-03 7.14671483e+02] [-5.05010217e-03 9.99987247e-01 -3.98737351e-05 2.62318596e+02] [-2.43188565e-03 2.75926980e-05 9.99997043e-01 -1.49525123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:714.73, Y:262.32, Z:-14.96 [[ 9.99986508e-01 4.59029871e-03 2.43171479e-03 7.14731918e+02] [-4.59021524e-03 9.99989464e-01 -3.99041231e-05 2.62316385e+02] [-2.43187234e-03 2.87414904e-05 9.99997043e-01 -1.49614445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:714.79, Y:262.31, Z:-14.96 [[ 9.99984580e-01 4.99258835e-03 2.43171429e-03 7.14792200e+02] [-4.99250600e-03 9.99987537e-01 -3.99345278e-05 2.62313644e+02] [-2.43188336e-03 2.77935639e-05 9.99997043e-01 -1.49611279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.365336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:714.85, Y:262.31, Z:-14.96 [[ 9.99978415e-01 6.10374865e-03 2.43171382e-03 7.14852353e+02] [-6.10366952e-03 9.99981372e-01 -3.99628997e-05 2.62310938e+02] [-2.43191245e-03 2.51196596e-05 9.99997043e-01 -1.49607267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:714.91, Y:262.31, Z:-14.96 [[ 9.99962640e-01 8.29492674e-03 2.43171382e-03 7.14912938e+02] [-8.29485408e-03 9.99965596e-01 -3.99628997e-05 2.62307749e+02] [-2.43196165e-03 1.97906954e-05 9.99997043e-01 -1.49628713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:714.97, Y:262.31, Z:-14.96 [[ 9.99950624e-01 9.63519848e-03 2.43171336e-03 7.14973185e+02] [-9.63512972e-03 9.99953580e-01 -3.99909886e-05 2.62306996e+02] [-2.43198580e-03 1.65591403e-05 9.99997043e-01 -1.49630393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.545336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:715.03, Y:262.31, Z:-14.96 [[ 9.99883842e-01 1.50462395e-02 2.43171336e-03 7.15032896e+02] [-1.50461868e-02 9.99886799e-01 -3.99909886e-05 2.62306078e+02] [-2.43203980e-03 3.39832986e-06 9.99997043e-01 -1.49640846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:715.09, Y:262.31, Z:-14.96 [[ 9.99772833e-01 2.11747232e-02 2.43171382e-03 7.15092175e+02] [-2.11746886e-02 9.99775790e-01 -3.99631665e-05 2.62307655e+02] [-2.43201481e-03 -1.15366947e-05 9.99997043e-01 -1.49646460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:715.15, Y:262.31, Z:-14.97 [[ 9.99714487e-01 2.37704027e-02 2.43171567e-03 7.15151282e+02] [-2.37703761e-02 9.99717444e-01 -3.98501416e-05 2.62307045e+02] [-2.43197583e-03 -1.79640322e-05 9.99997043e-01 -1.49652569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:715.21, Y:262.31, Z:-14.96 [[ 9.99708782e-01 2.40091414e-02 2.43171754e-03 7.15210391e+02] [-2.40091157e-02 9.99711739e-01 -3.97357652e-05 2.62306420e+02] [-2.43197059e-03 -1.86591944e-05 9.99997043e-01 -1.49641117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:715.27, Y:262.31, Z:-14.97 [[ 9.99760059e-01 2.17695117e-02 2.43171941e-03 7.15268932e+02] [-2.17694797e-02 9.99763016e-01 -3.96212147e-05 2.62306058e+02] [-2.43200566e-03 -1.33255584e-05 9.99997043e-01 -1.49652335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:715.33, Y:262.30, Z:-14.97 [[ 9.99849274e-01 1.71905865e-02 2.43172125e-03 7.15328564e+02] [-1.71905413e-02 9.99852231e-01 -3.95077555e-05 2.62304521e+02] [-2.43204108e-03 -2.30080386e-06 9.99997043e-01 -1.49665360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:715.39, Y:262.30, Z:-14.97 [[ 9.99916173e-01 1.27174860e-02 2.43172219e-03 7.15387365e+02] [-1.27174277e-02 9.99919129e-01 -3.94498365e-05 2.62301143e+02] [-2.43202724e-03 8.52127843e-06 9.99997043e-01 -1.49664421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:715.45, Y:262.30, Z:-14.97 [[ 9.99936341e-01 1.10181775e-02 2.43172312e-03 7.15446895e+02] [-1.10181143e-02 9.99939298e-01 -3.93924914e-05 2.62299991e+02] [-2.43200954e-03 1.25969805e-05 9.99997043e-01 -1.49659730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:715.51, Y:262.30, Z:-14.97 [[ 9.99960372e-01 8.56391656e-03 2.43172406e-03 7.15505313e+02] [-8.56384623e-03 9.99963329e-01 -3.93344667e-05 2.62297179e+02] [-2.43197174e-03 1.85079971e-05 9.99997043e-01 -1.49658758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:715.57, Y:262.29, Z:-14.97 [[ 9.99961818e-01 8.39345652e-03 2.43172497e-03 7.15565955e+02] [-8.39338582e-03 9.99964774e-01 -3.92777697e-05 2.62293616e+02] [-2.43196899e-03 1.88658641e-05 9.99997043e-01 -1.49681999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:715.63, Y:262.29, Z:-14.97 [[ 9.99960304e-01 8.57184420e-03 2.43172497e-03 7.15626444e+02] [-8.57177403e-03 9.99963261e-01 -3.92777698e-05 2.62290815e+02] [-2.43197231e-03 1.84320137e-05 9.99997043e-01 -1.49671438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:715.69, Y:262.29, Z:-14.97 [[ 9.99966176e-01 7.85712763e-03 2.43172497e-03 7.15686952e+02] [-7.85705534e-03 9.99969132e-01 -3.92777697e-05 2.62286212e+02] [-2.43195852e-03 2.01702435e-05 9.99997043e-01 -1.49674350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:715.75, Y:262.28, Z:-14.97 [[ 9.99976738e-01 6.37262828e-03 2.43172497e-03 7.15746569e+02] [-6.37255161e-03 9.99979694e-01 -3.92777698e-05 2.62280914e+02] [-2.43192590e-03 2.37805632e-05 9.99997043e-01 -1.49675667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:715.81, Y:262.27, Z:-14.97 [[ 9.99989926e-01 3.77294392e-03 2.43172542e-03 7.15806956e+02] [-3.77285963e-03 9.99992882e-01 -3.92496872e-05 2.62273724e+02] [-2.43185620e-03 3.00747331e-05 9.99997043e-01 -1.49665561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:715.87, Y:262.27, Z:-14.96 [[ 9.99995897e-01 1.51428704e-03 2.43172542e-03 7.15867831e+02] [-1.51419607e-03 9.99998853e-01 -3.92496872e-05 2.62265913e+02] [-2.43178207e-03 3.55674170e-05 9.99997043e-01 -1.49644324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.445336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:715.93, Y:262.26, Z:-14.97 [[ 9.99995750e-01 1.60803706e-03 2.43172657e-03 7.15929508e+02] [-1.60794655e-03 9.99998706e-01 -3.91783115e-05 2.62259136e+02] [-2.43178643e-03 3.52680587e-05 9.99997043e-01 -1.49683260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:715.99, Y:262.25, Z:-14.97 [[ 9.99991706e-01 3.26705712e-03 2.43172567e-03 7.15990017e+02] [-3.26697137e-03 9.99994663e-01 -3.92346749e-05 2.62249498e+02] [-2.43184087e-03 3.12899714e-05 9.99997043e-01 -1.49670153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:716.05, Y:262.24, Z:-14.97 [[ 9.99961450e-01 8.43708188e-03 2.43172479e-03 7.16051676e+02] [-8.43701128e-03 9.99964407e-01 -3.92886087e-05 2.62243175e+02] [-2.43196972e-03 1.87706046e-05 9.99997043e-01 -1.49652898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:716.11, Y:262.24, Z:-14.97 [[ 9.99881240e-01 1.52181631e-02 2.43172388e-03 7.16111435e+02] [-1.52181124e-02 9.99884197e-01 -3.93453235e-05 2.62236719e+02] [-2.43204104e-03 2.33440361e-06 9.99997043e-01 -1.49667861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:716.17, Y:262.23, Z:-14.97 [[ 9.99809502e-01 1.93660955e-02 2.43172342e-03 7.16171255e+02] [-1.93660570e-02 9.99812460e-01 -3.93735198e-05 2.62232141e+02] [-2.43202988e-03 -7.72687505e-06 9.99997043e-01 -1.49677229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.745336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:716.23, Y:262.23, Z:-14.97 [[ 9.99729496e-01 2.31305365e-02 2.43172433e-03 7.16230649e+02] [-2.31305093e-02 9.99732453e-01 -3.93174224e-05 2.62228258e+02] [-2.43198316e-03 -1.69402353e-05 9.99997043e-01 -1.49707180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:716.29, Y:262.22, Z:-14.97 [[ 9.99686393e-01 2.49239375e-02 2.43172524e-03 7.16289190e+02] [-2.49239157e-02 9.99689350e-01 -3.92609266e-05 2.62224365e+02] [-2.43194836e-03 -2.13595008e-05 9.99997043e-01 -1.49683781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:716.35, Y:262.22, Z:-14.96 [[ 9.99619281e-01 2.74841893e-02 2.43172660e-03 7.16349082e+02] [-2.74841753e-02 9.99622238e-01 -3.91767246e-05 2.62220586e+02] [-2.43188472e-03 -2.76721907e-05 9.99997043e-01 -1.49630127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:716.41, Y:262.22, Z:-14.96 [[ 9.99527759e-01 3.06324390e-02 2.43172755e-03 7.16406539e+02] [-3.06324345e-02 9.99530716e-01 -3.91172530e-05 2.62219174e+02] [-2.43178464e-03 -3.53909548e-05 9.99997043e-01 -1.49636587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:716.47, Y:262.22, Z:-14.96 [[ 9.99475974e-01 3.22779101e-02 2.43173010e-03 7.16465630e+02] [-3.22779109e-02 9.99478932e-01 -3.89579012e-05 2.62218951e+02] [-2.43172049e-03 -3.95536814e-05 9.99997043e-01 -1.49642965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:716.52, Y:262.22, Z:-14.97 [[ 9.99400564e-01 3.45340334e-02 2.43173195e-03 7.16524314e+02] [-3.45340411e-02 9.99403521e-01 -3.88422049e-05 2.62219331e+02] [-2.43162285e-03 -4.51586098e-05 9.99997043e-01 -1.49673226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.1053361950001 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:716.58, Y:262.22, Z:-14.97 [[ 9.99381914e-01 3.50696015e-02 2.43173332e-03 7.16581926e+02] [-3.50696109e-02 9.99384871e-01 -3.87565971e-05 2.62220980e+02] [-2.43159667e-03 -4.65472991e-05 9.99997043e-01 -1.49728094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:716.64, Y:262.22, Z:-14.97 [[ 9.99409878e-01 3.42634357e-02 2.43173564e-03 7.16640677e+02] [-3.42634431e-02 9.99412835e-01 -3.86101231e-05 2.62223344e+02] [-2.43163073e-03 -4.47322976e-05 9.99997043e-01 -1.49701718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:716.70, Y:262.23, Z:-14.97 [[ 9.99487236e-01 3.19272953e-02 2.43173741e-03 7.16700021e+02] [-3.19272961e-02 9.99490193e-01 -3.84984544e-05 2.62226797e+02] [-2.43172685e-03 -3.91600865e-05 9.99997043e-01 -1.49680813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:716.76, Y:262.23, Z:-14.97 [[ 9.99587904e-01 2.86025843e-02 2.43173916e-03 7.16757656e+02] [-2.86025756e-02 9.99590862e-01 -3.83876899e-05 2.62229370e+02] [-2.43184223e-03 -3.11821325e-05 9.99997043e-01 -1.49685725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:716.82, Y:262.23, Z:-14.97 [[ 9.99792320e-01 2.02337264e-02 2.43174162e-03 7.16817486e+02] [-2.02336932e-02 9.99795277e-01 -3.82310720e-05 2.62228657e+02] [-2.43201735e-03 -1.09799818e-05 9.99997043e-01 -1.49713725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:716.88, Y:262.23, Z:-14.97 [[ 9.99876420e-01 1.55315923e-02 2.43174248e-03 7.16876785e+02] [-1.55315454e-02 9.99879378e-01 -3.81761835e-05 2.62230023e+02] [-2.43204210e-03 4.02746904e-07 9.99997043e-01 -1.49679916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:716.94, Y:262.23, Z:-14.97 [[ 9.99929146e-01 1.16529012e-02 2.43174291e-03 7.16937741e+02] [-1.16528429e-02 9.99932103e-01 -3.81490882e-05 2.62231452e+02] [-2.43202235e-03 9.80966724e-06 9.99997043e-01 -1.49654869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:717.00, Y:262.23, Z:-14.97 [[ 9.99969046e-01 7.48289920e-03 2.43174291e-03 7.16998374e+02] [-7.48282856e-03 9.99972003e-01 -3.81490883e-05 2.62232310e+02] [-2.43196029e-03 1.99515922e-05 9.99997043e-01 -1.49707823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:717.06, Y:262.23, Z:-14.97 [[ 9.99990539e-01 3.60671422e-03 2.43174291e-03 7.17059146e+02] [-3.60663211e-03 9.99993495e-01 -3.81490882e-05 2.62231501e+02] [-2.43186468e-03 2.93783252e-05 9.99997043e-01 -1.49680921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:717.12, Y:262.23, Z:-14.96 [[ 9.99996235e-01 1.27149919e-03 2.43174086e-03 7.17120416e+02] [-1.27140986e-03 9.99999191e-01 -3.82793629e-05 2.62228402e+02] [-2.43178756e-03 3.51874795e-05 9.99997043e-01 -1.49640780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:717.18, Y:262.22, Z:-14.97 [[ 9.99994281e-01 -2.35029327e-03 2.43173997e-03 7.17181597e+02] [ 2.35039344e-03 9.99997237e-01 -3.83355125e-05 2.62223178e+02] [-2.43164315e-03 4.40508390e-05 9.99997043e-01 -1.49676982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:717.24, Y:262.22, Z:-14.97 [[ 9.99991115e-01 -3.44346351e-03 2.43173649e-03 7.17243302e+02] [ 3.44356744e-03 9.99994070e-01 -3.85550001e-05 2.62217947e+02] [-2.43158931e-03 4.69285061e-05 9.99997043e-01 -1.49698894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.825336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:717.31, Y:262.21, Z:-14.97 [[ 9.99996697e-01 -8.32413953e-04 2.43173471e-03 7.17305904e+02] [ 8.32510441e-04 9.99999653e-01 -3.86668813e-05 2.62214006e+02] [-2.43170168e-03 4.06911981e-05 9.99997043e-01 -1.49704412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:717.37, Y:262.21, Z:-14.97 [[ 9.99983254e-01 5.25148334e-03 2.43173288e-03 7.17367507e+02] [-5.25140456e-03 9.99986211e-01 -3.87816879e-05 2.62209681e+02] [-2.43190301e-03 2.60110253e-05 9.99997043e-01 -1.49672425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:717.43, Y:262.20, Z:-14.97 [[ 9.99898016e-01 1.40727864e-02 2.43173196e-03 7.17427392e+02] [-1.40727336e-02 9.99900973e-01 -3.88393113e-05 2.62204781e+02] [-2.43203773e-03 4.61423426e-06 9.99997043e-01 -1.49696972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:717.49, Y:262.21, Z:-14.97 [[ 9.99795992e-01 2.00514521e-02 2.43173150e-03 7.17487259e+02] [-2.00514168e-02 9.99798949e-01 -3.88679307e-05 2.62206150e+02] [-2.43202196e-03 -9.89966066e-06 9.99997043e-01 -1.49682981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:717.55, Y:262.20, Z:-14.97 [[ 9.99519449e-01 3.09024004e-02 2.43173201e-03 7.17545607e+02] [-3.09023974e-02 9.99522406e-01 -3.88361959e-05 2.62203957e+02] [-2.43177076e-03 -3.63288158e-05 9.99997043e-01 -1.49712219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:717.60, Y:262.20, Z:-14.97 [[ 9.99343233e-01 3.61550860e-02 2.43173353e-03 7.17604182e+02] [-3.61550987e-02 9.99346190e-01 -3.87409377e-05 2.62204394e+02] [-2.43154432e-03 -4.92040719e-05 9.99997043e-01 -1.49744403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:717.66, Y:262.21, Z:-14.97 [[ 9.99169359e-01 4.06777372e-02 2.43173531e-03 7.17663357e+02] [-4.06777636e-02 9.99172316e-01 -3.86289368e-05 2.62206472e+02] [-2.43129394e-03 -6.03207039e-05 9.99997043e-01 -1.49736230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.245336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:717.72, Y:262.21, Z:-14.97 [[ 9.99098133e-01 4.23911235e-02 2.43173714e-03 7.17722713e+02] [-4.23911552e-02 9.99101090e-01 -3.85131677e-05 2.62211667e+02] [-2.43118385e-03 -6.46057127e-05 9.99997043e-01 -1.49702330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:717.78, Y:262.21, Z:-14.98 [[ 9.99117486e-01 4.19325106e-02 2.43173863e-03 7.17780437e+02] [-4.19325412e-02 9.99120443e-01 -3.84186754e-05 2.62214320e+02] [-2.43121077e-03 -6.35842100e-05 9.99997043e-01 -1.49774361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:717.84, Y:262.22, Z:-14.98 [[ 9.99157935e-01 4.09573926e-02 2.43174109e-03 7.17839339e+02] [-4.09574207e-02 9.99160892e-01 -3.82628607e-05 2.62218812e+02] [-2.43126774e-03 -6.13672019e-05 9.99997043e-01 -1.49775011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:717.90, Y:262.23, Z:-14.97 [[ 9.99281864e-01 3.78132636e-02 2.43174294e-03 7.17898154e+02] [-3.78132827e-02 9.99284821e-01 -3.81448376e-05 2.62225371e+02] [-2.43144619e-03 -5.38347388e-05 9.99997043e-01 -1.49700166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:717.96, Y:262.23, Z:-14.98 [[ 9.99396863e-01 3.46409756e-02 2.43174477e-03 7.17955924e+02] [-3.46409856e-02 9.99399820e-01 -3.80275753e-05 2.62228604e+02] [-2.43160260e-03 -4.62333960e-05 9.99997043e-01 -1.49775594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:718.02, Y:262.23, Z:-14.98 [[ 9.99626100e-01 2.72350330e-02 2.43174705e-03 7.18015195e+02] [-2.72350214e-02 9.99629057e-01 -3.78812592e-05 2.62234612e+02] [-2.43187671e-03 -2.83615877e-05 9.99997043e-01 -1.49752472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:718.07, Y:262.24, Z:-14.97 [[ 9.99813110e-01 1.91789507e-02 2.43174885e-03 7.18073844e+02] [-1.91789156e-02 9.99816067e-01 -3.77656672e-05 2.62240879e+02] [-2.43202587e-03 -8.87969662e-06 9.99997043e-01 -1.49737189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:718.13, Y:262.24, Z:-14.97 [[ 9.99926590e-01 1.18702217e-02 2.43175065e-03 7.18133319e+02] [-1.18701653e-02 9.99929546e-01 -3.76488761e-05 2.62240882e+02] [-2.43202623e-03 8.78083001e-06 9.99997043e-01 -1.49714636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.725336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:718.19, Y:262.24, Z:-14.98 [[ 9.99989674e-01 3.83897827e-03 2.43175182e-03 7.18194235e+02] [-3.83889825e-03 9.99992631e-01 -3.75734060e-05 2.62243761e+02] [-2.43187814e-03 2.82377703e-05 9.99997043e-01 -1.49758615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:718.25, Y:262.24, Z:-14.97 [[ 9.99987817e-01 -4.29552981e-03 2.43175182e-03 7.18254497e+02] [ 4.29563387e-03 9.99990773e-01 -3.75734059e-05 2.62242470e+02] [-2.43156798e-03 4.80188637e-05 9.99997043e-01 -1.49701152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:718.32, Y:262.24, Z:-14.97 [[ 9.99940363e-01 -1.06469440e-02 2.43175137e-03 7.18317059e+02] [ 1.06470669e-02 9.99943318e-01 -3.76028088e-05 2.62237934e+02] [-2.43121317e-03 6.34915856e-05 9.99997043e-01 -1.49705459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.905336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:718.38, Y:262.23, Z:-14.98 [[ 9.99892928e-01 -1.44297991e-02 2.43174899e-03 7.18377948e+02] [ 1.44299335e-02 9.99895882e-01 -3.77556446e-05 2.62234448e+02] [-2.43095100e-03 7.28415783e-05 9.99997043e-01 -1.49798757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.965336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:718.44, Y:262.23, Z:-14.98 [[ 9.99860558e-01 -1.65212537e-02 2.43174759e-03 7.18439752e+02] [ 1.65213946e-02 9.99863512e-01 -3.78458271e-05 2.62227592e+02] [-2.43079042e-03 7.80164112e-05 9.99997043e-01 -1.49805722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:718.50, Y:262.22, Z:-14.97 [[ 9.99875975e-01 -1.55602727e-02 2.43174581e-03 7.18501653e+02] [ 1.55604110e-02 9.99878929e-01 -3.79599537e-05 2.62219528e+02] [-2.43086073e-03 7.57942098e-05 9.99997043e-01 -1.49711737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:718.56, Y:262.21, Z:-14.97 [[ 9.99905557e-01 -1.35263915e-02 2.43174393e-03 7.18562766e+02] [ 1.35265240e-02 9.99908512e-01 -3.80800682e-05 2.62212066e+02] [-2.43100636e-03 7.09695145e-05 9.99997043e-01 -1.49712922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.145336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:718.62, Y:262.20, Z:-14.97 [[ 9.99949853e-01 -9.71481419e-03 2.43174203e-03 7.18624865e+02] [ 9.71493580e-03 9.99952808e-01 -3.82010696e-05 2.62204456e+02] [-2.43125615e-03 6.18233716e-05 9.99997043e-01 -1.49734151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:718.69, Y:262.20, Z:-14.97 [[ 9.99989149e-01 -3.97338781e-03 2.43174012e-03 7.18686003e+02] [ 3.97349274e-03 9.99992105e-01 -3.83221773e-05 2.62196091e+02] [-2.43156865e-03 4.79842632e-05 9.99997043e-01 -1.49720544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.265336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:718.75, Y:262.19, Z:-14.97 [[ 9.99995821e-01 -1.56370081e-03 2.43173864e-03 7.18747261e+02] [ 1.56379885e-03 9.99998777e-01 -3.84156511e-05 2.62191923e+02] [-2.43167559e-03 4.22182406e-05 9.99997043e-01 -1.49719334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:718.81, Y:262.18, Z:-14.97 [[ 9.99984322e-01 5.04400126e-03 2.43173715e-03 7.18808920e+02] [-5.04392253e-03 9.99987279e-01 -3.85094942e-05 2.62183866e+02] [-2.43190046e-03 2.62433967e-05 9.99997043e-01 -1.49699812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.385336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:718.87, Y:262.18, Z:-14.97 [[ 9.99923592e-01 1.21201016e-02 2.43173615e-03 7.18869560e+02] [-1.21200436e-02 9.99926549e-01 -3.85725199e-05 2.62178967e+02] [-2.43202504e-03 9.09682438e-06 9.99997043e-01 -1.49716245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.445336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:718.93, Y:262.17, Z:-14.98 [[ 9.99871822e-01 1.58248621e-02 2.43173565e-03 7.18928845e+02] [-1.58248150e-02 9.99874779e-01 -3.86040173e-05 2.62174132e+02] [-2.43204205e-03 1.17302112e-07 9.99997043e-01 -1.49793106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:718.99, Y:262.17, Z:-14.98 [[ 9.99781171e-01 2.07773306e-02 2.43173614e-03 7.18988308e+02] [-2.07772982e-02 9.99784128e-01 -3.85732969e-05 2.62169182e+02] [-2.43201265e-03 -1.19600511e-05 9.99997043e-01 -1.49760468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:719.05, Y:262.16, Z:-14.98 [[ 9.99685040e-01 2.49781523e-02 2.43173791e-03 7.19047817e+02] [-2.49781327e-02 9.99687997e-01 -3.84614725e-05 2.62164880e+02] [-2.43193990e-03 -2.22909135e-05 9.99997043e-01 -1.49783190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:719.11, Y:262.16, Z:-14.97 [[ 9.99641546e-01 2.66620570e-02 2.43173886e-03 7.19106751e+02] [-2.66620424e-02 9.99644504e-01 -3.84015743e-05 2.62161897e+02] [-2.43189825e-03 -2.64473155e-05 9.99997043e-01 -1.49734364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:719.16, Y:262.16, Z:-14.98 [[ 9.99682064e-01 2.50969572e-02 2.43174030e-03 7.19164983e+02] [-2.50969383e-02 9.99685022e-01 -3.83097115e-05 2.62157732e+02] [-2.43193582e-03 -2.27317049e-05 9.99997043e-01 -1.49818739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:719.22, Y:262.15, Z:-14.97 [[ 9.99729297e-01 2.31391174e-02 2.43174175e-03 7.19224741e+02] [-2.31390929e-02 9.99732255e-01 -3.82178102e-05 2.62153598e+02] [-2.43197499e-03 -1.80608336e-05 9.99997043e-01 -1.49715750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:719.29, Y:262.15, Z:-14.97 [[ 9.99776498e-01 2.10009865e-02 2.43174222e-03 7.19285224e+02] [-2.10009558e-02 9.99779455e-01 -3.81875423e-05 2.62148713e+02] [-2.43200789e-03 -1.28899035e-05 9.99997043e-01 -1.49708504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:719.35, Y:262.14, Z:-14.97 [[ 9.99843626e-01 1.75160116e-02 2.43174222e-03 7.19345554e+02] [-1.75159705e-02 9.99846583e-01 -3.81875424e-05 2.62141221e+02] [-2.43203805e-03 -4.41275424e-06 9.99997043e-01 -1.49718013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:719.41, Y:262.13, Z:-14.97 [[ 9.99886287e-01 1.48828520e-02 2.43174173e-03 7.19406029e+02] [-1.48828031e-02 9.99889244e-01 -3.82190652e-05 2.62134458e+02] [-2.43204121e-03 2.02358596e-06 9.99997043e-01 -1.49717123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:719.47, Y:262.13, Z:-14.98 [[ 9.99908424e-01 1.33127958e-02 2.43174173e-03 7.19465896e+02] [-1.33127422e-02 9.99911381e-01 -3.82190651e-05 2.62126646e+02] [-2.43203503e-03 5.84241429e-06 9.99997043e-01 -1.49760092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:719.53, Y:262.12, Z:-14.98 [[ 9.99894213e-01 1.43404567e-02 2.43174173e-03 7.19526293e+02] [-1.43404061e-02 9.99897170e-01 -3.82190652e-05 2.62122512e+02] [-2.43203975e-03 3.34285818e-06 9.99997043e-01 -1.49787094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.1053361950001 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:719.59, Y:262.12, Z:-14.98 [[ 9.99811076e-01 1.92847064e-02 2.43173964e-03 7.19587187e+02] [-1.92846702e-02 9.99814033e-01 -3.83517531e-05 2.62117391e+02] [-2.43202701e-03 -8.55078928e-06 9.99997043e-01 -1.49775986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:719.65, Y:262.11, Z:-14.98 [[ 9.99627696e-01 2.71763841e-02 2.43173964e-03 7.19646778e+02] [-2.71763712e-02 9.99630653e-01 -3.83517532e-05 2.62114357e+02] [-2.43188374e-03 -2.77483842e-05 9.99997043e-01 -1.49793473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:719.71, Y:262.12, Z:-14.98 [[ 9.99428962e-01 3.37021831e-02 2.43173897e-03 7.19705077e+02] [-3.37021894e-02 9.99431919e-01 -3.83939386e-05 2.62115612e+02] [-2.43165150e-03 -4.35829131e-05 9.99997043e-01 -1.49810876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:719.77, Y:262.12, Z:-14.98 [[ 9.99362067e-01 3.56306826e-02 2.43174032e-03 7.19765207e+02] [-3.56306948e-02 9.99365024e-01 -3.83082006e-05 2.62115436e+02] [-2.43156117e-03 -4.83608347e-05 9.99997043e-01 -1.49823318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:719.82, Y:262.11, Z:-14.98 [[ 9.99404381e-01 3.44234050e-02 2.43174121e-03 7.19824975e+02] [-3.44234138e-02 9.99407338e-01 -3.82513358e-05 2.62114692e+02] [-2.43161675e-03 -4.54802815e-05 9.99997043e-01 -1.49838236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:719.88, Y:262.11, Z:-14.98 [[ 9.99482174e-01 3.20853780e-02 2.43174213e-03 7.19884863e+02] [-3.20853800e-02 9.99485131e-01 -3.81933309e-05 2.62112650e+02] [-2.43171554e-03 -3.98498168e-05 9.99997043e-01 -1.49842244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:719.94, Y:262.11, Z:-14.98 [[ 9.99598105e-01 2.82438338e-02 2.43174306e-03 7.19943880e+02] [-2.82438246e-02 9.99601063e-01 -3.81338630e-05 2.62111765e+02] [-2.43184999e-03 -3.05631872e-05 9.99997043e-01 -1.49838148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:720.00, Y:262.11, Z:-14.98 [[ 9.99704564e-01 2.41840997e-02 2.43174397e-03 7.20004408e+02] [-2.41840786e-02 9.99707522e-01 -3.80753380e-05 2.62110143e+02] [-2.43195356e-03 -2.07453983e-05 9.99997043e-01 -1.49815836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.585336195 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:720.06, Y:262.11, Z:-14.98 [[ 9.99784235e-01 2.06293341e-02 2.43174397e-03 7.20064736e+02] [-2.06293026e-02 9.99787193e-01 -3.80753379e-05 2.62106980e+02] [-2.43201195e-03 -1.20980596e-05 9.99997043e-01 -1.49809791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.645336195 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:720.13, Y:262.10, Z:-14.98 [[ 9.99837501e-01 1.78622169e-02 2.43174397e-03 7.20125346e+02] [-1.78621772e-02 9.99840458e-01 -3.80753380e-05 2.62104347e+02] [-2.43203612e-03 -5.36709093e-06 9.99997043e-01 -1.49787959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:720.19, Y:262.10, Z:-14.98 [[ 9.99858308e-01 1.66568549e-02 2.43174397e-03 7.20186264e+02] [-1.66568115e-02 9.99861265e-01 -3.80753379e-05 2.62101373e+02] [-2.43204082e-03 -2.43515816e-06 9.99997043e-01 -1.49786179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:720.25, Y:262.10, Z:-14.98 [[ 9.99880225e-01 1.52846978e-02 2.43174397e-03 7.20246283e+02] [-1.52846504e-02 9.99883182e-01 -3.80753380e-05 2.62099056e+02] [-2.43204187e-03 9.02420923e-07 9.99997043e-01 -1.49762961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.825336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:720.31, Y:262.10, Z:-14.98 [[ 9.99872033e-01 1.58114956e-02 2.43174397e-03 7.20306562e+02] [-1.58114498e-02 9.99874990e-01 -3.80753379e-05 2.62096512e+02] [-2.43204201e-03 -3.78932156e-07 9.99997043e-01 -1.49760117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:720.37, Y:262.09, Z:-14.98 [[ 9.99862996e-01 1.63730441e-02 2.43174352e-03 7.20367387e+02] [-1.63729998e-02 9.99865953e-01 -3.81046406e-05 2.62094905e+02] [-2.43204144e-03 -1.71551604e-06 9.99997043e-01 -1.49751286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:720.43, Y:262.09, Z:-14.98 [[ 9.99878082e-01 1.54242718e-02 2.43174352e-03 7.20427347e+02] [-1.54242247e-02 9.99881039e-01 -3.81046407e-05 2.62092118e+02] [-2.43204197e-03 5.92236557e-07 9.99997043e-01 -1.49779851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:720.49, Y:262.09, Z:-14.98 [[ 9.99911605e-01 1.30716804e-02 2.43174352e-03 7.20487924e+02] [-1.30716264e-02 9.99914562e-01 -3.81046406e-05 2.62085296e+02] [-2.43203384e-03 6.31442966e-06 9.99997043e-01 -1.49792343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:720.55, Y:262.08, Z:-14.98 [[ 9.99934293e-01 1.12025285e-02 2.43174352e-03 7.20548476e+02] [-1.12024689e-02 9.99937250e-01 -3.81046406e-05 2.62081273e+02] [-2.43201779e-03 1.08606057e-05 9.99997043e-01 -1.49799354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.125336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:720.61, Y:262.08, Z:-14.98 [[ 9.99936305e-01 1.10214973e-02 2.43174305e-03 7.20609590e+02] [-1.10214371e-02 9.99939261e-01 -3.81341438e-05 2.62075842e+02] [-2.43201565e-03 1.13304117e-05 9.99997043e-01 -1.49817359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.185336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:720.67, Y:262.07, Z:-14.98 [[ 9.99920311e-01 1.23878366e-02 2.43174212e-03 7.20671273e+02] [-1.23877803e-02 9.99923268e-01 -3.81934692e-05 2.62070955e+02] [-2.43202866e-03 8.06653831e-06 9.99997043e-01 -1.49812952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:720.73, Y:262.07, Z:-14.98 [[ 9.99872252e-01 1.57976609e-02 2.43174119e-03 7.20731919e+02] [-1.57976146e-02 9.99875209e-01 -3.82529266e-05 2.62069687e+02] [-2.43204203e-03 -1.67670092e-07 9.99997043e-01 -1.49788314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.305336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:720.79, Y:262.07, Z:-14.98 [[ 9.99738732e-01 2.27278429e-02 2.43174072e-03 7.20792076e+02] [-2.27278170e-02 9.99741689e-01 -3.82823667e-05 2.62067643e+02] [-2.43198265e-03 -1.69957934e-05 9.99997043e-01 -1.49790637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:720.85, Y:262.06, Z:-14.98 [[ 9.99604586e-01 2.80135204e-02 2.43174072e-03 7.20851975e+02] [-2.80135101e-02 9.99607544e-01 -3.82823666e-05 2.62064650e+02] [-2.43185879e-03 -2.98543640e-05 9.99997043e-01 -1.49830550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:720.91, Y:262.06, Z:-14.98 [[ 9.99523410e-01 3.07740205e-02 2.43174118e-03 7.20912026e+02] [-3.07740185e-02 9.99526367e-01 -3.82533442e-05 2.62064279e+02] [-2.43176663e-03 -3.65993349e-05 9.99997043e-01 -1.49840739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:720.97, Y:262.06, Z:-14.98 [[ 9.99455924e-01 3.28928837e-02 2.43174118e-03 7.20972164e+02] [-3.28928880e-02 9.99458882e-01 -3.82533442e-05 2.62064196e+02] [-2.43168358e-03 -4.17544586e-05 9.99997043e-01 -1.49843998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:721.03, Y:262.06, Z:-14.98 [[ 9.99474487e-01 3.23239412e-02 2.43174118e-03 7.21031953e+02] [-3.23239438e-02 9.99477444e-01 -3.82533443e-05 2.62062168e+02] [-2.43170696e-03 -4.03702236e-05 9.99997043e-01 -1.49847233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:721.09, Y:262.06, Z:-14.98 [[ 9.99518977e-01 3.09176470e-02 2.43174163e-03 7.21091199e+02] [-3.09176455e-02 9.99521935e-01 -3.82249258e-05 2.62060724e+02] [-2.43176092e-03 -3.69771868e-05 9.99997043e-01 -1.49844106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.665336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:721.15, Y:262.06, Z:-14.99 [[ 9.99541519e-01 3.01801041e-02 2.43174206e-03 7.21151520e+02] [-3.01801005e-02 9.99544476e-01 -3.81969587e-05 2.62057171e+02] [-2.43178714e-03 -3.52107737e-05 9.99997043e-01 -1.49862407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:721.21, Y:262.06, Z:-14.98 [[ 9.99548637e-01 2.99434288e-02 2.43174206e-03 7.21212097e+02] [-2.99434245e-02 9.99551594e-01 -3.81969588e-05 2.62055683e+02] [-2.43179541e-03 -3.46349667e-05 9.99997043e-01 -1.49842083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.785336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:721.27, Y:262.06, Z:-14.99 [[ 9.99518293e-01 3.09397711e-02 2.43174206e-03 7.21272856e+02] [-3.09397697e-02 9.99521250e-01 -3.81969586e-05 2.62055752e+02] [-2.43175967e-03 -3.70589806e-05 9.99997043e-01 -1.49858671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.845336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:721.33, Y:262.06, Z:-14.98 [[ 9.99446998e-01 3.31630076e-02 2.43174206e-03 7.21332178e+02] [-3.31630128e-02 9.99449955e-01 -3.81969587e-05 2.62057086e+02] [-2.43167122e-03 -4.24680574e-05 9.99997043e-01 -1.49841209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:721.39, Y:262.06, Z:-14.98 [[ 9.99380105e-01 3.51211065e-02 2.43174249e-03 7.21391939e+02] [-3.51211176e-02 9.99383063e-01 -3.81695456e-05 2.62057843e+02] [-2.43158282e-03 -4.72596296e-05 9.99997043e-01 -1.49832646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:721.45, Y:262.06, Z:-14.98 [[ 9.99302759e-01 3.72569734e-02 2.43174205e-03 7.21451982e+02] [-3.72569907e-02 9.99305717e-01 -3.81978650e-05 2.62059705e+02] [-2.43147687e-03 -5.24281591e-05 9.99997043e-01 -1.49829864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:721.51, Y:262.06, Z:-14.98 [[ 9.99329788e-01 3.65248108e-02 2.43174247e-03 7.21512171e+02] [-3.65248260e-02 9.99332745e-01 -3.81709757e-05 2.62064303e+02] [-2.43151407e-03 -5.06735776e-05 9.99997043e-01 -1.49809004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:721.57, Y:262.06, Z:-14.98 [[ 9.99512077e-01 3.11399190e-02 2.43174340e-03 7.21572313e+02] [-3.11399185e-02 9.99515034e-01 -3.81117121e-05 2.62064951e+02] [-2.43175088e-03 -3.76311747e-05 9.99997043e-01 -1.49820640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:721.63, Y:262.06, Z:-14.98 [[ 9.99713828e-01 2.37980701e-02 2.43174432e-03 7.21632791e+02] [-2.37980479e-02 9.99716786e-01 -3.80527569e-05 2.62062900e+02] [-2.43196120e-03 -1.98289007e-05 9.99997043e-01 -1.49845654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:721.69, Y:262.06, Z:-14.99 [[ 9.99809263e-01 1.93784322e-02 2.43174432e-03 7.21692860e+02] [-1.93783969e-02 9.99812221e-01 -3.80527569e-05 2.62060563e+02] [-2.43202509e-03 -9.07780790e-06 9.99997043e-01 -1.49867969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.265336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:721.75, Y:262.06, Z:-14.98 [[ 9.99897797e-01 1.40884054e-02 2.43174387e-03 7.21753109e+02] [-1.40883544e-02 9.99900753e-01 -3.80816081e-05 2.62058637e+02] [-2.43203904e-03 3.81844651e-06 9.99997043e-01 -1.49844325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:721.81, Y:262.06, Z:-14.98 [[ 9.99938109e-01 1.08565819e-02 2.43174387e-03 7.21814563e+02] [-1.08565214e-02 9.99941066e-01 -3.80816081e-05 2.62056385e+02] [-2.43201399e-03 1.16789719e-05 9.99997043e-01 -1.49792856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:721.88, Y:262.05, Z:-14.98 [[ 9.99972843e-01 6.95707241e-03 2.43174297e-03 7.21875992e+02] [-6.95700023e-03 9.99975799e-01 -3.81389917e-05 2.62049933e+02] [-2.43194946e-03 2.12203195e-05 9.99997043e-01 -1.49792810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.445336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:721.94, Y:262.04, Z:-14.98 [[ 9.99986388e-01 4.61621565e-03 2.43174207e-03 7.21937191e+02] [-4.61613641e-03 9.99989345e-01 -3.81963237e-05 2.62041808e+02] [-2.43189248e-03 2.69705507e-05 9.99997043e-01 -1.49794975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:722.00, Y:262.03, Z:-14.98 [[ 9.99991762e-01 3.25005299e-03 2.43174115e-03 7.21998065e+02] [-3.24996957e-03 9.99994718e-01 -3.82551725e-05 2.62033821e+02] [-2.43185263e-03 3.03517727e-05 9.99997043e-01 -1.49795318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:722.06, Y:262.02, Z:-14.98 [[ 9.99991679e-01 3.27544252e-03 2.43173513e-03 7.22059271e+02] [-3.27535826e-03 9.99994635e-01 -3.86336614e-05 2.62024906e+02] [-2.43184863e-03 3.06685362e-05 9.99997043e-01 -1.49784240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:722.12, Y:262.02, Z:-14.97 [[ 9.99984372e-01 5.03420291e-03 2.43173422e-03 7.22120183e+02] [-5.03412371e-03 9.99987328e-01 -3.86910808e-05 2.62018863e+02] [-2.43189818e-03 2.64488252e-05 9.99997043e-01 -1.49748546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:722.18, Y:262.01, Z:-14.97 [[ 9.99963076e-01 8.24215320e-03 2.43173328e-03 7.22181541e+02] [-8.24208333e-03 9.99966033e-01 -3.87500449e-05 2.62010328e+02] [-2.43197006e-03 1.87060658e-05 9.99997043e-01 -1.49746830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:722.24, Y:262.00, Z:-14.98 [[ 9.99920039e-01 1.24098003e-02 2.43173232e-03 7.22242656e+02] [-1.24097426e-02 9.99922995e-01 -3.88101545e-05 2.62003795e+02] [-2.43202669e-03 8.62987896e-06 9.99997043e-01 -1.49837336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:722.30, Y:262.00, Z:-14.98 [[ 9.99795126e-01 2.00945906e-02 2.43172616e-03 7.22303446e+02] [-2.00945547e-02 9.99798083e-01 -3.91921360e-05 2.62000042e+02] [-2.43202271e-03 -9.68034781e-06 9.99997043e-01 -1.49778802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.865336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:722.36, Y:262.00, Z:-14.98 [[ 9.99640836e-01 2.66886914e-02 2.43172568e-03 7.22364262e+02] [-2.66886750e-02 9.99643793e-01 -3.92219721e-05 2.61997074e+02] [-2.43190627e-03 -2.56916514e-05 9.99997043e-01 -1.49821616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:722.43, Y:262.00, Z:-14.98 [[ 9.99532937e-01 3.04630179e-02 2.43172519e-03 7.22425066e+02] [-3.04630126e-02 9.99535894e-01 -3.92525431e-05 2.61995706e+02] [-2.43179236e-03 -3.48434653e-05 9.99997043e-01 -1.49807115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:722.49, Y:262.00, Z:-14.97 [[ 9.99335090e-01 3.63794395e-02 2.43172471e-03 7.22485531e+02] [-3.63794516e-02 9.99338048e-01 -3.92822302e-05 2.61996738e+02] [-2.43154409e-03 -4.92087002e-05 9.99997043e-01 -1.49739952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:722.54, Y:262.00, Z:-14.98 [[ 9.99185254e-01 4.02854082e-02 2.43172420e-03 7.22544936e+02] [-4.02854317e-02 9.99188212e-01 -3.93137937e-05 2.61997198e+02] [-2.43133393e-03 -5.86812963e-05 9.99997043e-01 -1.49772565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:722.61, Y:262.00, Z:-14.98 [[ 9.99196328e-01 4.00098103e-02 2.43172471e-03 7.22606413e+02] [-4.00098332e-02 9.99199285e-01 -3.92822083e-05 2.61996350e+02] [-2.43134926e-03 -5.80422616e-05 9.99997043e-01 -1.49774118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:722.67, Y:262.00, Z:-14.98 [[ 9.99237569e-01 3.89662220e-02 2.43172371e-03 7.22667107e+02] [-3.89662416e-02 9.99240527e-01 -3.93442274e-05 2.61995729e+02] [-2.43140997e-03 -5.54409031e-05 9.99997043e-01 -1.49804383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.225336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:722.73, Y:262.00, Z:-14.99 [[ 9.99358631e-01 3.57269329e-02 2.43172321e-03 7.22728254e+02] [-3.57269428e-02 9.99361588e-01 -3.93746235e-05 2.61999988e+02] [-2.43157751e-03 -4.75286663e-05 9.99997043e-01 -1.49852404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:722.79, Y:262.00, Z:-14.98 [[ 9.99406531e-01 3.43609129e-02 2.43172223e-03 7.22788743e+02] [-3.43609186e-02 9.99409489e-01 -3.94353277e-05 2.61999616e+02] [-2.43164130e-03 -4.41442856e-05 9.99997043e-01 -1.49809933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:722.85, Y:262.00, Z:-14.98 [[ 9.99632564e-01 2.69967204e-02 2.43172174e-03 7.22850290e+02] [-2.69967042e-02 9.99635522e-01 -3.94654462e-05 2.61998940e+02] [-2.43190087e-03 -2.61975275e-05 9.99997043e-01 -1.49831274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:722.91, Y:262.00, Z:-14.98 [[ 9.99816631e-01 1.89945282e-02 2.43171532e-03 7.22911780e+02] [-1.89944875e-02 9.99819588e-01 -3.98571904e-05 2.61998228e+02] [-2.43203368e-03 -6.33930445e-06 9.99997043e-01 -1.49775477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.465336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:722.97, Y:261.99, Z:-14.98 [[ 9.99953478e-01 9.33430462e-03 2.43171388e-03 7.22972887e+02] [-9.33423508e-03 9.99956434e-01 -3.99445089e-05 2.61993933e+02] [-2.43198080e-03 1.72444616e-05 9.99997043e-01 -1.49820230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:723.03, Y:261.99, Z:-14.98 [[ 9.99994651e-01 2.18738880e-03 2.43170760e-03 7.23034078e+02] [-2.18729721e-03 9.99997607e-01 -4.03232326e-05 2.61989145e+02] [-2.43178999e-03 3.50041497e-05 9.99997043e-01 -1.49802533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:723.10, Y:261.98, Z:-14.98 [[ 9.99996689e-01 -8.41482000e-04 2.43170662e-03 7.23095401e+02] [ 8.41582686e-04 9.99999645e-01 -4.03824467e-05 2.61983018e+02] [-2.43167178e-03 4.24287952e-05 9.99997043e-01 -1.49807442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:723.16, Y:261.98, Z:-14.98 [[ 9.99987070e-01 -4.46606564e-03 2.43170025e-03 7.23156825e+02] [ 4.46617796e-03 9.99990026e-01 -4.07625071e-05 2.61975516e+02] [-2.43149395e-03 5.16223861e-05 9.99997043e-01 -1.49798313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:723.22, Y:261.97, Z:-14.98 [[ 9.99979698e-01 -5.88984698e-03 2.43169928e-03 7.23217800e+02] [ 5.88996365e-03 9.99982653e-01 -4.08200293e-05 2.61967734e+02] [-2.43141668e-03 5.51418209e-05 9.99997043e-01 -1.49765822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.765336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:723.28, Y:261.96, Z:-14.98 [[ 9.99976919e-01 -6.34414296e-03 2.43169808e-03 7.23279057e+02] [ 6.34426115e-03 9.99979874e-01 -4.08916134e-05 2.61956581e+02] [-2.43138972e-03 5.63179973e-05 9.99997043e-01 -1.49838120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:723.34, Y:261.95, Z:-14.98 [[ 9.99994181e-01 -2.39258209e-03 2.43169468e-03 7.23339328e+02] [ 2.39268908e-03 9.99997137e-01 -4.10926874e-05 2.61946990e+02] [-2.43158940e-03 4.69107376e-05 9.99997043e-01 -1.49833872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.885336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:723.40, Y:261.94, Z:-14.98 [[ 9.99996779e-01 7.27509627e-04 2.43169419e-03 7.23400121e+02] [-7.27411781e-04 9.99999735e-01 -4.11220622e-05 2.61940669e+02] [-2.43172346e-03 3.93530867e-05 9.99997043e-01 -1.49844638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.945336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:723.46, Y:261.93, Z:-14.99 [[ 9.99980988e-01 5.66669794e-03 2.43169320e-03 7.23461112e+02] [-5.66661455e-03 9.99983944e-01 -4.11804982e-05 2.61929494e+02] [-2.43188751e-03 2.74002472e-05 9.99997043e-01 -1.49854678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:723.52, Y:261.92, Z:-14.99 [[ 9.99945253e-01 1.01772963e-02 2.43169221e-03 7.23522247e+02] [-1.01772261e-02 9.99948210e-01 -4.12388272e-05 2.61918405e+02] [-2.43198597e-03 1.64886880e-05 9.99997043e-01 -1.49854448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:723.58, Y:261.91, Z:-14.99 [[ 9.99901595e-01 1.38161763e-02 2.43169072e-03 7.23583677e+02] [-1.38161167e-02 9.99904552e-01 -4.13262510e-05 2.61909592e+02] [-2.43202959e-03 7.72566152e-06 9.99997043e-01 -1.49864492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:723.65, Y:261.90, Z:-14.99 [[ 9.99804793e-01 1.96077060e-02 2.43168434e-03 7.23645800e+02] [-1.96076626e-02 9.99807750e-01 -4.16982668e-05 2.61898616e+02] [-2.43203446e-03 -5.98951919e-06 9.99997043e-01 -1.49859197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:723.71, Y:261.89, Z:-14.98 [[ 9.99676204e-01 2.53292937e-02 2.43167742e-03 7.23706393e+02] [-2.53292662e-02 9.99679162e-01 -4.20979871e-05 2.61889056e+02] [-2.43196356e-03 -1.95082489e-05 9.99997043e-01 -1.49842719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:723.77, Y:261.88, Z:-14.98 [[ 9.99533862e-01 3.04326445e-02 2.43167361e-03 7.23767508e+02] [-3.04326316e-02 9.99536819e-01 -4.23170964e-05 2.61881021e+02] [-2.43183513e-03 -3.17048564e-05 9.99997043e-01 -1.49837441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:723.83, Y:261.88, Z:-14.98 [[ 9.99457488e-01 3.28453554e-02 2.43166728e-03 7.23830471e+02] [-3.28453488e-02 9.99460445e-01 -4.26779771e-05 2.61875003e+02] [-2.43175703e-03 -3.72141360e-05 9.99997043e-01 -1.49840092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:723.89, Y:261.87, Z:-14.98 [[ 9.99341976e-01 3.61898137e-02 2.43165952e-03 7.23892628e+02] [-3.61898159e-02 9.99344933e-01 -4.31153788e-05 2.61865959e+02] [-2.43162696e-03 -4.49143026e-05 9.99997043e-01 -1.49835020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:723.95, Y:261.86, Z:-14.99 [[ 9.99187153e-01 4.02382878e-02 2.43165226e-03 7.23954636e+02] [-4.02383010e-02 9.99190111e-01 -4.35208319e-05 2.61862747e+02] [-2.43143410e-03 -5.43600996e-05 9.99997043e-01 -1.49855961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:724.02, Y:261.86, Z:-14.99 [[ 9.98835555e-01 4.81832012e-02 2.43164551e-03 7.24016848e+02] [-4.81832370e-02 9.98838512e-01 -4.38949834e-05 2.61863333e+02] [-2.43093618e-03 -7.33206818e-05 9.99997043e-01 -1.49880400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:724.08, Y:261.87, Z:-14.99 [[ 9.98410805e-01 5.63023177e-02 2.43163857e-03 7.24080315e+02] [-5.63023766e-02 9.98413762e-01 -4.42758497e-05 2.61865599e+02] [-2.43027425e-03 -9.27015439e-05 9.99997043e-01 -1.49858700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:724.14, Y:261.87, Z:-14.98 [[ 9.98177960e-01 6.02896981e-02 2.43163014e-03 7.24142055e+02] [-6.02897677e-02 9.98180916e-01 -4.47342169e-05 2.61867734e+02] [-2.42990382e-03 -1.01949707e-04 9.99997043e-01 -1.49841200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:724.20, Y:261.87, Z:-14.99 [[ 9.98111829e-01 6.13747837e-02 2.43162327e-03 7.24203259e+02] [-6.13748556e-02 9.98114786e-01 -4.51048386e-05 2.61872222e+02] [-2.42980744e-03 -1.04220854e-04 9.99997043e-01 -1.49860995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:724.27, Y:261.88, Z:-14.98 [[ 9.98349067e-01 5.73866569e-02 2.43161643e-03 7.24266160e+02] [-5.73867161e-02 9.98352023e-01 -4.54704456e-05 2.61878917e+02] [-2.43021858e-03 -9.41471049e-05 9.99997043e-01 -1.49829614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:724.33, Y:261.88, Z:-14.98 [[ 9.98776980e-01 4.93824966e-02 2.43160758e-03 7.24327792e+02] [-4.93825310e-02 9.98779937e-01 -4.59390076e-05 2.61883902e+02] [-2.43090945e-03 -7.41961132e-05 9.99997043e-01 -1.49848966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:724.39, Y:261.88, Z:-14.98 [[ 9.99074232e-01 4.29507315e-02 2.43159925e-03 7.24389868e+02] [-4.29507458e-02 9.99077190e-01 -4.63757369e-05 2.61884727e+02] [-2.43134722e-03 -5.81061975e-05 9.99997043e-01 -1.49849499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:724.45, Y:261.89, Z:-14.98 [[ 9.99461946e-01 3.27094195e-02 2.43159098e-03 7.24452847e+02] [-3.27094024e-02 9.99464903e-01 -4.68054577e-05 2.61887876e+02] [-2.43182082e-03 -3.27556140e-05 9.99997043e-01 -1.49839757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:724.52, Y:261.89, Z:-14.98 [[ 9.99742370e-01 2.25672432e-02 2.43158206e-03 7.24516297e+02] [-2.25671950e-02 9.99745327e-01 -4.72641185e-05 2.61889220e+02] [-2.43202943e-03 -7.62204460e-06 9.99997043e-01 -1.49842591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:724.58, Y:261.89, Z:-14.98 [[ 9.99800242e-01 1.98384393e-02 2.43157301e-03 7.24578690e+02] [-1.98383819e-02 9.99803199e-01 -4.77251933e-05 2.61888448e+02] [-2.43204127e-03 -5.22814239e-07 9.99997043e-01 -1.49844522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:724.64, Y:261.89, Z:-14.99 [[ 9.99886887e-01 1.48424989e-02 2.43156483e-03 7.24640735e+02] [-1.48424257e-02 9.99889844e-01 -4.81386807e-05 2.61888840e+02] [-2.43201147e-03 1.20429153e-05 9.99997043e-01 -1.49850743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.145336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:724.70, Y:261.89, Z:-14.98 [[ 9.99918462e-01 1.25362379e-02 2.43155607e-03 7.24702858e+02] [-1.25361568e-02 9.99921418e-01 -4.85769354e-05 2.61887249e+02] [-2.43197397e-03 1.80906063e-05 9.99997043e-01 -1.49834294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:724.76, Y:261.89, Z:-14.98 [[ 9.99912466e-01 1.30057120e-02 2.43154790e-03 7.24764696e+02] [-1.30056313e-02 9.99915422e-01 -4.89825160e-05 2.61888333e+02] [-2.43197930e-03 1.73544127e-05 9.99997043e-01 -1.49766095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:724.83, Y:261.89, Z:-14.98 [[ 9.99862991e-01 1.63733558e-02 2.43153975e-03 7.24826852e+02] [-1.63732841e-02 9.99865948e-01 -4.93838945e-05 2.61889622e+02] [-2.43202238e-03 9.56483739e-06 9.99997043e-01 -1.49762908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.325336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:724.89, Y:261.89, Z:-14.99 [[ 9.99749263e-01 2.22597854e-02 2.43153115e-03 7.24887725e+02] [-2.22597302e-02 9.99752220e-01 -4.98036735e-05 2.61891816e+02] [-2.43203729e-03 -4.33404138e-06 9.99997043e-01 -1.49857065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:724.95, Y:261.90, Z:-14.98 [[ 9.99625895e-01 2.72425845e-02 2.43152314e-03 7.24950203e+02] [-2.72425430e-02 9.99628852e-01 -5.01916003e-05 2.61896731e+02] [-2.43198804e-03 -1.60680506e-05 9.99997043e-01 -1.49840898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.445336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:725.01, Y:261.90, Z:-14.98 [[ 9.99361795e-01 3.56383162e-02 2.43151465e-03 7.25011352e+02] [-3.56382985e-02 9.99364753e-01 -5.05996521e-05 2.61902573e+02] [-2.43177333e-03 -3.60876859e-05 9.99997043e-01 -1.49830180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.505336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:725.07, Y:261.91, Z:-14.98 [[ 9.99166525e-01 4.07473000e-02 2.43150680e-03 7.25073213e+02] [-4.07472965e-02 9.99169483e-01 -5.09742304e-05 2.61906680e+02] [-2.43156445e-03 -4.81455838e-05 9.99997043e-01 -1.49829028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:725.13, Y:261.91, Z:-14.98 [[ 9.99102792e-01 4.22811879e-02 2.43150561e-03 7.25134140e+02] [-4.22811889e-02 9.99105749e-01 -5.10310415e-05 2.61913854e+02] [-2.43148888e-03 -5.18216918e-05 9.99997043e-01 -1.49823516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:725.20, Y:261.92, Z:-14.98 [[ 9.99063805e-01 4.31926164e-02 2.43150502e-03 7.25195522e+02] [-4.31926200e-02 9.99066762e-01 -5.10591604e-05 2.61916189e+02] [-2.43144122e-03 -5.40117133e-05 9.99997043e-01 -1.49762521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:725.26, Y:261.92, Z:-14.98 [[ 9.99008142e-01 4.44614481e-02 2.43150307e-03 7.25255856e+02] [-4.44614553e-02 9.99011099e-01 -5.11517811e-05 2.61923552e+02] [-2.43137283e-03 -5.70071191e-05 9.99997043e-01 -1.49842550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:725.32, Y:261.93, Z:-14.98 [[ 9.98961954e-01 4.54873825e-02 2.43150242e-03 7.25316422e+02] [-4.54873926e-02 9.98964912e-01 -5.11826757e-05 2.61927827e+02] [-2.43131376e-03 -5.94731592e-05 9.99997043e-01 -1.49848325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:725.38, Y:261.94, Z:-14.99 [[ 9.98984202e-01 4.49961324e-02 2.43150234e-03 7.25376763e+02] [-4.49961410e-02 9.98987159e-01 -5.11863737e-05 2.61936858e+02] [-2.43134280e-03 -5.82738434e-05 9.99997043e-01 -1.49868903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:725.44, Y:261.94, Z:-14.98 [[ 9.99085892e-01 4.26786672e-02 2.43149939e-03 7.25437310e+02] [-4.26786687e-02 9.99088849e-01 -5.13258819e-05 2.61944081e+02] [-2.43147445e-03 -5.24941925e-05 9.99997043e-01 -1.49829886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:725.50, Y:261.95, Z:-14.99 [[ 9.99228460e-01 3.91991451e-02 2.43149939e-03 7.25497660e+02] [-3.91991363e-02 9.99231417e-01 -5.13258819e-05 2.61952583e+02] [-2.43164252e-03 -4.40263942e-05 9.99997043e-01 -1.49878013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.9853361950001 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:725.56, Y:261.96, Z:-14.99 [[ 9.99302959e-01 3.72516250e-02 2.43149632e-03 7.25557827e+02] [-3.72516100e-02 9.99305917e-01 -5.14709983e-05 2.61955714e+02] [-2.43172604e-03 -3.91420319e-05 9.99997043e-01 -1.49923405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.045336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:725.62, Y:261.96, Z:-15.00 [[ 9.99459090e-01 3.27965652e-02 2.43149632e-03 7.25618184e+02] [-3.27965371e-02 9.99462048e-01 -5.14709983e-05 2.61961487e+02] [-2.43187637e-03 -2.83015022e-05 9.99997043e-01 -1.49965197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:725.68, Y:261.97, Z:-14.99 [[ 9.99599867e-01 2.81814576e-02 2.43149574e-03 7.25678196e+02] [-2.81814157e-02 9.99602824e-01 -5.14986602e-05 2.61965725e+02] [-2.43198131e-03 -1.70449384e-05 9.99997043e-01 -1.49947718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:725.74, Y:261.97, Z:-14.99 [[ 9.99779984e-01 2.08343669e-02 2.43149516e-03 7.25739593e+02] [-2.08343032e-02 9.99782941e-01 -5.15259050e-05 2.61968785e+02] [-2.43204089e-03 8.56061033e-07 9.99997043e-01 -1.49910190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:725.80, Y:261.97, Z:-14.99 [[ 9.99878850e-01 1.53744563e-02 2.43149391e-03 7.25800383e+02] [-1.53743763e-02 9.99881806e-01 -5.15847686e-05 2.61967922e+02] [-2.43199961e-03 1.41958167e-05 9.99997043e-01 -1.49941811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:725.86, Y:261.97, Z:-14.99 [[ 9.99901804e-01 1.38011007e-02 2.43149330e-03 7.25861288e+02] [-1.38010160e-02 9.99904760e-01 -5.16137218e-05 2.61968179e+02] [-2.43197405e-03 1.80515756e-05 9.99997043e-01 -1.49921353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:725.92, Y:261.97, Z:-14.99 [[ 9.99902716e-01 1.37348799e-02 2.43149209e-03 7.25922080e+02] [-1.37347948e-02 9.99905672e-01 -5.16706849e-05 2.61966455e+02] [-2.43197242e-03 1.82696132e-05 9.99997043e-01 -1.49891463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:725.98, Y:261.96, Z:-14.99 [[ 9.99877638e-01 1.54530553e-02 2.43149143e-03 7.25982243e+02] [-1.54529752e-02 9.99880594e-01 -5.17013812e-05 2.61963567e+02] [-2.43200004e-03 1.41212781e-05 9.99997043e-01 -1.49949788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.465336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:726.04, Y:261.96, Z:-15.00 [[ 9.99847367e-01 1.73011456e-02 2.43149078e-03 7.26043184e+02] [-1.73010709e-02 9.99850324e-01 -5.17320947e-05 2.61959815e+02] [-2.43202187e-03 9.65680419e-06 9.99997043e-01 -1.49985142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.525336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:726.10, Y:261.96, Z:-15.00 [[ 9.99804473e-01 1.96240508e-02 2.43149069e-03 7.26103579e+02] [-1.96239830e-02 9.99807430e-01 -5.17362843e-05 2.61956441e+02] [-2.43203773e-03 4.01063645e-06 9.99997043e-01 -1.50010432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:726.16, Y:261.95, Z:-15.00 [[ 9.99753403e-01 2.20731015e-02 2.43149069e-03 7.26164070e+02] [-2.20730410e-02 9.99756359e-01 -5.17362844e-05 2.61954623e+02] [-2.43204026e-03 -1.94686738e-06 9.99997043e-01 -1.49967420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:726.22, Y:261.95, Z:-15.00 [[ 9.99703849e-01 2.42136971e-02 2.43149069e-03 7.26224780e+02] [-2.42136429e-02 9.99706805e-01 -5.17362843e-05 2.61953776e+02] [-2.43203052e-03 -7.15428465e-06 9.99997043e-01 -1.49964449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:726.29, Y:261.95, Z:-15.00 [[ 9.99697414e-01 2.44779270e-02 2.43149069e-03 7.26285361e+02] [-2.44778735e-02 9.99700371e-01 -5.17362844e-05 2.61951220e+02] [-2.43202854e-03 -7.79709196e-06 9.99997043e-01 -1.49972842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.765336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:726.35, Y:261.95, Z:-15.00 [[ 9.99742303e-01 2.25702443e-02 2.43149069e-03 7.26345636e+02] [-2.25701853e-02 9.99745260e-01 -5.17362844e-05 2.61946515e+02] [-2.43203899e-03 -3.15624326e-06 9.99997043e-01 -1.49975905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:726.41, Y:261.94, Z:-15.00 [[ 9.99790881e-01 2.03047449e-02 2.43149069e-03 7.26406265e+02] [-2.03046791e-02 9.99793837e-01 -5.17362844e-05 2.61943097e+02] [-2.43203990e-03 2.35482703e-06 9.99997043e-01 -1.49963043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:726.47, Y:261.94, Z:-15.00 [[ 9.99824363e-01 1.85830777e-02 2.43149006e-03 7.26466780e+02] [-1.85830067e-02 9.99827320e-01 -5.17658392e-05 2.61940371e+02] [-2.43203216e-03 6.57235110e-06 9.99997043e-01 -1.49962367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:726.53, Y:261.94, Z:-15.00 [[ 9.99840330e-01 1.77031801e-02 2.43149006e-03 7.26527400e+02] [-1.77031066e-02 9.99843286e-01 -5.17658392e-05 2.61936769e+02] [-2.43202543e-03 8.71264601e-06 9.99997043e-01 -1.49969333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.005336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:726.59, Y:261.93, Z:-15.00 [[ 9.99828541e-01 1.83569394e-02 2.43148312e-03 7.26587265e+02] [-1.83568670e-02 9.99831497e-01 -5.20896714e-05 2.61929675e+02] [-2.43202962e-03 7.44632791e-06 9.99997043e-01 -1.50006009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:726.65, Y:261.92, Z:-14.99 [[ 9.99799971e-01 1.98520798e-02 2.43148253e-03 7.26647951e+02] [-1.98520117e-02 9.99802928e-01 -5.21172225e-05 2.61924914e+02] [-2.43203799e-03 3.83697779e-06 9.99997043e-01 -1.49917153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.125336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:726.71, Y:261.92, Z:-15.00 [[ 9.99738572e-01 2.27349089e-02 2.43148188e-03 7.26707772e+02] [-2.27348493e-02 9.99741529e-01 -5.21477423e-05 2.61919560e+02] [-2.43203898e-03 -3.14526457e-06 9.99997043e-01 -1.50026506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:726.77, Y:261.92, Z:-15.00 [[ 9.99636086e-01 2.68660350e-02 2.43148122e-03 7.26768890e+02] [-2.68659875e-02 9.99639043e-01 -5.21782787e-05 2.61915483e+02] [-2.43200539e-03 -1.31648540e-05 9.99997043e-01 -1.49986414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.245336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:726.83, Y:261.91, Z:-15.00 [[ 9.99484677e-01 3.20073151e-02 2.43147998e-03 7.26828989e+02] [-3.20072828e-02 9.99487634e-01 -5.22362797e-05 2.61910537e+02] [-2.43190611e-03 -2.56157060e-05 9.99997043e-01 -1.50001385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:726.89, Y:261.91, Z:-15.00 [[ 9.99372519e-01 3.53363222e-02 2.43147998e-03 7.26889189e+02] [-3.53362997e-02 9.99375477e-01 -5.22362798e-05 2.61909740e+02] [-2.43180730e-03 -3.37160026e-05 9.99997043e-01 -1.49982352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.365336195 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:726.95, Y:261.91, Z:-15.00 [[ 9.99185769e-01 4.02726693e-02 2.43147936e-03 7.26949285e+02] [-4.02726613e-02 9.99188726e-01 -5.22648942e-05 2.61907845e+02] [-2.43161161e-03 -4.56998063e-05 9.99997043e-01 -1.50015915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:727.01, Y:261.91, Z:-15.00 [[ 9.99107177e-01 4.21774440e-02 2.43147936e-03 7.27010100e+02] [-4.21774416e-02 9.99110134e-01 -5.22648942e-05 2.61906653e+02] [-2.43152007e-03 -5.03353479e-05 9.99997043e-01 -1.49980789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:727.07, Y:261.90, Z:-15.00 [[ 9.99136957e-01 4.14660050e-02 2.43147872e-03 7.27070360e+02] [-4.14660005e-02 9.99139914e-01 -5.22948102e-05 2.61903917e+02] [-2.43155590e-03 -4.85740202e-05 9.99997043e-01 -1.49990373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.545336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:727.13, Y:261.90, Z:-15.00 [[ 9.99175666e-01 4.05225484e-02 2.43147808e-03 7.27132119e+02] [-4.05225410e-02 9.99178623e-01 -5.23243460e-05 2.61903660e+02] [-2.43160124e-03 -4.62484572e-05 9.99997043e-01 -1.49999582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:727.19, Y:261.90, Z:-15.00 [[ 9.99114727e-01 4.19982104e-02 2.43147679e-03 7.27193398e+02] [-4.19982073e-02 9.99117685e-01 -5.23842966e-05 2.61902506e+02] [-2.43153151e-03 -4.97797441e-05 9.99997043e-01 -1.49965287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:727.25, Y:261.90, Z:-15.00 [[ 9.99032593e-01 4.39086083e-02 2.43147551e-03 7.27253940e+02] [-4.39086107e-02 9.99035550e-01 -5.24439320e-05 2.61903396e+02] [-2.43143321e-03 -5.43695140e-05 9.99997043e-01 -1.49973333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:727.31, Y:261.90, Z:-15.00 [[ 9.98888217e-01 4.70788572e-02 2.43147551e-03 7.27313110e+02] [-4.70788689e-02 9.98891174e-01 -5.24439319e-05 2.61904878e+02] [-2.43124842e-03 -6.20854909e-05 9.99997043e-01 -1.50006973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:727.37, Y:261.91, Z:-15.00 [[ 9.98798947e-01 4.89362022e-02 2.43147613e-03 7.27373305e+02] [-4.89362195e-02 9.98801904e-01 -5.24147447e-05 2.61906500e+02] [-2.43112797e-03 -6.66354581e-05 9.99997043e-01 -1.49995546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:727.43, Y:261.91, Z:-15.00 [[ 9.98703531e-01 5.08462894e-02 2.43147613e-03 7.27433182e+02] [-5.08463123e-02 9.98706488e-01 -5.24147449e-05 2.61909998e+02] [-2.43099609e-03 -7.12848042e-05 9.99997043e-01 -1.49973856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:727.49, Y:261.91, Z:-15.00 [[ 9.98699826e-01 5.09190127e-02 2.43147740e-03 7.27492328e+02] [-5.09190361e-02 9.98702783e-01 -5.23559386e-05 2.61914176e+02] [-2.43098916e-03 -7.15206187e-05 9.99997043e-01 -1.49978288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:727.55, Y:261.92, Z:-15.00 [[ 9.98729084e-01 5.03418825e-02 2.43147803e-03 7.27553192e+02] [-5.03419042e-02 9.98732041e-01 -5.23269111e-05 2.61916952e+02] [-2.43102925e-03 -7.01448258e-05 9.99997043e-01 -1.49978810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:727.61, Y:261.92, Z:-15.00 [[ 9.98764004e-01 4.96442654e-02 2.43147803e-03 7.27612515e+02] [-4.96442850e-02 9.98766961e-01 -5.23269111e-05 2.61922592e+02] [-2.43107765e-03 -6.84467528e-05 9.99997043e-01 -1.49983839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:727.67, Y:261.93, Z:-15.00 [[ 9.98828159e-01 4.83362812e-02 2.43147747e-03 7.27672072e+02] [-4.83362969e-02 9.98831117e-01 -5.23528509e-05 2.61926886e+02] [-2.43116590e-03 -6.52371151e-05 9.99997043e-01 -1.49971299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:727.73, Y:261.93, Z:-14.99 [[ 9.98899690e-01 4.68347911e-02 2.43147872e-03 7.27731489e+02] [-4.68348025e-02 9.98902647e-01 -5.22945868e-05 2.61928670e+02] [-2.43125974e-03 -6.16407791e-05 9.99997043e-01 -1.49926212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.205336195 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:727.79, Y:261.93, Z:-15.00 [[ 9.99133200e-01 4.15564291e-02 2.43147938e-03 7.27790919e+02] [-4.15564249e-02 9.99136157e-01 -5.22637678e-05 2.61929751e+02] [-2.43155086e-03 -4.88251249e-05 9.99997043e-01 -1.50013938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:727.85, Y:261.93, Z:-15.00 [[ 9.99289335e-01 3.76153286e-02 2.43148005e-03 7.27850429e+02] [-3.76153128e-02 9.99292292e-01 -5.22329318e-05 2.61930859e+02] [-2.43172403e-03 -3.92650709e-05 9.99997043e-01 -1.49988041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:727.91, Y:261.93, Z:-15.00 [[ 9.99441405e-01 3.33311680e-02 2.43148131e-03 7.27909968e+02] [-3.33311396e-02 9.99444362e-01 -5.21742004e-05 2.61932332e+02] [-2.43186931e-03 -2.88989868e-05 9.99997043e-01 -1.50002610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:727.97, Y:261.93, Z:-15.00 [[ 9.99473627e-01 3.23505394e-02 2.43148193e-03 7.27969993e+02] [-3.23505083e-02 9.99476584e-01 -5.21451627e-05 2.61932086e+02] [-2.43189618e-03 -2.65419613e-05 9.99997043e-01 -1.50007157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:728.03, Y:261.93, Z:-15.00 [[ 9.99507204e-01 3.12959700e-02 2.43148193e-03 7.28030277e+02] [-3.12959357e-02 9.99510161e-01 -5.21451627e-05 2.61931593e+02] [-2.43192283e-03 -2.39760363e-05 9.99997043e-01 -1.50030556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:728.09, Y:261.93, Z:-15.00 [[ 9.99539325e-01 3.02526938e-02 2.43148193e-03 7.28090827e+02] [-3.02526565e-02 9.99542282e-01 -5.21451627e-05 2.61932040e+02] [-2.43194653e-03 -2.14376468e-05 9.99997043e-01 -1.50027076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:728.15, Y:261.93, Z:-15.00 [[ 9.99533556e-01 3.04427184e-02 2.43148193e-03 7.28150396e+02] [-3.04426816e-02 9.99536513e-01 -5.21451627e-05 2.61932937e+02] [-2.43194241e-03 -2.18999903e-05 9.99997043e-01 -1.50032561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.625336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:728.21, Y:261.93, Z:-15.00 [[ 9.99461725e-01 3.27161747e-02 2.43148255e-03 7.28211012e+02] [-3.27161448e-02 9.99464682e-01 -5.21159652e-05 2.61933843e+02] [-2.43188597e-03 -2.74608227e-05 9.99997043e-01 -1.50005104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:728.27, Y:261.94, Z:-15.00 [[ 9.99399925e-01 3.45525486e-02 2.43148255e-03 7.28271032e+02] [-3.45525241e-02 9.99402882e-01 -5.21159652e-05 2.61935857e+02] [-2.43183141e-03 -3.19291678e-05 9.99997043e-01 -1.49975120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:728.33, Y:261.94, Z:-15.00 [[ 9.99351994e-01 3.59121123e-02 2.43148384e-03 7.28329586e+02] [-3.59120919e-02 9.99354951e-01 -5.20557333e-05 2.61938689e+02] [-2.43178485e-03 -3.52976704e-05 9.99997043e-01 -1.49998425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:728.39, Y:261.94, Z:-15.00 [[ 9.99350366e-01 3.59573792e-02 2.43148575e-03 7.28389536e+02] [-3.59573592e-02 9.99353324e-01 -5.19663944e-05 2.61938744e+02] [-2.43178194e-03 -3.54971713e-05 9.99997043e-01 -1.49998077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:728.45, Y:261.94, Z:-15.00 [[ 9.99330467e-01 3.65062297e-02 2.43148697e-03 7.28448430e+02] [-3.65062114e-02 9.99333425e-01 -5.19092804e-05 2.61942145e+02] [-2.43176122e-03 -3.68898521e-05 9.99997043e-01 -1.50038607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:728.51, Y:261.95, Z:-15.00 [[ 9.99256513e-01 3.84773822e-02 2.43148878e-03 7.28507712e+02] [-3.84773700e-02 9.99259470e-01 -5.18243897e-05 2.61945485e+02] [-2.43168226e-03 -4.17714345e-05 9.99997043e-01 -1.49979305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:728.57, Y:261.95, Z:-15.00 [[ 9.99168531e-01 4.06980863e-02 2.43149065e-03 7.28567690e+02] [-4.06980809e-02 9.99171489e-01 -5.17364498e-05 2.61948691e+02] [-2.43158171e-03 -4.72635708e-05 9.99997043e-01 -1.49993719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:728.63, Y:261.95, Z:-15.00 [[ 9.99064477e-01 4.31770594e-02 2.43149191e-03 7.28626449e+02] [-4.31770615e-02 9.99067435e-01 -5.16772051e-05 2.61954954e+02] [-2.43145566e-03 -5.33558158e-05 9.99997043e-01 -1.50011989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:728.69, Y:261.96, Z:-15.00 [[ 9.99055546e-01 4.33832231e-02 2.43149377e-03 7.28685049e+02] [-4.33832260e-02 9.99058503e-01 -5.15894516e-05 2.61960778e+02] [-2.43144265e-03 -5.39453162e-05 9.99997043e-01 -1.49985913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:728.74, Y:261.97, Z:-15.00 [[ 9.99139998e-01 4.13926487e-02 2.43149622e-03 7.28744462e+02] [-4.13926460e-02 9.99142956e-01 -5.14738716e-05 2.61967071e+02] [-2.43154296e-03 -4.92164583e-05 9.99997043e-01 -1.49980386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:728.80, Y:261.97, Z:-15.00 [[ 9.99319684e-01 3.68002173e-02 2.43149869e-03 7.28802681e+02] [-3.68002013e-02 9.99322642e-01 -5.13569032e-05 2.61973391e+02] [-2.43174164e-03 -3.81576770e-05 9.99997043e-01 -1.49999892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:728.86, Y:261.98, Z:-15.00 [[ 9.99459663e-01 3.27790929e-02 2.43150173e-03 7.28861355e+02] [-3.27790653e-02 9.99462621e-01 -5.12126421e-05 2.61977789e+02] [-2.43187379e-03 -2.85173839e-05 9.99997043e-01 -1.50004384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:728.92, Y:261.98, Z:-15.00 [[ 9.99632721e-01 2.69909370e-02 2.43150418e-03 7.28920719e+02] [-2.69908926e-02 9.99635678e-01 -5.10961096e-05 2.61981737e+02] [-2.43199746e-03 -1.45511249e-05 9.99997043e-01 -1.50000824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:728.98, Y:261.98, Z:-15.00 [[ 9.99735634e-01 2.28637451e-02 2.43150540e-03 7.28980642e+02] [-2.28636886e-02 9.99738590e-01 -5.10379350e-05 2.61984324e+02] [-2.43203670e-03 -4.56874006e-06 9.99997043e-01 -1.49986491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:729.04, Y:261.99, Z:-15.00 [[ 9.99882433e-01 1.51396059e-02 2.43150664e-03 7.29040010e+02] [-1.51395267e-02 9.99885389e-01 -5.09789518e-05 2.61987224e+02] [-2.43199976e-03 1.41610986e-05 9.99997043e-01 -1.49981487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:729.10, Y:261.99, Z:-15.00 [[ 9.99943228e-01 1.03744498e-02 2.43150786e-03 7.29100740e+02] [-1.03743567e-02 9.99946184e-01 -5.09204894e-05 2.61987577e+02] [-2.43190528e-03 2.56922688e-05 9.99997043e-01 -1.49986010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:729.16, Y:261.99, Z:-15.00 [[ 9.99986293e-01 4.63700303e-03 2.43150786e-03 7.29161194e+02] [-4.63689292e-03 9.99989248e-01 -5.09204895e-05 2.61987385e+02] [-2.43171784e-03 3.96451499e-05 9.99997043e-01 -1.49995657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:729.22, Y:261.99, Z:-15.00 [[ 9.99995951e-01 1.47836083e-03 2.43150726e-03 7.29222176e+02] [-1.47824132e-03 9.99998906e-01 -5.09489255e-05 2.61986276e+02] [-2.43157993e-03 4.73543647e-05 9.99997043e-01 -1.49989232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:729.28, Y:261.99, Z:-15.00 [[ 9.99996958e-01 4.14310751e-04 2.43150605e-03 7.29283641e+02] [-4.14187952e-04 9.99999913e-01 -5.10066478e-05 2.61985945e+02] [-2.43152697e-03 4.99993922e-05 9.99997043e-01 -1.49996482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:729.34, Y:261.98, Z:-15.00 [[ 9.99996836e-01 -6.44621249e-04 2.43150485e-03 7.29344581e+02] [ 6.44747316e-04 9.99999791e-01 -5.10639068e-05 2.61984371e+02] [-2.43147143e-03 5.26314515e-05 9.99997043e-01 -1.49986703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:729.41, Y:261.98, Z:-15.00 [[ 9.99995721e-01 -1.62683745e-03 2.43149707e-03 7.29405809e+02] [ 1.62696731e-03 9.99998675e-01 -5.14317711e-05 2.61981471e+02] [-2.43141018e-03 5.53875173e-05 9.99997043e-01 -1.49996602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:729.47, Y:261.98, Z:-15.00 [[ 9.99987123e-01 -4.45431178e-03 2.43148932e-03 7.29468020e+02] [ 4.45445089e-03 9.99990078e-01 -5.17954310e-05 2.61975509e+02] [-2.43123448e-03 6.26257138e-05 9.99997043e-01 -1.49981314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:729.53, Y:261.97, Z:-15.00 [[ 9.99976266e-01 -6.44631324e-03 2.43148060e-03 7.29529177e+02] [ 6.44645921e-03 9.99979220e-01 -5.22018014e-05 2.61967476e+02] [-2.43109356e-03 6.78750030e-05 9.99997043e-01 -1.49990394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:729.59, Y:261.96, Z:-15.00 [[ 9.99978921e-01 -6.02048357e-03 2.43147874e-03 7.29590671e+02] [ 6.02062850e-03 9.99981874e-01 -5.22882918e-05 2.61962183e+02] [-2.43111987e-03 6.69262198e-05 9.99997043e-01 -1.50003191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:729.65, Y:261.95, Z:-15.00 [[ 9.99988854e-01 -4.04710237e-03 2.43147692e-03 7.29651675e+02] [ 4.04724167e-03 9.99991809e-01 -5.23725226e-05 2.61954392e+02] [-2.43124505e-03 6.22127136e-05 9.99997043e-01 -1.49996673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:729.71, Y:261.95, Z:-15.00 [[ 9.99997002e-01 -2.88706968e-04 2.43147567e-03 7.29711555e+02] [ 2.88835305e-04 9.99999957e-01 -5.24304746e-05 2.61945250e+02] [-2.43146043e-03 5.31326134e-05 9.99997043e-01 -1.50010341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.185336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:729.77, Y:261.94, Z:-15.00 [[ 9.99990855e-01 3.51808926e-03 2.43147505e-03 7.29772648e+02] [-3.51797210e-03 9.99993811e-01 -5.24592541e-05 2.61939405e+02] [-2.43164456e-03 4.39049130e-05 9.99997043e-01 -1.50033386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.245336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:729.83, Y:261.93, Z:-15.00 [[ 9.99921167e-01 1.23186229e-02 2.43147382e-03 7.29834312e+02] [-1.23185316e-02 9.99924123e-01 -5.25163546e-05 2.61934596e+02] [-2.43193626e-03 2.25600274e-05 9.99997043e-01 -1.50027129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:729.89, Y:261.93, Z:-15.00 [[ 9.99817863e-01 1.89295680e-02 2.43147256e-03 7.29894878e+02] [-1.89294961e-02 9.99820820e-01 -5.25746742e-05 2.61932839e+02] [-2.43203210e-03 6.53854812e-06 9.99997043e-01 -1.50031677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:729.95, Y:261.93, Z:-15.00 [[ 9.99614528e-01 2.76565269e-02 2.43147256e-03 7.29953871e+02] [-2.76564808e-02 9.99617485e-01 -5.25746743e-05 2.61930593e+02] [-2.43199652e-03 -1.46915660e-05 9.99997043e-01 -1.50017622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:730.01, Y:261.93, Z:-15.00 [[ 9.99520860e-01 3.08567283e-02 2.43147065e-03 7.30012855e+02] [-3.08566915e-02 9.99523818e-01 -5.26628084e-05 2.61929413e+02] [-2.43193783e-03 -2.23895642e-05 9.99997043e-01 -1.50010016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:730.07, Y:261.93, Z:-15.00 [[ 9.99491074e-01 3.18069372e-02 2.43146882e-03 7.30072236e+02] [-3.18069030e-02 9.99494031e-01 -5.27472013e-05 2.61927455e+02] [-2.43191630e-03 -2.46171361e-05 9.99997043e-01 -1.50012703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:730.13, Y:261.92, Z:-15.01 [[ 9.99584268e-01 2.87294029e-02 2.43147004e-03 7.30131520e+02] [-2.87293597e-02 9.99587225e-01 -5.26911250e-05 2.61924310e+02] [-2.43198017e-03 -1.71853575e-05 9.99997043e-01 -1.50050508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:730.19, Y:261.92, Z:-15.01 [[ 9.99709624e-01 2.39740424e-02 2.43147128e-03 7.30191198e+02] [-2.39739853e-02 9.99712581e-01 -5.26334905e-05 2.61921200e+02] [-2.43203427e-03 -5.67384982e-06 9.99997043e-01 -1.50089584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:730.25, Y:261.92, Z:-15.01 [[ 9.99774998e-01 2.10722760e-02 2.43147045e-03 7.30252098e+02] [-2.10722103e-02 9.99777955e-01 -5.26717790e-05 2.61917904e+02] [-2.43204047e-03 1.42347117e-06 9.99997043e-01 -1.50070891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:730.31, Y:261.92, Z:-15.01 [[ 9.99792312e-01 2.02341338e-02 2.43147045e-03 7.30312922e+02] [-2.02340655e-02 9.99795269e-01 -5.26717791e-05 2.61915732e+02] [-2.43203842e-03 3.46230731e-06 9.99997043e-01 -1.50061599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:730.37, Y:261.91, Z:-15.00 [[ 9.99800961e-01 1.98021915e-02 2.43147045e-03 7.30373635e+02] [-1.98021219e-02 9.99803917e-01 -5.26717791e-05 2.61913461e+02] [-2.43203670e-03 4.51302093e-06 9.99997043e-01 -1.50036311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.845336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:730.43, Y:261.91, Z:-15.01 [[ 9.99779440e-01 2.08604834e-02 2.43147045e-03 7.30433421e+02] [-2.08604170e-02 9.99782396e-01 -5.26717792e-05 2.61911191e+02] [-2.43204012e-03 1.93867425e-06 9.99997043e-01 -1.50061473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.905336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:730.49, Y:261.91, Z:-15.01 [[ 9.99735837e-01 2.28548684e-02 2.43147107e-03 7.30493090e+02] [-2.28548079e-02 9.99738793e-01 -5.26434571e-05 2.61909391e+02] [-2.43203911e-03 -2.94125356e-06 9.99997043e-01 -1.50074406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:730.55, Y:261.91, Z:-15.01 [[ 9.99727437e-01 2.32193975e-02 2.43147232e-03 7.30552877e+02] [-2.32193383e-02 9.99730393e-01 -5.25856169e-05 2.61907076e+02] [-2.43203778e-03 -3.88589425e-06 9.99997043e-01 -1.50077281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:730.61, Y:261.91, Z:-15.01 [[ 9.99725939e-01 2.32837972e-02 2.43147180e-03 7.30613552e+02] [-2.32837381e-02 9.99728896e-01 -5.26093252e-05 2.61905320e+02] [-2.43203757e-03 -4.01884560e-06 9.99997043e-01 -1.50057376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.085336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:730.67, Y:261.90, Z:-15.01 [[ 9.99761884e-01 2.16855309e-02 2.43147180e-03 7.30674378e+02] [-2.16854671e-02 9.99764841e-01 -5.26093253e-05 2.61902583e+02] [-2.43204088e-03 -1.30803572e-07 9.99997043e-01 -1.50071368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:730.73, Y:261.90, Z:-15.00 [[ 9.99795425e-01 2.00797584e-02 2.43147180e-03 7.30734488e+02] [-2.00796899e-02 9.99798381e-01 -5.26093253e-05 2.61900153e+02] [-2.43203796e-03 3.77536297e-06 9.99997043e-01 -1.50049208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:730.79, Y:261.90, Z:-15.00 [[ 9.99813707e-01 1.91478473e-02 2.43147180e-03 7.30794618e+02] [-1.91477760e-02 9.99816663e-01 -5.26093252e-05 2.61896572e+02] [-2.43203338e-03 6.04224702e-06 9.99997043e-01 -1.50040176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:730.86, Y:261.89, Z:-15.00 [[ 9.99810434e-01 1.93179713e-02 2.43147180e-03 7.30855063e+02] [-1.93179005e-02 9.99813391e-01 -5.26093252e-05 2.61894269e+02] [-2.43203437e-03 5.62842191e-06 9.99997043e-01 -1.50044809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:730.92, Y:261.89, Z:-15.01 [[ 9.99791601e-01 2.02692610e-02 2.43147180e-03 7.30915935e+02] [-2.02691930e-02 9.99794557e-01 -5.26093252e-05 2.61890926e+02] [-2.43203863e-03 3.31439022e-06 9.99997043e-01 -1.50069033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:730.98, Y:261.89, Z:-15.01 [[ 9.99780364e-01 2.08161342e-02 2.43147180e-03 7.30975930e+02] [-2.08160678e-02 9.99783321e-01 -5.26093253e-05 2.61887434e+02] [-2.43204008e-03 1.98408840e-06 9.99997043e-01 -1.50052262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:731.04, Y:261.89, Z:-15.01 [[ 9.99762225e-01 2.16698395e-02 2.43147180e-03 7.31035385e+02] [-2.16697756e-02 9.99765181e-01 -5.26093253e-05 2.61885409e+02] [-2.43204089e-03 -9.26323358e-08 9.99997043e-01 -1.50054877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:731.10, Y:261.88, Z:-15.01 [[ 9.99751218e-01 2.21718360e-02 2.43147111e-03 7.31095377e+02] [-2.21717736e-02 9.99754175e-01 -5.26412345e-05 2.61883042e+02] [-2.43204055e-03 -1.28188862e-06 9.99997043e-01 -1.50064546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.565336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:731.16, Y:261.88, Z:-15.00 [[ 9.99709590e-01 2.39754755e-02 2.43147237e-03 7.31156112e+02] [-2.39754185e-02 9.99712547e-01 -5.25830732e-05 2.61878832e+02] [-2.43203414e-03 -5.72776519e-06 9.99997043e-01 -1.50021604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:731.21, Y:261.88, Z:-15.01 [[ 9.99698138e-01 2.44483297e-02 2.43147172e-03 7.31215000e+02] [-2.44482741e-02 9.99701095e-01 -5.26133029e-05 2.61875579e+02] [-2.43203125e-03 -6.84786592e-06 9.99997043e-01 -1.50088641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:731.27, Y:261.87, Z:-15.01 [[ 9.99719518e-01 2.35578588e-02 2.43146988e-03 7.31274673e+02] [-2.35578003e-02 9.99722475e-01 -5.26982891e-05 2.61873039e+02] [-2.43203654e-03 -4.59657356e-06 9.99997043e-01 -1.50085610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:731.34, Y:261.87, Z:-15.01 [[ 9.99764271e-01 2.15752163e-02 2.43147050e-03 7.31335136e+02] [-2.15751520e-02 9.99767228e-01 -5.26696791e-05 2.61868496e+02] [-2.43204088e-03 1.97917913e-07 9.99997043e-01 -1.50086927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.805336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:731.40, Y:261.86, Z:-15.01 [[ 9.99855655e-01 1.68153616e-02 2.43147050e-03 7.31395299e+02] [-1.68152832e-02 9.99858612e-01 -5.26696793e-05 2.61859332e+02] [-2.43201237e-03 1.17762117e-05 9.99997043e-01 -1.50081055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:731.46, Y:261.85, Z:-15.01 [[ 9.99903078e-01 1.37084659e-02 2.43147050e-03 7.31455417e+02] [-1.37083784e-02 9.99906034e-01 -5.26696792e-05 2.61853562e+02] [-2.43196404e-03 1.93330568e-05 9.99997043e-01 -1.50062415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:731.52, Y:261.84, Z:-15.00 [[ 9.99916857e-01 1.26635824e-02 2.43147050e-03 7.31516755e+02] [-1.26634918e-02 9.99919813e-01 -5.26696792e-05 2.61844723e+02] [-2.43194251e-03 2.18743935e-05 9.99997043e-01 -1.50043726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:731.58, Y:261.84, Z:-15.00 [[ 9.99895978e-01 1.42168977e-02 2.43146926e-03 7.31577589e+02] [-1.42168115e-02 9.99898935e-01 -5.27265440e-05 2.61838265e+02] [-2.43197313e-03 1.81533190e-05 9.99997043e-01 -1.50025922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.045336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:731.64, Y:261.83, Z:-15.00 [[ 9.99809824e-01 1.93494988e-02 2.43146796e-03 7.31638126e+02] [-1.93494276e-02 9.99812781e-01 -5.27863991e-05 2.61829865e+02] [-2.43203414e-03 5.72884714e-06 9.99997043e-01 -1.50039518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:731.70, Y:261.82, Z:-15.00 [[ 9.99695892e-01 2.45400037e-02 2.43146732e-03 7.31698181e+02] [-2.45399478e-02 9.99698849e-01 -5.28159453e-05 2.61823092e+02] [-2.43203118e-03 -6.86819769e-06 9.99997043e-01 -1.50026168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:731.76, Y:261.82, Z:-15.00 [[ 9.99596640e-01 2.82956752e-02 2.43146732e-03 7.31758628e+02] [-2.82956304e-02 9.99599597e-01 -5.28159452e-05 2.61817533e+02] [-2.43198822e-03 -1.60052592e-05 9.99997043e-01 -1.50029745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:731.82, Y:261.81, Z:-15.01 [[ 9.99455347e-01 3.29104341e-02 2.43146732e-03 7.31819173e+02] [-3.29104030e-02 9.99458305e-01 -5.28159452e-05 2.61808733e+02] [-2.43188840e-03 -2.72333906e-05 9.99997043e-01 -1.50059379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:731.88, Y:261.80, Z:-15.01 [[ 9.99347649e-01 3.60328330e-02 2.43146669e-03 7.31878985e+02] [-3.60328110e-02 9.99350606e-01 -5.28447669e-05 2.61803815e+02] [-2.43179186e-03 -3.48022864e-05 9.99997043e-01 -1.50087259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.345336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:731.94, Y:261.80, Z:-15.01 [[ 9.99120924e-01 4.18505362e-02 2.43146593e-03 7.31939824e+02] [-4.18505314e-02 9.99123881e-01 -5.28799944e-05 2.61796587e+02] [-2.43154873e-03 -4.89246324e-05 9.99997043e-01 -1.50075048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:732.00, Y:261.79, Z:-15.01 [[ 9.98941794e-01 4.59279922e-02 2.43146593e-03 7.31999852e+02] [-4.59279995e-02 9.98944751e-01 -5.28799944e-05 2.61794054e+02] [-2.43132880e-03 -5.88483293e-05 9.99997043e-01 -1.50052173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:732.06, Y:261.79, Z:-15.00 [[ 9.98655447e-01 5.17821105e-02 2.43146593e-03 7.32060647e+02] [-5.17821351e-02 9.98658404e-01 -5.28799945e-05 2.61791200e+02] [-2.43094212e-03 -7.30976027e-05 9.99997043e-01 -1.50041897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:732.12, Y:261.79, Z:-15.00 [[ 9.98482154e-01 5.50225132e-02 2.43146530e-03 7.32121216e+02] [-5.50225473e-02 9.98485111e-01 -5.29089229e-05 2.61789192e+02] [-2.43069308e-03 -8.09567992e-05 9.99997043e-01 -1.50038481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:732.18, Y:261.79, Z:-15.01 [[ 9.98345766e-01 5.74440526e-02 2.43146530e-03 7.32181230e+02] [-5.74440939e-02 9.98348723e-01 -5.29089227e-05 2.61788251e+02] [-2.43048958e-03 -8.68519219e-05 9.99997043e-01 -1.50052843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:732.24, Y:261.79, Z:-15.00 [[ 9.98325443e-01 5.77961758e-02 2.43146530e-03 7.32241889e+02] [-5.77962181e-02 9.98328400e-01 -5.29089228e-05 2.61787533e+02] [-2.43045879e-03 -8.77091749e-05 9.99997043e-01 -1.50017399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:732.30, Y:261.79, Z:-15.01 [[ 9.98400536e-01 5.64841377e-02 2.43146463e-03 7.32301414e+02] [-5.64841761e-02 9.98403493e-01 -5.29394827e-05 2.61788540e+02] [-2.43057302e-03 -8.44844686e-05 9.99997043e-01 -1.50052776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:732.36, Y:261.79, Z:-15.00 [[ 9.98493431e-01 5.48174751e-02 2.43146530e-03 7.32361932e+02] [-5.48175086e-02 9.98496389e-01 -5.29089022e-05 2.61788448e+02] [-2.43070965e-03 -8.04576787e-05 9.99997043e-01 -1.50013159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:732.42, Y:261.79, Z:-15.00 [[ 9.98627423e-01 5.23197625e-02 2.43146507e-03 7.32422639e+02] [-5.23197886e-02 9.98630381e-01 -5.29192351e-05 2.61788539e+02] [-2.43090361e-03 -7.43671393e-05 9.99997043e-01 -1.50005026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:732.48, Y:261.79, Z:-15.01 [[ 9.98838591e-01 4.81202366e-02 2.43146507e-03 7.32482317e+02] [-4.81202502e-02 9.98841548e-01 -5.29192351e-05 2.61790987e+02] [-2.43119483e-03 -6.41449336e-05 9.99997043e-01 -1.50063615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:732.54, Y:261.79, Z:-15.01 [[ 9.99068372e-01 4.30868489e-02 2.43146484e-03 7.32542970e+02] [-4.30868477e-02 9.99071329e-01 -5.29299342e-05 2.61791510e+02] [-2.43148739e-03 -5.18835320e-05 9.99997043e-01 -1.50064532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:732.60, Y:261.79, Z:-15.01 [[ 9.99262636e-01 3.83180452e-02 2.43146484e-03 7.32603444e+02] [-3.83180298e-02 9.99265593e-01 -5.29299343e-05 2.61792213e+02] [-2.43170733e-03 -4.02780366e-05 9.99997043e-01 -1.50059769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.065336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:732.67, Y:261.79, Z:-15.01 [[ 9.99526813e-01 3.06633102e-02 2.43146484e-03 7.32665170e+02] [-3.06632721e-02 9.99529770e-01 -5.29299342e-05 2.61790378e+02] [-2.43194450e-03 -2.16517797e-05 9.99997043e-01 -1.50075897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:732.73, Y:261.79, Z:-15.00 [[ 9.99644346e-01 2.65569268e-02 2.43146358e-03 7.32726753e+02] [-2.65568764e-02 9.99647303e-01 -5.29876396e-05 2.61788534e+02] [-2.43201320e-03 -1.16032836e-05 9.99997043e-01 -1.50021381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:732.79, Y:261.79, Z:-15.01 [[ 9.99756286e-01 2.19421043e-02 2.43146150e-03 7.32787384e+02] [-2.19420401e-02 9.99759243e-01 -5.30832555e-05 2.61786275e+02] [-2.43204086e-03 -2.80907153e-07 9.99997043e-01 -1.50073783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:732.85, Y:261.78, Z:-15.01 [[ 9.99796464e-01 2.00279362e-02 2.43145375e-03 7.32849164e+02] [-2.00278655e-02 9.99799421e-01 -5.34355744e-05 2.61784595e+02] [-2.43203626e-03 4.72786969e-06 9.99997043e-01 -1.50078219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:732.91, Y:261.78, Z:-15.01 [[ 9.99821821e-01 1.87193610e-02 2.43145245e-03 7.32909963e+02] [-1.87192862e-02 9.99824777e-01 -5.34950250e-05 2.61781150e+02] [-2.43202779e-03 7.97043899e-06 9.99997043e-01 -1.50092491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:732.97, Y:261.78, Z:-15.01 [[ 9.99831858e-01 1.81753513e-02 2.43145111e-03 7.32970736e+02] [-1.81752748e-02 9.99834815e-01 -5.35554875e-05 2.61778605e+02] [-2.43202286e-03 9.35419045e-06 9.99997043e-01 -1.50089470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.425336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:733.03, Y:261.78, Z:-15.01 [[ 9.99823245e-01 1.86431171e-02 2.43145045e-03 7.33031523e+02] [-1.86430419e-02 9.99826202e-01 -5.35853923e-05 2.61775505e+02] [-2.43202687e-03 8.24628809e-06 9.99997043e-01 -1.50109843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:733.09, Y:261.77, Z:-15.01 [[ 9.99776832e-01 2.09851007e-02 2.43144915e-03 7.33091692e+02] [-2.09850323e-02 9.99779789e-01 -5.36444185e-05 2.61773148e+02] [-2.43203945e-03 2.60840784e-06 9.99997043e-01 -1.50094209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:733.15, Y:261.77, Z:-15.01 [[ 9.99648835e-01 2.63873852e-02 2.43144851e-03 7.33153393e+02] [-2.63873327e-02 9.99651792e-01 -5.36735937e-05 2.61770587e+02] [-2.43201816e-03 -1.05046952e-05 9.99997043e-01 -1.50083329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.6053361950001 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:733.21, Y:261.77, Z:-15.01 [[ 9.99532871e-01 3.04651960e-02 2.43144723e-03 7.33213805e+02] [-3.04651554e-02 9.99535828e-01 -5.37314923e-05 2.61770290e+02] [-2.43195556e-03 -2.03680249e-05 9.99997043e-01 -1.50077394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:733.27, Y:261.77, Z:-15.01 [[ 9.99360857e-01 3.56646136e-02 2.43144723e-03 7.33274198e+02] [-3.56645884e-02 9.99363815e-01 -5.37314922e-05 2.61770984e+02] [-2.43181669e-03 -3.30194144e-05 9.99997043e-01 -1.50072779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:733.34, Y:261.77, Z:-15.01 [[ 9.99289461e-01 3.76119702e-02 2.43144723e-03 7.33335080e+02] [-3.76119508e-02 9.99292419e-01 -5.37314923e-05 2.61769319e+02] [-2.43174773e-03 -3.77581596e-05 9.99997043e-01 -1.50074414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.785336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:733.40, Y:261.77, Z:-15.01 [[ 9.99266894e-01 3.82068401e-02 2.43144594e-03 7.33396260e+02] [-3.82068223e-02 9.99269851e-01 -5.37899225e-05 2.61768924e+02] [-2.43172576e-03 -3.91473339e-05 9.99997043e-01 -1.50107332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:733.46, Y:261.77, Z:-15.01 [[ 9.99308197e-01 3.71108496e-02 2.43144466e-03 7.33457857e+02] [-3.71108284e-02 9.99311155e-01 -5.38476112e-05 2.61769016e+02] [-2.43176810e-03 -3.64225662e-05 9.99997043e-01 -1.50079382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:733.52, Y:261.77, Z:-15.01 [[ 9.99361247e-01 3.56536956e-02 2.43144334e-03 7.33518200e+02] [-3.56536700e-02 9.99364204e-01 -5.39071684e-05 2.61767022e+02] [-2.43181943e-03 -3.28171433e-05 9.99997043e-01 -1.50093235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:733.58, Y:261.77, Z:-15.01 [[ 9.99394885e-01 3.46980240e-02 2.43144268e-03 7.33579729e+02] [-3.46979954e-02 9.99397842e-01 -5.39366406e-05 2.61767167e+02] [-2.43185007e-03 -3.04621844e-05 9.99997043e-01 -1.50079749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:733.64, Y:261.77, Z:-15.00 [[ 9.99366995e-01 3.54922250e-02 2.43144142e-03 7.33640297e+02] [-3.54921987e-02 9.99369952e-01 -5.39933488e-05 2.61767505e+02] [-2.43182584e-03 -3.23380313e-05 9.99997043e-01 -1.50040536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:733.70, Y:261.77, Z:-15.01 [[ 9.99288226e-01 3.76447845e-02 2.43144142e-03 7.33700205e+02] [-3.76447645e-02 9.99291183e-01 -5.39933488e-05 2.61765264e+02] [-2.43175055e-03 -3.75761221e-05 9.99997043e-01 -1.50107114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:733.76, Y:261.76, Z:-15.01 [[ 9.99226634e-01 3.92456649e-02 2.43144212e-03 7.33760903e+02] [-3.92456498e-02 9.99229591e-01 -5.39622092e-05 2.61763937e+02] [-2.43168669e-03 -4.15030491e-05 9.99997043e-01 -1.50074108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:733.82, Y:261.76, Z:-15.01 [[ 9.99168828e-01 4.06907928e-02 2.43144143e-03 7.33821046e+02] [-4.06907819e-02 9.99171786e-01 -5.39931045e-05 2.61764942e+02] [-2.43162470e-03 -4.49890259e-05 9.99997043e-01 -1.50096101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.265336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:733.88, Y:261.76, Z:-15.01 [[ 9.99161175e-01 4.08782768e-02 2.43144074e-03 7.33881945e+02] [-4.08782663e-02 9.99164133e-01 -5.40240169e-05 2.61764477e+02] [-2.43161679e-03 -4.54143820e-05 9.99997043e-01 -1.50102102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:733.94, Y:261.77, Z:-15.01 [[ 9.99144870e-01 4.12748926e-02 2.43144074e-03 7.33941804e+02] [-4.12748833e-02 9.99147827e-01 -5.40240169e-05 2.61765034e+02] [-2.43159857e-03 -4.63796137e-05 9.99997043e-01 -1.50073508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:734.00, Y:261.77, Z:-15.01 [[ 9.99064396e-01 4.31789319e-02 2.43144074e-03 7.34002006e+02] [-4.31789282e-02 9.99067354e-01 -5.40240168e-05 2.61766905e+02] [-2.43150577e-03 -5.10135336e-05 9.99997043e-01 -1.50062666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.445336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:734.06, Y:261.77, Z:-15.01 [[ 9.98867214e-01 4.75223899e-02 2.43144074e-03 7.34062026e+02] [-4.75223991e-02 9.98870171e-01 -5.40240168e-05 2.61771655e+02] [-2.43126098e-03 -6.15850783e-05 9.99997043e-01 -1.50089911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:734.12, Y:261.77, Z:-15.01 [[ 9.98841082e-01 4.80685075e-02 2.43144204e-03 7.34121446e+02] [-4.80685185e-02 9.98844039e-01 -5.39656838e-05 2.61774351e+02] [-2.43122544e-03 -6.29726745e-05 9.99997043e-01 -1.50077099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:734.18, Y:261.77, Z:-15.01 [[ 9.98858434e-01 4.77065617e-02 2.43144331e-03 7.34180801e+02] [-4.77065717e-02 9.98861392e-01 -5.39081418e-05 2.61774643e+02] [-2.43124662e-03 -6.21492228e-05 9.99997043e-01 -1.50075611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.625336195 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:734.24, Y:261.78, Z:-15.01 [[ 9.99009698e-01 4.44264708e-02 2.43144463e-03 7.34240268e+02] [-4.44264712e-02 9.99012655e-01 -5.38487921e-05 2.61776716e+02] [-2.43143627e-03 -5.42250393e-05 9.99997043e-01 -1.50096147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:734.30, Y:261.78, Z:-15.01 [[ 9.99237754e-01 3.89615079e-02 2.43144416e-03 7.34301122e+02] [-3.89614921e-02 9.99240711e-01 -5.38698826e-05 2.61779497e+02] [-2.43169684e-03 -4.09038720e-05 9.99997043e-01 -1.50063082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:734.36, Y:261.78, Z:-15.01 [[ 9.99321689e-01 3.67457592e-02 2.43144416e-03 7.34360488e+02] [-3.67457368e-02 9.99324646e-01 -5.38698827e-05 2.61779394e+02] [-2.43178156e-03 -3.55118652e-05 9.99997043e-01 -1.50068272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:734.42, Y:261.78, Z:-15.00 [[ 9.99443513e-01 3.32678854e-02 2.43144480e-03 7.34421164e+02] [-3.32678529e-02 9.99446470e-01 -5.38410999e-05 2.61781940e+02] [-2.43189010e-03 -2.70778097e-05 9.99997043e-01 -1.50041674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:734.48, Y:261.78, Z:-15.01 [[ 9.99427791e-01 3.37369143e-02 2.43144480e-03 7.34480886e+02] [-3.37368831e-02 9.99430748e-01 -5.38411000e-05 2.61780856e+02] [-2.43187713e-03 -2.82190774e-05 9.99997043e-01 -1.50108615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:734.54, Y:261.78, Z:-15.01 [[ 9.99406666e-01 3.43570225e-02 2.43144550e-03 7.34540288e+02] [-3.43569932e-02 9.99409623e-01 -5.38095301e-05 2.61782837e+02] [-2.43185876e-03 -2.97595534e-05 9.99997043e-01 -1.50106489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:734.60, Y:261.78, Z:-15.01 [[ 9.99332072e-01 3.64622684e-02 2.43144479e-03 7.34600250e+02] [-3.64622453e-02 9.99335030e-01 -5.38416476e-05 2.61784701e+02] [-2.43179114e-03 -3.48502509e-05 9.99997043e-01 -1.50117521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.045336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:734.66, Y:261.79, Z:-15.02 [[ 9.99208039e-01 3.97162714e-02 2.43144600e-03 7.34659681e+02] [-3.97162580e-02 9.99210997e-01 -5.37868782e-05 2.61787256e+02] [-2.43166379e-03 -4.28236555e-05 9.99997043e-01 -1.50179481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:734.72, Y:261.79, Z:-15.02 [[ 9.99075064e-01 4.29314001e-02 2.43144721e-03 7.34719901e+02] [-4.29313964e-02 9.99078021e-01 -5.37322030e-05 2.61792535e+02] [-2.43151226e-03 -5.07029196e-05 9.99997043e-01 -1.50158888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.165336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:734.78, Y:261.80, Z:-15.02 [[ 9.99013106e-01 4.43497724e-02 2.43144840e-03 7.34779357e+02] [-4.43497731e-02 9.99016063e-01 -5.36780042e-05 2.61796047e+02] [-2.43143662e-03 -5.42091552e-05 9.99997043e-01 -1.50182774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:734.84, Y:261.80, Z:-15.02 [[ 9.99013342e-01 4.43444565e-02 2.43144959e-03 7.34837836e+02] [-4.43444573e-02 9.99016299e-01 -5.36241754e-05 2.61801012e+02] [-2.43143571e-03 -5.42500458e-05 9.99997043e-01 -1.50151545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:734.90, Y:261.80, Z:-15.01 [[ 9.99108869e-01 4.21373532e-02 2.43145135e-03 7.34897163e+02] [-4.21373477e-02 9.99111826e-01 -5.35442185e-05 2.61802056e+02] [-2.43154801e-03 -4.89584072e-05 9.99997043e-01 -1.50120104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:734.96, Y:261.81, Z:-15.01 [[ 9.99237145e-01 3.89771205e-02 2.43145275e-03 7.34956333e+02] [-3.89771057e-02 9.99240102e-01 -5.34804258e-05 2.61806622e+02] [-2.43168961e-03 -4.13313629e-05 9.99997043e-01 -1.50108858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:735.02, Y:261.81, Z:-15.01 [[ 9.99297044e-01 3.74099577e-02 2.43145479e-03 7.35016123e+02] [-3.74099385e-02 9.99300002e-01 -5.33875241e-05 2.61807762e+02] [-2.43175000e-03 -3.76105792e-05 9.99997043e-01 -1.50090013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.465336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:735.08, Y:261.81, Z:-15.01 [[ 9.99410969e-01 3.42316105e-02 2.43145607e-03 7.35076315e+02] [-3.42315821e-02 9.99413926e-01 -5.33293303e-05 2.61810423e+02] [-2.43185661e-03 -2.99346703e-05 9.99997043e-01 -1.50116743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:735.14, Y:261.81, Z:-15.01 [[ 9.99448947e-01 3.31042231e-02 2.43145671e-03 7.35136048e+02] [-3.31041914e-02 9.99451905e-01 -5.32999348e-05 2.61813127e+02] [-2.43188850e-03 -2.72208447e-05 9.99997043e-01 -1.50115333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:735.20, Y:261.82, Z:-15.01 [[ 9.99461949e-01 3.27093357e-02 2.43145804e-03 7.35196298e+02] [-3.27093030e-02 9.99464906e-01 -5.32394172e-05 2.61816883e+02] [-2.43189841e-03 -2.63205261e-05 9.99997043e-01 -1.50136178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.645336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:735.25, Y:261.82, Z:-15.02 [[ 9.99463260e-01 3.26692609e-02 2.43145869e-03 7.35254769e+02] [-3.26692282e-02 9.99466217e-01 -5.32098748e-05 2.61820122e+02] [-2.43189914e-03 -2.62525636e-05 9.99997043e-01 -1.50177659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:735.31, Y:261.82, Z:-15.02 [[ 9.99495486e-01 3.16679805e-02 2.43146060e-03 7.35314199e+02] [-3.16679449e-02 9.99498443e-01 -5.31221533e-05 2.61821803e+02] [-2.43192336e-03 -2.39040080e-05 9.99997043e-01 -1.50154809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:735.37, Y:261.82, Z:-15.01 [[ 9.99596814e-01 2.82895193e-02 2.43146191e-03 7.35373231e+02] [-2.82894739e-02 9.99599771e-01 -5.30620923e-05 2.61824712e+02] [-2.43198987e-03 -1.57440798e-05 9.99997043e-01 -1.50141206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:735.43, Y:261.82, Z:-15.01 [[ 9.99663370e-01 2.58308937e-02 2.43146385e-03 7.35432431e+02] [-2.58308413e-02 9.99666327e-01 -5.29729468e-05 2.61824532e+02] [-2.43202088e-03 -9.85164251e-06 9.99997043e-01 -1.50113039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:735.49, Y:261.83, Z:-15.01 [[ 9.99743571e-01 2.25140172e-02 2.43146581e-03 7.35492151e+02] [-2.25139551e-02 9.99746527e-01 -5.28828825e-05 2.61825520e+02] [-2.43204011e-03 -1.87259040e-06 9.99997043e-01 -1.50139105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:735.55, Y:261.83, Z:-15.01 [[ 9.99804410e-01 1.96272673e-02 2.43146710e-03 7.35551156e+02] [-1.96271968e-02 9.99807367e-01 -5.28236388e-05 2.61825828e+02] [-2.43203550e-03 5.09042364e-06 9.99997043e-01 -1.50116513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:735.61, Y:261.82, Z:-15.01 [[ 9.99857709e-01 1.66927784e-02 2.43146837e-03 7.35611616e+02] [-1.66926994e-02 9.99860666e-01 -5.27650366e-05 2.61823450e+02] [-2.43201038e-03 1.21697578e-05 9.99997043e-01 -1.50117167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:735.67, Y:261.82, Z:-15.01 [[ 9.99906666e-01 1.34442272e-02 2.43146837e-03 7.35672251e+02] [-1.34441386e-02 9.99909622e-01 -5.27650366e-05 2.61822187e+02] [-2.43195801e-03 2.00711139e-05 9.99997043e-01 -1.50129798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:735.73, Y:261.82, Z:-15.01 [[ 9.99942050e-01 1.04873642e-02 2.43146837e-03 7.35731856e+02] [-1.04872669e-02 9.99945006e-01 -5.27650366e-05 2.61820452e+02] [-2.43188802e-03 2.72625212e-05 9.99997043e-01 -1.50143635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:735.79, Y:261.82, Z:-15.01 [[ 9.99949717e-01 9.72887325e-03 2.43146837e-03 7.35791902e+02] [-9.72877370e-03 9.99952673e-01 -5.27650366e-05 2.61815103e+02] [-2.43186664e-03 2.91071779e-05 9.99997043e-01 -1.50121089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.245336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:735.85, Y:261.81, Z:-15.01 [[ 9.99957667e-01 8.87425459e-03 2.43146837e-03 7.35852663e+02] [-8.87415252e-03 9.99960623e-01 -5.27650366e-05 2.61812151e+02] [-2.43184088e-03 3.11855817e-05 9.99997043e-01 -1.50142779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:735.91, Y:261.80, Z:-15.01 [[ 9.99957681e-01 8.87264749e-03 2.43146528e-03 7.35913483e+02] [-8.87254507e-03 9.99960637e-01 -5.29071731e-05 2.61804555e+02] [-2.43183900e-03 3.13316488e-05 9.99997043e-01 -1.50107672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:735.97, Y:261.80, Z:-15.01 [[ 9.99956464e-01 9.00881936e-03 2.43146459e-03 7.35973889e+02] [-9.00871726e-03 9.99959419e-01 -5.29387743e-05 2.61798760e+02] [-2.43184284e-03 3.10320925e-05 9.99997043e-01 -1.50128089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:736.03, Y:261.79, Z:-15.01 [[ 9.99937761e-01 1.08886528e-02 2.43146390e-03 7.36034377e+02] [-1.08885562e-02 9.99940717e-01 -5.29702896e-05 2.61794277e+02] [-2.43189653e-03 2.64918614e-05 9.99997043e-01 -1.50118602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:736.09, Y:261.79, Z:-15.01 [[ 9.99884031e-01 1.50337422e-02 2.43146324e-03 7.36094916e+02] [-1.50336578e-02 9.99886987e-01 -5.30009139e-05 2.61789541e+02] [-2.43198525e-03 1.64409811e-05 9.99997043e-01 -1.50123870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:736.16, Y:261.78, Z:-15.01 [[ 9.99726336e-01 2.32667267e-02 2.43146257e-03 7.36155641e+02] [-2.32666665e-02 9.99729293e-01 -5.30314209e-05 2.61783660e+02] [-2.43203823e-03 -3.55512069e-06 9.99997043e-01 -1.50112443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:736.22, Y:261.78, Z:-15.01 [[ 9.99621531e-01 2.74022560e-02 2.43146257e-03 7.36215498e+02] [-2.74022081e-02 9.99624488e-01 -5.30314209e-05 2.61780781e+02] [-2.43200271e-03 -1.36160932e-05 9.99997043e-01 -1.50112532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.665336195 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:736.27, Y:261.78, Z:-15.02 [[ 9.99520038e-01 3.08833474e-02 2.43146322e-03 7.36274804e+02] [-3.08833098e-02 9.99522995e-01 -5.30015843e-05 2.61775424e+02] [-2.43194027e-03 -2.21154864e-05 9.99997043e-01 -1.50182004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:736.33, Y:261.77, Z:-15.02 [[ 9.99529579e-01 3.05730100e-02 2.43146454e-03 7.36334906e+02] [-3.05729717e-02 9.99532536e-01 -5.29408356e-05 2.61769635e+02] [-2.43194648e-03 -2.14211655e-05 9.99997043e-01 -1.50167063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:736.39, Y:261.77, Z:-15.02 [[ 9.99518058e-01 3.09473569e-02 2.43146454e-03 7.36394649e+02] [-3.09473197e-02 9.99521016e-01 -5.29408356e-05 2.61765275e+02] [-2.43193829e-03 -2.23319894e-05 9.99997043e-01 -1.50191398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.845336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:736.45, Y:261.76, Z:-15.02 [[ 9.99504365e-01 3.13865066e-02 2.43146524e-03 7.36453839e+02] [-3.13864708e-02 9.99507322e-01 -5.29088630e-05 2.61761062e+02] [-2.43192794e-03 -2.34324733e-05 9.99997043e-01 -1.50185633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:736.51, Y:261.76, Z:-15.01 [[ 9.99486157e-01 3.19610716e-02 2.43146650e-03 7.36513944e+02] [-3.19610375e-02 9.99489114e-01 -5.28507589e-05 2.61758677e+02] [-2.43191347e-03 -2.48885903e-05 9.99997043e-01 -1.50145174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:736.57, Y:261.76, Z:-15.01 [[ 9.99486916e-01 3.19373112e-02 2.43146650e-03 7.36573375e+02] [-3.19372771e-02 9.99489874e-01 -5.28507588e-05 2.61755289e+02] [-2.43191406e-03 -2.48307776e-05 9.99997043e-01 -1.50087507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:736.63, Y:261.75, Z:-15.01 [[ 9.99500838e-01 3.14986090e-02 2.43146717e-03 7.36632803e+02] [-3.14985737e-02 9.99503795e-01 -5.28198907e-05 2.61751420e+02] [-2.43192442e-03 -2.37942230e-05 9.99997043e-01 -1.50139318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:736.69, Y:261.75, Z:-15.01 [[ 9.99615661e-01 2.76155475e-02 2.43146843e-03 7.36692294e+02] [-2.76155008e-02 9.99618618e-01 -5.27622078e-05 2.61745770e+02] [-2.43199816e-03 -1.44042891e-05 9.99997043e-01 -1.50149667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:736.75, Y:261.74, Z:-15.02 [[ 9.99698255e-01 2.44435579e-02 2.43146908e-03 7.36752737e+02] [-2.44435019e-02 9.99701212e-01 -5.27319146e-05 2.61742091e+02] [-2.43203154e-03 -6.71761621e-06 9.99997043e-01 -1.50165787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:736.81, Y:261.74, Z:-15.02 [[ 9.99727554e-01 2.32143645e-02 2.43146843e-03 7.36813397e+02] [-2.32143048e-02 9.99730510e-01 -5.27622205e-05 2.61736051e+02] [-2.43203801e-03 -3.69700356e-06 9.99997043e-01 -1.50163619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.265336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:736.87, Y:261.73, Z:-15.02 [[ 9.99667475e-01 2.56715439e-02 2.43146843e-03 7.36873703e+02] [-2.56714915e-02 9.99670432e-01 -5.27622205e-05 2.61734124e+02] [-2.43202158e-03 -9.67474529e-06 9.99997043e-01 -1.50184275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:736.93, Y:261.73, Z:-15.02 [[ 9.99598290e-01 2.82373090e-02 2.43146843e-03 7.36933522e+02] [-2.82372642e-02 9.99601248e-01 -5.27622204e-05 2.61732257e+02] [-2.43198873e-03 -1.59169911e-05 9.99997043e-01 -1.50192890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.385336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:736.99, Y:261.73, Z:-15.02 [[ 9.99502550e-01 3.14442586e-02 2.43146970e-03 7.36993394e+02] [-3.14442234e-02 9.99505507e-01 -5.27032888e-05 2.61729374e+02] [-2.43192457e-03 -2.37786051e-05 9.99997043e-01 -1.50223208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.445336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:737.05, Y:261.73, Z:-15.02 [[ 9.99474661e-01 3.23185762e-02 2.43146904e-03 7.37053668e+02] [-3.23185436e-02 9.99477618e-01 -5.27338338e-05 2.61727601e+02] [-2.43190317e-03 -2.58754074e-05 9.99997043e-01 -1.50211961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:737.11, Y:261.73, Z:-15.02 [[ 9.99505403e-01 3.13534297e-02 2.43146904e-03 7.37114638e+02] [-3.13533942e-02 9.99508360e-01 -5.27338339e-05 2.61725441e+02] [-2.43192702e-03 -2.35270554e-05 9.99997043e-01 -1.50162304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:737.17, Y:261.72, Z:-15.02 [[ 9.99556337e-01 2.96852876e-02 2.43146893e-03 7.37174174e+02] [-2.96852472e-02 9.99559295e-01 -5.27391195e-05 2.61721816e+02] [-2.43196294e-03 -1.94630349e-05 9.99997043e-01 -1.50167766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:737.23, Y:261.72, Z:-15.02 [[ 9.99587397e-01 2.86203225e-02 2.43146960e-03 7.37234952e+02] [-2.86202790e-02 9.99590355e-01 -5.27078783e-05 2.61717668e+02] [-2.43198208e-03 -1.69032074e-05 9.99997043e-01 -1.50161716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:737.30, Y:261.71, Z:-15.02 [[ 9.99541505e-01 3.01805691e-02 2.43146960e-03 7.37295837e+02] [-3.01805302e-02 9.99544463e-01 -5.27078785e-05 2.61713862e+02] [-2.43195273e-03 -2.06993295e-05 9.99997043e-01 -1.50198935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:737.36, Y:261.71, Z:-15.02 [[ 9.99494825e-01 3.16888521e-02 2.43146960e-03 7.37356037e+02] [-3.16888176e-02 9.99497782e-01 -5.27078785e-05 2.61711494e+02] [-2.43191873e-03 -2.43691450e-05 9.99997043e-01 -1.50179004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:737.42, Y:261.71, Z:-15.02 [[ 9.99409192e-01 3.42834529e-02 2.43146936e-03 7.37416850e+02] [-3.42834261e-02 9.99412149e-01 -5.27189077e-05 2.61709323e+02] [-2.43184741e-03 -3.06713392e-05 9.99997043e-01 -1.50170241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:737.48, Y:261.71, Z:-15.02 [[ 9.99338324e-01 3.62905312e-02 2.43146936e-03 7.37475745e+02] [-3.62905103e-02 9.99341281e-01 -5.27189078e-05 2.61706676e+02] [-2.43178091e-03 -3.55552390e-05 9.99997043e-01 -1.50201479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:737.54, Y:261.71, Z:-15.02 [[ 9.99336562e-01 3.63390019e-02 2.43147072e-03 7.37535767e+02] [-3.63389813e-02 9.99339520e-01 -5.26560556e-05 2.61706110e+02] [-2.43177825e-03 -3.57360476e-05 9.99997043e-01 -1.50167748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:737.60, Y:261.70, Z:-15.02 [[ 9.99434499e-01 3.35375854e-02 2.43147072e-03 7.37596507e+02] [-3.35375565e-02 9.99437457e-01 -5.26560557e-05 2.61704498e+02] [-2.43186887e-03 -2.89193081e-05 9.99997043e-01 -1.50184135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.045336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:737.66, Y:261.70, Z:-15.02 [[ 9.99584484e-01 2.87219125e-02 2.43146751e-03 7.37656764e+02] [-2.87218691e-02 9.99587441e-01 -5.28041406e-05 2.61701143e+02] [-2.43198102e-03 -1.70540918e-05 9.99997043e-01 -1.50198409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:737.72, Y:261.69, Z:-15.02 [[ 9.99788096e-01 2.04414059e-02 2.43146751e-03 7.37717824e+02] [-2.04413379e-02 9.99791053e-01 -5.28041406e-05 2.61694374e+02] [-2.43203885e-03 3.09050224e-06 9.99997043e-01 -1.50207486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:737.78, Y:261.69, Z:-15.02 [[ 9.99888164e-01 1.47562922e-02 2.43146622e-03 7.37778530e+02] [-1.47562073e-02 9.99891120e-01 -5.28632221e-05 2.61686202e+02] [-2.43198155e-03 1.69780905e-05 9.99997043e-01 -1.50170205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:737.84, Y:261.68, Z:-15.02 [[ 9.99912735e-01 1.29849892e-02 2.43146555e-03 7.37839307e+02] [-1.29848989e-02 9.99915691e-01 -5.28944016e-05 2.61678338e+02] [-2.43194739e-03 2.13174515e-05 9.99997043e-01 -1.50218670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:737.90, Y:261.67, Z:-15.02 [[ 9.99884504e-01 1.50022394e-02 2.43145665e-03 7.37900883e+02] [-1.50021542e-02 9.99887460e-01 -5.33001386e-05 2.61670007e+02] [-2.43198264e-03 1.68168951e-05 9.99997043e-01 -1.50223642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:737.96, Y:261.67, Z:-15.02 [[ 9.99858253e-01 1.66601709e-02 2.43145538e-03 7.37961994e+02] [-1.66600905e-02 9.99861210e-01 -5.33582488e-05 2.61667616e+02] [-2.43200687e-03 1.28424190e-05 9.99997043e-01 -1.50246798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.405336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:738.02, Y:261.67, Z:-15.02 [[ 9.99793877e-01 2.01566812e-02 2.43145040e-03 7.38023671e+02] [-2.01566105e-02 9.99796833e-01 -5.35840397e-05 2.61665146e+02] [-2.43203649e-03 4.56319613e-06 9.99997043e-01 -1.50203033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:738.08, Y:261.66, Z:-15.02 [[ 9.99628477e-01 2.71476693e-02 2.43144909e-03 7.38084197e+02] [-2.71476191e-02 9.99631434e-01 -5.36432646e-05 2.61659235e+02] [-2.43200923e-03 -1.23847189e-05 9.99997043e-01 -1.50233583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:738.14, Y:261.65, Z:-15.02 [[ 9.99338928e-01 3.62738783e-02 2.43144845e-03 7.38144263e+02] [-3.62738550e-02 9.99341886e-01 -5.36725368e-05 2.61654577e+02] [-2.43179519e-03 -3.45609531e-05 9.99997043e-01 -1.50197173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:738.20, Y:261.65, Z:-15.02 [[ 9.99213744e-01 3.95724926e-02 2.43144778e-03 7.38204093e+02] [-3.95724790e-02 9.99216701e-01 -5.37028348e-05 2.61653555e+02] [-2.43166838e-03 -4.25578055e-05 9.99997043e-01 -1.50249115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:738.27, Y:261.65, Z:-15.03 [[ 9.99105054e-01 4.22277090e-02 2.43144711e-03 7.38265459e+02] [-4.22277032e-02 9.99108011e-01 -5.37331492e-05 2.61653667e+02] [-2.43154731e-03 -4.89893659e-05 9.99997043e-01 -1.50258894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.705336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:738.33, Y:261.65, Z:-15.02 [[ 9.99076031e-01 4.29088942e-02 2.43144583e-03 7.38325863e+02] [-4.29088904e-02 9.99078988e-01 -5.37910967e-05 2.61651934e+02] [-2.43151455e-03 -5.05892470e-05 9.99997043e-01 -1.50238346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:738.39, Y:261.65, Z:-15.02 [[ 9.99257256e-01 3.84580844e-02 2.43144518e-03 7.38386521e+02] [-3.84580672e-02 9.99260213e-01 -5.38204073e-05 2.61651780e+02] [-2.43171626e-03 -3.97282496e-05 9.99997043e-01 -1.50245983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:738.45, Y:261.65, Z:-15.02 [[ 9.99362213e-01 3.56266035e-02 2.43144453e-03 7.38447985e+02] [-3.56265779e-02 9.99365171e-01 -5.38497333e-05 2.61650701e+02] [-2.43181946e-03 -3.28086593e-05 9.99997043e-01 -1.50221436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:738.51, Y:261.65, Z:-15.02 [[ 9.99446747e-01 3.31705765e-02 2.43144326e-03 7.38509458e+02] [-3.31705436e-02 9.99449705e-01 -5.39068685e-05 2.61650515e+02] [-2.43189337e-03 -2.67752503e-05 9.99997043e-01 -1.50205839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.945336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:738.57, Y:261.65, Z:-15.02 [[ 9.99620171e-01 2.74518126e-02 2.43144198e-03 7.38570239e+02] [-2.74517626e-02 9.99623128e-01 -5.39644007e-05 2.61649995e+02] [-2.43200706e-03 -1.28034647e-05 9.99997043e-01 -1.50216871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:738.63, Y:261.65, Z:-15.02 [[ 9.99777756e-01 2.09410094e-02 2.43143371e-03 7.38632638e+02] [-2.09409392e-02 9.99780713e-01 -5.43347132e-05 2.61647642e+02] [-2.43203835e-03 3.40613208e-06 9.99997043e-01 -1.50220232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:738.69, Y:261.65, Z:-15.02 [[ 9.99839079e-01 1.77736831e-02 2.43142501e-03 7.38693958e+02] [-1.77736026e-02 9.99842036e-01 -5.47212171e-05 2.61645773e+02] [-2.43201353e-03 1.14972294e-05 9.99997043e-01 -1.50182902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:738.76, Y:261.64, Z:-15.02 [[ 9.99938996e-01 1.07746288e-02 2.43142377e-03 7.38755121e+02] [-1.07745274e-02 9.99941952e-01 -5.47762759e-05 2.61639139e+02] [-2.43187282e-03 2.85754922e-05 9.99997043e-01 -1.50219295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:738.82, Y:261.63, Z:-15.02 [[ 9.99950413e-01 9.65710528e-03 2.43141570e-03 7.38816595e+02] [-9.65699977e-03 9.99953369e-01 -5.51324118e-05 2.61633571e+02] [-2.43183473e-03 3.16494971e-05 9.99997043e-01 -1.50220261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:738.88, Y:261.63, Z:-15.02 [[ 9.99942792e-01 1.04164006e-02 2.43140776e-03 7.38877614e+02] [-1.04162965e-02 9.99945747e-01 -5.54802555e-05 2.61629009e+02] [-2.43185375e-03 3.01508174e-05 9.99997043e-01 -1.50230191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:738.94, Y:261.62, Z:-15.02 [[ 9.99918569e-01 1.25277229e-02 2.43140654e-03 7.38938301e+02] [-1.25276249e-02 9.99921525e-01 -5.55335035e-05 2.61620471e+02] [-2.43191144e-03 2.50692323e-05 9.99997043e-01 -1.50233603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:739.00, Y:261.62, Z:-15.02 [[ 9.99905321e-01 1.35438841e-02 2.43139868e-03 7.38999845e+02] [-1.35437883e-02 9.99908277e-01 -5.58756374e-05 2.61615080e+02] [-2.43193244e-03 2.29399982e-05 9.99997043e-01 -1.50197894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:739.06, Y:261.61, Z:-15.02 [[ 9.99865864e-01 1.61969693e-02 2.43139738e-03 7.39061850e+02] [-1.61968811e-02 9.99868820e-01 -5.59322629e-05 2.61607182e+02] [-2.43198436e-03 1.65437061e-05 9.99997043e-01 -1.50201331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:739.12, Y:261.60, Z:-15.02 [[ 9.99822023e-01 1.87085876e-02 2.43138772e-03 7.39123528e+02] [-1.87085059e-02 9.99824979e-01 -5.63488772e-05 2.61601043e+02] [-2.43201639e-03 1.08512169e-05 9.99997043e-01 -1.50219567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:739.18, Y:261.59, Z:-15.02 [[ 9.99755034e-01 2.19990825e-02 2.43137804e-03 7.39184788e+02] [-2.19990095e-02 9.99757991e-01 -5.67637449e-05 2.61593989e+02] [-2.43203837e-03 3.26193131e-06 9.99997043e-01 -1.50230982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.6053361950001 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:739.25, Y:261.59, Z:-15.02 [[ 9.99691351e-01 2.47242981e-02 2.43136909e-03 7.39245740e+02] [-2.47242323e-02 9.99694308e-01 -5.71444527e-05 2.61590341e+02] [-2.43203869e-03 -2.98691895e-06 9.99997043e-01 -1.50234148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.665336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:739.31, Y:261.59, Z:-15.02 [[ 9.99530484e-01 3.05434034e-02 2.43136378e-03 7.39307684e+02] [-3.05433542e-02 9.99533441e-01 -5.73692673e-05 2.61586613e+02] [-2.43198166e-03 -1.69196737e-05 9.99997043e-01 -1.50215602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:739.37, Y:261.58, Z:-15.02 [[ 9.99397997e-01 3.46082531e-02 2.43135416e-03 7.39368729e+02] [-3.46082150e-02 9.99400955e-01 -5.77743856e-05 2.61584998e+02] [-2.43189714e-03 -2.64052221e-05 9.99997043e-01 -1.50212737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:739.43, Y:261.58, Z:-15.02 [[ 9.99382234e-01 3.50605094e-02 2.43134885e-03 7.39431133e+02] [-3.50604720e-02 9.99385191e-01 -5.79967700e-05 2.61582199e+02] [-2.43188743e-03 -2.72832968e-05 9.99997043e-01 -1.50218168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.845336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:739.49, Y:261.58, Z:-15.02 [[ 9.99475209e-01 3.23016305e-02 2.43133889e-03 7.39492530e+02] [-3.23015840e-02 9.99478166e-01 -5.84112452e-05 2.61582539e+02] [-2.43195692e-03 -2.01555060e-05 9.99997043e-01 -1.50239712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:739.56, Y:261.58, Z:-15.02 [[ 9.99618710e-01 2.75049508e-02 2.43132969e-03 7.39555005e+02] [-2.75048891e-02 9.99621667e-01 -5.87920010e-05 2.61580023e+02] [-2.43202691e-03 -8.10386929e-06 9.99997043e-01 -1.50241814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:739.62, Y:261.58, Z:-15.02 [[ 9.99709738e-01 2.39693098e-02 2.43131983e-03 7.39616962e+02] [-2.39692367e-02 9.99712695e-01 -5.91969916e-05 2.61577916e+02] [-2.43204021e-03 9.02928633e-07 9.99997043e-01 -1.50235817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:739.68, Y:261.57, Z:-15.02 [[ 9.99832467e-01 1.81418250e-02 2.43130958e-03 7.39678443e+02] [-1.81417336e-02 9.99835423e-01 -5.96148962e-05 2.61574963e+02] [-2.43199097e-03 1.54967379e-05 9.99997043e-01 -1.50244988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:739.74, Y:261.57, Z:-15.02 [[ 9.99918731e-01 1.25148177e-02 2.43129869e-03 7.39740294e+02] [-1.25147086e-02 9.99921686e-01 -6.00559388e-05 2.61571154e+02] [-2.43185987e-03 2.96240635e-05 9.99997043e-01 -1.50234023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:739.80, Y:261.57, Z:-15.03 [[ 9.99952155e-01 9.47502874e-03 2.43128814e-03 7.39801212e+02] [-9.47490969e-03 9.99955110e-01 -6.04799373e-05 2.61566345e+02] [-2.43175205e-03 3.74408081e-05 9.99997043e-01 -1.50257106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:739.86, Y:261.56, Z:-15.03 [[ 9.99963742e-01 8.16109446e-03 2.43127843e-03 7.39863656e+02] [-8.16097058e-03 9.99966697e-01 -6.08675741e-05 2.61560345e+02] [-2.43169421e-03 4.10237754e-05 9.99997043e-01 -1.50261943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:739.93, Y:261.56, Z:-15.03 [[ 9.99956345e-01 9.02198690e-03 2.43126830e-03 7.39925930e+02] [-9.02186459e-03 9.99959300e-01 -6.12696322e-05 2.61557099e+02] [-2.43172212e-03 3.93323841e-05 9.99997043e-01 -1.50259057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:739.99, Y:261.55, Z:-15.02 [[ 9.99874557e-01 1.56511509e-02 2.43125808e-03 7.39987850e+02] [-1.56510472e-02 9.99877513e-01 -6.16725968e-05 2.61551627e+02] [-2.43192553e-03 2.36131254e-05 9.99997043e-01 -1.50242796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:740.05, Y:261.55, Z:-15.02 [[ 9.99737226e-01 2.27940257e-02 2.43125512e-03 7.40049626e+02] [-2.27939428e-02 9.99740182e-01 -6.17891025e-05 2.61549924e+02] [-2.43203186e-03 6.35497589e-06 9.99997043e-01 -1.50230291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.445336195 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:740.11, Y:261.55, Z:-15.02 [[ 9.99466945e-01 3.25563336e-02 2.43124458e-03 7.40112228e+02] [-3.25562787e-02 9.99469902e-01 -6.22009432e-05 2.61547506e+02] [-2.43198082e-03 -1.69844895e-05 9.99997043e-01 -1.50243631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:740.17, Y:261.55, Z:-15.02 [[ 9.99216691e-01 3.94980222e-02 2.43123402e-03 7.40173250e+02] [-3.94979867e-02 9.99219648e-01 -6.26111395e-05 2.61546501e+02] [-2.43180982e-03 -3.34667533e-05 9.99997043e-01 -1.50245827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:740.24, Y:261.55, Z:-15.02 [[ 9.99089282e-01 4.25992574e-02 2.43122423e-03 7.40235063e+02] [-4.25992302e-02 9.99092239e-01 -6.29891496e-05 2.61545876e+02] [-2.43170055e-03 -4.06364962e-05 9.99997043e-01 -1.50244322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:740.30, Y:261.55, Z:-15.03 [[ 9.98928065e-01 4.62256411e-02 2.43121383e-03 7.40297597e+02] [-4.62256237e-02 9.98931022e-01 -6.33879596e-05 2.61547429e+02] [-2.43154506e-03 -4.90643636e-05 9.99997043e-01 -1.50250677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:740.36, Y:261.55, Z:-15.02 [[ 9.98814731e-01 4.86129927e-02 2.43120337e-03 7.40360119e+02] [-4.86129814e-02 9.98817688e-01 -6.37865294e-05 2.61550901e+02] [-2.43142978e-03 -5.44771191e-05 9.99997043e-01 -1.50234898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:740.42, Y:261.55, Z:-15.03 [[ 9.98814280e-01 4.86222607e-02 2.43119236e-03 7.40421114e+02] [-4.86222484e-02 9.98817237e-01 -6.42035000e-05 2.61553390e+02] [-2.43143855e-03 -5.40826662e-05 9.99997043e-01 -1.50256838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:740.48, Y:261.56, Z:-15.03 [[ 9.98978025e-01 4.51330806e-02 2.43118221e-03 7.40483073e+02] [-4.51330571e-02 9.98980982e-01 -6.45853962e-05 2.61559277e+02] [-2.43161973e-03 -4.52072941e-05 9.99997043e-01 -1.50258271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:740.55, Y:261.56, Z:-15.03 [[ 9.99182291e-01 4.03588846e-02 2.43117142e-03 7.40545750e+02] [-4.03588459e-02 9.99185248e-01 -6.49891373e-05 2.61561385e+02] [-2.43181351e-03 -3.31832776e-05 9.99997043e-01 -1.50269766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:740.61, Y:261.56, Z:-15.03 [[ 9.99523570e-01 3.07688414e-02 2.43116014e-03 7.40608918e+02] [-3.07687733e-02 9.99526527e-01 -6.54082609e-05 2.61561346e+02] [-2.43202159e-03 -9.42671678e-06 9.99997043e-01 -1.50288909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:740.67, Y:261.56, Z:-15.03 [[ 9.99800035e-01 1.98489110e-02 2.43114729e-03 7.40670430e+02] [-1.98488095e-02 9.99802991e-01 -6.58824868e-05 2.61561208e+02] [-2.43197603e-03 1.76139333e-05 9.99997043e-01 -1.50319053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.045336195 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:740.73, Y:261.56, Z:-15.03 [[ 9.99908685e-01 1.32933085e-02 2.43114097e-03 7.40732781e+02] [-1.32931870e-02 9.99911639e-01 -6.61151424e-05 2.61560583e+02] [-2.43180504e-03 3.37914934e-05 9.99997043e-01 -1.50315935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:740.79, Y:261.56, Z:-15.03 [[ 9.99982453e-01 5.40221574e-03 2.43112965e-03 7.40793372e+02] [-5.40206996e-03 9.99985407e-01 -6.65287485e-05 2.61556651e+02] [-2.43145357e-03 5.33944487e-05 9.99997043e-01 -1.50297674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.165336195 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:740.86, Y:261.55, Z:-15.03 [[ 9.99993126e-01 2.79968760e-03 2.43112403e-03 7.40855969e+02] [-2.79953363e-03 9.99996079e-01 -6.67334732e-05 2.61553202e+02] [-2.43130133e-03 5.99270009e-05 9.99997043e-01 -1.50276659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:740.92, Y:261.55, Z:-15.03 [[ 9.99990617e-01 3.58556993e-03 2.43111256e-03 7.40917308e+02] [-3.58541727e-03 9.99993570e-01 -6.71486179e-05 2.61552351e+02] [-2.43133770e-03 5.84314348e-05 9.99997043e-01 -1.50272904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:740.98, Y:261.55, Z:-15.03 [[ 9.99978766e-01 6.04620258e-03 2.43110199e-03 7.40979542e+02] [-6.04605627e-03 9.99981720e-01 -6.75292839e-05 2.61549201e+02] [-2.43146584e-03 5.28292706e-05 9.99997043e-01 -1.50264540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:741.04, Y:261.54, Z:-15.03 [[ 9.99965803e-01 7.90456743e-03 2.43109878e-03 7.41041615e+02] [-7.90442633e-03 9.99968757e-01 -6.76445567e-05 2.61544591e+02] [-2.43155753e-03 4.84258022e-05 9.99997043e-01 -1.50269507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:741.10, Y:261.54, Z:-15.03 [[ 9.99942386e-01 1.04553550e-02 2.43108760e-03 7.41103561e+02] [-1.04552204e-02 9.99945340e-01 -6.80438813e-05 2.61542471e+02] [-2.43166614e-03 4.26224042e-05 9.99997043e-01 -1.50269099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:741.16, Y:261.54, Z:-15.02 [[ 9.99916301e-01 1.27075185e-02 2.43107628e-03 7.41164528e+02] [-1.27073897e-02 9.99919256e-01 -6.84460280e-05 2.61539566e+02] [-2.43174976e-03 3.75476655e-05 9.99997043e-01 -1.50240484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:741.23, Y:261.54, Z:-15.02 [[ 9.99903812e-01 1.36549456e-02 2.43106583e-03 7.41226705e+02] [-1.36548186e-02 9.99906766e-01 -6.88151398e-05 2.61535522e+02] [-2.43177884e-03 3.56127575e-05 9.99997043e-01 -1.50225153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:741.29, Y:261.53, Z:-15.03 [[ 9.99889537e-01 1.46629897e-02 2.43105468e-03 7.41289111e+02] [-1.46628648e-02 9.99892492e-01 -6.92067937e-05 2.61532987e+02] [-2.43180810e-03 3.35529229e-05 9.99997043e-01 -1.50260467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.645336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:741.35, Y:261.53, Z:-15.03 [[ 9.99844700e-01 1.74546877e-02 2.43104342e-03 7.41350913e+02] [-1.74545700e-02 9.99847655e-01 -6.96003498e-05 2.61532298e+02] [-2.43188791e-03 2.71567234e-05 9.99997043e-01 -1.50285731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:741.41, Y:261.53, Z:-15.03 [[ 9.99800356e-01 1.98327736e-02 2.43104086e-03 7.41412108e+02] [-1.98326627e-02 9.99803311e-01 -6.96893790e-05 2.61530263e+02] [-2.43194484e-03 2.14614523e-05 9.99997043e-01 -1.50297296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.765336195 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:741.47, Y:261.53, Z:-15.03 [[ 9.99706374e-01 2.41092508e-02 2.43103422e-03 7.41474161e+02] [-2.41091520e-02 9.99709330e-01 -6.99202260e-05 2.61532380e+02] [-2.43201332e-03 1.12895219e-05 9.99997043e-01 -1.50297432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:741.53, Y:261.53, Z:-15.03 [[ 9.99611848e-01 2.77532595e-02 2.43102202e-03 7.41534943e+02] [-2.77531705e-02 9.99614804e-01 -7.03419033e-05 2.61534489e+02] [-2.43203782e-03 2.84603124e-06 9.99997043e-01 -1.50306501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:741.60, Y:261.53, Z:-15.03 [[ 9.99570203e-01 2.92147153e-02 2.43101070e-03 7.41596271e+02] [-2.92146296e-02 9.99573159e-01 -7.07312083e-05 2.61534767e+02] [-2.43203943e-03 -3.20268888e-07 9.99997043e-01 -1.50264415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.945336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:741.66, Y:261.54, Z:-15.03 [[ 9.99549971e-01 2.98989110e-02 2.43100898e-03 7.41657420e+02] [-2.98988273e-02 9.99552928e-01 -7.07901106e-05 2.61539428e+02] [-2.43203869e-03 -1.92606454e-06 9.99997043e-01 -1.50268120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.005336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:741.72, Y:261.54, Z:-15.03 [[ 9.99551357e-01 2.98525525e-02 2.43100727e-03 7.41719185e+02] [-2.98524685e-02 9.99554313e-01 -7.08486875e-05 2.61542772e+02] [-2.43203882e-03 -1.75466630e-06 9.99997043e-01 -1.50271625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:741.78, Y:261.55, Z:-15.03 [[ 9.99580099e-01 2.88741311e-02 2.43100558e-03 7.41779187e+02] [-2.88740441e-02 9.99583055e-01 -7.09066246e-05 2.61546681e+02] [-2.43203936e-03 6.83888525e-07 9.99997043e-01 -1.50271512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.125336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:741.84, Y:261.55, Z:-15.03 [[ 9.99616626e-01 2.75806267e-02 2.43100475e-03 7.41840770e+02] [-2.75805357e-02 9.99619582e-01 -7.09352336e-05 2.61552715e+02] [-2.43203639e-03 3.85962549e-06 9.99997043e-01 -1.50291579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:741.90, Y:261.55, Z:-15.03 [[ 9.99645939e-01 2.64969213e-02 2.43100308e-03 7.41902062e+02] [-2.64968270e-02 9.99648895e-01 -7.09924095e-05 2.61553061e+02] [-2.43203062e-03 6.55340573e-06 9.99997043e-01 -1.50288601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.245336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:741.96, Y:261.56, Z:-15.03 [[ 9.99743169e-01 2.25318997e-02 2.43100142e-03 7.41963373e+02] [-2.25317935e-02 9.99746124e-01 -7.10490258e-05 2.61558539e+02] [-2.43198512e-03 1.62559561e-05 9.99997043e-01 -1.50298257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:742.02, Y:261.56, Z:-15.03 [[ 9.99803186e-01 1.96895615e-02 2.43099970e-03 7.42023908e+02] [-1.96894468e-02 9.99806142e-01 -7.11080581e-05 2.61559514e+02] [-2.43192851e-03 2.32290238e-05 9.99997043e-01 -1.50296488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:742.09, Y:261.56, Z:-15.03 [[ 9.99857740e-01 1.66909971e-02 2.43099884e-03 7.42085133e+02] [-1.66908735e-02 9.99860695e-01 -7.11372814e-05 2.61561641e+02] [-2.43184755e-03 3.05516674e-05 9.99997043e-01 -1.50303724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:742.15, Y:261.56, Z:-15.03 [[ 9.99908010e-01 1.33439545e-02 2.43099717e-03 7.42146975e+02] [-1.33438208e-02 9.99910965e-01 -7.11945283e-05 2.61561853e+02] [-2.43173074e-03 3.87491886e-05 9.99997043e-01 -1.50290365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:742.21, Y:261.56, Z:-15.03 [[ 9.99947796e-01 9.92452609e-03 2.43099547e-03 7.42207673e+02] [-9.92438218e-03 9.99950750e-01 -7.12524854e-05 2.61561324e+02] [-2.43158289e-03 4.71226376e-05 9.99997043e-01 -1.50286467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:742.27, Y:261.56, Z:-15.03 [[ 9.99965368e-01 7.95952272e-03 2.43098618e-03 7.42268336e+02] [-7.95937224e-03 9.99968321e-01 -7.15680262e-05 2.61558333e+02] [-2.43147881e-03 5.22164238e-05 9.99997043e-01 -1.50295970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:742.33, Y:261.55, Z:-15.03 [[ 9.99957437e-01 8.90020054e-03 2.43097545e-03 7.42330006e+02] [-8.90005196e-03 9.99960391e-01 -7.19304828e-05 2.61554733e+02] [-2.43151936e-03 5.02916134e-05 9.99997043e-01 -1.50285095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:742.39, Y:261.55, Z:-15.03 [[ 9.99900081e-01 1.39254413e-02 2.43097377e-03 7.42391003e+02] [-1.39253075e-02 9.99903036e-01 -7.19873867e-05 2.61552276e+02] [-2.43174051e-03 3.81281367e-05 9.99997043e-01 -1.50280595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:742.45, Y:261.55, Z:-15.03 [[ 9.99763027e-01 2.16328736e-02 2.43097208e-03 7.42452179e+02] [-2.16327623e-02 9.99765982e-01 -7.20442868e-05 2.61552937e+02] [-2.43196172e-03 1.94385730e-05 9.99997043e-01 -1.50298319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:742.51, Y:261.55, Z:-15.03 [[ 9.99632374e-01 2.70038206e-02 2.43097040e-03 7.42512459e+02] [-2.70037252e-02 9.99635330e-01 -7.21010035e-05 2.61553863e+02] [-2.43203090e-03 6.42924076e-06 9.99997043e-01 -1.50293404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:742.57, Y:261.56, Z:-15.03 [[ 9.99434706e-01 3.35314711e-02 2.43097040e-03 7.42572001e+02] [-3.35313949e-02 9.99437662e-01 -7.21010036e-05 2.61556162e+02] [-2.43202103e-03 -9.45358327e-06 9.99997043e-01 -1.50324681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:742.63, Y:261.56, Z:-15.03 [[ 9.99353306e-01 3.58756154e-02 2.43097127e-03 7.42632975e+02] [-3.58755462e-02 9.99356263e-01 -7.20714977e-05 2.61557073e+02] [-2.43199198e-03 -1.51875329e-05 9.99997043e-01 -1.50323488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:742.69, Y:261.56, Z:-15.03 [[ 9.99345807e-01 3.60839203e-02 2.43097127e-03 7.42693089e+02] [-3.60838517e-02 9.99348763e-01 -7.20714977e-05 2.61562072e+02] [-2.43198876e-03 -1.56944580e-05 9.99997043e-01 -1.50332396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:742.75, Y:261.57, Z:-15.03 [[ 9.99426027e-01 3.37891432e-02 2.43097041e-03 7.42754158e+02] [-3.37890678e-02 9.99428984e-01 -7.21007372e-05 2.61565139e+02] [-2.43201851e-03 -1.00808706e-05 9.99997043e-01 -1.50336115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.085336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:742.81, Y:261.57, Z:-15.03 [[ 9.99498543e-01 3.15713848e-02 2.43097041e-03 7.42814649e+02] [-3.15713028e-02 9.99501500e-01 -7.21007373e-05 2.61571417e+02] [-2.43203489e-03 -4.68432104e-06 9.99997043e-01 -1.50338667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:742.87, Y:261.57, Z:-15.04 [[ 9.99509149e-01 3.12338119e-02 2.43097041e-03 7.42873824e+02] [-3.12337289e-02 9.99512105e-01 -7.21007372e-05 2.61573633e+02] [-2.43203633e-03 -3.86292417e-06 9.99997043e-01 -1.50360423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:742.93, Y:261.58, Z:-15.04 [[ 9.99517604e-01 3.09620640e-02 2.43097130e-03 7.42934435e+02] [-3.09619803e-02 9.99520560e-01 -7.20705775e-05 2.61579202e+02] [-2.43203725e-03 -3.23187448e-06 9.99997043e-01 -1.50357681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:743.00, Y:261.59, Z:-15.03 [[ 9.99591098e-01 2.84908372e-02 2.43097130e-03 7.42995391e+02] [-2.84907462e-02 9.99594054e-01 -7.20705775e-05 2.61585269e+02] [-2.43203781e-03 2.78092135e-06 9.99997043e-01 -1.50344607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:743.05, Y:261.59, Z:-15.04 [[ 9.99669901e-01 2.55769370e-02 2.43097130e-03 7.43054783e+02] [-2.55768374e-02 9.99672857e-01 -7.20705776e-05 2.61588266e+02] [-2.43201937e-03 9.87022957e-06 9.99997043e-01 -1.50358744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:743.12, Y:261.59, Z:-15.03 [[ 9.99716305e-01 2.36938927e-02 2.43097026e-03 7.43115254e+02] [-2.36937874e-02 9.99719260e-01 -7.21056378e-05 2.61590856e+02] [-2.43199625e-03 1.44862892e-05 9.99997043e-01 -1.50339598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:743.17, Y:261.60, Z:-15.03 [[ 9.99797674e-01 1.99675028e-02 2.43097026e-03 7.43174718e+02] [-1.99673865e-02 9.99800629e-01 -7.21056379e-05 2.61595238e+02] [-2.43192537e-03 2.35509262e-05 9.99997043e-01 -1.50349899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:743.24, Y:261.60, Z:-15.04 [[ 9.99845234e-01 1.74240975e-02 2.43097114e-03 7.43235543e+02] [-1.74239738e-02 9.99848188e-01 -7.20761595e-05 2.61596982e+02] [-2.43185795e-03 2.97078272e-05 9.99997043e-01 -1.50357576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:743.30, Y:261.60, Z:-15.04 [[ 9.99885329e-01 1.49472364e-02 2.43097114e-03 7.43296451e+02] [-1.49471054e-02 9.99888283e-01 -7.20761595e-05 2.61598688e+02] [-2.43177689e-03 3.57319127e-05 9.99997043e-01 -1.50351817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.625336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:743.36, Y:261.60, Z:-15.04 [[ 9.99887926e-01 1.47724463e-02 2.43097114e-03 7.43356788e+02] [-1.47723147e-02 9.99890881e-01 -7.20761595e-05 2.61601705e+02] [-2.43177061e-03 3.61570110e-05 9.99997043e-01 -1.50356668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:743.42, Y:261.60, Z:-15.04 [[ 9.99866091e-01 1.61830099e-02 2.43097114e-03 7.43416645e+02] [-1.61828825e-02 9.99869046e-01 -7.20761595e-05 2.61604993e+02] [-2.43181920e-03 3.27263876e-05 9.99997043e-01 -1.50354437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:743.48, Y:261.61, Z:-15.03 [[ 9.99865017e-01 1.62492635e-02 2.43097024e-03 7.43477048e+02] [-1.62491362e-02 9.99867971e-01 -7.21063826e-05 2.61606314e+02] [-2.43182096e-03 3.25954828e-05 9.99997043e-01 -1.50342911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.805336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:743.54, Y:261.61, Z:-15.04 [[ 9.99910828e-01 1.31311381e-02 2.43097024e-03 7.43536492e+02] [-1.31310016e-02 9.99913782e-01 -7.21063827e-05 2.61607909e+02] [-2.43170748e-03 4.01788786e-05 9.99997043e-01 -1.50352085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:743.60, Y:261.60, Z:-15.03 [[ 9.99965801e-01 7.90483184e-03 2.43097108e-03 7.43597157e+02] [-7.90467996e-03 9.99968755e-01 -7.20778968e-05 2.61604331e+02] [-2.43146489e-03 5.28593835e-05 9.99997043e-01 -1.50348782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.925336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:743.66, Y:261.60, Z:-15.04 [[ 9.99987092e-01 4.46165331e-03 2.43097108e-03 7.43658431e+02] [-4.46149126e-03 9.99990045e-01 -7.20778969e-05 2.61601532e+02] [-2.43126847e-03 6.12312102e-05 9.99997043e-01 -1.50374409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:743.72, Y:261.60, Z:-15.04 [[ 9.99988697e-01 4.08612133e-03 2.43096936e-03 7.43719989e+02] [-4.08595804e-03 9.99991650e-01 -7.21358531e-05 2.61598203e+02] [-2.43124382e-03 6.22021989e-05 9.99997043e-01 -1.50375489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.045336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:743.78, Y:261.60, Z:-15.04 [[ 9.99985907e-01 4.71977247e-03 2.43096766e-03 7.43780986e+02] [-4.71961091e-03 9.99988860e-01 -7.21930957e-05 2.61595721e+02] [-2.43128132e-03 6.07188567e-05 9.99997043e-01 -1.50400892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:743.84, Y:261.59, Z:-15.04 [[ 9.99966309e-01 7.84037532e-03 2.43096596e-03 7.43840997e+02] [-7.84022283e-03 9.99969262e-01 -7.22503420e-05 2.61591739e+02] [-2.43145771e-03 5.31885929e-05 9.99997043e-01 -1.50401376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:743.90, Y:261.59, Z:-15.04 [[ 9.99906603e-01 1.34490337e-02 2.43096512e-03 7.43902262e+02] [-1.34488978e-02 9.99909557e-01 -7.22787479e-05 2.61588666e+02] [-2.43171733e-03 3.95781960e-05 9.99997043e-01 -1.50380540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:743.96, Y:261.59, Z:-15.04 [[ 9.99796257e-01 2.00383463e-02 2.43096337e-03 7.43962784e+02] [-2.00382297e-02 9.99799212e-01 -7.23375069e-05 2.61585714e+02] [-2.43192479e-03 2.36105662e-05 9.99997043e-01 -1.50381378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.285336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:744.02, Y:261.58, Z:-15.04 [[ 9.99708248e-01 2.40314243e-02 2.43096337e-03 7.44022191e+02] [-2.40313194e-02 9.99711204e-01 -7.23375068e-05 2.61584299e+02] [-2.43199969e-03 1.38971449e-05 9.99997043e-01 -1.50403072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:744.08, Y:261.58, Z:-15.04 [[ 9.99541045e-01 3.01958464e-02 2.43096424e-03 7.44080859e+02] [-3.01957599e-02 9.99544001e-01 -7.23083710e-05 2.61581283e+02] [-2.43203913e-03 -1.12962760e-06 9.99997043e-01 -1.50356606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.405336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:744.14, Y:261.58, Z:-15.04 [[ 9.99279761e-01 3.78688596e-02 2.43096611e-03 7.44140099e+02] [-3.78687959e-02 9.99282717e-01 -7.22453644e-05 2.61581040e+02] [-2.43195827e-03 -1.98644290e-05 9.99997043e-01 -1.50357113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:744.20, Y:261.58, Z:-15.03 [[ 9.98852214e-01 4.78366536e-02 2.43096945e-03 7.44199049e+02] [-4.78366197e-02 9.98855171e-01 -7.21327738e-05 2.61581868e+02] [-2.43163700e-03 -4.42393801e-05 9.99997043e-01 -1.50346587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:744.26, Y:261.59, Z:-15.03 [[ 9.98455434e-01 5.55052783e-02 2.43097281e-03 7.44257958e+02] [-5.55052673e-02 9.98458392e-01 -7.20192483e-05 2.61586003e+02] [-2.43122265e-03 -6.30237860e-05 9.99997043e-01 -1.50343068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:744.32, Y:261.59, Z:-15.04 [[ 9.98325391e-01 5.77970861e-02 2.43097619e-03 7.44315581e+02] [-5.77970822e-02 9.98328349e-01 -7.19051119e-05 2.61588959e+02] [-2.43106835e-03 -6.87186317e-05 9.99997043e-01 -1.50351024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:744.38, Y:261.59, Z:-15.03 [[ 9.98377336e-01 5.68927469e-02 2.43098070e-03 7.44375006e+02] [-5.68927407e-02 9.98380294e-01 -7.17521596e-05 2.61594690e+02] [-2.43112541e-03 -6.66694249e-05 9.99997043e-01 -1.50341972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:744.43, Y:261.60, Z:-15.03 [[ 9.98624461e-01 5.23762949e-02 2.43098398e-03 7.44433630e+02] [-5.23762756e-02 9.98627418e-01 -7.16408413e-05 2.61599226e+02] [-2.43139954e-03 -5.57835905e-05 9.99997043e-01 -1.50345860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:744.49, Y:261.60, Z:-15.03 [[ 9.98891124e-01 4.70171522e-02 2.43098724e-03 7.44492309e+02] [-4.70171173e-02 9.98894081e-01 -7.15301409e-05 2.61603896e+02] [-2.43166191e-03 -4.28471895e-05 9.99997043e-01 -1.50340302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:744.55, Y:261.61, Z:-15.04 [[ 9.99021459e-01 4.41612309e-02 2.43099064e-03 7.44551626e+02] [-4.41611878e-02 9.99024416e-01 -7.14144800e-05 2.61607171e+02] [-2.43177276e-03 -3.60108362e-05 9.99997043e-01 -1.50358661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:744.61, Y:261.61, Z:-15.04 [[ 9.99146262e-01 4.12412195e-02 2.43099404e-03 7.44610300e+02] [-4.12411681e-02 9.99149219e-01 -7.12986734e-05 2.61613789e+02] [-2.43186624e-03 -2.90192305e-05 9.99997043e-01 -1.50381192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:744.67, Y:261.62, Z:-15.04 [[ 9.99246570e-01 3.87347636e-02 2.43099745e-03 7.44668149e+02] [-3.87347050e-02 9.99249527e-01 -7.11821322e-05 2.61619592e+02] [-2.43193027e-03 -2.30354676e-05 9.99997043e-01 -1.50379644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:744.73, Y:261.63, Z:-15.04 [[ 9.99370173e-01 3.54026607e-02 2.43100166e-03 7.44726460e+02] [-3.54025927e-02 9.99373129e-01 -7.10379008e-05 2.61627519e+02] [-2.43199267e-03 -1.50706025e-05 9.99997043e-01 -1.50385142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:744.79, Y:261.63, Z:-15.04 [[ 9.99478695e-01 3.21936109e-02 2.43100620e-03 7.44785209e+02] [-3.21935338e-02 9.99481651e-01 -7.08823571e-05 2.61631042e+02] [-2.43202805e-03 -7.41727433e-06 9.99997043e-01 -1.50395163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.125336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:744.84, Y:261.64, Z:-15.04 [[ 9.99679726e-01 2.51899964e-02 2.43100951e-03 7.44843869e+02] [-2.51898988e-02 9.99682682e-01 -7.07686583e-05 2.61635104e+02] [-2.43202077e-03 9.50910961e-06 9.99997043e-01 -1.50396606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:744.90, Y:261.64, Z:-15.04 [[ 9.99840236e-01 1.77085745e-02 2.43101282e-03 7.44902363e+02] [-1.77084550e-02 9.99843191e-01 -7.06547560e-05 2.61636676e+02] [-2.43188281e-03 2.75939868e-05 9.99997043e-01 -1.50393032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:744.96, Y:261.64, Z:-15.04 [[ 9.99930220e-01 1.15604908e-02 2.43101526e-03 7.44961883e+02] [-1.15603534e-02 9.99933174e-01 -7.05705043e-05 2.61637045e+02] [-2.43166864e-03 4.24621844e-05 9.99997043e-01 -1.50377282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:745.02, Y:261.64, Z:-15.04 [[ 9.99955907e-01 9.07055790e-03 2.43101691e-03 7.45021610e+02] [-9.07041327e-03 9.99958860e-01 -7.05136915e-05 2.61635307e+02] [-2.43155650e-03 4.84602543e-05 9.99997043e-01 -1.50382698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:745.08, Y:261.63, Z:-15.04 [[ 9.99969071e-01 7.47982544e-03 2.43101854e-03 7.45082285e+02] [-7.47967625e-03 9.99972024e-01 -7.04574274e-05 2.61632282e+02] [-2.43147754e-03 5.22720166e-05 9.99997043e-01 -1.50406794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:745.14, Y:261.63, Z:-15.04 [[ 9.99966053e-01 7.87297468e-03 2.43101854e-03 7.45142530e+02] [-7.87282664e-03 9.99969006e-01 -7.04574274e-05 2.61628867e+02] [-2.43149791e-03 5.13160480e-05 9.99997043e-01 -1.50413985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.4853361950001 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:745.20, Y:261.63, Z:-15.04 [[ 9.99954762e-01 9.19582465e-03 2.43101854e-03 7.45203431e+02] [-9.19568052e-03 9.99957716e-01 -7.04574273e-05 2.61626024e+02] [-2.43156366e-03 4.80993701e-05 9.99997043e-01 -1.50434224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:745.26, Y:261.62, Z:-15.04 [[ 9.99899170e-01 1.39906765e-02 2.43101854e-03 7.45262945e+02] [-1.39905466e-02 9.99902125e-01 -7.04574273e-05 2.61622339e+02] [-2.43176635e-03 3.64390450e-05 9.99997043e-01 -1.50435198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:745.32, Y:261.62, Z:-15.05 [[ 9.99791261e-01 2.02860559e-02 2.43101936e-03 7.45321397e+02] [-2.02859447e-02 9.99794217e-01 -7.04292456e-05 2.61619478e+02] [-2.43194783e-03 2.10990201e-05 9.99997043e-01 -1.50452124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:745.38, Y:261.62, Z:-15.04 [[ 9.99652918e-01 2.62323174e-02 2.43102168e-03 7.45379715e+02] [-2.62322238e-02 9.99655874e-01 -7.03488992e-05 2.61617059e+02] [-2.43203052e-03 6.55337733e-06 9.99997043e-01 -1.50433707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:745.44, Y:261.62, Z:-15.04 [[ 9.99576357e-01 2.90033982e-02 2.43102503e-03 7.45438092e+02] [-2.90033131e-02 9.99579313e-01 -7.02330911e-05 2.61615579e+02] [-2.43203933e-03 -3.04442809e-07 9.99997043e-01 -1.50434418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:745.50, Y:261.62, Z:-15.04 [[ 9.99503204e-01 3.14234915e-02 2.43102837e-03 7.45497179e+02] [-3.14234139e-02 9.99506160e-01 -7.01172906e-05 2.61616102e+02] [-2.43203116e-03 -6.30875394e-06 9.99997043e-01 -1.50432411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:745.55, Y:261.62, Z:-15.04 [[ 9.99466876e-01 3.25584721e-02 2.43103172e-03 7.45554711e+02] [-3.25583981e-02 9.99469832e-01 -7.00010999e-05 2.61615835e+02] [-2.43202199e-03 -9.18671786e-06 9.99997043e-01 -1.50403990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:745.61, Y:261.62, Z:-15.04 [[ 9.99449151e-01 3.30981174e-02 2.43103585e-03 7.45613233e+02] [-3.30980454e-02 9.99452107e-01 -6.98572479e-05 2.61616250e+02] [-2.43201605e-03 -1.06437678e-05 9.99997043e-01 -1.50403484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:745.67, Y:261.62, Z:-15.04 [[ 9.99459843e-01 3.27736398e-02 2.43103914e-03 7.45671522e+02] [-3.27735671e-02 9.99462800e-01 -6.97426264e-05 2.61615743e+02] [-2.43201890e-03 -9.96886987e-06 9.99997043e-01 -1.50410100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.025336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:745.73, Y:261.62, Z:-15.04 [[ 9.99560506e-01 2.95446265e-02 2.43104350e-03 7.45730571e+02] [-2.95445446e-02 9.99563462e-01 -6.95901732e-05 2.61618175e+02] [-2.43203827e-03 -2.26448439e-06 9.99997043e-01 -1.50421020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:745.79, Y:261.62, Z:-15.04 [[ 9.99668062e-01 2.56487095e-02 2.43104680e-03 7.45787993e+02] [-2.56486164e-02 9.99671018e-01 -6.94747918e-05 2.61616749e+02] [-2.43202897e-03 7.09874382e-06 9.99997043e-01 -1.50418024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:745.85, Y:261.61, Z:-15.04 [[ 9.99789660e-01 2.03647934e-02 2.43105086e-03 7.45846873e+02] [-2.03646850e-02 9.99792616e-01 -6.93323556e-05 2.61614872e+02] [-2.43195864e-03 1.98101873e-05 9.99997043e-01 -1.50412172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:745.91, Y:261.61, Z:-15.04 [[ 9.99842462e-01 1.75823970e-02 2.43105413e-03 7.45906077e+02] [-1.75822807e-02 9.99845417e-01 -6.92176300e-05 2.61614366e+02] [-2.43189534e-03 2.64632496e-05 9.99997043e-01 -1.50417350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.265336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:745.97, Y:261.62, Z:-15.04 [[ 9.99852550e-01 1.69990802e-02 2.43105736e-03 7.45966061e+02] [-1.69989624e-02 9.99855505e-01 -6.91039605e-05 2.61615250e+02] [-2.43188079e-03 2.77683184e-05 9.99997043e-01 -1.50424624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:746.02, Y:261.61, Z:-15.04 [[ 9.99851949e-01 1.70343907e-02 2.43105897e-03 7.46024979e+02] [-1.70342732e-02 9.99854904e-01 -6.90473139e-05 2.61612153e+02] [-2.43188241e-03 2.76257688e-05 9.99997043e-01 -1.50429427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:746.08, Y:261.61, Z:-15.04 [[ 9.99832190e-01 1.81571689e-02 2.43106068e-03 7.46084286e+02] [-1.81570548e-02 9.99835145e-01 -6.89869157e-05 2.61610157e+02] [-2.43191252e-03 2.48344370e-05 9.99997043e-01 -1.50399734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.445336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:746.14, Y:261.61, Z:-15.04 [[ 9.99793383e-01 2.01811865e-02 2.43106229e-03 7.46144183e+02] [-2.01810785e-02 9.99796339e-01 -6.89301679e-05 2.61609485e+02] [-2.43195827e-03 1.98544668e-05 9.99997043e-01 -1.50410720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:746.20, Y:261.61, Z:-15.04 [[ 9.99768429e-01 2.13817281e-02 2.43106390e-03 7.46203073e+02] [-2.13816238e-02 9.99771385e-01 -6.88733659e-05 2.61607917e+02] [-2.43198075e-03 1.68773231e-05 9.99997043e-01 -1.50410709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.565336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:746.26, Y:261.61, Z:-15.05 [[ 9.99712746e-01 2.38435474e-02 2.43106710e-03 7.46261940e+02] [-2.38434506e-02 9.99715702e-01 -6.87601316e-05 2.61606820e+02] [-2.43201544e-03 1.07753515e-05 9.99997043e-01 -1.50452102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:746.32, Y:261.61, Z:-15.05 [[ 9.99658589e-01 2.60152805e-02 2.43107037e-03 7.46320117e+02] [-2.60151905e-02 9.99661545e-01 -6.86443941e-05 2.61606691e+02] [-2.43203337e-03 5.37619941e-06 9.99997043e-01 -1.50453160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:746.38, Y:261.61, Z:-15.04 [[ 9.99612376e-01 2.77342312e-02 2.43107474e-03 7.46378007e+02] [-2.77341466e-02 9.99615332e-01 -6.84894040e-05 2.61605642e+02] [-2.43203908e-03 1.03907263e-06 9.99997043e-01 -1.50439817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:746.44, Y:261.60, Z:-15.04 [[ 9.99596825e-01 2.82891813e-02 2.43107865e-03 7.46436503e+02] [-2.82890987e-02 9.99599781e-01 -6.83500468e-05 2.61604469e+02] [-2.43203926e-03 -4.50534296e-07 9.99997043e-01 -1.50422893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.805336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:746.49, Y:261.60, Z:-15.04 [[ 9.99645761e-01 2.65036419e-02 2.43108191e-03 7.46494657e+02] [-2.65035543e-02 9.99648717e-01 -6.82340248e-05 2.61603455e+02] [-2.43203636e-03 3.77754207e-06 9.99997043e-01 -1.50429951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.865336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:746.55, Y:261.60, Z:-15.04 [[ 9.99713126e-01 2.38276056e-02 2.43108636e-03 7.46553022e+02] [-2.38275105e-02 9.99716082e-01 -6.80750379e-05 2.61601828e+02] [-2.43201820e-03 1.01287731e-05 9.99997043e-01 -1.50439529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:746.61, Y:261.60, Z:-15.04 [[ 9.99809827e-01 1.93494108e-02 2.43108955e-03 7.46612208e+02] [-1.93493027e-02 9.99812782e-01 -6.79608961e-05 2.61597469e+02] [-2.43194941e-03 2.09080841e-05 9.99997043e-01 -1.50445885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:746.67, Y:261.59, Z:-15.05 [[ 9.99838214e-01 1.78223384e-02 2.43109466e-03 7.46670321e+02] [-1.78222262e-02 9.99841169e-01 -6.77776123e-05 2.61593300e+02] [-2.43191649e-03 2.44391278e-05 9.99997043e-01 -1.50465031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:746.73, Y:261.59, Z:-15.04 [[ 9.99837453e-01 1.78649843e-02 2.43109630e-03 7.46730348e+02] [-1.78648724e-02 9.99840408e-01 -6.77187197e-05 2.61591033e+02] [-2.43191812e-03 2.42764869e-05 9.99997043e-01 -1.50443128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:746.79, Y:261.59, Z:-15.05 [[ 9.99810785e-01 1.92998267e-02 2.43109794e-03 7.46788913e+02] [-1.92997192e-02 9.99813741e-01 -6.76600723e-05 2.61587583e+02] [-2.43195095e-03 2.07277626e-05 9.99997043e-01 -1.50470030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:746.85, Y:261.58, Z:-15.05 [[ 9.99763966e-01 2.15894062e-02 2.43110035e-03 7.46848633e+02] [-2.15893057e-02 9.99766921e-01 -6.75731380e-05 2.61584046e+02] [-2.43199258e-03 1.50714198e-05 9.99997043e-01 -1.50471974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.225336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:746.91, Y:261.58, Z:-15.05 [[ 9.99717593e-01 2.36394408e-02 2.43110189e-03 7.46907567e+02] [-2.36393465e-02 9.99720549e-01 -6.75179011e-05 2.61581129e+02] [-2.43201860e-03 1.00291737e-05 9.99997043e-01 -1.50486404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.285336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:746.97, Y:261.58, Z:-15.05 [[ 9.99650079e-01 2.63402765e-02 2.43110497e-03 7.46966228e+02] [-2.63401904e-02 9.99653035e-01 -6.74067788e-05 2.61578541e+02] [-2.43203697e-03 3.34742384e-06 9.99997043e-01 -1.50493772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:747.02, Y:261.58, Z:-15.05 [[ 9.99617873e-01 2.75353781e-02 2.43110806e-03 7.47024533e+02] [-2.75352959e-02 9.99620830e-01 -6.72950714e-05 2.61575515e+02] [-2.43203925e-03 3.28076341e-07 9.99997043e-01 -1.50505315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:747.08, Y:261.57, Z:-15.05 [[ 9.99646600e-01 2.64719729e-02 2.43111114e-03 7.47082773e+02] [-2.64718878e-02 9.99649556e-01 -6.71835893e-05 2.61571451e+02] [-2.43203765e-03 2.80374522e-06 9.99997043e-01 -1.50497555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:747.14, Y:261.57, Z:-15.05 [[ 9.99669343e-01 2.55987282e-02 2.43111433e-03 7.47141718e+02] [-2.55986408e-02 9.99672299e-01 -6.70681649e-05 2.61567953e+02] [-2.43203451e-03 4.81276590e-06 9.99997043e-01 -1.50529733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:747.20, Y:261.56, Z:-15.05 [[ 9.99723650e-01 2.33818882e-02 2.43111576e-03 7.47201051e+02] [-2.33817944e-02 9.99726606e-01 -6.70162387e-05 2.61563398e+02] [-2.43201807e-03 1.01538700e-05 9.99997043e-01 -1.50509343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:747.26, Y:261.56, Z:-15.05 [[ 9.99770481e-01 2.12855508e-02 2.43111733e-03 7.47260835e+02] [-2.12854509e-02 9.99773437e-01 -6.69591136e-05 2.61558823e+02] [-2.43199179e-03 1.51963166e-05 9.99997043e-01 -1.50504258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:747.32, Y:261.55, Z:-15.05 [[ 9.99797411e-01 1.99806425e-02 2.43111889e-03 7.47320322e+02] [-1.99805389e-02 9.99800367e-01 -6.69023453e-05 2.61554678e+02] [-2.43197031e-03 1.83137260e-05 9.99997043e-01 -1.50502983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:747.38, Y:261.55, Z:-15.05 [[ 9.99810118e-01 1.93343587e-02 2.43112046e-03 7.47380115e+02] [-1.93342533e-02 9.99813074e-01 -6.68451689e-05 2.61548171e+02] [-2.43195843e-03 1.98285774e-05 9.99997043e-01 -1.50478307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:747.44, Y:261.54, Z:-15.05 [[ 9.99812469e-01 1.92124222e-02 2.43112203e-03 7.47439308e+02] [-1.92123166e-02 9.99815424e-01 -6.67881110e-05 2.61543553e+02] [-2.43195647e-03 2.00680999e-05 9.99997043e-01 -1.50454935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:747.50, Y:261.54, Z:-15.05 [[ 9.99810761e-01 1.93010844e-02 2.43112364e-03 7.47498263e+02] [-1.93009792e-02 9.99813717e-01 -6.67293716e-05 2.61537861e+02] [-2.43195872e-03 1.97936770e-05 9.99997043e-01 -1.50470078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:747.56, Y:261.54, Z:-15.05 [[ 9.99805629e-01 1.95651349e-02 2.43112604e-03 7.47558142e+02] [-1.95650307e-02 9.99808584e-01 -6.66420079e-05 2.61535337e+02] [-2.43196454e-03 1.90639989e-05 9.99997043e-01 -1.50478546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:747.62, Y:261.53, Z:-15.05 [[ 9.99793825e-01 2.01592893e-02 2.43112761e-03 7.47617730e+02] [-2.01591869e-02 9.99796781e-01 -6.65845932e-05 2.61530735e+02] [-2.43197586e-03 1.75613091e-05 9.99997043e-01 -1.50478258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:747.68, Y:261.53, Z:-15.05 [[ 9.99787948e-01 2.04486632e-02 2.43112921e-03 7.47677068e+02] [-2.04485619e-02 9.99790904e-01 -6.65263211e-05 2.61526926e+02] [-2.43198124e-03 1.67991181e-05 9.99997043e-01 -1.50475343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:747.74, Y:261.52, Z:-15.05 [[ 9.99807284e-01 1.94803762e-02 2.43113084e-03 7.47735663e+02] [-1.94802722e-02 9.99810239e-01 -6.64666797e-05 2.61522751e+02] [-2.43196430e-03 1.90947801e-05 9.99997043e-01 -1.50505050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:747.80, Y:261.52, Z:-15.05 [[ 9.99822787e-01 1.86677453e-02 2.43113326e-03 7.47795044e+02] [-1.86676390e-02 9.99825742e-01 -6.63780744e-05 2.61518835e+02] [-2.43194874e-03 2.09827932e-05 9.99997043e-01 -1.50506690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:747.85, Y:261.51, Z:-15.05 [[ 9.99859573e-01 1.65808301e-02 2.43113486e-03 7.47854504e+02] [-1.65807179e-02 9.99862528e-01 -6.63193140e-05 2.61511936e+02] [-2.43190028e-03 2.60000398e-05 9.99997043e-01 -1.50499843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:747.92, Y:261.50, Z:-15.05 [[ 9.99914174e-01 1.28737947e-02 2.43113645e-03 7.47915118e+02] [-1.28736717e-02 9.99917129e-01 -6.62610009e-05 2.61504090e+02] [-2.43178801e-03 3.49576615e-05 9.99997043e-01 -1.50483091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:747.98, Y:261.50, Z:-15.04 [[ 9.99957320e-01 8.91330105e-03 2.43113645e-03 7.47975805e+02] [-8.91316629e-03 9.99960275e-01 -6.62610010e-05 2.61495218e+02] [-2.43163047e-03 4.45890496e-05 9.99997043e-01 -1.50445343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.365336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:748.04, Y:261.49, Z:-15.05 [[ 9.99966199e-01 7.85433217e-03 2.43113645e-03 7.48036001e+02] [-7.85419428e-03 9.99969153e-01 -6.62610009e-05 2.61487220e+02] [-2.43158189e-03 4.71641432e-05 9.99997043e-01 -1.50514589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.425336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:748.10, Y:261.48, Z:-15.05 [[ 9.99976796e-01 6.36377926e-03 2.43113562e-03 7.48096979e+02] [-6.36363689e-03 9.99979750e-01 -6.62913493e-05 2.61477489e+02] [-2.43150825e-03 5.08189468e-05 9.99997043e-01 -1.50480031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:748.16, Y:261.47, Z:-15.05 [[ 9.99963775e-01 8.15706822e-03 2.43113402e-03 7.48156744e+02] [-8.15693101e-03 9.99966729e-01 -6.63498794e-05 2.61466813e+02] [-2.43159436e-03 4.65168834e-05 9.99997043e-01 -1.50487611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.545336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:748.22, Y:261.46, Z:-15.05 [[ 9.99932806e-01 1.13345851e-02 2.43113029e-03 7.48217526e+02] [-1.13344570e-02 9.99935761e-01 -6.64862550e-05 2.61458541e+02] [-2.43172771e-03 3.89262458e-05 9.99997043e-01 -1.50493160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:748.28, Y:261.45, Z:-15.05 [[ 9.99855117e-01 1.68474217e-02 2.43112871e-03 7.48277584e+02] [-1.68473097e-02 9.99858072e-01 -6.65442152e-05 2.61450214e+02] [-2.43190476e-03 2.55765958e-05 9.99997043e-01 -1.50484349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:748.34, Y:261.44, Z:-15.05 [[ 9.99728534e-01 2.31721344e-02 2.43112792e-03 7.48337488e+02] [-2.31720410e-02 9.99731490e-01 -6.65729807e-05 2.61442104e+02] [-2.43201778e-03 1.02207125e-05 9.99997043e-01 -1.50480312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:748.40, Y:261.44, Z:-15.05 [[ 9.99643002e-01 2.66074878e-02 2.43112792e-03 7.48396691e+02] [-2.66074046e-02 9.99645958e-01 -6.65729807e-05 2.61437644e+02] [-2.43203854e-03 1.86321018e-06 9.99997043e-01 -1.50474853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:748.45, Y:261.43, Z:-15.05 [[ 9.99519161e-01 3.09117469e-02 2.43112872e-03 7.48454986e+02] [-3.09116765e-02 9.99522118e-01 -6.65436953e-05 2.61430923e+02] [-2.43202391e-03 -8.63856594e-06 9.99997043e-01 -1.50524464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:748.51, Y:261.43, Z:-15.05 [[ 9.99428678e-01 3.37106301e-02 2.43113112e-03 7.48514858e+02] [-3.37105682e-02 9.99431635e-01 -6.64557933e-05 2.61427230e+02] [-2.43198962e-03 -1.55369858e-05 9.99997043e-01 -1.50509874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:748.57, Y:261.42, Z:-15.05 [[ 9.99401967e-01 3.44934515e-02 2.43113189e-03 7.48574353e+02] [-3.44933920e-02 9.99404924e-01 -6.64276333e-05 2.61423234e+02] [-2.43197650e-03 -1.74700780e-05 9.99997043e-01 -1.50492095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.965336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:748.63, Y:261.42, Z:-15.05 [[ 9.99396826e-01 3.46420716e-02 2.43113350e-03 7.48633492e+02] [-3.46420126e-02 9.99399783e-01 -6.63687099e-05 2.61419574e+02] [-2.43197344e-03 -1.78906795e-05 9.99997043e-01 -1.50513375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:748.69, Y:261.42, Z:-15.05 [[ 9.99414964e-01 3.41147833e-02 2.43113509e-03 7.48694249e+02] [-3.41147229e-02 9.99417921e-01 -6.63103306e-05 2.61415770e+02] [-2.43198214e-03 -1.66659633e-05 9.99997043e-01 -1.50476390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:748.75, Y:261.41, Z:-15.05 [[ 9.99460993e-01 3.27385589e-02 2.43113509e-03 7.48754057e+02] [-3.27384944e-02 9.99463950e-01 -6.63103306e-05 2.61411034e+02] [-2.43200279e-03 -1.33171139e-05 9.99997043e-01 -1.50486099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:748.81, Y:261.41, Z:-15.05 [[ 9.99551165e-01 2.98589807e-02 2.43113593e-03 7.48814508e+02] [-2.98589078e-02 9.99554121e-01 -6.62796771e-05 2.61405653e+02] [-2.43203098e-03 -6.34113521e-06 9.99997043e-01 -1.50480715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:748.87, Y:261.40, Z:-15.05 [[ 9.99579286e-01 2.89022755e-02 2.43113512e-03 7.48874490e+02] [-2.89021997e-02 9.99582242e-01 -6.63093845e-05 2.61401280e+02] [-2.43203599e-03 -3.98366563e-06 9.99997043e-01 -1.50467818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:748.93, Y:261.40, Z:-15.05 [[ 9.99579983e-01 2.88781329e-02 2.43113512e-03 7.48934875e+02] [-2.88780570e-02 9.99582940e-01 -6.63093846e-05 2.61395377e+02] [-2.43203608e-03 -3.92492513e-06 9.99997043e-01 -1.50454397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:748.99, Y:261.39, Z:-15.05 [[ 9.99581325e-01 2.88316652e-02 2.43113512e-03 7.48994920e+02] [-2.88315892e-02 9.99584281e-01 -6.63093846e-05 2.61391143e+02] [-2.43203626e-03 -3.81186648e-06 9.99997043e-01 -1.50457925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:749.05, Y:261.39, Z:-15.05 [[ 9.99591828e-01 2.84652039e-02 2.43113512e-03 7.49053857e+02] [-2.84651268e-02 9.99594784e-01 -6.63093845e-05 2.61385209e+02] [-2.43203749e-03 -2.92025054e-06 9.99997043e-01 -1.50479113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:749.11, Y:261.38, Z:-15.05 [[ 9.99572273e-01 2.91437814e-02 2.43113592e-03 7.49114598e+02] [-2.91437064e-02 9.99575230e-01 -6.62800588e-05 2.61380119e+02] [-2.43203490e-03 -4.60060247e-06 9.99997043e-01 -1.50455815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:749.17, Y:261.37, Z:-15.05 [[ 9.99477058e-01 3.22443758e-02 2.43113592e-03 7.49173495e+02] [-3.22443100e-02 9.99480015e-01 -6.62800588e-05 2.61373810e+02] [-2.43200892e-03 -1.21449020e-05 9.99997043e-01 -1.50511964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:749.23, Y:261.37, Z:-15.05 [[ 9.99308643e-01 3.70988701e-02 2.43113679e-03 7.49233474e+02] [-3.70988187e-02 9.99311600e-01 -6.62480783e-05 2.61370704e+02] [-2.43192092e-03 -2.39900258e-05 9.99997043e-01 -1.50505387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:749.29, Y:261.37, Z:-15.05 [[ 9.99109454e-01 4.21234907e-02 2.43113679e-03 7.49293748e+02] [-4.21234542e-02 9.99112411e-01 -6.62480782e-05 2.61367827e+02] [-2.43176954e-03 -3.62187979e-05 9.99997043e-01 -1.50500228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:749.35, Y:261.37, Z:-15.05 [[ 9.98939757e-01 4.59722996e-02 2.43113679e-03 7.49353192e+02] [-4.59722744e-02 9.98942714e-01 -6.62480782e-05 2.61367025e+02] [-2.43161196e-03 -4.55870486e-05 9.99997043e-01 -1.50505701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:749.41, Y:261.37, Z:-15.05 [[ 9.98669444e-01 5.15114758e-02 2.43113591e-03 7.49413242e+02] [-5.15114670e-02 9.98672401e-01 -6.62802341e-05 2.61369000e+02] [-2.43132253e-03 -5.90393329e-05 9.99997043e-01 -1.50503865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:749.47, Y:261.37, Z:-15.05 [[ 9.98612190e-01 5.26097268e-02 2.43113747e-03 7.49472578e+02] [-5.26097214e-02 9.98615148e-01 -6.62229384e-05 2.61369212e+02] [-2.43125468e-03 -6.17704316e-05 9.99997043e-01 -1.50527654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:749.53, Y:261.37, Z:-15.05 [[ 9.98619362e-01 5.24734070e-02 2.43113825e-03 7.49532700e+02] [-5.24734012e-02 9.98622320e-01 -6.61946029e-05 2.61371128e+02] [-2.43126237e-03 -6.14668805e-05 9.99997043e-01 -1.50526957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:749.59, Y:261.37, Z:-15.05 [[ 9.98703473e-01 5.08474394e-02 2.43113980e-03 7.49592109e+02] [-5.08474290e-02 9.98706431e-01 -6.61376503e-05 2.61372973e+02] [-2.43135788e-03 -5.75653069e-05 9.99997043e-01 -1.50480749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.9853361950001 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:749.65, Y:261.38, Z:-15.06 [[ 9.98827142e-01 4.83573153e-02 2.43114063e-03 7.49652111e+02] [-4.83572975e-02 9.98830099e-01 -6.61068334e-05 2.61376976e+02] [-2.43149319e-03 -5.15340916e-05 9.99997043e-01 -1.50554142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:749.71, Y:261.38, Z:-15.05 [[ 9.98869475e-01 4.74748581e-02 2.43114147e-03 7.49711799e+02] [-4.74748378e-02 9.98872432e-01 -6.60759994e-05 2.61381727e+02] [-2.43153714e-03 -4.94167483e-05 9.99997043e-01 -1.50526141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:749.77, Y:261.39, Z:-15.05 [[ 9.98950592e-01 4.57362552e-02 2.43114303e-03 7.49771512e+02] [-4.57362300e-02 9.98953549e-01 -6.60185644e-05 2.61388767e+02] [-2.43161840e-03 -4.52420328e-05 9.99997043e-01 -1.50528601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.165336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:749.83, Y:261.39, Z:-15.06 [[ 9.99078025e-01 4.28624456e-02 2.43114461e-03 7.49830798e+02] [-4.28624119e-02 9.99080982e-01 -6.59603453e-05 2.61390888e+02] [-2.43173757e-03 -3.83051903e-05 9.99997043e-01 -1.50564205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:749.89, Y:261.40, Z:-15.05 [[ 9.99344518e-01 3.61195688e-02 2.43114383e-03 7.49891489e+02] [-3.61195151e-02 9.99347475e-01 -6.59890720e-05 2.61395188e+02] [-2.43194095e-03 -2.18659190e-05 9.99997043e-01 -1.50540002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.285336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:749.95, Y:261.40, Z:-15.06 [[ 9.99532564e-01 3.04752781e-02 2.43114383e-03 7.49951325e+02] [-3.04752077e-02 9.99535521e-01 -6.59890720e-05 2.61396496e+02] [-2.43202565e-03 -8.13138689e-06 9.99997043e-01 -1.50565625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:750.01, Y:261.40, Z:-15.05 [[ 9.99731752e-01 2.30328909e-02 2.43114292e-03 7.50011762e+02] [-2.30327985e-02 9.99734708e-01 -6.60226276e-05 2.61397779e+02] [-2.43201865e-03 1.00088922e-05 9.99997043e-01 -1.50523819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.405336195 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:750.07, Y:261.40, Z:-15.05 [[ 9.99815808e-01 1.90378255e-02 2.43114292e-03 7.50072297e+02] [-1.90377212e-02 9.99818764e-01 -6.60226275e-05 2.61397904e+02] [-2.43195924e-03 1.97270455e-05 9.99997043e-01 -1.50536553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.465336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:750.13, Y:261.40, Z:-15.05 [[ 9.99816850e-01 1.89830414e-02 2.43114292e-03 7.50132852e+02] [-1.89829370e-02 9.99819806e-01 -6.60226276e-05 2.61400592e+02] [-2.43195815e-03 1.98603027e-05 9.99997043e-01 -1.50542085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:750.19, Y:261.40, Z:-15.05 [[ 9.99795095e-01 2.00962134e-02 2.43114292e-03 7.50193781e+02] [-2.00961123e-02 9.99798051e-01 -6.60226276e-05 2.61399994e+02] [-2.43197876e-03 1.71525781e-05 9.99997043e-01 -1.50537598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:750.25, Y:261.40, Z:-15.05 [[ 9.99742782e-01 2.25490416e-02 2.43114292e-03 7.50253651e+02] [-2.25489477e-02 9.99745738e-01 -6.60226276e-05 2.61400318e+02] [-2.43201352e-03 1.11859308e-05 9.99997043e-01 -1.50525185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.645336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:750.31, Y:261.40, Z:-15.05 [[ 9.99692575e-01 2.46747662e-02 2.43114449e-03 7.50313241e+02] [-2.46746787e-02 9.99695532e-01 -6.59647911e-05 2.61400670e+02] [-2.43203195e-03 5.95680279e-06 9.99997043e-01 -1.50526012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:750.37, Y:261.40, Z:-15.05 [[ 9.99596529e-01 2.82996167e-02 2.43114605e-03 7.50373310e+02] [-2.82995401e-02 9.99599486e-01 -6.59072165e-05 2.61402555e+02] [-2.43203749e-03 -2.91969032e-06 9.99997043e-01 -1.50511158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:750.43, Y:261.41, Z:-15.05 [[ 9.99428064e-01 3.37288305e-02 2.43114759e-03 7.50432128e+02] [-3.37287701e-02 9.99431021e-01 -6.58501772e-05 2.61406109e+02] [-2.43198537e-03 -1.61871032e-05 9.99997043e-01 -1.50499226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:750.49, Y:261.41, Z:-15.05 [[ 9.99233189e-01 3.90784185e-02 2.43114989e-03 7.50491318e+02] [-3.90783742e-02 9.99236146e-01 -6.57653972e-05 2.61410966e+02] [-2.43186285e-03 -2.92904174e-05 9.99997043e-01 -1.50496282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:750.55, Y:261.41, Z:-15.05 [[ 9.99139798e-01 4.13975171e-02 2.43115215e-03 7.50550288e+02] [-4.13974798e-02 9.99142755e-01 -6.56816353e-05 2.61414327e+02] [-2.43178711e-03 -3.50184362e-05 9.99997043e-01 -1.50503351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:750.61, Y:261.42, Z:-15.05 [[ 9.99107764e-01 4.21635528e-02 2.43115515e-03 7.50609284e+02] [-4.21635181e-02 9.99110721e-01 -6.55705407e-05 2.61422432e+02] [-2.43175786e-03 -3.69940176e-05 9.99997043e-01 -1.50502161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:750.67, Y:261.42, Z:-15.05 [[ 9.99187847e-01 4.02210975e-02 2.43115811e-03 7.50668400e+02] [-4.02210573e-02 9.99190804e-01 -6.54604660e-05 2.61424604e+02] [-2.43182372e-03 -3.23764475e-05 9.99997043e-01 -1.50515946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:750.73, Y:261.43, Z:-15.05 [[ 9.99352676e-01 3.58931586e-02 2.43116106e-03 7.50727423e+02] [-3.58931058e-02 9.99355633e-01 -6.53508652e-05 2.61430898e+02] [-2.43194015e-03 -2.19533592e-05 9.99997043e-01 -1.50500019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:750.79, Y:261.43, Z:-15.05 [[ 9.99564555e-01 2.94073020e-02 2.43116324e-03 7.50786473e+02] [-2.94072302e-02 9.99567512e-01 -6.52694386e-05 2.61434112e+02] [-2.43203119e-03 -6.25275989e-06 9.99997043e-01 -1.50478665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:750.85, Y:261.44, Z:-15.05 [[ 9.99680007e-01 2.51788191e-02 2.43116627e-03 7.50845007e+02] [-2.51787351e-02 9.99682963e-01 -6.51566012e-05 2.61435266e+02] [-2.43203606e-03 3.92206009e-06 9.99997043e-01 -1.50505910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.245336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:750.91, Y:261.44, Z:-15.05 [[ 9.99796416e-01 2.00303989e-02 2.43116849e-03 7.50905153e+02] [-2.00302999e-02 9.99799371e-01 -6.50735226e-05 2.61436260e+02] [-2.43198418e-03 1.63632407e-05 9.99997043e-01 -1.50535776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.305336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:750.96, Y:261.44, Z:-15.06 [[ 9.99857934e-01 1.66793806e-02 2.43117001e-03 7.50964331e+02] [-1.66792718e-02 9.99860889e-01 -6.50167181e-05 2.61436599e+02] [-2.43191625e-03 2.44573359e-05 9.99997043e-01 -1.50576699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:751.02, Y:261.43, Z:-15.06 [[ 9.99866609e-01 1.61509478e-02 2.43117151e-03 7.51023921e+02] [-1.61508375e-02 9.99869565e-01 -6.49605192e-05 2.61434356e+02] [-2.43190358e-03 2.56863980e-05 9.99997043e-01 -1.50557857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:751.08, Y:261.43, Z:-15.06 [[ 9.99873383e-01 1.57260139e-02 2.43117306e-03 7.51083415e+02] [-1.57259026e-02 9.99876338e-01 -6.49026172e-05 2.61433531e+02] [-2.43189307e-03 2.66620087e-05 9.99997043e-01 -1.50611597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.4853361950001 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:751.14, Y:261.43, Z:-15.06 [[ 9.99864488e-01 1.62817191e-02 2.43117382e-03 7.51143491e+02] [-1.62816094e-02 9.99867444e-01 -6.48740009e-05 2.61433828e+02] [-2.43190781e-03 2.52817870e-05 9.99997043e-01 -1.50566643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:751.20, Y:261.43, Z:-15.05 [[ 9.99838510e-01 1.78057128e-02 2.43117534e-03 7.51203571e+02] [-1.78056079e-02 9.99841465e-01 -6.48170790e-05 2.61432356e+02] [-2.43194403e-03 2.15180569e-05 9.99997043e-01 -1.50539787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.6053361950001 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:751.26, Y:261.43, Z:-15.06 [[ 9.99818411e-01 1.89006227e-02 2.43117686e-03 7.51262838e+02] [-1.89005211e-02 9.99821367e-01 -6.47599525e-05 2.61429996e+02] [-2.43196658e-03 1.87976834e-05 9.99997043e-01 -1.50560463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:751.32, Y:261.43, Z:-15.05 [[ 9.99809895e-01 1.93459094e-02 2.43117838e-03 7.51322882e+02] [-1.93458093e-02 9.99812850e-01 -6.47029324e-05 2.61426781e+02] [-2.43197512e-03 1.76575188e-05 9.99997043e-01 -1.50543464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:751.38, Y:261.43, Z:-15.05 [[ 9.99783612e-01 2.06595842e-02 2.43117990e-03 7.51382343e+02] [-2.06594880e-02 9.99786568e-01 -6.46458414e-05 2.61425304e+02] [-2.43199656e-03 1.44049208e-05 9.99997043e-01 -1.50536709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:751.44, Y:261.42, Z:-15.05 [[ 9.99760144e-01 2.17656522e-02 2.43118143e-03 7.51441168e+02] [-2.17655595e-02 9.99763100e-01 -6.45880928e-05 2.61421515e+02] [-2.43201129e-03 1.16565768e-05 9.99997043e-01 -1.50539735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.845336195 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:751.50, Y:261.42, Z:-15.06 [[ 9.99738042e-01 2.27582277e-02 2.43118308e-03 7.51500514e+02] [-2.27581381e-02 9.99740998e-01 -6.45259737e-05 2.61419769e+02] [-2.43202189e-03 9.17987034e-06 9.99997043e-01 -1.50558000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:751.56, Y:261.41, Z:-15.06 [[ 9.99705430e-01 2.41483538e-02 2.43118460e-03 7.51559346e+02] [-2.41482684e-02 9.99708386e-01 -6.44686056e-05 2.61414241e+02] [-2.43203244e-03 5.74071675e-06 9.99997043e-01 -1.50552548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.965336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:751.62, Y:261.41, Z:-15.06 [[ 9.99694955e-01 2.45781665e-02 2.43118685e-03 7.51618910e+02] [-2.45780827e-02 9.99697911e-01 -6.43836032e-05 2.61412521e+02] [-2.43203485e-03 4.61005192e-06 9.99997043e-01 -1.50552626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:751.68, Y:261.41, Z:-15.05 [[ 9.99657991e-01 2.60382481e-02 2.43118840e-03 7.51678822e+02] [-2.60381686e-02 9.99660947e-01 -6.43251486e-05 2.61406273e+02] [-2.43203901e-03 9.99455371e-07 9.99997043e-01 -1.50531344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:751.74, Y:261.40, Z:-15.05 [[ 9.99617512e-01 2.75484894e-02 2.43118996e-03 7.51737061e+02] [-2.75484146e-02 9.99620468e-01 -6.42661184e-05 2.61403824e+02] [-2.43203768e-03 -2.73389152e-06 9.99997043e-01 -1.50538852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.145336195 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:751.80, Y:261.40, Z:-15.06 [[ 9.99528388e-01 3.06119288e-02 2.43119164e-03 7.51796245e+02] [-3.06118632e-02 9.99531345e-01 -6.42025024e-05 2.61402160e+02] [-2.43201761e-03 -1.02510821e-05 9.99997043e-01 -1.50578023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:751.86, Y:261.40, Z:-15.05 [[ 9.99477775e-01 3.22221547e-02 2.43119465e-03 7.51856299e+02] [-3.22220941e-02 9.99480731e-01 -6.40883873e-05 2.61398148e+02] [-2.43199727e-03 -1.42832640e-05 9.99997043e-01 -1.50544711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:751.92, Y:261.39, Z:-15.05 [[ 9.99491070e-01 3.18070863e-02 2.43119616e-03 7.51915550e+02] [-3.18070247e-02 9.99494027e-01 -6.40308113e-05 2.61394911e+02] [-2.43200268e-03 -1.33308922e-05 9.99997043e-01 -1.50529083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:751.97, Y:261.39, Z:-15.06 [[ 9.99521152e-01 3.08473114e-02 2.43119773e-03 7.51973871e+02] [-3.08472470e-02 9.99524108e-01 -6.39711296e-05 2.61391333e+02] [-2.43201408e-03 -1.10552600e-05 9.99997043e-01 -1.50551516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:752.03, Y:261.39, Z:-15.06 [[ 9.99502145e-01 3.14571402e-02 2.43120005e-03 7.52033354e+02] [-3.14570778e-02 9.99505102e-01 -6.38829061e-05 2.61388334e+02] [-2.43200643e-03 -1.26273477e-05 9.99997043e-01 -1.50566913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:752.09, Y:261.39, Z:-15.06 [[ 9.99438460e-01 3.34193662e-02 2.43120155e-03 7.52092716e+02] [-3.34193098e-02 9.99441417e-01 -6.38256445e-05 2.61385960e+02] [-2.43197654e-03 -1.74592741e-05 9.99997043e-01 -1.50563947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.505336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:752.15, Y:261.38, Z:-15.06 [[ 9.99381717e-01 3.50752433e-02 2.43120309e-03 7.52151418e+02] [-3.50751920e-02 9.99384674e-01 -6.37670614e-05 2.61380480e+02] [-2.43194375e-03 -2.15472798e-05 9.99997043e-01 -1.50592879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:752.21, Y:261.38, Z:-15.06 [[ 9.99347014e-01 3.60504520e-02 2.43120537e-03 7.52210444e+02] [-3.60504038e-02 9.99349971e-01 -6.36800382e-05 2.61376680e+02] [-2.43192071e-03 -2.40074793e-05 9.99997043e-01 -1.50578482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:752.27, Y:261.38, Z:-15.06 [[ 9.99269197e-01 3.81465777e-02 2.43120759e-03 7.52269124e+02] [-3.81465359e-02 9.99272154e-01 -6.35953079e-05 2.61375203e+02] [-2.43186399e-03 -2.91933152e-05 9.99997043e-01 -1.50552387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:752.33, Y:261.37, Z:-15.05 [[ 9.99106712e-01 4.21884634e-02 2.43121063e-03 7.52326944e+02] [-4.21884338e-02 9.99109670e-01 -6.34787895e-05 2.61371918e+02] [-2.43172412e-03 -3.91468841e-05 9.99997043e-01 -1.50549369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:752.39, Y:261.37, Z:-15.05 [[ 9.98916012e-01 4.64853740e-02 2.43121437e-03 7.52385905e+02] [-4.64853574e-02 9.98918969e-01 -6.33351867e-05 2.61371096e+02] [-2.43153031e-03 -4.97493369e-05 9.99997043e-01 -1.50530151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:752.44, Y:261.37, Z:-15.05 [[ 9.98753327e-01 4.98586157e-02 2.43121737e-03 7.52444643e+02] [-4.98586095e-02 9.98756284e-01 -6.32199339e-05 2.61371131e+02] [-2.43134568e-03 -5.80759979e-05 9.99997043e-01 -1.50521652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:752.50, Y:261.38, Z:-15.05 [[ 9.98514849e-01 5.44259615e-02 2.43122050e-03 7.52502928e+02] [-5.44259690e-02 9.98517807e-01 -6.30991366e-05 2.61375259e+02] [-2.43105119e-03 -6.93161069e-05 9.99997043e-01 -1.50524913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:752.56, Y:261.38, Z:-15.05 [[ 9.98398508e-01 5.65199776e-02 2.43122436e-03 7.52561197e+02] [-5.65199918e-02 9.98401466e-01 -6.29500152e-05 2.61377404e+02] [-2.43089590e-03 -7.45635798e-05 9.99997043e-01 -1.50534096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:752.62, Y:261.38, Z:-15.05 [[ 9.98343024e-01 5.74917014e-02 2.43122837e-03 7.52620494e+02] [-5.74917188e-02 9.98345981e-01 -6.27949096e-05 2.61379622e+02] [-2.43081726e-03 -7.70846378e-05 9.99997043e-01 -1.50523253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:752.68, Y:261.39, Z:-15.06 [[ 9.98425514e-01 5.60409004e-02 2.43123142e-03 7.52678598e+02] [-5.60409138e-02 9.98428471e-01 -6.26765822e-05 2.61386318e+02] [-2.43092312e-03 -7.36705316e-05 9.99997043e-01 -1.50568123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:752.74, Y:261.39, Z:-15.06 [[ 9.98574596e-01 5.33185236e-02 2.43123517e-03 7.52737056e+02] [-5.33185293e-02 9.98577554e-01 -6.25309252e-05 2.61389180e+02] [-2.43111092e-03 -6.71880901e-05 9.99997043e-01 -1.50575447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.165336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:752.80, Y:261.39, Z:-15.06 [[ 9.98938974e-01 4.59892945e-02 2.43123809e-03 7.52796137e+02] [-4.59892788e-02 9.98941931e-01 -6.24168712e-05 2.61393228e+02] [-2.43153619e-03 -4.94602412e-05 9.99997043e-01 -1.50572921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:752.85, Y:261.40, Z:-15.06 [[ 9.99293952e-01 3.74924927e-02 2.43124121e-03 7.52853939e+02] [-3.74924521e-02 9.99296909e-01 -6.22954612e-05 2.61396533e+02] [-2.43186743e-03 -2.89017169e-05 9.99997043e-01 -1.50566732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:752.91, Y:261.40, Z:-15.06 [[ 9.99476336e-01 3.22667451e-02 2.43124532e-03 7.52912711e+02] [-3.22666894e-02 9.99479293e-01 -6.21346565e-05 2.61398705e+02] [-2.43198423e-03 -1.63461187e-05 9.99997043e-01 -1.50571015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:752.97, Y:261.40, Z:-15.06 [[ 9.99700436e-01 2.43541873e-02 2.43124834e-03 7.52971403e+02] [-2.43541085e-02 9.99703393e-01 -6.20159209e-05 2.61399525e+02] [-2.43203757e-03 2.78645733e-06 9.99997043e-01 -1.50564096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:753.03, Y:261.40, Z:-15.06 [[ 9.99799677e-01 1.98669201e-02 2.43125059e-03 7.53030796e+02] [-1.98668282e-02 9.99802633e-01 -6.19278271e-05 2.61398845e+02] [-2.43200105e-03 1.36141838e-05 9.99997043e-01 -1.50574334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.465336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:753.09, Y:261.40, Z:-15.06 [[ 9.99876916e-01 1.54997195e-02 2.43125205e-03 7.53090421e+02] [-1.54996149e-02 9.99879872e-01 -6.18704055e-05 2.61399511e+02] [-2.43191896e-03 2.41793198e-05 9.99997043e-01 -1.50581310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:753.15, Y:261.40, Z:-15.06 [[ 9.99909140e-01 1.32590096e-02 2.43125350e-03 7.53149994e+02] [-1.32588985e-02 9.99912095e-01 -6.18132616e-05 2.61396664e+02] [-2.43185937e-03 2.95719018e-05 9.99997043e-01 -1.50561841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:753.21, Y:261.39, Z:-15.05 [[ 9.99932187e-01 1.13890794e-02 2.43125494e-03 7.53210007e+02] [-1.13889629e-02 9.99935142e-01 -6.17567961e-05 2.61393242e+02] [-2.43180060e-03 3.40631359e-05 9.99997043e-01 -1.50547632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:753.27, Y:261.39, Z:-15.06 [[ 9.99940088e-01 1.06727880e-02 2.43125642e-03 7.53269642e+02] [-1.06726695e-02 9.99943044e-01 -6.16983769e-05 2.61389835e+02] [-2.43177644e-03 3.57466841e-05 9.99997043e-01 -1.50556579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:753.33, Y:261.39, Z:-15.06 [[ 9.99933866e-01 1.12406689e-02 2.43125715e-03 7.53329624e+02] [-1.12405522e-02 9.99936821e-01 -6.16694658e-05 2.61386551e+02] [-2.43179675e-03 3.43367144e-05 9.99997043e-01 -1.50565056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.765336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:753.39, Y:261.38, Z:-15.06 [[ 9.99890271e-01 1.46128551e-02 2.43125715e-03 7.53389415e+02] [-1.46127484e-02 9.99893226e-01 -6.16694658e-05 2.61382358e+02] [-2.43189872e-03 2.61353498e-05 9.99997043e-01 -1.50591864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:753.45, Y:261.38, Z:-15.06 [[ 9.99831176e-01 1.82128565e-02 2.43125787e-03 7.53448536e+02] [-1.82127604e-02 9.99834132e-01 -6.16411385e-05 2.61378905e+02] [-2.43197726e-03 1.73508149e-05 9.99997043e-01 -1.50564414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:753.51, Y:261.38, Z:-15.06 [[ 9.99693734e-01 2.46277745e-02 2.43125929e-03 7.53507717e+02] [-2.46276975e-02 9.99696690e-01 -6.15851201e-05 2.61376136e+02] [-2.43203857e-03 1.68994031e-06 9.99997043e-01 -1.50560240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:753.57, Y:261.37, Z:-15.06 [[ 9.99603802e-01 2.80415529e-02 2.43126219e-03 7.53566599e+02] [-2.80414863e-02 9.99606758e-01 -6.14702811e-05 2.61374896e+02] [-2.43202984e-03 -6.73027881e-06 9.99997043e-01 -1.50565604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:753.63, Y:261.37, Z:-15.06 [[ 9.99540911e-01 3.02002826e-02 2.43126376e-03 7.53626113e+02] [-3.02002226e-02 9.99543867e-01 -6.14083663e-05 2.61372868e+02] [-2.43200933e-03 -1.20445322e-05 9.99997043e-01 -1.50592958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:753.69, Y:261.37, Z:-15.06 [[ 9.99529530e-01 3.05746239e-02 2.43126518e-03 7.53685280e+02] [-3.05745652e-02 9.99532487e-01 -6.13517809e-05 2.61372741e+02] [-2.43200434e-03 -1.30119591e-05 9.99997043e-01 -1.50572054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.125336195 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:753.74, Y:261.37, Z:-15.06 [[ 9.99523740e-01 3.07633245e-02 2.43126812e-03 7.53743614e+02] [-3.07632665e-02 9.99526697e-01 -6.12353255e-05 2.61374730e+02] [-2.43200119e-03 -1.35875875e-05 9.99997043e-01 -1.50581707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.185336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:753.80, Y:261.37, Z:-15.06 [[ 9.99553964e-01 2.97651085e-02 2.43126964e-03 7.53802633e+02] [-2.97650478e-02 9.99556921e-01 -6.11749215e-05 2.61373643e+02] [-2.43201327e-03 -1.12192216e-05 9.99997043e-01 -1.50621130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:753.86, Y:261.37, Z:-15.06 [[ 9.99654069e-01 2.61883930e-02 2.43127123e-03 7.53861577e+02] [-2.61883219e-02 9.99657025e-01 -6.11116397e-05 2.61373683e+02] [-2.43203778e-03 -2.58041423e-06 9.99997043e-01 -1.50615881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:753.92, Y:261.37, Z:-15.06 [[ 9.99729820e-01 2.31165714e-02 2.43127410e-03 7.53921636e+02] [-2.31164914e-02 9.99732776e-01 -6.09970070e-05 2.61373029e+02] [-2.43203445e-03 4.77799992e-06 9.99997043e-01 -1.50609368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:753.98, Y:261.37, Z:-15.06 [[ 9.99823332e-01 1.86384814e-02 2.43127556e-03 7.53981419e+02] [-1.86383883e-02 9.99826288e-01 -6.09390498e-05 2.61371063e+02] [-2.43198903e-03 1.56132258e-05 9.99997043e-01 -1.50634226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.425336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:754.04, Y:261.37, Z:-15.06 [[ 9.99850979e-01 1.70911982e-02 2.43127699e-03 7.54041082e+02] [-1.70911007e-02 9.99853935e-01 -6.08816475e-05 2.61369623e+02] [-2.43196241e-03 1.93193751e-05 9.99997043e-01 -1.50625579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.4853361950001 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:754.10, Y:261.37, Z:-15.06 [[ 9.99844399e-01 1.74718808e-02 2.43127847e-03 7.54100831e+02] [-1.74717845e-02 9.99847355e-01 -6.08226321e-05 2.61369656e+02] [-2.43197003e-03 1.83343945e-05 9.99997043e-01 -1.50634450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:754.16, Y:261.37, Z:-15.06 [[ 9.99816978e-01 1.89762856e-02 2.43127996e-03 7.54159697e+02] [-1.89761939e-02 9.99819934e-01 -6.07631583e-05 2.61369581e+02] [-2.43199522e-03 1.46155974e-05 9.99997043e-01 -1.50616867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:754.22, Y:261.37, Z:-15.06 [[ 9.99757152e-01 2.19026433e-02 2.43128214e-03 7.54217887e+02] [-2.19025605e-02 9.99760108e-01 -6.06757090e-05 2.61370208e+02] [-2.43202785e-03 7.40966986e-06 9.99997043e-01 -1.50622958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:754.28, Y:261.37, Z:-15.06 [[ 9.99710168e-01 2.39514026e-02 2.43128498e-03 7.54277360e+02] [-2.39513261e-02 9.99713124e-01 -6.05616150e-05 2.61370904e+02] [-2.43203804e-03 2.31156269e-06 9.99997043e-01 -1.50594048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:754.34, Y:261.37, Z:-15.06 [[ 9.99658442e-01 2.60209316e-02 2.43128640e-03 7.54336093e+02] [-2.60208614e-02 9.99661398e-01 -6.05046747e-05 2.61371805e+02] [-2.43203755e-03 -2.78015747e-06 9.99997043e-01 -1.50567939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:754.39, Y:261.37, Z:-15.06 [[ 9.99616742e-01 2.75764015e-02 2.43128930e-03 7.54394105e+02] [-2.75763362e-02 9.99619699e-01 -6.03876910e-05 2.61374836e+02] [-2.43202996e-03 -6.68150435e-06 9.99997043e-01 -1.50564323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:754.45, Y:261.38, Z:-15.06 [[ 9.99599281e-01 2.82022420e-02 2.43129288e-03 7.54453090e+02] [-2.82021789e-02 9.99602238e-01 -6.02433114e-05 2.61375914e+02] [-2.43202480e-03 -8.34858611e-06 9.99997043e-01 -1.50567420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.905336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:754.51, Y:261.38, Z:-15.06 [[ 9.99560582e-01 2.95420335e-02 2.43129574e-03 7.54512151e+02] [-2.95419746e-02 9.99563539e-01 -6.01277009e-05 2.61380364e+02] [-2.43201087e-03 -1.17239974e-05 9.99997043e-01 -1.50598644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:754.57, Y:261.38, Z:-15.06 [[ 9.99595843e-01 2.83238432e-02 2.43129859e-03 7.54570596e+02] [-2.83237810e-02 9.99598799e-01 -6.00123399e-05 2.61380891e+02] [-2.43202293e-03 -8.87548331e-06 9.99997043e-01 -1.50593407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:754.63, Y:261.38, Z:-15.06 [[ 9.99654012e-01 2.61905496e-02 2.43130144e-03 7.54629686e+02] [-2.61904814e-02 9.99656969e-01 -5.98963804e-05 2.61381834e+02] [-2.43203615e-03 -3.80129821e-06 9.99997043e-01 -1.50589374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:754.69, Y:261.38, Z:-15.06 [[ 9.99761110e-01 2.17212295e-02 2.43130428e-03 7.54688249e+02] [-2.17211484e-02 9.99764066e-01 -5.97810912e-05 2.61383057e+02] [-2.43202917e-03 6.95608907e-06 9.99997043e-01 -1.50566556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:754.75, Y:261.38, Z:-15.06 [[ 9.99819618e-01 1.88366816e-02 2.43130708e-03 7.54747455e+02] [-1.88365922e-02 9.99822574e-01 -5.96670025e-05 2.61383840e+02] [-2.43199963e-03 1.38586998e-05 9.99997043e-01 -1.50552384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:754.81, Y:261.39, Z:-15.06 [[ 9.99867242e-01 1.61117341e-02 2.43130919e-03 7.54807052e+02] [-1.61116369e-02 9.99870197e-01 -5.95806834e-05 2.61385176e+02] [-2.43195355e-03 2.04004027e-05 9.99997043e-01 -1.50556294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:754.87, Y:261.39, Z:-15.06 [[ 9.99885638e-01 1.49264529e-02 2.43131061e-03 7.54866303e+02] [-1.49263523e-02 9.99888594e-01 -5.95229481e-05 2.61387090e+02] [-2.43192821e-03 2.32255422e-05 9.99997043e-01 -1.50597644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:754.93, Y:261.39, Z:-15.06 [[ 9.99894353e-01 1.43307608e-02 2.43131200e-03 7.54926309e+02] [-1.43306585e-02 9.99897309e-01 -5.94659564e-05 2.61388445e+02] [-2.43191452e-03 2.46173719e-05 9.99997043e-01 -1.50616654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:754.98, Y:261.39, Z:-15.06 [[ 9.99904285e-01 1.36201630e-02 2.43131342e-03 7.54984601e+02] [-1.36200588e-02 9.99907241e-01 -5.94079578e-05 2.61390813e+02] [-2.43189704e-03 2.62876399e-05 9.99997043e-01 -1.50629467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.445336195 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:755.04, Y:261.39, Z:-15.07 [[ 9.99924070e-01 1.20806973e-02 2.43131552e-03 7.55043043e+02] [-1.20805888e-02 9.99927025e-01 -5.93217224e-05 2.61393475e+02] [-2.43185475e-03 2.99454950e-05 9.99997043e-01 -1.50683993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:755.10, Y:261.39, Z:-15.06 [[ 9.99942394e-01 1.04545300e-02 2.43131757e-03 7.55102299e+02] [-1.04544169e-02 9.99945349e-01 -5.92378359e-05 2.61392838e+02] [-2.43180400e-03 3.38164160e-05 9.99997043e-01 -1.50644468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.565336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:755.16, Y:261.39, Z:-15.06 [[ 9.99976501e-01 6.40981911e-03 2.43131895e-03 7.55162136e+02] [-6.40969416e-03 9.99979456e-01 -5.91811483e-05 2.61393099e+02] [-2.43164834e-03 4.35957468e-05 9.99997043e-01 -1.50636509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:755.22, Y:261.39, Z:-15.06 [[ 9.99993653e-01 2.60440067e-03 2.43132040e-03 7.55222866e+02] [-2.60426462e-03 9.99996607e-01 -5.91213168e-05 2.61393574e+02] [-2.43146613e-03 5.27891398e-05 9.99997043e-01 -1.50626573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.685336195 meters Centerline goodness : 0.999549 with order 1 Centerline is valid? [True, True] Translation: X:755.28, Y:261.39, Z:-15.06 [[ 9.99996930e-01 -4.78635107e-04 2.43131969e-03 7.55283721e+02] [ 4.78780335e-04 9.99999884e-01 -5.91507415e-05 2.61391383e+02] [-2.43129109e-03 6.03146279e-05 9.99997043e-01 -1.50635585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:755.35, Y:261.39, Z:-15.06 [[ 9.99996527e-01 -1.01729314e-03 2.43131829e-03 7.55346185e+02] [ 1.01744010e-03 9.99999481e-01 -5.92078931e-05 2.61388961e+02] [-2.43125680e-03 6.16814082e-05 9.99997043e-01 -1.50616488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:755.41, Y:261.39, Z:-15.06 [[ 9.99996043e-01 1.41515065e-03 2.43130859e-03 7.55408405e+02] [-1.41500991e-03 9.99998997e-01 -5.96036477e-05 2.61388410e+02] [-2.43139050e-03 5.61630861e-05 9.99997043e-01 -1.50607369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:755.47, Y:261.39, Z:-15.06 [[ 9.99988915e-01 4.03231389e-03 2.43130582e-03 7.55469276e+02] [-4.03218061e-03 9.99991869e-01 -5.97166088e-05 2.61387048e+02] [-2.43152684e-03 4.99124826e-05 9.99997043e-01 -1.50599134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:755.53, Y:261.39, Z:-15.06 [[ 9.99971365e-01 7.16649072e-03 2.43130441e-03 7.55530310e+02] [-7.16636657e-03 9.99974319e-01 -5.97737051e-05 2.61385141e+02] [-2.43167034e-03 4.23483748e-05 9.99997043e-01 -1.50600967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.9853361950001 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:755.59, Y:261.39, Z:-15.06 [[ 9.99958925e-01 8.73134701e-03 2.43130299e-03 7.55590323e+02] [-8.73122734e-03 9.99961880e-01 -5.98316693e-05 2.61385019e+02] [-2.43173272e-03 3.86009526e-05 9.99997043e-01 -1.50627291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:755.65, Y:261.38, Z:-15.06 [[ 9.99953084e-01 9.37646863e-03 2.43130299e-03 7.55650463e+02] [-9.37635086e-03 9.99956039e-01 -5.98316694e-05 2.61384537e+02] [-2.43175712e-03 3.70321124e-05 9.99997043e-01 -1.50616636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:755.71, Y:261.38, Z:-15.06 [[ 9.99936143e-01 1.10362887e-02 2.43130299e-03 7.55710021e+02] [-1.10361758e-02 9.99939098e-01 -5.98316693e-05 2.61384026e+02] [-2.43181524e-03 3.29955613e-05 9.99997043e-01 -1.50613673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:755.77, Y:261.38, Z:-15.06 [[ 9.99912802e-01 1.29799047e-02 2.43130438e-03 7.55769604e+02] [-1.29797977e-02 9.99915757e-01 -5.97748617e-05 2.61384078e+02] [-2.43187544e-03 2.82118104e-05 9.99997043e-01 -1.50632136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:755.83, Y:261.39, Z:-15.06 [[ 9.99894132e-01 1.43462342e-02 2.43130577e-03 7.55829369e+02] [-1.43461314e-02 9.99897087e-01 -5.97183602e-05 2.61387469e+02] [-2.43191229e-03 2.48322058e-05 9.99997043e-01 -1.50620926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:755.89, Y:261.39, Z:-15.06 [[ 9.99914870e-01 1.28195541e-02 2.43130718e-03 7.55888022e+02] [-1.28194469e-02 9.99917826e-01 -5.96611121e-05 2.61387446e+02] [-2.43187221e-03 2.84880199e-05 9.99997043e-01 -1.50603364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:755.95, Y:261.39, Z:-15.06 [[ 9.99941577e-01 1.05323665e-02 2.43130889e-03 7.55947681e+02] [-1.05322527e-02 9.99944533e-01 -5.95911893e-05 2.61387257e+02] [-2.43180167e-03 3.39805482e-05 9.99997043e-01 -1.50621209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.405336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:756.01, Y:261.39, Z:-15.07 [[ 9.99982325e-01 5.42570949e-03 2.43131027e-03 7.56006711e+02] [-5.42558077e-03 9.99985280e-01 -5.95350214e-05 2.61385091e+02] [-2.43159750e-03 4.63426989e-05 9.99997043e-01 -1.50658978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:756.07, Y:261.38, Z:-15.06 [[ 9.99996858e-01 6.10664247e-04 2.43131094e-03 7.56067291e+02] [-6.10521369e-04 9.99999812e-01 -5.95074928e-05 2.61381713e+02] [-2.43134682e-03 5.80229386e-05 9.99997043e-01 -1.50637918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:756.13, Y:261.38, Z:-15.06 [[ 9.99982196e-01 -5.44949756e-03 2.43131094e-03 7.56128121e+02] [ 5.44965834e-03 9.99985149e-01 -5.95074928e-05 2.61375601e+02] [-2.43095055e-03 7.27562472e-05 9.99997043e-01 -1.50639094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.585336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:756.19, Y:261.37, Z:-15.06 [[ 9.99971328e-01 -7.17159452e-03 2.43130954e-03 7.56189713e+02] [ 7.17176052e-03 9.99974281e-01 -5.95647593e-05 2.61370025e+02] [-2.43081983e-03 7.69998212e-05 9.99997043e-01 -1.50622303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:756.25, Y:261.36, Z:-15.06 [[ 9.99985234e-01 -4.86005062e-03 2.43130673e-03 7.56251996e+02] [ 4.86021008e-03 9.99988187e-01 -5.96790386e-05 2.61364722e+02] [-2.43098797e-03 7.14948189e-05 9.99997043e-01 -1.50605034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.705336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:756.31, Y:261.36, Z:-15.06 [[ 9.99996519e-01 -1.02483317e-03 2.43130394e-03 7.56312589e+02] [ 1.02498157e-03 9.99999473e-01 -5.97924718e-05 2.61360082e+02] [-2.43124138e-03 6.22843054e-05 9.99997043e-01 -1.50615242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:756.37, Y:261.36, Z:-15.06 [[ 9.99975001e-01 6.63972022e-03 2.43129927e-03 7.56373827e+02] [-6.63959400e-03 9.99977956e-01 -5.99819209e-05 2.61356498e+02] [-2.43164394e-03 4.38375814e-05 9.99997043e-01 -1.50604805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:756.43, Y:261.36, Z:-15.06 [[ 9.99881435e-01 1.52054270e-02 2.43129782e-03 7.56433783e+02] [-1.52053260e-02 9.99884391e-01 -6.00407086e-05 2.61356360e+02] [-2.43192968e-03 2.30649140e-05 9.99997043e-01 -1.50629075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:756.49, Y:261.35, Z:-15.06 [[ 9.99780511e-01 2.08090953e-02 2.43129854e-03 7.56493057e+02] [-2.08090109e-02 9.99783467e-01 -6.00115154e-05 2.61354997e+02] [-2.43202087e-03 9.40542584e-06 9.99997043e-01 -1.50621992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:756.55, Y:261.36, Z:-15.06 [[ 9.99601914e-01 2.81087565e-02 2.43130062e-03 7.56552372e+02] [-2.81086939e-02 9.99604871e-01 -5.99269933e-05 2.61357452e+02] [-2.43202442e-03 -8.43754759e-06 9.99997043e-01 -1.50637851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.005336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:756.61, Y:261.36, Z:-15.07 [[ 9.99539590e-01 3.02439402e-02 2.43130349e-03 7.56611774e+02] [-3.02438841e-02 9.99542547e-01 -5.98105442e-05 2.61359434e+02] [-2.43200019e-03 -1.37490540e-05 9.99997043e-01 -1.50669568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:756.67, Y:261.36, Z:-15.07 [[ 9.99555098e-01 2.97270169e-02 2.43130563e-03 7.56670300e+02] [-2.97269596e-02 9.99558054e-01 -5.97233438e-05 2.61360727e+02] [-2.43200652e-03 -1.25785513e-05 9.99997043e-01 -1.50670203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:756.73, Y:261.36, Z:-15.07 [[ 9.99689364e-01 2.48045139e-02 2.43130848e-03 7.56729598e+02] [-2.48044423e-02 9.99692321e-01 -5.96067798e-05 2.61360803e+02] [-2.43203894e-03 -7.18987271e-07 9.99997043e-01 -1.50670040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:756.79, Y:261.36, Z:-15.07 [[ 9.99779261e-01 2.08690481e-02 2.43131133e-03 7.56788153e+02] [-2.08689651e-02 9.99782218e-01 -5.94906739e-05 2.61361916e+02] [-2.43202334e-03 8.73859074e-06 9.99997043e-01 -1.50673552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:756.85, Y:261.36, Z:-15.07 [[ 9.99868879e-01 1.60098044e-02 2.43131413e-03 7.56848032e+02] [-1.60097073e-02 9.99871835e-01 -5.93757288e-05 2.61363410e+02] [-2.43195312e-03 2.04433157e-05 9.99997043e-01 -1.50672727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:756.91, Y:261.37, Z:-15.07 [[ 9.99926616e-01 1.18680427e-02 2.43131552e-03 7.56907106e+02] [-1.18679336e-02 9.99929572e-01 -5.93188193e-05 2.61365503e+02] [-2.43184829e-03 3.04597751e-05 9.99997043e-01 -1.50669271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:756.97, Y:261.37, Z:-15.07 [[ 9.99961379e-01 8.44560390e-03 2.43131757e-03 7.56966294e+02] [-8.44548483e-03 9.99964335e-01 -5.92345570e-05 2.61365774e+02] [-2.43173113e-03 3.86986136e-05 9.99997043e-01 -1.50657556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:757.03, Y:261.36, Z:-15.06 [[ 9.99976672e-01 6.38314902e-03 2.43131960e-03 7.57027081e+02] [-6.38302406e-03 9.99979627e-01 -5.91511049e-05 2.61364659e+02] [-2.43164764e-03 4.36305535e-05 9.99997043e-01 -1.50644079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:757.09, Y:261.36, Z:-15.06 [[ 9.99997003e-01 2.89193875e-04 2.43131960e-03 7.57087356e+02] [-2.89050913e-04 9.99999956e-01 -5.91511049e-05 2.61363940e+02] [-2.43133660e-03 5.84481525e-05 9.99997043e-01 -1.50634179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:757.15, Y:261.36, Z:-15.07 [[ 9.99987297e-01 -4.41516666e-03 2.43131960e-03 7.57148565e+02] [ 4.41532351e-03 9.99990251e-01 -5.91511048e-05 2.61362084e+02] [-2.43103474e-03 6.98854161e-05 9.99997043e-01 -1.50653578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:757.21, Y:261.36, Z:-15.07 [[ 9.99974678e-01 -6.68826758e-03 2.43131061e-03 7.57209839e+02] [ 6.68843204e-03 9.99977630e-01 -5.95183890e-05 2.61360501e+02] [-2.43085815e-03 7.57785377e-05 9.99997043e-01 -1.50658212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:757.27, Y:261.36, Z:-15.07 [[ 9.99958348e-01 -8.79716375e-03 2.43130860e-03 7.57272385e+02] [ 8.79733463e-03 9.99961301e-01 -5.96004152e-05 2.61357343e+02] [-2.43069020e-03 8.09869681e-05 9.99997043e-01 -1.50671941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:757.33, Y:261.35, Z:-15.07 [[ 9.99956123e-01 -9.04654172e-03 2.43130591e-03 7.57334381e+02] [ 9.04671361e-03 9.99959076e-01 -5.97099734e-05 2.61353847e+02] [-2.43066624e-03 8.17026818e-05 9.99997043e-01 -1.50663680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:757.40, Y:261.35, Z:-15.07 [[ 9.99971642e-01 -7.12762526e-03 2.43130310e-03 7.57396829e+02] [ 7.12779176e-03 9.99974595e-01 -5.98241421e-05 2.61349349e+02] [-2.43081493e-03 7.71522679e-05 9.99997043e-01 -1.50658571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:757.46, Y:261.35, Z:-15.07 [[ 9.99991884e-01 -3.21257054e-03 2.43130029e-03 7.57458228e+02] [ 3.21272576e-03 9.99994837e-01 -5.99381457e-05 2.61346628e+02] [-2.43109518e-03 6.77487603e-05 9.99997043e-01 -1.50661286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:757.52, Y:261.34, Z:-15.07 [[ 9.99982669e-01 5.36196611e-03 2.43129820e-03 7.57519817e+02] [-5.36183602e-03 9.99985623e-01 -6.00228183e-05 2.61343728e+02] [-2.43158509e-03 4.69855558e-05 9.99997043e-01 -1.50654731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:757.58, Y:261.34, Z:-15.07 [[ 9.99938206e-01 1.08477401e-02 2.43129680e-03 7.57579861e+02] [-1.08476261e-02 9.99941161e-01 -6.00795425e-05 2.61342244e+02] [-2.43180547e-03 3.37020313e-05 9.99997043e-01 -1.50662404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:757.64, Y:261.34, Z:-15.07 [[ 9.99867695e-01 1.60835474e-02 2.43129680e-03 7.57639917e+02] [-1.60834489e-02 9.99870651e-01 -6.00795426e-05 2.61342374e+02] [-2.43194861e-03 2.09679560e-05 9.99997043e-01 -1.50653240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.085336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:757.70, Y:261.34, Z:-15.07 [[ 9.99857848e-01 1.66845142e-02 2.43129822e-03 7.57698640e+02] [-1.66844176e-02 9.99860804e-01 -6.00221239e-05 2.61340797e+02] [-2.43196123e-03 1.94487969e-05 9.99997043e-01 -1.50658022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:757.76, Y:261.34, Z:-15.06 [[ 9.99860416e-01 1.65299090e-02 2.43130032e-03 7.57758091e+02] [-1.65298121e-02 9.99863372e-01 -5.99367373e-05 2.61337744e+02] [-2.43195889e-03 1.97394336e-05 9.99997043e-01 -1.50634776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:757.82, Y:261.34, Z:-15.06 [[ 9.99882334e-01 1.51462099e-02 2.43130173e-03 7.57817715e+02] [-1.51461090e-02 9.99885289e-01 -5.98794220e-05 2.61336315e+02] [-2.43192978e-03 2.30476151e-05 9.99997043e-01 -1.50627497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:757.88, Y:261.34, Z:-15.07 [[ 9.99907977e-01 1.33464046e-02 2.43130317e-03 7.57876168e+02] [-1.33462986e-02 9.99910932e-01 -5.98211418e-05 2.61335519e+02] [-2.43188502e-03 2.73667388e-05 9.99997043e-01 -1.50653746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:757.94, Y:261.33, Z:-15.07 [[ 9.99956231e-01 9.03459196e-03 2.43130461e-03 7.57936215e+02] [-9.03447335e-03 9.99959187e-01 -5.97623608e-05 2.61331194e+02] [-2.43174531e-03 3.77941883e-05 9.99997043e-01 -1.50655972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:758.00, Y:261.33, Z:-15.06 [[ 9.99976387e-01 6.42765330e-03 2.43130602e-03 7.57995824e+02] [-6.42752713e-03 9.99979341e-01 -5.97050414e-05 2.61327643e+02] [-2.43163956e-03 4.40763462e-05 9.99997043e-01 -1.50647059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:758.06, Y:261.32, Z:-15.07 [[ 9.99992842e-01 2.89897493e-03 2.43130672e-03 7.58056165e+02] [-2.89883840e-03 9.99995797e-01 -5.96765537e-05 2.61321525e+02] [-2.43146950e-03 5.26281613e-05 9.99997043e-01 -1.50657522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:758.12, Y:261.32, Z:-15.07 [[ 9.99996639e-01 9.00812648e-04 2.43130603e-03 7.58117047e+02] [-9.00670149e-04 9.99999593e-01 -5.97045637e-05 2.61316406e+02] [-2.43135882e-03 5.75145582e-05 9.99997043e-01 -1.50656666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:758.18, Y:261.31, Z:-15.07 [[ 9.99994901e-01 -2.07034109e-03 2.43130466e-03 7.58178601e+02] [ 2.07049250e-03 9.99997855e-01 -5.97603586e-05 2.61307966e+02] [-2.43117572e-03 6.47940520e-05 9.99997043e-01 -1.50680872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.625336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:758.24, Y:261.30, Z:-15.07 [[ 9.99993976e-01 -2.47723950e-03 2.43130328e-03 7.58240781e+02] [ 2.47739225e-03 9.99996929e-01 -5.98165631e-05 2.61303842e+02] [-2.43114763e-03 6.58394947e-05 9.99997043e-01 -1.50704654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:758.30, Y:261.30, Z:-15.07 [[ 9.99993927e-01 2.49695218e-03 2.43130051e-03 7.58301367e+02] [-2.49681385e-03 9.99996881e-01 -5.99286971e-05 2.61296527e+02] [-2.43144257e-03 5.38578283e-05 9.99997043e-01 -1.50684899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:758.36, Y:261.29, Z:-15.07 [[ 9.99961855e-01 8.38911329e-03 2.43129831e-03 7.58362415e+02] [-8.38899216e-03 9.99964810e-01 -6.00177930e-05 2.61291627e+02] [-2.43171625e-03 3.96193611e-05 9.99997043e-01 -1.50666568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.805336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:758.42, Y:261.29, Z:-15.07 [[ 9.99848700e-01 1.72239817e-02 2.43129695e-03 7.58422240e+02] [-1.72238865e-02 9.99851656e-01 -6.00730104e-05 2.61290375e+02] [-2.43197098e-03 1.81875386e-05 9.99997043e-01 -1.50687643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:758.48, Y:261.29, Z:-15.07 [[ 9.99748040e-01 2.23147000e-02 2.43129763e-03 7.58481322e+02] [-2.23146199e-02 9.99750996e-01 -6.00455787e-05 2.61289277e+02] [-2.43203212e-03 5.77696704e-06 9.99997043e-01 -1.50672738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.925336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:758.54, Y:261.29, Z:-15.07 [[ 9.99647352e-01 2.64435426e-02 2.43130031e-03 7.58539938e+02] [-2.64434750e-02 9.99650308e-01 -5.99369715e-05 2.61287804e+02] [-2.43203505e-03 -4.37619410e-06 9.99997043e-01 -1.50685791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:758.60, Y:261.29, Z:-15.07 [[ 9.99614879e-01 2.76438457e-02 2.43130315e-03 7.58599201e+02] [-2.76437820e-02 9.99617836e-01 -5.98214731e-05 2.61285841e+02] [-2.43202769e-03 -7.41197951e-06 9.99997043e-01 -1.50674917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:758.66, Y:261.28, Z:-15.07 [[ 9.99646815e-01 2.64638201e-02 2.43130602e-03 7.58658234e+02] [-2.64637531e-02 9.99649772e-01 -5.97042733e-05 2.61283848e+02] [-2.43203452e-03 -4.65829577e-06 9.99997043e-01 -1.50683614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:758.72, Y:261.28, Z:-15.07 [[ 9.99707622e-01 2.40574273e-02 2.43130816e-03 7.58717452e+02] [-2.40573535e-02 9.99710578e-01 -5.96173314e-05 2.61282140e+02] [-2.43203872e-03 1.10906086e-06 9.99997043e-01 -1.50688896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:758.78, Y:261.28, Z:-15.07 [[ 9.99734257e-01 2.29238955e-02 2.43131094e-03 7.58776454e+02] [-2.29238186e-02 9.99737213e-01 -5.95035482e-05 2.61281098e+02] [-2.43203608e-03 3.75280458e-06 9.99997043e-01 -1.50699093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.225336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:758.84, Y:261.28, Z:-15.07 [[ 9.99756660e-01 2.19250880e-02 2.43131301e-03 7.58836300e+02] [-2.19250083e-02 9.99759616e-01 -5.94190624e-05 2.61281152e+02] [-2.43203133e-03 6.09804555e-06 9.99997043e-01 -1.50689312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.285336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:758.90, Y:261.28, Z:-15.07 [[ 9.99762019e-01 2.16793517e-02 2.43131437e-03 7.58895520e+02] [-2.16792714e-02 9.99764975e-01 -5.93631867e-05 2.61280386e+02] [-2.43202991e-03 6.63993523e-06 9.99997043e-01 -1.50691288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:758.95, Y:261.28, Z:-15.07 [[ 9.99791045e-01 2.02966518e-02 2.43131713e-03 7.58954110e+02] [-2.02965677e-02 9.99794002e-01 -5.92500725e-05 2.61278815e+02] [-2.43201886e-03 9.89029927e-06 9.99997043e-01 -1.50698970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:759.01, Y:261.28, Z:-15.07 [[ 9.99821624e-01 1.87298956e-02 2.43131917e-03 7.59013950e+02] [-1.87298071e-02 9.99824580e-01 -5.91662594e-05 2.61279390e+02] [-2.43200084e-03 1.36175665e-05 9.99997043e-01 -1.50704012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:759.07, Y:261.28, Z:-15.07 [[ 9.99859681e-01 1.65742782e-02 2.43132053e-03 7.59073466e+02] [-1.65741835e-02 9.99862637e-01 -5.91103835e-05 2.61280703e+02] [-2.43196626e-03 1.88049367e-05 9.99997043e-01 -1.50703551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:759.13, Y:261.28, Z:-15.07 [[ 9.99893287e-01 1.44049768e-02 2.43132188e-03 7.59133527e+02] [-1.44048758e-02 9.99896243e-01 -5.90544434e-05 2.61280829e+02] [-2.43192029e-03 2.40252517e-05 9.99997043e-01 -1.50691342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:759.19, Y:261.28, Z:-15.07 [[ 9.99954667e-01 9.20611221e-03 2.43132329e-03 7.59193308e+02] [-9.20599598e-03 9.99957622e-01 -5.89963754e-05 2.61277716e+02] [-2.43176339e-03 3.66109485e-05 9.99997043e-01 -1.50697874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:759.25, Y:261.28, Z:-15.07 [[ 9.99986141e-01 4.66981797e-03 2.43132271e-03 7.59253864e+02] [-4.66968827e-03 9.99989095e-01 -5.90203411e-05 2.61275025e+02] [-2.43157181e-03 4.76660040e-05 9.99997043e-01 -1.50696454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:759.31, Y:261.27, Z:-15.07 [[ 9.99996618e-01 -9.23802497e-04 2.43132271e-03 7.59313902e+02] [ 9.23948724e-04 9.99999571e-01 -5.90203411e-05 2.61270367e+02] [-2.43126715e-03 6.12665590e-05 9.99997043e-01 -1.50693703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:759.38, Y:261.27, Z:-15.07 [[ 9.99993035e-01 -2.83155694e-03 2.43132203e-03 7.59376475e+02] [ 2.83170887e-03 9.99995989e-01 -5.90482775e-05 2.61265760e+02] [-2.43114508e-03 6.59326624e-05 9.99997043e-01 -1.50704582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:759.44, Y:261.26, Z:-15.07 [[ 9.99993029e-01 -2.83396844e-03 2.43131272e-03 7.59437757e+02] [ 2.83412130e-03 9.99995982e-01 -5.94292008e-05 2.61258061e+02] [-2.43113453e-03 6.63194217e-05 9.99997043e-01 -1.50732318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:759.50, Y:261.25, Z:-15.07 [[ 9.99996553e-01 -9.91344435e-04 2.43131074e-03 7.59499315e+02] [ 9.91492051e-04 9.99999507e-01 -5.95100725e-05 2.61251549e+02] [-2.43125055e-03 6.19204926e-05 9.99997043e-01 -1.50716291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:759.56, Y:261.24, Z:-15.07 [[ 9.99997003e-01 2.89090041e-04 2.43130800e-03 7.59560578e+02] [-2.88945935e-04 9.99999956e-01 -5.96220096e-05 2.61244604e+02] [-2.43132513e-03 5.89193143e-05 9.99997043e-01 -1.50738499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.005336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:759.62, Y:261.23, Z:-15.08 [[ 9.99994195e-01 2.38739810e-03 2.43130595e-03 7.59621878e+02] [-2.38725999e-03 9.99997149e-01 -5.97053242e-05 2.61234484e+02] [-2.43144156e-03 5.39008181e-05 9.99997043e-01 -1.50750628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:759.68, Y:261.23, Z:-15.08 [[ 9.99989552e-01 3.87108208e-03 2.43130457e-03 7.59683060e+02] [-3.87094822e-03 9.99992506e-01 -5.97614826e-05 2.61226769e+02] [-2.43151769e-03 5.03494041e-05 9.99997043e-01 -1.50758464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:759.74, Y:261.22, Z:-15.08 [[ 9.99949652e-01 9.73559934e-03 2.43130251e-03 7.59744632e+02] [-9.73548261e-03 9.99952607e-01 -5.98452411e-05 2.61217415e+02] [-2.43176991e-03 3.61723247e-05 9.99997043e-01 -1.50756276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.185336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:759.80, Y:261.21, Z:-15.08 [[ 9.99875932e-01 1.55630772e-02 2.43130111e-03 7.59804253e+02] [-1.55629775e-02 9.99878888e-01 -5.99019849e-05 2.61212419e+02] [-2.43193891e-03 2.20562684e-05 9.99997043e-01 -1.50771700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:759.86, Y:261.21, Z:-15.08 [[ 9.99660005e-01 2.59608164e-02 2.43130181e-03 7.59863062e+02] [-2.59607475e-02 9.99662961e-01 -5.98737499e-05 2.61207311e+02] [-2.43203673e-03 -3.26501922e-06 9.99997043e-01 -1.50764429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:759.92, Y:261.20, Z:-15.08 [[ 9.99347926e-01 3.60251615e-02 2.43130447e-03 7.59922034e+02] [-3.60251227e-02 9.99350883e-01 -5.97651994e-05 2.61203202e+02] [-2.43187932e-03 -2.78618139e-05 9.99997043e-01 -1.50751495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:759.98, Y:261.20, Z:-15.08 [[ 9.99182425e-01 4.03555378e-02 2.43130737e-03 7.59980293e+02] [-4.03555121e-02 9.99185383e-01 -5.96472730e-05 2.61202586e+02] [-2.43173388e-03 -3.85181469e-05 9.99997043e-01 -1.50765542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:760.04, Y:261.20, Z:-15.08 [[ 9.98980501e-01 4.50782468e-02 2.43131124e-03 7.60037716e+02] [-4.50782355e-02 9.98983458e-01 -5.94890953e-05 2.61202989e+02] [-2.43152137e-03 -5.01707743e-05 9.99997043e-01 -1.50777411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:760.10, Y:261.20, Z:-15.08 [[ 9.98898413e-01 4.68620245e-02 2.43131460e-03 7.60096774e+02] [-4.68620187e-02 9.98901370e-01 -5.93515774e-05 2.61201766e+02] [-2.43142482e-03 -5.46501137e-05 9.99997043e-01 -1.50786264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:760.16, Y:261.20, Z:-15.08 [[ 9.98857143e-01 4.77336065e-02 2.43131727e-03 7.60155904e+02] [-4.77336036e-02 9.98860100e-01 -5.92419693e-05 2.61204064e+02] [-2.43137364e-03 -5.68812705e-05 9.99997043e-01 -1.50767780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:760.21, Y:261.20, Z:-15.08 [[ 9.98919594e-01 4.64083402e-02 2.43132010e-03 7.60214548e+02] [-4.64083337e-02 9.98922551e-01 -5.91254456e-05 2.61204193e+02] [-2.43144439e-03 -5.37719483e-05 9.99997043e-01 -1.50767364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:760.27, Y:261.20, Z:-15.07 [[ 9.99096913e-01 4.24198977e-02 2.43132291e-03 7.60273134e+02] [-4.24198797e-02 9.99099870e-01 -5.90097365e-05 2.61204496e+02] [-2.43163759e-03 -4.41799797e-05 9.99997043e-01 -1.50742576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.725336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:760.33, Y:261.21, Z:-15.08 [[ 9.99255497e-01 3.85037823e-02 2.43132585e-03 7.60331711e+02] [-3.85037530e-02 9.99258454e-01 -5.88881620e-05 2.61207444e+02] [-2.43179033e-03 -3.47708505e-05 9.99997043e-01 -1.50764139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:760.39, Y:261.21, Z:-15.08 [[ 9.99348400e-01 3.60120117e-02 2.43132878e-03 7.60389328e+02] [-3.60119753e-02 9.99351357e-01 -5.87669788e-05 2.61207415e+02] [-2.43186803e-03 -2.88282658e-05 9.99997043e-01 -1.50799813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:760.45, Y:261.21, Z:-15.08 [[ 9.99479284e-01 3.21753076e-02 2.43133281e-03 7.60448287e+02] [-3.21752603e-02 9.99482241e-01 -5.85999262e-05 2.61208697e+02] [-2.43195943e-03 -1.96593537e-05 9.99997043e-01 -1.50799633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:760.51, Y:261.21, Z:-15.08 [[ 9.99587832e-01 2.86051372e-02 2.43133564e-03 7.60507016e+02] [-2.86050796e-02 9.99590789e-01 -5.84820321e-05 2.61209558e+02] [-2.43201360e-03 -1.10906218e-05 9.99997043e-01 -1.50803370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:760.57, Y:261.21, Z:-15.08 [[ 9.99755028e-01 2.19993664e-02 2.43133774e-03 7.60565868e+02] [-2.19992894e-02 9.99757985e-01 -5.83948508e-05 2.61208364e+02] [-2.43203397e-03 4.89284315e-06 9.99997043e-01 -1.50802411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:760.63, Y:261.21, Z:-15.08 [[ 9.99829780e-01 1.82893342e-02 2.43133970e-03 7.60625682e+02] [-1.82892465e-02 9.99832736e-01 -5.83129510e-05 2.61206669e+02] [-2.43199953e-03 1.38356539e-05 9.99997043e-01 -1.50788215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:760.69, Y:261.21, Z:-15.08 [[ 9.99876250e-01 1.55426261e-02 2.43134107e-03 7.60686132e+02] [-1.55425304e-02 9.99879206e-01 -5.82560289e-05 2.61206963e+02] [-2.43195283e-03 2.04596274e-05 9.99997043e-01 -1.50780609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:760.75, Y:261.21, Z:-15.08 [[ 9.99881313e-01 1.52134179e-02 2.43134107e-03 7.60745228e+02] [-1.52133212e-02 9.99884269e-01 -5.82560289e-05 2.61205898e+02] [-2.43194596e-03 2.12603420e-05 9.99997043e-01 -1.50791058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:760.80, Y:261.21, Z:-15.08 [[ 9.99882528e-01 1.51333682e-02 2.43134310e-03 7.60803443e+02] [-1.51332715e-02 9.99885484e-01 -5.81711667e-05 2.61205265e+02] [-2.43194499e-03 2.13701580e-05 9.99997043e-01 -1.50794571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:760.86, Y:261.20, Z:-15.08 [[ 9.99898431e-01 1.40433952e-02 2.43134511e-03 7.60863085e+02] [-1.40432955e-02 9.99901386e-01 -5.80867829e-05 2.61204471e+02] [-2.43192108e-03 2.39367852e-05 9.99997043e-01 -1.50790968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:760.92, Y:261.20, Z:-15.08 [[ 9.99918322e-01 1.25473887e-02 2.43134645e-03 7.60922437e+02] [-1.25472846e-02 9.99921278e-01 -5.80307283e-05 2.61203049e+02] [-2.43188318e-03 2.75191925e-05 9.99997043e-01 -1.50794955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:760.98, Y:261.20, Z:-15.08 [[ 9.99928005e-01 1.17504507e-02 2.43134781e-03 7.60982148e+02] [-1.17503444e-02 9.99930961e-01 -5.79735980e-05 2.61200091e+02] [-2.43186117e-03 2.94002500e-05 9.99997043e-01 -1.50809789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:761.04, Y:261.19, Z:-15.08 [[ 9.99937355e-01 1.09258816e-02 2.43134920e-03 7.61042580e+02] [-1.09257730e-02 9.99940310e-01 -5.79155333e-05 2.61194778e+02] [-2.43183685e-03 3.13475357e-05 9.99997043e-01 -1.50818446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:761.10, Y:261.19, Z:-15.08 [[ 9.99935018e-01 1.11376664e-02 2.43134920e-03 7.61102639e+02] [-1.11375585e-02 9.99937974e-01 -5.79155333e-05 2.61190741e+02] [-2.43184343e-03 3.08324760e-05 9.99997043e-01 -1.50781608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:761.16, Y:261.19, Z:-15.08 [[ 9.99920699e-01 1.23565837e-02 2.43135150e-03 7.61163325e+02] [-1.23564796e-02 9.99923654e-01 -5.78187668e-05 2.61186139e+02] [-2.43188032e-03 2.77712364e-05 9.99997043e-01 -1.50799696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:761.22, Y:261.18, Z:-15.08 [[ 9.99853365e-01 1.69510250e-02 2.43135150e-03 7.61223461e+02] [-1.69509345e-02 9.99856321e-01 -5.78187668e-05 2.61180150e+02] [-2.43198225e-03 1.65966085e-05 9.99997043e-01 -1.50795302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:761.28, Y:261.18, Z:-15.08 [[ 9.99770781e-01 2.12714133e-02 2.43135150e-03 7.61283529e+02] [-2.12713356e-02 9.99773738e-01 -5.78187669e-05 2.61177114e+02] [-2.43203126e-03 6.08742008e-06 9.99997043e-01 -1.50818725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.745336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:761.34, Y:261.17, Z:-15.08 [[ 9.99634863e-01 2.69115053e-02 2.43135284e-03 7.61341817e+02] [-2.69114445e-02 9.99637820e-01 -5.77622605e-05 2.61173479e+02] [-2.43202672e-03 -7.69004746e-06 9.99997043e-01 -1.50840340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:761.40, Y:261.17, Z:-15.08 [[ 9.99551617e-01 2.98438054e-02 2.43135483e-03 7.61400371e+02] [-2.98437534e-02 9.99554574e-01 -5.76782990e-05 2.61170500e+02] [-2.43199318e-03 -1.49083169e-05 9.99997043e-01 -1.50829951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.865336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:761.46, Y:261.17, Z:-15.08 [[ 9.99480259e-01 3.21449989e-02 2.43135746e-03 7.61458462e+02] [-3.21449539e-02 9.99483216e-01 -5.75672620e-05 2.61166020e+02] [-2.43195147e-03 -2.06185315e-05 9.99997043e-01 -1.50843910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:761.52, Y:261.16, Z:-15.08 [[ 9.99393655e-01 3.47334260e-02 2.43135941e-03 7.61517982e+02] [-3.47333890e-02 9.99396612e-01 -5.74846749e-05 2.61161590e+02] [-2.43188900e-03 -2.69995328e-05 9.99997043e-01 -1.50829486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:761.58, Y:261.16, Z:-15.08 [[ 9.99292902e-01 3.75204645e-02 2.43136080e-03 7.61576987e+02] [-3.75204358e-02 9.99295859e-01 -5.74257289e-05 2.61160537e+02] [-2.43180342e-03 -3.38405938e-05 9.99997043e-01 -1.50828847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:761.64, Y:261.16, Z:-15.08 [[ 9.99055703e-01 4.33796117e-02 2.43136288e-03 7.61636237e+02] [-4.33796006e-02 9.99058660e-01 -5.73378993e-05 2.61158326e+02] [-2.43156143e-03 -4.81877951e-05 9.99997043e-01 -1.50841045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:761.70, Y:261.16, Z:-15.08 [[ 9.98837416e-01 4.81446184e-02 2.43136561e-03 7.61695389e+02] [-4.81446216e-02 9.98840374e-01 -5.72216848e-05 2.61160130e+02] [-2.43130105e-03 -5.99020176e-05 9.99997043e-01 -1.50843672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:761.75, Y:261.16, Z:-15.09 [[ 9.98796600e-01 4.89840916e-02 2.43136845e-03 7.61753751e+02] [-4.89840977e-02 9.98799557e-01 -5.71006064e-05 2.61160789e+02] [-2.43124676e-03 -6.20664983e-05 9.99997043e-01 -1.50874333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:761.81, Y:261.16, Z:-15.09 [[ 9.98943053e-01 4.59005944e-02 2.43137127e-03 7.61812768e+02] [-4.59005916e-02 9.98946011e-01 -5.69806336e-05 2.61161751e+02] [-2.43142407e-03 -5.46809713e-05 9.99997043e-01 -1.50882213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:761.87, Y:261.16, Z:-15.09 [[ 9.99107073e-01 4.21799131e-02 2.43137397e-03 7.61871859e+02] [-4.21798996e-02 9.99110030e-01 -5.68651567e-05 2.61161474e+02] [-2.43160869e-03 -4.57407294e-05 9.99997043e-01 -1.50878404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:761.93, Y:261.16, Z:-15.09 [[ 9.99352648e-01 3.58939220e-02 2.43137676e-03 7.61930479e+02] [-3.58938901e-02 9.99355605e-01 -5.67453052e-05 2.61161198e+02] [-2.43184681e-03 -3.05629995e-05 9.99997043e-01 -1.50868798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:761.99, Y:261.16, Z:-15.09 [[ 9.99562331e-01 2.94827859e-02 2.43137883e-03 7.61989539e+02] [-2.94827353e-02 9.99565288e-01 -5.66564434e-05 2.61163752e+02] [-2.43199228e-03 -1.50520519e-05 9.99997043e-01 -1.50864207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.465336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:762.05, Y:261.16, Z:-15.09 [[ 9.99699004e-01 2.44129120e-02 2.43138152e-03 7.62049345e+02] [-2.44128467e-02 9.99701960e-01 -5.65411108e-05 2.61163344e+02] [-2.43203720e-03 -2.83285213e-06 9.99997043e-01 -1.50869281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:762.11, Y:261.16, Z:-15.09 [[ 9.99874071e-01 1.56821703e-02 2.43138286e-03 7.62108850e+02] [-1.56820793e-02 9.99877027e-01 -5.64834660e-05 2.61161026e+02] [-2.43196964e-03 1.83472143e-05 9.99997043e-01 -1.50888558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:762.17, Y:261.16, Z:-15.09 [[ 9.99952035e-01 9.48772874e-03 2.43138419e-03 7.62169542e+02] [-9.48761958e-03 9.99954990e-01 -5.64261448e-05 2.61157888e+02] [-2.43181011e-03 3.33553901e-05 9.99997043e-01 -1.50895106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.645336195 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:762.23, Y:261.15, Z:-15.09 [[ 9.99994853e-01 2.09354527e-03 2.43138419e-03 7.62230271e+02] [-2.09341426e-03 9.99997807e-01 -5.64261447e-05 2.61152337e+02] [-2.43149699e-03 5.13359600e-05 9.99997043e-01 -1.50889610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.705336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:762.29, Y:261.15, Z:-15.09 [[ 9.99997007e-01 -2.73730642e-04 2.43138419e-03 7.62291256e+02] [ 2.73868645e-04 9.99999961e-01 -5.64261447e-05 2.61146607e+02] [-2.43136865e-03 5.70918557e-05 9.99997043e-01 -1.50886886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.765336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:762.35, Y:261.14, Z:-15.09 [[ 9.99994237e-01 2.36939683e-03 2.43137871e-03 7.62352653e+02] [-2.36926607e-03 9.99997192e-01 -5.66610517e-05 2.61139938e+02] [-2.43150614e-03 5.09001421e-05 9.99997043e-01 -1.50895192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:762.41, Y:261.14, Z:-15.09 [[ 9.99980459e-01 5.75935801e-03 2.43137424e-03 7.62413552e+02] [-5.75923680e-03 9.99983414e-01 -5.68520973e-05 2.61135577e+02] [-2.43166135e-03 4.28481263e-05 9.99997043e-01 -1.50880864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.885336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:762.47, Y:261.13, Z:-15.09 [[ 9.99941490e-01 1.05406421e-02 2.43137290e-03 7.62473586e+02] [-1.05405349e-02 9.99944445e-01 -5.69096960e-05 2.61130839e+02] [-2.43183769e-03 3.12783954e-05 9.99997043e-01 -1.50912268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:762.53, Y:261.13, Z:-15.09 [[ 9.99908621e-01 1.32980584e-02 2.43137223e-03 7.62533825e+02] [-1.32979593e-02 9.99911577e-01 -5.69382341e-05 2.61126297e+02] [-2.43191441e-03 2.46007423e-05 9.99997043e-01 -1.50919416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:762.59, Y:261.12, Z:-15.09 [[ 9.99879199e-01 1.53517329e-02 2.43137223e-03 7.62594462e+02] [-1.53516398e-02 9.99882155e-01 -5.69382341e-05 2.61121403e+02] [-2.43195980e-03 1.96058053e-05 9.99997043e-01 -1.50911191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:762.65, Y:261.12, Z:-15.09 [[ 9.99857057e-01 1.67318192e-02 2.43137223e-03 7.62653961e+02] [-1.67317302e-02 9.99860013e-01 -5.69382341e-05 2.61117437e+02] [-2.43198455e-03 1.62490311e-05 9.99997043e-01 -1.50904743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:762.71, Y:261.12, Z:-15.09 [[ 9.99846737e-01 1.73375388e-02 2.43137290e-03 7.62713722e+02] [-1.73374516e-02 9.99849693e-01 -5.69094623e-05 2.61115210e+02] [-2.43199412e-03 1.47469302e-05 9.99997043e-01 -1.50898723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:762.77, Y:261.11, Z:-15.09 [[ 9.99809686e-01 1.93566781e-02 2.43137356e-03 7.62773214e+02] [-1.93565970e-02 9.99812642e-01 -5.68812996e-05 2.61111966e+02] [-2.43201906e-03 9.80735619e-06 9.99997043e-01 -1.50883680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:762.83, Y:261.11, Z:-15.09 [[ 9.99754426e-01 2.20267165e-02 2.43137492e-03 7.62832843e+02] [-2.20266434e-02 9.99757382e-01 -5.68233361e-05 2.61109022e+02] [-2.43203665e-03 3.25435354e-06 9.99997043e-01 -1.50917388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:762.89, Y:261.11, Z:-15.09 [[ 9.99730080e-01 2.31053308e-02 2.43137558e-03 7.62892568e+02] [-2.31052610e-02 9.99733036e-01 -5.67946579e-05 2.61107076e+02] [-2.43203876e-03 6.01760511e-07 9.99997043e-01 -1.50911163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:762.95, Y:261.10, Z:-15.09 [[ 9.99714711e-01 2.37609802e-02 2.43137695e-03 7.62952446e+02] [-2.37609125e-02 9.99717668e-01 -5.67362195e-05 2.61102307e+02] [-2.43203860e-03 -1.05170156e-06 9.99997043e-01 -1.50895458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:763.01, Y:261.10, Z:-15.09 [[ 9.99679937e-01 2.51815696e-02 2.43137651e-03 7.63013150e+02] [-2.51815060e-02 9.99682894e-01 -5.67549673e-05 2.61099762e+02] [-2.43203469e-03 -4.48892013e-06 9.99997043e-01 -1.50863213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:763.07, Y:261.10, Z:-15.09 [[ 9.99641316e-01 2.66707471e-02 2.43137651e-03 7.63072641e+02] [-2.66706879e-02 9.99644272e-01 -5.67549672e-05 2.61097824e+02] [-2.43202530e-03 -8.11187413e-06 9.99997043e-01 -1.50879698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:763.13, Y:261.10, Z:-15.09 [[ 9.99594113e-01 2.83848096e-02 2.43137718e-03 7.63132223e+02] [-2.83847556e-02 9.99597070e-01 -5.67262213e-05 2.61096087e+02] [-2.43200767e-03 -1.23108502e-05 9.99997043e-01 -1.50903065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:763.19, Y:261.10, Z:-15.09 [[ 9.99559981e-01 2.95623593e-02 2.43137784e-03 7.63192292e+02] [-2.95623088e-02 9.99562938e-01 -5.66979083e-05 2.61096525e+02] [-2.43199130e-03 -1.52041824e-05 9.99997043e-01 -1.50909580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:763.25, Y:261.10, Z:-15.09 [[ 9.99546935e-01 3.00002040e-02 2.43137918e-03 7.63251163e+02] [-3.00001550e-02 9.99549892e-01 -5.66404159e-05 2.61095982e+02] [-2.43198402e-03 -1.63269982e-05 9.99997043e-01 -1.50931147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:763.31, Y:261.10, Z:-15.09 [[ 9.99560147e-01 2.95567367e-02 2.43138117e-03 7.63310862e+02] [-2.95566866e-02 9.99563104e-01 -5.65550502e-05 2.61095850e+02] [-2.43199049e-03 -1.53333968e-05 9.99997043e-01 -1.50903456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:763.37, Y:261.10, Z:-15.09 [[ 9.99578650e-01 2.89242295e-02 2.43138253e-03 7.63369602e+02] [-2.89241777e-02 9.99581607e-01 -5.64965703e-05 2.61096613e+02] [-2.43199937e-03 -1.38529747e-05 9.99997043e-01 -1.50912499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.845336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:763.43, Y:261.10, Z:-15.09 [[ 9.99630461e-01 2.70745298e-02 2.43138454e-03 7.63429537e+02] [-2.70744727e-02 9.99633418e-01 -5.64097837e-05 2.61096216e+02] [-2.43202051e-03 -9.43951622e-06 9.99997043e-01 -1.50935828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.905336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:763.49, Y:261.10, Z:-15.09 [[ 9.99737402e-01 2.27863069e-02 2.43138588e-03 7.63488969e+02] [-2.27862372e-02 9.99740358e-01 -5.63517510e-05 2.61096036e+02] [-2.43203864e-03 9.34817552e-07 9.99997043e-01 -1.50933156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:763.55, Y:261.09, Z:-15.09 [[ 9.99838967e-01 1.77800084e-02 2.43138724e-03 7.63548677e+02] [-1.77799241e-02 9.99841923e-01 -5.62933987e-05 2.61093909e+02] [-2.43200379e-03 1.30544532e-05 9.99997043e-01 -1.50919963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:763.61, Y:261.09, Z:-15.09 [[ 9.99883398e-01 1.50757866e-02 2.43138790e-03 7.63609473e+02] [-1.50756944e-02 9.99886354e-01 -5.62647303e-05 2.61091377e+02] [-2.43195982e-03 1.96033088e-05 9.99997043e-01 -1.50918948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:763.67, Y:261.09, Z:-15.09 [[ 9.99910722e-01 1.31390818e-02 2.43138790e-03 7.63669906e+02] [-1.31389838e-02 9.99913678e-01 -5.62647305e-05 2.61087604e+02] [-2.43191728e-03 2.43137410e-05 9.99997043e-01 -1.50911921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.145336195 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:763.73, Y:261.08, Z:-15.09 [[ 9.99918471e-01 1.25355472e-02 2.43138790e-03 7.63730371e+02] [-1.25354474e-02 9.99921427e-01 -5.62647304e-05 2.61082743e+02] [-2.43190217e-03 2.57816080e-05 9.99997043e-01 -1.50900108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.205336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:763.79, Y:261.08, Z:-15.09 [[ 9.99918597e-01 1.25254665e-02 2.43138723e-03 7.63790615e+02] [-1.25253666e-02 9.99921553e-01 -5.62937981e-05 2.61078279e+02] [-2.43190160e-03 2.58351992e-05 9.99997043e-01 -1.50883999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:763.85, Y:261.07, Z:-15.09 [[ 9.99895728e-01 1.42344957e-02 2.43138723e-03 7.63850727e+02] [-1.42344009e-02 9.99898684e-01 -5.62937980e-05 2.61072609e+02] [-2.43194220e-03 2.16785878e-05 9.99997043e-01 -1.50873423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.325336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:763.91, Y:261.07, Z:-15.09 [[ 9.99850423e-01 1.71236838e-02 2.43138723e-03 7.63910915e+02] [-1.71235976e-02 9.99853379e-01 -5.62937982e-05 2.61069171e+02] [-2.43199469e-03 1.46512815e-05 9.99997043e-01 -1.50912994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:763.97, Y:261.06, Z:-15.09 [[ 9.99739916e-01 2.26757355e-02 2.43138381e-03 7.63971283e+02] [-2.26756653e-02 9.99742872e-01 -5.64409703e-05 2.61064713e+02] [-2.43203847e-03 1.29304555e-06 9.99997043e-01 -1.50904412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:764.03, Y:261.06, Z:-15.09 [[ 9.99578480e-01 2.89301031e-02 2.43138381e-03 7.64030474e+02] [-2.89300514e-02 9.99581437e-01 -5.64409704e-05 2.61064112e+02] [-2.43199896e-03 -1.39228791e-05 9.99997043e-01 -1.50928195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:764.09, Y:261.06, Z:-15.09 [[ 9.99423212e-01 3.38722877e-02 2.43138449e-03 7.64090097e+02] [-3.38722507e-02 9.99426169e-01 -5.64117307e-05 2.61063818e+02] [-2.43190008e-03 -2.59772719e-05 9.99997043e-01 -1.50947653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:764.15, Y:261.06, Z:-15.09 [[ 9.99348963e-01 3.59963651e-02 2.43138580e-03 7.64149820e+02] [-3.59963345e-02 9.99351920e-01 -5.63550260e-05 2.61061818e+02] [-2.43183865e-03 -3.12026398e-05 9.99997043e-01 -1.50936310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:764.21, Y:261.06, Z:-15.09 [[ 9.99316850e-01 3.68771154e-02 2.43138714e-03 7.64209645e+02] [-3.68770875e-02 9.99319807e-01 -5.62973933e-05 2.61060220e+02] [-2.43180941e-03 -3.34035425e-05 9.99997043e-01 -1.50914557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:764.27, Y:261.06, Z:-15.09 [[ 9.99340654e-01 3.62263088e-02 2.43138853e-03 7.64268614e+02] [-3.62262792e-02 9.99343611e-01 -5.62373168e-05 2.61060182e+02] [-2.43182986e-03 -3.18799227e-05 9.99997043e-01 -1.50903412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:764.33, Y:261.06, Z:-15.09 [[ 9.99468928e-01 3.24953937e-02 2.43139059e-03 7.64327035e+02] [-3.24953533e-02 9.99471885e-01 -5.61480969e-05 2.61059484e+02] [-2.43193109e-03 -2.28906179e-05 9.99997043e-01 -1.50921551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.805336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:764.39, Y:261.06, Z:-15.10 [[ 9.99596437e-01 2.83028678e-02 2.43139259e-03 7.64386600e+02] [-2.83028152e-02 9.99599394e-01 -5.60613043e-05 2.61058277e+02] [-2.43200525e-03 -1.27765751e-05 9.99997043e-01 -1.50950627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:764.45, Y:261.06, Z:-15.09 [[ 9.99686769e-01 2.49088753e-02 2.43139388e-03 7.64447476e+02] [-2.49088127e-02 9.99689726e-01 -5.60050848e-05 2.61055576e+02] [-2.43203451e-03 -4.57559264e-06 9.99997043e-01 -1.50932908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.925336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:764.51, Y:261.05, Z:-15.09 [[ 9.99819201e-01 1.88587794e-02 2.43139388e-03 7.64507940e+02] [-1.88586989e-02 9.99822157e-01 -5.60050849e-05 2.61051752e+02] [-2.43201766e-03 1.01420340e-05 9.99997043e-01 -1.50930536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:764.57, Y:261.05, Z:-15.09 [[ 9.99913970e-01 1.28895552e-02 2.43139388e-03 7.64568316e+02] [-1.28894572e-02 9.99916926e-01 -5.60050849e-05 2.61045771e+02] [-2.43191378e-03 2.46609195e-05 9.99997043e-01 -1.50905537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:764.63, Y:261.04, Z:-15.09 [[ 9.99929727e-01 1.16030225e-02 2.43139388e-03 7.64628569e+02] [-1.16029206e-02 9.99932682e-01 -5.60050848e-05 2.61042214e+02] [-2.43188003e-03 2.77898790e-05 9.99997043e-01 -1.50902127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:764.69, Y:261.04, Z:-15.09 [[ 9.99945890e-01 1.01146469e-02 2.43139388e-03 7.64689846e+02] [-1.01145406e-02 9.99948845e-01 -5.60050849e-05 2.61035196e+02] [-2.43183598e-03 3.14096224e-05 9.99997043e-01 -1.50896900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:764.75, Y:261.03, Z:-15.09 [[ 9.99929740e-01 1.16018412e-02 2.43139250e-03 7.64749985e+02] [-1.16017392e-02 9.99932696e-01 -5.60649945e-05 2.61031005e+02] [-2.43187932e-03 2.78526737e-05 9.99997043e-01 -1.50910136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:764.81, Y:261.02, Z:-15.09 [[ 9.99868313e-01 1.60450833e-02 2.43138893e-03 7.64810795e+02] [-1.60449940e-02 9.99871269e-01 -5.62192469e-05 2.61023271e+02] [-2.43197798e-03 1.72002227e-05 9.99997043e-01 -1.50922845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:764.87, Y:261.02, Z:-15.09 [[ 9.99754235e-01 2.20353612e-02 2.43138757e-03 7.64871357e+02] [-2.20352895e-02 9.99757192e-01 -5.62783603e-05 2.61016734e+02] [-2.43203732e-03 2.68820020e-06 9.99997043e-01 -1.50924808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:764.93, Y:261.01, Z:-15.09 [[ 9.99557912e-01 2.96322322e-02 2.43138689e-03 7.64931118e+02] [-2.96321828e-02 9.99560869e-01 -5.63076234e-05 2.61012543e+02] [-2.43198771e-03 -1.57645704e-05 9.99997043e-01 -1.50920489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:764.99, Y:261.01, Z:-15.09 [[ 9.99378748e-01 3.51597383e-02 2.43138689e-03 7.64990417e+02] [-3.51597053e-02 9.99381705e-01 -5.63076235e-05 2.61011045e+02] [-2.43186334e-03 -2.92142043e-05 9.99997043e-01 -1.50923572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.465336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:765.05, Y:261.01, Z:-15.10 [[ 9.99091096e-01 4.25566629e-02 2.43138824e-03 7.65050290e+02] [-4.25566520e-02 9.99094054e-01 -5.62492547e-05 2.61009900e+02] [-2.43157931e-03 -4.72736135e-05 9.99997043e-01 -1.50961518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:765.11, Y:261.01, Z:-15.10 [[ 9.98959435e-01 4.55426696e-02 2.43138962e-03 7.65109785e+02] [-4.55426677e-02 9.98962393e-01 -5.61895683e-05 2.61010561e+02] [-2.43142581e-03 -5.46008699e-05 9.99997043e-01 -1.50959426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:765.17, Y:261.01, Z:-15.10 [[ 9.98951848e-01 4.57087877e-02 2.43139100e-03 7.65169029e+02] [-4.57087864e-02 9.98954806e-01 -5.61295092e-05 2.61010927e+02] [-2.43141534e-03 -5.50652551e-05 9.99997043e-01 -1.50965930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:765.23, Y:261.01, Z:-15.10 [[ 9.99037037e-01 4.38073774e-02 2.43139241e-03 7.65228099e+02] [-4.38073706e-02 9.99039995e-01 -5.60687801e-05 2.61012011e+02] [-2.43151448e-03 -5.04981202e-05 9.99997043e-01 -1.50950163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:765.29, Y:261.01, Z:-15.09 [[ 9.99196903e-01 3.99954646e-02 2.43139041e-03 7.65287676e+02] [-3.99954464e-02 9.99199860e-01 -5.61552776e-05 2.61011918e+02] [-2.43169091e-03 -4.11343652e-05 9.99997043e-01 -1.50929324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:765.35, Y:261.01, Z:-15.09 [[ 9.99339269e-01 3.62645055e-02 2.43139178e-03 7.65347158e+02] [-3.62644763e-02 9.99342226e-01 -5.60959251e-05 2.61010906e+02] [-2.43182676e-03 -3.21142887e-05 9.99997043e-01 -1.50938907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:765.41, Y:261.01, Z:-15.10 [[ 9.99574400e-01 2.90707327e-02 2.43139314e-03 7.65407752e+02] [-2.90706824e-02 9.99577357e-01 -5.60367801e-05 2.61008580e+02] [-2.43199456e-03 -1.46693269e-05 9.99997043e-01 -1.50954376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:765.47, Y:261.00, Z:-15.09 [[ 9.99765434e-01 2.15212955e-02 2.43139314e-03 7.65468291e+02] [-2.15212229e-02 9.99768390e-01 -5.60367802e-05 2.61003990e+02] [-2.43203599e-03 3.69708216e-06 9.99997043e-01 -1.50941638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.945336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:765.53, Y:261.00, Z:-15.10 [[ 9.99848438e-01 1.72392063e-02 2.43139314e-03 7.65528179e+02] [-1.72391210e-02 9.99851394e-01 -5.60367802e-05 2.60999015e+02] [-2.43199785e-03 1.41132067e-05 9.99997043e-01 -1.50977106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:765.59, Y:260.99, Z:-15.10 [[ 9.99894823e-01 1.42979117e-02 2.43139245e-03 7.65589263e+02] [-1.42978176e-02 9.99897779e-01 -5.60666110e-05 2.60992050e+02] [-2.43194555e-03 2.12971082e-05 9.99997043e-01 -1.50969053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.065336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:765.65, Y:260.99, Z:-15.10 [[ 9.99855161e-01 1.68447374e-02 2.43139112e-03 7.65650586e+02] [-1.68446507e-02 9.99858117e-01 -5.61244356e-05 2.60986027e+02] [-2.43199155e-03 1.51603725e-05 9.99997043e-01 -1.50952150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.125336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:765.71, Y:260.98, Z:-15.09 [[ 9.99785248e-01 2.05802246e-02 2.43138979e-03 7.65710537e+02] [-2.05801489e-02 9.99788205e-01 -5.61820507e-05 2.60981935e+02] [-2.43203107e-03 6.13162178e-06 9.99997043e-01 -1.50947513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.185336195 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:765.77, Y:260.98, Z:-15.09 [[ 9.99593717e-01 2.83987649e-02 2.43138913e-03 7.65771110e+02] [-2.83987122e-02 9.99596674e-01 -5.62105971e-05 2.60977895e+02] [-2.43200479e-03 -1.28605604e-05 9.99997043e-01 -1.50918366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:765.83, Y:260.98, Z:-15.09 [[ 9.99291465e-01 3.75586962e-02 2.43138913e-03 7.65830502e+02] [-3.75586705e-02 9.99294423e-01 -5.62105970e-05 2.60976532e+02] [-2.43178479e-03 -3.51489733e-05 9.99997043e-01 -1.50896283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:765.89, Y:260.98, Z:-15.09 [[ 9.99059116e-01 4.33009424e-02 2.43138981e-03 7.65889981e+02] [-4.33009339e-02 9.99062073e-01 -5.61809933e-05 2.60976022e+02] [-2.43154203e-03 -4.91533159e-05 9.99997043e-01 -1.50907438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:765.95, Y:260.98, Z:-15.09 [[ 9.98765042e-01 4.96233702e-02 2.43139049e-03 7.65949877e+02] [-4.96233805e-02 9.98768000e-01 -5.61516540e-05 2.60978095e+02] [-2.43118145e-03 -6.45715061e-05 9.99997043e-01 -1.50927492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:766.01, Y:260.98, Z:-15.09 [[ 9.98537286e-01 5.40127392e-02 2.43139181e-03 7.66009260e+02] [-5.40127625e-02 9.98540244e-01 -5.60943366e-05 2.60981641e+02] [-2.43087238e-03 -7.53139018e-05 9.99997043e-01 -1.50927129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.4853361950001 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:766.07, Y:260.98, Z:-15.09 [[ 9.98437146e-01 5.58332618e-02 2.43139319e-03 7.66068196e+02] [-5.58332907e-02 9.98440104e-01 -5.60346500e-05 2.60984847e+02] [-2.43072906e-03 -7.98056066e-05 9.99997043e-01 -1.50947550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:766.13, Y:260.99, Z:-15.09 [[ 9.98455499e-01 5.55041046e-02 2.43139591e-03 7.66127052e+02] [-5.55041328e-02 9.98458456e-01 -5.59162467e-05 2.60987778e+02] [-2.43075139e-03 -7.91226375e-05 9.99997043e-01 -1.50944344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:766.19, Y:260.99, Z:-15.09 [[ 9.98538950e-01 5.39819731e-02 2.43139864e-03 7.66185379e+02] [-5.39819971e-02 9.98541907e-01 -5.57970246e-05 2.60994104e+02] [-2.43086547e-03 -7.55362523e-05 9.99997043e-01 -1.50943468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:766.24, Y:261.00, Z:-15.09 [[ 9.98635638e-01 5.21627392e-02 2.43140202e-03 7.66243252e+02] [-5.21627582e-02 9.98638595e-01 -5.56496452e-05 2.60998259e+02] [-2.43099473e-03 -7.12549167e-05 9.99997043e-01 -1.50947221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:766.30, Y:261.00, Z:-15.09 [[ 9.98834521e-01 4.82046373e-02 2.43140534e-03 7.66303257e+02] [-4.82046449e-02 9.98837479e-01 -5.55039780e-05 2.61004311e+02] [-2.43125433e-03 -6.17657420e-05 9.99997043e-01 -1.50947222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:766.36, Y:261.01, Z:-15.09 [[ 9.99038685e-01 4.37697894e-02 2.43140666e-03 7.66362450e+02] [-4.37697840e-02 9.99041642e-01 -5.54461879e-05 2.61010102e+02] [-2.43150337e-03 -5.10292578e-05 9.99997043e-01 -1.50946985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:766.42, Y:261.02, Z:-15.09 [[ 9.99225064e-01 3.92856064e-02 2.43140862e-03 7.66422737e+02] [-3.92855880e-02 9.99228022e-01 -5.53599973e-05 2.61017372e+02] [-2.43170648e-03 -4.02022204e-05 9.99997043e-01 -1.50936355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.905336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:766.48, Y:261.02, Z:-15.09 [[ 9.99299231e-01 3.73515007e-02 2.43140991e-03 7.66482356e+02] [-3.73514767e-02 9.99302189e-01 -5.53032258e-05 2.61018326e+02] [-2.43177891e-03 -3.55522797e-05 9.99997043e-01 -1.50935243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:766.54, Y:261.02, Z:-15.09 [[ 9.99446684e-01 3.31724826e-02 2.43141126e-03 7.66542423e+02] [-3.31724463e-02 9.99449641e-01 -5.52438045e-05 2.61021867e+02] [-2.43190569e-03 -2.54426225e-05 9.99997043e-01 -1.50929152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:766.60, Y:261.03, Z:-15.09 [[ 9.99648598e-01 2.63963839e-02 2.43141261e-03 7.66600819e+02] [-2.63963277e-02 9.99651555e-01 -5.51846592e-05 2.61028153e+02] [-2.43202207e-03 -9.01509687e-06 9.99997043e-01 -1.50933200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:766.66, Y:261.03, Z:-15.09 [[ 9.99786329e-01 2.05276356e-02 2.43141404e-03 7.66660705e+02] [-2.05275623e-02 9.99789286e-01 -5.51214742e-05 2.61033388e+02] [-2.43203322e-03 5.19869329e-06 9.99997043e-01 -1.50941284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:766.72, Y:261.03, Z:-15.09 [[ 9.99831674e-01 1.81854747e-02 2.43141469e-03 7.66721278e+02] [-1.81853945e-02 9.99834631e-01 -5.50927180e-05 2.61034637e+02] [-2.43201450e-03 1.08672092e-05 9.99997043e-01 -1.50948975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:766.78, Y:261.04, Z:-15.09 [[ 9.99852039e-01 1.70290316e-02 2.43141469e-03 7.66780617e+02] [-1.70289479e-02 9.99854995e-01 -5.50927180e-05 2.61038541e+02] [-2.43200030e-03 1.36801323e-05 9.99997043e-01 -1.50946046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.265336195 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:766.84, Y:261.04, Z:-15.10 [[ 9.99869184e-01 1.59907109e-02 2.43141599e-03 7.66839799e+02] [-1.59906244e-02 9.99872140e-01 -5.50353482e-05 2.61041648e+02] [-2.43198516e-03 1.61482889e-05 9.99997043e-01 -1.50963876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:766.90, Y:261.04, Z:-15.10 [[ 9.99887570e-01 1.47964418e-02 2.43141663e-03 7.66899056e+02] [-1.47963518e-02 9.99890526e-01 -5.50069335e-05 2.61043207e+02] [-2.43196436e-03 1.90246532e-05 9.99997043e-01 -1.50959901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:766.96, Y:261.04, Z:-15.09 [[ 9.99906517e-01 1.34553480e-02 2.43141726e-03 7.66958869e+02] [-1.34552541e-02 9.99909472e-01 -5.49791635e-05 2.61043373e+02] [-2.43193691e-03 2.22586870e-05 9.99997043e-01 -1.50930947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:767.02, Y:261.04, Z:-15.09 [[ 9.99912752e-01 1.29836667e-02 2.43141851e-03 7.67018710e+02] [-1.29835715e-02 9.99915708e-01 -5.49240300e-05 2.61043338e+02] [-2.43192667e-03 2.33507420e-05 9.99997043e-01 -1.50925654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:767.08, Y:261.04, Z:-15.09 [[ 9.99912868e-01 1.29747420e-02 2.43141851e-03 7.67079581e+02] [-1.29746468e-02 9.99915824e-01 -5.49240300e-05 2.61041833e+02] [-2.43192646e-03 2.33724480e-05 9.99997043e-01 -1.50930262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:767.14, Y:261.04, Z:-15.10 [[ 9.99909362e-01 1.32422299e-02 2.43141851e-03 7.67140082e+02] [-1.32421355e-02 9.99912318e-01 -5.49240299e-05 2.61040446e+02] [-2.43193263e-03 2.27218785e-05 9.99997043e-01 -1.50953029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:767.20, Y:261.04, Z:-15.10 [[ 9.99921263e-01 1.23107902e-02 2.43141851e-03 7.67199333e+02] [-1.23106930e-02 9.99924219e-01 -5.49240299e-05 2.61037166e+02] [-2.43191041e-03 2.49872586e-05 9.99997043e-01 -1.50963763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:767.26, Y:261.03, Z:-15.10 [[ 9.99944639e-01 1.02375418e-02 2.43141914e-03 7.67259647e+02] [-1.02374386e-02 9.99947595e-01 -5.48957763e-05 2.61032235e+02] [-2.43185372e-03 3.00012331e-05 9.99997043e-01 -1.50957342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:767.32, Y:261.03, Z:-15.10 [[ 9.99952915e-01 9.39445199e-03 2.43141914e-03 7.67319556e+02] [-9.39434628e-03 9.99955871e-01 -5.48957763e-05 2.61028821e+02] [-2.43182756e-03 3.20515982e-05 9.99997043e-01 -1.50973826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:767.38, Y:261.02, Z:-15.10 [[ 9.99954399e-01 9.23515903e-03 2.43141851e-03 7.67380389e+02] [-9.23505278e-03 9.99957354e-01 -5.49239861e-05 2.61022980e+02] [-2.43182205e-03 3.24672033e-05 9.99997043e-01 -1.50961156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.865336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:767.44, Y:261.02, Z:-15.10 [[ 9.99948773e-01 9.82550451e-03 2.43141851e-03 7.67440671e+02] [-9.82540000e-03 9.99951728e-01 -5.49239862e-05 2.61018570e+02] [-2.43184079e-03 3.10315132e-05 9.99997043e-01 -1.50956623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:767.50, Y:261.01, Z:-15.09 [[ 9.99936975e-01 1.09605611e-02 2.43141851e-03 7.67500983e+02] [-1.09604599e-02 9.99939931e-01 -5.49239862e-05 2.61013124e+02] [-2.43187445e-03 2.82710595e-05 9.99997043e-01 -1.50944544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:767.56, Y:261.01, Z:-15.10 [[ 9.99923471e-01 1.21301712e-02 2.43141545e-03 7.67561078e+02] [-1.21300732e-02 9.99926426e-01 -5.50589677e-05 2.61007832e+02] [-2.43190444e-03 2.55615067e-05 9.99997043e-01 -1.50959443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.045336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:767.62, Y:261.00, Z:-15.10 [[ 9.99925448e-01 1.19660961e-02 2.43141480e-03 7.67621825e+02] [-1.19659975e-02 9.99928403e-01 -5.50875477e-05 2.61002370e+02] [-2.43189990e-03 2.59891374e-05 9.99997043e-01 -1.50979946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:767.68, Y:260.99, Z:-15.10 [[ 9.99940715e-01 1.06139273e-02 2.43141480e-03 7.67682355e+02] [-1.06138247e-02 9.99943670e-01 -5.50875479e-05 2.60992094e+02] [-2.43186254e-03 2.92776714e-05 9.99997043e-01 -1.50982662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:767.74, Y:260.98, Z:-15.10 [[ 9.99934802e-01 1.11570535e-02 2.43141480e-03 7.67742269e+02] [-1.11569525e-02 9.99937758e-01 -5.50875478e-05 2.60982630e+02] [-2.43187808e-03 2.79567767e-05 9.99997043e-01 -1.50981118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.225336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:767.80, Y:260.98, Z:-15.10 [[ 9.99908697e-01 1.32923574e-02 2.43141480e-03 7.67802659e+02] [-1.32922628e-02 9.99911652e-01 -5.50875478e-05 2.60976796e+02] [-2.43193224e-03 2.27635137e-05 9.99997043e-01 -1.51007323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.285336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:767.86, Y:260.97, Z:-15.10 [[ 9.99836881e-01 1.78969349e-02 2.43141136e-03 7.67863038e+02] [-1.78968535e-02 9.99839837e-01 -5.52390517e-05 2.60969272e+02] [-2.43201055e-03 1.17154281e-05 9.99997043e-01 -1.51022781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.345336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:767.92, Y:260.97, Z:-15.10 [[ 9.99744828e-01 2.24581210e-02 2.43141136e-03 7.67923639e+02] [-2.24580531e-02 9.99747785e-01 -5.52390518e-05 2.60965031e+02] [-2.43203869e-03 6.20190844e-07 9.99997043e-01 -1.50997952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:767.98, Y:260.96, Z:-15.10 [[ 9.99560492e-01 2.95450615e-02 2.43141136e-03 7.67983062e+02] [-2.95450145e-02 9.99563449e-01 -5.52390518e-05 2.60961878e+02] [-2.43198197e-03 -1.66213101e-05 9.99997043e-01 -1.50985404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.465336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:768.04, Y:260.96, Z:-15.10 [[ 9.99350087e-01 3.59651411e-02 2.43141204e-03 7.68042206e+02] [-3.59651132e-02 9.99353045e-01 -5.52092921e-05 2.60960360e+02] [-2.43182463e-03 -3.22725981e-05 9.99997043e-01 -1.51016784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:768.10, Y:260.96, Z:-15.10 [[ 9.99224764e-01 3.92932410e-02 2.43141331e-03 7.68102096e+02] [-3.92932231e-02 9.99227722e-01 -5.51529230e-05 2.60960156e+02] [-2.43170272e-03 -4.04278993e-05 9.99997043e-01 -1.51020164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:768.16, Y:260.96, Z:-15.10 [[ 9.99168480e-01 4.06993397e-02 2.43141458e-03 7.68161752e+02] [-4.06993261e-02 9.99171438e-01 -5.50968669e-05 2.60960466e+02] [-2.43164241e-03 -4.39058824e-05 9.99997043e-01 -1.51013151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:768.22, Y:260.96, Z:-15.10 [[ 9.99153811e-01 4.10578844e-02 2.43141590e-03 7.68221005e+02] [-4.10578720e-02 9.99156769e-01 -5.50387272e-05 2.60962054e+02] [-2.43162543e-03 -4.48366087e-05 9.99997043e-01 -1.51014194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:768.28, Y:260.96, Z:-15.10 [[ 9.99162902e-01 4.08360467e-02 2.43141722e-03 7.68280976e+02] [-4.08360337e-02 9.99165860e-01 -5.49805712e-05 2.60964587e+02] [-2.43163426e-03 -4.43548884e-05 9.99997043e-01 -1.50986783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:768.34, Y:260.97, Z:-15.10 [[ 9.99204162e-01 3.98136960e-02 2.43141854e-03 7.68339838e+02] [-3.98136802e-02 9.99207120e-01 -5.49219290e-05 2.60966373e+02] [-2.43167736e-03 -4.19255001e-05 9.99997043e-01 -1.50982333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:768.40, Y:260.97, Z:-15.10 [[ 9.99249482e-01 3.86595548e-02 2.43142051e-03 7.68398242e+02] [-3.86595358e-02 9.99252439e-01 -5.48348185e-05 2.60966761e+02] [-2.43172276e-03 -3.92039240e-05 9.99997043e-01 -1.50996791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:768.46, Y:260.97, Z:-15.10 [[ 9.99398208e-01 3.46021617e-02 2.43142244e-03 7.68457850e+02] [-3.46021309e-02 9.99401165e-01 -5.47489612e-05 2.60969630e+02] [-2.43186085e-03 -2.94163838e-05 9.99997043e-01 -1.50995114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:768.52, Y:260.97, Z:-15.10 [[ 9.99560149e-01 2.95566583e-02 2.43142378e-03 7.68516738e+02] [-2.95566127e-02 9.99563106e-01 -5.46892567e-05 2.60973481e+02] [-2.43197794e-03 -1.71994495e-05 9.99997043e-01 -1.51029862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.005336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:768.58, Y:260.98, Z:-15.10 [[ 9.99635864e-01 2.68743028e-02 2.43142576e-03 7.68576481e+02] [-2.68742495e-02 9.99638821e-01 -5.46012629e-05 2.60975339e+02] [-2.43201495e-03 -1.07613618e-05 9.99997043e-01 -1.51043053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:768.64, Y:260.98, Z:-15.10 [[ 9.99705306e-01 2.41534528e-02 2.43142708e-03 7.68636302e+02] [-2.41533915e-02 9.99708263e-01 -5.45425163e-05 2.60975298e+02] [-2.43203513e-03 -4.20076726e-06 9.99997043e-01 -1.51030278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:768.70, Y:260.98, Z:-15.10 [[ 9.99731342e-01 2.30506305e-02 2.43142650e-03 7.68696380e+02] [-2.30505660e-02 9.99734299e-01 -5.45680068e-05 2.60977133e+02] [-2.43203830e-03 -1.49241032e-06 9.99997043e-01 -1.51011119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:768.76, Y:260.98, Z:-15.10 [[ 9.99764196e-01 2.15787238e-02 2.43142650e-03 7.68755546e+02] [-2.15786549e-02 9.99767152e-01 -5.45680067e-05 2.60978541e+02] [-2.43203786e-03 2.08822596e-06 9.99997043e-01 -1.51011360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.245336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:768.82, Y:260.98, Z:-15.10 [[ 9.99789013e-01 2.03964922e-02 2.43142715e-03 7.68815445e+02] [-2.03964199e-02 9.99791970e-01 -5.45391822e-05 2.60978935e+02] [-2.43203375e-03 4.93526602e-06 9.99997043e-01 -1.51039588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:768.88, Y:260.98, Z:-15.10 [[ 9.99801774e-01 1.97610823e-02 2.43142779e-03 7.68875900e+02] [-1.97610082e-02 9.99804731e-01 -5.45107673e-05 2.60978691e+02] [-2.43203020e-03 6.45249754e-06 9.99997043e-01 -1.51048238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:768.94, Y:260.98, Z:-15.11 [[ 9.99795215e-01 2.00901922e-02 2.43142779e-03 7.68935549e+02] [-2.00901190e-02 9.99798172e-01 -5.45107673e-05 2.60979934e+02] [-2.43203219e-03 5.65193077e-06 9.99997043e-01 -1.51075347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.425336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:769.00, Y:260.98, Z:-15.11 [[ 9.99779115e-01 2.08760657e-02 2.43142903e-03 7.68995267e+02] [-2.08759950e-02 9.99782071e-01 -5.44551667e-05 2.60979328e+02] [-2.43203596e-03 3.68463808e-06 9.99997043e-01 -1.51080807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:769.06, Y:260.98, Z:-15.11 [[ 9.99753318e-01 2.20769534e-02 2.43143031e-03 7.69055102e+02] [-2.20768864e-02 9.99756274e-01 -5.43978643e-05 2.60980974e+02] [-2.43203865e-03 7.06034457e-07 9.99997043e-01 -1.51051072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:769.12, Y:260.98, Z:-15.10 [[ 9.99744437e-01 2.24755210e-02 2.43143159e-03 7.69115188e+02] [-2.24754553e-02 9.99747394e-01 -5.43408027e-05 2.60981103e+02] [-2.43203873e-03 -3.20616885e-07 9.99997043e-01 -1.51013471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:769.17, Y:260.98, Z:-15.10 [[ 9.99731685e-01 2.30357605e-02 2.43143293e-03 7.69174598e+02] [-2.30356966e-02 9.99734642e-01 -5.42809470e-05 2.60981231e+02] [-2.43203813e-03 -1.74336857e-06 9.99997043e-01 -1.51009197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:769.23, Y:260.98, Z:-15.10 [[ 9.99742771e-01 2.25494925e-02 2.43143425e-03 7.69233975e+02] [-2.25494273e-02 9.99745728e-01 -5.42216317e-05 2.60981552e+02] [-2.43203867e-03 -6.19765624e-07 9.99997043e-01 -1.51006856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:769.29, Y:260.98, Z:-15.10 [[ 9.99777033e-01 2.09755071e-02 2.43143557e-03 7.69293290e+02] [-2.09754374e-02 9.99779990e-01 -5.41623204e-05 2.60980782e+02] [-2.43203671e-03 3.14981935e-06 9.99997043e-01 -1.51022854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:769.35, Y:260.98, Z:-15.10 [[ 9.99835990e-01 1.79466217e-02 2.43143493e-03 7.69353401e+02] [-1.79465430e-02 9.99838946e-01 -5.41908724e-05 2.60979649e+02] [-2.43201588e-03 1.05461330e-05 9.99997043e-01 -1.51033887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:769.41, Y:260.98, Z:-15.10 [[ 9.99880961e-01 1.52365231e-02 2.43143493e-03 7.69414044e+02] [-1.52364364e-02 9.99883917e-01 -5.41908724e-05 2.60977776e+02] [-2.43197837e-03 1.71380179e-05 9.99997043e-01 -1.51038417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:769.47, Y:260.97, Z:-15.11 [[ 9.99940769e-01 1.06088119e-02 2.43143493e-03 7.69473314e+02] [-1.06087115e-02 9.99943725e-01 -5.41908724e-05 2.60974147e+02] [-2.43187300e-03 2.83932710e-05 9.99997043e-01 -1.51055315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:769.53, Y:260.97, Z:-15.10 [[ 9.99974132e-01 6.76929182e-03 2.43143557e-03 7.69534069e+02] [-6.76918013e-03 9.99977087e-01 -5.41624926e-05 2.60969732e+02] [-2.43174650e-03 3.77022662e-05 9.99997043e-01 -1.51042331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:769.59, Y:260.96, Z:-15.10 [[ 9.99996749e-01 7.68036666e-04 2.43143557e-03 7.69594204e+02] [-7.67907242e-04 9.99999704e-01 -5.41624926e-05 2.60962206e+02] [-2.43147644e-03 5.22951995e-05 9.99997043e-01 -1.51048969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:769.66, Y:260.96, Z:-15.10 [[ 9.99995238e-01 -1.90057398e-03 2.43143491e-03 7.69655466e+02] [ 1.90071136e-03 9.99998192e-01 -5.41917562e-05 2.60955511e+02] [-2.43132752e-03 5.88129541e-05 9.99997043e-01 -1.51045287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.145336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:769.72, Y:260.95, Z:-15.10 [[ 9.99991904e-01 -3.20612917e-03 2.43142997e-03 7.69717721e+02] [ 3.20627094e-03 9.99994858e-01 -5.44124960e-05 2.60945881e+02] [-2.43124302e-03 6.22078787e-05 9.99997043e-01 -1.51044744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:769.78, Y:260.94, Z:-15.10 [[ 9.99994270e-01 -2.35534151e-03 2.43142097e-03 7.69778592e+02] [ 2.35548174e-03 9.99997224e-01 -5.48116971e-05 2.60937300e+02] [-2.43128513e-03 6.05385508e-05 9.99997043e-01 -1.51045813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:769.84, Y:260.93, Z:-15.11 [[ 9.99996046e-01 1.41256783e-03 2.43141906e-03 7.69839717e+02] [-1.41243853e-03 9.99999001e-01 -5.48966233e-05 2.60926685e+02] [-2.43149417e-03 5.14621763e-05 9.99997043e-01 -1.51057103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:769.90, Y:260.92, Z:-15.11 [[ 9.99957100e-01 8.93789254e-03 2.43141774e-03 7.69900346e+02] [-8.93778533e-03 9.99960056e-01 -5.49550527e-05 2.60917499e+02] [-2.43181180e-03 3.32212053e-05 9.99997043e-01 -1.51095260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:769.96, Y:260.91, Z:-15.11 [[ 9.99868478e-01 1.60347891e-02 2.43141642e-03 7.69961161e+02] [-1.60347028e-02 9.99871434e-01 -5.50130522e-05 2.60912474e+02] [-2.43198595e-03 1.60187771e-05 9.99997043e-01 -1.51075850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:770.02, Y:260.91, Z:-15.11 [[ 9.99638011e-01 2.67943087e-02 2.43141508e-03 7.70020951e+02] [-2.67942540e-02 9.99640968e-01 -5.50723484e-05 2.60906660e+02] [-2.43201775e-03 -1.00955403e-05 9.99997043e-01 -1.51084545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:770.08, Y:260.90, Z:-15.11 [[ 9.99472229e-01 3.23936915e-02 2.43141441e-03 7.70080203e+02] [-3.23936533e-02 9.99475186e-01 -5.51017304e-05 2.60903761e+02] [-2.43192332e-03 -2.36897463e-05 9.99997043e-01 -1.51078489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:770.14, Y:260.90, Z:-15.11 [[ 9.99253762e-01 3.85487627e-02 2.43141573e-03 7.70139577e+02] [-3.85487428e-02 9.99256719e-01 -5.50437698e-05 2.60900828e+02] [-2.43173037e-03 -3.87253255e-05 9.99997043e-01 -1.51065970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:770.20, Y:260.90, Z:-15.11 [[ 9.99152558e-01 4.10883746e-02 2.43141703e-03 7.70199322e+02] [-4.10883624e-02 9.99155515e-01 -5.49861243e-05 2.60899415e+02] [-2.43162303e-03 -4.49634173e-05 9.99997043e-01 -1.51058528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:770.26, Y:260.90, Z:-15.11 [[ 9.99110660e-01 4.20948502e-02 2.43141834e-03 7.70258828e+02] [-4.20948411e-02 9.99113618e-01 -5.49283177e-05 2.60897990e+02] [-2.43157537e-03 -4.74707008e-05 9.99997043e-01 -1.51069250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:770.32, Y:260.90, Z:-15.11 [[ 9.99131393e-01 4.15998602e-02 2.43141963e-03 7.70318093e+02] [-4.15998498e-02 9.99134350e-01 -5.48711184e-05 2.60896697e+02] [-2.43159750e-03 -4.63232344e-05 9.99997043e-01 -1.51059036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:770.38, Y:260.90, Z:-15.11 [[ 9.99275252e-01 3.79876068e-02 2.43142097e-03 7.70376454e+02] [-3.79875859e-02 9.99278210e-01 -5.48117522e-05 2.60896609e+02] [-2.43174816e-03 -3.75917852e-05 9.99997043e-01 -1.51071494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:770.44, Y:260.90, Z:-15.11 [[ 9.99449440e-01 3.30893391e-02 2.43142243e-03 7.70436605e+02] [-3.30893038e-02 9.99452398e-01 -5.47468495e-05 2.60896097e+02] [-2.43190251e-03 -2.57373672e-05 9.99997043e-01 -1.51067594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:770.50, Y:260.89, Z:-15.11 [[ 9.99737813e-01 2.27682745e-02 2.43142243e-03 7.70497345e+02] [-2.27682087e-02 9.99740769e-01 -5.47468494e-05 2.60892801e+02] [-2.43203862e-03 -6.26637634e-07 9.99997043e-01 -1.51063972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:770.56, Y:260.89, Z:-15.10 [[ 9.99868914e-01 1.60075880e-02 2.43142243e-03 7.70558802e+02] [-1.60075022e-02 9.99871870e-01 -5.47468494e-05 2.60888829e+02] [-2.43198725e-03 1.58186732e-05 9.99997043e-01 -1.51047883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:770.62, Y:260.89, Z:-15.11 [[ 9.99957078e-01 8.94035522e-03 2.43142109e-03 7.70618611e+02] [-8.94024839e-03 9.99960034e-01 -5.48061841e-05 2.60885585e+02] [-2.43181390e-03 3.30663232e-05 9.99997043e-01 -1.51050307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:770.68, Y:260.88, Z:-15.11 [[ 9.99983875e-01 5.13199288e-03 2.43142043e-03 7.70679357e+02] [-5.13187472e-03 9.99986830e-01 -5.48354394e-05 2.60881813e+02] [-2.43166982e-03 4.23568101e-05 9.99997043e-01 -1.51072415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.165336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:770.74, Y:260.88, Z:-15.11 [[ 9.99988542e-01 4.12367546e-03 2.43141913e-03 7.70740306e+02] [-4.12355418e-03 9.99991497e-01 -5.48930752e-05 2.60879052e+02] [-2.43162481e-03 4.48663577e-05 9.99997043e-01 -1.51071656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.225336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:770.80, Y:260.87, Z:-15.11 [[ 9.99989219e-01 3.95597169e-03 2.43141784e-03 7.70801424e+02] [-3.95584977e-03 9.99992174e-01 -5.49501585e-05 2.60874482e+02] [-2.43161619e-03 4.53312424e-05 9.99997043e-01 -1.51066809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.285336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:770.86, Y:260.87, Z:-15.11 [[ 9.99988101e-01 4.22919374e-03 2.43141654e-03 7.70862759e+02] [-4.22907249e-03 9.99991056e-01 -5.50074312e-05 2.60870532e+02] [-2.43162743e-03 4.47241398e-05 9.99997043e-01 -1.51068022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.345336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:770.92, Y:260.87, Z:-15.11 [[ 9.99972285e-01 7.03683622e-03 2.43141524e-03 7.70924103e+02] [-7.03672313e-03 9.99975240e-01 -5.50651030e-05 2.60865969e+02] [-2.43174252e-03 3.79543810e-05 9.99997043e-01 -1.51089640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:770.99, Y:260.86, Z:-15.11 [[ 9.99936492e-01 1.10045274e-02 2.43141075e-03 7.70985827e+02] [-1.10044255e-02 9.99939448e-01 -5.52625334e-05 2.60863151e+02] [-2.43187166e-03 2.85027453e-05 9.99997043e-01 -1.51095746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:771.05, Y:260.86, Z:-15.11 [[ 9.99802185e-01 1.97402836e-02 2.43140946e-03 7.71047591e+02] [-1.97402074e-02 9.99805142e-01 -5.53192411e-05 2.60862973e+02] [-2.43202770e-03 7.31177100e-06 9.99997043e-01 -1.51086861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:771.11, Y:260.86, Z:-15.11 [[ 9.99685735e-01 2.49503319e-02 2.43140810e-03 7.71107489e+02] [-2.49502710e-02 9.99688692e-01 -5.53788145e-05 2.60862363e+02] [-2.43203291e-03 -5.30288012e-06 9.99997043e-01 -1.51102831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:771.17, Y:260.86, Z:-15.11 [[ 9.99578649e-01 2.89242557e-02 2.43140743e-03 7.71167736e+02] [-2.89242065e-02 9.99581606e-01 -5.54083875e-05 2.60862295e+02] [-2.43199279e-03 -1.49414893e-05 9.99997043e-01 -1.51066774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:771.23, Y:260.86, Z:-15.11 [[ 9.99574589e-01 2.90642300e-02 2.43140743e-03 7.71227620e+02] [-2.90641812e-02 9.99577546e-01 -5.54083874e-05 2.60862486e+02] [-2.43199067e-03 -1.52820500e-05 9.99997043e-01 -1.51074610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:771.29, Y:260.86, Z:-15.11 [[ 9.99637104e-01 2.68281292e-02 2.43140810e-03 7.71287934e+02] [-2.68280739e-02 9.99640061e-01 -5.53787664e-05 2.60863062e+02] [-2.43201865e-03 -9.87132648e-06 9.99997043e-01 -1.51084064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:771.35, Y:260.86, Z:-15.11 [[ 9.99714057e-01 2.37884912e-02 2.43140745e-03 7.71349618e+02] [-2.37884268e-02 9.99717014e-01 -5.54075193e-05 2.60862168e+02] [-2.43203745e-03 -2.44768228e-06 9.99997043e-01 -1.51086185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.825336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:771.41, Y:260.86, Z:-15.11 [[ 9.99822113e-01 1.87037668e-02 2.43140614e-03 7.71409799e+02] [-1.87036872e-02 9.99825069e-01 -5.54647048e-05 2.60860324e+02] [-2.43201821e-03 9.97857825e-06 9.99997043e-01 -1.51098153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:771.47, Y:260.86, Z:-15.11 [[ 9.99889359e-01 1.46750563e-02 2.43140279e-03 7.71470635e+02] [-1.46749645e-02 9.99892315e-01 -5.56113643e-05 2.60859645e+02] [-2.43195706e-03 1.99244619e-05 9.99997043e-01 -1.51068752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.945336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:771.53, Y:260.85, Z:-15.11 [[ 9.99953935e-01 9.28525819e-03 2.43140279e-03 7.71530847e+02] [-9.28515042e-03 9.99956891e-01 -5.56113643e-05 2.60853775e+02] [-2.43181434e-03 3.30328619e-05 9.99997043e-01 -1.51065812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.005336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:771.59, Y:260.85, Z:-15.11 [[ 9.99980496e-01 5.75298904e-03 2.43140212e-03 7.71592207e+02] [-5.75287075e-03 9.99983451e-01 -5.56407460e-05 2.60849176e+02] [-2.43168198e-03 4.16521187e-05 9.99997043e-01 -1.51064224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:771.65, Y:260.84, Z:-15.10 [[ 9.99996394e-01 1.14022235e-03 2.43140080e-03 7.71653643e+02] [-1.14009030e-03 9.99999349e-01 -5.56982091e-05 2.60842339e+02] [-2.43146272e-03 5.29259918e-05 9.99997043e-01 -1.51036448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:771.71, Y:260.84, Z:-15.10 [[ 9.99996833e-01 -6.49082677e-04 2.43139943e-03 7.71714444e+02] [ 6.49220165e-04 9.99999788e-01 -5.57578984e-05 2.60836530e+02] [-2.43136272e-03 5.73362354e-05 9.99997043e-01 -1.51044220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.185336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:771.78, Y:260.83, Z:-15.10 [[ 9.99996509e-01 -1.03422199e-03 2.43139060e-03 7.71775713e+02] [ 1.03436154e-03 9.99999463e-01 -5.61404791e-05 2.60827101e+02] [-2.43133123e-03 5.86552200e-05 9.99997043e-01 -1.51049653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:771.84, Y:260.82, Z:-15.10 [[ 9.99997044e-01 8.26697911e-06 2.43138922e-03 7.71837028e+02] [-8.13035896e-06 9.99999998e-01 -5.62000350e-05 2.60820465e+02] [-2.43138968e-03 5.61801008e-05 9.99997043e-01 -1.51040058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.305336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:771.90, Y:260.81, Z:-15.10 [[ 9.99991066e-01 3.45765357e-03 2.43138784e-03 7.71898223e+02] [-3.45752700e-03 9.99994021e-01 -5.62597025e-05 2.60811431e+02] [-2.43156783e-03 4.78526108e-05 9.99997043e-01 -1.51045688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.365336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:771.96, Y:260.81, Z:-15.11 [[ 9.99978082e-01 6.15829565e-03 2.43138578e-03 7.71959756e+02] [-6.15817684e-03 9.99981037e-01 -5.63483897e-05 2.60805007e+02] [-2.43168669e-03 4.13742510e-05 9.99997043e-01 -1.51051752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.425336195 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:772.02, Y:260.80, Z:-15.11 [[ 9.99947164e-01 9.98785873e-03 2.43138442e-03 7.72020794e+02] [-9.98775109e-03 9.99950120e-01 -5.64070672e-05 2.60796327e+02] [-2.43182653e-03 3.21200244e-05 9.99997043e-01 -1.51063468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:772.08, Y:260.79, Z:-15.10 [[ 9.99911168e-01 1.31051071e-02 2.43138239e-03 7.72081817e+02] [-1.31050085e-02 9.99914124e-01 -5.64945045e-05 2.60788185e+02] [-2.43191396e-03 2.46261991e-05 9.99997043e-01 -1.51036967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:772.14, Y:260.78, Z:-15.10 [[ 9.99873424e-01 1.57233741e-02 2.43138102e-03 7.72143536e+02] [-1.57232831e-02 9.99876380e-01 -5.65535460e-05 2.60783757e+02] [-2.43196966e-03 1.83170956e-05 9.99997043e-01 -1.51026881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.6053361950001 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:772.20, Y:260.78, Z:-15.10 [[ 9.99827462e-01 1.84156266e-02 2.43137965e-03 7.72204452e+02] [-1.84155434e-02 9.99830418e-01 -5.66122942e-05 2.60779316e+02] [-2.43200988e-03 1.18273490e-05 9.99997043e-01 -1.51032704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:772.27, Y:260.77, Z:-15.11 [[ 9.99783144e-01 2.06821875e-02 2.43137827e-03 7.72265668e+02] [-2.06821108e-02 9.99786101e-01 -5.66714284e-05 2.60774476e+02] [-2.43203029e-03 6.37310403e-06 9.99997043e-01 -1.51055928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:772.33, Y:260.77, Z:-15.11 [[ 9.99754636e-01 2.20171649e-02 2.43136930e-03 7.72327992e+02] [-2.20170912e-02 9.99757593e-01 -5.70538960e-05 2.60771110e+02] [-2.43203608e-03 3.50821737e-06 9.99997043e-01 -1.51082224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:772.39, Y:260.77, Z:-15.11 [[ 9.99745388e-01 2.24331939e-02 2.43135964e-03 7.72388958e+02] [-2.24331205e-02 9.99748344e-01 -5.74627327e-05 2.60766864e+02] [-2.43203684e-03 2.90511825e-06 9.99997043e-01 -1.51094482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:772.45, Y:260.76, Z:-15.11 [[ 9.99771277e-01 2.12481017e-02 2.43135070e-03 7.72450523e+02] [-2.12480239e-02 9.99774234e-01 -5.78382543e-05 2.60762641e+02] [-2.43203074e-03 6.16362766e-06 9.99997043e-01 -1.51101570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:772.51, Y:260.76, Z:-15.11 [[ 9.99768243e-01 2.13903740e-02 2.43134178e-03 7.72512626e+02] [-2.13902957e-02 9.99771200e-01 -5.82108877e-05 2.60759767e+02] [-2.43203064e-03 6.19027726e-06 9.99997043e-01 -1.51076699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:772.57, Y:260.76, Z:-15.11 [[ 9.99758953e-01 2.18202945e-02 2.43133173e-03 7.72573695e+02] [-2.18202165e-02 9.99761909e-01 -5.86276879e-05 2.60757542e+02] [-2.43203213e-03 5.56137123e-06 9.99997043e-01 -1.51097693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:772.64, Y:260.76, Z:-15.11 [[ 9.99742067e-01 2.25807183e-02 2.43132242e-03 7.72635849e+02] [-2.25806416e-02 9.99745023e-01 -5.90112670e-05 2.60755713e+02] [-2.43203501e-03 4.09522587e-06 9.99997043e-01 -1.51081987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:772.70, Y:260.75, Z:-15.11 [[ 9.99726002e-01 2.32811218e-02 2.43131221e-03 7.72697762e+02] [-2.32810461e-02 9.99728958e-01 -5.94289751e-05 2.60753751e+02] [-2.43203680e-03 2.80920009e-06 9.99997043e-01 -1.51080406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:772.76, Y:260.75, Z:-15.11 [[ 9.99718901e-01 2.35840689e-02 2.43130204e-03 7.72759787e+02] [-2.35839931e-02 9.99721857e-01 -5.98422269e-05 2.60751607e+02] [-2.43203711e-03 2.48559468e-06 9.99997043e-01 -1.51094006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:772.82, Y:260.75, Z:-15.11 [[ 9.99759807e-01 2.17811071e-02 2.43129187e-03 7.72821947e+02] [-2.17810250e-02 9.99762764e-01 -6.02524957e-05 2.60747630e+02] [-2.43202745e-03 7.28199438e-06 9.99997043e-01 -1.51089157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:772.88, Y:260.74, Z:-15.11 [[ 9.99805085e-01 1.95928790e-02 2.43128160e-03 7.72882805e+02] [-1.95927894e-02 9.99808041e-01 -6.06642794e-05 2.60744980e+02] [-2.43200348e-03 1.30168669e-05 9.99997043e-01 -1.51099351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:772.94, Y:260.74, Z:-15.11 [[ 9.99848916e-01 1.72114536e-02 2.43127211e-03 7.72944462e+02] [-1.72113561e-02 9.99851872e-01 -6.10419520e-05 2.60741039e+02] [-2.43196259e-03 1.91872394e-05 9.99997043e-01 -1.51101731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.385336195 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:773.01, Y:260.73, Z:-15.11 [[ 9.99875280e-01 1.56049038e-02 2.43126158e-03 7.73005603e+02] [-1.56048005e-02 9.99878236e-01 -6.14586757e-05 2.60734350e+02] [-2.43192460e-03 2.35116586e-05 9.99997043e-01 -1.51108020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.445336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:773.07, Y:260.73, Z:-15.11 [[ 9.99857905e-01 1.66811035e-02 2.43125576e-03 7.73066590e+02] [-1.66810028e-02 9.99860860e-01 -6.16881249e-05 2.60730963e+02] [-2.43194650e-03 2.11235751e-05 9.99997043e-01 -1.51114923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:773.13, Y:260.73, Z:-15.11 [[ 9.99813755e-01 1.91453619e-02 2.43124622e-03 7.73128391e+02] [-1.91452676e-02 9.99816711e-01 -6.20616486e-05 2.60727510e+02] [-2.43198879e-03 1.55032304e-05 9.99997043e-01 -1.51122178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.565336195 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:773.19, Y:260.72, Z:-15.11 [[ 9.99751962e-01 2.21382984e-02 2.43123545e-03 7.73190742e+02] [-2.21382119e-02 9.99754918e-01 -6.24808505e-05 2.60723822e+02] [-2.43202282e-03 8.64214720e-06 9.99997043e-01 -1.51124730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.625336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:773.25, Y:260.72, Z:-15.11 [[ 9.99706107e-01 2.41203078e-02 2.43122451e-03 7.73252512e+02] [-2.41202262e-02 9.99709063e-01 -6.29036973e-05 2.60720401e+02] [-2.43203443e-03 4.24352530e-06 9.99997043e-01 -1.51137226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:773.31, Y:260.72, Z:-15.12 [[ 9.99655652e-01 2.61278710e-02 2.43121281e-03 7.73313793e+02] [-2.61277942e-02 9.99658609e-01 -6.33525310e-05 2.60716672e+02] [-2.43203809e-03 -1.91512245e-07 9.99997043e-01 -1.51163901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:773.38, Y:260.71, Z:-15.12 [[ 9.99630358e-01 2.70783584e-02 2.43120315e-03 7.73376069e+02] [-2.70782835e-02 9.99633314e-01 -6.37211079e-05 2.60713735e+02] [-2.43203713e-03 -2.13525438e-06 9.99997043e-01 -1.51159928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.805336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:773.44, Y:260.71, Z:-15.12 [[ 9.99613903e-01 2.76791142e-02 2.43119242e-03 7.73437137e+02] [-2.76790401e-02 9.99616860e-01 -6.41281110e-05 2.60710514e+02] [-2.43203594e-03 -3.18972107e-06 9.99997043e-01 -1.51152210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:773.50, Y:260.71, Z:-15.12 [[ 9.99599190e-01 2.82054817e-02 2.43118253e-03 7.73498814e+02] [-2.82054083e-02 9.99602146e-01 -6.45010036e-05 2.60708290e+02] [-2.43203455e-03 -4.09734472e-06 9.99997043e-01 -1.51157766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:773.56, Y:260.71, Z:-15.11 [[ 9.99534723e-01 3.04043950e-02 2.43117119e-03 7.73560939e+02] [-3.04043270e-02 9.99537679e-01 -6.49254825e-05 2.60706188e+02] [-2.43202123e-03 -9.02284983e-06 9.99997043e-01 -1.51141914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:773.62, Y:260.70, Z:-15.11 [[ 9.99503158e-01 3.14249342e-02 2.43116026e-03 7.73622629e+02] [-3.14248682e-02 9.99506115e-01 -6.53321704e-05 2.60704996e+02] [-2.43201261e-03 -1.10991802e-05 9.99997043e-01 -1.51142878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:773.68, Y:260.70, Z:-15.12 [[ 9.99520200e-01 3.08781209e-02 2.43115249e-03 7.73684558e+02] [-3.08780526e-02 9.99523157e-01 -6.56199668e-05 2.60703679e+02] [-2.43201944e-03 -9.48077219e-06 9.99997043e-01 -1.51152161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:773.75, Y:260.70, Z:-15.12 [[ 9.99582042e-01 2.88068006e-02 2.43114155e-03 7.73746559e+02] [-2.88067253e-02 9.99584998e-01 -6.60229121e-05 2.60701381e+02] [-2.43203453e-03 -4.03790945e-06 9.99997043e-01 -1.51167531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:773.81, Y:260.70, Z:-15.12 [[ 9.99684237e-01 2.50103148e-02 2.43112983e-03 7.73808375e+02] [-2.50102272e-02 9.99687193e-01 -6.64516443e-05 2.60698457e+02] [-2.43203133e-03 5.62755196e-06 9.99997043e-01 -1.51170442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:773.87, Y:260.70, Z:-15.12 [[ 9.99728500e-01 2.31736144e-02 2.43111919e-03 7.73870470e+02] [-2.31735203e-02 9.99731456e-01 -6.68386597e-05 2.60695013e+02] [-2.43201522e-03 1.04829230e-05 9.99997043e-01 -1.51161194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.285336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:773.93, Y:260.69, Z:-15.11 [[ 9.99742874e-01 2.25449835e-02 2.43110854e-03 7.73932542e+02] [-2.25448867e-02 9.99745829e-01 -6.72237768e-05 2.60692402e+02] [-2.43200618e-03 1.23974252e-05 9.99997043e-01 -1.51120408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:773.99, Y:260.69, Z:-15.11 [[ 9.99694771e-01 2.45856772e-02 2.43109676e-03 7.73994688e+02] [-2.45855854e-02 9.99697727e-01 -6.76472720e-05 2.60689541e+02] [-2.43202506e-03 7.85668711e-06 9.99997043e-01 -1.51117324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:774.06, Y:260.69, Z:-15.11 [[ 9.99640391e-01 2.67053907e-02 2.43108416e-03 7.74057140e+02] [-2.67053041e-02 9.99643347e-01 -6.80968713e-05 2.60687878e+02] [-2.43203566e-03 3.14954125e-06 9.99997043e-01 -1.51102523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:774.12, Y:260.69, Z:-15.11 [[ 9.99537091e-01 3.03264594e-02 2.43107227e-03 7.74118945e+02] [-3.03263825e-02 9.99540047e-01 -6.85186918e-05 2.60686309e+02] [-2.43203203e-03 -5.23865378e-06 9.99997043e-01 -1.51112834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.525336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:774.18, Y:260.68, Z:-15.11 [[ 9.99499939e-01 3.15271505e-02 2.43106381e-03 7.74180683e+02] [-3.15270764e-02 9.99502896e-01 -6.88175597e-05 2.60684580e+02] [-2.43202494e-03 -7.86118773e-06 9.99997043e-01 -1.51106197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.585336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:774.24, Y:260.68, Z:-15.11 [[ 9.99433056e-01 3.35805923e-02 2.43105212e-03 7.74242881e+02] [-3.35805233e-02 9.99436013e-01 -6.92283547e-05 2.60683016e+02] [-2.43200576e-03 -1.24468961e-05 9.99997043e-01 -1.51102134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:774.31, Y:260.68, Z:-15.11 [[ 9.99395713e-01 3.46741907e-02 2.43103965e-03 7.74305294e+02] [-3.46741238e-02 9.99398669e-01 -6.96634608e-05 2.60681207e+02] [-2.43199331e-03 -1.46728056e-05 9.99997043e-01 -1.51100606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:774.37, Y:260.68, Z:-15.11 [[ 9.99389187e-01 3.48617748e-02 2.43102780e-03 7.74367422e+02] [-3.48617075e-02 9.99392143e-01 -7.00743792e-05 2.60679223e+02] [-2.43199300e-03 -1.47182034e-05 9.99997043e-01 -1.51123674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:774.43, Y:260.68, Z:-15.12 [[ 9.99392900e-01 3.47551693e-02 2.43101598e-03 7.74429837e+02] [-3.47551007e-02 9.99395857e-01 -7.04820977e-05 2.60676581e+02] [-2.43199692e-03 -1.40508973e-05 9.99997043e-01 -1.51162561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:774.49, Y:260.67, Z:-15.11 [[ 9.99402899e-01 3.44664467e-02 2.43100333e-03 7.74492202e+02] [-3.44663762e-02 9.99405855e-01 -7.09158727e-05 2.60672974e+02] [-2.43200318e-03 -1.29143465e-05 9.99997043e-01 -1.51147325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:774.55, Y:260.67, Z:-15.11 [[ 9.99372072e-01 3.53490133e-02 2.43099156e-03 7.74554649e+02] [-3.53489444e-02 9.99375028e-01 -7.13169194e-05 2.60669903e+02] [-2.43199325e-03 -1.46608480e-05 9.99997043e-01 -1.51137458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:774.62, Y:260.67, Z:-15.12 [[ 9.99295250e-01 3.74579003e-02 2.43097917e-03 7.74616164e+02] [-3.74578367e-02 9.99298206e-01 -7.17368018e-05 2.60667133e+02] [-2.43196024e-03 -1.93729756e-05 9.99997043e-01 -1.51155012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.005336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:774.68, Y:260.66, Z:-15.11 [[ 9.99227490e-01 3.92238959e-02 2.43096775e-03 7.74678556e+02] [-3.92238365e-02 9.99230447e-01 -7.21218080e-05 2.60664746e+02] [-2.43192589e-03 -2.32857885e-05 9.99997043e-01 -1.51116076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:774.74, Y:260.66, Z:-15.11 [[ 9.99126517e-01 4.17168237e-02 2.43095588e-03 7.74740584e+02] [-4.17167708e-02 9.99129474e-01 -7.25195664e-05 2.60661532e+02] [-2.43186496e-03 -2.89554076e-05 9.99997043e-01 -1.51105063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:774.80, Y:260.66, Z:-15.11 [[ 9.99020527e-01 4.41823219e-02 2.43094385e-03 7.74802760e+02] [-4.41822753e-02 9.99023484e-01 -7.29209066e-05 2.60660271e+02] [-2.43179180e-03 -3.45551477e-05 9.99997043e-01 -1.51125861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.185336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:774.86, Y:260.66, Z:-15.12 [[ 9.98913991e-01 4.65288098e-02 2.43093159e-03 7.74863858e+02] [-4.65287691e-02 9.98916948e-01 -7.33271239e-05 2.60659331e+02] [-2.43171059e-03 -3.98607649e-05 9.99997043e-01 -1.51166805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.245336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:774.93, Y:260.66, Z:-15.12 [[ 9.98872295e-01 4.74154922e-02 2.43092029e-03 7.74925828e+02] [-4.74154532e-02 9.98875252e-01 -7.36999764e-05 2.60658121e+02] [-2.43168064e-03 -4.16463226e-05 9.99997043e-01 -1.51170411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:774.99, Y:260.66, Z:-15.11 [[ 9.98874092e-01 4.73776284e-02 2.43090748e-03 7.74987812e+02] [-4.73775883e-02 9.98877049e-01 -7.41201219e-05 2.60658323e+02] [-2.43168932e-03 -4.11338642e-05 9.99997043e-01 -1.51136366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.365336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:775.05, Y:260.66, Z:-15.11 [[ 9.98942191e-01 4.59193916e-02 2.43089514e-03 7.75050412e+02] [-4.59193462e-02 9.98945148e-01 -7.45224815e-05 2.60657616e+02] [-2.43175293e-03 -3.71814647e-05 9.99997043e-01 -1.51140557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:775.11, Y:260.66, Z:-15.11 [[ 9.99170986e-01 4.06378030e-02 2.43088243e-03 7.75111903e+02] [-4.06377409e-02 9.99173943e-01 -7.49349601e-05 2.60656552e+02] [-2.43191957e-03 -2.39127323e-05 9.99997043e-01 -1.51134762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:775.18, Y:260.65, Z:-15.11 [[ 9.99410480e-01 3.42459144e-02 2.43086976e-03 7.75175081e+02] [-3.42458324e-02 9.99413437e-01 -7.53436898e-05 2.60653278e+02] [-2.43202411e-03 -7.94788522e-06 9.99997043e-01 -1.51127420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:775.24, Y:260.65, Z:-15.11 [[ 9.99524452e-01 3.07402257e-02 2.43085502e-03 7.75236248e+02] [-3.07401322e-02 9.99527408e-01 -7.58161469e-05 2.60649769e+02] [-2.43203683e-03 1.05528772e-06 9.99997043e-01 -1.51129687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.6053361950001 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:775.30, Y:260.65, Z:-15.11 [[ 9.99596394e-01 2.83044116e-02 2.43084775e-03 7.75299370e+02] [-2.83043104e-02 9.99599350e-01 -7.60486348e-05 2.60646886e+02] [-2.43202634e-03 7.21447188e-06 9.99997043e-01 -1.51117229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:775.36, Y:260.64, Z:-15.11 [[ 9.99587798e-01 2.86063987e-02 2.43083301e-03 7.75360992e+02] [-2.86062972e-02 9.99590753e-01 -7.65170477e-05 2.60644077e+02] [-2.43202707e-03 6.94837570e-06 9.99997043e-01 -1.51127639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:775.42, Y:260.64, Z:-15.11 [[ 9.99541215e-01 3.01902418e-02 2.43082386e-03 7.75423521e+02] [-3.01901443e-02 9.99544171e-01 -7.68066386e-05 2.60641399e+02] [-2.43203463e-03 3.38447783e-06 9.99997043e-01 -1.51133763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:775.49, Y:260.64, Z:-15.11 [[ 9.99532647e-01 3.04725788e-02 2.43081092e-03 7.75485175e+02] [-3.04724811e-02 9.99535603e-01 -7.72137648e-05 2.60636760e+02] [-2.43203497e-03 3.10483880e-06 9.99997043e-01 -1.51128278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:775.55, Y:260.63, Z:-15.11 [[ 9.99528042e-01 3.06232674e-02 2.43079730e-03 7.75547408e+02] [-3.06231692e-02 9.99530998e-01 -7.76402475e-05 2.60633604e+02] [-2.43203485e-03 3.16488758e-06 9.99997043e-01 -1.51140925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:775.61, Y:260.63, Z:-15.12 [[ 9.99537383e-01 3.03168356e-02 2.43078278e-03 7.75609026e+02] [-3.03167353e-02 9.99540339e-01 -7.80924028e-05 2.60628335e+02] [-2.43203295e-03 4.36287790e-06 9.99997043e-01 -1.51164995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:775.67, Y:260.62, Z:-15.12 [[ 9.99539178e-01 3.02576018e-02 2.43076850e-03 7.75671334e+02] [-3.02575003e-02 9.99542134e-01 -7.85341656e-05 2.60624480e+02] [-2.43203179e-03 4.94899660e-06 9.99997043e-01 -1.51151242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:775.73, Y:260.62, Z:-15.11 [[ 9.99529676e-01 3.05699049e-02 2.43075623e-03 7.75734620e+02] [-3.05698034e-02 9.99532631e-01 -7.89123613e-05 2.60618653e+02] [-2.43203251e-03 4.56750702e-06 9.99997043e-01 -1.51126200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:775.80, Y:260.61, Z:-15.11 [[ 9.99533054e-01 3.04592332e-02 2.43074102e-03 7.75797095e+02] [-3.04591303e-02 9.99536010e-01 -7.93781066e-05 2.60614614e+02] [-2.43203097e-03 5.30278408e-06 9.99997043e-01 -1.51117627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:775.86, Y:260.61, Z:-15.11 [[ 9.99587742e-01 2.86083469e-02 2.43072528e-03 7.75857894e+02] [-2.86082372e-02 9.99590697e-01 -7.98569932e-05 2.60607534e+02] [-2.43201496e-03 1.02853060e-05 9.99997043e-01 -1.51140895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:775.92, Y:260.60, Z:-15.12 [[ 9.99655966e-01 2.61159228e-02 2.43071260e-03 7.75918381e+02] [-2.61158049e-02 9.99658921e-01 -8.02411883e-05 2.60597554e+02] [-2.43197911e-03 1.67335665e-05 9.99997043e-01 -1.51162544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:775.98, Y:260.59, Z:-15.11 [[ 9.99674498e-01 2.53966529e-02 2.43070000e-03 7.75980642e+02] [-2.53965319e-02 9.99677453e-01 -8.06211465e-05 2.60590762e+02] [-2.43196349e-03 1.88635541e-05 9.99997043e-01 -1.51137428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:776.04, Y:260.58, Z:-15.11 [[ 9.99659669e-01 2.59738037e-02 2.43068651e-03 7.76042967e+02] [-2.59736834e-02 9.99662624e-01 -8.10259076e-05 2.60581502e+02] [-2.43197100e-03 1.78644501e-05 9.99997043e-01 -1.51120850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:776.11, Y:260.58, Z:-15.11 [[ 9.99612413e-01 2.77329297e-02 2.43067300e-03 7.76105064e+02] [-2.77328137e-02 9.99615368e-01 -8.14291399e-05 2.60575732e+02] [-2.43199635e-03 1.39881777e-05 9.99997043e-01 -1.51116673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:776.17, Y:260.57, Z:-15.11 [[ 9.99570729e-01 2.91967358e-02 2.43065875e-03 7.76166560e+02] [-2.91966230e-02 9.99573684e-01 -8.18522901e-05 2.60571670e+02] [-2.43201234e-03 1.08501261e-05 9.99997043e-01 -1.51131880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.505336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:776.23, Y:260.56, Z:-15.11 [[ 9.99468811e-01 3.24990506e-02 2.43064360e-03 7.76229120e+02] [-3.24989465e-02 9.99471766e-01 -8.22995571e-05 2.60563085e+02] [-2.43203431e-03 3.26248404e-06 9.99997043e-01 -1.51122289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.565336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:776.29, Y:260.56, Z:-15.11 [[ 9.99369789e-01 3.54135125e-02 2.43062756e-03 7.76290569e+02] [-3.54134160e-02 9.99372745e-01 -8.27706906e-05 2.60555140e+02] [-2.43203414e-03 -3.35829720e-06 9.99997043e-01 -1.51121729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.625336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:776.35, Y:260.55, Z:-15.11 [[ 9.99319750e-01 3.67984936e-02 2.43061261e-03 7.76353354e+02] [-3.67984000e-02 9.99322706e-01 -8.32075020e-05 2.60550274e+02] [-2.43202828e-03 -6.29175490e-06 9.99997043e-01 -1.51120664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:776.42, Y:260.54, Z:-15.11 [[ 9.99285783e-01 3.77096391e-02 2.43059681e-03 7.76416057e+02] [-3.77095472e-02 9.99288739e-01 -8.36663905e-05 2.60543567e+02] [-2.43202305e-03 -8.05007060e-06 9.99997043e-01 -1.51108620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:776.48, Y:260.54, Z:-15.11 [[ 9.99282818e-01 3.77881164e-02 2.43058044e-03 7.76477504e+02] [-3.77880235e-02 9.99285774e-01 -8.41392654e-05 2.60537910e+02] [-2.43202392e-03 -7.76790854e-06 9.99997043e-01 -1.51106311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:776.54, Y:260.53, Z:-15.11 [[ 9.99258854e-01 3.84165987e-02 2.43056521e-03 7.76540277e+02] [-3.84165067e-02 9.99261810e-01 -8.45770204e-05 2.60532726e+02] [-2.43202015e-03 -8.85948803e-06 9.99997043e-01 -1.51106330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:776.60, Y:260.53, Z:-15.11 [[ 9.99162856e-01 4.08372272e-02 2.43054906e-03 7.76601966e+02] [-4.08371412e-02 9.99165812e-01 -8.50385834e-05 2.60529918e+02] [-2.43199427e-03 -1.42892812e-05 9.99997043e-01 -1.51141138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:776.67, Y:260.53, Z:-15.12 [[ 9.99067683e-01 4.31028799e-02 2.43053496e-03 7.76665032e+02] [-4.31027996e-02 9.99070639e-01 -8.54395549e-05 2.60527297e+02] [-2.43195881e-03 -1.94029635e-05 9.99997043e-01 -1.51155448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.9853361950001 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:776.73, Y:260.53, Z:-15.11 [[ 9.98888642e-01 4.70698735e-02 2.43051865e-03 7.76726950e+02] [-4.70698038e-02 9.98891599e-01 -8.59011122e-05 2.60526132e+02] [-2.43186802e-03 -2.85983907e-05 9.99997043e-01 -1.51131793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:776.79, Y:260.53, Z:-15.11 [[ 9.98739873e-01 5.01274242e-02 2.43050410e-03 7.76789053e+02] [-5.01273625e-02 9.98742830e-01 -8.63109959e-05 2.60527335e+02] [-2.43177509e-03 -3.56325269e-05 9.99997043e-01 -1.51110274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:776.85, Y:260.53, Z:-15.11 [[ 9.98786842e-01 4.91826982e-02 2.43048956e-03 7.76850423e+02] [-4.91826328e-02 9.98789798e-01 -8.67185023e-05 2.60526017e+02] [-2.43181322e-03 -3.29245764e-05 9.99997043e-01 -1.51102567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:776.91, Y:260.52, Z:-15.11 [[ 9.98999569e-01 4.46537172e-02 2.43047616e-03 7.76913212e+02] [-4.46536374e-02 9.99002525e-01 -8.70923498e-05 2.60521432e+02] [-2.43194082e-03 -2.15243813e-05 9.99997043e-01 -1.51097262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:776.98, Y:260.52, Z:-15.11 [[ 9.99214750e-01 3.95471443e-02 2.43045925e-03 7.76975240e+02] [-3.95470483e-02 9.99217706e-01 -8.75617923e-05 2.60519550e+02] [-2.43202073e-03 -8.62445491e-06 9.99997043e-01 -1.51119289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:777.04, Y:260.52, Z:-15.12 [[ 9.99300201e-01 3.73256237e-02 2.43044450e-03 7.77035932e+02] [-3.73255201e-02 9.99303156e-01 -8.79693532e-05 2.60515915e+02] [-2.43203437e-03 -2.80981260e-06 9.99997043e-01 -1.51154124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:777.10, Y:260.51, Z:-15.11 [[ 9.99304687e-01 3.72053167e-02 2.43043087e-03 7.77098379e+02] [-3.72052119e-02 9.99307643e-01 -8.83441577e-05 2.60512226e+02] [-2.43203502e-03 -2.14196469e-06 9.99997043e-01 -1.51128520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:777.16, Y:260.51, Z:-15.11 [[ 9.99299040e-01 3.73566771e-02 2.43041644e-03 7.77160049e+02] [-3.73565718e-02 9.99301996e-01 -8.87395324e-05 2.60508253e+02] [-2.43203501e-03 -2.11469651e-06 9.99997043e-01 -1.51112072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:777.22, Y:260.50, Z:-15.11 [[ 9.99289640e-01 3.76072981e-02 2.43040201e-03 7.77222956e+02] [-3.76071926e-02 9.99292595e-01 -8.91329844e-05 2.60504855e+02] [-2.43203478e-03 -2.33092846e-06 9.99997043e-01 -1.51099360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.525336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:777.29, Y:260.50, Z:-15.11 [[ 9.99297786e-01 3.73902086e-02 2.43038496e-03 7.77286116e+02] [-3.73901013e-02 9.99300742e-01 -8.95954319e-05 2.60499575e+02] [-2.43203548e-03 -1.33982306e-06 9.99997043e-01 -1.51102838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:777.35, Y:260.49, Z:-15.11 [[ 9.99301489e-01 3.72911257e-02 2.43036758e-03 7.77347977e+02] [-3.72910170e-02 9.99304444e-01 -9.00643450e-05 2.60492683e+02] [-2.43203573e-03 -6.29444672e-07 9.99997043e-01 -1.51115452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:777.41, Y:260.49, Z:-15.11 [[ 9.99291119e-01 3.75679856e-02 2.43035143e-03 7.77410985e+02] [-3.75678767e-02 9.99294074e-01 -9.04980727e-05 2.60486538e+02] [-2.43203561e-03 -8.69222475e-07 9.99997043e-01 -1.51118595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:777.47, Y:260.48, Z:-15.11 [[ 9.99229040e-01 3.91844169e-02 2.43033437e-03 7.77474126e+02] [-3.91843116e-02 9.99231996e-01 -9.09539592e-05 2.60480455e+02] [-2.43203184e-03 -4.34714176e-06 9.99997043e-01 -1.51124758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:777.54, Y:260.48, Z:-15.11 [[ 9.99138812e-01 4.14213438e-02 2.43031633e-03 7.77535590e+02] [-4.14212439e-02 9.99141768e-01 -9.14333816e-05 2.60475081e+02] [-2.43201785e-03 -9.31208536e-06 9.99997043e-01 -1.51126701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:777.60, Y:260.47, Z:-15.11 [[ 9.99024502e-01 4.40923777e-02 2.43029954e-03 7.77597776e+02] [-4.40922847e-02 9.99027458e-01 -9.18774535e-05 2.60468936e+02] [-2.43198707e-03 -1.53696322e-05 9.99997043e-01 -1.51121297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:777.66, Y:260.46, Z:-15.11 [[ 9.98929382e-01 4.61972244e-02 2.43028303e-03 7.77661032e+02] [-4.61971366e-02 9.98932338e-01 -9.23123549e-05 2.60463485e+02] [-2.43195288e-03 -2.00585932e-05 9.99997043e-01 -1.51125907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.945336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:777.72, Y:260.46, Z:-15.11 [[ 9.98790379e-01 4.91108191e-02 2.43026545e-03 7.77724211e+02] [-4.91107387e-02 9.98793335e-01 -9.27726885e-05 2.60458265e+02] [-2.43188908e-03 -2.66916630e-05 9.99997043e-01 -1.51140706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:777.79, Y:260.45, Z:-15.12 [[ 9.98678065e-01 5.13441024e-02 2.43024780e-03 7.77785332e+02] [-5.13440275e-02 9.98681021e-01 -9.32327553e-05 2.60452721e+02] [-2.43182931e-03 -3.16692024e-05 9.99997043e-01 -1.51158401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:777.85, Y:260.45, Z:-15.12 [[ 9.98500598e-01 5.46868260e-02 2.43023364e-03 7.77847936e+02] [-5.46867601e-02 9.98503555e-01 -9.36005299e-05 2.60447604e+02] [-2.43171564e-03 -3.94414189e-05 9.99997043e-01 -1.51150906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:777.91, Y:260.44, Z:-15.11 [[ 9.98342111e-01 5.75075946e-02 2.43021519e-03 7.77910903e+02] [-5.75075359e-02 9.98345068e-01 -9.40769555e-05 2.60444790e+02] [-2.43160349e-03 -4.58347012e-05 9.99997043e-01 -1.51143768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:777.97, Y:260.44, Z:-15.11 [[ 9.98332003e-01 5.76827976e-02 2.43019685e-03 7.77972596e+02] [-5.76827383e-02 9.98334960e-01 -9.45484417e-05 2.60441738e+02] [-2.43160430e-03 -4.57896737e-05 9.99997043e-01 -1.51134446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.245336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:778.04, Y:260.44, Z:-15.11 [[ 9.98503326e-01 5.46370022e-02 2.43017980e-03 7.78035676e+02] [-5.46369328e-02 9.98506283e-01 -9.49847762e-05 2.60437399e+02] [-2.43173948e-03 -3.79349553e-05 9.99997043e-01 -1.51147304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:778.10, Y:260.43, Z:-15.12 [[ 9.98674190e-01 5.14194211e-02 2.43016193e-03 7.78097727e+02] [-5.14193411e-02 9.98677146e-01 -9.54396662e-05 2.60432234e+02] [-2.43185464e-03 -2.96441940e-05 9.99997043e-01 -1.51152360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.365336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:778.16, Y:260.43, Z:-15.12 [[ 9.98852288e-01 4.78351478e-02 2.43014519e-03 7.78160534e+02] [-4.78350562e-02 9.98855244e-01 -9.58641642e-05 2.60428148e+02] [-2.43194894e-03 -2.04919918e-05 9.99997043e-01 -1.51164326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:778.22, Y:260.42, Z:-15.12 [[ 9.98996881e-01 4.47138156e-02 2.43012703e-03 7.78223108e+02] [-4.47137136e-02 9.98999837e-01 -9.63222480e-05 2.60422543e+02] [-2.43200344e-03 -1.24343786e-05 9.99997043e-01 -1.51150777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:778.29, Y:260.41, Z:-15.11 [[ 9.99145439e-01 4.12612013e-02 2.43010835e-03 7.78285143e+02] [-4.12610879e-02 9.99148394e-01 -9.67913052e-05 2.60414093e+02] [-2.43203258e-03 -3.56032308e-06 9.99997043e-01 -1.51148802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.545336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:778.35, Y:260.41, Z:-15.11 [[ 9.99168116e-01 4.07083617e-02 2.43009091e-03 7.78347437e+02] [-4.07082457e-02 9.99171071e-01 -9.72270361e-05 2.60406366e+02] [-2.43203449e-03 -1.77858341e-06 9.99997043e-01 -1.51135400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:778.41, Y:260.40, Z:-15.11 [[ 9.99132243e-01 4.15795190e-02 2.43007283e-03 7.78410438e+02] [-4.15794044e-02 9.99135198e-01 -9.76770093e-05 2.60397727e+02] [-2.43203266e-03 -3.44873151e-06 9.99997043e-01 -1.51112290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:778.47, Y:260.39, Z:-15.12 [[ 9.99045618e-01 4.36113344e-02 2.43005449e-03 7.78472265e+02] [-4.36112248e-02 9.99048573e-01 -9.81311418e-05 2.60387944e+02] [-2.43202210e-03 -7.94016526e-06 9.99997043e-01 -1.51155081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:778.53, Y:260.38, Z:-15.12 [[ 9.98969540e-01 4.53205633e-02 2.43003810e-03 7.78534244e+02] [-4.53204577e-02 9.98972495e-01 -9.85353667e-05 2.60380645e+02] [-2.43200690e-03 -1.16966089e-05 9.99997043e-01 -1.51173811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:778.60, Y:260.37, Z:-15.12 [[ 9.98739917e-01 5.01265759e-02 2.43002169e-03 7.78595302e+02] [-5.01264835e-02 9.98742873e-01 -9.89383700e-05 2.60372704e+02] [-2.43192628e-03 -2.29947428e-05 9.99997043e-01 -1.51156896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:778.66, Y:260.37, Z:-15.12 [[ 9.98490148e-01 5.48773197e-02 2.43001277e-03 7.78657693e+02] [-5.48772409e-02 9.98493104e-01 -9.91568865e-05 2.60367572e+02] [-2.43179246e-03 -3.43452220e-05 9.99997043e-01 -1.51156515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:778.72, Y:260.36, Z:-15.12 [[ 9.97992018e-01 6.32931903e-02 2.42999435e-03 7.78719037e+02] [-6.32931353e-02 9.97994974e-01 -9.96061964e-05 2.60361665e+02] [-2.43142655e-03 -5.43957727e-05 9.99997043e-01 -1.51153424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:778.78, Y:260.36, Z:-15.12 [[ 9.97611403e-01 6.90332016e-02 2.42997724e-03 7.78781707e+02] [-6.90331626e-02 9.97614361e-01 -1.00021963e-04 2.60357956e+02] [-2.43108503e-03 -6.79659633e-05 9.99997043e-01 -1.51159345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:778.84, Y:260.36, Z:-15.12 [[ 9.97067110e-01 7.64936125e-02 2.42995844e-03 7.78843381e+02] [-7.64935945e-02 9.97070068e-01 -1.00476740e-04 2.60357974e+02] [-2.43052465e-03 -8.56942022e-05 9.99997043e-01 -1.51184840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:778.91, Y:260.36, Z:-15.12 [[ 9.96838368e-01 7.94189159e-02 2.42994098e-03 7.78906152e+02] [-7.94189055e-02 9.96841325e-01 -1.00897265e-04 2.60356809e+02] [-2.43027873e-03 -9.24049882e-05 9.99997043e-01 -1.51185452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:778.97, Y:260.36, Z:-15.12 [[ 9.96710133e-01 8.10123780e-02 2.42992285e-03 7.78968930e+02] [-8.10123713e-02 9.96713091e-01 -1.01331908e-04 2.60357619e+02] [-2.43014505e-03 -9.58552722e-05 9.99997043e-01 -1.51174731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:779.03, Y:260.36, Z:-15.12 [[ 9.96759496e-01 8.04027503e-02 2.42990483e-03 7.79031573e+02] [-8.04027407e-02 9.96762454e-01 -1.01762206e-04 2.60358735e+02] [-2.43021986e-03 -9.39385626e-05 9.99997043e-01 -1.51165601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:779.09, Y:260.36, Z:-15.12 [[ 9.97015650e-01 7.71614504e-02 2.42988602e-03 7.79094578e+02] [-7.71614301e-02 9.97018607e-01 -1.02209449e-04 2.60361333e+02] [-2.43052820e-03 -8.55890595e-05 9.99997043e-01 -1.51177486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.325336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:779.16, Y:260.36, Z:-15.12 [[ 9.97436955e-01 7.15095586e-02 2.42986688e-03 7.79158020e+02] [-7.15095205e-02 9.97439912e-01 -1.02662482e-04 2.60360852e+02] [-2.43098755e-03 -7.13592616e-05 9.99997043e-01 -1.51175786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:779.22, Y:260.36, Z:-15.12 [[ 9.97740863e-01 6.71361804e-02 2.42984721e-03 7.79219992e+02] [-6.71361282e-02 9.97743820e-01 -1.03125824e-04 2.60360571e+02] [-2.43128851e-03 -6.02376854e-05 9.99997043e-01 -1.51179885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:779.28, Y:260.36, Z:-15.12 [[ 9.98232473e-01 5.93803410e-02 2.42982878e-03 7.79283346e+02] [-5.93802648e-02 9.98235430e-01 -1.03558210e-04 2.60359685e+02] [-2.43169050e-03 -4.09087080e-05 9.99997043e-01 -1.51182104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.505336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:779.35, Y:260.36, Z:-15.12 [[ 9.98515177e-01 5.44200087e-02 2.42980906e-03 7.79345746e+02] [-5.44199167e-02 9.98518133e-01 -1.04018951e-04 2.60358169e+02] [-2.43186912e-03 -2.83655057e-05 9.99997043e-01 -1.51184527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:779.41, Y:260.36, Z:-15.12 [[ 9.98828874e-01 4.83215880e-02 2.42979057e-03 7.79409176e+02] [-4.83214769e-02 9.98831830e-01 -1.04449060e-04 2.60355706e+02] [-2.43199931e-03 -1.30843319e-05 9.99997043e-01 -1.51187490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:779.47, Y:260.35, Z:-15.12 [[ 9.98945977e-01 4.58370087e-02 2.42977052e-03 7.79472542e+02] [-4.58368891e-02 9.98948932e-01 -1.04913345e-04 2.60352981e+02] [-2.43202558e-03 -6.57035832e-06 9.99997043e-01 -1.51179615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:779.54, Y:260.35, Z:-15.12 [[ 9.98904405e-01 4.67342064e-02 2.42975041e-03 7.79535578e+02] [-4.67340883e-02 9.98907360e-01 -1.05377090e-04 2.60349899e+02] [-2.43202028e-03 -8.29053056e-06 9.99997043e-01 -1.51182204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:779.60, Y:260.35, Z:-15.12 [[ 9.98725323e-01 5.04165180e-02 2.42973026e-03 7.79598760e+02] [-5.04164097e-02 9.98728279e-01 -1.05839567e-04 2.60347210e+02] [-2.43197639e-03 -1.67936202e-05 9.99997043e-01 -1.51203008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:779.66, Y:260.35, Z:-15.12 [[ 9.98547644e-01 5.38209831e-02 2.42970951e-03 7.79660358e+02] [-5.38208837e-02 9.98550600e-01 -1.06313874e-04 2.60345443e+02] [-2.43190981e-03 -2.46096450e-05 9.99997043e-01 -1.51220788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:779.72, Y:260.34, Z:-15.12 [[ 9.98253858e-01 5.90197528e-02 2.42969022e-03 7.79721901e+02] [-5.90196678e-02 9.98256814e-01 -1.06752931e-04 2.60343955e+02] [-2.43175535e-03 -3.68329845e-05 9.99997043e-01 -1.51230009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:779.79, Y:260.34, Z:-15.12 [[ 9.98012505e-01 6.29693377e-02 2.42967126e-03 7.79785362e+02] [-6.29692633e-02 9.98015461e-01 -1.07182699e-04 2.60342918e+02] [-2.43159871e-03 -4.60249354e-05 9.99997043e-01 -1.51215476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:779.85, Y:260.34, Z:-15.12 [[ 9.97853071e-01 6.54472781e-02 2.42965079e-03 7.79847823e+02] [-6.54472100e-02 9.97856027e-01 -1.07644664e-04 2.60341667e+02] [-2.43148674e-03 -5.16003069e-05 9.99997043e-01 -1.51213258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:779.91, Y:260.34, Z:-15.12 [[ 9.97643127e-01 6.85732274e-02 2.42963182e-03 7.79910638e+02] [-6.85731675e-02 9.97646084e-01 -1.08071284e-04 2.60344532e+02] [-2.43132347e-03 -5.87909762e-05 9.99997043e-01 -1.51210352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.1053361950001 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:779.97, Y:260.34, Z:-15.12 [[ 9.97512615e-01 7.04462921e-02 2.42961100e-03 7.79972614e+02] [-7.04462366e-02 9.97515572e-01 -1.08537317e-04 2.60344932e+02] [-2.43122086e-03 -6.28896086e-05 9.99997043e-01 -1.51221920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.165336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:780.04, Y:260.35, Z:-15.12 [[ 9.97395919e-01 7.20796588e-02 2.42959160e-03 7.80035555e+02] [-7.20796071e-02 9.97398876e-01 -1.08969798e-04 2.60346917e+02] [-2.43112644e-03 -6.64379759e-05 9.99997043e-01 -1.51228662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:780.10, Y:260.35, Z:-15.12 [[ 9.97382332e-01 7.22674329e-02 2.42957117e-03 7.80098761e+02] [-7.22673806e-02 9.97385289e-01 -1.09423436e-04 2.60345834e+02] [-2.43112629e-03 -6.64417431e-05 9.99997043e-01 -1.51225307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:780.16, Y:260.35, Z:-15.12 [[ 9.97516322e-01 7.03937777e-02 2.42955006e-03 7.80161043e+02] [-7.03937187e-02 9.97519279e-01 -1.09890234e-04 2.60348111e+02] [-2.43125861e-03 -6.14077610e-05 9.99997043e-01 -1.51228112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:780.22, Y:260.35, Z:-15.12 [[ 9.97729602e-01 6.73033392e-02 2.42953031e-03 7.80224144e+02] [-6.73032700e-02 9.97732558e-01 -1.10325001e-04 2.60348040e+02] [-2.43144674e-03 -5.34408154e-05 9.99997043e-01 -1.51240850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:780.29, Y:260.35, Z:-15.13 [[ 9.98115124e-01 6.13212607e-02 2.42950947e-03 7.80286808e+02] [-6.13211727e-02 9.98118080e-01 -1.10782145e-04 2.60347031e+02] [-2.43173063e-03 -3.84070351e-05 9.99997043e-01 -1.51253674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:780.35, Y:260.35, Z:-15.12 [[ 9.98337479e-01 5.75879762e-02 2.42948845e-03 7.80348463e+02] [-5.75878760e-02 9.98340435e-01 -1.11241162e-04 2.60346863e+02] [-2.43186271e-03 -2.88528580e-05 9.99997043e-01 -1.51249489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:780.41, Y:260.35, Z:-15.12 [[ 9.98533412e-01 5.40844017e-02 2.42946881e-03 7.80411382e+02] [-5.40842901e-02 9.98536367e-01 -1.11668450e-04 2.60345731e+02] [-2.43195248e-03 -1.98914173e-05 9.99997043e-01 -1.51239349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:780.47, Y:260.34, Z:-15.12 [[ 9.98569144e-01 5.34206088e-02 2.42944778e-03 7.80474825e+02] [-5.34204941e-02 9.98572100e-01 -1.12124171e-04 2.60343362e+02] [-2.43196851e-03 -1.78185636e-05 9.99997043e-01 -1.51236427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:780.54, Y:260.34, Z:-15.12 [[ 9.98512070e-01 5.44770049e-02 2.42942653e-03 7.80538256e+02] [-5.44768922e-02 9.98515025e-01 -1.12582762e-04 2.60342479e+02] [-2.43195206e-03 -1.99323599e-05 9.99997043e-01 -1.51218606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.705336195 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:780.60, Y:260.34, Z:-15.12 [[ 9.98411946e-01 5.62821864e-02 2.42940505e-03 7.80601824e+02] [-5.62820779e-02 9.98414901e-01 -1.13044262e-04 2.60343517e+02] [-2.43191658e-03 -2.38672233e-05 9.99997043e-01 -1.51213986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:780.66, Y:260.34, Z:-15.12 [[ 9.98368351e-01 5.70502669e-02 2.42938311e-03 7.80664093e+02] [-5.70501596e-02 9.98371307e-01 -1.13513930e-04 2.60341083e+02] [-2.43190239e-03 -2.52679794e-05 9.99997043e-01 -1.51215927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:780.73, Y:260.34, Z:-15.12 [[ 9.98327682e-01 5.77575788e-02 2.42936270e-03 7.80726749e+02] [-5.77574725e-02 9.98330637e-01 -1.13949063e-04 2.60341160e+02] [-2.43188863e-03 -2.65553455e-05 9.99997043e-01 -1.51211210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:780.79, Y:260.34, Z:-15.12 [[ 9.98279705e-01 5.85809653e-02 2.42934119e-03 7.80788742e+02] [-5.85808603e-02 9.98282660e-01 -1.14405840e-04 2.60340539e+02] [-2.43187119e-03 -2.81038681e-05 9.99997043e-01 -1.51224333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:780.85, Y:260.34, Z:-15.13 [[ 9.98234507e-01 5.93461606e-02 2.42932115e-03 7.80850641e+02] [-5.93460569e-02 9.98237463e-01 -1.14829817e-04 2.60341570e+02] [-2.43185409e-03 -2.95435448e-05 9.99997043e-01 -1.51273826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.005336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:780.91, Y:260.34, Z:-15.13 [[ 9.98393155e-01 5.66145452e-02 2.42930175e-03 7.80912749e+02] [-5.66144324e-02 9.98396110e-01 -1.15238683e-04 2.60338485e+02] [-2.43192960e-03 -2.24800275e-05 9.99997043e-01 -1.51315026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:780.98, Y:260.34, Z:-15.13 [[ 9.98510025e-01 5.45144711e-02 2.42928246e-03 7.80975469e+02] [-5.45143511e-02 9.98512980e-01 -1.15643825e-04 2.60335073e+02] [-2.43197434e-03 -1.69592389e-05 9.99997043e-01 -1.51328827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.125336195 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:781.04, Y:260.33, Z:-15.13 [[ 9.98575434e-01 5.33029137e-02 2.42926048e-03 7.81037883e+02] [-5.33027889e-02 9.98578389e-01 -1.16103892e-04 2.60331404e+02] [-2.43199569e-03 -1.35478644e-05 9.99997043e-01 -1.51329011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:781.10, Y:260.33, Z:-15.13 [[ 9.98475989e-01 5.51343629e-02 2.42923796e-03 7.81100287e+02] [-5.51342425e-02 9.98478944e-01 -1.16573098e-04 2.60328088e+02] [-2.43197014e-03 -1.75387552e-05 9.99997043e-01 -1.51271391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:781.16, Y:260.33, Z:-15.13 [[ 9.98203712e-01 5.98619126e-02 2.42921820e-03 7.81162687e+02] [-5.98618052e-02 9.98206667e-01 -1.16983520e-04 2.60325270e+02] [-2.43186466e-03 -2.86440021e-05 9.99997043e-01 -1.51270739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:781.23, Y:260.32, Z:-15.13 [[ 9.97883325e-01 6.49843720e-02 2.42920411e-03 7.81225158e+02] [-6.49842791e-02 9.97886281e-01 -1.17275308e-04 2.60320804e+02] [-2.43169052e-03 -4.08330031e-05 9.99997043e-01 -1.51268774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:781.29, Y:260.32, Z:-15.13 [[ 9.97620854e-01 6.88965292e-02 2.42918159e-03 7.81286714e+02] [-6.88964466e-02 9.97623810e-01 -1.17739983e-04 2.60317646e+02] [-2.43152127e-03 -4.99021176e-05 9.99997043e-01 -1.51269033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:781.35, Y:260.32, Z:-15.13 [[ 9.97112235e-01 7.59031596e-02 2.42916769e-03 7.81349376e+02] [-7.59030972e-02 9.97115192e-01 -1.18025992e-04 2.60315649e+02] [-2.43111855e-03 -6.66961906e-05 9.99997043e-01 -1.51274450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.4853361950001 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:781.41, Y:260.31, Z:-15.13 [[ 9.96763507e-01 8.03530379e-02 2.42914557e-03 7.81412136e+02] [-8.03529875e-02 9.96766464e-01 -1.18479476e-04 2.60314130e+02] [-2.43081103e-03 -7.70930860e-05 9.99997043e-01 -1.51283809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:781.47, Y:260.31, Z:-15.13 [[ 9.96432150e-01 8.43627245e-02 2.42912298e-03 7.81474150e+02] [-8.43626849e-02 9.96435107e-01 -1.18940922e-04 2.60313034e+02] [-2.43049760e-03 -8.64107780e-05 9.99997043e-01 -1.51296834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.6053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:781.54, Y:260.31, Z:-15.13 [[ 9.96297322e-01 8.59403578e-02 2.42910899e-03 7.81535815e+02] [-8.59403222e-02 9.96300279e-01 -1.19225899e-04 2.60313906e+02] [-2.43036828e-03 -8.99739655e-05 9.99997043e-01 -1.51306311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:781.60, Y:260.31, Z:-15.13 [[ 9.96274948e-01 8.61993520e-02 2.42908867e-03 7.81598981e+02] [-8.61993161e-02 9.96277905e-01 -1.19638466e-04 2.60312869e+02] [-2.43036013e-03 -9.01929755e-05 9.99997043e-01 -1.51302501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:781.66, Y:260.31, Z:-15.13 [[ 9.96406944e-01 8.46599125e-02 2.42906583e-03 7.81661149e+02] [-8.46598709e-02 9.96409902e-01 -1.20100320e-04 2.60313432e+02] [-2.43051293e-03 -8.59756071e-05 9.99997043e-01 -1.51305467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:781.72, Y:260.31, Z:-15.13 [[ 9.96567494e-01 8.27485873e-02 2.42904460e-03 7.81722258e+02] [-8.27485390e-02 9.96570451e-01 -1.20528368e-04 2.60313864e+02] [-2.43068762e-03 -8.08852382e-05 9.99997043e-01 -1.51323157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:781.79, Y:260.32, Z:-15.13 [[ 9.96901168e-01 7.86267247e-02 2.42903363e-03 7.81785327e+02] [-7.86266637e-02 9.96904124e-01 -1.20749022e-04 2.60316159e+02] [-2.43100774e-03 -7.06119685e-05 9.99997043e-01 -1.51309084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:781.85, Y:260.32, Z:-15.13 [[ 9.97114034e-01 7.58795334e-02 2.42901100e-03 7.81848884e+02] [-7.58794631e-02 9.97116990e-01 -1.21202555e-04 2.60316231e+02] [-2.43120493e-03 -6.34592816e-05 9.99997043e-01 -1.51314453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:781.91, Y:260.32, Z:-15.13 [[ 9.97444330e-01 7.14066470e-02 2.42898801e-03 7.81912094e+02] [-7.14065623e-02 9.97447286e-01 -1.21661402e-04 2.60318584e+02] [-2.43147493e-03 -5.20952087e-05 9.99997043e-01 -1.51311438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.025336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:781.97, Y:260.32, Z:-15.13 [[ 9.97654178e-01 6.84122935e-02 2.42896500e-03 7.81974962e+02] [-6.84121988e-02 9.97657134e-01 -1.22119081e-04 2.60321635e+02] [-2.43162871e-03 -4.43382253e-05 9.99997043e-01 -1.51316877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.085336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:782.04, Y:260.32, Z:-15.13 [[ 9.97703303e-01 6.76920920e-02 2.42894136e-03 7.82036635e+02] [-6.76919941e-02 9.97706259e-01 -1.22587640e-04 2.60322206e+02] [-2.43166821e-03 -4.21137907e-05 9.99997043e-01 -1.51320517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:782.10, Y:260.32, Z:-15.13 [[ 9.97730676e-01 6.72874248e-02 2.42892664e-03 7.82100049e+02] [-6.72873250e-02 9.97733632e-01 -1.22878593e-04 2.60323088e+02] [-2.43168998e-03 -4.08362337e-05 9.99997043e-01 -1.51316069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:782.16, Y:260.33, Z:-15.13 [[ 9.97789723e-01 6.64060860e-02 2.42890270e-03 7.82160923e+02] [-6.64059825e-02 9.97792679e-01 -1.23349829e-04 2.60325256e+02] [-2.43173252e-03 -3.82164790e-05 9.99997043e-01 -1.51338508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:782.22, Y:260.33, Z:-15.14 [[ 9.98024620e-01 6.27770518e-02 2.42888340e-03 7.82223832e+02] [-6.27769366e-02 9.98027575e-01 -1.23728753e-04 2.60328417e+02] [-2.43185994e-03 -2.89935180e-05 9.99997043e-01 -1.51368862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:782.29, Y:260.33, Z:-15.14 [[ 9.98241986e-01 5.92202559e-02 2.42887608e-03 7.82287161e+02] [-5.92201298e-02 9.98244940e-01 -1.23872229e-04 2.60328983e+02] [-2.43194901e-03 -2.01838972e-05 9.99997043e-01 -1.51376003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:782.35, Y:260.33, Z:-15.14 [[ 9.98527986e-01 5.41845107e-02 2.42885253e-03 7.82350015e+02] [-5.41843685e-02 9.98530940e-01 -1.24332371e-04 2.60329745e+02] [-2.43202129e-03 -7.45648831e-06 9.99997043e-01 -1.51370773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.445336195 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:782.41, Y:260.33, Z:-15.14 [[ 9.98682322e-01 5.12613055e-02 2.42882813e-03 7.82411882e+02] [-5.12611536e-02 9.98685275e-01 -1.24807310e-04 2.60331486e+02] [-2.43203267e-03 1.38322351e-07 9.99997043e-01 -1.51371820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:782.47, Y:260.33, Z:-15.14 [[ 9.98799534e-01 4.89243534e-02 2.42880525e-03 7.82474980e+02] [-4.89241935e-02 9.98802487e-01 -1.25250840e-04 2.60329360e+02] [-2.43202454e-03 6.27314285e-06 9.99997043e-01 -1.51362937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:782.54, Y:260.33, Z:-15.13 [[ 9.98956263e-01 4.56123441e-02 2.42878106e-03 7.82536373e+02] [-4.56121733e-02 9.98959215e-01 -1.25718156e-04 2.60327554e+02] [-2.43198753e-03 1.48049563e-05 9.99997043e-01 -1.51346244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:782.60, Y:260.32, Z:-15.13 [[ 9.99096342e-01 4.24334910e-02 2.42876165e-03 7.82599353e+02] [-4.24333098e-02 9.99099294e-01 -1.26092077e-04 2.60323762e+02] [-2.43192458e-03 2.29177376e-05 9.99997043e-01 -1.51344426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:782.66, Y:260.32, Z:-15.14 [[ 9.99145157e-01 4.12681092e-02 2.42873689e-03 7.82660048e+02] [-4.12679235e-02 9.99148108e-01 -1.26567161e-04 2.60319168e+02] [-2.43189106e-03 2.62300375e-05 9.99997043e-01 -1.51364375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.745336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:782.72, Y:260.31, Z:-15.14 [[ 9.99155778e-01 4.10101499e-02 2.42871694e-03 7.82722312e+02] [-4.10099625e-02 9.99158730e-01 -1.26948968e-04 2.60312578e+02] [-2.43187992e-03 2.72402040e-05 9.99997043e-01 -1.51369686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.805336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:782.78, Y:260.31, Z:-15.14 [[ 9.99116980e-01 4.19447373e-02 2.42869187e-03 7.82783507e+02] [-4.19445515e-02 9.99119932e-01 -1.27426720e-04 2.60308677e+02] [-2.43189934e-03 2.54438080e-05 9.99997043e-01 -1.51396864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:782.85, Y:260.30, Z:-15.14 [[ 9.98970044e-01 4.53095219e-02 2.42867963e-03 7.82846420e+02] [-4.53093455e-02 9.98972996e-01 -1.27659638e-04 2.60300962e+02] [-2.43196956e-03 1.74862701e-05 9.99997043e-01 -1.51384825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:782.91, Y:260.29, Z:-15.14 [[ 9.98722458e-01 5.04733013e-02 2.42865438e-03 7.82907717e+02] [-5.04731390e-02 9.98725411e-01 -1.28138117e-04 2.60294815e+02] [-2.43202640e-03 5.39260475e-06 9.99997043e-01 -1.51398650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.9853361950001 meters Centerline goodness : 0.999611 with order 1 Centerline is valid? [True, True] Translation: X:782.97, Y:260.29, Z:-15.14 [[ 9.98502656e-01 5.46493214e-02 2.42863081e-03 7.82970932e+02] [-5.46491703e-02 9.98505609e-01 -1.28583344e-04 2.60289836e+02] [-2.43202848e-03 -4.33184796e-06 9.99997043e-01 -1.51399733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.045336195 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:783.03, Y:260.29, Z:-15.14 [[ 9.98204085e-01 5.98557087e-02 2.42860563e-03 7.83031969e+02] [-5.98555718e-02 9.98207040e-01 -1.29057237e-04 2.60286088e+02] [-2.43197605e-03 -1.65401177e-05 9.99997043e-01 -1.51430870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.1053361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:783.09, Y:260.28, Z:-15.14 [[ 9.98052418e-01 6.23335633e-02 2.42858543e-03 7.83094492e+02] [-6.23334329e-02 9.98055372e-01 -1.29436275e-04 2.60282637e+02] [-2.43193096e-03 -2.21978790e-05 9.99997043e-01 -1.51427291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:783.16, Y:260.28, Z:-15.14 [[ 9.97993564e-01 6.32688617e-02 2.42856076e-03 7.83156895e+02] [-6.32687329e-02 9.97996518e-01 -1.29897384e-04 2.60278171e+02] [-2.43191364e-03 -2.40152088e-05 9.99997043e-01 -1.51415728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:783.22, Y:260.27, Z:-15.14 [[ 9.98119628e-01 6.12479487e-02 2.42853543e-03 7.83217518e+02] [-6.12478128e-02 9.98122582e-01 -1.30369262e-04 2.60273820e+02] [-2.43196090e-03 -1.86183642e-05 9.99997043e-01 -1.51400265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:783.28, Y:260.27, Z:-15.14 [[ 9.98232025e-01 5.93879408e-02 2.42851500e-03 7.83280801e+02] [-5.93877985e-02 9.98234978e-01 -1.30748638e-04 2.60269607e+02] [-2.43199352e-03 -1.37066822e-05 9.99997043e-01 -1.51387306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:783.34, Y:260.26, Z:-15.14 [[ 9.98374345e-01 5.69453222e-02 2.42849073e-03 7.83342685e+02] [-5.69451716e-02 9.98377299e-01 -1.31197994e-04 2.60263950e+02] [-2.43202113e-03 -7.30611017e-06 9.99997043e-01 -1.51405766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:783.41, Y:260.26, Z:-15.14 [[ 9.98466892e-01 5.52988995e-02 2.42846873e-03 7.83405023e+02] [-5.52987429e-02 9.98469845e-01 -1.31603985e-04 2.60258930e+02] [-2.43203035e-03 -2.88904557e-06 9.99997043e-01 -1.51420272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:783.47, Y:260.25, Z:-15.14 [[ 9.98469436e-01 5.52529437e-02 2.42844325e-03 7.83466457e+02] [-5.52527859e-02 9.98472389e-01 -1.32072369e-04 2.60254682e+02] [-2.43203093e-03 -2.30803137e-06 9.99997043e-01 -1.51434156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:783.53, Y:260.25, Z:-15.14 [[ 9.98454036e-01 5.55305458e-02 2.42843078e-03 7.83529529e+02] [-5.55303883e-02 9.98456989e-01 -1.32301397e-04 2.60250167e+02] [-2.43203045e-03 -2.75484012e-06 9.99997043e-01 -1.51442196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:783.59, Y:260.25, Z:-15.15 [[ 9.98434819e-01 5.58749948e-02 2.42840567e-03 7.83592044e+02] [-5.58748372e-02 9.98437772e-01 -1.32760548e-04 2.60245509e+02] [-2.43202995e-03 -3.13401794e-06 9.99997043e-01 -1.51451615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.645336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:783.65, Y:260.24, Z:-15.14 [[ 9.98419939e-01 5.61402621e-02 2.42839786e-03 7.83654037e+02] [-5.61401049e-02 9.98422892e-01 -1.32903263e-04 2.60242635e+02] [-2.43202924e-03 -3.63724319e-06 9.99997043e-01 -1.51437904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:783.72, Y:260.24, Z:-15.14 [[ 9.98532053e-01 5.41095419e-02 2.42837536e-03 7.83716522e+02] [-5.41093777e-02 9.98535006e-01 -1.33313102e-04 2.60238460e+02] [-2.43203132e-03 1.71952580e-06 9.99997043e-01 -1.51432133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.765336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:783.78, Y:260.23, Z:-15.14 [[ 9.98619457e-01 5.24717322e-02 2.42834904e-03 7.83779271e+02] [-5.24715620e-02 9.98622410e-01 -1.33790869e-04 2.60234164e+02] [-2.43202401e-03 6.18689774e-06 9.99997043e-01 -1.51425099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.825336195 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:783.84, Y:260.23, Z:-15.14 [[ 9.98709937e-01 5.07204687e-02 2.42832296e-03 7.83841716e+02] [-5.07202922e-02 9.98712889e-01 -1.34262509e-04 2.60230011e+02] [-2.43200730e-03 1.09240512e-05 9.99997043e-01 -1.51422420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:783.90, Y:260.22, Z:-15.14 [[ 9.98768981e-01 4.95441883e-02 2.42829667e-03 7.83904488e+02] [-4.95440071e-02 9.98771933e-01 -1.34736341e-04 2.60224825e+02] [-2.43198996e-03 1.42629298e-05 9.99997043e-01 -1.51422271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:783.97, Y:260.22, Z:-15.14 [[ 9.98831721e-01 4.82627786e-02 2.42826986e-03 7.83965983e+02] [-4.82625925e-02 9.98834673e-01 -1.35217793e-04 2.60217201e+02] [-2.43196612e-03 1.78652222e-05 9.99997043e-01 -1.51427880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:784.03, Y:260.21, Z:-15.14 [[ 9.98844784e-01 4.79916763e-02 2.42824491e-03 7.84028396e+02] [-4.79914883e-02 9.98847735e-01 -1.35664472e-04 2.60212821e+02] [-2.43195769e-03 1.89726633e-05 9.99997043e-01 -1.51440302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:784.09, Y:260.21, Z:-15.15 [[ 9.98834101e-01 4.82135017e-02 2.42822201e-03 7.84090881e+02] [-4.82133134e-02 9.98837053e-01 -1.36073032e-04 2.60208447e+02] [-2.43195868e-03 1.88417555e-05 9.99997043e-01 -1.51451509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.125336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:784.15, Y:260.20, Z:-15.15 [[ 9.98797278e-01 4.89704049e-02 2.42819571e-03 7.84154027e+02] [-4.89702176e-02 9.98800230e-01 -1.36540743e-04 2.60201213e+02] [-2.43196889e-03 1.74672500e-05 9.99997043e-01 -1.51452403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:784.22, Y:260.20, Z:-15.15 [[ 9.98717011e-01 5.05809888e-02 2.42816868e-03 7.84216271e+02] [-5.05808052e-02 9.98719962e-01 -1.37019825e-04 2.60196397e+02] [-2.43199113e-03 1.40253028e-05 9.99997043e-01 -1.51453001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.245336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:784.28, Y:260.19, Z:-15.14 [[ 9.98525889e-01 5.42231776e-02 2.42814344e-03 7.84277593e+02] [-5.42230037e-02 9.98528841e-01 -1.37465577e-04 2.60191166e+02] [-2.43202508e-03 5.60170637e-06 9.99997043e-01 -1.51443426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:784.34, Y:260.19, Z:-15.14 [[ 9.98369400e-01 5.70319663e-02 2.42812187e-03 7.84340043e+02] [-5.70317997e-02 9.98372353e-01 -1.37845535e-04 2.60185386e+02] [-2.43203135e-03 -8.59396563e-07 9.99997043e-01 -1.51433980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.365336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:784.40, Y:260.18, Z:-15.15 [[ 9.98293082e-01 5.83526128e-02 2.42809457e-03 7.84401401e+02] [-5.83524490e-02 9.98296035e-01 -1.38324805e-04 2.60181114e+02] [-2.43202879e-03 -3.59656897e-06 9.99997043e-01 -1.51457787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:784.46, Y:260.18, Z:-15.15 [[ 9.98242945e-01 5.92041183e-02 2.42807260e-03 7.84464424e+02] [-5.92039560e-02 9.98245898e-01 -1.38709352e-04 2.60177800e+02] [-2.43202568e-03 -5.28587104e-06 9.99997043e-01 -1.51460411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:784.53, Y:260.17, Z:-15.15 [[ 9.98228076e-01 5.94543006e-02 2.42804613e-03 7.84527158e+02] [-5.94541380e-02 9.98231028e-01 -1.39171278e-04 2.60172512e+02] [-2.43202531e-03 -5.43271235e-06 9.99997043e-01 -1.51457246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:784.59, Y:260.17, Z:-15.15 [[ 9.98206685e-01 5.98123574e-02 2.42801975e-03 7.84588978e+02] [-5.98121947e-02 9.98209638e-01 -1.39629942e-04 2.60167403e+02] [-2.43202431e-03 -5.84564879e-06 9.99997043e-01 -1.51470435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:784.65, Y:260.16, Z:-15.15 [[ 9.98174603e-01 6.03453899e-02 2.42799624e-03 7.84652317e+02] [-6.03452278e-02 9.98177556e-01 -1.40037465e-04 2.60163626e+02] [-2.43202197e-03 -6.73614542e-06 9.99997043e-01 -1.51483902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.665336195 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:784.72, Y:260.16, Z:-15.15 [[ 9.98077750e-01 6.19266494e-02 2.42796944e-03 7.84715142e+02] [-6.19264909e-02 9.98080703e-01 -1.40500715e-04 2.60157633e+02] [-2.43201018e-03 -1.01249892e-05 9.99997043e-01 -1.51485054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:784.78, Y:260.15, Z:-15.15 [[ 9.97871145e-01 6.51711834e-02 2.42794268e-03 7.84777884e+02] [-6.51710334e-02 9.97874099e-01 -1.40961596e-04 2.60154327e+02] [-2.43196775e-03 -1.75700244e-05 9.99997043e-01 -1.51487646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:784.84, Y:260.15, Z:-15.15 [[ 9.97700100e-01 6.77393221e-02 2.42791573e-03 7.84840856e+02] [-6.77391785e-02 9.97703054e-01 -1.41424260e-04 2.60150792e+02] [-2.43191892e-03 -2.33660185e-05 9.99997043e-01 -1.51478290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:784.90, Y:260.15, Z:-15.15 [[ 9.97488457e-01 7.07875879e-02 2.42788880e-03 7.84904364e+02] [-7.07874522e-02 9.97491412e-01 -1.41885053e-04 2.60149131e+02] [-2.43184193e-03 -3.03353594e-05 9.99997043e-01 -1.51480181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:784.97, Y:260.15, Z:-15.15 [[ 9.97426981e-01 7.16486102e-02 2.42786190e-03 7.84967450e+02] [-7.16484760e-02 9.97429935e-01 -1.42343839e-04 2.60146149e+02] [-2.43182088e-03 -3.19750195e-05 9.99997043e-01 -1.51487436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:785.03, Y:260.14, Z:-15.15 [[ 9.97530850e-01 7.01876708e-02 2.42783412e-03 7.85029088e+02] [-7.01875310e-02 9.97533804e-01 -1.42816099e-04 2.60144046e+02] [-2.43187054e-03 -2.79402180e-05 9.99997043e-01 -1.51507391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:785.09, Y:260.14, Z:-15.15 [[ 9.97726290e-01 6.73524736e-02 2.42781000e-03 7.85091323e+02] [-6.73523245e-02 9.97729244e-01 -1.43224965e-04 2.60140777e+02] [-2.43194359e-03 -2.06193341e-05 9.99997043e-01 -1.51512256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:785.15, Y:260.14, Z:-15.15 [[ 9.98076187e-01 6.19518379e-02 2.42778436e-03 7.85153383e+02] [-6.19516718e-02 9.98079140e-01 -1.43658234e-04 2.60137452e+02] [-2.43202082e-03 -7.02343717e-06 9.99997043e-01 -1.51487977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:785.22, Y:260.13, Z:-15.15 [[ 9.98279578e-01 5.85831926e-02 2.42775971e-03 7.85216295e+02] [-5.85830154e-02 9.98282530e-01 -1.44073709e-04 2.60132812e+02] [-2.43203040e-03 1.60035747e-06 9.99997043e-01 -1.51477679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.205336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:785.28, Y:260.13, Z:-15.15 [[ 9.98433303e-01 5.59021016e-02 2.42773149e-03 7.85278805e+02] [-5.59019154e-02 9.98436255e-01 -1.44547630e-04 2.60128599e+02] [-2.43201565e-03 8.60632701e-06 9.99997043e-01 -1.51480582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:785.34, Y:260.12, Z:-15.15 [[ 9.98405685e-01 5.63932096e-02 2.42770313e-03 7.85341671e+02] [-5.63930236e-02 9.98408637e-01 -1.45022348e-04 2.60123814e+02] [-2.43201805e-03 7.88561669e-06 9.99997043e-01 -1.51477021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.325336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:785.40, Y:260.12, Z:-15.15 [[ 9.98244021e-01 5.91859789e-02 2.42767484e-03 7.85402636e+02] [-5.91858001e-02 9.98246973e-01 -1.45494497e-04 2.60120222e+02] [-2.43203029e-03 1.55513409e-06 9.99997043e-01 -1.51496054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:785.47, Y:260.12, Z:-15.15 [[ 9.98159951e-01 6.05872787e-02 2.42765205e-03 7.85465162e+02] [-6.05871031e-02 9.98162903e-01 -1.45873684e-04 2.60115881e+02] [-2.43203031e-03 -1.47913600e-06 9.99997043e-01 -1.51499147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:785.53, Y:260.11, Z:-15.15 [[ 9.98220768e-01 5.95768821e-02 2.42762429e-03 7.85527775e+02] [-5.95767024e-02 9.98223720e-01 -1.46334198e-04 2.60109137e+02] [-2.43203029e-03 1.44398502e-06 9.99997043e-01 -1.51492307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.505336195 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:785.59, Y:260.10, Z:-15.15 [[ 9.98427813e-01 5.60000844e-02 2.42759664e-03 7.85588970e+02] [-5.59998930e-02 9.98430764e-01 -1.46791493e-04 2.60101934e+02] [-2.43200750e-03 1.06155569e-05 9.99997043e-01 -1.51501874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:785.65, Y:260.10, Z:-15.15 [[ 9.98488360e-01 5.49099393e-02 2.42757093e-03 7.85650654e+02] [-5.49097437e-02 9.98491311e-01 -1.47215475e-04 2.60095475e+02] [-2.43199207e-03 1.36956408e-05 9.99997043e-01 -1.51491183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:785.71, Y:260.09, Z:-15.15 [[ 9.98457033e-01 5.54766655e-02 2.42754707e-03 7.85712168e+02] [-5.54764706e-02 9.98459984e-01 -1.47607887e-04 2.60088003e+02] [-2.43199740e-03 1.27083890e-05 9.99997043e-01 -1.51482725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:785.77, Y:260.08, Z:-15.15 [[ 9.98396679e-01 5.65524344e-02 2.42752160e-03 7.85774316e+02] [-5.65522416e-02 9.98399630e-01 -1.48025609e-04 2.60081764e+02] [-2.43200787e-03 1.05064882e-05 9.99997043e-01 -1.51498011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:785.84, Y:260.07, Z:-15.15 [[ 9.98342251e-01 5.75052822e-02 2.42749792e-03 7.85837487e+02] [-5.75050913e-02 9.98345202e-01 -1.48412943e-04 2.60074941e+02] [-2.43201542e-03 8.57342279e-06 9.99997043e-01 -1.51468979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:785.90, Y:260.07, Z:-15.15 [[ 9.98335828e-01 5.76166831e-02 2.42746882e-03 7.85898800e+02] [-5.76164914e-02 9.98338779e-01 -1.48887254e-04 2.60069912e+02] [-2.43201465e-03 8.77724391e-06 9.99997043e-01 -1.51517053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:785.96, Y:260.06, Z:-15.15 [[ 9.98390084e-01 5.66687491e-02 2.42744540e-03 7.85961184e+02] [-5.66685537e-02 9.98393035e-01 -1.49268103e-04 2.60064569e+02] [-2.43200342e-03 1.14679738e-05 9.99997043e-01 -1.51506651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:786.02, Y:260.06, Z:-15.15 [[ 9.98371205e-01 5.70003848e-02 2.42741715e-03 7.86021937e+02] [-5.70001892e-02 9.98374156e-01 -1.49726164e-04 2.60057896e+02] [-2.43200500e-03 1.11190538e-05 9.99997043e-01 -1.51474596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.9853361950001 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:786.08, Y:260.05, Z:-15.15 [[ 9.98357846e-01 5.72339043e-02 2.42739438e-03 7.86084447e+02] [-5.72337085e-02 9.98360797e-01 -1.50094492e-04 2.60052846e+02] [-2.43200588e-03 1.09192312e-05 9.99997043e-01 -1.51467172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:786.15, Y:260.05, Z:-15.15 [[ 9.98333369e-01 5.76592796e-02 2.42736652e-03 7.86146820e+02] [-5.76590840e-02 9.98336320e-01 -1.50543640e-04 2.60047609e+02] [-2.43200840e-03 1.03330088e-05 9.99997043e-01 -1.51504286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.105336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:786.21, Y:260.04, Z:-15.16 [[ 9.98297444e-01 5.82779604e-02 2.42734191e-03 7.86207956e+02] [-5.82777656e-02 9.98300395e-01 -1.50939393e-04 2.60042849e+02] [-2.43201283e-03 9.22234743e-06 9.99997043e-01 -1.51565085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:786.27, Y:260.04, Z:-15.16 [[ 9.98208174e-01 5.97875375e-02 2.42731923e-03 7.86269887e+02] [-5.97873463e-02 9.98211125e-01 -1.51303217e-04 2.60036280e+02] [-2.43202311e-03 5.90913281e-06 9.99997043e-01 -1.51554679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.225336195 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:786.33, Y:260.03, Z:-15.15 [[ 9.98094276e-01 6.16597547e-02 2.42729378e-03 7.86332239e+02] [-6.16595681e-02 9.98097227e-01 -1.51710499e-04 2.60030436e+02] [-2.43202962e-03 1.75549463e-06 9.99997043e-01 -1.51533949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.285336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:786.39, Y:260.03, Z:-15.15 [[ 9.97844238e-01 6.55818927e-02 2.42726469e-03 7.86393854e+02] [-6.55817166e-02 9.97847190e-01 -1.52174383e-04 2.60026017e+02] [-2.43201914e-03 -7.33785412e-06 9.99997043e-01 -1.51508550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.345336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:786.46, Y:260.02, Z:-15.15 [[ 9.97463553e-01 7.11376722e-02 2.42723840e-03 7.86455848e+02] [-7.11375115e-02 9.97466506e-01 -1.52592633e-04 2.60020244e+02] [-2.43194409e-03 -2.04621098e-05 9.99997043e-01 -1.51511512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:786.52, Y:260.02, Z:-15.15 [[ 9.97199382e-01 7.47495839e-02 2.42721051e-03 7.86517989e+02] [-7.47494328e-02 9.97202336e-01 -1.53034977e-04 2.60016694e+02] [-2.43185929e-03 -2.88262243e-05 9.99997043e-01 -1.51487398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:786.58, Y:260.02, Z:-15.15 [[ 9.96825536e-01 7.95798987e-02 2.42720122e-03 7.86579813e+02] [-7.95797616e-02 9.96828490e-01 -1.53182114e-04 2.60015858e+02] [-2.43169355e-03 -4.04602516e-05 9.99997043e-01 -1.51488406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.525336195 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:786.64, Y:260.01, Z:-15.15 [[ 9.96566808e-01 8.27569104e-02 2.42717328e-03 7.86642653e+02] [-8.27567816e-02 9.96569762e-01 -1.53623632e-04 2.60013547e+02] [-2.43156092e-03 -4.77688362e-05 9.99997043e-01 -1.51484453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:786.70, Y:260.01, Z:-15.15 [[ 9.96336475e-01 8.54853090e-02 2.42714393e-03 7.86704717e+02] [-8.54851871e-02 9.96339430e-01 -1.54085960e-04 2.60011821e+02] [-2.43143128e-03 -5.39633904e-05 9.99997043e-01 -1.51501679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:786.77, Y:260.01, Z:-15.15 [[ 9.96104347e-01 8.81489619e-02 2.42711818e-03 7.86765841e+02] [-8.81488469e-02 9.96107302e-01 -1.54490495e-04 2.60011647e+02] [-2.43128832e-03 -6.00590156e-05 9.99997043e-01 -1.51538906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:786.83, Y:260.01, Z:-15.15 [[ 9.96070272e-01 8.85331753e-02 2.42710356e-03 7.86828565e+02] [-8.85330609e-02 9.96073227e-01 -1.54719787e-04 2.60010657e+02] [-2.43127071e-03 -6.07671268e-05 9.99997043e-01 -1.51539218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:786.89, Y:260.01, Z:-15.15 [[ 9.96090128e-01 8.83094910e-02 2.42707402e-03 7.86890407e+02] [-8.83093748e-02 9.96093083e-01 -1.55181871e-04 2.60012923e+02] [-2.43129567e-03 -5.97582596e-05 9.99997043e-01 -1.51527276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:786.95, Y:260.01, Z:-15.15 [[ 9.96147642e-01 8.76583457e-02 2.42705025e-03 7.86952624e+02] [-8.76582267e-02 9.96150597e-01 -1.55552689e-04 2.60013321e+02] [-2.43134305e-03 -5.77974766e-05 9.99997043e-01 -1.51543303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:787.01, Y:260.01, Z:-15.15 [[ 9.96155589e-01 8.75679855e-02 2.42702459e-03 7.87014332e+02] [-8.75678653e-02 9.96158544e-01 -1.55952062e-04 2.60014226e+02] [-2.43135769e-03 -5.71768438e-05 9.99997043e-01 -1.51538019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.945336195 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:787.08, Y:260.02, Z:-15.15 [[ 9.96265814e-01 8.63049067e-02 2.42699730e-03 7.87077196e+02] [-8.63047817e-02 9.96268769e-01 -1.56375634e-04 2.60016334e+02] [-2.43143759e-03 -5.36697739e-05 9.99997043e-01 -1.51524206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:787.14, Y:260.02, Z:-15.16 [[ 9.96411028e-01 8.46118973e-02 2.42696694e-03 7.87138722e+02] [-8.46117662e-02 9.96413982e-01 -1.56845384e-04 2.60016763e+02] [-2.43153478e-03 -4.90674894e-05 9.99997043e-01 -1.51551280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:787.20, Y:260.02, Z:-15.15 [[ 9.96708273e-01 8.10353488e-02 2.42694268e-03 7.87200535e+02] [-8.10352062e-02 9.96711227e-01 -1.57219937e-04 2.60016964e+02] [-2.43170139e-03 -3.99653882e-05 9.99997043e-01 -1.51544951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:787.26, Y:260.02, Z:-15.15 [[ 9.96856046e-01 7.91967988e-02 2.42692852e-03 7.87263682e+02] [-7.91966502e-02 9.96859000e-01 -1.57438182e-04 2.60016686e+02] [-2.43177414e-03 -3.52614053e-05 9.99997043e-01 -1.51529323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:787.32, Y:260.02, Z:-15.16 [[ 9.96888576e-01 7.87862779e-02 2.42689858e-03 7.87324898e+02] [-7.87861269e-02 9.96891529e-01 -1.57898370e-04 2.60018501e+02] [-2.43179486e-03 -3.37988579e-05 9.99997043e-01 -1.51577263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.245336195 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:787.39, Y:260.02, Z:-15.16 [[ 9.96893027e-01 7.87299421e-02 2.42687444e-03 7.87387990e+02] [-7.87297900e-02 9.96895980e-01 -1.58268548e-04 2.60018728e+02] [-2.43180184e-03 -3.32905025e-05 9.99997043e-01 -1.51594352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:787.45, Y:260.02, Z:-15.16 [[ 9.97001155e-01 7.73486048e-02 2.42684482e-03 7.87450546e+02] [-7.73484475e-02 9.97004109e-01 -1.58721347e-04 2.60021179e+02] [-2.43185113e-03 -2.94673131e-05 9.99997043e-01 -1.51584577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:787.51, Y:260.02, Z:-15.16 [[ 9.97102001e-01 7.60375510e-02 2.42681926e-03 7.87512695e+02] [-7.60373890e-02 9.97104954e-01 -1.59111177e-04 2.60020172e+02] [-2.43189194e-03 -2.58789276e-05 9.99997043e-01 -1.51576086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:787.57, Y:260.02, Z:-15.16 [[ 9.97330847e-01 7.29745936e-02 2.42679268e-03 7.87574456e+02] [-7.29744214e-02 9.97333800e-01 -1.59515596e-04 2.60020280e+02] [-2.43196295e-03 -1.80039671e-05 9.99997043e-01 -1.51590416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:787.64, Y:260.02, Z:-15.16 [[ 9.97530583e-01 7.01914977e-02 2.42676444e-03 7.87636034e+02] [-7.01913163e-02 9.97533535e-01 -1.59944078e-04 2.60016777e+02] [-2.43200562e-03 -1.07886809e-05 9.99997043e-01 -1.51577997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:787.70, Y:260.01, Z:-15.16 [[ 9.97926343e-01 6.43204909e-02 2.42675006e-03 7.87697560e+02] [-6.43202916e-02 9.97929293e-01 -1.60161933e-04 2.60014209e+02] [-2.43202667e-03 3.74054049e-06 9.99997043e-01 -1.51593378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:787.76, Y:260.01, Z:-15.16 [[ 9.98145578e-01 6.08236447e-02 2.42673556e-03 7.87760120e+02] [-6.08234346e-02 9.98148528e-01 -1.60381293e-04 2.60007243e+02] [-2.43199751e-03 1.24814868e-05 9.99997043e-01 -1.51597099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:787.82, Y:260.00, Z:-15.16 [[ 9.98385328e-01 5.67525086e-02 2.42670606e-03 7.87821821e+02] [-5.67522853e-02 9.98388277e-01 -1.60826529e-04 2.60000201e+02] [-2.43192219e-03 2.28457327e-05 9.99997043e-01 -1.51600948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.725336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:787.88, Y:259.99, Z:-15.16 [[ 9.98410351e-01 5.63105793e-02 2.42667856e-03 7.87884226e+02] [-5.63103537e-02 9.98413300e-01 -1.61240415e-04 2.59993352e+02] [-2.43190769e-03 2.43369714e-05 9.99997043e-01 -1.51601784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:787.95, Y:259.98, Z:-15.16 [[ 9.98293214e-01 5.83504083e-02 2.42664943e-03 7.87945959e+02] [-5.83501876e-02 9.98296163e-01 -1.61677529e-04 2.59983707e+02] [-2.43194877e-03 1.98061299e-05 9.99997043e-01 -1.51567023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:788.01, Y:259.98, Z:-15.16 [[ 9.98188762e-01 6.01107947e-02 2.42662196e-03 7.88008003e+02] [-6.01105783e-02 9.98191711e-01 -1.62088903e-04 2.59978084e+02] [-2.43197721e-03 1.59296728e-05 9.99997043e-01 -1.51571506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.905336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:788.07, Y:259.97, Z:-15.16 [[ 9.97913546e-01 6.45187223e-02 2.42660247e-03 7.88070443e+02] [-6.45185182e-02 9.97916497e-01 -1.62380112e-04 2.59970128e+02] [-2.43202319e-03 5.48051772e-06 9.99997043e-01 -1.51557298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:788.13, Y:259.96, Z:-15.16 [[ 9.97359751e-01 7.25784975e-02 2.42657186e-03 7.88132174e+02] [-7.25783161e-02 9.97362703e-01 -1.62836184e-04 2.59963786e+02] [-2.43199068e-03 -1.37102435e-05 9.99997043e-01 -1.51553448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:788.20, Y:259.96, Z:-15.15 [[ 9.97003199e-01 7.73222674e-02 2.42654501e-03 7.88195193e+02] [-7.73220991e-02 9.97006152e-01 -1.63235419e-04 2.59955556e+02] [-2.43190203e-03 -2.48793182e-05 9.99997043e-01 -1.51543060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.085336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:788.26, Y:259.95, Z:-15.15 [[ 9.96476515e-01 8.38371485e-02 2.42651402e-03 7.88258492e+02] [-8.38369984e-02 9.96479468e-01 -1.63694703e-04 2.59950455e+02] [-2.43169510e-03 -4.03137250e-05 9.99997043e-01 -1.51548663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:788.32, Y:259.95, Z:-15.16 [[ 9.96125112e-01 8.79140158e-02 2.42648302e-03 7.88320132e+02] [-8.79138766e-02 9.96128066e-01 -1.64152925e-04 2.59946157e+02] [-2.43151918e-03 -4.98046787e-05 9.99997043e-01 -1.51569490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:788.38, Y:259.94, Z:-15.16 [[ 9.95641882e-01 9.32274324e-02 2.42645622e-03 7.88381473e+02] [-9.32273080e-02 9.95644837e-01 -1.64548183e-04 2.59941710e+02] [-2.43122901e-03 -6.23809192e-05 9.99997043e-01 -1.51592866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:788.44, Y:259.94, Z:-15.16 [[ 9.95190951e-01 9.79238647e-02 2.42643149e-03 7.88443637e+02] [-9.79237534e-02 9.95193906e-01 -1.64912095e-04 2.59940012e+02] [-2.43091866e-03 -7.34862540e-05 9.99997043e-01 -1.51581061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.325336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:788.50, Y:259.94, Z:-15.16 [[ 9.95098930e-01 9.88546049e-02 2.42640498e-03 7.88504758e+02] [-9.88544955e-02 9.95101885e-01 -1.65301232e-04 2.59939470e+02] [-2.43086095e-03 -7.53699603e-05 9.99997043e-01 -1.51576031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:788.57, Y:259.94, Z:-15.15 [[ 9.95177954e-01 9.80558628e-02 2.42638056e-03 7.88566542e+02] [-9.80557501e-02 9.95180909e-01 -1.65658785e-04 2.59936504e+02] [-2.43093143e-03 -7.30605950e-05 9.99997043e-01 -1.51544347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:788.63, Y:259.94, Z:-15.15 [[ 9.95420086e-01 9.55665513e-02 2.42635306e-03 7.88629155e+02] [-9.55664303e-02 9.95423041e-01 -1.66060634e-04 2.59937425e+02] [-2.43111758e-03 -6.65778102e-05 9.99997043e-01 -1.51540913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:788.69, Y:259.94, Z:-15.16 [[ 9.95515077e-01 9.45718981e-02 2.42632540e-03 7.88691696e+02] [-9.45717731e-02 9.95518032e-01 -1.66463875e-04 2.59937321e+02] [-2.43119349e-03 -6.37445973e-05 9.99997043e-01 -1.51570138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:788.75, Y:259.94, Z:-15.16 [[ 9.95759405e-01 9.19636859e-02 2.42629767e-03 7.88753967e+02] [-9.19635521e-02 9.95762360e-01 -1.66867051e-04 2.59938134e+02] [-2.43136160e-03 -5.69715163e-05 9.99997043e-01 -1.51594234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:788.82, Y:259.94, Z:-15.16 [[ 9.96036263e-01 8.89149908e-02 2.42626979e-03 7.88815316e+02] [-8.89148470e-02 9.96039217e-01 -1.67271444e-04 2.59936024e+02] [-2.43153280e-03 -4.91229826e-05 9.99997043e-01 -1.51606842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:788.88, Y:259.94, Z:-15.16 [[ 9.96617160e-01 8.21483423e-02 2.42624410e-03 7.88877311e+02] [-8.21481776e-02 9.96620113e-01 -1.67643245e-04 2.59937385e+02] [-2.43181528e-03 -3.22353968e-05 9.99997043e-01 -1.51587732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:788.94, Y:259.94, Z:-15.16 [[ 9.96990917e-01 7.74804847e-02 2.42621612e-03 7.88938211e+02] [-7.74803051e-02 9.96993869e-01 -1.68047200e-04 2.59935125e+02] [-2.43194297e-03 -2.04424329e-05 9.99997043e-01 -1.51592333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:789.00, Y:259.93, Z:-15.16 [[ 9.97306049e-01 7.33127362e-02 2.42619030e-03 7.88999386e+02] [-7.33125434e-02 9.97309001e-01 -1.68419224e-04 2.59934033e+02] [-2.43200869e-03 -9.90467081e-06 9.99997043e-01 -1.51604389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:789.06, Y:259.93, Z:-15.16 [[ 9.97363456e-01 7.25275894e-02 2.42618624e-03 7.89060582e+02] [-7.25273941e-02 9.97366406e-01 -1.68477630e-04 2.59931320e+02] [-2.43201593e-03 -7.93153392e-06 9.99997043e-01 -1.51627110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.925336195 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:789.12, Y:259.93, Z:-15.16 [[ 9.97296194e-01 7.34466859e-02 2.42617010e-03 7.89120792e+02] [-7.34464928e-02 9.97299145e-01 -1.68709767e-04 2.59930915e+02] [-2.43200854e-03 -9.94007589e-06 9.99997043e-01 -1.51639908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.9853361950001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:789.18, Y:259.93, Z:-15.16 [[ 9.97257876e-01 7.39651492e-02 2.42616812e-03 7.89182401e+02] [-7.39649576e-02 9.97260827e-01 -1.68738242e-04 2.59928547e+02] [-2.43200317e-03 -1.11758806e-05 9.99997043e-01 -1.51626505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:789.24, Y:259.93, Z:-15.16 [[ 9.97192214e-01 7.48451874e-02 2.42616400e-03 7.89243199e+02] [-7.48449983e-02 9.97195165e-01 -1.68797356e-04 2.59927020e+02] [-2.43199268e-03 -1.32628319e-05 9.99997043e-01 -1.51636308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:789.30, Y:259.92, Z:-15.16 [[ 9.97127038e-01 7.57085404e-02 2.42616197e-03 7.89302590e+02] [-7.57083537e-02 9.97129990e-01 -1.68826620e-04 2.59923806e+02] [-2.43198047e-03 -1.53391407e-05 9.99997043e-01 -1.51642194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.165336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:789.36, Y:259.92, Z:-15.17 [[ 9.96977820e-01 7.76488308e-02 2.42616397e-03 7.89363238e+02] [-7.76486500e-02 9.96980771e-01 -1.68797892e-04 2.59923342e+02] [-2.43194578e-03 -2.01006025e-05 9.99997043e-01 -1.51651913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:789.42, Y:259.92, Z:-15.17 [[ 9.96826618e-01 7.95663700e-02 2.42616397e-03 7.89423429e+02] [-7.95661948e-02 9.96829570e-01 -1.68797892e-04 2.59920713e+02] [-2.43190262e-03 -2.47784032e-05 9.99997043e-01 -1.51654072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:789.48, Y:259.92, Z:-15.17 [[ 9.96647844e-01 8.17752311e-02 2.42616397e-03 7.89482516e+02] [-8.17750625e-02 9.96650797e-01 -1.68797892e-04 2.59918675e+02] [-2.43184174e-03 -3.01676551e-05 9.99997043e-01 -1.51669836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:789.54, Y:259.92, Z:-15.17 [[ 9.96654555e-01 8.16933970e-02 2.42616598e-03 7.89543068e+02] [-8.16932281e-02 9.96657508e-01 -1.68768970e-04 2.59916036e+02] [-2.43184385e-03 -2.99969677e-05 9.99997043e-01 -1.51657915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:789.60, Y:259.91, Z:-15.16 [[ 9.96738069e-01 8.06680614e-02 2.42616598e-03 7.89603644e+02] [-8.06678895e-02 9.96741021e-01 -1.68768970e-04 2.59912247e+02] [-2.43187342e-03 -2.74952315e-05 9.99997043e-01 -1.51637217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:789.66, Y:259.91, Z:-15.16 [[ 9.96891821e-01 7.87452328e-02 2.42616598e-03 7.89664385e+02] [-7.87450553e-02 9.96894773e-01 -1.68768970e-04 2.59906931e+02] [-2.43192193e-03 -2.28041680e-05 9.99997043e-01 -1.51622956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:789.72, Y:259.90, Z:-15.16 [[ 9.96969924e-01 7.77501355e-02 2.42616598e-03 7.89724706e+02] [-7.77499550e-02 9.96972876e-01 -1.68768970e-04 2.59901967e+02] [-2.43194348e-03 -2.03767080e-05 9.99997043e-01 -1.51624147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:789.78, Y:259.90, Z:-15.16 [[ 9.96843924e-01 7.93492609e-02 2.42616393e-03 7.89783577e+02] [-7.93490851e-02 9.96846876e-01 -1.68798450e-04 2.59897439e+02] [-2.43190796e-03 -2.42481788e-05 9.99997043e-01 -1.51640889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:789.84, Y:259.89, Z:-15.16 [[ 9.96611134e-01 8.22214106e-02 2.42616594e-03 7.89843537e+02] [-8.22212434e-02 9.96614087e-01 -1.68769486e-04 2.59893603e+02] [-2.43182762e-03 -3.12848315e-05 9.99997043e-01 -1.51634837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.705336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:789.90, Y:259.89, Z:-15.16 [[ 9.96093318e-01 8.82735214e-02 2.42616594e-03 7.89902811e+02] [-8.82733720e-02 9.96096272e-01 -1.68769486e-04 2.59891792e+02] [-2.43159273e-03 -4.60556915e-05 9.99997043e-01 -1.51640075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:789.96, Y:259.89, Z:-15.16 [[ 9.95931203e-01 9.00841445e-02 2.42616997e-03 7.89963342e+02] [-9.00840007e-02 9.95934157e-01 -1.68711561e-04 2.59888650e+02] [-2.43150378e-03 -5.05339892e-05 9.99997043e-01 -1.51633663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:790.02, Y:259.89, Z:-15.17 [[ 9.95601477e-01 9.36579554e-02 2.42616997e-03 7.90022539e+02] [-9.36578222e-02 9.95604431e-01 -1.68711561e-04 2.59890360e+02] [-2.43130675e-03 -5.92603159e-05 9.99997043e-01 -1.51653916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:790.08, Y:259.89, Z:-15.16 [[ 9.95606603e-01 9.36034540e-02 2.42617607e-03 7.90081937e+02] [-9.36033209e-02 9.95609557e-01 -1.68623757e-04 2.59889744e+02] [-2.43130785e-03 -5.92152111e-05 9.99997043e-01 -1.51626905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:790.14, Y:259.89, Z:-15.16 [[ 9.95863874e-01 9.08254286e-02 2.42618011e-03 7.90142114e+02] [-9.08252874e-02 9.95866828e-01 -1.68565620e-04 2.59890780e+02] [-2.43146234e-03 -5.24900941e-05 9.99997043e-01 -1.51634292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:790.20, Y:259.89, Z:-15.16 [[ 9.96143477e-01 8.77056857e-02 2.42618411e-03 7.90201328e+02] [-8.77055353e-02 9.96146430e-01 -1.68508007e-04 2.59889860e+02] [-2.43161375e-03 -4.49316246e-05 9.99997043e-01 -1.51641141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:790.26, Y:259.89, Z:-15.17 [[ 9.96531628e-01 8.31794875e-02 2.42619007e-03 7.90260920e+02] [-8.31793239e-02 9.96534581e-01 -1.68422180e-04 2.59892793e+02] [-2.43179158e-03 -3.39708204e-05 9.99997043e-01 -1.51665047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:790.32, Y:259.89, Z:-15.17 [[ 9.96800866e-01 7.98883448e-02 2.42619401e-03 7.90320899e+02] [-7.98881716e-02 9.96803818e-01 -1.68365390e-04 2.59891073e+02] [-2.43188989e-03 -2.59974368e-05 9.99997043e-01 -1.51664515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:790.38, Y:259.89, Z:-15.17 [[ 9.97273325e-01 7.37565516e-02 2.42619804e-03 7.90380450e+02] [-7.37563604e-02 9.97276276e-01 -1.68307343e-04 2.59890986e+02] [-2.43200351e-03 -1.10991137e-05 9.99997043e-01 -1.51672169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:790.44, Y:259.89, Z:-15.17 [[ 9.97567555e-01 6.96640930e-02 2.42620224e-03 7.90440014e+02] [-6.96638898e-02 9.97570506e-01 -1.68246801e-04 2.59889345e+02] [-2.43202855e-03 -1.18113535e-06 9.99997043e-01 -1.51656737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:790.50, Y:259.89, Z:-15.16 [[ 9.97839688e-01 6.56511348e-02 2.42620431e-03 7.90499664e+02] [-6.56509199e-02 9.97842637e-01 -1.68216929e-04 2.59885505e+02] [-2.43201374e-03 8.57098318e-06 9.99997043e-01 -1.51640582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.365336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:790.56, Y:259.88, Z:-15.16 [[ 9.97864486e-01 6.52731243e-02 2.42620843e-03 7.90558852e+02] [-6.52729084e-02 9.97867436e-01 -1.68157524e-04 2.59881508e+02] [-2.43201055e-03 9.43274080e-06 9.99997043e-01 -1.51647337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.425336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:790.62, Y:259.88, Z:-15.16 [[ 9.97696108e-01 6.77981471e-02 2.42621045e-03 7.90618678e+02] [-6.77979387e-02 9.97699058e-01 -1.68128257e-04 2.59878583e+02] [-2.43202667e-03 3.24884045e-06 9.99997043e-01 -1.51639914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.4853361950001 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:790.68, Y:259.88, Z:-15.17 [[ 9.97402602e-01 7.19872394e-02 2.42621459e-03 7.90678309e+02] [-7.19870435e-02 9.97405553e-01 -1.68068608e-04 2.59876414e+02] [-2.43201870e-03 -7.02394825e-06 9.99997043e-01 -1.51690101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:790.74, Y:259.87, Z:-15.17 [[ 9.97209229e-01 7.46181351e-02 2.42621872e-03 7.90737171e+02] [-7.46179472e-02 9.97212181e-01 -1.68008880e-04 2.59872945e+02] [-2.43199137e-03 -1.34994544e-05 9.99997043e-01 -1.51710487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:790.80, Y:259.87, Z:-15.17 [[ 9.96976520e-01 7.76655156e-02 2.42622288e-03 7.90796965e+02] [-7.76653369e-02 9.96979472e-01 -1.67948876e-04 2.59871134e+02] [-2.43193824e-03 -2.09923313e-05 9.99997043e-01 -1.51705062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:790.86, Y:259.87, Z:-15.17 [[ 9.96892861e-01 7.87320627e-02 2.42622680e-03 7.90856321e+02] [-7.87318872e-02 9.96895813e-01 -1.67892136e-04 2.59867634e+02] [-2.43191383e-03 -2.36509430e-05 9.99997043e-01 -1.51714257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:790.92, Y:259.86, Z:-15.17 [[ 9.96980491e-01 7.76145182e-02 2.42623077e-03 7.90915588e+02] [-7.76143396e-02 9.96983443e-01 -1.67834730e-04 2.59864699e+02] [-2.43193832e-03 -2.09823479e-05 9.99997043e-01 -1.51704762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:790.98, Y:259.86, Z:-15.17 [[ 9.97154621e-01 7.53443716e-02 2.42623488e-03 7.90975094e+02] [-7.53441864e-02 9.97157573e-01 -1.67775303e-04 2.59860430e+02] [-2.43197941e-03 -1.55047750e-05 9.99997043e-01 -1.51701801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:791.03, Y:259.85, Z:-15.17 [[ 9.97584076e-01 6.94271239e-02 2.42623906e-03 7.91033848e+02] [-6.94269213e-02 9.97587026e-01 -1.67714857e-04 2.59854124e+02] [-2.43202857e-03 -1.13663730e-06 9.99997043e-01 -1.51690728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:791.09, Y:259.85, Z:-15.17 [[ 9.97862597e-01 6.53020043e-02 2.42623288e-03 7.91093695e+02] [-6.53017893e-02 9.97865546e-01 -1.67804286e-04 2.59847865e+02] [-2.43201215e-03 9.00827222e-06 9.99997043e-01 -1.51680630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:791.15, Y:259.84, Z:-15.17 [[ 9.98125383e-01 6.11541814e-02 2.42623697e-03 7.91152991e+02] [-6.11539543e-02 9.98128331e-01 -1.67745004e-04 2.59839771e+02] [-2.43195417e-03 1.90565608e-05 9.99997043e-01 -1.51687162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:791.21, Y:259.83, Z:-15.17 [[ 9.98221731e-01 5.95608032e-02 2.42623900e-03 7.91212951e+02] [-5.95605715e-02 9.98224679e-01 -1.67715656e-04 2.59831400e+02] [-2.43192093e-03 2.29092306e-05 9.99997043e-01 -1.51670467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:791.27, Y:259.82, Z:-15.17 [[ 9.98229236e-01 5.94348817e-02 2.42623900e-03 7.91271956e+02] [-5.94346496e-02 9.98232185e-01 -1.67715656e-04 2.59823664e+02] [-2.43191802e-03 2.32160060e-05 9.99997043e-01 -1.51664392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.145336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:791.33, Y:259.82, Z:-15.17 [[ 9.98175021e-01 6.03385481e-02 2.42623718e-03 7.91330893e+02] [-6.03383186e-02 9.98177970e-01 -1.67741982e-04 2.59816252e+02] [-2.43193781e-03 2.10407847e-05 9.99997043e-01 -1.51673469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:791.39, Y:259.81, Z:-15.17 [[ 9.98052940e-01 6.23252909e-02 2.42623919e-03 7.91391301e+02] [-6.23250674e-02 9.98055889e-01 -1.67712938e-04 2.59807049e+02] [-2.43197507e-03 1.61708697e-05 9.99997043e-01 -1.51689276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:791.45, Y:259.80, Z:-15.17 [[ 9.97922686e-01 6.43772217e-02 2.42623919e-03 7.91451455e+02] [-6.43770043e-02 9.97925635e-01 -1.67712938e-04 2.59799187e+02] [-2.43200318e-03 1.11705347e-05 9.99997043e-01 -1.51693002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:791.51, Y:259.79, Z:-15.17 [[ 9.97657614e-01 6.83622549e-02 2.42623919e-03 7.91510515e+02] [-6.83620492e-02 9.97660565e-01 -1.67712938e-04 2.59792093e+02] [-2.43202839e-03 1.45740653e-06 9.99997043e-01 -1.51702227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:791.57, Y:259.78, Z:-15.17 [[ 9.97474612e-01 7.09824797e-02 2.42623748e-03 7.91570236e+02] [-7.09822817e-02 9.97477562e-01 -1.67737676e-04 2.59784404e+02] [-2.43202388e-03 -4.90579939e-06 9.99997043e-01 -1.51699633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:791.63, Y:259.78, Z:-15.17 [[ 9.97152561e-01 7.53716368e-02 2.42623748e-03 7.91629476e+02] [-7.53714518e-02 9.97155513e-01 -1.67737676e-04 2.59780638e+02] [-2.43197874e-03 -1.56089883e-05 9.99997043e-01 -1.51719218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:791.69, Y:259.78, Z:-15.17 [[ 9.96970643e-01 7.77409227e-02 2.42623523e-03 7.91690129e+02] [-7.77407446e-02 9.96973595e-01 -1.67770183e-04 2.59775189e+02] [-2.43193507e-03 -2.13553862e-05 9.99997043e-01 -1.51720125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:791.75, Y:259.77, Z:-15.17 [[ 9.96861478e-01 7.91284241e-02 2.42623523e-03 7.91750919e+02] [-7.91282501e-02 9.96864430e-01 -1.67770183e-04 2.59771558e+02] [-2.43190299e-03 -2.47401156e-05 9.99997043e-01 -1.51723705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:791.81, Y:259.77, Z:-15.17 [[ 9.96861610e-01 7.91267587e-02 2.42623523e-03 7.91810722e+02] [-7.91265847e-02 9.96864562e-01 -1.67770183e-04 2.59765349e+02] [-2.43190303e-03 -2.47360527e-05 9.99997043e-01 -1.51729082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:791.87, Y:259.76, Z:-15.17 [[ 9.96885746e-01 7.88220934e-02 2.42623523e-03 7.91870314e+02] [-7.88219185e-02 9.96888698e-01 -1.67770183e-04 2.59760725e+02] [-2.43191048e-03 -2.39928116e-05 9.99997043e-01 -1.51744063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:791.93, Y:259.76, Z:-15.17 [[ 9.96888702e-01 7.87847052e-02 2.42623726e-03 7.91931148e+02] [-7.87845303e-02 9.96891654e-01 -1.67740860e-04 2.59756737e+02] [-2.43191109e-03 -2.39309943e-05 9.99997043e-01 -1.51721544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:791.99, Y:259.75, Z:-15.17 [[ 9.96834591e-01 7.94664230e-02 2.42623726e-03 7.91991046e+02] [-7.94662501e-02 9.96837543e-01 -1.67740860e-04 2.59750881e+02] [-2.43189415e-03 -2.55940852e-05 9.99997043e-01 -1.51713800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:792.05, Y:259.75, Z:-15.17 [[ 9.96702030e-01 8.11121240e-02 2.42623726e-03 7.92050515e+02] [-8.11119560e-02 9.96704983e-01 -1.67740860e-04 2.59747685e+02] [-2.43184858e-03 -2.96091938e-05 9.99997043e-01 -1.51716648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:792.11, Y:259.74, Z:-15.17 [[ 9.96342307e-01 8.54173346e-02 2.42623930e-03 7.92109130e+02] [-8.54171793e-02 9.96345260e-01 -1.67711319e-04 2.59743838e+02] [-2.43169748e-03 -4.01446348e-05 9.99997043e-01 -1.51741964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.9853361950001 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:792.17, Y:259.74, Z:-15.17 [[ 9.96051396e-01 8.87453098e-02 2.42624517e-03 7.92168963e+02] [-8.87451646e-02 9.96054350e-01 -1.67626414e-04 2.59741689e+02] [-2.43154811e-03 -4.83530031e-05 9.99997043e-01 -1.51746870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:792.23, Y:259.74, Z:-15.17 [[ 9.95656521e-01 9.30709654e-02 2.42624916e-03 7.92229047e+02] [-9.30708332e-02 9.95659476e-01 -1.67568662e-04 2.59742346e+02] [-2.43131374e-03 -5.89721995e-05 9.99997043e-01 -1.51739293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:792.29, Y:259.74, Z:-15.18 [[ 9.95471037e-01 9.50343470e-02 2.42625331e-03 7.92287477e+02] [-9.50342208e-02 9.95473992e-01 -1.67508445e-04 2.59741563e+02] [-2.43119113e-03 -6.38272870e-05 9.99997043e-01 -1.51767043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:792.35, Y:259.74, Z:-15.18 [[ 9.95346919e-01 9.63256143e-02 2.42625946e-03 7.92346590e+02] [-9.63254921e-02 9.95349874e-01 -1.67419299e-04 2.59743131e+02] [-2.43110382e-03 -6.70703539e-05 9.99997043e-01 -1.51780741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:792.41, Y:259.74, Z:-15.18 [[ 9.95328509e-01 9.65156602e-02 2.42626523e-03 7.92405692e+02] [-9.65155388e-02 9.95331464e-01 -1.67335733e-04 2.59743415e+02] [-2.43108864e-03 -6.76182700e-05 9.99997043e-01 -1.51769874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:792.46, Y:259.74, Z:-15.17 [[ 9.95525817e-01 9.44587740e-02 2.42627312e-03 7.92464366e+02] [-9.44586468e-02 9.95528772e-01 -1.67221194e-04 2.59744620e+02] [-2.43122021e-03 -6.27094603e-05 9.99997043e-01 -1.51741359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:792.52, Y:259.75, Z:-15.17 [[ 9.96004214e-01 8.92732778e-02 2.42628128e-03 7.92522970e+02] [-8.92731355e-02 9.96007168e-01 -1.67102709e-04 2.59746414e+02] [-2.43151136e-03 -5.01667355e-05 9.99997043e-01 -1.51739331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:792.58, Y:259.75, Z:-15.17 [[ 9.96327064e-01 8.55949494e-02 2.42628733e-03 7.92582017e+02] [-8.55947964e-02 9.96330017e-01 -1.67014876e-04 2.59745386e+02] [-2.43167853e-03 -4.12761289e-05 9.99997043e-01 -1.51739530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.465336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:792.64, Y:259.74, Z:-15.18 [[ 9.96643072e-01 8.18333680e-02 2.42629543e-03 7.92640283e+02] [-8.18332041e-02 9.96646025e-01 -1.66897050e-04 2.59743770e+02] [-2.43181545e-03 -3.22147411e-05 9.99997043e-01 -1.51765047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:792.70, Y:259.74, Z:-15.18 [[ 9.96818266e-01 7.96709339e-02 2.42630350e-03 7.92698791e+02] [-7.96707639e-02 9.96821218e-01 -1.66779659e-04 2.59741944e+02] [-2.43187830e-03 -2.70564434e-05 9.99997043e-01 -1.51780221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:792.76, Y:259.74, Z:-15.18 [[ 9.96989021e-01 7.75048700e-02 2.42630951e-03 7.92758610e+02] [-7.75046939e-02 9.96991973e-01 -1.66692179e-04 2.59739247e+02] [-2.43193056e-03 -2.18601040e-05 9.99997043e-01 -1.51786437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:792.82, Y:259.74, Z:-15.18 [[ 9.97040843e-01 7.68353520e-02 2.42631349e-03 7.92818001e+02] [-7.68351740e-02 9.97043795e-01 -1.66634283e-04 2.59736314e+02] [-2.43194421e-03 -2.02850331e-05 9.99997043e-01 -1.51790072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.705336195 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:792.88, Y:259.73, Z:-15.18 [[ 9.97112623e-01 7.58981531e-02 2.42631748e-03 7.92878055e+02] [-7.58979725e-02 9.97115575e-01 -1.66576196e-04 2.59733967e+02] [-2.43196177e-03 -1.80573494e-05 9.99997043e-01 -1.51766432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.765336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:792.94, Y:259.73, Z:-15.18 [[ 9.97181102e-01 7.49930811e-02 2.42632165e-03 7.92936145e+02] [-7.49928979e-02 9.97184054e-01 -1.66515384e-04 2.59730701e+02] [-2.43197676e-03 -1.59108981e-05 9.99997043e-01 -1.51773211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:792.99, Y:259.73, Z:-15.18 [[ 9.97269159e-01 7.38128584e-02 2.42632782e-03 7.92994445e+02] [-7.38126719e-02 9.97272110e-01 -1.66425477e-04 2.59726627e+02] [-2.43199340e-03 -1.31227436e-05 9.99997043e-01 -1.51769296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.885336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:793.05, Y:259.72, Z:-15.18 [[ 9.97355135e-01 7.26419153e-02 2.42633366e-03 7.93054149e+02] [-7.26417256e-02 9.97358086e-01 -1.66340183e-04 2.59721803e+02] [-2.43200677e-03 -1.03528285e-05 9.99997043e-01 -1.51765108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:793.11, Y:259.72, Z:-15.17 [[ 9.97507952e-01 7.05124003e-02 2.42633762e-03 7.93113916e+02] [-7.05122045e-02 9.97510903e-01 -1.66282445e-04 2.59716953e+02] [-2.43202321e-03 -5.21835350e-06 9.99997043e-01 -1.51745878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:793.17, Y:259.71, Z:-15.17 [[ 9.97671473e-01 6.81597017e-02 2.42634169e-03 7.93171822e+02] [-6.81594991e-02 9.97674423e-01 -1.66222998e-04 2.59710261e+02] [-2.43202876e-03 4.57708976e-07 9.99997043e-01 -1.51749357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:793.23, Y:259.71, Z:-15.17 [[ 9.97707561e-01 6.76294040e-02 2.42634770e-03 7.93231584e+02] [-6.76292000e-02 9.97710511e-01 -1.66135219e-04 2.59705010e+02] [-2.43202823e-03 1.66240995e-06 9.99997043e-01 -1.51736124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.125336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:793.29, Y:259.70, Z:-15.18 [[ 9.97634256e-01 6.87022798e-02 2.42635173e-03 7.93289645e+02] [-6.87020790e-02 9.97637207e-01 -1.66076340e-04 2.59699488e+02] [-2.43202859e-03 -1.01196261e-06 9.99997043e-01 -1.51778653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:793.35, Y:259.69, Z:-15.18 [[ 9.97486603e-01 7.08137643e-02 2.42635772e-03 7.93349030e+02] [-7.08135700e-02 9.97489554e-01 -1.65988852e-04 2.59693842e+02] [-2.43202078e-03 -6.24739607e-06 9.99997043e-01 -1.51806930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:793.41, Y:259.69, Z:-15.18 [[ 9.97188012e-01 7.49011391e-02 2.42636162e-03 7.93407505e+02] [-7.49009571e-02 9.97190964e-01 -1.65931874e-04 2.59690551e+02] [-2.43197437e-03 -1.62715315e-05 9.99997043e-01 -1.51817802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:793.47, Y:259.69, Z:-15.18 [[ 9.96987469e-01 7.75248307e-02 2.42636741e-03 7.93467506e+02] [-7.75246566e-02 9.96990421e-01 -1.65847040e-04 2.59688408e+02] [-2.43192233e-03 -2.27558796e-05 9.99997043e-01 -1.51776107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.365336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:793.53, Y:259.69, Z:-15.18 [[ 9.96703106e-01 8.10988963e-02 2.42637148e-03 7.93525890e+02] [-8.10987330e-02 9.96706059e-01 -1.65787537e-04 2.59685574e+02] [-2.43182434e-03 -3.15346996e-05 9.99997043e-01 -1.51775476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:793.58, Y:259.68, Z:-15.17 [[ 9.96611558e-01 8.22162717e-02 2.42637753e-03 7.93584661e+02] [-8.22161119e-02 9.96614511e-01 -1.65698884e-04 2.59681714e+02] [-2.43178620e-03 -3.43499043e-05 9.99997043e-01 -1.51743624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.4853361950001 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:793.64, Y:259.68, Z:-15.17 [[ 9.96558164e-01 8.28609632e-02 2.42638555e-03 7.93642897e+02] [-8.28608056e-02 9.96561117e-01 -1.65581372e-04 2.59683404e+02] [-2.43176173e-03 -3.60407937e-05 9.99997043e-01 -1.51746193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:793.70, Y:259.68, Z:-15.17 [[ 9.96624743e-01 8.20562864e-02 2.42639545e-03 7.93700568e+02] [-8.20561268e-02 9.96627696e-01 -1.65436271e-04 2.59684215e+02] [-2.43178799e-03 -3.42227318e-05 9.99997043e-01 -1.51724288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:793.76, Y:259.68, Z:-15.17 [[ 9.96659295e-01 8.16355396e-02 2.42640522e-03 7.93759196e+02] [-8.16353791e-02 9.96662248e-01 -1.65292822e-04 2.59682504e+02] [-2.43180025e-03 -3.33398820e-05 9.99997043e-01 -1.51714223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:793.82, Y:259.69, Z:-15.17 [[ 9.96667390e-01 8.15366589e-02 2.42641309e-03 7.93818699e+02] [-8.15364983e-02 9.96670343e-01 -1.65177234e-04 2.59686788e+02] [-2.43180196e-03 -3.32144640e-05 9.99997043e-01 -1.51716279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:793.88, Y:259.69, Z:-15.17 [[ 9.96722944e-01 8.08547142e-02 2.42642123e-03 7.93876678e+02] [-8.08545519e-02 9.96725897e-01 -1.65057471e-04 2.59688155e+02] [-2.43182256e-03 -3.16706334e-05 9.99997043e-01 -1.51748957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:793.94, Y:259.69, Z:-15.18 [[ 9.97047035e-01 7.67549534e-02 2.42643129e-03 7.93936085e+02] [-7.67547793e-02 9.97049987e-01 -1.64909486e-04 2.59688535e+02] [-2.43193091e-03 -2.18176844e-05 9.99997043e-01 -1.51764467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:794.00, Y:259.69, Z:-15.17 [[ 9.97431542e-01 7.15851273e-02 2.42643903e-03 7.93995490e+02] [-7.15849383e-02 9.97434494e-01 -1.64795625e-04 2.59687863e+02] [-2.43201090e-03 -9.32413291e-06 9.99997043e-01 -1.51735809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:794.05, Y:259.69, Z:-15.17 [[ 9.97932642e-01 6.42226934e-02 2.42644710e-03 7.94053739e+02] [-6.42224829e-02 9.97935592e-01 -1.64676680e-04 2.59687973e+02] [-2.43201390e-03 8.50377768e-06 9.99997043e-01 -1.51726665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:794.11, Y:259.69, Z:-15.17 [[ 9.98037671e-01 6.25693158e-02 2.42645702e-03 7.94112110e+02] [-6.25691007e-02 9.98040621e-01 -1.64530320e-04 2.59685525e+02] [-2.43199722e-03 1.23862241e-05 9.99997043e-01 -1.51712572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.025336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:794.17, Y:259.68, Z:-15.17 [[ 9.97819000e-01 6.59648035e-02 2.42646493e-03 7.94170438e+02] [-6.59645987e-02 9.97821950e-01 -1.64413635e-04 2.59684056e+02] [-2.43202548e-03 3.99426389e-06 9.99997043e-01 -1.51708815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:794.23, Y:259.69, Z:-15.17 [[ 9.97558884e-01 6.97881415e-02 2.42647469e-03 7.94228501e+02] [-6.97879484e-02 9.97561835e-01 -1.64269401e-04 2.59685844e+02] [-2.43202260e-03 -5.47029005e-06 9.99997043e-01 -1.51730739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:794.29, Y:259.69, Z:-15.17 [[ 9.97235502e-01 7.42661774e-02 2.42648435e-03 7.94287517e+02] [-7.42659979e-02 9.97238454e-01 -1.64126593e-04 2.59687705e+02] [-2.43197256e-03 -1.65324160e-05 9.99997043e-01 -1.51723660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:794.35, Y:259.69, Z:-15.18 [[ 9.97237418e-01 7.42404545e-02 2.42649224e-03 7.94346304e+02] [-7.42402752e-02 9.97240370e-01 -1.64009907e-04 2.59688744e+02] [-2.43197219e-03 -1.65866357e-05 9.99997043e-01 -1.51752410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:794.41, Y:259.69, Z:-15.18 [[ 9.97365771e-01 7.24957356e-02 2.42650015e-03 7.94405562e+02] [-7.24955514e-02 9.97368722e-01 -1.63892790e-04 2.59687261e+02] [-2.43199688e-03 -1.24494079e-05 9.99997043e-01 -1.51757966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:794.46, Y:259.69, Z:-15.18 [[ 9.97568660e-01 6.96482682e-02 2.42650816e-03 7.94463592e+02] [-6.96480759e-02 9.97571611e-01 -1.63774106e-04 2.59688751e+02] [-2.43202224e-03 -5.62570883e-06 9.99997043e-01 -1.51784950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:794.52, Y:259.69, Z:-15.18 [[ 9.97675923e-01 6.80945285e-02 2.42651797e-03 7.94521809e+02] [-6.80943319e-02 9.97678874e-01 -1.63628599e-04 2.59685345e+02] [-2.43202793e-03 -1.98380702e-06 9.99997043e-01 -1.51753064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:794.58, Y:259.68, Z:-15.17 [[ 9.97802555e-01 6.62130842e-02 2.42652791e-03 7.94579682e+02] [-6.62128824e-02 9.97805506e-01 -1.63481147e-04 2.59684650e+02] [-2.43202750e-03 2.45449958e-06 9.99997043e-01 -1.51746441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:794.64, Y:259.68, Z:-15.17 [[ 9.97853102e-01 6.54469188e-02 2.42653774e-03 7.94638859e+02] [-6.54467151e-02 9.97856052e-01 -1.63335052e-04 2.59681620e+02] [-2.43202515e-03 4.17546385e-06 9.99997043e-01 -1.51730387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:794.70, Y:259.68, Z:-15.17 [[ 9.97811949e-01 6.60713784e-02 2.42654572e-03 7.94696755e+02] [-6.60711768e-02 9.97814899e-01 -1.63216367e-04 2.59680416e+02] [-2.43202741e-03 2.53450935e-06 9.99997043e-01 -1.51736516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:794.76, Y:259.68, Z:-15.18 [[ 9.97514450e-01 7.04204131e-02 2.42655560e-03 7.94755257e+02] [-7.04202248e-02 9.97517401e-01 -1.63069459e-04 2.59679215e+02] [-2.43201485e-03 -8.21444846e-06 9.99997043e-01 -1.51780023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.685336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:794.81, Y:259.68, Z:-15.18 [[ 9.97283854e-01 7.36140315e-02 2.42656332e-03 7.94814086e+02] [-7.36138529e-02 9.97286806e-01 -1.62954491e-04 2.59677634e+02] [-2.43197532e-03 -1.61167918e-05 9.99997043e-01 -1.51768439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.745336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:794.87, Y:259.68, Z:-15.18 [[ 9.97016120e-01 7.71554854e-02 2.42657144e-03 7.94871972e+02] [-7.71553176e-02 9.97019072e-01 -1.62833430e-04 2.59677766e+02] [-2.43190150e-03 -2.48753354e-05 9.99997043e-01 -1.51777013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:794.93, Y:259.68, Z:-15.18 [[ 9.97015069e-01 7.71690586e-02 2.42658147e-03 7.94930781e+02] [-7.71688911e-02 9.97018022e-01 -1.62683806e-04 2.59676486e+02] [-2.43189961e-03 -2.50583955e-05 9.99997043e-01 -1.51750982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.865336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:794.99, Y:259.68, Z:-15.17 [[ 9.97253737e-01 7.40209120e-02 2.42658931e-03 7.94989396e+02] [-7.40207355e-02 9.97256689e-01 -1.62566792e-04 2.59675172e+02] [-2.43196576e-03 -1.74975846e-05 9.99997043e-01 -1.51749175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:795.05, Y:259.67, Z:-15.18 [[ 9.97451353e-01 7.13085565e-02 2.42659713e-03 7.95047508e+02] [-7.13083723e-02 9.97454305e-01 -1.62449993e-04 2.59671767e+02] [-2.43200383e-03 -1.10007260e-05 9.99997043e-01 -1.51774888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.9853361950001 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:795.11, Y:259.67, Z:-15.18 [[ 9.97628515e-01 6.87855908e-02 2.42660677e-03 7.95105785e+02] [-6.87853995e-02 9.97631466e-01 -1.62305932e-04 2.59668320e+02] [-2.43202357e-03 -4.99408965e-06 9.99997043e-01 -1.51760616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:795.16, Y:259.67, Z:-15.17 [[ 9.97736276e-01 6.72044322e-02 2.42661455e-03 7.95164339e+02] [-6.72042365e-02 9.97739227e-01 -1.62189454e-04 2.59667128e+02] [-2.43202838e-03 -1.25647692e-06 9.99997043e-01 -1.51737000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:795.22, Y:259.66, Z:-15.17 [[ 9.97793660e-01 6.63469988e-02 2.42662226e-03 7.95222671e+02] [-6.63468008e-02 9.97796610e-01 -1.62074098e-04 2.59663126e+02] [-2.43202859e-03 7.17883629e-07 9.99997043e-01 -1.51725531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.165336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:795.28, Y:259.66, Z:-15.17 [[ 9.97769078e-01 6.67156501e-02 2.42662996e-03 7.95280590e+02] [-6.67154535e-02 9.97772029e-01 -1.61958604e-04 2.59659930e+02] [-2.43202868e-03 -2.96431442e-07 9.99997043e-01 -1.51732357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:795.34, Y:259.66, Z:-15.17 [[ 9.97709465e-01 6.76012921e-02 2.42663948e-03 7.95339822e+02] [-6.76010985e-02 9.97712416e-01 -1.61815915e-04 2.59658655e+02] [-2.43202730e-03 -2.59822401e-06 9.99997043e-01 -1.51740719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:795.40, Y:259.66, Z:-15.17 [[ 9.97646355e-01 6.85263616e-02 2.42664713e-03 7.95399051e+02] [-6.85261710e-02 9.97649306e-01 -1.61701151e-04 2.59656187e+02] [-2.43202361e-03 -4.96827163e-06 9.99997043e-01 -1.51748361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:795.46, Y:259.65, Z:-15.18 [[ 9.97667518e-01 6.82175517e-02 2.42665505e-03 7.95456628e+02] [-6.82173605e-02 9.97670469e-01 -1.61582085e-04 2.59652454e+02] [-2.43202482e-03 -4.33480512e-06 9.99997043e-01 -1.51773322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:795.52, Y:259.65, Z:-15.18 [[ 9.97879382e-01 6.50449890e-02 2.42666483e-03 7.95515565e+02] [-6.50447887e-02 9.97882332e-01 -1.61435181e-04 2.59649007e+02] [-2.43202651e-03 3.25093713e-06 9.99997043e-01 -1.51756091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:795.57, Y:259.64, Z:-15.17 [[ 9.97958590e-01 6.38182067e-02 2.42667247e-03 7.95573753e+02] [-6.38180031e-02 9.97961541e-01 -1.61320175e-04 2.59644912e+02] [-2.43202096e-03 6.12546358e-06 9.99997043e-01 -1.51748689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.525336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:795.63, Y:259.64, Z:-15.17 [[ 9.98148062e-01 6.07828795e-02 2.42668197e-03 7.95632661e+02] [-6.07826673e-02 9.98151011e-01 -1.61177188e-04 2.59640001e+02] [-2.43199188e-03 1.33784947e-05 9.99997043e-01 -1.51746323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.585336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:795.69, Y:259.63, Z:-15.17 [[ 9.98211807e-01 5.97268688e-02 2.42668966e-03 7.95691202e+02] [-5.97266537e-02 9.98214757e-01 -1.61061310e-04 2.59634433e+02] [-2.43197712e-03 1.58352484e-05 9.99997043e-01 -1.51739579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:795.75, Y:259.63, Z:-15.18 [[ 9.98205386e-01 5.98340905e-02 2.42669742e-03 7.95749776e+02] [-5.98338760e-02 9.98208336e-01 -1.60944325e-04 2.59630906e+02] [-2.43197955e-03 1.54567791e-05 9.99997043e-01 -1.51755985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.705336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:795.81, Y:259.63, Z:-15.18 [[ 9.98183568e-01 6.01969780e-02 2.42670508e-03 7.95808519e+02] [-6.01967649e-02 9.98186517e-01 -1.60828795e-04 2.59625958e+02] [-2.43198570e-03 1.44568655e-05 9.99997043e-01 -1.51765659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:795.87, Y:259.62, Z:-15.18 [[ 9.98139523e-01 6.09229357e-02 2.42671264e-03 7.95866442e+02] [-6.09227250e-02 9.98142473e-01 -1.60714583e-04 2.59623052e+02] [-2.43199616e-03 1.25736304e-05 9.99997043e-01 -1.51777859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.825336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:795.92, Y:259.62, Z:-15.18 [[ 9.98041914e-01 6.25015917e-02 2.42672202e-03 7.95924703e+02] [-6.25013860e-02 9.98044864e-01 -1.60572869e-04 2.59619739e+02] [-2.43201351e-03 8.58496389e-06 9.99997043e-01 -1.51764742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:795.98, Y:259.62, Z:-15.18 [[ 9.97974810e-01 6.35640545e-02 2.42672974e-03 7.95982733e+02] [-6.35638522e-02 9.97977761e-01 -1.60455997e-04 2.59617793e+02] [-2.43202155e-03 5.87875249e-06 9.99997043e-01 -1.51790022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:796.04, Y:259.61, Z:-15.18 [[ 9.98056219e-01 6.22727454e-02 2.42673928e-03 7.96041473e+02] [-6.22725397e-02 9.98059169e-01 -1.60311666e-04 2.59613702e+02] [-2.43201244e-03 8.88083760e-06 9.99997043e-01 -1.51788049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.005336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:796.10, Y:259.61, Z:-15.18 [[ 9.98267767e-01 5.87841471e-02 2.42674664e-03 7.96100071e+02] [-5.87839314e-02 9.98270717e-01 -1.60200092e-04 2.59610302e+02] [-2.43196734e-03 1.72688797e-05 9.99997043e-01 -1.51763980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:796.16, Y:259.60, Z:-15.18 [[ 9.98500776e-01 5.46837328e-02 2.42675444e-03 7.96157417e+02] [-5.46835052e-02 9.98503725e-01 -1.60081914e-04 2.59603822e+02] [-2.43187722e-03 2.71384768e-05 9.99997043e-01 -1.51790716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:796.22, Y:259.60, Z:-15.18 [[ 9.98607916e-01 5.26910003e-02 2.42676405e-03 7.96215938e+02] [-5.26907672e-02 9.98610864e-01 -1.59936074e-04 2.59598562e+02] [-2.43182014e-03 3.18453693e-05 9.99997043e-01 -1.51788404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:796.27, Y:259.59, Z:-15.18 [[ 9.98763346e-01 4.96577292e-02 2.42677162e-03 7.96274875e+02] [-4.96574874e-02 9.98766293e-01 -1.59821207e-04 2.59591708e+02] [-2.43171405e-03 3.91161830e-05 9.99997043e-01 -1.51765272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.245336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:796.33, Y:259.59, Z:-15.18 [[ 9.98835949e-01 4.81752810e-02 2.42677929e-03 7.96332555e+02] [-4.81750351e-02 9.98838896e-01 -1.59704548e-04 2.59585425e+02] [-2.43165536e-03 4.26084660e-05 9.99997043e-01 -1.51777180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.305336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:796.39, Y:259.58, Z:-15.18 [[ 9.98846742e-01 4.79509912e-02 2.42678876e-03 7.96390720e+02] [-4.79507450e-02 9.98849689e-01 -1.59560607e-04 2.59575326e+02] [-2.43164828e-03 4.30102633e-05 9.99997043e-01 -1.51794532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:796.45, Y:259.57, Z:-15.18 [[ 9.98754605e-01 4.98332093e-02 2.42679620e-03 7.96449466e+02] [-4.98329690e-02 9.98757553e-01 -1.59447401e-04 2.59569041e+02] [-2.43172681e-03 3.83143666e-05 9.99997043e-01 -1.51793260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:796.51, Y:259.56, Z:-15.18 [[ 9.98510324e-01 5.45091164e-02 2.42680360e-03 7.96506323e+02] [-5.45088901e-02 9.98513273e-01 -1.59334666e-04 2.59559987e+02] [-2.43188079e-03 2.68149385e-05 9.99997043e-01 -1.51792945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:796.56, Y:259.55, Z:-15.18 [[ 9.98271303e-01 5.87240641e-02 2.42681008e-03 7.96564407e+02] [-5.87238505e-02 9.98274253e-01 -1.59235923e-04 2.59550731e+02] [-2.43197300e-03 1.64490199e-05 9.99997043e-01 -1.51791138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:796.62, Y:259.54, Z:-15.18 [[ 9.98160718e-01 6.05746711e-02 2.42681767e-03 7.96622719e+02] [-6.05744633e-02 9.98163668e-01 -1.59120112e-04 2.59543111e+02] [-2.43199988e-03 1.18242676e-05 9.99997043e-01 -1.51794287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:796.68, Y:259.53, Z:-15.18 [[ 9.98040172e-01 6.25293912e-02 2.42682533e-03 7.96681317e+02] [-6.25291894e-02 9.98043123e-01 -1.59003195e-04 2.59534192e+02] [-2.43201870e-03 6.94415512e-06 9.99997043e-01 -1.51813673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:796.74, Y:259.53, Z:-15.18 [[ 9.97942231e-01 6.40735017e-02 2.42683295e-03 7.96739932e+02] [-6.40733047e-02 9.97945182e-01 -1.58886853e-04 2.59526123e+02] [-2.43202668e-03 3.06469376e-06 9.99997043e-01 -1.51816696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:796.80, Y:259.52, Z:-15.18 [[ 9.97704913e-01 6.76684403e-02 2.42684079e-03 7.96797602e+02] [-6.76682543e-02 9.97707864e-01 -1.58766956e-04 2.59516890e+02] [-2.43202165e-03 -5.81750762e-06 9.99997043e-01 -1.51816456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:796.86, Y:259.51, Z:-15.18 [[ 9.97574807e-01 6.95601487e-02 2.42685139e-03 7.96855348e+02] [-6.95599687e-02 9.97577759e-01 -1.58604821e-04 2.59511391e+02] [-2.43200554e-03 -1.05915332e-05 9.99997043e-01 -1.51838760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:796.91, Y:259.50, Z:-15.18 [[ 9.97595580e-01 6.92615982e-02 2.42686163e-03 7.96914070e+02] [-6.92614177e-02 9.97598532e-01 -1.58447987e-04 2.59504441e+02] [-2.43200796e-03 -1.00208655e-05 9.99997043e-01 -1.51831234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:796.97, Y:259.49, Z:-15.18 [[ 9.97832831e-01 6.57552410e-02 2.42686924e-03 7.96972237e+02] [-6.57550504e-02 9.97835782e-01 -1.58331282e-04 2.59493326e+02] [-2.43202808e-03 -1.59075779e-06 9.99997043e-01 -1.51832442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.965336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:797.03, Y:259.49, Z:-15.18 [[ 9.98048507e-01 6.23962115e-02 2.42687680e-03 7.97030285e+02] [-6.23960112e-02 9.98051458e-01 -1.58215257e-04 2.59486468e+02] [-2.43201997e-03 6.47906889e-06 9.99997043e-01 -1.51834508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:797.09, Y:259.48, Z:-15.18 [[ 9.98272190e-01 5.87089923e-02 2.42688243e-03 7.97088939e+02] [-5.87087813e-02 9.98275139e-01 -1.58128939e-04 2.59476092e+02] [-2.43197999e-03 1.53764126e-05 9.99997043e-01 -1.51824623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.085336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:797.15, Y:259.47, Z:-15.18 [[ 9.98339144e-01 5.75592226e-02 2.42688435e-03 7.97146907e+02] [-5.75590083e-02 9.98342093e-01 -1.58099515e-04 2.59467052e+02] [-2.43196088e-03 1.81478785e-05 9.99997043e-01 -1.51846018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:797.21, Y:259.46, Z:-15.18 [[ 9.98394239e-01 5.65955268e-02 2.42689010e-03 7.97205464e+02] [-5.65953099e-02 9.98397188e-01 -1.58011197e-04 2.59455233e+02] [-2.43194298e-03 2.04068722e-05 9.99997043e-01 -1.51839128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:797.26, Y:259.45, Z:-15.18 [[ 9.98412768e-01 5.62677006e-02 2.42689381e-03 7.97264293e+02] [-5.62674828e-02 9.98415718e-01 -1.57954085e-04 2.59446532e+02] [-2.43193664e-03 2.11481693e-05 9.99997043e-01 -1.51828691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:797.32, Y:259.43, Z:-15.18 [[ 9.98372199e-01 5.69829933e-02 2.42689753e-03 7.97323512e+02] [-5.69827779e-02 9.98375149e-01 -1.57896921e-04 2.59433552e+02] [-2.43195162e-03 1.93485334e-05 9.99997043e-01 -1.51821885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:797.38, Y:259.42, Z:-15.18 [[ 9.98156807e-01 6.06390866e-02 2.42690147e-03 7.97382744e+02] [-6.06388820e-02 9.98159757e-01 -1.57836420e-04 2.59421686e+02] [-2.43200644e-03 1.03809050e-05 9.99997043e-01 -1.51827898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.385336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:797.44, Y:259.41, Z:-15.18 [[ 9.98054364e-01 6.23024656e-02 2.42689929e-03 7.97443302e+02] [-6.23022659e-02 9.98057314e-01 -1.57869939e-04 2.59414764e+02] [-2.43202027e-03 6.36145649e-06 9.99997043e-01 -1.51839103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:797.50, Y:259.40, Z:-15.18 [[ 9.97711778e-01 6.75671453e-02 2.42689929e-03 7.97502557e+02] [-6.75669612e-02 9.97714729e-01 -1.57869939e-04 2.59404773e+02] [-2.43201999e-03 -6.46951280e-06 9.99997043e-01 -1.51849705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:797.56, Y:259.39, Z:-15.19 [[ 9.97363229e-01 7.25306831e-02 2.42690114e-03 7.97562925e+02] [-7.25305138e-02 9.97366181e-01 -1.57841501e-04 2.59394530e+02] [-2.43195747e-03 -1.85990776e-05 9.99997043e-01 -1.51853277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:797.62, Y:259.39, Z:-15.19 [[ 9.97175380e-01 7.50691141e-02 2.42690114e-03 7.97622045e+02] [-7.50689522e-02 9.97178333e-01 -1.57841501e-04 2.59386041e+02] [-2.43190225e-03 -2.47892671e-05 9.99997043e-01 -1.51863637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:797.68, Y:259.38, Z:-15.19 [[ 9.96914561e-01 7.84567870e-02 2.42690295e-03 7.97682256e+02] [-7.84566353e-02 9.96917515e-01 -1.57813678e-04 2.59379446e+02] [-2.43180361e-03 -3.30798861e-05 9.99997043e-01 -1.51864293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:797.74, Y:259.37, Z:-15.19 [[ 9.96801227e-01 7.98838158e-02 2.42690295e-03 7.97741905e+02] [-7.98836682e-02 9.96804181e-01 -1.57813678e-04 2.59372136e+02] [-2.43175376e-03 -3.65610423e-05 9.99997043e-01 -1.51879300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:797.80, Y:259.36, Z:-15.19 [[ 9.96692958e-01 8.12235045e-02 2.42690295e-03 7.97802021e+02] [-8.12233610e-02 9.96695912e-01 -1.57813678e-04 2.59364377e+02] [-2.43170242e-03 -3.98294329e-05 9.99997043e-01 -1.51853907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.805336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:797.86, Y:259.36, Z:-15.18 [[ 9.96614207e-01 8.21841321e-02 2.42690295e-03 7.97861980e+02] [-8.21839914e-02 9.96617162e-01 -1.57813678e-04 2.59358972e+02] [-2.43166291e-03 -4.21732177e-05 9.99997043e-01 -1.51848159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:797.92, Y:259.35, Z:-15.18 [[ 9.96545529e-01 8.30127678e-02 2.42690295e-03 7.97922095e+02] [-8.30126295e-02 9.96548483e-01 -1.57813678e-04 2.59354469e+02] [-2.43162700e-03 -4.41950804e-05 9.99997043e-01 -1.51848757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:797.98, Y:259.35, Z:-15.18 [[ 9.96349280e-01 8.53359383e-02 2.42690295e-03 7.97982775e+02] [-8.53358069e-02 9.96352234e-01 -1.57813678e-04 2.59350627e+02] [-2.43151735e-03 -4.98641772e-05 9.99997043e-01 -1.51839714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.9853361950001 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:798.04, Y:259.35, Z:-15.19 [[ 9.96145718e-01 8.76802099e-02 2.42690295e-03 7.98041908e+02] [-8.76800855e-02 9.96148672e-01 -1.57813677e-04 2.59348634e+02] [-2.43139328e-03 -5.55856388e-05 9.99997043e-01 -1.51851809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:798.10, Y:259.35, Z:-15.18 [[ 9.96066132e-01 8.85797480e-02 2.42690083e-03 7.98102839e+02] [-8.85796262e-02 9.96069086e-01 -1.57846153e-04 2.59347288e+02] [-2.43134287e-03 -5.77487618e-05 9.99997043e-01 -1.51849374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:798.16, Y:259.35, Z:-15.18 [[ 9.96069619e-01 8.85405276e-02 2.42690083e-03 7.98163009e+02] [-8.85404057e-02 9.96072573e-01 -1.57846153e-04 2.59347290e+02] [-2.43134514e-03 -5.76530272e-05 9.99997043e-01 -1.51832830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:798.22, Y:259.35, Z:-15.19 [[ 9.96173036e-01 8.73692880e-02 2.42690083e-03 7.98222729e+02] [-8.73691626e-02 9.96175991e-01 -1.57846153e-04 2.59347670e+02] [-2.43141125e-03 -5.47942122e-05 9.99997043e-01 -1.51850623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:798.28, Y:259.35, Z:-15.19 [[ 9.96432753e-01 8.43556727e-02 2.42689868e-03 7.98283159e+02] [-8.43555383e-02 9.96435707e-01 -1.57879239e-04 2.59349933e+02] [-2.43156651e-03 -4.74062995e-05 9.99997043e-01 -1.51867263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:798.34, Y:259.35, Z:-15.19 [[ 9.96578477e-01 8.26162835e-02 2.42690054e-03 7.98343389e+02] [-8.26161440e-02 9.96581431e-01 -1.57850587e-04 2.59350631e+02] [-2.43164505e-03 -4.31906670e-05 9.99997043e-01 -1.51856576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.345336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:798.40, Y:259.35, Z:-15.19 [[ 9.96744782e-01 8.05850519e-02 2.42690445e-03 7.98402359e+02] [-8.05849066e-02 9.96747735e-01 -1.57790504e-04 2.59353749e+02] [-2.43172707e-03 -3.82950072e-05 9.99997043e-01 -1.51864202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.405336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:798.46, Y:259.36, Z:-15.19 [[ 9.96921277e-01 7.83714070e-02 2.42691025e-03 7.98462157e+02] [-7.83712553e-02 9.96924231e-01 -1.57701250e-04 2.59357701e+02] [-2.43180490e-03 -3.29842717e-05 9.99997043e-01 -1.51865569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:798.52, Y:259.36, Z:-15.19 [[ 9.97106533e-01 7.59781065e-02 2.42691420e-03 7.98520551e+02] [-7.59779478e-02 9.97109486e-01 -1.57640521e-04 2.59357188e+02] [-2.43187639e-03 -2.72075671e-05 9.99997043e-01 -1.51873944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:798.58, Y:259.36, Z:-15.19 [[ 9.97326393e-01 7.30354367e-02 2.42692004e-03 7.98579109e+02] [-7.30352695e-02 9.97329346e-01 -1.57550455e-04 2.59357872e+02] [-2.43194535e-03 -2.01215324e-05 9.99997043e-01 -1.51888282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:798.64, Y:259.36, Z:-15.19 [[ 9.97332581e-01 7.29508959e-02 2.42692572e-03 7.98639489e+02] [-7.29507287e-02 9.97335534e-01 -1.57462953e-04 2.59360186e+02] [-2.43194632e-03 -2.00030669e-05 9.99997043e-01 -1.51896831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.645336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:798.70, Y:259.36, Z:-15.19 [[ 9.97227819e-01 7.43692624e-02 2.42692962e-03 7.98698700e+02] [-7.43690996e-02 9.97230772e-01 -1.57402812e-04 2.59361629e+02] [-2.43191483e-03 -2.35221081e-05 9.99997043e-01 -1.51900546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:798.76, Y:259.36, Z:-15.19 [[ 9.97156375e-01 7.53211393e-02 2.42693541e-03 7.98756357e+02] [-7.53209795e-02 9.97159328e-01 -1.57313505e-04 2.59364155e+02] [-2.43189031e-03 -2.59329880e-05 9.99997043e-01 -1.51926698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:798.81, Y:259.37, Z:-15.20 [[ 9.97270344e-01 7.37968245e-02 2.42694488e-03 7.98814531e+02] [-7.37966606e-02 9.97273297e-01 -1.57167302e-04 2.59365420e+02] [-2.43192577e-03 -2.23621382e-05 9.99997043e-01 -1.51958595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:798.87, Y:259.37, Z:-15.19 [[ 9.97331669e-01 7.29633648e-02 2.42695413e-03 7.98873033e+02] [-7.29631987e-02 9.97334621e-01 -1.57024347e-04 2.59366189e+02] [-2.43194240e-03 -2.04729819e-05 9.99997043e-01 -1.51937840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.885336195 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:798.93, Y:259.37, Z:-15.19 [[ 9.97413034e-01 7.18425316e-02 2.42696354e-03 7.98930579e+02] [-7.18423626e-02 9.97415987e-01 -1.56878638e-04 2.59365270e+02] [-2.43196280e-03 -1.78859963e-05 9.99997043e-01 -1.51921192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:798.99, Y:259.36, Z:-15.19 [[ 9.97431523e-01 7.15853829e-02 2.42697283e-03 7.98989126e+02] [-7.15852135e-02 9.97434475e-01 -1.56734857e-04 2.59363094e+02] [-2.43196630e-03 -1.74030815e-05 9.99997043e-01 -1.51921836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:799.05, Y:259.36, Z:-15.19 [[ 9.97344596e-01 7.27864481e-02 2.42698061e-03 7.99046911e+02] [-7.27862825e-02 9.97347549e-01 -1.56614314e-04 2.59364315e+02] [-2.43194256e-03 -2.04524568e-05 9.99997043e-01 -1.51921069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:799.11, Y:259.36, Z:-15.19 [[ 9.97177978e-01 7.50345975e-02 2.42699021e-03 7.99105794e+02] [-7.50344389e-02 9.97180931e-01 -1.56465366e-04 2.59363331e+02] [-2.43188867e-03 -2.60840316e-05 9.99997043e-01 -1.51938510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:799.16, Y:259.36, Z:-15.19 [[ 9.97102197e-01 7.60349835e-02 2.42699759e-03 7.99164302e+02] [-7.60348282e-02 9.97105150e-01 -1.56350863e-04 2.59361499e+02] [-2.43185993e-03 -2.86385552e-05 9.99997043e-01 -1.51945937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:799.22, Y:259.36, Z:-15.19 [[ 9.97013338e-01 7.71914141e-02 2.42700490e-03 7.99223162e+02] [-7.71912625e-02 9.97016291e-01 -1.56237313e-04 2.59361680e+02] [-2.43182360e-03 -3.15728871e-05 9.99997043e-01 -1.51948883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:799.28, Y:259.36, Z:-15.20 [[ 9.96925818e-01 7.83136247e-02 2.42701239e-03 7.99281671e+02] [-7.83134766e-02 9.96928771e-01 -1.56120889e-04 2.59362959e+02] [-2.43178487e-03 -3.44268325e-05 9.99997043e-01 -1.51967765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:799.34, Y:259.36, Z:-15.20 [[ 9.96914298e-01 7.84601303e-02 2.42702166e-03 7.99340326e+02] [-7.84599830e-02 9.96917252e-01 -1.55976542e-04 2.59360526e+02] [-2.43177771e-03 -3.49288338e-05 9.99997043e-01 -1.51959339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:799.40, Y:259.36, Z:-15.20 [[ 9.96936393e-01 7.81788869e-02 2.42702905e-03 7.99399024e+02] [-7.81787391e-02 9.96939346e-01 -1.55861520e-04 2.59358706e+02] [-2.43178584e-03 -3.43580496e-05 9.99997043e-01 -1.51961812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:799.46, Y:259.36, Z:-15.20 [[ 9.96988296e-01 7.75141798e-02 2.42703639e-03 7.99456974e+02] [-7.75140303e-02 9.96991249e-01 -1.55747182e-04 2.59357933e+02] [-2.43180665e-03 -3.28512542e-05 9.99997043e-01 -1.51968257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:799.52, Y:259.36, Z:-15.20 [[ 9.97016652e-01 7.71485865e-02 2.42704613e-03 7.99516150e+02] [-7.71484363e-02 9.97019606e-01 -1.55595231e-04 2.59356220e+02] [-2.43181653e-03 -3.21117772e-05 9.99997043e-01 -1.51998529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:799.58, Y:259.35, Z:-15.20 [[ 9.97093619e-01 7.61473912e-02 2.42705346e-03 7.99575031e+02] [-7.61472383e-02 9.97096572e-01 -1.55480726e-04 2.59353193e+02] [-2.43184614e-03 -2.97845786e-05 9.99997043e-01 -1.51992509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.605336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:799.63, Y:259.35, Z:-15.20 [[ 9.97109580e-01 7.59380956e-02 2.42706109e-03 7.99634098e+02] [-7.59379423e-02 9.97112534e-01 -1.55361648e-04 2.59353487e+02] [-2.43185090e-03 -2.93934374e-05 9.99997043e-01 -1.51972977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.665336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:799.69, Y:259.35, Z:-15.19 [[ 9.97070821e-01 7.64453239e-02 2.42706863e-03 7.99693077e+02] [-7.64451724e-02 9.97073774e-01 -1.55243700e-04 2.59351748e+02] [-2.43183414e-03 -3.07487163e-05 9.99997043e-01 -1.51949155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:799.75, Y:259.35, Z:-15.20 [[ 9.97035474e-01 7.69049645e-02 2.42707634e-03 7.99751229e+02] [-7.69048147e-02 9.97038427e-01 -1.55123038e-04 2.59350257e+02] [-2.43181811e-03 -3.19906844e-05 9.99997043e-01 -1.51953282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:799.81, Y:259.35, Z:-15.20 [[ 9.96902982e-01 7.86037774e-02 2.42708672e-03 7.99810513e+02] [-7.86036330e-02 9.96905936e-01 -1.54960532e-04 2.59349838e+02] [-2.43175764e-03 -3.62972173e-05 9.99997043e-01 -1.51954221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:799.87, Y:259.35, Z:-15.20 [[ 9.96684562e-01 8.13264608e-02 2.42709413e-03 7.99869115e+02] [-8.13263248e-02 9.96687516e-01 -1.54844317e-04 2.59351457e+02] [-2.43164736e-03 -4.30557052e-05 9.99997043e-01 -1.51953825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:799.93, Y:259.35, Z:-15.20 [[ 9.96590520e-01 8.24708743e-02 2.42710162e-03 7.99927104e+02] [-8.24707420e-02 9.96593474e-01 -1.54726846e-04 2.59350888e+02] [-2.43159410e-03 -4.59655636e-05 9.99997043e-01 -1.51955893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:799.99, Y:259.35, Z:-15.20 [[ 9.96602840e-01 8.23218544e-02 2.42711282e-03 7.99985148e+02] [-8.23217220e-02 9.96605795e-01 -1.54550909e-04 2.59352390e+02] [-2.43159762e-03 -4.57782329e-05 9.99997043e-01 -1.51953333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.025336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:800.04, Y:259.35, Z:-15.20 [[ 9.96722435e-01 8.08609753e-02 2.42712207e-03 8.00043567e+02] [-8.08608390e-02 9.96725389e-01 -1.54405590e-04 2.59350626e+02] [-2.43165957e-03 -4.23596114e-05 9.99997043e-01 -1.51963816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:800.10, Y:259.35, Z:-15.20 [[ 9.96994681e-01 7.74320038e-02 2.42712945e-03 8.00102459e+02] [-7.74318576e-02 9.96997635e-01 -1.54289480e-04 2.59349474e+02] [-2.43178926e-03 -3.41113516e-05 9.99997043e-01 -1.51969323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:800.16, Y:259.35, Z:-15.20 [[ 9.97137324e-01 7.55729126e-02 2.42713691e-03 8.00161356e+02] [-7.55727612e-02 9.97140278e-01 -1.54172115e-04 2.59347917e+02] [-2.43184720e-03 -2.96946674e-05 9.99997043e-01 -1.51979234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:800.22, Y:259.35, Z:-15.20 [[ 9.97347222e-01 7.27504444e-02 2.42714440e-03 8.00220070e+02] [-7.27502849e-02 9.97350175e-01 -1.54054029e-04 2.59346745e+02] [-2.43192039e-03 -2.29300890e-05 9.99997043e-01 -1.51980919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:800.28, Y:259.34, Z:-15.20 [[ 9.97564088e-01 6.97136932e-02 2.42715184e-03 8.00277356e+02] [-6.97135250e-02 9.97567041e-01 -1.53936697e-04 2.59342310e+02] [-2.43197818e-03 -1.56435898e-05 9.99997043e-01 -1.52016965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:800.34, Y:259.34, Z:-15.20 [[ 9.97638714e-01 6.86374940e-02 2.42716136e-03 8.00336483e+02] [-6.86373230e-02 9.97641666e-01 -1.53786410e-04 2.59340913e+02] [-2.43199282e-03 -1.31705823e-05 9.99997043e-01 -1.52011192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:800.40, Y:259.34, Z:-15.20 [[ 9.97551541e-01 6.98929966e-02 2.42716861e-03 8.00395198e+02] [-6.98928296e-02 9.97554494e-01 -1.53671900e-04 2.59339156e+02] [-2.43197355e-03 -1.63460420e-05 9.99997043e-01 -1.52001308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:800.45, Y:259.34, Z:-15.20 [[ 9.97518058e-01 7.03692584e-02 2.42717580e-03 8.00453884e+02] [-7.03690930e-02 9.97521011e-01 -1.53558341e-04 2.59335870e+02] [-2.43196464e-03 -1.76209410e-05 9.99997043e-01 -1.51992813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:800.51, Y:259.33, Z:-15.20 [[ 9.97599082e-01 6.92111348e-02 2.42718329e-03 8.00511262e+02] [-6.92109663e-02 9.97602034e-01 -1.53439804e-04 2.59333232e+02] [-2.43198273e-03 -1.49162932e-05 9.99997043e-01 -1.52018129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:800.57, Y:259.33, Z:-15.20 [[ 9.97697380e-01 6.77793980e-02 2.42719254e-03 8.00569605e+02] [-6.77792257e-02 9.97700332e-01 -1.53293358e-04 2.59328640e+02] [-2.43200094e-03 -1.15728490e-05 9.99997043e-01 -1.52021618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.625336195 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:800.63, Y:259.32, Z:-15.20 [[ 9.97840276e-01 6.56421492e-02 2.42719951e-03 8.00628141e+02] [-6.56419708e-02 9.97843228e-01 -1.53182867e-04 2.59324317e+02] [-2.43201985e-03 -6.47412530e-06 9.99997043e-01 -1.52024512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:800.69, Y:259.32, Z:-15.20 [[ 9.97840885e-01 6.56328936e-02 2.42720670e-03 8.00686827e+02] [-6.56327154e-02 9.97843837e-01 -1.53068869e-04 2.59320484e+02] [-2.43201960e-03 -6.56579159e-06 9.99997043e-01 -1.52031818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:800.74, Y:259.32, Z:-15.20 [[ 9.97744436e-01 6.70831550e-02 2.42721411e-03 8.00744230e+02] [-6.70829814e-02 9.97747388e-01 -1.52951317e-04 2.59316219e+02] [-2.43200700e-03 -1.02184339e-05 9.99997043e-01 -1.52042976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:800.80, Y:259.31, Z:-15.20 [[ 9.97538058e-01 7.00851771e-02 2.42722396e-03 8.00803423e+02] [-7.00850127e-02 9.97541011e-01 -1.52794930e-04 2.59314541e+02] [-2.43196410e-03 -1.76932644e-05 9.99997043e-01 -1.52035532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:800.86, Y:259.31, Z:-15.20 [[ 9.97236204e-01 7.42567322e-02 2.42723107e-03 8.00861943e+02] [-7.42565805e-02 9.97239157e-01 -1.52681781e-04 2.59312259e+02] [-2.43186752e-03 -2.79780801e-05 9.99997043e-01 -1.52025729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:800.92, Y:259.31, Z:-15.20 [[ 9.97057290e-01 7.66215912e-02 2.42723831e-03 8.00920497e+02] [-7.66214468e-02 9.97060244e-01 -1.52566677e-04 2.59309164e+02] [-2.43179272e-03 -3.38607937e-05 9.99997043e-01 -1.52009505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:800.98, Y:259.31, Z:-15.20 [[ 9.96888661e-01 7.87851875e-02 2.42724577e-03 8.00979203e+02] [-7.87850498e-02 9.96891615e-01 -1.52447846e-04 2.59309615e+02] [-2.43171159e-03 -3.92571494e-05 9.99997043e-01 -1.52014522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:801.04, Y:259.31, Z:-15.20 [[ 9.96819304e-01 7.96579151e-02 2.42725329e-03 8.01037297e+02] [-7.96577803e-02 9.96822258e-01 -1.52328077e-04 2.59310034e+02] [-2.43167424e-03 -4.15060414e-05 9.99997043e-01 -1.52035003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:801.10, Y:259.31, Z:-15.21 [[ 9.96818350e-01 7.96698558e-02 2.42726255e-03 8.01095672e+02] [-7.96697213e-02 9.96821304e-01 -1.52180307e-04 2.59307875e+02] [-2.43167121e-03 -4.16832090e-05 9.99997043e-01 -1.52057425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:801.15, Y:259.31, Z:-15.21 [[ 9.96897054e-01 7.86789205e-02 2.42726989e-03 8.01153437e+02] [-7.86787834e-02 9.96900008e-01 -1.52063185e-04 2.59308868e+02] [-2.43170954e-03 -3.93833004e-05 9.99997043e-01 -1.52058153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:801.21, Y:259.31, Z:-15.20 [[ 9.96954806e-01 7.79437213e-02 2.42727896e-03 8.01212310e+02] [-7.79435824e-02 9.96957760e-01 -1.51918296e-04 2.59307163e+02] [-2.43173567e-03 -3.77351423e-05 9.99997043e-01 -1.52044319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:801.27, Y:259.31, Z:-15.20 [[ 9.97166820e-01 7.51827176e-02 2.42728627e-03 8.01270889e+02] [-7.51825708e-02 9.97169774e-01 -1.51801398e-04 2.59306528e+02] [-2.43182934e-03 -3.11183048e-05 9.99997043e-01 -1.52047683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.345336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:801.33, Y:259.31, Z:-15.20 [[ 9.97289274e-01 7.35405510e-02 2.42729354e-03 8.01330146e+02] [-7.35403997e-02 9.97292227e-01 -1.51685034e-04 2.59305284e+02] [-2.43187598e-03 -2.72302797e-05 9.99997043e-01 -1.52043271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:801.39, Y:259.30, Z:-15.21 [[ 9.97507859e-01 7.05136820e-02 2.42730089e-03 8.01388993e+02] [-7.05135220e-02 9.97510812e-01 -1.51567302e-04 2.59303120e+02] [-2.43194645e-03 -1.99679600e-05 9.99997043e-01 -1.52068882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:801.45, Y:259.30, Z:-15.21 [[ 9.97605456e-01 6.91191959e-02 2.42730846e-03 8.01446255e+02] [-6.91190320e-02 9.97608408e-01 -1.51445973e-04 2.59300516e+02] [-2.43197116e-03 -1.66898830e-05 9.99997043e-01 -1.52085946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:801.51, Y:259.30, Z:-15.21 [[ 9.97634103e-01 6.87044682e-02 2.42732149e-03 8.01505127e+02] [-6.87043036e-02 9.97637056e-01 -1.51236944e-04 2.59297485e+02] [-2.43197652e-03 -1.58882988e-05 9.99997043e-01 -1.52083739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:801.56, Y:259.29, Z:-15.21 [[ 9.97614343e-01 6.89907952e-02 2.42732873e-03 8.01564336e+02] [-6.89906317e-02 9.97617296e-01 -1.51120571e-04 2.59294661e+02] [-2.43197105e-03 -1.67028930e-05 9.99997043e-01 -1.52069788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:801.62, Y:259.29, Z:-15.21 [[ 9.97542689e-01 7.00192262e-02 2.42733617e-03 8.01621850e+02] [-7.00190661e-02 9.97545642e-01 -1.51000919e-04 2.59293554e+02] [-2.43195159e-03 -1.93299495e-05 9.99997043e-01 -1.52079555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:801.68, Y:259.29, Z:-15.21 [[ 9.97421166e-01 7.17295254e-02 2.42734770e-03 8.01679616e+02] [-7.17293707e-02 9.97424120e-01 -1.50815361e-04 2.59292543e+02] [-2.43191306e-03 -2.36856897e-05 9.99997043e-01 -1.52051012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:801.74, Y:259.29, Z:-15.21 [[ 9.97356478e-01 7.26234405e-02 2.42735890e-03 8.01736318e+02] [-7.26232889e-02 9.97359431e-01 -1.50634896e-04 2.59292229e+02] [-2.43188892e-03 -2.60460976e-05 9.99997043e-01 -1.52073714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:801.79, Y:259.29, Z:-15.21 [[ 9.97322457e-01 7.30891604e-02 2.42737548e-03 8.01793948e+02] [-7.30890109e-02 9.97325410e-01 -1.50367246e-04 2.59291138e+02] [-2.43187346e-03 -2.74498417e-05 9.99997043e-01 -1.52059332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:801.85, Y:259.29, Z:-15.20 [[ 9.97334097e-01 7.29301455e-02 2.42738663e-03 8.01852725e+02] [-7.29299960e-02 9.97337051e-01 -1.50187080e-04 2.59291284e+02] [-2.43187579e-03 -2.72426014e-05 9.99997043e-01 -1.52024399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:801.91, Y:259.29, Z:-15.20 [[ 9.97356664e-01 7.26208782e-02 2.42739402e-03 8.01910944e+02] [-7.26207280e-02 9.97359618e-01 -1.50067572e-04 2.59287829e+02] [-2.43188281e-03 -2.66082277e-05 9.99997043e-01 -1.52048406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.005336195 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:801.97, Y:259.29, Z:-15.20 [[ 9.97410771e-01 7.18739286e-02 2.42740129e-03 8.01969546e+02] [-7.18737765e-02 9.97413724e-01 -1.49949793e-04 2.59286545e+02] [-2.43190085e-03 -2.49049592e-05 9.99997043e-01 -1.52045272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:802.03, Y:259.28, Z:-15.21 [[ 9.97515177e-01 7.04100864e-02 2.42740868e-03 8.02027248e+02] [-7.04099303e-02 9.97518130e-01 -1.49830164e-04 2.59283276e+02] [-2.43193372e-03 -2.14558135e-05 9.99997043e-01 -1.52061375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:802.09, Y:259.28, Z:-15.21 [[ 9.97529653e-01 7.02046979e-02 2.42741788e-03 8.02085582e+02] [-7.02045415e-02 9.97532606e-01 -1.49680996e-04 2.59281862e+02] [-2.43193679e-03 -2.11045269e-05 9.99997043e-01 -1.52051257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.185336195 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:802.14, Y:259.28, Z:-15.20 [[ 9.97458810e-01 7.12041396e-02 2.42742922e-03 8.02143769e+02] [-7.12039866e-02 9.97461764e-01 -1.49496875e-04 2.59279009e+02] [-2.43191262e-03 -2.37256626e-05 9.99997043e-01 -1.52027177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:802.20, Y:259.28, Z:-15.21 [[ 9.97484946e-01 7.08370683e-02 2.42744047e-03 8.02201567e+02] [-7.08369146e-02 9.97487899e-01 -1.49313970e-04 2.59276658e+02] [-2.43191945e-03 -2.30139557e-05 9.99997043e-01 -1.52062077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.305336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:802.26, Y:259.27, Z:-15.20 [[ 9.97523357e-01 7.02940990e-02 2.42744932e-03 8.02260671e+02] [-7.02939441e-02 9.97526310e-01 -1.49169949e-04 2.59273736e+02] [-2.43193033e-03 -2.18344779e-05 9.99997043e-01 -1.52042314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.365336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:802.32, Y:259.27, Z:-15.20 [[ 9.97623752e-01 6.88546124e-02 2.42745640e-03 8.02319051e+02] [-6.88544536e-02 9.97626705e-01 -1.49054562e-04 2.59270510e+02] [-2.43195842e-03 -1.84408131e-05 9.99997043e-01 -1.52038015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:802.38, Y:259.27, Z:-15.20 [[ 9.97613008e-01 6.90100949e-02 2.42746363e-03 8.02376567e+02] [-6.90099368e-02 9.97615961e-01 -1.48936670e-04 2.59269705e+02] [-2.43195460e-03 -1.89379521e-05 9.99997043e-01 -1.52044398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:802.44, Y:259.27, Z:-15.20 [[ 9.97565832e-01 6.96887209e-02 2.42747258e-03 8.02435036e+02] [-6.96885652e-02 9.97568785e-01 -1.48790653e-04 2.59268554e+02] [-2.43193991e-03 -2.07386098e-05 9.99997043e-01 -1.52049651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:802.49, Y:259.27, Z:-15.21 [[ 9.97555771e-01 6.98325921e-02 2.42747992e-03 8.02492206e+02] [-6.98324371e-02 9.97558724e-01 -1.48670803e-04 2.59267544e+02] [-2.43193584e-03 -2.12094218e-05 9.99997043e-01 -1.52064530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:802.55, Y:259.26, Z:-15.21 [[ 9.97596285e-01 6.92514289e-02 2.42749264e-03 8.02550574e+02] [-6.92512726e-02 9.97599238e-01 -1.48462872e-04 2.59264730e+02] [-2.43194608e-03 -2.00009450e-05 9.99997043e-01 -1.52067295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:802.61, Y:259.26, Z:-15.21 [[ 9.97757280e-01 6.68918341e-02 2.42749969e-03 8.02609354e+02] [-6.68916712e-02 9.97760233e-01 -1.48347555e-04 2.59262510e+02] [-2.43198590e-03 -1.43646583e-05 9.99997043e-01 -1.52066842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:802.67, Y:259.26, Z:-15.21 [[ 9.97868499e-01 6.52117003e-02 2.42750684e-03 8.02666780e+02] [-6.52115326e-02 9.97871452e-01 -1.48230422e-04 2.59262168e+02] [-2.43200613e-03 -1.03869729e-05 9.99997043e-01 -1.52064156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:802.73, Y:259.26, Z:-15.21 [[ 9.98001324e-01 6.31463708e-02 2.42751568e-03 8.02725430e+02] [-6.31461974e-02 9.98004276e-01 -1.48085478e-04 2.59258026e+02] [-2.43202209e-03 -5.49888181e-06 9.99997043e-01 -1.52057720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:802.78, Y:259.26, Z:-15.21 [[ 9.98072464e-01 6.20117974e-02 2.42752279e-03 8.02784032e+02] [-6.20116209e-02 9.98075416e-01 -1.47968956e-04 2.59255739e+02] [-2.43202664e-03 -2.85088265e-06 9.99997043e-01 -1.52073093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.905336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:802.84, Y:259.25, Z:-15.21 [[ 9.98105533e-01 6.14772436e-02 2.42752990e-03 8.02842209e+02] [-6.14770659e-02 9.98108485e-01 -1.47852153e-04 2.59252649e+02] [-2.43202773e-03 -1.66536385e-06 9.99997043e-01 -1.52050786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.965336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:802.90, Y:259.25, Z:-15.20 [[ 9.98238044e-01 5.92867112e-02 2.42754096e-03 8.02901185e+02] [-5.92865274e-02 9.98240996e-01 -1.47670389e-04 2.59247661e+02] [-2.43202579e-03 3.48972645e-06 9.99997043e-01 -1.52028802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:802.96, Y:259.24, Z:-15.21 [[ 9.98359838e-01 5.71991389e-02 2.42754789e-03 8.02959590e+02] [-5.71989492e-02 9.98362789e-01 -1.47556272e-04 2.59241636e+02] [-2.43201358e-03 8.46106679e-06 9.99997043e-01 -1.52067672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:803.02, Y:259.24, Z:-15.20 [[ 9.98399497e-01 5.65026640e-02 2.42755476e-03 8.03018180e+02] [-5.65024725e-02 9.98402448e-01 -1.47443170e-04 2.59237273e+02] [-2.43200755e-03 1.00443403e-05 9.99997043e-01 -1.52044518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:803.08, Y:259.23, Z:-15.20 [[ 9.98440645e-01 5.57708319e-02 2.42756192e-03 8.03075802e+02] [-5.57706386e-02 9.98443596e-01 -1.47325165e-04 2.59232150e+02] [-2.43200010e-03 1.17087536e-05 9.99997043e-01 -1.52033450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:803.13, Y:259.22, Z:-15.20 [[ 9.98519664e-01 5.43377246e-02 2.42757076e-03 8.03134416e+02] [-5.43375274e-02 9.98522614e-01 -1.47179368e-04 2.59224361e+02] [-2.43198170e-03 1.50533001e-05 9.99997043e-01 -1.52029367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:803.19, Y:259.22, Z:-15.20 [[ 9.98550076e-01 5.37759536e-02 2.42757768e-03 8.03193122e+02] [-5.37757550e-02 9.98553026e-01 -1.47065147e-04 2.59217901e+02] [-2.43197361e-03 1.63070909e-05 9.99997043e-01 -1.52039699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:803.25, Y:259.21, Z:-15.20 [[ 9.98549974e-01 5.37778472e-02 2.42758459e-03 8.03250483e+02] [-5.37776488e-02 9.98552924e-01 -1.46950996e-04 2.59209933e+02] [-2.43197440e-03 1.61881218e-05 9.99997043e-01 -1.52042526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.385336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:803.31, Y:259.20, Z:-15.20 [[ 9.98473913e-01 5.51720116e-02 2.42759316e-03 8.03307440e+02] [-5.51718177e-02 9.98476865e-01 -1.46809358e-04 2.59201593e+02] [-2.43199537e-03 1.26505869e-05 9.99997043e-01 -1.52042587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:803.37, Y:259.20, Z:-15.21 [[ 9.98401907e-01 5.64600717e-02 2.42760159e-03 8.03366162e+02] [-5.64598820e-02 9.98404858e-01 -1.46669871e-04 2.59195341e+02] [-2.43201021e-03 9.37337978e-06 9.99997043e-01 -1.52050198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:803.42, Y:259.19, Z:-15.20 [[ 9.98311372e-01 5.80388693e-02 2.42760825e-03 8.03424393e+02] [-5.80386845e-02 9.98314324e-01 -1.46559517e-04 2.59189306e+02] [-2.43202224e-03 5.41684280e-06 9.99997043e-01 -1.52030481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:803.48, Y:259.18, Z:-15.20 [[ 9.98340131e-01 5.75420638e-02 2.42761518e-03 8.03483145e+02] [-5.75418778e-02 9.98343083e-01 -1.46444635e-04 2.59181834e+02] [-2.43201955e-03 6.51202014e-06 9.99997043e-01 -1.52025640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:803.54, Y:259.18, Z:-15.20 [[ 9.98357946e-01 5.72321355e-02 2.42762213e-03 8.03540385e+02] [-5.72319489e-02 9.98360898e-01 -1.46329239e-04 2.59176934e+02] [-2.43201775e-03 7.15141274e-06 9.99997043e-01 -1.52035402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:803.60, Y:259.17, Z:-15.20 [[ 9.98401540e-01 5.64665477e-02 2.42763072e-03 8.03598693e+02] [-5.64663592e-02 9.98404492e-01 -1.46186669e-04 2.59169198e+02] [-2.43201207e-03 8.87352753e-06 9.99997043e-01 -1.51993059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.745336195 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:803.66, Y:259.16, Z:-15.20 [[ 9.98462702e-01 5.53745372e-02 2.42763749e-03 8.03655975e+02] [-5.53743457e-02 9.98465653e-01 -1.46074202e-04 2.59164612e+02] [-2.43200144e-03 1.14208053e-05 9.99997043e-01 -1.51980521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.805336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:803.71, Y:259.15, Z:-15.20 [[ 9.98625921e-01 5.23486037e-02 2.42764586e-03 8.03714376e+02] [-5.23484036e-02 9.98628872e-01 -1.45934958e-04 2.59154625e+02] [-2.43195674e-03 1.86510462e-05 9.99997043e-01 -1.52009759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:803.77, Y:259.15, Z:-15.20 [[ 9.98728189e-01 5.03598191e-02 2.42765249e-03 8.03773022e+02] [-5.03596134e-02 9.98731139e-01 -1.45824468e-04 2.59147511e+02] [-2.43191584e-03 2.33833662e-05 9.99997043e-01 -1.52034045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:803.83, Y:259.14, Z:-15.20 [[ 9.98859372e-01 4.76871199e-02 2.42765912e-03 8.03831634e+02] [-4.76869065e-02 9.98862322e-01 -1.45714052e-04 2.59136224e+02] [-2.43184591e-03 2.97802929e-05 9.99997043e-01 -1.52012186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:803.89, Y:259.13, Z:-15.20 [[ 9.98891360e-01 4.70123057e-02 2.42766601e-03 8.03890369e+02] [-4.70120906e-02 9.98894310e-01 -1.45599280e-04 2.59127438e+02] [-2.43182672e-03 3.13082082e-05 9.99997043e-01 -1.52029578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:803.95, Y:259.12, Z:-15.20 [[ 9.98814991e-01 4.86078148e-02 2.42767294e-03 8.03949371e+02] [-4.86076048e-02 9.98817941e-01 -1.45483558e-04 2.59120819e+02] [-2.43187493e-03 2.73077924e-05 9.99997043e-01 -1.52042875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:804.01, Y:259.11, Z:-15.21 [[ 9.98498179e-01 5.47310949e-02 2.42768390e-03 8.04007073e+02] [-5.47309034e-02 9.98501130e-01 -1.45300462e-04 2.59112152e+02] [-2.43199757e-03 1.22129139e-05 9.99997043e-01 -1.52059276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:804.06, Y:259.11, Z:-15.21 [[ 9.98175049e-01 6.03380345e-02 2.42769240e-03 8.04064702e+02] [-6.03378599e-02 9.98178001e-01 -1.45158350e-04 2.59106214e+02] [-2.43202771e-03 -1.58832058e-06 9.99997043e-01 -1.52073614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:804.12, Y:259.10, Z:-15.21 [[ 9.98082691e-01 6.18469712e-02 2.42770216e-03 8.04123002e+02] [-6.18468015e-02 9.98085644e-01 -1.44994880e-04 2.59101223e+02] [-2.43202217e-03 -5.42873314e-06 9.99997043e-01 -1.52050769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.285336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:804.18, Y:259.09, Z:-15.21 [[ 9.98113782e-01 6.13431626e-02 2.42770910e-03 8.04180484e+02] [-6.13429916e-02 9.98116735e-01 -1.44878563e-04 2.59091664e+02] [-2.43202439e-03 -4.31764897e-06 9.99997043e-01 -1.52055092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:804.24, Y:259.08, Z:-15.20 [[ 9.98218595e-01 5.96132760e-02 2.42771837e-03 8.04238995e+02] [-5.96131003e-02 9.98221547e-01 -1.44723120e-04 2.59080510e+02] [-2.43202820e-03 -2.58508799e-07 9.99997043e-01 -1.52014060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.405336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:804.30, Y:259.07, Z:-15.20 [[ 9.98312647e-01 5.80169333e-02 2.42772560e-03 8.04296365e+02] [-5.80167532e-02 9.98315599e-01 -1.44601618e-04 2.59074028e+02] [-2.43202568e-03 3.50886710e-06 9.99997043e-01 -1.52027324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:804.36, Y:259.07, Z:-15.20 [[ 9.98402884e-01 5.64427823e-02 2.42773457e-03 8.04355175e+02] [-5.64425979e-02 9.98405835e-01 -1.44450929e-04 2.59066381e+02] [-2.43201757e-03 7.19257782e-06 9.99997043e-01 -1.52040893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:804.41, Y:259.06, Z:-15.20 [[ 9.98421818e-01 5.61068512e-02 2.42774133e-03 8.04413444e+02] [-5.61066661e-02 9.98424770e-01 -1.44337250e-04 2.59058424e+02] [-2.43201539e-03 7.89698756e-06 9.99997043e-01 -1.52030677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.585336195 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:804.47, Y:259.05, Z:-15.20 [[ 9.98402847e-01 5.64434275e-02 2.42774829e-03 8.04471470e+02] [-5.64432437e-02 9.98405799e-01 -1.44220031e-04 2.59048185e+02] [-2.43201825e-03 6.95970131e-06 9.99997043e-01 -1.52019461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:804.53, Y:259.04, Z:-15.20 [[ 9.98323818e-01 5.78243998e-02 2.42775523e-03 8.04528856e+02] [-5.78242204e-02 9.98326770e-01 -1.44103218e-04 2.59042729e+02] [-2.43202571e-03 3.47862126e-06 9.99997043e-01 -1.52034895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:804.59, Y:259.04, Z:-15.20 [[ 9.98149285e-01 6.07627449e-02 2.42776458e-03 8.04586598e+02] [-6.07625745e-02 9.98152237e-01 -1.43945451e-04 2.59038381e+02] [-2.43202517e-03 -3.83817711e-06 9.99997043e-01 -1.52039772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.765336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:804.64, Y:259.03, Z:-15.20 [[ 9.97955043e-01 6.38736163e-02 2.42777374e-03 8.04644996e+02] [-6.38734555e-02 9.97957996e-01 -1.43790805e-04 2.59033163e+02] [-2.43200065e-03 -1.15735391e-05 9.99997043e-01 -1.52044914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.825336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:804.70, Y:259.03, Z:-15.21 [[ 9.97733085e-01 6.72517420e-02 2.42778046e-03 8.04704123e+02] [-6.72515915e-02 9.97736039e-01 -1.43677327e-04 2.59030653e+02] [-2.43194660e-03 -1.99204764e-05 9.99997043e-01 -1.52055627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:804.76, Y:259.03, Z:-15.21 [[ 9.97722177e-01 6.74133775e-02 2.42778729e-03 8.04762503e+02] [-6.74132278e-02 9.97725131e-01 -1.43561779e-04 2.59026996e+02] [-2.43194237e-03 -2.04302072e-05 9.99997043e-01 -1.52068550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:804.82, Y:259.02, Z:-15.21 [[ 9.97948696e-01 6.39726982e-02 2.42779407e-03 8.04821114e+02] [-6.39725385e-02 9.97951649e-01 -1.43446992e-04 2.59023808e+02] [-2.43199779e-03 -1.21594109e-05 9.99997043e-01 -1.52052395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.005336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:804.88, Y:259.02, Z:-15.20 [[ 9.98218251e-01 5.96190362e-02 2.42780094e-03 8.04880126e+02] [-5.96188639e-02 9.98221203e-01 -1.43330564e-04 2.59019474e+02] [-2.43202761e-03 -1.66754961e-06 9.99997043e-01 -1.52047609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:804.94, Y:259.02, Z:-15.21 [[ 9.98345790e-01 5.74437926e-02 2.42780451e-03 8.04939243e+02] [-5.74436140e-02 9.98348742e-01 -1.43270181e-04 2.59015162e+02] [-2.43202556e-03 3.57131663e-06 9.99997043e-01 -1.52051800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.125336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:805.00, Y:259.01, Z:-15.20 [[ 9.98668591e-01 5.15281494e-02 2.42780794e-03 8.04998280e+02] [-5.15279535e-02 9.98671542e-01 -1.43211988e-04 2.59007017e+02] [-2.43196215e-03 1.79213398e-05 9.99997043e-01 -1.52048134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.185336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:805.06, Y:259.00, Z:-15.20 [[ 9.98756542e-01 4.97943278e-02 2.42781141e-03 8.05057275e+02] [-4.97941270e-02 9.98759493e-01 -1.43153074e-04 2.59000889e+02] [-2.43192791e-03 2.20843192e-05 9.99997043e-01 -1.52035426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.245336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:805.12, Y:259.00, Z:-15.20 [[ 9.98778127e-01 4.93594764e-02 2.42781484e-03 8.05116039e+02] [-4.93592744e-02 9.98781078e-01 -1.43094894e-04 2.58995654e+02] [-2.43191861e-03 2.30848709e-05 9.99997043e-01 -1.52017635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:805.17, Y:258.99, Z:-15.20 [[ 9.98746414e-01 4.99970549e-02 2.42780975e-03 8.05174007e+02] [-4.99968546e-02 9.98749365e-01 -1.43181220e-04 2.58990285e+02] [-2.43193209e-03 2.16188787e-05 9.99997043e-01 -1.52031905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.365336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:805.23, Y:258.98, Z:-15.21 [[ 9.98697603e-01 5.09627568e-02 2.42781316e-03 8.05232799e+02] [-5.09625594e-02 9.98700554e-01 -1.43123370e-04 2.58981341e+02] [-2.43195231e-03 1.92093938e-05 9.99997043e-01 -1.52050752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:805.29, Y:258.98, Z:-15.21 [[ 9.98613303e-01 5.25887540e-02 2.42781649e-03 8.05292243e+02] [-5.25885616e-02 9.98616254e-01 -1.43066946e-04 2.58976506e+02] [-2.43198072e-03 1.51931784e-05 9.99997043e-01 -1.52053932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:805.35, Y:258.97, Z:-15.20 [[ 9.98352877e-01 5.73204865e-02 2.42781979e-03 8.05350605e+02] [-5.73203083e-02 9.98355829e-01 -1.43010908e-04 2.58970951e+02] [-2.43202549e-03 3.61197282e-06 9.99997043e-01 -1.52043027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.545336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:805.41, Y:258.97, Z:-15.20 [[ 9.98096071e-01 6.16306706e-02 2.42782632e-03 8.05409391e+02] [-6.16305053e-02 9.98099023e-01 -1.42899899e-04 2.58968236e+02] [-2.43201810e-03 -7.00033576e-06 9.99997043e-01 -1.52048127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:805.47, Y:258.96, Z:-15.21 [[ 9.97733447e-01 6.72463668e-02 2.42783281e-03 8.05468285e+02] [-6.72462184e-02 9.97736401e-01 -1.42789593e-04 2.58963321e+02] [-2.43193925e-03 -2.07966227e-05 9.99997043e-01 -1.52086114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:805.53, Y:258.96, Z:-15.21 [[ 9.97576598e-01 6.95344217e-02 2.42783763e-03 8.05527185e+02] [-6.95342803e-02 9.97579552e-01 -1.42707529e-04 2.58961771e+02] [-2.43188426e-03 -2.64562507e-05 9.99997043e-01 -1.52096609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:805.59, Y:258.96, Z:-15.21 [[ 9.97548390e-01 6.99379367e-02 2.42784402e-03 8.05586186e+02] [-6.99377968e-02 9.97551344e-01 -1.42598833e-04 2.58958411e+02] [-2.43187213e-03 -2.75488247e-05 9.99997043e-01 -1.52099723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:805.64, Y:258.96, Z:-15.21 [[ 9.97557767e-01 6.98040609e-02 2.42785036e-03 8.05644934e+02] [-6.98039208e-02 9.97560721e-01 -1.42490784e-04 2.58956992e+02] [-2.43187459e-03 -2.73306854e-05 9.99997043e-01 -1.52053572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:805.70, Y:258.95, Z:-15.21 [[ 9.97563145e-01 6.97271573e-02 2.42785730e-03 8.05703449e+02] [-6.97270173e-02 9.97566099e-01 -1.42372401e-04 2.58954665e+02] [-2.43187536e-03 -2.72617877e-05 9.99997043e-01 -1.52059991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:805.76, Y:258.95, Z:-15.21 [[ 9.97528178e-01 7.02256338e-02 2.42786427e-03 8.05762338e+02] [-7.02254955e-02 9.97531132e-01 -1.42253506e-04 2.58954267e+02] [-2.43186003e-03 -2.85960903e-05 9.99997043e-01 -1.52058731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.965336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:805.82, Y:258.96, Z:-15.21 [[ 9.97483526e-01 7.08570453e-02 2.42787125e-03 8.05821589e+02] [-7.08569092e-02 9.97486480e-01 -1.42134234e-04 2.58955440e+02] [-2.43183996e-03 -3.02548961e-05 9.99997043e-01 -1.52064502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:805.88, Y:258.95, Z:-15.21 [[ 9.97477148e-01 7.09467680e-02 2.42787827e-03 8.05879803e+02] [-7.09466325e-02 9.97480103e-01 -1.42014129e-04 2.58954786e+02] [-2.43183571e-03 -3.05939395e-05 9.99997043e-01 -1.52075784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:805.94, Y:258.96, Z:-15.21 [[ 9.97572647e-01 6.95910860e-02 2.42788697e-03 8.05937821e+02] [-6.95909468e-02 9.97575601e-01 -1.41865351e-04 2.58956664e+02] [-2.43187337e-03 -2.74379588e-05 9.99997043e-01 -1.52102572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:806.00, Y:258.96, Z:-15.21 [[ 9.97709929e-01 6.75943932e-02 2.42789546e-03 8.05996777e+02] [-6.75942484e-02 9.97712883e-01 -1.41719844e-04 2.58957083e+02] [-2.43192205e-03 -2.27164738e-05 9.99997043e-01 -1.52086079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:806.06, Y:258.96, Z:-15.21 [[ 9.97982028e-01 6.34505923e-02 2.42790209e-03 8.06056027e+02] [-6.34504356e-02 9.97984981e-01 -1.41606189e-04 2.58957841e+02] [-2.43199482e-03 -1.27310138e-05 9.99997043e-01 -1.52072815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.265336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:806.11, Y:258.96, Z:-15.21 [[ 9.98231006e-01 5.94050772e-02 2.42790879e-03 8.06113810e+02] [-5.94049088e-02 9.98233959e-01 -1.41491229e-04 2.58957390e+02] [-2.43202630e-03 -2.98876838e-06 9.99997043e-01 -1.52056454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:806.17, Y:258.96, Z:-15.20 [[ 9.98605702e-01 5.27328876e-02 2.42791704e-03 8.06173241e+02] [-5.27326998e-02 9.98608653e-01 -1.41349484e-04 2.58958399e+02] [-2.43199273e-03 1.31217802e-05 9.99997043e-01 -1.52025724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:806.23, Y:258.96, Z:-15.20 [[ 9.98858609e-01 4.77030955e-02 2.42792050e-03 8.06232483e+02] [-4.77028930e-02 9.98861559e-01 -1.41290033e-04 2.58956294e+02] [-2.43189643e-03 2.53099337e-05 9.99997043e-01 -1.52033833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:806.29, Y:258.95, Z:-15.21 [[ 9.98943197e-01 4.58976548e-02 2.42792393e-03 8.06290631e+02] [-4.58974471e-02 9.98946147e-01 -1.41231027e-04 2.58954045e+02] [-2.43184743e-03 2.96462634e-05 9.99997043e-01 -1.52050836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:806.35, Y:258.95, Z:-15.21 [[ 9.98987461e-01 4.49239124e-02 2.42793237e-03 8.06349172e+02] [-4.49237021e-02 9.98990411e-01 -1.41085783e-04 2.58953778e+02] [-2.43181929e-03 3.18712174e-05 9.99997043e-01 -1.52068449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:806.41, Y:258.95, Z:-15.20 [[ 9.98978235e-01 4.51286014e-02 2.42793903e-03 8.06408434e+02] [-4.51283921e-02 9.98981185e-01 -1.40971236e-04 2.58951342e+02] [-2.43182724e-03 3.12582126e-05 9.99997043e-01 -1.52041787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.625336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:806.47, Y:258.95, Z:-15.20 [[ 9.98915209e-01 4.65028034e-02 2.42794590e-03 8.06466697e+02] [-4.65025984e-02 9.98918159e-01 -1.40852781e-04 2.58949184e+02] [-2.43186929e-03 2.77941916e-05 9.99997043e-01 -1.52043828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:806.52, Y:258.95, Z:-15.21 [[ 9.98844865e-01 4.79900137e-02 2.42795441e-03 8.06524982e+02] [-4.79898134e-02 9.98847815e-01 -1.40705924e-04 2.58947824e+02] [-2.43190943e-03 2.40263107e-05 9.99997043e-01 -1.52061729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:806.58, Y:258.94, Z:-15.20 [[ 9.98829012e-01 4.83188296e-02 2.42796274e-03 8.06583821e+02] [-4.83186306e-02 9.98831963e-01 -1.40561954e-04 2.58944986e+02] [-2.43191858e-03 2.30815223e-05 9.99997043e-01 -1.52046190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:806.64, Y:258.94, Z:-15.21 [[ 9.98894829e-01 4.69385194e-02 2.42796937e-03 8.06641308e+02] [-4.69383167e-02 9.98897780e-01 -1.40447342e-04 2.58942419e+02] [-2.43188561e-03 2.63273281e-05 9.99997043e-01 -1.52057817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:806.70, Y:258.94, Z:-15.21 [[ 9.98986761e-01 4.49394807e-02 2.42797755e-03 8.06700063e+02] [-4.49392724e-02 9.98989711e-01 -1.40305846e-04 2.58938420e+02] [-2.43182986e-03 3.10521377e-05 9.99997043e-01 -1.52066591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:806.76, Y:258.93, Z:-15.21 [[ 9.99058594e-01 4.33131684e-02 2.42798403e-03 8.06758653e+02] [-4.33129556e-02 9.99061544e-01 -1.40193592e-04 2.58934504e+02] [-2.43177770e-03 3.48984484e-05 9.99997043e-01 -1.52077383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:806.82, Y:258.93, Z:-15.21 [[ 9.99112291e-01 4.20563289e-02 2.42799053e-03 8.06817565e+02] [-4.20561126e-02 9.99115240e-01 -1.40080940e-04 2.58930898e+02] [-2.43173363e-03 3.78447459e-05 9.99997043e-01 -1.52090874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.045336195 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:806.88, Y:258.92, Z:-15.21 [[ 9.99157206e-01 4.09753934e-02 2.42799706e-03 8.06876080e+02] [-4.09751742e-02 9.99160155e-01 -1.39967748e-04 2.58923944e+02] [-2.43169315e-03 4.03621819e-05 9.99997043e-01 -1.52108076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:806.94, Y:258.92, Z:-15.21 [[ 9.99157645e-01 4.09646789e-02 2.42800190e-03 8.06935724e+02] [-4.09644599e-02 9.99160594e-01 -1.39883629e-04 2.58917737e+02] [-2.43169411e-03 4.03040111e-05 9.99997043e-01 -1.52084656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.165336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:806.99, Y:258.91, Z:-15.21 [[ 9.99120332e-01 4.18648547e-02 2.42800533e-03 8.06993619e+02] [-4.18646385e-02 9.99123282e-01 -1.39824086e-04 2.58910376e+02] [-2.43173037e-03 3.80535217e-05 9.99997043e-01 -1.52070629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:807.05, Y:258.90, Z:-15.21 [[ 9.99061441e-01 4.32474387e-02 2.42801044e-03 8.07051783e+02] [-4.32472268e-02 9.99064391e-01 -1.39735373e-04 2.58902066e+02] [-2.43178197e-03 3.45995052e-05 9.99997043e-01 -1.52079650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:807.11, Y:258.90, Z:-15.21 [[ 9.98993567e-01 4.47879313e-02 2.42801543e-03 8.07111257e+02] [-4.47877241e-02 9.98996517e-01 -1.39648470e-04 2.58895803e+02] [-2.43183353e-03 3.07626373e-05 9.99997043e-01 -1.52076941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:807.17, Y:258.89, Z:-15.21 [[ 9.98933055e-01 4.61178634e-02 2.42801871e-03 8.07170962e+02] [-4.61176603e-02 9.98936005e-01 -1.39591472e-04 2.58888363e+02] [-2.43187297e-03 2.74679936e-05 9.99997043e-01 -1.52063675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:807.23, Y:258.88, Z:-15.21 [[ 9.98797135e-01 4.89733430e-02 2.42802204e-03 8.07229076e+02] [-4.89731485e-02 9.98800086e-01 -1.39533573e-04 2.58880023e+02] [-2.43194205e-03 2.04578488e-05 9.99997043e-01 -1.52086124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:807.29, Y:258.87, Z:-15.21 [[ 9.98705255e-01 5.08125766e-02 2.42802699e-03 8.07288604e+02] [-5.08123877e-02 9.98708207e-01 -1.39447424e-04 2.58872490e+02] [-2.43197616e-03 1.58930266e-05 9.99997043e-01 -1.52081188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:807.35, Y:258.86, Z:-15.21 [[ 9.98629767e-01 5.22751732e-02 2.42803042e-03 8.07346502e+02] [-5.22749888e-02 9.98632718e-01 -1.39387652e-04 2.58862997e+02] [-2.43199713e-03 1.22713954e-05 9.99997043e-01 -1.52084318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:807.40, Y:258.86, Z:-15.21 [[ 9.98563799e-01 5.35205007e-02 2.42803550e-03 8.07404717e+02] [-5.35203203e-02 9.98566751e-01 -1.39298995e-04 2.58857216e+02] [-2.43201088e-03 9.14969575e-06 9.99997043e-01 -1.52079526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:807.46, Y:258.85, Z:-15.21 [[ 9.98365294e-01 5.71038051e-02 2.42803919e-03 8.07464027e+02] [-5.71036353e-02 9.98368246e-01 -1.39234715e-04 2.58847201e+02] [-2.43202806e-03 3.57242329e-07 9.99997043e-01 -1.52090983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:807.52, Y:258.84, Z:-15.21 [[ 9.98041918e-01 6.25014765e-02 2.42804243e-03 8.07522349e+02] [-6.25013229e-02 9.98044871e-01 -1.39178204e-04 2.58840612e+02] [-2.43199414e-03 -1.28501819e-05 9.99997043e-01 -1.52087766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:807.58, Y:258.84, Z:-15.21 [[ 9.97860162e-01 6.53391291e-02 2.42804902e-03 8.07580663e+02] [-6.53389841e-02 9.97863116e-01 -1.39063062e-04 2.58835569e+02] [-2.43194682e-03 -1.98807673e-05 9.99997043e-01 -1.52075307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:807.64, Y:258.83, Z:-15.21 [[ 9.97638564e-01 6.86396334e-02 2.42805276e-03 8.07639539e+02] [-6.86394984e-02 9.97641519e-01 -1.38997843e-04 2.58829435e+02] [-2.43186700e-03 -2.79907152e-05 9.99997043e-01 -1.52077740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:807.70, Y:258.82, Z:-15.21 [[ 9.97498737e-01 7.06425747e-02 2.42805965e-03 8.07697978e+02] [-7.06424459e-02 9.97501692e-01 -1.38877387e-04 2.58824962e+02] [-2.43180426e-03 -3.29940537e-05 9.99997043e-01 -1.52087222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:807.76, Y:258.82, Z:-15.21 [[ 9.97304746e-01 7.33304000e-02 2.42806477e-03 8.07757300e+02] [-7.33302793e-02 9.97307701e-01 -1.38787697e-04 2.58821176e+02] [-2.43170506e-03 -3.96370396e-05 9.99997043e-01 -1.52080963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:807.82, Y:258.82, Z:-15.21 [[ 9.97214387e-01 7.45491235e-02 2.42806821e-03 8.07816355e+02] [-7.45490067e-02 9.97217342e-01 -1.38727527e-04 2.58817878e+02] [-2.43165374e-03 -4.26689871e-05 9.99997043e-01 -1.52080906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:807.87, Y:258.82, Z:-15.21 [[ 9.96981885e-01 7.75965596e-02 2.42807330e-03 8.07874900e+02] [-7.75964520e-02 9.96984840e-01 -1.38638481e-04 2.58815246e+02] [-2.43151014e-03 -5.01898191e-05 9.99997043e-01 -1.52085925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:807.93, Y:258.82, Z:-15.21 [[ 9.96707796e-01 8.10411887e-02 2.42807679e-03 8.07934132e+02] [-8.10410915e-02 9.96710752e-01 -1.38577213e-04 2.58815210e+02] [-2.43132071e-03 -5.86530049e-05 9.99997043e-01 -1.52079464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:807.99, Y:258.81, Z:-15.21 [[ 9.96576641e-01 8.26383877e-02 2.42808372e-03 8.07991687e+02] [-8.26382954e-02 9.96579597e-01 -1.38455801e-04 2.58814560e+02] [-2.43122046e-03 -6.26708828e-05 9.99997043e-01 -1.52097358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:808.05, Y:258.82, Z:-15.21 [[ 9.96553391e-01 8.29182913e-02 2.42809225e-03 8.08050583e+02] [-8.29182003e-02 9.96556347e-01 -1.38305898e-04 2.58817268e+02] [-2.43119884e-03 -6.35038279e-05 9.99997043e-01 -1.52097923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:808.11, Y:258.82, Z:-15.21 [[ 9.96601368e-01 8.23396431e-02 2.42809883e-03 8.08109350e+02] [-8.23395506e-02 9.96604324e-01 -1.38190302e-04 2.58818630e+02] [-2.43123234e-03 -6.22079225e-05 9.99997043e-01 -1.52100381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:808.17, Y:258.82, Z:-15.21 [[ 9.96743325e-01 8.06030341e-02 2.42810536e-03 8.08168300e+02] [-8.06029367e-02 9.96746280e-01 -1.38075509e-04 2.58823270e+02] [-2.43133429e-03 -5.80865811e-05 9.99997043e-01 -1.52110174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:808.23, Y:258.83, Z:-15.21 [[ 9.96884534e-01 7.88373668e-02 2.42811187e-03 8.08226999e+02] [-7.88372645e-02 9.96887489e-01 -1.37960986e-04 2.58825536e+02] [-2.43143083e-03 -5.38945245e-05 9.99997043e-01 -1.52115473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:808.29, Y:258.83, Z:-15.21 [[ 9.97326149e-01 7.30387382e-02 2.42811844e-03 8.08285712e+02] [-7.30386190e-02 9.97329104e-01 -1.37845243e-04 2.58829077e+02] [-2.43170123e-03 -3.98697518e-05 9.99997043e-01 -1.52128787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:808.34, Y:258.83, Z:-15.21 [[ 9.97710463e-01 6.75865074e-02 2.42812497e-03 8.08344950e+02] [-6.75863724e-02 9.97713417e-01 -1.37730169e-04 2.58828885e+02] [-2.43188156e-03 -2.66933270e-05 9.99997043e-01 -1.52107699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:808.40, Y:258.83, Z:-15.21 [[ 9.98185788e-01 6.01600964e-02 2.42813181e-03 8.08402606e+02] [-6.01599397e-02 9.98188741e-01 -1.37609376e-04 2.58832630e+02] [-2.43201243e-03 -8.71654045e-06 9.99997043e-01 -1.52110292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.665336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:808.46, Y:258.83, Z:-15.21 [[ 9.98427062e-01 5.60134409e-02 2.42814196e-03 8.08461288e+02] [-5.60132723e-02 9.98430015e-01 -1.37430095e-04 2.58833161e+02] [-2.43202774e-03 1.20574903e-06 9.99997043e-01 -1.52100033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.725336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:808.52, Y:258.83, Z:-15.21 [[ 9.98639278e-01 5.20931435e-02 2.42814840e-03 8.08519972e+02] [-5.20929636e-02 9.98642230e-01 -1.37316217e-04 2.58832369e+02] [-2.43200477e-03 1.06399218e-05 9.99997043e-01 -1.52104693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.785336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:808.58, Y:258.83, Z:-15.21 [[ 9.98915061e-01 4.65059617e-02 2.42815480e-03 8.08579893e+02] [-4.65057656e-02 9.98918012e-01 -1.37202924e-04 2.58832099e+02] [-2.43190832e-03 2.41308696e-05 9.99997043e-01 -1.52096929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.845336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:808.64, Y:258.83, Z:-15.21 [[ 9.98998251e-01 4.46833061e-02 2.42815815e-03 8.08637996e+02] [-4.46831047e-02 9.99001202e-01 -1.37143693e-04 2.58829615e+02] [-2.43186094e-03 2.85086648e-05 9.99997043e-01 -1.52109983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:808.70, Y:258.83, Z:-15.21 [[ 9.99220529e-01 3.94009930e-02 2.42816635e-03 8.08697453e+02] [-3.94007764e-02 9.99223479e-01 -1.36998302e-04 2.58827581e+02] [-2.43167870e-03 4.12198766e-05 9.99997043e-01 -1.52127497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:808.76, Y:258.82, Z:-15.21 [[ 9.99328792e-01 3.65522742e-02 2.42816957e-03 8.08757173e+02] [-3.65520493e-02 9.99331741e-01 -1.36941128e-04 2.58823102e+02] [-2.43155244e-03 4.80946380e-05 9.99997043e-01 -1.52111160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.025336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:808.82, Y:258.82, Z:-15.21 [[ 9.99410725e-01 3.42389710e-02 2.42817281e-03 8.08816383e+02] [-3.42387394e-02 9.99413673e-01 -1.36883663e-04 2.58820127e+02] [-2.43143587e-03 5.36654249e-05 9.99997043e-01 -1.52108086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:808.88, Y:258.81, Z:-15.21 [[ 9.99452850e-01 3.29864348e-02 2.42817604e-03 8.08875631e+02] [-3.29861997e-02 9.99455798e-01 -1.36826453e-04 2.58814517e+02] [-2.43136804e-03 5.66552890e-05 9.99997043e-01 -1.52110068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.145336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:808.93, Y:258.81, Z:-15.21 [[ 9.99463580e-01 3.26596903e-02 2.42817923e-03 8.08934914e+02] [-3.26594543e-02 9.99466528e-01 -1.36769722e-04 2.58809978e+02] [-2.43135072e-03 5.73933477e-05 9.99997043e-01 -1.52103491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:808.99, Y:258.80, Z:-15.21 [[ 9.99433136e-01 3.35784344e-02 2.42818242e-03 8.08993998e+02] [-3.35782013e-02 9.99436084e-01 -1.36713092e-04 2.58801525e+02] [-2.43140374e-03 5.51015965e-05 9.99997043e-01 -1.52109995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:809.05, Y:258.80, Z:-15.21 [[ 9.99409923e-01 3.42623720e-02 2.42818558e-03 8.09053430e+02] [-3.42621410e-02 9.99412871e-01 -1.36656947e-04 2.58795833e+02] [-2.43144211e-03 5.33814722e-05 9.99997043e-01 -1.52116442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:809.11, Y:258.79, Z:-15.21 [[ 9.99375783e-01 3.52441240e-02 2.42818882e-03 8.09112727e+02] [-3.52438961e-02 9.99378732e-01 -1.36599290e-04 2.58785726e+02] [-2.43149459e-03 5.09351877e-05 9.99997043e-01 -1.52105431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:809.17, Y:258.78, Z:-15.21 [[ 9.99283239e-01 3.77771498e-02 2.42819219e-03 8.09170918e+02] [-3.77769295e-02 9.99286188e-01 -1.36539458e-04 2.58778923e+02] [-2.43161699e-03 4.47119462e-05 9.99997043e-01 -1.52107539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:809.23, Y:258.77, Z:-15.21 [[ 9.99026922e-01 4.40376251e-02 2.42819569e-03 8.09230362e+02] [-4.40374235e-02 9.99029873e-01 -1.36477121e-04 2.58769766e+02] [-2.43185016e-03 2.94128359e-05 9.99997043e-01 -1.52080963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:809.29, Y:258.76, Z:-15.21 [[ 9.98754416e-01 4.98369437e-02 2.42819900e-03 8.09288580e+02] [-4.98367593e-02 9.98757367e-01 -1.36418163e-04 2.58759917e+02] [-2.43198031e-03 1.52346732e-05 9.99997043e-01 -1.52086764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.565336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:809.35, Y:258.75, Z:-15.21 [[ 9.98567360e-01 5.34540148e-02 2.42820239e-03 8.09347409e+02] [-5.34538413e-02 9.98570312e-01 -1.36357935e-04 2.58751265e+02] [-2.43201969e-03 6.36583773e-06 9.99997043e-01 -1.52083550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:809.40, Y:258.74, Z:-15.21 [[ 9.98238299e-01 5.92823942e-02 2.42820561e-03 8.09404608e+02] [-5.92822381e-02 9.98241252e-01 -1.36300537e-04 2.58743670e+02] [-2.43201523e-03 -7.88904670e-06 9.99997043e-01 -1.52074017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:809.46, Y:258.74, Z:-15.21 [[ 9.97949861e-01 6.39545034e-02 2.42821202e-03 8.09463237e+02] [-6.39543614e-02 9.97952815e-01 -1.36186247e-04 2.58738480e+02] [-2.43195074e-03 -1.93877026e-05 9.99997043e-01 -1.52078002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:809.52, Y:258.73, Z:-15.21 [[ 9.97364460e-01 7.25137058e-02 2.42821859e-03 8.09522364e+02] [-7.25135893e-02 9.97367415e-01 -1.36068905e-04 2.58734447e+02] [-2.43169296e-03 -4.03685558e-05 9.99997043e-01 -1.52097108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.805336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:809.58, Y:258.73, Z:-15.21 [[ 9.96923902e-01 7.83379740e-02 2.42822527e-03 8.09579989e+02] [-7.83378751e-02 9.96926857e-01 -1.35949727e-04 2.58732592e+02] [-2.43141301e-03 -5.46904753e-05 9.99997043e-01 -1.52105911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:809.64, Y:258.73, Z:-15.21 [[ 9.96423399e-01 8.44660530e-02 2.42823354e-03 8.09638695e+02] [-8.44659727e-02 9.96426355e-01 -1.35801717e-04 2.58733682e+02] [-2.43102653e-03 -6.97870995e-05 9.99997043e-01 -1.52089546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:809.70, Y:258.73, Z:-15.21 [[ 9.96256700e-01 8.64100148e-02 2.42824018e-03 8.09698109e+02] [-8.64099406e-02 9.96259657e-01 -1.35683026e-04 2.58734900e+02] [-2.43088210e-03 -7.46489655e-05 9.99997043e-01 -1.52084431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:809.76, Y:258.74, Z:-15.21 [[ 9.96410222e-01 8.46213537e-02 2.42824683e-03 8.09756616e+02] [-8.46212744e-02 9.96413178e-01 -1.35563778e-04 2.58736363e+02] [-2.43100874e-03 -7.04042076e-05 9.99997043e-01 -1.52096230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:809.81, Y:258.74, Z:-15.21 [[ 9.96734257e-01 8.07150782e-02 2.42825355e-03 8.09814825e+02] [-8.07149876e-02 9.96737213e-01 -1.35443400e-04 2.58736599e+02] [-2.43126300e-03 -6.09953780e-05 9.99997043e-01 -1.52125552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.105336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:809.87, Y:258.74, Z:-15.21 [[ 9.97309132e-01 7.32707258e-02 2.42826186e-03 8.09873574e+02] [-7.32706135e-02 9.97312087e-01 -1.35294234e-04 2.58736970e+02] [-2.43164801e-03 -4.29900607e-05 9.99997043e-01 -1.52135481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:809.93, Y:258.74, Z:-15.21 [[ 9.97630624e-01 6.87549458e-02 2.42826846e-03 8.09931353e+02] [-6.87548204e-02 9.97633578e-01 -1.35175687e-04 2.58736851e+02] [-2.43181615e-03 -3.20997572e-05 9.99997043e-01 -1.52129596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:809.99, Y:258.74, Z:-15.21 [[ 9.97887096e-01 6.49264806e-02 2.42827662e-03 8.09989175e+02] [-6.49263442e-02 9.97890050e-01 -1.35028905e-04 2.58740692e+02] [-2.43192003e-03 -2.29155222e-05 9.99997043e-01 -1.52126182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:810.05, Y:258.74, Z:-15.21 [[ 9.98077549e-01 6.19298686e-02 2.42828549e-03 8.10048614e+02] [-6.19297237e-02 9.98080503e-01 -1.34869124e-04 2.58744280e+02] [-2.43197684e-03 -1.57732053e-05 9.99997043e-01 -1.52115386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.345336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:810.11, Y:258.74, Z:-15.21 [[ 9.98217912e-01 5.96246949e-02 2.42829194e-03 8.10107682e+02] [-5.96245435e-02 9.98220865e-01 -1.34753023e-04 2.58743340e+02] [-2.43200629e-03 -1.02729167e-05 9.99997043e-01 -1.52110653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:810.17, Y:258.74, Z:-15.21 [[ 9.98543686e-01 5.38944356e-02 2.42829838e-03 8.10165696e+02] [-5.38942675e-02 9.98546639e-01 -1.34636824e-04 2.58743574e+02] [-2.43202536e-03 3.56938845e-06 9.99997043e-01 -1.52117230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:810.23, Y:258.74, Z:-15.21 [[ 9.98779402e-01 4.93336538e-02 2.42830633e-03 8.10225693e+02] [-4.93334727e-02 9.98782354e-01 -1.34493353e-04 2.58743225e+02] [-2.43198456e-03 1.45324074e-05 9.99997043e-01 -1.52098846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:810.28, Y:258.74, Z:-15.21 [[ 9.99122324e-01 4.18172744e-02 2.42830957e-03 8.10284396e+02] [-4.18170712e-02 9.99125275e-01 -1.34434716e-04 2.58739602e+02] [-2.43180716e-03 3.27719311e-05 9.99997043e-01 -1.52121666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:810.34, Y:258.74, Z:-15.21 [[ 9.99327955e-01 3.65751466e-02 2.42831438e-03 8.10344380e+02] [-3.65749281e-02 9.99330904e-01 -1.34347826e-04 2.58735124e+02] [-2.43160340e-03 4.54421143e-05 9.99997043e-01 -1.52115694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:810.40, Y:258.73, Z:-15.21 [[ 9.99354020e-01 3.58559010e-02 2.42831763e-03 8.10402498e+02] [-3.58556805e-02 9.99356969e-01 -1.34289096e-04 2.58731111e+02] [-2.43157120e-03 4.71333671e-05 9.99997043e-01 -1.52104051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.705336195 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:810.46, Y:258.73, Z:-15.21 [[ 9.99336099e-01 3.63519473e-02 2.42832244e-03 8.10462384e+02] [-3.63517285e-02 9.99339048e-01 -1.34202072e-04 2.58726881e+02] [-2.43159594e-03 4.58392572e-05 9.99997043e-01 -1.52106345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:810.52, Y:258.72, Z:-15.21 [[ 9.99220511e-01 3.94014528e-02 2.42832567e-03 8.10521597e+02] [-3.94012431e-02 9.99223461e-01 -1.34143633e-04 2.58722725e+02] [-2.43172543e-03 3.83600193e-05 9.99997043e-01 -1.52103057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.825336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:810.58, Y:258.72, Z:-15.21 [[ 9.99063363e-01 4.32030070e-02 2.42832728e-03 8.10580011e+02] [-4.32028087e-02 9.99066314e-01 -1.34114472e-04 2.58715894e+02] [-2.43185413e-03 2.90782966e-05 9.99997043e-01 -1.52121413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.885336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:810.64, Y:258.71, Z:-15.21 [[ 9.98989594e-01 4.48764425e-02 2.42833211e-03 8.10638528e+02] [-4.48762493e-02 9.98992545e-01 -1.34026944e-04 2.58711254e+02] [-2.43190032e-03 2.49170849e-05 9.99997043e-01 -1.52136118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:810.70, Y:258.71, Z:-15.21 [[ 9.98884037e-01 4.71676150e-02 2.42833683e-03 8.10697439e+02] [-4.71674288e-02 9.98886988e-01 -1.33941302e-04 2.58706875e+02] [-2.43195176e-03 1.92534237e-05 9.99997043e-01 -1.52126031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:810.76, Y:258.70, Z:-15.21 [[ 9.98794235e-01 4.90324331e-02 2.42834310e-03 8.10756361e+02] [-4.90322526e-02 9.98797187e-01 -1.33827493e-04 2.58699765e+02] [-2.43198415e-03 1.45989961e-05 9.99997043e-01 -1.52119320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:810.82, Y:258.69, Z:-15.21 [[ 9.98670250e-01 5.14959651e-02 2.42834934e-03 8.10815383e+02] [-5.14957922e-02 9.98673203e-01 -1.33714254e-04 2.58694118e+02] [-2.43201316e-03 8.48667415e-06 9.99997043e-01 -1.52091521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:810.87, Y:258.69, Z:-15.21 [[ 9.98572722e-01 5.33537456e-02 2.42835579e-03 8.10873483e+02] [-5.33535785e-02 9.98575675e-01 -1.33597013e-04 2.58690473e+02] [-2.43202492e-03 3.84486188e-06 9.99997043e-01 -1.52123281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:810.93, Y:258.69, Z:-15.22 [[ 9.98406803e-01 5.63733928e-02 2.42836376e-03 8.10932409e+02] [-5.63732350e-02 9.98409756e-01 -1.33452008e-04 2.58686032e+02] [-2.43202521e-03 -3.65532767e-06 9.99997043e-01 -1.52154444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:810.99, Y:258.68, Z:-15.21 [[ 9.98269406e-01 5.87562419e-02 2.42836828e-03 8.10991505e+02] [-5.87560913e-02 9.98272360e-01 -1.33369692e-04 2.58682760e+02] [-2.43200923e-03 -9.54254448e-06 9.99997043e-01 -1.52130237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.305336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:811.05, Y:258.68, Z:-15.21 [[ 9.98188201e-01 6.01200385e-02 2.42837315e-03 8.11049701e+02] [-6.01198922e-02 9.98191154e-01 -1.33280862e-04 2.58679988e+02] [-2.43199345e-03 -1.29541479e-05 9.99997043e-01 -1.52144196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:811.11, Y:258.68, Z:-15.22 [[ 9.98096178e-01 6.16289058e-02 2.42837803e-03 8.11107763e+02] [-6.16287641e-02 9.98099132e-01 -1.33191996e-04 2.58677450e+02] [-2.43197048e-03 -1.67195143e-05 9.99997043e-01 -1.52153746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.425336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:811.17, Y:258.68, Z:-15.21 [[ 9.98112107e-01 6.13703896e-02 2.42838588e-03 8.11166107e+02] [-6.13702476e-02 9.98115061e-01 -1.33048690e-04 2.58675272e+02] [-2.43197377e-03 -1.62331344e-05 9.99997043e-01 -1.52133416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.4853361950001 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:811.22, Y:258.67, Z:-15.21 [[ 9.98257225e-01 5.89628358e-02 2.42839226e-03 8.11224774e+02] [-5.89626869e-02 9.98260178e-01 -1.32932093e-04 2.58673859e+02] [-2.43200535e-03 -1.04841103e-05 9.99997043e-01 -1.52124847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.545336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:811.28, Y:258.67, Z:-15.21 [[ 9.98397121e-01 5.65445999e-02 2.42839699e-03 8.11283661e+02] [-5.65444441e-02 9.98400074e-01 -1.32845751e-04 2.58672132e+02] [-2.43202344e-03 -4.67954195e-06 9.99997043e-01 -1.52113791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.605336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:811.34, Y:258.67, Z:-15.21 [[ 9.98651159e-01 5.18648853e-02 2.42840315e-03 8.11343347e+02] [-5.18647159e-02 9.98654111e-01 -1.32732911e-04 2.58668396e+02] [-2.43201897e-03 6.60543594e-06 9.99997043e-01 -1.52127464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:811.40, Y:258.67, Z:-15.21 [[ 9.98820563e-01 4.84931421e-02 2.42840629e-03 8.11402464e+02] [-4.84929629e-02 9.98823515e-01 -1.32675401e-04 2.58666028e+02] [-2.43198316e-03 1.47583027e-05 9.99997043e-01 -1.52135121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:811.46, Y:258.66, Z:-15.21 [[ 9.99039386e-01 4.37539503e-02 2.42841254e-03 8.11461514e+02] [-4.37537573e-02 9.99042337e-01 -1.32561006e-04 2.58662488e+02] [-2.43188701e-03 2.61814935e-05 9.99997043e-01 -1.52117247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.785336195 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:811.52, Y:258.66, Z:-15.21 [[ 9.99122273e-01 4.18184820e-02 2.42841727e-03 8.11520623e+02] [-4.18182835e-02 9.99125224e-01 -1.32474217e-04 2.58658003e+02] [-2.43183282e-03 3.08056986e-05 9.99997043e-01 -1.52117627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:811.58, Y:258.65, Z:-15.21 [[ 9.99175681e-01 4.05223500e-02 2.42842043e-03 8.11579832e+02] [-4.05221478e-02 9.99178632e-01 -1.32416413e-04 2.58653001e+02] [-2.43179162e-03 3.39024478e-05 9.99997043e-01 -1.52129182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:811.64, Y:258.65, Z:-15.22 [[ 9.99231268e-01 3.91276748e-02 2.42842360e-03 8.11638118e+02] [-3.91274687e-02 9.99234219e-01 -1.32358222e-04 2.58648338e+02] [-2.43174283e-03 3.72384057e-05 9.99997043e-01 -1.52169773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:811.70, Y:258.64, Z:-15.22 [[ 9.99285963e-01 3.77050030e-02 2.42842830e-03 8.11697430e+02] [-3.77047929e-02 9.99288913e-01 -1.32271825e-04 2.58642272e+02] [-2.43168879e-03 4.06139916e-05 9.99997043e-01 -1.52174276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.025336195 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:811.76, Y:258.64, Z:-15.21 [[ 9.99337459e-01 3.63145294e-02 2.42843135e-03 8.11757001e+02] [-3.63143153e-02 9.99340409e-01 -1.32215804e-04 2.58635693e+02] [-2.43163094e-03 4.39413834e-05 9.99997043e-01 -1.52133659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.085336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:811.82, Y:258.63, Z:-15.21 [[ 9.99341135e-01 3.62132432e-02 2.42843444e-03 8.11816002e+02] [-3.62130289e-02 9.99344084e-01 -1.32159098e-04 2.58630361e+02] [-2.43162750e-03 4.41310562e-05 9.99997043e-01 -1.52124781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:811.88, Y:258.62, Z:-15.21 [[ 9.99278123e-01 3.79122159e-02 2.42843754e-03 8.11875796e+02] [-3.79120068e-02 9.99281073e-01 -1.32102040e-04 2.58623795e+02] [-2.43169995e-03 3.99397374e-05 9.99997043e-01 -1.52133210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:811.94, Y:258.62, Z:-15.21 [[ 9.99185401e-01 4.02819724e-02 2.42844069e-03 8.11935411e+02] [-4.02817704e-02 9.99188351e-01 -1.32044251e-04 2.58617178e+02] [-2.43178865e-03 3.41147980e-05 9.99997043e-01 -1.52138542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.265336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:811.99, Y:258.61, Z:-15.21 [[ 9.98925505e-01 4.62810860e-02 2.42844224e-03 8.11994812e+02] [-4.62809018e-02 9.98928456e-01 -1.32015608e-04 2.58609910e+02] [-2.43194989e-03 1.94832607e-05 9.99997043e-01 -1.52142673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:812.05, Y:258.60, Z:-15.22 [[ 9.98696437e-01 5.09855830e-02 2.42844530e-03 8.12054636e+02] [-5.09854129e-02 9.98699389e-01 -1.31959258e-04 2.58604416e+02] [-2.43201486e-03 7.97195373e-06 9.99997043e-01 -1.52168659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:812.11, Y:258.60, Z:-15.22 [[ 9.98418774e-01 5.61609744e-02 2.42844836e-03 8.12114561e+02] [-5.61608197e-02 9.98421727e-01 -1.31903007e-04 2.58599448e+02] [-2.43202341e-03 -4.68921210e-06 9.99997043e-01 -1.52150273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.445336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:812.17, Y:258.60, Z:-15.21 [[ 9.98311433e-01 5.80377985e-02 2.42845151e-03 8.12172674e+02] [-5.80376495e-02 9.98314386e-01 -1.31844975e-04 2.58595030e+02] [-2.43201007e-03 -9.31927203e-06 9.99997043e-01 -1.52142651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:812.23, Y:258.59, Z:-15.22 [[ 9.98298964e-01 5.82518742e-02 2.42845496e-03 8.12230079e+02] [-5.82517260e-02 9.98301918e-01 -1.31781490e-04 2.58592391e+02] [-2.43200776e-03 -9.90436793e-06 9.99997043e-01 -1.52162396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:812.29, Y:258.59, Z:-15.22 [[ 9.98347646e-01 5.74114952e-02 2.42846325e-03 8.12288342e+02] [-5.74113449e-02 9.98350600e-01 -1.31628424e-04 2.58588621e+02] [-2.43201473e-03 -8.01041435e-06 9.99997043e-01 -1.52182906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.625336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:812.35, Y:258.59, Z:-15.22 [[ 9.98342455e-01 5.75017017e-02 2.42846770e-03 8.12347540e+02] [-5.75015518e-02 9.98345408e-01 -1.31546290e-04 2.58585749e+02] [-2.43201371e-03 -8.31241522e-06 9.99997043e-01 -1.52180132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:812.41, Y:258.58, Z:-15.22 [[ 9.98336638e-01 5.76025975e-02 2.42847083e-03 8.12405735e+02] [-5.76024481e-02 9.98339592e-01 -1.31488517e-04 2.58583129e+02] [-2.43201266e-03 -8.61606051e-06 9.99997043e-01 -1.52178606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.745336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:812.47, Y:258.58, Z:-15.22 [[ 9.98294137e-01 5.83345462e-02 2.42847547e-03 8.12465289e+02] [-5.83343991e-02 9.98297090e-01 -1.31402770e-04 2.58582637e+02] [-2.43200532e-03 -1.04850428e-05 9.99997043e-01 -1.52155621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.805336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:812.52, Y:258.58, Z:-15.22 [[ 9.98347853e-01 5.74078976e-02 2.42847853e-03 8.12523845e+02] [-5.74077480e-02 9.98350807e-01 -1.31346199e-04 2.58581221e+02] [-2.43201381e-03 -8.28428767e-06 9.99997043e-01 -1.52162078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.865336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:812.58, Y:258.58, Z:-15.22 [[ 9.98583504e-01 5.31515595e-02 2.42848478e-03 8.12583159e+02] [-5.31513975e-02 9.98586457e-01 -1.31230479e-04 2.58579212e+02] [-2.43202712e-03 1.96723192e-06 9.99997043e-01 -1.52178105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:812.64, Y:258.58, Z:-15.22 [[ 9.98828127e-01 4.83371083e-02 2.42848795e-03 8.12641486e+02] [-4.83369322e-02 9.98831079e-01 -1.31171891e-04 2.58575782e+02] [-2.43198971e-03 1.36325169e-05 9.99997043e-01 -1.52196188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:812.70, Y:258.57, Z:-15.22 [[ 9.99045707e-01 4.36093741e-02 2.42849262e-03 8.12701219e+02] [-4.36091843e-02 9.99048658e-01 -1.31085311e-04 2.58572042e+02] [-2.43189884e-03 2.50556347e-05 9.99997043e-01 -1.52187091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.045336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:812.76, Y:258.57, Z:-15.22 [[ 9.99197423e-01 3.99826436e-02 2.42849578e-03 8.12760899e+02] [-3.99824433e-02 9.99200374e-01 -1.31026672e-04 2.58568103e+02] [-2.43179269e-03 3.38243185e-05 9.99997043e-01 -1.52189197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.105336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:812.82, Y:258.56, Z:-15.22 [[ 9.99175373e-01 4.05299451e-02 2.42849734e-03 8.12820521e+02] [-4.05297464e-02 9.99178324e-01 -1.30997812e-04 2.58564768e+02] [-2.43181124e-03 3.24634063e-05 9.99997043e-01 -1.52178655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:812.88, Y:258.56, Z:-15.22 [[ 9.99036097e-01 4.38289777e-02 2.42850038e-03 8.12880164e+02] [-4.38287889e-02 9.99039048e-01 -1.30941526e-04 2.58563028e+02] [-2.43190574e-03 2.43770804e-05 9.99997043e-01 -1.52154560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:812.94, Y:258.56, Z:-15.21 [[ 9.98878492e-01 4.72848928e-02 2.42850349e-03 8.12939541e+02] [-4.72847143e-02 9.98881444e-01 -1.30883647e-04 2.58562876e+02] [-2.43197590e-03 1.59057660e-05 9.99997043e-01 -1.52130003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:813.00, Y:258.56, Z:-15.21 [[ 9.98872803e-01 4.74049065e-02 2.42850659e-03 8.12998953e+02] [-4.74047286e-02 9.98875755e-01 -1.30826155e-04 2.58559867e+02] [-2.43197816e-03 1.55559920e-05 9.99997043e-01 -1.52128105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.345336195 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:813.06, Y:258.55, Z:-15.21 [[ 9.98962909e-01 4.54665741e-02 2.42850976e-03 8.13058706e+02] [-4.54663905e-02 9.98965860e-01 -1.30767370e-04 2.58554350e+02] [-2.43194388e-03 2.02161790e-05 9.99997043e-01 -1.52127172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:813.12, Y:258.55, Z:-15.21 [[ 9.98998904e-01 4.46686924e-02 2.42851300e-03 8.13117503e+02] [-4.46685066e-02 9.99001856e-01 -1.30707058e-04 2.58553204e+02] [-2.43192751e-03 2.20981583e-05 9.99997043e-01 -1.52140521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:813.18, Y:258.55, Z:-15.22 [[ 9.98935991e-01 4.60541880e-02 2.42851648e-03 8.13176306e+02] [-4.60540064e-02 9.98938943e-01 -1.30642455e-04 2.58550384e+02] [-2.43195632e-03 1.86605363e-05 9.99997043e-01 -1.52150425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:813.24, Y:258.55, Z:-15.22 [[ 9.98842344e-01 4.80424214e-02 2.42852109e-03 8.13235846e+02] [-4.80422460e-02 9.98845296e-01 -1.30556676e-04 2.58549188e+02] [-2.43198913e-03 1.37339287e-05 9.99997043e-01 -1.52161079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:813.29, Y:258.55, Z:-15.22 [[ 9.98848959e-01 4.79046815e-02 2.42852421e-03 8.13294953e+02] [-4.79045058e-02 9.98851912e-01 -1.30498532e-04 2.58546734e+02] [-2.43198754e-03 1.40110708e-05 9.99997043e-01 -1.52164498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.645336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:813.35, Y:258.54, Z:-15.22 [[ 9.99024321e-01 4.40965901e-02 2.42852884e-03 8.13354745e+02] [-4.40964034e-02 9.99027272e-01 -1.30412473e-04 2.58540902e+02] [-2.43191728e-03 2.31958455e-05 9.99997043e-01 -1.52166587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:813.41, Y:258.53, Z:-15.22 [[ 9.99196696e-01 4.00008104e-02 2.42853195e-03 8.13414072e+02] [-4.00006117e-02 9.99199647e-01 -1.30354545e-04 2.58534116e+02] [-2.43180255e-03 3.31070675e-05 9.99997043e-01 -1.52181067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:813.47, Y:258.53, Z:-15.22 [[ 9.99398037e-01 3.46073093e-02 2.42853349e-03 8.13472784e+02] [-3.46070948e-02 9.99400987e-01 -1.30325841e-04 2.58525004e+02] [-2.43158899e-03 4.62029011e-05 9.99997043e-01 -1.52199583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.825336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:813.53, Y:258.52, Z:-15.22 [[ 9.99453369e-01 3.29706766e-02 2.42853500e-03 8.13533186e+02] [-3.29704573e-02 9.99456318e-01 -1.30297611e-04 2.58516748e+02] [-2.43151065e-03 5.01564768e-05 9.99997043e-01 -1.52178956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:813.59, Y:258.51, Z:-15.22 [[ 9.99411443e-01 3.42179761e-02 2.42853500e-03 8.13593549e+02] [-3.42177604e-02 9.99414392e-01 -1.30297611e-04 2.58506682e+02] [-2.43157135e-03 4.71218947e-05 9.99997043e-01 -1.52186335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:813.65, Y:258.50, Z:-15.22 [[ 9.99298212e-01 3.73789387e-02 2.42853500e-03 8.13653594e+02] [-3.73787324e-02 9.99301163e-01 -1.30297611e-04 2.58498676e+02] [-2.43170824e-03 3.94306099e-05 9.99997043e-01 -1.52174452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:813.71, Y:258.49, Z:-15.22 [[ 9.99025500e-01 4.40698714e-02 2.42853500e-03 8.13713950e+02] [-4.40696849e-02 9.99028451e-01 -1.30297611e-04 2.58491359e+02] [-2.43191776e-03 2.31458639e-05 9.99997043e-01 -1.52157560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:813.77, Y:258.49, Z:-15.22 [[ 9.98835553e-01 4.81834030e-02 2.42853500e-03 8.13773047e+02] [-4.81832286e-02 9.98838505e-01 -1.30297611e-04 2.58485018e+02] [-2.43199245e-03 1.31312294e-05 9.99997043e-01 -1.52154651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:813.83, Y:258.48, Z:-15.22 [[ 9.98619506e-01 5.24707916e-02 2.42853334e-03 8.13832812e+02] [-5.24706298e-02 9.98622459e-01 -1.30328535e-04 2.58477754e+02] [-2.43202638e-03 2.72194311e-06 9.99997043e-01 -1.52167205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:813.89, Y:258.47, Z:-15.22 [[ 9.98521849e-01 5.42975044e-02 2.42853640e-03 8.13892059e+02] [-5.42973482e-02 9.98524802e-01 -1.30271474e-04 2.58472988e+02] [-2.43202725e-03 -1.78417331e-06 9.99997043e-01 -1.52161111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:813.95, Y:258.47, Z:-15.22 [[ 9.98424082e-01 5.60665207e-02 2.42853959e-03 8.13951303e+02] [-5.60663698e-02 9.98427036e-01 -1.30211952e-04 2.58466710e+02] [-2.43202012e-03 -6.15265022e-06 9.99997043e-01 -1.52180876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:814.01, Y:258.46, Z:-15.22 [[ 9.98380981e-01 5.68288499e-02 2.42854118e-03 8.14010558e+02] [-5.68287014e-02 9.98383935e-01 -1.30182374e-04 2.58463674e+02] [-2.43201461e-03 -8.03923462e-06 9.99997043e-01 -1.52185414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:814.07, Y:258.46, Z:-15.22 [[ 9.98399852e-01 5.64963566e-02 2.42853973e-03 8.14070432e+02] [-5.64962070e-02 9.98402805e-01 -1.30209379e-04 2.58459084e+02] [-2.43201724e-03 -7.20225846e-06 9.99997043e-01 -1.52184047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:814.13, Y:258.46, Z:-15.22 [[ 9.98507921e-01 5.45530295e-02 2.42853973e-03 8.14129796e+02] [-5.45528741e-02 9.98510875e-01 -1.30209379e-04 2.58455903e+02] [-2.43202665e-03 -2.46872587e-06 9.99997043e-01 -1.52194988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:814.19, Y:258.45, Z:-15.22 [[ 9.98652491e-01 5.18392136e-02 2.42854130e-03 8.14190267e+02] [-5.18390503e-02 9.98655444e-01 -1.30180128e-04 2.58452155e+02] [-2.43202442e-03 4.11143466e-06 9.99997043e-01 -1.52181756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:814.25, Y:258.45, Z:-15.22 [[ 9.98793130e-01 4.90549310e-02 2.42854130e-03 8.14249518e+02] [-4.90547595e-02 9.98796082e-01 -1.30180128e-04 2.58448679e+02] [-2.43200351e-03 1.08915084e-05 9.99997043e-01 -1.52173877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.605336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:814.31, Y:258.44, Z:-15.21 [[ 9.98955634e-01 4.56261281e-02 2.42854281e-03 8.14309816e+02] [-4.56259465e-02 9.98958586e-01 -1.30151900e-04 2.58444200e+02] [-2.43195202e-03 1.92114096e-05 9.99997043e-01 -1.52149388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:814.37, Y:258.44, Z:-15.22 [[ 9.99137641e-01 4.14496774e-02 2.42854281e-03 8.14371105e+02] [-4.14494835e-02 9.99140592e-01 -1.30151900e-04 2.58437999e+02] [-2.43185046e-03 2.93778175e-05 9.99997043e-01 -1.52162564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:814.43, Y:258.43, Z:-15.22 [[ 9.99232855e-01 3.90871236e-02 2.42853973e-03 8.14431356e+02] [-3.90869226e-02 9.99235806e-01 -1.30209452e-04 2.58432146e+02] [-2.43177336e-03 3.51854179e-05 9.99997043e-01 -1.52167863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:814.49, Y:258.43, Z:-15.22 [[ 9.99322909e-01 3.67127499e-02 2.42853820e-03 8.14492485e+02] [-3.67125418e-02 9.99325859e-01 -1.30237837e-04 2.58425238e+02] [-2.43168242e-03 4.09918441e-05 9.99997043e-01 -1.52187919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.845336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:814.55, Y:258.42, Z:-15.22 [[ 9.99339818e-01 3.62495510e-02 2.42851872e-03 8.14553876e+02] [-3.62493406e-02 9.99342768e-01 -1.30600147e-04 2.58418477e+02] [-2.43165682e-03 4.24817247e-05 9.99997043e-01 -1.52188916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:814.61, Y:258.41, Z:-15.22 [[ 9.99303847e-01 3.72280087e-02 2.42851574e-03 8.14613878e+02] [-3.72278011e-02 9.99306797e-01 -1.30655508e-04 2.58412538e+02] [-2.43169633e-03 4.01562507e-05 9.99997043e-01 -1.52195606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:814.67, Y:258.41, Z:-15.22 [[ 9.99180777e-01 4.03964970e-02 2.42850888e-03 8.14673828e+02] [-4.03962985e-02 9.99183728e-01 -1.30782884e-04 2.58406219e+02] [-2.43180973e-03 3.25729745e-05 9.99997043e-01 -1.52185248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:814.74, Y:258.40, Z:-15.22 [[ 9.99048289e-01 4.35501938e-02 2.42850742e-03 8.14735400e+02] [-4.35500045e-02 9.99051240e-01 -1.30810047e-04 2.58402228e+02] [-2.43190015e-03 2.49240449e-05 9.99997043e-01 -1.52178436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:814.80, Y:258.40, Z:-15.22 [[ 9.98825797e-01 4.83852217e-02 2.42850436e-03 8.14796689e+02] [-4.83850466e-02 9.98828749e-01 -1.30866722e-04 2.58397904e+02] [-2.43199199e-03 1.32097612e-05 9.99997043e-01 -1.52164934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:814.86, Y:258.39, Z:-15.22 [[ 9.98682192e-01 5.12638396e-02 2.42850132e-03 8.14857617e+02] [-5.12636728e-02 9.98685145e-01 -1.30923214e-04 2.58394854e+02] [-2.43201982e-03 6.25678582e-06 9.99997043e-01 -1.52160254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:814.92, Y:258.39, Z:-15.22 [[ 9.98512864e-01 5.44624935e-02 2.42849820e-03 8.14919221e+02] [-5.44623360e-02 9.98515817e-01 -1.30980987e-04 2.58391234e+02] [-2.43202742e-03 -1.47548510e-06 9.99997043e-01 -1.52184080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:814.98, Y:258.39, Z:-15.22 [[ 9.98443916e-01 5.57122022e-02 2.42849502e-03 8.14979894e+02] [-5.57120483e-02 9.98446869e-01 -1.31039903e-04 2.58389142e+02] [-2.43202377e-03 -4.46043787e-06 9.99997043e-01 -1.52218813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.325336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:815.04, Y:258.39, Z:-15.22 [[ 9.98527506e-01 5.41933768e-02 2.42848672e-03 8.15040984e+02] [-5.41932180e-02 9.98530459e-01 -1.31193659e-04 2.58385876e+02] [-2.43202778e-03 -6.07032504e-07 9.99997043e-01 -1.52201237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:815.10, Y:258.38, Z:-15.22 [[ 9.98637693e-01 5.21235117e-02 2.42848361e-03 8.15101866e+02] [-5.21233466e-02 9.98640646e-01 -1.31251170e-04 2.58381439e+02] [-2.43202371e-03 4.49167251e-06 9.99997043e-01 -1.52193176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:815.16, Y:258.37, Z:-15.22 [[ 9.98765228e-01 4.96197686e-02 2.42848049e-03 8.15163101e+02] [-4.96195960e-02 9.98768181e-01 -1.31308772e-04 2.58374452e+02] [-2.43200456e-03 1.06464148e-05 9.99997043e-01 -1.52205982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:815.22, Y:258.37, Z:-15.22 [[ 9.98774273e-01 4.94373797e-02 2.42846841e-03 8.15224303e+02] [-4.94372060e-02 9.98777225e-01 -1.31531971e-04 2.58370868e+02] [-2.43200153e-03 1.13140561e-05 9.99997043e-01 -1.52205890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.565336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:815.29, Y:258.37, Z:-15.22 [[ 9.98745575e-01 5.00137940e-02 2.42846521e-03 8.15285749e+02] [-5.00136219e-02 9.98748527e-01 -1.31591018e-04 2.58365457e+02] [-2.43200741e-03 9.96960580e-06 9.99997043e-01 -1.52191963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:815.35, Y:258.36, Z:-15.22 [[ 9.98749775e-01 4.99298422e-02 2.42845282e-03 8.15346950e+02] [-4.99296693e-02 9.98752728e-01 -1.31819175e-04 2.58357847e+02] [-2.43200559e-03 1.04025250e-05 9.99997043e-01 -1.52213968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:815.41, Y:258.35, Z:-15.22 [[ 9.98804366e-01 4.88256290e-02 2.42843261e-03 8.15409189e+02] [-4.88254519e-02 9.98807318e-01 -1.32190538e-04 2.58351808e+02] [-2.43199054e-03 1.34631668e-05 9.99997043e-01 -1.52207418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.745336195 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:815.47, Y:258.35, Z:-15.22 [[ 9.98907068e-01 4.66773308e-02 2.42841069e-03 8.15471458e+02] [-4.66771463e-02 9.98910019e-01 -1.32591881e-04 2.58345459e+02] [-2.43195281e-03 1.90956859e-05 9.99997043e-01 -1.52196165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:815.53, Y:258.34, Z:-15.22 [[ 9.98916112e-01 4.64833785e-02 2.42838806e-03 8.15532021e+02] [-4.64831925e-02 9.98919063e-01 -1.33005148e-04 2.58337123e+02] [-2.43194565e-03 1.99817561e-05 9.99997043e-01 -1.52194593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:815.59, Y:258.33, Z:-15.22 [[ 9.98930979e-01 4.61627793e-02 2.42837564e-03 8.15593820e+02] [-4.61625918e-02 9.98933930e-01 -1.33231416e-04 2.58328643e+02] [-2.43193716e-03 2.09888755e-05 9.99997043e-01 -1.52181018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:815.66, Y:258.32, Z:-15.22 [[ 9.98913231e-01 4.65452474e-02 2.42835338e-03 8.15655557e+02] [-4.65450600e-02 9.98916182e-01 -1.33635913e-04 2.58323735e+02] [-2.43194161e-03 2.04628273e-05 9.99997043e-01 -1.52206775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:815.72, Y:258.32, Z:-15.22 [[ 9.98948782e-01 4.57759032e-02 2.42833120e-03 8.15716243e+02] [-4.57757126e-02 9.98951734e-01 -1.34037726e-04 2.58317242e+02] [-2.43192136e-03 2.27382314e-05 9.99997043e-01 -1.52209115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:815.78, Y:258.31, Z:-15.22 [[ 9.99024099e-01 4.41016095e-02 2.42831073e-03 8.15777830e+02] [-4.41014131e-02 9.99027050e-01 -1.34407563e-04 2.58309088e+02] [-2.43187570e-03 2.71844593e-05 9.99997043e-01 -1.52209854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:815.84, Y:258.30, Z:-15.22 [[ 9.99178500e-01 4.04527998e-02 2.42828892e-03 8.15839773e+02] [-4.04525916e-02 9.99181450e-01 -1.34800441e-04 2.58298585e+02] [-2.43175430e-03 3.64591218e-05 9.99997043e-01 -1.52224419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:815.90, Y:258.29, Z:-15.22 [[ 9.99258020e-01 3.84384366e-02 2.42826707e-03 8.15901853e+02] [-3.84382215e-02 9.99260969e-01 -1.35192969e-04 2.58290364e+02] [-2.43166911e-03 4.17543906e-05 9.99997043e-01 -1.52227522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.225336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:815.96, Y:258.28, Z:-15.22 [[ 9.99296929e-01 3.74132565e-02 2.42824459e-03 8.15964583e+02] [-3.74130374e-02 9.99299878e-01 -1.35595494e-04 2.58280085e+02] [-2.43161759e-03 4.46521551e-05 9.99997043e-01 -1.52218837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.285336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:816.03, Y:258.27, Z:-15.22 [[ 9.99212664e-01 3.95999477e-02 2.42821810e-03 8.16026041e+02] [-3.95997340e-02 9.99215614e-01 -1.36068268e-04 2.58272488e+02] [-2.43170174e-03 3.98043459e-05 9.99997043e-01 -1.52220067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:816.09, Y:258.26, Z:-15.22 [[ 9.98946316e-01 4.58297017e-02 2.42819352e-03 8.16088621e+02] [-4.58295052e-02 9.98949267e-01 -1.36505515e-04 2.58263621e+02] [-2.43189814e-03 2.50787741e-05 9.99997043e-01 -1.52221292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:816.15, Y:258.26, Z:-15.22 [[ 9.98659672e-01 5.17007098e-02 2.42816759e-03 8.16150868e+02] [-5.17005296e-02 9.98662624e-01 -1.36965188e-04 2.58255823e+02] [-2.43200142e-03 1.12440597e-05 9.99997043e-01 -1.52231823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:816.21, Y:258.25, Z:-15.22 [[ 9.98569886e-01 5.34068144e-02 2.42814149e-03 8.16213344e+02] [-5.34066381e-02 9.98572838e-01 -1.37426371e-04 2.58250886e+02] [-2.43201564e-03 7.55096183e-06 9.99997043e-01 -1.52238520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.525336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:816.27, Y:258.25, Z:-15.23 [[ 9.98382716e-01 5.67983838e-02 2.42811502e-03 8.16274949e+02] [-5.67982164e-02 9.98385669e-01 -1.37892466e-04 2.58246081e+02] [-2.43202731e-03 -2.43147468e-07 9.99997043e-01 -1.52253863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.585336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:816.34, Y:258.24, Z:-15.23 [[ 9.98075446e-01 6.19637713e-02 2.42809154e-03 8.16337659e+02] [-6.19636182e-02 9.98078399e-01 -1.38304598e-04 2.58239456e+02] [-2.43199560e-03 -1.24149145e-05 9.99997043e-01 -1.52254117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.645336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:816.40, Y:258.24, Z:-15.22 [[ 9.97855009e-01 6.54177708e-02 2.42806482e-03 8.16399806e+02] [-6.54176268e-02 9.97857963e-01 -1.38772126e-04 2.58235435e+02] [-2.43194198e-03 -2.03637772e-05 9.99997043e-01 -1.52229270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.705336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:816.46, Y:258.23, Z:-15.22 [[ 9.97765220e-01 6.67732735e-02 2.42804084e-03 8.16461835e+02] [-6.67731325e-02 9.97768174e-01 -1.39190449e-04 2.58231450e+02] [-2.43191608e-03 -2.32485039e-05 9.99997043e-01 -1.52226388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:816.52, Y:258.23, Z:-15.22 [[ 9.97726686e-01 6.73466039e-02 2.42802395e-03 8.16524693e+02] [-6.73464638e-02 9.97729640e-01 -1.39484470e-04 2.58225849e+02] [-2.43190527e-03 -2.43514488e-05 9.99997043e-01 -1.52225866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:816.59, Y:258.22, Z:-15.22 [[ 9.97752515e-01 6.69628599e-02 2.42799748e-03 8.16586369e+02] [-6.69627176e-02 9.97755468e-01 -1.39943696e-04 2.58221266e+02] [-2.43191880e-03 -2.29561351e-05 9.99997043e-01 -1.52243287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:816.65, Y:258.22, Z:-15.23 [[ 9.97759956e-01 6.68518929e-02 2.42797432e-03 8.16648821e+02] [-6.68517493e-02 9.97762910e-01 -1.40344365e-04 2.58217229e+02] [-2.43192501e-03 -2.22843437e-05 9.99997043e-01 -1.52251084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:816.71, Y:258.21, Z:-15.23 [[ 9.97746828e-01 6.70475314e-02 2.42794804e-03 8.16710901e+02] [-6.70473873e-02 9.97749782e-01 -1.40797625e-04 2.58214013e+02] [-2.43192476e-03 -2.23071890e-05 9.99997043e-01 -1.52276015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:816.77, Y:258.21, Z:-15.23 [[ 9.97739922e-01 6.71502275e-02 2.42792357e-03 8.16773543e+02] [-6.71500826e-02 9.97742876e-01 -1.41218301e-04 2.58209849e+02] [-2.43192629e-03 -2.21361321e-05 9.99997043e-01 -1.52253428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:816.84, Y:258.21, Z:-15.23 [[ 9.97704012e-01 6.76816853e-02 2.42789724e-03 8.16835598e+02] [-6.76815410e-02 9.97706965e-01 -1.41669467e-04 2.58207570e+02] [-2.43191842e-03 -2.29796317e-05 9.99997043e-01 -1.52251703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:816.90, Y:258.21, Z:-15.23 [[ 9.97690022e-01 6.78875981e-02 2.42788094e-03 8.16897888e+02] [-6.78874537e-02 9.97692976e-01 -1.41948302e-04 2.58205465e+02] [-2.43191629e-03 -2.32022507e-05 9.99997043e-01 -1.52265278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:816.96, Y:258.20, Z:-15.23 [[ 9.97645022e-01 6.85457190e-02 2.42785679e-03 8.16959458e+02] [-6.85455755e-02 9.97647976e-01 -1.42360179e-04 2.58203404e+02] [-2.43190459e-03 -2.43939172e-05 9.99997043e-01 -1.52266187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:817.02, Y:258.20, Z:-15.23 [[ 9.97575904e-01 6.95443809e-02 2.42783282e-03 8.17022670e+02] [-6.95442394e-02 9.97578858e-01 -1.42767825e-04 2.58203775e+02] [-2.43188339e-03 -2.64200444e-05 9.99997043e-01 -1.52262282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:817.09, Y:258.20, Z:-15.23 [[ 9.97566534e-01 6.96786645e-02 2.42780735e-03 8.17085786e+02] [-6.96785223e-02 9.97569488e-01 -1.43199712e-04 2.58204298e+02] [-2.43188450e-03 -2.63147883e-05 9.99997043e-01 -1.52264233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:817.15, Y:258.20, Z:-15.22 [[ 9.97647466e-01 6.85101360e-02 2.42778206e-03 8.17148293e+02] [-6.85099893e-02 9.97650420e-01 -1.43627104e-04 2.58204065e+02] [-2.43191771e-03 -2.30381067e-05 9.99997043e-01 -1.52246135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:817.21, Y:258.20, Z:-15.22 [[ 9.97940424e-01 6.41016057e-02 2.42776008e-03 8.17210912e+02] [-6.41014451e-02 9.97943377e-01 -1.43997701e-04 2.58203729e+02] [-2.43199758e-03 -1.19218030e-05 9.99997043e-01 -1.52208606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:817.27, Y:258.20, Z:-15.22 [[ 9.98151749e-01 6.07222594e-02 2.42773361e-03 8.17273305e+02] [-6.07220877e-02 9.98154701e-01 -1.44442618e-04 2.58202176e+02] [-2.43202460e-03 -3.24140108e-06 9.99997043e-01 -1.52233358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:817.34, Y:258.20, Z:-15.23 [[ 9.98333712e-01 5.76533264e-02 2.42770876e-03 8.17335927e+02] [-5.76531447e-02 9.98336664e-01 -1.44859123e-04 2.58201539e+02] [-2.43202227e-03 4.65270147e-06 9.99997043e-01 -1.52261877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.605336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:817.40, Y:258.20, Z:-15.23 [[ 9.98389355e-01 5.66815921e-02 2.42768396e-03 8.17398389e+02] [-5.66814064e-02 9.98392306e-01 -1.45273488e-04 2.58200649e+02] [-2.43201532e-03 7.43496288e-06 9.99997043e-01 -1.52276255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:817.46, Y:258.20, Z:-15.23 [[ 9.98457851e-01 5.54619313e-02 2.42765941e-03 8.17459809e+02] [-5.54617410e-02 9.98460802e-01 -1.45682578e-04 2.58201519e+02] [-2.43200260e-03 1.08156962e-05 9.99997043e-01 -1.52319645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:817.52, Y:258.20, Z:-15.23 [[ 9.98537435e-01 5.40101614e-02 2.42763676e-03 8.17522929e+02] [-5.40099659e-02 9.98540386e-01 -1.46058998e-04 2.58201015e+02] [-2.43198202e-03 1.47287988e-05 9.99997043e-01 -1.52327150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.785336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:817.58, Y:258.20, Z:-15.23 [[ 9.98566430e-01 5.34714133e-02 2.42760887e-03 8.17584940e+02] [-5.34712151e-02 9.98569381e-01 -1.46521184e-04 2.58199829e+02] [-2.43197058e-03 1.65039391e-05 9.99997043e-01 -1.52318231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:817.65, Y:258.20, Z:-15.23 [[ 9.98609143e-01 5.26676984e-02 2.42758295e-03 8.17647579e+02] [-5.26674968e-02 9.98612093e-01 -1.46949425e-04 2.58199590e+02] [-2.43195318e-03 1.88903225e-05 9.99997043e-01 -1.52338962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.905336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:817.71, Y:258.20, Z:-15.23 [[ 9.98665048e-01 5.15967905e-02 2.42755866e-03 8.17709399e+02] [-5.15965848e-02 9.98667998e-01 -1.47349545e-04 2.58196668e+02] [-2.43192791e-03 2.18991045e-05 9.99997043e-01 -1.52340898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:817.77, Y:258.19, Z:-15.23 [[ 9.98789716e-01 4.91244391e-02 2.42753438e-03 8.17771631e+02] [-4.91242251e-02 9.98792666e-01 -1.47748525e-04 2.58194107e+02] [-2.43186159e-03 2.83189625e-05 9.99997043e-01 -1.52313900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:817.83, Y:258.19, Z:-15.23 [[ 9.98843319e-01 4.80222043e-02 2.42750960e-03 8.17832284e+02] [-4.80219861e-02 9.98846268e-01 -1.48154479e-04 2.58189845e+02] [-2.43182361e-03 3.14092797e-05 9.99997043e-01 -1.52319230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:817.89, Y:258.19, Z:-15.23 [[ 9.98890733e-01 4.70256474e-02 2.42749593e-03 8.17894489e+02] [-4.70254257e-02 9.98893682e-01 -1.48378059e-04 2.58185792e+02] [-2.43178792e-03 3.40594385e-05 9.99997043e-01 -1.52320549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.145336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:817.96, Y:258.18, Z:-15.23 [[ 9.98892285e-01 4.69926696e-02 2.42747066e-03 8.17955873e+02] [-4.69924467e-02 9.98895234e-01 -1.48790404e-04 2.58180163e+02] [-2.43178093e-03 3.45528008e-05 9.99997043e-01 -1.52338290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:818.02, Y:258.17, Z:-15.24 [[ 9.98840506e-01 4.80806678e-02 2.42744747e-03 8.18017848e+02] [-4.80804472e-02 9.98843455e-01 -1.49167773e-04 2.58173670e+02] [-2.43181210e-03 3.22820544e-05 9.99997043e-01 -1.52352531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.265336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:818.08, Y:258.17, Z:-15.23 [[ 9.98758676e-01 4.97515251e-02 2.42742291e-03 8.18080190e+02] [-4.97513085e-02 9.98761626e-01 -1.49566318e-04 2.58167363e+02] [-2.43185801e-03 2.86131920e-05 9.99997043e-01 -1.52342952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:818.14, Y:258.16, Z:-15.24 [[ 9.98725841e-01 5.04063785e-02 2.42739799e-03 8.18142461e+02] [-5.04061629e-02 9.98728790e-01 -1.49969677e-04 2.58162150e+02] [-2.43187169e-03 2.74227735e-05 9.99997043e-01 -1.52359195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:818.20, Y:258.15, Z:-15.24 [[ 9.98553367e-01 5.37148160e-02 2.42737323e-03 8.18204425e+02] [-5.37146091e-02 9.98556317e-01 -1.50369348e-04 2.58154901e+02] [-2.43194594e-03 1.97664139e-05 9.99997043e-01 -1.52356411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:818.26, Y:258.15, Z:-15.24 [[ 9.98406493e-01 5.63789207e-02 2.42734730e-03 8.18264995e+02] [-5.63787208e-02 9.98409444e-01 -1.50786766e-04 2.58149033e+02] [-2.43198767e-03 1.36957504e-05 9.99997043e-01 -1.52360471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:818.33, Y:258.14, Z:-15.23 [[ 9.98137303e-01 6.09592626e-02 2.42732354e-03 8.18326482e+02] [-6.09590753e-02 9.98140255e-01 -1.51168299e-04 2.58142761e+02] [-2.43202445e-03 2.91931994e-06 9.99997043e-01 -1.52329721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:818.39, Y:258.14, Z:-15.23 [[ 9.97904499e-01 6.46584769e-02 2.42729801e-03 8.18388317e+02] [-6.46582995e-02 9.97907451e-01 -1.51577203e-04 2.58138103e+02] [-2.43201952e-03 -5.68538838e-06 9.99997043e-01 -1.52325570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:818.45, Y:258.13, Z:-15.23 [[ 9.97482245e-01 7.08750931e-02 2.42727985e-03 8.18450764e+02] [-7.08749333e-02 9.97485198e-01 -1.51867429e-04 2.58134546e+02] [-2.43193934e-03 -2.05482339e-05 9.99997043e-01 -1.52332107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:818.51, Y:258.13, Z:-15.23 [[ 9.97148386e-01 7.54268188e-02 2.42725422e-03 8.18511768e+02] [-7.54266716e-02 9.97151340e-01 -1.52276012e-04 2.58131140e+02] [-2.43182549e-03 -3.12379270e-05 9.99997043e-01 -1.52339853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.745336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:818.57, Y:258.13, Z:-15.23 [[ 9.97005546e-01 7.72919739e-02 2.42723062e-03 8.18574194e+02] [-7.72918312e-02 9.97008500e-01 -1.52651238e-04 2.58128617e+02] [-2.43176827e-03 -3.54109685e-05 9.99997043e-01 -1.52334162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:818.64, Y:258.13, Z:-15.23 [[ 9.96936042e-01 7.81833504e-02 2.42720460e-03 8.18635779e+02] [-7.81832094e-02 9.96938996e-01 -1.53063857e-04 2.58127075e+02] [-2.43174196e-03 -3.71717701e-05 9.99997043e-01 -1.52328428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:818.70, Y:258.12, Z:-15.23 [[ 9.96947382e-01 7.80386164e-02 2.42718070e-03 8.18698022e+02] [-7.80384741e-02 9.96950336e-01 -1.53441929e-04 2.58123449e+02] [-2.43175301e-03 -3.64399484e-05 9.99997043e-01 -1.52328840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:818.76, Y:258.12, Z:-15.24 [[ 9.96994382e-01 7.74358501e-02 2.42715483e-03 8.18759397e+02] [-7.74357050e-02 9.96997336e-01 -1.53850059e-04 2.58121906e+02] [-2.43178041e-03 -3.45608010e-05 9.99997043e-01 -1.52369200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:818.82, Y:258.12, Z:-15.24 [[ 9.96979283e-01 7.76300071e-02 2.42713100e-03 8.18820897e+02] [-7.76298616e-02 9.96982237e-01 -1.54225087e-04 2.58120287e+02] [-2.43177899e-03 -3.46586269e-05 9.99997043e-01 -1.52360573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:818.88, Y:258.12, Z:-15.24 [[ 9.96971097e-01 7.77350659e-02 2.42712722e-03 8.18882343e+02] [-7.77349206e-02 9.96974051e-01 -1.54284504e-04 2.58119317e+02] [-2.43177617e-03 -3.48553505e-05 9.99997043e-01 -1.52384263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:818.94, Y:258.12, Z:-15.24 [[ 9.97038577e-01 7.68647179e-02 2.42710285e-03 8.18942316e+02] [-7.68645691e-02 9.97041531e-01 -1.54667008e-04 2.58116968e+02] [-2.43181077e-03 -3.23492411e-05 9.99997043e-01 -1.52398314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:819.00, Y:258.11, Z:-15.24 [[ 9.97201395e-01 7.47227404e-02 2.42710102e-03 8.19002944e+02] [-7.47225851e-02 9.97204348e-01 -1.54695676e-04 2.58114830e+02] [-2.43187497e-03 -2.70965189e-05 9.99997043e-01 -1.52388264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:819.06, Y:258.11, Z:-15.23 [[ 9.97317568e-01 7.31558449e-02 2.42709922e-03 8.19064635e+02] [-7.31556850e-02 9.97320521e-01 -1.54723810e-04 2.58112055e+02] [-2.43191481e-03 -2.32473319e-05 9.99997043e-01 -1.52345975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:819.13, Y:258.11, Z:-15.24 [[ 9.97330742e-01 7.29760319e-02 2.42709545e-03 8.19125388e+02] [-7.29758713e-02 9.97333695e-01 -1.54783044e-04 2.58112426e+02] [-2.43191952e-03 -2.27495173e-05 9.99997043e-01 -1.52353563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:819.19, Y:258.11, Z:-15.24 [[ 9.97267006e-01 7.38419178e-02 2.42709357e-03 8.19185746e+02] [-7.38417597e-02 9.97269959e-01 -1.54812398e-04 2.58108058e+02] [-2.43189915e-03 -2.48315635e-05 9.99997043e-01 -1.52373057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.405336195 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:819.25, Y:258.11, Z:-15.23 [[ 9.97228312e-01 7.43626388e-02 2.42708410e-03 8.19246400e+02] [-7.43624819e-02 9.97231266e-01 -1.54960781e-04 2.58106737e+02] [-2.43188744e-03 -2.59527195e-05 9.99997043e-01 -1.52344348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.465336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:819.31, Y:258.10, Z:-15.24 [[ 9.97191267e-01 7.48577699e-02 2.42708410e-03 8.19306382e+02] [-7.48576144e-02 9.97194221e-01 -1.54960781e-04 2.58104126e+02] [-2.43187426e-03 -2.71601882e-05 9.99997043e-01 -1.52359718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:819.37, Y:258.10, Z:-15.24 [[ 9.97089243e-01 7.62046583e-02 2.42707435e-03 8.19365870e+02] [-7.62045064e-02 9.97092197e-01 -1.55113369e-04 2.58102835e+02] [-2.43183726e-03 -3.02921309e-05 9.99997043e-01 -1.52363089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:819.43, Y:258.10, Z:-15.24 [[ 9.96920586e-01 7.83801879e-02 2.42707619e-03 8.19426583e+02] [-7.83800425e-02 9.96923540e-01 -1.55084560e-04 2.58102250e+02] [-2.43176494e-03 -3.56273445e-05 9.99997043e-01 -1.52372141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:819.49, Y:258.10, Z:-15.24 [[ 9.96670313e-01 8.15008978e-02 2.42707619e-03 8.19487195e+02] [-8.15007617e-02 9.96673267e-01 -1.55084560e-04 2.58103611e+02] [-2.43164149e-03 -4.32403812e-05 9.99997043e-01 -1.52355508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:819.55, Y:258.10, Z:-15.24 [[ 9.96553849e-01 8.29128164e-02 2.42707619e-03 8.19547769e+02] [-8.29126846e-02 9.96556804e-01 -1.55084560e-04 2.58104950e+02] [-2.43157779e-03 -4.66852874e-05 9.99997043e-01 -1.52365213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:819.61, Y:258.11, Z:-15.24 [[ 9.96562352e-01 8.28105532e-02 2.42707619e-03 8.19606943e+02] [-8.28104210e-02 9.96565306e-01 -1.55084560e-04 2.58105199e+02] [-2.43158257e-03 -4.64357673e-05 9.99997043e-01 -1.52383682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:819.67, Y:258.11, Z:-15.24 [[ 9.96698155e-01 8.11597061e-02 2.42707802e-03 8.19666689e+02] [-8.11595690e-02 9.96701109e-01 -1.55055958e-04 2.58108552e+02] [-2.43165565e-03 -4.24366185e-05 9.99997043e-01 -1.52376446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:819.73, Y:258.11, Z:-15.24 [[ 9.96861429e-01 7.91290124e-02 2.42708166e-03 8.19726154e+02] [-7.91288695e-02 9.96864383e-01 -1.54998861e-04 2.58109198e+02] [-2.43173617e-03 -3.75398420e-05 9.99997043e-01 -1.52389493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:819.79, Y:258.11, Z:-15.24 [[ 9.97113567e-01 7.58857305e-02 2.42708534e-03 8.19785833e+02] [-7.58855781e-02 9.97116520e-01 -1.54941266e-04 2.58110194e+02] [-2.43184472e-03 -2.96867358e-05 9.99997043e-01 -1.52386233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:819.85, Y:258.11, Z:-15.24 [[ 9.97306158e-01 7.33112360e-02 2.42708340e-03 8.19845184e+02] [-7.33110759e-02 9.97309111e-01 -1.54971586e-04 2.58110492e+02] [-2.43191355e-03 -2.33779785e-05 9.99997043e-01 -1.52397351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.065336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:819.90, Y:258.11, Z:-15.24 [[ 9.97515805e-01 7.04011960e-02 2.42708702e-03 8.19904170e+02] [-7.04010275e-02 9.97518757e-01 -1.54914896e-04 2.58113129e+02] [-2.43197102e-03 -1.63393625e-05 9.99997043e-01 -1.52403703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:819.96, Y:258.11, Z:-15.24 [[ 9.97558478e-01 6.97939278e-02 2.42709239e-03 8.19964057e+02] [-6.97937576e-02 9.97561430e-01 -1.54830706e-04 2.58112807e+02] [-2.43198000e-03 -1.49432145e-05 9.99997043e-01 -1.52400950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:820.02, Y:258.11, Z:-15.24 [[ 9.97511049e-01 7.04685514e-02 2.42709611e-03 8.20023678e+02] [-7.04683834e-02 9.97514001e-01 -1.54772474e-04 2.58114702e+02] [-2.43196894e-03 -1.66462864e-05 9.99997043e-01 -1.52406983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:820.08, Y:258.12, Z:-15.24 [[ 9.97432808e-01 7.15674699e-02 2.42709984e-03 8.20084036e+02] [-7.15673053e-02 9.97435761e-01 -1.54713923e-04 2.58117325e+02] [-2.43194866e-03 -1.93842526e-05 9.99997043e-01 -1.52392961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.305336195 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:820.14, Y:258.11, Z:-15.24 [[ 9.97413872e-01 7.18308901e-02 2.42710365e-03 8.20142239e+02] [-7.18307264e-02 9.97416825e-01 -1.54654121e-04 2.58114828e+02] [-2.43194296e-03 -2.00864521e-05 9.99997043e-01 -1.52415718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.365336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:820.20, Y:258.11, Z:-15.24 [[ 9.97433573e-01 7.15568053e-02 2.42710740e-03 8.20202029e+02] [-7.15566409e-02 9.97436526e-01 -1.54595311e-04 2.58113829e+02] [-2.43194791e-03 -1.94770991e-05 9.99997043e-01 -1.52395936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.425336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:820.26, Y:258.12, Z:-15.24 [[ 9.97566698e-01 6.96763457e-02 2.42711098e-03 8.20261194e+02] [-6.96761759e-02 9.97569650e-01 -1.54538942e-04 2.58115448e+02] [-2.43197996e-03 -1.49489102e-05 9.99997043e-01 -1.52382067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:820.32, Y:258.11, Z:-15.24 [[ 9.97803761e-01 6.61948944e-02 2.42711823e-03 8.20321013e+02] [-6.61947146e-02 9.97806713e-01 -1.54425088e-04 2.58114378e+02] [-2.43201701e-03 -6.57646453e-06 9.99997043e-01 -1.52380437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:820.38, Y:258.11, Z:-15.24 [[ 9.97970344e-01 6.36341212e-02 2.42712188e-03 8.20379532e+02] [-6.36339340e-02 9.97973296e-01 -1.54367665e-04 2.58110840e+02] [-2.43202587e-03 -3.92961974e-07 9.99997043e-01 -1.52385870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.605336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:820.44, Y:258.11, Z:-15.24 [[ 9.98114340e-01 6.13341111e-02 2.42712730e-03 8.20439074e+02] [-6.13339173e-02 9.98117291e-01 -1.54282448e-04 2.58107567e+02] [-2.43202050e-03 5.12629894e-06 9.99997043e-01 -1.52353170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.665336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:820.50, Y:258.10, Z:-15.23 [[ 9.98122299e-01 6.12044576e-02 2.42713092e-03 8.20497357e+02] [-6.12042635e-02 9.98125250e-01 -1.54225452e-04 2.58104580e+02] [-2.43201994e-03 5.38510275e-06 9.99997043e-01 -1.52344984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:820.56, Y:258.10, Z:-15.24 [[ 9.98141628e-01 6.08884157e-02 2.42713847e-03 8.20557186e+02] [-6.08882209e-02 9.98144579e-01 -1.54106473e-04 2.58100548e+02] [-2.43201841e-03 6.03594273e-06 9.99997043e-01 -1.52380593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.785336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:820.62, Y:258.10, Z:-15.24 [[ 9.98146680e-01 6.08055426e-02 2.42714223e-03 8.20616301e+02] [-6.08053478e-02 9.98149631e-01 -1.54047225e-04 2.58096188e+02] [-2.43201805e-03 6.17849821e-06 9.99997043e-01 -1.52364935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:820.67, Y:258.09, Z:-15.24 [[ 9.98159311e-01 6.05978485e-02 2.42714599e-03 8.20674852e+02] [-6.05976532e-02 9.98162262e-01 -1.53987963e-04 2.58093160e+02] [-2.43201687e-03 6.62516771e-06 9.99997043e-01 -1.52370812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:820.73, Y:258.09, Z:-15.24 [[ 9.98162938e-01 6.05380655e-02 2.42715349e-03 8.20733779e+02] [-6.05378703e-02 9.98165889e-01 -1.53869690e-04 2.58089657e+02] [-2.43201680e-03 6.65231876e-06 9.99997043e-01 -1.52393716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:820.79, Y:258.08, Z:-15.24 [[ 9.98208158e-01 5.97878181e-02 2.42715907e-03 8.20792820e+02] [-5.97876209e-02 9.98211108e-01 -1.53781719e-04 2.58083885e+02] [-2.43201141e-03 8.39210079e-06 9.99997043e-01 -1.52415319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:820.85, Y:258.08, Z:-15.24 [[ 9.98261156e-01 5.88962876e-02 2.42716268e-03 8.20852421e+02] [-5.88960879e-02 9.98264107e-01 -1.53724687e-04 2.58078995e+02] [-2.43200320e-03 1.05069979e-05 9.99997043e-01 -1.52419735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.085336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:820.91, Y:258.07, Z:-15.24 [[ 9.98321727e-01 5.78605125e-02 2.42716636e-03 8.20910745e+02] [-5.78603099e-02 9.98324677e-01 -1.53666470e-04 2.58073165e+02] [-2.43199130e-03 1.29719773e-05 9.99997043e-01 -1.52425697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:820.97, Y:258.07, Z:-15.24 [[ 9.98437833e-01 5.58211562e-02 2.42717185e-03 8.20969429e+02] [-5.58209478e-02 9.98440784e-01 -1.53579833e-04 2.58065433e+02] [-2.43196036e-03 1.78528832e-05 9.99997043e-01 -1.52434335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:821.03, Y:258.06, Z:-15.24 [[ 9.98533964e-01 5.40743108e-02 2.42717721e-03 8.21028429e+02] [-5.40740974e-02 9.98536914e-01 -1.53494994e-04 2.58058055e+02] [-2.43192618e-03 2.20225484e-05 9.99997043e-01 -1.52439110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:821.09, Y:258.05, Z:-15.24 [[ 9.98642822e-01 5.20252187e-02 2.42718080e-03 8.21087672e+02] [-5.20249994e-02 9.98645771e-01 -1.53438267e-04 2.58047850e+02] [-2.43187650e-03 2.69559448e-05 9.99997043e-01 -1.52447613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:821.15, Y:258.04, Z:-15.24 [[ 9.98671750e-01 5.14669300e-02 2.42717909e-03 8.21148096e+02] [-5.14667090e-02 9.98674699e-01 -1.53465185e-04 2.58039159e+02] [-2.43186073e-03 2.83424249e-05 9.99997043e-01 -1.52424030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:821.21, Y:258.03, Z:-15.24 [[ 9.98559757e-01 5.35959025e-02 2.42717909e-03 8.21207135e+02] [-5.35956878e-02 9.98562706e-01 -1.53465185e-04 2.58027148e+02] [-2.43191563e-03 2.31578251e-05 9.99997043e-01 -1.52415652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:821.27, Y:258.02, Z:-15.24 [[ 9.98167648e-01 6.04603571e-02 2.42718264e-03 8.21266700e+02] [-6.04601628e-02 9.98170599e-01 -1.53409162e-04 2.58018330e+02] [-2.43201752e-03 6.38020543e-06 9.99997043e-01 -1.52434151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:821.33, Y:258.01, Z:-15.24 [[ 9.97775544e-01 6.66188645e-02 2.42718621e-03 8.21326214e+02] [-6.66186886e-02 9.97778496e-01 -1.53352536e-04 2.58011095e+02] [-2.43201038e-03 -8.68455217e-06 9.99997043e-01 -1.52417549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:821.39, Y:258.00, Z:-15.24 [[ 9.97241265e-01 7.41887333e-02 2.42718994e-03 8.21385047e+02] [-7.41885800e-02 9.97244218e-01 -1.53293456e-04 2.58002019e+02] [-2.43187379e-03 -2.71992156e-05 9.99997043e-01 -1.52415831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:821.44, Y:258.00, Z:-15.24 [[ 9.96990753e-01 7.74825629e-02 2.42718891e-03 8.21444274e+02] [-7.74824192e-02 9.96993707e-01 -1.53309764e-04 2.57996573e+02] [-2.43177091e-03 -3.52160524e-05 9.99997043e-01 -1.52390844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.685336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:821.50, Y:257.99, Z:-15.24 [[ 9.96871157e-01 7.90063632e-02 2.42719258e-03 8.21503424e+02] [-7.90062242e-02 9.96874111e-01 -1.53251688e-04 2.57988017e+02] [-2.43171331e-03 -3.89911333e-05 9.99997043e-01 -1.52409901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:821.56, Y:257.98, Z:-15.24 [[ 9.96839426e-01 7.94057193e-02 2.42719439e-03 8.21563940e+02] [-7.94055815e-02 9.96842380e-01 -1.53223018e-04 2.57982765e+02] [-2.43169702e-03 -3.99940373e-05 9.99997043e-01 -1.52419007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:821.62, Y:257.98, Z:-15.24 [[ 9.96859802e-01 7.91494971e-02 2.42719439e-03 8.21624029e+02] [-7.91493586e-02 9.96862757e-01 -1.53223018e-04 2.57976848e+02] [-2.43170722e-03 -3.93690121e-05 9.99997043e-01 -1.52418025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:821.68, Y:257.97, Z:-15.24 [[ 9.96907104e-01 7.85514731e-02 2.42719439e-03 8.21683338e+02] [-7.85513328e-02 9.96910058e-01 -1.53223018e-04 2.57972186e+02] [-2.43173040e-03 -3.79102397e-05 9.99997043e-01 -1.52420442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:821.74, Y:257.96, Z:-15.24 [[ 9.97086906e-01 7.62352341e-02 2.42719619e-03 8.21743388e+02] [-7.62350870e-02 9.97089860e-01 -1.53194500e-04 2.57964529e+02] [-2.43181153e-03 -3.22892833e-05 9.99997043e-01 -1.52410099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:821.80, Y:257.96, Z:-15.24 [[ 9.97206416e-01 7.46556906e-02 2.42719619e-03 8.21803506e+02] [-7.46555388e-02 9.97209370e-01 -1.53194500e-04 2.57960403e+02] [-2.43185963e-03 -2.84371015e-05 9.99997043e-01 -1.52432348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:821.86, Y:257.95, Z:-15.24 [[ 9.97354116e-01 7.26558727e-02 2.42719619e-03 8.21863254e+02] [-7.26557150e-02 9.97357069e-01 -1.53194500e-04 2.57953300e+02] [-2.43191176e-03 -2.35605101e-05 9.99997043e-01 -1.52444286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.105336195 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:821.92, Y:257.95, Z:-15.24 [[ 9.97411542e-01 7.18632287e-02 2.42719439e-03 8.21923822e+02] [-7.18630686e-02 9.97414496e-01 -1.53223048e-04 2.57946257e+02] [-2.43192997e-03 -2.15992002e-05 9.99997043e-01 -1.52432521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:821.98, Y:257.94, Z:-15.24 [[ 9.97425289e-01 7.16721764e-02 2.42719439e-03 8.21984358e+02] [-7.16720158e-02 9.97428242e-01 -1.53223048e-04 2.57942090e+02] [-2.43193406e-03 -2.11333717e-05 9.99997043e-01 -1.52436235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:822.04, Y:257.94, Z:-15.24 [[ 9.97423113e-01 7.17024549e-02 2.42719439e-03 8.22043864e+02] [-7.17022943e-02 9.97426066e-01 -1.53223048e-04 2.57937427e+02] [-2.43193342e-03 -2.12071971e-05 9.99997043e-01 -1.52445668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.285336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:822.10, Y:257.93, Z:-15.25 [[ 9.97358481e-01 7.25959276e-02 2.42719619e-03 8.22104591e+02] [-7.25957697e-02 9.97361434e-01 -1.53194445e-04 2.57932995e+02] [-2.43191317e-03 -2.34143971e-05 9.99997043e-01 -1.52452821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:822.16, Y:257.93, Z:-15.24 [[ 9.97284379e-01 7.36068995e-02 2.42719619e-03 8.22163560e+02] [-7.36067447e-02 9.97287333e-01 -1.53194445e-04 2.57927996e+02] [-2.43188819e-03 -2.58795837e-05 9.99997043e-01 -1.52440518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.405336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:822.22, Y:257.92, Z:-15.25 [[ 9.97213431e-01 7.45619290e-02 2.42719797e-03 8.22224435e+02] [-7.45617770e-02 9.97216385e-01 -1.53166258e-04 2.57923511e+02] [-2.43186196e-03 -2.82367447e-05 9.99997043e-01 -1.52450130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:822.29, Y:257.92, Z:-15.25 [[ 9.97138977e-01 7.55511063e-02 2.42719446e-03 8.22285146e+02] [-7.55509571e-02 9.97141930e-01 -1.53221977e-04 2.57920691e+02] [-2.43183345e-03 -3.05932590e-05 9.99997043e-01 -1.52456394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:822.35, Y:257.92, Z:-15.25 [[ 9.97079665e-01 7.63298851e-02 2.42719265e-03 8.22345009e+02] [-7.63297382e-02 9.97082618e-01 -1.53250554e-04 2.57917930e+02] [-2.43180920e-03 -3.24639689e-05 9.99997043e-01 -1.52455732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:822.41, Y:257.92, Z:-15.24 [[ 9.96975186e-01 7.76826013e-02 2.42719085e-03 8.22405487e+02] [-7.76824583e-02 9.96978140e-01 -1.53279145e-04 2.57916284e+02] [-2.43176334e-03 -3.57346470e-05 9.99997043e-01 -1.52418647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:822.46, Y:257.92, Z:-15.24 [[ 9.96915401e-01 7.84461073e-02 2.42719085e-03 8.22464970e+02] [-7.84459666e-02 9.96918355e-01 -1.53279146e-04 2.57915707e+02] [-2.43173526e-03 -3.75969911e-05 9.99997043e-01 -1.52423534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:822.53, Y:257.91, Z:-15.24 [[ 9.96926166e-01 7.83091873e-02 2.42719269e-03 8.22525814e+02] [-7.83090463e-02 9.96929120e-01 -1.53249894e-04 2.57913746e+02] [-2.43173995e-03 -3.72923154e-05 9.99997043e-01 -1.52425519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:822.59, Y:257.91, Z:-15.24 [[ 9.96977087e-01 7.76582045e-02 2.42719269e-03 8.22586800e+02] [-7.76580615e-02 9.96980041e-01 -1.53249894e-04 2.57913926e+02] [-2.43176378e-03 -3.57044462e-05 9.99997043e-01 -1.52422235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:822.65, Y:257.91, Z:-15.24 [[ 9.97081002e-01 7.63124171e-02 2.42719269e-03 8.22647418e+02] [-7.63122701e-02 9.97083955e-01 -1.53249894e-04 2.57912346e+02] [-2.43180976e-03 -3.24220263e-05 9.99997043e-01 -1.52439176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:822.71, Y:257.91, Z:-15.24 [[ 9.97434665e-01 7.15415856e-02 2.42719269e-03 8.22708214e+02] [-7.15414245e-02 9.97437618e-01 -1.53249894e-04 2.57911185e+02] [-2.43193704e-03 -2.07880658e-05 9.99997043e-01 -1.52434532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:822.77, Y:257.91, Z:-15.24 [[ 9.97720000e-01 6.74456072e-02 2.42719269e-03 8.22768937e+02] [-6.74454339e-02 9.97722953e-01 -1.53249894e-04 2.57908917e+02] [-2.43200189e-03 -1.08025799e-05 9.99997043e-01 -1.52435035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:822.83, Y:257.91, Z:-15.24 [[ 9.98069600e-01 6.20578867e-02 2.42719269e-03 8.22829894e+02] [-6.20576975e-02 9.98072552e-01 -1.53249894e-04 2.57906271e+02] [-2.43202477e-03 2.32807094e-06 9.99997043e-01 -1.52431965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:822.89, Y:257.90, Z:-15.24 [[ 9.98241890e-01 5.92219353e-02 2.42718907e-03 8.22890245e+02] [-5.92217376e-02 9.98244841e-01 -1.53307202e-04 2.57902678e+02] [-2.43200812e-03 9.29531708e-06 9.99997043e-01 -1.52412375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:822.95, Y:257.90, Z:-15.24 [[ 9.98444374e-01 5.57040492e-02 2.42718907e-03 8.22950441e+02] [-5.57038411e-02 9.98447324e-01 -1.53307202e-04 2.57896605e+02] [-2.43196027e-03 1.78649593e-05 9.99997043e-01 -1.52425954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:823.01, Y:257.89, Z:-15.24 [[ 9.98499000e-01 5.47161328e-02 2.42718907e-03 8.23011854e+02] [-5.47159218e-02 9.98501950e-01 -1.53307202e-04 2.57890396e+02] [-2.43194140e-03 2.02712008e-05 9.99997043e-01 -1.52433887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:823.07, Y:257.89, Z:-15.24 [[ 9.98421814e-01 5.61069534e-02 2.42718546e-03 8.23073218e+02] [-5.61067464e-02 9.98424764e-01 -1.53364427e-04 2.57885320e+02] [-2.43196688e-03 1.69409104e-05 9.99997043e-01 -1.52442294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:823.13, Y:257.88, Z:-15.25 [[ 9.98063737e-01 6.21521107e-02 2.42718181e-03 8.23132623e+02] [-6.21519214e-02 9.98066689e-01 -1.53422119e-04 2.57881420e+02] [-2.43202482e-03 2.27104049e-06 9.99997043e-01 -1.52460178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:823.19, Y:257.88, Z:-15.24 [[ 9.97678703e-01 6.80537622e-02 2.42718362e-03 8.23193169e+02] [-6.80535904e-02 9.97681655e-01 -1.53393475e-04 2.57877828e+02] [-2.43199558e-03 -1.21411573e-05 9.99997043e-01 -1.52437012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:823.25, Y:257.88, Z:-15.24 [[ 9.97011599e-01 7.72138657e-02 2.42718362e-03 8.23253024e+02] [-7.72137210e-02 9.97014552e-01 -1.53393475e-04 2.57877996e+02] [-2.43178149e-03 -3.44768056e-05 9.99997043e-01 -1.52441414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:823.31, Y:257.88, Z:-15.25 [[ 9.96649109e-01 8.17597795e-02 2.42718730e-03 8.23311960e+02] [-8.17596485e-02 9.96652064e-01 -1.53335240e-04 2.57878156e+02] [-2.43159789e-03 -4.56245503e-05 9.99997043e-01 -1.52472938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:823.37, Y:257.88, Z:-15.25 [[ 9.96363845e-01 8.51657085e-02 2.42719273e-03 8.23372305e+02] [-8.51655878e-02 9.96366800e-01 -1.53249252e-04 2.57882239e+02] [-2.43142583e-03 -5.40212814e-05 9.99997043e-01 -1.52467653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:823.43, Y:257.88, Z:-15.25 [[ 9.96410146e-01 8.46222711e-02 2.42719629e-03 8.23431525e+02] [-8.46221489e-02 9.96413101e-01 -1.53192846e-04 2.57880554e+02] [-2.43145371e-03 -5.27516594e-05 9.99997043e-01 -1.52473244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:823.49, Y:257.88, Z:-15.25 [[ 9.96734980e-01 8.07061875e-02 2.42719987e-03 8.23491098e+02] [-8.07060538e-02 9.96737934e-01 -1.53136119e-04 2.57884221e+02] [-2.43164121e-03 -4.32535969e-05 9.99997043e-01 -1.52456786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:823.55, Y:257.89, Z:-15.24 [[ 9.97191152e-01 7.48592997e-02 2.42720352e-03 8.23549888e+02] [-7.48591488e-02 9.97194106e-01 -1.53078218e-04 2.57887650e+02] [-2.43185237e-03 -2.90501444e-05 9.99997043e-01 -1.52447589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:823.61, Y:257.89, Z:-15.24 [[ 9.97604504e-01 6.91329351e-02 2.42720895e-03 8.23609545e+02] [-6.91327675e-02 9.97607456e-01 -1.52992021e-04 2.57886074e+02] [-2.43197854e-03 -1.51741432e-05 9.99997043e-01 -1.52448487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.845336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:823.67, Y:257.88, Z:-15.24 [[ 9.98236243e-01 5.93170386e-02 2.42721258e-03 8.23670120e+02] [-5.93168421e-02 9.98239194e-01 -1.52934455e-04 2.57884014e+02] [-2.43201035e-03 8.69013063e-06 9.99997043e-01 -1.52430086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:823.73, Y:257.88, Z:-15.24 [[ 9.98548525e-01 5.38047507e-02 2.42721258e-03 8.23729223e+02] [-5.38045379e-02 9.98551475e-01 -1.52934455e-04 2.57882426e+02] [-2.43192530e-03 2.21174232e-05 9.99997043e-01 -1.52442214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.965336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:823.79, Y:257.88, Z:-15.24 [[ 9.98811292e-01 4.86838015e-02 2.42721442e-03 8.23790143e+02] [-4.86835736e-02 9.98814240e-01 -1.52905185e-04 2.57880162e+02] [-2.43178034e-03 3.45579530e-05 9.99997043e-01 -1.52434663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:823.85, Y:257.87, Z:-15.25 [[ 9.98943869e-01 4.58830580e-02 2.42721442e-03 8.23850626e+02] [-4.58828219e-02 9.98946817e-01 -1.52905185e-04 2.57874558e+02] [-2.43167388e-03 4.13762500e-05 9.99997043e-01 -1.52458817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.085336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:823.91, Y:257.87, Z:-15.25 [[ 9.98984693e-01 4.49854597e-02 2.42721442e-03 8.23910493e+02] [-4.49852210e-02 9.98987641e-01 -1.52905185e-04 2.57871651e+02] [-2.43163572e-03 4.35611620e-05 9.99997043e-01 -1.52470861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.145336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:823.97, Y:257.87, Z:-15.25 [[ 9.99055271e-01 4.33898025e-02 2.42721626e-03 8.23969772e+02] [-4.33895591e-02 9.99058218e-01 -1.52876094e-04 2.57867902e+02] [-2.43156361e-03 4.74158241e-05 9.99997043e-01 -1.52470656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:824.03, Y:257.86, Z:-15.25 [[ 9.99084190e-01 4.27187212e-02 2.42721803e-03 8.24030141e+02] [-4.27184758e-02 9.99087138e-01 -1.52847906e-04 2.57859330e+02] [-2.43153178e-03 4.90208720e-05 9.99997043e-01 -1.52468550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.265336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:824.09, Y:257.85, Z:-15.25 [[ 9.98947898e-01 4.57952603e-02 2.42721803e-03 8.24089004e+02] [-4.57950241e-02 9.98950846e-01 -1.52847906e-04 2.57851021e+02] [-2.43167121e-03 4.15325867e-05 9.99997043e-01 -1.52490057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:824.15, Y:257.85, Z:-15.25 [[ 9.98743277e-01 5.00597200e-02 2.42721986e-03 8.24148379e+02] [-5.00594964e-02 9.98746226e-01 -1.52818789e-04 2.57847102e+02] [-2.43182674e-03 3.11213338e-05 9.99997043e-01 -1.52494458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:824.21, Y:257.84, Z:-15.25 [[ 9.98377573e-01 5.68887564e-02 2.42722330e-03 8.24207979e+02] [-5.68885531e-02 9.98380523e-01 -1.52764209e-04 2.57842238e+02] [-2.43198303e-03 1.44351382e-05 9.99997043e-01 -1.52502108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:824.27, Y:257.84, Z:-15.25 [[ 9.98095390e-01 6.16417171e-02 2.42722693e-03 8.24267056e+02] [-6.16415281e-02 9.98098341e-01 -1.52706449e-04 2.57836484e+02] [-2.43202426e-03 2.79762578e-06 9.99997043e-01 -1.52506621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.505336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:824.33, Y:257.83, Z:-15.25 [[ 9.97980200e-01 6.34793651e-02 2.42723062e-03 8.24326505e+02] [-6.34791816e-02 9.97983151e-01 -1.52647750e-04 2.57831643e+02] [-2.43202525e-03 -1.73918198e-06 9.99997043e-01 -1.52511670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:824.39, Y:257.83, Z:-15.25 [[ 9.97834790e-01 6.57254989e-02 2.42723245e-03 8.24386101e+02] [-6.57253222e-02 9.97837742e-01 -1.52618746e-04 2.57825880e+02] [-2.43201509e-03 -7.24233993e-06 9.99997043e-01 -1.52511080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.625336195 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:824.45, Y:257.82, Z:-15.25 [[ 9.97818021e-01 6.59795837e-02 2.42723603e-03 8.24445909e+02] [-6.59794078e-02 9.97820973e-01 -1.52561783e-04 2.57819834e+02] [-2.43201298e-03 -7.91869907e-06 9.99997043e-01 -1.52492507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:824.51, Y:257.81, Z:-15.25 [[ 9.97772760e-01 6.66605447e-02 2.42723971e-03 8.24505950e+02] [-6.66603710e-02 9.97775712e-01 -1.52503242e-04 2.57813418e+02] [-2.43200678e-03 -9.63711883e-06 9.99997043e-01 -1.52500606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:824.57, Y:257.81, Z:-15.25 [[ 9.97736147e-01 6.72063224e-02 2.42723971e-03 8.24565609e+02] [-6.72061503e-02 9.97739099e-01 -1.52503242e-04 2.57808371e+02] [-2.43200114e-03 -1.09674395e-05 9.99997043e-01 -1.52523365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:824.63, Y:257.80, Z:-15.25 [[ 9.97668354e-01 6.82053057e-02 2.42724154e-03 8.24626140e+02] [-6.82051366e-02 9.97671307e-01 -1.52474079e-04 2.57803321e+02] [-2.43198878e-03 -1.34317776e-05 9.99997043e-01 -1.52520888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:824.69, Y:257.80, Z:-15.25 [[ 9.97556753e-01 6.98185752e-02 2.42724154e-03 8.24685269e+02] [-6.98184109e-02 9.97559706e-01 -1.52474079e-04 2.57798045e+02] [-2.43196388e-03 -1.73646003e-05 9.99997043e-01 -1.52535609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:824.74, Y:257.79, Z:-15.25 [[ 9.97476620e-01 7.09542197e-02 2.42724336e-03 8.24744717e+02] [-7.09540588e-02 9.97479573e-01 -1.52445022e-04 2.57792013e+02] [-2.43194229e-03 -2.01624227e-05 9.99997043e-01 -1.52516570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.9853361950001 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:824.81, Y:257.79, Z:-15.25 [[ 9.97487144e-01 7.08061103e-02 2.42724702e-03 8.24805100e+02] [-7.08059491e-02 9.97490097e-01 -1.52386716e-04 2.57787384e+02] [-2.43194478e-03 -1.98597388e-05 9.99997043e-01 -1.52468276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:824.86, Y:257.78, Z:-15.25 [[ 9.97512852e-01 7.04430101e-02 2.42724702e-03 8.24864971e+02] [-7.04428479e-02 9.97515805e-01 -1.52386716e-04 2.57781709e+02] [-2.43195185e-03 -1.89744849e-05 9.99997043e-01 -1.52489546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:824.92, Y:257.77, Z:-15.25 [[ 9.97479830e-01 7.09090755e-02 2.42724702e-03 8.24924777e+02] [-7.09089146e-02 9.97482783e-01 -1.52386716e-04 2.57774217e+02] [-2.43194272e-03 -2.01107761e-05 9.99997043e-01 -1.52508663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:824.98, Y:257.77, Z:-15.25 [[ 9.97386453e-01 7.22106030e-02 2.42724702e-03 8.24984581e+02] [-7.22104460e-02 9.97389407e-01 -1.52386716e-04 2.57769507e+02] [-2.43191441e-03 -2.32841438e-05 9.99997043e-01 -1.52511152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:825.04, Y:257.77, Z:-15.25 [[ 9.97118181e-01 7.58250744e-02 2.42724885e-03 8.25044405e+02] [-7.58249281e-02 9.97121135e-01 -1.52357598e-04 2.57765541e+02] [-2.43181366e-03 -3.21274386e-05 9.99997043e-01 -1.52502192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.285336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:825.10, Y:257.76, Z:-15.25 [[ 9.96848716e-01 7.92889962e-02 2.42725064e-03 8.25102872e+02] [-7.92888603e-02 9.96851671e-01 -1.52329081e-04 2.57762883e+02] [-2.43168688e-03 -4.06048878e-05 9.99997043e-01 -1.52513536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:825.16, Y:257.76, Z:-15.25 [[ 9.96769815e-01 8.02748038e-02 2.42725597e-03 8.25162793e+02] [-8.02746710e-02 9.96772770e-01 -1.52244188e-04 2.57761615e+02] [-2.43164402e-03 -4.30947634e-05 9.99997043e-01 -1.52528742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:825.22, Y:257.76, Z:-15.25 [[ 9.96887637e-01 7.87981411e-02 2.42725951e-03 8.25222033e+02] [-7.87980040e-02 9.96890591e-01 -1.52187730e-04 2.57760920e+02] [-2.43170428e-03 -3.95491376e-05 9.99997043e-01 -1.52526625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:825.28, Y:257.76, Z:-15.25 [[ 9.97166839e-01 7.51824690e-02 2.42726303e-03 8.25283076e+02] [-7.51823214e-02 9.97169793e-01 -1.52131572e-04 2.57760013e+02] [-2.43183100e-03 -3.07867104e-05 9.99997043e-01 -1.52493845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:825.34, Y:257.76, Z:-15.25 [[ 9.97454293e-01 7.12673921e-02 2.42726303e-03 8.25342871e+02] [-7.12672329e-02 9.97457246e-01 -1.52131572e-04 2.57758368e+02] [-2.43193311e-03 -2.12400300e-05 9.99997043e-01 -1.52483028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:825.40, Y:257.76, Z:-15.25 [[ 9.97862256e-01 6.53071660e-02 2.42726172e-03 8.25403344e+02] [-6.53069891e-02 9.97865208e-01 -1.52152350e-04 2.57758363e+02] [-2.43201666e-03 -6.69006743e-06 9.99997043e-01 -1.52482482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:825.46, Y:257.76, Z:-15.25 [[ 9.98111633e-01 6.13781493e-02 2.42726172e-03 8.25464037e+02] [-6.13779608e-02 9.98114584e-01 -1.52152350e-04 2.57755209e+02] [-2.43202416e-03 2.88465564e-06 9.99997043e-01 -1.52499700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.705336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:825.52, Y:257.75, Z:-15.25 [[ 9.98429997e-01 5.59611502e-02 2.42726172e-03 8.25524231e+02] [-5.59609456e-02 9.98432947e-01 -1.52152350e-04 2.57754056e+02] [-2.43197270e-03 1.60816089e-05 9.99997043e-01 -1.52530493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.765336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:825.58, Y:257.75, Z:-15.26 [[ 9.98572594e-01 5.33561846e-02 2.42726172e-03 8.25584895e+02] [-5.33559724e-02 9.98575544e-01 -1.52152350e-04 2.57750801e+02] [-2.43192247e-03 2.24262574e-05 9.99997043e-01 -1.52552606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:825.64, Y:257.75, Z:-15.26 [[ 9.98661567e-01 5.16641425e-02 2.42726172e-03 8.25643988e+02] [-5.16639252e-02 9.98664516e-01 -1.52152350e-04 2.57746440e+02] [-2.43188098e-03 2.65468361e-05 9.99997043e-01 -1.52584519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:825.70, Y:257.74, Z:-15.26 [[ 9.98661205e-01 5.16711256e-02 2.42726354e-03 8.25704888e+02] [-5.16709085e-02 9.98664155e-01 -1.52123336e-04 2.57743051e+02] [-2.43188148e-03 2.65007621e-05 9.99997043e-01 -1.52582160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.945336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:825.77, Y:257.74, Z:-15.26 [[ 9.98629878e-01 5.22730869e-02 2.42726354e-03 8.25765559e+02] [-5.22728716e-02 9.98632827e-01 -1.52123336e-04 2.57740189e+02] [-2.43189701e-03 2.50348734e-05 9.99997043e-01 -1.52559336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:825.83, Y:257.74, Z:-15.26 [[ 9.98587541e-01 5.30757092e-02 2.42726354e-03 8.25825768e+02] [-5.30754962e-02 9.98590491e-01 -1.52123336e-04 2.57737457e+02] [-2.43191635e-03 2.30802514e-05 9.99997043e-01 -1.52560752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:825.88, Y:257.73, Z:-15.25 [[ 9.98490933e-01 5.48631563e-02 2.42726354e-03 8.25884607e+02] [-5.48629486e-02 9.98493883e-01 -1.52123336e-04 2.57733060e+02] [-2.43195376e-03 1.87269371e-05 9.99997043e-01 -1.52527106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:825.95, Y:257.73, Z:-15.25 [[ 9.98428938e-01 5.59800397e-02 2.42726709e-03 8.25945089e+02] [-5.59798354e-02 9.98431888e-01 -1.52066639e-04 2.57730352e+02] [-2.43197356e-03 1.59497206e-05 9.99997043e-01 -1.52519217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:826.01, Y:257.73, Z:-15.25 [[ 9.98338434e-01 5.75715244e-02 2.42726709e-03 8.26005549e+02] [-5.75713249e-02 9.98341384e-01 -1.52066639e-04 2.57727629e+02] [-2.43199590e-03 1.20729880e-05 9.99997043e-01 -1.52532002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:826.07, Y:257.73, Z:-15.25 [[ 9.98207812e-01 5.97935888e-02 2.42726709e-03 8.26065683e+02] [-5.97933958e-02 9.98210763e-01 -1.52066639e-04 2.57726288e+02] [-2.43201675e-03 6.65956527e-06 9.99997043e-01 -1.52538521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:826.13, Y:257.72, Z:-15.25 [[ 9.98141620e-01 6.08885424e-02 2.42726709e-03 8.26125278e+02] [-6.08883527e-02 9.98144571e-01 -1.52066639e-04 2.57722625e+02] [-2.43202259e-03 3.99174684e-06 9.99997043e-01 -1.52529644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:826.19, Y:257.72, Z:-15.25 [[ 9.97970032e-01 6.36390056e-02 2.42726892e-03 8.26185332e+02] [-6.36388241e-02 9.97972984e-01 -1.52037492e-04 2.57720435e+02] [-2.43202432e-03 -2.73967860e-06 9.99997043e-01 -1.52501139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:826.24, Y:257.72, Z:-15.25 [[ 9.97804013e-01 6.61910928e-02 2.42727268e-03 8.26244021e+02] [-6.61909189e-02 9.97806965e-01 -1.51977457e-04 2.57718791e+02] [-2.43200914e-03 -9.01969296e-06 9.99997043e-01 -1.52530598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:826.30, Y:257.72, Z:-15.25 [[ 9.97753545e-01 6.69475235e-02 2.42727825e-03 8.26303833e+02] [-6.69473521e-02 9.97756498e-01 -1.51888356e-04 2.57717605e+02] [-2.43200120e-03 -1.09527064e-05 9.99997043e-01 -1.52541124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.545336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:826.36, Y:257.71, Z:-15.25 [[ 9.97810525e-01 6.60928472e-02 2.42728186e-03 8.26362045e+02] [-6.60926735e-02 9.97813477e-01 -1.51830651e-04 2.57714462e+02] [-2.43200948e-03 -8.92732563e-06 9.99997043e-01 -1.52537615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.605336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:826.42, Y:257.71, Z:-15.25 [[ 9.97888095e-01 6.49111568e-02 2.42728531e-03 8.26421313e+02] [-6.49109796e-02 9.97891047e-01 -1.51775462e-04 2.57712871e+02] [-2.43201820e-03 -6.10254089e-06 9.99997043e-01 -1.52536372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:826.48, Y:257.71, Z:-15.25 [[ 9.98035979e-01 6.25962761e-02 2.42728889e-03 8.26481279e+02] [-6.25960922e-02 9.98038930e-01 -1.51718293e-04 2.57711939e+02] [-2.43202581e-03 -5.18484332e-07 9.99997043e-01 -1.52541146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:826.54, Y:257.71, Z:-15.25 [[ 9.98278704e-01 5.85981071e-02 2.42729245e-03 8.26540680e+02] [-5.85979116e-02 9.98281655e-01 -1.51661258e-04 2.57708940e+02] [-2.43200859e-03 9.16593512e-06 9.99997043e-01 -1.52514346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:826.60, Y:257.71, Z:-15.25 [[ 9.98493238e-01 5.48211804e-02 2.42729613e-03 8.26600376e+02] [-5.48209738e-02 9.98496188e-01 -1.51602376e-04 2.57705824e+02] [-2.43195695e-03 1.83072102e-05 9.99997043e-01 -1.52519398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:826.66, Y:257.70, Z:-15.25 [[ 9.98815552e-01 4.85963023e-02 2.42729795e-03 8.26660960e+02] [-4.85960774e-02 9.98818501e-01 -1.51573258e-04 2.57701878e+02] [-2.43179600e-03 3.34365684e-05 9.99997043e-01 -1.52542520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:826.72, Y:257.70, Z:-15.26 [[ 9.98941024e-01 4.59449620e-02 2.42729795e-03 8.26721495e+02] [-4.59447293e-02 9.98943972e-01 -1.51573258e-04 2.57696956e+02] [-2.43169868e-03 3.98911983e-05 9.99997043e-01 -1.52552987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:826.78, Y:257.69, Z:-15.25 [[ 9.99023967e-01 4.41046655e-02 2.42729795e-03 8.26781327e+02] [-4.41044274e-02 9.99026915e-01 -1.51573258e-04 2.57692225e+02] [-2.43162107e-03 4.43707315e-05 9.99997043e-01 -1.52541631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:826.84, Y:257.69, Z:-15.25 [[ 9.99071685e-01 4.30101855e-02 2.42729795e-03 8.26840252e+02] [-4.30099441e-02 9.99074633e-01 -1.51573258e-04 2.57686462e+02] [-2.43157100e-03 4.70346013e-05 9.99997043e-01 -1.52541939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:826.90, Y:257.68, Z:-15.26 [[ 9.99099259e-01 4.23648251e-02 2.42729978e-03 8.26899245e+02] [-4.23645819e-02 9.99102207e-01 -1.51543968e-04 2.57680588e+02] [-2.43154070e-03 4.85759261e-05 9.99997043e-01 -1.52557228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.145336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:826.96, Y:257.67, Z:-15.26 [[ 9.99095534e-01 4.24525785e-02 2.42730155e-03 8.26959868e+02] [-4.24523357e-02 9.99098482e-01 -1.51515627e-04 2.57672859e+02] [-2.43154552e-03 4.83339662e-05 9.99997043e-01 -1.52550755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:827.02, Y:257.66, Z:-15.25 [[ 9.99025132e-01 4.40782590e-02 2.42729979e-03 8.27019596e+02] [-4.40780209e-02 9.99028080e-01 -1.51543666e-04 2.57664113e+02] [-2.43162044e-03 4.44053597e-05 9.99997043e-01 -1.52546134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:827.08, Y:257.66, Z:-15.26 [[ 9.98965326e-01 4.54135053e-02 2.42729979e-03 8.27079827e+02] [-4.54132711e-02 9.98968274e-01 -1.51543666e-04 2.57658155e+02] [-2.43167761e-03 4.11552438e-05 9.99997043e-01 -1.52560677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.325336195 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:827.14, Y:257.65, Z:-15.25 [[ 9.98882489e-01 4.72004402e-02 2.42729798e-03 8.27140179e+02] [-4.72002112e-02 9.98885437e-01 -1.51572808e-04 2.57648618e+02] [-2.43174690e-03 3.68344462e-05 9.99997043e-01 -1.52521484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.385336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:827.20, Y:257.64, Z:-15.25 [[ 9.98828196e-01 4.83357247e-02 2.42729798e-03 8.27200220e+02] [-4.83354990e-02 9.98831145e-01 -1.51572808e-04 2.57640358e+02] [-2.43178720e-03 3.40705350e-05 9.99997043e-01 -1.52525156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:827.26, Y:257.63, Z:-15.25 [[ 9.98750346e-01 4.99184764e-02 2.42728919e-03 8.27260804e+02] [-4.99182551e-02 9.98753295e-01 -1.51713402e-04 2.57630726e+02] [-2.43183638e-03 3.03577721e-05 9.99997043e-01 -1.52537395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:827.32, Y:257.62, Z:-15.25 [[ 9.98711014e-01 5.06992889e-02 2.42728559e-03 8.27322234e+02] [-5.06990698e-02 9.98713964e-01 -1.51770924e-04 2.57622910e+02] [-2.43185869e-03 2.85141719e-05 9.99997043e-01 -1.52522920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:827.38, Y:257.62, Z:-15.25 [[ 9.98717051e-01 5.05802353e-02 2.42728203e-03 8.27381886e+02] [-5.05800157e-02 9.98720000e-01 -1.51827776e-04 2.57616849e+02] [-2.43185460e-03 2.88610258e-05 9.99997043e-01 -1.52520481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:827.44, Y:257.61, Z:-15.25 [[ 9.98705052e-01 5.08166098e-02 2.42728027e-03 8.27442812e+02] [-5.08163908e-02 9.98708001e-01 -1.51855963e-04 2.57606875e+02] [-2.43186103e-03 2.83136950e-05 9.99997043e-01 -1.52509767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:827.50, Y:257.60, Z:-15.25 [[ 9.98658894e-01 5.17157825e-02 2.42727655e-03 8.27504102e+02] [-5.17155660e-02 9.98661843e-01 -1.51915363e-04 2.57599966e+02] [-2.43188490e-03 2.61836474e-05 9.99997043e-01 -1.52510986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:827.57, Y:257.59, Z:-15.25 [[ 9.98507733e-01 5.45565321e-02 2.42727285e-03 8.27565248e+02] [-5.45563239e-02 9.98510683e-01 -1.51974562e-04 2.57591019e+02] [-2.43194907e-03 1.93246923e-05 9.99997043e-01 -1.52511994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:827.63, Y:257.58, Z:-15.25 [[ 9.98301863e-01 5.82022242e-02 2.42724886e-03 8.27626273e+02] [-5.82020258e-02 9.98304814e-01 -1.52356735e-04 2.57584177e+02] [-2.43200172e-03 1.08272119e-05 9.99997043e-01 -1.52505339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.865336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:827.69, Y:257.58, Z:-15.25 [[ 9.98212861e-01 5.97092358e-02 2.42724529e-03 8.27687372e+02] [-5.97090417e-02 9.98215812e-01 -1.52413599e-04 2.57576574e+02] [-2.43201513e-03 7.21272450e-06 9.99997043e-01 -1.52517712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:827.75, Y:257.57, Z:-15.25 [[ 9.98177208e-01 6.03023279e-02 2.42724172e-03 8.27748112e+02] [-6.03021355e-02 9.98180159e-01 -1.52470349e-04 2.57570844e+02] [-2.43201885e-03 5.82456800e-06 9.99997043e-01 -1.52542392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:827.81, Y:257.56, Z:-15.26 [[ 9.98115008e-01 6.13232355e-02 2.42723805e-03 8.27809794e+02] [-6.13230459e-02 9.98117959e-01 -1.52528872e-04 2.57562148e+02] [-2.43202345e-03 3.39572671e-06 9.99997043e-01 -1.52565668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:827.87, Y:257.55, Z:-15.26 [[ 9.98064021e-01 6.21475555e-02 2.42721236e-03 8.27872070e+02] [-6.21473673e-02 9.98066972e-01 -1.52936576e-04 2.57554397e+02] [-2.43202512e-03 1.79563577e-06 9.99997043e-01 -1.52565413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:827.93, Y:257.55, Z:-15.26 [[ 9.97886338e-01 6.49381597e-02 2.42718657e-03 8.27932424e+02] [-6.49379788e-02 9.97889290e-01 -1.53344773e-04 2.57547303e+02] [-2.43202141e-03 -4.59593606e-06 9.99997043e-01 -1.52570399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.165336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:827.99, Y:257.54, Z:-15.26 [[ 9.97612272e-01 6.90207534e-02 2.42717229e-03 8.27994727e+02] [-6.90205840e-02 9.97615224e-01 -1.53570382e-04 2.57540496e+02] [-2.43198357e-03 -1.43211516e-05 9.99997043e-01 -1.52563975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:828.06, Y:257.53, Z:-15.26 [[ 9.97482649e-01 7.08694176e-02 2.42714616e-03 8.28056249e+02] [-7.08692527e-02 9.97485602e-01 -1.53982290e-04 2.57534827e+02] [-2.43195598e-03 -1.84153721e-05 9.99997043e-01 -1.52573235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:828.12, Y:257.53, Z:-15.26 [[ 9.97451936e-01 7.13003833e-02 2.42711998e-03 8.28117167e+02] [-7.13002187e-02 9.97454889e-01 -1.54393812e-04 2.57528282e+02] [-2.43195103e-03 -1.90537786e-05 9.99997043e-01 -1.52601268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.345336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:828.18, Y:257.52, Z:-15.26 [[ 9.97526734e-01 7.02461668e-02 2.42709594e-03 8.28178882e+02] [-7.02459981e-02 9.97529687e-01 -1.54770783e-04 2.57522308e+02] [-2.43197231e-03 -1.61057837e-05 9.99997043e-01 -1.52603821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:828.24, Y:257.52, Z:-15.26 [[ 9.97730272e-01 6.72934871e-02 2.42708666e-03 8.28240292e+02] [-6.72933093e-02 9.97733224e-01 -1.54916295e-04 2.57515282e+02] [-2.43200985e-03 -8.76201549e-06 9.99997043e-01 -1.52588624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:828.30, Y:257.51, Z:-15.26 [[ 9.97825583e-01 6.58651305e-02 2.42706229e-03 8.28303314e+02] [-6.58649476e-02 9.97828535e-01 -1.55297030e-04 2.57509914e+02] [-2.43202067e-03 -4.89898186e-06 9.99997043e-01 -1.52594327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:828.37, Y:257.50, Z:-15.26 [[ 9.97846117e-01 6.55533118e-02 2.42703277e-03 8.28365841e+02] [-6.55531269e-02 9.97849068e-01 -1.55757091e-04 2.57503260e+02] [-2.43202278e-03 -3.67797899e-06 9.99997043e-01 -1.52599308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:828.43, Y:257.50, Z:-15.26 [[ 9.97690420e-01 6.78817696e-02 2.42700254e-03 8.28426490e+02] [-6.78815904e-02 9.97693372e-01 -1.56226652e-04 2.57499755e+02] [-2.43200929e-03 -8.88295833e-06 9.99997043e-01 -1.52626626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.645336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:828.49, Y:257.50, Z:-15.26 [[ 9.97475308e-01 7.09726693e-02 2.42698752e-03 8.28489262e+02] [-7.09724987e-02 9.97478260e-01 -1.56459630e-04 2.57497088e+02] [-2.43197165e-03 -1.61847511e-05 9.99997043e-01 -1.52605375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.705336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:828.55, Y:257.50, Z:-15.26 [[ 9.97125668e-01 7.57265573e-02 2.42695655e-03 8.28550055e+02] [-7.57263996e-02 9.97128621e-01 -1.56938676e-04 2.57495555e+02] [-2.43187226e-03 -2.72970994e-05 9.99997043e-01 -1.52591458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.765336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:828.61, Y:257.49, Z:-15.26 [[ 9.96931854e-01 7.82367415e-02 2.42694184e-03 8.28611926e+02] [-7.82365907e-02 9.96934808e-01 -1.57165806e-04 2.57493036e+02] [-2.43179894e-03 -3.31920572e-05 9.99997043e-01 -1.52580142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:828.67, Y:257.49, Z:-15.26 [[ 9.96844693e-01 7.93395800e-02 2.42691562e-03 8.28673702e+02] [-7.93394315e-02 9.96847646e-01 -1.57569572e-04 2.57493379e+02] [-2.43176663e-03 -3.54777143e-05 9.99997043e-01 -1.52584635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:828.73, Y:257.49, Z:-15.26 [[ 9.97002026e-01 7.73373818e-02 2.42691181e-03 8.28734864e+02] [-7.73372272e-02 9.97004979e-01 -1.57628325e-04 2.57492443e+02] [-2.43183372e-03 -3.05348709e-05 9.99997043e-01 -1.52579670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:828.80, Y:257.49, Z:-15.26 [[ 9.97144205e-01 7.54820812e-02 2.42690804e-03 8.28796202e+02] [-7.54819210e-02 9.97147158e-01 -1.57686375e-04 2.57490142e+02] [-2.43188695e-03 -2.59516251e-05 9.99997043e-01 -1.52581121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:828.86, Y:257.49, Z:-15.26 [[ 9.97190979e-01 7.48616171e-02 2.42690430e-03 8.28857463e+02] [-7.48614549e-02 9.97193932e-01 -1.57743920e-04 2.57490699e+02] [-2.43190320e-03 -2.43807721e-05 9.99997043e-01 -1.52586389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:828.92, Y:257.49, Z:-15.26 [[ 9.97073834e-01 7.64060245e-02 2.42690054e-03 8.28918646e+02] [-7.64058668e-02 9.97076787e-01 -1.57801642e-04 2.57491474e+02] [-2.43186319e-03 -2.80895513e-05 9.99997043e-01 -1.52604740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:828.98, Y:257.49, Z:-15.26 [[ 9.97037947e-01 7.68729018e-02 2.42690013e-03 8.28978628e+02] [-7.68727454e-02 9.97040900e-01 -1.57807955e-04 2.57490100e+02] [-2.43184985e-03 -2.92219561e-05 9.99997043e-01 -1.52609543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:829.04, Y:257.49, Z:-15.26 [[ 9.97108031e-01 7.59584430e-02 2.42689825e-03 8.29040504e+02] [-7.59582838e-02 9.97110984e-01 -1.57836890e-04 2.57490735e+02] [-2.43187595e-03 -2.69625955e-05 9.99997043e-01 -1.52588532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:829.10, Y:257.49, Z:-15.26 [[ 9.97202738e-01 7.47048152e-02 2.42689456e-03 8.29100735e+02] [-7.47046521e-02 9.97205691e-01 -1.57893597e-04 2.57489836e+02] [-2.43190848e-03 -2.38483864e-05 9.99997043e-01 -1.52582712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.305336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:829.16, Y:257.49, Z:-15.26 [[ 9.97336778e-01 7.28935004e-02 2.42689456e-03 8.29161120e+02] [-7.28933320e-02 9.97339730e-01 -1.57893597e-04 2.57488658e+02] [-2.43194778e-03 -1.94313394e-05 9.99997043e-01 -1.52582754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:829.22, Y:257.49, Z:-15.27 [[ 9.97390737e-01 7.21514259e-02 2.42689456e-03 8.29221118e+02] [-7.21512553e-02 9.97393689e-01 -1.57893597e-04 2.57488509e+02] [-2.43196157e-03 -1.76218779e-05 9.99997043e-01 -1.52650215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:829.28, Y:257.49, Z:-15.27 [[ 9.97440457e-01 7.14607983e-02 2.42689650e-03 8.29281607e+02] [-7.14606258e-02 9.97443409e-01 -1.57863809e-04 2.57490275e+02] [-2.43197299e-03 -1.59677923e-05 9.99997043e-01 -1.52693602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:829.34, Y:257.49, Z:-15.27 [[ 9.97545576e-01 6.99780975e-02 2.42689650e-03 8.29342127e+02] [-6.99779205e-02 9.97548528e-01 -1.57863809e-04 2.57488339e+02] [-2.43199404e-03 -1.23528256e-05 9.99997043e-01 -1.52656984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:829.40, Y:257.49, Z:-15.26 [[ 9.97805341e-01 6.61710833e-02 2.42689650e-03 8.29402678e+02] [-6.61708950e-02 9.97808292e-01 -1.57863809e-04 2.57487916e+02] [-2.43202347e-03 -3.07256136e-06 9.99997043e-01 -1.52640311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.605336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:829.46, Y:257.49, Z:-15.26 [[ 9.98077200e-01 6.19355532e-02 2.42689463e-03 8.29462653e+02] [-6.19353524e-02 9.98080151e-01 -1.57892551e-04 2.57485474e+02] [-2.43201452e-03 7.27838110e-06 9.99997043e-01 -1.52631640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:829.52, Y:257.48, Z:-15.26 [[ 9.98262840e-01 5.88677484e-02 2.42689463e-03 8.29523009e+02] [-5.88675385e-02 9.98265790e-01 -1.57892551e-04 2.57482866e+02] [-2.43198066e-03 1.47529531e-05 9.99997043e-01 -1.52625579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:829.58, Y:257.48, Z:-15.26 [[ 9.98484548e-01 5.49792468e-02 2.42689463e-03 8.29583618e+02] [-5.49790254e-02 9.98487497e-01 -1.57892551e-04 2.57478514e+02] [-2.43190476e-03 2.42249708e-05 9.99997043e-01 -1.52649057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:829.64, Y:257.47, Z:-15.26 [[ 9.98548709e-01 5.38013624e-02 2.42688442e-03 8.29644160e+02] [-5.38011372e-02 9.98551657e-01 -1.58049277e-04 2.57473727e+02] [-2.43187273e-03 2.72507602e-05 9.99997043e-01 -1.52648485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:829.70, Y:257.47, Z:-15.27 [[ 9.98628034e-01 5.23083237e-02 2.42688442e-03 8.29704676e+02] [-5.23080940e-02 9.98630982e-01 -1.58049278e-04 2.57467027e+02] [-2.43182927e-03 3.08867407e-05 9.99997043e-01 -1.52689140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:829.77, Y:257.46, Z:-15.27 [[ 9.98605813e-01 5.27308226e-02 2.42688061e-03 8.29765534e+02] [-5.27305940e-02 9.98608762e-01 -1.58107792e-04 2.57461300e+02] [-2.43184140e-03 2.99165043e-05 9.99997043e-01 -1.52674760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.965336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:829.83, Y:257.45, Z:-15.27 [[ 9.98426954e-01 5.60154289e-02 2.42687687e-03 8.29826379e+02] [-5.60152100e-02 9.98429903e-01 -1.58165252e-04 2.57453155e+02] [-2.43192613e-03 2.19744339e-05 9.99997043e-01 -1.52655358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:829.89, Y:257.45, Z:-15.26 [[ 9.98261551e-01 5.88896145e-02 2.42687307e-03 8.29886650e+02] [-5.88894038e-02 9.98264501e-01 -1.58223482e-04 2.57448007e+02] [-2.43197895e-03 1.50313105e-05 9.99997043e-01 -1.52639811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:829.95, Y:257.44, Z:-15.27 [[ 9.97951554e-01 6.39281358e-02 2.42687115e-03 8.29946391e+02] [-6.39279399e-02 9.97954505e-01 -1.58252892e-04 2.57440992e+02] [-2.43202381e-03 2.78384614e-06 9.99997043e-01 -1.52656350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:830.01, Y:257.44, Z:-15.27 [[ 9.97764918e-01 6.67778243e-02 2.42686923e-03 8.30006200e+02] [-6.67776369e-02 9.97767870e-01 -1.58282317e-04 2.57436343e+02] [-2.43202189e-03 -4.13204922e-06 9.99997043e-01 -1.52666964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.205336195 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:830.07, Y:257.43, Z:-15.27 [[ 9.97563590e-01 6.97208260e-02 2.42687109e-03 8.30066823e+02] [-6.97206473e-02 9.97566542e-01 -1.58253820e-04 2.57429260e+02] [-2.43199899e-03 -1.13347741e-05 9.99997043e-01 -1.52655141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.265336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:830.13, Y:257.42, Z:-15.27 [[ 9.97503661e-01 7.05730517e-02 2.42687109e-03 8.30126619e+02] [-7.05728755e-02 9.97506614e-01 -1.58253820e-04 2.57424523e+02] [-2.43198842e-03 -1.34125060e-05 9.99997043e-01 -1.52670107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:830.19, Y:257.42, Z:-15.26 [[ 9.97366254e-01 7.24890703e-02 2.42686915e-03 8.30186997e+02] [-7.24888997e-02 9.97369207e-01 -1.58283540e-04 2.57420680e+02] [-2.43195839e-03 -1.80544133e-05 9.99997043e-01 -1.52647726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:830.25, Y:257.42, Z:-15.26 [[ 9.97049898e-01 7.67177362e-02 2.42686915e-03 8.30246081e+02] [-7.67175782e-02 9.97052851e-01 -1.58283540e-04 2.57419029e+02] [-2.43185996e-03 -2.83669365e-05 9.99997043e-01 -1.52638816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.445336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:830.31, Y:257.41, Z:-15.26 [[ 9.96913053e-01 7.84759460e-02 2.42687102e-03 8.30306772e+02] [-7.84757932e-02 9.96916007e-01 -1.58254881e-04 2.57414888e+02] [-2.43180577e-03 -3.26842716e-05 9.99997043e-01 -1.52621631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:830.37, Y:257.41, Z:-15.27 [[ 9.96937714e-01 7.81620437e-02 2.42687102e-03 8.30366678e+02] [-7.81618900e-02 9.96940667e-01 -1.58254881e-04 2.57411591e+02] [-2.43181594e-03 -3.19185662e-05 9.99997043e-01 -1.52689231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:830.43, Y:257.41, Z:-15.26 [[ 9.97004489e-01 7.73056246e-02 2.42686911e-03 8.30427348e+02] [-7.73054683e-02 9.97007442e-01 -1.58284243e-04 2.57408163e+02] [-2.43184282e-03 -2.98001515e-05 9.99997043e-01 -1.52643536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:830.49, Y:257.41, Z:-15.26 [[ 9.96995668e-01 7.74193046e-02 2.42686911e-03 8.30486925e+02] [-7.74191486e-02 9.96998621e-01 -1.58284244e-04 2.57405595e+02] [-2.43183941e-03 -3.00774349e-05 9.99997043e-01 -1.52645085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:830.55, Y:257.40, Z:-15.26 [[ 9.96858342e-01 7.91678977e-02 2.42686691e-03 8.30547349e+02] [-7.91677468e-02 9.96861296e-01 -1.58317943e-04 2.57403583e+02] [-2.43178339e-03 -3.43090224e-05 9.99997043e-01 -1.52636132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:830.61, Y:257.40, Z:-15.26 [[ 9.96817773e-01 7.96770812e-02 2.42686691e-03 8.30608023e+02] [-7.96769319e-02 9.96820727e-01 -1.58317943e-04 2.57401676e+02] [-2.43176555e-03 -3.55511695e-05 9.99997043e-01 -1.52649122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:830.67, Y:257.40, Z:-15.26 [[ 9.96847534e-01 7.93038672e-02 2.42686691e-03 8.30668456e+02] [-7.93037167e-02 9.96850488e-01 -1.58317943e-04 2.57399408e+02] [-2.43177869e-03 -3.46407142e-05 9.99997043e-01 -1.52646613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:830.73, Y:257.40, Z:-15.26 [[ 9.97094280e-01 7.61387295e-02 2.42686691e-03 8.30727847e+02] [-7.61385696e-02 9.97097234e-01 -1.58317943e-04 2.57396932e+02] [-2.43187641e-03 -2.69202592e-05 9.99997043e-01 -1.52645179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.925336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:830.79, Y:257.39, Z:-15.26 [[ 9.97421203e-01 7.17290294e-02 2.42686882e-03 8.30788655e+02] [-7.17288565e-02 9.97424156e-01 -1.58288659e-04 2.57393317e+02] [-2.43197147e-03 -1.61960609e-05 9.99997043e-01 -1.52595543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:830.85, Y:257.39, Z:-15.26 [[ 9.97531634e-01 7.01765547e-02 2.42686882e-03 8.30849437e+02] [-7.01763773e-02 9.97534586e-01 -1.58288659e-04 2.57390141e+02] [-2.43199373e-03 -1.24109174e-05 9.99997043e-01 -1.52582180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:830.91, Y:257.39, Z:-15.26 [[ 9.97532289e-01 7.01672547e-02 2.42686882e-03 8.30908599e+02] [-7.01670773e-02 9.97535241e-01 -1.58288659e-04 2.57387097e+02] [-2.43199385e-03 -1.23882438e-05 9.99997043e-01 -1.52585431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.105336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:830.97, Y:257.38, Z:-15.26 [[ 9.97510072e-01 7.04823893e-02 2.42686680e-03 8.30968680e+02] [-7.04822127e-02 9.97513024e-01 -1.58319538e-04 2.57383815e+02] [-2.43198998e-03 -1.31256086e-05 9.99997043e-01 -1.52601718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:831.03, Y:257.38, Z:-15.26 [[ 9.97539391e-01 7.00662102e-02 2.42686680e-03 8.31028039e+02] [-7.00660324e-02 9.97542343e-01 -1.58319538e-04 2.57379988e+02] [-2.43199525e-03 -1.21109525e-05 9.99997043e-01 -1.52633025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.225336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:831.09, Y:257.38, Z:-15.26 [[ 9.97566708e-01 6.96762047e-02 2.42686861e-03 8.31088200e+02] [-6.96760258e-02 9.97569660e-01 -1.58291829e-04 2.57375966e+02] [-2.43199967e-03 -1.11879011e-05 9.99997043e-01 -1.52609877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:831.15, Y:257.37, Z:-15.26 [[ 9.97630628e-01 6.87549256e-02 2.42686861e-03 8.31148602e+02] [-6.87547440e-02 9.97633580e-01 -1.58291829e-04 2.57370967e+02] [-2.43200896e-03 -8.94195306e-06 9.99997043e-01 -1.52616908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:831.21, Y:257.37, Z:-15.26 [[ 9.97696187e-01 6.77969739e-02 2.42686861e-03 8.31207597e+02] [-6.77967894e-02 9.97699138e-01 -1.58291829e-04 2.57367024e+02] [-2.43201643e-03 -6.60674579e-06 9.99997043e-01 -1.52617732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:831.27, Y:257.36, Z:-15.26 [[ 9.97713980e-01 6.75346114e-02 2.42687048e-03 8.31268301e+02] [-6.75344262e-02 9.97716932e-01 -1.58263196e-04 2.57361895e+02] [-2.43201801e-03 -5.99590167e-06 9.99997043e-01 -1.52586597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:831.33, Y:257.36, Z:-15.26 [[ 9.97709386e-01 6.76024520e-02 2.42687048e-03 8.31327967e+02] [-6.76022670e-02 9.97712338e-01 -1.58263196e-04 2.57356693e+02] [-2.43201760e-03 -6.16126975e-06 9.99997043e-01 -1.52605588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:831.39, Y:257.35, Z:-15.26 [[ 9.97577555e-01 6.95207281e-02 2.42687237e-03 8.31388471e+02] [-6.95205488e-02 9.97580507e-01 -1.58234214e-04 2.57352068e+02] [-2.43200112e-03 -1.08665989e-05 9.99997043e-01 -1.52601655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:831.45, Y:257.35, Z:-15.27 [[ 9.97145917e-01 7.54594581e-02 2.42687237e-03 8.31447553e+02] [-7.54592965e-02 9.97148870e-01 -1.58234214e-04 2.57349877e+02] [-2.43189331e-03 -2.53474815e-05 9.99997043e-01 -1.52653478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:831.51, Y:257.35, Z:-15.26 [[ 9.96732618e-01 8.07353555e-02 2.42687429e-03 8.31507010e+02] [-8.07352096e-02 9.96735572e-01 -1.58204648e-04 2.57347884e+02] [-2.43172465e-03 -3.82464719e-05 9.99997043e-01 -1.52609947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:831.57, Y:257.35, Z:-15.26 [[ 9.96600238e-01 8.23533582e-02 2.42687818e-03 8.31565889e+02] [-8.23532172e-02 9.96603192e-01 -1.58145055e-04 2.57345766e+02] [-2.43165831e-03 -4.22538263e-05 9.99997043e-01 -1.52610807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:831.63, Y:257.35, Z:-15.26 [[ 9.96383612e-01 8.49341351e-02 2.42688391e-03 8.31625486e+02] [-8.49340019e-02 9.96386567e-01 -1.58056982e-04 2.57345385e+02] [-2.43153896e-03 -4.86395763e-05 9.99997043e-01 -1.52610169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:831.69, Y:257.35, Z:-15.26 [[ 9.96287922e-01 8.60493300e-02 2.42688207e-03 8.31685227e+02] [-8.60492001e-02 9.96290876e-01 -1.58085282e-04 2.57347614e+02] [-2.43148360e-03 -5.13328038e-05 9.99997043e-01 -1.52606303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:831.74, Y:257.35, Z:-15.26 [[ 9.96449491e-01 8.41577275e-02 2.42688587e-03 8.31744435e+02] [-8.41575921e-02 9.96452445e-01 -1.58026857e-04 2.57347015e+02] [-2.43157554e-03 -4.67750905e-05 9.99997043e-01 -1.52605013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:831.80, Y:257.35, Z:-15.26 [[ 9.96876432e-01 7.89397781e-02 2.42689153e-03 8.31802959e+02] [-7.89396275e-02 9.96879386e-01 -1.57939909e-04 2.57349963e+02] [-2.43178588e-03 -3.41313410e-05 9.99997043e-01 -1.52605842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:831.86, Y:257.35, Z:-15.26 [[ 9.97416393e-01 7.17958830e-02 2.42689712e-03 8.31862445e+02] [-7.17957114e-02 9.97419346e-01 -1.57854062e-04 2.57350660e+02] [-2.43196741e-03 -1.67945755e-05 9.99997043e-01 -1.52598352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.065336195 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:831.92, Y:257.35, Z:-15.26 [[ 9.97814552e-01 6.60320310e-02 2.42690081e-03 8.31922506e+02] [-6.60318426e-02 9.97817504e-01 -1.57797276e-04 2.57349248e+02] [-2.43202378e-03 -2.80031410e-06 9.99997043e-01 -1.52613980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:831.98, Y:257.35, Z:-15.26 [[ 9.98297693e-01 5.82737139e-02 2.42690448e-03 8.31981478e+02] [-5.82735026e-02 9.98300643e-01 -1.57740761e-04 2.57346672e+02] [-2.43197245e-03 1.60480128e-05 9.99997043e-01 -1.52629944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:832.04, Y:257.34, Z:-15.26 [[ 9.98563831e-01 5.35199607e-02 2.42690629e-03 8.32042350e+02] [-5.35197355e-02 9.98566779e-01 -1.57712986e-04 2.57343374e+02] [-2.43186879e-03 2.75991013e-05 9.99997043e-01 -1.52607059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.245336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:832.10, Y:257.34, Z:-15.26 [[ 9.98850770e-01 4.78670007e-02 2.42690629e-03 8.32102002e+02] [-4.78667588e-02 9.98853717e-01 -1.57712986e-04 2.57339769e+02] [-2.43167361e-03 4.13635999e-05 9.99997043e-01 -1.52639595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:832.16, Y:257.33, Z:-15.26 [[ 9.98993176e-01 4.47966958e-02 2.42690820e-03 8.32162504e+02] [-4.47964448e-02 9.98996123e-01 -1.57683603e-04 2.57332991e+02] [-2.43153558e-03 4.88079845e-05 9.99997043e-01 -1.52634825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:832.22, Y:257.33, Z:-15.26 [[ 9.99032121e-01 4.39195960e-02 2.42690820e-03 8.32222383e+02] [-4.39193425e-02 9.99035068e-01 -1.57683603e-04 2.57327188e+02] [-2.43149179e-03 5.09427723e-05 9.99997043e-01 -1.52619742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:832.28, Y:257.32, Z:-15.26 [[ 9.99012082e-01 4.43730833e-02 2.42690820e-03 8.32282395e+02] [-4.43728311e-02 9.99015028e-01 -1.57683603e-04 2.57320656e+02] [-2.43151467e-03 4.98390371e-05 9.99997043e-01 -1.52618791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:832.34, Y:257.31, Z:-15.26 [[ 9.98878500e-01 4.72848015e-02 2.42689935e-03 8.32342468e+02] [-4.72845576e-02 9.98881447e-01 -1.57819667e-04 2.57314399e+02] [-2.43164720e-03 4.28878104e-05 9.99997043e-01 -1.52621784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.545336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:832.40, Y:257.31, Z:-15.26 [[ 9.98690226e-01 5.11071657e-02 2.42689935e-03 8.32401572e+02] [-5.11069330e-02 9.98693174e-01 -1.57819667e-04 2.57306893e+02] [-2.43179353e-03 3.35815766e-05 9.99997043e-01 -1.52625304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.605336195 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:832.46, Y:257.30, Z:-15.26 [[ 9.98541152e-01 5.39414373e-02 2.42690118e-03 8.32461591e+02] [-5.39412131e-02 9.98544100e-01 -1.57791449e-04 2.57301980e+02] [-2.43187936e-03 2.66512609e-05 9.99997043e-01 -1.52609957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:832.52, Y:257.29, Z:-15.26 [[ 9.98270446e-01 5.87386348e-02 2.42690118e-03 8.32521930e+02] [-5.87384247e-02 9.98273396e-01 -1.57791449e-04 2.57292727e+02] [-2.43197934e-03 1.49661873e-05 9.99997043e-01 -1.52604805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.725336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:832.58, Y:257.29, Z:-15.26 [[ 9.98214640e-01 5.96795028e-02 2.42690118e-03 8.32581501e+02] [-5.96792956e-02 9.98217590e-01 -1.57791449e-04 2.57287030e+02] [-2.43199236e-03 1.26739810e-05 9.99997043e-01 -1.52614310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:832.64, Y:257.28, Z:-15.27 [[ 9.98284287e-01 5.85029222e-02 2.42690310e-03 8.32640229e+02] [-5.85027115e-02 9.98287237e-01 -1.57761919e-04 2.57278950e+02] [-2.43197593e-03 1.55108324e-05 9.99997043e-01 -1.52666824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.845336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:832.70, Y:257.27, Z:-15.26 [[ 9.98403520e-01 5.64315676e-02 2.42690061e-03 8.32700488e+02] [-5.64313508e-02 9.98406469e-01 -1.57800277e-04 2.57269306e+02] [-2.43193818e-03 2.05950721e-05 9.99997043e-01 -1.52626381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:832.76, Y:257.26, Z:-15.26 [[ 9.98415651e-01 5.62165234e-02 2.42690061e-03 8.32761863e+02] [-5.62163059e-02 9.98418601e-01 -1.57800277e-04 2.57260318e+02] [-2.43193369e-03 2.11188790e-05 9.99997043e-01 -1.52628489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:832.82, Y:257.25, Z:-15.26 [[ 9.98417844e-01 5.61775603e-02 2.42689673e-03 8.32822105e+02] [-5.61773426e-02 9.98420794e-01 -1.57859911e-04 2.57248750e+02] [-2.43193234e-03 2.12735435e-05 9.99997043e-01 -1.52636796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:832.88, Y:257.24, Z:-15.26 [[ 9.98399534e-01 5.65020418e-02 2.42688190e-03 8.32883123e+02] [-5.65018244e-02 9.98402483e-01 -1.58087593e-04 2.57240620e+02] [-2.43193719e-03 2.07113239e-05 9.99997043e-01 -1.52591113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:832.94, Y:257.23, Z:-15.26 [[ 9.98336943e-01 5.75973869e-02 2.42687819e-03 8.32944136e+02] [-5.75971726e-02 9.98339892e-01 -1.58144452e-04 2.57228171e+02] [-2.43195802e-03 1.81001260e-05 9.99997043e-01 -1.52589973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.145336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:833.01, Y:257.22, Z:-15.26 [[ 9.98210931e-01 5.97415136e-02 2.42685201e-03 8.33005580e+02] [-5.97413047e-02 9.98213881e-01 -1.58545176e-04 2.57220345e+02] [-2.43198910e-03 1.32782220e-05 9.99997043e-01 -1.52593263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:833.07, Y:257.21, Z:-15.26 [[ 9.97867689e-01 6.52241172e-02 2.42682574e-03 8.33066824e+02] [-6.52239235e-02 9.97870640e-01 -1.58946378e-04 2.57208684e+02] [-2.43202529e-03 3.20358240e-07 9.99997043e-01 -1.52587040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:833.13, Y:257.20, Z:-15.26 [[ 9.97302986e-01 7.33543808e-02 2.42679890e-03 8.33127989e+02] [-7.33542102e-02 9.97305938e-01 -1.59355073e-04 2.57200175e+02] [-2.43195035e-03 -1.90906264e-05 9.99997043e-01 -1.52599471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:833.19, Y:257.19, Z:-15.26 [[ 9.96876239e-01 7.89422306e-02 2.42677400e-03 8.33189331e+02] [-7.89420756e-02 9.96879192e-01 -1.59733428e-04 2.57194137e+02] [-2.43181021e-03 -3.23401170e-05 9.99997043e-01 -1.52599080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:833.25, Y:257.19, Z:-15.26 [[ 9.96273293e-01 8.62185440e-02 2.42677015e-03 8.33249331e+02] [-8.62184104e-02 9.96276247e-01 -1.59791800e-04 2.57189391e+02] [-2.43151048e-03 -5.00359625e-05 9.99997043e-01 -1.52617128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:833.31, Y:257.18, Z:-15.26 [[ 9.95903130e-01 9.03939524e-02 2.42676826e-03 8.33310855e+02] [-9.03938312e-02 9.95906085e-01 -1.59820592e-04 2.57184954e+02] [-2.43128009e-03 -6.01990525e-05 9.99997043e-01 -1.52625624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:833.37, Y:257.18, Z:-15.26 [[ 9.95584403e-01 9.38392596e-02 2.42676452e-03 8.33372205e+02] [-9.38391485e-02 9.95587359e-01 -1.59877327e-04 2.57184775e+02] [-2.43105885e-03 -6.85541428e-05 9.99997043e-01 -1.52624653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:833.43, Y:257.18, Z:-15.26 [[ 9.95533778e-01 9.43748235e-02 2.42676080e-03 8.33433159e+02] [-9.43747138e-02 9.95536734e-01 -1.59933713e-04 2.57181917e+02] [-2.43102324e-03 -6.98054421e-05 9.99997043e-01 -1.52608421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:833.49, Y:257.18, Z:-15.26 [[ 9.95592432e-01 9.37540370e-02 2.42675691e-03 8.33494839e+02] [-9.37539253e-02 9.95595388e-01 -1.59992731e-04 2.57181520e+02] [-2.43106795e-03 -6.82304337e-05 9.99997043e-01 -1.52600781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:833.56, Y:257.18, Z:-15.26 [[ 9.95719928e-01 9.23901236e-02 2.42675297e-03 8.33555863e+02] [-9.23900077e-02 9.95722884e-01 -1.60052474e-04 2.57179586e+02] [-2.43116073e-03 -6.48402872e-05 9.99997043e-01 -1.52604649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:833.62, Y:257.18, Z:-15.26 [[ 9.96159478e-01 8.75237380e-02 2.42672766e-03 8.33617442e+02] [-8.75236067e-02 9.96162433e-01 -1.60435274e-04 2.57178485e+02] [-2.43145683e-03 -5.25768391e-05 9.99997043e-01 -1.52624725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:833.68, Y:257.18, Z:-15.27 [[ 9.96446757e-01 8.41900891e-02 2.42672379e-03 8.33679112e+02] [-8.41899478e-02 9.96449711e-01 -1.60493789e-04 2.57176284e+02] [-2.43162021e-03 -4.43822343e-05 9.99997043e-01 -1.52655048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:833.74, Y:257.18, Z:-15.27 [[ 9.96793500e-01 7.99801762e-02 2.42671990e-03 8.33739964e+02] [-7.99800223e-02 9.96796454e-01 -1.60552591e-04 2.57175671e+02] [-2.43178682e-03 -3.40513328e-05 9.99997043e-01 -1.52687245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:833.80, Y:257.17, Z:-15.27 [[ 9.97049737e-01 7.67198292e-02 2.42669477e-03 8.33801602e+02] [-7.67196647e-02 9.97052690e-01 -1.60931575e-04 2.57172322e+02] [-2.43188919e-03 -2.57184248e-05 9.99997043e-01 -1.52688285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.9853361950001 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:833.86, Y:257.17, Z:-15.27 [[ 9.97167063e-01 7.51795210e-02 2.42669083e-03 8.33862010e+02] [-7.51793518e-02 9.97170015e-01 -1.60990922e-04 2.57170091e+02] [-2.43192656e-03 -2.19021995e-05 9.99997043e-01 -1.52694716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.045336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:833.92, Y:257.17, Z:-15.26 [[ 9.97262185e-01 7.39070114e-02 2.42668888e-03 8.33922145e+02] [-7.39068384e-02 9.97265137e-01 -1.61020326e-04 2.57168923e+02] [-2.43195275e-03 -1.87694210e-05 9.99997043e-01 -1.52648129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.105336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:833.98, Y:257.16, Z:-15.26 [[ 9.97175649e-01 7.50655503e-02 2.42668888e-03 8.33982470e+02] [-7.50653807e-02 9.97178601e-01 -1.61020326e-04 2.57164661e+02] [-2.43192930e-03 -2.15947770e-05 9.99997043e-01 -1.52638661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.165336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:834.04, Y:257.17, Z:-15.26 [[ 9.96925370e-01 7.83193317e-02 2.42668695e-03 8.34043368e+02] [-7.83191716e-02 9.96928323e-01 -1.61049425e-04 2.57165016e+02] [-2.43184624e-03 -2.95018539e-05 9.99997043e-01 -1.52627419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:834.10, Y:257.16, Z:-15.26 [[ 9.96709300e-01 8.10227224e-02 2.42668695e-03 8.34103384e+02] [-8.10225704e-02 9.96712254e-01 -1.61049425e-04 2.57162842e+02] [-2.43175728e-03 -3.60969543e-05 9.99997043e-01 -1.52646307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:834.16, Y:257.16, Z:-15.27 [[ 9.96549956e-01 8.29596097e-02 2.42668695e-03 8.34163346e+02] [-8.29594634e-02 9.96552910e-01 -1.61049425e-04 2.57161149e+02] [-2.43168254e-03 -4.08228497e-05 9.99997043e-01 -1.52676358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.345336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:834.22, Y:257.16, Z:-15.27 [[ 9.96575763e-01 8.26490203e-02 2.42668886e-03 8.34223944e+02] [-8.26488732e-02 9.96578716e-01 -1.61020639e-04 2.57158767e+02] [-2.43169467e-03 -4.00938340e-05 9.99997043e-01 -1.52665863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.405336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:834.28, Y:257.16, Z:-15.27 [[ 9.96745947e-01 8.05706433e-02 2.42668886e-03 8.34284110e+02] [-8.05704900e-02 9.96748900e-01 -1.61020639e-04 2.57156367e+02] [-2.43177299e-03 -3.50228414e-05 9.99997043e-01 -1.52671460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.465336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:834.34, Y:257.15, Z:-15.27 [[ 9.97030179e-01 7.69735936e-02 2.42668886e-03 8.34344231e+02] [-7.69734296e-02 9.97033131e-01 -1.61020639e-04 2.57152208e+02] [-2.43188353e-03 -2.62481279e-05 9.99997043e-01 -1.52694701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:834.40, Y:257.15, Z:-15.27 [[ 9.97198173e-01 7.47657405e-02 2.42667868e-03 8.34404150e+02] [-7.47655697e-02 9.97201125e-01 -1.61173955e-04 2.57148547e+02] [-2.43193700e-03 -2.07096408e-05 9.99997043e-01 -1.52700627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:834.46, Y:257.14, Z:-15.27 [[ 9.97325848e-01 7.30428870e-02 2.42667868e-03 8.34464122e+02] [-7.30427111e-02 9.97328801e-01 -1.61173955e-04 2.57144449e+02] [-2.43196915e-03 -1.65082386e-05 9.99997043e-01 -1.52695379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:834.52, Y:257.14, Z:-15.27 [[ 9.97315807e-01 7.31798645e-02 2.42666998e-03 8.34523961e+02] [-7.31796886e-02 9.97318759e-01 -1.61304808e-04 2.57140313e+02] [-2.43196776e-03 -1.67111186e-05 9.99997043e-01 -1.52704758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:834.58, Y:257.14, Z:-15.27 [[ 9.97248593e-01 7.40901864e-02 2.42666117e-03 8.34584132e+02] [-7.40900129e-02 9.97251545e-01 -1.61437199e-04 2.57137888e+02] [-2.43195252e-03 -1.87983384e-05 9.99997043e-01 -1.52679700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.765336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:834.64, Y:257.14, Z:-15.26 [[ 9.97112509e-01 7.58996381e-02 2.42666117e-03 8.34643862e+02] [-7.58994700e-02 9.97115462e-01 -1.61437199e-04 2.57136188e+02] [-2.43191440e-03 -2.32112467e-05 9.99997043e-01 -1.52649040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:834.70, Y:257.13, Z:-15.26 [[ 9.97021077e-01 7.70913916e-02 2.42666309e-03 8.34703613e+02] [-7.70912271e-02 9.97024030e-01 -1.61408298e-04 2.57133376e+02] [-2.43188461e-03 -2.61469608e-05 9.99997043e-01 -1.52621427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:834.76, Y:257.13, Z:-15.26 [[ 9.96961640e-01 7.78562777e-02 2.42666498e-03 8.34763004e+02] [-7.78561155e-02 9.96964593e-01 -1.61379890e-04 2.57132453e+02] [-2.43186351e-03 -2.80411498e-05 9.99997043e-01 -1.52636304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.945336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:834.82, Y:257.13, Z:-15.27 [[ 9.96925953e-01 7.83119068e-02 2.42666881e-03 8.34823970e+02] [-7.83117461e-02 9.96928906e-01 -1.61322305e-04 2.57131295e+02] [-2.43184974e-03 -2.92102797e-05 9.99997043e-01 -1.52655409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:834.88, Y:257.13, Z:-15.27 [[ 9.96943299e-01 7.80907834e-02 2.42666881e-03 8.34883486e+02] [-7.80906220e-02 9.96946252e-01 -1.61322305e-04 2.57129223e+02] [-2.43185616e-03 -2.86708865e-05 9.99997043e-01 -1.52663417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:834.94, Y:257.13, Z:-15.27 [[ 9.97060357e-01 7.65816881e-02 2.42667280e-03 8.34943429e+02] [-7.65815224e-02 9.97063310e-01 -1.61262288e-04 2.57128107e+02] [-2.43189615e-03 -2.50500631e-05 9.99997043e-01 -1.52690864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:835.00, Y:257.13, Z:-15.27 [[ 9.97156172e-01 7.53238396e-02 2.42667477e-03 8.35003963e+02] [-7.53236702e-02 9.97159124e-01 -1.61232614e-04 2.57126364e+02] [-2.43192555e-03 -2.20119542e-05 9.99997043e-01 -1.52680157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:835.06, Y:257.12, Z:-15.27 [[ 9.97191485e-01 7.48548887e-02 2.42667477e-03 8.35063690e+02] [-7.48547180e-02 9.97194437e-01 -1.61232614e-04 2.57123731e+02] [-2.43193563e-03 -2.08682661e-05 9.99997043e-01 -1.52670106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:835.12, Y:257.12, Z:-15.27 [[ 9.97133800e-01 7.56194106e-02 2.42667869e-03 8.35122895e+02] [-7.56192422e-02 9.97136753e-01 -1.61173635e-04 2.57122509e+02] [-2.43191836e-03 -2.27919248e-05 9.99997043e-01 -1.52698313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:835.18, Y:257.12, Z:-15.27 [[ 9.97027501e-01 7.70082657e-02 2.42668257e-03 8.35182821e+02] [-7.70081017e-02 9.97030454e-01 -1.61115202e-04 2.57122540e+02] [-2.43188363e-03 -2.62379313e-05 9.99997043e-01 -1.52708840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:835.24, Y:257.12, Z:-15.27 [[ 9.97058103e-01 7.66110363e-02 2.42668641e-03 8.35241945e+02] [-7.66108712e-02 9.97061056e-01 -1.61057301e-04 2.57122820e+02] [-2.43189328e-03 -2.53270731e-05 9.99997043e-01 -1.52701799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.425336195 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:835.30, Y:257.12, Z:-15.27 [[ 9.97233952e-01 7.42869875e-02 2.42669112e-03 8.35301417e+02] [-7.42868157e-02 9.97236904e-01 -1.60986363e-04 2.57119577e+02] [-2.43194513e-03 -1.97300883e-05 9.99997043e-01 -1.52706496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:835.36, Y:257.12, Z:-15.27 [[ 9.97573214e-01 6.95829929e-02 2.42669490e-03 8.35360812e+02] [-6.95828073e-02 9.97576166e-01 -1.60929397e-04 2.57116300e+02] [-2.43201094e-03 -8.31738711e-06 9.99997043e-01 -1.52723008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:835.42, Y:257.11, Z:-15.27 [[ 9.97672693e-01 6.81418316e-02 2.42669864e-03 8.35419856e+02] [-6.81416419e-02 9.97675644e-01 -1.60872949e-04 2.57112406e+02] [-2.43202030e-03 -4.86068123e-06 9.99997043e-01 -1.52715299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:835.48, Y:257.11, Z:-15.27 [[ 9.97839879e-01 6.56482028e-02 2.42670256e-03 8.35479518e+02] [-6.56480059e-02 9.97842830e-01 -1.60813711e-04 2.57109667e+02] [-2.43202488e-03 1.15814984e-06 9.99997043e-01 -1.52724812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:835.54, Y:257.11, Z:-15.28 [[ 9.97966367e-01 6.36964791e-02 2.42670653e-03 8.35538690e+02] [-6.36962765e-02 9.97969317e-01 -1.60753898e-04 2.57106661e+02] [-2.43201811e-03 5.85481360e-06 9.99997043e-01 -1.52765942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.725336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:835.60, Y:257.10, Z:-15.28 [[ 9.98075399e-01 6.19645846e-02 2.42670427e-03 8.35598763e+02] [-6.19643768e-02 9.98078349e-01 -1.60787901e-04 2.57103848e+02] [-2.43200415e-03 1.01092309e-05 9.99997043e-01 -1.52774211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:835.66, Y:257.10, Z:-15.27 [[ 9.98359307e-01 5.72084420e-02 2.42670783e-03 8.35659310e+02] [-5.72082203e-02 9.98362256e-01 -1.60734160e-04 2.57098446e+02] [-2.43192886e-03 2.16428085e-05 9.99997043e-01 -1.52738454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.845336195 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:835.72, Y:257.09, Z:-15.27 [[ 9.98571964e-01 5.33680040e-02 2.42670783e-03 8.35719959e+02] [-5.33677710e-02 9.98574912e-01 -1.60734160e-04 2.57092628e+02] [-2.43182762e-03 3.09966384e-05 9.99997043e-01 -1.52712069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:835.78, Y:257.09, Z:-15.27 [[ 9.98771167e-01 4.95001655e-02 2.42670783e-03 8.35779751e+02] [-4.94999210e-02 9.98774115e-01 -1.60734160e-04 2.57087561e+02] [-2.43168933e-03 4.04147988e-05 9.99997043e-01 -1.52695986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:835.84, Y:257.08, Z:-15.27 [[ 9.98803244e-01 4.88486607e-02 2.42670627e-03 8.35839814e+02] [-4.88484143e-02 9.98806191e-01 -1.60757768e-04 2.57079673e+02] [-2.43166205e-03 4.20246268e-05 9.99997043e-01 -1.52715568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:835.90, Y:257.07, Z:-15.27 [[ 9.98671680e-01 5.14683061e-02 2.42670435e-03 8.35899798e+02] [-5.14680673e-02 9.98674628e-01 -1.60786674e-04 2.57073869e+02] [-2.43176348e-03 3.56753150e-05 9.99997043e-01 -1.52730484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:835.96, Y:257.07, Z:-15.27 [[ 9.98276373e-01 5.86378252e-02 2.42670435e-03 8.35958835e+02] [-5.86376075e-02 9.98279322e-01 -1.60786674e-04 2.57068567e+02] [-2.43195696e-03 1.82134002e-05 9.99997043e-01 -1.52735909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.145336195 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:836.02, Y:257.06, Z:-15.27 [[ 9.97963761e-01 6.37372907e-02 2.42670812e-03 8.36019015e+02] [-6.37370883e-02 9.97966712e-01 -1.60729857e-04 2.57064600e+02] [-2.43201840e-03 5.73126286e-06 9.99997043e-01 -1.52737169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:836.08, Y:257.06, Z:-15.27 [[ 9.97480139e-01 7.09047487e-02 2.42670812e-03 8.36078870e+02] [-7.09045675e-02 9.97483091e-01 -1.60729857e-04 2.57058708e+02] [-2.43199682e-03 -1.17398497e-05 9.99997043e-01 -1.52714251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:836.14, Y:257.06, Z:-15.27 [[ 9.97000207e-01 7.73608382e-02 2.42671204e-03 8.36138485e+02] [-7.73606762e-02 9.97003159e-01 -1.60670584e-04 2.57058186e+02] [-2.43186918e-03 -2.75434787e-05 9.99997043e-01 -1.52745222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:836.20, Y:257.06, Z:-15.28 [[ 9.96691024e-01 8.12472403e-02 2.42671599e-03 8.36196920e+02] [-8.12470900e-02 9.96693977e-01 -1.60610943e-04 2.57057160e+02] [-2.43174241e-03 -3.70841265e-05 9.99997043e-01 -1.52769549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.385336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:836.26, Y:257.05, Z:-15.28 [[ 9.96678732e-01 8.13978838e-02 2.42672184e-03 8.36255666e+02] [-8.13977342e-02 9.96681686e-01 -1.60522467e-04 2.57054688e+02] [-2.43173540e-03 -3.75403299e-05 9.99997043e-01 -1.52774372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:836.32, Y:257.05, Z:-15.28 [[ 9.96877099e-01 7.89313689e-02 2.42672615e-03 8.36315804e+02] [-7.89312121e-02 9.96880052e-01 -1.60457293e-04 2.57053547e+02] [-2.43182000e-03 -3.15882361e-05 9.99997043e-01 -1.52758971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:836.37, Y:257.05, Z:-15.28 [[ 9.97110459e-01 7.59265652e-02 2.42673008e-03 8.36373950e+02] [-7.59263997e-02 9.97113412e-01 -1.60397836e-04 2.57050906e+02] [-2.43190357e-03 -2.43185178e-05 9.99997043e-01 -1.52758749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:836.43, Y:257.05, Z:-15.28 [[ 9.97412710e-01 7.18470327e-02 2.42673592e-03 8.36433435e+02] [-7.18468553e-02 9.97415662e-01 -1.60309366e-04 2.57049299e+02] [-2.43198217e-03 -1.44587459e-05 9.99997043e-01 -1.52762471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:836.49, Y:257.05, Z:-15.28 [[ 9.97583270e-01 6.94386812e-02 2.42673982e-03 8.36492606e+02] [-6.94384968e-02 9.97586222e-01 -1.60250444e-04 2.57046513e+02] [-2.43200978e-03 -8.64600345e-06 9.99997043e-01 -1.52779451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:836.55, Y:257.04, Z:-15.28 [[ 9.97912525e-01 6.45345128e-02 2.42674365e-03 8.36551842e+02] [-6.45343140e-02 9.97915476e-01 -1.60192309e-04 2.57041949e+02] [-2.43202298e-03 3.24967500e-06 9.99997043e-01 -1.52813938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:836.61, Y:257.04, Z:-15.28 [[ 9.98142567e-01 6.08730442e-02 2.42674555e-03 8.36611698e+02] [-6.08728347e-02 9.98145517e-01 -1.60163565e-04 2.57037836e+02] [-2.43199483e-03 1.21431906e-05 9.99997043e-01 -1.52803044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.805336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:836.67, Y:257.03, Z:-15.28 [[ 9.98168417e-01 6.04476747e-02 2.42674938e-03 8.36671385e+02] [-6.04474641e-02 9.98171367e-01 -1.60105573e-04 2.57034162e+02] [-2.43198975e-03 1.31214807e-05 9.99997043e-01 -1.52785680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.865336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:836.73, Y:257.03, Z:-15.28 [[ 9.98028798e-01 6.27106836e-02 2.42675320e-03 8.36731509e+02] [-6.27104798e-02 9.98031748e-01 -1.60047561e-04 2.57032068e+02] [-2.43201343e-03 7.54921742e-06 9.99997043e-01 -1.52773532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:836.79, Y:257.03, Z:-15.28 [[ 9.97904197e-01 6.46631572e-02 2.42675706e-03 8.36790015e+02] [-6.46629594e-02 9.97907148e-01 -1.59988965e-04 2.57029438e+02] [-2.43202361e-03 2.73236592e-06 9.99997043e-01 -1.52788205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:836.85, Y:257.03, Z:-15.28 [[ 9.97885969e-01 6.49438478e-02 2.42676281e-03 8.36849223e+02] [-6.49436510e-02 9.97888920e-01 -1.59901838e-04 2.57026930e+02] [-2.43202436e-03 1.96096358e-06 9.99997043e-01 -1.52774373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:836.91, Y:257.02, Z:-15.28 [[ 9.98013339e-01 6.29562267e-02 2.42676667e-03 8.36908677e+02] [-6.29560241e-02 9.98016289e-01 -1.59843095e-04 2.57023671e+02] [-2.43201579e-03 6.74595968e-06 9.99997043e-01 -1.52763196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:836.97, Y:257.02, Z:-15.28 [[ 9.98122134e-01 6.12071630e-02 2.42677052e-03 8.36968402e+02] [-6.12069554e-02 9.98125084e-01 -1.59784767e-04 2.57017941e+02] [-2.43200050e-03 1.09494780e-05 9.99997043e-01 -1.52759292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:837.03, Y:257.01, Z:-15.28 [[ 9.98225184e-01 5.95028733e-02 2.42677242e-03 8.37027742e+02] [-5.95026608e-02 9.98228134e-01 -1.59755893e-04 2.57013316e+02] [-2.43197844e-03 1.50729402e-05 9.99997043e-01 -1.52751166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:837.09, Y:257.01, Z:-15.28 [[ 9.98405098e-01 5.64036435e-02 2.42677625e-03 8.37087241e+02] [-5.64034219e-02 9.98408047e-01 -1.59697652e-04 2.57006306e+02] [-2.43192046e-03 2.25644650e-05 9.99997043e-01 -1.52782547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.285336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:837.15, Y:257.00, Z:-15.28 [[ 9.98535320e-01 5.40492829e-02 2.42677814e-03 8.37147035e+02] [-5.40490545e-02 9.98538269e-01 -1.59668960e-04 2.57000572e+02] [-2.43186083e-03 2.82700325e-05 9.99997043e-01 -1.52779830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:837.21, Y:256.99, Z:-15.28 [[ 9.98678583e-01 5.13341930e-02 2.42677814e-03 8.37206888e+02] [-5.13339565e-02 9.98681531e-01 -1.59668960e-04 2.56992523e+02] [-2.43177498e-03 3.48818474e-05 9.99997043e-01 -1.52787031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:837.27, Y:256.99, Z:-15.28 [[ 9.98717826e-01 5.05649542e-02 2.42677814e-03 8.37267409e+02] [-5.05647155e-02 9.98720774e-01 -1.59668960e-04 2.56985987e+02] [-2.43174739e-03 3.67548907e-05 9.99997043e-01 -1.52785334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:837.33, Y:256.98, Z:-15.28 [[ 9.98806408e-01 4.87839022e-02 2.42677814e-03 8.37327395e+02] [-4.87836582e-02 9.98809356e-01 -1.59668960e-04 2.56977153e+02] [-2.43167798e-03 4.10912654e-05 9.99997043e-01 -1.52832596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:837.39, Y:256.97, Z:-15.29 [[ 9.98779884e-01 4.93239758e-02 2.42677814e-03 8.37387582e+02] [-4.93237334e-02 9.98782831e-01 -1.59668960e-04 2.56970130e+02] [-2.43169985e-03 3.97763876e-05 9.99997043e-01 -1.52861164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:837.45, Y:256.96, Z:-15.28 [[ 9.98646267e-01 5.19590602e-02 2.42677621e-03 8.37447358e+02] [-5.19588255e-02 9.98649215e-01 -1.59698240e-04 2.56961097e+02] [-2.43179593e-03 3.33896096e-05 9.99997043e-01 -1.52842175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:837.51, Y:256.95, Z:-15.28 [[ 9.98544668e-01 5.38763130e-02 2.42677621e-03 8.37507036e+02] [-5.38760840e-02 9.98547616e-01 -1.59698240e-04 2.56952503e+02] [-2.43185555e-03 2.87206272e-05 9.99997043e-01 -1.52831649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:837.57, Y:256.94, Z:-15.28 [[ 9.98421760e-01 5.61079255e-02 2.42677621e-03 8.37568091e+02] [-5.61077030e-02 9.98424709e-01 -1.59698240e-04 2.56942283e+02] [-2.43191367e-03 2.32853592e-05 9.99997043e-01 -1.52823189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.765336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:837.63, Y:256.93, Z:-15.28 [[ 9.98341192e-01 5.75236979e-02 2.42677240e-03 8.37629066e+02] [-5.75234795e-02 9.98344141e-01 -1.59756117e-04 2.56934407e+02] [-2.43194377e-03 1.98947193e-05 9.99997043e-01 -1.52806088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:837.69, Y:256.92, Z:-15.28 [[ 9.98180917e-01 6.02409154e-02 2.42676846e-03 8.37689723e+02] [-6.02407049e-02 9.98183867e-01 -1.59815895e-04 2.56924651e+02] [-2.43198858e-03 1.33349338e-05 9.99997043e-01 -1.52812639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.885336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:837.75, Y:256.91, Z:-15.28 [[ 9.97995215e-01 6.32428780e-02 2.42674307e-03 8.37750058e+02] [-6.32426755e-02 9.97998165e-01 -1.60200479e-04 2.56914775e+02] [-2.43201668e-03 6.40558690e-06 9.99997043e-01 -1.52808956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:837.81, Y:256.91, Z:-15.28 [[ 9.97880789e-01 6.50233944e-02 2.42673923e-03 8.37811131e+02] [-6.50231969e-02 9.97883740e-01 -1.60258689e-04 2.56907931e+02] [-2.43202418e-03 2.12472453e-06 9.99997043e-01 -1.52823307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:837.87, Y:256.90, Z:-15.28 [[ 9.97801981e-01 6.62217307e-02 2.42673540e-03 8.37871408e+02] [-6.62215366e-02 9.97804932e-01 -1.60316670e-04 2.56899888e+02] [-2.43202500e-03 -7.37855770e-07 9.99997043e-01 -1.52824279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.065336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:837.93, Y:256.89, Z:-15.28 [[ 9.97846400e-01 6.55490171e-02 2.42672204e-03 8.37932986e+02] [-6.55488206e-02 9.97849351e-01 -1.60518642e-04 2.56891888e+02] [-2.43202485e-03 1.10418130e-06 9.99997043e-01 -1.52820078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.125336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:837.99, Y:256.88, Z:-15.28 [[ 9.97848823e-01 6.55121231e-02 2.42669549e-03 8.37994112e+02] [-6.55119255e-02 9.97851773e-01 -1.60919100e-04 2.56883975e+02] [-2.43202455e-03 1.59544021e-06 9.99997043e-01 -1.52813680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:838.06, Y:256.88, Z:-15.28 [[ 9.97710293e-01 6.75890695e-02 2.42666914e-03 8.38055961e+02] [-6.75888771e-02 9.97713244e-01 -1.61315484e-04 2.56877216e+02] [-2.43202310e-03 -3.06972278e-06 9.99997043e-01 -1.52807929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:838.12, Y:256.87, Z:-15.28 [[ 9.97357301e-01 7.26121518e-02 2.42664219e-03 8.38117391e+02] [-7.26119733e-02 9.97360253e-01 -1.61719756e-04 2.56872252e+02] [-2.43197929e-03 -1.49108984e-05 9.99997043e-01 -1.52805423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.305336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:838.18, Y:256.87, Z:-15.28 [[ 9.97195071e-01 7.48070994e-02 2.42661738e-03 8.38178512e+02] [-7.48069265e-02 9.97198023e-01 -1.62091279e-04 2.56868667e+02] [-2.43194363e-03 -1.98911632e-05 9.99997043e-01 -1.52801812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:838.24, Y:256.86, Z:-15.28 [[ 9.97240618e-01 7.41974464e-02 2.42661357e-03 8.38240907e+02] [-7.41972715e-02 9.97243570e-01 -1.62148198e-04 2.56863915e+02] [-2.43195577e-03 -1.83473365e-05 9.99997043e-01 -1.52808414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:838.30, Y:256.86, Z:-15.28 [[ 9.97582682e-01 6.94471399e-02 2.42658610e-03 8.38302119e+02] [-6.94469499e-02 9.97585633e-01 -1.62558239e-04 2.56857180e+02] [-2.43201664e-03 -6.35371989e-06 9.99997043e-01 -1.52814965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:838.36, Y:256.85, Z:-15.28 [[ 9.97796381e-01 6.63060569e-02 2.42655687e-03 8.38363810e+02] [-6.63058566e-02 9.97799332e-01 -1.62993525e-04 2.56850807e+02] [-2.43202428e-03 1.73941750e-06 9.99997043e-01 -1.52816323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:838.43, Y:256.84, Z:-15.28 [[ 9.98024880e-01 6.27730163e-02 2.42652822e-03 8.38425845e+02] [-6.27728045e-02 9.98027829e-01 -1.63418838e-04 2.56843714e+02] [-2.43200099e-03 1.07760845e-05 9.99997043e-01 -1.52780681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:838.49, Y:256.84, Z:-15.28 [[ 9.98121662e-01 6.12148614e-02 2.42650114e-03 8.38488663e+02] [-6.12146440e-02 9.98124612e-01 -1.63819986e-04 2.56835687e+02] [-2.43197873e-03 1.49748734e-05 9.99997043e-01 -1.52780596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.665336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:838.55, Y:256.83, Z:-15.28 [[ 9.98155729e-01 6.06568455e-02 2.42646941e-03 8.38549222e+02] [-6.06566254e-02 9.98158678e-01 -1.64288579e-04 2.56828090e+02] [-2.43196673e-03 1.68041398e-05 9.99997043e-01 -1.52808629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:838.61, Y:256.82, Z:-15.28 [[ 9.98041079e-01 6.25149306e-02 2.42644397e-03 8.38611316e+02] [-6.25147150e-02 9.98044029e-01 -1.64663501e-04 2.56820107e+02] [-2.43199184e-03 1.26524845e-05 9.99997043e-01 -1.52844853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.785336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:838.67, Y:256.81, Z:-15.28 [[ 9.97922895e-01 6.43739730e-02 2.42641703e-03 8.38673927e+02] [-6.43737619e-02 9.97925845e-01 -1.65059573e-04 2.56814710e+02] [-2.43200980e-03 8.51913469e-06 9.99997043e-01 -1.52832688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.845336195 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:838.73, Y:256.81, Z:-15.28 [[ 9.97788950e-01 6.64177994e-02 2.42638492e-03 8.38734444e+02] [-6.64175933e-02 9.97791900e-01 -1.65530159e-04 2.56806603e+02] [-2.43202137e-03 4.00951705e-06 9.99997043e-01 -1.52828441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:838.80, Y:256.80, Z:-15.28 [[ 9.97647252e-01 6.85133142e-02 2.42635911e-03 8.38796707e+02] [-6.85131133e-02 9.97650202e-01 -1.65907705e-04 2.56800466e+02] [-2.43202454e-03 -7.20050841e-07 9.99997043e-01 -1.52824421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:838.86, Y:256.79, Z:-15.28 [[ 9.97420775e-01 7.17349972e-02 2.42632747e-03 8.38859605e+02] [-7.17348047e-02 9.97423726e-01 -1.66369115e-04 2.56792957e+02] [-2.43201107e-03 -8.11211580e-06 9.99997043e-01 -1.52816914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.025336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:838.92, Y:256.79, Z:-15.28 [[ 9.97277457e-01 7.37006560e-02 2.42629574e-03 8.38922393e+02] [-7.37004682e-02 9.97280408e-01 -1.66830519e-04 2.56786845e+02] [-2.43199273e-03 -1.24428168e-05 9.99997043e-01 -1.52808507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:838.98, Y:256.78, Z:-15.28 [[ 9.97041712e-01 7.68240723e-02 2.42626400e-03 8.38984718e+02] [-7.68238927e-02 9.97044664e-01 -1.67290851e-04 2.56780855e+02] [-2.43194554e-03 -1.95990893e-05 9.99997043e-01 -1.52810629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:839.05, Y:256.78, Z:-15.28 [[ 9.96596246e-01 8.24016708e-02 2.42623222e-03 8.39046876e+02] [-8.24015066e-02 9.96599199e-01 -1.67750573e-04 2.56777215e+02] [-2.43180401e-03 -3.27455989e-05 9.99997043e-01 -1.52820502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.205336195 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:839.11, Y:256.78, Z:-15.28 [[ 9.96240492e-01 8.65967416e-02 2.42620278e-03 8.39110005e+02] [-8.65965888e-02 9.96243445e-01 -1.68175317e-04 2.56775318e+02] [-2.43165205e-03 -4.25578232e-05 9.99997043e-01 -1.52817324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:839.17, Y:256.77, Z:-15.29 [[ 9.95945698e-01 8.99237510e-02 2.42617057e-03 8.39170898e+02] [-8.99236069e-02 9.95948652e-01 -1.68638647e-04 2.56772592e+02] [-2.43150593e-03 -5.02150740e-05 9.99997043e-01 -1.52860889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.325336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:839.23, Y:256.77, Z:-15.28 [[ 9.95962988e-01 8.97320529e-02 2.42614477e-03 8.39233638e+02] [-8.97319074e-02 9.95965941e-01 -1.69008994e-04 2.56768541e+02] [-2.43152309e-03 -4.93758950e-05 9.99997043e-01 -1.52842124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:839.29, Y:256.76, Z:-15.28 [[ 9.96188984e-01 8.71872771e-02 2.42611218e-03 8.39294968e+02] [-8.71871228e-02 9.96191938e-01 -1.69475560e-04 2.56764838e+02] [-2.43164951e-03 -4.26960543e-05 9.99997043e-01 -1.52841909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:839.36, Y:256.76, Z:-15.28 [[ 9.96688571e-01 8.12773427e-02 2.42609660e-03 8.39357828e+02] [-8.12771704e-02 9.96691523e-01 -1.69698253e-04 2.56760005e+02] [-2.43186254e-03 -2.80499582e-05 9.99997043e-01 -1.52821235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:839.42, Y:256.76, Z:-15.28 [[ 9.96897276e-01 7.86761451e-02 2.42606349e-03 8.39420677e+02] [-7.86759640e-02 9.96900228e-01 -1.70170285e-04 2.56756218e+02] [-2.43193159e-03 -2.12305901e-05 9.99997043e-01 -1.52830634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:839.48, Y:256.75, Z:-15.29 [[ 9.96925926e-01 7.83122752e-02 2.42603030e-03 8.39481950e+02] [-7.83120918e-02 9.96928878e-01 -1.70642195e-04 2.56751320e+02] [-2.43194304e-03 -1.98698798e-05 9.99997043e-01 -1.52881349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:839.54, Y:256.75, Z:-15.29 [[ 9.96748452e-01 8.05396618e-02 2.42600354e-03 8.39544179e+02] [-8.05394841e-02 9.96751404e-01 -1.71021767e-04 2.56749727e+02] [-2.43189647e-03 -2.49233920e-05 9.99997043e-01 -1.52905914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:839.61, Y:256.75, Z:-15.29 [[ 9.96610472e-01 8.22294406e-02 2.42597460e-03 8.39605739e+02] [-8.22292669e-02 9.96613425e-01 -1.71431326e-04 2.56745581e+02] [-2.43185556e-03 -2.86358580e-05 9.99997043e-01 -1.52922105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:839.67, Y:256.74, Z:-15.29 [[ 9.96466265e-01 8.39589023e-02 2.42594374e-03 8.39667676e+02] [-8.39587327e-02 9.96469218e-01 -1.71866900e-04 2.56743552e+02] [-2.43180802e-03 -3.24195941e-05 9.99997043e-01 -1.52856410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:839.73, Y:256.74, Z:-15.29 [[ 9.96354394e-01 8.52762400e-02 2.42591534e-03 8.39730081e+02] [-8.52760733e-02 9.96357346e-01 -1.72266869e-04 2.56740726e+02] [-2.43176884e-03 -3.52336827e-05 9.99997043e-01 -1.52850186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:839.79, Y:256.74, Z:-15.28 [[ 9.96173337e-01 8.73658819e-02 2.42588709e-03 8.39791302e+02] [-8.73657205e-02 9.96176290e-01 -1.72663798e-04 2.56739768e+02] [-2.43169613e-03 -3.99363015e-05 9.99997043e-01 -1.52842262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:839.85, Y:256.74, Z:-15.29 [[ 9.96075181e-01 8.84779544e-02 2.42588308e-03 8.39853495e+02] [-8.84777961e-02 9.96078134e-01 -1.72720129e-04 2.56736175e+02] [-2.43165101e-03 -4.25945542e-05 9.99997043e-01 -1.52853634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:839.92, Y:256.73, Z:-15.29 [[ 9.96027798e-01 8.90097796e-02 2.42585415e-03 8.39915435e+02] [-8.90096219e-02 9.96030751e-01 -1.73125437e-04 2.56733743e+02] [-2.43163519e-03 -4.34866133e-05 9.99997043e-01 -1.52853339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:839.98, Y:256.73, Z:-15.29 [[ 9.96089400e-01 8.83177313e-02 2.42582452e-03 8.39976477e+02] [-8.83175705e-02 9.96092353e-01 -1.73539679e-04 2.56731221e+02] [-2.43167188e-03 -4.13818934e-05 9.99997043e-01 -1.52855064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:840.04, Y:256.73, Z:-15.28 [[ 9.96080864e-01 8.84139575e-02 2.42580774e-03 8.40038676e+02] [-8.84137964e-02 9.96083817e-01 -1.73773921e-04 2.56727150e+02] [-2.43167187e-03 -4.13819939e-05 9.99997043e-01 -1.52847955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:840.10, Y:256.73, Z:-15.29 [[ 9.95973847e-01 8.96114517e-02 2.42577892e-03 8.40100454e+02] [-8.96112932e-02 9.95976800e-01 -1.74175312e-04 2.56725137e+02] [-2.43162763e-03 -4.39031306e-05 9.99997043e-01 -1.52864843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:840.16, Y:256.73, Z:-15.29 [[ 9.95812389e-01 9.13881902e-02 2.42577481e-03 8.40162304e+02] [-9.13880368e-02 9.95815343e-01 -1.74232535e-04 2.56725105e+02] [-2.43154657e-03 -4.81838805e-05 9.99997043e-01 -1.52880240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:840.22, Y:256.72, Z:-15.29 [[ 9.95767528e-01 9.18757095e-02 2.42577060e-03 8.40222281e+02] [-9.18755574e-02 9.95770481e-01 -1.74291168e-04 2.56723837e+02] [-2.43152388e-03 -4.93155398e-05 9.99997043e-01 -1.52911324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:840.28, Y:256.72, Z:-15.29 [[ 9.95802073e-01 9.15005308e-02 2.42576852e-03 8.40282886e+02] [-9.15003775e-02 9.95805026e-01 -1.74320003e-04 2.56721405e+02] [-2.43154286e-03 -4.83705155e-05 9.99997043e-01 -1.52907495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:840.34, Y:256.72, Z:-15.29 [[ 9.95889905e-01 9.05395676e-02 2.42576653e-03 8.40343867e+02] [-9.05394114e-02 9.95892858e-01 -1.74347664e-04 2.56720236e+02] [-2.43158893e-03 -4.59963956e-05 9.99997043e-01 -1.52875633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:840.40, Y:256.72, Z:-15.29 [[ 9.96088425e-01 8.83287382e-02 2.42576263e-03 8.40404764e+02] [-8.83285754e-02 9.96091378e-01 -1.74401923e-04 2.56720395e+02] [-2.43168595e-03 -4.05444206e-05 9.99997043e-01 -1.52866893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:840.47, Y:256.72, Z:-15.28 [[ 9.96237216e-01 8.66344364e-02 2.42576070e-03 8.40465098e+02] [-8.66342684e-02 9.96240168e-01 -1.74428789e-04 2.56718623e+02] [-2.43175179e-03 -3.63815529e-05 9.99997043e-01 -1.52848595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:840.53, Y:256.72, Z:-15.29 [[ 9.96581385e-01 8.25812276e-02 2.42576070e-03 8.40525472e+02] [-8.25810476e-02 9.96584337e-01 -1.74428789e-04 2.56717722e+02] [-2.43187966e-03 -2.64893762e-05 9.99997043e-01 -1.52851224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:840.59, Y:256.71, Z:-15.29 [[ 9.96783651e-01 8.01028647e-02 2.42576070e-03 8.40585882e+02] [-8.01026774e-02 9.96786602e-01 -1.74428789e-04 2.56714696e+02] [-2.43193801e-03 -2.04421622e-05 9.99997043e-01 -1.52874409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:840.65, Y:256.71, Z:-15.29 [[ 9.97045777e-01 7.67713063e-02 2.42576070e-03 8.40647660e+02] [-7.67711091e-02 9.97048728e-01 -1.74428789e-04 2.56713417e+02] [-2.43199275e-03 -1.23148522e-05 9.99997043e-01 -1.52906598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:840.71, Y:256.71, Z:-15.29 [[ 9.97228357e-01 7.43620868e-02 2.42575657e-03 8.40709243e+02] [-7.43618824e-02 9.97231307e-01 -1.74486254e-04 2.56709865e+02] [-2.43201556e-03 -6.38118389e-06 9.99997043e-01 -1.52918679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:840.77, Y:256.71, Z:-15.29 [[ 9.97516276e-01 7.03945646e-02 2.42575247e-03 8.40769742e+02] [-7.03943483e-02 9.97519226e-01 -1.74543240e-04 2.56706097e+02] [-2.43202162e-03 3.35045883e-06 9.99997043e-01 -1.52906246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:840.83, Y:256.70, Z:-15.29 [[ 9.97702015e-01 6.77111885e-02 2.42575045e-03 8.40831216e+02] [-6.77109642e-02 9.97704964e-01 -1.74571334e-04 2.56701925e+02] [-2.43200369e-03 9.92027031e-06 9.99997043e-01 -1.52892968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.945336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:840.89, Y:256.70, Z:-15.29 [[ 9.97814423e-01 6.60340351e-02 2.42574644e-03 8.40892579e+02] [-6.60338057e-02 9.97817371e-01 -1.74627017e-04 2.56696522e+02] [-2.43198326e-03 1.40640870e-05 9.99997043e-01 -1.52899524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.005336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:840.95, Y:256.69, Z:-15.29 [[ 9.97973942e-01 6.35777220e-02 2.42574246e-03 8.40953515e+02] [-6.35774852e-02 9.97976890e-01 -1.74682297e-04 2.56690454e+02] [-2.43194082e-03 2.01057748e-05 9.99997043e-01 -1.52883897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:841.01, Y:256.68, Z:-15.29 [[ 9.98151886e-01 6.07200773e-02 2.42573821e-03 8.41014149e+02] [-6.07198319e-02 9.98154833e-01 -1.74741293e-04 2.56683169e+02] [-2.43187262e-03 2.71279355e-05 9.99997043e-01 -1.52869028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:841.08, Y:256.67, Z:-15.29 [[ 9.98212521e-01 5.97149868e-02 2.42571090e-03 8.41075757e+02] [-5.97147375e-02 9.98215467e-01 -1.75119483e-04 2.56672848e+02] [-2.43183940e-03 2.99557707e-05 9.99997043e-01 -1.52893449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:841.14, Y:256.67, Z:-15.29 [[ 9.98180474e-01 6.02483056e-02 2.42568087e-03 8.41137715e+02] [-6.02480569e-02 9.98183420e-01 -1.75534538e-04 2.56665836e+02] [-2.43185009e-03 2.90725895e-05 9.99997043e-01 -1.52910051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:841.20, Y:256.66, Z:-15.29 [[ 9.97899950e-01 6.47287085e-02 2.42565098e-03 8.41199542e+02] [-6.47284720e-02 9.97902898e-01 -1.75946637e-04 2.56658602e+02] [-2.43195294e-03 1.85684593e-05 9.99997043e-01 -1.52883861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.305336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:841.26, Y:256.65, Z:-15.29 [[ 9.97548062e-01 6.99426961e-02 2.42562060e-03 8.41261242e+02] [-6.99424740e-02 9.97551011e-01 -1.76364413e-04 2.56651289e+02] [-2.43201569e-03 6.27807244e-06 9.99997043e-01 -1.52851065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:841.32, Y:256.65, Z:-15.29 [[ 9.96861811e-01 7.91242507e-02 2.42558974e-03 8.41321499e+02] [-7.91240547e-02 9.96864761e-01 -1.76787821e-04 2.56645622e+02] [-2.43197314e-03 -1.56894686e-05 9.99997043e-01 -1.52854746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:841.38, Y:256.64, Z:-15.29 [[ 9.96369422e-01 8.51004742e-02 2.42558755e-03 8.41381480e+02] [-8.51002959e-02 9.96372374e-01 -1.76817833e-04 2.56641395e+02] [-2.43183571e-03 -3.02423361e-05 9.99997043e-01 -1.52850727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:841.44, Y:256.64, Z:-15.29 [[ 9.95781102e-01 9.17284723e-02 2.42558755e-03 8.41441973e+02] [-9.17283137e-02 9.95784056e-01 -1.76817833e-04 2.56636951e+02] [-2.43158064e-03 -4.64231991e-05 9.99997043e-01 -1.52865976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:841.50, Y:256.63, Z:-15.29 [[ 9.95540358e-01 9.43054223e-02 2.42558755e-03 8.41503456e+02] [-9.43052712e-02 9.95543311e-01 -1.76817833e-04 2.56632926e+02] [-2.43145235e-03 -5.27164031e-05 9.99997043e-01 -1.52885279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:841.56, Y:256.63, Z:-15.29 [[ 9.95583431e-01 9.38496024e-02 2.42558330e-03 8.41563992e+02] [-9.38494499e-02 9.95586385e-01 -1.76876193e-04 2.56629251e+02] [-2.43147747e-03 -5.15446514e-05 9.99997043e-01 -1.52894033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:841.62, Y:256.62, Z:-15.29 [[ 9.95775866e-01 9.17853045e-02 2.42558120e-03 8.41624675e+02] [-9.17851458e-02 9.95778819e-01 -1.76905007e-04 2.56624695e+02] [-2.43157966e-03 -4.64745876e-05 9.99997043e-01 -1.52892157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.725336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:841.69, Y:256.62, Z:-15.29 [[ 9.95828728e-01 9.12099780e-02 2.42557701e-03 8.41685172e+02] [-9.12098174e-02 9.95831682e-01 -1.76962348e-04 2.56619043e+02] [-2.43160717e-03 -4.50122461e-05 9.99997043e-01 -1.52900758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:841.75, Y:256.61, Z:-15.29 [[ 9.95895609e-01 9.04768041e-02 2.42556621e-03 8.41746671e+02] [-9.04766410e-02 9.95898562e-01 -1.77110359e-04 2.56614681e+02] [-2.43164228e-03 -4.30736538e-05 9.99997043e-01 -1.52922150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:841.81, Y:256.61, Z:-15.29 [[ 9.95893936e-01 9.04952211e-02 2.42556205e-03 8.41807993e+02] [-9.04950579e-02 9.95896889e-01 -1.77167203e-04 2.56612046e+02] [-2.43164249e-03 -4.30616356e-05 9.99997043e-01 -1.52914841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:841.87, Y:256.61, Z:-15.29 [[ 9.95733317e-01 9.22457484e-02 2.42555784e-03 8.41869112e+02] [-9.22455903e-02 9.95736270e-01 -1.77224893e-04 2.56612635e+02] [-2.43156416e-03 -4.72782845e-05 9.99997043e-01 -1.52893170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.965336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:841.93, Y:256.61, Z:-15.29 [[ 9.95531730e-01 9.43964610e-02 2.42555784e-03 8.41929937e+02] [-9.43963092e-02 9.95534683e-01 -1.77224892e-04 2.56611180e+02] [-2.43145636e-03 -5.25307040e-05 9.99997043e-01 -1.52875388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:841.99, Y:256.61, Z:-15.29 [[ 9.95310523e-01 9.67009794e-02 2.42555784e-03 8.41990027e+02] [-9.67008345e-02 9.95313477e-01 -1.77224892e-04 2.56612797e+02] [-2.43132823e-03 -5.81596667e-05 9.99997043e-01 -1.52872878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:842.05, Y:256.61, Z:-15.29 [[ 9.95298280e-01 9.68269125e-02 2.42555997e-03 8.42049586e+02] [-9.68267680e-02 9.95301234e-01 -1.77195669e-04 2.56613356e+02] [-2.43132014e-03 -5.84965881e-05 9.99997043e-01 -1.52877626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.145336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:842.11, Y:256.62, Z:-15.29 [[ 9.95563382e-01 9.40620438e-02 2.42556408e-03 8.42109569e+02] [-9.40618913e-02 9.95566336e-01 -1.77139482e-04 2.56616399e+02] [-2.43147204e-03 -5.17995630e-05 9.99997043e-01 -1.52883411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:842.17, Y:256.62, Z:-15.29 [[ 9.96081776e-01 8.84036935e-02 2.42556826e-03 8.42168318e+02] [-8.84035244e-02 9.96084728e-01 -1.77082146e-04 2.56618085e+02] [-2.43172622e-03 -3.80404841e-05 9.99997043e-01 -1.52892722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:842.23, Y:256.62, Z:-15.29 [[ 9.96431670e-01 8.43684994e-02 2.42557449e-03 8.42227616e+02] [-8.43683184e-02 9.96434622e-01 -1.76996856e-04 2.56616811e+02] [-2.43185935e-03 -2.82763683e-05 9.99997043e-01 -1.52883665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:842.29, Y:256.62, Z:-15.29 [[ 9.96901152e-01 7.86270295e-02 2.42557861e-03 8.42286295e+02] [-7.86268317e-02 9.96904103e-01 -1.76940387e-04 2.56621012e+02] [-2.43198156e-03 -1.43234850e-05 9.99997043e-01 -1.52898912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:842.35, Y:256.62, Z:-15.29 [[ 9.97186046e-01 7.49273349e-02 2.42558474e-03 8.42345725e+02] [-7.49271263e-02 9.97188996e-01 -1.76856249e-04 2.56619363e+02] [-2.43201778e-03 -5.38351036e-06 9.99997043e-01 -1.52908443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.445336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:842.41, Y:256.62, Z:-15.29 [[ 9.97550276e-01 6.99111064e-02 2.42558879e-03 8.42405173e+02] [-6.99108832e-02 9.97553225e-01 -1.76800719e-04 2.56620110e+02] [-2.43201425e-03 6.79255149e-06 9.99997043e-01 -1.52916105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.505336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:842.47, Y:256.62, Z:-15.29 [[ 9.97881599e-01 6.50109990e-02 2.42559078e-03 8.42465429e+02] [-6.50107614e-02 9.97884547e-01 -1.76773359e-04 2.56620454e+02] [-2.43195177e-03 1.87093785e-05 9.99997043e-01 -1.52885149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.565336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:842.53, Y:256.62, Z:-15.29 [[ 9.98113639e-01 6.13455762e-02 2.42559078e-03 8.42525232e+02] [-6.13453278e-02 9.98116586e-01 -1.76773359e-04 2.56618486e+02] [-2.43186665e-03 2.76412388e-05 9.99997043e-01 -1.52895528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.625336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:842.58, Y:256.61, Z:-15.29 [[ 9.98507280e-01 5.45648913e-02 2.42559288e-03 8.42584403e+02] [-5.45646229e-02 9.98510226e-01 -1.76744559e-04 2.56614210e+02] [-2.43162334e-03 4.41291682e-05 9.99997043e-01 -1.52900740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:842.64, Y:256.61, Z:-15.29 [[ 9.98713713e-01 5.06461903e-02 2.42559066e-03 8.42644196e+02] [-5.06459102e-02 9.98716657e-01 -1.76775082e-04 2.56610987e+02] [-2.43143077e-03 5.37014522e-05 9.99997043e-01 -1.52927349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:842.70, Y:256.61, Z:-15.29 [[ 9.98867309e-01 4.75206806e-02 2.42559267e-03 8.42702978e+02] [-4.75203914e-02 9.98870252e-01 -1.76747468e-04 2.56605110e+02] [-2.43125152e-03 6.12821545e-05 9.99997043e-01 -1.52938856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:842.76, Y:256.60, Z:-15.29 [[ 9.98851139e-01 4.78593670e-02 2.42559456e-03 8.42763035e+02] [-4.78590788e-02 9.98854082e-01 -1.76721523e-04 2.56600471e+02] [-2.43127281e-03 6.04317735e-05 9.99997043e-01 -1.52907781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:842.82, Y:256.60, Z:-15.29 [[ 9.98649831e-01 5.18905755e-02 2.42559456e-03 8.42822658e+02] [-5.18902993e-02 9.98652775e-01 -1.76721523e-04 2.56596434e+02] [-2.43149692e-03 5.06180917e-05 9.99997043e-01 -1.52901497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:842.88, Y:256.59, Z:-15.29 [[ 9.98395843e-01 5.65672831e-02 2.42559664e-03 8.42882010e+02] [-5.65670207e-02 9.98398789e-01 -1.76692921e-04 2.56593105e+02] [-2.43170779e-03 3.92007024e-05 9.99997043e-01 -1.52883555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:842.94, Y:256.59, Z:-15.29 [[ 9.97973465e-01 6.35852195e-02 2.42560095e-03 8.42940860e+02] [-6.35849780e-02 9.97976412e-01 -1.76633693e-04 2.56590348e+02] [-2.43192383e-03 2.20439551e-05 9.99997043e-01 -1.52886549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:843.00, Y:256.59, Z:-15.29 [[ 9.97719071e-01 6.74594148e-02 2.42560732e-03 8.43000027e+02] [-6.74591849e-02 9.97722019e-01 -1.76546183e-04 2.56586854e+02] [-2.43199154e-03 1.25140001e-05 9.99997043e-01 -1.52893085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:843.06, Y:256.58, Z:-15.29 [[ 9.97714927e-01 6.75206721e-02 2.42561563e-03 8.43058520e+02] [-6.75204427e-02 9.97717875e-01 -1.76432015e-04 2.56582713e+02] [-2.43199288e-03 1.22502136e-05 9.99997043e-01 -1.52898609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:843.12, Y:256.58, Z:-15.29 [[ 9.97840360e-01 6.56409286e-02 2.42562179e-03 8.43117769e+02] [-6.56406939e-02 9.97843308e-01 -1.76347306e-04 2.56578641e+02] [-2.43196607e-03 1.67469617e-05 9.99997043e-01 -1.52897505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.225336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:843.18, Y:256.57, Z:-15.29 [[ 9.98135777e-01 6.09843104e-02 2.42562587e-03 8.43177721e+02] [-6.09840620e-02 9.98138724e-01 -1.76291132e-04 2.56572274e+02] [-2.43186210e-03 2.80379677e-05 9.99997043e-01 -1.52917634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.285336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:843.24, Y:256.56, Z:-15.29 [[ 9.98328701e-01 5.77401221e-02 2.42562587e-03 8.43237885e+02] [-5.77398641e-02 9.98331647e-01 -1.76291132e-04 2.56564163e+02] [-2.43175814e-03 3.59411886e-05 9.99997043e-01 -1.52933688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:843.30, Y:256.56, Z:-15.29 [[ 9.98338174e-01 5.75761002e-02 2.42562587e-03 8.43297249e+02] [-5.75758418e-02 9.98341120e-01 -1.76291132e-04 2.56558053e+02] [-2.43175220e-03 3.63407153e-05 9.99997043e-01 -1.52945145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:843.36, Y:256.55, Z:-15.29 [[ 9.98231937e-01 5.93895342e-02 2.42562785e-03 8.43356416e+02] [-5.93892812e-02 9.98234883e-01 -1.76263896e-04 2.56549691e+02] [-2.43181456e-03 3.18959558e-05 9.99997043e-01 -1.52940697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.465336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:843.42, Y:256.54, Z:-15.29 [[ 9.98043236e-01 6.24805201e-02 2.42562980e-03 8.43416587e+02] [-6.24802763e-02 9.98046183e-01 -1.76236969e-04 2.56542180e+02] [-2.43190195e-03 2.43380947e-05 9.99997043e-01 -1.52948355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:843.48, Y:256.54, Z:-15.30 [[ 9.97545188e-01 6.99836718e-02 2.42562980e-03 8.43475374e+02] [-6.99834501e-02 9.97548137e-01 -1.76236969e-04 2.56535192e+02] [-2.43201620e-03 6.05039816e-06 9.99997043e-01 -1.52961618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.585336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:843.53, Y:256.53, Z:-15.29 [[ 9.96898375e-01 7.86622246e-02 2.42563555e-03 8.43533980e+02] [-7.86620288e-02 9.96901326e-01 -1.76157795e-04 2.56529842e+02] [-2.43197627e-03 -1.51939939e-05 9.99997043e-01 -1.52941817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:843.59, Y:256.53, Z:-15.29 [[ 9.96473837e-01 8.38689994e-02 2.42564125e-03 8.43593502e+02] [-8.38688192e-02 9.96476789e-01 -1.76079274e-04 2.56526453e+02] [-2.43186280e-03 -2.79772781e-05 9.99997043e-01 -1.52926468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:843.65, Y:256.52, Z:-15.29 [[ 9.95964123e-01 8.97194656e-02 2.42564536e-03 8.43653284e+02] [-8.97193029e-02 9.95967076e-01 -1.76022750e-04 2.56522087e+02] [-2.43165558e-03 -4.23148667e-05 9.99997043e-01 -1.52933019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:843.71, Y:256.52, Z:-15.29 [[ 9.95742884e-01 9.21424148e-02 2.42564967e-03 8.43712015e+02] [-9.21422594e-02 9.95745838e-01 -1.75963260e-04 2.56519695e+02] [-2.43154424e-03 -4.82906770e-05 9.99997043e-01 -1.52940518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:843.77, Y:256.52, Z:-15.29 [[ 9.95569452e-01 9.39977823e-02 2.42565457e-03 8.43770371e+02] [-9.39976326e-02 9.95572405e-01 -1.75895711e-04 2.56519354e+02] [-2.43144856e-03 -5.28893901e-05 9.99997043e-01 -1.52929443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:843.83, Y:256.52, Z:-15.29 [[ 9.95694443e-01 9.26644064e-02 2.42566490e-03 8.43828983e+02] [-9.26642531e-02 9.95697396e-01 -1.75753080e-04 2.56517239e+02] [-2.43151429e-03 -4.97760613e-05 9.99997043e-01 -1.52906503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:843.89, Y:256.52, Z:-15.29 [[ 9.96161474e-01 8.75010541e-02 2.42567356e-03 8.43888693e+02] [-8.75008858e-02 9.96164426e-01 -1.75633510e-04 2.56515184e+02] [-2.43173783e-03 -3.72892498e-05 9.99997043e-01 -1.52919664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:843.95, Y:256.51, Z:-15.29 [[ 9.96627755e-01 8.20197161e-02 2.42567791e-03 8.43947137e+02] [-8.20195316e-02 9.96630707e-01 -1.75573386e-04 2.56511622e+02] [-2.43190557e-03 -2.39716564e-05 9.99997043e-01 -1.52910013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.065336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:844.01, Y:256.51, Z:-15.29 [[ 9.97414746e-01 7.18188021e-02 2.42568436e-03 8.44006727e+02] [-7.18185877e-02 9.97417696e-01 -1.75484293e-04 2.56505165e+02] [-2.43202358e-03 8.21396312e-07 9.99997043e-01 -1.52907508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.125336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:844.07, Y:256.50, Z:-15.29 [[ 9.98033119e-01 6.26419099e-02 2.42568862e-03 8.44066444e+02] [-6.26416685e-02 9.98036067e-01 -1.75425392e-04 2.56496193e+02] [-2.43191371e-03 2.31311688e-05 9.99997043e-01 -1.52925207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:844.13, Y:256.49, Z:-15.29 [[ 9.98313424e-01 5.80036523e-02 2.42568862e-03 8.44126768e+02] [-5.80033973e-02 9.98316370e-01 -1.75425392e-04 2.56489198e+02] [-2.43177997e-03 3.44313431e-05 9.99997043e-01 -1.52937615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:844.19, Y:256.48, Z:-15.29 [[ 9.98511027e-01 5.44962890e-02 2.42568862e-03 8.44186504e+02] [-5.44960236e-02 9.98513972e-01 -1.75425392e-04 2.56478887e+02] [-2.43164401e-03 4.29738041e-05 9.99997043e-01 -1.52947802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:844.25, Y:256.47, Z:-15.30 [[ 9.98527346e-01 5.41964589e-02 2.42568862e-03 8.44246185e+02] [-5.41961926e-02 9.98530291e-01 -1.75425392e-04 2.56470203e+02] [-2.43163100e-03 4.37039634e-05 9.99997043e-01 -1.52957770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:844.31, Y:256.46, Z:-15.29 [[ 9.98287559e-01 5.84471157e-02 2.42568650e-03 8.44306814e+02] [-5.84468618e-02 9.98290506e-01 -1.75454624e-04 2.56458008e+02] [-2.43179462e-03 3.33804038e-05 9.99997043e-01 -1.52911602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:844.37, Y:256.45, Z:-15.29 [[ 9.97980957e-01 6.34675086e-02 2.42568228e-03 8.44366884e+02] [-6.34672695e-02 9.97983905e-01 -1.75513072e-04 2.56451046e+02] [-2.43193125e-03 2.12072731e-05 9.99997043e-01 -1.52916564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.4853361950001 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:844.43, Y:256.44, Z:-15.29 [[ 9.97354839e-01 7.26460040e-02 2.42568228e-03 8.44425962e+02] [-7.26457920e-02 9.97357788e-01 -1.75513072e-04 2.56442629e+02] [-2.43202343e-03 -1.16679817e-06 9.99997043e-01 -1.52941344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:844.49, Y:256.44, Z:-15.30 [[ 9.96647628e-01 8.17778851e-02 2.42568438e-03 8.44486245e+02] [-8.17777002e-02 9.96650579e-01 -1.75483973e-04 2.56436775e+02] [-2.43191045e-03 -2.34712047e-05 9.99997043e-01 -1.52978734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:844.55, Y:256.43, Z:-15.30 [[ 9.96179248e-01 8.72984675e-02 2.42568438e-03 8.44545516e+02] [-8.72982989e-02 9.96182200e-01 -1.75483973e-04 2.56431789e+02] [-2.43174309e-03 -3.69446280e-05 9.99997043e-01 -1.52986391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:844.61, Y:256.43, Z:-15.29 [[ 9.95475062e-01 9.49921964e-02 2.42568854e-03 8.44605325e+02] [-9.49920507e-02 9.95478016e-01 -1.75426511e-04 2.56429699e+02] [-2.43138376e-03 -5.57884113e-05 9.99997043e-01 -1.52944231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:844.66, Y:256.43, Z:-15.29 [[ 9.94885508e-01 1.00979904e-01 2.42569286e-03 8.44664566e+02] [-1.00979777e-01 9.94888463e-01 -1.75366727e-04 2.56430000e+02] [-2.43100236e-03 -7.04761073e-05 9.99997043e-01 -1.52949145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:844.72, Y:256.43, Z:-15.30 [[ 9.94737607e-01 1.02426599e-01 2.42569925e-03 8.44722988e+02] [-1.02426476e-01 9.94740562e-01 -1.75278320e-04 2.56428210e+02] [-2.43089460e-03 -7.40998889e-05 9.99997043e-01 -1.52969966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:844.78, Y:256.43, Z:-15.30 [[ 9.94937516e-01 1.00466186e-01 2.42570535e-03 8.44783124e+02] [-1.00466057e-01 9.94940471e-01 -1.75193810e-04 2.56428535e+02] [-2.43103348e-03 -6.93941578e-05 9.99997043e-01 -1.52976159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:844.84, Y:256.43, Z:-15.30 [[ 9.95348587e-01 9.63083889e-02 2.42570949e-03 8.44842876e+02] [-9.63082479e-02 9.95351541e-01 -1.75136504e-04 2.56427941e+02] [-2.43130079e-03 -5.92939589e-05 9.99997043e-01 -1.52968385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:844.90, Y:256.43, Z:-15.30 [[ 9.96178200e-01 8.73104208e-02 2.42571364e-03 8.44901883e+02] [-8.73102532e-02 9.96181153e-01 -1.75078938e-04 2.56427485e+02] [-2.43173643e-03 -3.73798515e-05 9.99997043e-01 -1.52963555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:844.96, Y:256.42, Z:-15.30 [[ 9.96455269e-01 8.40893110e-02 2.42571982e-03 8.44961448e+02] [-8.40891341e-02 9.96458221e-01 -1.74993282e-04 2.56424312e+02] [-2.43184352e-03 -2.96037017e-05 9.99997043e-01 -1.52957577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:845.02, Y:256.42, Z:-15.29 [[ 9.97162680e-01 7.52376644e-02 2.42572392e-03 8.45021918e+02] [-7.52374614e-02 9.97165630e-01 -1.74936452e-04 2.56420814e+02] [-2.43201033e-03 -8.06520833e-06 9.99997043e-01 -1.52947162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.145336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:845.08, Y:256.42, Z:-15.30 [[ 9.97533724e-01 7.01468903e-02 2.42572392e-03 8.45081621e+02] [-7.01466723e-02 9.97536673e-01 -1.74936452e-04 2.56419163e+02] [-2.43201982e-03 4.34854975e-06 9.99997043e-01 -1.52950455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.205336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:845.14, Y:256.42, Z:-15.30 [[ 9.98021841e-01 6.28213380e-02 2.42572598e-03 8.45141514e+02] [-6.28210984e-02 9.98024789e-01 -1.74907884e-04 2.56415649e+02] [-2.43192261e-03 2.21751184e-05 9.99997043e-01 -1.52980343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.265336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:845.20, Y:256.41, Z:-15.30 [[ 9.98437678e-01 5.58240081e-02 2.42572598e-03 8.45201712e+02] [-5.58237478e-02 9.98440623e-01 -1.74907884e-04 2.56409604e+02] [-2.43170742e-03 3.92215064e-05 9.99997043e-01 -1.52996578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:845.26, Y:256.40, Z:-15.30 [[ 9.98631023e-01 5.22512696e-02 2.42572398e-03 8.45261605e+02] [-5.22509988e-02 9.98633968e-01 -1.74935577e-04 2.56403328e+02] [-2.43155097e-03 4.79495933e-05 9.99997043e-01 -1.52989324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:845.32, Y:256.40, Z:-15.30 [[ 9.98788323e-01 4.91528470e-02 2.42572398e-03 8.45322210e+02] [-4.91525670e-02 9.98791267e-01 -1.74935577e-04 2.56395637e+02] [-2.43139051e-03 5.54930508e-05 9.99997043e-01 -1.52978865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:845.38, Y:256.39, Z:-15.30 [[ 9.98812440e-01 4.86603086e-02 2.42571990e-03 8.45382967e+02] [-4.86600270e-02 9.98815384e-01 -1.74992187e-04 2.56388621e+02] [-2.43136153e-03 5.67487771e-05 9.99997043e-01 -1.52972021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:845.44, Y:256.38, Z:-15.30 [[ 9.98758155e-01 4.97620811e-02 2.42571580e-03 8.45443375e+02] [-4.97618027e-02 9.98761099e-01 -1.75048952e-04 2.56380190e+02] [-2.43142138e-03 5.41235770e-05 9.99997043e-01 -1.52973407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:845.50, Y:256.37, Z:-15.30 [[ 9.98680800e-01 5.12910818e-02 2.42571164e-03 8.45503930e+02] [-5.12908077e-02 9.98683745e-01 -1.75106589e-04 2.56372783e+02] [-2.43150019e-03 5.04588790e-05 9.99997043e-01 -1.52966586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.625336195 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:845.57, Y:256.36, Z:-15.30 [[ 9.98496461e-01 5.47625188e-02 2.42570736e-03 8.45565148e+02] [-5.47622548e-02 9.98499406e-01 -1.75165933e-04 2.56361935e+02] [-2.43165988e-03 4.20653600e-05 9.99997043e-01 -1.52973341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:845.63, Y:256.35, Z:-15.30 [[ 9.98334115e-01 5.76464369e-02 2.42569908e-03 8.45626502e+02] [-5.76461812e-02 9.98337061e-01 -1.75280423e-04 2.56354370e+02] [-2.43176959e-03 3.51561372e-05 9.99997043e-01 -1.52980913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.745336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:845.69, Y:256.34, Z:-15.30 [[ 9.98075058e-01 6.19701087e-02 2.42569472e-03 8.45686823e+02] [-6.19698655e-02 9.98078005e-01 -1.75340800e-04 2.56342402e+02] [-2.43189844e-03 2.46833035e-05 9.99997043e-01 -1.52981018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:845.75, Y:256.33, Z:-15.30 [[ 9.97793907e-01 6.63433106e-02 2.42566657e-03 8.45748065e+02] [-6.63430794e-02 9.97796856e-01 -1.75729362e-04 2.56332777e+02] [-2.43198094e-03 1.44154973e-05 9.99997043e-01 -1.52950693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:845.81, Y:256.33, Z:-15.30 [[ 9.97575217e-01 6.95543069e-02 2.42566227e-03 8.45808936e+02] [-6.95540850e-02 9.97578167e-01 -1.75788744e-04 2.56325061e+02] [-2.43201458e-03 6.64777483e-06 9.99997043e-01 -1.52962898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.925336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:845.87, Y:256.31, Z:-15.30 [[ 9.97286974e-01 7.35717923e-02 2.42564564e-03 8.45869435e+02] [-7.35715818e-02 9.97289923e-01 -1.76017805e-04 2.56314691e+02] [-2.43202190e-03 -2.91832316e-06 9.99997043e-01 -1.52971749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:845.93, Y:256.31, Z:-15.30 [[ 9.97127902e-01 7.56971803e-02 2.42564151e-03 8.45930683e+02] [-7.56969759e-02 9.97130852e-01 -1.76074768e-04 2.56308261e+02] [-2.43201035e-03 -8.04466267e-06 9.99997043e-01 -1.52981656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:845.99, Y:256.30, Z:-15.30 [[ 9.96917463e-01 7.84199445e-02 2.42563734e-03 8.45991431e+02] [-7.84197481e-02 9.96920414e-01 -1.76132263e-04 2.56301719e+02] [-2.43197966e-03 -1.46285396e-05 9.99997043e-01 -1.52955936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.105336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:846.05, Y:256.30, Z:-15.30 [[ 9.96816197e-01 7.96968362e-02 2.42563310e-03 8.46051975e+02] [-7.96966434e-02 9.96819148e-01 -1.76190554e-04 2.56295044e+02] [-2.43195935e-03 -1.76852184e-05 9.99997043e-01 -1.52969936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:846.11, Y:256.29, Z:-15.29 [[ 9.96747846e-01 8.05471843e-02 2.42560588e-03 8.46113311e+02] [-8.05469931e-02 9.96750797e-01 -1.76564562e-04 2.56287150e+02] [-2.43194637e-03 -1.93849135e-05 9.99997043e-01 -1.52945157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.225336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:846.18, Y:256.28, Z:-15.29 [[ 9.96674063e-01 8.14550749e-02 2.42557607e-03 8.46175559e+02] [-8.14548854e-02 9.96677014e-01 -1.76973051e-04 2.56281513e+02] [-2.43193127e-03 -2.11905710e-05 9.99997043e-01 -1.52948103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.285336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:846.24, Y:256.28, Z:-15.30 [[ 9.96536848e-01 8.31169458e-02 2.42554581e-03 8.46236573e+02] [-8.31167602e-02 9.96539800e-01 -1.77386860e-04 2.56277875e+02] [-2.43189679e-03 -2.48309673e-05 9.99997043e-01 -1.52963237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:846.30, Y:256.27, Z:-15.30 [[ 9.96419082e-01 8.45170415e-02 2.42551799e-03 8.46296915e+02] [-8.45168592e-02 9.96422034e-01 -1.77766410e-04 2.56274181e+02] [-2.43186386e-03 -2.78673191e-05 9.99997043e-01 -1.52972856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.405336195 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:846.36, Y:256.27, Z:-15.30 [[ 9.96403235e-01 8.47036635e-02 2.42551591e-03 8.46359312e+02] [-8.47034816e-02 9.96406187e-01 -1.77794753e-04 2.56270000e+02] [-2.43185893e-03 -2.82943758e-05 9.99997043e-01 -1.52958370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:846.42, Y:256.27, Z:-15.30 [[ 9.96363161e-01 8.51737498e-02 2.42548460e-03 8.46420442e+02] [-8.51735683e-02 9.96366113e-01 -1.78220917e-04 2.56267959e+02] [-2.43185041e-03 -2.90144224e-05 9.99997043e-01 -1.52964483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:846.48, Y:256.27, Z:-15.30 [[ 9.96320095e-01 8.56760549e-02 2.42545578e-03 8.46481413e+02] [-8.56758739e-02 9.96323046e-01 -1.78612279e-04 2.56265143e+02] [-2.43184029e-03 -2.98480412e-05 9.99997043e-01 -1.52959765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:846.54, Y:256.27, Z:-15.30 [[ 9.96262121e-01 8.63475705e-02 2.42545160e-03 8.46542755e+02] [-8.63473913e-02 9.96265073e-01 -1.78669053e-04 2.56265485e+02] [-2.43182035e-03 -3.14302083e-05 9.99997043e-01 -1.52950340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:846.60, Y:256.26, Z:-15.30 [[ 9.96368768e-01 8.51081378e-02 2.42544728e-03 8.46604615e+02] [-8.51079549e-02 9.96371720e-01 -1.78727679e-04 2.56264389e+02] [-2.43185826e-03 -2.83461804e-05 9.99997043e-01 -1.52964962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:846.67, Y:256.26, Z:-15.30 [[ 9.96646557e-01 8.17909337e-02 2.42544291e-03 8.46666581e+02] [-8.17907408e-02 9.96649508e-01 -1.78786940e-04 2.56261279e+02] [-2.43193963e-03 -2.01913843e-05 9.99997043e-01 -1.52988416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:846.73, Y:256.26, Z:-15.30 [[ 9.96996216e-01 7.74122924e-02 2.42541216e-03 8.46727348e+02] [-7.74120855e-02 9.96999166e-01 -1.79203115e-04 2.56256431e+02] [-2.43200643e-03 -9.09138624e-06 9.99997043e-01 -1.52973149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:846.79, Y:256.25, Z:-15.30 [[ 9.97465536e-01 7.11099299e-02 2.42540777e-03 8.46788660e+02] [-7.11097042e-02 9.97468485e-01 -1.79262528e-04 2.56253444e+02] [-2.43201516e-03 6.33816471e-06 9.99997043e-01 -1.52950944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:846.85, Y:256.25, Z:-15.30 [[ 9.97711915e-01 6.75651707e-02 2.42537947e-03 8.46849595e+02] [-6.75649336e-02 9.97714863e-01 -1.79644571e-04 2.56249973e+02] [-2.43197486e-03 1.53629259e-05 9.99997043e-01 -1.52980985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.945336195 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:846.91, Y:256.25, Z:-15.30 [[ 9.97700206e-01 6.77378479e-02 2.42537524e-03 8.46911053e+02] [-6.77376112e-02 9.97703154e-01 -1.79701702e-04 2.56245224e+02] [-2.43197713e-03 1.49992998e-05 9.99997043e-01 -1.52974371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:846.97, Y:256.24, Z:-15.30 [[ 9.97547751e-01 6.99471430e-02 2.42537083e-03 8.46971322e+02] [-6.99469127e-02 9.97550699e-01 -1.79761170e-04 2.56243145e+02] [-2.43200415e-03 9.67314885e-06 9.99997043e-01 -1.52995199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:847.03, Y:256.24, Z:-15.30 [[ 9.97325247e-01 7.30511415e-02 2.42536866e-03 8.47031840e+02] [-7.30509203e-02 9.97328196e-01 -1.79790487e-04 2.56240577e+02] [-2.43202245e-03 2.13417917e-06 9.99997043e-01 -1.52986381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:847.09, Y:256.24, Z:-15.30 [[ 9.97055324e-01 7.66472299e-02 2.42536866e-03 8.47092569e+02] [-7.66470194e-02 9.97058274e-01 -1.79790487e-04 2.56240022e+02] [-2.43201433e-03 -6.63621627e-06 9.99997043e-01 -1.52981974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:847.15, Y:256.24, Z:-15.30 [[ 9.97019878e-01 7.71069474e-02 2.42536866e-03 8.47153463e+02] [-7.71067382e-02 9.97022828e-01 -1.79790487e-04 2.56236871e+02] [-2.43201101e-03 -7.75757676e-06 9.99997043e-01 -1.52989023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:847.21, Y:256.23, Z:-15.30 [[ 9.97097143e-01 7.61012818e-02 2.42536442e-03 8.47214914e+02] [-7.61010694e-02 9.97100093e-01 -1.79847704e-04 2.56231905e+02] [-2.43201772e-03 -5.24719366e-06 9.99997043e-01 -1.52977846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.305336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:847.28, Y:256.23, Z:-15.30 [[ 9.97169097e-01 7.51525750e-02 2.42536009e-03 8.47275240e+02] [-7.51523598e-02 9.97172047e-01 -1.79906042e-04 2.56228661e+02] [-2.43202168e-03 -2.87478883e-06 9.99997043e-01 -1.52992648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:847.34, Y:256.23, Z:-15.30 [[ 9.97247682e-01 7.41024915e-02 2.42535794e-03 8.47335491e+02] [-7.41022731e-02 9.97250631e-01 -1.79934940e-04 2.56226047e+02] [-2.43202337e-03 -2.84835099e-07 9.99997043e-01 -1.52968990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.425336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:847.40, Y:256.22, Z:-15.30 [[ 9.97172987e-01 7.51009408e-02 2.42535794e-03 8.47395586e+02] [-7.51007253e-02 9.97175937e-01 -1.79934940e-04 2.56223339e+02] [-2.43202186e-03 -2.71987924e-06 9.99997043e-01 -1.52961955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.4853361950001 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:847.46, Y:256.22, Z:-15.30 [[ 9.97080934e-01 7.63133640e-02 2.42535794e-03 8.47456133e+02] [-7.63131521e-02 9.97083883e-01 -1.79934940e-04 2.56221112e+02] [-2.43201676e-03 -5.67701189e-06 9.99997043e-01 -1.52966375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:847.52, Y:256.22, Z:-15.30 [[ 9.96968832e-01 7.77641702e-02 2.42535794e-03 8.47516002e+02] [-7.77639626e-02 9.96971782e-01 -1.79934940e-04 2.56221756e+02] [-2.43200592e-03 -9.21591762e-06 9.99997043e-01 -1.52992075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:847.58, Y:256.22, Z:-15.30 [[ 9.97052854e-01 7.66793620e-02 2.42536002e-03 8.47576575e+02] [-7.66791512e-02 9.97055804e-01 -1.79906938e-04 2.56220792e+02] [-2.43201443e-03 -6.59782162e-06 9.99997043e-01 -1.52987816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:847.64, Y:256.22, Z:-15.30 [[ 9.97233324e-01 7.42954521e-02 2.42536002e-03 8.47637128e+02] [-7.42952343e-02 9.97236274e-01 -1.79906938e-04 2.56219108e+02] [-2.43202326e-03 -7.83496797e-07 9.99997043e-01 -1.53002991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.725336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:847.70, Y:256.21, Z:-15.30 [[ 9.97546741e-01 6.99615406e-02 2.42536002e-03 8.47697145e+02] [-6.99613100e-02 9.97549689e-01 -1.79906938e-04 2.56213381e+02] [-2.43200370e-03 9.78421579e-06 9.99997043e-01 -1.53011839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:847.76, Y:256.21, Z:-15.30 [[ 9.97760166e-01 6.68488463e-02 2.42535795e-03 8.47757270e+02] [-6.68486064e-02 9.97763114e-01 -1.79934912e-04 2.56210840e+02] [-2.43196114e-03 1.74000888e-05 9.99997043e-01 -1.53028805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:847.82, Y:256.21, Z:-15.30 [[ 9.97935099e-01 6.41845447e-02 2.42535795e-03 8.47817196e+02] [-6.41842970e-02 9.97938046e-01 -1.79934912e-04 2.56208971e+02] [-2.43190601e-03 2.38934695e-05 9.99997043e-01 -1.53020958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:847.88, Y:256.21, Z:-15.30 [[ 9.97997568e-01 6.32057890e-02 2.42534871e-03 8.47876151e+02] [-6.32055381e-02 9.98000515e-01 -1.80059367e-04 2.56205697e+02] [-2.43188005e-03 2.64033404e-05 9.99997043e-01 -1.53012656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.965336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:847.94, Y:256.20, Z:-15.30 [[ 9.97990915e-01 6.33107477e-02 2.42534268e-03 8.47936365e+02] [-6.33104969e-02 9.97993862e-01 -1.80140467e-04 2.56201245e+02] [-2.43188194e-03 2.62288988e-05 9.99997043e-01 -1.52979247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:848.00, Y:256.20, Z:-15.30 [[ 9.97963898e-01 6.37352048e-02 2.42534268e-03 8.47996943e+02] [-6.37349552e-02 9.97966845e-01 -1.80140467e-04 2.56199781e+02] [-2.43189287e-03 2.51945749e-05 9.99997043e-01 -1.52997273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:848.06, Y:256.20, Z:-15.30 [[ 9.97889577e-01 6.48884414e-02 2.42534268e-03 8.48056915e+02] [-6.48881952e-02 9.97892524e-01 -1.80140467e-04 2.56196521e+02] [-2.43192037e-03 2.23841846e-05 9.99997043e-01 -1.53015509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:848.12, Y:256.19, Z:-15.30 [[ 9.97850542e-01 6.54859747e-02 2.42534268e-03 8.48116225e+02] [-6.54857303e-02 9.97853490e-01 -1.80140467e-04 2.56191793e+02] [-2.43193333e-03 2.09279255e-05 9.99997043e-01 -1.53017550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:848.18, Y:256.19, Z:-15.30 [[ 9.97793093e-01 6.63555610e-02 2.42534490e-03 8.48176653e+02] [-6.63553192e-02 9.97796041e-01 -1.80110631e-04 2.56188533e+02] [-2.43195088e-03 1.87786088e-05 9.99997043e-01 -1.53007045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:848.24, Y:256.19, Z:-15.30 [[ 9.97570232e-01 6.96257899e-02 2.42534490e-03 8.48235842e+02] [-6.96255578e-02 9.97573180e-01 -1.80110631e-04 2.56186956e+02] [-2.43199937e-03 1.08070126e-05 9.99997043e-01 -1.52993967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:848.29, Y:256.19, Z:-15.30 [[ 9.97136131e-01 7.55887155e-02 2.42534704e-03 8.48294248e+02] [-7.55885011e-02 9.97139081e-01 -1.80081748e-04 2.56185418e+02] [-2.43202047e-03 -3.76233033e-06 9.99997043e-01 -1.52995202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.385336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:848.35, Y:256.18, Z:-15.30 [[ 9.96804290e-01 7.98456349e-02 2.42535546e-03 8.48353073e+02] [-7.98454333e-02 9.96807240e-01 -1.79968282e-04 2.56183037e+02] [-2.43198157e-03 -1.42604021e-05 9.99997043e-01 -1.53018034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:848.41, Y:256.18, Z:-15.30 [[ 9.96428676e-01 8.44038580e-02 2.42536174e-03 8.48412226e+02] [-8.44036701e-02 9.96431627e-01 -1.79883634e-04 2.56183758e+02] [-2.43189002e-03 -2.54682209e-05 9.99997043e-01 -1.53020123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:848.47, Y:256.18, Z:-15.30 [[ 9.96283532e-01 8.61001872e-02 2.42537003e-03 8.48471298e+02] [-8.61000046e-02 9.96286483e-01 -1.79771767e-04 2.56182193e+02] [-2.43184176e-03 -2.97207198e-05 9.99997043e-01 -1.53000410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:848.53, Y:256.18, Z:-15.30 [[ 9.96216974e-01 8.68669047e-02 2.42537871e-03 8.48529389e+02] [-8.68667247e-02 9.96219925e-01 -1.79654671e-04 2.56182966e+02] [-2.43181664e-03 -3.17096719e-05 9.99997043e-01 -1.53005622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.625336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:848.59, Y:256.18, Z:-15.30 [[ 9.96157279e-01 8.75488054e-02 2.42538941e-03 8.48587997e+02] [-8.75486277e-02 9.96160231e-01 -1.79510107e-04 2.56184177e+02] [-2.43179237e-03 -3.35192141e-05 9.99997043e-01 -1.52983739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:848.65, Y:256.19, Z:-15.30 [[ 9.96125717e-01 8.79071851e-02 2.42539832e-03 8.48645866e+02] [-8.79070088e-02 9.96128669e-01 -1.79389564e-04 2.56185014e+02] [-2.43177843e-03 -3.45149534e-05 9.99997043e-01 -1.53011162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:848.71, Y:256.19, Z:-15.30 [[ 9.96119920e-01 8.79728467e-02 2.42540999e-03 8.48705181e+02] [-8.79726711e-02 9.96122872e-01 -1.79231618e-04 2.56188907e+02] [-2.43177388e-03 -3.48336107e-05 9.99997043e-01 -1.53011327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:848.76, Y:256.19, Z:-15.30 [[ 9.96148536e-01 8.76482243e-02 2.42541830e-03 8.48764367e+02] [-8.76480479e-02 9.96151488e-01 -1.79119078e-04 2.56186953e+02] [-2.43178352e-03 -3.41539725e-05 9.99997043e-01 -1.53004478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:848.82, Y:256.19, Z:-15.30 [[ 9.96218643e-01 8.68477554e-02 2.42542689e-03 8.48823254e+02] [-8.68475770e-02 9.96221595e-01 -1.79002763e-04 2.56187461e+02] [-2.43180863e-03 -3.23165588e-05 9.99997043e-01 -1.52990877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:848.88, Y:256.19, Z:-15.30 [[ 9.96371373e-01 8.50776412e-02 2.42543543e-03 8.48882393e+02] [-8.50774578e-02 9.96374324e-01 -1.78887018e-04 2.56191392e+02] [-2.43186087e-03 -2.81119759e-05 9.99997043e-01 -1.52999388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:848.94, Y:256.20, Z:-15.30 [[ 9.96485016e-01 8.37360719e-02 2.42544393e-03 8.48941969e+02] [-8.37358848e-02 9.96487968e-01 -1.78771614e-04 2.56195205e+02] [-2.43189533e-03 -2.49534595e-05 9.99997043e-01 -1.52995787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:849.00, Y:256.20, Z:-15.30 [[ 9.96534447e-01 8.31457318e-02 2.42545254e-03 8.49000992e+02] [-8.31455432e-02 9.96537399e-01 -1.78654803e-04 2.56195565e+02] [-2.43190854e-03 -2.36299027e-05 9.99997043e-01 -1.52991989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:849.06, Y:256.20, Z:-15.30 [[ 9.96814244e-01 7.97212641e-02 2.42546136e-03 8.49059600e+02] [-7.97210657e-02 9.96817195e-01 -1.78534931e-04 2.56197471e+02] [-2.43197462e-03 -1.53942017e-05 9.99997043e-01 -1.52993108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:849.12, Y:256.20, Z:-15.30 [[ 9.97343748e-01 7.27981127e-02 2.42547225e-03 8.49117173e+02] [-7.27978942e-02 9.97346697e-01 -1.78386814e-04 2.56197527e+02] [-2.43202296e-03 1.34370136e-06 9.99997043e-01 -1.53023343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.225336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:849.18, Y:256.19, Z:-15.30 [[ 9.97708522e-01 6.76152493e-02 2.42548286e-03 8.49176087e+02] [-6.76150157e-02 9.97711470e-01 -1.78242467e-04 2.56194501e+02] [-2.43198398e-03 1.38349669e-05 9.99997043e-01 -1.53024431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:849.23, Y:256.19, Z:-15.30 [[ 9.98132487e-01 6.10381517e-02 2.42549149e-03 8.49234442e+02] [-6.10378990e-02 9.98135433e-01 -1.78125007e-04 2.56194031e+02] [-2.43184142e-03 2.97454519e-05 9.99997043e-01 -1.53029836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:849.29, Y:256.19, Z:-15.30 [[ 9.98403635e-01 5.64295836e-02 2.42550213e-03 8.49291960e+02] [-5.64293177e-02 9.98406581e-01 -1.77979959e-04 2.56191580e+02] [-2.43168062e-03 4.08264079e-05 9.99997043e-01 -1.53037286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.405336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:849.35, Y:256.19, Z:-15.30 [[ 9.98559328e-01 5.36039714e-02 2.42551236e-03 8.49350655e+02] [-5.36036975e-02 9.98562272e-01 -1.77840479e-04 2.56188354e+02] [-2.43155809e-03 4.75678385e-05 9.99997043e-01 -1.53008966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:849.41, Y:256.18, Z:-15.30 [[ 9.98776867e-01 4.93850932e-02 2.42552091e-03 8.49409304e+02] [-4.93848071e-02 9.98779810e-01 -1.77723773e-04 2.56184774e+02] [-2.43133822e-03 5.77225107e-05 9.99997043e-01 -1.52995039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:849.47, Y:256.18, Z:-15.30 [[ 9.98927292e-01 4.62426454e-02 2.42552724e-03 8.49468340e+02] [-4.62423503e-02 9.98930235e-01 -1.77637347e-04 2.56179700e+02] [-2.43114691e-03 6.52847135e-05 9.99997043e-01 -1.52992379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.585336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:849.53, Y:256.17, Z:-15.30 [[ 9.99120777e-01 4.18543829e-02 2.42553552e-03 8.49526905e+02] [-4.18540752e-02 9.99123719e-01 -1.77524238e-04 2.56169847e+02] [-2.43084023e-03 7.58496091e-05 9.99997043e-01 -1.52992407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:849.59, Y:256.16, Z:-15.30 [[ 9.99181717e-01 4.03734118e-02 2.42554393e-03 8.49585053e+02] [-4.03730999e-02 9.99184658e-01 -1.77409247e-04 2.56162698e+02] [-2.43072890e-03 7.93373485e-05 9.99997043e-01 -1.53013773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:849.64, Y:256.15, Z:-15.30 [[ 9.99132695e-01 4.15689127e-02 2.42554828e-03 8.49644321e+02] [-4.15686045e-02 9.99135636e-01 -1.77349672e-04 2.56153823e+02] [-2.43082396e-03 7.63691984e-05 9.99997043e-01 -1.53021461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.765336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:849.70, Y:256.14, Z:-15.30 [[ 9.98897428e-01 4.68833055e-02 2.42555223e-03 8.49703268e+02] [-4.68830131e-02 9.98900371e-01 -1.77295608e-04 2.56143947e+02] [-2.43119723e-03 6.33829294e-05 9.99997043e-01 -1.53014313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:849.76, Y:256.14, Z:-15.30 [[ 9.98671433e-01 5.14731596e-02 2.42555632e-03 8.49761861e+02] [-5.14728808e-02 9.98674377e-01 -1.77239736e-04 2.56136993e+02] [-2.43146403e-03 5.21538899e-05 9.99997043e-01 -1.53012992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:849.82, Y:256.13, Z:-15.30 [[ 9.98299357e-01 5.82452528e-02 2.42556478e-03 8.49819092e+02] [-5.82449944e-02 9.98302304e-01 -1.77123872e-04 2.56129789e+02] [-2.43176353e-03 3.55456406e-05 9.99997043e-01 -1.53029162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:849.88, Y:256.12, Z:-15.30 [[ 9.98022306e-01 6.28139639e-02 2.42557529e-03 8.49877495e+02] [-6.28137193e-02 9.98025253e-01 -1.76979741e-04 2.56121656e+02] [-2.43190220e-03 2.42703238e-05 9.99997043e-01 -1.53042673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.005336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:849.94, Y:256.12, Z:-15.30 [[ 9.97857516e-01 6.53796126e-02 2.42558360e-03 8.49935650e+02] [-6.53793758e-02 9.97860464e-01 -1.76865882e-04 2.56116655e+02] [-2.43195740e-03 1.79038082e-05 9.99997043e-01 -1.53021900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:849.99, Y:256.11, Z:-15.30 [[ 9.97700666e-01 6.77310677e-02 2.42559186e-03 8.49994374e+02] [-6.77308381e-02 9.97703614e-01 -1.76752499e-04 2.56110816e+02] [-2.43199340e-03 1.20587167e-05 9.99997043e-01 -1.53002665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:850.05, Y:256.11, Z:-15.30 [[ 9.97679084e-01 6.80482243e-02 2.42559801e-03 8.50052905e+02] [-6.80479959e-02 9.97682033e-01 -1.76668091e-04 2.56105048e+02] [-2.43199750e-03 1.12009764e-05 9.99997043e-01 -1.53011425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:850.11, Y:256.10, Z:-15.30 [[ 9.97725824e-01 6.73594633e-02 2.42560607e-03 8.50111225e+02] [-6.73592331e-02 9.97728772e-01 -1.76557310e-04 2.56099484e+02] [-2.43198977e-03 1.27688228e-05 9.99997043e-01 -1.52999784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:850.17, Y:256.09, Z:-15.30 [[ 9.97817126e-01 6.59931840e-02 2.42561462e-03 8.50169585e+02] [-6.59929501e-02 9.97820074e-01 -1.76439802e-04 2.56094319e+02] [-2.43197078e-03 1.59811918e-05 9.99997043e-01 -1.53008945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:850.23, Y:256.09, Z:-15.30 [[ 9.97862316e-01 6.53063088e-02 2.42562094e-03 8.50229377e+02] [-6.53060730e-02 9.97865264e-01 -1.76352875e-04 2.56089400e+02] [-2.43195983e-03 1.75681101e-05 9.99997043e-01 -1.53011127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:850.29, Y:256.08, Z:-15.30 [[ 9.97986219e-01 6.33847213e-02 2.42562514e-03 8.50288203e+02] [-6.33844800e-02 9.97989167e-01 -1.76295101e-04 2.56082911e+02] [-2.43192202e-03 2.21930935e-05 9.99997043e-01 -1.53017363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:850.35, Y:256.08, Z:-15.30 [[ 9.98103739e-01 6.15064356e-02 2.42563140e-03 8.50347098e+02] [-6.15061890e-02 9.98106687e-01 -1.76208834e-04 2.56075451e+02] [-2.43187690e-03 2.66833522e-05 9.99997043e-01 -1.53016934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:850.40, Y:256.07, Z:-15.30 [[ 9.98183052e-01 6.02055666e-02 2.42563554e-03 8.50404874e+02] [-6.02053163e-02 9.98185999e-01 -1.76151904e-04 2.56067848e+02] [-2.43184076e-03 2.97956908e-05 9.99997043e-01 -1.53011560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:850.46, Y:256.06, Z:-15.30 [[ 9.98217496e-01 5.96317682e-02 2.42564374e-03 8.50463861e+02] [-5.96315165e-02 9.98220442e-01 -1.76038854e-04 2.56058651e+02] [-2.43182468e-03 3.10802496e-05 9.99997043e-01 -1.53008984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:850.52, Y:256.05, Z:-15.30 [[ 9.98194003e-01 6.00237415e-02 2.42564780e-03 8.50523175e+02] [-6.00234911e-02 9.98196949e-01 -1.75982977e-04 2.56049664e+02] [-2.43183739e-03 3.00693030e-05 9.99997043e-01 -1.53014908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:850.58, Y:256.04, Z:-15.30 [[ 9.98140523e-01 6.09065852e-02 2.42565180e-03 8.50580826e+02] [-6.09063375e-02 9.98143470e-01 -1.75927720e-04 2.56038950e+02] [-2.43186367e-03 2.78630190e-05 9.99997043e-01 -1.53017633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:850.64, Y:256.03, Z:-15.30 [[ 9.98115630e-01 6.13131773e-02 2.42565580e-03 8.50640475e+02] [-6.13129309e-02 9.98118577e-01 -1.75872662e-04 2.56032166e+02] [-2.43187542e-03 2.68171864e-05 9.99997043e-01 -1.53016344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.785336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:850.70, Y:256.02, Z:-15.30 [[ 9.97961535e-01 6.37721811e-02 2.42565978e-03 8.50698027e+02] [-6.37719421e-02 9.97964483e-01 -1.75817736e-04 2.56021490e+02] [-2.43193458e-03 2.07703026e-05 9.99997043e-01 -1.53013241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.845336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:850.76, Y:256.01, Z:-15.30 [[ 9.97671915e-01 6.81532502e-02 2.42566571e-03 8.50757636e+02] [-6.81530244e-02 9.97674864e-01 -1.75735816e-04 2.56011909e+02] [-2.43200268e-03 1.00102340e-05 9.99997043e-01 -1.53001289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:850.82, Y:256.00, Z:-15.30 [[ 9.97341141e-01 7.28338203e-02 2.42566996e-03 8.50815517e+02] [-7.28336085e-02 9.97344090e-01 -1.75677155e-04 2.56004224e+02] [-2.43202284e-03 -1.46024248e-06 9.99997043e-01 -1.53023217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:850.87, Y:256.00, Z:-15.30 [[ 9.96912014e-01 7.84891856e-02 2.42567629e-03 8.50874462e+02] [-7.84889907e-02 9.96914965e-01 -1.75589722e-04 2.55997183e+02] [-2.43197489e-03 -1.53413804e-05 9.99997043e-01 -1.53033791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:850.93, Y:255.99, Z:-15.30 [[ 9.96786755e-01 8.00642300e-02 2.42568042e-03 8.50934191e+02] [-8.00640399e-02 9.96789706e-01 -1.75532638e-04 2.55989682e+02] [-2.43194716e-03 -1.92411653e-05 9.99997043e-01 -1.53039750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:850.99, Y:255.98, Z:-15.31 [[ 9.96828363e-01 7.95445157e-02 2.42568460e-03 8.50993283e+02] [-7.95443242e-02 9.96831315e-01 -1.75474826e-04 2.55980021e+02] [-2.43195643e-03 -1.80311585e-05 9.99997043e-01 -1.53051224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:851.05, Y:255.97, Z:-15.30 [[ 9.96901523e-01 7.86223274e-02 2.42568667e-03 8.51053673e+02] [-7.86221332e-02 9.96904474e-01 -1.75446182e-04 2.55972039e+02] [-2.43197188e-03 -1.58100952e-05 9.99997043e-01 -1.53041141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.205336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:851.11, Y:255.97, Z:-15.30 [[ 9.96868875e-01 7.90351953e-02 2.42568667e-03 8.51114144e+02] [-7.90350024e-02 9.96871826e-01 -1.75446182e-04 2.55965121e+02] [-2.43196513e-03 -1.68173144e-05 9.99997043e-01 -1.53032245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.265336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:851.17, Y:255.96, Z:-15.30 [[ 9.96745190e-01 8.05800325e-02 2.42568667e-03 8.51174437e+02] [-8.05798442e-02 9.96748142e-01 -1.75446182e-04 2.55957432e+02] [-2.43193614e-03 -2.05863165e-05 9.99997043e-01 -1.53028012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:851.23, Y:255.95, Z:-15.31 [[ 9.96694675e-01 8.12024733e-02 2.42568667e-03 8.51234435e+02] [-8.12022868e-02 9.96697626e-01 -1.75446182e-04 2.55951401e+02] [-2.43192281e-03 -2.21050300e-05 9.99997043e-01 -1.53053481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:851.29, Y:255.95, Z:-15.31 [[ 9.96709103e-01 8.10251832e-02 2.42568667e-03 8.51294397e+02] [-8.10249962e-02 9.96712054e-01 -1.75446182e-04 2.55945606e+02] [-2.43192671e-03 -2.16724473e-05 9.99997043e-01 -1.53054834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:851.35, Y:255.94, Z:-15.30 [[ 9.96893960e-01 7.87181528e-02 2.42568667e-03 8.51353743e+02] [-7.87179589e-02 9.96896912e-01 -1.75446182e-04 2.55938586e+02] [-2.43197035e-03 -1.60438650e-05 9.99997043e-01 -1.53035619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:851.41, Y:255.93, Z:-15.30 [[ 9.97085761e-01 7.62502550e-02 2.42568875e-03 8.51414171e+02] [-7.62500538e-02 9.97088711e-01 -1.75417485e-04 2.55932259e+02] [-2.43200250e-03 -1.00526212e-05 9.99997043e-01 -1.53025519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.565336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:851.47, Y:255.92, Z:-15.30 [[ 9.97354895e-01 7.26452264e-02 2.42568875e-03 8.51474984e+02] [-7.26450146e-02 9.97357845e-01 -1.75417485e-04 2.55924093e+02] [-2.43202295e-03 -1.26070723e-06 9.99997043e-01 -1.53013971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:851.54, Y:255.92, Z:-15.30 [[ 9.97492177e-01 7.07352280e-02 2.42568450e-03 8.51535984e+02] [-7.07350104e-02 9.97495127e-01 -1.75476262e-04 2.55915975e+02] [-2.43202082e-03 3.45538068e-06 9.99997043e-01 -1.53029362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:851.60, Y:255.91, Z:-15.30 [[ 9.97539934e-01 7.00585147e-02 2.42568019e-03 8.51596732e+02] [-7.00582950e-02 9.97542884e-01 -1.75535755e-04 2.55908717e+02] [-2.43201779e-03 5.16490752e-06 9.99997043e-01 -1.53030845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.745336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:851.66, Y:255.90, Z:-15.30 [[ 9.97605250e-01 6.91222218e-02 2.42567589e-03 8.51657117e+02] [-6.91219992e-02 9.97608199e-01 -1.75595193e-04 2.55899791e+02] [-2.43201169e-03 7.50711925e-06 9.99997043e-01 -1.53035296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.805336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:851.72, Y:255.89, Z:-15.30 [[ 9.97641625e-01 6.85952165e-02 2.42567162e-03 8.51718185e+02] [-6.85949921e-02 9.97644574e-01 -1.75654112e-04 2.55893000e+02] [-2.43200717e-03 8.85092837e-06 9.99997043e-01 -1.53033477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:851.78, Y:255.88, Z:-15.31 [[ 9.97834073e-01 6.57364312e-02 2.42566732e-03 8.51779972e+02] [-6.57361983e-02 9.97837021e-01 -1.75713494e-04 2.55882647e+02] [-2.43197143e-03 1.58787632e-05 9.99997043e-01 -1.53055881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:851.84, Y:255.87, Z:-15.31 [[ 9.97997529e-01 6.32063998e-02 2.42563531e-03 8.51841860e+02] [-6.32061584e-02 9.98000476e-01 -1.76154324e-04 2.55873648e+02] [-2.43191927e-03 2.24864904e-05 9.99997043e-01 -1.53052653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:851.90, Y:255.86, Z:-15.30 [[ 9.98135953e-01 6.09814389e-02 2.42560531e-03 8.51902935e+02] [-6.09811899e-02 9.98138900e-01 -1.76566415e-04 2.55861345e+02] [-2.43185829e-03 2.83209891e-05 9.99997043e-01 -1.53040453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:851.97, Y:255.85, Z:-15.30 [[ 9.98090835e-01 6.17154948e-02 2.42557351e-03 8.51965001e+02] [-6.17152469e-02 9.98093782e-01 -1.77002132e-04 2.55847603e+02] [-2.43187362e-03 2.69693374e-05 9.99997043e-01 -1.53016321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:852.03, Y:255.83, Z:-15.30 [[ 9.97850167e-01 6.54916788e-02 2.42554018e-03 8.52027311e+02] [-6.54914409e-02 9.97853115e-01 -1.77457786e-04 2.55834618e+02] [-2.43195483e-03 1.82241600e-05 9.99997043e-01 -1.53016699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:852.09, Y:255.82, Z:-15.31 [[ 9.97377300e-01 7.23369813e-02 2.42550664e-03 8.52087340e+02] [-7.23367626e-02 9.97380249e-01 -1.77914999e-04 2.55823490e+02] [-2.43202225e-03 1.99508297e-06 9.99997043e-01 -1.53054003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:852.15, Y:255.81, Z:-15.31 [[ 9.96912068e-01 7.84885110e-02 2.42547963e-03 8.52149150e+02] [-7.84883096e-02 9.96915018e-01 -1.78282431e-04 2.55814416e+02] [-2.43199019e-03 -1.26398892e-05 9.99997043e-01 -1.53078358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:852.21, Y:255.81, Z:-15.31 [[ 9.96364183e-01 8.51617944e-02 2.42545087e-03 8.52211413e+02] [-8.51616118e-02 9.96367135e-01 -1.78672839e-04 2.55806197e+02] [-2.43185564e-03 -2.85320882e-05 9.99997043e-01 -1.53067116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:852.27, Y:255.80, Z:-15.31 [[ 9.95580465e-01 9.38810672e-02 2.42541562e-03 8.52272697e+02] [-9.38809092e-02 9.95583418e-01 -1.79150111e-04 2.55797456e+02] [-2.43152238e-03 -4.93418730e-05 9.99997043e-01 -1.53083451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.405336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:852.33, Y:255.79, Z:-15.31 [[ 9.95099355e-01 9.88503485e-02 2.42538465e-03 8.52333461e+02] [-9.88502043e-02 9.95102309e-01 -1.79568435e-04 2.55790541e+02] [-2.43125627e-03 -6.10613346e-05 9.99997043e-01 -1.53062091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:852.39, Y:255.78, Z:-15.31 [[ 9.94878942e-01 1.01044588e-01 2.42535636e-03 8.52394986e+02] [-1.01044450e-01 9.94881896e-01 -1.79949658e-04 2.55783339e+02] [-2.43112608e-03 -6.60406730e-05 9.99997043e-01 -1.53065926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:852.46, Y:255.78, Z:-15.31 [[ 9.94680612e-01 1.02978625e-01 2.42532426e-03 8.52457858e+02] [-1.02978491e-01 9.94683567e-01 -1.80381312e-04 2.55776126e+02] [-2.43100560e-03 -7.03344390e-05 9.99997043e-01 -1.53064160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:852.52, Y:255.77, Z:-15.31 [[ 9.94696563e-01 1.02824440e-01 2.42529062e-03 8.52519726e+02] [-1.02824305e-01 9.94699517e-01 -1.80832541e-04 2.55772244e+02] [-2.43102941e-03 -6.95053142e-05 9.99997043e-01 -1.53070846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:852.58, Y:255.77, Z:-15.31 [[ 9.94765726e-01 1.02153160e-01 2.42525932e-03 8.52582781e+02] [-1.02153021e-01 9.94768680e-01 -1.81251342e-04 2.55766770e+02] [-2.43108741e-03 -6.74449445e-05 9.99997043e-01 -1.53082738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:852.65, Y:255.76, Z:-15.31 [[ 9.95084008e-01 9.90047229e-02 2.42522591e-03 8.52645602e+02] [-9.90045739e-02 9.95086962e-01 -1.81697263e-04 2.55758876e+02] [-2.43129957e-03 -5.93044169e-05 9.99997043e-01 -1.53063918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:852.71, Y:255.75, Z:-15.30 [[ 9.95228319e-01 9.75433806e-02 2.42519249e-03 8.52708476e+02] [-9.75432262e-02 9.95231273e-01 -1.82142221e-04 2.55754036e+02] [-2.43139418e-03 -5.52880027e-05 9.99997043e-01 -1.53041928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:852.77, Y:255.75, Z:-15.30 [[ 9.95147651e-01 9.83629531e-02 2.42515802e-03 8.52770543e+02] [-9.83628000e-02 9.95150605e-01 -1.82600007e-04 2.55750032e+02] [-2.43135855e-03 -5.68313650e-05 9.99997043e-01 -1.53023140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:852.83, Y:255.75, Z:-15.30 [[ 9.94810800e-01 1.01713278e-01 2.42513666e-03 8.52832269e+02] [-1.01713134e-01 9.94813754e-01 -1.82883249e-04 2.55748939e+02] [-2.43116096e-03 -6.47340184e-05 9.99997043e-01 -1.53030282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:852.90, Y:255.75, Z:-15.31 [[ 9.94638540e-01 1.03384208e-01 2.42510594e-03 8.52895491e+02] [-1.03384068e-01 9.94641494e-01 -1.83289682e-04 2.55746956e+02] [-2.43106026e-03 -6.84103362e-05 9.99997043e-01 -1.53055591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.005336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:852.96, Y:255.75, Z:-15.31 [[ 9.94825913e-01 1.01565355e-01 2.42507226e-03 8.52956397e+02] [-1.01565208e-01 9.94828867e-01 -1.83734300e-04 2.55746640e+02] [-2.43119293e-03 -6.35193263e-05 9.99997043e-01 -1.53092242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:853.02, Y:255.74, Z:-15.31 [[ 9.95055579e-01 9.92900470e-02 2.42504517e-03 8.53019208e+02] [-9.92898931e-02 9.95058533e-01 -1.84091134e-04 2.55744605e+02] [-2.43134030e-03 -5.76015656e-05 9.99997043e-01 -1.53094663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:853.08, Y:255.75, Z:-15.31 [[ 9.95331311e-01 9.64867917e-02 2.42501182e-03 8.53081403e+02] [-9.64866284e-02 9.95334264e-01 -1.84529391e-04 2.55746982e+02] [-2.43150200e-03 -5.03133335e-05 9.99997043e-01 -1.53080876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:853.14, Y:255.75, Z:-15.31 [[ 9.95510504e-01 9.46200639e-02 2.42498069e-03 8.53143651e+02] [-9.46198941e-02 9.95513456e-01 -1.84937606e-04 2.55750097e+02] [-2.43159971e-03 -4.53440865e-05 9.99997043e-01 -1.53071480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.245336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:853.21, Y:255.75, Z:-15.31 [[ 9.95680050e-01 9.28189506e-02 2.42494994e-03 8.53207190e+02] [-9.28187744e-02 9.95683002e-01 -1.85339892e-04 2.55749986e+02] [-2.43168449e-03 -4.05416491e-05 9.99997043e-01 -1.53072271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:853.27, Y:255.75, Z:-15.31 [[ 9.96088660e-01 8.83261100e-02 2.42491566e-03 8.53269769e+02] [-8.83259194e-02 9.96091611e-01 -1.85787400e-04 2.55749276e+02] [-2.43184802e-03 -2.91221828e-05 9.99997043e-01 -1.53109529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:853.33, Y:255.75, Z:-15.31 [[ 9.96578567e-01 8.26152545e-02 2.42488373e-03 8.53332019e+02] [-8.26150460e-02 9.96581517e-01 -1.86203146e-04 2.55750216e+02] [-2.43197753e-03 -1.47658163e-05 9.99997043e-01 -1.53125164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:853.39, Y:255.75, Z:-15.31 [[ 9.96893860e-01 7.87194552e-02 2.42485556e-03 8.53394619e+02] [-7.87192343e-02 9.96896809e-01 -1.86569284e-04 2.55748188e+02] [-2.43201740e-03 -4.89299936e-06 9.99997043e-01 -1.53140984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:853.46, Y:255.74, Z:-15.31 [[ 9.97277204e-01 7.37041303e-02 2.42482749e-03 8.53456391e+02] [-7.37038936e-02 9.97280152e-01 -1.86933367e-04 2.55744733e+02] [-2.43201009e-03 7.70515827e-06 9.99997043e-01 -1.53102684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:853.52, Y:255.74, Z:-15.31 [[ 9.97485427e-01 7.08303872e-02 2.42479503e-03 8.53518312e+02] [-7.08301411e-02 9.97488374e-01 -1.87353501e-04 2.55739863e+02] [-2.43197517e-03 1.51338127e-05 9.99997043e-01 -1.53105404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:853.58, Y:255.73, Z:-15.31 [[ 9.97616069e-01 6.89659223e-02 2.42476051e-03 8.53580537e+02] [-6.89656695e-02 9.97619016e-01 -1.87799268e-04 2.55734967e+02] [-2.43193894e-03 2.01263355e-05 9.99997043e-01 -1.53084197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:853.64, Y:255.73, Z:-15.31 [[ 9.97560218e-01 6.97691404e-02 2.42472900e-03 8.53642584e+02] [-6.97688890e-02 9.97563164e-01 -1.88205189e-04 2.55728249e+02] [-2.43195125e-03 1.85753609e-05 9.99997043e-01 -1.53054548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:853.70, Y:255.72, Z:-15.31 [[ 9.97253805e-01 7.40200646e-02 2.42469687e-03 8.53703080e+02] [-7.40198248e-02 9.97256752e-01 -1.88618211e-04 2.55722937e+02] [-2.43200686e-03 8.62459124e-06 9.99997043e-01 -1.53073423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:853.76, Y:255.72, Z:-15.31 [[ 9.96995275e-01 7.74244282e-02 2.42466724e-03 8.53764988e+02] [-7.74241975e-02 9.96998224e-01 -1.88998274e-04 2.55718144e+02] [-2.43202202e-03 7.02470166e-07 9.99997043e-01 -1.53087283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:853.83, Y:255.72, Z:-15.31 [[ 9.96644941e-01 8.18106473e-02 2.42463600e-03 8.53825996e+02] [-8.18104287e-02 9.96647891e-01 -1.89398272e-04 2.55715835e+02] [-2.43200315e-03 -9.59768111e-06 9.99997043e-01 -1.53105115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:853.89, Y:255.71, Z:-15.31 [[ 9.96392219e-01 8.48331749e-02 2.42463155e-03 8.53887532e+02] [-8.48329650e-02 9.96395169e-01 -1.89455176e-04 2.55710701e+02] [-2.43196325e-03 -1.69170205e-05 9.99997043e-01 -1.53113492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:853.95, Y:255.71, Z:-15.31 [[ 9.96227075e-01 8.67510061e-02 2.42462697e-03 8.53948469e+02] [-8.67508018e-02 9.96230025e-01 -1.89513802e-04 2.55707925e+02] [-2.43192670e-03 -2.15395527e-05 9.99997043e-01 -1.53122494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:854.01, Y:255.70, Z:-15.31 [[ 9.96061237e-01 8.86348348e-02 2.42462234e-03 8.54009545e+02] [-8.86346359e-02 9.96064187e-01 -1.89573009e-04 2.55703879e+02] [-2.43188225e-03 -2.60791924e-05 9.99997043e-01 -1.53136710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:854.07, Y:255.70, Z:-15.31 [[ 9.95843094e-01 9.10530224e-02 2.42461776e-03 8.54070924e+02] [-9.10528306e-02 9.95846045e-01 -1.89631615e-04 2.55701674e+02] [-2.43181254e-03 -3.19249758e-05 9.99997043e-01 -1.53139815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:854.13, Y:255.70, Z:-15.31 [[ 9.95732635e-01 9.22531303e-02 2.42461312e-03 8.54130824e+02] [-9.22529418e-02 9.95735587e-01 -1.89690932e-04 2.55698289e+02] [-2.43177315e-03 -3.47962410e-05 9.99997043e-01 -1.53149321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:854.19, Y:255.70, Z:-15.32 [[ 9.95726031e-01 9.23243915e-02 2.42461082e-03 8.54191285e+02] [-9.23242032e-02 9.95728982e-01 -1.89720311e-04 2.55696973e+02] [-2.43177107e-03 -3.49408095e-05 9.99997043e-01 -1.53156595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:854.25, Y:255.69, Z:-15.32 [[ 9.95813427e-01 9.13769078e-02 2.42461082e-03 8.54252178e+02] [-9.13767167e-02 9.95816378e-01 -1.89720311e-04 2.55694257e+02] [-2.43180322e-03 -3.26269424e-05 9.99997043e-01 -1.53153216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:854.31, Y:255.69, Z:-15.31 [[ 9.96017790e-01 8.91217287e-02 2.42461082e-03 8.54312209e+02] [-8.91215308e-02 9.96020741e-01 -1.89720311e-04 2.55692043e+02] [-2.43187087e-03 -2.71202227e-05 9.99997043e-01 -1.53145468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:854.37, Y:255.69, Z:-15.31 [[ 9.96174245e-01 8.73555678e-02 2.42460859e-03 8.54373593e+02] [-8.73553647e-02 9.96177195e-01 -1.89748795e-04 2.55690581e+02] [-2.43191540e-03 -2.27797044e-05 9.99997043e-01 -1.53124966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:854.43, Y:255.69, Z:-15.31 [[ 9.96441042e-01 8.42577614e-02 2.42460389e-03 8.54433829e+02] [-8.42575490e-02 9.96443992e-01 -1.89808864e-04 2.55690407e+02] [-2.43197485e-03 -1.51578385e-05 9.99997043e-01 -1.53137524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:854.49, Y:255.69, Z:-15.31 [[ 9.96601801e-01 8.23345126e-02 2.42460156e-03 8.54494232e+02] [-8.23342944e-02 9.96604750e-01 -1.89838600e-04 2.55690202e+02] [-2.43199970e-03 -1.04343675e-05 9.99997043e-01 -1.53145394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:854.55, Y:255.69, Z:-15.31 [[ 9.96669380e-01 8.15123792e-02 2.42460156e-03 8.54554690e+02] [-8.15121586e-02 9.96672329e-01 -1.89838601e-04 2.55686826e+02] [-2.43200748e-03 -8.42818629e-06 9.99997043e-01 -1.53144082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:854.62, Y:255.69, Z:-15.31 [[ 9.96902414e-01 7.86110593e-02 2.42459927e-03 8.54615012e+02] [-7.86108300e-02 9.96905362e-01 -1.89867863e-04 2.55685781e+02] [-2.43202172e-03 -1.32003022e-06 9.99997043e-01 -1.53135421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:854.67, Y:255.68, Z:-15.31 [[ 9.97079677e-01 7.63298007e-02 2.42459927e-03 8.54674855e+02] [-7.63295647e-02 9.97082625e-01 -1.89867863e-04 2.55682687e+02] [-2.43201838e-03 4.24478063e-06 9.99997043e-01 -1.53141388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:854.74, Y:255.68, Z:-15.31 [[ 9.97314802e-01 7.31936321e-02 2.42459697e-03 8.54735142e+02] [-7.31933867e-02 9.97317749e-01 -1.89897241e-04 2.55679475e+02] [-2.43199286e-03 1.19228663e-05 9.99997043e-01 -1.53138969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:854.80, Y:255.68, Z:-15.31 [[ 9.97408017e-01 7.19122353e-02 2.42459697e-03 8.54795790e+02] [-7.19119861e-02 9.97410964e-01 -1.89897241e-04 2.55675727e+02] [-2.43197553e-03 1.50474476e-05 9.99997043e-01 -1.53149002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.865336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:854.86, Y:255.67, Z:-15.31 [[ 9.97365508e-01 7.24994075e-02 2.42459697e-03 8.54855569e+02] [-7.24991601e-02 9.97368455e-01 -1.89897241e-04 2.55671662e+02] [-2.43198397e-03 1.36157152e-05 9.99997043e-01 -1.53146476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:854.92, Y:255.67, Z:-15.32 [[ 9.97168569e-01 7.51596110e-02 2.42459463e-03 8.54915954e+02] [-7.51593713e-02 9.97171516e-01 -1.89927067e-04 2.55667078e+02] [-2.43201155e-03 7.15829329e-06 9.99997043e-01 -1.53173568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:854.98, Y:255.66, Z:-15.32 [[ 9.96979270e-01 7.76302569e-02 2.42459463e-03 8.54975717e+02] [-7.76300246e-02 9.96982218e-01 -1.89927067e-04 2.55663321e+02] [-2.43202182e-03 1.13200769e-06 9.99997043e-01 -1.53217430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:855.04, Y:255.66, Z:-15.32 [[ 9.96728351e-01 8.07880918e-02 2.42459682e-03 8.55035365e+02] [-8.07878689e-02 9.96731300e-01 -1.89899049e-04 2.55660426e+02] [-2.43201313e-03 -6.60024397e-06 9.99997043e-01 -1.53216018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:855.09, Y:255.66, Z:-15.32 [[ 9.96520734e-01 8.33099456e-02 2.42460147e-03 8.55094402e+02] [-8.33097303e-02 9.96523684e-01 -1.89839718e-04 2.55657566e+02] [-2.43198832e-03 -1.28136794e-05 9.99997043e-01 -1.53202273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.165336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:855.15, Y:255.66, Z:-15.31 [[ 9.96361410e-01 8.51942567e-02 2.42460643e-03 8.55153736e+02] [-8.51940471e-02 9.96364360e-01 -1.89776282e-04 2.55655325e+02] [-2.43195929e-03 -1.74762712e-05 9.99997043e-01 -1.53145057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.225336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:855.21, Y:255.65, Z:-15.31 [[ 9.96275703e-01 8.61907481e-02 2.42461109e-03 8.55213044e+02] [-8.61905416e-02 9.96278653e-01 -1.89716762e-04 2.55652644e+02] [-2.43194010e-03 -1.99683431e-05 9.99997043e-01 -1.53125228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:855.27, Y:255.65, Z:-15.32 [[ 9.96375851e-01 8.50251979e-02 2.42461340e-03 8.55272483e+02] [-8.50249880e-02 9.96378801e-01 -1.89687297e-04 2.55648510e+02] [-2.43196159e-03 -1.71528828e-05 9.99997043e-01 -1.53159849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:855.33, Y:255.64, Z:-15.32 [[ 9.96720782e-01 8.08814172e-02 2.42461803e-03 8.55333031e+02] [-8.08811952e-02 9.96723731e-01 -1.89628110e-04 2.55643678e+02] [-2.43201171e-03 -7.09972570e-06 9.99997043e-01 -1.53190804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:855.39, Y:255.64, Z:-15.32 [[ 9.96930683e-01 7.82517333e-02 2.42461803e-03 8.55392304e+02] [-7.82515035e-02 9.96933632e-01 -1.89628110e-04 2.55638202e+02] [-2.43202198e-03 -6.83924661e-07 9.99997043e-01 -1.53198178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:855.45, Y:255.63, Z:-15.32 [[ 9.97134551e-01 7.56095802e-02 2.42461544e-03 8.55452935e+02] [-7.56093426e-02 9.97137499e-01 -1.89661159e-04 2.55634068e+02] [-2.43201518e-03 5.79411487e-06 9.99997043e-01 -1.53207259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:855.51, Y:255.63, Z:-15.32 [[ 9.97141429e-01 7.55188192e-02 2.42461544e-03 8.55513386e+02] [-7.55185813e-02 9.97144377e-01 -1.89661159e-04 2.55629113e+02] [-2.43201464e-03 6.01548064e-06 9.99997043e-01 -1.53201298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.585336195 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:855.57, Y:255.62, Z:-15.31 [[ 9.97062246e-01 7.65571569e-02 2.42461544e-03 8.55572986e+02] [-7.65569220e-02 9.97065194e-01 -1.89661159e-04 2.55624691e+02] [-2.43201958e-03 3.48288575e-06 9.99997043e-01 -1.53140283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:855.63, Y:255.62, Z:-15.32 [[ 9.96862649e-01 7.91137172e-02 2.42461774e-03 8.55631806e+02] [-7.91134900e-02 9.96865598e-01 -1.89631747e-04 2.55622303e+02] [-2.43202049e-03 -2.78316598e-06 9.99997043e-01 -1.53153376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:855.69, Y:255.62, Z:-15.32 [[ 9.96678313e-01 8.14030780e-02 2.42462453e-03 8.55691646e+02] [-8.14028578e-02 9.96681262e-01 -1.89544831e-04 2.55618743e+02] [-2.43200737e-03 -8.45614381e-06 9.99997043e-01 -1.53150431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:855.75, Y:255.62, Z:-15.32 [[ 9.96308999e-01 8.58050114e-02 2.42462913e-03 8.55750915e+02] [-8.58048044e-02 9.96311949e-01 -1.89486031e-04 2.55618513e+02] [-2.43194583e-03 -1.92581900e-05 9.99997043e-01 -1.53174543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:855.81, Y:255.62, Z:-15.32 [[ 9.95952780e-01 8.98453134e-02 2.42463596e-03 8.55810218e+02] [-8.98451186e-02 9.95955731e-01 -1.89398556e-04 2.55620206e+02] [-2.43184666e-03 -2.92096872e-05 9.99997043e-01 -1.53169656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:855.87, Y:255.62, Z:-15.32 [[ 9.95778282e-01 9.17591081e-02 2.42464480e-03 8.55867836e+02] [-9.17589191e-02 9.95781233e-01 -1.89285318e-04 2.55619738e+02] [-2.43178445e-03 -3.39965772e-05 9.99997043e-01 -1.53179404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.945336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:855.93, Y:255.62, Z:-15.32 [[ 9.95731340e-01 9.22671080e-02 2.42465574e-03 8.55927195e+02] [-9.22669209e-02 9.95734292e-01 -1.89145063e-04 2.55621000e+02] [-2.43176474e-03 -3.53778527e-05 9.99997043e-01 -1.53179164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:855.99, Y:255.62, Z:-15.32 [[ 9.95878441e-01 9.06656058e-02 2.42466470e-03 8.55985571e+02] [-9.06654142e-02 9.95881392e-01 -1.89030185e-04 2.55619957e+02] [-2.43181699e-03 -3.15821434e-05 9.99997043e-01 -1.53200764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:856.04, Y:255.62, Z:-15.32 [[ 9.96288847e-01 8.60386826e-02 2.42467578e-03 8.56044449e+02] [-8.60384776e-02 9.96291797e-01 -1.88887995e-04 2.55621104e+02] [-2.43193626e-03 -2.04284099e-05 9.99997043e-01 -1.53184745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.125336195 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:856.10, Y:255.62, Z:-15.32 [[ 9.96897705e-01 7.86707470e-02 2.42468452e-03 8.56103346e+02] [-7.86705206e-02 9.96900654e-01 -1.88775665e-04 2.55618307e+02] [-2.43202071e-03 -2.56116627e-06 9.99997043e-01 -1.53165000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:856.16, Y:255.61, Z:-15.32 [[ 9.97467363e-01 7.10843137e-02 2.42468925e-03 8.56163152e+02] [-7.10840650e-02 9.97470310e-01 -1.88714955e-04 2.55614593e+02] [-2.43197021e-03 1.58802403e-05 9.99997043e-01 -1.53164059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.245336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:856.22, Y:255.61, Z:-15.32 [[ 9.97771439e-01 6.66804027e-02 2.42469377e-03 8.56222538e+02] [-6.66801411e-02 9.97774385e-01 -1.88656817e-04 2.55609486e+02] [-2.43187705e-03 2.65574605e-05 9.99997043e-01 -1.53168084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:856.28, Y:255.60, Z:-15.32 [[ 9.98143606e-01 6.08560818e-02 2.42469825e-03 8.56281717e+02] [-6.08558032e-02 9.98146550e-01 -1.88599190e-04 2.55603059e+02] [-2.43168161e-03 4.06921156e-05 9.99997043e-01 -1.53207255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:856.34, Y:255.60, Z:-15.32 [[ 9.98359332e-01 5.72080872e-02 2.42469566e-03 8.56340801e+02] [-5.72077977e-02 9.98362275e-01 -1.88632470e-04 2.55596314e+02] [-2.43151598e-03 4.96114879e-05 9.99997043e-01 -1.53192828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:856.40, Y:255.59, Z:-15.32 [[ 9.98399983e-01 5.64941939e-02 2.42470003e-03 8.56400038e+02] [-5.64939025e-02 9.98402926e-01 -1.88576368e-04 2.55590413e+02] [-2.43148107e-03 5.12938754e-05 9.99997043e-01 -1.53190864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:856.46, Y:255.58, Z:-15.32 [[ 9.98389650e-01 5.66765102e-02 2.42470448e-03 8.56459928e+02] [-5.66762194e-02 9.98392593e-01 -1.88519101e-04 2.55581874e+02] [-2.43149160e-03 5.07924362e-05 9.99997043e-01 -1.53201147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:856.52, Y:255.57, Z:-15.32 [[ 9.98288229e-01 5.84357090e-02 2.42470448e-03 8.56519653e+02] [-5.84354234e-02 9.98291173e-01 -1.88519101e-04 2.55574568e+02] [-2.43157733e-03 4.65077664e-05 9.99997043e-01 -1.53196042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:856.58, Y:255.57, Z:-15.32 [[ 9.98108411e-01 6.14306126e-02 2.42470448e-03 8.56579960e+02] [-6.14303358e-02 9.98111356e-01 -1.88519101e-04 2.55565870e+02] [-2.43170592e-03 3.92120898e-05 9.99997043e-01 -1.53192966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:856.64, Y:255.56, Z:-15.32 [[ 9.98046947e-01 6.24212542e-02 2.42470448e-03 8.56639275e+02] [-6.24209803e-02 9.98049891e-01 -1.88519101e-04 2.55556630e+02] [-2.43174364e-03 3.67984824e-05 9.99997043e-01 -1.53221441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.725336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:856.70, Y:255.54, Z:-15.32 [[ 9.98038459e-01 6.25568105e-02 2.42470210e-03 8.56699034e+02] [-6.25565370e-02 9.98041404e-01 -1.88549740e-04 2.55544894e+02] [-2.43174816e-03 3.64989259e-05 9.99997043e-01 -1.53233434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.785336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:856.76, Y:255.53, Z:-15.32 [[ 9.97927386e-01 6.43043770e-02 2.42470210e-03 8.56758600e+02] [-6.43041086e-02 9.97930331e-01 -1.88549740e-04 2.55531817e+02] [-2.43180834e-03 3.22406424e-05 9.99997043e-01 -1.53209490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:856.82, Y:255.52, Z:-15.32 [[ 9.97726762e-01 6.73456000e-02 2.42470210e-03 8.56817764e+02] [-6.73453406e-02 9.97729708e-01 -1.88549740e-04 2.55521709e+02] [-2.43189531e-03 2.48287333e-05 9.99997043e-01 -1.53210966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:856.88, Y:255.51, Z:-15.32 [[ 9.97271449e-01 7.37819600e-02 2.42470436e-03 8.56876988e+02] [-7.37817198e-02 9.97274397e-01 -1.88520706e-04 2.55509465e+02] [-2.43200500e-03 9.10746058e-06 9.99997043e-01 -1.53222330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:856.94, Y:255.50, Z:-15.32 [[ 9.96825709e-01 7.95778016e-02 2.42470436e-03 8.56936561e+02] [-7.95775784e-02 9.96828658e-01 -1.88520706e-04 2.55498692e+02] [-2.43201685e-03 -5.02981439e-06 9.99997043e-01 -1.53237142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:857.00, Y:255.49, Z:-15.32 [[ 9.96568727e-01 8.27338733e-02 2.42470436e-03 8.56995935e+02] [-8.27336595e-02 9.96571676e-01 -1.88520706e-04 2.55490354e+02] [-2.43198873e-03 -1.27308244e-05 9.99997043e-01 -1.53246509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:857.06, Y:255.48, Z:-15.33 [[ 9.96440351e-01 8.42659344e-02 2.42470203e-03 8.57056650e+02] [-8.42657250e-02 9.96443301e-01 -1.88550580e-04 2.55478691e+02] [-2.43196649e-03 -1.64398688e-05 9.99997043e-01 -1.53256219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:857.12, Y:255.47, Z:-15.33 [[ 9.96488103e-01 8.36993505e-02 2.42469754e-03 8.57116603e+02] [-8.36991393e-02 9.96491053e-01 -1.88608366e-04 2.55468434e+02] [-2.43197580e-03 -1.49991038e-05 9.99997043e-01 -1.53269353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:857.18, Y:255.46, Z:-15.33 [[ 9.96481742e-01 8.37750514e-02 2.42469532e-03 8.57177097e+02] [-8.37748404e-02 9.96484692e-01 -1.88636893e-04 2.55459349e+02] [-2.43197483e-03 -1.51552435e-05 9.99997043e-01 -1.53255426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:857.24, Y:255.45, Z:-15.32 [[ 9.96362357e-01 8.51831784e-02 2.42469087e-03 8.57238155e+02] [-8.51829714e-02 9.96365307e-01 -1.88694107e-04 2.55447906e+02] [-2.43195142e-03 -1.85346677e-05 9.99997043e-01 -1.53244557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:857.30, Y:255.44, Z:-15.32 [[ 9.96230639e-01 8.67100595e-02 2.42468647e-03 8.57299056e+02] [-8.67098569e-02 9.96233590e-01 -1.88750592e-04 2.55440099e+02] [-2.43192068e-03 -2.22050942e-05 9.99997043e-01 -1.53236752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:857.36, Y:255.43, Z:-15.33 [[ 9.96183894e-01 8.72454551e-02 2.42468194e-03 8.57359662e+02] [-8.72452539e-02 9.96186845e-01 -1.88808716e-04 2.55432426e+02] [-2.43190896e-03 -2.34537902e-05 9.99997043e-01 -1.53260341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:857.42, Y:255.42, Z:-15.33 [[ 9.96232679e-01 8.66866221e-02 2.42466398e-03 8.57421407e+02] [-8.66864187e-02 9.96235629e-01 -1.89039147e-04 2.55422946e+02] [-2.43192381e-03 -2.18584610e-05 9.99997043e-01 -1.53260202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:857.48, Y:255.41, Z:-15.33 [[ 9.96580778e-01 8.25885843e-02 2.42463286e-03 8.57482785e+02] [-8.25883678e-02 9.96583727e-01 -1.89437411e-04 2.55411970e+02] [-2.43199502e-03 -1.14567879e-05 9.99997043e-01 -1.53275905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:857.54, Y:255.40, Z:-15.33 [[ 9.96884552e-01 7.88372435e-02 2.42460163e-03 8.57544156e+02] [-7.88370149e-02 9.96887501e-01 -1.89836267e-04 2.55403551e+02] [-2.43202123e-03 -1.90351315e-06 9.99997043e-01 -1.53260380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:857.61, Y:255.39, Z:-15.32 [[ 9.97174396e-01 7.50822533e-02 2.42457025e-03 8.57605316e+02] [-7.50820127e-02 9.97177344e-01 -1.90236254e-04 2.55391654e+02] [-2.43200989e-03 7.65710784e-06 9.99997043e-01 -1.53237990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:857.67, Y:255.38, Z:-15.32 [[ 9.97029248e-01 7.69857159e-02 2.42453852e-03 8.57667487e+02] [-7.69854800e-02 9.97032196e-01 -1.90639748e-04 2.55380503e+02] [-2.43201950e-03 3.41914319e-06 9.99997043e-01 -1.53214845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.745336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:857.73, Y:255.37, Z:-15.32 [[ 9.96717786e-01 8.09183318e-02 2.42450202e-03 8.57729811e+02] [-8.09181063e-02 9.96720735e-01 -1.91102837e-04 2.55373096e+02] [-2.43201516e-03 -5.71051591e-06 9.99997043e-01 -1.53202591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:857.79, Y:255.37, Z:-15.32 [[ 9.96114302e-01 8.80364666e-02 2.42446433e-03 8.57791703e+02] [-8.80362610e-02 9.96117252e-01 -1.91579839e-04 2.55365321e+02] [-2.43191676e-03 -2.26053567e-05 9.99997043e-01 -1.53232749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:857.85, Y:255.36, Z:-15.33 [[ 9.95638607e-01 9.32624568e-02 2.42443154e-03 8.57853515e+02] [-9.32622657e-02 9.95641558e-01 -1.91993907e-04 2.55357576e+02] [-2.43177062e-03 -3.49514319e-05 9.99997043e-01 -1.53254720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.925336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:857.91, Y:255.35, Z:-15.33 [[ 9.95443849e-01 9.53187577e-02 2.42439885e-03 8.57914009e+02] [-9.53185717e-02 9.95446801e-01 -1.92405794e-04 2.55348761e+02] [-2.43169996e-03 -3.95610718e-05 9.99997043e-01 -1.53274250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:857.97, Y:255.34, Z:-15.33 [[ 9.95433090e-01 9.54310550e-02 2.42436888e-03 8.57974871e+02] [-9.54308684e-02 9.95436041e-01 -1.92782685e-04 2.55341150e+02] [-2.43170161e-03 -3.94573641e-05 9.99997043e-01 -1.53298299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:858.04, Y:255.33, Z:-15.33 [[ 9.95423872e-01 9.55271577e-02 2.42433917e-03 8.58036122e+02] [-9.55269705e-02 9.95426823e-01 -1.93155536e-04 2.55332838e+02] [-2.43170384e-03 -3.93181452e-05 9.99997043e-01 -1.53310280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:858.10, Y:255.33, Z:-15.33 [[ 9.95326561e-01 9.65357899e-02 2.42430750e-03 8.58098571e+02] [-9.65356047e-02 9.95329513e-01 -1.93552265e-04 2.55327380e+02] [-2.43166952e-03 -4.13842797e-05 9.99997043e-01 -1.53310209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:858.16, Y:255.32, Z:-15.33 [[ 9.95016132e-01 9.96846043e-02 2.42427094e-03 8.58161334e+02] [-9.96844274e-02 9.95019084e-01 -1.94009136e-04 2.55323463e+02] [-2.43153557e-03 -4.86198404e-05 9.99997043e-01 -1.53294469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:858.22, Y:255.32, Z:-15.33 [[ 9.94735370e-01 1.02448357e-01 2.42423289e-03 8.58222890e+02] [-1.02448188e-01 9.94738323e-01 -1.94483419e-04 2.55319939e+02] [-2.43140186e-03 -5.48987294e-05 9.99997043e-01 -1.53300071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:858.29, Y:255.32, Z:-15.33 [[ 9.94673864e-01 1.03043813e-01 2.42419765e-03 8.58285810e+02] [-1.03043643e-01 9.94676817e-01 -1.94921696e-04 2.55316772e+02] [-2.43137867e-03 -5.59146415e-05 9.99997043e-01 -1.53291515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:858.35, Y:255.31, Z:-15.33 [[ 9.94765820e-01 1.02152274e-01 2.42415993e-03 8.58347214e+02] [-1.02152101e-01 9.94768772e-01 -1.95389605e-04 2.55312517e+02] [-2.43143809e-03 -5.32661288e-05 9.99997043e-01 -1.53284270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:858.41, Y:255.31, Z:-15.33 [[ 9.94942193e-01 1.00419894e-01 2.42413660e-03 8.58410088e+02] [-1.00419715e-01 9.94945145e-01 -1.95678642e-04 2.55308109e+02] [-2.43153297e-03 -4.87421705e-05 9.99997043e-01 -1.53271168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:858.47, Y:255.31, Z:-15.33 [[ 9.95256082e-01 9.72597314e-02 2.42409886e-03 8.58472268e+02] [-9.72595420e-02 9.95259033e-01 -1.96145135e-04 2.55305345e+02] [-2.43168331e-03 -4.05521061e-05 9.99997043e-01 -1.53282801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:858.53, Y:255.30, Z:-15.33 [[ 9.95499757e-01 9.47330895e-02 2.42407543e-03 8.58534010e+02] [-9.47328920e-02 9.95502707e-01 -1.96434185e-04 2.55300732e+02] [-2.43178247e-03 -3.40894930e-05 9.99997043e-01 -1.53289138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:858.60, Y:255.30, Z:-15.33 [[ 9.95747064e-01 9.20972780e-02 2.42404150e-03 8.58596995e+02] [-9.20970716e-02 9.95750014e-01 -1.96851976e-04 2.55297391e+02] [-2.43186889e-03 -2.72323470e-05 9.99997043e-01 -1.53271676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:858.66, Y:255.29, Z:-15.33 [[ 9.95889549e-01 9.05435263e-02 2.42400489e-03 8.58659654e+02] [-9.05433143e-02 9.95892499e-01 -1.97301767e-04 2.55294652e+02] [-2.43191269e-03 -2.29866693e-05 9.99997043e-01 -1.53282873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:858.72, Y:255.29, Z:-15.33 [[ 9.95842891e-01 9.10552597e-02 2.42398778e-03 8.58723073e+02] [-9.10550486e-02 9.95845841e-01 -1.97511754e-04 2.55291667e+02] [-2.43190264e-03 -2.40256493e-05 9.99997043e-01 -1.53293447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.765336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:858.79, Y:255.29, Z:-15.33 [[ 9.95747465e-01 9.20929491e-02 2.42395051e-03 8.58785586e+02] [-9.20927400e-02 9.95750415e-01 -1.97968078e-04 2.55288332e+02] [-2.43188119e-03 -2.61020327e-05 9.99997043e-01 -1.53282262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:858.85, Y:255.29, Z:-15.33 [[ 9.95756126e-01 9.19992524e-02 2.42391292e-03 8.58846574e+02] [-9.19990419e-02 9.95759076e-01 -1.98427285e-04 2.55286307e+02] [-2.43188845e-03 -2.54124823e-05 9.99997043e-01 -1.53286473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:858.91, Y:255.28, Z:-15.33 [[ 9.96005073e-01 8.92637583e-02 2.42389494e-03 8.58909194e+02] [-8.92635392e-02 9.96008023e-01 -1.98646701e-04 2.55284160e+02] [-2.43195076e-03 -1.85123193e-05 9.99997043e-01 -1.53284007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:858.97, Y:255.28, Z:-15.33 [[ 9.96309768e-01 8.57961054e-02 2.42385837e-03 8.58971152e+02] [-8.57958750e-02 9.96312716e-01 -1.99091980e-04 2.55278658e+02] [-2.43200223e-03 -9.59976522e-06 9.99997043e-01 -1.53277765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:859.03, Y:255.28, Z:-15.33 [[ 9.96836023e-01 7.94485206e-02 2.42383565e-03 8.59032751e+02] [-7.94482707e-02 9.96838970e-01 -1.99368169e-04 2.55275120e+02] [-2.43201334e-03 6.16782228e-06 9.99997043e-01 -1.53315474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:859.09, Y:255.27, Z:-15.33 [[ 9.97280496e-01 7.36596032e-02 2.42380409e-03 8.59094058e+02] [-7.36593353e-02 9.97283441e-01 -1.99751136e-04 2.55267026e+02] [-2.43193327e-03 2.06721142e-05 9.99997043e-01 -1.53315344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:859.16, Y:255.26, Z:-15.33 [[ 9.97488475e-01 7.07874781e-02 2.42377051e-03 8.59156434e+02] [-7.07872007e-02 9.97491420e-01 -2.00157692e-04 2.55261712e+02] [-2.43185895e-03 2.80830611e-05 9.99997043e-01 -1.53292270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:859.22, Y:255.25, Z:-15.33 [[ 9.97674412e-01 6.81167591e-02 2.42373940e-03 8.59217641e+02] [-6.81164729e-02 9.97677356e-01 -2.00533732e-04 2.55253503e+02] [-2.43176962e-03 3.49707939e-05 9.99997043e-01 -1.53280161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:859.28, Y:255.25, Z:-15.33 [[ 9.97631504e-01 6.87423336e-02 2.42370634e-03 8.59279441e+02] [-6.87420482e-02 9.97634447e-01 -2.00932560e-04 2.55245409e+02] [-2.43178551e-03 3.38461136e-05 9.99997043e-01 -1.53298282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:859.34, Y:255.24, Z:-15.33 [[ 9.97317597e-01 7.31555637e-02 2.42367299e-03 8.59341354e+02] [-7.31552904e-02 9.97320542e-01 -2.01333964e-04 2.55237269e+02] [-2.43190756e-03 2.34894037e-05 9.99997043e-01 -1.53313834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:859.40, Y:255.23, Z:-15.33 [[ 9.97046586e-01 7.67608747e-02 2.42363964e-03 8.59404333e+02] [-7.67606111e-02 9.97049531e-01 -2.01734639e-04 2.55231167e+02] [-2.43197410e-03 1.50987731e-05 9.99997043e-01 -1.53299478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:859.47, Y:255.22, Z:-15.33 [[ 9.96617583e-01 8.21432835e-02 2.42360079e-03 8.59466224e+02] [-8.21430347e-02 9.96620530e-01 -2.02200373e-04 2.55224135e+02] [-2.43201970e-03 2.43452342e-06 9.99997043e-01 -1.53307574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:859.53, Y:255.22, Z:-15.33 [[ 9.96207541e-01 8.69750656e-02 2.42357668e-03 8.59526626e+02] [-8.69748303e-02 9.96210489e-01 -2.02488838e-04 2.55217297e+02] [-2.43200399e-03 -9.06926404e-06 9.99997043e-01 -1.53303858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:859.59, Y:255.21, Z:-15.33 [[ 9.95938571e-01 9.00027132e-02 2.42354582e-03 8.59589184e+02] [-9.00024860e-02 9.95941520e-01 -2.02857568e-04 2.55211145e+02] [-2.43196764e-03 -1.60914727e-05 9.99997043e-01 -1.53284685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:859.65, Y:255.21, Z:-15.33 [[ 9.95578037e-01 9.39068667e-02 2.42350790e-03 8.59651880e+02] [-9.39066500e-02 9.95580986e-01 -2.03309596e-04 2.55205517e+02] [-2.43189055e-03 -2.51729398e-05 9.99997043e-01 -1.53275880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.665336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:859.72, Y:255.20, Z:-15.33 [[ 9.95327528e-01 9.65258458e-02 2.42346959e-03 8.59715052e+02] [-9.65256357e-02 9.95330478e-01 -2.03765195e-04 2.55200382e+02] [-2.43182176e-03 -3.11138357e-05 9.99997043e-01 -1.53267815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:859.78, Y:255.20, Z:-15.33 [[ 9.95203578e-01 9.77955318e-02 2.42343122e-03 8.59777393e+02] [-9.77953244e-02 9.95206528e-01 -2.04220602e-04 2.55197046e+02] [-2.43178643e-03 -3.37591682e-05 9.99997043e-01 -1.53280076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:859.84, Y:255.19, Z:-15.33 [[ 9.95406113e-01 9.57120508e-02 2.42339626e-03 8.59838871e+02] [-9.57118362e-02 9.95409063e-01 -2.04634557e-04 2.55193004e+02] [-2.43185659e-03 -2.82532167e-05 9.99997043e-01 -1.53304953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:859.90, Y:255.19, Z:-15.33 [[ 9.95561943e-01 9.40773386e-02 2.42335901e-03 8.59901936e+02] [-9.40771181e-02 9.95564892e-01 -2.05074709e-04 2.55188274e+02] [-2.43190404e-03 -2.38180568e-05 9.99997043e-01 -1.53292822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:859.96, Y:255.18, Z:-15.33 [[ 9.95667980e-01 9.29483758e-02 2.42331972e-03 8.59963398e+02] [-9.29481508e-02 9.95670929e-01 -2.05537994e-04 2.55183882e+02] [-2.43193342e-03 -2.05954878e-05 9.99997043e-01 -1.53289621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:860.03, Y:255.18, Z:-15.33 [[ 9.95701240e-01 9.25914043e-02 2.42328805e-03 8.60026493e+02] [-9.25911773e-02 9.95704189e-01 -2.05910736e-04 2.55179055e+02] [-2.43194362e-03 -1.93495186e-05 9.99997043e-01 -1.53253323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.025336195 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:860.09, Y:255.17, Z:-15.33 [[ 9.95729955e-01 9.22820968e-02 2.42324806e-03 8.60088428e+02] [-9.22818679e-02 9.95732903e-01 -2.06380199e-04 2.55174969e+02] [-2.43195303e-03 -1.81229110e-05 9.99997043e-01 -1.53271078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:860.15, Y:255.17, Z:-15.33 [[ 9.95832486e-01 9.11690054e-02 2.42322329e-03 8.60150785e+02] [-9.11687724e-02 9.95835434e-01 -2.06670736e-04 2.55171227e+02] [-2.43197358e-03 -1.51128594e-05 9.99997043e-01 -1.53304350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:860.21, Y:255.17, Z:-15.33 [[ 9.95959588e-01 8.97698607e-02 2.42318906e-03 8.60212758e+02] [-8.97696225e-02 9.95962535e-01 -2.07071216e-04 2.55166615e+02] [-2.43199428e-03 -1.12942042e-05 9.99997043e-01 -1.53325472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.205336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:860.28, Y:255.16, Z:-15.33 [[ 9.95994439e-01 8.93823608e-02 2.42315515e-03 8.60276002e+02] [-8.93821206e-02 9.95997386e-01 -2.07467345e-04 2.55161120e+02] [-2.43200011e-03 -9.95042388e-06 9.99997043e-01 -1.53323639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:860.34, Y:255.16, Z:-15.33 [[ 9.96021122e-01 8.90845301e-02 2.42311544e-03 8.60338661e+02] [-8.90842879e-02 9.96024069e-01 -2.07930091e-04 2.55155775e+02] [-2.43200465e-03 -8.75875088e-06 9.99997043e-01 -1.53328951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:860.40, Y:255.15, Z:-15.33 [[ 9.95988776e-01 8.94454376e-02 2.42307602e-03 8.60400997e+02] [-8.94451953e-02 9.95991724e-01 -2.08388386e-04 2.55150259e+02] [-2.43200306e-03 -9.18001492e-06 9.99997043e-01 -1.53301262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:860.46, Y:255.15, Z:-15.33 [[ 9.95921766e-01 9.01885015e-02 2.42303505e-03 8.60461986e+02] [-9.01882603e-02 9.95924713e-01 -2.08863686e-04 2.55146077e+02] [-2.43199759e-03 -1.05174257e-05 9.99997043e-01 -1.53289312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.445336195 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:860.52, Y:255.14, Z:-15.33 [[ 9.95715579e-01 9.24370905e-02 2.42300204e-03 8.60523783e+02] [-9.24368550e-02 9.95718527e-01 -2.09246007e-04 2.55140829e+02] [-2.43197011e-03 -1.56251792e-05 9.99997043e-01 -1.53292444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:860.59, Y:255.14, Z:-15.33 [[ 9.95728137e-01 9.23017117e-02 2.42296442e-03 8.60586129e+02] [-9.23014747e-02 9.95731085e-01 -2.09680648e-04 2.55135503e+02] [-2.43197488e-03 -1.48582683e-05 9.99997043e-01 -1.53311786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.565336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:860.65, Y:255.13, Z:-15.33 [[ 9.95922950e-01 9.01754256e-02 2.42292465e-03 8.60648558e+02] [-9.01751812e-02 9.95925897e-01 -2.10139253e-04 2.55128772e+02] [-2.43200280e-03 -9.20516503e-06 9.99997043e-01 -1.53311738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:860.71, Y:255.12, Z:-15.33 [[ 9.96120522e-01 8.79660987e-02 2.42288488e-03 8.60709333e+02] [-8.79658467e-02 9.96123469e-01 -2.10596795e-04 2.55123220e+02] [-2.43201787e-03 -3.35133044e-06 9.99997043e-01 -1.53306337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:860.77, Y:255.12, Z:-15.33 [[ 9.96065640e-01 8.85853874e-02 2.42285292e-03 8.60771542e+02] [-8.85851363e-02 9.96068587e-01 -2.10963830e-04 2.55117307e+02] [-2.43201600e-03 -4.49493432e-06 9.99997043e-01 -1.53308151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:860.83, Y:255.11, Z:-15.33 [[ 9.95745690e-01 9.21121633e-02 2.42281671e-03 8.60833763e+02] [-9.21119217e-02 9.95748638e-01 -2.11378859e-04 2.55113835e+02] [-2.43198700e-03 -1.26907152e-05 9.99997043e-01 -1.53313393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:860.90, Y:255.11, Z:-15.33 [[ 9.95493232e-01 9.48016590e-02 2.42278326e-03 8.60896305e+02] [-9.48014243e-02 9.95496180e-01 -2.11761610e-04 2.55109711e+02] [-2.43194683e-03 -1.88760540e-05 9.99997043e-01 -1.53307114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:860.96, Y:255.11, Z:-15.33 [[ 9.95300586e-01 9.68032774e-02 2.42274145e-03 8.60959390e+02] [-9.68030475e-02 9.95303534e-01 -2.12238804e-04 2.55106987e+02] [-2.43190854e-03 -2.32873501e-05 9.99997043e-01 -1.53319222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:861.02, Y:255.10, Z:-15.33 [[ 9.95311730e-01 9.66886310e-02 2.42269988e-03 8.61020742e+02] [-9.66883997e-02 9.95314678e-01 -2.12712345e-04 2.55104579e+02] [-2.43191561e-03 -2.25318816e-05 9.99997043e-01 -1.53309992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:861.08, Y:255.10, Z:-15.33 [[ 9.95354433e-01 9.62480315e-02 2.42266651e-03 8.61083208e+02] [-9.62477979e-02 9.95357381e-01 -2.13091691e-04 2.55101723e+02] [-2.43192865e-03 -2.10745580e-05 9.99997043e-01 -1.53311761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:861.14, Y:255.10, Z:-15.33 [[ 9.95324018e-01 9.65620555e-02 2.42263141e-03 8.61144466e+02] [-9.65618218e-02 9.95326966e-01 -2.13489983e-04 2.55099787e+02] [-2.43192540e-03 -2.14419951e-05 9.99997043e-01 -1.53340505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:861.21, Y:255.10, Z:-15.33 [[ 9.95204900e-01 9.77820965e-02 2.42259908e-03 8.61207521e+02] [-9.77818656e-02 9.95207848e-01 -2.13856226e-04 2.55102488e+02] [-2.43190093e-03 -2.40554937e-05 9.99997043e-01 -1.53348939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:861.27, Y:255.10, Z:-15.34 [[ 9.95169271e-01 9.81440480e-02 2.42256223e-03 8.61268526e+02] [-9.81438172e-02 9.95172219e-01 -2.14272822e-04 2.55102288e+02] [-2.43189624e-03 -2.45217775e-05 9.99997043e-01 -1.53355178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.225336195 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:861.33, Y:255.10, Z:-15.33 [[ 9.95330731e-01 9.64928351e-02 2.42252834e-03 8.61330271e+02] [-9.64925984e-02 9.95333679e-01 -2.14655313e-04 2.55103256e+02] [-2.43193675e-03 -2.01030249e-05 9.99997043e-01 -1.53324677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:861.39, Y:255.11, Z:-15.33 [[ 9.95861029e-01 9.08567132e-02 2.42252327e-03 8.61392210e+02] [-9.08564597e-02 9.95863975e-01 -2.14712582e-04 2.55106951e+02] [-2.43201173e-03 -6.27799445e-06 9.99997043e-01 -1.53308395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:861.45, Y:255.11, Z:-15.33 [[ 9.96352000e-01 8.53043037e-02 2.42251823e-03 8.61453664e+02] [-8.53040337e-02 9.96354945e-01 -2.14769421e-04 2.55105991e+02] [-2.43200877e-03 7.33536589e-06 9.99997043e-01 -1.53293641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:861.52, Y:255.10, Z:-15.33 [[ 9.97006178e-01 7.72839720e-02 2.42251295e-03 8.61515142e+02] [-7.72836781e-02 9.97009121e-01 -2.14828910e-04 2.55104076e+02] [-2.43187034e-03 2.69650389e-05 9.99997043e-01 -1.53310508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:861.58, Y:255.10, Z:-15.33 [[ 9.97416938e-01 7.17884580e-02 2.42247915e-03 8.61576946e+02] [-7.17881470e-02 9.97419879e-01 -2.15209439e-04 2.55102249e+02] [-2.43167841e-03 4.07482504e-05 9.99997043e-01 -1.53299830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.525336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:861.64, Y:255.10, Z:-15.33 [[ 9.97658463e-01 6.83499985e-02 2.42247415e-03 8.61638411e+02] [-6.83496772e-02 9.97661403e-01 -2.15265657e-04 2.55098680e+02] [-2.43152237e-03 4.91862778e-05 9.99997043e-01 -1.53277448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:861.70, Y:255.09, Z:-15.33 [[ 9.98058734e-01 6.22325908e-02 2.42246905e-03 8.61699364e+02] [-6.22322514e-02 9.98061672e-01 -2.15323024e-04 2.55092820e+02] [-2.43117362e-03 6.41493222e-05 9.99997043e-01 -1.53292810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:861.76, Y:255.08, Z:-15.33 [[ 9.98415521e-01 5.62190311e-02 2.42246402e-03 8.61760617e+02] [-5.62186739e-02 9.98418457e-01 -2.15379675e-04 2.55084440e+02] [-2.43074122e-03 7.88506958e-05 9.99997043e-01 -1.53314759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:861.82, Y:255.08, Z:-15.33 [[ 9.98525187e-01 5.42363605e-02 2.42242823e-03 8.61822476e+02] [-5.42359964e-02 9.98528122e-01 -2.15781419e-04 2.55077154e+02] [-2.43056591e-03 8.40803729e-05 9.99997043e-01 -1.53328825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.765336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:861.88, Y:255.07, Z:-15.33 [[ 9.98440220e-01 5.57786615e-02 2.42239209e-03 8.61884168e+02] [-5.57783009e-02 9.98443155e-01 -2.16186395e-04 2.55066561e+02] [-2.43067939e-03 8.07322767e-05 9.99997043e-01 -1.53310542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.825336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:861.95, Y:255.06, Z:-15.33 [[ 9.98185967e-01 6.01573575e-02 2.42235549e-03 8.61945133e+02] [-6.01570089e-02 9.98188904e-01 -2.16595720e-04 2.55057831e+02] [-2.43099819e-03 7.04811476e-05 9.99997043e-01 -1.53291205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:862.01, Y:255.05, Z:-15.33 [[ 9.97526843e-01 7.02447920e-02 2.42232179e-03 8.62006076e+02] [-7.02444721e-02 9.97529783e-01 -2.16971949e-04 2.55050143e+02] [-2.43157928e-03 4.62806278e-05 9.99997043e-01 -1.53293171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:862.07, Y:255.04, Z:-15.33 [[ 9.96645231e-01 8.18071830e-02 2.42231659e-03 8.62065887e+02] [-8.18068971e-02 9.96648175e-01 -2.17029996e-04 2.55043339e+02] [-2.43195202e-03 1.81397068e-05 9.99997043e-01 -1.53311688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:862.13, Y:255.04, Z:-15.33 [[ 9.96053213e-01 8.87250204e-02 2.42231401e-03 8.62126456e+02] [-8.87247549e-02 9.96056158e-01 -2.17058789e-04 2.55038889e+02] [-2.43201933e-03 1.28288775e-06 9.99997043e-01 -1.53321244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:862.19, Y:255.04, Z:-15.33 [[ 9.95249887e-01 9.73231424e-02 2.42231401e-03 8.62186427e+02] [-9.73229024e-02 9.95252835e-01 -2.17058789e-04 2.55036590e+02] [-2.43193973e-03 -1.97188940e-05 9.99997043e-01 -1.53330310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:862.25, Y:255.04, Z:-15.34 [[ 9.94651667e-01 1.03257896e-01 2.42231924e-03 8.62246754e+02] [-1.03257674e-01 9.94654616e-01 -2.17000370e-04 2.55036321e+02] [-2.43177802e-03 -3.42832700e-05 9.99997043e-01 -1.53358752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:862.31, Y:255.03, Z:-15.34 [[ 9.94533587e-01 1.04389066e-01 2.42232444e-03 8.62306746e+02] [-1.04388847e-01 9.94536536e-01 -2.16942362e-04 2.55032415e+02] [-2.43173656e-03 -3.71071896e-05 9.99997043e-01 -1.53371359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.245336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:862.37, Y:255.03, Z:-15.34 [[ 9.94462893e-01 1.05060393e-01 2.42232964e-03 8.62366033e+02] [-1.05060176e-01 9.94465843e-01 -2.16884248e-04 2.55031176e+02] [-2.43171003e-03 -3.88070411e-05 9.99997043e-01 -1.53396631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.305336195 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:862.43, Y:255.03, Z:-15.34 [[ 9.94871056e-01 1.01122277e-01 2.42233480e-03 8.62425145e+02] [-1.01122049e-01 9.94874004e-01 -2.16826621e-04 2.55030558e+02] [-2.43184392e-03 -2.92369278e-05 9.99997043e-01 -1.53370877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:862.49, Y:255.03, Z:-15.34 [[ 9.95719609e-01 9.23936833e-02 2.42234046e-03 8.62485006e+02] [-9.23934294e-02 9.95722555e-01 -2.16763334e-04 2.55029649e+02] [-2.43200660e-03 -7.97283983e-06 9.99997043e-01 -1.53373479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:862.55, Y:255.02, Z:-15.34 [[ 9.96444012e-01 8.42226945e-02 2.42234560e-03 8.62545483e+02] [-8.42224166e-02 9.96446957e-01 -2.16705916e-04 2.55024708e+02] [-2.43199045e-03 1.19195124e-05 9.99997043e-01 -1.53367514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.4853361950001 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:862.61, Y:255.02, Z:-15.34 [[ 9.97538323e-01 7.00815693e-02 2.42234560e-03 8.62606827e+02] [-7.00812496e-02 9.97541263e-01 -2.16705916e-04 2.55019545e+02] [-2.43157678e-03 4.64114495e-05 9.99997043e-01 -1.53352046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:862.67, Y:255.01, Z:-15.34 [[ 9.98148011e-01 6.07838816e-02 2.42234026e-03 8.62666650e+02] [-6.07835344e-02 9.98150948e-01 -2.16765512e-04 2.55011681e+02] [-2.43103708e-03 6.91256617e-05 9.99997043e-01 -1.53380679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:862.73, Y:255.00, Z:-15.34 [[ 9.98817206e-01 4.85625516e-02 2.42232789e-03 8.62727937e+02] [-4.85621681e-02 9.98820138e-01 -2.16903747e-04 2.55002050e+02] [-2.43000327e-03 9.90137008e-05 9.99997043e-01 -1.53393801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:862.79, Y:254.99, Z:-15.34 [[ 9.99139082e-01 4.14153060e-02 2.42229267e-03 8.62789088e+02] [-4.14149006e-02 9.99142011e-01 -2.17296291e-04 2.54989110e+02] [-2.42921376e-03 1.16790206e-04 9.99997043e-01 -1.53374036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:862.85, Y:254.98, Z:-15.34 [[ 9.99204913e-01 3.97954191e-02 2.42225781e-03 8.62849948e+02] [-3.97950080e-02 9.99207841e-01 -2.17684255e-04 2.54979409e+02] [-2.42900183e-03 1.21117408e-04 9.99997043e-01 -1.53373674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.785336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:862.91, Y:254.97, Z:-15.34 [[ 9.99196487e-01 4.00064218e-02 2.42222573e-03 8.62911439e+02] [-4.00060104e-02 9.99199415e-01 -2.18040578e-04 2.54965363e+02] [-2.42900956e-03 1.20961792e-04 9.99997043e-01 -1.53362491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.845336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:862.97, Y:254.95, Z:-15.34 [[ 9.99086452e-01 4.26660772e-02 2.42218986e-03 8.62972666e+02] [-4.26656728e-02 9.99089382e-01 -2.18438323e-04 2.54949343e+02] [-2.42930408e-03 1.14894409e-04 9.99997043e-01 -1.53369149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.905336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:863.03, Y:254.94, Z:-15.34 [[ 9.98934388e-01 4.60892801e-02 2.42216434e-03 8.63034233e+02] [-4.60888850e-02 9.98937319e-01 -2.18720966e-04 2.54936717e+02] [-2.42967104e-03 1.06853040e-04 9.99997043e-01 -1.53375883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.965336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:863.10, Y:254.92, Z:-15.34 [[ 9.98516510e-01 5.43958876e-02 2.42212851e-03 8.63095602e+02] [-5.43955159e-02 9.98519444e-01 -2.19116985e-04 2.54921955e+02] [-2.43046148e-03 8.70389967e-05 9.99997043e-01 -1.53392611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:863.16, Y:254.91, Z:-15.34 [[ 9.98103574e-01 6.15092533e-02 2.42209212e-03 8.63157352e+02] [-6.15089016e-02 9.98106511e-01 -2.19518490e-04 2.54909660e+02] [-2.43100834e-03 7.01219639e-05 9.99997043e-01 -1.53396738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.085336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:863.22, Y:254.89, Z:-15.34 [[ 9.97367253e-01 7.24754940e-02 2.42204981e-03 8.63218298e+02] [-7.24751734e-02 9.97370192e-01 -2.19984354e-04 2.54894903e+02] [-2.43162376e-03 4.38667101e-05 9.99997043e-01 -1.53399687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:863.28, Y:254.88, Z:-15.34 [[ 9.96563468e-01 8.27972655e-02 2.42201031e-03 8.63280106e+02] [-8.27969743e-02 9.96566411e-01 -2.20418427e-04 2.54881204e+02] [-2.43194416e-03 1.91258272e-05 9.99997043e-01 -1.53413140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:863.34, Y:254.87, Z:-15.34 [[ 9.96114010e-01 8.80398362e-02 2.42196854e-03 8.63341992e+02] [-8.80395594e-02 9.96116955e-01 -2.20876437e-04 2.54870146e+02] [-2.43200985e-03 6.78907022e-06 9.99997043e-01 -1.53402996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:863.40, Y:254.86, Z:-15.34 [[ 9.95563441e-01 9.40615144e-02 2.42192504e-03 8.63403045e+02] [-9.40612543e-02 9.95566387e-01 -2.21352411e-04 2.54857128e+02] [-2.43200790e-03 -7.43893921e-06 9.99997043e-01 -1.53415581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:863.46, Y:254.85, Z:-15.34 [[ 9.94997024e-01 9.98752040e-02 2.42188457e-03 8.63464324e+02] [-9.98749600e-02 9.94999971e-01 -2.21794266e-04 2.54845368e+02] [-2.43192683e-03 -2.12009898e-05 9.99997043e-01 -1.53445470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:863.53, Y:254.84, Z:-15.34 [[ 9.94525132e-01 1.04469600e-01 2.42184799e-03 8.63526191e+02] [-1.04469368e-01 9.94528080e-01 -2.22193027e-04 2.54838047e+02] [-2.43180825e-03 -3.20323803e-05 9.99997043e-01 -1.53447041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:863.59, Y:254.83, Z:-15.34 [[ 9.93846559e-01 1.10739118e-01 2.42180915e-03 8.63589121e+02] [-1.10738904e-01 9.93849509e-01 -2.22615496e-04 2.54831364e+02] [-2.43156608e-03 -4.69428474e-05 9.99997043e-01 -1.53441357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.505336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:863.65, Y:254.82, Z:-15.35 [[ 9.93512450e-01 1.13697612e-01 2.42176686e-03 8.63650599e+02] [-1.13697406e-01 9.93515400e-01 -2.23074635e-04 2.54823250e+02] [-2.43142573e-03 -5.37211835e-05 9.99997043e-01 -1.53452593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:863.71, Y:254.82, Z:-15.35 [[ 9.93551390e-01 1.13356830e-01 2.42172755e-03 8.63711006e+02] [-1.13356622e-01 9.93554340e-01 -2.23500561e-04 2.54817059e+02] [-2.43145324e-03 -5.24595610e-05 9.99997043e-01 -1.53470720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:863.77, Y:254.81, Z:-15.35 [[ 9.93834056e-01 1.10851274e-01 2.42170730e-03 8.63774195e+02] [-1.10851057e-01 9.93837005e-01 -2.23719845e-04 2.54811390e+02] [-2.43158196e-03 -4.61084137e-05 9.99997043e-01 -1.53474989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:863.84, Y:254.80, Z:-15.35 [[ 9.94195827e-01 1.07558325e-01 2.42166636e-03 8.63837023e+02] [-1.07558098e-01 9.94198776e-01 -2.24162077e-04 2.54804678e+02] [-2.43172823e-03 -3.76088255e-05 9.99997043e-01 -1.53459744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:863.90, Y:254.80, Z:-15.35 [[ 9.94396487e-01 1.05687094e-01 2.42162356e-03 8.63899096e+02] [-1.05686860e-01 9.94399435e-01 -2.24623542e-04 2.54799273e+02] [-2.43180091e-03 -3.25689293e-05 9.99997043e-01 -1.53472776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:863.96, Y:254.80, Z:-15.35 [[ 9.94577981e-01 1.03965258e-01 2.42159705e-03 8.63961791e+02] [-1.03965019e-01 9.94580929e-01 -2.24908917e-04 2.54795511e+02] [-2.43185696e-03 -2.80719266e-05 9.99997043e-01 -1.53473341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.865336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:864.02, Y:254.79, Z:-15.34 [[ 9.94775293e-01 1.02060043e-01 2.42155502e-03 8.64024672e+02] [-1.02059796e-01 9.94778240e-01 -2.25360507e-04 2.54789144e+02] [-2.43191055e-03 -2.29603480e-05 9.99997043e-01 -1.53448683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:864.09, Y:254.78, Z:-15.34 [[ 9.94944491e-01 1.00397192e-01 2.42151238e-03 8.64087530e+02] [-1.00396940e-01 9.94947438e-01 -2.25817790e-04 2.54782899e+02] [-2.43194901e-03 -1.84362663e-05 9.99997043e-01 -1.53432220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:864.15, Y:254.78, Z:-15.34 [[ 9.95075085e-01 9.90944600e-02 2.42146765e-03 8.64148872e+02] [-9.90942027e-02 9.95078031e-01 -2.26296452e-04 2.54778438e+02] [-2.43197398e-03 -1.47714450e-05 9.99997043e-01 -1.53433327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:864.21, Y:254.77, Z:-15.34 [[ 9.95113930e-01 9.87036069e-02 2.42142875e-03 8.64212072e+02] [-9.87033475e-02 9.95116876e-01 -2.26711917e-04 2.54772662e+02] [-2.43198190e-03 -1.33989359e-05 9.99997043e-01 -1.53434057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:864.27, Y:254.77, Z:-15.34 [[ 9.95389128e-01 9.58885869e-02 2.42138584e-03 8.64274599e+02] [-9.58883180e-02 9.95392073e-01 -2.27169328e-04 2.54766386e+02] [-2.43201121e-03 -6.06073564e-06 9.99997043e-01 -1.53430372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:864.34, Y:254.76, Z:-15.34 [[ 9.95665557e-01 9.29743859e-02 2.42134222e-03 8.64336627e+02] [-9.29741072e-02 9.95668501e-01 -2.27633272e-04 2.54760271e+02] [-2.43201824e-03 1.52447781e-06 9.99997043e-01 -1.53440571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:864.40, Y:254.75, Z:-15.34 [[ 9.96071595e-01 8.85184437e-02 2.42131517e-03 8.64399365e+02] [-8.85181512e-02 9.96074538e-01 -2.27920684e-04 2.54754153e+02] [-2.43198557e-03 1.26949775e-05 9.99997043e-01 -1.53445291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:864.46, Y:254.75, Z:-15.35 [[ 9.96277912e-01 8.61653054e-02 2.42127052e-03 8.64460846e+02] [-8.61650048e-02 9.96280854e-01 -2.28393946e-04 2.54746503e+02] [-2.43194510e-03 1.89150574e-05 9.99997043e-01 -1.53456337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:864.52, Y:254.74, Z:-15.34 [[ 9.96424701e-01 8.44508848e-02 2.42122901e-03 8.64523295e+02] [-8.44505781e-02 9.96427643e-01 -2.28833162e-04 2.54737700e+02] [-2.43190468e-03 2.35408253e-05 9.99997043e-01 -1.53449948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:864.59, Y:254.73, Z:-15.34 [[ 9.96414400e-01 8.45723400e-02 2.42118559e-03 8.64585756e+02] [-8.45720325e-02 9.96417342e-01 -2.29291700e-04 2.54731062e+02] [-2.43190304e-03 2.37049651e-05 9.99997043e-01 -1.53434250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:864.65, Y:254.72, Z:-15.34 [[ 9.96340067e-01 8.54436030e-02 2.42114185e-03 8.64648123e+02] [-8.54432969e-02 9.96343008e-01 -2.29752654e-04 2.54722801e+02] [-2.43191865e-03 2.20414325e-05 9.99997043e-01 -1.53437243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.525336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:864.71, Y:254.71, Z:-15.35 [[ 9.96211784e-01 8.69265135e-02 2.42109844e-03 8.64710022e+02] [-8.69262107e-02 9.96214726e-01 -2.30209111e-04 2.54714409e+02] [-2.43194520e-03 1.88801155e-05 9.99997043e-01 -1.53464496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:864.77, Y:254.71, Z:-15.35 [[ 9.96071535e-01 8.85191276e-02 2.42106034e-03 8.64772136e+02] [-8.85188285e-02 9.96074477e-01 -2.30609120e-04 2.54705821e+02] [-2.43196973e-03 1.53937545e-05 9.99997043e-01 -1.53490657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:864.83, Y:254.70, Z:-15.35 [[ 9.95946340e-01 8.99167751e-02 2.42103972e-03 8.64834806e+02] [-8.99164797e-02 9.95949283e-01 -2.30825433e-04 2.54698517e+02] [-2.43198785e-03 1.21983767e-05 9.99997043e-01 -1.53476077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.705336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:864.90, Y:254.69, Z:-15.34 [[ 9.95626319e-01 9.33936406e-02 2.42099570e-03 8.64896342e+02] [-9.33933543e-02 9.95629262e-01 -2.31286171e-04 2.54691323e+02] [-2.43201482e-03 4.16968958e-06 9.99997043e-01 -1.53433685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:864.96, Y:254.69, Z:-15.34 [[ 9.94982698e-01 1.00017851e-01 2.42095668e-03 8.64958203e+02] [-1.00017583e-01 9.94985643e-01 -2.31693945e-04 2.54685831e+02] [-2.43199067e-03 -1.16067704e-05 9.99997043e-01 -1.53448974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:865.02, Y:254.68, Z:-15.35 [[ 9.94494589e-01 1.04759970e-01 2.42091527e-03 8.65020780e+02] [-1.04759716e-01 9.94497535e-01 -2.32125851e-04 2.54680994e+02] [-2.43191176e-03 -2.27664923e-05 9.99997043e-01 -1.53461409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:865.08, Y:254.68, Z:-15.35 [[ 9.94093326e-01 1.08501604e-01 2.42087032e-03 8.65083219e+02] [-1.08501360e-01 9.94096273e-01 -2.32593635e-04 2.54676267e+02] [-2.43181495e-03 -3.14479410e-05 9.99997043e-01 -1.53478675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:865.15, Y:254.67, Z:-15.35 [[ 9.93761682e-01 1.11498246e-01 2.42082517e-03 8.65146459e+02] [-1.11498009e-01 9.93764630e-01 -2.33062630e-04 2.54670895e+02] [-2.43171650e-03 -3.83084761e-05 9.99997043e-01 -1.53483356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:865.21, Y:254.67, Z:-15.34 [[ 9.93699701e-01 1.12049294e-01 2.42077976e-03 8.65207962e+02] [-1.12049057e-01 9.93702649e-01 -2.33533357e-04 2.54666972e+02] [-2.43170251e-03 -3.91840625e-05 9.99997043e-01 -1.53445505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:865.27, Y:254.66, Z:-15.34 [[ 9.93581281e-01 1.13094553e-01 2.42075830e-03 8.65270881e+02] [-1.13094319e-01 9.93584229e-01 -2.33755602e-04 2.54663997e+02] [-2.43166375e-03 -4.15188210e-05 9.99997043e-01 -1.53430788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:865.33, Y:254.66, Z:-15.35 [[ 9.93273519e-01 1.15766384e-01 2.42071428e-03 8.65332883e+02] [-1.15766157e-01 9.93276468e-01 -2.34210499e-04 2.54664854e+02] [-2.43155224e-03 -4.76017025e-05 9.99997043e-01 -1.53451217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:865.40, Y:254.66, Z:-15.35 [[ 9.93046176e-01 1.17700608e-01 2.42067326e-03 8.65395243e+02] [-1.17700386e-01 9.93049125e-01 -2.34633719e-04 2.54664753e+02] [-2.43146400e-03 -5.19120596e-05 9.99997043e-01 -1.53480113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:865.46, Y:254.66, Z:-15.35 [[ 9.93065408e-01 1.17538234e-01 2.42063474e-03 8.65458549e+02] [-1.17538010e-01 9.93068357e-01 -2.35030498e-04 2.54663107e+02] [-2.43148083e-03 -5.11159342e-05 9.99997043e-01 -1.53489375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:865.52, Y:254.66, Z:-15.35 [[ 9.93266417e-01 1.15827308e-01 2.42059085e-03 8.65521891e+02] [-1.15827078e-01 9.93269366e-01 -2.35481580e-04 2.54663613e+02] [-2.43157394e-03 -4.64740209e-05 9.99997043e-01 -1.53480912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:865.58, Y:254.66, Z:-15.35 [[ 9.93460008e-01 1.14154952e-01 2.42054717e-03 8.65583766e+02] [-1.14154716e-01 9.93462956e-01 -2.35929789e-04 2.54664191e+02] [-2.43165650e-03 -4.19300642e-05 9.99997043e-01 -1.53480202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:865.65, Y:254.66, Z:-15.35 [[ 9.93529319e-01 1.13550136e-01 2.42050645e-03 8.65645265e+02] [-1.13549897e-01 9.93532267e-01 -2.36346843e-04 2.54664533e+02] [-2.43168847e-03 -4.00307392e-05 9.99997043e-01 -1.53472170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:865.71, Y:254.67, Z:-15.35 [[ 9.93632218e-01 1.12646160e-01 2.42047146e-03 8.65707186e+02] [-1.12645918e-01 9.93635165e-01 -2.36704551e-04 2.54668951e+02] [-2.43172942e-03 -3.74589615e-05 9.99997043e-01 -1.53489813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:865.77, Y:254.67, Z:-15.35 [[ 9.93765424e-01 1.11464896e-01 2.42043679e-03 8.65768871e+02] [-1.11464649e-01 9.93768371e-01 -2.37058611e-04 2.54669138e+02] [-2.43177724e-03 -3.42124858e-05 9.99997043e-01 -1.53508762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:865.83, Y:254.67, Z:-15.35 [[ 9.94138406e-01 1.08087793e-01 2.42043151e-03 8.65829729e+02] [-1.08087536e-01 9.94141352e-01 -2.37112460e-04 2.54672156e+02] [-2.43188002e-03 -2.58958750e-05 9.99997043e-01 -1.53520166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.665336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:865.89, Y:254.67, Z:-15.35 [[ 9.94494383e-01 1.04761938e-01 2.42043151e-03 8.65891305e+02] [-1.04761671e-01 9.94497328e-01 -2.37112460e-04 2.54671888e+02] [-2.43195303e-03 -1.77614395e-05 9.99997043e-01 -1.53511399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:865.95, Y:254.67, Z:-15.35 [[ 9.94939668e-01 1.00445007e-01 2.42042588e-03 8.65952620e+02] [-1.00444727e-01 9.94942612e-01 -2.37169976e-04 2.54673579e+02] [-2.43200738e-03 -7.14920069e-06 9.99997043e-01 -1.53524843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:866.01, Y:254.68, Z:-15.35 [[ 9.95298733e-01 9.68223772e-02 2.42042011e-03 8.66013342e+02] [-9.68220866e-02 9.95301677e-01 -2.37228772e-04 2.54676226e+02] [-2.43201725e-03 1.76337006e-06 9.99997043e-01 -1.53523696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:866.07, Y:254.67, Z:-15.35 [[ 9.95625485e-01 9.34025477e-02 2.42041725e-03 8.66073525e+02] [-9.34022469e-02 9.95628427e-01 -2.37257938e-04 2.54674820e+02] [-2.43199672e-03 1.01476394e-05 9.99997043e-01 -1.53523771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.905336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:866.13, Y:254.67, Z:-15.35 [[ 9.96107522e-01 8.81132542e-02 2.42041725e-03 8.66133776e+02] [-8.81129378e-02 9.96110463e-01 -2.37257938e-04 2.54673584e+02] [-2.43190852e-03 2.30643415e-05 9.99997043e-01 -1.53528308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.965336195 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:866.19, Y:254.67, Z:-15.35 [[ 9.96258074e-01 8.63943909e-02 2.42041725e-03 8.66193017e+02] [-8.63940694e-02 9.96261014e-01 -2.37257938e-04 2.54668708e+02] [-2.43186510e-03 2.72604400e-05 9.99997043e-01 -1.53545361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.025336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:866.25, Y:254.66, Z:-15.35 [[ 9.96710790e-01 8.10045791e-02 2.42042003e-03 8.66254426e+02] [-8.10042418e-02 9.96713728e-01 -2.37229652e-04 2.54664378e+02] [-2.43168256e-03 4.03850646e-05 9.99997043e-01 -1.53513905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:866.32, Y:254.66, Z:-15.35 [[ 9.96970087e-01 7.77482305e-02 2.42041455e-03 8.66315098e+02] [-7.77478834e-02 9.96973024e-01 -2.37285543e-04 2.54658233e+02] [-2.43153654e-03 4.83844807e-05 9.99997043e-01 -1.53505371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:866.38, Y:254.65, Z:-15.35 [[ 9.97233116e-01 7.42984066e-02 2.42041455e-03 8.66375337e+02] [-7.42980494e-02 9.97236052e-01 -2.37285543e-04 2.54650755e+02] [-2.43135459e-03 5.67969223e-05 9.99997043e-01 -1.53505494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:866.43, Y:254.64, Z:-15.35 [[ 9.97259401e-01 7.39447743e-02 2.42041455e-03 8.66434600e+02] [-7.39444161e-02 9.97262336e-01 -2.37285543e-04 2.54641093e+02] [-2.43133429e-03 5.76590984e-05 9.99997043e-01 -1.53517729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:866.50, Y:254.63, Z:-15.35 [[ 9.97061093e-01 7.65723041e-02 2.42041189e-03 8.66495035e+02] [-7.65719536e-02 9.97064030e-01 -2.37312648e-04 2.54633399e+02] [-2.43147721e-03 5.12795414e-05 9.99997043e-01 -1.53534713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:866.56, Y:254.63, Z:-15.35 [[ 9.96644724e-01 8.18134170e-02 2.42041189e-03 8.66555329e+02] [-8.18130819e-02 9.96647663e-01 -2.37312648e-04 2.54625239e+02] [-2.43171321e-03 3.84950424e-05 9.99997043e-01 -1.53532753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:866.61, Y:254.62, Z:-15.35 [[ 9.95711472e-01 9.24813812e-02 2.42041189e-03 8.66614212e+02] [-9.24810775e-02 9.95714414e-01 -2.37312648e-04 2.54618613e+02] [-2.43198601e-03 1.24526263e-05 9.99997043e-01 -1.53532854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:866.67, Y:254.61, Z:-15.35 [[ 9.94712546e-01 1.02669820e-01 2.42041750e-03 8.66672535e+02] [-1.02669546e-01 9.94715491e-01 -2.37255415e-04 2.54612028e+02] [-2.43198575e-03 -1.25022290e-05 9.99997043e-01 -1.53538307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:866.73, Y:254.61, Z:-15.35 [[ 9.94060366e-01 1.08803173e-01 2.42042321e-03 8.66731831e+02] [-1.08802918e-01 9.94063312e-01 -2.37197178e-04 2.54606310e+02] [-2.43186172e-03 -2.75607954e-05 9.99997043e-01 -1.53520648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:866.79, Y:254.60, Z:-15.35 [[ 9.93200336e-01 1.16392588e-01 2.42042890e-03 8.66789528e+02] [-1.16392356e-01 9.93203284e-01 -2.37139056e-04 2.54602857e+02] [-2.43157916e-03 -4.61928329e-05 9.99997043e-01 -1.53536155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:866.85, Y:254.60, Z:-15.35 [[ 9.92691549e-01 1.20655001e-01 2.42044294e-03 8.66848430e+02] [-1.20654782e-01 9.92694499e-01 -2.36995661e-04 2.54599903e+02] [-2.43135510e-03 -5.67744253e-05 9.99997043e-01 -1.53531498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:866.91, Y:254.60, Z:-15.35 [[ 9.92065309e-01 1.25700296e-01 2.42045396e-03 8.66907827e+02] [-1.25700092e-01 9.92068259e-01 -2.36883052e-04 2.54599838e+02] [-2.43103182e-03 -6.92478278e-05 9.99997043e-01 -1.53545652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:866.97, Y:254.60, Z:-15.36 [[ 9.91692424e-01 1.28609011e-01 2.42046520e-03 8.66966686e+02] [-1.28608815e-01 9.91695375e-01 -2.36768133e-04 2.54602617e+02] [-2.43081466e-03 -7.64919990e-05 9.99997043e-01 -1.53559848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:867.03, Y:254.60, Z:-15.36 [[ 9.91728674e-01 1.28329180e-01 2.42047906e-03 8.67026259e+02] [-1.28328984e-01 9.91731625e-01 -2.36626404e-04 2.54602308e+02] [-2.43083170e-03 -7.59484290e-05 9.99997043e-01 -1.53567216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:867.08, Y:254.60, Z:-15.36 [[ 9.92430082e-01 1.22787107e-01 2.42049000e-03 8.67084947e+02] [-1.22786896e-01 9.92433032e-01 -2.36514398e-04 2.54604878e+02] [-2.43121515e-03 -6.24804502e-05 9.99997043e-01 -1.53601001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:867.14, Y:254.61, Z:-15.36 [[ 9.93171283e-01 1.16640230e-01 2.42050353e-03 8.67143628e+02] [-1.16640000e-01 9.93174232e-01 -2.36375936e-04 2.54605239e+02] [-2.43155267e-03 -4.75657405e-05 9.99997043e-01 -1.53602878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:867.20, Y:254.61, Z:-15.36 [[ 9.94381587e-01 1.05827220e-01 2.42051403e-03 8.67202361e+02] [-1.05826959e-01 9.94384533e-01 -2.36268333e-04 2.54605200e+02] [-2.43192533e-03 -2.12147583e-05 9.99997043e-01 -1.53597982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:867.26, Y:254.61, Z:-15.36 [[ 9.95396772e-01 9.58092266e-02 2.42052478e-03 8.67260398e+02] [-9.58089356e-02 9.95399715e-01 -2.36158168e-04 2.54605109e+02] [-2.43201580e-03 3.16317553e-06 9.99997043e-01 -1.53590868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:867.32, Y:254.60, Z:-15.36 [[ 9.95862511e-01 9.08405216e-02 2.42053919e-03 8.67319475e+02] [-9.08402163e-02 9.95865452e-01 -2.36010335e-04 2.54602576e+02] [-2.43197066e-03 1.51515412e-05 9.99997043e-01 -1.53578964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:867.38, Y:254.60, Z:-15.36 [[ 9.96322433e-01 8.56490013e-02 2.42054940e-03 8.67378040e+02] [-8.56486809e-02 9.96325372e-01 -2.35905630e-04 2.54601425e+02] [-2.43185986e-03 2.77212086e-05 9.99997043e-01 -1.53566998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:867.44, Y:254.60, Z:-15.36 [[ 9.96564933e-01 8.27796829e-02 2.42056035e-03 8.67436975e+02] [-8.27793543e-02 9.96567872e-01 -2.35793216e-04 2.54598064e+02] [-2.43177156e-03 3.46108280e-05 9.99997043e-01 -1.53577403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:867.50, Y:254.59, Z:-15.36 [[ 9.96524450e-01 8.32656032e-02 2.42057133e-03 8.67495650e+02] [-8.32652763e-02 9.96527390e-01 -2.35680370e-04 2.54594428e+02] [-2.43178970e-03 3.33117105e-05 9.99997043e-01 -1.53583331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:867.55, Y:254.59, Z:-15.36 [[ 9.96271061e-01 8.62444976e-02 2.42058232e-03 8.67553761e+02] [-8.62441798e-02 9.96274001e-01 -2.35567462e-04 2.54593136e+02] [-2.43187963e-03 2.59279083e-05 9.99997043e-01 -1.53587474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:867.61, Y:254.59, Z:-15.36 [[ 9.96011201e-01 8.91954476e-02 2.42059591e-03 8.67611763e+02] [-8.91951388e-02 9.96014142e-01 -2.35427726e-04 2.54590320e+02] [-2.43194684e-03 1.85832640e-05 9.99997043e-01 -1.53616757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:867.67, Y:254.59, Z:-15.36 [[ 9.95588197e-01 9.37991586e-02 2.42060933e-03 8.67670459e+02] [-9.37988638e-02 9.95591140e-01 -2.35289695e-04 2.54589132e+02] [-2.43200718e-03 7.20123815e-06 9.99997043e-01 -1.53600539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.525336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:867.73, Y:254.59, Z:-15.36 [[ 9.95374172e-01 9.60437316e-02 2.42062030e-03 8.67728026e+02] [-9.60434437e-02 9.95377115e-01 -2.35176753e-04 2.54585764e+02] [-2.43201731e-03 1.60415650e-06 9.99997043e-01 -1.53615593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:867.79, Y:254.58, Z:-15.36 [[ 9.95257476e-01 9.72455524e-02 2.42063390e-03 8.67787162e+02] [-9.72452684e-02 9.95260419e-01 -2.35036692e-04 2.54583313e+02] [-2.43201739e-03 -1.47316830e-06 9.99997043e-01 -1.53587647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:867.85, Y:254.58, Z:-15.36 [[ 9.95161413e-01 9.82237362e-02 2.42064531e-03 8.67845387e+02] [-9.82234553e-02 9.95164357e-01 -2.34919132e-04 2.54582042e+02] [-2.43201457e-03 -3.98169074e-06 9.99997043e-01 -1.53571577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.705336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:867.90, Y:254.58, Z:-15.36 [[ 9.95206215e-01 9.77687549e-02 2.42065941e-03 8.67903281e+02] [-9.77684730e-02 9.95209159e-01 -2.34773802e-04 2.54577815e+02] [-2.43201595e-03 -3.01582710e-06 9.99997043e-01 -1.53581001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:867.96, Y:254.58, Z:-15.36 [[ 9.95516710e-01 9.45548586e-02 2.42067330e-03 8.67961714e+02] [-9.45545676e-02 9.95519653e-01 -2.34630434e-04 2.54575334e+02] [-2.43201329e-03 4.69279976e-06 9.99997043e-01 -1.53593633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:868.02, Y:254.57, Z:-15.36 [[ 9.95815077e-01 9.13590278e-02 2.42068413e-03 8.68019591e+02] [-9.13587277e-02 9.95818019e-01 -2.34518715e-04 2.54569241e+02] [-2.43198627e-03 1.23866502e-05 9.99997043e-01 -1.53609487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.885336195 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:868.08, Y:254.56, Z:-15.36 [[ 9.96029703e-01 8.89885970e-02 2.42069754e-03 8.68078017e+02] [-8.89882901e-02 9.96032645e-01 -2.34380158e-04 2.54562886e+02] [-2.43195094e-03 1.80358639e-05 9.99997043e-01 -1.53603088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:868.14, Y:254.56, Z:-15.36 [[ 9.96114311e-01 8.80364636e-02 2.42070830e-03 8.68136775e+02] [-8.80361542e-02 9.96117252e-01 -2.34268996e-04 2.54557910e+02] [-2.43193351e-03 2.02488501e-05 9.99997043e-01 -1.53586412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:868.19, Y:254.55, Z:-15.36 [[ 9.95919723e-01 9.02111130e-02 2.42071976e-03 8.68194522e+02] [-9.02108104e-02 9.95922665e-01 -2.34150561e-04 2.54553926e+02] [-2.43197265e-03 1.48200715e-05 9.99997043e-01 -1.53569637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:868.25, Y:254.55, Z:-15.35 [[ 9.95536304e-01 9.43483348e-02 2.42073514e-03 8.68252074e+02] [-9.43480447e-02 9.95539247e-01 -2.33991391e-04 2.54550728e+02] [-2.43201354e-03 4.55529745e-06 9.99997043e-01 -1.53548235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:868.31, Y:254.55, Z:-15.36 [[ 9.95355059e-01 9.62416013e-02 2.42074910e-03 8.68309365e+02] [-9.62413172e-02 9.95358003e-01 -2.33846932e-04 2.54546589e+02] [-2.43201779e-03 -2.15354435e-07 9.99997043e-01 -1.53554176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:868.37, Y:254.54, Z:-15.36 [[ 9.95177169e-01 9.80639679e-02 2.42076369e-03 8.68368500e+02] [-9.80636896e-02 9.95180113e-01 -2.33695739e-04 2.54542504e+02] [-2.43201302e-03 -4.82035490e-06 9.99997043e-01 -1.53573550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:868.43, Y:254.54, Z:-15.36 [[ 9.95198954e-01 9.78426342e-02 2.42077469e-03 8.68427499e+02] [-9.78423555e-02 9.95201899e-01 -2.33581799e-04 2.54538016e+02] [-2.43201382e-03 -4.39393491e-06 9.99997043e-01 -1.53584369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:868.49, Y:254.53, Z:-15.36 [[ 9.95459032e-01 9.51601515e-02 2.42078564e-03 8.68486142e+02] [-9.51598651e-02 9.95461976e-01 -2.33468173e-04 2.54533867e+02] [-2.43201693e-03 2.04636606e-06 9.99997043e-01 -1.53609057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:868.54, Y:254.53, Z:-15.36 [[ 9.95828759e-01 9.12097772e-02 2.42079666e-03 8.68544176e+02] [-9.12094794e-02 9.95831701e-01 -2.33353924e-04 2.54527146e+02] [-2.43199021e-03 1.15809451e-05 9.99997043e-01 -1.53607416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:868.60, Y:254.52, Z:-15.36 [[ 9.95992173e-01 8.94076647e-02 2.42080754e-03 8.68602452e+02] [-8.94073619e-02 9.95995115e-01 -2.33240974e-04 2.54521890e+02] [-2.43196602e-03 1.58681684e-05 9.99997043e-01 -1.53579826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:868.66, Y:254.52, Z:-15.36 [[ 9.96027304e-01 8.90154457e-02 2.42081836e-03 8.68660827e+02] [-8.90151420e-02 9.96030246e-01 -2.33128616e-04 2.54516748e+02] [-2.43196035e-03 1.67129772e-05 9.99997043e-01 -1.53568495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:868.72, Y:254.51, Z:-15.36 [[ 9.95992009e-01 8.94094960e-02 2.42082915e-03 8.68719150e+02] [-8.94091937e-02 9.95994951e-01 -2.33016564e-04 2.54512400e+02] [-2.43196750e-03 1.56382537e-05 9.99997043e-01 -1.53590712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:868.78, Y:254.51, Z:-15.36 [[ 9.95957019e-01 8.97984148e-02 2.42083987e-03 8.68777839e+02] [-8.97981140e-02 9.95959961e-01 -2.32905133e-04 2.54506663e+02] [-2.43197409e-03 1.45766476e-05 9.99997043e-01 -1.53620888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.665336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:868.84, Y:254.50, Z:-15.36 [[ 9.95946448e-01 8.99155820e-02 2.42085060e-03 8.68836693e+02] [-8.99152818e-02 9.95949390e-01 -2.32793498e-04 2.54502961e+02] [-2.43197644e-03 1.41783931e-05 9.99997043e-01 -1.53581980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:868.90, Y:254.50, Z:-15.36 [[ 9.95864666e-01 9.08168807e-02 2.42086131e-03 8.68895440e+02] [-9.08165834e-02 9.95867609e-01 -2.32682058e-04 2.54497381e+02] [-2.43198883e-03 1.18654869e-05 9.99997043e-01 -1.53575701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.785336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:868.95, Y:254.49, Z:-15.36 [[ 9.95752943e-01 9.20337712e-02 2.42087242e-03 8.68953215e+02] [-9.20334778e-02 9.95755886e-01 -2.32566418e-04 2.54491882e+02] [-2.43200193e-03 8.77738702e-06 9.99997043e-01 -1.53572230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:869.01, Y:254.49, Z:-15.36 [[ 9.95653760e-01 9.31006408e-02 2.42088617e-03 8.69011838e+02] [-9.31003508e-02 9.95656703e-01 -2.32423216e-04 2.54487477e+02] [-2.43201029e-03 6.02769740e-06 9.99997043e-01 -1.53556759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:869.07, Y:254.48, Z:-15.36 [[ 9.95582051e-01 9.38643616e-02 2.42089756e-03 8.69069834e+02] [-9.38640742e-02 9.95584995e-01 -2.32304551e-04 2.54483600e+02] [-2.43201440e-03 4.04293395e-06 9.99997043e-01 -1.53600430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:869.13, Y:254.48, Z:-15.36 [[ 9.95490939e-01 9.48257815e-02 2.42091264e-03 8.69127788e+02] [-9.48254974e-02 9.95493883e-01 -2.32147297e-04 2.54479077e+02] [-2.43201727e-03 1.53628591e-06 9.99997043e-01 -1.53606243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:869.19, Y:254.47, Z:-15.36 [[ 9.95412513e-01 9.56455314e-02 2.42092543e-03 8.69186315e+02] [-9.56452500e-02 9.95415457e-01 -2.32013819e-04 2.54473723e+02] [-2.43201768e-03 -6.00559174e-07 9.99997043e-01 -1.53565137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:869.25, Y:254.47, Z:-15.35 [[ 9.95425042e-01 9.55150474e-02 2.42093654e-03 8.69245145e+02] [-9.55147659e-02 9.95427986e-01 -2.31897826e-04 2.54469639e+02] [-2.43201772e-03 -3.98283920e-07 9.99997043e-01 -1.53536824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:869.30, Y:254.46, Z:-15.35 [[ 9.95557449e-01 9.41249381e-02 2.42094758e-03 8.69302225e+02] [-9.41246527e-02 9.95560393e-01 -2.31782505e-04 2.54462055e+02] [-2.43201604e-03 2.88194962e-06 9.99997043e-01 -1.53547497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:869.36, Y:254.46, Z:-15.35 [[ 9.95676186e-01 9.28604943e-02 2.42096117e-03 8.69359809e+02] [-9.28602056e-02 9.95679129e-01 -2.31640494e-04 2.54456760e+02] [-2.43201076e-03 5.82797198e-06 9.99997043e-01 -1.53547850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.265336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:869.42, Y:254.45, Z:-15.36 [[ 9.95924458e-01 9.01588249e-02 2.42097723e-03 8.69418392e+02] [-9.01585286e-02 9.95927400e-01 -2.31472549e-04 2.54450426e+02] [-2.43198685e-03 1.22574286e-05 9.99997043e-01 -1.53550615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:869.48, Y:254.44, Z:-15.36 [[ 9.96130617e-01 8.78517657e-02 2.42098861e-03 8.69475687e+02] [-8.78514629e-02 9.96133559e-01 -2.31353460e-04 2.54443106e+02] [-2.43195281e-03 1.77708745e-05 9.99997043e-01 -1.53584613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.385336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:869.53, Y:254.43, Z:-15.35 [[ 9.96258969e-01 8.63840621e-02 2.42100263e-03 8.69533746e+02] [-8.63837553e-02 9.96261910e-01 -2.31206627e-04 2.54434362e+02] [-2.43192527e-03 2.12063774e-05 9.99997043e-01 -1.53541129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.445336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:869.59, Y:254.43, Z:-15.35 [[ 9.96186672e-01 8.72138387e-02 2.42101359e-03 8.69592324e+02] [-8.72135346e-02 9.96189613e-01 -2.31091818e-04 2.54428448e+02] [-2.43194299e-03 1.90654371e-05 9.99997043e-01 -1.53526498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:869.65, Y:254.42, Z:-15.35 [[ 9.96031402e-01 8.89695762e-02 2.42102467e-03 8.69651096e+02] [-8.89692776e-02 9.96034344e-01 -2.30975641e-04 2.54421159e+02] [-2.43197352e-03 1.46621756e-05 9.99997043e-01 -1.53543131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.565336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:869.71, Y:254.42, Z:-15.36 [[ 9.95687721e-01 9.27367277e-02 2.42103571e-03 8.69708507e+02] [-9.27364406e-02 9.95690664e-01 -2.30859895e-04 2.54416129e+02] [-2.43201184e-03 5.34612919e-06 9.99997043e-01 -1.53567548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:869.77, Y:254.41, Z:-15.36 [[ 9.95622917e-01 9.34299019e-02 2.42104932e-03 8.69766242e+02] [-9.34296171e-02 9.95625860e-01 -2.30717111e-04 2.54410489e+02] [-2.43201518e-03 3.50953259e-06 9.99997043e-01 -1.53596857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.685336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:869.82, Y:254.40, Z:-15.36 [[ 9.95661501e-01 9.30178111e-02 2.42106279e-03 8.69824801e+02] [-9.30175254e-02 9.95664445e-01 -2.30575649e-04 2.54404521e+02] [-2.43201378e-03 4.37402790e-06 9.99997043e-01 -1.53578410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.745336195 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:869.88, Y:254.40, Z:-15.36 [[ 9.95686171e-01 9.27533630e-02 2.42107354e-03 8.69883233e+02] [-9.27530768e-02 9.95689115e-01 -2.30462718e-04 2.54397780e+02] [-2.43201276e-03 4.90652174e-06 9.99997043e-01 -1.53551991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:869.94, Y:254.39, Z:-15.36 [[ 9.95662020e-01 9.30122554e-02 2.42108451e-03 8.69941950e+02] [-9.30119703e-02 9.95664964e-01 -2.30347416e-04 2.54392480e+02] [-2.43201415e-03 4.15833325e-06 9.99997043e-01 -1.53553366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.865336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:870.00, Y:254.39, Z:-15.35 [[ 9.95564936e-01 9.40457116e-02 2.42109561e-03 8.69999637e+02] [-9.40454298e-02 9.95567880e-01 -2.30230634e-04 2.54387639e+02] [-2.43201723e-03 1.51656905e-06 9.99997043e-01 -1.53542951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:870.06, Y:254.38, Z:-15.36 [[ 9.95520004e-01 9.45201609e-02 2.42110933e-03 8.70056967e+02] [-9.45198808e-02 9.95522948e-01 -2.30086285e-04 2.54381713e+02] [-2.43201769e-03 2.12533941e-07 9.99997043e-01 -1.53559608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:870.12, Y:254.38, Z:-15.36 [[ 9.95510616e-01 9.46189834e-02 2.42112281e-03 8.70115640e+02] [-9.46187040e-02 9.95513560e-01 -2.29944313e-04 2.54376404e+02] [-2.43201769e-03 -1.71498369e-07 9.99997043e-01 -1.53563993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:870.17, Y:254.37, Z:-15.35 [[ 9.95561218e-01 9.40850693e-02 2.42113308e-03 8.70174442e+02] [-9.40847886e-02 9.95564162e-01 -2.29836223e-04 2.54369444e+02] [-2.43201748e-03 1.02423690e-06 9.99997043e-01 -1.53544901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:870.23, Y:254.36, Z:-15.35 [[ 9.95645561e-01 9.31882811e-02 2.42114378e-03 8.70232394e+02] [-9.31879980e-02 9.95648504e-01 -2.29723358e-04 2.54362385e+02] [-2.43201571e-03 3.10149977e-06 9.99997043e-01 -1.53542082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:870.29, Y:254.35, Z:-15.35 [[ 9.95861043e-01 9.08565968e-02 2.42115445e-03 8.70290831e+02] [-9.08563070e-02 9.95863986e-01 -2.29610893e-04 2.54354196e+02] [-2.43200219e-03 8.68339157e-06 9.99997043e-01 -1.53547351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:870.35, Y:254.35, Z:-15.36 [[ 9.96094275e-01 8.82628699e-02 2.42116518e-03 8.70348693e+02] [-8.82625728e-02 9.96097217e-01 -2.29497717e-04 2.54346062e+02] [-2.43197202e-03 1.49030946e-05 9.99997043e-01 -1.53572252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:870.41, Y:254.33, Z:-15.36 [[ 9.96504281e-01 8.35066251e-02 2.42117580e-03 8.70406280e+02] [-8.35063142e-02 9.96507222e-01 -2.29385550e-04 2.54334852e+02] [-2.43187439e-03 2.64002148e-05 9.99997043e-01 -1.53587460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:870.46, Y:254.33, Z:-15.36 [[ 9.96692507e-01 8.12292044e-02 2.42118646e-03 8.70463947e+02] [-8.12288870e-02 9.96695448e-01 -2.29272983e-04 2.54325231e+02] [-2.43180919e-03 3.18443830e-05 9.99997043e-01 -1.53581799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:870.52, Y:254.31, Z:-15.36 [[ 9.96776012e-01 8.01980082e-02 2.42119961e-03 8.70521288e+02] [-8.01976882e-02 9.96778952e-01 -2.29134071e-04 2.54312899e+02] [-2.43177691e-03 3.42207338e-05 9.99997043e-01 -1.53579404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:870.58, Y:254.30, Z:-15.35 [[ 9.96703130e-01 8.10987614e-02 2.42121256e-03 8.70579210e+02] [-8.10984443e-02 9.96706070e-01 -2.28997161e-04 2.54303501e+02] [-2.43180864e-03 3.18856149e-05 9.99997043e-01 -1.53540168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:870.64, Y:254.29, Z:-15.36 [[ 9.96514145e-01 8.33888230e-02 2.42122381e-03 8.70636801e+02] [-8.33885130e-02 9.96517086e-01 -2.28878103e-04 2.54291034e+02] [-2.43187678e-03 2.61780138e-05 9.99997043e-01 -1.53559617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:870.69, Y:254.28, Z:-15.36 [[ 9.96074817e-01 8.84821789e-02 2.42123210e-03 8.70694420e+02] [-8.84818842e-02 9.96077760e-01 -2.28790372e-04 2.54280144e+02] [-2.43197932e-03 1.36571497e-05 9.99997043e-01 -1.53551968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:870.75, Y:254.27, Z:-15.36 [[ 9.95788222e-01 9.16512659e-02 2.42124274e-03 8.70752241e+02] [-9.16509808e-02 9.95791166e-01 -2.28677727e-04 2.54270519e+02] [-2.43201074e-03 5.80531480e-06 9.99997043e-01 -1.53557413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:870.81, Y:254.26, Z:-15.36 [[ 9.95526544e-01 9.44512486e-02 2.42125358e-03 8.70810614e+02] [-9.44509720e-02 9.95529488e-01 -2.28562939e-04 2.54259292e+02] [-2.43201739e-03 -1.14928167e-06 9.99997043e-01 -1.53574339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:870.87, Y:254.25, Z:-15.36 [[ 9.95545383e-01 9.42524647e-02 2.42126439e-03 8.70868275e+02] [-9.42521879e-02 9.95548328e-01 -2.28448365e-04 2.54248086e+02] [-2.43201753e-03 -7.78750806e-07 9.99997043e-01 -1.53574774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:870.93, Y:254.24, Z:-15.35 [[ 9.95271235e-01 9.71046192e-02 2.42127546e-03 8.70926690e+02] [-9.71043511e-02 9.95274180e-01 -2.28330925e-04 2.54238971e+02] [-2.43200494e-03 -7.86518077e-06 9.99997043e-01 -1.53543146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:870.98, Y:254.23, Z:-15.35 [[ 9.94933624e-01 1.00504832e-01 2.42128641e-03 8.70984428e+02] [-1.00504575e-01 9.94936570e-01 -2.28214735e-04 2.54231530e+02] [-2.43196308e-03 -1.62918472e-05 9.99997043e-01 -1.53538197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:871.04, Y:254.22, Z:-15.35 [[ 9.94442057e-01 1.05257455e-01 2.42129998e-03 8.71042772e+02] [-1.05257212e-01 9.94445005e-01 -2.28070769e-04 2.54224741e+02] [-2.43185581e-03 -2.80561200e-05 9.99997043e-01 -1.53533418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.005336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:871.10, Y:254.22, Z:-15.35 [[ 9.94260762e-01 1.06956413e-01 2.42131086e-03 8.71099925e+02] [-1.06956175e-01 9.94263710e-01 -2.27955181e-04 2.54219374e+02] [-2.43180278e-03 -3.23272557e-05 9.99997043e-01 -1.53534462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:871.16, Y:254.21, Z:-15.36 [[ 9.94299858e-01 1.06592352e-01 2.42132573e-03 8.71158153e+02] [-1.06592113e-01 9.94302806e-01 -2.27797117e-04 2.54213995e+02] [-2.43181240e-03 -3.15955852e-05 9.99997043e-01 -1.53564817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:871.22, Y:254.21, Z:-15.36 [[ 9.94412722e-01 1.05534237e-01 2.42133636e-03 8.71217083e+02] [-1.05533996e-01 9.94415670e-01 -2.27684034e-04 2.54208333e+02] [-2.43184328e-03 -2.91214004e-05 9.99997043e-01 -1.53582895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:871.28, Y:254.20, Z:-15.36 [[ 9.94608920e-01 1.03668861e-01 2.42134713e-03 8.71275908e+02] [-1.03668614e-01 9.94611867e-01 -2.27569417e-04 2.54201992e+02] [-2.43189246e-03 -2.46751286e-05 9.99997043e-01 -1.53583639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:871.33, Y:254.19, Z:-15.36 [[ 9.94901448e-01 1.00822848e-01 2.42135533e-03 8.71333966e+02] [-1.00822593e-01 9.94904394e-01 -2.27482141e-04 2.54194975e+02] [-2.43195246e-03 -1.78050121e-05 9.99997043e-01 -1.53585733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:871.39, Y:254.19, Z:-15.36 [[ 9.95533807e-01 9.43746580e-02 2.42136347e-03 8.71392704e+02] [-9.43743841e-02 9.95536752e-01 -2.27395500e-04 2.54186934e+02] [-2.43201670e-03 -2.13477850e-06 9.99997043e-01 -1.53573622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.365336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:871.45, Y:254.18, Z:-15.35 [[ 9.96038972e-01 8.88847739e-02 2.42136894e-03 8.71451579e+02] [-8.88844839e-02 9.96041915e-01 -2.27337207e-04 2.54179788e+02] [-2.43199178e-03 1.12145895e-05 9.99997043e-01 -1.53543656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:871.51, Y:254.17, Z:-15.36 [[ 9.96193918e-01 8.71310247e-02 2.42137444e-03 8.71510325e+02] [-8.71307296e-02 9.96196860e-01 -2.27278612e-04 2.54172825e+02] [-2.43196864e-03 1.54374490e-05 9.99997043e-01 -1.53567395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:871.57, Y:254.16, Z:-15.36 [[ 9.96347362e-01 8.53584919e-02 2.42137716e-03 8.71569618e+02] [-8.53581917e-02 9.96350304e-01 -2.27249660e-04 2.54162225e+02] [-2.43193756e-03 1.97352238e-05 9.99997043e-01 -1.53574693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.545336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:871.63, Y:254.15, Z:-15.36 [[ 9.96382593e-01 8.49462455e-02 2.42137716e-03 8.71629661e+02] [-8.49459440e-02 9.96385535e-01 -2.27249660e-04 2.54154682e+02] [-2.43192918e-03 2.07414373e-05 9.99997043e-01 -1.53585095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:871.69, Y:254.15, Z:-15.36 [[ 9.96212236e-01 8.69213306e-02 2.42137716e-03 8.71689468e+02] [-8.69210350e-02 9.96215179e-01 -2.27249660e-04 2.54145865e+02] [-2.43196552e-03 1.59202835e-05 9.99997043e-01 -1.53606276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:871.75, Y:254.14, Z:-15.36 [[ 9.96119580e-01 8.79768112e-02 2.42137716e-03 8.71749638e+02] [-8.79765187e-02 9.96122523e-01 -2.27249660e-04 2.54139125e+02] [-2.43198103e-03 1.33435032e-05 9.99997043e-01 -1.53608381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:871.81, Y:254.13, Z:-15.36 [[ 9.95744748e-01 9.21223869e-02 2.42137716e-03 8.71808417e+02] [-9.21221067e-02 9.95747692e-01 -2.27249660e-04 2.54128556e+02] [-2.43201550e-03 3.22029082e-06 9.99997043e-01 -1.53606496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:871.87, Y:254.12, Z:-15.36 [[ 9.95171145e-01 9.81250638e-02 2.42137982e-03 8.71867455e+02] [-9.81248014e-02 9.95174091e-01 -2.27221287e-04 2.54121931e+02] [-2.43199057e-03 -1.14733455e-05 9.99997043e-01 -1.53605829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.845336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:871.93, Y:254.12, Z:-15.36 [[ 9.94743202e-01 1.02372350e-01 2.42138245e-03 8.71927033e+02] [-1.02372101e-01 9.94746149e-01 -2.27193331e-04 2.54116088e+02] [-2.43191918e-03 -2.18829850e-05 9.99997043e-01 -1.53592123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:871.99, Y:254.11, Z:-15.36 [[ 9.94079537e-01 1.08627858e-01 2.42138780e-03 8.71986174e+02] [-1.08627627e-01 9.94082485e-01 -2.27136282e-04 2.54110187e+02] [-2.43173253e-03 -3.72380807e-05 9.99997043e-01 -1.53603016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:872.04, Y:254.10, Z:-15.36 [[ 9.93597370e-01 1.12953099e-01 2.42139328e-03 8.72044702e+02] [-1.12952881e-01 9.93600320e-01 -2.27077814e-04 2.54104986e+02] [-2.43154628e-03 -4.78794280e-05 9.99997043e-01 -1.53602634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:872.10, Y:254.10, Z:-15.36 [[ 9.93377041e-01 1.14874676e-01 2.42139912e-03 8.72104059e+02] [-1.14874464e-01 9.93379991e-01 -2.27015560e-04 2.54101818e+02] [-2.43144777e-03 -5.26448804e-05 9.99997043e-01 -1.53598909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:872.16, Y:254.10, Z:-15.36 [[ 9.93168050e-01 1.16667735e-01 2.42140438e-03 8.72163286e+02] [-1.16667528e-01 9.93171001e-01 -2.26959423e-04 2.54100634e+02] [-2.43134745e-03 -5.70904158e-05 9.99997043e-01 -1.53588589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:872.22, Y:254.10, Z:-15.36 [[ 9.93063288e-01 1.17556125e-01 2.42141505e-03 8.72222149e+02] [-1.17555921e-01 9.93066238e-01 -2.26845460e-04 2.54098816e+02] [-2.43129261e-03 -5.93797779e-05 9.99997043e-01 -1.53604851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:872.28, Y:254.10, Z:-15.36 [[ 9.93162879e-01 1.16711752e-01 2.42142574e-03 8.72280968e+02] [-1.16711546e-01 9.93165829e-01 -2.26731394e-04 2.54098842e+02] [-2.43133952e-03 -5.74271374e-05 9.99997043e-01 -1.53641343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.265336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:872.34, Y:254.10, Z:-15.36 [[ 9.93452728e-01 1.14218271e-01 2.42143638e-03 8.72339526e+02] [-1.14218058e-01 9.93455678e-01 -2.26617604e-04 2.54098015e+02] [-2.43147360e-03 -5.14378840e-05 9.99997043e-01 -1.53635353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:872.40, Y:254.10, Z:-15.36 [[ 9.94109801e-01 1.08350542e-01 2.42144693e-03 8.72399225e+02] [-1.08350311e-01 9.94112750e-01 -2.26504856e-04 2.54096603e+02] [-2.43173319e-03 -3.71938317e-05 9.99997043e-01 -1.53612969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:872.46, Y:254.09, Z:-15.36 [[ 9.94775692e-01 1.02056158e-01 2.42145224e-03 8.72459353e+02] [-1.02055909e-01 9.94778639e-01 -2.26448095e-04 2.54094714e+02] [-2.43191939e-03 -2.18584481e-05 9.99997043e-01 -1.53608283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:872.52, Y:254.09, Z:-15.36 [[ 9.95370873e-01 9.60778925e-02 2.42145766e-03 8.72519100e+02] [-9.60776261e-02 9.95373818e-01 -2.26390124e-04 2.54094068e+02] [-2.43200664e-03 -7.30576796e-06 9.99997043e-01 -1.53610576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:872.58, Y:254.09, Z:-15.36 [[ 9.95750030e-01 9.20652669e-02 2.42146323e-03 8.72577526e+02] [-9.20649887e-02 9.95752975e-01 -2.26330514e-04 2.54090246e+02] [-2.43201639e-03 2.43663090e-06 9.99997043e-01 -1.53640412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.565336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:872.64, Y:254.09, Z:-15.37 [[ 9.96297741e-01 8.59357225e-02 2.42147148e-03 8.72635832e+02] [-8.59354265e-02 9.96300683e-01 -2.26242229e-04 2.54087291e+02] [-2.43195598e-03 1.73144376e-05 9.99997043e-01 -1.53657094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.625336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:872.70, Y:254.08, Z:-15.37 [[ 9.96550030e-01 8.29588761e-02 2.42147963e-03 8.72695069e+02] [-8.29585715e-02 9.96552971e-01 -2.26154997e-04 2.54081769e+02] [-2.43189428e-03 2.44922786e-05 9.99997043e-01 -1.53651736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:872.75, Y:254.08, Z:-15.36 [[ 9.96688443e-01 8.12790516e-02 2.42148499e-03 8.72754753e+02] [-8.12787422e-02 9.96691384e-01 -2.26097603e-04 2.54077724e+02] [-2.43185022e-03 2.85336145e-05 9.99997043e-01 -1.53623188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:872.81, Y:254.07, Z:-15.36 [[ 9.96537861e-01 8.31049241e-02 2.42149033e-03 8.72813657e+02] [-8.31046202e-02 9.96540802e-01 -2.26040400e-04 2.54073716e+02] [-2.43189898e-03 2.40207832e-05 9.99997043e-01 -1.53629448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:872.87, Y:254.07, Z:-15.36 [[ 9.96317149e-01 8.57104116e-02 2.42149823e-03 8.72872843e+02] [-8.57101156e-02 9.96320092e-01 -2.25955731e-04 2.54069812e+02] [-2.43195409e-03 1.75766771e-05 9.99997043e-01 -1.53630609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:872.93, Y:254.07, Z:-15.37 [[ 9.95941531e-01 8.99700150e-02 2.42150366e-03 8.72931700e+02] [-8.99697316e-02 9.95944475e-01 -2.25897509e-04 2.54065917e+02] [-2.43200719e-03 7.11867713e-06 9.99997043e-01 -1.53663471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:872.99, Y:254.06, Z:-15.37 [[ 9.95663935e-01 9.29917419e-02 2.42151172e-03 8.72990601e+02] [-9.29914677e-02 9.95666880e-01 -2.25811075e-04 2.54061543e+02] [-2.43201758e-03 -3.47984888e-07 9.99997043e-01 -1.53652599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:873.05, Y:254.06, Z:-15.36 [[ 9.95116616e-01 9.86765228e-02 2.42152237e-03 8.73049562e+02] [-9.86762658e-02 9.95119562e-01 -2.25696760e-04 2.54058749e+02] [-2.43197526e-03 -1.43521890e-05 9.99997043e-01 -1.53635933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.045336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:873.11, Y:254.06, Z:-15.36 [[ 9.94661549e-01 1.03162679e-01 2.42153345e-03 8.73106979e+02] [-1.03162435e-01 9.94664497e-01 -2.25577841e-04 2.54055994e+02] [-2.43188456e-03 -2.54376820e-05 9.99997043e-01 -1.53622369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:873.17, Y:254.06, Z:-15.36 [[ 9.94063327e-01 1.08776090e-01 2.42154720e-03 8.73165255e+02] [-1.08775863e-01 9.94066276e-01 -2.25430154e-04 2.54055077e+02] [-2.43169982e-03 -3.93140382e-05 9.99997043e-01 -1.53639463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:873.22, Y:254.05, Z:-15.37 [[ 9.93828606e-01 1.10900126e-01 2.42156082e-03 8.73223100e+02] [-1.10899906e-01 9.93831555e-01 -2.25283695e-04 2.54054576e+02] [-2.43160755e-03 -4.46574871e-05 9.99997043e-01 -1.53653608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:873.28, Y:254.05, Z:-15.37 [[ 9.94017629e-01 1.09192902e-01 2.42157409e-03 8.73281809e+02] [-1.09192677e-01 9.94020578e-01 -2.25141048e-04 2.54052901e+02] [-2.43167828e-03 -4.06239879e-05 9.99997043e-01 -1.53662420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:873.34, Y:254.05, Z:-15.37 [[ 9.94358446e-01 1.06044412e-01 2.42158463e-03 8.73340529e+02] [-1.06044178e-01 9.94361394e-01 -2.25027556e-04 2.54049961e+02] [-2.43179319e-03 -3.30369017e-05 9.99997043e-01 -1.53660969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:873.40, Y:254.05, Z:-15.37 [[ 9.94926295e-01 1.00577353e-01 2.42159517e-03 8.73397838e+02] [-1.00577103e-01 9.94929242e-01 -2.24914157e-04 2.54047148e+02] [-2.43193711e-03 -1.97840181e-05 9.99997043e-01 -1.53666748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:873.46, Y:254.04, Z:-15.37 [[ 9.95309403e-01 9.67126056e-02 2.42161073e-03 8.73456607e+02] [-9.67123450e-02 9.95312349e-01 -2.24746455e-04 2.54043744e+02] [-2.43199488e-03 -1.05073918e-05 9.99997043e-01 -1.53663466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.465336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:873.52, Y:254.04, Z:-15.37 [[ 9.95778568e-01 9.17560908e-02 2.42162161e-03 8.73515370e+02] [-9.17558159e-02 9.95781512e-01 -2.24629175e-04 2.54040214e+02] [-2.43201712e-03 1.48305126e-06 9.99997043e-01 -1.53654710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:873.57, Y:254.04, Z:-15.37 [[ 9.96188332e-01 8.71948593e-02 2.42163243e-03 8.73573224e+02] [-8.71945712e-02 9.96191275e-01 -2.24512400e-04 2.54035943e+02] [-2.43198543e-03 1.25034314e-05 9.99997043e-01 -1.53664377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:873.63, Y:254.03, Z:-15.37 [[ 9.96330875e-01 8.55507057e-02 2.42164578e-03 8.73631775e+02] [-8.55504131e-02 9.96333818e-01 -2.24368322e-04 2.54030472e+02] [-2.43196246e-03 1.63722895e-05 9.99997043e-01 -1.53664660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:873.69, Y:254.02, Z:-15.36 [[ 9.96719687e-01 8.08949960e-02 2.42165636e-03 8.73689669e+02] [-8.08946899e-02 9.96722629e-01 -2.24254111e-04 2.54024442e+02] [-2.43186073e-03 2.76193472e-05 9.99997043e-01 -1.53649191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:873.75, Y:254.02, Z:-15.37 [[ 9.96896335e-01 7.86882035e-02 2.42167128e-03 8.73748085e+02] [-7.86878912e-02 9.96899276e-01 -2.24092832e-04 2.54016875e+02] [-2.43179581e-03 3.28411165e-05 9.99997043e-01 -1.53651316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:873.81, Y:254.01, Z:-15.36 [[ 9.96834410e-01 7.94688303e-02 2.42168184e-03 8.73806180e+02] [-7.94685207e-02 9.96837351e-01 -2.23978715e-04 2.54009155e+02] [-2.43182224e-03 3.08222173e-05 9.99997043e-01 -1.53645296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:873.86, Y:254.00, Z:-15.37 [[ 9.96231887e-01 8.66958055e-02 2.42169247e-03 8.73863584e+02] [-8.66955175e-02 9.96234830e-01 -2.23863698e-04 2.54003742e+02] [-2.43198243e-03 1.30702726e-05 9.99997043e-01 -1.53663028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:873.92, Y:254.00, Z:-15.37 [[ 9.95635706e-01 9.32934926e-02 2.42170649e-03 8.73921757e+02] [-9.32932244e-02 9.95638651e-01 -2.23711917e-04 2.53998973e+02] [-2.43201545e-03 -3.19323457e-06 9.99997043e-01 -1.53680036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.945336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:873.98, Y:254.00, Z:-15.37 [[ 9.94573376e-01 1.04009305e-01 2.42171732e-03 8.73979410e+02] [-1.04009068e-01 9.94576324e-01 -2.23594598e-04 2.53996284e+02] [-2.43183863e-03 -2.94993286e-05 9.99997043e-01 -1.53675298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:874.04, Y:253.99, Z:-15.37 [[ 9.93909271e-01 1.10174842e-01 2.42173183e-03 8.74038793e+02] [-1.10174625e-01 9.93912221e-01 -2.23437376e-04 2.53994476e+02] [-2.43160604e-03 -4.47369161e-05 9.99997043e-01 -1.53662816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:874.10, Y:254.00, Z:-15.36 [[ 9.93181282e-01 1.16555038e-01 2.42174231e-03 8.74097969e+02] [-1.16554840e-01 9.93184232e-01 -2.23323705e-04 2.53995258e+02] [-2.43126578e-03 -6.04648633e-05 9.99997043e-01 -1.53642598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:874.16, Y:254.00, Z:-15.36 [[ 9.92872180e-01 1.19159426e-01 2.42175310e-03 8.74156029e+02] [-1.19159236e-01 9.92875131e-01 -2.23206668e-04 2.53996057e+02] [-2.43109561e-03 -6.69585589e-05 9.99997043e-01 -1.53638227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:874.21, Y:254.00, Z:-15.37 [[ 9.92835469e-01 1.19464915e-01 2.42176638e-03 8.74214337e+02] [-1.19464726e-01 9.92838421e-01 -2.23062461e-04 2.53996030e+02] [-2.43107085e-03 -6.78513339e-05 9.99997043e-01 -1.53651488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:874.27, Y:254.00, Z:-15.37 [[ 9.93028938e-01 1.17845932e-01 2.42178246e-03 8.74272457e+02] [-1.17845739e-01 9.93031889e-01 -2.22887766e-04 2.53996842e+02] [-2.43117363e-03 -6.40627423e-05 9.99997043e-01 -1.53703095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:874.33, Y:254.00, Z:-15.37 [[ 9.93354697e-01 1.15067721e-01 2.42179574e-03 8.74331126e+02] [-1.15067520e-01 9.93357648e-01 -2.22743417e-04 2.53998263e+02] [-2.43133989e-03 -5.74068099e-05 9.99997043e-01 -1.53706458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.365336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:874.39, Y:254.00, Z:-15.37 [[ 9.93629268e-01 1.12672147e-01 2.42181154e-03 8.74390337e+02] [-1.12671939e-01 9.93632218e-01 -2.22571501e-04 2.53996766e+02] [-2.43146758e-03 -5.17166426e-05 9.99997043e-01 -1.53674247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:874.45, Y:254.00, Z:-15.37 [[ 9.93945167e-01 1.09850533e-01 2.42182233e-03 8.74448953e+02] [-1.09850317e-01 9.93948117e-01 -2.22454001e-04 2.54000009e+02] [-2.43160243e-03 -4.49308713e-05 9.99997043e-01 -1.53663474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:874.51, Y:254.00, Z:-15.37 [[ 9.94218389e-01 1.07349565e-01 2.42183568e-03 8.74507687e+02] [-1.07349342e-01 9.94221338e-01 -2.22308590e-04 2.54004368e+02] [-2.43170544e-03 -3.89591782e-05 9.99997043e-01 -1.53684602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.545336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:874.57, Y:254.00, Z:-15.37 [[ 9.94464095e-01 1.05049033e-01 2.42184877e-03 8.74566898e+02] [-1.05048803e-01 9.94467043e-01 -2.22165808e-04 2.54003744e+02] [-2.43178709e-03 -3.34763956e-05 9.99997043e-01 -1.53692911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:874.63, Y:254.01, Z:-15.37 [[ 9.95095153e-01 9.88927219e-02 2.42185937e-03 8.74625577e+02] [-9.88924744e-02 9.95098100e-01 -2.22050266e-04 2.54005447e+02] [-2.43194681e-03 -1.85425215e-05 9.99997043e-01 -1.53719908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:874.68, Y:254.01, Z:-15.37 [[ 9.95880224e-01 9.06460941e-02 2.42187243e-03 8.74684640e+02] [-9.06458225e-02 9.95883169e-01 -2.21907730e-04 2.54006677e+02] [-2.43201706e-03 1.46090180e-06 9.99997043e-01 -1.53700274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.725336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:874.74, Y:254.00, Z:-15.37 [[ 9.96413183e-01 8.45866566e-02 2.42188262e-03 8.74743119e+02] [-8.45863674e-02 9.96416127e-01 -2.21796416e-04 2.54003992e+02] [-2.43196392e-03 1.61426200e-05 9.99997043e-01 -1.53686547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:874.80, Y:254.00, Z:-15.37 [[ 9.97060363e-01 7.65817623e-02 2.42189841e-03 8.74801328e+02] [-7.65814499e-02 9.97063304e-01 -2.21623931e-04 2.54001248e+02] [-2.43175838e-03 3.54999456e-05 9.99997043e-01 -1.53694540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:874.86, Y:254.00, Z:-15.37 [[ 9.97440282e-01 7.14634095e-02 2.42191141e-03 8.74859214e+02] [-7.14630823e-02 9.97443221e-01 -2.21481776e-04 2.53997021e+02] [-2.43154696e-03 4.78375905e-05 9.99997043e-01 -1.53694496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:874.92, Y:253.99, Z:-15.37 [[ 9.97613798e-01 6.89988698e-02 2.42192699e-03 8.74917457e+02] [-6.89985357e-02 9.97616737e-01 -2.21311251e-04 2.53992967e+02] [-2.43142512e-03 5.36737415e-05 9.99997043e-01 -1.53684560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:874.97, Y:253.99, Z:-15.37 [[ 9.97824883e-01 6.58759196e-02 2.42193759e-03 8.74974737e+02] [-6.58755767e-02 9.97827821e-01 -2.21195169e-04 2.53985653e+02] [-2.43124814e-03 6.11675080e-05 9.99997043e-01 -1.53682227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.025336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:875.03, Y:253.98, Z:-15.37 [[ 9.98004457e-01 6.30970549e-02 2.42195062e-03 8.75032747e+02] [-6.30967041e-02 9.98007393e-01 -2.21052420e-04 2.53977249e+02] [-2.43107238e-03 6.77941989e-05 9.99997043e-01 -1.53676262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:875.09, Y:253.97, Z:-15.37 [[ 9.98235476e-01 5.93301675e-02 2.42196094e-03 8.75089923e+02] [-5.93298059e-02 9.98238411e-01 -2.20939246e-04 2.53965536e+02] [-2.43080281e-03 7.68549204e-05 9.99997043e-01 -1.53698122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:875.15, Y:253.95, Z:-15.37 [[ 9.98234927e-01 5.93393942e-02 2.42197366e-03 8.75146900e+02] [-5.93390330e-02 9.98237863e-01 -2.20799724e-04 2.53954625e+02] [-2.43080793e-03 7.66924214e-05 9.99997043e-01 -1.53723018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:875.20, Y:253.95, Z:-15.37 [[ 9.98058637e-01 6.22341676e-02 2.42198619e-03 8.75204796e+02] [-6.22338152e-02 9.98061573e-01 -2.20662258e-04 2.53945404e+02] [-2.43102408e-03 6.95044320e-05 9.99997043e-01 -1.53728912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:875.26, Y:253.93, Z:-15.37 [[ 9.97597224e-01 6.92380895e-02 2.42199651e-03 8.75263092e+02] [-6.92377580e-02 9.97600163e-01 -2.20548942e-04 2.53934526e+02] [-2.43145449e-03 5.23254049e-05 9.99997043e-01 -1.53730337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.325336195 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:875.32, Y:253.93, Z:-15.37 [[ 9.97050630e-01 7.67083782e-02 2.42200684e-03 8.75321006e+02] [-7.67080690e-02 9.97053571e-01 -2.20435431e-04 2.53925503e+02] [-2.43177981e-03 3.39978175e-05 9.99997043e-01 -1.53702714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:875.38, Y:253.92, Z:-15.37 [[ 9.96683432e-01 8.13404615e-02 2.42201741e-03 8.75379495e+02] [-8.13401662e-02 9.96686374e-01 -2.20319140e-04 2.53916240e+02] [-2.43191262e-03 2.25811374e-05 9.99997043e-01 -1.53716234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.445336195 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:875.44, Y:253.90, Z:-15.37 [[ 9.96076636e-01 8.84616817e-02 2.42202802e-03 8.75437311e+02] [-8.84614078e-02 9.96079581e-01 -2.20202454e-04 2.53904668e+02] [-2.43201214e-03 5.08251073e-06 9.99997043e-01 -1.53703122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.505336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:875.49, Y:253.90, Z:-15.37 [[ 9.95858764e-01 9.08815460e-02 2.42203860e-03 8.75494339e+02] [-9.08812795e-02 9.95861710e-01 -2.20086047e-04 2.53898077e+02] [-2.43201726e-03 -9.43348174e-07 9.99997043e-01 -1.53704996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.565336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:875.55, Y:253.89, Z:-15.37 [[ 9.95014730e-01 9.96986513e-02 2.42205280e-03 8.75552078e+02] [-9.96984113e-02 9.95017677e-01 -2.19929708e-04 2.53891220e+02] [-2.43191204e-03 -2.26415168e-05 9.99997043e-01 -1.53724264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.625336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:875.61, Y:253.88, Z:-15.37 [[ 9.94322840e-01 1.06377736e-01 2.42206568e-03 8.75610772e+02] [-1.06377516e-01 9.94325790e-01 -2.19787720e-04 2.53884984e+02] [-2.43170289e-03 -3.91133819e-05 9.99997043e-01 -1.53734051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:875.67, Y:253.88, Z:-15.38 [[ 9.93424582e-01 1.14462802e-01 2.42207634e-03 8.75667506e+02] [-1.14462606e-01 9.93427533e-01 -2.19670200e-04 2.53879906e+02] [-2.43130139e-03 -5.90113941e-05 9.99997043e-01 -1.53754738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:875.73, Y:253.88, Z:-15.37 [[ 9.92815064e-01 1.19634371e-01 2.42209978e-03 8.75726782e+02] [-1.19634191e-01 9.92818016e-01 -2.19411416e-04 2.53877046e+02] [-2.43095345e-03 -7.19309894e-05 9.99997043e-01 -1.53733794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:875.78, Y:253.87, Z:-15.37 [[ 9.92697830e-01 1.20603282e-01 2.42211031e-03 8.75783387e+02] [-1.20603105e-01 9.92700782e-01 -2.19295120e-04 2.53874782e+02] [-2.43087851e-03 -7.44202345e-05 9.99997043e-01 -1.53746015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:875.84, Y:253.87, Z:-15.37 [[ 9.93099008e-01 1.17253967e-01 2.42212849e-03 8.75841425e+02] [-1.17253781e-01 9.93101960e-01 -2.19094111e-04 2.53872042e+02] [-2.43111021e-03 -6.64215806e-05 9.99997043e-01 -1.53749453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:875.90, Y:253.87, Z:-15.37 [[ 9.93879394e-01 1.10444028e-01 2.42214388e-03 8.75899821e+02] [-1.10443822e-01 9.93882344e-01 -2.18923864e-04 2.53869737e+02] [-2.43150487e-03 -4.99269106e-05 9.99997043e-01 -1.53747454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.9853361950001 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:875.96, Y:253.87, Z:-15.37 [[ 9.94367712e-01 1.05957477e-01 2.42215931e-03 8.75958414e+02] [-1.05957259e-01 9.94370661e-01 -2.18753017e-04 2.53867016e+02] [-2.43170267e-03 -3.91244241e-05 9.99997043e-01 -1.53747715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:876.02, Y:253.87, Z:-15.38 [[ 9.94899974e-01 1.00837365e-01 2.42216949e-03 8.76017781e+02] [-1.00837131e-01 9.94902922e-01 -2.18640304e-04 2.53866400e+02] [-2.43187061e-03 -2.67193889e-05 9.99997043e-01 -1.53751691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:876.08, Y:253.86, Z:-15.37 [[ 9.95188203e-01 9.79518986e-02 2.42217956e-03 8.76075143e+02] [-9.79516568e-02 9.95191150e-01 -2.18528615e-04 2.53864204e+02] [-2.43193696e-03 -1.97794016e-05 9.99997043e-01 -1.53741998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:876.13, Y:253.86, Z:-15.37 [[ 9.95565254e-01 9.40423163e-02 2.42219697e-03 8.76133917e+02] [-9.40420635e-02 9.95568201e-01 -2.18335459e-04 2.53864976e+02] [-2.43199506e-03 -1.04212043e-05 9.99997043e-01 -1.53740214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:876.19, Y:253.87, Z:-15.37 [[ 9.95992999e-01 8.93984317e-02 2.42221252e-03 8.76192902e+02] [-8.93981655e-02 9.95995944e-01 -2.18162855e-04 2.53865560e+02] [-2.43201726e-03 7.47320210e-07 9.99997043e-01 -1.53741307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:876.25, Y:253.86, Z:-15.38 [[ 9.96484327e-01 8.37443631e-02 2.42222281e-03 8.76252064e+02] [-8.37440804e-02 9.96487271e-01 -2.18048507e-04 2.53863110e+02] [-2.43197453e-03 1.44350973e-05 9.99997043e-01 -1.53762805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:876.31, Y:253.86, Z:-15.38 [[ 9.96727142e-01 8.08030763e-02 2.42223295e-03 8.76310426e+02] [-8.08027853e-02 9.96730085e-01 -2.17935822e-04 2.53860510e+02] [-2.43192234e-03 2.14993802e-05 9.99997043e-01 -1.53772161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:876.37, Y:253.86, Z:-15.38 [[ 9.96862103e-01 7.91206685e-02 2.42224304e-03 8.76368265e+02] [-7.91203728e-02 9.96865046e-01 -2.17823598e-04 2.53859548e+02] [-2.43188377e-03 2.54913173e-05 9.99997043e-01 -1.53777291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:876.43, Y:253.86, Z:-15.38 [[ 9.96831674e-01 7.95031191e-02 2.42225796e-03 8.76426525e+02] [-7.95028249e-02 9.96834617e-01 -2.17657651e-04 2.53859336e+02] [-2.43189504e-03 2.43916904e-05 9.99997043e-01 -1.53783982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.525336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:876.49, Y:253.86, Z:-15.38 [[ 9.96859854e-01 7.91490033e-02 2.42227299e-03 8.76485228e+02] [-7.91487085e-02 9.96862796e-01 -2.17490151e-04 2.53857142e+02] [-2.43188796e-03 2.50874212e-05 9.99997043e-01 -1.53780521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:876.54, Y:253.86, Z:-15.38 [[ 9.96975182e-01 7.76828097e-02 2.42228312e-03 8.76543504e+02] [-7.76825108e-02 9.96978124e-01 -2.17377333e-04 2.53857311e+02] [-2.43184976e-03 2.85507720e-05 9.99997043e-01 -1.53794289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:876.60, Y:253.85, Z:-15.38 [[ 9.97175379e-01 7.50692685e-02 2.42229561e-03 8.76601777e+02] [-7.50689622e-02 9.97178321e-01 -2.17238038e-04 2.53854677e+02] [-2.43176857e-03 3.47852056e-05 9.99997043e-01 -1.53795073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:876.66, Y:253.85, Z:-15.38 [[ 9.97360980e-01 7.25617478e-02 2.42231042e-03 8.76660408e+02] [-7.25614345e-02 9.97363921e-01 -2.17072808e-04 2.53849661e+02] [-2.43167620e-03 4.07336301e-05 9.99997043e-01 -1.53782648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.765336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:876.72, Y:253.85, Z:-15.38 [[ 9.97645213e-01 6.85431318e-02 2.42232043e-03 8.76718794e+02] [-6.85428070e-02 9.97648153e-01 -2.16961044e-04 2.53845151e+02] [-2.43149469e-03 5.04175059e-05 9.99997043e-01 -1.53754099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.825336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:876.78, Y:253.84, Z:-15.37 [[ 9.97794009e-01 6.63419069e-02 2.42233045e-03 8.76777286e+02] [-6.63415759e-02 9.97796947e-01 -2.16849120e-04 2.53841184e+02] [-2.43138011e-03 5.56695339e-05 9.99997043e-01 -1.53738749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:876.84, Y:253.84, Z:-15.38 [[ 9.97853586e-01 6.54396903e-02 2.42234058e-03 8.76836337e+02] [-6.54393569e-02 9.97856525e-01 -2.16735827e-04 2.53836192e+02] [-2.43133148e-03 5.77542124e-05 9.99997043e-01 -1.53763234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:876.89, Y:253.83, Z:-15.38 [[ 9.97781090e-01 6.65359211e-02 2.42235061e-03 8.76894574e+02] [-6.65355912e-02 9.97784029e-01 -2.16623735e-04 2.53831285e+02] [-2.43139601e-03 5.49705367e-05 9.99997043e-01 -1.53765396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:876.95, Y:253.83, Z:-15.38 [[ 9.97756101e-01 6.69095993e-02 2.42236082e-03 8.76953337e+02] [-6.69092707e-02 9.97759040e-01 -2.16509491e-04 2.53825907e+02] [-2.43141897e-03 5.39452696e-05 9.99997043e-01 -1.53770810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:877.01, Y:253.82, Z:-15.38 [[ 9.97870345e-01 6.51836431e-02 2.42237122e-03 8.77010708e+02] [-6.51833097e-02 9.97873283e-01 -2.16393035e-04 2.53819482e+02] [-2.43132481e-03 5.80340192e-05 9.99997043e-01 -1.53788940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:877.07, Y:253.81, Z:-15.38 [[ 9.98047457e-01 6.24131846e-02 2.42238408e-03 8.77069058e+02] [-6.24128434e-02 9.98050395e-01 -2.16249004e-04 2.53810387e+02] [-2.43115818e-03 6.46388904e-05 9.99997043e-01 -1.53772892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:877.13, Y:253.80, Z:-15.38 [[ 9.98161679e-01 6.05590129e-02 2.42239451e-03 8.77126768e+02] [-6.05586666e-02 9.98164616e-01 -2.16132118e-04 2.53801994e+02] [-2.43103723e-03 6.90378168e-05 9.99997043e-01 -1.53783277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.245336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:877.18, Y:253.79, Z:-15.38 [[ 9.98244711e-01 5.91745584e-02 2.42240731e-03 8.77184594e+02] [-5.91742084e-02 9.98247648e-01 -2.15988607e-04 2.53794427e+02] [-2.43094343e-03 7.22654502e-05 9.99997043e-01 -1.53781826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:877.24, Y:253.78, Z:-15.38 [[ 9.98382161e-01 5.68083894e-02 2.42242068e-03 8.77242858e+02] [-5.68080327e-02 9.98385096e-01 -2.15838534e-04 2.53782988e+02] [-2.43077014e-03 7.78763884e-05 9.99997043e-01 -1.53780683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:877.30, Y:253.77, Z:-15.38 [[ 9.98436424e-01 5.58465755e-02 2.42243109e-03 8.77300206e+02] [-5.58462163e-02 9.98439359e-01 -2.15721654e-04 2.53773684e+02] [-2.43069786e-03 8.01007464e-05 9.99997043e-01 -1.53772645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.425336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:877.36, Y:253.77, Z:-15.38 [[ 9.98453803e-01 5.55349824e-02 2.42244390e-03 8.77358484e+02] [-5.55346227e-02 9.98456739e-01 -2.15577669e-04 2.53766741e+02] [-2.43067754e-03 8.07148359e-05 9.99997043e-01 -1.53759563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:877.42, Y:253.76, Z:-15.38 [[ 9.98355414e-01 5.72765194e-02 2.42245386e-03 8.77415778e+02] [-5.72761651e-02 9.98358350e-01 -2.15465671e-04 2.53755744e+02] [-2.43081816e-03 7.63624522e-05 9.99997043e-01 -1.53756683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.545336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:877.47, Y:253.74, Z:-15.37 [[ 9.98026562e-01 6.27464228e-02 2.42246619e-03 8.77474184e+02] [-6.27460849e-02 9.98029500e-01 -2.15327013e-04 2.53743795e+02] [-2.43120372e-03 6.29018097e-05 9.99997043e-01 -1.53728960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:877.53, Y:253.73, Z:-15.37 [[ 9.97809033e-01 6.61155379e-02 2.42247610e-03 8.77532066e+02] [-6.61152101e-02 9.97811973e-01 -2.15215401e-04 2.53733981e+02] [-2.43140474e-03 5.45813548e-05 9.99997043e-01 -1.53732894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.665336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:877.59, Y:253.72, Z:-15.38 [[ 9.97709305e-01 6.76038026e-02 2.42248633e-03 8.77589180e+02] [-6.76034795e-02 9.97712245e-01 -2.15100217e-04 2.53721377e+02] [-2.43148587e-03 5.08389832e-05 9.99997043e-01 -1.53756725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:877.65, Y:253.71, Z:-15.38 [[ 9.97788371e-01 6.64266371e-02 2.42249896e-03 8.77647187e+02] [-6.64263109e-02 9.97791310e-01 -2.14957900e-04 2.53707790e+02] [-2.43142734e-03 5.35648238e-05 9.99997043e-01 -1.53762268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:877.71, Y:253.70, Z:-15.38 [[ 9.97850677e-01 6.54840305e-02 2.42250894e-03 8.77705039e+02] [-6.54837018e-02 9.97853616e-01 -2.14845334e-04 2.53696532e+02] [-2.43137824e-03 5.57487085e-05 9.99997043e-01 -1.53756671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:877.76, Y:253.68, Z:-15.38 [[ 9.97873864e-01 6.51297362e-02 2.42251902e-03 8.77762843e+02] [-6.51294067e-02 9.97876803e-01 -2.14731626e-04 2.53682451e+02] [-2.43136095e-03 5.64978506e-05 9.99997043e-01 -1.53758937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:877.82, Y:253.67, Z:-15.38 [[ 9.97825169e-01 6.58715734e-02 2.42252899e-03 8.77821957e+02] [-6.58712464e-02 9.97828108e-01 -2.14619059e-04 2.53668087e+02] [-2.43140482e-03 5.45772942e-05 9.99997043e-01 -1.53759028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:877.88, Y:253.65, Z:-15.38 [[ 9.97647396e-01 6.85113514e-02 2.42253404e-03 8.77879827e+02] [-6.85110323e-02 9.97650336e-01 -2.14562033e-04 2.53653297e+02] [-2.43154184e-03 4.80869454e-05 9.99997043e-01 -1.53755707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:877.94, Y:253.64, Z:-15.38 [[ 9.97476248e-01 7.09596063e-02 2.42254155e-03 8.77937357e+02] [-7.09592946e-02 9.97479189e-01 -2.14477257e-04 2.53641505e+02] [-2.43165400e-03 4.20341305e-05 9.99997043e-01 -1.53767358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:878.00, Y:253.63, Z:-15.38 [[ 9.97155376e-01 7.53345092e-02 2.42254897e-03 8.77996430e+02] [-7.53342106e-02 9.97158318e-01 -2.14393373e-04 2.53626874e+02] [-2.43181608e-03 3.12826900e-05 9.99997043e-01 -1.53792291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:878.06, Y:253.61, Z:-15.38 [[ 9.96719100e-01 8.09022093e-02 2.42255145e-03 8.78055627e+02] [-8.09019272e-02 9.96722044e-01 -2.14365401e-04 2.53613359e+02] [-2.43195306e-03 1.76730085e-05 9.99997043e-01 -1.53783001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.205336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:878.11, Y:253.60, Z:-15.38 [[ 9.96310492e-01 8.57877325e-02 2.42255635e-03 8.78113460e+02] [-8.57874650e-02 9.96313437e-01 -2.14309973e-04 2.53602219e+02] [-2.43201061e-03 5.69430669e-06 9.99997043e-01 -1.53768806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:878.17, Y:253.59, Z:-15.38 [[ 9.95530320e-01 9.44114038e-02 2.42256132e-03 8.78172063e+02] [-9.44111619e-02 9.95533267e-01 -2.14253783e-04 2.53591535e+02] [-2.43196839e-03 -1.54206924e-05 9.99997043e-01 -1.53780658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:878.23, Y:253.58, Z:-15.38 [[ 9.94544105e-01 1.04288799e-01 2.42257146e-03 8.78230410e+02] [-1.04288587e-01 9.94547055e-01 -2.14139036e-04 2.53582420e+02] [-2.43169362e-03 -3.96758390e-05 9.99997043e-01 -1.53790450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:878.29, Y:253.58, Z:-15.38 [[ 9.93905288e-01 1.10210752e-01 2.42258159e-03 8.78287986e+02] [-1.10210557e-01 9.93908239e-01 -2.14024392e-04 2.53577117e+02] [-2.43141159e-03 -5.42740918e-05 9.99997043e-01 -1.53790045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:878.35, Y:253.57, Z:-15.38 [[ 9.93273900e-01 1.15763082e-01 2.42259408e-03 8.78346974e+02] [-1.15762905e-01 9.93276852e-01 -2.13882919e-04 2.53572517e+02] [-2.43106637e-03 -6.80022060e-05 9.99997043e-01 -1.53766525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:878.40, Y:253.57, Z:-15.37 [[ 9.93155848e-01 1.16771544e-01 2.42260444e-03 8.78404976e+02] [-1.16771370e-01 9.93158800e-01 -2.13765516e-04 2.53570219e+02] [-2.43099265e-03 -7.05883670e-05 9.99997043e-01 -1.53746932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.565336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:878.46, Y:253.56, Z:-15.37 [[ 9.93375465e-01 1.14888279e-01 2.42261715e-03 8.78463795e+02] [-1.14888099e-01 9.93378417e-01 -2.13621380e-04 2.53564806e+02] [-2.43111818e-03 -6.61236415e-05 9.99997043e-01 -1.53731615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.625336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:878.52, Y:253.56, Z:-15.37 [[ 9.94106628e-01 1.08379620e-01 2.42262728e-03 8.78521793e+02] [-1.08379422e-01 9.94109579e-01 -2.13506398e-04 2.53559384e+02] [-2.43149673e-03 -5.03148184e-05 9.99997043e-01 -1.53734465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:878.58, Y:253.55, Z:-15.38 [[ 9.94758632e-01 1.02222278e-01 2.42264091e-03 8.78580099e+02] [-1.02222062e-01 9.94761582e-01 -2.13351712e-04 2.53553566e+02] [-2.43175940e-03 -3.54138911e-05 9.99997043e-01 -1.53750755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:878.64, Y:253.55, Z:-15.38 [[ 9.95764358e-01 9.19101412e-02 2.42265090e-03 8.78639697e+02] [-9.19098944e-02 9.95767305e-01 -2.13238201e-04 2.53548665e+02] [-2.43199531e-03 -1.03305878e-05 9.99997043e-01 -1.53760024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.805336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:878.70, Y:253.54, Z:-15.37 [[ 9.96665768e-01 8.15565927e-02 2.42265618e-03 8.78698593e+02] [-8.15563155e-02 9.96668712e-01 -2.13178170e-04 2.53541261e+02] [-2.43197170e-03 1.48844731e-05 9.99997043e-01 -1.53743426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:878.76, Y:253.54, Z:-15.38 [[ 9.97152562e-01 7.53717413e-02 2.42266138e-03 8.78757820e+02] [-7.53714459e-02 9.97155504e-01 -2.13119014e-04 2.53535147e+02] [-2.43183329e-03 2.99126792e-05 9.99997043e-01 -1.53775466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:878.82, Y:253.53, Z:-15.37 [[ 9.97699327e-01 6.77508918e-02 2.42266395e-03 8.78817678e+02] [-6.77505740e-02 9.97702267e-01 -2.13089788e-04 2.53527983e+02] [-2.43153434e-03 4.84626648e-05 9.99997043e-01 -1.53748203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:878.88, Y:253.52, Z:-15.37 [[ 9.98040887e-01 6.25181488e-02 2.42266395e-03 8.78877810e+02] [-6.25178157e-02 9.98043825e-01 -2.13089788e-04 2.53518877e+02] [-2.43124678e-03 6.12126628e-05 9.99997043e-01 -1.53745113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.045336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:878.94, Y:253.51, Z:-15.37 [[ 9.98158335e-01 6.06141025e-02 2.42266395e-03 8.78937950e+02] [-6.06137637e-02 9.98161273e-01 -2.13089788e-04 2.53509770e+02] [-2.43112558e-03 6.58505678e-05 9.99997043e-01 -1.53738897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:879.00, Y:253.50, Z:-15.38 [[ 9.98267225e-01 5.87935160e-02 2.42266395e-03 8.78997985e+02] [-5.87931718e-02 9.98270163e-01 -2.13089788e-04 2.53499193e+02] [-2.43100144e-03 7.02844536e-05 9.99997043e-01 -1.53766023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:879.06, Y:253.49, Z:-15.38 [[ 9.98234510e-01 5.93463882e-02 2.42266147e-03 8.79058107e+02] [-5.93460456e-02 9.98237447e-01 -2.13118037e-04 2.53487350e+02] [-2.43103919e-03 6.89664014e-05 9.99997043e-01 -1.53765790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:879.12, Y:253.48, Z:-15.38 [[ 9.98060952e-01 6.21970032e-02 2.42265655e-03 8.79117703e+02] [-6.21966689e-02 9.98063890e-01 -2.13173897e-04 2.53477152e+02] [-2.43122480e-03 6.20793754e-05 9.99997043e-01 -1.53770996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:879.18, Y:253.47, Z:-15.38 [[ 9.97746133e-01 6.70580725e-02 2.42264518e-03 8.79178333e+02] [-6.70577522e-02 9.97749073e-01 -2.13303030e-04 2.53467372e+02] [-2.43149568e-03 5.03651332e-05 9.99997043e-01 -1.53772537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:879.24, Y:253.46, Z:-15.38 [[ 9.97287778e-01 7.35609915e-02 2.42264033e-03 8.79239332e+02] [-7.35606902e-02 9.97290720e-01 -2.13358210e-04 2.53458776e+02] [-2.43177155e-03 3.45684402e-05 9.99997043e-01 -1.53756565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:879.30, Y:253.45, Z:-15.37 [[ 9.96302435e-01 8.58812479e-02 2.42263503e-03 8.79298115e+02] [-8.58809828e-02 9.96305381e-01 -2.13418264e-04 2.53451180e+02] [-2.43201295e-03 4.57085853e-06 9.99997043e-01 -1.53745773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.465336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:879.36, Y:253.44, Z:-15.37 [[ 9.95303345e-01 9.67749088e-02 2.42263767e-03 8.79356938e+02] [-9.67746761e-02 9.95306293e-01 -2.13388380e-04 2.53444541e+02] [-2.43191716e-03 -2.20638072e-05 9.99997043e-01 -1.53731542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:879.42, Y:253.44, Z:-15.37 [[ 9.94720801e-01 1.02589764e-01 2.42264020e-03 8.79417527e+02] [-1.02589549e-01 9.94723750e-01 -2.13359615e-04 2.53439202e+02] [-2.43174626e-03 -3.63043177e-05 9.99997043e-01 -1.53743056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:879.48, Y:253.43, Z:-15.38 [[ 9.94552318e-01 1.04210449e-01 2.42264020e-03 8.79477832e+02] [-1.04210238e-01 9.94555268e-01 -2.13359615e-04 2.53433791e+02] [-2.43168387e-03 -4.02666116e-05 9.99997043e-01 -1.53752147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.645336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:879.54, Y:253.43, Z:-15.37 [[ 9.94635667e-01 1.03411898e-01 2.42264020e-03 8.79537760e+02] [-1.03411685e-01 9.94638617e-01 -2.13359615e-04 2.53430030e+02] [-2.43171542e-03 -3.83142219e-05 9.99997043e-01 -1.53718994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:879.60, Y:253.43, Z:-15.38 [[ 9.94837980e-01 1.01447155e-01 2.42264020e-03 8.79597572e+02] [-1.01446936e-01 9.94840929e-01 -2.13359615e-04 2.53425318e+02] [-2.43178635e-03 -3.35111765e-05 9.99997043e-01 -1.53750485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:879.66, Y:253.42, Z:-15.38 [[ 9.95237824e-01 9.74464219e-02 2.42263763e-03 8.79657856e+02] [-9.74461911e-02 9.95240772e-01 -2.13388808e-04 2.53420841e+02] [-2.43190172e-03 -2.37041963e-05 9.99997043e-01 -1.53773390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.825336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:879.72, Y:253.42, Z:-15.37 [[ 9.95397180e-01 9.58049363e-02 2.42263763e-03 8.79718339e+02] [-9.58047007e-02 9.95400127e-01 -2.13388808e-04 2.53417050e+02] [-2.43193751e-03 -1.96934549e-05 9.99997043e-01 -1.53747658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:879.78, Y:253.41, Z:-15.38 [[ 9.95503852e-01 9.46900767e-02 2.42262556e-03 8.79778626e+02] [-9.46898375e-02 9.95506800e-01 -2.13525692e-04 2.53414591e+02] [-2.43195899e-03 -1.68323716e-05 9.99997043e-01 -1.53754143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.945336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:879.84, Y:253.41, Z:-15.38 [[ 9.95773467e-01 9.18113985e-02 2.42262556e-03 8.79839476e+02] [-9.18111507e-02 9.95776414e-01 -2.13525692e-04 2.53414680e+02] [-2.43199749e-03 -9.80082163e-06 9.99997043e-01 -1.53756664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.005336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:879.90, Y:253.41, Z:-15.38 [[ 9.96202427e-01 8.70336493e-02 2.42262556e-03 8.79899613e+02] [-8.70333874e-02 9.96205372e-01 -2.13525692e-04 2.53410618e+02] [-2.43201652e-03 1.86550357e-06 9.99997043e-01 -1.53765804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:879.96, Y:253.41, Z:-15.38 [[ 9.96888338e-01 7.87894171e-02 2.42262556e-03 8.79959862e+02] [-7.87891308e-02 9.96891282e-01 -2.13525692e-04 2.53405985e+02] [-2.43191787e-03 2.19847102e-05 9.99997043e-01 -1.53794710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:880.02, Y:253.40, Z:-15.38 [[ 9.97316169e-01 7.31750593e-02 2.42261286e-03 8.80021244e+02] [-7.31747561e-02 9.97319111e-01 -2.13669738e-04 2.53401085e+02] [-2.43175340e-03 3.58221793e-05 9.99997043e-01 -1.53811429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:880.08, Y:253.40, Z:-15.38 [[ 9.97293159e-01 7.34880003e-02 2.42260758e-03 8.80081118e+02] [-7.34876978e-02 9.97296101e-01 -2.13729543e-04 2.53398929e+02] [-2.43176365e-03 3.51191575e-05 9.99997043e-01 -1.53831448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:880.14, Y:253.40, Z:-15.38 [[ 9.97146457e-01 7.54524615e-02 2.42261019e-03 8.80141387e+02] [-7.54521650e-02 9.97149400e-01 -2.13700019e-04 2.53395003e+02] [-2.43182849e-03 3.02990334e-05 9.99997043e-01 -1.53803764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.305336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:880.20, Y:253.39, Z:-15.38 [[ 9.97205365e-01 7.46698817e-02 2.42261019e-03 8.80202279e+02] [-7.46695829e-02 9.97208307e-01 -2.13700019e-04 2.53391244e+02] [-2.43180396e-03 3.22075135e-05 9.99997043e-01 -1.53786340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:880.26, Y:253.39, Z:-15.38 [[ 9.97315022e-01 7.31906956e-02 2.42261019e-03 8.80262207e+02] [-7.31903924e-02 9.97317964e-01 -2.13700019e-04 2.53385849e+02] [-2.43175351e-03 3.58144491e-05 9.99997043e-01 -1.53809227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:880.32, Y:253.38, Z:-15.38 [[ 9.97460452e-01 7.11813068e-02 2.42261019e-03 8.80321432e+02] [-7.11809976e-02 9.97463393e-01 -2.13700019e-04 2.53378094e+02] [-2.43167642e-03 4.07135076e-05 9.99997043e-01 -1.53825379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:880.38, Y:253.37, Z:-15.38 [[ 9.97538757e-01 7.00753879e-02 2.42261273e-03 8.80380332e+02] [-7.00750756e-02 9.97541697e-01 -2.13671168e-04 2.53371773e+02] [-2.43163031e-03 4.33805014e-05 9.99997043e-01 -1.53801978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:880.44, Y:253.37, Z:-15.38 [[ 9.97522509e-01 7.03062921e-02 2.42261521e-03 8.80440732e+02] [-7.03059805e-02 9.97525450e-01 -2.13643117e-04 2.53365619e+02] [-2.43164078e-03 4.27894803e-05 9.99997043e-01 -1.53780693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:880.50, Y:253.36, Z:-15.38 [[ 9.97364742e-01 7.25100141e-02 2.42261521e-03 8.80499468e+02] [-7.25097091e-02 9.97367684e-01 -2.13643117e-04 2.53358377e+02] [-2.43172938e-03 3.74169882e-05 9.99997043e-01 -1.53777955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:880.56, Y:253.35, Z:-15.38 [[ 9.97185032e-01 7.49409259e-02 2.42261291e-03 8.80558349e+02] [-7.49406280e-02 9.97187975e-01 -2.13669109e-04 2.53351679e+02] [-2.43181303e-03 3.15155044e-05 9.99997043e-01 -1.53795860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:880.62, Y:253.35, Z:-15.38 [[ 9.96774055e-01 8.02222755e-02 2.42261536e-03 8.80618464e+02] [-8.02219932e-02 9.96776999e-01 -2.13641415e-04 2.53345538e+02] [-2.43194607e-03 1.86051876e-05 9.99997043e-01 -1.53797440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:880.68, Y:253.34, Z:-15.38 [[ 9.96329031e-01 8.55721473e-02 2.42261536e-03 8.80677444e+02] [-8.55718808e-02 9.96331977e-01 -2.13641415e-04 2.53338889e+02] [-2.43201090e-03 5.54939212e-06 9.99997043e-01 -1.53825836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.845336195 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:880.74, Y:253.33, Z:-15.38 [[ 9.96123549e-01 8.79318222e-02 2.42261243e-03 8.80737891e+02] [-8.79315626e-02 9.96126495e-01 -2.13674540e-04 2.53331608e+02] [-2.43201723e-03 -1.77855998e-07 9.99997043e-01 -1.53805722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.905336195 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:880.80, Y:253.32, Z:-15.38 [[ 9.95897395e-01 9.04572292e-02 2.42261243e-03 8.80796907e+02] [-9.04569771e-02 9.95900341e-01 -2.13674540e-04 2.53324485e+02] [-2.43200896e-03 -6.34427995e-06 9.99997043e-01 -1.53816185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.965336195 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:880.86, Y:253.32, Z:-15.38 [[ 9.95696815e-01 9.26389946e-02 2.42261503e-03 8.80857132e+02] [-9.26387490e-02 9.95699762e-01 -2.13645163e-04 2.53318868e+02] [-2.43198908e-03 -1.17022173e-05 9.99997043e-01 -1.53794799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.025336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:880.92, Y:253.31, Z:-15.38 [[ 9.95574976e-01 9.39393353e-02 2.42261503e-03 8.80916799e+02] [-9.39390935e-02 9.95577923e-01 -2.13645163e-04 2.53311936e+02] [-2.43197172e-03 -1.48784818e-05 9.99997043e-01 -1.53806516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.085336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:880.98, Y:253.31, Z:-15.38 [[ 9.95479132e-01 9.49496152e-02 2.42261503e-03 8.80977110e+02] [-9.49493764e-02 9.95482079e-01 -2.13645163e-04 2.53306267e+02] [-2.43195537e-03 -1.73464849e-05 9.99997043e-01 -1.53801893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.145336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:881.04, Y:253.30, Z:-15.38 [[ 9.95402549e-01 9.57491284e-02 2.42261503e-03 8.81036795e+02] [-9.57488920e-02 9.95405497e-01 -2.13645163e-04 2.53302040e+02] [-2.43194065e-03 -1.92997649e-05 9.99997043e-01 -1.53823730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:881.10, Y:253.30, Z:-15.39 [[ 9.95389351e-01 9.58862345e-02 2.42261179e-03 8.81096231e+02] [-9.58859984e-02 9.95392299e-01 -2.13681806e-04 2.53297044e+02] [-2.43193827e-03 -1.95979560e-05 9.99997043e-01 -1.53871649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:881.16, Y:253.29, Z:-15.39 [[ 9.95347427e-01 9.63204609e-02 2.42261429e-03 8.81155479e+02] [-9.63202262e-02 9.95350375e-01 -2.13653512e-04 2.53293422e+02] [-2.43192924e-03 -2.06872829e-05 9.99997043e-01 -1.53851926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.325336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:881.22, Y:253.29, Z:-15.38 [[ 9.95340456e-01 9.63924657e-02 2.42261885e-03 8.81215556e+02] [-9.63922313e-02 9.95343404e-01 -2.13601816e-04 2.53289399e+02] [-2.43192730e-03 -2.09151074e-05 9.99997043e-01 -1.53806407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:881.28, Y:253.29, Z:-15.38 [[ 9.95350035e-01 9.62935047e-02 2.42261885e-03 8.81275466e+02] [-9.62932700e-02 9.95352983e-01 -2.13601816e-04 2.53287742e+02] [-2.43192936e-03 -2.06733158e-05 9.99997043e-01 -1.53821485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.445336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:881.33, Y:253.28, Z:-15.38 [[ 9.95385007e-01 9.59313248e-02 2.42262140e-03 8.81334654e+02] [-9.59310891e-02 9.95387955e-01 -2.13572884e-04 2.53283855e+02] [-2.43193649e-03 -1.98174626e-05 9.99997043e-01 -1.53805111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:881.39, Y:253.28, Z:-15.38 [[ 9.95406362e-01 9.57094822e-02 2.42262644e-03 8.81393442e+02] [-9.57092460e-02 9.95409310e-01 -2.13515706e-04 2.53281213e+02] [-2.43194039e-03 -1.93328576e-05 9.99997043e-01 -1.53789997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:881.45, Y:253.28, Z:-15.38 [[ 9.95391695e-01 9.58619022e-02 2.42263393e-03 8.81453272e+02] [-9.58616666e-02 9.95394643e-01 -2.13430671e-04 2.53280098e+02] [-2.43193670e-03 -1.97906090e-05 9.99997043e-01 -1.53782921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:881.51, Y:253.28, Z:-15.38 [[ 9.95186692e-01 9.79672350e-02 2.42263886e-03 8.81512840e+02] [-9.79670058e-02 9.95189640e-01 -2.13374684e-04 2.53279739e+02] [-2.43188882e-03 -2.49910292e-05 9.99997043e-01 -1.53787097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:881.57, Y:253.28, Z:-15.38 [[ 9.95011903e-01 9.97268462e-02 2.42264373e-03 8.81571650e+02] [-9.97266224e-02 9.95014852e-01 -2.13319333e-04 2.53279240e+02] [-2.43184016e-03 -2.93468015e-05 9.99997043e-01 -1.53811893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:881.63, Y:253.28, Z:-15.38 [[ 9.94676068e-01 1.03022576e-01 2.42265096e-03 8.81631021e+02] [-1.03022362e-01 9.94679017e-01 -2.13237233e-04 2.53283390e+02] [-2.43172832e-03 -3.74852531e-05 9.99997043e-01 -1.53836527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:881.69, Y:253.29, Z:-15.38 [[ 9.94557031e-01 1.04165460e-01 2.42266054e-03 8.81690196e+02] [-1.04165250e-01 9.94559981e-01 -2.13128332e-04 2.53285069e+02] [-2.43168183e-03 -4.03887595e-05 9.99997043e-01 -1.53843469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.865336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:881.75, Y:253.29, Z:-15.39 [[ 9.94993664e-01 9.99086541e-02 2.42267000e-03 8.81749160e+02] [-9.99084316e-02 9.94996613e-01 -2.13020724e-04 2.53289299e+02] [-2.43183106e-03 -3.00908888e-05 9.99997043e-01 -1.53858618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:881.81, Y:253.29, Z:-15.39 [[ 9.96009886e-01 8.92100723e-02 2.42267936e-03 8.81807398e+02] [-8.92098183e-02 9.96012833e-01 -2.12914173e-04 2.53289418e+02] [-2.43201383e-03 -4.06216428e-06 9.99997043e-01 -1.53891887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:881.87, Y:253.29, Z:-15.39 [[ 9.97026902e-01 7.70161451e-02 2.42269098e-03 8.81867084e+02] [-7.70158554e-02 9.97029845e-01 -2.12781901e-04 2.53288594e+02] [-2.43188286e-03 2.55636609e-05 9.99997043e-01 -1.53856828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:881.93, Y:253.29, Z:-15.39 [[ 9.97798143e-01 6.62796800e-02 2.42269599e-03 8.81926763e+02] [-6.62793588e-02 9.97801083e-01 -2.12724871e-04 2.53285813e+02] [-2.43146802e-03 5.16817448e-05 9.99997043e-01 -1.53851168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:881.99, Y:253.28, Z:-15.39 [[ 9.98144477e-01 6.08418661e-02 2.42270117e-03 8.81985540e+02] [-6.08415290e-02 9.98147416e-01 -2.12665900e-04 2.53282459e+02] [-2.43115190e-03 6.48704502e-05 9.99997043e-01 -1.53864198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.165336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:882.04, Y:253.28, Z:-15.38 [[ 9.98455649e-01 5.55017752e-02 2.42270631e-03 8.82044703e+02] [-5.55014226e-02 9.98458585e-01 -2.12607309e-04 2.53278270e+02] [-2.43077200e-03 7.78153225e-05 9.99997043e-01 -1.53829134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:882.10, Y:253.27, Z:-15.38 [[ 9.98620774e-01 5.24469218e-02 2.42271137e-03 8.82103460e+02] [-5.24465603e-02 9.98623709e-01 -2.12549621e-04 2.53271221e+02] [-2.43052459e-03 8.51935894e-05 9.99997043e-01 -1.53841443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:882.16, Y:253.26, Z:-15.39 [[ 9.98855235e-01 4.77739395e-02 2.42271388e-03 8.82162292e+02] [-4.77735644e-02 9.98858169e-01 -2.12520960e-04 2.53262838e+02] [-2.43010052e-03 9.65359957e-05 9.99997043e-01 -1.53861115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:882.22, Y:253.25, Z:-15.38 [[ 9.98952815e-01 4.56881135e-02 2.42271165e-03 8.82221777e+02] [-4.56877322e-02 9.98955748e-01 -2.12546459e-04 2.53250057e+02] [-2.42989257e-03 1.01635683e-04 9.99997043e-01 -1.53840622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:882.28, Y:253.24, Z:-15.38 [[ 9.98861843e-01 4.76355869e-02 2.42271165e-03 8.82281941e+02] [-4.76352113e-02 9.98864776e-01 -2.12546459e-04 2.53240644e+02] [-2.43008610e-03 9.68981666e-05 9.99997043e-01 -1.53840954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:882.34, Y:253.23, Z:-15.39 [[ 9.98526005e-01 5.42212793e-02 2.42271165e-03 8.82341347e+02] [-5.42209230e-02 9.98528941e-01 -2.12546459e-04 2.53229472e+02] [-2.43067224e-03 8.08715052e-05 9.99997043e-01 -1.53854414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:882.40, Y:253.22, Z:-15.39 [[ 9.98035484e-01 6.26043348e-02 2.42271165e-03 8.82400393e+02] [-6.26040032e-02 9.98038423e-01 -2.12546459e-04 2.53217000e+02] [-2.43126564e-03 6.04574606e-05 9.99997043e-01 -1.53861533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:882.46, Y:253.21, Z:-15.38 [[ 9.97620097e-01 6.89077166e-02 2.42271405e-03 8.82460544e+02] [-6.89074036e-02 9.97623037e-01 -2.12519044e-04 2.53207121e+02] [-2.43159955e-03 4.50703346e-05 9.99997043e-01 -1.53845321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:882.52, Y:253.19, Z:-15.39 [[ 9.97001579e-01 7.73432672e-02 2.42271405e-03 8.82519961e+02] [-7.73429791e-02 9.97004523e-01 -2.12519044e-04 2.53194407e+02] [-2.43189378e-03 2.45019006e-05 9.99997043e-01 -1.53853411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:882.58, Y:253.18, Z:-15.39 [[ 9.96674487e-01 8.14499653e-02 2.42271405e-03 8.82579055e+02] [-8.14496893e-02 9.96677432e-01 -2.12519044e-04 2.53184549e+02] [-2.43197409e-03 1.44830028e-05 9.99997043e-01 -1.53856849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:882.64, Y:253.17, Z:-15.39 [[ 9.96302820e-01 8.58767845e-02 2.42271906e-03 8.82638054e+02] [-8.58765218e-02 9.96305765e-01 -2.12461931e-04 2.53170762e+02] [-2.43201451e-03 3.62173504e-06 9.99997043e-01 -1.53868533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:882.70, Y:253.16, Z:-15.39 [[ 9.95874704e-01 9.07066974e-02 2.42272401e-03 8.82698203e+02] [-9.07064490e-02 9.95877651e-01 -2.12405463e-04 2.53158310e+02] [-2.43200329e-03 -8.22746401e-06 9.99997043e-01 -1.53882801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:882.76, Y:253.15, Z:-15.39 [[ 9.95258065e-01 9.72394709e-02 2.42272154e-03 8.82758202e+02] [-9.72392418e-02 9.95261013e-01 -2.12433598e-04 2.53147074e+02] [-2.43189723e-03 -2.41573539e-05 9.99997043e-01 -1.53874506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:882.82, Y:253.14, Z:-15.39 [[ 9.94786817e-01 1.01947626e-01 2.42272154e-03 8.82817000e+02] [-1.01947411e-01 9.94789767e-01 -2.12433598e-04 2.53138500e+02] [-2.43175570e-03 -3.56640457e-05 9.99997043e-01 -1.53864527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:882.88, Y:253.13, Z:-15.39 [[ 9.94166014e-01 1.07833517e-01 2.42272639e-03 8.82875434e+02] [-1.07833319e-01 9.94168965e-01 -2.12378312e-04 2.53130341e+02] [-2.43150089e-03 -5.01113279e-05 9.99997043e-01 -1.53871009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:882.94, Y:253.12, Z:-15.39 [[ 9.93687964e-01 1.12153291e-01 2.42273354e-03 8.82935025e+02] [-1.12153106e-01 9.93690916e-01 -2.12296723e-04 2.53124349e+02] [-2.43125808e-03 -6.07603929e-05 9.99997043e-01 -1.53884436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.125336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:883.00, Y:253.12, Z:-15.39 [[ 9.93560385e-01 1.13277936e-01 2.42273825e-03 8.82995319e+02] [-1.13277755e-01 9.93563337e-01 -2.12242906e-04 2.53119136e+02] [-2.43118634e-03 -6.35662071e-05 9.99997043e-01 -1.53868068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:883.06, Y:253.11, Z:-15.39 [[ 9.93381822e-01 1.14833300e-01 2.42273825e-03 8.83056009e+02] [-1.14833124e-01 9.93384774e-01 -2.12242906e-04 2.53113146e+02] [-2.43108385e-03 -6.73723575e-05 9.99997043e-01 -1.53873254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:883.12, Y:253.11, Z:-15.39 [[ 9.93200724e-01 1.16389229e-01 2.42273825e-03 8.83116061e+02] [-1.16389057e-01 9.93203676e-01 -2.12242906e-04 2.53109976e+02] [-2.43097533e-03 -7.11804127e-05 9.99997043e-01 -1.53851056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:883.18, Y:253.11, Z:-15.39 [[ 9.93146032e-01 1.16854990e-01 2.42274283e-03 8.83175903e+02] [-1.16854819e-01 9.93148985e-01 -2.12190680e-04 2.53107892e+02] [-2.43094012e-03 -7.23728440e-05 9.99997043e-01 -1.53865570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:883.24, Y:253.11, Z:-15.38 [[ 9.93143640e-01 1.16875319e-01 2.42274737e-03 8.83235785e+02] [-1.16875149e-01 9.93146593e-01 -2.12138828e-04 2.53105575e+02] [-2.43093709e-03 -7.24746326e-05 9.99997043e-01 -1.53829478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:883.29, Y:253.10, Z:-15.39 [[ 9.93274554e-01 1.15757463e-01 2.42275246e-03 8.83294224e+02] [-1.15757290e-01 9.93277506e-01 -2.12080703e-04 2.53104727e+02] [-2.43101544e-03 -6.97968925e-05 9.99997043e-01 -1.53862200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.4853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:883.35, Y:253.11, Z:-15.39 [[ 9.93651105e-01 1.12479387e-01 2.42276000e-03 8.83353186e+02] [-1.12479205e-01 9.93654056e-01 -2.11994484e-04 2.53105726e+02] [-2.43123031e-03 -6.18615645e-05 9.99997043e-01 -1.53868789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:883.41, Y:253.11, Z:-15.38 [[ 9.94276902e-01 1.06806239e-01 2.42276667e-03 8.83412646e+02] [-1.06806040e-01 9.94279852e-01 -2.11918194e-04 2.53105748e+02] [-2.43154228e-03 -4.80607486e-05 9.99997043e-01 -1.53843356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:883.47, Y:253.10, Z:-15.38 [[ 9.94699272e-01 1.02798290e-01 2.42277129e-03 8.83472861e+02] [-1.02798079e-01 9.94702222e-01 -2.11865433e-04 2.53103733e+02] [-2.43171539e-03 -3.83138419e-05 9.99997043e-01 -1.53843724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:883.53, Y:253.10, Z:-15.39 [[ 9.95088317e-01 9.89614617e-02 2.42277970e-03 8.83533034e+02] [-9.89612394e-02 9.95091266e-01 -2.11769142e-04 2.53104338e+02] [-2.43184391e-03 -2.90322829e-05 9.99997043e-01 -1.53854835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:883.59, Y:253.11, Z:-15.39 [[ 9.95368448e-01 9.61029770e-02 2.42278463e-03 8.83591836e+02] [-9.61027464e-02 9.95371397e-01 -2.11712735e-04 2.53106874e+02] [-2.43191675e-03 -2.21040805e-05 9.99997043e-01 -1.53881690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.785336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:883.65, Y:253.11, Z:-15.39 [[ 9.95650111e-01 9.31396120e-02 2.42279197e-03 8.83651705e+02] [-9.31393728e-02 9.95653058e-01 -2.11628694e-04 2.53105374e+02] [-2.43197125e-03 -1.49491921e-05 9.99997043e-01 -1.53870805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:883.71, Y:253.11, Z:-15.39 [[ 9.96126458e-01 8.78988640e-02 2.42279705e-03 8.83710725e+02] [-8.78986094e-02 9.96129404e-01 -2.11570618e-04 2.53106589e+02] [-2.43201619e-03 -2.20940102e-06 9.99997043e-01 -1.53885912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:883.77, Y:253.11, Z:-15.39 [[ 9.96522319e-01 8.32910385e-02 2.42280455e-03 8.83771074e+02] [-8.32907705e-02 9.96525265e-01 -2.11484601e-04 2.53106196e+02] [-2.43200072e-03 8.95186694e-06 9.99997043e-01 -1.53893800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.965336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:883.83, Y:253.10, Z:-15.39 [[ 9.96634462e-01 8.19382654e-02 2.42280702e-03 8.83830405e+02] [-8.19379934e-02 9.96637407e-01 -2.11456354e-04 2.53104846e+02] [-2.43198647e-03 1.22247435e-05 9.99997043e-01 -1.53878948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:883.89, Y:253.11, Z:-15.39 [[ 9.96554296e-01 8.29075672e-02 2.42281201e-03 8.83889338e+02] [-8.29072983e-02 9.96557241e-01 -2.11399131e-04 2.53106392e+02] [-2.43199744e-03 9.80191449e-06 9.99997043e-01 -1.53920503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:883.95, Y:253.11, Z:-15.39 [[ 9.96389701e-01 8.48627931e-02 2.42281942e-03 8.83948547e+02] [-8.48625302e-02 9.96392647e-01 -2.11314195e-04 2.53108747e+02] [-2.43201217e-03 4.94470112e-06 9.99997043e-01 -1.53898013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:884.01, Y:253.11, Z:-15.39 [[ 9.96304828e-01 8.58534725e-02 2.42282961e-03 8.84006668e+02] [-8.58532128e-02 9.96307774e-01 -2.11197296e-04 2.53108847e+02] [-2.43201600e-03 2.40917952e-06 9.99997043e-01 -1.53906213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.205336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:884.07, Y:253.11, Z:-15.39 [[ 9.96212666e-01 8.69163643e-02 2.42284220e-03 8.84065853e+02] [-8.69161081e-02 9.96215612e-01 -2.11052762e-04 2.53112345e+02] [-2.43201716e-03 -3.30579665e-07 9.99997043e-01 -1.53896743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:884.13, Y:253.11, Z:-15.39 [[ 9.96281899e-01 8.61191510e-02 2.42285206e-03 8.84125018e+02] [-8.61188927e-02 9.96284845e-01 -2.10939508e-04 2.53112777e+02] [-2.43201672e-03 1.50187647e-06 9.99997043e-01 -1.53917997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.325336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:884.18, Y:253.11, Z:-15.39 [[ 9.96470442e-01 8.39094042e-02 2.42286201e-03 8.84183184e+02] [-8.39091396e-02 9.96473387e-01 -2.10825137e-04 2.53113937e+02] [-2.43200773e-03 6.78075017e-06 9.99997043e-01 -1.53934593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.385336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:884.24, Y:253.12, Z:-15.39 [[ 9.96753734e-01 8.04743677e-02 2.42287428e-03 8.84242585e+02] [-8.04740933e-02 9.96756678e-01 -2.10684025e-04 2.53115247e+02] [-2.43197079e-03 1.50214774e-05 9.99997043e-01 -1.53915346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.445336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:884.30, Y:253.12, Z:-15.39 [[ 9.97054364e-01 7.66597994e-02 2.42288390e-03 8.84301353e+02] [-7.66595140e-02 9.97057308e-01 -2.10573368e-04 2.53116061e+02] [-2.43189661e-03 2.42159931e-05 9.99997043e-01 -1.53914030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:884.36, Y:253.11, Z:-15.39 [[ 9.97292469e-01 7.34973509e-02 2.42289382e-03 8.84360078e+02] [-7.34970564e-02 9.97295412e-01 -2.10459130e-04 2.53112052e+02] [-2.43180908e-03 3.18137417e-05 9.99997043e-01 -1.53933944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:884.42, Y:253.11, Z:-15.39 [[ 9.97607563e-01 6.90889229e-02 2.42290386e-03 8.84417547e+02] [-6.90886157e-02 9.97610505e-01 -2.10343531e-04 2.53109675e+02] [-2.43164675e-03 4.24452241e-05 9.99997043e-01 -1.53924215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.625336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:884.48, Y:253.11, Z:-15.39 [[ 9.97776270e-01 6.66081427e-02 2.42291625e-03 8.84475377e+02] [-6.66078286e-02 9.97779211e-01 -2.10200726e-04 2.53106707e+02] [-2.43153654e-03 4.83481059e-05 9.99997043e-01 -1.53917490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:884.53, Y:253.10, Z:-15.39 [[ 9.97876706e-01 6.50861589e-02 2.42292838e-03 8.84533777e+02] [-6.50858406e-02 9.97879647e-01 -2.10060732e-04 2.53102814e+02] [-2.43146297e-03 5.19163809e-05 9.99997043e-01 -1.53907674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.745336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:884.59, Y:253.10, Z:-15.39 [[ 9.97801790e-01 6.62247482e-02 2.42293802e-03 8.84592597e+02] [-6.62244335e-02 9.97804731e-01 -2.09949588e-04 2.53098331e+02] [-2.43152287e-03 4.90303771e-05 9.99997043e-01 -1.53904054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:884.65, Y:253.09, Z:-15.39 [[ 9.97573808e-01 6.95746070e-02 2.42294785e-03 8.84651662e+02] [-6.95743025e-02 9.97576750e-01 -2.09836025e-04 2.53094930e+02] [-2.43167570e-03 4.07520154e-05 9.99997043e-01 -1.53931626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:884.71, Y:253.09, Z:-15.39 [[ 9.97331790e-01 7.29618385e-02 2.42295777e-03 8.84710231e+02] [-7.29615443e-02 9.97334733e-01 -2.09721442e-04 2.53090966e+02] [-2.43180160e-03 3.23791210e-05 9.99997043e-01 -1.53920440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:884.77, Y:253.09, Z:-15.39 [[ 9.96923177e-01 7.83473535e-02 2.42296782e-03 8.84768171e+02] [-7.83470755e-02 9.96926122e-01 -2.09605278e-04 2.53088112e+02] [-2.43194193e-03 1.91279177e-05 9.99997043e-01 -1.53930571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.9853361950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:884.83, Y:253.09, Z:-15.39 [[ 9.96550599e-01 8.29519964e-02 2.42298022e-03 8.84826545e+02] [-8.29517323e-02 9.96553544e-01 -2.09461783e-04 2.53085120e+02] [-2.43200480e-03 7.74885834e-06 9.99997043e-01 -1.53947564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:884.89, Y:253.08, Z:-15.40 [[ 9.96492996e-01 8.36411208e-02 2.42299024e-03 8.84885304e+02] [-8.36408590e-02 9.96495942e-01 -2.09345830e-04 2.53080742e+02] [-2.43200986e-03 5.95066856e-06 9.99997043e-01 -1.53952297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:884.94, Y:253.08, Z:-15.40 [[ 9.96508212e-01 8.34596402e-02 2.42300025e-03 8.84943116e+02] [-8.34593782e-02 9.96511158e-01 -2.09229917e-04 2.53077015e+02] [-2.43200904e-03 6.27723677e-06 9.99997043e-01 -1.53956492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:885.00, Y:253.07, Z:-15.40 [[ 9.96646399e-01 8.17929366e-02 2.42301256e-03 8.85000403e+02] [-8.17926700e-02 9.96649344e-01 -2.09087274e-04 2.53072170e+02] [-2.43199574e-03 1.02014124e-05 9.99997043e-01 -1.53950319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:885.06, Y:253.07, Z:-15.40 [[ 9.96875011e-01 7.89578456e-02 2.42302465e-03 8.85058483e+02] [-7.89575710e-02 9.96877956e-01 -2.08947028e-04 2.53066434e+02] [-2.43195787e-03 1.69779294e-05 9.99997043e-01 -1.53950659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:885.12, Y:253.06, Z:-15.40 [[ 9.96985902e-01 7.75450819e-02 2.42303429e-03 8.85116091e+02] [-7.75448033e-02 9.96988846e-01 -2.08835162e-04 2.53059865e+02] [-2.43193231e-03 2.03119950e-05 9.99997043e-01 -1.53961772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:885.17, Y:253.05, Z:-15.40 [[ 9.97183036e-01 7.49674745e-02 2.42304694e-03 8.85174748e+02] [-7.49671887e-02 9.97185979e-01 -2.08688371e-04 2.53051808e+02] [-2.43187327e-03 2.64514867e-05 9.99997043e-01 -1.53956199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.405336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:885.23, Y:253.04, Z:-15.40 [[ 9.97333295e-01 7.29412648e-02 2.42305635e-03 8.85232111e+02] [-7.29409732e-02 9.97336238e-01 -2.08579078e-04 2.53042632e+02] [-2.43181592e-03 3.12827707e-05 9.99997043e-01 -1.53961533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:885.29, Y:253.03, Z:-15.40 [[ 9.97383311e-01 7.22541395e-02 2.42306798e-03 8.85290587e+02] [-7.22538463e-02 9.97386253e-01 -2.08443816e-04 2.53031067e+02] [-2.43179562e-03 3.28224016e-05 9.99997043e-01 -1.53982172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:885.35, Y:253.02, Z:-15.40 [[ 9.97367478e-01 7.24723588e-02 2.42307717e-03 8.85348495e+02] [-7.24720665e-02 9.97370421e-01 -2.08336971e-04 2.53021271e+02] [-2.43180417e-03 3.21831101e-05 9.99997043e-01 -1.53991711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:885.41, Y:253.01, Z:-15.40 [[ 9.97302257e-01 7.33644177e-02 2.42308629e-03 8.85406835e+02] [-7.33641283e-02 9.97305200e-01 -2.08230787e-04 2.53010565e+02] [-2.43183329e-03 2.99014198e-05 9.99997043e-01 -1.53971053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:885.47, Y:253.00, Z:-15.40 [[ 9.97055832e-01 7.66407028e-02 2.42309602e-03 8.85465226e+02] [-7.66404233e-02 9.97058776e-01 -2.08117520e-04 2.52999729e+02] [-2.43191943e-03 2.17976828e-05 9.99997043e-01 -1.53960265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.705336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:885.52, Y:252.99, Z:-15.39 [[ 9.96795887e-01 7.99505351e-02 2.42310578e-03 8.85523536e+02] [-7.99502657e-02 9.96798832e-01 -2.08003855e-04 2.52991082e+02] [-2.43197903e-03 1.36094369e-05 9.99997043e-01 -1.53938129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:885.58, Y:252.98, Z:-15.40 [[ 9.96355570e-01 8.52625803e-02 2.42311597e-03 8.85581291e+02] [-8.52623268e-02 9.96358516e-01 -2.07885039e-04 2.52983475e+02] [-2.43201705e-03 5.26910946e-07 9.99997043e-01 -1.53952084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:885.64, Y:252.98, Z:-15.40 [[ 9.95849041e-01 9.09879959e-02 2.42312864e-03 8.85638290e+02] [-9.09877597e-02 9.95851989e-01 -2.07737246e-04 2.52975792e+02] [-2.43197907e-03 -1.36001097e-05 9.99997043e-01 -1.53957174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:885.70, Y:252.97, Z:-15.40 [[ 9.95587891e-01 9.38023423e-02 2.42314109e-03 8.85696270e+02] [-9.38021148e-02 9.95590840e-01 -2.07591982e-04 2.52970079e+02] [-2.43192968e-03 -2.06196953e-05 9.99997043e-01 -1.53955800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:885.75, Y:252.96, Z:-15.39 [[ 9.95336743e-01 9.64307820e-02 2.42315329e-03 8.85754881e+02] [-9.64305627e-02 9.95339693e-01 -2.07449498e-04 2.52964625e+02] [-2.43186516e-03 -2.71839271e-05 9.99997043e-01 -1.53927690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:885.81, Y:252.96, Z:-15.39 [[ 9.95294426e-01 9.68665761e-02 2.42316337e-03 8.85812893e+02] [-9.68663584e-02 9.95297375e-01 -2.07331631e-04 2.52961378e+02] [-2.43185165e-03 -2.83669948e-05 9.99997043e-01 -1.53942393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:885.87, Y:252.96, Z:-15.39 [[ 9.95448645e-01 9.52686955e-02 2.42317585e-03 8.85871822e+02] [-9.52684734e-02 9.95451594e-01 -2.07185655e-04 2.52956821e+02] [-2.43189257e-03 -2.46095848e-05 9.99997043e-01 -1.53935431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.125336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:885.93, Y:252.95, Z:-15.39 [[ 9.95912739e-01 9.02881178e-02 2.42318572e-03 8.85928978e+02] [-9.02878812e-02 9.95915687e-01 -2.07070220e-04 2.52951710e+02] [-2.43198465e-03 -1.25604338e-05 9.99997043e-01 -1.53932034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:885.99, Y:252.95, Z:-15.39 [[ 9.96403821e-01 8.46968320e-02 2.42319785e-03 8.85987551e+02] [-8.46965792e-02 9.96406768e-01 -2.06928127e-04 2.52945468e+02] [-2.43201689e-03 9.47407262e-07 9.99997043e-01 -1.53949095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.245336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:886.05, Y:252.94, Z:-15.40 [[ 9.96648897e-01 8.17624847e-02 2.42320744e-03 8.86045863e+02] [-8.17622235e-02 9.96651843e-01 -2.06815727e-04 2.52939201e+02] [-2.43200393e-03 7.99583814e-06 9.99997043e-01 -1.53955601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:886.10, Y:252.93, Z:-15.40 [[ 9.96855666e-01 7.92016994e-02 2.42321706e-03 8.86104406e+02] [-7.92014309e-02 9.96858611e-01 -2.06702966e-04 2.52932619e+02] [-2.43197602e-03 1.41307645e-05 9.99997043e-01 -1.53976289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:886.16, Y:252.93, Z:-15.40 [[ 9.96842910e-01 7.93620908e-02 2.42322661e-03 8.86162579e+02] [-7.93618231e-02 9.96845855e-01 -2.06590994e-04 2.52925213e+02] [-2.43197889e-03 1.36270860e-05 9.99997043e-01 -1.53975409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:886.22, Y:252.92, Z:-15.40 [[ 9.96680988e-01 8.13703612e-02 2.42323635e-03 8.86221437e+02] [-8.13700997e-02 9.96683934e-01 -2.06476605e-04 2.52918943e+02] [-2.43200182e-03 8.61232316e-06 9.99997043e-01 -1.53990588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.4853361950001 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:886.28, Y:252.91, Z:-15.40 [[ 9.96563265e-01 8.27996837e-02 2.42324604e-03 8.86279347e+02] [-8.27994267e-02 9.96566211e-01 -2.06362926e-04 2.52912288e+02] [-2.43201190e-03 5.01032886e-06 9.99997043e-01 -1.53991442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:886.34, Y:252.91, Z:-15.40 [[ 9.96499899e-01 8.35588347e-02 2.42325806e-03 8.86337452e+02] [-8.35585802e-02 9.96502846e-01 -2.06221627e-04 2.52905425e+02] [-2.43201519e-03 3.01582797e-06 9.99997043e-01 -1.53983869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:886.39, Y:252.90, Z:-15.39 [[ 9.96284324e-01 8.60910801e-02 2.42326800e-03 8.86394899e+02] [-8.60908335e-02 9.96287271e-01 -2.06104707e-04 2.52898957e+02] [-2.43201484e-03 -3.28227322e-06 9.99997043e-01 -1.53948358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:886.45, Y:252.89, Z:-15.39 [[ 9.96000503e-01 8.93147529e-02 2.42328195e-03 8.86452844e+02] [-8.93145162e-02 9.96003451e-01 -2.05940662e-04 2.52892394e+02] [-2.43199072e-03 -1.13172516e-05 9.99997043e-01 -1.53930773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:886.51, Y:252.89, Z:-15.39 [[ 9.95859425e-01 9.08742739e-02 2.42329378e-03 8.86510988e+02] [-9.08740421e-02 9.95862373e-01 -2.05801309e-04 2.52887041e+02] [-2.43196914e-03 -1.52653275e-05 9.99997043e-01 -1.53914927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:886.57, Y:252.88, Z:-15.39 [[ 9.95841631e-01 9.10690549e-02 2.42330383e-03 8.86568436e+02] [-9.10688240e-02 9.95844580e-01 -2.05682928e-04 2.52880219e+02] [-2.43196533e-03 -1.58598077e-05 9.99997043e-01 -1.53946541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:886.63, Y:252.87, Z:-15.40 [[ 9.95962766e-01 8.97345864e-02 2.42331631e-03 8.86627186e+02] [-8.97343519e-02 9.95965714e-01 -2.05535766e-04 2.52873485e+02] [-2.43198363e-03 -1.27487486e-05 9.99997043e-01 -1.53959781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:886.69, Y:252.87, Z:-15.40 [[ 9.96111456e-01 8.80686879e-02 2.42332629e-03 8.86685765e+02] [-8.80684488e-02 9.96114404e-01 -2.05418000e-04 2.52865028e+02] [-2.43200112e-03 -8.79936402e-06 9.99997043e-01 -1.53959051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.965336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:886.74, Y:252.86, Z:-15.40 [[ 9.96226339e-01 8.67594851e-02 2.42333635e-03 8.86744090e+02] [-8.67592424e-02 9.96229287e-01 -2.05299327e-04 2.52857463e+02] [-2.43201030e-03 -5.72222822e-06 9.99997043e-01 -1.53960954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.025336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:886.80, Y:252.85, Z:-15.40 [[ 9.96316455e-01 8.57184294e-02 2.42334382e-03 8.86801939e+02] [-8.57181838e-02 9.96319402e-01 -2.05211031e-04 2.52851009e+02] [-2.43201484e-03 -3.26950422e-06 9.99997043e-01 -1.53954066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.0853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:886.86, Y:252.84, Z:-15.40 [[ 9.96260694e-01 8.63640961e-02 2.42335105e-03 8.86861234e+02] [-8.63638526e-02 9.96263641e-01 -2.05125613e-04 2.52843444e+02] [-2.43201203e-03 -4.93134809e-06 9.99997043e-01 -1.53952193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.1453361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:886.92, Y:252.84, Z:-15.39 [[ 9.96206542e-01 8.69865127e-02 2.42335594e-03 8.86920505e+02] [-8.69862712e-02 9.96209489e-01 -2.05067877e-04 2.52836305e+02] [-2.43200832e-03 -6.50873677e-06 9.99997043e-01 -1.53933762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:886.98, Y:252.83, Z:-15.40 [[ 9.96160768e-01 8.75091507e-02 2.42336076e-03 8.86979606e+02] [-8.75089109e-02 9.96163716e-01 -2.05010835e-04 2.52829805e+02] [-2.43200439e-03 -7.84191013e-06 9.99997043e-01 -1.53951203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:887.04, Y:252.82, Z:-15.40 [[ 9.96126886e-01 8.78939979e-02 2.42336569e-03 8.87037447e+02] [-8.78937594e-02 9.96129833e-01 -2.04952569e-04 2.52821383e+02] [-2.43200096e-03 -8.83995699e-06 9.99997043e-01 -1.53972710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.3253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:887.10, Y:252.81, Z:-15.40 [[ 9.96058922e-01 8.86608826e-02 2.42337301e-03 8.87096444e+02] [-8.86606465e-02 9.96061869e-01 -2.04866062e-04 2.52814908e+02] [-2.43199305e-03 -1.07991484e-05 9.99997043e-01 -1.53965810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.3853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:887.16, Y:252.81, Z:-15.39 [[ 9.95866188e-01 9.08001232e-02 2.42337777e-03 8.87155418e+02] [-9.07998936e-02 9.95869137e-01 -2.04809691e-04 2.52809172e+02] [-2.43196387e-03 -1.60793969e-05 9.99997043e-01 -1.53929204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.445336195 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:887.21, Y:252.80, Z:-15.39 [[ 9.95596425e-01 9.37117155e-02 2.42338280e-03 8.87214783e+02] [-9.37114947e-02 9.95599374e-01 -2.04750189e-04 2.52804212e+02] [-2.43190589e-03 -2.32502684e-05 9.99997043e-01 -1.53905100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:887.27, Y:252.80, Z:-15.39 [[ 9.95486401e-01 9.48733493e-02 2.42338780e-03 8.87274039e+02] [-9.48731321e-02 9.95489350e-01 -2.04690980e-04 2.52800261e+02] [-2.43187646e-03 -2.61473035e-05 9.99997043e-01 -1.53932669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.5653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:887.33, Y:252.80, Z:-15.40 [[ 9.95284178e-01 9.69718078e-02 2.42339287e-03 8.87333129e+02] [-9.69715969e-02 9.95287128e-01 -2.04630966e-04 2.52797230e+02] [-2.43181516e-03 -3.13343130e-05 9.99997043e-01 -1.53953139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.6253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:887.39, Y:252.80, Z:-15.40 [[ 9.95252851e-01 9.72928036e-02 2.42340038e-03 8.87391636e+02] [-9.72925940e-02 9.95255801e-01 -2.04541899e-04 2.52795996e+02] [-2.43180374e-03 -3.22080015e-05 9.99997043e-01 -1.53970021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:887.45, Y:252.79, Z:-15.40 [[ 9.95390324e-01 9.58761220e-02 2.42341027e-03 8.87450292e+02] [-9.58759084e-02 9.95393273e-01 -2.04424673e-04 2.52794779e+02] [-2.43184573e-03 -2.88643195e-05 9.99997043e-01 -1.53977530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:887.51, Y:252.79, Z:-15.39 [[ 9.95689134e-01 9.27214929e-02 2.42341760e-03 8.87509462e+02] [-9.27212702e-02 9.95692083e-01 -2.04337746e-04 2.52790473e+02] [-2.43192422e-03 -2.12454851e-05 9.99997043e-01 -1.53945698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.8053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:887.57, Y:252.79, Z:-15.39 [[ 9.95942745e-01 8.99565247e-02 2.42342242e-03 8.87569079e+02] [-8.99562939e-02 9.95945693e-01 -2.04280549e-04 2.52787857e+02] [-2.43197349e-03 -1.45503694e-05 9.99997043e-01 -1.53931971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.8653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:887.63, Y:252.78, Z:-15.40 [[ 9.96401759e-01 8.47210860e-02 2.42342727e-03 8.87628136e+02] [-8.47208399e-02 9.96404706e-01 -2.04223073e-04 2.52783462e+02] [-2.43201633e-03 -1.82656480e-06 9.99997043e-01 -1.53954755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:887.69, Y:252.78, Z:-15.40 [[ 9.96875842e-01 7.89473405e-02 2.42343215e-03 8.87687551e+02] [-7.89470775e-02 9.96878788e-01 -2.04165124e-04 2.52777800e+02] [-2.43198640e-03 1.22043942e-05 9.99997043e-01 -1.53963641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:887.75, Y:252.77, Z:-15.40 [[ 9.97122939e-01 7.57625931e-02 2.42343699e-03 8.87746005e+02] [-7.57623208e-02 9.97125884e-01 -2.04107664e-04 2.52770889e+02] [-2.43193547e-03 1.99152229e-05 9.99997043e-01 -1.53960791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:887.80, Y:252.76, Z:-15.39 [[ 9.97239818e-01 7.42083030e-02 2.42344412e-03 8.87804824e+02] [-7.42080262e-02 9.97242762e-01 -2.04022903e-04 2.52763733e+02] [-2.43190231e-03 2.36207575e-05 9.99997043e-01 -1.53946097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.1053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:887.86, Y:252.76, Z:-15.39 [[ 9.97074587e-01 7.63962964e-02 2.42344897e-03 8.87864286e+02] [-7.63960263e-02 9.97077532e-01 -2.03965302e-04 2.52756482e+02] [-2.43194871e-03 1.82267480e-05 9.99997043e-01 -1.53933575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.1653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:887.92, Y:252.75, Z:-15.40 [[ 9.96687358e-01 8.12922936e-02 2.42345390e-03 8.87922680e+02] [-8.12920381e-02 9.96690304e-01 -2.03906731e-04 2.52751304e+02] [-2.43200905e-03 6.22375449e-06 9.99997043e-01 -1.53958633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:887.98, Y:252.75, Z:-15.40 [[ 9.96423708e-01 8.44625421e-02 2.42346121e-03 8.87982230e+02] [-8.44622962e-02 9.96426655e-01 -2.03819827e-04 2.52746981e+02] [-2.43201649e-03 -1.60019089e-06 9.99997043e-01 -1.53967894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:888.04, Y:252.74, Z:-15.40 [[ 9.96037617e-01 8.88999029e-02 2.42346602e-03 8.88041438e+02] [-8.88996703e-02 9.96040565e-01 -2.03762589e-04 2.52743071e+02] [-2.43198494e-03 -1.24901265e-05 9.99997043e-01 -1.53954835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.3453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:888.10, Y:252.74, Z:-15.40 [[ 9.95665846e-01 9.29712339e-02 2.42347084e-03 8.88100310e+02] [-9.29710134e-02 9.95668795e-01 -2.03705216e-04 2.52740087e+02] [-2.43191302e-03 -2.24902142e-05 9.99997043e-01 -1.53950211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.4053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:888.16, Y:252.74, Z:-15.39 [[ 9.95556868e-01 9.41310262e-02 2.42348051e-03 8.88159491e+02] [-9.41308095e-02 9.95559817e-01 -2.03590114e-04 2.52737564e+02] [-2.43188396e-03 -2.54386465e-05 9.99997043e-01 -1.53937496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:888.22, Y:252.74, Z:-15.39 [[ 9.95643746e-01 9.32076069e-02 2.42349050e-03 8.88218341e+02] [-9.32073877e-02 9.95646695e-01 -2.03471211e-04 2.52735585e+02] [-2.43190537e-03 -2.33023798e-05 9.99997043e-01 -1.53939954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:888.28, Y:252.73, Z:-15.39 [[ 9.95802408e-01 9.14969430e-02 2.42350035e-03 8.88275789e+02] [-9.14967191e-02 9.95805357e-01 -2.03353764e-04 2.52733934e+02] [-2.43194088e-03 -1.92421631e-05 9.99997043e-01 -1.53921148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.5853361949999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:888.34, Y:252.73, Z:-15.39 [[ 9.95876234e-01 9.06898777e-02 2.42351449e-03 8.88335118e+02] [-9.06896518e-02 9.95879182e-01 -2.03185099e-04 2.52731628e+02] [-2.43195446e-03 -1.74404741e-05 9.99997043e-01 -1.53900543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.6453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:888.39, Y:252.73, Z:-15.39 [[ 9.95934628e-01 9.00463440e-02 2.42352414e-03 8.88394431e+02] [-9.00461164e-02 9.95937576e-01 -2.03069995e-04 2.52730254e+02] [-2.43196446e-03 -1.59844968e-05 9.99997043e-01 -1.53922291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:888.45, Y:252.73, Z:-15.39 [[ 9.96114652e-01 8.80325344e-02 2.42353375e-03 8.88452582e+02] [-8.80323011e-02 9.96117600e-01 -2.02955138e-04 2.52728253e+02] [-2.43199128e-03 -1.11826662e-05 9.99997043e-01 -1.53944255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:888.51, Y:252.72, Z:-15.39 [[ 9.96487222e-01 8.37098777e-02 2.42354565e-03 8.88511696e+02] [-8.37096320e-02 9.96490169e-01 -2.02812975e-04 2.52724728e+02] [-2.43201686e-03 -7.73576254e-07 9.99997043e-01 -1.53927795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.8253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:888.57, Y:252.72, Z:-15.39 [[ 9.96611613e-01 8.22156838e-02 2.42355569e-03 8.88569591e+02] [-8.22154340e-02 9.96614560e-01 -2.02692901e-04 2.52720487e+02] [-2.43201543e-03 2.75241571e-06 9.99997043e-01 -1.53946803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.8853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:888.63, Y:252.72, Z:-15.39 [[ 9.96789833e-01 8.00259705e-02 2.42356809e-03 8.88628499e+02] [-8.00257146e-02 9.96792779e-01 -2.02544623e-04 2.52717322e+02] [-2.43200400e-03 7.94665292e-06 9.99997043e-01 -1.53944810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:888.69, Y:252.71, Z:-15.39 [[ 9.96792083e-01 7.99979362e-02 2.42357730e-03 8.88685828e+02] [-7.99976805e-02 9.96795029e-01 -2.02434319e-04 2.52713079e+02] [-2.43200413e-03 7.90436447e-06 9.99997043e-01 -1.53938385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:888.74, Y:252.71, Z:-15.39 [[ 9.96610198e-01 8.22328373e-02 2.42358861e-03 8.88744722e+02] [-8.22325885e-02 9.96613145e-01 -2.02298753e-04 2.52710811e+02] [-2.43201587e-03 2.31503487e-06 9.99997043e-01 -1.53911761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.0653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:888.80, Y:252.71, Z:-15.39 [[ 9.96386306e-01 8.49026249e-02 2.42359798e-03 8.88803612e+02] [-8.49023843e-02 9.96389253e-01 -2.02186534e-04 2.52707454e+02] [-2.43201315e-03 -4.31335267e-06 9.99997043e-01 -1.53911487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.1253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:888.86, Y:252.70, Z:-15.39 [[ 9.96236287e-01 8.66451779e-02 2.42360782e-03 8.88862687e+02] [-8.66449427e-02 9.96239235e-01 -2.02068468e-04 2.52704999e+02] [-2.43200146e-03 -8.68542011e-06 9.99997043e-01 -1.53928510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:888.92, Y:252.70, Z:-15.40 [[ 9.95991892e-01 8.94107241e-02 2.42361754e-03 8.88921559e+02] [-8.94104974e-02 9.95994840e-01 -2.01951780e-04 2.52704133e+02] [-2.43196722e-03 -1.55545150e-05 9.99997043e-01 -1.53963123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:888.98, Y:252.70, Z:-15.40 [[ 9.95838646e-01 9.11016894e-02 2.42362721e-03 8.88979642e+02] [-9.11014680e-02 9.95841595e-01 -2.01835731e-04 2.52703581e+02] [-2.43193636e-03 -1.98001757e-05 9.99997043e-01 -1.53974939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.3053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:889.04, Y:252.70, Z:-15.39 [[ 9.95965417e-01 8.97051551e-02 2.42363917e-03 8.89038867e+02] [-8.97049299e-02 9.95968365e-01 -2.01691936e-04 2.52702801e+02] [-2.43196075e-03 -1.65341888e-05 9.99997043e-01 -1.53937022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.3653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:889.10, Y:252.70, Z:-15.39 [[ 9.96328768e-01 8.55751801e-02 2.42364869e-03 8.89097169e+02] [-8.55749429e-02 9.96331716e-01 -2.01577489e-04 2.52699634e+02] [-2.43200809e-03 -6.56614753e-06 9.99997043e-01 -1.53917938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:889.16, Y:252.70, Z:-15.39 [[ 9.96758735e-01 8.04123762e-02 2.42365810e-03 8.89156035e+02] [-8.04121240e-02 9.96761682e-01 -2.01464367e-04 2.52695692e+02] [-2.43200975e-03 5.91987232e-06 9.99997043e-01 -1.53916765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.485336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:889.21, Y:252.69, Z:-15.39 [[ 9.97054528e-01 7.66576411e-02 2.42366757e-03 8.89214902e+02] [-7.66573781e-02 9.97057474e-01 -2.01350362e-04 2.52690159e+02] [-2.43197091e-03 1.49652889e-05 9.99997043e-01 -1.53923618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:889.27, Y:252.68, Z:-15.40 [[ 9.97389456e-01 7.21692435e-02 2.42367698e-03 8.89273512e+02] [-7.21689676e-02 9.97392400e-01 -2.01236975e-04 2.52683315e+02] [-2.43188012e-03 2.57973712e-05 9.99997043e-01 -1.53966608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.6053361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:889.33, Y:252.67, Z:-15.40 [[ 9.97571423e-01 6.96087747e-02 2.42368672e-03 8.89331598e+02] [-6.96084915e-02 9.97574367e-01 -2.01119560e-04 2.52674893e+02] [-2.43180744e-03 3.19219493e-05 9.99997043e-01 -1.53971791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.6653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:889.39, Y:252.67, Z:-15.40 [[ 9.97578271e-01 6.95105627e-02 2.42369157e-03 8.89390428e+02] [-6.95102793e-02 9.97581215e-01 -2.01061105e-04 2.52668293e+02] [-2.43180506e-03 3.21027118e-05 9.99997043e-01 -1.53958836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:889.45, Y:252.66, Z:-15.40 [[ 9.97461072e-01 7.11725787e-02 2.42369659e-03 8.89448461e+02] [-7.11723003e-02 9.97464016e-01 -2.01000579e-04 2.52660234e+02] [-2.43185587e-03 2.79901912e-05 9.99997043e-01 -1.53972163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:889.51, Y:252.65, Z:-15.40 [[ 9.97351497e-01 7.26919279e-02 2.42370372e-03 8.89506449e+02] [-7.26916543e-02 9.97354442e-01 -2.00914584e-04 2.52653321e+02] [-2.43189654e-03 2.41994280e-05 9.99997043e-01 -1.53995905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.8453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:889.57, Y:252.65, Z:-15.40 [[ 9.97126958e-01 7.57096834e-02 2.42371041e-03 8.89565658e+02] [-7.57094188e-02 9.97129903e-01 -2.00833931e-04 2.52645120e+02] [-2.43195919e-03 1.67592203e-05 9.99997043e-01 -1.53991112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.9053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:889.62, Y:252.64, Z:-15.40 [[ 9.96823292e-01 7.96081043e-02 2.42371518e-03 8.89624240e+02] [-7.96078515e-02 9.96826238e-01 -2.00776275e-04 2.52637383e+02] [-2.43200631e-03 7.19170943e-06 9.99997043e-01 -1.53993398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:889.68, Y:252.63, Z:-15.40 [[ 9.96385794e-01 8.49086231e-02 2.42372226e-03 8.89682325e+02] [-8.49083861e-02 9.96388742e-01 -2.00690773e-04 2.52630051e+02] [-2.43200995e-03 -5.82891081e-06 9.99997043e-01 -1.53973733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:889.74, Y:252.62, Z:-15.40 [[ 9.96055816e-01 8.86957543e-02 2.42373192e-03 8.89741259e+02] [-8.86955288e-02 9.96058765e-01 -2.00574078e-04 2.52623659e+02] [-2.43196949e-03 -1.51912069e-05 9.99997043e-01 -1.53969395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.0853361949999 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:889.80, Y:252.62, Z:-15.40 [[ 9.95634699e-01 9.33041909e-02 2.42374164e-03 8.89798658e+02] [-9.33039794e-02 9.95637649e-01 -2.00456586e-04 2.52617284e+02] [-2.43187186e-03 -2.65632069e-05 9.99997043e-01 -1.53965380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.1453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:889.86, Y:252.61, Z:-15.40 [[ 9.95323390e-01 9.65684973e-02 2.42375363e-03 8.89855749e+02] [-9.65682958e-02 9.95326341e-01 -2.00311459e-04 2.52610110e+02] [-2.43176961e-03 -3.46830766e-05 9.99997043e-01 -1.54013883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:889.91, Y:252.61, Z:-15.40 [[ 9.95112555e-01 9.87174204e-02 2.42376552e-03 8.89914450e+02] [-9.87172256e-02 9.95115506e-01 -2.00167477e-04 2.52605449e+02] [-2.43168667e-03 -4.00782385e-05 9.99997043e-01 -1.54013346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:889.97, Y:252.60, Z:-15.40 [[ 9.94986053e-01 9.99843948e-02 2.42377486e-03 8.89972790e+02] [-9.99842040e-02 9.94989004e-01 -2.00054280e-04 2.52602119e+02] [-2.43163164e-03 -4.32879820e-05 9.99997043e-01 -1.54008285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.3253361949999 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:890.03, Y:252.60, Z:-15.40 [[ 9.95018198e-01 9.96639944e-02 2.42378446e-03 8.90030179e+02] [-9.96638029e-02 9.95021149e-01 -1.99937978e-04 2.52598699e+02] [-2.43164341e-03 -4.26216500e-05 9.99997043e-01 -1.53996489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.3853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:890.09, Y:252.59, Z:-15.40 [[ 9.95327690e-01 9.65241701e-02 2.42379627e-03 8.90088417e+02] [-9.65239697e-02 9.95330640e-01 -1.99794694e-04 2.52593336e+02] [-2.43176371e-03 -3.50932466e-05 9.99997043e-01 -1.54005062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:890.15, Y:252.59, Z:-15.40 [[ 9.95866118e-01 9.08008860e-02 2.42380559e-03 8.90146491e+02] [-9.08006689e-02 9.95869067e-01 -1.99681527e-04 2.52589075e+02] [-2.43192427e-03 -2.12271021e-05 9.99997043e-01 -1.54018146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.505336195 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:890.21, Y:252.59, Z:-15.40 [[ 9.96269792e-01 8.62590646e-02 2.42381715e-03 8.90205689e+02] [-8.62588344e-02 9.96272741e-01 -1.99541157e-04 2.52585050e+02] [-2.43199519e-03 -1.02788145e-05 9.99997043e-01 -1.54008299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.5653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:890.26, Y:252.58, Z:-15.40 [[ 9.96733464e-01 8.07250126e-02 2.42382403e-03 8.90263761e+02] [-8.07247662e-02 9.96736411e-01 -1.99457561e-04 2.52576850e+02] [-2.43201487e-03 3.14339800e-06 9.99997043e-01 -1.54014586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.6253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:890.32, Y:252.57, Z:-15.40 [[ 9.97013148e-01 7.71939579e-02 2.42383083e-03 8.90322943e+02] [-7.71937013e-02 9.97016095e-01 -1.99374800e-04 2.52570697e+02] [-2.43198888e-03 1.16748240e-05 9.99997043e-01 -1.53988273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:890.38, Y:252.56, Z:-15.40 [[ 9.97138921e-01 7.55519565e-02 2.42383532e-03 8.90382054e+02] [-7.55516952e-02 9.97141866e-01 -1.99320213e-04 2.52564882e+02] [-2.43196671e-03 1.56250750e-05 9.99997043e-01 -1.53987980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:890.44, Y:252.56, Z:-15.40 [[ 9.97255646e-01 7.39952798e-02 2.42383975e-03 8.90441057e+02] [-7.39950140e-02 9.97258591e-01 -1.99266368e-04 2.52557977e+02] [-2.43193978e-03 1.93674540e-05 9.99997043e-01 -1.54001734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.8053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:890.50, Y:252.55, Z:-15.40 [[ 9.97361985e-01 7.25478818e-02 2.42384435e-03 8.90499584e+02] [-7.25476119e-02 9.97364930e-01 -1.99210353e-04 2.52549932e+02] [-2.43190964e-03 2.28407140e-05 9.99997043e-01 -1.54038455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.8653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:890.56, Y:252.54, Z:-15.41 [[ 9.97352935e-01 7.26722011e-02 2.42384938e-03 8.90558081e+02] [-7.26719317e-02 9.97355880e-01 -1.99149161e-04 2.52544061e+02] [-2.43191304e-03 2.24761834e-05 9.99997043e-01 -1.54055053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:890.62, Y:252.54, Z:-15.40 [[ 9.97250912e-01 7.40590559e-02 2.42385591e-03 8.90617062e+02] [-7.40587908e-02 9.97253857e-01 -1.99069674e-04 2.52537401e+02] [-2.43194257e-03 1.90145762e-05 9.99997043e-01 -1.54006078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:890.68, Y:252.53, Z:-15.40 [[ 9.97055359e-01 7.66468277e-02 2.42386065e-03 8.90675571e+02] [-7.66465704e-02 9.97058305e-01 -1.99011946e-04 2.52530672e+02] [-2.43198402e-03 1.26453213e-05 9.99997043e-01 -1.54003940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:890.74, Y:252.53, Z:-15.40 [[ 9.96919736e-01 7.83910986e-02 2.42386770e-03 8.90735232e+02] [-7.83908467e-02 9.96922683e-01 -1.98926076e-04 2.52525192e+02] [-2.43200272e-03 8.30429066e-06 9.99997043e-01 -1.53984054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.1053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:890.79, Y:252.52, Z:-15.40 [[ 9.96813264e-01 7.97335654e-02 2.42387258e-03 8.90793535e+02] [-7.97333175e-02 9.96816211e-01 -1.98866596e-04 2.52519213e+02] [-2.43201182e-03 4.96945867e-06 9.99997043e-01 -1.54028682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.1653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:890.85, Y:252.51, Z:-15.40 [[ 9.96889388e-01 7.87760904e-02 2.42387983e-03 8.90851148e+02] [-7.87758400e-02 9.96892335e-01 -1.98778173e-04 2.52509479e+02] [-2.43200619e-03 7.21668162e-06 9.99997043e-01 -1.54047730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:890.91, Y:252.50, Z:-15.40 [[ 9.96956900e-01 7.79170360e-02 2.42388631e-03 8.90911554e+02] [-7.79167832e-02 9.96959846e-01 -1.98699056e-04 2.52500868e+02] [-2.43199937e-03 9.23297063e-06 9.99997043e-01 -1.54028640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:890.97, Y:252.49, Z:-15.41 [[ 9.96975541e-01 7.76781589e-02 2.42388631e-03 8.90970468e+02] [-7.76779054e-02 9.96978487e-01 -1.98699056e-04 2.52493195e+02] [-2.43199709e-03 9.81568711e-06 9.99997043e-01 -1.54052118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.3453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:891.03, Y:252.48, Z:-15.40 [[ 9.97016144e-01 7.71552542e-02 2.42388861e-03 8.91029914e+02] [-7.71549992e-02 9.97019090e-01 -1.98671081e-04 2.52482705e+02] [-2.43199173e-03 1.10631516e-05 9.99997043e-01 -1.54023930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.4053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:891.09, Y:252.47, Z:-15.40 [[ 9.96920785e-01 7.83777631e-02 2.42388861e-03 8.91089179e+02] [-7.83775117e-02 9.96923731e-01 -1.98671081e-04 2.52473557e+02] [-2.43200347e-03 8.08097222e-06 9.99997043e-01 -1.54029546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:891.15, Y:252.47, Z:-15.40 [[ 9.96792055e-01 7.99982795e-02 2.42389100e-03 8.91149075e+02] [-7.99980330e-02 9.96795002e-01 -1.98641859e-04 2.52465389e+02] [-2.43201344e-03 4.09811464e-06 9.99997043e-01 -1.54034117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.525336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:891.21, Y:252.46, Z:-15.40 [[ 9.96547639e-01 8.29875119e-02 2.42389100e-03 8.91208696e+02] [-8.29872742e-02 9.96550587e-01 -1.98641859e-04 2.52456511e+02] [-2.43201479e-03 -3.19603142e-06 9.99997043e-01 -1.54033552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.5853361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:891.27, Y:252.45, Z:-15.41 [[ 9.96358677e-01 8.52262357e-02 2.42389879e-03 8.91267616e+02] [-8.52260049e-02 9.96361625e-01 -1.98546737e-04 2.52448728e+02] [-2.43200113e-03 -8.75544586e-06 9.99997043e-01 -1.54052748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.6453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:891.33, Y:252.44, Z:-15.41 [[ 9.96389352e-01 8.48668606e-02 2.42390118e-03 8.91326856e+02] [-8.48666288e-02 9.96392300e-01 -1.98517623e-04 2.52439264e+02] [-2.43200404e-03 -7.90747607e-06 9.99997043e-01 -1.54068215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.705336195 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:891.39, Y:252.43, Z:-15.40 [[ 9.96388862e-01 8.48726105e-02 2.42390350e-03 8.91387540e+02] [-8.48723787e-02 9.96391810e-01 -1.98489220e-04 2.52431457e+02] [-2.43200390e-03 -7.95000835e-06 9.99997043e-01 -1.54033991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:891.45, Y:252.42, Z:-15.41 [[ 9.96073468e-01 8.84972944e-02 2.42389866e-03 8.91447091e+02] [-8.84970732e-02 9.96076417e-01 -1.98548282e-04 2.52422489e+02] [-2.43195928e-03 -1.67392621e-05 9.99997043e-01 -1.54059228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.8253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:891.51, Y:252.42, Z:-15.41 [[ 9.95855922e-01 9.09126403e-02 2.42389866e-03 8.91507378e+02] [-9.09124263e-02 9.95858871e-01 -1.98548282e-04 2.52416908e+02] [-2.43191154e-03 -2.26370266e-05 9.99997043e-01 -1.54069572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.8853361949998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:891.57, Y:252.41, Z:-15.40 [[ 9.95633134e-01 9.33208812e-02 2.42389866e-03 8.91568158e+02] [-9.33206744e-02 9.95636084e-01 -1.98548282e-04 2.52411898e+02] [-2.43184968e-03 -2.85186100e-05 9.99997043e-01 -1.54043905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:891.63, Y:252.41, Z:-15.41 [[ 9.95500733e-01 9.47228385e-02 2.42389866e-03 8.91628268e+02] [-9.47226358e-02 9.95503683e-01 -1.98548282e-04 2.52407948e+02] [-2.43180710e-03 -3.19431105e-05 9.99997043e-01 -1.54051001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:891.69, Y:252.40, Z:-15.41 [[ 9.95439163e-01 9.53676944e-02 2.42389620e-03 8.91688543e+02] [-9.53674935e-02 9.95442114e-01 -1.98578376e-04 2.52402823e+02] [-2.43178632e-03 -3.34882124e-05 9.99997043e-01 -1.54056482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.0653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:891.75, Y:252.40, Z:-15.41 [[ 9.95410327e-01 9.56682044e-02 2.42389620e-03 8.91747976e+02] [-9.56680044e-02 9.95413278e-01 -1.98578376e-04 2.52401513e+02] [-2.43177610e-03 -3.42223458e-05 9.99997043e-01 -1.54067127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.1253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:891.81, Y:252.40, Z:-15.41 [[ 9.95414836e-01 9.56212829e-02 2.42389860e-03 8.91808775e+02] [-9.56210829e-02 9.95417786e-01 -1.98549057e-04 2.52399970e+02] [-2.43177729e-03 -3.41371322e-05 9.99997043e-01 -1.54056824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.185336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:891.87, Y:252.40, Z:-15.40 [[ 9.95411012e-01 9.56610819e-02 2.42389860e-03 8.91868350e+02] [-9.56608819e-02 9.95413962e-01 -1.98549057e-04 2.52399316e+02] [-2.43177593e-03 -3.42343605e-05 9.99997043e-01 -1.54029074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:891.93, Y:252.40, Z:-15.40 [[ 9.95472970e-01 9.50141607e-02 2.42390104e-03 8.91927880e+02] [-9.50139589e-02 9.95475920e-01 -1.98519269e-04 2.52398279e+02] [-2.43179726e-03 -3.26838675e-05 9.99997043e-01 -1.54013477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.3053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:891.99, Y:252.40, Z:-15.40 [[ 9.95663069e-01 9.30009574e-02 2.42390572e-03 8.91988079e+02] [-9.30007498e-02 9.95666019e-01 -1.98462108e-04 2.52397941e+02] [-2.43185773e-03 -2.78236575e-05 9.99997043e-01 -1.54002363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.3653361949998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:892.05, Y:252.40, Z:-15.40 [[ 9.95866138e-01 9.08006563e-02 2.42390572e-03 8.92047962e+02] [-9.08004422e-02 9.95869088e-01 -1.98462108e-04 2.52398480e+02] [-2.43191327e-03 -2.24500177e-05 9.99997043e-01 -1.54017271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:892.11, Y:252.40, Z:-15.41 [[ 9.96001678e-01 8.93016345e-02 2.42390818e-03 8.92107335e+02] [-8.93014160e-02 9.96004627e-01 -1.98432095e-04 2.52399876e+02] [-2.43194407e-03 -1.88197327e-05 9.99997043e-01 -1.54064892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:892.17, Y:252.40, Z:-15.41 [[ 9.96033433e-01 8.89467524e-02 2.42391326e-03 8.92167627e+02] [-8.89465330e-02 9.96036382e-01 -1.98369936e-04 2.52399030e+02] [-2.43195016e-03 -1.80155934e-05 9.99997043e-01 -1.54068480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:892.23, Y:252.40, Z:-15.41 [[ 9.96073313e-01 8.84990369e-02 2.42391562e-03 8.92226904e+02] [-8.84988163e-02 9.96076262e-01 -1.98341205e-04 2.52402853e+02] [-2.43195781e-03 -1.69512818e-05 9.99997043e-01 -1.54070766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.6053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:892.29, Y:252.41, Z:-15.41 [[ 9.96050703e-01 8.87531446e-02 2.42392510e-03 8.92285595e+02] [-8.87529250e-02 9.96053653e-01 -1.98225248e-04 2.52407337e+02] [-2.43195256e-03 -1.76880451e-05 9.99997043e-01 -1.54061668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.6653361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:892.34, Y:252.41, Z:-15.40 [[ 9.96028982e-01 8.89965855e-02 2.42393731e-03 8.92344769e+02] [-8.89963670e-02 9.96031931e-01 -1.98075768e-04 2.52405882e+02] [-2.43194703e-03 -1.84324092e-05 9.99997043e-01 -1.54046150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:892.40, Y:252.41, Z:-15.41 [[ 9.95990843e-01 8.94223977e-02 2.42394670e-03 8.92403475e+02] [-8.94221807e-02 9.95993792e-01 -1.97960860e-04 2.52410233e+02] [-2.43193800e-03 -1.95873957e-05 9.99997043e-01 -1.54077490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:892.46, Y:252.42, Z:-15.41 [[ 9.96011147e-01 8.91959594e-02 2.42395825e-03 8.92463035e+02] [-8.91957421e-02 9.96014097e-01 -1.97819268e-04 2.52416121e+02] [-2.43194127e-03 -1.91765588e-05 9.99997043e-01 -1.54109208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.8453361949998 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:892.52, Y:252.42, Z:-15.41 [[ 9.96220417e-01 8.68274473e-02 2.42396740e-03 8.92523017e+02] [-8.68272233e-02 9.96223366e-01 -1.97707094e-04 2.52423621e+02] [-2.43197937e-03 -1.35065153e-05 9.99997043e-01 -1.54057820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.9053361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:892.58, Y:252.43, Z:-15.41 [[ 9.96531318e-01 8.31832697e-02 2.42397707e-03 8.92580835e+02] [-8.31830352e-02 9.96534266e-01 -1.97588526e-04 2.52425846e+02] [-2.43201227e-03 -4.73061500e-06 9.99997043e-01 -1.54066484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:892.64, Y:252.43, Z:-15.41 [[ 9.97152497e-01 7.53725512e-02 2.42398961e-03 8.92640473e+02] [-7.53722940e-02 9.97155443e-01 -1.97434565e-04 2.52428940e+02] [-2.43197558e-03 1.41707124e-05 9.99997043e-01 -1.54071633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:892.70, Y:252.43, Z:-15.40 [[ 9.97692448e-01 6.78520666e-02 2.42399874e-03 8.92699628e+02] [-6.78517874e-02 9.97695392e-01 -1.97322389e-04 2.52431564e+02] [-2.43180111e-03 3.23944107e-05 9.99997043e-01 -1.54046890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.0853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:892.76, Y:252.43, Z:-15.40 [[ 9.98099572e-01 6.15740969e-02 2.42400834e-03 8.92758218e+02] [-6.15737994e-02 9.98102514e-01 -1.97204372e-04 2.52432894e+02] [-2.43155150e-03 4.75741955e-05 9.99997043e-01 -1.54048692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.1453361949998 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:892.82, Y:252.43, Z:-15.40 [[ 9.98525340e-01 5.42334748e-02 2.42402107e-03 8.92817359e+02] [-5.42331562e-02 9.98528280e-01 -1.97047761e-04 2.52430303e+02] [-2.43114018e-03 6.52948693e-05 9.99997043e-01 -1.54037717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:892.88, Y:252.42, Z:-15.41 [[ 9.98824963e-01 4.84026642e-02 2.42403059e-03 8.92875921e+02] [-4.84023287e-02 9.98827901e-01 -1.96930622e-04 2.52424917e+02] [-2.43072135e-03 7.93704956e-05 9.99997043e-01 -1.54074194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:892.94, Y:252.42, Z:-15.41 [[ 9.99121604e-01 4.18347168e-02 2.42403761e-03 8.92935836e+02] [-4.18343621e-02 9.99124540e-01 -1.96844200e-04 2.52419431e+02] [-2.43015038e-03 9.52632261e-05 9.99997043e-01 -1.54111363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.3253361949999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:893.00, Y:252.41, Z:-15.41 [[ 9.99198987e-01 3.99438278e-02 2.42403987e-03 8.92995312e+02] [-3.99434677e-02 9.99201922e-01 -1.96816334e-04 2.52409342e+02] [-2.42996689e-03 9.98341231e-05 9.99997043e-01 -1.54094032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.3853361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:893.05, Y:252.40, Z:-15.41 [[ 9.99138037e-01 4.14404139e-02 2.42404443e-03 8.93053273e+02] [-4.14400583e-02 9.99140972e-01 -1.96760085e-04 2.52401191e+02] [-2.43011593e-03 9.61379427e-05 9.99997043e-01 -1.54089405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:893.11, Y:252.39, Z:-15.41 [[ 9.98926040e-01 4.62697519e-02 2.42404976e-03 8.93111819e+02] [-4.62694107e-02 9.98928978e-01 -1.96694450e-04 2.52390738e+02] [-2.43055455e-03 8.43238539e-05 9.99997043e-01 -1.54072660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:893.17, Y:252.38, Z:-15.41 [[ 9.98516733e-01 5.43916999e-02 2.42405445e-03 8.93170421e+02] [-5.43913827e-02 9.98519674e-01 -1.96636664e-04 2.52382498e+02] [-2.43116146e-03 6.44973267e-05 9.99997043e-01 -1.54103089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.5653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:893.23, Y:252.37, Z:-15.41 [[ 9.98009727e-01 6.30135618e-02 2.42406144e-03 8.93229072e+02] [-6.30132702e-02 9.98012670e-01 -1.96550423e-04 2.52374168e+02] [-2.43162937e-03 4.34111953e-05 9.99997043e-01 -1.54079251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.6253361949998 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:893.29, Y:252.37, Z:-15.41 [[ 9.97569996e-01 6.96292103e-02 2.42407094e-03 8.93286172e+02] [-6.96289385e-02 9.97572941e-01 -1.96433207e-04 2.52365260e+02] [-2.43186506e-03 2.71703870e-05 9.99997043e-01 -1.54086940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:893.34, Y:252.36, Z:-15.41 [[ 9.97361454e-01 7.25551815e-02 2.42408277e-03 8.93343890e+02] [-7.25549187e-02 9.97364399e-01 -1.96287083e-04 2.52357934e+02] [-2.43193550e-03 1.98900423e-05 9.99997043e-01 -1.54114471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:893.40, Y:252.35, Z:-15.41 [[ 9.97084146e-01 7.62714188e-02 2.42409443e-03 8.93402212e+02] [-7.62711673e-02 9.97087093e-01 -1.96143000e-04 2.52349033e+02] [-2.43199337e-03 1.06825641e-05 9.99997043e-01 -1.54100440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.8053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:893.46, Y:252.34, Z:-15.41 [[ 9.96897564e-01 7.86725574e-02 2.42410405e-03 8.93459793e+02] [-7.86723133e-02 9.96900511e-01 -1.96023990e-04 2.52341904e+02] [-2.43201228e-03 4.70596442e-06 9.99997043e-01 -1.54120590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.8653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:893.52, Y:252.33, Z:-15.41 [[ 9.96684382e-01 8.13287595e-02 2.42411602e-03 8.93518559e+02] [-8.13285237e-02 9.96687330e-01 -1.95875860e-04 2.52334842e+02] [-2.43201607e-03 -1.92336712e-06 9.99997043e-01 -1.54100035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:893.58, Y:252.33, Z:-15.41 [[ 9.96653865e-01 8.17018727e-02 2.42412572e-03 8.93576329e+02] [-8.17016383e-02 9.96656814e-01 -1.95755757e-04 2.52327530e+02] [-2.43201503e-03 -2.95431088e-06 9.99997043e-01 -1.54108996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.985336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:893.63, Y:252.32, Z:-15.41 [[ 9.96525320e-01 8.32550928e-02 2.42413774e-03 8.93633484e+02] [-8.32548633e-02 9.96528268e-01 -1.95606845e-04 2.52320847e+02] [-2.43200705e-03 -6.89408262e-06 9.99997043e-01 -1.54102815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:893.69, Y:252.32, Z:-15.41 [[ 9.96374863e-01 8.50367900e-02 2.42414951e-03 8.93691571e+02] [-8.50365661e-02 9.96377812e-01 -1.95460810e-04 2.52315421e+02] [-2.43199015e-03 -1.13891125e-05 9.99997043e-01 -1.54124074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.1053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:893.75, Y:252.31, Z:-15.41 [[ 9.96035466e-01 8.89239804e-02 2.42415877e-03 8.93750323e+02] [-8.89237683e-02 9.96038416e-01 -1.95345884e-04 2.52312348e+02] [-2.43192620e-03 -2.09939044e-05 9.99997043e-01 -1.54126905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.1653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:893.81, Y:252.31, Z:-15.41 [[ 9.95639567e-01 9.32522137e-02 2.42416802e-03 8.93809026e+02] [-9.32520147e-02 9.95642518e-01 -1.95231037e-04 2.52310857e+02] [-2.43181048e-03 -3.16788066e-05 9.99997043e-01 -1.54119677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:893.87, Y:252.31, Z:-15.41 [[ 9.95463479e-01 9.51135361e-02 2.42417725e-03 8.93868055e+02] [-9.51133429e-02 9.95466430e-01 -1.95116398e-04 2.52308172e+02] [-2.43174528e-03 -3.63403540e-05 9.99997043e-01 -1.54120342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:893.93, Y:252.31, Z:-15.41 [[ 9.95360206e-01 9.61882715e-02 2.42418640e-03 8.93925562e+02] [-9.61880818e-02 9.95363157e-01 -1.95002674e-04 2.52307858e+02] [-2.43170280e-03 -3.90799373e-05 9.99997043e-01 -1.54126675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.3453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:893.98, Y:252.31, Z:-15.41 [[ 9.95407499e-01 9.56976178e-02 2.42419772e-03 8.93983730e+02] [-9.56974270e-02 9.95410450e-01 -1.94861823e-04 2.52308801e+02] [-2.43171956e-03 -3.80225644e-05 9.99997043e-01 -1.54145144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.4053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:894.04, Y:252.31, Z:-15.42 [[ 9.95662290e-01 9.30092835e-02 2.42420892e-03 8.94043156e+02] [-9.30090850e-02 9.95665241e-01 -1.94722409e-04 2.52307509e+02] [-2.43181155e-03 -3.15956937e-05 9.99997043e-01 -1.54169182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.465336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:894.10, Y:252.30, Z:-15.41 [[ 9.95926332e-01 9.01380287e-02 2.42421557e-03 8.94102229e+02] [-9.01378219e-02 9.95929282e-01 -1.94639599e-04 2.52304996e+02] [-2.43189170e-03 -2.46668087e-05 9.99997043e-01 -1.54132383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:894.16, Y:252.30, Z:-15.42 [[ 9.96227703e-01 8.67438000e-02 2.42422504e-03 8.94159969e+02] [-8.67435835e-02 9.96230652e-01 -1.94521545e-04 2.52301837e+02] [-2.43196083e-03 -1.64982150e-05 9.99997043e-01 -1.54163818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.5853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:894.22, Y:252.30, Z:-15.41 [[ 9.96740333e-01 8.06401400e-02 2.42423834e-03 8.94218499e+02] [-8.06399058e-02 9.96743281e-01 -1.94355624e-04 2.52295227e+02] [-2.43201614e-03 -1.76826186e-06 9.99997043e-01 -1.54131598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.6453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:894.28, Y:252.29, Z:-15.41 [[ 9.97033278e-01 7.69335190e-02 2.42424753e-03 8.94275893e+02] [-7.69332742e-02 9.97036225e-01 -1.94240942e-04 2.52289258e+02] [-2.43200624e-03 7.15938297e-06 9.99997043e-01 -1.54130415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:894.33, Y:252.28, Z:-15.41 [[ 9.97329900e-01 7.29876300e-02 2.42425886e-03 8.94334843e+02] [-7.29873738e-02 9.97332846e-01 -1.94099371e-04 2.52282169e+02] [-2.43195985e-03 1.66408186e-05 9.99997043e-01 -1.54140652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:894.39, Y:252.27, Z:-15.41 [[ 9.97498733e-01 7.06427652e-02 2.42426566e-03 8.94393575e+02] [-7.06425023e-02 9.97501679e-01 -1.94014464e-04 2.52274530e+02] [-2.43191478e-03 2.22729895e-05 9.99997043e-01 -1.54132632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.8253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:894.45, Y:252.26, Z:-15.41 [[ 9.97480873e-01 7.08945057e-02 2.42427474e-03 8.94451371e+02] [-7.08942438e-02 9.97483819e-01 -1.93900909e-04 2.52263889e+02] [-2.43192134e-03 2.15453229e-05 9.99997043e-01 -1.54125936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.8853361949998 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:894.51, Y:252.26, Z:-15.41 [[ 9.97312104e-01 7.32303954e-02 2.42428396e-03 8.94510028e+02] [-7.32301407e-02 9.97315050e-01 -1.93785639e-04 2.52256834e+02] [-2.43196587e-03 1.57341083e-05 9.99997043e-01 -1.54112747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.945336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:894.57, Y:252.25, Z:-15.41 [[ 9.96918486e-01 7.84069843e-02 2.42428857e-03 8.94568415e+02] [-7.84067450e-02 9.96921434e-01 -1.93727865e-04 2.52251227e+02] [-2.43201486e-03 3.05031430e-06 9.99997043e-01 -1.54098719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:894.63, Y:252.24, Z:-15.41 [[ 9.96592242e-01 8.24501448e-02 2.42429802e-03 8.94626135e+02] [-8.24499178e-02 9.96595190e-01 -1.93609580e-04 2.52243114e+02] [-2.43200688e-03 -6.93336739e-06 9.99997043e-01 -1.54131611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.0653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:894.68, Y:252.24, Z:-15.41 [[ 9.96538458e-01 8.30976825e-02 2.42430973e-03 8.94683869e+02] [-8.30974578e-02 9.96541407e-01 -1.93462860e-04 2.52237290e+02] [-2.43200134e-03 -8.66079507e-06 9.99997043e-01 -1.54120126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.1253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:894.74, Y:252.23, Z:-15.41 [[ 9.96603033e-01 8.23196016e-02 2.42432118e-03 8.94742185e+02] [-8.23193749e-02 9.96605982e-01 -1.93319236e-04 2.52232017e+02] [-2.43200695e-03 -6.90606773e-06 9.99997043e-01 -1.54129514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:894.80, Y:252.22, Z:-15.41 [[ 9.96752138e-01 8.04940845e-02 2.42433035e-03 8.94800921e+02] [-8.04938527e-02 9.96755086e-01 -1.93204165e-04 2.52224752e+02] [-2.43201540e-03 -2.56702531e-06 9.99997043e-01 -1.54149462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:894.86, Y:252.22, Z:-15.41 [[ 9.96850137e-01 7.92712277e-02 2.42433947e-03 8.94858966e+02] [-7.92709926e-02 9.96853085e-01 -1.93089725e-04 2.52217268e+02] [-2.43201673e-03 3.01722571e-07 9.99997043e-01 -1.54138255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.3053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:894.92, Y:252.21, Z:-15.41 [[ 9.96854638e-01 7.92146039e-02 2.42434884e-03 8.94917284e+02] [-7.92143689e-02 9.96857586e-01 -1.92971985e-04 2.52210927e+02] [-2.43201673e-03 3.21754961e-07 9.99997043e-01 -1.54142441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.3653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:894.98, Y:252.21, Z:-15.41 [[ 9.96755112e-01 8.04572554e-02 2.42435579e-03 8.94975531e+02] [-8.04570242e-02 9.96758060e-01 -1.92884575e-04 2.52205636e+02] [-2.43201514e-03 -2.79776643e-06 9.99997043e-01 -1.54123151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:895.03, Y:252.20, Z:-15.41 [[ 9.96556626e-01 8.28795137e-02 2.42436504e-03 8.95034041e+02] [-8.28792900e-02 9.96559575e-01 -1.92768311e-04 2.52198518e+02] [-2.43200073e-03 -8.82511509e-06 9.99997043e-01 -1.54095125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:895.09, Y:252.19, Z:-15.41 [[ 9.96220300e-01 8.68287755e-02 2.42437440e-03 8.95091999e+02] [-8.68285638e-02 9.96223250e-01 -1.92650461e-04 2.52194274e+02] [-2.43194575e-03 -1.85826474e-05 9.99997043e-01 -1.54086695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:895.15, Y:252.19, Z:-15.41 [[ 9.95987205e-01 8.94628977e-02 2.42438596e-03 8.95149545e+02] [-8.94626941e-02 9.95990155e-01 -1.92504897e-04 2.52190616e+02] [-2.43188659e-03 -2.51596855e-05 9.99997043e-01 -1.54108237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.6053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:895.21, Y:252.19, Z:-15.41 [[ 9.95888328e-01 9.05569495e-02 2.42439741e-03 8.95208340e+02] [-9.05567495e-02 9.95891278e-01 -1.92360615e-04 2.52186939e+02] [-2.43185582e-03 -2.79758579e-05 9.99997043e-01 -1.54098772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.6653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:895.27, Y:252.18, Z:-15.41 [[ 9.95779626e-01 9.17445263e-02 2.42440661e-03 8.95266155e+02] [-9.17443301e-02 9.95782577e-01 -1.92244561e-04 2.52181489e+02] [-2.43181925e-03 -3.09923429e-05 9.99997043e-01 -1.54121853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:895.32, Y:252.18, Z:-15.41 [[ 9.95619138e-01 9.34700666e-02 2.42441797e-03 8.95324618e+02] [-9.34698759e-02 9.95622090e-01 -1.92101191e-04 2.52179964e+02] [-2.43175980e-03 -3.53504249e-05 9.99997043e-01 -1.54116279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:895.38, Y:252.18, Z:-15.41 [[ 9.95506503e-01 9.46621646e-02 2.42442691e-03 8.95383310e+02] [-9.46619777e-02 9.95509454e-01 -1.91988335e-04 2.52178860e+02] [-2.43171394e-03 -3.83754099e-05 9.99997043e-01 -1.54101133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.8453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:895.44, Y:252.18, Z:-15.41 [[ 9.95490534e-01 9.48299448e-02 2.42443593e-03 8.95442308e+02] [-9.48297586e-02 9.95493486e-01 -1.91874333e-04 2.52179669e+02] [-2.43170561e-03 -3.88995921e-05 9.99997043e-01 -1.54091251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.9053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:895.50, Y:252.18, Z:-15.41 [[ 9.95585288e-01 9.38299371e-02 2.42444505e-03 8.95501479e+02] [-9.38297483e-02 9.95588239e-01 -1.91759015e-04 2.52179044e+02] [-2.43174171e-03 -3.65726143e-05 9.99997043e-01 -1.54093013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:895.56, Y:252.18, Z:-15.41 [[ 9.95940241e-01 8.99842068e-02 2.42445408e-03 8.95560061e+02] [-8.99840068e-02 9.95943192e-01 -1.91644807e-04 2.52178787e+02] [-2.43186354e-03 -2.72953168e-05 9.99997043e-01 -1.54093434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:895.62, Y:252.18, Z:-15.41 [[ 9.96403157e-01 8.47046031e-02 2.42446352e-03 8.95618084e+02] [-8.47043878e-02 9.96406107e-01 -1.91525331e-04 2.52178928e+02] [-2.43197333e-03 -1.45262532e-05 9.99997043e-01 -1.54099927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.0853361949999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:895.68, Y:252.18, Z:-15.41 [[ 9.96721111e-01 8.08773643e-02 2.42447515e-03 8.95676054e+02] [-8.08771381e-02 9.96724060e-01 -1.91377920e-04 2.52177110e+02] [-2.43201086e-03 -5.33419868e-06 9.99997043e-01 -1.54086591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.1453361949998 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:895.74, Y:252.18, Z:-15.41 [[ 9.97258258e-01 7.39600529e-02 2.42448661e-03 8.95735190e+02] [-7.39598066e-02 9.97261205e-01 -1.91232616e-04 2.52175018e+02] [-2.43199002e-03 1.13937448e-05 9.99997043e-01 -1.54066582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.205336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:895.79, Y:252.17, Z:-15.41 [[ 9.97649016e-01 6.84876838e-02 2.42449564e-03 8.95793442e+02] [-6.84874215e-02 9.97651962e-01 -1.91118089e-04 2.52171334e+02] [-2.43189207e-03 2.46213188e-05 9.99997043e-01 -1.54089222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:895.85, Y:252.17, Z:-15.41 [[ 9.97764582e-01 6.67829437e-02 2.42450458e-03 8.95851395e+02] [-6.67826767e-02 9.97767527e-01 -1.91004656e-04 2.52168877e+02] [-2.43184779e-03 2.86627754e-05 9.99997043e-01 -1.54098764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.3253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:895.91, Y:252.16, Z:-15.41 [[ 9.97743473e-01 6.70975625e-02 2.42451562e-03 8.95909645e+02] [-6.70972968e-02 9.97746419e-01 -1.90864370e-04 2.52164043e+02] [-2.43185831e-03 2.77552357e-05 9.99997043e-01 -1.54061806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.3853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:895.97, Y:252.16, Z:-15.40 [[ 9.97499468e-01 7.06323784e-02 2.42452485e-03 8.95967825e+02] [-7.06321234e-02 9.97502414e-01 -1.90747132e-04 2.52159467e+02] [-2.43194231e-03 1.90208251e-05 9.99997043e-01 -1.54044114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:896.03, Y:252.15, Z:-15.41 [[ 9.97285331e-01 7.35940923e-02 2.42453412e-03 8.96025801e+02] [-7.35938463e-02 9.97288278e-01 -1.90629207e-04 2.52154831e+02] [-2.43198864e-03 1.16809203e-05 9.99997043e-01 -1.54067239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:896.08, Y:252.15, Z:-15.41 [[ 9.97089153e-01 7.62059273e-02 2.42454564e-03 8.96083322e+02] [-7.62056894e-02 9.97092100e-01 -1.90482557e-04 2.52151044e+02] [-2.43201120e-03 5.16391907e-06 9.99997043e-01 -1.54095865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.5653361949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:896.14, Y:252.15, Z:-15.41 [[ 9.96797684e-01 7.99280862e-02 2.42455631e-03 8.96142313e+02] [-7.99278596e-02 9.96800633e-01 -1.90346668e-04 2.52147059e+02] [-2.43201331e-03 -4.05247855e-06 9.99997043e-01 -1.54075512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.6253361949998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:896.20, Y:252.14, Z:-15.41 [[ 9.96433640e-01 8.43452569e-02 2.42456521e-03 8.96199947e+02] [-8.43450437e-02 9.96436590e-01 -1.90233200e-04 2.52143149e+02] [-2.43197076e-03 -1.49452982e-05 9.99997043e-01 -1.54094838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:896.26, Y:252.14, Z:-15.41 [[ 9.96102307e-01 8.81720801e-02 2.42457627e-03 8.96258838e+02] [-8.81718786e-02 9.96105257e-01 -1.90092154e-04 2.52140082e+02] [-2.43189399e-03 -2.44282114e-05 9.99997043e-01 -1.54087077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:896.32, Y:252.14, Z:-15.41 [[ 9.95892914e-01 9.05064942e-02 2.42458549e-03 8.96316615e+02] [-9.05062999e-02 9.95895865e-01 -1.89974411e-04 2.52139056e+02] [-2.43182858e-03 -3.02460923e-05 9.99997043e-01 -1.54089416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.8053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:896.37, Y:252.14, Z:-15.41 [[ 9.95854391e-01 9.09293876e-02 2.42459690e-03 8.96374400e+02] [-9.09291949e-02 9.95857342e-01 -1.89828659e-04 2.52135824e+02] [-2.43181363e-03 -3.14249412e-05 9.99997043e-01 -1.54088736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.8653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:896.43, Y:252.13, Z:-15.41 [[ 9.96075488e-01 8.84745399e-02 2.42460921e-03 8.96433086e+02] [-8.84743403e-02 9.96078438e-01 -1.89671389e-04 2.52133376e+02] [-2.43188204e-03 -2.55886790e-05 9.99997043e-01 -1.54072235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:896.49, Y:252.13, Z:-15.41 [[ 9.96260751e-01 8.63634053e-02 2.42461849e-03 8.96491262e+02] [-8.63631997e-02 9.96263701e-01 -1.89552721e-04 2.52131950e+02] [-2.43192980e-03 -2.05538740e-05 9.99997043e-01 -1.54073284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:896.55, Y:252.13, Z:-15.41 [[ 9.96462769e-01 8.40004223e-02 2.42462988e-03 8.96550099e+02] [-8.40002101e-02 9.96465719e-01 -1.89406792e-04 2.52129276e+02] [-2.43197081e-03 -1.49326033e-05 9.99997043e-01 -1.54078371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.045336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:896.61, Y:252.13, Z:-15.41 [[ 9.96887820e-01 7.87959147e-02 2.42463915e-03 8.96607920e+02] [-7.87956874e-02 9.96890768e-01 -1.89288124e-04 2.52125285e+02] [-2.43201551e-03 -2.35208354e-06 9.99997043e-01 -1.54076069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.1053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:896.67, Y:252.12, Z:-15.41 [[ 9.97324989e-01 7.30546925e-02 2.42465057e-03 8.96666112e+02] [-7.30544485e-02 9.97327936e-01 -1.89141748e-04 2.52120630e+02] [-2.43198944e-03 1.15042814e-05 9.99997043e-01 -1.54083695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.1653361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:896.72, Y:252.11, Z:-15.41 [[ 9.97612549e-01 6.90168283e-02 2.42465969e-03 8.96724187e+02] [-6.90165727e-02 9.97615496e-01 -1.89024678e-04 2.52113551e+02] [-2.43192397e-03 2.12316888e-05 9.99997043e-01 -1.54082649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:896.78, Y:252.11, Z:-15.41 [[ 9.97703653e-01 6.76870833e-02 2.42466878e-03 8.96782548e+02] [-6.76868241e-02 9.97706599e-01 -1.88908013e-04 2.52106349e+02] [-2.43189468e-03 2.43560853e-05 9.99997043e-01 -1.54107198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:896.84, Y:252.10, Z:-15.41 [[ 9.97607138e-01 6.90950058e-02 2.42467788e-03 8.96841148e+02] [-6.90947510e-02 9.97610084e-01 -1.88791158e-04 2.52100956e+02] [-2.43192763e-03 2.08068920e-05 9.99997043e-01 -1.54094839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.3453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:896.90, Y:252.09, Z:-15.41 [[ 9.97364764e-01 7.25096377e-02 2.42468712e-03 8.96898452e+02] [-7.25093933e-02 9.97367712e-01 -1.88672376e-04 2.52094266e+02] [-2.43198521e-03 1.23625876e-05 9.99997043e-01 -1.54141319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.4053361949998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:896.96, Y:252.09, Z:-15.41 [[ 9.97102549e-01 7.60304376e-02 2.42469856e-03 8.96956989e+02] [-7.60302040e-02 9.97105497e-01 -1.88525267e-04 2.52088874e+02] [-2.43201392e-03 3.62869778e-06 9.99997043e-01 -1.54125482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:897.01, Y:252.08, Z:-15.42 [[ 9.96932130e-01 7.82332961e-02 2.42470769e-03 8.97014808e+02] [-7.82330693e-02 9.96935079e-01 -1.88407769e-04 2.52084559e+02] [-2.43201592e-03 -1.86256607e-06 9.99997043e-01 -1.54154696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:897.07, Y:252.08, Z:-15.41 [[ 9.96817880e-01 7.96758080e-02 2.42471900e-03 8.97073250e+02] [-7.96755858e-02 9.96820829e-01 -1.88262144e-04 2.52079677e+02] [-2.43201034e-03 -5.52783529e-06 9.99997043e-01 -1.54146144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.5853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:897.13, Y:252.07, Z:-15.42 [[ 9.96685531e-01 8.13146482e-02 2.42472784e-03 8.97131018e+02] [-8.13144311e-02 9.96688481e-01 -1.88148262e-04 2.52074169e+02] [-2.43199751e-03 -9.64071418e-06 9.99997043e-01 -1.54166219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.6453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:897.19, Y:252.07, Z:-15.41 [[ 9.96604522e-01 8.23015673e-02 2.42473880e-03 8.97189946e+02] [-8.23013535e-02 9.96607471e-01 -1.88006829e-04 2.52070732e+02] [-2.43198606e-03 -1.21908298e-05 9.99997043e-01 -1.54136939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:897.25, Y:252.06, Z:-15.41 [[ 9.96651249e-01 8.17337611e-02 2.42474783e-03 8.97248528e+02] [-8.17335458e-02 9.96654199e-01 -1.87890267e-04 2.52064105e+02] [-2.43199209e-03 -1.09221691e-05 9.99997043e-01 -1.54135070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:897.31, Y:252.06, Z:-15.41 [[ 9.96785516e-01 8.00796883e-02 2.42475682e-03 8.97307266e+02] [-8.00794685e-02 9.96788465e-01 -1.87774262e-04 2.52057123e+02] [-2.43200653e-03 -7.00257248e-06 9.99997043e-01 -1.54129816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.8253361949999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:897.37, Y:252.05, Z:-15.41 [[ 9.96856145e-01 7.91956248e-02 2.42476574e-03 8.97365916e+02] [-7.91954026e-02 9.96859094e-01 -1.87658930e-04 2.52049423e+02] [-2.43201155e-03 -4.96134199e-06 9.99997043e-01 -1.54109713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.8853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:897.42, Y:252.04, Z:-15.41 [[ 9.96758874e-01 8.04106149e-02 2.42477491e-03 8.97423523e+02] [-8.04103966e-02 9.96761824e-01 -1.87540442e-04 2.52043453e+02] [-2.43200330e-03 -8.04451220e-06 9.99997043e-01 -1.54125739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:897.48, Y:252.04, Z:-15.41 [[ 9.96467280e-01 8.39468899e-02 2.42478623e-03 8.97482155e+02] [-8.39466824e-02 9.96470230e-01 -1.87393923e-04 2.52038097e+02] [-2.43195843e-03 -1.68208471e-05 9.99997043e-01 -1.54121092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:897.54, Y:252.04, Z:-15.41 [[ 9.95999261e-01 8.93285686e-02 2.42479523e-03 8.97540095e+02] [-8.93283773e-02 9.96002212e-01 -1.87277359e-04 2.52036000e+02] [-2.43183064e-03 -3.00749128e-05 9.99997043e-01 -1.54140637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.0653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:897.60, Y:252.03, Z:-15.42 [[ 9.95730658e-01 9.22744703e-02 2.42480639e-03 8.97599212e+02] [-9.22742882e-02 9.95733609e-01 -1.87132790e-04 2.52032667e+02] [-2.43172880e-03 -3.74134282e-05 9.99997043e-01 -1.54161286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.1253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:897.66, Y:252.03, Z:-15.42 [[ 9.95585800e-01 9.38244958e-02 2.42481514e-03 8.97658414e+02] [-9.38243185e-02 9.95588752e-01 -1.87019342e-04 2.52030952e+02] [-2.43166568e-03 -4.13128274e-05 9.99997043e-01 -1.54159684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:897.72, Y:252.03, Z:-15.41 [[ 9.95729478e-01 9.22871957e-02 2.42482403e-03 8.97716259e+02] [-9.22870141e-02 9.95732430e-01 -1.86903974e-04 2.52027869e+02] [-2.43172477e-03 -3.76739731e-05 9.99997043e-01 -1.54137168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:897.78, Y:252.03, Z:-15.41 [[ 9.95909312e-01 9.03258727e-02 2.42483502e-03 8.97775487e+02] [-9.03256856e-02 9.95912263e-01 -1.86761392e-04 2.52025039e+02] [-2.43179231e-03 -3.30274764e-05 9.99997043e-01 -1.54122019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.3053361949999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:897.83, Y:252.02, Z:-15.41 [[ 9.96207621e-01 8.69741084e-02 2.42484426e-03 8.97833703e+02] [-8.69739118e-02 9.96210572e-01 -1.86641253e-04 2.52021301e+02] [-2.43188845e-03 -2.49647520e-05 9.99997043e-01 -1.54135567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.3653361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:897.89, Y:252.02, Z:-15.42 [[ 9.96499735e-01 8.35607457e-02 2.42485337e-03 8.97892764e+02] [-8.35605392e-02 9.96502685e-01 -1.86522838e-04 2.52017052e+02] [-2.43195888e-03 -1.67520965e-05 9.99997043e-01 -1.54158819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:897.95, Y:252.01, Z:-15.42 [[ 9.96800706e-01 7.98903830e-02 2.42486247e-03 8.97950581e+02] [-7.98901659e-02 9.96803655e-01 -1.86404457e-04 2.52012289e+02] [-2.43200370e-03 -7.91457145e-06 9.99997043e-01 -1.54166983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:898.01, Y:252.01, Z:-15.42 [[ 9.96936940e-01 7.81719762e-02 2.42487373e-03 8.98007759e+02] [-7.81717544e-02 9.96939889e-01 -1.86257932e-04 2.52007127e+02] [-2.43201349e-03 -3.86922064e-06 9.99997043e-01 -1.54162840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:898.07, Y:252.00, Z:-15.42 [[ 9.96972753e-01 7.77138981e-02 2.42488456e-03 8.98066085e+02] [-7.77136753e-02 9.96975702e-01 -1.86116829e-04 2.52001907e+02] [-2.43201485e-03 -2.89328408e-06 9.99997043e-01 -1.54154148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.6053361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:898.12, Y:252.00, Z:-15.41 [[ 9.96960584e-01 7.78698536e-02 2.42489330e-03 8.98124546e+02] [-7.78696315e-02 9.96963533e-01 -1.86002900e-04 2.51997145e+02] [-2.43201421e-03 -3.38798792e-06 9.99997043e-01 -1.54145957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.6653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:898.18, Y:251.99, Z:-15.42 [[ 9.97008653e-01 7.72519675e-02 2.42490227e-03 8.98181983e+02] [-7.72517439e-02 9.97011601e-01 -1.85885860e-04 2.51992725e+02] [-2.43201574e-03 -1.99811863e-06 9.99997043e-01 -1.54194498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:898.24, Y:251.99, Z:-15.42 [[ 9.97017020e-01 7.71439078e-02 2.42491340e-03 8.98240613e+02] [-7.71436843e-02 9.97019968e-01 -1.85740540e-04 2.51987633e+02] [-2.43201583e-03 -1.88027378e-06 9.99997043e-01 -1.54157984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:898.30, Y:251.98, Z:-15.41 [[ 9.96878791e-01 7.89100494e-02 2.42492218e-03 8.98298492e+02] [-7.89098313e-02 9.96881740e-01 -1.85625890e-04 2.51983603e+02] [-2.43200839e-03 -6.30368746e-06 9.99997043e-01 -1.54127779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.8453361949998 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:898.36, Y:251.98, Z:-15.41 [[ 9.96680258e-01 8.13792603e-02 2.42493303e-03 8.98357598e+02] [-8.13790499e-02 9.96683207e-01 -1.85483939e-04 2.51980272e+02] [-2.43198458e-03 -1.24705661e-05 9.99997043e-01 -1.54091012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.9053361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:898.42, Y:251.98, Z:-15.41 [[ 9.96501701e-01 8.35372944e-02 2.42494202e-03 8.98415799e+02] [-8.35370906e-02 9.96504651e-01 -1.85366430e-04 2.51978168e+02] [-2.43195101e-03 -1.78546380e-05 9.99997043e-01 -1.54117461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:898.48, Y:251.98, Z:-15.41 [[ 9.96302128e-01 8.58847497e-02 2.42495389e-03 8.98475121e+02] [-8.58845533e-02 9.96305078e-01 -1.85210942e-04 2.51976084e+02] [-2.43190067e-03 -2.37400258e-05 9.99997043e-01 -1.54148134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:898.53, Y:251.97, Z:-15.42 [[ 9.96231060e-01 8.67052184e-02 2.42496041e-03 8.98534390e+02] [-8.67050246e-02 9.96234011e-01 -1.85125583e-04 2.51973184e+02] [-2.43187939e-03 -2.58283963e-05 9.99997043e-01 -1.54158017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.0853361949999 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:898.59, Y:251.97, Z:-15.41 [[ 9.96355993e-01 8.52575803e-02 2.42496705e-03 8.98593733e+02] [-8.52573824e-02 9.96358944e-01 -1.85038475e-04 2.51971650e+02] [-2.43191355e-03 -2.23821498e-05 9.99997043e-01 -1.54115274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.1453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:898.65, Y:251.97, Z:-15.41 [[ 9.96515242e-01 8.33756018e-02 2.42497586e-03 8.98651680e+02] [-8.33753986e-02 9.96518193e-01 -1.84923068e-04 2.51969070e+02] [-2.43195063e-03 -1.79046725e-05 9.99997043e-01 -1.54142493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:898.71, Y:251.97, Z:-15.41 [[ 9.96597064e-01 8.23918211e-02 2.42498676e-03 8.98710670e+02] [-8.23916154e-02 9.96600014e-01 -1.84779923e-04 2.51965964e+02] [-2.43196620e-03 -1.56474484e-05 9.99997043e-01 -1.54142793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.265336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:898.77, Y:251.96, Z:-15.41 [[ 9.96591828e-01 8.24551240e-02 2.42499506e-03 8.98769681e+02] [-8.24549187e-02 9.96594778e-01 -1.84670975e-04 2.51964998e+02] [-2.43196448e-03 -1.59111860e-05 9.99997043e-01 -1.54136714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.3253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:898.83, Y:251.96, Z:-15.42 [[ 9.96581470e-01 8.25802186e-02 2.42500406e-03 8.98827202e+02] [-8.25800140e-02 9.96584421e-01 -1.84552765e-04 2.51963749e+02] [-2.43196167e-03 -1.63350033e-05 9.99997043e-01 -1.54173849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.3853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:898.89, Y:251.96, Z:-15.42 [[ 9.96663641e-01 8.15825141e-02 2.42501517e-03 8.98886369e+02] [-8.15823069e-02 9.96666591e-01 -1.84406626e-04 2.51962859e+02] [-2.43197596e-03 -1.40469522e-05 9.99997043e-01 -1.54166683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:898.94, Y:251.96, Z:-15.42 [[ 9.96725653e-01 8.08213561e-02 2.42502387e-03 8.98944384e+02] [-8.08211469e-02 9.96728603e-01 -1.84292114e-04 2.51961906e+02] [-2.43198539e-03 -1.23045329e-05 9.99997043e-01 -1.54164717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:899.00, Y:251.96, Z:-15.42 [[ 9.96726347e-01 8.08127998e-02 2.42503460e-03 8.99003577e+02] [-8.08125909e-02 9.96729297e-01 -1.84150799e-04 2.51962155e+02] [-2.43198478e-03 -1.24253763e-05 9.99997043e-01 -1.54160007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.5653361949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:899.06, Y:251.96, Z:-15.42 [[ 9.96543503e-01 8.30371348e-02 2.42504310e-03 8.99061333e+02] [-8.30369328e-02 9.96546453e-01 -1.84038879e-04 2.51963577e+02] [-2.43195016e-03 -1.79653915e-05 9.99997043e-01 -1.54163859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.6253361949998 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:899.12, Y:251.97, Z:-15.42 [[ 9.96292664e-01 8.59944539e-02 2.42505524e-03 8.99120213e+02] [-8.59942611e-02 9.96295615e-01 -1.83878707e-04 2.51967094e+02] [-2.43188445e-03 -2.53438264e-05 9.99997043e-01 -1.54169001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:899.18, Y:251.97, Z:-15.42 [[ 9.96280633e-01 8.61337240e-02 2.42506361e-03 8.99179038e+02] [-8.61335318e-02 9.96283585e-01 -1.83768210e-04 2.51969914e+02] [-2.43187971e-03 -2.57945852e-05 9.99997043e-01 -1.54207380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.745336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:899.24, Y:251.97, Z:-15.42 [[ 9.96368911e-01 8.51064812e-02 2.42507190e-03 8.99238161e+02] [-8.51062863e-02 9.96371861e-01 -1.83658789e-04 2.51969616e+02] [-2.43190396e-03 -2.33969555e-05 9.99997043e-01 -1.54187893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.8053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:899.30, Y:251.97, Z:-15.42 [[ 9.96598320e-01 8.23766244e-02 2.42508092e-03 8.99296660e+02] [-8.23764216e-02 9.96601270e-01 -1.83539654e-04 2.51973148e+02] [-2.43195810e-03 -1.68541775e-05 9.99997043e-01 -1.54201605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.8653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:899.36, Y:251.98, Z:-15.42 [[ 9.96900102e-01 7.86403544e-02 2.42509206e-03 8.99355858e+02] [-7.86401410e-02 9.96903052e-01 -1.83392342e-04 2.51975194e+02] [-2.43200371e-03 -7.88573677e-06 9.99997043e-01 -1.54171346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:899.41, Y:251.98, Z:-15.42 [[ 9.97142824e-01 7.55003869e-02 2.42510091e-03 8.99414124e+02] [-7.55001644e-02 9.97145772e-01 -1.83275184e-04 2.51975617e+02] [-2.43201647e-03 -3.43982839e-07 9.99997043e-01 -1.54162444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.985336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:899.47, Y:251.98, Z:-15.41 [[ 9.97619628e-01 6.89144109e-02 2.42511185e-03 8.99472153e+02] [-6.89141694e-02 9.97622576e-01 -1.83130383e-04 2.51977993e+02] [-2.43196665e-03 1.55698965e-05 9.99997043e-01 -1.54149539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:899.53, Y:251.98, Z:-15.42 [[ 9.98173993e-01 6.03556014e-02 2.42512253e-03 8.99530823e+02] [-6.03553349e-02 9.98176938e-01 -1.82988811e-04 2.51975518e+02] [-2.43174578e-03 3.62855897e-05 9.99997043e-01 -1.54178394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.1053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:899.59, Y:251.97, Z:-15.42 [[ 9.98632789e-01 5.22175428e-02 2.42513090e-03 8.99589472e+02] [-5.22172525e-02 9.98635732e-01 -1.82877768e-04 2.51971744e+02] [-2.43137180e-03 5.59940626e-05 9.99997043e-01 -1.54203033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.1653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:899.65, Y:251.97, Z:-15.42 [[ 9.98827460e-01 4.83510527e-02 2.42513916e-03 8.99647984e+02] [-4.83507513e-02 9.98830402e-01 -1.82768250e-04 2.51966796e+02] [-2.43113975e-03 6.52966465e-05 9.99997043e-01 -1.54198988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.225336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:899.71, Y:251.96, Z:-15.42 [[ 9.98919038e-01 4.64206193e-02 2.42514792e-03 8.99705636e+02] [-4.64203125e-02 9.98921980e-01 -1.82651842e-04 2.51962740e+02] [-2.43101238e-03 6.98782776e-05 9.99997043e-01 -1.54194611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:899.76, Y:251.96, Z:-15.42 [[ 9.98887367e-01 4.70971965e-02 2.42515875e-03 8.99763376e+02] [-4.70968921e-02 9.98890309e-01 -1.82507947e-04 2.51958109e+02] [-2.43106319e-03 6.80874429e-05 9.99997043e-01 -1.54219466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.3453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:899.82, Y:251.95, Z:-15.42 [[ 9.98811109e-01 4.86876491e-02 2.42516945e-03 8.99822052e+02] [-4.86873497e-02 9.98814051e-01 -1.82365650e-04 2.51952277e+02] [-2.43117228e-03 6.40737636e-05 9.99997043e-01 -1.54218850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.4053361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:899.88, Y:251.95, Z:-15.42 [[ 9.98653604e-01 5.18179301e-02 2.42517803e-03 8.99880356e+02] [-5.18176402e-02 9.98656547e-01 -1.82251510e-04 2.51946912e+02] [-2.43136381e-03 5.63391246e-05 9.99997043e-01 -1.54191248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:899.94, Y:251.94, Z:-15.42 [[ 9.98491838e-01 5.48467616e-02 2.42518676e-03 8.99938720e+02] [-5.48464809e-02 9.98494782e-01 -1.82135207e-04 2.51942243e+02] [-2.43152586e-03 4.88475576e-05 9.99997043e-01 -1.54169997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:900.00, Y:251.94, Z:-15.42 [[ 9.98171205e-01 6.04016871e-02 2.42519558e-03 8.99996048e+02] [-6.04014231e-02 9.98174151e-01 -1.82017753e-04 2.51936818e+02] [-2.43176172e-03 3.51996152e-05 9.99997043e-01 -1.54201627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.5853361949999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:900.06, Y:251.93, Z:-15.42 [[ 9.97802630e-01 6.62120058e-02 2.42520653e-03 9.00055063e+02] [-6.62117593e-02 9.97805577e-01 -1.81871789e-04 2.51931637e+02] [-2.43192669e-03 2.08949582e-05 9.99997043e-01 -1.54210234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.6453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:900.11, Y:251.93, Z:-15.42 [[ 9.97427695e-01 7.16387552e-02 2.42521483e-03 9.00112611e+02] [-7.16385250e-02 9.97430644e-01 -1.81761003e-04 2.51928448e+02] [-2.43200472e-03 7.55464455e-06 9.99997043e-01 -1.54209110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:900.17, Y:251.92, Z:-15.42 [[ 9.97282526e-01 7.36320668e-02 2.42522779e-03 9.00170777e+02] [-7.36318429e-02 9.97285475e-01 -1.81587857e-04 2.51923095e+02] [-2.43201514e-03 2.52040524e-06 9.99997043e-01 -1.54217760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:900.23, Y:251.92, Z:-15.42 [[ 9.97190440e-01 7.48688462e-02 2.42524090e-03 9.00229003e+02] [-7.48686264e-02 9.97193389e-01 -1.81412652e-04 2.51917954e+02] [-2.43201635e-03 -6.71492155e-07 9.99997043e-01 -1.54206000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.8253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:900.29, Y:251.91, Z:-15.42 [[ 9.97201586e-01 7.47202411e-02 2.42524971e-03 9.00287799e+02] [-7.47200212e-02 9.97204535e-01 -1.81294760e-04 2.51913878e+02] [-2.43201640e-03 -4.27288114e-07 9.99997043e-01 -1.54187644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.8853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:900.35, Y:251.91, Z:-15.42 [[ 9.97235034e-01 7.42725010e-02 2.42525841e-03 9.00345809e+02] [-7.42722800e-02 9.97237983e-01 -1.81178387e-04 2.51907794e+02] [-2.43201637e-03 5.47963441e-07 9.99997043e-01 -1.54217542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:900.40, Y:251.90, Z:-15.42 [[ 9.97262150e-01 7.39075261e-02 2.42526700e-03 9.00404530e+02] [-7.39073043e-02 9.97265099e-01 -1.81063240e-04 2.51903657e+02] [-2.43201607e-03 1.32256954e-06 9.99997043e-01 -1.54208829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:900.46, Y:251.90, Z:-15.42 [[ 9.97365259e-01 7.25028107e-02 2.42527586e-03 9.00461765e+02] [-7.25025851e-02 9.97368208e-01 -1.80944498e-04 2.51898350e+02] [-2.43201202e-03 4.62898662e-06 9.99997043e-01 -1.54244630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.0653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:900.52, Y:251.89, Z:-15.42 [[ 9.97401663e-01 7.20002753e-02 2.42528679e-03 9.00520615e+02] [-7.20000485e-02 9.97404612e-01 -1.80797897e-04 2.51893454e+02] [-2.43200973e-03 5.70735624e-06 9.99997043e-01 -1.54227926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.1253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:900.58, Y:251.89, Z:-15.43 [[ 9.97408379e-01 7.19071828e-02 2.42529560e-03 9.00576965e+02] [-7.19069561e-02 9.97411328e-01 -1.80679680e-04 2.51888368e+02] [-2.43200947e-03 5.81580319e-06 9.99997043e-01 -1.54256808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:900.63, Y:251.88, Z:-15.43 [[ 9.97430149e-01 7.16045741e-02 2.42531081e-03 9.00634660e+02] [-7.16043469e-02 9.97433098e-01 -1.80475187e-04 2.51883254e+02] [-2.43200813e-03 6.34859542e-06 9.99997043e-01 -1.54254189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:900.69, Y:251.88, Z:-15.42 [[ 9.97435479e-01 7.15302916e-02 2.42532349e-03 9.00693351e+02] [-7.15300646e-02 9.97438428e-01 -1.80304623e-04 2.51878750e+02] [-2.43200810e-03 6.35868148e-06 9.99997043e-01 -1.54232949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.3053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:900.75, Y:251.87, Z:-15.42 [[ 9.97429466e-01 7.16140886e-02 2.42533217e-03 9.00750822e+02] [-7.16138622e-02 9.97432415e-01 -1.80187818e-04 2.51874617e+02] [-2.43200891e-03 6.03723552e-06 9.99997043e-01 -1.54233351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.3653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:900.81, Y:251.87, Z:-15.42 [[ 9.97501772e-01 7.05998051e-02 2.42534288e-03 9.00808537e+02] [-7.05995760e-02 9.97504721e-01 -1.80043571e-04 2.51868712e+02] [-2.43200201e-03 8.36560183e-06 9.99997043e-01 -1.54239652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:900.87, Y:251.86, Z:-15.42 [[ 9.97537444e-01 7.00939829e-02 2.42535343e-03 9.00867367e+02] [-7.00937527e-02 9.97540392e-01 -1.79901350e-04 2.51863839e+02] [-2.43199801e-03 9.45620980e-06 9.99997043e-01 -1.54237119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:900.93, Y:251.86, Z:-15.42 [[ 9.97600457e-01 6.91913751e-02 2.42536190e-03 9.00925668e+02] [-6.91911425e-02 9.97603405e-01 -1.79787060e-04 2.51858717e+02] [-2.43198900e-03 1.15420922e-05 9.99997043e-01 -1.54230179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.545336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:900.98, Y:251.85, Z:-15.42 [[ 9.97647781e-01 6.85056390e-02 2.42537045e-03 9.00984375e+02] [-6.85054046e-02 9.97650729e-01 -1.79671634e-04 2.51853879e+02] [-2.43198112e-03 1.30980230e-05 9.99997043e-01 -1.54208895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.6053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:901.04, Y:251.85, Z:-15.42 [[ 9.97622271e-01 6.88761414e-02 2.42537905e-03 9.01041686e+02] [-6.88759084e-02 9.97625219e-01 -1.79555428e-04 2.51849987e+02] [-2.43198640e-03 1.20783081e-05 9.99997043e-01 -1.54238025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.6653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:901.10, Y:251.85, Z:-15.42 [[ 9.97533886e-01 7.01445936e-02 2.42539068e-03 9.01099912e+02] [-7.01443648e-02 9.97536834e-01 -1.79398292e-04 2.51845674e+02] [-2.43200036e-03 8.82838711e-06 9.99997043e-01 -1.54222704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:901.16, Y:251.84, Z:-15.42 [[ 9.97461681e-01 7.11639827e-02 2.42539906e-03 9.01158530e+02] [-7.11637571e-02 9.97464630e-01 -1.79284926e-04 2.51842139e+02] [-2.43200840e-03 6.22933420e-06 9.99997043e-01 -1.54215795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:901.22, Y:251.84, Z:-15.42 [[ 9.97410825e-01 7.18732468e-02 2.42540762e-03 9.01217355e+02] [-7.18730236e-02 9.97413774e-01 -1.79168963e-04 2.51841409e+02] [-2.43201243e-03 4.38368433e-06 9.99997043e-01 -1.54210165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.8453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:901.28, Y:251.84, Z:-15.42 [[ 9.97677359e-01 6.80735172e-02 2.42541609e-03 9.01275267e+02] [-6.80732830e-02 9.97680308e-01 -1.79054258e-04 2.51837527e+02] [-2.43197873e-03 1.35323427e-05 9.99997043e-01 -1.54216737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.9053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:901.33, Y:251.83, Z:-15.42 [[ 9.98172107e-01 6.03867705e-02 2.42542749e-03 9.01332404e+02] [-6.03865140e-02 9.98175053e-01 -1.78899693e-04 2.51832184e+02] [-2.43180439e-03 3.21095719e-05 9.99997043e-01 -1.54228917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:901.39, Y:251.83, Z:-15.43 [[ 9.98466821e-01 5.53003164e-02 2.42543784e-03 9.01391061e+02] [-5.53000452e-02 9.98469766e-01 -1.78759354e-04 2.51825354e+02] [-2.43161180e-03 4.43584615e-05 9.99997043e-01 -1.54253544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:901.45, Y:251.82, Z:-15.43 [[ 9.98728443e-01 5.03548910e-02 2.42544602e-03 9.01449893e+02] [-5.03546055e-02 9.98731386e-01 -1.78648266e-04 2.51817222e+02] [-2.43136488e-03 5.62887272e-05 9.99997043e-01 -1.54251699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.0853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:901.51, Y:251.81, Z:-15.43 [[ 9.98786138e-01 4.91972353e-02 2.42545459e-03 9.01507810e+02] [-4.91969468e-02 9.98789081e-01 -1.78531884e-04 2.51810552e+02] [-2.43130083e-03 5.89902110e-05 9.99997043e-01 -1.54281312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.1453361949998 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:901.57, Y:251.80, Z:-15.43 [[ 9.98776368e-01 4.93951793e-02 2.42546597e-03 9.01565908e+02] [-4.93948916e-02 9.98779311e-01 -1.78377085e-04 2.51803098e+02] [-2.43131620e-03 5.83531884e-05 9.99997043e-01 -1.54260231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:901.62, Y:251.79, Z:-15.43 [[ 9.98725435e-01 5.04145007e-02 2.42547389e-03 9.01622863e+02] [-5.04142164e-02 9.98728379e-01 -1.78269297e-04 2.51793952e+02] [-2.43137697e-03 5.57637152e-05 9.99997043e-01 -1.54285832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:901.68, Y:251.79, Z:-15.43 [[ 9.98645378e-01 5.19762103e-02 2.42548367e-03 9.01681230e+02] [-5.19759309e-02 9.98648322e-01 -1.78136094e-04 2.51786648e+02] [-2.43146404e-03 5.18280146e-05 9.99997043e-01 -1.54273453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.3253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:901.74, Y:251.78, Z:-15.43 [[ 9.98428052e-01 5.59959107e-02 2.42549174e-03 9.01739271e+02] [-5.59956434e-02 9.98430997e-01 -1.78026275e-04 2.51775918e+02] [-2.43165488e-03 4.19294571e-05 9.99997043e-01 -1.54263852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.3853361949998 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:901.80, Y:251.77, Z:-15.43 [[ 9.98017849e-01 6.28847401e-02 2.42550009e-03 9.01798031e+02] [-6.28844934e-02 9.98020796e-01 -1.77912389e-04 2.51767873e+02] [-2.43188750e-03 2.50333950e-05 9.99997043e-01 -1.54255651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:901.86, Y:251.76, Z:-15.43 [[ 9.97509763e-01 7.04867998e-02 2.42550846e-03 9.01856804e+02] [-7.04865758e-02 9.97512712e-01 -1.77798202e-04 2.51762572e+02] [-2.43200795e-03 6.38965618e-06 9.99997043e-01 -1.54273229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:901.92, Y:251.76, Z:-15.43 [[ 9.97221548e-01 7.44533449e-02 2.42551685e-03 9.01915331e+02] [-7.44531330e-02 9.97224498e-01 -1.77683602e-04 2.51758233e+02] [-2.43201397e-03 -3.39741209e-06 9.99997043e-01 -1.54281398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.5653361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:901.97, Y:251.75, Z:-15.43 [[ 9.96938094e-01 7.81572324e-02 2.42552537e-03 9.01973905e+02] [-7.81570317e-02 9.96941045e-01 -1.77567250e-04 2.51753900e+02] [-2.43198396e-03 -1.25483078e-05 9.99997043e-01 -1.54295481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.6253361949998 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:902.03, Y:251.75, Z:-15.43 [[ 9.96981459e-01 7.76021135e-02 2.42553390e-03 9.02032821e+02] [-7.76019115e-02 9.96984409e-01 -1.77450675e-04 2.51748752e+02] [-2.43199003e-03 -1.13110340e-05 9.99997043e-01 -1.54301959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.685336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:902.09, Y:251.74, Z:-15.43 [[ 9.97192340e-01 7.48435259e-02 2.42554248e-03 9.02090347e+02] [-7.48433160e-02 9.97195290e-01 -1.77333388e-04 2.51742340e+02] [-2.43201179e-03 -4.70014582e-06 9.99997043e-01 -1.54310524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:902.15, Y:251.74, Z:-15.43 [[ 9.97466782e-01 7.10924490e-02 2.42555306e-03 9.02148979e+02] [-7.10922284e-02 9.97469731e-01 -1.77188561e-04 2.51735885e+02] [-2.43201252e-03 4.30173167e-06 9.99997043e-01 -1.54286408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.8053361949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:902.21, Y:251.73, Z:-15.42 [[ 9.97652212e-01 6.84410789e-02 2.42556141e-03 9.02207756e+02] [-6.84408507e-02 9.97655160e-01 -1.77074087e-04 2.51728530e+02] [-2.43199300e-03 1.06508677e-05 9.99997043e-01 -1.54244321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.8653361949998 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:902.27, Y:251.72, Z:-15.43 [[ 9.97698710e-01 6.77598761e-02 2.42556993e-03 9.02265720e+02] [-6.77596461e-02 9.97701658e-01 -1.76957304e-04 2.51722976e+02] [-2.43198575e-03 1.21943137e-05 9.99997043e-01 -1.54252942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.925336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:902.32, Y:251.72, Z:-15.42 [[ 9.97647874e-01 6.85042840e-02 2.42558045e-03 9.02323946e+02] [-6.85040566e-02 9.97650822e-01 -1.76813042e-04 2.51716739e+02] [-2.43199478e-03 1.02350553e-05 9.99997043e-01 -1.54246866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:902.38, Y:251.71, Z:-15.43 [[ 9.97618269e-01 6.89340681e-02 2.42558904e-03 9.02381013e+02] [-6.89338422e-02 9.97621218e-01 -1.76695133e-04 2.51710290e+02] [-2.43199940e-03 9.06912066e-06 9.99997043e-01 -1.54295705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:902.44, Y:251.71, Z:-15.43 [[ 9.97619448e-01 6.89170060e-02 2.42559966e-03 9.02439874e+02] [-6.89167804e-02 9.97622397e-01 -1.76549228e-04 2.51705936e+02] [-2.43199979e-03 8.96442453e-06 9.99997043e-01 -1.54299787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.1053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:902.50, Y:251.70, Z:-15.43 [[ 9.97651463e-01 6.84519897e-02 2.42560774e-03 9.02498738e+02] [-6.84517630e-02 9.97654412e-01 -1.76438066e-04 2.51700986e+02] [-2.43199580e-03 9.98656817e-06 9.99997043e-01 -1.54312068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.1653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:902.56, Y:251.70, Z:-15.43 [[ 9.97734266e-01 6.72342987e-02 2.42561599e-03 9.02556041e+02] [-6.72340687e-02 9.97737214e-01 -1.76324612e-04 2.51696449e+02] [-2.43198240e-03 1.28410752e-05 9.99997043e-01 -1.54282707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:902.61, Y:251.69, Z:-15.43 [[ 9.97856382e-01 6.53969214e-02 2.42562619e-03 9.02614291e+02] [-6.53966863e-02 9.97859330e-01 -1.76184176e-04 2.51691589e+02] [-2.43195563e-03 1.71785896e-05 9.99997043e-01 -1.54257284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:902.67, Y:251.68, Z:-15.42 [[ 9.98098246e-01 6.15955137e-02 2.42563460e-03 9.02672062e+02] [-6.15952677e-02 9.98101193e-01 -1.76068309e-04 2.51683415e+02] [-2.43187381e-03 2.63258575e-05 9.99997043e-01 -1.54241331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.3453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:902.73, Y:251.68, Z:-15.43 [[ 9.98249392e-01 5.90954084e-02 2.42564598e-03 9.02729751e+02] [-5.90951554e-02 9.98252339e-01 -1.75911357e-04 2.51675810e+02] [-2.43180233e-03 3.22594785e-05 9.99997043e-01 -1.54266804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.4053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:902.79, Y:251.67, Z:-15.43 [[ 9.98299868e-01 5.82365042e-02 2.42565615e-03 9.02788098e+02] [-5.82362490e-02 9.98302814e-01 -1.75771120e-04 2.51670487e+02] [-2.43177565e-03 3.42111702e-05 9.99997043e-01 -1.54289390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:902.85, Y:251.66, Z:-15.43 [[ 9.98328700e-01 5.77401271e-02 2.42566219e-03 9.02846159e+02] [-5.77398706e-02 9.98331647e-01 -1.75687693e-04 2.51660539e+02] [-2.43175956e-03 3.53366457e-05 9.99997043e-01 -1.54294277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:902.90, Y:251.65, Z:-15.43 [[ 9.98302066e-01 5.81988142e-02 2.42567030e-03 9.02904168e+02] [-5.81985594e-02 9.98305012e-01 -1.75575608e-04 2.51651414e+02] [-2.43177711e-03 3.41069750e-05 9.99997043e-01 -1.54272938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.5853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:902.96, Y:251.64, Z:-15.42 [[ 9.98246931e-01 5.91369711e-02 2.42567878e-03 9.02962917e+02] [-5.91367193e-02 9.98249877e-01 -1.75458381e-04 2.51642156e+02] [-2.43180962e-03 3.17041049e-05 9.99997043e-01 -1.54241943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.6453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:903.02, Y:251.63, Z:-15.42 [[ 9.98172417e-01 6.03816335e-02 2.42568296e-03 9.03021049e+02] [-6.03813856e-02 9.98175364e-01 -1.75400517e-04 2.51634321e+02] [-2.43184795e-03 2.86138594e-05 9.99997043e-01 -1.54234842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:903.08, Y:251.63, Z:-15.42 [[ 9.97965902e-01 6.37038021e-02 2.42568920e-03 9.03078487e+02] [-6.37035642e-02 9.97968850e-01 -1.75314241e-04 2.51625089e+02] [-2.43193044e-03 2.04325873e-05 9.99997043e-01 -1.54248217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:903.14, Y:251.62, Z:-15.43 [[ 9.97669864e-01 6.81832699e-02 2.42569911e-03 9.03138034e+02] [-6.81830455e-02 9.97672813e-01 -1.75176996e-04 2.51615862e+02] [-2.43199820e-03 9.37725648e-06 9.99997043e-01 -1.54263426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.8253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:903.20, Y:251.61, Z:-15.43 [[ 9.97439909e-01 7.14684783e-02 2.42570318e-03 9.03196663e+02] [-7.14682637e-02 9.97442859e-01 -1.75120640e-04 2.51607989e+02] [-2.43201592e-03 1.31152053e-06 9.99997043e-01 -1.54261602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.8853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:903.25, Y:251.60, Z:-15.43 [[ 9.96980008e-01 7.76207437e-02 2.42571135e-03 9.03254380e+02] [-7.76205476e-02 9.96982959e-01 -1.75007360e-04 2.51599885e+02] [-2.43197708e-03 -1.38062043e-05 9.99997043e-01 -1.54273385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:903.31, Y:251.59, Z:-15.43 [[ 9.96475597e-01 8.38480770e-02 2.42571948e-03 9.03312770e+02] [-8.38478996e-02 9.96478549e-01 -1.74894677e-04 2.51592305e+02] [-2.43184201e-03 -2.91132058e-05 9.99997043e-01 -1.54263022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:903.37, Y:251.59, Z:-15.43 [[ 9.96026352e-01 8.90259640e-02 2.42572703e-03 9.03370904e+02] [-8.90258022e-02 9.96029305e-01 -1.74789868e-04 2.51585079e+02] [-2.43165604e-03 -4.18569805e-05 9.99997043e-01 -1.54251608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.0653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:903.43, Y:251.58, Z:-15.42 [[ 9.95891829e-01 9.05183947e-02 2.42573499e-03 9.03429486e+02] [-9.05182376e-02 9.95894783e-01 -1.74679273e-04 2.51580821e+02] [-2.43158851e-03 -4.56115953e-05 9.99997043e-01 -1.54235478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.1253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:903.49, Y:251.58, Z:-15.43 [[ 9.95488486e-01 9.48514057e-02 2.42574357e-03 9.03486702e+02] [-9.48512618e-02 9.95491440e-01 -1.74560063e-04 2.51576977e+02] [-2.43136423e-03 -5.63123061e-05 9.99997043e-01 -1.54280787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:903.55, Y:251.57, Z:-15.43 [[ 9.95221172e-01 9.76162614e-02 2.42575417e-03 9.03545243e+02] [-9.76161260e-02 9.95224126e-01 -1.74412668e-04 2.51573088e+02] [-2.43119459e-03 -6.32135446e-05 9.99997043e-01 -1.54298941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:903.60, Y:251.57, Z:-15.43 [[ 9.95107731e-01 9.87659826e-02 2.42576199e-03 9.03603974e+02] [-9.87658510e-02 9.95110685e-01 -1.74303786e-04 2.51570656e+02] [-2.43111697e-03 -6.61314021e-05 9.99997043e-01 -1.54270709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.3053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:903.66, Y:251.57, Z:-15.42 [[ 9.95024901e-01 9.95969973e-02 2.42576998e-03 9.03662618e+02] [-9.95968683e-02 9.95027856e-01 -1.74192587e-04 2.51570306e+02] [-2.43105776e-03 -6.82731317e-05 9.99997043e-01 -1.54246631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.3653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:903.72, Y:251.57, Z:-15.43 [[ 9.95022332e-01 9.96226622e-02 2.42577835e-03 9.03721568e+02] [-9.96225336e-02 9.95025286e-01 -1.74075868e-04 2.51571342e+02] [-2.43105270e-03 -6.84528092e-05 9.99997043e-01 -1.54272652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:903.78, Y:251.57, Z:-15.43 [[ 9.95162810e-01 9.82094585e-02 2.42578666e-03 9.03779212e+02] [-9.82093261e-02 9.95165764e-01 -1.73960026e-04 2.51573214e+02] [-2.43114436e-03 -6.51163248e-05 9.99997043e-01 -1.54265316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.485336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:903.84, Y:251.58, Z:-15.42 [[ 9.95505129e-01 9.46765734e-02 2.42579693e-03 9.03838608e+02] [-9.46764307e-02 9.95508083e-01 -1.73816793e-04 2.51575265e+02] [-2.43135683e-03 -5.66302858e-05 9.99997043e-01 -1.54234871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:903.90, Y:251.58, Z:-15.42 [[ 9.96147918e-01 8.76552372e-02 2.42580522e-03 9.03896553e+02] [-8.76550740e-02 9.96150871e-01 -1.73700885e-04 2.51576791e+02] [-2.43169378e-03 -3.96023620e-05 9.99997043e-01 -1.54233054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.6053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:903.95, Y:251.57, Z:-15.43 [[ 9.96558680e-01 8.28547683e-02 2.42581548e-03 9.03954375e+02] [-8.28545913e-02 9.96561632e-01 -1.73557481e-04 2.51574884e+02] [-2.43185470e-03 -2.80297366e-05 9.99997043e-01 -1.54252633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.6653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:904.01, Y:251.57, Z:-15.43 [[ 9.96913729e-01 7.84673947e-02 2.42582691e-03 9.04013179e+02] [-7.84672051e-02 9.96916680e-01 -1.73397673e-04 2.51574808e+02] [-2.43195337e-03 -1.74853364e-05 9.99997043e-01 -1.54292272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:904.07, Y:251.58, Z:-15.43 [[ 9.96983496e-01 7.75759216e-02 2.42583415e-03 9.04072559e+02] [-7.75757296e-02 9.96986447e-01 -1.73296240e-04 2.51576153e+02] [-2.43196739e-03 -1.54123633e-05 9.99997043e-01 -1.54283816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:904.13, Y:251.58, Z:-15.43 [[ 9.97135315e-01 7.55994689e-02 2.42584230e-03 9.04131846e+02] [-7.55992713e-02 9.97138265e-01 -1.73182069e-04 2.51576499e+02] [-2.43199266e-03 -1.07059536e-05 9.99997043e-01 -1.54288284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.8453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:904.19, Y:251.57, Z:-15.43 [[ 9.97385339e-01 7.22260362e-02 2.42585058e-03 9.04190860e+02] [-7.22258289e-02 9.97388289e-01 -1.73066093e-04 2.51574780e+02] [-2.43201484e-03 -2.59548477e-06 9.99997043e-01 -1.54272431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.9053361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:904.25, Y:251.57, Z:-15.43 [[ 9.97831368e-01 6.57774757e-02 2.42585905e-03 9.04248838e+02] [-6.57772496e-02 9.97834317e-01 -1.72947254e-04 2.51572056e+02] [-2.43198144e-03 1.30058584e-05 9.99997043e-01 -1.54297396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.965336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:904.31, Y:251.57, Z:-15.43 [[ 9.98092112e-01 6.16948221e-02 2.42586948e-03 9.04308135e+02] [-6.16945843e-02 9.98095060e-01 -1.72800804e-04 2.51570562e+02] [-2.43190926e-03 2.28081103e-05 9.99997043e-01 -1.54286190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.025336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:904.37, Y:251.57, Z:-15.42 [[ 9.98200095e-01 5.99223300e-02 2.42587666e-03 9.04366500e+02] [-5.99220872e-02 9.98203042e-01 -1.72700013e-04 2.51566727e+02] [-2.43186605e-03 2.70255769e-05 9.99997043e-01 -1.54235957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.0853361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:904.42, Y:251.56, Z:-15.42 [[ 9.98282348e-01 5.85360461e-02 2.42588463e-03 9.04424771e+02] [-5.85357995e-02 9.98285295e-01 -1.72587925e-04 2.51561787e+02] [-2.43182757e-03 3.02903827e-05 9.99997043e-01 -1.54247184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.1453361949998 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:904.48, Y:251.56, Z:-15.42 [[ 9.98297414e-01 5.82785417e-02 2.42589269e-03 9.04483724e+02] [-5.82782947e-02 9.98300361e-01 -1.72474629e-04 2.51556440e+02] [-2.43182112e-03 3.08040876e-05 9.99997043e-01 -1.54224548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.205336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:904.54, Y:251.55, Z:-15.42 [[ 9.98107404e-01 6.14469276e-02 2.42590089e-03 9.04542566e+02] [-6.14466902e-02 9.98110352e-01 -1.72359211e-04 2.51550620e+02] [-2.43190773e-03 2.29694239e-05 9.99997043e-01 -1.54209161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:904.60, Y:251.55, Z:-15.42 [[ 9.97791583e-01 6.63782545e-02 2.42590925e-03 9.04599815e+02] [-6.63780319e-02 9.97794532e-01 -1.72241437e-04 2.51545278e+02] [-2.43199207e-03 1.08339742e-05 9.99997043e-01 -1.54246763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.3253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:904.66, Y:251.54, Z:-15.43 [[ 9.97360890e-01 7.25628707e-02 2.42591959e-03 9.04658610e+02] [-7.25626668e-02 9.97363840e-01 -1.72095647e-04 2.51540874e+02] [-2.43201224e-03 -4.38972753e-06 9.99997043e-01 -1.54253036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.3853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:904.72, Y:251.54, Z:-15.43 [[ 9.96990187e-01 7.74898845e-02 2.42592798e-03 9.04715979e+02] [-7.74896954e-02 9.96993138e-01 -1.71977281e-04 2.51537272e+02] [-2.43196005e-03 -1.65247585e-05 9.99997043e-01 -1.54266558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:904.77, Y:251.53, Z:-15.43 [[ 9.96733491e-01 8.07246088e-02 2.42593841e-03 9.04774220e+02] [-8.07244297e-02 9.96736443e-01 -1.71830055e-04 2.51533688e+02] [-2.43189214e-03 -2.45637242e-05 9.99997043e-01 -1.54259417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.505336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:904.83, Y:251.53, Z:-15.42 [[ 9.96308379e-01 8.58121673e-02 2.42594672e-03 9.04833198e+02] [-8.58120035e-02 9.96311332e-01 -1.71712673e-04 2.51531443e+02] [-2.43173325e-03 -3.70965734e-05 9.99997043e-01 -1.54242687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.5653361949999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:904.89, Y:251.53, Z:-15.42 [[ 9.96020897e-01 8.90869628e-02 2.42595497e-03 9.04891696e+02] [-8.90868090e-02 9.96023851e-01 -1.71595979e-04 2.51530427e+02] [-2.43159598e-03 -4.52074062e-05 9.99997043e-01 -1.54220982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.6253361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:904.95, Y:251.53, Z:-15.42 [[ 9.96021657e-01 8.90784652e-02 2.42596324e-03 9.04950491e+02] [-8.90783116e-02 9.96024611e-01 -1.71479103e-04 2.51528922e+02] [-2.43159418e-03 -4.53038085e-05 9.99997043e-01 -1.54211100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:905.01, Y:251.53, Z:-15.43 [[ 9.96193226e-01 8.71388073e-02 2.42597147e-03 9.05008025e+02] [-8.71386483e-02 9.96196179e-01 -1.71362475e-04 2.51528298e+02] [-2.43167583e-03 -4.06857384e-05 9.99997043e-01 -1.54263922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:905.07, Y:251.53, Z:-15.42 [[ 9.96366632e-01 8.51331298e-02 2.42598165e-03 9.05066655e+02] [-8.51329652e-02 9.96369585e-01 -1.71218280e-04 2.51525489e+02] [-2.43175068e-03 -3.59348308e-05 9.99997043e-01 -1.54234347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.8053361949999 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:905.13, Y:251.52, Z:-15.42 [[ 9.96488625e-01 8.36930988e-02 2.42598974e-03 9.05125164e+02] [-8.36929302e-02 9.96491578e-01 -1.71103658e-04 2.51523325e+02] [-2.43179853e-03 -3.25353409e-05 9.99997043e-01 -1.54226998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.8653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:905.18, Y:251.52, Z:-15.42 [[ 9.96593824e-01 8.24309670e-02 2.42599779e-03 9.05184281e+02] [-8.24307949e-02 9.96596776e-01 -1.70989377e-04 2.51522984e+02] [-2.43183640e-03 -2.95699692e-05 9.99997043e-01 -1.54213089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:905.24, Y:251.52, Z:-15.42 [[ 9.96713129e-01 8.09756282e-02 2.42600594e-03 9.05242661e+02] [-8.09754521e-02 9.96716081e-01 -1.70873703e-04 2.51519842e+02] [-2.43187574e-03 -2.61348647e-05 9.99997043e-01 -1.54195420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:905.30, Y:251.52, Z:-15.42 [[ 9.96780287e-01 8.01447102e-02 2.42601424e-03 9.05301441e+02] [-8.01445320e-02 9.96783239e-01 -1.70755815e-04 2.51516748e+02] [-2.43189550e-03 -2.42257456e-05 9.99997043e-01 -1.54197630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:905.36, Y:251.51, Z:-15.42 [[ 9.96967753e-01 7.77779843e-02 2.42602251e-03 9.05359409e+02] [-7.77777993e-02 9.96970704e-01 -1.70638136e-04 2.51513458e+02] [-2.43194526e-03 -1.85699727e-05 9.99997043e-01 -1.54209722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.1053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:905.42, Y:251.51, Z:-15.42 [[ 9.97202658e-01 7.47059156e-02 2.42603271e-03 9.05418393e+02] [-7.47057219e-02 9.97205609e-01 -1.70493016e-04 2.51508379e+02] [-2.43199026e-03 -1.12224365e-05 9.99997043e-01 -1.54199236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.1653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:905.48, Y:251.50, Z:-15.42 [[ 9.97313886e-01 7.32060554e-02 2.42604110e-03 9.05476299e+02] [-7.32058575e-02 9.97316837e-01 -1.70373566e-04 2.51503169e+02] [-2.43200401e-03 -7.68449580e-06 9.99997043e-01 -1.54186429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.225336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:905.53, Y:251.50, Z:-15.42 [[ 9.97238828e-01 7.42215248e-02 2.42605138e-03 9.05534682e+02] [-7.42213303e-02 9.97241779e-01 -1.70227012e-04 2.51498621e+02] [-2.43199430e-03 -1.03077748e-05 9.99997043e-01 -1.54189004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:905.59, Y:251.50, Z:-15.42 [[ 9.97006569e-01 7.72788141e-02 2.42605952e-03 9.05592169e+02] [-7.72786290e-02 9.97009521e-01 -1.70111019e-04 2.51495123e+02] [-2.43195041e-03 -1.78807502e-05 9.99997043e-01 -1.54204554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.3453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:905.65, Y:251.49, Z:-15.42 [[ 9.96789295e-01 8.00325947e-02 2.42606956e-03 9.05650905e+02] [-8.00324180e-02 9.96792247e-01 -1.69967680e-04 2.51490649e+02] [-2.43189028e-03 -2.47422495e-05 9.99997043e-01 -1.54194366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.4053361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:905.71, Y:251.49, Z:-15.42 [[ 9.96630520e-01 8.19861067e-02 2.42607754e-03 9.05709771e+02] [-8.19859361e-02 9.96633472e-01 -1.69853695e-04 2.51487665e+02] [-2.43183572e-03 -2.96228616e-05 9.99997043e-01 -1.54176959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.465336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:905.77, Y:251.48, Z:-15.42 [[ 9.96589986e-01 8.24773490e-02 2.42608551e-03 9.05768682e+02] [-8.24771802e-02 9.96592939e-01 -1.69739710e-04 2.51484280e+02] [-2.43181937e-03 -3.09357967e-05 9.99997043e-01 -1.54165165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.525336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:905.83, Y:251.48, Z:-15.42 [[ 9.96597197e-01 8.23901715e-02 2.42609335e-03 9.05826748e+02] [-8.23900027e-02 9.96600150e-01 -1.69627574e-04 2.51482638e+02] [-2.43182064e-03 -3.08354727e-05 9.99997043e-01 -1.54188163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.5853361949999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:905.89, Y:251.48, Z:-15.42 [[ 9.96689781e-01 8.12625010e-02 2.42610456e-03 9.05885494e+02] [-8.12623292e-02 9.96692734e-01 -1.69467129e-04 2.51479336e+02] [-2.43185211e-03 -2.82447523e-05 9.99997043e-01 -1.54185220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.6453361949998 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:905.94, Y:251.48, Z:-15.42 [[ 9.96796271e-01 7.99456560e-02 2.42611252e-03 9.05943403e+02] [-7.99454806e-02 9.96799223e-01 -1.69353040e-04 2.51477090e+02] [-2.43188612e-03 -2.51462531e-05 9.99997043e-01 -1.54213974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.705336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:906.00, Y:251.47, Z:-15.42 [[ 9.97311609e-01 7.32370670e-02 2.42612236e-03 9.06002696e+02] [-7.32368721e-02 9.97314560e-01 -1.69212076e-04 2.51474620e+02] [-2.43199975e-03 -8.92444429e-06 9.99997043e-01 -1.54220419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.765336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:906.06, Y:251.47, Z:-15.42 [[ 9.97734174e-01 6.72356514e-02 2.42613501e-03 9.06061630e+02] [-6.72354392e-02 9.97737123e-01 -1.69030496e-04 2.51469018e+02] [-2.43200984e-03 5.52524968e-06 9.99997043e-01 -1.54210803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.8253361949999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:906.12, Y:251.46, Z:-15.42 [[ 9.98319294e-01 5.79025082e-02 2.42614303e-03 9.06119441e+02] [-5.79022686e-02 9.98322242e-01 -1.68915268e-04 2.51462382e+02] [-2.43185317e-03 2.81521853e-05 9.99997043e-01 -1.54193507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.8853361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:906.18, Y:251.45, Z:-15.42 [[ 9.98651787e-01 5.18528848e-02 2.42615292e-03 9.06177777e+02] [-5.18526278e-02 9.98654733e-01 -1.68773118e-04 2.51453559e+02] [-2.43164047e-03 4.27431722e-05 9.99997043e-01 -1.54178289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.945336195 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:906.24, Y:251.45, Z:-15.42 [[ 9.98704170e-01 5.08339861e-02 2.42616096e-03 9.06235965e+02] [-5.08337263e-02 9.98707116e-01 -1.68657404e-04 2.51445360e+02] [-2.43159775e-03 4.51080508e-05 9.99997043e-01 -1.54156233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.005336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:906.29, Y:251.44, Z:-15.41 [[ 9.98557857e-01 5.36313423e-02 2.42616905e-03 9.06293218e+02] [-5.36310910e-02 9.98560803e-01 -1.68540914e-04 2.51437911e+02] [-2.43171640e-03 3.81797606e-05 9.99997043e-01 -1.54148027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.0653361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:906.35, Y:251.43, Z:-15.42 [[ 9.98408607e-01 5.63415144e-02 2.42617905e-03 9.06350726e+02] [-5.63412716e-02 9.98411555e-01 -1.68396969e-04 2.51431188e+02] [-2.43181293e-03 3.14349707e-05 9.99997043e-01 -1.54158216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.1253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:906.41, Y:251.42, Z:-15.42 [[ 9.98014195e-01 6.29426760e-02 2.42618880e-03 9.06409203e+02] [-6.29424530e-02 9.98017144e-01 -1.68256376e-04 2.51423108e+02] [-2.43196852e-03 1.52119776e-05 9.99997043e-01 -1.54155773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.185336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:906.47, Y:251.42, Z:-15.42 [[ 9.97753640e-01 6.69461604e-02 2.42619659e-03 9.06468000e+02] [-6.69459495e-02 9.97756589e-01 -1.68143876e-04 2.51418427e+02] [-2.43201022e-03 5.34213027e-06 9.99997043e-01 -1.54155446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.245336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:906.53, Y:251.41, Z:-15.42 [[ 9.97352269e-01 7.26812509e-02 2.42620439e-03 9.06525792e+02] [-7.26810572e-02 9.97355220e-01 -1.68031269e-04 2.51413942e+02] [-2.43200034e-03 -8.75273214e-06 9.99997043e-01 -1.54172540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.3053361949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:906.58, Y:251.41, Z:-15.42 [[ 9.97102968e-01 7.60248983e-02 2.42621403e-03 9.06584197e+02] [-7.60247148e-02 9.97105919e-01 -1.67891985e-04 2.51410148e+02] [-2.43195634e-03 -1.70466335e-05 9.99997043e-01 -1.54160376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.3653361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:906.64, Y:251.41, Z:-15.42 [[ 9.96991884e-01 7.74680426e-02 2.42622210e-03 9.06641984e+02] [-7.74678637e-02 9.96994835e-01 -1.67775237e-04 2.51406043e+02] [-2.43192813e-03 -2.06836937e-05 9.99997043e-01 -1.54161196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:906.70, Y:251.40, Z:-15.41 [[ 9.96982941e-01 7.75830383e-02 2.42623214e-03 9.06700359e+02] [-7.75828601e-02 9.96985893e-01 -1.67629971e-04 2.51403245e+02] [-2.43192446e-03 -2.11098066e-05 9.99997043e-01 -1.54143587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:906.76, Y:251.40, Z:-15.42 [[ 9.97064645e-01 7.65258566e-02 2.42624030e-03 9.06757709e+02] [-7.65256755e-02 9.97067597e-01 -1.67511735e-04 2.51399519e+02] [-2.43194457e-03 -1.86496494e-05 9.99997043e-01 -1.54165726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.545336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:906.82, Y:251.40, Z:-15.42 [[ 9.97135329e-01 7.55992684e-02 2.42625039e-03 9.06816828e+02] [-7.55990849e-02 9.97138280e-01 -1.67365532e-04 2.51395143e+02] [-2.43195985e-03 -1.65362241e-05 9.99997043e-01 -1.54181224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.6053361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:906.88, Y:251.39, Z:-15.42 [[ 9.97208212e-01 7.46317251e-02 2.42625824e-03 9.06875526e+02] [-7.46315391e-02 9.97211164e-01 -1.67251578e-04 2.51391379e+02] [-2.43197408e-03 -1.42907395e-05 9.99997043e-01 -1.54151536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.6653361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:906.93, Y:251.39, Z:-15.42 [[ 9.97318121e-01 7.31483319e-02 2.42626620e-03 9.06934467e+02] [-7.31481418e-02 9.97321072e-01 -1.67136070e-04 2.51388487e+02] [-2.43199213e-03 -1.07890331e-05 9.99997043e-01 -1.54151078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.725336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:906.99, Y:251.38, Z:-15.42 [[ 9.97479719e-01 7.09106778e-02 2.42627429e-03 9.06992293e+02] [-7.09104813e-02 9.97482669e-01 -1.67018605e-04 2.51384779e+02] [-2.43200995e-03 -5.45060639e-06 9.99997043e-01 -1.54156338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:907.05, Y:251.38, Z:-15.42 [[ 9.97825409e-01 6.58677982e-02 2.42628498e-03 9.07050628e+02] [-6.58675872e-02 9.97828359e-01 -1.66863110e-04 2.51380593e+02] [-2.43200686e-03 6.68671352e-06 9.99997043e-01 -1.54159033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.8453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:907.11, Y:251.38, Z:-15.41 [[ 9.97979471e-01 6.34908470e-02 2.42629308e-03 9.07109184e+02] [-6.34906292e-02 9.97982421e-01 -1.66745310e-04 2.51377772e+02] [-2.43198464e-03 1.23615219e-05 9.99997043e-01 -1.54146873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.9053361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:907.17, Y:251.38, Z:-15.42 [[ 9.97961132e-01 6.37784675e-02 2.42630126e-03 9.07167201e+02] [-6.37782509e-02 9.97964081e-01 -1.66626114e-04 2.51375069e+02] [-2.43198867e-03 1.15411350e-05 9.99997043e-01 -1.54158205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:907.23, Y:251.37, Z:-15.42 [[ 9.97808838e-01 6.61183494e-02 2.42631141e-03 9.07226170e+02] [-6.61181400e-02 9.97811788e-01 -1.66478179e-04 2.51371681e+02] [-2.43200939e-03 5.69020068e-06 9.99997043e-01 -1.54166697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.025336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:907.28, Y:251.37, Z:-15.42 [[ 9.97624481e-01 6.88440844e-02 2.42631958e-03 9.07284220e+02] [-6.88438834e-02 9.97627431e-01 -1.66359017e-04 2.51371297e+02] [-2.43201581e-03 -1.07343429e-06 9.99997043e-01 -1.54175890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.0853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:907.34, Y:251.37, Z:-15.42 [[ 9.97646465e-01 6.85247649e-02 2.42632969e-03 9.07341788e+02] [-6.85245633e-02 9.97649416e-01 -1.66211451e-04 2.51371945e+02] [-2.43201600e-03 -4.42915929e-07 9.99997043e-01 -1.54162682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.1453361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:907.40, Y:251.37, Z:-15.42 [[ 9.97792318e-01 6.63671806e-02 2.42634041e-03 9.07400505e+02] [-6.63669731e-02 9.97795268e-01 -1.66054869e-04 2.51369294e+02] [-2.43201157e-03 4.65940442e-06 9.99997043e-01 -1.54176650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.205336195 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:907.46, Y:251.37, Z:-15.42 [[ 9.97917055e-01 6.44644433e-02 2.42634846e-03 9.07458868e+02] [-6.44642304e-02 9.97920005e-01 -1.65937108e-04 2.51368240e+02] [-2.43199871e-03 9.17878385e-06 9.99997043e-01 -1.54186375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.265336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:907.52, Y:251.37, Z:-15.42 [[ 9.97952860e-01 6.39077584e-02 2.42635837e-03 9.07517997e+02] [-6.39075442e-02 9.97955810e-01 -1.65792050e-04 2.51366637e+02] [-2.43199383e-03 1.03900451e-05 9.99997043e-01 -1.54169612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.3253361949999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:907.58, Y:251.36, Z:-15.42 [[ 9.97920963e-01 6.44039087e-02 2.42636631e-03 9.07575545e+02] [-6.44036963e-02 9.97923913e-01 -1.65675862e-04 2.51364877e+02] [-2.43199913e-03 9.06445692e-06 9.99997043e-01 -1.54195030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.3853361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:907.63, Y:251.36, Z:-15.42 [[ 9.97960133e-01 6.37940818e-02 2.42637612e-03 9.07634188e+02] [-6.37938679e-02 9.97963083e-01 -1.65531985e-04 2.51363454e+02] [-2.43199376e-03 1.04064044e-05 9.99997043e-01 -1.54159640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.445336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:907.69, Y:251.36, Z:-15.42 [[ 9.98111839e-01 6.13748315e-02 2.42638421e-03 9.07691908e+02] [-6.13746107e-02 9.98114788e-01 -1.65413274e-04 2.51359736e+02] [-2.43196218e-03 1.61825604e-05 9.99997043e-01 -1.54169362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.505336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:907.75, Y:251.36, Z:-15.42 [[ 9.98269986e-01 5.87464706e-02 2.42639492e-03 9.07750514e+02] [-5.87462425e-02 9.98272934e-01 -1.65256016e-04 2.51356212e+02] [-2.43191259e-03 2.24285365e-05 9.99997043e-01 -1.54178843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.5653361949999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:907.81, Y:251.35, Z:-15.42 [[ 9.98440795e-01 5.57681903e-02 2.42640278e-03 9.07809126e+02] [-5.57679536e-02 9.98443743e-01 -1.65140541e-04 2.51350353e+02] [-2.43183627e-03 2.95675355e-05 9.99997043e-01 -1.54168107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.6253361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:907.87, Y:251.35, Z:-15.42 [[ 9.98581281e-01 5.31934002e-02 2.42641064e-03 9.07867134e+02] [-5.31931562e-02 9.98584228e-01 -1.65025091e-04 2.51346092e+02] [-2.43175364e-03 3.57225263e-05 9.99997043e-01 -1.54175470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.685336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:907.93, Y:251.34, Z:-15.42 [[ 9.98769836e-01 4.95270251e-02 2.42642033e-03 9.07925745e+02] [-4.95267706e-02 9.98772783e-01 -1.64882503e-04 2.51339133e+02] [-2.43160872e-03 4.45069079e-05 9.99997043e-01 -1.54185708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.745336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:907.98, Y:251.33, Z:-15.42 [[ 9.98842486e-01 4.80395710e-02 2.42642812e-03 9.07984462e+02] [-4.80393124e-02 9.98845432e-01 -1.64767750e-04 2.51332740e+02] [-2.43154201e-03 4.80130903e-05 9.99997043e-01 -1.54179616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.8053361949999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:908.04, Y:251.33, Z:-15.42 [[ 9.98817867e-01 4.85487568e-02 2.42643582e-03 9.08042641e+02] [-4.85485000e-02 9.98820813e-01 -1.64654296e-04 2.51326873e+02] [-2.43156836e-03 4.66598334e-05 9.99997043e-01 -1.54175888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.8653361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:908.10, Y:251.32, Z:-15.42 [[ 9.98699969e-01 5.09164409e-02 2.42644351e-03 9.08101341e+02] [-5.09161914e-02 9.98702916e-01 -1.64540811e-04 2.51321208e+02] [-2.43167404e-03 4.07816406e-05 9.99997043e-01 -1.54196829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.925336195 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:908.16, Y:251.31, Z:-15.42 [[ 9.98635578e-01 5.21641197e-02 2.42645146e-03 9.08158716e+02] [-5.21638742e-02 9.98638525e-01 -1.64423521e-04 2.51312539e+02] [-2.43172491e-03 3.76260694e-05 9.99997043e-01 -1.54238069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.985336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:908.22, Y:251.31, Z:-15.42 [[ 9.98672969e-01 5.14433030e-02 2.42646130e-03 9.08217605e+02] [-5.14430557e-02 9.98675916e-01 -1.64278242e-04 2.51305031e+02] [-2.43169947e-03 3.92356562e-05 9.99997043e-01 -1.54221513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.045336195 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:908.28, Y:251.30, Z:-15.42 [[ 9.98688845e-01 5.11341687e-02 2.42646914e-03 9.08275943e+02] [-5.11339207e-02 9.98691792e-01 -1.64162367e-04 2.51297061e+02] [-2.43168911e-03 3.98722445e-05 9.99997043e-01 -1.54244502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.1053361949998 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:908.33, Y:251.29, Z:-15.42 [[ 9.98632531e-01 5.22224170e-02 2.42647699e-03 9.08334239e+02] [-5.22221725e-02 9.98635478e-01 -1.64046215e-04 2.51287575e+02] [-2.43173290e-03 3.71059867e-05 9.99997043e-01 -1.54245674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.1653361949998 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:908.39, Y:251.28, Z:-15.42 [[ 9.98572417e-01 5.33595292e-02 2.42648488e-03 9.08392596e+02] [-5.33592883e-02 9.98575365e-01 -1.63929355e-04 2.51281371e+02] [-2.43177522e-03 3.42198258e-05 9.99997043e-01 -1.54234334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.225336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:908.45, Y:251.27, Z:-15.42 [[ 9.98520869e-01 5.43156149e-02 2.42649272e-03 9.08450654e+02] [-5.43153772e-02 9.98523817e-01 -1.63813202e-04 2.51272635e+02] [-2.43180839e-03 3.17750329e-05 9.99997043e-01 -1.54219184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.285336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:908.51, Y:251.26, Z:-15.42 [[ 9.98515636e-01 5.44117355e-02 2.42650053e-03 9.08508373e+02] [-5.44114984e-02 9.98518584e-01 -1.63697439e-04 2.51262260e+02] [-2.43181294e-03 3.14249224e-05 9.99997043e-01 -1.54218349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.3453361949998 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:908.57, Y:251.25, Z:-15.42 [[ 9.98396992e-01 5.65469533e-02 2.42651013e-03 9.08566934e+02] [-5.65467228e-02 9.98399941e-01 -1.63555063e-04 2.51251235e+02] [-2.43187611e-03 2.60816868e-05 9.99997043e-01 -1.54214384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.4053361949998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:908.63, Y:251.24, Z:-15.42 [[ 9.98066850e-01 6.21021252e-02 2.42651781e-03 9.08625463e+02] [-6.21019114e-02 9.98069800e-01 -1.63441026e-04 2.51243645e+02] [-2.43198418e-03 1.24336756e-05 9.99997043e-01 -1.54216785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.465336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:908.68, Y:251.24, Z:-15.42 [[ 9.97757105e-01 6.68944739e-02 2.42652542e-03 9.08683535e+02] [-6.68942745e-02 9.97760056e-01 -1.63328010e-04 2.51237115e+02] [-2.43201588e-03 6.41025219e-07 9.99997043e-01 -1.54204724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.525336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:908.74, Y:251.23, Z:-15.42 [[ 9.97218142e-01 7.44989174e-02 2.42653108e-03 9.08742546e+02] [-7.44987408e-02 9.97221094e-01 -1.63243845e-04 2.51231387e+02] [-2.43194947e-03 -1.79837861e-05 9.99997043e-01 -1.54210165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.5853361949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:908.80, Y:251.23, Z:-15.42 [[ 9.96724215e-01 8.08390499e-02 2.42653860e-03 9.08801140e+02] [-8.08388923e-02 9.96727168e-01 -1.63132023e-04 2.51227116e+02] [-2.43178438e-03 -3.35610551e-05 9.99997043e-01 -1.54224216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.6453361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:908.86, Y:251.22, Z:-15.42 [[ 9.96258673e-01 8.63873115e-02 2.42654658e-03 9.08858995e+02] [-8.63871706e-02 9.96261627e-01 -1.63013184e-04 2.51224639e+02] [-2.43155752e-03 -4.72191949e-05 9.99997043e-01 -1.54230784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.705336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:908.92, Y:251.22, Z:-15.42 [[ 9.95956153e-01 8.98078684e-02 2.42655648e-03 9.08918107e+02] [-8.98077381e-02 9.95959107e-01 -1.62865731e-04 2.51224910e+02] [-2.43137765e-03 -5.57164216e-05 9.99997043e-01 -1.54198999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.765336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:908.98, Y:251.22, Z:-15.42 [[ 9.95939775e-01 8.99893101e-02 2.42656446e-03 9.08975994e+02] [-8.99891805e-02 9.95942730e-01 -1.62746677e-04 2.51221744e+02] [-2.43136470e-03 -5.62786584e-05 9.99997043e-01 -1.54204290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.8253361949999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:909.04, Y:251.22, Z:-15.42 [[ 9.96089394e-01 8.83177782e-02 2.42657428e-03 9.09035263e+02] [-8.83176440e-02 9.96092349e-01 -1.62600175e-04 2.51220124e+02] [-2.43145256e-03 -5.23450135e-05 9.99997043e-01 -1.54242991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.8853361949998 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:909.09, Y:251.22, Z:-15.42 [[ 9.96536170e-01 8.31250428e-02 2.42658191e-03 9.09093983e+02] [-8.31248935e-02 9.96539124e-01 -1.62486245e-04 2.51219833e+02] [-2.43169049e-03 -3.97859424e-05 9.99997043e-01 -1.54229001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.945336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:909.15, Y:251.22, Z:-15.42 [[ 9.97037539e-01 7.68781946e-02 2.42658967e-03 9.09153275e+02] [-7.68780271e-02 9.97040492e-01 -1.62370259e-04 2.51219126e+02] [-2.43189089e-03 -2.46621832e-05 9.99997043e-01 -1.54223266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.005336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:909.21, Y:251.22, Z:-15.42 [[ 9.97275400e-01 7.37284717e-02 2.42659740e-03 9.09212496e+02] [-7.37282951e-02 9.97278352e-01 -1.62254596e-04 2.51217352e+02] [-2.43195584e-03 -1.70963718e-05 9.99997043e-01 -1.54220584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.0653361949999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:909.27, Y:251.22, Z:-15.42 [[ 9.97747384e-01 6.70393157e-02 2.42660541e-03 9.09270516e+02] [-6.70391196e-02 9.97750335e-01 -1.62134824e-04 2.51216970e+02] [-2.43201576e-03 -9.07893399e-07 9.99997043e-01 -1.54227851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.1253361949998 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:909.33, Y:251.22, Z:-15.43 [[ 9.98288512e-01 5.84307992e-02 2.42661530e-03 9.09328774e+02] [-5.84305781e-02 9.98291461e-01 -1.61986552e-04 2.51215475e+02] [-2.43193434e-03 1.99207785e-05 9.99997043e-01 -1.54254463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.185336195 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:909.39, Y:251.21, Z:-15.43 [[ 9.98603697e-01 5.27708966e-02 2.42662103e-03 9.09387955e+02] [-5.27706590e-02 9.98606645e-01 -1.61900715e-04 2.51212556e+02] [-2.43178353e-03 3.36202621e-05 9.99997043e-01 -1.54258540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.245336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:909.45, Y:251.21, Z:-15.42 [[ 9.98982330e-01 4.50379457e-02 2.42662499e-03 9.09447900e+02] [-4.50376854e-02 9.98985276e-01 -1.61841411e-04 2.51207926e+02] [-2.43145164e-03 5.23871369e-05 9.99997043e-01 -1.54228635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.3053361949999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:909.51, Y:251.20, Z:-15.42 [[ 9.99188967e-01 4.01935396e-02 2.42662890e-03 9.09507212e+02] [-4.01932652e-02 9.99191911e-01 -1.61782759e-04 2.51202106e+02] [-2.43117059e-03 6.41174093e-05 9.99997043e-01 -1.54210933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.3653361949998 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:909.57, Y:251.20, Z:-15.42 [[ 9.99276120e-01 3.79650696e-02 2.42663275e-03 9.09565421e+02] [-3.79647887e-02 9.99279064e-01 -1.61724998e-04 2.51196744e+02] [-2.43102320e-03 6.94813290e-05 9.99997043e-01 -1.54240609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.425336195 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:909.62, Y:251.19, Z:-15.43 [[ 9.99293103e-01 3.75153993e-02 2.42663849e-03 9.09624334e+02] [-3.75151173e-02 9.99296047e-01 -1.61638797e-04 2.51189447e+02] [-2.43099419e-03 7.04889074e-05 9.99997043e-01 -1.54257419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.485336195 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:909.68, Y:251.18, Z:-15.42 [[ 9.99176008e-01 4.05144073e-02 2.42664241e-03 9.09683875e+02] [-4.05141343e-02 9.99178952e-01 -1.61579835e-04 2.51181607e+02] [-2.43119634e-03 6.31333779e-05 9.99997043e-01 -1.54241027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.545336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:909.74, Y:251.18, Z:-15.42 [[ 9.98990826e-01 4.48491011e-02 2.42664074e-03 9.09743793e+02] [-4.48488408e-02 9.98993771e-01 -1.61604909e-04 2.51176595e+02] [-2.43144682e-03 5.26097974e-05 9.99997043e-01 -1.54238844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.6053361949998 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:909.80, Y:251.17, Z:-15.42 [[ 9.98626845e-01 5.23310223e-02 2.42664446e-03 9.09803029e+02] [-5.23307842e-02 9.98629793e-01 -1.61549126e-04 2.51169992e+02] [-2.43177348e-03 3.43390865e-05 9.99997043e-01 -1.54246990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.6653361949998 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:909.86, Y:251.16, Z:-15.43 [[ 9.98317646e-01 5.79309020e-02 2.42664818e-03 9.09862123e+02] [-5.79306805e-02 9.98320595e-01 -1.61493165e-04 2.51164991e+02] [-2.43192830e-03 2.06440952e-05 9.99997043e-01 -1.54273105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.725336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:909.92, Y:251.16, Z:-15.43 [[ 9.98166640e-01 6.04770168e-02 2.42665555e-03 9.09920495e+02] [-6.04768032e-02 9.98169590e-01 -1.61382335e-04 2.51160060e+02] [-2.43197370e-03 1.43300931e-05 9.99997043e-01 -1.54278244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.785336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:909.98, Y:251.15, Z:-15.43 [[ 9.98151812e-01 6.07212684e-02 2.42666311e-03 9.09979824e+02] [-6.07210557e-02 9.98154761e-01 -1.61268566e-04 2.51152746e+02] [-2.43197777e-03 1.36209654e-05 9.99997043e-01 -1.54269098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.8453361949998 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:910.04, Y:251.15, Z:-15.43 [[ 9.98144227e-01 6.08458238e-02 2.42666693e-03 9.10038721e+02] [-6.08456117e-02 9.98147176e-01 -1.61211098e-04 2.51146021e+02] [-2.43197977e-03 1.32598927e-05 9.99997043e-01 -1.54261823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.9053361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:910.10, Y:251.14, Z:-15.43 [[ 9.98153603e-01 6.06918048e-02 2.42667072e-03 9.10097535e+02] [-6.06915923e-02 9.98156553e-01 -1.61154112e-04 2.51140398e+02] [-2.43197801e-03 1.35780483e-05 9.99997043e-01 -1.54263678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.965336195 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:910.16, Y:251.13, Z:-15.43 [[ 9.98099204e-01 6.15799440e-02 2.42667633e-03 9.10156777e+02] [-6.15797344e-02 9.98102154e-01 -1.61069465e-04 2.51134954e+02] [-2.43198953e-03 1.13292208e-05 9.99997043e-01 -1.54262758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.025336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:910.22, Y:251.13, Z:-15.43 [[ 9.98075210e-01 6.19676215e-02 2.42668005e-03 9.10216243e+02] [-6.19674131e-02 9.98078160e-01 -1.61013533e-04 2.51125735e+02] [-2.43199398e-03 1.03285312e-05 9.99997043e-01 -1.54266946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.0853361949999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:910.27, Y:251.12, Z:-15.43 [[ 9.98066722e-01 6.21041915e-02 2.42668372e-03 9.10274775e+02] [-6.21039837e-02 9.98069672e-01 -1.60958205e-04 2.51117055e+02] [-2.43199560e-03 9.94030179e-06 9.99997043e-01 -1.54285363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.1453361949998 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:910.33, Y:251.11, Z:-15.43 [[ 9.97956592e-01 6.38494385e-02 2.42668918e-03 9.10332923e+02] [-6.38492361e-02 9.97959543e-01 -1.60875705e-04 2.51109444e+02] [-2.43200945e-03 5.60471956e-06 9.99997043e-01 -1.54304221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.205336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:910.39, Y:251.10, Z:-15.43 [[ 9.97682131e-01 6.80035084e-02 2.42669458e-03 9.10391377e+02] [-6.80033184e-02 9.97685082e-01 -1.60794311e-04 2.51101615e+02] [-2.43201156e-03 -4.60167379e-06 9.99997043e-01 -1.54315925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.265336195 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:910.45, Y:251.10, Z:-15.43 [[ 9.97254507e-01 7.40105339e-02 2.42669988e-03 9.10450667e+02] [-7.40103619e-02 9.97257459e-01 -1.60714283e-04 2.51096004e+02] [-2.43193910e-03 -1.93278930e-05 9.99997043e-01 -1.54297345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.3253361949999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:910.51, Y:251.09, Z:-15.43 [[ 9.96939872e-01 7.81345207e-02 2.42670341e-03 9.10509338e+02] [-7.81343610e-02 9.96942825e-01 -1.60660979e-04 2.51090161e+02] [-2.43183772e-03 -2.94395842e-05 9.99997043e-01 -1.54276946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.3853361949998 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:910.57, Y:251.09, Z:-15.43 [[ 9.96561505e-01 8.28207609e-02 2.42671045e-03 9.10569264e+02] [-8.28206154e-02 9.96564458e-01 -1.60554581e-04 2.51085365e+02] [-2.43167063e-03 -4.09791380e-05 9.99997043e-01 -1.54278053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.445336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:910.63, Y:251.08, Z:-15.43 [[ 9.96363335e-01 8.51716892e-02 2.42671428e-03 9.10627323e+02] [-8.51715508e-02 9.96366289e-01 -1.60496679e-04 2.51080982e+02] [-2.43156607e-03 -4.67740115e-05 9.99997043e-01 -1.54318385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.505336195 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:910.69, Y:251.07, Z:-15.43 [[ 9.96211392e-01 8.69308558e-02 2.42671996e-03 9.10685769e+02] [-8.69307229e-02 9.96214346e-01 -1.60410756e-04 2.51074566e+02] [-2.43147788e-03 -5.11534970e-05 9.99997043e-01 -1.54319586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.5653361949999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:910.74, Y:251.07, Z:-15.43 [[ 9.96106820e-01 8.81210219e-02 2.42672699e-03 9.10743950e+02] [-8.81208927e-02 9.96109774e-01 -1.60304268e-04 2.51070446e+02] [-2.43141265e-03 -5.41651741e-05 9.99997043e-01 -1.54293395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.6253361949998 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:910.80, Y:251.07, Z:-15.43 [[ 9.95815352e-01 9.13558752e-02 2.42673629e-03 9.10801637e+02] [-9.13557560e-02 9.95818307e-01 -1.60163356e-04 2.51069893e+02] [-2.43122029e-03 -6.22032000e-05 9.99997043e-01 -1.54297438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.685336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:910.86, Y:251.07, Z:-15.43 [[ 9.95508213e-01 9.46441137e-02 2.42674549e-03 9.10860755e+02] [-9.46440046e-02 9.95511169e-01 -1.60023796e-04 2.51069492e+02] [-2.43099755e-03 -7.03719089e-05 9.99997043e-01 -1.54301608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.745336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:910.92, Y:251.07, Z:-15.43 [[ 9.95066878e-01 9.91767047e-02 2.42675272e-03 9.10920069e+02] [-9.91766093e-02 9.95069834e-01 -1.59914052e-04 2.51071950e+02] [-2.43064818e-03 -8.15519308e-05 9.99997043e-01 -1.54301845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.8053361949999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:910.98, Y:251.07, Z:-15.43 [[ 9.94979272e-01 1.00051783e-01 2.42676022e-03 9.10978731e+02] [-1.00051690e-01 9.94982228e-01 -1.59800278e-04 2.51072014e+02] [-2.43057159e-03 -8.38034969e-05 9.99997043e-01 -1.54295507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.8653361949998 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:911.04, Y:251.08, Z:-15.43 [[ 9.95340069e-01 9.63963615e-02 2.42676767e-03 9.11037438e+02] [-9.63962584e-02 9.95343024e-01 -1.59687074e-04 2.51078089e+02] [-2.43085952e-03 -7.49883801e-05 9.99997043e-01 -1.54283938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.925336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:911.10, Y:251.08, Z:-15.43 [[ 9.96159315e-01 8.75255916e-02 2.42677683e-03 9.11095428e+02] [-8.75254625e-02 9.96162270e-01 -1.59547634e-04 2.51080752e+02] [-2.43142802e-03 -5.34699026e-05 9.99997043e-01 -1.54265788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.985336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:911.15, Y:251.08, Z:-15.43 [[ 9.96937634e-01 7.81630633e-02 2.42678694e-03 9.11154926e+02] [-7.81629068e-02 9.96940587e-01 -1.59393796e-04 2.51082488e+02] [-2.43182110e-03 -3.07790469e-05 9.99997043e-01 -1.54278230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.045336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:911.21, Y:251.08, Z:-15.43 [[ 9.97593506e-01 6.92914624e-02 2.42679417e-03 9.11212604e+02] [-6.92912799e-02 9.97596458e-01 -1.59283611e-04 2.51084393e+02] [-2.43199826e-03 -9.25537794e-06 9.99997043e-01 -1.54306958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.1053361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:911.27, Y:251.09, Z:-15.43 [[ 9.98119875e-01 6.12439852e-02 2.42680397e-03 9.11271357e+02] [-6.12437793e-02 9.98122825e-01 -1.59134138e-04 2.51085252e+02] [-2.43199444e-03 1.02082990e-05 9.99997043e-01 -1.54331712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.1653361949998 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:911.33, Y:251.09, Z:-15.43 [[ 9.98518322e-01 5.43624086e-02 2.42681140e-03 9.11330995e+02] [-5.43621826e-02 9.98521271e-01 -1.59020705e-04 2.51085897e+02] [-2.43186755e-03 2.68583233e-05 9.99997043e-01 -1.54336631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.225336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:911.39, Y:251.08, Z:-15.43 [[ 9.98690725e-01 5.10974149e-02 2.42681507e-03 9.11390506e+02] [-5.10971794e-02 9.98693673e-01 -1.58964752e-04 2.51083376e+02] [-2.43176754e-03 3.47532183e-05 9.99997043e-01 -1.54299984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.285336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:911.45, Y:251.08, Z:-15.43 [[ 9.98895936e-01 4.69150291e-02 2.42681871e-03 9.11449096e+02] [-4.69147815e-02 9.98898883e-01 -1.58909193e-04 2.51080406e+02] [-2.43160172e-03 4.48800779e-05 9.99997043e-01 -1.54297907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.3453361949998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:911.51, Y:251.07, Z:-15.43 [[ 9.99044743e-01 4.36315578e-02 2.42682243e-03 9.11508841e+02] [-4.36313006e-02 9.99047689e-01 -1.58852377e-04 2.51074272e+02] [-2.43144231e-03 5.28152128e-05 9.99997043e-01 -1.54334672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.4053361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:911.57, Y:251.07, Z:-15.44 [[ 9.99050638e-01 4.34963527e-02 2.42682596e-03 9.11567407e+02] [-4.34960952e-02 9.99053584e-01 -1.58798408e-04 2.51069141e+02] [-2.43143632e-03 5.30901977e-05 9.99997043e-01 -1.54361695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.465336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:911.63, Y:251.06, Z:-15.44 [[ 9.98999598e-01 4.46532531e-02 2.42683119e-03 9.11626864e+02] [-4.46529993e-02 9.99002545e-01 -1.58718443e-04 2.51063774e+02] [-2.43149783e-03 5.01943699e-05 9.99997043e-01 -1.54364675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.525336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:911.69, Y:251.06, Z:-15.43 [[ 9.98839190e-01 4.81080315e-02 2.42683468e-03 9.11686536e+02] [-4.81077879e-02 9.98842137e-01 -1.58665061e-04 2.51056977e+02] [-2.43165780e-03 4.17312326e-05 9.99997043e-01 -1.54339377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.5853361949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:911.75, Y:251.05, Z:-15.43 [[ 9.98684261e-01 5.12236069e-02 2.42683811e-03 9.11745722e+02] [-5.12233726e-02 9.98687209e-01 -1.58612503e-04 2.51049629e+02] [-2.43177688e-03 3.40929776e-05 9.99997043e-01 -1.54320484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.6453361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:911.80, Y:251.04, Z:-15.43 [[ 9.98580584e-01 5.32064698e-02 2.42684180e-03 9.11804360e+02] [-5.32062416e-02 9.98583532e-01 -1.58556052e-04 2.51041069e+02] [-2.43184046e-03 2.92078637e-05 9.99997043e-01 -1.54338370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.705336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:911.86, Y:251.03, Z:-15.43 [[ 9.98450261e-01 5.55984408e-02 2.42684731e-03 9.11863105e+02] [-5.55982199e-02 9.98453210e-01 -1.58471721e-04 2.51032698e+02] [-2.43190426e-03 2.32977413e-05 9.99997043e-01 -1.54336921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:911.92, Y:251.03, Z:-15.43 [[ 9.98338574e-01 5.75691131e-02 2.42685473e-03 9.11921105e+02] [-5.75688982e-02 9.98341523e-01 -1.58357975e-04 2.51026477e+02] [-2.43194637e-03 1.83835217e-05 9.99997043e-01 -1.54344724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.8253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:911.98, Y:251.02, Z:-15.43 [[ 9.98048236e-01 6.24005541e-02 2.42686026e-03 9.11979033e+02] [-6.24003538e-02 9.98051186e-01 -1.58273124e-04 2.51017552e+02] [-2.43200710e-03 6.52727292e-06 9.99997043e-01 -1.54344730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.8853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:912.04, Y:251.01, Z:-15.43 [[ 9.97889223e-01 6.48938347e-02 2.42686770e-03 9.12037423e+02] [-6.48936420e-02 9.97892174e-01 -1.58158968e-04 2.51012219e+02] [-2.43201583e-03 3.36845579e-07 9.99997043e-01 -1.54343749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:912.09, Y:251.01, Z:-15.44 [[ 9.97697463e-01 6.77781883e-02 2.42687541e-03 9.12094586e+02] [-6.77780044e-02 9.97700415e-01 -1.58040666e-04 2.51005903e+02] [-2.43200631e-03 -6.81200003e-06 9.99997043e-01 -1.54369538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.005336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:912.15, Y:251.00, Z:-15.44 [[ 9.97510138e-01 7.04814558e-02 2.42688563e-03 9.12152532e+02] [-7.04812803e-02 9.97513090e-01 -1.57883582e-04 2.51000360e+02] [-2.43197804e-03 -1.35595321e-05 9.99997043e-01 -1.54394643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.0653361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:912.21, Y:251.00, Z:-15.44 [[ 9.97337756e-01 7.28801165e-02 2.42688913e-03 9.12211021e+02] [-7.28799482e-02 9.97340708e-01 -1.57829730e-04 2.50995781e+02] [-2.43193797e-03 -1.94620057e-05 9.99997043e-01 -1.54391697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.1253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:912.27, Y:250.99, Z:-15.44 [[ 9.97233166e-01 7.42975305e-02 2.42689470e-03 9.12270861e+02] [-7.42973666e-02 9.97236119e-01 -1.57744032e-04 2.50990266e+02] [-2.43190704e-03 -2.30043044e-05 9.99997043e-01 -1.54386423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:912.33, Y:250.98, Z:-15.44 [[ 9.97281462e-01 7.36464241e-02 2.42689838e-03 9.12328722e+02] [-7.36462585e-02 9.97284415e-01 -1.57687413e-04 2.50983513e+02] [-2.43192104e-03 -2.14732513e-05 9.99997043e-01 -1.54392149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:912.39, Y:250.98, Z:-15.44 [[ 9.97338425e-01 7.28709552e-02 2.42690384e-03 9.12388594e+02] [-7.28707875e-02 9.97341378e-01 -1.57603235e-04 2.50978339e+02] [-2.43193632e-03 -1.96666320e-05 9.99997043e-01 -1.54383840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.3053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:912.45, Y:250.97, Z:-15.44 [[ 9.97360514e-01 7.25680078e-02 2.42690746e-03 9.12447748e+02] [-7.25678393e-02 9.97363466e-01 -1.57547558e-04 2.50971997e+02] [-2.43194175e-03 -1.89837168e-05 9.99997043e-01 -1.54392153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.3653361949998 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:912.51, Y:250.97, Z:-15.44 [[ 9.97279352e-01 7.36749910e-02 2.42691103e-03 9.12505713e+02] [-7.36748259e-02 9.97282305e-01 -1.57492461e-04 2.50965947e+02] [-2.43191868e-03 -2.17382685e-05 9.99997043e-01 -1.54414715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.425336195 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:912.57, Y:250.96, Z:-15.44 [[ 9.97029839e-01 7.69779834e-02 2.42691634e-03 9.12565235e+02] [-7.69778282e-02 9.97032792e-01 -1.57410618e-04 2.50962588e+02] [-2.43183233e-03 -2.98756661e-05 9.99997043e-01 -1.54392424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.485336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:912.62, Y:250.96, Z:-15.44 [[ 9.96847508e-01 7.93041940e-02 2.42692006e-03 9.12624944e+02] [-7.93040458e-02 9.96850462e-01 -1.57353231e-04 2.50958918e+02] [-2.43175516e-03 -3.56074035e-05 9.99997043e-01 -1.54394046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.545336195 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:912.68, Y:250.96, Z:-15.44 [[ 9.96832881e-01 7.94878384e-02 2.42692384e-03 9.12684443e+02] [-7.94876910e-02 9.96835835e-01 -1.57294912e-04 2.50955609e+02] [-2.43174769e-03 -3.61138318e-05 9.99997043e-01 -1.54379321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.6053361949998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:912.74, Y:250.95, Z:-15.44 [[ 9.96831412e-01 7.95062674e-02 2.42692769e-03 9.12743209e+02] [-7.95061202e-02 9.96834365e-01 -1.57235562e-04 2.50952874e+02] [-2.43174613e-03 -3.62182572e-05 9.99997043e-01 -1.54372992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.6653361949998 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:912.80, Y:250.95, Z:-15.44 [[ 9.96827472e-01 7.95556515e-02 2.42693341e-03 9.12801451e+02] [-7.95555047e-02 9.96830425e-01 -1.57147160e-04 2.50949046e+02] [-2.43174301e-03 -3.64273057e-05 9.99997043e-01 -1.54369190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.725336195 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:912.86, Y:250.95, Z:-15.44 [[ 9.96846736e-01 7.93138951e-02 2.42693898e-03 9.12859974e+02] [-7.93137477e-02 9.96849690e-01 -1.57061128e-04 2.50948418e+02] [-2.43175050e-03 -3.59237528e-05 9.99997043e-01 -1.54383894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.785336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:912.92, Y:250.95, Z:-15.44 [[ 9.96916278e-01 7.84349655e-02 2.42694447e-03 9.12918608e+02] [-7.84348157e-02 9.96919232e-01 -1.56976274e-04 2.50946609e+02] [-2.43178004e-03 -3.38647390e-05 9.99997043e-01 -1.54379570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.8453361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:912.98, Y:250.94, Z:-15.44 [[ 9.97064176e-01 7.65319486e-02 2.42695196e-03 9.12977176e+02] [-7.65317934e-02 9.97067129e-01 -1.56860417e-04 2.50944820e+02] [-2.43183885e-03 -2.93390835e-05 9.99997043e-01 -1.54371628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.9053361949998 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:913.04, Y:250.94, Z:-15.44 [[ 9.97336200e-01 7.29014031e-02 2.42695950e-03 9.13035316e+02] [-7.29012375e-02 9.97339152e-01 -1.56743675e-04 2.50942294e+02] [-2.43192856e-03 -2.06022099e-05 9.99997043e-01 -1.54356284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.965336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:913.10, Y:250.94, Z:-15.44 [[ 9.97652279e-01 6.84400462e-02 2.42696695e-03 9.13095198e+02] [-6.84398677e-02 9.97655231e-01 -1.56628231e-04 2.50938387e+02] [-2.43199591e-03 -9.84078493e-06 9.99997043e-01 -1.54355918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.025336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:913.15, Y:250.93, Z:-15.43 [[ 9.98010943e-01 6.29941818e-02 2.42697063e-03 9.13154657e+02] [-6.29939874e-02 9.98013894e-01 -1.56571172e-04 2.50931242e+02] [-2.43201348e-03 3.37518594e-06 9.99997043e-01 -1.54343246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.0853361949999 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:913.21, Y:250.93, Z:-15.43 [[ 9.98235794e-01 5.93246123e-02 2.42697430e-03 9.13214022e+02] [-5.93244071e-02 9.98238744e-01 -1.56514148e-04 2.50925172e+02] [-2.43198492e-03 1.22592133e-05 9.99997043e-01 -1.54337361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.1453361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:913.27, Y:250.92, Z:-15.43 [[ 9.98465854e-01 5.53176951e-02 2.42697801e-03 9.13272566e+02] [-5.53174782e-02 9.98468804e-01 -1.56456604e-04 2.50915000e+02] [-2.43191665e-03 2.19622732e-05 9.99997043e-01 -1.54336545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.205336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:913.33, Y:250.90, Z:-15.43 [[ 9.98501373e-01 5.46728336e-02 2.42697985e-03 9.13332292e+02] [-5.46726148e-02 9.98504322e-01 -1.56428116e-04 2.50903780e+02] [-2.43190224e-03 2.35043538e-05 9.99997043e-01 -1.54328986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.265336195 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:913.39, Y:250.89, Z:-15.43 [[ 9.98326814e-01 5.77726694e-02 2.42697985e-03 9.13392041e+02] [-5.77724599e-02 9.98329764e-01 -1.56428116e-04 2.50893746e+02] [-2.43196349e-03 1.59537866e-05 9.99997043e-01 -1.54345922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.3253361949999 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:913.45, Y:250.88, Z:-15.44 [[ 9.98005019e-01 6.30879709e-02 2.42697985e-03 9.13452269e+02] [-6.30877771e-02 9.98007970e-01 -1.56428116e-04 2.50882057e+02] [-2.43201397e-03 3.00328095e-06 9.99997043e-01 -1.54375259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.3853361949998 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:913.51, Y:250.87, Z:-15.44 [[ 9.97585549e-01 6.94059190e-02 2.42697985e-03 9.13511849e+02] [-6.94057438e-02 9.97588501e-01 -1.56428116e-04 2.50872532e+02] [-2.43198423e-03 -1.23959138e-05 9.99997043e-01 -1.54375932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.445336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:913.57, Y:250.86, Z:-15.44 [[ 9.97130397e-01 7.56642604e-02 2.42697985e-03 9.13570550e+02] [-7.56641038e-02 9.97133351e-01 -1.56428116e-04 2.50862982e+02] [-2.43185857e-03 -2.76560260e-05 9.99997043e-01 -1.54377470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.505336195 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:913.63, Y:250.86, Z:-15.44 [[ 9.96775889e-01 8.01993524e-02 2.42698337e-03 9.13629993e+02] [-8.01992094e-02 9.96778843e-01 -1.56373523e-04 2.50856837e+02] [-2.43170673e-03 -3.87727898e-05 9.99997043e-01 -1.54377707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.5653361949999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:913.69, Y:250.85, Z:-15.44 [[ 9.96125977e-01 8.79041985e-02 2.42698511e-03 9.13688492e+02] [-8.79040783e-02 9.96128932e-01 -1.56346504e-04 2.50851268e+02] [-2.43133360e-03 -5.76010754e-05 9.99997043e-01 -1.54382715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.6253361949998 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:913.75, Y:250.85, Z:-15.44 [[ 9.95919676e-01 9.02114714e-02 2.42699024e-03 9.13747708e+02] [-9.02113583e-02 9.95922631e-01 -1.56266801e-04 2.50846953e+02] [-2.43119156e-03 -6.33129040e-05 9.99997043e-01 -1.54375561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.685336195 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:913.81, Y:250.85, Z:-15.44 [[ 9.95752293e-01 9.20406421e-02 2.42699362e-03 9.13806980e+02] [-9.20405345e-02 9.95755249e-01 -1.56214254e-04 2.50845016e+02] [-2.43106970e-03 -6.78310883e-05 9.99997043e-01 -1.54382069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.745336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:913.87, Y:250.84, Z:-15.44 [[ 9.95774141e-01 9.18039696e-02 2.42699697e-03 9.13866418e+02] [-9.18038615e-02 9.95777097e-01 -1.56162210e-04 2.50844427e+02] [-2.43108431e-03 -6.73054031e-05 9.99997043e-01 -1.54367271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.8053361949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:913.93, Y:250.84, Z:-15.44 [[ 9.95900813e-01 9.04194680e-02 2.42700050e-03 9.13926186e+02] [-9.04193558e-02 9.95903768e-01 -1.56107268e-04 2.50842252e+02] [-2.43117408e-03 -6.39804669e-05 9.99997043e-01 -1.54368472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.8653361949998 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:913.99, Y:250.84, Z:-15.44 [[ 9.96054842e-01 8.87066013e-02 2.42700422e-03 9.13985777e+02] [-8.87064842e-02 9.96057797e-01 -1.56049425e-04 2.50842642e+02] [-2.43127910e-03 -5.98572263e-05 9.99997043e-01 -1.54374877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.925336195 meters Centerline goodness : 0.999505 with order 1 Centerline is valid? [True, True] Translation: X:914.04, Y:250.84, Z:-15.44 [[ 9.96247566e-01 8.65152934e-02 2.42700802e-03 9.14044470e+02] [-8.65151699e-02 9.96250521e-01 -1.55990294e-04 2.50843080e+02] [-2.43140356e-03 -5.45680608e-05 9.99997043e-01 -1.54409947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.985336195 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:914.10, Y:250.84, Z:-15.44 [[ 9.96492764e-01 8.36437691e-02 2.42701369e-03 9.14104407e+02] [-8.36436374e-02 9.96495719e-01 -1.55902059e-04 2.50843485e+02] [-2.43154899e-03 -4.76489791e-05 9.99997043e-01 -1.54403992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.045336195 meters Centerline goodness : 0.999505 with order 1 Centerline is valid? [True, True] Translation: X:914.16, Y:250.84, Z:-15.44 [[ 9.96874921e-01 7.89588620e-02 2.42701730e-03 9.14163083e+02] [-7.89587165e-02 9.96877875e-01 -1.55845922e-04 2.50844692e+02] [-2.43174526e-03 -3.62752795e-05 9.99997043e-01 -1.54441949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.1053361949998 meters Centerline goodness : 0.999484 with order 1 Centerline is valid? [True, True] Translation: X:914.22, Y:250.84, Z:-15.44 [[ 9.97201363e-01 7.47231571e-02 2.42702267e-03 9.14222865e+02] [-7.47229993e-02 9.97204317e-01 -1.55762207e-04 2.50843714e+02] [-2.43187653e-03 -2.60281285e-05 9.99997043e-01 -1.54421395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.1653361949998 meters Centerline goodness : 0.999567 with order 1 Centerline is valid? [True, True] Translation: X:914.28, Y:250.84, Z:-15.44 [[ 9.97351839e-01 7.26871263e-02 2.42702625e-03 9.14282342e+02] [-7.26869626e-02 9.97354792e-01 -1.55706335e-04 2.50842148e+02] [-2.43192411e-03 -2.11191671e-05 9.99997043e-01 -1.54424498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.225336195 meters Centerline goodness : 0.999526 with order 1 Centerline is valid? [True, True] Translation: X:914.34, Y:250.84, Z:-15.44 [[ 9.97500382e-01 7.06193910e-02 2.42702990e-03 9.14342264e+02] [-7.06192213e-02 9.97503334e-01 -1.55649424e-04 2.50840788e+02] [-2.43196229e-03 -1.61346022e-05 9.99997043e-01 -1.54426883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.285336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:914.40, Y:250.84, Z:-15.44 [[ 9.97674945e-01 6.81088419e-02 2.42703352e-03 9.14401631e+02] [-6.81086649e-02 9.97677897e-01 -1.55592952e-04 2.50839569e+02] [-2.43199496e-03 -1.00708229e-05 9.99997043e-01 -1.54414601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.3453361949998 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:914.46, Y:250.84, Z:-15.44 [[ 9.97945247e-01 6.40265018e-02 2.42703710e-03 9.14461994e+02] [-6.40263128e-02 9.97948199e-01 -1.55537228e-04 2.50835047e+02] [-2.43201580e-03 -1.76599343e-07 9.99997043e-01 -1.54439605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.4053361949998 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:914.52, Y:250.83, Z:-15.44 [[ 9.98172061e-01 6.03874739e-02 2.42703710e-03 9.14520726e+02] [-6.03872742e-02 9.98175011e-01 -1.55537228e-04 2.50828551e+02] [-2.43200028e-03 8.69076035e-06 9.99997043e-01 -1.54445503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.465336195 meters Centerline goodness : 0.999397 with order 1 Centerline is valid? [True, True] Translation: X:914.58, Y:250.82, Z:-15.45 [[ 9.98228263e-01 5.94511945e-02 2.42703884e-03 9.14579756e+02] [-5.94509922e-02 9.98231213e-01 -1.55509938e-04 2.50820723e+02] [-2.43199118e-03 1.09445479e-05 9.99997043e-01 -1.54482048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.525336195 meters Centerline goodness : 0.999527 with order 1 Centerline is valid? [True, True] Translation: X:914.64, Y:250.82, Z:-15.45 [[ 9.98179305e-01 6.02676156e-02 2.42704057e-03 9.14639867e+02] [-6.02674157e-02 9.98182255e-01 -1.55483017e-04 2.50816194e+02] [-2.43199942e-03 8.92846657e-06 9.99997043e-01 -1.54492232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.5853361949999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:914.70, Y:250.81, Z:-15.44 [[ 9.97888840e-01 6.48997185e-02 2.42704057e-03 9.14700454e+02] [-6.48995323e-02 9.97891791e-01 -1.55483017e-04 2.50811488e+02] [-2.43201466e-03 -2.35903070e-06 9.99997043e-01 -1.54441873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.6453361949998 meters Centerline goodness : 0.999618 with order 1 Centerline is valid? [True, True] Translation: X:914.76, Y:250.80, Z:-15.45 [[ 9.97521478e-01 7.03207710e-02 2.42704057e-03 9.14759450e+02] [-7.03206008e-02 9.97524430e-01 -1.55483017e-04 2.50804899e+02] [-2.43196595e-03 -1.55733024e-05 9.99997043e-01 -1.54465567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.705336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:914.82, Y:250.80, Z:-15.44 [[ 9.97201767e-01 7.47177764e-02 2.42704243e-03 9.14818776e+02] [-7.47176194e-02 9.97204720e-01 -1.55454024e-04 2.50798508e+02] [-2.43187334e-03 -2.63238049e-05 9.99997043e-01 -1.54432069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.765336195 meters Centerline goodness : 0.999636 with order 1 Centerline is valid? [True, True] Translation: X:914.88, Y:250.79, Z:-15.45 [[ 9.96884094e-01 7.88429570e-02 2.42704620e-03 9.14877013e+02] [-7.88428123e-02 9.96887048e-01 -1.55395002e-04 2.50794265e+02] [-2.43174273e-03 -3.64443428e-05 9.99997043e-01 -1.54471920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.8253361949999 meters Centerline goodness : 0.999554 with order 1 Centerline is valid? [True, True] Translation: X:914.94, Y:250.79, Z:-15.44 [[ 9.96662832e-01 8.15923384e-02 2.42705181e-03 9.14936764e+02] [-8.15922020e-02 9.96665786e-01 -1.55307383e-04 2.50790362e+02] [-2.43163139e-03 -4.32394052e-05 9.99997043e-01 -1.54438263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.8853361949998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:915.00, Y:250.79, Z:-15.44 [[ 9.96575425e-01 8.26530810e-02 2.42705541e-03 9.14996423e+02] [-8.26529479e-02 9.96578379e-01 -1.55251165e-04 2.50787687e+02] [-2.43158293e-03 -4.58837884e-05 9.99997043e-01 -1.54442426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.945336195 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:915.05, Y:250.78, Z:-15.45 [[ 9.96589702e-01 8.24807598e-02 2.42705917e-03 9.15054998e+02] [-8.24806264e-02 9.96592656e-01 -1.55192344e-04 2.50782996e+02] [-2.43158973e-03 -4.55222684e-05 9.99997043e-01 -1.54457277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.005336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:915.11, Y:250.78, Z:-15.45 [[ 9.96690827e-01 8.12496494e-02 2.42706346e-03 9.15114211e+02] [-8.12495124e-02 9.96693781e-01 -1.55125270e-04 2.50779326e+02] [-2.43164293e-03 -4.25857887e-05 9.99997043e-01 -1.54452364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.0653361949999 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:915.17, Y:250.78, Z:-15.45 [[ 9.96834022e-01 7.94735306e-02 2.42706710e-03 9.15172622e+02] [-7.94733886e-02 9.96836976e-01 -1.55068244e-04 2.50776991e+02] [-2.43171405e-03 -3.83099452e-05 9.99997043e-01 -1.54457173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.1253361949998 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:915.23, Y:250.77, Z:-15.44 [[ 9.97026633e-01 7.70194959e-02 2.42707252e-03 9.15232019e+02] [-7.70193468e-02 9.97029586e-01 -1.54983386e-04 2.50774666e+02] [-2.43179985e-03 -3.24089768e-05 9.99997043e-01 -1.54442264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.185336195 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:915.29, Y:250.77, Z:-15.45 [[ 9.97324591e-01 7.30600443e-02 2.42707618e-03 9.15291064e+02] [-7.30598836e-02 9.97327544e-01 -1.54926015e-04 2.50769938e+02] [-2.43190883e-03 -2.28103788e-05 9.99997043e-01 -1.54454409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.245336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:915.35, Y:250.76, Z:-15.45 [[ 9.97723625e-01 6.73919660e-02 2.42707800e-03 9.15351640e+02] [-6.73917886e-02 9.97726577e-01 -1.54897524e-04 2.50763934e+02] [-2.43199907e-03 -9.02020851e-06 9.99997043e-01 -1.54450453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.3053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:915.41, Y:250.76, Z:-15.45 [[ 9.97964914e-01 6.37192263e-02 2.42707800e-03 9.15411773e+02] [-6.37190380e-02 9.97967865e-01 -1.54897524e-04 2.50757969e+02] [-2.43201580e-03 -6.87813771e-08 9.99997043e-01 -1.54464666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.3653361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:915.47, Y:250.75, Z:-15.45 [[ 9.98009154e-01 6.30225168e-02 2.42707800e-03 9.15471589e+02] [-6.30223265e-02 9.98012105e-01 -1.54897524e-04 2.50750796e+02] [-2.43201525e-03 1.62904457e-06 9.99997043e-01 -1.54473505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.425336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:915.53, Y:250.75, Z:-15.45 [[ 9.97962267e-01 6.37606718e-02 2.42707800e-03 9.15532139e+02] [-6.37604837e-02 9.97965218e-01 -1.54897524e-04 2.50745891e+02] [-2.43201579e-03 -1.69783149e-07 9.99997043e-01 -1.54470623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:915.59, Y:250.74, Z:-15.45 [[ 9.97841980e-01 6.56162555e-02 2.42707800e-03 9.15591684e+02] [-6.56160729e-02 9.97844931e-01 -1.54897524e-04 2.50739548e+02] [-2.43201127e-03 -4.69207512e-06 9.99997043e-01 -1.54461690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:915.65, Y:250.73, Z:-15.45 [[ 9.97655028e-01 6.83999624e-02 2.42707975e-03 9.15652195e+02] [-6.83997881e-02 9.97657980e-01 -1.54870131e-04 2.50732853e+02] [-2.43198859e-03 -1.15047759e-05 9.99997043e-01 -1.54482510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.6053361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:915.71, Y:250.73, Z:-15.45 [[ 9.97386249e-01 7.22134370e-02 2.42707975e-03 9.15712147e+02] [-7.22132739e-02 9.97389201e-01 -1.54870130e-04 2.50727651e+02] [-2.43192683e-03 -2.08020362e-05 9.99997043e-01 -1.54524146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.6653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:915.77, Y:250.72, Z:-15.45 [[ 9.96913169e-01 7.84744761e-02 2.42708146e-03 9.15770822e+02] [-7.84743316e-02 9.96916123e-01 -1.54843201e-04 2.50724142e+02] [-2.43174788e-03 -3.60983700e-05 9.99997043e-01 -1.54542118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:915.83, Y:250.72, Z:-15.45 [[ 9.96581432e-01 8.25806181e-02 2.42708655e-03 9.15830512e+02] [-8.25804860e-02 9.96584386e-01 -1.54763408e-04 2.50722158e+02] [-2.43157702e-03 -4.61956484e-05 9.99997043e-01 -1.54483827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:915.89, Y:250.72, Z:-15.45 [[ 9.96102051e-01 8.81748961e-02 2.42709032e-03 9.15889009e+02] [-8.81747808e-02 9.96105007e-01 -1.54704326e-04 2.50720709e+02] [-2.43127786e-03 -5.99068605e-05 9.99997043e-01 -1.54465341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.8453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:915.95, Y:250.72, Z:-15.45 [[ 9.95978721e-01 8.95572300e-02 2.42709589e-03 9.15948748e+02] [-8.95571190e-02 9.95981676e-01 -1.54616891e-04 2.50717903e+02] [-2.43119009e-03 -6.33685814e-05 9.99997043e-01 -1.54491610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.9053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:916.01, Y:250.72, Z:-15.45 [[ 9.95888129e-01 9.05590634e-02 2.42709952e-03 9.16008023e+02] [-9.05589554e-02 9.95891084e-01 -1.54559861e-04 2.50716909e+02] [-2.43112357e-03 -6.58712665e-05 9.99997043e-01 -1.54515952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.965336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:916.07, Y:250.72, Z:-15.45 [[ 9.95868186e-01 9.07781059e-02 2.42710321e-03 9.16067204e+02] [-9.07779987e-02 9.95871142e-01 -1.54501824e-04 2.50716185e+02] [-2.43110743e-03 -6.64641208e-05 9.99997043e-01 -1.54524378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:916.13, Y:250.72, Z:-15.45 [[ 9.95981285e-01 8.95287008e-02 2.42710868e-03 9.16126195e+02] [-8.95285902e-02 9.95984241e-01 -1.54415971e-04 2.50718368e+02] [-2.43118665e-03 -6.35002009e-05 9.99997043e-01 -1.54499287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.0853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:916.19, Y:250.72, Z:-15.45 [[ 9.96257171e-01 8.64046208e-02 2.42711408e-03 9.16186047e+02] [-8.64045011e-02 9.96260126e-01 -1.54331030e-04 2.50719126e+02] [-2.43137189e-03 -5.59601861e-05 9.99997043e-01 -1.54481444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.1453361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:916.24, Y:250.72, Z:-15.45 [[ 9.96429575e-01 8.43931971e-02 2.42711773e-03 9.16244613e+02] [-8.43930716e-02 9.96432529e-01 -1.54273622e-04 2.50718198e+02] [-2.43147870e-03 -5.11091204e-05 9.99997043e-01 -1.54507080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.205336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:916.30, Y:250.72, Z:-15.45 [[ 9.96655771e-01 8.16785298e-02 2.42712314e-03 9.16304814e+02] [-8.16783964e-02 9.96658726e-01 -1.54188329e-04 2.50720067e+02] [-2.43160734e-03 -4.45708379e-05 9.99997043e-01 -1.54496211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:916.36, Y:250.72, Z:-15.45 [[ 9.96994668e-01 7.74321695e-02 2.42712679e-03 9.16363514e+02] [-7.74320237e-02 9.96997622e-01 -1.54130990e-04 2.50722199e+02] [-2.43177433e-03 -3.42695640e-05 9.99997043e-01 -1.54525109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.3253361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:916.42, Y:250.72, Z:-15.45 [[ 9.97381564e-01 7.22781112e-02 2.42713219e-03 9.16423534e+02] [-7.22779504e-02 9.97384517e-01 -1.54045773e-04 2.50723155e+02] [-2.43191821e-03 -2.17857264e-05 9.99997043e-01 -1.54513708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.3853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:916.48, Y:250.72, Z:-15.45 [[ 9.97510223e-01 7.04802355e-02 2.42713576e-03 9.16482001e+02] [-7.04800694e-02 9.97513176e-01 -1.53989564e-04 2.50720464e+02] [-2.43195312e-03 -1.74585322e-05 9.99997043e-01 -1.54525138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:916.54, Y:250.72, Z:-15.46 [[ 9.97922304e-01 6.43831021e-02 2.42714104e-03 9.16541582e+02] [-6.43829182e-02 9.97925256e-01 -1.53906379e-04 2.50720497e+02] [-2.43201431e-03 -2.67981482e-06 9.99997043e-01 -1.54559640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:916.60, Y:250.72, Z:-15.46 [[ 9.98046187e-01 6.24333023e-02 2.42714456e-03 9.16600691e+02] [-6.24331128e-02 9.98049138e-01 -1.53850842e-04 2.50718915e+02] [-2.43201495e-03 2.01605697e-06 9.99997043e-01 -1.54562334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.5653361949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:916.66, Y:250.72, Z:-15.45 [[ 9.98099392e-01 6.15768914e-02 2.42714975e-03 9.16659966e+02] [-6.15766996e-02 9.98102343e-01 -1.53768780e-04 2.50718842e+02] [-2.43201246e-03 4.02065496e-06 9.99997043e-01 -1.54533461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.6253361949998 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:916.72, Y:250.72, Z:-15.46 [[ 9.98064160e-01 6.21453226e-02 2.42715730e-03 9.16717716e+02] [-6.21451327e-02 9.98067111e-01 -1.53649620e-04 2.50716693e+02] [-2.43201448e-03 2.51616673e-06 9.99997043e-01 -1.54553486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:916.78, Y:250.72, Z:-15.45 [[ 9.98024003e-01 6.27869205e-02 2.42716742e-03 9.16777889e+02] [-6.27867329e-02 9.98026955e-01 -1.53489565e-04 2.50716037e+02] [-2.43201565e-03 7.92357859e-07 9.99997043e-01 -1.54531105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:916.84, Y:250.71, Z:-15.45 [[ 9.98040212e-01 6.25287489e-02 2.42717077e-03 9.16837272e+02] [-6.25285606e-02 9.98043163e-01 -1.53436562e-04 2.50713746e+02] [-2.43201539e-03 1.36836440e-06 9.99997043e-01 -1.54524847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.8053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:916.90, Y:250.71, Z:-15.46 [[ 9.97961564e-01 6.37716751e-02 2.42717438e-03 9.16895549e+02] [-6.37714906e-02 9.97964515e-01 -1.53379495e-04 2.50710512e+02] [-2.43201517e-03 -1.71768783e-06 9.99997043e-01 -1.54551360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.8653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:916.96, Y:250.71, Z:-15.45 [[ 9.97744562e-01 6.70812799e-02 2.42717973e-03 9.16955044e+02] [-6.70811055e-02 9.97747514e-01 -1.53294731e-04 2.50709456e+02] [-2.43199575e-03 -9.86891523e-06 9.99997043e-01 -1.54513311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:917.01, Y:250.71, Z:-15.45 [[ 9.97517956e-01 7.03707086e-02 2.42718342e-03 9.17013394e+02] [-7.03705441e-02 9.97520909e-01 -1.53236356e-04 2.50708159e+02] [-2.43194956e-03 -1.79462008e-05 9.99997043e-01 -1.54530734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:917.07, Y:250.71, Z:-15.45 [[ 9.97415052e-01 7.18145075e-02 2.42719072e-03 9.17072530e+02] [-7.18143475e-02 9.97418005e-01 -1.53120528e-04 2.50708230e+02] [-2.43192000e-03 -2.15823988e-05 9.99997043e-01 -1.54534843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.045336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:917.13, Y:250.71, Z:-15.45 [[ 9.97462644e-01 7.11504289e-02 2.42719792e-03 9.17131670e+02] [-7.11502672e-02 9.97465596e-01 -1.53006427e-04 2.50707484e+02] [-2.43193289e-03 -2.00775849e-05 9.99997043e-01 -1.54522924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.1053361949998 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:917.19, Y:250.71, Z:-15.45 [[ 9.97527522e-01 7.02349700e-02 2.42720535e-03 9.17189293e+02] [-7.02348059e-02 9.97530475e-01 -1.52888447e-04 2.50705129e+02] [-2.43194942e-03 -1.79638623e-05 9.99997043e-01 -1.54538933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.1653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:917.25, Y:250.70, Z:-15.45 [[ 9.97595664e-01 6.92603766e-02 2.42721452e-03 9.17248034e+02] [-6.92602100e-02 9.97598617e-01 -1.52742631e-04 2.50704792e+02] [-2.43196486e-03 -1.57340014e-05 9.99997043e-01 -1.54521137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:917.31, Y:250.70, Z:-15.45 [[ 9.97844690e-01 6.55750235e-02 2.42722177e-03 9.17307318e+02] [-6.55748463e-02 9.97847642e-01 -1.52627455e-04 2.50704120e+02] [-2.43200606e-03 -6.86619826e-06 9.99997043e-01 -1.54502940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.285336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:917.37, Y:250.70, Z:-15.45 [[ 9.98187712e-01 6.01281916e-02 2.42722897e-03 9.17365490e+02] [-6.01279985e-02 9.98190663e-01 -1.52512767e-04 2.50699750e+02] [-2.43200761e-03 6.29195052e-06 9.99997043e-01 -1.54517917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.3453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:917.43, Y:250.69, Z:-15.45 [[ 9.98520538e-01 5.43216623e-02 2.42723429e-03 9.17425196e+02] [-5.43214522e-02 9.98523488e-01 -1.52428153e-04 2.50694093e+02] [-2.43193060e-03 2.03517496e-05 9.99997043e-01 -1.54532518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.4053361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:917.49, Y:250.69, Z:-15.46 [[ 9.98771319e-01 4.94970749e-02 2.42723779e-03 9.17485091e+02] [-4.94968508e-02 9.98774268e-01 -1.52372355e-04 2.50688477e+02] [-2.43180463e-03 3.20445117e-05 9.99997043e-01 -1.54551833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:917.54, Y:250.68, Z:-15.46 [[ 9.98850512e-01 4.78723552e-02 2.42724330e-03 9.17544552e+02] [-4.78721265e-02 9.98853461e-01 -1.52284520e-04 2.50680972e+02] [-2.43175059e-03 3.59121726e-05 9.99997043e-01 -1.54556003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:917.60, Y:250.68, Z:-15.46 [[ 9.98852259e-01 4.78359029e-02 2.42724673e-03 9.17603400e+02] [-4.78356742e-02 9.98855207e-01 -1.52229747e-04 2.50675405e+02] [-2.43175009e-03 3.59460431e-05 9.99997043e-01 -1.54562669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.5853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:917.66, Y:250.67, Z:-15.46 [[ 9.98846945e-01 4.79467338e-02 2.42725184e-03 9.17662734e+02] [-4.79465056e-02 9.98849893e-01 -1.52148243e-04 2.50666146e+02] [-2.43175526e-03 3.55945639e-05 9.99997043e-01 -1.54563186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.6453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:917.72, Y:250.66, Z:-15.45 [[ 9.98750449e-01 4.99164222e-02 2.42725352e-03 9.17721784e+02] [-4.99161999e-02 9.98753398e-01 -1.52121510e-04 2.50657924e+02] [-2.43182106e-03 3.07721542e-05 9.99997043e-01 -1.54546106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:917.78, Y:250.65, Z:-15.46 [[ 9.98615118e-01 5.25542930e-02 2.42725684e-03 9.17780549e+02] [-5.25540786e-02 9.98618068e-01 -1.52068474e-04 2.50649674e+02] [-2.43189439e-03 2.42956304e-05 9.99997043e-01 -1.54555996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:917.84, Y:250.64, Z:-15.46 [[ 9.98424070e-01 5.60667926e-02 2.42726016e-03 9.17839784e+02] [-5.60665887e-02 9.98427020e-01 -1.52015557e-04 2.50641449e+02] [-2.43196515e-03 1.56877946e-05 9.99997043e-01 -1.54586554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.8253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:917.90, Y:250.63, Z:-15.46 [[ 9.98159210e-01 6.05994996e-02 2.42726343e-03 9.17898966e+02] [-6.05993092e-02 9.98162161e-01 -1.51963181e-04 2.50633331e+02] [-2.43201141e-03 4.59296119e-06 9.99997043e-01 -1.54568462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.8853361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:917.96, Y:250.63, Z:-15.46 [[ 9.97986090e-01 6.33866894e-02 2.42726702e-03 9.17956923e+02] [-6.33865074e-02 9.97989042e-01 -1.51905941e-04 2.50627147e+02] [-2.43201470e-03 -2.25596287e-06 9.99997043e-01 -1.54593837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:918.02, Y:250.62, Z:-15.46 [[ 9.97983382e-01 6.34293104e-02 2.42727233e-03 9.18015874e+02] [-6.34291287e-02 9.97986334e-01 -1.51821046e-04 2.50617872e+02] [-2.43201451e-03 -2.44488762e-06 9.99997043e-01 -1.54560229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:918.07, Y:250.61, Z:-15.45 [[ 9.98115408e-01 6.13167256e-02 2.42727586e-03 9.18074932e+02] [-6.13165378e-02 9.98118359e-01 -1.51764484e-04 2.50610340e+02] [-2.43201430e-03 2.64631787e-06 9.99997043e-01 -1.54549658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.0653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:918.13, Y:250.60, Z:-15.46 [[ 9.98313337e-01 5.80050880e-02 2.42727940e-03 9.18133754e+02] [-5.80048905e-02 9.98316287e-01 -1.51707856e-04 2.50599428e+02] [-2.43199239e-03 1.06578999e-05 9.99997043e-01 -1.54600815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.1253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:918.19, Y:250.59, Z:-15.46 [[ 9.98441567e-01 5.57543379e-02 2.42727726e-03 9.18193477e+02] [-5.57541338e-02 9.98444517e-01 -1.51742128e-04 2.50588286e+02] [-2.43196195e-03 1.61749074e-05 9.99997043e-01 -1.54586359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.185336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:918.25, Y:250.58, Z:-15.46 [[ 9.98463592e-01 5.53584997e-02 2.42727726e-03 9.18253899e+02] [-5.53582944e-02 9.98466542e-01 -1.51742128e-04 2.50577956e+02] [-2.43195535e-03 1.71390615e-05 9.99997043e-01 -1.54585486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:918.31, Y:250.57, Z:-15.46 [[ 9.98444991e-01 5.56929871e-02 2.42727726e-03 9.18314293e+02] [-5.56927827e-02 9.98447941e-01 -1.51742128e-04 2.50570047e+02] [-2.43196095e-03 1.63243429e-05 9.99997043e-01 -1.54587260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.3053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:918.37, Y:250.56, Z:-15.46 [[ 9.98383045e-01 5.67926354e-02 2.42727550e-03 9.18374111e+02] [-5.67924342e-02 9.98385996e-01 -1.51770231e-04 2.50562468e+02] [-2.43197730e-03 1.36739409e-05 9.99997043e-01 -1.54572809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.3653361949998 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:918.43, Y:250.55, Z:-15.46 [[ 9.98145798e-01 6.08200232e-02 2.42727550e-03 9.18433615e+02] [-6.08198340e-02 9.98148749e-01 -1.51770231e-04 2.50553241e+02] [-2.43201268e-03 3.86232503e-06 9.99997043e-01 -1.54570182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:918.49, Y:250.55, Z:-15.46 [[ 9.97731319e-01 6.72779541e-02 2.42727375e-03 9.18492902e+02] [-6.72777839e-02 9.97734272e-01 -1.51798316e-04 2.50548430e+02] [-2.43198688e-03 -1.18476643e-05 9.99997043e-01 -1.54598478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:918.55, Y:250.54, Z:-15.46 [[ 9.97476098e-01 7.09615487e-02 2.42727549e-03 9.18553686e+02] [-7.09613895e-02 9.97479051e-01 -1.51770489e-04 2.50543203e+02] [-2.43192632e-03 -2.08554062e-05 9.99997043e-01 -1.54589728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:918.61, Y:250.54, Z:-15.46 [[ 9.97251288e-01 7.40538740e-02 2.42727549e-03 9.18612984e+02] [-7.40537239e-02 9.97254242e-01 -1.51770489e-04 2.50539559e+02] [-2.43184997e-03 -2.83954733e-05 9.99997043e-01 -1.54579341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.6053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:918.67, Y:250.54, Z:-15.46 [[ 9.97334305e-01 7.29273112e-02 2.42727720e-03 9.18673213e+02] [-7.29271578e-02 9.97337258e-01 -1.51743079e-04 2.50536367e+02] [-2.43188020e-03 -2.56758494e-05 9.99997043e-01 -1.54580437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.6653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:918.73, Y:250.53, Z:-15.46 [[ 9.97492494e-01 7.07307004e-02 2.42727720e-03 9.18733345e+02] [-7.07305406e-02 9.97495447e-01 -1.51743079e-04 2.50532395e+02] [-2.43193085e-03 -2.03200463e-05 9.99997043e-01 -1.54587075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:918.79, Y:250.53, Z:-15.46 [[ 9.97600204e-01 6.91949488e-02 2.42727720e-03 9.18793321e+02] [-6.91947844e-02 9.97603157e-01 -1.51743079e-04 2.50529865e+02] [-2.43195925e-03 -1.65759961e-05 9.99997043e-01 -1.54566191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:918.85, Y:250.53, Z:-15.46 [[ 9.97717100e-01 6.74884870e-02 2.42727720e-03 9.18853253e+02] [-6.74883175e-02 9.97720053e-01 -1.51743079e-04 2.50528487e+02] [-2.43198405e-03 -1.24161899e-05 9.99997043e-01 -1.54592519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.8453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:918.91, Y:250.53, Z:-15.46 [[ 9.97867405e-01 6.52284551e-02 2.42727532e-03 9.18913055e+02] [-6.52282789e-02 9.97870357e-01 -1.51773132e-04 2.50526019e+02] [-2.43200602e-03 -6.87753034e-06 9.99997043e-01 -1.54618429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.9053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:918.97, Y:250.52, Z:-15.46 [[ 9.98020831e-01 6.28373291e-02 2.42727713e-03 9.18973615e+02] [-6.28371459e-02 9.98023782e-01 -1.51744260e-04 2.50522052e+02] [-2.43201550e-03 -1.07923452e-06 9.99997043e-01 -1.54611587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:919.03, Y:250.52, Z:-15.46 [[ 9.98494661e-01 5.47952575e-02 2.42727713e-03 9.19033968e+02] [-5.47950505e-02 9.98497611e-01 -1.51744260e-04 2.50518406e+02] [-2.43194528e-03 1.85130608e-05 9.99997043e-01 -1.54580722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:919.10, Y:250.51, Z:-15.46 [[ 9.98680705e-01 5.12928669e-02 2.42727534e-03 9.19095389e+02] [-5.12926495e-02 9.98683654e-01 -1.51772869e-04 2.50513608e+02] [-2.43186507e-03 2.70712522e-05 9.99997043e-01 -1.54573543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.0853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:919.16, Y:250.51, Z:-15.46 [[ 9.98852653e-01 4.78276768e-02 2.42727164e-03 9.19156995e+02] [-4.78274490e-02 9.98855601e-01 -1.51831958e-04 2.50506960e+02] [-2.43175564e-03 3.55675432e-05 9.99997043e-01 -1.54592866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.1453361949998 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:919.22, Y:250.50, Z:-15.46 [[ 9.98889260e-01 4.70569239e-02 2.42724553e-03 9.19219083e+02] [-4.70566929e-02 9.98892209e-01 -1.52248251e-04 2.50501696e+02] [-2.43172098e-03 3.78609960e-05 9.99997043e-01 -1.54601302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.205336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:919.28, Y:250.49, Z:-15.46 [[ 9.98835552e-01 4.81834916e-02 2.42721943e-03 9.19279048e+02] [-4.81832628e-02 9.98838500e-01 -1.52663182e-04 2.50494308e+02] [-2.43175606e-03 3.55340623e-05 9.99997043e-01 -1.54606048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.265336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:919.34, Y:250.49, Z:-15.46 [[ 9.98693331e-01 5.10464433e-02 2.42721759e-03 9.19340174e+02] [-5.10462229e-02 9.98696280e-01 -1.52692468e-04 2.50486622e+02] [-2.43184758e-03 2.85926592e-05 9.99997043e-01 -1.54599781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.3253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:919.40, Y:250.48, Z:-15.46 [[ 9.98309466e-01 5.80716716e-02 2.42721395e-03 9.19400369e+02] [-5.80714719e-02 9.98312416e-01 -1.52750355e-04 2.50479577e+02] [-2.43198829e-03 1.15402386e-05 9.99997043e-01 -1.54606800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.3853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:919.46, Y:250.47, Z:-15.46 [[ 9.97713167e-01 6.75466064e-02 2.42721214e-03 9.19461054e+02] [-6.75464346e-02 9.97716120e-01 -1.52779076e-04 2.50473941e+02] [-2.43198838e-03 -1.15198304e-05 9.99997043e-01 -1.54601959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:919.52, Y:250.47, Z:-15.46 [[ 9.97152643e-01 7.53705219e-02 2.42720845e-03 9.19521080e+02] [-7.53703731e-02 9.97155596e-01 -1.52837656e-04 2.50470927e+02] [-2.43182394e-03 -3.05371335e-05 9.99997043e-01 -1.54632733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:919.58, Y:250.47, Z:-15.46 [[ 9.96867281e-01 7.90552513e-02 2.42720662e-03 9.19582079e+02] [-7.90551134e-02 9.96870235e-01 -1.52866727e-04 2.50469035e+02] [-2.43169495e-03 -3.94952558e-05 9.99997043e-01 -1.54636635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.5653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:919.64, Y:250.47, Z:-15.46 [[ 9.96568747e-01 8.27335605e-02 2.42720662e-03 9.19642029e+02] [-8.27334335e-02 9.96571701e-01 -1.52866727e-04 2.50467903e+02] [-2.43153264e-03 -4.84689346e-05 9.99997043e-01 -1.54627952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.6253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:919.70, Y:250.47, Z:-15.46 [[ 9.96564600e-01 8.27834985e-02 2.42720841e-03 9.19702067e+02] [-8.27833717e-02 9.96567554e-01 -1.52838346e-04 2.50466433e+02] [-2.43152964e-03 -4.86192103e-05 9.99997043e-01 -1.54612773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:919.76, Y:250.47, Z:-15.46 [[ 9.96755480e-01 8.04526052e-02 2.42721020e-03 9.19762582e+02] [-8.04524715e-02 9.96758434e-01 -1.52809802e-04 2.50465774e+02] [-2.43163619e-03 -4.29610518e-05 9.99997043e-01 -1.54611255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:919.82, Y:250.46, Z:-15.46 [[ 9.97131381e-01 7.56512944e-02 2.42721020e-03 9.19822571e+02] [-7.56511465e-02 9.97134334e-01 -1.52809802e-04 2.50464762e+02] [-2.43181489e-03 -3.12497856e-05 9.99997043e-01 -1.54620702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.8053361949999 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:919.88, Y:250.46, Z:-15.46 [[ 9.97510320e-01 7.04788665e-02 2.42720173e-03 9.19882977e+02] [-7.04787029e-02 9.97513273e-01 -1.52944202e-04 2.50464099e+02] [-2.43194528e-03 -1.85026098e-05 9.99997043e-01 -1.54622689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.8653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:919.94, Y:250.46, Z:-15.46 [[ 9.97737502e-01 6.71862071e-02 2.42720173e-03 9.19943748e+02] [-6.71860338e-02 9.97740454e-01 -1.52944202e-04 2.50463113e+02] [-2.43199310e-03 -1.04758915e-05 9.99997043e-01 -1.54636465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:920.00, Y:250.46, Z:-15.46 [[ 9.97910374e-01 6.45677561e-02 2.42720173e-03 9.20004083e+02] [-6.45675751e-02 9.97913325e-01 -1.52944202e-04 2.50462062e+02] [-2.43201222e-03 -4.09392401e-06 9.99997043e-01 -1.54642909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.985336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:920.07, Y:250.46, Z:-15.46 [[ 9.98022071e-01 6.28176317e-02 2.42720173e-03 9.20065106e+02] [-6.28174456e-02 9.98025022e-01 -1.52944202e-04 2.50462756e+02] [-2.43201566e-03 1.71076707e-07 9.99997043e-01 -1.54625210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:920.12, Y:250.46, Z:-15.46 [[ 9.97967008e-01 6.36864107e-02 2.42720173e-03 9.20124587e+02] [-6.36862271e-02 9.97969960e-01 -1.52944202e-04 2.50461735e+02] [-2.43201488e-03 -1.94605273e-06 9.99997043e-01 -1.54648498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.1053361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:920.19, Y:250.46, Z:-15.46 [[ 9.97775844e-01 6.66143657e-02 2.42720357e-03 9.20185171e+02] [-6.66141908e-02 9.97778796e-01 -1.52915003e-04 2.50462923e+02] [-2.43199860e-03 -9.11130610e-06 9.99997043e-01 -1.54609025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.1653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:920.24, Y:250.46, Z:-15.46 [[ 9.97568183e-01 6.96550744e-02 2.42720357e-03 9.20244651e+02] [-6.96549085e-02 9.97571135e-01 -1.52915003e-04 2.50463814e+02] [-2.43195953e-03 -1.65235015e-05 9.99997043e-01 -1.54615072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:920.30, Y:250.46, Z:-15.46 [[ 9.97393371e-01 7.21149926e-02 2.42720722e-03 9.20304287e+02] [-7.21148341e-02 9.97396324e-01 -1.52857122e-04 2.50464290e+02] [-2.43191085e-03 -2.25789654e-05 9.99997043e-01 -1.54625130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.285336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:920.36, Y:250.47, Z:-15.46 [[ 9.97259698e-01 7.39405388e-02 2.42721089e-03 9.20364020e+02] [-7.39403859e-02 9.97262651e-01 -1.52798817e-04 2.50467301e+02] [-2.43186479e-03 -2.70888077e-05 9.99997043e-01 -1.54621117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.3453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:920.42, Y:250.47, Z:-15.46 [[ 9.97244065e-01 7.41510906e-02 2.42721465e-03 9.20423072e+02] [-7.41509385e-02 9.97247018e-01 -1.52739030e-04 2.50472529e+02] [-2.43185834e-03 -2.76621530e-05 9.99997043e-01 -1.54643402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.4053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:920.48, Y:250.48, Z:-15.46 [[ 9.97387091e-01 7.22017996e-02 2.42722023e-03 9.20483317e+02] [-7.22016419e-02 9.97390044e-01 -1.52650403e-04 2.50475477e+02] [-2.43190692e-03 -2.29977442e-05 9.99997043e-01 -1.54645372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:920.54, Y:250.48, Z:-15.47 [[ 9.97662978e-01 6.82838974e-02 2.42722394e-03 9.20543182e+02] [-6.82837283e-02 9.97665931e-01 -1.52591250e-04 2.50476903e+02] [-2.43197816e-03 -1.35052597e-05 9.99997043e-01 -1.54661370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:920.60, Y:250.48, Z:-15.47 [[ 9.98004593e-01 6.30946952e-02 2.42722771e-03 9.20601945e+02] [-6.30945109e-02 9.98007545e-01 -1.52531367e-04 2.50478860e+02] [-2.43201548e-03 -9.17739772e-07 9.99997043e-01 -1.54660949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.5853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:920.66, Y:250.48, Z:-15.46 [[ 9.98324326e-01 5.78156480e-02 2.42723328e-03 9.20661723e+02] [-5.78154482e-02 9.98327276e-01 -1.52442600e-04 2.50476921e+02] [-2.43198676e-03 1.18555758e-05 9.99997043e-01 -1.54643959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.6453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:920.72, Y:250.47, Z:-15.47 [[ 9.98532023e-01 5.41101355e-02 2.42723699e-03 9.20720603e+02] [-5.41099250e-02 9.98534973e-01 -1.52383569e-04 2.50472960e+02] [-2.43192652e-03 2.08222623e-05 9.99997043e-01 -1.54665020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.705336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:920.78, Y:250.47, Z:-15.47 [[ 9.98678273e-01 5.13401954e-02 2.42724245e-03 9.20780129e+02] [-5.13399768e-02 9.98681222e-01 -1.52296584e-04 2.50469656e+02] [-2.43186039e-03 2.74807183e-05 9.99997043e-01 -1.54668078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:920.84, Y:250.47, Z:-15.47 [[ 9.98759600e-01 4.97329929e-02 2.42724600e-03 9.20839986e+02] [-4.97327698e-02 9.98762549e-01 -1.52239960e-04 2.50465149e+02] [-2.43181375e-03 3.13374553e-05 9.99997043e-01 -1.54678307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.8253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:920.90, Y:250.46, Z:-15.47 [[ 9.98752714e-01 4.98710723e-02 2.42724960e-03 9.20899682e+02] [-4.98708497e-02 9.98755663e-01 -1.52182514e-04 2.50459192e+02] [-2.43181879e-03 3.09436985e-05 9.99997043e-01 -1.54673407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.8853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:920.96, Y:250.45, Z:-15.47 [[ 9.98681431e-01 5.12787249e-02 2.42725327e-03 9.20958167e+02] [-5.12785066e-02 9.98684380e-01 -1.52123868e-04 2.50454818e+02] [-2.43186065e-03 2.74573589e-05 9.99997043e-01 -1.54665181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:921.02, Y:250.45, Z:-15.46 [[ 9.98553497e-01 5.37124002e-02 2.42725873e-03 9.21018158e+02] [-5.37121893e-02 9.98556447e-01 -1.52036747e-04 2.50450856e+02] [-2.43192111e-03 2.14434453e-05 9.99997043e-01 -1.54644788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:921.08, Y:250.45, Z:-15.47 [[ 9.98428340e-01 5.59906963e-02 2.42726235e-03 9.21076691e+02] [-5.59904922e-02 9.98431290e-01 -1.51978951e-04 2.50446576e+02] [-2.43196409e-03 1.58364778e-05 9.99997043e-01 -1.54657355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.0653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:921.14, Y:250.44, Z:-15.47 [[ 9.98406071e-01 5.63864028e-02 2.42726772e-03 9.21136133e+02] [-5.63862001e-02 9.98409021e-01 -1.51893217e-04 2.50444616e+02] [-2.43197070e-03 1.47867063e-05 9.99997043e-01 -1.54674500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.1253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:921.20, Y:250.44, Z:-15.47 [[ 9.98467073e-01 5.52956831e-02 2.42727126e-03 9.21195716e+02] [-5.52954773e-02 9.98470023e-01 -1.51836592e-04 2.50440626e+02] [-2.43195350e-03 1.73867151e-05 9.99997043e-01 -1.54697635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.185336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:921.25, Y:250.44, Z:-15.47 [[ 9.98555127e-01 5.36820972e-02 2.42727478e-03 9.21254837e+02] [-5.36818868e-02 9.98558076e-01 -1.51780265e-04 2.50436358e+02] [-2.43192272e-03 2.12602721e-05 9.99997043e-01 -1.54714877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:921.31, Y:250.43, Z:-15.47 [[ 9.98593000e-01 5.29729142e-02 2.42727831e-03 9.21314244e+02] [-5.29727018e-02 9.98595949e-01 -1.51723788e-04 2.50432280e+02] [-2.43190754e-03 2.29308227e-05 9.99997043e-01 -1.54727376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.3053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:921.37, Y:250.43, Z:-15.47 [[ 9.98582557e-01 5.31694001e-02 2.42728185e-03 9.21373639e+02] [-5.31691885e-02 9.98585507e-01 -1.51667078e-04 2.50428103e+02] [-2.43191253e-03 2.23954925e-05 9.99997043e-01 -1.54747558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.3653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:921.43, Y:250.42, Z:-15.47 [[ 9.98565430e-01 5.34901016e-02 2.42728536e-03 9.21433114e+02] [-5.34898911e-02 9.98568380e-01 -1.51610916e-04 2.50424680e+02] [-2.43192009e-03 2.15581899e-05 9.99997043e-01 -1.54731828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:921.49, Y:250.42, Z:-15.47 [[ 9.98566256e-01 5.34746738e-02 2.42728886e-03 9.21491258e+02] [-5.34744633e-02 9.98569206e-01 -1.51554940e-04 2.50419334e+02] [-2.43192026e-03 2.15396799e-05 9.99997043e-01 -1.54739044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:921.55, Y:250.41, Z:-15.47 [[ 9.98601895e-01 5.28049627e-02 2.42729255e-03 9.21550668e+02] [-5.28047504e-02 9.98604844e-01 -1.51495717e-04 2.50413323e+02] [-2.43190583e-03 2.31113329e-05 9.99997043e-01 -1.54721226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:921.61, Y:250.40, Z:-15.47 [[ 9.98619655e-01 5.24680154e-02 2.42729609e-03 9.21609555e+02] [-5.24678023e-02 9.98622605e-01 -1.51439042e-04 2.50404854e+02] [-2.43189845e-03 2.38751125e-05 9.99997043e-01 -1.54721142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.6053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:921.67, Y:250.40, Z:-15.47 [[ 9.98607161e-01 5.27052688e-02 2.42729962e-03 9.21669350e+02] [-5.27050565e-02 9.98610111e-01 -1.51382366e-04 2.50398033e+02] [-2.43190460e-03 2.32405515e-05 9.99997043e-01 -1.54723117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.6653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:921.73, Y:250.39, Z:-15.47 [[ 9.98527095e-01 5.42010052e-02 2.42729962e-03 9.21729018e+02] [-5.42007973e-02 9.98530045e-01 -1.51382367e-04 2.50389848e+02] [-2.43193668e-03 1.95978198e-05 9.99997043e-01 -1.54702771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:921.79, Y:250.38, Z:-15.47 [[ 9.98389771e-01 5.66742668e-02 2.42729962e-03 9.21788072e+02] [-5.66740663e-02 9.98392722e-01 -1.51382367e-04 2.50382207e+02] [-2.43197776e-03 1.35736667e-05 9.99997043e-01 -1.54686243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:921.85, Y:250.37, Z:-15.47 [[ 9.98309027e-01 5.80792074e-02 2.42730320e-03 9.21848445e+02] [-5.80790111e-02 9.98311978e-01 -1.51324939e-04 2.50374415e+02] [-2.43199470e-03 1.00936825e-05 9.99997043e-01 -1.54683973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.8453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:921.91, Y:250.37, Z:-15.47 [[ 9.98349881e-01 5.73726675e-02 2.42730320e-03 9.21907377e+02] [-5.73724692e-02 9.98352832e-01 -1.51324938e-04 2.50365051e+02] [-2.43198694e-03 1.18148562e-05 9.99997043e-01 -1.54696665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.9053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:921.97, Y:250.36, Z:-15.47 [[ 9.98438023e-01 5.58177530e-02 2.42730504e-03 9.21967391e+02] [-5.58175501e-02 9.98440974e-01 -1.51295494e-04 2.50357906e+02] [-2.43196578e-03 1.55729533e-05 9.99997043e-01 -1.54734290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:922.03, Y:250.35, Z:-15.47 [[ 9.98417950e-01 5.61756639e-02 2.42730504e-03 9.22027871e+02] [-5.61754621e-02 9.98420901e-01 -1.51295494e-04 2.50351267e+02] [-2.43197121e-03 1.47011549e-05 9.99997043e-01 -1.54733489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.025336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:922.09, Y:250.35, Z:-15.47 [[ 9.98298496e-01 5.82599442e-02 2.42730504e-03 9.22087401e+02] [-5.82597485e-02 9.98301447e-01 -1.51295494e-04 2.50346063e+02] [-2.43199660e-03 9.62388310e-06 9.99997043e-01 -1.54731157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.0853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:922.15, Y:250.34, Z:-15.47 [[ 9.98256496e-01 5.89752205e-02 2.42730683e-03 9.22147507e+02] [-5.89750270e-02 9.98259447e-01 -1.51266760e-04 2.50342431e+02] [-2.43200296e-03 7.85254027e-06 9.99997043e-01 -1.54730528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.1453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:922.21, Y:250.34, Z:-15.47 [[ 9.98290387e-01 5.83987252e-02 2.42730683e-03 9.22207835e+02] [-5.83985300e-02 9.98293338e-01 -1.51266760e-04 2.50338555e+02] [-2.43199802e-03 9.25700213e-06 9.99997043e-01 -1.54738827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:922.27, Y:250.33, Z:-15.48 [[ 9.98429448e-01 5.59709300e-02 2.42730683e-03 9.22266721e+02] [-5.59707277e-02 9.98432399e-01 -1.51266760e-04 2.50334329e+02] [-2.43196832e-03 1.51710586e-05 9.99997043e-01 -1.54759215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.265336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:922.33, Y:250.33, Z:-15.47 [[ 9.98532919e-01 5.40936026e-02 2.42730866e-03 9.22326623e+02] [-5.40933948e-02 9.98535869e-01 -1.51237427e-04 2.50329487e+02] [-2.43193574e-03 1.97141837e-05 9.99997043e-01 -1.54739081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.3253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:922.39, Y:250.33, Z:-15.47 [[ 9.98619970e-01 5.24620201e-02 2.42730866e-03 9.22386146e+02] [-5.24618074e-02 9.98622920e-01 -1.51237427e-04 2.50325758e+02] [-2.43190028e-03 2.36877151e-05 9.99997043e-01 -1.54732366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.3853361949998 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:922.45, Y:250.32, Z:-15.47 [[ 9.98704553e-01 5.08264069e-02 2.42731043e-03 9.22446121e+02] [-5.08261894e-02 9.98707503e-01 -1.51208917e-04 2.50320429e+02] [-2.43185855e-03 2.76420940e-05 9.99997043e-01 -1.54704202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.445336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:922.51, Y:250.32, Z:-15.47 [[ 9.98822479e-01 4.84537289e-02 2.42730868e-03 9.22507674e+02] [-4.84535044e-02 9.98825428e-01 -1.51237012e-04 2.50315314e+02] [-2.43178563e-03 3.34473154e-05 9.99997043e-01 -1.54695645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:922.57, Y:250.31, Z:-15.47 [[ 9.98894718e-01 4.69409308e-02 2.42730499e-03 9.22568393e+02] [-4.69407017e-02 9.98897666e-01 -1.51296302e-04 2.50309988e+02] [-2.43173128e-03 3.71896772e-05 9.99997043e-01 -1.54723323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.5653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:922.63, Y:250.30, Z:-15.48 [[ 9.98863547e-01 4.75996097e-02 2.42730132e-03 9.22628977e+02] [-4.75993824e-02 9.98866496e-01 -1.51355064e-04 2.50303306e+02] [-2.43175441e-03 3.56450119e-05 9.99997043e-01 -1.54751935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.6253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:922.69, Y:250.30, Z:-15.48 [[ 9.98735795e-01 5.02087617e-02 2.42729770e-03 9.22689805e+02] [-5.02085420e-02 9.98738744e-01 -1.51413218e-04 2.50298969e+02] [-2.43183852e-03 2.93507219e-05 9.99997043e-01 -1.54762579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:922.75, Y:250.29, Z:-15.48 [[ 9.98607109e-01 5.27062554e-02 2.42729587e-03 9.22749486e+02] [-5.27060430e-02 9.98610059e-01 -1.51442408e-04 2.50292559e+02] [-2.43190404e-03 2.32983045e-05 9.99997043e-01 -1.54791728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:922.81, Y:250.29, Z:-15.48 [[ 9.98538600e-01 5.39886329e-02 2.42729407e-03 9.22809778e+02] [-5.39884242e-02 9.98541550e-01 -1.51471374e-04 2.50287443e+02] [-2.43193171e-03 2.02042316e-05 9.99997043e-01 -1.54761786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.8053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:922.87, Y:250.28, Z:-15.48 [[ 9.98518341e-01 5.43620445e-02 2.42729407e-03 9.22870849e+02] [-5.43618369e-02 9.98521291e-01 -1.51471374e-04 2.50282582e+02] [-2.43193910e-03 1.92947805e-05 9.99997043e-01 -1.54754059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.8653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:922.93, Y:250.27, Z:-15.48 [[ 9.98585653e-01 5.31112229e-02 2.42729052e-03 9.22931849e+02] [-5.31110115e-02 9.98588603e-01 -1.51528188e-04 2.50274902e+02] [-2.43191250e-03 2.23980195e-05 9.99997043e-01 -1.54754141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:922.99, Y:250.26, Z:-15.48 [[ 9.98744207e-01 5.00411625e-02 2.42728697e-03 9.22993118e+02] [-5.00409419e-02 9.98747156e-01 -1.51585040e-04 2.50264679e+02] [-2.43183145e-03 2.99309548e-05 9.99997043e-01 -1.54764224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.985336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:923.05, Y:250.26, Z:-15.48 [[ 9.98860132e-01 4.76712193e-02 2.42728343e-03 9.23054419e+02] [-4.76709915e-02 9.98863080e-01 -1.51641702e-04 2.50256312e+02] [-2.43175275e-03 3.57578430e-05 9.99997043e-01 -1.54751973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:923.12, Y:250.25, Z:-15.48 [[ 9.98875545e-01 4.73471638e-02 2.42725875e-03 9.23116162e+02] [-4.73469341e-02 9.98878493e-01 -1.52035690e-04 2.50245375e+02] [-2.43173502e-03 3.69414721e-05 9.99997043e-01 -1.54770084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.1053361949998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:923.18, Y:250.23, Z:-15.48 [[ 9.98804424e-01 4.88244958e-02 2.42723414e-03 9.23178182e+02] [-4.88242695e-02 9.98807373e-01 -1.52427533e-04 2.50232980e+02] [-2.43178156e-03 3.37373603e-05 9.99997043e-01 -1.54794741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.1653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:923.24, Y:250.22, Z:-15.48 [[ 9.98677109e-01 5.13628272e-02 2.42722521e-03 9.23240109e+02] [-5.13626081e-02 9.98680058e-01 -1.52569669e-04 2.50224448e+02] [-2.43185782e-03 2.76992184e-05 9.99997043e-01 -1.54803293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.225336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:923.30, Y:250.22, Z:-15.48 [[ 9.98231850e-01 5.93909362e-02 2.42720029e-03 9.23301004e+02] [-5.93907399e-02 9.98234800e-01 -1.52965164e-04 2.50216316e+02] [-2.43200054e-03 8.54147786e-06 9.99997043e-01 -1.54761116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:923.36, Y:250.21, Z:-15.48 [[ 9.97976993e-01 6.35297599e-02 2.42719664e-03 9.23362584e+02] [-6.35295756e-02 9.97979944e-01 -1.53022998e-04 2.50209510e+02] [-2.43201508e-03 -1.48534124e-06 9.99997043e-01 -1.54761886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.3453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:923.42, Y:250.20, Z:-15.48 [[ 9.97470324e-01 7.10426780e-02 2.42717106e-03 9.23423537e+02] [-7.10425150e-02 9.97473277e-01 -1.53427665e-04 2.50202378e+02] [-2.43193818e-03 -1.93927936e-05 9.99997043e-01 -1.54770027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.4053361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:923.48, Y:250.20, Z:-15.48 [[ 9.97293080e-01 7.34889171e-02 2.42714753e-03 9.23484090e+02] [-7.34887604e-02 9.97296034e-01 -1.53798987e-04 2.50196177e+02] [-2.43188713e-03 -2.49853981e-05 9.99997043e-01 -1.54786165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:923.55, Y:250.19, Z:-15.48 [[ 9.97163529e-01 7.52263557e-02 2.42713339e-03 9.23546445e+02] [-7.52262037e-02 9.97166483e-01 -1.54021761e-04 2.50190095e+02] [-2.43184256e-03 -2.89991478e-05 9.99997043e-01 -1.54769007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:923.61, Y:250.18, Z:-15.48 [[ 9.97137988e-01 7.55641558e-02 2.42710749e-03 9.23608090e+02] [-7.55640037e-02 9.97140942e-01 -1.54428886e-04 2.50184245e+02] [-2.43183754e-03 -2.94150504e-05 9.99997043e-01 -1.54789475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.5853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:923.67, Y:250.18, Z:-15.48 [[ 9.97166828e-01 7.51826232e-02 2.42707993e-03 9.23671018e+02] [-7.51824690e-02 9.97169781e-01 -1.54860784e-04 2.50180028e+02] [-2.43185360e-03 -2.80518254e-05 9.99997043e-01 -1.54762299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.6453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:923.73, Y:250.18, Z:-15.48 [[ 9.97164140e-01 7.52182708e-02 2.42704966e-03 9.23732695e+02] [-7.52181155e-02 9.97167093e-01 -1.55333770e-04 2.50175189e+02] [-2.43185799e-03 -2.76648367e-05 9.99997043e-01 -1.54777507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:923.80, Y:250.17, Z:-15.48 [[ 9.97134597e-01 7.56088961e-02 2.42702145e-03 9.23795192e+02] [-7.56087409e-02 9.97137550e-01 -1.55773366e-04 2.50171441e+02] [-2.43185207e-03 -2.81770227e-05 9.99997043e-01 -1.54763504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:923.86, Y:250.17, Z:-15.48 [[ 9.97085945e-01 7.62478046e-02 2.42699055e-03 9.23856821e+02] [-7.62476501e-02 9.97088898e-01 -1.56253323e-04 2.50168006e+02] [-2.43183930e-03 -2.92543336e-05 9.99997043e-01 -1.54806576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.8253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:923.92, Y:250.16, Z:-15.48 [[ 9.97116871e-01 7.58423037e-02 2.42696175e-03 9.23918885e+02] [-7.58421469e-02 9.97119824e-01 -1.56699275e-04 2.50163098e+02] [-2.43185611e-03 -2.78184986e-05 9.99997043e-01 -1.54793649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.8853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:923.98, Y:250.16, Z:-15.48 [[ 9.97182908e-01 7.49690459e-02 2.42693541e-03 9.23980775e+02] [-7.49688855e-02 9.97185861e-01 -1.57106124e-04 2.50158524e+02] [-2.43188378e-03 -2.52811014e-05 9.99997043e-01 -1.54818703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:924.04, Y:250.15, Z:-15.48 [[ 9.97219411e-01 7.44819236e-02 2.42690915e-03 9.24043110e+02] [-7.44817608e-02 9.97222364e-01 -1.57510870e-04 2.50153653e+02] [-2.43189979e-03 -2.36875696e-05 9.99997043e-01 -1.54815617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.005336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:924.11, Y:250.15, Z:-15.48 [[ 9.97163265e-01 7.52298664e-02 2.42687914e-03 9.24105263e+02] [-7.52297047e-02 9.97166218e-01 -1.57971889e-04 2.50150129e+02] [-2.43188609e-03 -2.50496356e-05 9.99997043e-01 -1.54799483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.0653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:924.17, Y:250.15, Z:-15.48 [[ 9.97017077e-01 7.71431063e-02 2.42685291e-03 9.24167673e+02] [-7.71429493e-02 9.97020030e-01 -1.58373821e-04 2.50148399e+02] [-2.43183841e-03 -2.93131870e-05 9.99997043e-01 -1.54791416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.1253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:924.23, Y:250.15, Z:-15.48 [[ 9.96820192e-01 7.96468178e-02 2.42682657e-03 9.24229611e+02] [-7.96466672e-02 9.96823145e-01 -1.58776415e-04 2.50147412e+02] [-2.43176293e-03 -3.50171115e-05 9.99997043e-01 -1.54789954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:924.29, Y:250.15, Z:-15.48 [[ 9.96745689e-01 8.05738251e-02 2.42679995e-03 9.24291023e+02] [-8.05736763e-02 9.96748643e-01 -1.59182251e-04 2.50147504e+02] [-2.43173548e-03 -3.68719711e-05 9.99997043e-01 -1.54806017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:924.35, Y:250.15, Z:-15.48 [[ 9.96898786e-01 7.86569845e-02 2.42677546e-03 9.24352907e+02] [-7.86568291e-02 9.96901739e-01 -1.59554751e-04 2.50147359e+02] [-2.43180677e-03 -3.18225247e-05 9.99997043e-01 -1.54794500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.3053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:924.42, Y:250.15, Z:-15.48 [[ 9.97245207e-01 7.41357356e-02 2.42677170e-03 9.24415142e+02] [-7.41355666e-02 9.97248160e-01 -1.59611843e-04 2.50145301e+02] [-2.43192655e-03 -2.07379492e-05 9.99997043e-01 -1.54776517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.3653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:924.48, Y:250.14, Z:-15.48 [[ 9.97636882e-01 6.86641219e-02 2.42674559e-03 9.24476989e+02] [-6.86639359e-02 9.97639834e-01 -1.60007852e-04 2.50143712e+02] [-2.43200487e-03 -7.00016864e-06 9.99997043e-01 -1.54786357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:924.54, Y:250.14, Z:-15.48 [[ 9.97862119e-01 6.53092823e-02 2.42671960e-03 9.24539366e+02] [-6.53090853e-02 9.97865070e-01 -1.60400998e-04 2.50140942e+02] [-2.43201440e-03 1.57124211e-06 9.99997043e-01 -1.54799776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:924.60, Y:250.14, Z:-15.48 [[ 9.97900764e-01 6.47161185e-02 2.42669298e-03 9.24600785e+02] [-6.47159189e-02 9.97903715e-01 -1.60802782e-04 2.50137648e+02] [-2.43201247e-03 3.41955338e-06 9.99997043e-01 -1.54817583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:924.66, Y:250.14, Z:-15.48 [[ 9.97645619e-01 6.85370763e-02 2.42666842e-03 9.24660913e+02] [-6.85368870e-02 9.97648570e-01 -1.61172546e-04 2.50136321e+02] [-2.43200858e-03 -5.52321485e-06 9.99997043e-01 -1.54804702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.6053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:924.72, Y:250.13, Z:-15.48 [[ 9.97395145e-01 7.20904665e-02 2.42666660e-03 9.24720819e+02] [-7.20902877e-02 9.97398097e-01 -1.61200019e-04 2.50134755e+02] [-2.43197363e-03 -1.41589765e-05 9.99997043e-01 -1.54797037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.6653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:924.78, Y:250.13, Z:-15.48 [[ 9.97057829e-01 7.66145976e-02 2.42666480e-03 9.24781158e+02] [-7.66144321e-02 9.97060782e-01 -1.61227115e-04 2.50134502e+02] [-2.43188465e-03 -2.51647877e-05 9.99997043e-01 -1.54804691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:924.84, Y:250.14, Z:-15.48 [[ 9.96816840e-01 7.96887599e-02 2.42666480e-03 9.24842163e+02] [-7.96886035e-02 9.96819793e-01 -1.61227115e-04 2.50135298e+02] [-2.43179549e-03 -3.26636252e-05 9.99997043e-01 -1.54808893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:924.90, Y:250.14, Z:-15.48 [[ 9.96624261e-01 8.20621286e-02 2.42666480e-03 9.24902668e+02] [-8.20619792e-02 9.96627215e-01 -1.61227115e-04 2.50137163e+02] [-2.43171082e-03 -3.84540614e-05 9.99997043e-01 -1.54764408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.8453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:924.96, Y:250.14, Z:-15.48 [[ 9.96555410e-01 8.28940681e-02 2.42666480e-03 9.24963416e+02] [-8.28939212e-02 9.96558363e-01 -1.61227115e-04 2.50139677e+02] [-2.43167787e-03 -4.04840065e-05 9.99997043e-01 -1.54765635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.9053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:925.02, Y:250.14, Z:-15.48 [[ 9.96654833e-01 8.16899938e-02 2.42666480e-03 9.25023542e+02] [-8.16898433e-02 9.96657787e-01 -1.61227115e-04 2.50142475e+02] [-2.43172501e-03 -3.75460834e-05 9.99997043e-01 -1.54786867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:925.08, Y:250.15, Z:-15.48 [[ 9.96933756e-01 7.82125108e-02 2.42666673e-03 9.25083346e+02] [-7.82123501e-02 9.96936709e-01 -1.61198066e-04 2.50145048e+02] [-2.43184085e-03 -2.90915142e-05 9.99997043e-01 -1.54805259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:925.14, Y:250.15, Z:-15.48 [[ 9.97326109e-01 7.30393239e-02 2.42666468e-03 9.25144370e+02] [-7.30391478e-02 9.97329061e-01 -1.61228874e-04 2.50146644e+02] [-2.43195925e-03 -1.64437549e-05 9.99997043e-01 -1.54784087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.0853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:925.20, Y:250.15, Z:-15.48 [[ 9.97757892e-01 6.68827333e-02 2.42666468e-03 9.25204624e+02] [-6.68825390e-02 9.97760843e-01 -1.61228874e-04 2.50146090e+02] [-2.43201442e-03 -1.43411386e-06 9.99997043e-01 -1.54782935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.1453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:925.26, Y:250.14, Z:-15.48 [[ 9.98026478e-01 6.27475946e-02 2.42666468e-03 9.25264286e+02] [-6.27473881e-02 9.98029428e-01 -1.61228874e-04 2.50144569e+02] [-2.43199949e-03 8.64381456e-06 9.99997043e-01 -1.54800331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.205336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:925.32, Y:250.14, Z:-15.48 [[ 9.98411689e-01 5.62868586e-02 2.42666659e-03 9.25324578e+02] [-5.62866330e-02 9.98414638e-01 -1.61200104e-04 2.50141346e+02] [-2.43189289e-03 2.43551759e-05 9.99997043e-01 -1.54773520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:925.38, Y:250.14, Z:-15.48 [[ 9.98510596e-01 5.45041455e-02 2.42666659e-03 9.25383968e+02] [-5.45039146e-02 9.98513544e-01 -1.61200104e-04 2.50137514e+02] [-2.43184553e-03 2.86971827e-05 9.99997043e-01 -1.54807581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.3253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:925.44, Y:250.14, Z:-15.48 [[ 9.98473331e-01 5.51826008e-02 2.42666848e-03 9.25444380e+02] [-5.51823721e-02 9.98476279e-01 -1.61171594e-04 2.50135923e+02] [-2.43186479e-03 2.70162147e-05 9.99997043e-01 -1.54819439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.3853361949998 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:925.50, Y:250.13, Z:-15.48 [[ 9.98196393e-01 5.99839384e-02 2.42666848e-03 9.25504217e+02] [-5.99837238e-02 9.98199342e-01 -1.61171594e-04 2.50134520e+02] [-2.43196659e-03 1.53202912e-05 9.99997043e-01 -1.54785798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:925.56, Y:250.13, Z:-15.48 [[ 9.97891296e-01 6.48619557e-02 2.42667220e-03 9.25563852e+02] [-6.48617557e-02 9.97894246e-01 -1.61115632e-04 2.50134715e+02] [-2.43201250e-03 3.37766699e-06 9.99997043e-01 -1.54779078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:925.62, Y:250.13, Z:-15.48 [[ 9.97755281e-01 6.69216675e-02 2.42667590e-03 9.25622356e+02] [-6.69214737e-02 9.97758232e-01 -1.61059881e-04 2.50134151e+02] [-2.43201425e-03 -1.69838035e-06 9.99997043e-01 -1.54773312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.5653361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:925.68, Y:250.13, Z:-15.48 [[ 9.97768243e-01 6.67281448e-02 2.42668140e-03 9.25682276e+02] [-6.67279506e-02 9.97771194e-01 -1.60977001e-04 2.50133146e+02] [-2.43201449e-03 -1.30973743e-06 9.99997043e-01 -1.54810033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.6253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:925.74, Y:250.13, Z:-15.49 [[ 9.97775483e-01 6.66197865e-02 2.42668501e-03 9.25741023e+02] [-6.66195921e-02 9.97778434e-01 -1.60922490e-04 2.50130566e+02] [-2.43201459e-03 -1.10025022e-06 9.99997043e-01 -1.54851639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.685336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:925.80, Y:250.13, Z:-15.48 [[ 9.97672053e-01 6.81511967e-02 2.42669040e-03 9.25800969e+02] [-6.81510071e-02 9.97675004e-01 -1.60841256e-04 2.50130606e+02] [-2.43200988e-03 -4.91456802e-06 9.99997043e-01 -1.54837725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:925.86, Y:250.13, Z:-15.49 [[ 9.97598057e-01 6.92259149e-02 2.42669395e-03 9.25859940e+02] [-6.92257286e-02 9.97601009e-01 -1.60787669e-04 2.50130738e+02] [-2.43200300e-03 -7.58819057e-06 9.99997043e-01 -1.54863883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.8053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:925.92, Y:250.13, Z:-15.49 [[ 9.97531298e-01 7.01813395e-02 2.42669923e-03 9.25918089e+02] [-7.01811562e-02 9.97534250e-01 -1.60707868e-04 2.50132059e+02] [-2.43199429e-03 -9.99742956e-06 9.99997043e-01 -1.54870759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.8653361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:925.98, Y:250.13, Z:-15.48 [[ 9.97559324e-01 6.97818533e-02 2.42670792e-03 9.25976848e+02] [-6.97816691e-02 9.97562275e-01 -1.60576581e-04 2.50133313e+02] [-2.43199760e-03 -9.15506362e-06 9.99997043e-01 -1.54834906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:926.04, Y:250.13, Z:-15.49 [[ 9.97622653e-01 6.88705548e-02 2.42671548e-03 9.26035837e+02] [-6.88703682e-02 9.97625604e-01 -1.60462266e-04 2.50131977e+02] [-2.43200462e-03 -7.04799685e-06 9.99997043e-01 -1.54877820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.985336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:926.10, Y:250.13, Z:-15.48 [[ 9.97770559e-01 6.66935043e-02 2.42672107e-03 9.26095267e+02] [-6.66933115e-02 9.97773510e-01 -1.60377721e-04 2.50134831e+02] [-2.43201415e-03 -1.82589572e-06 9.99997043e-01 -1.54824662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:926.15, Y:250.13, Z:-15.48 [[ 9.97841169e-01 6.56285878e-02 2.42672861e-03 9.26153703e+02] [-6.56283921e-02 9.97844120e-01 -1.60263437e-04 2.50134666e+02] [-2.43201474e-03 6.55158850e-07 9.99997043e-01 -1.54819137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.1053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:926.21, Y:250.14, Z:-15.48 [[ 9.97954595e-01 6.38806429e-02 2.42673791e-03 9.26212640e+02] [-6.38804424e-02 9.97957546e-01 -1.60122516e-04 2.50137050e+02] [-2.43201014e-03 4.77390892e-06 9.99997043e-01 -1.54799730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.1653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:926.27, Y:250.14, Z:-15.48 [[ 9.97998882e-01 6.31849791e-02 2.42674589e-03 9.26270350e+02] [-6.31847768e-02 9.98001833e-01 -1.60001525e-04 2.50136691e+02] [-2.43200654e-03 6.34794604e-06 9.99997043e-01 -1.54813416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:926.33, Y:250.14, Z:-15.48 [[ 9.98038866e-01 6.25502489e-02 2.42675574e-03 9.26328526e+02] [-6.25500451e-02 9.98041816e-01 -1.59851987e-04 2.50138671e+02] [-2.43200249e-03 7.74481535e-06 9.99997043e-01 -1.54821223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:926.39, Y:250.14, Z:-15.48 [[ 9.98019958e-01 6.28511995e-02 2.42676522e-03 9.26387876e+02] [-6.28509970e-02 9.98022909e-01 -1.59707957e-04 2.50138712e+02] [-2.43200512e-03 6.86711568e-06 9.99997043e-01 -1.54817557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.3453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:926.45, Y:250.14, Z:-15.48 [[ 9.98014351e-01 6.29401735e-02 2.42677259e-03 9.26447279e+02] [-6.29399715e-02 9.98017302e-01 -1.59595821e-04 2.50139125e+02] [-2.43200602e-03 6.53792186e-06 9.99997043e-01 -1.54811645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.4053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:926.51, Y:250.14, Z:-15.48 [[ 9.98018262e-01 6.28781307e-02 2.42677997e-03 9.26506392e+02] [-6.28779288e-02 9.98021213e-01 -1.59483616e-04 2.50139916e+02] [-2.43200592e-03 6.57666313e-06 9.99997043e-01 -1.54812182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.465336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:926.57, Y:250.14, Z:-15.48 [[ 9.98065337e-01 6.21264391e-02 2.42678748e-03 9.26565655e+02] [-6.21262352e-02 9.98068287e-01 -1.59369226e-04 2.50137726e+02] [-2.43200066e-03 8.29373095e-06 9.99997043e-01 -1.54824802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:926.62, Y:250.14, Z:-15.48 [[ 9.98085235e-01 6.18059418e-02 2.42679503e-03 9.26624017e+02] [-6.18057373e-02 9.98088185e-01 -1.59254215e-04 2.50137963e+02] [-2.43199830e-03 8.95942520e-06 9.99997043e-01 -1.54827780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.5853361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:926.68, Y:250.14, Z:-15.48 [[ 9.97974049e-01 6.35760088e-02 2.42680437e-03 9.26682839e+02] [-6.35758098e-02 9.97976999e-01 -1.59111645e-04 2.50138321e+02] [-2.43201063e-03 4.50323937e-06 9.99997043e-01 -1.54797878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.6453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:926.74, Y:250.13, Z:-15.48 [[ 9.97940162e-01 6.41057239e-02 2.42681184e-03 9.26740500e+02] [-6.41055268e-02 9.97943113e-01 -1.58997602e-04 2.50134036e+02] [-2.43201282e-03 3.09804097e-06 9.99997043e-01 -1.54808387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:926.80, Y:250.13, Z:-15.48 [[ 9.97898682e-01 6.47482081e-02 2.42682108e-03 9.26799828e+02] [-6.47480132e-02 9.97901633e-01 -1.58856550e-04 2.50133047e+02] [-2.43201439e-03 1.39089882e-06 9.99997043e-01 -1.54819848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:926.86, Y:250.13, Z:-15.48 [[ 9.97955255e-01 6.38703345e-02 2.42682866e-03 9.26858318e+02] [-6.38701374e-02 9.97958206e-01 -1.58740658e-04 2.50132089e+02] [-2.43201239e-03 3.41419424e-06 9.99997043e-01 -1.54820916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.8253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:926.92, Y:250.13, Z:-15.48 [[ 9.98132403e-01 6.10394689e-02 2.42683632e-03 9.26915949e+02] [-6.10392636e-02 9.98135353e-01 -1.58623450e-04 2.50128404e+02] [-2.43199342e-03 1.01949035e-05 9.99997043e-01 -1.54840949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.8853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:926.97, Y:250.13, Z:-15.48 [[ 9.98413290e-01 5.62584391e-02 2.42684637e-03 9.26974655e+02] [-5.62582201e-02 9.98416240e-01 -1.58469498e-04 2.50125284e+02] [-2.43191808e-03 2.16879959e-05 9.99997043e-01 -1.54806761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:927.03, Y:250.12, Z:-15.48 [[ 9.98755176e-01 4.98217793e-02 2.42685409e-03 9.27032605e+02] [-4.98215415e-02 9.98758123e-01 -1.58351206e-04 2.50118472e+02] [-2.43172958e-03 3.72444747e-05 9.99997043e-01 -1.54816335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.005336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:927.09, Y:250.11, Z:-15.48 [[ 9.98984397e-01 4.49920431e-02 2.42686359e-03 9.27090760e+02] [-4.49917915e-02 9.98987344e-01 -1.58205493e-04 2.50109962e+02] [-2.43152400e-03 4.88558785e-05 9.99997043e-01 -1.54831734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.0653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:927.15, Y:250.10, Z:-15.48 [[ 9.99040686e-01 4.37243427e-02 2.42686918e-03 9.27148720e+02] [-4.37240876e-02 9.99043632e-01 -1.58119696e-04 2.50100993e+02] [-2.43146188e-03 5.18553686e-05 9.99997043e-01 -1.54836274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.1253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:927.21, Y:250.09, Z:-15.48 [[ 9.98952987e-01 4.56841259e-02 2.42687656e-03 9.27206832e+02] [-4.56838768e-02 9.98955934e-01 -1.58006284e-04 2.50092485e+02] [-2.43156112e-03 4.69717197e-05 9.99997043e-01 -1.54807935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:927.27, Y:250.08, Z:-15.48 [[ 9.98720499e-01 5.05121363e-02 2.42688417e-03 9.27265338e+02] [-5.05119018e-02 9.98723447e-01 -1.57889438e-04 2.50084640e+02] [-2.43176145e-03 3.51008839e-05 9.99997043e-01 -1.54788000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:927.32, Y:250.08, Z:-15.48 [[ 9.98512369e-01 5.44716436e-02 2.42689190e-03 9.27323078e+02] [-5.44714210e-02 9.98515318e-01 -1.57770471e-04 2.50076684e+02] [-2.43188275e-03 2.53395168e-05 9.99997043e-01 -1.54827603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.3053361949999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:927.38, Y:250.07, Z:-15.48 [[ 9.98384703e-01 5.67634965e-02 2.42690150e-03 9.27381416e+02] [-5.67632810e-02 9.98387653e-01 -1.57622723e-04 2.50068107e+02] [-2.43193570e-03 1.96092239e-05 9.99997043e-01 -1.54821540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.3653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:927.44, Y:250.06, Z:-15.48 [[ 9.98255758e-01 5.89877315e-02 2.42690915e-03 9.27438410e+02] [-5.89875229e-02 9.98258708e-01 -1.57504758e-04 2.50060850e+02] [-2.43197404e-03 1.40726720e-05 9.99997043e-01 -1.54834877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:927.50, Y:250.06, Z:-15.48 [[ 9.98041212e-01 6.25127853e-02 2.42691858e-03 9.27497026e+02] [-6.25125875e-02 9.98044163e-01 -1.57359308e-04 2.50056511e+02] [-2.43200889e-03 5.33811456e-06 9.99997043e-01 -1.54818050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:927.56, Y:250.05, Z:-15.48 [[ 9.97908866e-01 6.45910666e-02 2.42692607e-03 9.27555016e+02] [-6.45908752e-02 9.97911817e-01 -1.57243736e-04 2.50051832e+02] [-2.43201474e-03 1.57638840e-07 9.99997043e-01 -1.54813462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.545336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:927.61, Y:250.05, Z:-15.48 [[ 9.97891572e-01 6.48576983e-02 2.42693346e-03 9.27613777e+02] [-6.48575080e-02 9.97894523e-01 -1.57129539e-04 2.50046933e+02] [-2.43201467e-03 -6.06614119e-07 9.99997043e-01 -1.54782464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.6053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:927.67, Y:250.04, Z:-15.48 [[ 9.98043583e-01 6.24749212e-02 2.42694089e-03 9.27672169e+02] [-6.24747241e-02 9.98046534e-01 -1.57014768e-04 2.50042641e+02] [-2.43200943e-03 5.08511960e-06 9.99997043e-01 -1.54781059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.6653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:927.73, Y:250.04, Z:-15.48 [[ 9.98387179e-01 5.67199310e-02 2.42694833e-03 9.27731872e+02] [-5.67197172e-02 9.98390129e-01 -1.56899678e-04 2.50035529e+02] [-2.43194059e-03 1.89908041e-05 9.99997043e-01 -1.54786431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:927.79, Y:250.03, Z:-15.48 [[ 9.98502143e-01 5.46587550e-02 2.42695204e-03 9.27791148e+02] [-5.46585353e-02 9.98505093e-01 -1.56842222e-04 2.50027775e+02] [-2.43189677e-03 2.39536515e-05 9.99997043e-01 -1.54811103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:927.85, Y:250.02, Z:-15.48 [[ 9.98563390e-01 5.35281808e-02 2.42695578e-03 9.27850948e+02] [-5.35279579e-02 9.98566339e-01 -1.56784295e-04 2.50020461e+02] [-2.43186873e-03 2.66490704e-05 9.99997043e-01 -1.54828620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.8453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:927.91, Y:250.01, Z:-15.48 [[ 9.98538665e-01 5.39874491e-02 2.42695767e-03 9.27909069e+02] [-5.39872275e-02 9.98541614e-01 -1.56755106e-04 2.50013495e+02] [-2.43188104e-03 2.55013179e-05 9.99997043e-01 -1.54836572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.9053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:927.97, Y:250.01, Z:-15.49 [[ 9.98447619e-01 5.56458639e-02 2.42696327e-03 9.27967492e+02] [-5.56456475e-02 9.98450568e-01 -1.56668422e-04 2.50005109e+02] [-2.43192080e-03 2.13752709e-05 9.99997043e-01 -1.54851014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:928.03, Y:250.00, Z:-15.49 [[ 9.98332943e-01 5.76666610e-02 2.42697062e-03 9.28026066e+02] [-5.76664508e-02 9.98335893e-01 -1.56554372e-04 2.49998115e+02] [-2.43195985e-03 1.63386047e-05 9.99997043e-01 -1.54862191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:928.08, Y:249.99, Z:-15.49 [[ 9.98141482e-01 6.08908157e-02 2.42697811e-03 9.28084907e+02] [-6.08906153e-02 9.98144433e-01 -1.56438236e-04 2.49991572e+02] [-2.43200034e-03 8.36730219e-06 9.99997043e-01 -1.54857230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.0853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:928.14, Y:249.99, Z:-15.49 [[ 9.97975300e-01 6.35563583e-02 2.42698573e-03 9.28143463e+02] [-6.35561660e-02 9.97978251e-01 -1.56319929e-04 2.49986409e+02] [-2.43201410e-03 1.75352011e-06 9.99997043e-01 -1.54866692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.1453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:928.20, Y:249.98, Z:-15.49 [[ 9.97903413e-01 6.46752579e-02 2.42699331e-03 9.28201210e+02] [-6.46750693e-02 9.97906364e-01 -1.56202136e-04 2.49980676e+02] [-2.43201448e-03 -1.09131539e-06 9.99997043e-01 -1.54878849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:928.26, Y:249.98, Z:-15.49 [[ 9.98046220e-01 6.24327879e-02 2.42700350e-03 9.28259711e+02] [-6.24325931e-02 9.98049171e-01 -1.56043657e-04 2.49975290e+02] [-2.43201107e-03 4.21465984e-06 9.99997043e-01 -1.54864970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:928.32, Y:249.97, Z:-15.49 [[ 9.98252039e-01 5.90506305e-02 2.42700904e-03 9.28318559e+02] [-5.90504258e-02 9.98254989e-01 -1.55957388e-04 2.49968097e+02] [-2.43198327e-03 1.23688635e-05 9.99997043e-01 -1.54875912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.3253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:928.38, Y:249.96, Z:-15.49 [[ 9.98352117e-01 5.73337572e-02 2.42701273e-03 9.28377514e+02] [-5.73335476e-02 9.98355067e-01 -1.55899947e-04 2.49961054e+02] [-2.43195879e-03 1.64937924e-05 9.99997043e-01 -1.54879394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.3853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:928.44, Y:249.96, Z:-15.49 [[ 9.98299602e-01 5.82409952e-02 2.42701645e-03 9.28436477e+02] [-5.82407885e-02 9.98302552e-01 -1.55842003e-04 2.49956283e+02] [-2.43197311e-03 1.42256573e-05 9.99997043e-01 -1.54882196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:928.50, Y:249.95, Z:-15.49 [[ 9.98241749e-01 5.92243216e-02 2.42701829e-03 9.28496286e+02] [-5.92241178e-02 9.98244699e-01 -1.55813376e-04 2.49950363e+02] [-2.43198609e-03 1.18013997e-05 9.99997043e-01 -1.54903775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:928.56, Y:249.95, Z:-15.49 [[ 9.98165292e-01 6.04992583e-02 2.42702194e-03 9.28555939e+02] [-6.04990584e-02 9.98168242e-01 -1.55756570e-04 2.49945275e+02] [-2.43199938e-03 8.63826076e-06 9.99997043e-01 -1.54901684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.5653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:928.62, Y:249.94, Z:-15.49 [[ 9.98009387e-01 6.30188249e-02 2.42702558e-03 9.28615896e+02] [-6.30186326e-02 9.98012338e-01 -1.55699831e-04 2.49941856e+02] [-2.43201349e-03 2.44206026e-06 9.99997043e-01 -1.54897361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.6253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:928.68, Y:249.94, Z:-15.49 [[ 9.97760331e-01 6.68463325e-02 2.42702921e-03 9.28675326e+02] [-6.68461516e-02 9.97763282e-01 -1.55643162e-04 2.49939343e+02] [-2.43200481e-03 -6.94298941e-06 9.99997043e-01 -1.54910725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:928.73, Y:249.94, Z:-15.49 [[ 9.97597258e-01 6.92374158e-02 2.42703285e-03 9.28734833e+02] [-6.92372422e-02 9.97600211e-01 -1.55586443e-04 2.49938731e+02] [-2.43198088e-03 -1.28284523e-05 9.99997043e-01 -1.54894960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:928.79, Y:249.94, Z:-15.49 [[ 9.97644905e-01 6.85474564e-02 2.42703649e-03 9.28794258e+02] [-6.85472809e-02 9.97647857e-01 -1.55529602e-04 2.49939713e+02] [-2.43198891e-03 -1.12034370e-05 9.99997043e-01 -1.54866229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.8053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:928.85, Y:249.94, Z:-15.49 [[ 9.97815682e-01 6.60149510e-02 2.42704022e-03 9.28853184e+02] [-6.60147681e-02 9.97818634e-01 -1.55471375e-04 2.49937689e+02] [-2.43200939e-03 -5.08872156e-06 9.99997043e-01 -1.54920797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.8653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:928.91, Y:249.94, Z:-15.49 [[ 9.98014260e-01 6.29416083e-02 2.42704575e-03 9.28913001e+02] [-6.29414165e-02 9.98017211e-01 -1.55384978e-04 2.49936601e+02] [-2.43201361e-03 2.31472682e-06 9.99997043e-01 -1.54917720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:928.97, Y:249.93, Z:-15.49 [[ 9.98312174e-01 5.80251033e-02 2.42704936e-03 9.28972767e+02] [-5.80248972e-02 9.98315124e-01 -1.55328507e-04 2.49934527e+02] [-2.43197304e-03 1.42370493e-05 9.99997043e-01 -1.54906410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:929.03, Y:249.93, Z:-15.49 [[ 9.98605311e-01 5.27403256e-02 2.42705304e-03 9.29032104e+02] [-5.27401040e-02 9.98608260e-01 -1.55271017e-04 2.49928809e+02] [-2.43186426e-03 2.70514319e-05 9.99997043e-01 -1.54890759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.045336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:929.09, Y:249.92, Z:-15.49 [[ 9.98825092e-01 4.83998384e-02 2.42705680e-03 9.29090925e+02] [-4.83996041e-02 9.98828040e-01 -1.55212209e-04 2.49922167e+02] [-2.43172464e-03 3.75612603e-05 9.99997043e-01 -1.54877805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.1053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:929.15, Y:249.92, Z:-15.49 [[ 9.98963505e-01 4.54535478e-02 2.42705867e-03 9.29150690e+02] [-4.54533049e-02 9.98966452e-01 -1.55183083e-04 2.49915863e+02] [-2.43160381e-03 4.47043987e-05 9.99997043e-01 -1.54867208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.1653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:929.21, Y:249.91, Z:-15.49 [[ 9.99052865e-01 4.34451586e-02 2.42705867e-03 9.29211067e+02] [-4.34449097e-02 9.99055812e-01 -1.55183083e-04 2.49907787e+02] [-2.43150902e-03 4.95927588e-05 9.99997043e-01 -1.54874889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:929.27, Y:249.90, Z:-15.49 [[ 9.99103016e-01 4.22761493e-02 2.42705867e-03 9.29271136e+02] [-4.22758970e-02 9.99105963e-01 -1.55183083e-04 2.49899601e+02] [-2.43144933e-03 5.24378039e-05 9.99997043e-01 -1.54886208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:929.33, Y:249.89, Z:-15.49 [[ 9.99162301e-01 4.08510209e-02 2.42705867e-03 9.29330675e+02] [-4.08507644e-02 9.99165247e-01 -1.55183083e-04 2.49891152e+02] [-2.43137206e-03 5.59058841e-05 9.99997043e-01 -1.54907794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.3453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:929.39, Y:249.88, Z:-15.49 [[ 9.99267758e-01 3.81845249e-02 2.42705682e-03 9.29390445e+02] [-3.81842605e-02 9.99270703e-01 -1.55211888e-04 2.49882126e+02] [-2.43121347e-03 6.24228655e-05 9.99997043e-01 -1.54900044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.4053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:929.45, Y:249.87, Z:-15.49 [[ 9.99407499e-01 3.43330782e-02 2.42704825e-03 9.29451617e+02] [-3.43328021e-02 9.99410443e-01 -1.55345818e-04 2.49871171e+02] [-2.43095087e-03 7.19264080e-05 9.99997043e-01 -1.54911547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:929.51, Y:249.86, Z:-15.49 [[ 9.99471455e-01 3.24178889e-02 2.42704465e-03 9.29512696e+02] [-3.24176070e-02 9.99474399e-01 -1.55402027e-04 2.49858999e+02] [-2.43080680e-03 7.66409102e-05 9.99997043e-01 -1.54926116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:929.57, Y:249.85, Z:-15.49 [[ 9.99419004e-01 3.39965287e-02 2.42704098e-03 9.29572880e+02] [-3.39962514e-02 9.99421948e-01 -1.55459419e-04 2.49846652e+02] [-2.43092310e-03 7.28588026e-05 9.99997043e-01 -1.54932825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.5853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:929.63, Y:249.83, Z:-15.49 [[ 9.99279323e-01 3.78806476e-02 2.42703732e-03 9.29632548e+02] [-3.78803815e-02 9.99282269e-01 -1.55516419e-04 2.49833624e+02] [-2.43118643e-03 6.34672420e-05 9.99997043e-01 -1.54918914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.6453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:929.69, Y:249.82, Z:-15.49 [[ 9.98961833e-01 4.54902818e-02 2.42702914e-03 9.29693205e+02] [-4.54900378e-02 9.98964780e-01 -1.55644101e-04 2.49818137e+02] [-2.43159692e-03 4.50768690e-05 9.99997043e-01 -1.54893985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.705336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:929.75, Y:249.80, Z:-15.49 [[ 9.98640575e-01 5.20683327e-02 2.42702533e-03 9.29753773e+02] [-5.20681081e-02 9.98643524e-01 -1.55703345e-04 2.49803959e+02] [-2.43184035e-03 2.91210608e-05 9.99997043e-01 -1.54908779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:929.82, Y:249.80, Z:-15.49 [[ 9.98508541e-01 5.45417640e-02 2.42700073e-03 9.29815083e+02] [-5.45415458e-02 9.98511490e-01 -1.56085943e-04 2.49797894e+02] [-2.43190132e-03 2.34807755e-05 9.99997043e-01 -1.54920093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.8253361949999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:929.88, Y:249.79, Z:-15.49 [[ 9.98045957e-01 6.24369932e-02 2.42697658e-03 9.29875740e+02] [-6.24367973e-02 9.98048908e-01 -1.56460554e-04 2.49786510e+02] [-2.43201025e-03 4.62217848e-06 9.99997043e-01 -1.54905544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.8853361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:929.94, Y:249.78, Z:-15.49 [[ 9.97520231e-01 7.03384618e-02 2.42697275e-03 9.29936131e+02] [-7.03382891e-02 9.97523183e-01 -1.56519912e-04 2.49776217e+02] [-2.43197095e-03 -1.45773325e-05 9.99997043e-01 -1.54929226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.945336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:930.00, Y:249.77, Z:-15.49 [[ 9.97089059e-01 7.62070706e-02 2.42694795e-03 9.29997393e+02] [-7.62069144e-02 9.97092013e-01 -1.56903512e-04 2.49765632e+02] [-2.43184757e-03 -2.85034394e-05 9.99997043e-01 -1.54924849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:930.06, Y:249.76, Z:-15.49 [[ 9.96717213e-01 8.09253245e-02 2.42692180e-03 9.30060035e+02] [-8.09251813e-02 9.96720166e-01 -1.57306913e-04 2.49755741e+02] [-2.43169202e-03 -3.96085788e-05 9.99997043e-01 -1.54924825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.0653361949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:930.12, Y:249.75, Z:-15.49 [[ 9.96295121e-01 8.59659375e-02 2.42689191e-03 9.30122574e+02] [-8.59658081e-02 9.96298075e-01 -1.57766684e-04 2.49748105e+02] [-2.43147030e-03 -5.14475471e-05 9.99997043e-01 -1.54902226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.1253361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:930.18, Y:249.74, Z:-15.49 [[ 9.95951673e-01 8.98575329e-02 2.42686079e-03 9.30184123e+02] [-8.98574139e-02 9.95954628e-01 -1.58244076e-04 2.49743568e+02] [-2.43126265e-03 -6.04679822e-05 9.99997043e-01 -1.54908964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:930.25, Y:249.74, Z:-15.49 [[ 9.95323369e-01 9.65686360e-02 2.42684162e-03 9.30246335e+02] [-9.65685362e-02 9.95326325e-01 -1.58537465e-04 2.49739735e+02] [-2.43080910e-03 -7.65604993e-05 9.99997043e-01 -1.54923064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.245336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:930.31, Y:249.74, Z:-15.49 [[ 9.95116704e-01 9.86755048e-02 2.42681469e-03 9.30307471e+02] [-9.86754102e-02 9.95119660e-01 -1.58948681e-04 2.49738187e+02] [-2.43065535e-03 -8.12944471e-05 9.99997043e-01 -1.54933402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.3053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:930.37, Y:249.74, Z:-15.49 [[ 9.95139767e-01 9.84426422e-02 2.42679939e-03 9.30369829e+02] [-9.84425464e-02 9.95142723e-01 -1.59181855e-04 2.49736715e+02] [-2.43068204e-03 -8.04921177e-05 9.99997043e-01 -1.54917776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.3653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:930.43, Y:249.73, Z:-15.49 [[ 9.95281162e-01 9.70026748e-02 2.42677303e-03 9.30431936e+02] [-9.70025738e-02 9.95284118e-01 -1.59582808e-04 2.49734552e+02] [-2.43080861e-03 -7.65734671e-05 9.99997043e-01 -1.54931405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.425336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:930.49, Y:249.74, Z:-15.50 [[ 9.95473216e-01 9.50115149e-02 2.42674659e-03 9.30492981e+02] [-9.50114070e-02 9.95476171e-01 -1.59983816e-04 2.49735918e+02] [-2.43096871e-03 -7.13090040e-05 9.99997043e-01 -1.54958651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:930.55, Y:249.74, Z:-15.50 [[ 9.95536610e-01 9.43449520e-02 2.42672217e-03 9.30554212e+02] [-9.43448412e-02 9.95539565e-01 -1.60353411e-04 2.49739225e+02] [-2.43102646e-03 -6.93110262e-05 9.99997043e-01 -1.54963269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.545336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:930.61, Y:249.74, Z:-15.49 [[ 9.95569991e-01 9.39920429e-02 2.42671842e-03 9.30614653e+02] [-9.39919309e-02 9.95572946e-01 -1.60410048e-04 2.49740503e+02] [-2.43105248e-03 -6.83925204e-05 9.99997043e-01 -1.54938829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.6053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:930.68, Y:249.75, Z:-15.49 [[ 9.95665863e-01 9.29709653e-02 2.42671658e-03 9.30675087e+02] [-9.29708502e-02 9.95668818e-01 -1.60437996e-04 2.49745252e+02] [-2.43112210e-03 -6.58712680e-05 9.99997043e-01 -1.54945328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.6653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:930.74, Y:249.75, Z:-15.49 [[ 9.95912250e-01 9.02934175e-02 2.42670799e-03 9.30736429e+02] [-9.02932941e-02 9.95915205e-01 -1.60567740e-04 2.49748610e+02] [-2.43129360e-03 -5.92040794e-05 9.99997043e-01 -1.54925503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:930.80, Y:249.75, Z:-15.49 [[ 9.96318043e-01 8.56998677e-02 2.42670433e-03 9.30797310e+02] [-8.56997306e-02 9.96320998e-01 -1.60623075e-04 2.49752694e+02] [-2.43154185e-03 -4.79362398e-05 9.99997043e-01 -1.54905012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:930.86, Y:249.75, Z:-15.49 [[ 9.96729038e-01 8.07795483e-02 2.42670433e-03 9.30858372e+02] [-8.07793966e-02 9.96731992e-01 -1.60623074e-04 2.49753881e+02] [-2.43174890e-03 -3.59300288e-05 9.99997043e-01 -1.54919085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.8453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:930.92, Y:249.76, Z:-15.50 [[ 9.97012732e-01 7.71992481e-02 2.42670433e-03 9.30918431e+02] [-7.71990858e-02 9.97015685e-01 -1.60623074e-04 2.49756221e+02] [-2.43186226e-03 -2.71961055e-05 9.99997043e-01 -1.54961189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.9053361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:930.98, Y:249.76, Z:-15.50 [[ 9.97210986e-01 7.45946373e-02 2.42670630e-03 9.30979209e+02] [-7.45944673e-02 9.97213939e-01 -1.60593270e-04 2.49759910e+02] [-2.43192474e-03 -2.08734910e-05 9.99997043e-01 -1.54959920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.965336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:931.04, Y:249.76, Z:-15.50 [[ 9.97273094e-01 7.37596549e-02 2.42670630e-03 9.31038861e+02] [-7.37594825e-02 9.97276047e-01 -1.60593270e-04 2.49758803e+02] [-2.43194137e-03 -1.88372538e-05 9.99997043e-01 -1.54958814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.025336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:931.10, Y:249.76, Z:-15.50 [[ 9.97232418e-01 7.43075767e-02 2.42671020e-03 9.31097885e+02] [-7.43074061e-02 9.97235370e-01 -1.60534306e-04 2.49760535e+02] [-2.43193016e-03 -2.02325258e-05 9.99997043e-01 -1.54958177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.0853361949999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:931.16, Y:249.76, Z:-15.50 [[ 9.97187335e-01 7.49101460e-02 2.42671598e-03 9.31158197e+02] [-7.49099773e-02 9.97190288e-01 -1.60446892e-04 2.49761910e+02] [-2.43191671e-03 -2.17896307e-05 9.99997043e-01 -1.54950327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.1453361949998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:931.22, Y:249.76, Z:-15.50 [[ 9.97250765e-01 7.40609455e-02 2.42671980e-03 9.31218093e+02] [-7.40607745e-02 9.97253717e-01 -1.60389056e-04 2.49762991e+02] [-2.43193391e-03 -1.97766398e-05 9.99997043e-01 -1.54962694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:931.28, Y:249.76, Z:-15.50 [[ 9.97404679e-01 7.19584450e-02 2.42672358e-03 9.31277959e+02] [-7.19582679e-02 9.97407631e-01 -1.60331915e-04 2.49763555e+02] [-2.43196985e-03 -1.47070227e-05 9.99997043e-01 -1.54968368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:931.34, Y:249.76, Z:-15.50 [[ 9.97577095e-01 6.95273382e-02 2.42672742e-03 9.31338103e+02] [-6.95271540e-02 9.97580046e-01 -1.60273761e-04 2.49762024e+02] [-2.43199826e-03 -8.83801783e-06 9.99997043e-01 -1.54961045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.3253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:931.40, Y:249.76, Z:-15.50 [[ 9.97698924e-01 6.77566851e-02 2.42673135e-03 9.31396807e+02] [-6.77564958e-02 9.97701875e-01 -1.60214267e-04 2.49759068e+02] [-2.43201000e-03 -4.58121105e-06 9.99997043e-01 -1.54975341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.3853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:931.46, Y:249.76, Z:-15.50 [[ 9.97881519e-01 6.50121934e-02 2.42673540e-03 9.31455870e+02] [-6.50119962e-02 9.97884470e-01 -1.60152891e-04 2.49755358e+02] [-2.43201346e-03 2.04669737e-06 9.99997043e-01 -1.54994352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:931.51, Y:249.75, Z:-15.50 [[ 9.97892246e-01 6.48473302e-02 2.42673311e-03 9.31514881e+02] [-6.48471324e-02 9.97895197e-01 -1.60187531e-04 2.49750749e+02] [-2.43201305e-03 2.48321160e-06 9.99997043e-01 -1.54979923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.505336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:931.57, Y:249.75, Z:-15.50 [[ 9.97794348e-01 6.63366430e-02 2.42673691e-03 9.31574040e+02] [-6.63364498e-02 9.97797299e-01 -1.60129996e-04 2.49748203e+02] [-2.43201402e-03 -1.20430588e-06 9.99997043e-01 -1.54981392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.5653361949999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:931.63, Y:249.75, Z:-15.50 [[ 9.97579479e-01 6.94931222e-02 2.42674068e-03 9.31634131e+02] [-6.94929384e-02 9.97582431e-01 -1.60072840e-04 2.49745537e+02] [-2.43199782e-03 -8.95596049e-06 9.99997043e-01 -1.54959909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.6253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:931.69, Y:249.74, Z:-15.50 [[ 9.97515293e-01 7.04084573e-02 2.42674442e-03 9.31693196e+02] [-7.04082763e-02 9.97518245e-01 -1.60016107e-04 2.49741917e+02] [-2.43198832e-03 -1.12443774e-05 9.99997043e-01 -1.54974814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.685336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:931.75, Y:249.74, Z:-15.49 [[ 9.97346497e-01 7.27603962e-02 2.42674813e-03 9.31753119e+02] [-7.27602223e-02 9.97349450e-01 -1.59959743e-04 2.49741202e+02] [-2.43195465e-03 -1.70354447e-05 9.99997043e-01 -1.54947697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:931.81, Y:249.74, Z:-15.50 [[ 9.97125782e-01 7.57250609e-02 2.42675206e-03 9.31811302e+02] [-7.57248960e-02 9.97128735e-01 -1.59900101e-04 2.49738692e+02] [-2.43189266e-03 -2.43250342e-05 9.99997043e-01 -1.54976848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.8053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:931.87, Y:249.74, Z:-15.50 [[ 9.96950539e-01 7.79982950e-02 2.42675789e-03 9.31870038e+02] [-7.79981370e-02 9.96953492e-01 -1.59811655e-04 2.49739724e+02] [-2.43182979e-03 -2.99582784e-05 9.99997043e-01 -1.54987824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.8653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:931.93, Y:249.74, Z:-15.50 [[ 9.97012368e-01 7.72039372e-02 2.42676512e-03 9.31929529e+02] [-7.72037771e-02 9.97015321e-01 -1.59701816e-04 2.49740994e+02] [-2.43185161e-03 -2.81307476e-05 9.99997043e-01 -1.55031869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:931.99, Y:249.74, Z:-15.51 [[ 9.97269256e-01 7.38115260e-02 2.42677048e-03 9.31987858e+02] [-7.38113561e-02 9.97272209e-01 -1.59620219e-04 2.49739817e+02] [-2.43193257e-03 -1.99388834e-05 9.99997043e-01 -1.55063904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.985336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:932.05, Y:249.74, Z:-15.50 [[ 9.97613382e-01 6.90047154e-02 2.42677931e-03 9.32047219e+02] [-6.90045316e-02 9.97616334e-01 -1.59485895e-04 2.49737906e+02] [-2.43199996e-03 -8.35350608e-06 9.99997043e-01 -1.54986032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:932.11, Y:249.74, Z:-15.50 [[ 9.97967940e-01 6.36718308e-02 2.42678323e-03 9.32106072e+02] [-6.36716314e-02 9.97970890e-01 -1.59426288e-04 2.49735554e+02] [-2.43200998e-03 4.58507676e-06 9.99997043e-01 -1.55013090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.1053361949998 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:932.17, Y:249.73, Z:-15.50 [[ 9.98272458e-01 5.87044270e-02 2.42678902e-03 9.32165824e+02] [-5.87042131e-02 9.98275408e-01 -1.59337979e-04 2.49732072e+02] [-2.43195765e-03 1.65999762e-05 9.99997043e-01 -1.54965933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.1653361949998 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:932.23, Y:249.73, Z:-15.50 [[ 9.98455758e-01 5.54996311e-02 2.42679274e-03 9.32225521e+02] [-5.54994079e-02 9.98458707e-01 -1.59281366e-04 2.49728845e+02] [-2.43189240e-03 2.43498372e-05 9.99997043e-01 -1.54963678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.225336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:932.28, Y:249.72, Z:-15.50 [[ 9.98455468e-01 5.55048544e-02 2.42679655e-03 9.32284368e+02] [-5.55046313e-02 9.98458417e-01 -1.59223251e-04 2.49724829e+02] [-2.43189311e-03 2.42788777e-05 9.99997043e-01 -1.54987484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:932.34, Y:249.72, Z:-15.50 [[ 9.98394935e-01 5.65832491e-02 2.42680222e-03 9.32343528e+02] [-5.65830295e-02 9.98397884e-01 -1.59136810e-04 2.49719776e+02] [-2.43191868e-03 2.15655630e-05 9.99997043e-01 -1.54991152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.3453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:932.40, Y:249.72, Z:-15.50 [[ 9.98182629e-01 6.02125430e-02 2.42680612e-03 9.32401682e+02] [-6.02123342e-02 9.98185579e-01 -1.59077274e-04 2.49715268e+02] [-2.43198132e-03 1.26645103e-05 9.99997043e-01 -1.55024472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.4053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:932.46, Y:249.71, Z:-15.50 [[ 9.98101279e-01 6.15462989e-02 2.42681190e-03 9.32460717e+02] [-6.15460943e-02 9.98104230e-01 -1.58989122e-04 2.49709780e+02] [-2.43199641e-03 9.32645257e-06 9.99997043e-01 -1.55021769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.465336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:932.52, Y:249.70, Z:-15.50 [[ 9.98093021e-01 6.16800743e-02 2.42681561e-03 9.32520383e+02] [-6.16798702e-02 9.98095972e-01 -1.58932458e-04 2.49703137e+02] [-2.43199785e-03 8.94370565e-06 9.99997043e-01 -1.54991314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:932.58, Y:249.69, Z:-15.50 [[ 9.98156565e-01 6.06430766e-02 2.42681939e-03 9.32579321e+02] [-6.06428696e-02 9.98159515e-01 -1.58874672e-04 2.49693136e+02] [-2.43198752e-03 1.14125053e-05 9.99997043e-01 -1.55024428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.5853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:932.64, Y:249.69, Z:-15.50 [[ 9.98104500e-01 6.14940460e-02 2.42682324e-03 9.32637294e+02] [-6.14938416e-02 9.98107450e-01 -1.58815912e-04 2.49686189e+02] [-2.43199659e-03 9.28019234e-06 9.99997043e-01 -1.55042480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.6453361949998 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:932.70, Y:249.68, Z:-15.50 [[ 9.97806119e-01 6.61593496e-02 2.42682892e-03 9.32695971e+02] [-6.61591592e-02 9.97809070e-01 -1.58729100e-04 2.49678862e+02] [-2.43201332e-03 -2.17609389e-06 9.99997043e-01 -1.55015947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:932.75, Y:249.67, Z:-15.50 [[ 9.97640437e-01 6.86124615e-02 2.42683668e-03 9.32754110e+02] [-6.86122787e-02 9.97643388e-01 -1.58610392e-04 2.49672523e+02] [-2.43200021e-03 -8.27465337e-06 9.99997043e-01 -1.55025001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:932.81, Y:249.67, Z:-15.50 [[ 9.97570165e-01 6.96266985e-02 2.42684241e-03 9.32812602e+02] [-6.96265189e-02 9.97573116e-01 -1.58522539e-04 2.49666463e+02] [-2.43199015e-03 -1.08352335e-05 9.99997043e-01 -1.55026936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.8253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:932.87, Y:249.66, Z:-15.50 [[ 9.97477176e-01 7.09464164e-02 2.42684803e-03 9.32872277e+02] [-7.09462409e-02 9.97480128e-01 -1.58436486e-04 2.49661773e+02] [-2.43197319e-03 -1.41389662e-05 9.99997043e-01 -1.55001113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.8853361949998 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:932.93, Y:249.65, Z:-15.50 [[ 9.97474602e-01 7.09825889e-02 2.42685190e-03 9.32930463e+02] [-7.09824136e-02 9.97477555e-01 -1.58377283e-04 2.49654580e+02] [-2.43197232e-03 -1.42864879e-05 9.99997043e-01 -1.55009184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:932.99, Y:249.65, Z:-15.50 [[ 9.97646432e-01 6.85252329e-02 2.42685762e-03 9.32989502e+02] [-6.85250506e-02 9.97649383e-01 -1.58289485e-04 2.49649517e+02] [-2.43199983e-03 -8.38360102e-06 9.99997043e-01 -1.55029096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:933.05, Y:249.64, Z:-15.50 [[ 9.97865024e-01 6.52648698e-02 2.42686152e-03 9.33048714e+02] [-6.52646780e-02 9.97867976e-01 -1.58229707e-04 2.49644351e+02] [-2.43201423e-03 -4.96444883e-07 9.99997043e-01 -1.55037633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.0653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:933.11, Y:249.63, Z:-15.51 [[ 9.98103943e-01 6.15030887e-02 2.42686345e-03 9.33108865e+02] [-6.15028859e-02 9.98106893e-01 -1.58200114e-04 2.49634766e+02] [-2.43199893e-03 8.64105193e-06 9.99997043e-01 -1.55052940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.1253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:933.17, Y:249.63, Z:-15.50 [[ 9.98210891e-01 5.97421752e-02 2.42686345e-03 9.33168671e+02] [-5.97419672e-02 9.98213841e-01 -1.58200114e-04 2.49626584e+02] [-2.43197990e-03 1.29314804e-05 9.99997043e-01 -1.55042271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:933.23, Y:249.62, Z:-15.50 [[ 9.98163528e-01 6.05283526e-02 2.42686345e-03 9.33228088e+02] [-6.05281469e-02 9.98166478e-01 -1.58200114e-04 2.49616766e+02] [-2.43198933e-03 1.10160368e-05 9.99997043e-01 -1.55031522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:933.29, Y:249.61, Z:-15.50 [[ 9.97839040e-01 6.56609463e-02 2.42686189e-03 9.33287190e+02] [-6.56607557e-02 9.97841992e-01 -1.58224040e-04 2.49606241e+02] [-2.43201384e-03 -1.46746076e-06 9.99997043e-01 -1.55018126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.3053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:933.35, Y:249.60, Z:-15.50 [[ 9.97588223e-01 6.93674875e-02 2.42686374e-03 9.33347422e+02] [-6.93673079e-02 9.97591175e-01 -1.58195613e-04 2.49599422e+02] [-2.43199148e-03 -1.05309245e-05 9.99997043e-01 -1.55030937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.3653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:933.41, Y:249.59, Z:-15.50 [[ 9.97186618e-01 7.49196816e-02 2.42686374e-03 9.33407898e+02] [-7.49195185e-02 9.97189571e-01 -1.58195613e-04 2.49592853e+02] [-2.43189518e-03 -2.40689150e-05 9.99997043e-01 -1.55027789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:933.47, Y:249.59, Z:-15.50 [[ 9.96577784e-01 8.26246414e-02 2.42686374e-03 9.33467155e+02] [-8.26245011e-02 9.96580738e-01 -1.58195613e-04 2.49587814e+02] [-2.43163651e-03 -4.28641728e-05 9.99997043e-01 -1.55043398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:933.53, Y:249.58, Z:-15.51 [[ 9.96200778e-01 8.70523980e-02 2.42686560e-03 9.33526622e+02] [-8.70522708e-02 9.96203733e-01 -1.58167167e-04 2.49584490e+02] [-2.43142140e-03 -5.36979062e-05 9.99997043e-01 -1.55054346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:933.59, Y:249.58, Z:-15.51 [[ 9.95904312e-01 9.03809199e-02 2.42686928e-03 9.33586378e+02] [-9.03808028e-02 9.95907268e-01 -1.58110583e-04 2.49581524e+02] [-2.43122694e-03 -6.18793821e-05 9.99997043e-01 -1.55058250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.6053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:933.65, Y:249.58, Z:-15.51 [[ 9.95834859e-01 9.11429806e-02 2.42687295e-03 9.33646360e+02] [-9.11428658e-02 9.95837815e-01 -1.58054235e-04 2.49579478e+02] [-2.43117739e-03 -6.37962389e-05 9.99997043e-01 -1.55052283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.6653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:933.71, Y:249.58, Z:-15.50 [[ 9.96036817e-01 8.89087740e-02 2.42687665e-03 9.33706101e+02] [-8.89086528e-02 9.96039772e-01 -1.57997500e-04 2.49578359e+02] [-2.43131302e-03 -5.83990067e-05 9.99997043e-01 -1.55049047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:933.77, Y:249.58, Z:-15.51 [[ 9.96261389e-01 8.63559741e-02 2.42688050e-03 9.33765503e+02] [-8.63558454e-02 9.96264344e-01 -1.57938206e-04 2.49576915e+02] [-2.43145342e-03 -5.22275812e-05 9.99997043e-01 -1.55058821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.785336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:933.83, Y:249.58, Z:-15.51 [[ 9.96731685e-01 8.07468793e-02 2.42687827e-03 9.33825968e+02] [-8.07467339e-02 9.96734639e-01 -1.57972530e-04 2.49575718e+02] [-2.43170942e-03 -3.85062677e-05 9.99997043e-01 -1.55051711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.8453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:933.89, Y:249.58, Z:-15.51 [[ 9.97207543e-01 7.46406435e-02 2.42687827e-03 9.33885377e+02] [-7.46404801e-02 9.97210496e-01 -1.57972530e-04 2.49576099e+02] [-2.43189966e-03 -2.36119604e-05 9.99997043e-01 -1.55075611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.9053361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:933.95, Y:249.57, Z:-15.51 [[ 9.97721157e-01 6.74285069e-02 2.42687619e-03 9.33946068e+02] [-6.74283220e-02 9.97724108e-01 -1.58004525e-04 2.49573626e+02] [-2.43200689e-03 -5.99573114e-06 9.99997043e-01 -1.55059996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:934.01, Y:249.57, Z:-15.51 [[ 9.98178071e-01 6.02880488e-02 2.42687619e-03 9.34006365e+02] [-6.02878428e-02 9.98181021e-01 -1.58004525e-04 2.49570316e+02] [-2.43198754e-03 1.14055224e-05 9.99997043e-01 -1.55055304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.025336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:934.07, Y:249.57, Z:-15.50 [[ 9.98438038e-01 5.58175125e-02 2.42687619e-03 9.34066265e+02] [-5.58172933e-02 9.98440987e-01 -1.58004525e-04 2.49566492e+02] [-2.43191208e-03 2.22960684e-05 9.99997043e-01 -1.55029453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.0853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:934.13, Y:249.56, Z:-15.51 [[ 9.98758678e-01 4.97515136e-02 2.42687808e-03 9.34126664e+02] [-4.97512766e-02 9.98761626e-01 -1.57975508e-04 2.49561928e+02] [-2.43173221e-03 3.70391274e-05 9.99997043e-01 -1.55061648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.1453361949998 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:934.19, Y:249.55, Z:-15.51 [[ 9.99010657e-01 4.44051555e-02 2.42687621e-03 9.34187499e+02] [-4.44049026e-02 9.99013603e-01 -1.58004156e-04 2.49553162e+02] [-2.43149855e-03 5.00826334e-05 9.99997043e-01 -1.55057856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:934.25, Y:249.54, Z:-15.51 [[ 9.99168032e-01 4.07106195e-02 2.42687256e-03 9.34248282e+02] [-4.07103556e-02 9.99170977e-01 -1.58060193e-04 2.49544589e+02] [-2.43129536e-03 5.91298469e-05 9.99997043e-01 -1.55075475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.265336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:934.31, Y:249.53, Z:-15.50 [[ 9.99146719e-01 4.12303855e-02 2.42686891e-03 9.34309364e+02] [-4.12301230e-02 9.99149664e-01 -1.58116295e-04 2.49534519e+02] [-2.43132445e-03 5.79212735e-05 9.99997043e-01 -1.55041821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.3253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:934.37, Y:249.52, Z:-15.51 [[ 9.99000343e-01 4.46365908e-02 2.42686520e-03 9.34370574e+02] [-4.46363382e-02 9.99003289e-01 -1.58173134e-04 2.49523919e+02] [-2.43150663e-03 4.96886390e-05 9.99997043e-01 -1.55056085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.3853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:934.43, Y:249.51, Z:-15.51 [[ 9.98742148e-01 5.00822492e-02 2.42686149e-03 9.34429961e+02] [-5.00820125e-02 9.98745096e-01 -1.58230039e-04 2.49514449e+02] [-2.43174053e-03 3.64889020e-05 9.99997043e-01 -1.55081801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:934.49, Y:249.50, Z:-15.51 [[ 9.98403585e-01 5.64304193e-02 2.42685966e-03 9.34491257e+02] [-5.64302013e-02 9.98406534e-01 -1.58258087e-04 2.49504169e+02] [-2.43192311e-03 2.10572627e-05 9.99997043e-01 -1.55112580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.505336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:934.55, Y:249.50, Z:-15.51 [[ 9.98118847e-01 6.12607286e-02 2.42685440e-03 9.34551885e+02] [-6.12605247e-02 9.98121798e-01 -1.58338720e-04 2.49497918e+02] [-2.43199622e-03 9.37048679e-06 9.99997043e-01 -1.55080744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.5653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:934.61, Y:249.49, Z:-15.51 [[ 9.97583225e-01 6.94393299e-02 2.42685064e-03 9.34612302e+02] [-6.94391501e-02 9.97586176e-01 -1.58396280e-04 2.49492811e+02] [-2.43199159e-03 -1.05049746e-05 9.99997043e-01 -1.55117709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.6253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:934.67, Y:249.49, Z:-15.51 [[ 9.97323564e-01 7.30740633e-02 2.42684879e-03 9.34673088e+02] [-7.30738941e-02 9.97326517e-01 -1.58424737e-04 2.49489329e+02] [-2.43193739e-03 -1.93385675e-05 9.99997043e-01 -1.55089819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:934.73, Y:249.49, Z:-15.51 [[ 9.96862302e-01 7.91180150e-02 2.42684879e-03 9.34732592e+02] [-7.91178638e-02 9.96865256e-01 -1.58424737e-04 2.49488716e+02] [-2.43177549e-03 -3.40794431e-05 9.99997043e-01 -1.55078959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:934.79, Y:249.49, Z:-15.51 [[ 9.96561166e-01 8.28248359e-02 2.42685050e-03 9.34793365e+02] [-8.28246957e-02 9.96564120e-01 -1.58398479e-04 2.49489999e+02] [-2.43163146e-03 -4.31493814e-05 9.99997043e-01 -1.55072884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.8053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:934.85, Y:249.49, Z:-15.51 [[ 9.96476105e-01 8.38420089e-02 2.42685050e-03 9.34853774e+02] [-8.38418717e-02 9.96479059e-01 -1.58398479e-04 2.49489753e+02] [-2.43158615e-03 -4.56313889e-05 9.99997043e-01 -1.55058181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.8653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:934.91, Y:249.50, Z:-15.51 [[ 9.96667928e-01 8.15300704e-02 2.42685050e-03 9.34914895e+02] [-8.15299264e-02 9.96670881e-01 -1.58398479e-04 2.49495058e+02] [-2.43168547e-03 -3.99902589e-05 9.99997043e-01 -1.55063022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:934.97, Y:249.50, Z:-15.51 [[ 9.96805858e-01 7.98260138e-02 2.42685050e-03 9.34974282e+02] [-7.98258647e-02 9.96808811e-01 -1.58398479e-04 2.49495730e+02] [-2.43175028e-03 -3.58329081e-05 9.99997043e-01 -1.55097645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:935.03, Y:249.50, Z:-15.51 [[ 9.97023043e-01 7.70659611e-02 2.42685234e-03 9.35034434e+02] [-7.70658039e-02 9.97025996e-01 -1.58370269e-04 2.49499959e+02] [-2.43183983e-03 -2.91285193e-05 9.99997043e-01 -1.55070512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:935.10, Y:249.51, Z:-15.51 [[ 9.97263992e-01 7.38826145e-02 2.42685592e-03 9.35095047e+02] [-7.38824479e-02 9.97266945e-01 -1.58315396e-04 2.49505380e+02] [-2.43191994e-03 -2.14198125e-05 9.99997043e-01 -1.55054613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.1053361949998 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:935.15, Y:249.51, Z:-15.51 [[ 9.97380682e-01 7.22902847e-02 2.42685966e-03 9.35153603e+02] [-7.22901136e-02 9.97383635e-01 -1.58258010e-04 2.49507144e+02] [-2.43195063e-03 -1.75944784e-05 9.99997043e-01 -1.55058079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.1653361949998 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:935.21, Y:249.51, Z:-15.50 [[ 9.97555145e-01 6.98415505e-02 2.42686522e-03 9.35213840e+02] [-6.98413723e-02 9.97558097e-01 -1.58172727e-04 2.49509583e+02] [-2.43198608e-03 -1.17095799e-05 9.99997043e-01 -1.55042932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.225336195 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:935.27, Y:249.51, Z:-15.50 [[ 9.97755986e-01 6.69111611e-02 2.42686909e-03 9.35273980e+02] [-6.69109744e-02 9.97758937e-01 -1.58113395e-04 2.49510605e+02] [-2.43200987e-03 -4.62558873e-06 9.99997043e-01 -1.55029028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:935.33, Y:249.51, Z:-15.50 [[ 9.97938335e-01 6.41341514e-02 2.42687291e-03 9.35332707e+02] [-6.41339567e-02 9.97941286e-01 -1.58054704e-04 2.49512561e+02] [-2.43201338e-03 2.08388668e-06 9.99997043e-01 -1.55037075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.3453361949998 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:935.39, Y:249.51, Z:-15.50 [[ 9.97993369e-01 6.32719949e-02 2.42687859e-03 9.35392264e+02] [-6.32717978e-02 9.97996320e-01 -1.57967444e-04 2.49512705e+02] [-2.43201082e-03 4.09749042e-06 9.99997043e-01 -1.55032875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.4053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:935.45, Y:249.51, Z:-15.51 [[ 9.98025412e-01 6.27645448e-02 2.42688230e-03 9.35452206e+02] [-6.27643463e-02 9.98028362e-01 -1.57910383e-04 2.49513889e+02] [-2.43200854e-03 5.27689395e-06 9.99997043e-01 -1.55075963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.465336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:935.51, Y:249.51, Z:-15.51 [[ 9.98049850e-01 6.23747324e-02 2.42688605e-03 9.35510550e+02] [-6.23745329e-02 9.98052801e-01 -1.57852841e-04 2.49511859e+02] [-2.43200644e-03 6.16912107e-06 9.99997043e-01 -1.55075880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.525336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:935.57, Y:249.51, Z:-15.51 [[ 9.98153693e-01 6.06903267e-02 2.42688972e-03 9.35570449e+02] [-6.06901225e-02 9.98156643e-01 -1.57796285e-04 2.49512262e+02] [-2.43199281e-03 1.02167099e-05 9.99997043e-01 -1.55065464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.5853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:935.63, Y:249.51, Z:-15.51 [[ 9.98216009e-01 5.96565923e-02 2.42689341e-03 9.35630744e+02] [-5.96563851e-02 9.98218959e-01 -1.57739615e-04 2.49513564e+02] [-2.43198122e-03 1.26785213e-05 9.99997043e-01 -1.55056406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.6453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:935.69, Y:249.51, Z:-15.50 [[ 9.98234287e-01 5.93499639e-02 2.42689709e-03 9.35690082e+02] [-5.93497559e-02 9.98237237e-01 -1.57682930e-04 2.49514509e+02] [-2.43197752e-03 1.33687571e-05 9.99997043e-01 -1.55042559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.705336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:935.75, Y:249.52, Z:-15.51 [[ 9.98251359e-01 5.90621309e-02 2.42690256e-03 9.35749730e+02] [-5.90619223e-02 9.98254309e-01 -1.57598723e-04 2.49515401e+02] [-2.43197405e-03 1.39856094e-05 9.99997043e-01 -1.55062463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.765336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:935.81, Y:249.51, Z:-15.51 [[ 9.98389187e-01 5.66845835e-02 2.42690623e-03 9.35808245e+02] [-5.66843680e-02 9.98392136e-01 -1.57542073e-04 2.49513181e+02] [-2.43193431e-03 1.97206559e-05 9.99997043e-01 -1.55096709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.8253361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:935.87, Y:249.51, Z:-15.51 [[ 9.98491118e-01 5.48598013e-02 2.42691174e-03 9.35867516e+02] [-5.48595806e-02 9.98494067e-01 -1.57457214e-04 2.49510004e+02] [-2.43189504e-03 2.40802695e-05 9.99997043e-01 -1.55070942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.8853361949998 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:935.93, Y:249.51, Z:-15.51 [[ 9.98496064e-01 5.47697061e-02 2.42691556e-03 9.35925254e+02] [-5.47694853e-02 9.98499013e-01 -1.57398321e-04 2.49506655e+02] [-2.43189345e-03 2.42406885e-05 9.99997043e-01 -1.55064238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.945336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:935.98, Y:249.50, Z:-15.51 [[ 9.98434998e-01 5.58718662e-02 2.42692497e-03 9.35984461e+02] [-5.58716490e-02 9.98437947e-01 -1.57253138e-04 2.49503836e+02] [-2.43192001e-03 2.14107361e-05 9.99997043e-01 -1.55084571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.005336195 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:936.04, Y:249.50, Z:-15.51 [[ 9.98236674e-01 5.93097977e-02 2.42693220e-03 9.36043349e+02] [-5.93095909e-02 9.98239624e-01 -1.57141358e-04 2.49502363e+02] [-2.43197991e-03 1.29239103e-05 9.99997043e-01 -1.55079078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.0653361949999 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:936.10, Y:249.50, Z:-15.51 [[ 9.98045343e-01 6.24468053e-02 2.42693954e-03 9.36102180e+02] [-6.24466081e-02 9.98048294e-01 -1.57027912e-04 2.49499422e+02] [-2.43200876e-03 5.16683391e-06 9.99997043e-01 -1.55077449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.1253361949998 meters Centerline goodness : 0.999524 with order 1 Centerline is valid? [True, True] Translation: X:936.16, Y:249.50, Z:-15.50 [[ 9.97789249e-01 6.64132907e-02 2.42694687e-03 9.36160512e+02] [-6.64131055e-02 9.97792200e-01 -1.56914676e-04 2.49497076e+02] [-2.43200987e-03 -4.61330195e-06 9.99997043e-01 -1.55048398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.185336195 meters Centerline goodness : 0.999480 with order 1 Centerline is valid? [True, True] Translation: X:936.22, Y:249.49, Z:-15.50 [[ 9.97876875e-01 6.50834228e-02 2.42695445e-03 9.36219776e+02] [-6.50832339e-02 9.97879826e-01 -1.56797279e-04 2.49494798e+02] [-2.43201379e-03 -1.48966587e-06 9.99997043e-01 -1.55035496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.245336195 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:936.28, Y:249.49, Z:-15.50 [[ 9.97983941e-01 6.34205252e-02 2.42696209e-03 9.36277775e+02] [-6.34203317e-02 9.97986892e-01 -1.56678905e-04 2.49490185e+02] [-2.43201301e-03 2.44429011e-06 9.99997043e-01 -1.55037507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.3053361949999 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:936.33, Y:249.48, Z:-15.51 [[ 9.98010149e-01 6.30067653e-02 2.42696067e-03 9.36334885e+02] [-6.30065706e-02 9.98013100e-01 -1.56700952e-04 2.49482842e+02] [-2.43201176e-03 3.47467158e-06 9.99997043e-01 -1.55052526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.3653361949998 meters Centerline goodness : 0.999269 with order 1 Centerline is valid? [True, True] Translation: X:936.39, Y:249.48, Z:-15.51 [[ 9.97890330e-01 6.48767969e-02 2.42696990e-03 9.36393753e+02] [-6.48766080e-02 9.97893281e-01 -1.56557858e-04 2.49479337e+02] [-2.43201393e-03 -1.22600213e-06 9.99997043e-01 -1.55051875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.425336195 meters Centerline goodness : 0.999157 with order 1 Centerline is valid? [True, True] Translation: X:936.45, Y:249.47, Z:-15.51 [[ 9.97456352e-01 7.12385779e-02 2.42697738e-03 9.36451405e+02] [-7.12384081e-02 9.97459305e-01 -1.56441828e-04 2.49474127e+02] [-2.43195586e-03 -1.68501097e-05 9.99997043e-01 -1.55053676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.485336195 meters Centerline goodness : 0.999355 with order 1 Centerline is valid? [True, True] Translation: X:936.51, Y:249.47, Z:-15.51 [[ 9.97257459e-01 7.39707400e-02 2.42698666e-03 9.36510619e+02] [-7.39705786e-02 9.97260412e-01 -1.56297785e-04 2.49472387e+02] [-2.43189917e-03 -2.36564752e-05 9.99997043e-01 -1.55050135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.545336195 meters Centerline goodness : 0.999357 with order 1 Centerline is valid? [True, True] Translation: X:936.57, Y:249.47, Z:-15.50 [[ 9.96999987e-01 7.73636578e-02 2.42699431e-03 9.36569761e+02] [-7.73635068e-02 9.97002941e-01 -1.56178856e-04 2.49469149e+02] [-2.43180303e-03 -3.20504733e-05 9.99997043e-01 -1.55028337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.6053361949998 meters Centerline goodness : 0.998944 with order 1 Centerline is valid? [True, True] Translation: X:936.63, Y:249.47, Z:-15.50 [[ 9.96879216e-01 7.89046201e-02 2.42700193e-03 9.36627214e+02] [-7.89044740e-02 9.96882169e-01 -1.56060362e-04 2.49466421e+02] [-2.43174883e-03 -3.59279793e-05 9.99997043e-01 -1.55045558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.6653361949998 meters Centerline goodness : 0.999156 with order 1 Centerline is valid? [True, True] Translation: X:936.69, Y:249.47, Z:-15.50 [[ 9.96913302e-01 7.84727814e-02 2.42701135e-03 9.36686526e+02] [-7.84726343e-02 9.96916256e-01 -1.55913750e-04 2.49465066e+02] [-2.43176205e-03 -3.50214826e-05 9.99997043e-01 -1.55044471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.725336195 meters Centerline goodness : 0.999380 with order 1 Centerline is valid? [True, True] Translation: X:936.74, Y:249.46, Z:-15.51 [[ 9.96928420e-01 7.82804943e-02 2.42701897e-03 9.36744272e+02] [-7.82803470e-02 9.96931373e-01 -1.55794922e-04 2.49463159e+02] [-2.43176706e-03 -3.46715015e-05 9.99997043e-01 -1.55061763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.785336195 meters Centerline goodness : 0.999360 with order 1 Centerline is valid? [True, True] Translation: X:936.80, Y:249.46, Z:-15.51 [[ 9.96917580e-01 7.84184186e-02 2.42702905e-03 9.36802745e+02] [-7.84182721e-02 9.96920534e-01 -1.55637749e-04 2.49462311e+02] [-2.43175996e-03 -3.51654162e-05 9.99997043e-01 -1.55062703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.8453361949998 meters Centerline goodness : 0.999464 with order 1 Centerline is valid? [True, True] Translation: X:936.86, Y:249.46, Z:-15.51 [[ 9.96814484e-01 7.97182118e-02 2.42703676e-03 9.36861122e+02] [-7.97180694e-02 9.96817438e-01 -1.55517546e-04 2.49462759e+02] [-2.43171014e-03 -3.84565423e-05 9.99997043e-01 -1.55072491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.9053361949998 meters Centerline goodness : 0.999445 with order 1 Centerline is valid? [True, True] Translation: X:936.92, Y:249.46, Z:-15.51 [[ 9.96679274e-01 8.13912360e-02 2.42704628e-03 9.36919023e+02] [-8.13910989e-02 9.96682229e-01 -1.55368830e-04 2.49462562e+02] [-2.43163955e-03 -4.26870702e-05 9.99997043e-01 -1.55104640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.965336195 meters Centerline goodness : 0.999526 with order 1 Centerline is valid? [True, True] Translation: X:936.98, Y:249.46, Z:-15.51 [[ 9.96673441e-01 8.14626342e-02 2.42705537e-03 9.36977522e+02] [-8.14624977e-02 9.96676396e-01 -1.55226628e-04 2.49462039e+02] [-2.43163397e-03 -4.30037347e-05 9.99997043e-01 -1.55090034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.025336195 meters Centerline goodness : 0.999547 with order 1 Centerline is valid? [True, True] Translation: X:937.04, Y:249.46, Z:-15.51 [[ 9.96806573e-01 7.98170695e-02 2.42706305e-03 9.37035703e+02] [-7.98169283e-02 9.96809527e-01 -1.55106450e-04 2.49462322e+02] [-2.43169971e-03 -3.91095885e-05 9.99997043e-01 -1.55100860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.0853361949999 meters Centerline goodness : 0.999461 with order 1 Centerline is valid? [True, True] Translation: X:937.09, Y:249.46, Z:-15.51 [[ 9.96968538e-01 7.77678865e-02 2.42707256e-03 9.37094803e+02] [-7.77677397e-02 9.96971491e-01 -1.54957540e-04 2.49462340e+02] [-2.43177287e-03 -3.42601544e-05 9.99997043e-01 -1.55082410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.1453361949998 meters Centerline goodness : 0.999484 with order 1 Centerline is valid? [True, True] Translation: X:937.15, Y:249.46, Z:-15.51 [[ 9.97142127e-01 7.55095220e-02 2.42707999e-03 9.37153359e+02] [-7.55093688e-02 9.97145080e-01 -1.54841006e-04 2.49462592e+02] [-2.43184284e-03 -2.88687876e-05 9.99997043e-01 -1.55080893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.205336195 meters Centerline goodness : 0.999375 with order 1 Centerline is valid? [True, True] Translation: X:937.21, Y:249.46, Z:-15.51 [[ 9.97241908e-01 7.41800944e-02 2.42708754e-03 9.37212018e+02] [-7.41799375e-02 9.97244861e-01 -1.54722585e-04 2.49463625e+02] [-2.43187791e-03 -2.57453567e-05 9.99997043e-01 -1.55071770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.265336195 meters Centerline goodness : 0.999569 with order 1 Centerline is valid? [True, True] Translation: X:937.27, Y:249.46, Z:-15.51 [[ 9.97501437e-01 7.06044749e-02 2.42709517e-03 9.37270925e+02] [-7.06043077e-02 9.97504390e-01 -1.54602831e-04 2.49462455e+02] [-2.43195374e-03 -1.71468279e-05 9.99997043e-01 -1.55071767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.3253361949999 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:937.33, Y:249.46, Z:-15.51 [[ 9.97946615e-01 6.40051801e-02 2.42710279e-03 9.37328970e+02] [-6.40049937e-02 9.97949566e-01 -1.54483147e-04 2.49460544e+02] [-2.43201390e-03 -1.18076493e-06 9.99997043e-01 -1.55093287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.3853361949998 meters Centerline goodness : 0.999315 with order 1 Centerline is valid? [True, True] Translation: X:937.39, Y:249.46, Z:-15.51 [[ 9.98321500e-01 5.78644264e-02 2.42711213e-03 9.37387005e+02] [-5.78642222e-02 9.98324450e-01 -1.54336258e-04 2.49455335e+02] [-2.43197596e-03 1.36342492e-05 9.99997043e-01 -1.55102200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.445336195 meters Centerline goodness : 0.999400 with order 1 Centerline is valid? [True, True] Translation: X:937.45, Y:249.45, Z:-15.51 [[ 9.98790898e-01 4.91004258e-02 2.42712126e-03 9.37445921e+02] [-4.91001961e-02 9.98793846e-01 -1.54192557e-04 2.49449298e+02] [-2.43176470e-03 3.48339933e-05 9.99997043e-01 -1.55100816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.505336195 meters Centerline goodness : 0.999568 with order 1 Centerline is valid? [True, True] Translation: X:937.50, Y:249.44, Z:-15.51 [[ 9.99137844e-01 4.14448760e-02 2.42712846e-03 9.37503829e+02] [-4.14446240e-02 9.99140791e-01 -1.54079142e-04 2.49441130e+02] [-2.43142884e-03 5.33548751e-05 9.99997043e-01 -1.55131236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.5653361949999 meters Centerline goodness : 0.999551 with order 1 Centerline is valid? [True, True] Translation: X:937.56, Y:249.43, Z:-15.51 [[ 9.99326751e-01 3.66081211e-02 2.42713375e-03 9.37562262e+02] [-3.66078550e-02 9.99329696e-01 -1.53995788e-04 2.49433723e+02] [-2.43114432e-03 6.50399505e-05 9.99997043e-01 -1.55119127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.6253361949998 meters Centerline goodness : 0.999590 with order 1 Centerline is valid? [True, True] Translation: X:937.62, Y:249.42, Z:-15.51 [[ 9.99351342e-01 3.59305503e-02 2.42714089e-03 9.37619986e+02] [-3.59302825e-02 9.99354287e-01 -1.53883176e-04 2.49422907e+02] [-2.43110276e-03 6.65755007e-05 9.99997043e-01 -1.55099528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.685336195 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:937.68, Y:249.41, Z:-15.51 [[ 9.99185674e-01 4.02752647e-02 2.42714496e-03 9.37678002e+02] [-4.02750098e-02 9.99188621e-01 -1.53818922e-04 2.49412469e+02] [-2.43137072e-03 5.59403762e-05 9.99997043e-01 -1.55108793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.745336195 meters Centerline goodness : 0.999316 with order 1 Centerline is valid? [True, True] Translation: X:937.74, Y:249.40, Z:-15.51 [[ 9.98851730e-01 4.78469409e-02 2.42715248e-03 9.37735529e+02] [-4.78467086e-02 9.98854679e-01 -1.53700088e-04 2.49404142e+02] [-2.43172669e-03 3.73923412e-05 9.99997043e-01 -1.55122704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.8053361949999 meters Centerline goodness : 0.999316 with order 1 Centerline is valid? [True, True] Translation: X:937.79, Y:249.39, Z:-15.52 [[ 9.98445055e-01 5.56918351e-02 2.42716181e-03 9.37792487e+02] [-5.56916263e-02 9.98448005e-01 -1.53552598e-04 2.49394614e+02] [-2.43194650e-03 1.81412435e-05 9.99997043e-01 -1.55157175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.8653361949998 meters Centerline goodness : 0.999377 with order 1 Centerline is valid? [True, True] Translation: X:937.85, Y:249.39, Z:-15.51 [[ 9.98050274e-01 6.23679387e-02 2.42717105e-03 9.37850513e+02] [-6.23677500e-02 9.98053225e-01 -1.53406431e-04 2.49385863e+02] [-2.43201354e-03 1.73013302e-06 9.99997043e-01 -1.55127699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.925336195 meters Centerline goodness : 0.999528 with order 1 Centerline is valid? [True, True] Translation: X:937.91, Y:249.38, Z:-15.52 [[ 9.97838608e-01 6.56675065e-02 2.42717831e-03 9.37908090e+02] [-6.56673279e-02 9.97841560e-01 -1.53291466e-04 2.49379720e+02] [-2.43200566e-03 -6.42617098e-06 9.99997043e-01 -1.55174241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.985336195 meters Centerline goodness : 0.999551 with order 1 Centerline is valid? [True, True] Translation: X:937.97, Y:249.37, Z:-15.52 [[ 9.97614520e-01 6.89882496e-02 2.42718731e-03 9.37966762e+02] [-6.89880811e-02 9.97617472e-01 -1.53148883e-04 2.49372138e+02] [-2.43196994e-03 -1.46634459e-05 9.99997043e-01 -1.55153547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.045336195 meters Centerline goodness : 0.999435 with order 1 Centerline is valid? [True, True] Translation: X:938.03, Y:249.36, Z:-15.52 [[ 9.97405522e-01 7.19467381e-02 2.42719459e-03 9.38025096e+02] [-7.19465787e-02 9.97408475e-01 -1.53033330e-04 2.49364790e+02] [-2.43191471e-03 -2.19920586e-05 9.99997043e-01 -1.55154622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.1053361949998 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:938.08, Y:249.36, Z:-15.51 [[ 9.97166277e-01 7.51899185e-02 2.42720188e-03 9.38082920e+02] [-7.51897690e-02 9.97169231e-01 -1.52917704e-04 2.49359327e+02] [-2.43182890e-03 -3.00163711e-05 9.99997043e-01 -1.55149231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.1653361949998 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:938.14, Y:249.36, Z:-15.51 [[ 9.97106394e-01 7.59799159e-02 2.42721170e-03 9.38141921e+02] [-7.59797691e-02 9.97109348e-01 -1.52761583e-04 2.49355356e+02] [-2.43180229e-03 -3.20994337e-05 9.99997043e-01 -1.55131732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.225336195 meters Centerline goodness : 0.999572 with order 1 Centerline is valid? [True, True] Translation: X:938.20, Y:249.35, Z:-15.51 [[ 9.97220268e-01 7.44704401e-02 2.42721885e-03 9.38199476e+02] [-7.44702891e-02 9.97223221e-01 -1.52647953e-04 2.49349385e+02] [-2.43184676e-03 -2.85320574e-05 9.99997043e-01 -1.55139078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.285336195 meters Centerline goodness : 0.999544 with order 1 Centerline is valid? [True, True] Translation: X:938.26, Y:249.35, Z:-15.51 [[ 9.97335906e-01 7.29054158e-02 2.42722765e-03 9.38257884e+02] [-7.29052606e-02 9.97338859e-01 -1.52507920e-04 2.49345291e+02] [-2.43188711e-03 -2.48560401e-05 9.99997043e-01 -1.55143891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.3453361949998 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:938.32, Y:249.34, Z:-15.51 [[ 9.97323220e-01 7.30787463e-02 2.42723471e-03 9.38315117e+02] [-7.30785919e-02 9.97326173e-01 -1.52395533e-04 2.49341674e+02] [-2.43188158e-03 -2.53912910e-05 9.99997043e-01 -1.55127936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.4053361949998 meters Centerline goodness : 0.999570 with order 1 Centerline is valid? [True, True] Translation: X:938.37, Y:249.34, Z:-15.51 [[ 9.97204298e-01 7.46839794e-02 2.42724411e-03 9.38374021e+02] [-7.46838300e-02 9.97207251e-01 -1.52245605e-04 2.49339255e+02] [-2.43183574e-03 -2.94559151e-05 9.99997043e-01 -1.55137746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.465336195 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:938.43, Y:249.34, Z:-15.52 [[ 9.97063379e-01 7.65423245e-02 2.42725095e-03 9.38431399e+02] [-7.65421809e-02 9.97066332e-01 -1.52136469e-04 2.49336678e+02] [-2.43177508e-03 -3.40973795e-05 9.99997043e-01 -1.55151837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.525336195 meters Centerline goodness : 0.999636 with order 1 Centerline is valid? [True, True] Translation: X:938.49, Y:249.34, Z:-15.51 [[ 9.96846491e-01 7.93169733e-02 2.42725940e-03 9.38490129e+02] [-7.93168383e-02 9.96849445e-01 -1.52001549e-04 2.49337958e+02] [-2.43166849e-03 -4.10003310e-05 9.99997043e-01 -1.55136363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.5853361949999 meters Centerline goodness : 0.999526 with order 1 Centerline is valid? [True, True] Translation: X:938.55, Y:249.34, Z:-15.51 [[ 9.96689520e-01 8.12656694e-02 2.42726613e-03 9.38548091e+02] [-8.12655404e-02 9.96692475e-01 -1.51894045e-04 2.49339399e+02] [-2.43158165e-03 -4.58618903e-05 9.99997043e-01 -1.55137130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.6453361949998 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:938.61, Y:249.34, Z:-15.52 [[ 9.96730582e-01 8.07604824e-02 2.42727447e-03 9.38607177e+02] [-8.07603522e-02 9.96733536e-01 -1.51760667e-04 2.49342851e+02] [-2.43160213e-03 -4.47630431e-05 9.99997043e-01 -1.55155066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.705336195 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:938.67, Y:249.34, Z:-15.51 [[ 9.97109292e-01 7.59418741e-02 2.42728106e-03 9.38665718e+02] [-7.59417299e-02 9.97112246e-01 -1.51655181e-04 2.49342966e+02] [-2.43178864e-03 -3.31151322e-05 9.99997043e-01 -1.55137121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.765336195 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:938.72, Y:249.34, Z:-15.51 [[ 9.97663306e-01 6.82791054e-02 2.42728848e-03 9.38723338e+02] [-6.82789388e-02 9.97666259e-01 -1.51536349e-04 2.49343798e+02] [-2.43197058e-03 -1.45504266e-05 9.99997043e-01 -1.55137071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.8253361949999 meters Centerline goodness : 0.999632 with order 1 Centerline is valid? [True, True] Translation: X:938.78, Y:249.34, Z:-15.51 [[ 9.98268824e-01 5.87661804e-02 2.42729756e-03 9.38782350e+02] [-5.87659860e-02 9.98271775e-01 -1.51390620e-04 2.49342266e+02] [-2.43199930e-03 8.48600103e-06 9.99997043e-01 -1.55122467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.8853361949998 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:938.84, Y:249.34, Z:-15.51 [[ 9.98745139e-01 5.00225561e-02 2.42730495e-03 9.38840669e+02] [-5.00223362e-02 9.98748088e-01 -1.51272119e-04 2.49338860e+02] [-2.43183320e-03 2.96628291e-05 9.99997043e-01 -1.55139689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.945336195 meters Centerline goodness : 0.999567 with order 1 Centerline is valid? [True, True] Translation: X:938.90, Y:249.33, Z:-15.51 [[ 9.99061231e-01 4.32523418e-02 2.42731040e-03 9.38900339e+02] [-4.32521021e-02 9.99064179e-01 -1.51184572e-04 2.49334915e+02] [-2.43157796e-03 4.60563672e-05 9.99997043e-01 -1.55129301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.005336195 meters Centerline goodness : 0.999611 with order 1 Centerline is valid? [True, True] Translation: X:938.96, Y:249.33, Z:-15.51 [[ 9.99260556e-01 3.83725177e-02 2.42731407e-03 9.38959338e+02] [-3.83722638e-02 9.99263502e-01 -1.51125724e-04 2.49327611e+02] [-2.43132543e-03 5.78724392e-05 9.99997043e-01 -1.55119746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.0653361949999 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:939.02, Y:249.32, Z:-15.51 [[ 9.99347017e-01 3.60506370e-02 2.42731587e-03 9.39017342e+02] [-3.60503762e-02 9.99349962e-01 -1.51096720e-04 2.49321115e+02] [-2.43118516e-03 6.34924056e-05 9.99997043e-01 -1.55135284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.1253361949998 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:939.08, Y:249.31, Z:-15.51 [[ 9.99340779e-01 3.62231351e-02 2.42732119e-03 9.39075907e+02] [-3.62228751e-02 9.99343725e-01 -1.51011238e-04 2.49314812e+02] [-2.43119830e-03 6.29871360e-05 9.99997043e-01 -1.55146317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.185336195 meters Centerline goodness : 0.999631 with order 1 Centerline is valid? [True, True] Translation: X:939.14, Y:249.30, Z:-15.51 [[ 9.99229273e-01 3.91786702e-02 2.42732641e-03 9.39135546e+02] [-3.91784191e-02 9.99232220e-01 -1.50927365e-04 2.49304542e+02] [-2.43137588e-03 5.57122295e-05 9.99997043e-01 -1.55128686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.245336195 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:939.19, Y:249.30, Z:-15.52 [[ 9.99191230e-01 4.01371822e-02 2.42732822e-03 9.39194391e+02] [-4.01369340e-02 9.99194177e-01 -1.50898205e-04 2.49299725e+02] [-2.43142885e-03 5.33506510e-05 9.99997043e-01 -1.55162692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.3053361949999 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:939.25, Y:249.29, Z:-15.52 [[ 9.99041741e-01 4.37001957e-02 2.42733363e-03 9.39253862e+02] [-4.36999582e-02 9.99044689e-01 -1.50811137e-04 2.49290237e+02] [-2.43160525e-03 4.45922432e-05 9.99997043e-01 -1.55183964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.3653361949998 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:939.31, Y:249.28, Z:-15.52 [[ 9.98924194e-01 4.63094162e-02 2.42733721e-03 9.39311703e+02] [-4.63091865e-02 9.98927143e-01 -1.50753395e-04 2.49279699e+02] [-2.43171433e-03 3.81832023e-05 9.99997043e-01 -1.55170135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.425336195 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:939.37, Y:249.27, Z:-15.52 [[ 9.98848456e-01 4.79152449e-02 2.42734256e-03 9.39370891e+02] [-4.79150202e-02 9.98851404e-01 -1.50667223e-04 2.49269920e+02] [-2.43177378e-03 3.41875553e-05 9.99997043e-01 -1.55185205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.485336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:939.43, Y:249.26, Z:-15.52 [[ 9.98781104e-01 4.92992356e-02 2.42734618e-03 9.39428928e+02] [-4.92990151e-02 9.98784053e-01 -1.50608931e-04 2.49259081e+02] [-2.43181956e-03 3.07595784e-05 9.99997043e-01 -1.55190381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.545336195 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:939.49, Y:249.25, Z:-15.52 [[ 9.98693617e-01 5.10408416e-02 2.42735000e-03 9.39487703e+02] [-5.10406265e-02 9.98696566e-01 -1.50547285e-04 2.49248039e+02] [-2.43187017e-03 2.64571474e-05 9.99997043e-01 -1.55203373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.6053361949998 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:939.55, Y:249.24, Z:-15.52 [[ 9.98596101e-01 5.29144160e-02 2.42735356e-03 9.39546546e+02] [-5.29142065e-02 9.98599051e-01 -1.50489955e-04 2.49239280e+02] [-2.43191605e-03 2.18371952e-05 9.99997043e-01 -1.55206427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.6653361949998 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:939.61, Y:249.23, Z:-15.52 [[ 9.98536898e-01 5.40201027e-02 2.42735711e-03 9.39606572e+02] [-5.40198967e-02 9.98539848e-01 -1.50432697e-04 2.49231126e+02] [-2.43193918e-03 1.90870188e-05 9.99997043e-01 -1.55201007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.725336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:939.67, Y:249.22, Z:-15.52 [[ 9.98424477e-01 5.60595284e-02 2.42735711e-03 9.39665218e+02] [-5.60593283e-02 9.98427428e-01 -1.50432697e-04 2.49220399e+02] [-2.43197310e-03 1.41196783e-05 9.99997043e-01 -1.55191981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.785336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:939.72, Y:249.21, Z:-15.52 [[ 9.98362625e-01 5.71504819e-02 2.42736073e-03 9.39724449e+02] [-5.71502852e-02 9.98365575e-01 -1.50374211e-04 2.49214339e+02] [-2.43198735e-03 1.14036338e-05 9.99997043e-01 -1.55202729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.8453361949998 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:939.78, Y:249.21, Z:-15.52 [[ 9.98187996e-01 6.01234778e-02 2.42736252e-03 9.39784626e+02] [-6.01232900e-02 9.98190947e-01 -1.50345214e-04 2.49205845e+02] [-2.43201058e-03 4.13176699e-06 9.99997043e-01 -1.55201279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.9053361949998 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:939.85, Y:249.20, Z:-15.52 [[ 9.98105206e-01 6.14825681e-02 2.42736252e-03 9.39845242e+02] [-6.14823842e-02 9.98108157e-01 -1.50345214e-04 2.49199201e+02] [-2.43201395e-03 8.20305435e-07 9.99997043e-01 -1.55183558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.965336195 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:939.90, Y:249.19, Z:-15.52 [[ 9.98054207e-01 6.23049629e-02 2.42736252e-03 9.39904048e+02] [-6.23047815e-02 9.98057158e-01 -1.50345214e-04 2.49191929e+02] [-2.43201380e-03 -1.18361839e-06 9.99997043e-01 -1.55217787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.025336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:939.96, Y:249.18, Z:-15.52 [[ 9.98101735e-01 6.15388859e-02 2.42736435e-03 9.39963717e+02] [-6.15387023e-02 9.98104687e-01 -1.50315752e-04 2.49184007e+02] [-2.43201400e-03 6.53560932e-07 9.99997043e-01 -1.55206511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.0853361949999 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:940.02, Y:249.18, Z:-15.52 [[ 9.98177115e-01 6.03038490e-02 2.42736435e-03 9.40023741e+02] [-6.03036618e-02 9.98180067e-01 -1.50315752e-04 2.49175285e+02] [-2.43201133e-03 3.66278515e-06 9.99997043e-01 -1.55226132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.1453361949998 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:940.08, Y:249.17, Z:-15.52 [[ 9.98206191e-01 5.98206355e-02 2.42736435e-03 9.40083449e+02] [-5.98204469e-02 9.98209142e-01 -1.50315752e-04 2.49168790e+02] [-2.43200927e-03 4.84009419e-06 9.99997043e-01 -1.55248346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.205336195 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:940.14, Y:249.16, Z:-15.52 [[ 9.98141028e-01 6.08982365e-02 2.42736435e-03 9.40144689e+02] [-6.08980511e-02 9.98143980e-01 -1.50315752e-04 2.49160796e+02] [-2.43201308e-03 2.21456124e-06 9.99997043e-01 -1.55227583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.265336195 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:940.21, Y:249.15, Z:-15.52 [[ 9.97940836e-01 6.40952102e-02 2.42736061e-03 9.40205526e+02] [-6.40950341e-02 9.97943788e-01 -1.50376060e-04 2.49154284e+02] [-2.43200783e-03 -5.51535019e-06 9.99997043e-01 -1.55214837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.3253361949999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:940.27, Y:249.15, Z:-15.52 [[ 9.97666867e-01 6.82270574e-02 2.42735684e-03 9.40265841e+02] [-6.82268933e-02 9.97669819e-01 -1.50436887e-04 2.49150271e+02] [-2.43196453e-03 -1.55251184e-05 9.99997043e-01 -1.55215280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.3853361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:940.33, Y:249.15, Z:-15.52 [[ 9.97591093e-01 6.93261767e-02 2.42735497e-03 9.40325922e+02] [-6.93260158e-02 9.97594046e-01 -1.50467054e-04 2.49145343e+02] [-2.43194617e-03 -1.81742567e-05 9.99997043e-01 -1.55245788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:940.39, Y:249.14, Z:-15.53 [[ 9.97820296e-01 6.59451704e-02 2.42735497e-03 9.40385687e+02] [-6.59449994e-02 9.97823248e-01 -1.50467053e-04 2.49141643e+02] [-2.43199380e-03 -9.93284253e-06 9.99997043e-01 -1.55273863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.505336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:940.45, Y:249.14, Z:-15.53 [[ 9.98112721e-01 6.13604509e-02 2.42734563e-03 9.40446634e+02] [-6.13602660e-02 9.98115672e-01 -1.50617690e-04 2.49136163e+02] [-2.43201368e-03 1.39085883e-06 9.99997043e-01 -1.55275882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.5653361949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:940.51, Y:249.13, Z:-15.53 [[ 9.98338913e-01 5.75632046e-02 2.42734226e-03 9.40507452e+02] [-5.75630084e-02 9.98341864e-01 -1.50671981e-04 2.49130666e+02] [-2.43199055e-03 1.06965789e-05 9.99997043e-01 -1.55260293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.6253361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:940.57, Y:249.13, Z:-15.53 [[ 9.98439128e-01 5.57979927e-02 2.42733891e-03 9.40568817e+02] [-5.57977912e-02 9.98442078e-01 -1.50725861e-04 2.49126083e+02] [-2.43196751e-03 1.50504473e-05 9.99997043e-01 -1.55255538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:940.63, Y:249.12, Z:-15.53 [[ 9.98562276e-01 5.35489498e-02 2.42731728e-03 9.40629692e+02] [-5.35487408e-02 9.98565225e-01 -1.51073411e-04 2.49121541e+02] [-2.43192445e-03 2.08764258e-05 9.99997043e-01 -1.55252363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:940.69, Y:249.11, Z:-15.52 [[ 9.98695632e-01 5.10013944e-02 2.42729598e-03 9.40691134e+02] [-5.10011770e-02 9.98698582e-01 -1.51414881e-04 2.49113555e+02] [-2.43185942e-03 2.74224282e-05 9.99997043e-01 -1.55230053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.8053361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:940.75, Y:249.11, Z:-15.53 [[ 9.98817219e-01 4.85620382e-02 2.42727091e-03 9.40753123e+02] [-4.85618127e-02 9.98820168e-01 -1.51815734e-04 2.49105903e+02] [-2.43177962e-03 3.37634943e-05 9.99997043e-01 -1.55263343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.8653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:940.82, Y:249.10, Z:-15.52 [[ 9.98920174e-01 4.63960577e-02 2.42724419e-03 9.40815539e+02] [-4.63958247e-02 9.98923122e-01 -1.52241688e-04 2.49098071e+02] [-2.43169376e-03 3.94632976e-05 9.99997043e-01 -1.55240894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:940.88, Y:249.09, Z:-15.52 [[ 9.98895284e-01 4.69288920e-02 2.42721585e-03 9.40876358e+02] [-4.69286595e-02 9.98898232e-01 -1.52692221e-04 2.49089650e+02] [-2.43170730e-03 3.86175537e-05 9.99997043e-01 -1.55238447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:940.94, Y:249.08, Z:-15.52 [[ 9.98688721e-01 5.11365613e-02 2.42719307e-03 9.40937522e+02] [-5.11363403e-02 9.98691670e-01 -1.53053432e-04 2.49083924e+02] [-2.43184413e-03 2.87349653e-05 9.99997043e-01 -1.55234095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:941.00, Y:249.08, Z:-15.53 [[ 9.98468847e-01 5.52636370e-02 2.42717059e-03 9.40999667e+02] [-5.52634274e-02 9.98471797e-01 -1.53409041e-04 2.49080485e+02] [-2.43193933e-03 1.90403825e-05 9.99997043e-01 -1.55257266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.1053361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:941.06, Y:249.07, Z:-15.53 [[ 9.98415784e-01 5.62141521e-02 2.42714606e-03 9.41060601e+02] [-5.62139443e-02 9.98418734e-01 -1.53796264e-04 2.49074127e+02] [-2.43195362e-03 1.71131642e-05 9.99997043e-01 -1.55284369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.1653361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:941.12, Y:249.07, Z:-15.53 [[ 9.98447559e-01 5.56469238e-02 2.42712330e-03 9.41122351e+02] [-5.56467135e-02 9.98450509e-01 -1.54154547e-04 2.49069216e+02] [-2.43194072e-03 1.88537962e-05 9.99997043e-01 -1.55282276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.225336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:941.18, Y:249.06, Z:-15.53 [[ 9.98493834e-01 5.48103398e-02 2.42709922e-03 9.41184418e+02] [-5.48101261e-02 9.98496783e-01 -1.54532816e-04 2.49064582e+02] [-2.43192076e-03 2.12704496e-05 9.99997043e-01 -1.55277837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.285336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:941.25, Y:249.06, Z:-15.53 [[ 9.98610193e-01 5.26478123e-02 2.42707505e-03 9.41247487e+02] [-5.26475913e-02 9.98613142e-01 -1.54911457e-04 2.49055789e+02] [-2.43186479e-03 2.69165044e-05 9.99997043e-01 -1.55278889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.3453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:941.31, Y:249.05, Z:-15.53 [[ 9.98756395e-01 4.97973136e-02 2.42704761e-03 9.41309532e+02] [-4.97970831e-02 9.98759344e-01 -1.55340161e-04 2.49046799e+02] [-2.43177200e-03 3.42870877e-05 9.99997043e-01 -1.55278767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.4053361949998 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:941.37, Y:249.04, Z:-15.53 [[ 9.98835922e-01 4.81758257e-02 2.42702209e-03 9.41370268e+02] [-4.81755894e-02 9.98838870e-01 -1.55737868e-04 2.49038238e+02] [-2.43170680e-03 3.86333568e-05 9.99997043e-01 -1.55283163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.465336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:941.43, Y:249.03, Z:-15.52 [[ 9.98748627e-01 4.99528731e-02 2.42700866e-03 9.41430667e+02] [-4.99526416e-02 9.98751575e-01 -1.55946895e-04 2.49028950e+02] [-2.43176872e-03 3.45162534e-05 9.99997043e-01 -1.55243348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:941.49, Y:249.02, Z:-15.53 [[ 9.98515881e-01 5.44072111e-02 2.42698704e-03 9.41491938e+02] [-5.44069919e-02 9.98518830e-01 -1.56282725e-04 2.49020472e+02] [-2.43189516e-03 2.40057185e-05 9.99997043e-01 -1.55252290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.5853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:941.56, Y:249.01, Z:-15.52 [[ 9.98232404e-01 5.93816179e-02 2.42696396e-03 9.41555073e+02] [-5.93814125e-02 9.98235355e-01 -1.56640245e-04 2.49012973e+02] [-2.43198278e-03 1.22468204e-05 9.99997043e-01 -1.55242323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.6453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:941.62, Y:249.01, Z:-15.53 [[ 9.97825716e-01 6.58631123e-02 2.42693423e-03 9.41616260e+02] [-6.58629250e-02 9.97828668e-01 -1.57099532e-04 2.49006961e+02] [-2.43201161e-03 -3.08703374e-06 9.99997043e-01 -1.55288696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:941.68, Y:249.00, Z:-15.53 [[ 9.97308589e-01 7.32781597e-02 2.42691016e-03 9.41678385e+02] [-7.32779934e-02 9.97311542e-01 -1.57470432e-04 2.49001960e+02] [-2.43192466e-03 -2.07924924e-05 9.99997043e-01 -1.55303652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:941.74, Y:249.00, Z:-15.53 [[ 9.96857559e-01 7.91777574e-02 2.42688704e-03 9.41740384e+02] [-7.91776077e-02 9.96860513e-01 -1.57826083e-04 2.49000100e+02] [-2.43176417e-03 -3.48249863e-05 9.99997043e-01 -1.55297399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.8253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:941.80, Y:249.00, Z:-15.53 [[ 9.96655600e-01 8.16806272e-02 2.42686153e-03 9.41801967e+02] [-8.16804840e-02 9.96658554e-01 -1.58217234e-04 2.48996917e+02] [-2.43167559e-03 -4.05391328e-05 9.99997043e-01 -1.55332995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.8853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:941.86, Y:249.00, Z:-15.53 [[ 9.96570343e-01 8.27143398e-02 2.42683438e-03 9.41864718e+02] [-8.27141987e-02 9.96573297e-01 -1.58632589e-04 2.48996604e+02] [-2.43163953e-03 -4.26451276e-05 9.99997043e-01 -1.55285053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:941.93, Y:248.99, Z:-15.53 [[ 9.96651494e-01 8.17307218e-02 2.42680472e-03 9.41927745e+02] [-8.17305766e-02 9.96654447e-01 -1.59085051e-04 2.48994057e+02] [-2.43168786e-03 -3.97917956e-05 9.99997043e-01 -1.55290480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.005336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:941.99, Y:248.99, Z:-15.53 [[ 9.96845051e-01 7.93350805e-02 2.42677519e-03 9.41989621e+02] [-7.93349272e-02 9.96848004e-01 -1.59534308e-04 2.48992433e+02] [-2.43178267e-03 -3.34970476e-05 9.99997043e-01 -1.55254574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.0653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:942.05, Y:248.99, Z:-15.53 [[ 9.96882637e-01 7.88613932e-02 2.42674821e-03 9.42052202e+02] [-7.88612375e-02 9.96885590e-01 -1.59943621e-04 2.48992549e+02] [-2.43180370e-03 -3.19313488e-05 9.99997043e-01 -1.55273886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.1253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:942.11, Y:248.99, Z:-15.53 [[ 9.97037060e-01 7.68844133e-02 2.42671954e-03 9.42114353e+02] [-7.68842506e-02 9.97040012e-01 -1.60377420e-04 2.48993446e+02] [-2.43186701e-03 -2.66742824e-05 9.99997043e-01 -1.55284814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.185336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:942.18, Y:248.99, Z:-15.53 [[ 9.97369017e-01 7.24510566e-02 2.42669315e-03 9.42176170e+02] [-7.24508799e-02 9.97371969e-01 -1.60775845e-04 2.48992980e+02] [-2.43196410e-03 -1.54632074e-05 9.99997043e-01 -1.55256936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:942.24, Y:248.99, Z:-15.53 [[ 9.97890761e-01 6.48701854e-02 2.42666609e-03 9.42239441e+02] [-6.48699852e-02 9.97893711e-01 -1.61183145e-04 2.48989246e+02] [-2.43201081e-03 3.42537757e-06 9.99997043e-01 -1.55271046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.3053361949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:942.30, Y:248.98, Z:-15.53 [[ 9.98416471e-01 5.62019749e-02 2.42663380e-03 9.42301019e+02] [-5.62017480e-02 9.98419420e-01 -1.61667945e-04 2.48982784e+02] [-2.43188436e-03 2.50308781e-05 9.99997043e-01 -1.55275320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.3653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:942.36, Y:248.98, Z:-15.53 [[ 9.98706446e-01 5.07892333e-02 2.42661369e-03 9.42363855e+02] [-5.07889897e-02 9.98709393e-01 -1.61969094e-04 2.48975679e+02] [-2.43170818e-03 3.85143207e-05 9.99997043e-01 -1.55283447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:942.43, Y:248.97, Z:-15.53 [[ 9.98748145e-01 4.99625261e-02 2.42658298e-03 9.42425942e+02] [-4.99622789e-02 9.98751092e-01 -1.62427976e-04 2.48967250e+02] [-2.43166771e-03 4.09870247e-05 9.99997043e-01 -1.55283820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:942.49, Y:248.96, Z:-15.53 [[ 9.98611580e-01 5.26215187e-02 2.42655192e-03 9.42488825e+02] [-5.26212782e-02 9.98614528e-01 -1.62890612e-04 2.48959036e+02] [-2.43176155e-03 3.49761881e-05 9.99997043e-01 -1.55276959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:942.55, Y:248.95, Z:-15.53 [[ 9.98342115e-01 5.75076847e-02 2.42652006e-03 9.42550922e+02] [-5.75074575e-02 9.98345063e-01 -1.63363936e-04 2.48953259e+02] [-2.43189900e-03 2.35500981e-05 9.99997043e-01 -1.55264042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.6053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:942.61, Y:248.95, Z:-15.53 [[ 9.97934832e-01 6.41886591e-02 2.42649181e-03 9.42612422e+02] [-6.41884506e-02 9.97937782e-01 -1.63782385e-04 2.48945582e+02] [-2.43200083e-03 7.69139709e-06 9.99997043e-01 -1.55264141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.6653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:942.67, Y:248.94, Z:-15.53 [[ 9.97430097e-01 7.16052626e-02 2.42646174e-03 9.42674687e+02] [-7.16050750e-02 9.97433049e-01 -1.64226655e-04 2.48940121e+02] [-2.43199263e-03 -9.94236659e-06 9.99997043e-01 -1.55280357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:942.74, Y:248.94, Z:-15.53 [[ 9.96871642e-01 7.90002617e-02 2.42643187e-03 9.42737298e+02] [-7.90000948e-02 9.96874595e-01 -1.64666886e-04 2.48937095e+02] [-2.43185701e-03 -2.75365986e-05 9.99997043e-01 -1.55284076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:942.80, Y:248.93, Z:-15.53 [[ 9.96540216e-01 8.30765319e-02 2.42640009e-03 9.42799777e+02] [-8.30763761e-02 9.96543169e-01 -1.65133743e-04 2.48933715e+02] [-2.43173118e-03 -3.70141106e-05 9.99997043e-01 -1.55290557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.8453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:942.86, Y:248.93, Z:-15.53 [[ 9.96256990e-01 8.64067246e-02 2.42636864e-03 9.42860787e+02] [-8.64065774e-02 9.96259944e-01 -1.65594589e-04 2.48933341e+02] [-2.43160237e-03 -4.46794431e-05 9.99997043e-01 -1.55304232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.9053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:942.92, Y:248.93, Z:-15.53 [[ 9.96295208e-01 8.59649444e-02 2.42634339e-03 9.42922909e+02] [-8.59647950e-02 9.96298161e-01 -1.65963796e-04 2.48930994e+02] [-2.43162853e-03 -4.32311776e-05 9.99997043e-01 -1.55299535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:942.99, Y:248.93, Z:-15.53 [[ 9.96591467e-01 8.24594462e-02 2.42631635e-03 9.42985459e+02] [-8.24592855e-02 9.96594420e-01 -1.66358154e-04 2.48929083e+02] [-2.43177114e-03 -3.42811963e-05 9.99997043e-01 -1.55306755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:943.05, Y:248.93, Z:-15.53 [[ 9.97000376e-01 7.73586698e-02 2.42628846e-03 9.43047769e+02] [-7.73584930e-02 9.97003328e-01 -1.66763965e-04 2.48926522e+02] [-2.43191830e-03 -2.14302829e-05 9.99997043e-01 -1.55318813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.0853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:943.11, Y:248.92, Z:-15.53 [[ 9.97256136e-01 7.39885930e-02 2.42625865e-03 9.43109951e+02] [-7.39884052e-02 9.97259088e-01 -1.67196500e-04 2.48922825e+02] [-2.43197912e-03 -1.27772724e-05 9.99997043e-01 -1.55317168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.1453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:943.17, Y:248.92, Z:-15.53 [[ 9.97469436e-01 7.10551741e-02 2.42623207e-03 9.43172246e+02] [-7.10549767e-02 9.97472387e-01 -1.67581288e-04 2.48918480e+02] [-2.43200701e-03 -5.23865052e-06 9.99997043e-01 -1.55326994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:943.24, Y:248.91, Z:-15.53 [[ 9.97682646e-01 6.79959700e-02 2.42620561e-03 9.43235153e+02] [-6.79957626e-02 9.97685596e-01 -1.67963591e-04 2.48913989e+02] [-2.43201123e-03 2.60265912e-06 9.99997043e-01 -1.55318204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:943.30, Y:248.91, Z:-15.53 [[ 9.97790555e-01 6.63936828e-02 2.42617370e-03 9.43297507e+02] [-6.63934696e-02 9.97793505e-01 -1.68423225e-04 2.48908749e+02] [-2.43200260e-03 6.96901403e-06 9.99997043e-01 -1.55301932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.3253361949999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:943.36, Y:248.91, Z:-15.53 [[ 9.97753447e-01 6.69490305e-02 2.42614111e-03 9.43359143e+02] [-6.69488177e-02 9.97756397e-01 -1.68891323e-04 2.48905378e+02] [-2.43200493e-03 6.08462050e-06 9.99997043e-01 -1.55300627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.3853361949998 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:943.42, Y:248.90, Z:-15.53 [[ 9.97484086e-01 7.08492224e-02 2.42611095e-03 9.43420137e+02] [-7.08490201e-02 9.97487036e-01 -1.69323508e-04 2.48901403e+02] [-2.43201066e-03 -2.99007871e-06 9.99997043e-01 -1.55304531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:943.48, Y:248.90, Z:-15.53 [[ 9.97056878e-01 7.66269962e-02 2.42608674e-03 9.43482570e+02] [-7.66268102e-02 9.97059829e-01 -1.69669628e-04 2.48900425e+02] [-2.43195491e-03 -1.67330193e-05 9.99997043e-01 -1.55279952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:943.54, Y:248.90, Z:-15.53 [[ 9.96669246e-01 8.15139762e-02 2.42605719e-03 9.43544366e+02] [-8.15138036e-02 9.96672198e-01 -1.70091176e-04 2.48900392e+02] [-2.43184856e-03 -2.82325056e-05 9.99997043e-01 -1.55290340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.5653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:943.61, Y:248.90, Z:-15.53 [[ 9.96470688e-01 8.39063927e-02 2.42603009e-03 9.43606205e+02] [-8.39062263e-02 9.96473640e-01 -1.70476836e-04 2.48901909e+02] [-2.43177913e-03 -3.36838598e-05 9.99997043e-01 -1.55274755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.6253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:943.67, Y:248.90, Z:-15.53 [[ 9.96503091e-01 8.35206852e-02 2.42602600e-03 9.43667433e+02] [-8.35205175e-02 9.96506043e-01 -1.70534939e-04 2.48903862e+02] [-2.43179277e-03 -3.26843540e-05 9.99997043e-01 -1.55279444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:943.73, Y:248.91, Z:-15.53 [[ 9.96799914e-01 7.99002228e-02 2.42602186e-03 9.43728932e+02] [-7.99000442e-02 9.96802866e-01 -1.70593871e-04 2.48905084e+02] [-2.43189603e-03 -2.37912981e-05 9.99997043e-01 -1.55317302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:943.79, Y:248.90, Z:-15.53 [[ 9.97291267e-01 7.35135567e-02 2.42599513e-03 9.43790551e+02] [-7.35133583e-02 9.97294218e-01 -1.70973201e-04 2.48904779e+02] [-2.43199976e-03 -7.83296830e-06 9.99997043e-01 -1.55327275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.8053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:943.85, Y:248.90, Z:-15.53 [[ 9.97821799e-01 6.59224686e-02 2.42599102e-03 9.43851257e+02] [-6.59222476e-02 9.97824748e-01 -1.71031447e-04 2.48903936e+02] [-2.43198869e-03 1.07321253e-05 9.99997043e-01 -1.55324757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.8653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:943.91, Y:248.90, Z:-15.53 [[ 9.98183842e-01 6.01924598e-02 2.42598898e-03 9.43913011e+02] [-6.01922218e-02 9.98186790e-01 -1.71060361e-04 2.48902804e+02] [-2.43188670e-03 2.47240213e-05 9.99997043e-01 -1.55326813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:943.97, Y:248.90, Z:-15.53 [[ 9.98273597e-01 5.86850878e-02 2.42598492e-03 9.43973434e+02] [-5.86848452e-02 9.98276545e-01 -1.71118005e-04 2.48899511e+02] [-2.43184591e-03 2.84540368e-05 9.99997043e-01 -1.55332314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:944.03, Y:248.90, Z:-15.53 [[ 9.98356688e-01 5.72541602e-02 2.42598291e-03 9.44034554e+02] [-5.72539133e-02 9.98359635e-01 -1.71146478e-04 2.48896238e+02] [-2.43180226e-03 3.19682154e-05 9.99997043e-01 -1.55316327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:944.10, Y:248.89, Z:-15.53 [[ 9.98388988e-01 5.66881293e-02 2.42597884e-03 9.44096169e+02] [-5.66878806e-02 9.98391935e-01 -1.71204125e-04 2.48893509e+02] [-2.43178295e-03 3.34047142e-05 9.99997043e-01 -1.55299242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.1053361949998 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:944.16, Y:248.89, Z:-15.53 [[ 9.98336050e-01 5.76128924e-02 2.42597464e-03 9.44156712e+02] [-5.76126463e-02 9.98338997e-01 -1.71263625e-04 2.48889006e+02] [-2.43181208e-03 3.12118323e-05 9.99997043e-01 -1.55298426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.1653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:944.22, Y:248.88, Z:-15.53 [[ 9.98146736e-01 6.08046665e-02 2.42597257e-03 9.44217598e+02] [-6.08044298e-02 9.98149684e-01 -1.71292994e-04 2.48884493e+02] [-2.43189916e-03 2.34656640e-05 9.99997043e-01 -1.55325223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:944.28, Y:248.88, Z:-15.53 [[ 9.97810707e-01 6.60901459e-02 2.42596844e-03 9.44277138e+02] [-6.60899246e-02 9.97813656e-01 -1.71351395e-04 2.48881908e+02] [-2.43198908e-03 1.06441856e-05 9.99997043e-01 -1.55321171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:944.34, Y:248.88, Z:-15.53 [[ 9.97574182e-01 6.95691394e-02 2.42596692e-03 9.44338063e+02] [-6.95689284e-02 9.97577132e-01 -1.71372984e-04 2.48879278e+02] [-2.43201139e-03 2.18534589e-06 9.99997043e-01 -1.55325942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.3453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:944.40, Y:248.88, Z:-15.53 [[ 9.97282896e-01 7.36270341e-02 2.42596692e-03 9.44399027e+02] [-7.36268351e-02 9.97285847e-01 -1.71372984e-04 2.48878304e+02] [-2.43200015e-03 -7.70892013e-06 9.99997043e-01 -1.55326119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.4053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:944.46, Y:248.88, Z:-15.53 [[ 9.97138473e-01 7.55577898e-02 2.42596692e-03 9.44458151e+02] [-7.55575965e-02 9.97141424e-01 -1.71372984e-04 2.48876067e+02] [-2.43198067e-03 -1.24176336e-05 9.99997043e-01 -1.55344413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:944.52, Y:248.87, Z:-15.53 [[ 9.97201015e-01 7.47278393e-02 2.42596898e-03 9.44518782e+02] [-7.47276436e-02 9.97203966e-01 -1.71343748e-04 2.48873186e+02] [-2.43199004e-03 -1.04227862e-05 9.99997043e-01 -1.55325257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:944.58, Y:248.87, Z:-15.53 [[ 9.97413392e-01 7.18375916e-02 2.42596898e-03 9.44579455e+02] [-7.18373874e-02 9.97416343e-01 -1.71343747e-04 2.48869863e+02] [-2.43201003e-03 -3.37472498e-06 9.99997043e-01 -1.55298153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.5853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:944.64, Y:248.86, Z:-15.53 [[ 9.97715411e-01 6.75134998e-02 2.42596898e-03 9.44639893e+02] [-6.75132827e-02 9.97718361e-01 -1.71343747e-04 2.48864283e+02] [-2.43200181e-03 7.16716781e-06 9.99997043e-01 -1.55316728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.6453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:944.70, Y:248.86, Z:-15.53 [[ 9.98036840e-01 6.25825924e-02 2.42596691e-03 9.44701235e+02] [-6.25823607e-02 9.98039788e-01 -1.71372999e-04 2.48856670e+02] [-2.43193647e-03 1.92138300e-05 9.99997043e-01 -1.55324316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:944.76, Y:248.85, Z:-15.53 [[ 9.98278150e-01 5.86075859e-02 2.42596288e-03 9.44762217e+02] [-5.86073423e-02 9.98281098e-01 -1.71430021e-04 2.48848818e+02] [-2.43183999e-03 2.89556073e-05 9.99997043e-01 -1.55331851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:944.82, Y:248.84, Z:-15.53 [[ 9.98379340e-01 5.68577949e-02 2.42595877e-03 9.44823599e+02] [-5.68575460e-02 9.98382287e-01 -1.71488159e-04 2.48840425e+02] [-2.43178471e-03 3.32761726e-05 9.99997043e-01 -1.55336456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.8253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:944.88, Y:248.83, Z:-15.53 [[ 9.98435959e-01 5.58547304e-02 2.42595462e-03 9.44883943e+02] [-5.58544784e-02 9.98438905e-01 -1.71546872e-04 2.48830288e+02] [-2.43174918e-03 3.57781355e-05 9.99997043e-01 -1.55347855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.8853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:944.94, Y:248.82, Z:-15.54 [[ 9.98428325e-01 5.59910191e-02 2.42595050e-03 9.44944271e+02] [-5.59907673e-02 9.98431272e-01 -1.71605203e-04 2.48817933e+02] [-2.43175319e-03 3.55046658e-05 9.99997043e-01 -1.55356700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:945.01, Y:248.81, Z:-15.54 [[ 9.98291596e-01 5.83781163e-02 2.42593438e-03 9.45005218e+02] [-5.83778710e-02 9.98294543e-01 -1.71832738e-04 2.48806536e+02] [-2.43182832e-03 2.99182942e-05 9.99997043e-01 -1.55353772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:945.07, Y:248.80, Z:-15.53 [[ 9.98127355e-01 6.11220006e-02 2.42590812e-03 9.45066970e+02] [-6.11217626e-02 9.98130302e-01 -1.72202718e-04 2.48797569e+02] [-2.43189778e-03 2.36044631e-05 9.99997043e-01 -1.55337820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.0653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:945.13, Y:248.79, Z:-15.53 [[ 9.97946378e-01 6.40089129e-02 2.42587968e-03 9.45128935e+02] [-6.40086825e-02 9.97949327e-01 -1.72602442e-04 2.48787968e+02] [-2.43195308e-03 1.69706198e-05 9.99997043e-01 -1.55315841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.1253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:945.19, Y:248.78, Z:-15.53 [[ 9.97596612e-01 6.92467717e-02 2.42585098e-03 9.45190050e+02] [-6.92465557e-02 9.97599561e-01 -1.73004874e-04 2.48775500e+02] [-2.43200790e-03 4.60725165e-06 9.99997043e-01 -1.55330489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:945.25, Y:248.76, Z:-15.54 [[ 9.97233664e-01 7.42908862e-02 2.42582034e-03 9.45251893e+02] [-7.42906841e-02 9.97236614e-01 -1.73433373e-04 2.48764866e+02] [-2.43200138e-03 -7.26225502e-06 9.99997043e-01 -1.55351039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.245336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:945.31, Y:248.76, Z:-15.53 [[ 9.96974061e-01 7.76970857e-02 2.42579222e-03 9.45313710e+02] [-7.76968928e-02 9.96977012e-01 -1.73825847e-04 2.48756816e+02] [-2.43196484e-03 -1.51766575e-05 9.99997043e-01 -1.55342744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.3053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:945.38, Y:248.74, Z:-15.54 [[ 9.96434652e-01 8.43332617e-02 2.42576281e-03 9.45376135e+02] [-8.43330874e-02 9.96437605e-01 -1.74235245e-04 2.48744750e+02] [-2.43181511e-03 -3.09580315e-05 9.99997043e-01 -1.55359837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.3653361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:945.44, Y:248.74, Z:-15.54 [[ 9.96152268e-01 8.76057889e-02 2.42572938e-03 9.45436998e+02] [-8.76056231e-02 9.96155221e-01 -1.74699492e-04 2.48738208e+02] [-2.43170767e-03 -3.84802381e-05 9.99997043e-01 -1.55350060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:945.50, Y:248.73, Z:-15.53 [[ 9.95827612e-01 9.12221583e-02 2.42570250e-03 9.45499914e+02] [-9.12220024e-02 9.95830566e-01 -1.75071880e-04 2.48731572e+02] [-2.43155913e-03 -4.69360269e-05 9.99997043e-01 -1.55324488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:945.56, Y:248.73, Z:-15.53 [[ 9.95721550e-01 9.23726709e-02 2.42566878e-03 9.45561725e+02] [-9.23725173e-02 9.95724504e-01 -1.75537819e-04 2.48725437e+02] [-2.43151274e-03 -4.92783422e-05 9.99997043e-01 -1.55344183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:945.62, Y:248.72, Z:-15.54 [[ 9.95748093e-01 9.20861147e-02 2.42563950e-03 9.45624666e+02] [-9.20859593e-02 9.95751046e-01 -1.75941496e-04 2.48719920e+02] [-2.43153484e-03 -4.81739310e-05 9.99997043e-01 -1.55359440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.6053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:945.69, Y:248.72, Z:-15.53 [[ 9.95855524e-01 9.09169474e-02 2.42560644e-03 9.45686007e+02] [-9.09167873e-02 9.95858477e-01 -1.76396163e-04 2.48715389e+02] [-2.43159813e-03 -4.48632507e-05 9.99997043e-01 -1.55341175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.6653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:945.75, Y:248.71, Z:-15.53 [[ 9.95994965e-01 8.93764262e-02 2.42557980e-03 9.45748924e+02] [-8.93762607e-02 9.95997918e-01 -1.76761659e-04 2.48710968e+02] [-2.43167076e-03 -4.07355306e-05 9.99997043e-01 -1.55329303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.725336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:945.81, Y:248.71, Z:-15.53 [[ 9.96370779e-01 8.50845945e-02 2.42554713e-03 9.45812189e+02] [-8.50844152e-02 9.96373731e-01 -1.77208817e-04 2.48705876e+02] [-2.43182919e-03 -2.98105721e-05 9.99997043e-01 -1.55302868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:945.87, Y:248.70, Z:-15.53 [[ 9.96838235e-01 7.94207155e-02 2.42551452e-03 9.45874699e+02] [-7.94205184e-02 9.96841186e-01 -1.77654010e-04 2.48700344e+02] [-2.43196218e-03 -1.55433110e-05 9.99997043e-01 -1.55320482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.8453361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:945.94, Y:248.69, Z:-15.53 [[ 9.97168163e-01 7.51649700e-02 2.42547965e-03 9.45937504e+02] [-7.51647591e-02 9.97171112e-01 -1.78128818e-04 2.48693531e+02] [-2.43200729e-03 -4.68620744e-06 9.99997043e-01 -1.55323716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.9053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:946.00, Y:248.69, Z:-15.54 [[ 9.97243150e-01 7.41634520e-02 2.42544438e-03 9.45998730e+02] [-7.41632370e-02 9.97246099e-01 -1.78607896e-04 2.48687485e+02] [-2.43201112e-03 -1.76330480e-06 9.99997043e-01 -1.55368852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.965336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:946.06, Y:248.68, Z:-15.53 [[ 9.97057269e-01 7.66219285e-02 2.42541589e-03 9.46061777e+02] [-7.66217198e-02 9.97060219e-01 -1.78993819e-04 2.48684354e+02] [-2.43200055e-03 -7.37244837e-06 9.99997043e-01 -1.55344920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:946.12, Y:248.68, Z:-15.54 [[ 9.96731777e-01 8.07457863e-02 2.42538188e-03 9.46123639e+02] [-8.07455886e-02 9.96734728e-01 -1.79453491e-04 2.48680174e+02] [-2.43195247e-03 -1.69718907e-05 9.99997043e-01 -1.55361021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.0853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:946.19, Y:248.68, Z:-15.53 [[ 9.96490231e-01 8.36739912e-02 2.42535031e-03 9.46186882e+02] [-8.36738012e-02 9.96493182e-01 -1.79879225e-04 2.48676211e+02] [-2.43189626e-03 -2.36903888e-05 9.99997043e-01 -1.55338685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.1453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:946.25, Y:248.68, Z:-15.53 [[ 9.96041686e-01 8.88542499e-02 2.42531555e-03 9.46248921e+02] [-8.88540741e-02 9.96044638e-01 -1.80346654e-04 2.48675736e+02] [-2.43174712e-03 -3.58663825e-05 9.99997043e-01 -1.55329258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:946.31, Y:248.67, Z:-15.54 [[ 9.95894460e-01 9.04894575e-02 2.42528327e-03 9.46311428e+02] [-9.04892855e-02 9.95897413e-01 -1.80779733e-04 2.48674626e+02] [-2.43169199e-03 -3.94246158e-05 9.99997043e-01 -1.55368318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.265336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:946.37, Y:248.68, Z:-15.54 [[ 9.95862324e-01 9.08424432e-02 2.42525136e-03 9.46373464e+02] [-9.08422712e-02 9.95865276e-01 -1.81206796e-04 2.48675509e+02] [-2.43168488e-03 -3.98583213e-05 9.99997043e-01 -1.55351988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.3253361949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:946.44, Y:248.68, Z:-15.53 [[ 9.96070795e-01 8.85273333e-02 2.42522068e-03 9.46436060e+02] [-8.85271534e-02 9.96073747e-01 -1.81616480e-04 2.48675940e+02] [-2.43177667e-03 -3.37950118e-05 9.99997043e-01 -1.55333153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.3853361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:946.50, Y:248.68, Z:-15.53 [[ 9.96541716e-01 8.30585689e-02 2.42518938e-03 9.46497726e+02] [-8.30583718e-02 9.96544667e-01 -1.82033462e-04 2.48675011e+02] [-2.43192898e-03 -2.00283426e-05 9.99997043e-01 -1.55324605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:946.56, Y:248.67, Z:-15.53 [[ 9.97092336e-01 7.61642494e-02 2.42515602e-03 9.46560104e+02] [-7.61640309e-02 9.97095285e-01 -1.82476825e-04 2.48673977e+02] [-2.43200984e-03 -2.76341484e-06 9.99997043e-01 -1.55312814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.505336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:946.62, Y:248.67, Z:-15.53 [[ 9.97612368e-01 6.90194333e-02 2.42512482e-03 9.46621475e+02] [-6.90191927e-02 9.97615315e-01 -1.82890625e-04 2.48666940e+02] [-2.43196466e-03 1.50737930e-05 9.99997043e-01 -1.55324594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.5653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:946.68, Y:248.66, Z:-15.53 [[ 9.97934001e-01 6.42016195e-02 2.42509150e-03 9.46683301e+02] [-6.42013635e-02 9.97936948e-01 -1.83331356e-04 2.48661139e+02] [-2.43185858e-03 2.72584133e-05 9.99997043e-01 -1.55340709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.6253361949998 meters Centerline goodness : 0.999675 with order 1 Centerline is valid? [True, True] Translation: X:946.75, Y:248.66, Z:-15.53 [[ 9.97975396e-01 6.35549263e-02 2.42506009e-03 9.46745794e+02] [-6.35546674e-02 9.97978342e-01 -1.83745854e-04 2.48656011e+02] [-2.43183540e-03 2.92499540e-05 9.99997043e-01 -1.55336416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.685336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:946.81, Y:248.65, Z:-15.54 [[ 9.97801068e-01 6.62355456e-02 2.42504355e-03 9.46807186e+02] [-6.62352941e-02 9.97804015e-01 -1.83963880e-04 2.48648649e+02] [-2.43190314e-03 2.29358835e-05 9.99997043e-01 -1.55359455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:946.87, Y:248.64, Z:-15.54 [[ 9.97441831e-01 7.14416702e-02 2.42501111e-03 9.46867845e+02] [-7.14414330e-02 9.97444779e-01 -1.84390506e-04 2.48642549e+02] [-2.43198784e-03 1.06725347e-05 9.99997043e-01 -1.55370037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.8053361949999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:946.93, Y:248.64, Z:-15.54 [[ 9.97159305e-01 7.52823979e-02 2.42498121e-03 9.46929624e+02] [-7.52821711e-02 9.97162254e-01 -1.84782965e-04 2.48637781e+02] [-2.43201063e-03 1.70020308e-06 9.99997043e-01 -1.55380707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.8653361949998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:946.99, Y:248.63, Z:-15.54 [[ 9.96883690e-01 7.88481297e-02 2.42495013e-03 9.46991330e+02] [-7.88479125e-02 9.96886640e-01 -1.85189854e-04 2.48634726e+02] [-2.43200226e-03 -6.58951119e-06 9.99997043e-01 -1.55361166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:947.05, Y:248.63, Z:-15.54 [[ 9.96470615e-01 8.39072883e-02 2.42491913e-03 9.47053499e+02] [-8.39070851e-02 9.96473565e-01 -1.85594944e-04 2.48630317e+02] [-2.43194058e-03 -1.85279880e-05 9.99997043e-01 -1.55378937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.985336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:947.12, Y:248.63, Z:-15.54 [[ 9.96111910e-01 8.80635122e-02 2.42488726e-03 9.47115249e+02] [-8.80633202e-02 9.96114861e-01 -1.86010380e-04 2.48627049e+02] [-2.43184697e-03 -2.82564689e-05 9.99997043e-01 -1.55376401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.045336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:947.18, Y:248.63, Z:-15.54 [[ 9.95984643e-01 8.94913981e-02 2.42488275e-03 9.47176455e+02] [-8.94912103e-02 9.95987595e-01 -1.86069209e-04 2.48625222e+02] [-2.43180473e-03 -3.16836174e-05 9.99997043e-01 -1.55358489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.1053361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:947.24, Y:248.62, Z:-15.54 [[ 9.96091987e-01 8.82885781e-02 2.42487823e-03 9.47237746e+02] [-8.82883866e-02 9.96094938e-01 -1.86128113e-04 2.48621553e+02] [-2.43184191e-03 -2.86878641e-05 9.99997043e-01 -1.55363909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.1653361949998 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:947.30, Y:248.62, Z:-15.54 [[ 9.96383013e-01 8.49412277e-02 2.42484913e-03 9.47298520e+02] [-8.49410254e-02 9.96385963e-01 -1.86506408e-04 2.48616159e+02] [-2.43192772e-03 -2.01373550e-05 9.99997043e-01 -1.55353466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.225336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:947.36, Y:248.61, Z:-15.54 [[ 9.96626313e-01 8.20372655e-02 2.42482069e-03 9.47360728e+02] [-8.20370536e-02 9.96629263e-01 -1.86875383e-04 2.48609433e+02] [-2.43197800e-03 -1.26802215e-05 9.99997043e-01 -1.55375703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.285336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:947.42, Y:248.60, Z:-15.54 [[ 9.96750525e-01 8.05140391e-02 2.42478872e-03 9.47422107e+02] [-8.05138218e-02 9.96753475e-01 -1.87289318e-04 2.48603195e+02] [-2.43199600e-03 -8.54828082e-06 9.99997043e-01 -1.55408818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.3453361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:947.48, Y:248.60, Z:-15.54 [[ 9.96818754e-01 7.96648685e-02 2.42475450e-03 9.47484285e+02] [-7.96646475e-02 9.96821704e-01 -1.87731287e-04 2.48596442e+02] [-2.43200350e-03 -6.03314542e-06 9.99997043e-01 -1.55384689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.4053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:947.55, Y:248.59, Z:-15.54 [[ 9.96834150e-01 7.94719930e-02 2.42471979e-03 9.47545714e+02] [-7.94717704e-02 9.96837099e-01 -1.88178575e-04 2.48588135e+02] [-2.43200557e-03 -5.11394485e-06 9.99997043e-01 -1.55367843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.465336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:947.61, Y:248.58, Z:-15.54 [[ 9.96855415e-01 7.92048197e-02 2.42468550e-03 9.47607866e+02] [-7.92045952e-02 9.96858363e-01 -1.88619303e-04 2.48580329e+02] [-2.43200758e-03 -4.02006003e-06 9.99997043e-01 -1.55358131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:947.67, Y:248.57, Z:-15.54 [[ 9.96806287e-01 7.98207185e-02 2.42464916e-03 9.47669797e+02] [-7.98204947e-02 9.96809236e-01 -1.89085395e-04 2.48571742e+02] [-2.43200561e-03 -5.05518442e-06 9.99997043e-01 -1.55375041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.5853361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:947.73, Y:248.56, Z:-15.54 [[ 9.96686960e-01 8.12971398e-02 2.42461540e-03 9.47731941e+02] [-8.12969193e-02 9.96689909e-01 -1.89517314e-04 2.48564704e+02] [-2.43199691e-03 -8.22432643e-06 9.99997043e-01 -1.55370300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.6453361949998 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:947.79, Y:248.56, Z:-15.53 [[ 9.96395538e-01 8.47941795e-02 2.42458145e-03 9.47794761e+02] [-8.47939683e-02 9.96398488e-01 -1.89950662e-04 2.48556418e+02] [-2.43195600e-03 -1.63238902e-05 9.99997043e-01 -1.55348661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.705336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:947.86, Y:248.55, Z:-15.54 [[ 9.95991150e-01 8.94189575e-02 2.42454456e-03 9.47855361e+02] [-8.94187589e-02 9.95994101e-01 -1.90420261e-04 2.48549532e+02] [-2.43185927e-03 -2.71428707e-05 9.99997043e-01 -1.55401555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.765336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:947.92, Y:248.54, Z:-15.54 [[ 9.95582268e-01 9.38619659e-02 2.42451504e-03 9.47916820e+02] [-9.38617795e-02 9.95585220e-01 -1.90795408e-04 2.48542210e+02] [-2.43171977e-03 -3.76167710e-05 9.99997043e-01 -1.55378169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.8253361949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:947.98, Y:248.54, Z:-15.54 [[ 9.95328148e-01 9.65194260e-02 2.42448304e-03 9.47978875e+02] [-9.65192465e-02 9.95331100e-01 -1.91201227e-04 2.48535931e+02] [-2.43161800e-03 -4.37013134e-05 9.99997043e-01 -1.55357849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.8853361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:948.04, Y:248.53, Z:-15.54 [[ 9.95264209e-01 9.71765170e-02 2.42445041e-03 9.48040825e+02] [-9.71763384e-02 9.95267161e-01 -1.91614080e-04 2.48529894e+02] [-2.43159627e-03 -4.48925779e-05 9.99997043e-01 -1.55372089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.945336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:948.10, Y:248.52, Z:-15.54 [[ 9.95263884e-01 9.71798546e-02 2.42441801e-03 9.48102586e+02] [-9.71796751e-02 9.95266836e-01 -1.92023189e-04 2.48523525e+02] [-2.43160362e-03 -4.44904097e-05 9.99997043e-01 -1.55370584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.005336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:948.16, Y:248.52, Z:-15.54 [[ 9.95230755e-01 9.75185460e-02 2.42438363e-03 9.48164361e+02] [-9.75183664e-02 9.95233707e-01 -1.92456245e-04 2.48516195e+02] [-2.43159636e-03 -4.48835572e-05 9.99997043e-01 -1.55374433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.0653361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:948.23, Y:248.51, Z:-15.54 [[ 9.95099489e-01 9.88490236e-02 2.42435197e-03 9.48226262e+02] [-9.88488470e-02 9.95102441e-01 -1.92854165e-04 2.48510456e+02] [-2.43154201e-03 -4.77353159e-05 9.99997043e-01 -1.55355167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.1253361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:948.29, Y:248.50, Z:-15.54 [[ 9.95089321e-01 9.89513291e-02 2.42431994e-03 9.48289104e+02] [-9.89511519e-02 9.95092273e-01 -1.93256041e-04 2.48503573e+02] [-2.43154498e-03 -4.75822281e-05 9.99997043e-01 -1.55353612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.185336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:948.35, Y:248.50, Z:-15.53 [[ 9.95139475e-01 9.84456606e-02 2.42428347e-03 9.48351407e+02] [-9.84454808e-02 9.95142427e-01 -1.93712503e-04 2.48498005e+02] [-2.43157749e-03 -4.58887931e-05 9.99997043e-01 -1.55345081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.245336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:948.41, Y:248.49, Z:-15.54 [[ 9.95123644e-01 9.86055626e-02 2.42424718e-03 9.48412788e+02] [-9.86053821e-02 9.95126595e-01 -1.94165550e-04 2.48491828e+02] [-2.43157865e-03 -4.58250901e-05 9.99997043e-01 -1.55354038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.3053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:948.48, Y:248.49, Z:-15.54 [[ 9.95013511e-01 9.97107579e-02 2.42421338e-03 9.48475656e+02] [-9.97105797e-02 9.95016463e-01 -1.94586633e-04 2.48487875e+02] [-2.43153460e-03 -4.81033928e-05 9.99997043e-01 -1.55366923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.3653361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:948.54, Y:248.49, Z:-15.54 [[ 9.94859008e-01 1.01240691e-01 2.42417764e-03 9.48538811e+02] [-1.01240516e-01 9.94861960e-01 -1.95030873e-04 2.48485751e+02] [-2.43146718e-03 -5.13967756e-05 9.99997043e-01 -1.55354138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.425336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:948.60, Y:248.48, Z:-15.54 [[ 9.94869853e-01 1.01134065e-01 2.42413929e-03 9.48600777e+02] [-1.01133889e-01 9.94872805e-01 -1.95506389e-04 2.48482834e+02] [-2.43148261e-03 -5.06592200e-05 9.99997043e-01 -1.55388126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:948.66, Y:248.48, Z:-15.54 [[ 9.95031250e-01 9.95335899e-02 2.42410383e-03 9.48663701e+02] [-9.95334078e-02 9.95034202e-01 -1.95945053e-04 2.48479855e+02] [-2.43156933e-03 -4.63078644e-05 9.99997043e-01 -1.55396440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.545336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:948.72, Y:248.48, Z:-15.54 [[ 9.95163693e-01 9.82005518e-02 2.42406754e-03 9.48724356e+02] [-9.82003647e-02 9.95166644e-01 -1.96392944e-04 2.48477011e+02] [-2.43163706e-03 -4.26011897e-05 9.99997043e-01 -1.55429971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.6053361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:948.79, Y:248.48, Z:-15.54 [[ 9.95172236e-01 9.81139368e-02 2.42403821e-03 9.48786380e+02] [-9.81137485e-02 9.95175187e-01 -1.96754317e-04 2.48475521e+02] [-2.43164702e-03 -4.20270419e-05 9.99997043e-01 -1.55427238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.6653361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:948.85, Y:248.47, Z:-15.54 [[ 9.95060402e-01 9.92417285e-02 2.42400613e-03 9.48848587e+02] [-9.92415426e-02 9.95063353e-01 -1.97148825e-04 2.48473987e+02] [-2.43160505e-03 -4.43871183e-05 9.99997043e-01 -1.55408571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.725336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:948.91, Y:248.47, Z:-15.54 [[ 9.95015616e-01 9.96897608e-02 2.42397392e-03 9.48910650e+02] [-9.96895753e-02 9.95018567e-01 -1.97544029e-04 2.48473786e+02] [-2.43159217e-03 -4.50855363e-05 9.99997043e-01 -1.55385560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.785336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:948.97, Y:248.47, Z:-15.54 [[ 9.95021169e-01 9.96343178e-02 2.42394169e-03 9.48972945e+02] [-9.96341312e-02 9.95024121e-01 -1.97938701e-04 2.48469859e+02] [-2.43160194e-03 -4.45541264e-05 9.99997043e-01 -1.55370036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.8453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:949.04, Y:248.47, Z:-15.54 [[ 9.95026784e-01 9.95782331e-02 2.42390811e-03 9.49035634e+02] [-9.95780453e-02 9.95029735e-01 -1.98349046e-04 2.48467689e+02] [-2.43161189e-03 -4.40054187e-05 9.99997043e-01 -1.55366186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.9053361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:949.10, Y:248.47, Z:-15.54 [[ 9.94983091e-01 1.00013871e-01 2.42387453e-03 9.49096956e+02] [-1.00013683e-01 9.94986042e-01 -1.98758565e-04 2.48466773e+02] [-2.43159994e-03 -4.46592087e-05 9.99997043e-01 -1.55386557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.965336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:949.16, Y:248.47, Z:-15.54 [[ 9.95021871e-01 9.96273090e-02 2.42385584e-03 9.49158221e+02] [-9.96271198e-02 9.95024823e-01 -1.98986226e-04 2.48467336e+02] [-2.43162119e-03 -4.34861289e-05 9.99997043e-01 -1.55393765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.025336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:949.22, Y:248.47, Z:-15.54 [[ 9.95187356e-01 9.79604581e-02 2.42385104e-03 9.49219384e+02] [-9.79602638e-02 9.95190307e-01 -1.99044651e-04 2.48467389e+02] [-2.43169157e-03 -3.93543670e-05 9.99997043e-01 -1.55380181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.0853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:949.28, Y:248.47, Z:-15.54 [[ 9.95334593e-01 9.64529549e-02 2.42384619e-03 9.49279640e+02] [-9.64527560e-02 9.95337544e-01 -1.99103763e-04 2.48465081e+02] [-2.43174926e-03 -3.56117818e-05 9.99997043e-01 -1.55377182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.1453361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:949.34, Y:248.47, Z:-15.54 [[ 9.95542796e-01 9.42797231e-02 2.42384378e-03 9.49341565e+02] [-9.42795177e-02 9.95545746e-01 -1.99133089e-04 2.48465297e+02] [-2.43182157e-03 -3.02733101e-05 9.99997043e-01 -1.55375519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.205336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:949.40, Y:248.46, Z:-15.54 [[ 9.95727616e-01 9.23073101e-02 2.42383902e-03 9.49402360e+02] [-9.23070986e-02 9.95730566e-01 -1.99190997e-04 2.48464153e+02] [-2.43187738e-03 -2.53975708e-05 9.99997043e-01 -1.55366684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:949.46, Y:248.46, Z:-15.54 [[ 9.96103058e-01 8.81636169e-02 2.42383667e-03 9.49463722e+02] [-8.81633931e-02 9.96106007e-01 -1.99219634e-04 2.48461626e+02] [-2.43196218e-03 -1.52503778e-05 9.99997043e-01 -1.55374314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.3253361949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:949.53, Y:248.46, Z:-15.54 [[ 9.96629610e-01 8.19972326e-02 2.42383196e-03 9.49525176e+02] [-8.19969904e-02 9.96632557e-01 -1.99276919e-04 2.48457424e+02] [-2.43201000e-03 -1.41647988e-07 9.99997043e-01 -1.55380326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.3853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:949.59, Y:248.45, Z:-15.54 [[ 9.97058365e-01 7.66077099e-02 2.42382711e-03 9.49586557e+02] [-7.66074517e-02 9.97061311e-01 -1.99335798e-04 2.48451069e+02] [-2.43197490e-03 1.30662061e-05 9.99997043e-01 -1.55394076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:949.65, Y:248.44, Z:-15.54 [[ 9.97215948e-01 7.45283731e-02 2.42382230e-03 9.49646838e+02] [-7.45281086e-02 9.97218893e-01 -1.99394255e-04 2.48444579e+02] [-2.43194193e-03 1.81962395e-05 9.99997043e-01 -1.55416691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:949.71, Y:248.44, Z:-15.54 [[ 9.97351746e-01 7.26885106e-02 2.42380995e-03 9.49707272e+02] [-7.26882403e-02 9.97354691e-01 -1.99544294e-04 2.48435309e+02] [-2.43190280e-03 2.28333698e-05 9.99997043e-01 -1.55415431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.5653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:949.77, Y:248.43, Z:-15.54 [[ 9.97286526e-01 7.35779259e-02 2.42380525e-03 9.49768521e+02] [-7.35776581e-02 9.97289471e-01 -1.99601332e-04 2.48426126e+02] [-2.43192171e-03 2.07218049e-05 9.99997043e-01 -1.55410947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.6253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:949.83, Y:248.42, Z:-15.54 [[ 9.97160967e-01 7.52604242e-02 2.42380042e-03 9.49829632e+02] [-7.52601612e-02 9.97163912e-01 -1.99659989e-04 2.48417576e+02] [-2.43195281e-03 1.66775370e-05 9.99997043e-01 -1.55423354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:949.89, Y:248.41, Z:-15.54 [[ 9.96739912e-01 8.06453533e-02 2.42376910e-03 9.49890411e+02] [-8.06451053e-02 9.96742859e-01 -2.00039507e-04 2.48405775e+02] [-2.43200680e-03 3.92224601e-06 9.99997043e-01 -1.55421321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:949.95, Y:248.40, Z:-15.54 [[ 9.96419804e-01 8.45085784e-02 2.42376433e-03 9.49950784e+02] [-8.45083417e-02 9.96422752e-01 -2.00097239e-04 2.48396968e+02] [-2.43200386e-03 -5.44745344e-06 9.99997043e-01 -1.55413183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.8053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:950.01, Y:248.39, Z:-15.54 [[ 9.95801226e-01 9.15098052e-02 2.42375955e-03 9.50012068e+02] [-9.15095890e-02 9.95804175e-01 -2.00155218e-04 2.48389272e+02] [-2.43190604e-03 -2.24824287e-05 9.99997043e-01 -1.55399448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.8653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:950.07, Y:248.38, Z:-15.54 [[ 9.95181338e-01 9.80215762e-02 2.42375473e-03 9.50072210e+02] [-9.80213792e-02 9.95184289e-01 -2.00213533e-04 2.48382486e+02] [-2.43170787e-03 -3.83310094e-05 9.99997043e-01 -1.55405050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:950.13, Y:248.38, Z:-15.54 [[ 9.94693303e-01 1.02856012e-01 2.42375235e-03 9.50133700e+02] [-1.02855829e-01 9.94696254e-01 -2.00242378e-04 2.48376240e+02] [-2.43149351e-03 -5.01173057e-05 9.99997043e-01 -1.55415493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:950.19, Y:248.37, Z:-15.54 [[ 9.94458202e-01 1.05104759e-01 2.42374760e-03 9.50194508e+02] [-1.05104583e-01 9.94461154e-01 -2.00299832e-04 2.48373777e+02] [-2.43137530e-03 -5.55571688e-05 9.99997043e-01 -1.55424464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.045336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:950.26, Y:248.37, Z:-15.54 [[ 9.94532868e-01 1.04395879e-01 2.42374525e-03 9.50255324e+02] [-1.04395701e-01 9.94535820e-01 -2.00328279e-04 2.48368765e+02] [-2.43141491e-03 -5.37955255e-05 9.99997043e-01 -1.55414102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.1053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:950.32, Y:248.36, Z:-15.54 [[ 9.94798727e-01 1.01831326e-01 2.42374057e-03 9.50315095e+02] [-1.01831139e-01 9.94801678e-01 -2.00384893e-04 2.48364448e+02] [-2.43154664e-03 -4.74696274e-05 9.99997043e-01 -1.55385959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.1653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:950.38, Y:248.36, Z:-15.54 [[ 9.94983781e-01 1.00007008e-01 2.42373825e-03 9.50376792e+02] [-1.00006817e-01 9.94986732e-01 -2.00412865e-04 2.48362594e+02] [-2.43163009e-03 -4.29827970e-05 9.99997043e-01 -1.55389847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:950.44, Y:248.36, Z:-15.54 [[ 9.95191803e-01 9.79152768e-02 2.42373367e-03 9.50438404e+02] [-9.79150788e-02 9.95194753e-01 -2.00468292e-04 2.48359630e+02] [-2.43171594e-03 -3.78156727e-05 9.99997043e-01 -1.55419407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:950.50, Y:248.36, Z:-15.54 [[ 9.95330423e-01 9.64959817e-02 2.42372910e-03 9.50498533e+02] [-9.64957794e-02 9.95333373e-01 -2.00523574e-04 2.48356209e+02] [-2.43176818e-03 -3.42924148e-05 9.99997043e-01 -1.55426843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.3453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:950.56, Y:248.35, Z:-15.54 [[ 9.95658808e-01 9.30465684e-02 2.42372683e-03 9.50560090e+02] [-9.30463558e-02 9.95661758e-01 -2.00550933e-04 2.48352546e+02] [-2.43187269e-03 -2.58386462e-05 9.99997043e-01 -1.55425167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.4053361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:950.62, Y:248.35, Z:-15.54 [[ 9.95853289e-01 9.09414773e-02 2.42372234e-03 9.50620757e+02] [-9.09412584e-02 9.95856238e-01 -2.00605143e-04 2.48349325e+02] [-2.43192234e-03 -2.06430685e-05 9.99997043e-01 -1.55418546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:950.68, Y:248.34, Z:-15.54 [[ 9.95829660e-01 9.11998584e-02 2.42372012e-03 9.50681655e+02] [-9.11996402e-02 9.95832609e-01 -2.00632000e-04 2.48344611e+02] [-2.43191714e-03 -2.12471066e-05 9.99997043e-01 -1.55424135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.525336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:950.74, Y:248.34, Z:-15.55 [[ 9.95645119e-01 9.31929278e-02 2.42371529e-03 9.50741572e+02] [-9.31927153e-02 9.95648069e-01 -2.00690401e-04 2.48342350e+02] [-2.43187037e-03 -2.60561899e-05 9.99997043e-01 -1.55464032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.5853361949999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:950.80, Y:248.34, Z:-15.55 [[ 9.95499806e-01 9.47325801e-02 2.42371290e-03 9.50801034e+02] [-9.47323722e-02 9.95502756e-01 -2.00719264e-04 2.48340155e+02] [-2.43182752e-03 -2.97880838e-05 9.99997043e-01 -1.55493670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.6453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:950.86, Y:248.34, Z:-15.55 [[ 9.95498655e-01 9.47446768e-02 2.42371524e-03 9.50861495e+02] [-9.47444689e-02 9.95501605e-01 -2.00690949e-04 2.48337099e+02] [-2.43182681e-03 -2.98460435e-05 9.99997043e-01 -1.55483593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:950.92, Y:248.33, Z:-15.55 [[ 9.95469346e-01 9.50521239e-02 2.42371524e-03 9.50922078e+02] [-9.50519170e-02 9.95472296e-01 -2.00690949e-04 2.48334796e+02] [-2.43181748e-03 -3.05970922e-05 9.99997043e-01 -1.55481215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:950.98, Y:248.33, Z:-15.55 [[ 9.95492226e-01 9.48122048e-02 2.42371524e-03 9.50982620e+02] [-9.48119971e-02 9.95495176e-01 -2.00690949e-04 2.48332990e+02] [-2.43182478e-03 -3.00110029e-05 9.99997043e-01 -1.55485602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.8253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:951.04, Y:248.33, Z:-15.55 [[ 9.95650224e-01 9.31383751e-02 2.42371524e-03 9.51041882e+02] [-9.31381625e-02 9.95653174e-01 -2.00690949e-04 2.48330279e+02] [-2.43187180e-03 -2.59223958e-05 9.99997043e-01 -1.55493981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.8853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:951.10, Y:248.33, Z:-15.55 [[ 9.95893174e-01 9.05036526e-02 2.42371268e-03 9.51102406e+02] [-9.05034321e-02 9.95896123e-01 -2.00721898e-04 2.48327819e+02] [-2.43193212e-03 -1.94567477e-05 9.99997043e-01 -1.55514084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:951.16, Y:248.32, Z:-15.55 [[ 9.95984916e-01 8.94883913e-02 2.42371268e-03 9.51162030e+02] [-8.94881678e-02 9.95987865e-01 -2.00721898e-04 2.48323686e+02] [-2.43195069e-03 -1.69776241e-05 9.99997043e-01 -1.55509516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:951.22, Y:248.32, Z:-15.55 [[ 9.96045090e-01 8.88161251e-02 2.42371495e-03 9.51221848e+02] [-8.88158997e-02 9.96048039e-01 -2.00694408e-04 2.48319001e+02] [-2.43196143e-03 -1.53637447e-05 9.99997043e-01 -1.55521876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.0653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:951.28, Y:248.31, Z:-15.56 [[ 9.96003362e-01 8.92828593e-02 2.42371495e-03 9.51282037e+02] [-8.92826352e-02 9.96006311e-01 -2.00694408e-04 2.48312437e+02] [-2.43195396e-03 -1.65033532e-05 9.99997043e-01 -1.55554928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.1253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:951.34, Y:248.31, Z:-15.56 [[ 9.95884751e-01 9.05962935e-02 2.42371495e-03 9.51341133e+02] [-9.05960733e-02 9.95887700e-01 -2.00694408e-04 2.48308156e+02] [-2.43193008e-03 -1.97105574e-05 9.99997043e-01 -1.55561318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:951.40, Y:248.30, Z:-15.56 [[ 9.95730889e-01 9.22720004e-02 2.42371936e-03 9.51400290e+02] [-9.22717854e-02 9.95733839e-01 -2.00641155e-04 2.48303840e+02] [-2.43189294e-03 -2.38563166e-05 9.99997043e-01 -1.55560679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:951.46, Y:248.30, Z:-15.55 [[ 9.95303141e-01 9.67769721e-02 2.42372371e-03 9.51459692e+02] [-9.67767705e-02 9.95306092e-01 -2.00588579e-04 2.48299771e+02] [-2.43175933e-03 -3.49137112e-05 9.99997043e-01 -1.55549958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.3053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:951.52, Y:248.30, Z:-15.55 [[ 9.94856806e-01 1.01262339e-01 2.42372803e-03 9.51519595e+02] [-1.01262151e-01 9.94859757e-01 -2.00536450e-04 2.48298041e+02] [-2.43157627e-03 -4.59268619e-05 9.99997043e-01 -1.55517501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.3653361949998 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:951.58, Y:248.29, Z:-15.55 [[ 9.94582669e-01 1.03920356e-01 2.42373238e-03 9.51579384e+02] [-1.03920175e-01 9.94585621e-01 -2.00483860e-04 2.48294801e+02] [-2.43144372e-03 -5.24769217e-05 9.99997043e-01 -1.55462844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:951.64, Y:248.29, Z:-15.55 [[ 9.94511105e-01 1.04602996e-01 2.42373699e-03 9.51638115e+02] [-1.04602818e-01 9.94514057e-01 -2.00428124e-04 2.48293643e+02] [-2.43140589e-03 -5.42017226e-05 9.99997043e-01 -1.55506492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:951.70, Y:248.29, Z:-15.55 [[ 9.94568419e-01 1.04056649e-01 2.42374193e-03 9.51695913e+02] [-1.04056469e-01 9.94571371e-01 -2.00368334e-04 2.48292003e+02] [-2.43143399e-03 -5.29260105e-05 9.99997043e-01 -1.55529781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.545336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:951.76, Y:248.29, Z:-15.55 [[ 9.94531760e-01 1.04406439e-01 2.42375313e-03 9.51755200e+02] [-1.04406261e-01 9.94534712e-01 -2.00232766e-04 2.48293532e+02] [-2.43141221e-03 -5.39171570e-05 9.99997043e-01 -1.55465941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.6053361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:951.81, Y:248.29, Z:-15.55 [[ 9.94500493e-01 1.04703845e-01 2.42376281e-03 9.51814032e+02] [-1.04703668e-01 9.94503445e-01 -2.00115531e-04 2.48294173e+02] [-2.43139333e-03 -5.47618621e-05 9.99997043e-01 -1.55464122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.6653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:951.87, Y:248.29, Z:-15.55 [[ 9.94633468e-01 1.03433021e-01 2.42377249e-03 9.51872307e+02] [-1.03432841e-01 9.94636420e-01 -1.99998187e-04 2.48293126e+02] [-2.43145881e-03 -5.17727833e-05 9.99997043e-01 -1.55517313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.725336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:951.93, Y:248.29, Z:-15.55 [[ 9.94912195e-01 1.00716685e-01 2.42377123e-03 9.51930924e+02] [-1.00716496e-01 9.94915146e-01 -2.00013407e-04 2.48293702e+02] [-2.43159140e-03 -4.51179679e-05 9.99997043e-01 -1.55454291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:951.99, Y:248.29, Z:-15.55 [[ 9.95060217e-01 9.92435889e-02 2.42378055e-03 9.51989527e+02] [-9.92433963e-02 9.95063168e-01 -1.99900450e-04 2.48293284e+02] [-2.43165359e-03 -4.16312280e-05 9.99997043e-01 -1.55471872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.8453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:952.05, Y:248.29, Z:-15.55 [[ 9.95089004e-01 9.89545348e-02 2.42379007e-03 9.52048471e+02] [-9.89543416e-02 9.95091955e-01 -1.99784890e-04 2.48291859e+02] [-2.43166362e-03 -4.10408043e-05 9.99997043e-01 -1.55476808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.9053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:952.11, Y:248.29, Z:-15.55 [[ 9.95225270e-01 9.75745248e-02 2.42379995e-03 9.52106592e+02] [-9.75743279e-02 9.95228220e-01 -1.99665073e-04 2.48291126e+02] [-2.43171633e-03 -3.77889243e-05 9.99997043e-01 -1.55506014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:952.17, Y:248.29, Z:-15.55 [[ 9.95543649e-01 9.42707159e-02 2.42381214e-03 9.52165207e+02] [-9.42705095e-02 9.95546599e-01 -1.99516876e-04 2.48290374e+02] [-2.43182654e-03 -2.98662469e-05 9.99997043e-01 -1.55502584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:952.22, Y:248.29, Z:-15.55 [[ 9.95881408e-01 9.06330281e-02 2.42382185e-03 9.52223953e+02] [-9.06328112e-02 9.95884358e-01 -1.99398951e-04 2.48288080e+02] [-2.43191839e-03 -2.11000794e-05 9.99997043e-01 -1.55501660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.0853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:952.28, Y:248.29, Z:-15.55 [[ 9.95939118e-01 8.99966529e-02 2.42383154e-03 9.52282684e+02] [-8.99964344e-02 9.95942068e-01 -1.99281026e-04 2.48285857e+02] [-2.43193042e-03 -1.96644268e-05 9.99997043e-01 -1.55502636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.1453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:952.34, Y:248.28, Z:-15.55 [[ 9.95892113e-01 9.05153211e-02 2.42384117e-03 9.52340537e+02] [-9.05151045e-02 9.95895063e-01 -1.99163854e-04 2.48284125e+02] [-2.43191883e-03 -2.10485248e-05 9.99997043e-01 -1.55497715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:952.40, Y:248.28, Z:-15.55 [[ 9.95907806e-01 9.03425003e-02 2.42385307e-03 9.52399032e+02] [-9.03422834e-02 9.95910755e-01 -1.99018946e-04 2.48283067e+02] [-2.43192121e-03 -2.07718992e-05 9.99997043e-01 -1.55527646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:952.46, Y:248.28, Z:-15.55 [[ 9.96099434e-01 8.82045502e-02 2.42386243e-03 9.52457809e+02] [-8.82043273e-02 9.96102383e-01 -1.98904836e-04 2.48279959e+02] [-2.43195945e-03 -1.56661603e-05 9.99997043e-01 -1.55530996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.3253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:952.52, Y:248.28, Z:-15.55 [[ 9.96266787e-01 8.62937648e-02 2.42387207e-03 9.52515584e+02] [-8.62935365e-02 9.96269736e-01 -1.98787338e-04 2.48276117e+02] [-2.43198449e-03 -1.11192705e-05 9.99997043e-01 -1.55531088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.3853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:952.57, Y:248.27, Z:-15.55 [[ 9.96422285e-01 8.44793141e-02 2.42388433e-03 9.52573762e+02] [-8.44790809e-02 9.96425233e-01 -1.98637744e-04 2.48271660e+02] [-2.43200029e-03 -6.84044568e-06 9.99997043e-01 -1.55506921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:952.63, Y:248.27, Z:-15.55 [[ 9.96435259e-01 8.43261447e-02 2.42389609e-03 9.52632889e+02] [-8.43259114e-02 9.96438207e-01 -1.98494064e-04 2.48267669e+02] [-2.43200092e-03 -6.61076304e-06 9.99997043e-01 -1.55507855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:952.69, Y:248.26, Z:-15.55 [[ 9.96413817e-01 8.45791308e-02 2.42390540e-03 9.52691581e+02] [-8.45788985e-02 9.96416766e-01 -1.98380385e-04 2.48263066e+02] [-2.43199882e-03 -7.34229144e-06 9.99997043e-01 -1.55509571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.5653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:952.75, Y:248.26, Z:-15.55 [[ 9.96338812e-01 8.54581588e-02 2.42391483e-03 9.52749553e+02] [-8.54579294e-02 9.96341760e-01 -1.98265053e-04 2.48256427e+02] [-2.43199093e-03 -9.60357469e-06 9.99997043e-01 -1.55522040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.6253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:952.81, Y:248.25, Z:-15.55 [[ 9.96200648e-01 8.70539739e-02 2.42392413e-03 9.52808297e+02] [-8.70537494e-02 9.96203596e-01 -1.98151279e-04 2.48250842e+02] [-2.43197179e-03 -1.36132510e-05 9.99997043e-01 -1.55502496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:952.87, Y:248.25, Z:-15.55 [[ 9.95756330e-01 9.19970391e-02 2.42393321e-03 9.52866776e+02] [-9.19968295e-02 9.95759280e-01 -1.98040097e-04 2.48247141e+02] [-2.43187310e-03 -2.57944908e-05 9.99997043e-01 -1.55475661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:952.93, Y:248.24, Z:-15.55 [[ 9.95304803e-01 9.67598732e-02 2.42394237e-03 9.52925644e+02] [-9.67596781e-02 9.95307754e-01 -1.97927999e-04 2.48244844e+02] [-2.43172012e-03 -3.75411947e-05 9.99997043e-01 -1.55470107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.8053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:952.98, Y:248.25, Z:-15.55 [[ 9.94738334e-01 1.02419583e-01 2.42395154e-03 9.52983590e+02] [-1.02419405e-01 9.94741286e-01 -1.97815597e-04 2.48245815e+02] [-2.43146486e-03 -5.14849180e-05 9.99997043e-01 -1.55506761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.8653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:953.04, Y:248.25, Z:-15.55 [[ 9.94492148e-01 1.04783072e-01 2.42396375e-03 9.53041669e+02] [-1.04782901e-01 9.94495100e-01 -1.97665871e-04 2.48248473e+02] [-2.43133211e-03 -5.74127973e-05 9.99997043e-01 -1.55515817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:953.10, Y:248.25, Z:-15.55 [[ 9.94546155e-01 1.04269219e-01 2.42397727e-03 9.53099898e+02] [-1.04269047e-01 9.94549107e-01 -1.97499951e-04 2.48247888e+02] [-2.43135759e-03 -5.63229836e-05 9.99997043e-01 -1.55533269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:953.16, Y:248.25, Z:-15.55 [[ 9.95018988e-01 9.96561004e-02 2.42398958e-03 9.53158687e+02] [-9.96559152e-02 9.95021939e-01 -1.97348770e-04 2.48249602e+02] [-2.43158982e-03 -4.51991264e-05 9.99997043e-01 -1.55529479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:953.22, Y:248.25, Z:-15.55 [[ 9.95861593e-01 9.08504885e-02 2.42399836e-03 9.53218165e+02] [-9.08502775e-02 9.95864543e-01 -1.97240794e-04 2.48249723e+02] [-2.43189345e-03 -2.37963928e-05 9.99997043e-01 -1.55511152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.1053361949998 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:953.28, Y:248.25, Z:-15.55 [[ 9.96781602e-01 8.01284129e-02 2.42400768e-03 9.53275865e+02] [-8.01281704e-02 9.96784549e-01 -1.97126226e-04 2.48247715e+02] [-2.43200881e-03 2.26049461e-06 9.99997043e-01 -1.55497790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.1653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:953.33, Y:248.25, Z:-15.55 [[ 9.97310349e-01 7.32542908e-02 2.42401914e-03 9.53334445e+02] [-7.32540284e-02 9.97313295e-01 -1.96985212e-04 2.48247246e+02] [-2.43193653e-03 1.88862234e-05 9.99997043e-01 -1.55519578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:953.39, Y:248.24, Z:-15.55 [[ 9.97466630e-01 7.10946300e-02 2.42402762e-03 9.53392990e+02] [-7.10943614e-02 9.97469575e-01 -1.96880854e-04 2.48243655e+02] [-2.43189097e-03 2.40473860e-05 9.99997043e-01 -1.55515257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:953.45, Y:248.24, Z:-15.55 [[ 9.97675216e-01 6.81049801e-02 2.42403662e-03 9.53451103e+02] [-6.81047030e-02 9.97678160e-01 -1.96769957e-04 2.48238869e+02] [-2.43180941e-03 3.12242157e-05 9.99997043e-01 -1.55531028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.3453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:953.51, Y:248.23, Z:-15.55 [[ 9.98051887e-01 6.23422329e-02 2.42404771e-03 9.53509178e+02] [-6.23419391e-02 9.98054830e-01 -1.96633242e-04 2.48232026e+02] [-2.43159108e-03 4.51303433e-05 9.99997043e-01 -1.55533770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.4053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:953.57, Y:248.22, Z:-15.55 [[ 9.98318233e-01 5.79208873e-02 2.42405640e-03 9.53567806e+02] [-5.79205807e-02 9.98321175e-01 -1.96526083e-04 2.48224012e+02] [-2.43136979e-03 5.57928178e-05 9.99997043e-01 -1.55545906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:953.63, Y:248.21, Z:-15.55 [[ 9.98573855e-01 5.33327371e-02 2.42406499e-03 9.53626925e+02] [-5.33324174e-02 9.98576795e-01 -1.96419972e-04 2.48212693e+02] [-2.43109067e-03 6.68586024e-05 9.99997043e-01 -1.55540746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:953.68, Y:248.20, Z:-15.55 [[ 9.98630671e-01 5.22580834e-02 2.42406941e-03 9.53684771e+02] [-5.22577606e-02 9.98633610e-01 -1.96365509e-04 2.48200524e+02] [-2.43101887e-03 6.94201815e-05 9.99997043e-01 -1.55524352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.5853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:953.74, Y:248.19, Z:-15.55 [[ 9.98537735e-01 5.40047774e-02 2.42407860e-03 9.53742529e+02] [-5.40044599e-02 9.98540675e-01 -1.96252002e-04 2.48185292e+02] [-2.43113962e-03 6.50539741e-05 9.99997043e-01 -1.55549934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.6453361949998 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:953.80, Y:248.17, Z:-15.55 [[ 9.98379594e-01 5.68534112e-02 2.42408545e-03 9.53801708e+02] [-5.68531023e-02 9.98382535e-01 -1.96167248e-04 2.48174314e+02] [-2.43131736e-03 5.80325989e-05 9.99997043e-01 -1.55517284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:953.86, Y:248.16, Z:-15.55 [[ 9.98095948e-01 6.16327986e-02 2.42409012e-03 9.53860660e+02] [-6.16325040e-02 9.98098891e-01 -1.96109527e-04 2.48160377e+02] [-2.43156844e-03 4.63333800e-05 9.99997043e-01 -1.55543726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:953.92, Y:248.15, Z:-15.55 [[ 9.97748293e-01 6.70258676e-02 2.42409485e-03 9.53918571e+02] [-6.70255891e-02 9.97751238e-01 -1.96051102e-04 2.48147802e+02] [-2.43178413e-03 3.31332676e-05 9.99997043e-01 -1.55542880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.8253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:953.98, Y:248.13, Z:-15.55 [[ 9.97505444e-01 7.05479457e-02 2.42410184e-03 9.53977609e+02] [-7.05476778e-02 9.97508389e-01 -1.95964679e-04 2.48132945e+02] [-2.43188682e-03 2.44610785e-05 9.99997043e-01 -1.55522574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.8853361949998 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:954.04, Y:248.12, Z:-15.55 [[ 9.97392728e-01 7.21239849e-02 2.42410647e-03 9.54036960e+02] [-7.21237217e-02 9.97395674e-01 -1.95907271e-04 2.48121361e+02] [-2.43192292e-03 2.05609062e-05 9.99997043e-01 -1.55510099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:954.10, Y:248.11, Z:-15.56 [[ 9.97280894e-01 7.36542128e-02 2.42411109e-03 9.54096537e+02] [-7.36539544e-02 9.97283840e-01 -1.95850176e-04 2.48107097e+02] [-2.43195200e-03 1.67722711e-05 9.99997043e-01 -1.55560908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:954.16, Y:248.09, Z:-15.56 [[ 9.97183890e-01 7.49560740e-02 2.42411109e-03 9.54156690e+02] [-7.49558194e-02 9.97186836e-01 -1.95850176e-04 2.48094325e+02] [-2.43197183e-03 1.35974076e-05 9.99997043e-01 -1.55564384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.0653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:954.22, Y:248.08, Z:-15.56 [[ 9.97136830e-01 7.55795275e-02 2.42410865e-03 9.54215648e+02] [-7.55792747e-02 9.97139777e-01 -1.95880391e-04 2.48084333e+02] [-2.43197970e-03 1.21071795e-05 9.99997043e-01 -1.55599571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.1253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:954.28, Y:248.07, Z:-15.56 [[ 9.96977866e-01 7.76482970e-02 2.42410634e-03 9.54275620e+02] [-7.76480502e-02 9.96980813e-01 -1.95908920e-04 2.48073889e+02] [-2.43199950e-03 7.08972603e-06 9.99997043e-01 -1.55572685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:954.34, Y:248.07, Z:-15.56 [[ 9.96849834e-01 7.92750362e-02 2.42410634e-03 9.54335168e+02] [-7.92747942e-02 9.96852782e-01 -1.95908920e-04 2.48066222e+02] [-2.43200784e-03 3.12124312e-06 9.99997043e-01 -1.55571364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:954.40, Y:248.06, Z:-15.56 [[ 9.96966950e-01 7.77883273e-02 2.42410870e-03 9.54395506e+02] [-7.77880810e-02 9.96969897e-01 -1.95879687e-04 2.48055905e+02] [-2.43200056e-03 6.71881018e-06 9.99997043e-01 -1.55575058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.3053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:954.46, Y:248.05, Z:-15.56 [[ 9.97182705e-01 7.49718440e-02 2.42410405e-03 9.54456357e+02] [-7.49715892e-02 9.97185651e-01 -1.95937234e-04 2.48047021e+02] [-2.43197155e-03 1.36462878e-05 9.99997043e-01 -1.55558095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.3653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:954.52, Y:248.04, Z:-15.56 [[ 9.97336839e-01 7.28927535e-02 2.42409931e-03 9.54517393e+02] [-7.28924924e-02 9.97339785e-01 -1.95995860e-04 2.48039619e+02] [-2.43193736e-03 1.87752510e-05 9.99997043e-01 -1.55577739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:954.58, Y:248.03, Z:-15.56 [[ 9.97495912e-01 7.06826013e-02 2.42408054e-03 9.54577845e+02] [-7.06823331e-02 9.97498857e-01 -1.96227797e-04 2.48029483e+02] [-2.43188745e-03 2.43967573e-05 9.99997043e-01 -1.55607064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:954.64, Y:248.02, Z:-15.56 [[ 9.97514643e-01 7.04177586e-02 2.42405076e-03 9.54639531e+02] [-7.04174888e-02 9.97517588e-01 -1.96594962e-04 2.48022042e+02] [-2.43187704e-03 2.54107867e-05 9.99997043e-01 -1.55602214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.545336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:954.70, Y:248.01, Z:-15.56 [[ 9.97411069e-01 7.18699117e-02 2.42401847e-03 9.54700746e+02] [-7.18696452e-02 9.97414014e-01 -1.96992295e-04 2.48012805e+02] [-2.43190781e-03 2.22689486e-05 9.99997043e-01 -1.55611249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.6053361949998 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:954.76, Y:248.00, Z:-15.56 [[ 9.97070200e-01 7.64535201e-02 2.42398556e-03 9.54762767e+02] [-7.64532661e-02 9.97073146e-01 -1.97396431e-04 2.48004905e+02] [-2.43198256e-03 1.14964865e-05 9.99997043e-01 -1.55610227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.6653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:954.82, Y:248.00, Z:-15.56 [[ 9.96510179e-01 8.34361253e-02 2.42395272e-03 9.54823455e+02] [-8.34358910e-02 9.96513127e-01 -1.97798853e-04 2.47997105e+02] [-2.43200427e-03 -5.13608444e-06 9.99997043e-01 -1.55624124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:954.89, Y:247.99, Z:-15.56 [[ 9.96070040e-01 8.85358693e-02 2.42392244e-03 9.54885053e+02] [-8.85356492e-02 9.96072989e-01 -1.98169245e-04 2.47992620e+02] [-2.43194875e-03 -1.72130989e-05 9.99997043e-01 -1.55613163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:954.95, Y:247.99, Z:-15.56 [[ 9.95558822e-01 9.41103408e-02 2.42391795e-03 9.54945981e+02] [-9.41101371e-02 9.95561772e-01 -1.98224104e-04 2.47989981e+02] [-2.43181499e-03 -3.07714948e-05 9.99997043e-01 -1.55634280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.8453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:955.01, Y:247.99, Z:-15.56 [[ 9.95388472e-01 9.58953339e-02 2.42391332e-03 9.55007239e+02] [-9.58951353e-02 9.95391422e-01 -1.98280688e-04 2.47987374e+02] [-2.43175672e-03 -3.50751854e-05 9.99997043e-01 -1.55645938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.9053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:955.07, Y:247.98, Z:-15.56 [[ 9.95560462e-01 9.40929904e-02 2.42390873e-03 9.55069264e+02] [-9.40927863e-02 9.95563412e-01 -1.98336770e-04 2.47984510e+02] [-2.43181695e-03 -3.06160796e-05 9.99997043e-01 -1.55636598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:955.13, Y:247.98, Z:-15.56 [[ 9.95782212e-01 9.17164734e-02 2.42387479e-03 9.55130457e+02] [-9.17162613e-02 9.95785162e-01 -1.98750743e-04 2.47981117e+02] [-2.43188727e-03 -2.43962786e-05 9.99997043e-01 -1.55649082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:955.19, Y:247.98, Z:-15.56 [[ 9.96244303e-01 8.65529499e-02 2.42385586e-03 9.55192664e+02] [-8.65527219e-02 9.96247252e-01 -1.98981327e-04 2.47975650e+02] [-2.43198216e-03 -1.15573088e-05 9.99997043e-01 -1.55644219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.0853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:955.25, Y:247.97, Z:-15.57 [[ 9.96754899e-01 8.04599108e-02 2.42382281e-03 9.55254278e+02] [-8.04596638e-02 9.96757846e-01 -1.99383059e-04 2.47970586e+02] [-2.43200675e-03 3.71607222e-06 9.99997043e-01 -1.55652629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.1453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:955.32, Y:247.96, Z:-15.57 [[ 9.96982820e-01 7.75846807e-02 2.42378963e-03 9.55316027e+02] [-7.75844243e-02 9.96985766e-01 -1.99785575e-04 2.47963023e+02] [-2.43198407e-03 1.11344620e-05 9.99997043e-01 -1.55656585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:955.38, Y:247.96, Z:-15.57 [[ 9.97115673e-01 7.58581546e-02 2.42375647e-03 9.55376796e+02] [-7.58578921e-02 9.97118619e-01 -2.00187175e-04 2.47956142e+02] [-2.43195853e-03 1.57487137e-05 9.99997043e-01 -1.55664119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:955.44, Y:247.95, Z:-15.57 [[ 9.97095574e-01 7.61218825e-02 2.42372604e-03 9.55438217e+02] [-7.61216198e-02 9.97098520e-01 -2.00554895e-04 2.47948586e+02] [-2.43196026e-03 1.54744467e-05 9.99997043e-01 -1.55671978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.3253361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:955.50, Y:247.94, Z:-15.57 [[ 9.96942475e-01 7.81013920e-02 2.42371899e-03 9.55499425e+02] [-7.81011350e-02 9.96945421e-01 -2.00639982e-04 2.47941756e+02] [-2.43198581e-03 1.07313156e-05 9.99997043e-01 -1.55694529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.3853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:955.56, Y:247.94, Z:-15.57 [[ 9.96493595e-01 8.36339680e-02 2.42368874e-03 9.55559975e+02] [-8.36337265e-02 9.96496543e-01 -2.01004769e-04 2.47935938e+02] [-2.43200828e-03 -2.40215642e-06 9.99997043e-01 -1.55695234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:955.62, Y:247.93, Z:-15.57 [[ 9.95845015e-01 9.10320385e-02 2.42368644e-03 9.55620660e+02] [-9.10318188e-02 9.95847964e-01 -2.01032552e-04 2.47931894e+02] [-2.43192361e-03 -2.04353199e-05 9.99997043e-01 -1.55716021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:955.68, Y:247.93, Z:-15.57 [[ 9.95559307e-01 9.41052136e-02 2.42368188e-03 9.55682266e+02] [-9.41050029e-02 9.95562257e-01 -2.01087498e-04 2.47928592e+02] [-2.43184958e-03 -2.78860602e-05 9.99997043e-01 -1.55721914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.5653361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:955.74, Y:247.92, Z:-15.57 [[ 9.95512647e-01 9.45975424e-02 2.42367739e-03 9.55743431e+02] [-9.45973330e-02 9.95515597e-01 -2.01141522e-04 2.47924968e+02] [-2.43183614e-03 -2.90344885e-05 9.99997043e-01 -1.55684989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.6253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:955.80, Y:247.92, Z:-15.57 [[ 9.95739917e-01 9.21745230e-02 2.42367265e-03 9.55804392e+02] [-9.21743063e-02 9.95742867e-01 -2.01198715e-04 2.47923055e+02] [-2.43190014e-03 -2.30587528e-05 9.99997043e-01 -1.55712816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:955.87, Y:247.92, Z:-15.57 [[ 9.95987936e-01 8.94547829e-02 2.42364196e-03 9.55865967e+02] [-8.94545573e-02 9.95990884e-01 -2.01567688e-04 2.47917906e+02] [-2.43195649e-03 -1.60468334e-05 9.99997043e-01 -1.55726394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:955.93, Y:247.92, Z:-15.57 [[ 9.96130915e-01 8.78483166e-02 2.42363726e-03 9.55927912e+02] [-8.78480861e-02 9.96133863e-01 -2.01624198e-04 2.47917448e+02] [-2.43197949e-03 -1.20677973e-05 9.99997043e-01 -1.55714501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.8053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:955.99, Y:247.91, Z:-15.57 [[ 9.96232913e-01 8.66839578e-02 2.42363243e-03 9.55989620e+02] [-8.66837236e-02 9.96235861e-01 -2.01682228e-04 2.47913959e+02] [-2.43199216e-03 -9.16701042e-06 9.99997043e-01 -1.55708363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.8653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:956.05, Y:247.91, Z:-15.57 [[ 9.96386596e-01 8.48992239e-02 2.42362760e-03 9.56049678e+02] [-8.48989843e-02 9.96389543e-01 -2.01740220e-04 2.47912206e+02] [-2.43200479e-03 -4.75227068e-06 9.99997043e-01 -1.55696123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:956.11, Y:247.91, Z:-15.57 [[ 9.96374714e-01 8.50385546e-02 2.42361680e-03 9.56110004e+02] [-8.50383151e-02 9.96377661e-01 -2.01869942e-04 2.47912034e+02] [-2.43200437e-03 -4.96218332e-06 9.99997043e-01 -1.55701271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:956.17, Y:247.91, Z:-15.57 [[ 9.96241537e-01 8.65847945e-02 2.42361680e-03 9.56170715e+02] [-8.65845596e-02 9.96244485e-01 -2.01869942e-04 2.47911543e+02] [-2.43199374e-03 -8.73657185e-06 9.99997043e-01 -1.55688552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:956.23, Y:247.91, Z:-15.57 [[ 9.96072785e-01 8.85049867e-02 2.42361680e-03 9.56231155e+02] [-8.85047575e-02 9.96075734e-01 -2.01869942e-04 2.47910760e+02] [-2.43197238e-03 -1.34244616e-05 9.99997043e-01 -1.55705978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.1053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:956.29, Y:247.91, Z:-15.58 [[ 9.95805601e-01 9.14621867e-02 2.42361680e-03 9.56291411e+02] [-9.14619663e-02 9.95808550e-01 -2.01869942e-04 2.47914832e+02] [-2.43192180e-03 -2.06455389e-05 9.99997043e-01 -1.55754847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.1653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:956.35, Y:247.92, Z:-15.58 [[ 9.95798823e-01 9.15359478e-02 2.42362158e-03 9.56351802e+02] [-9.15357277e-02 9.95801772e-01 -2.01812461e-04 2.47918897e+02] [-2.43191976e-03 -2.08833540e-05 9.99997043e-01 -1.55777348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:956.41, Y:247.92, Z:-15.58 [[ 9.96036302e-01 8.89146230e-02 2.42362637e-03 9.56411394e+02] [-8.89143953e-02 9.96039251e-01 -2.01755000e-04 2.47921205e+02] [-2.43196596e-03 -1.45399683e-05 9.99997043e-01 -1.55789279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:956.47, Y:247.92, Z:-15.58 [[ 9.96249393e-01 8.64943553e-02 2.42363115e-03 9.56469919e+02] [-8.64941205e-02 9.96252341e-01 -2.01697503e-04 2.47921857e+02] [-2.43199390e-03 -8.68882979e-06 9.99997043e-01 -1.55799400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.3453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:956.53, Y:247.92, Z:-15.58 [[ 9.96621903e-01 8.20908513e-02 2.42363825e-03 9.56529515e+02] [-8.20906038e-02 9.96624850e-01 -2.01612228e-04 2.47922672e+02] [-2.43200862e-03 1.97323521e-06 9.99997043e-01 -1.55781822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.4053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:956.59, Y:247.92, Z:-15.58 [[ 9.96750386e-01 8.05158015e-02 2.42364310e-03 9.56589129e+02] [-8.05155494e-02 9.96753332e-01 -2.01553918e-04 2.47919407e+02] [-2.43200261e-03 5.75798985e-06 9.99997043e-01 -1.55781595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:956.65, Y:247.92, Z:-15.58 [[ 9.97092424e-01 7.61631419e-02 2.42364793e-03 9.56648512e+02] [-7.61628771e-02 9.97095369e-01 -2.01495772e-04 2.47919588e+02] [-2.43195468e-03 1.63179078e-05 9.99997043e-01 -1.55796347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:956.71, Y:247.92, Z:-15.58 [[ 9.97344137e-01 7.27928448e-02 2.42365270e-03 9.56707891e+02] [-7.27925702e-02 9.97347082e-01 -2.01438378e-04 2.47918077e+02] [-2.43188622e-03 2.44794760e-05 9.99997043e-01 -1.55793463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.5853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:956.77, Y:247.92, Z:-15.58 [[ 9.97517923e-01 7.03712975e-02 2.42365741e-03 9.56767754e+02] [-7.03710159e-02 9.97520867e-01 -2.01381632e-04 2.47916750e+02] [-2.43182033e-03 3.03265529e-05 9.99997043e-01 -1.55781701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.6453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:956.83, Y:247.91, Z:-15.58 [[ 9.97603542e-01 6.91469397e-02 2.42366226e-03 9.56827493e+02] [-6.91466546e-02 9.97606485e-01 -2.01323305e-04 2.47913160e+02] [-2.43178208e-03 3.32527050e-05 9.99997043e-01 -1.55802661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:956.89, Y:247.91, Z:-15.58 [[ 9.97678047e-01 6.80635044e-02 2.42366715e-03 9.56886576e+02] [-6.80632163e-02 9.97680990e-01 -2.01264470e-04 2.47909966e+02] [-2.43174540e-03 3.58345624e-05 9.99997043e-01 -1.55834484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:956.95, Y:247.90, Z:-15.59 [[ 9.97716922e-01 6.74912533e-02 2.42367197e-03 9.56945645e+02] [-6.74909637e-02 9.97719865e-01 -2.01206303e-04 2.47904377e+02] [-2.43172534e-03 3.71709764e-05 9.99997043e-01 -1.55859474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.8253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:957.00, Y:247.90, Z:-15.59 [[ 9.97640789e-01 6.86074411e-02 2.42367673e-03 9.57004588e+02] [-6.86071548e-02 9.97643733e-01 -2.01148945e-04 2.47899180e+02] [-2.43176622e-03 3.43928273e-05 9.99997043e-01 -1.55854434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.8853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:957.06, Y:247.89, Z:-15.59 [[ 9.97565288e-01 6.96966474e-02 2.42368156e-03 9.57062788e+02] [-6.96963645e-02 9.97568231e-01 -2.01090815e-04 2.47894472e+02] [-2.43180308e-03 3.16794232e-05 9.99997043e-01 -1.55853972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.945336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:957.12, Y:247.89, Z:-15.58 [[ 9.97388060e-01 7.21885295e-02 2.42368874e-03 9.57122154e+02] [-7.21882541e-02 9.97391004e-01 -2.01004248e-04 2.47888542e+02] [-2.43187554e-03 2.55173789e-05 9.99997043e-01 -1.55830720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:957.18, Y:247.88, Z:-15.58 [[ 9.97154321e-01 7.53484295e-02 2.42369335e-03 9.57181163e+02] [-7.53481637e-02 9.97157266e-01 -2.00948630e-04 2.47881414e+02] [-2.43194460e-03 1.77559520e-05 9.99997043e-01 -1.55840040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.0653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:957.24, Y:247.88, Z:-15.58 [[ 9.96905869e-01 7.85672588e-02 2.42369812e-03 9.57240258e+02] [-7.85670026e-02 9.96908815e-01 -2.00891112e-04 2.47875353e+02] [-2.43198948e-03 9.84683230e-06 9.99997043e-01 -1.55805237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.1253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:957.30, Y:247.87, Z:-15.58 [[ 9.96654347e-01 8.16960103e-02 2.42370298e-03 9.57298464e+02] [-8.16957635e-02 9.96657294e-01 -2.00832385e-04 2.47868472e+02] [-2.43200846e-03 2.15420408e-06 9.99997043e-01 -1.55829671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.185336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:957.36, Y:247.86, Z:-15.58 [[ 9.96455452e-01 8.40872007e-02 2.42371022e-03 9.57357605e+02] [-8.40869612e-02 9.96458400e-01 -2.00744943e-04 2.47861922e+02] [-2.43200649e-03 -3.76903441e-06 9.99997043e-01 -1.55798745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:957.42, Y:247.85, Z:-15.58 [[ 9.96180215e-01 8.72874785e-02 2.42371502e-03 9.57416006e+02] [-8.72872486e-02 9.96183164e-01 -2.00687004e-04 2.47852840e+02] [-2.43198156e-03 -1.16389927e-05 9.99997043e-01 -1.55845637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.3053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:957.47, Y:247.84, Z:-15.59 [[ 9.95917272e-01 9.02380856e-02 2.42372464e-03 9.57473689e+02] [-9.02378647e-02 9.95920221e-01 -2.00570730e-04 2.47843758e+02] [-2.43193550e-03 -1.89598820e-05 9.99997043e-01 -1.55867079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.3653361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:957.53, Y:247.83, Z:-15.59 [[ 9.95767780e-01 9.18730316e-02 2.42373008e-03 9.57532228e+02] [-9.18728157e-02 9.95770729e-01 -2.00505052e-04 2.47831684e+02] [-2.43190047e-03 -2.30184357e-05 9.99997043e-01 -1.55855151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:957.59, Y:247.82, Z:-15.59 [[ 9.95688032e-01 9.27333194e-02 2.42373748e-03 9.57590513e+02] [-9.27331063e-02 9.95690982e-01 -2.00415564e-04 2.47820584e+02] [-2.43187875e-03 -2.52093261e-05 9.99997043e-01 -1.55914142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:957.65, Y:247.81, Z:-15.59 [[ 9.95634369e-01 9.33077072e-02 2.42374480e-03 9.57649303e+02] [-9.33074960e-02 9.95637319e-01 -2.00326925e-04 2.47812694e+02] [-2.43186282e-03 -2.67011871e-05 9.99997043e-01 -1.55924801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:957.71, Y:247.80, Z:-15.59 [[ 9.95485921e-01 9.48783796e-02 2.42374945e-03 9.57708763e+02] [-9.48781732e-02 9.95488871e-01 -2.00270630e-04 2.47802114e+02] [-2.43181696e-03 -3.05943281e-05 9.99997043e-01 -1.55907849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.6053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:957.77, Y:247.79, Z:-15.59 [[ 9.95257411e-01 9.72461377e-02 2.42375731e-03 9.57768139e+02] [-9.72459385e-02 9.95260362e-01 -2.00175514e-04 2.47791734e+02] [-2.43173587e-03 -3.64743904e-05 9.99997043e-01 -1.55893170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.6653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:957.83, Y:247.79, Z:-15.59 [[ 9.94928667e-01 1.00553835e-01 2.42376228e-03 9.57826261e+02] [-1.00553645e-01 9.94931618e-01 -2.00115285e-04 2.47785745e+02] [-2.43160009e-03 -4.46176992e-05 9.99997043e-01 -1.55916679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:957.89, Y:247.78, Z:-15.59 [[ 9.94805371e-01 1.01766392e-01 2.42376954e-03 9.57885989e+02] [-1.01766206e-01 9.94808323e-01 -2.00027331e-04 2.47779612e+02] [-2.43154217e-03 -4.76695675e-05 9.99997043e-01 -1.55935597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:957.94, Y:247.77, Z:-15.60 [[ 9.94767545e-01 1.02135484e-01 2.42377435e-03 9.57944535e+02] [-1.02135299e-01 9.94770496e-01 -1.99969092e-04 2.47772897e+02] [-2.43152315e-03 -4.86301563e-05 9.99997043e-01 -1.55959762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.8453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:958.00, Y:247.77, Z:-15.59 [[ 9.94903782e-01 1.00799752e-01 2.42378146e-03 9.58004138e+02] [-1.00799564e-01 9.94906733e-01 -1.99882812e-04 2.47766985e+02] [-2.43158463e-03 -4.54519497e-05 9.99997043e-01 -1.55938553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.9053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:958.06, Y:247.76, Z:-15.60 [[ 9.95026301e-01 9.95830584e-02 2.42378626e-03 9.58062438e+02] [-9.95828670e-02 9.95029252e-01 -1.99824622e-04 2.47763780e+02] [-2.43163738e-03 -4.25368306e-05 9.99997043e-01 -1.55951551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:958.12, Y:247.76, Z:-15.59 [[ 9.95064740e-01 9.91982312e-02 2.42379340e-03 9.58122184e+02] [-9.91980388e-02 9.95067691e-01 -1.99738021e-04 2.47758129e+02] [-2.43165216e-03 -4.16832891e-05 9.99997043e-01 -1.55944397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:958.18, Y:247.75, Z:-15.60 [[ 9.95118111e-01 9.86613897e-02 2.42379815e-03 9.58181439e+02] [-9.86611959e-02 9.95121062e-01 -1.99680311e-04 2.47752171e+02] [-2.43167333e-03 -4.04293299e-05 9.99997043e-01 -1.55961504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.0853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:958.24, Y:247.75, Z:-15.60 [[ 9.95171596e-01 9.81204361e-02 2.42380287e-03 9.58240488e+02] [-9.81202408e-02 9.95174547e-01 -1.99623050e-04 2.47747294e+02] [-2.43169402e-03 -3.91649320e-05 9.99997043e-01 -1.55971272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.1453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:958.30, Y:247.74, Z:-15.60 [[ 9.95223957e-01 9.75879156e-02 2.42380753e-03 9.58300167e+02] [-9.75877189e-02 9.95226907e-01 -1.99566386e-04 2.47744053e+02] [-2.43171374e-03 -3.79205998e-05 9.99997043e-01 -1.55977820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.205336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:958.36, Y:247.74, Z:-15.59 [[ 9.95178936e-01 9.80459651e-02 2.42381222e-03 9.58359588e+02] [-9.80457699e-02 9.95181886e-01 -1.99509366e-04 2.47740856e+02] [-2.43169511e-03 -3.90970174e-05 9.99997043e-01 -1.55926983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:958.42, Y:247.74, Z:-15.59 [[ 9.95252782e-01 9.72934968e-02 2.42381707e-03 9.58419452e+02] [-9.72932996e-02 9.95255733e-01 -1.99450473e-04 2.47736291e+02] [-2.43172307e-03 -3.73175225e-05 9.99997043e-01 -1.55947618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.3253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:958.48, Y:247.73, Z:-15.59 [[ 9.95404069e-01 9.57332992e-02 2.42382193e-03 9.58478900e+02] [-9.57330974e-02 9.95407019e-01 -1.99391402e-04 2.47732048e+02] [-2.43177776e-03 -3.35649679e-05 9.99997043e-01 -1.55949998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.3853361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:958.54, Y:247.73, Z:-15.59 [[ 9.95802704e-01 9.14937196e-02 2.42382434e-03 9.58539203e+02] [-9.14935054e-02 9.95805653e-01 -1.99362100e-04 2.47726802e+02] [-2.43189836e-03 -2.32388669e-05 9.99997043e-01 -1.55937005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:958.60, Y:247.72, Z:-15.59 [[ 9.96280072e-01 8.61402497e-02 2.42382434e-03 9.58599106e+02] [-8.61400196e-02 9.96283021e-01 -1.99362100e-04 2.47721914e+02] [-2.43198814e-03 -1.01677886e-05 9.99997043e-01 -1.55927783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:958.66, Y:247.71, Z:-15.59 [[ 9.96719244e-01 8.09003987e-02 2.42382194e-03 9.58658790e+02] [-8.09001530e-02 9.96722191e-01 -1.99391326e-04 2.47713344e+02] [-2.43200795e-03 2.64960612e-06 9.99997043e-01 -1.55932225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.5653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:958.72, Y:247.71, Z:-15.60 [[ 9.96834854e-01 7.94631889e-02 2.42382194e-03 9.58718731e+02] [-7.94629389e-02 9.96837801e-01 -1.99391326e-04 2.47708033e+02] [-2.43200160e-03 6.15620892e-06 9.99997043e-01 -1.55958247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.6253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:958.78, Y:247.70, Z:-15.60 [[ 9.96810869e-01 7.97635018e-02 2.42381955e-03 9.58778875e+02] [-7.97632527e-02 9.96813816e-01 -1.99420303e-04 2.47699530e+02] [-2.43200328e-03 5.45259451e-06 9.99997043e-01 -1.55960699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.685336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:958.84, Y:247.69, Z:-15.59 [[ 9.96603152e-01 8.23181828e-02 2.42380860e-03 9.58838685e+02] [-8.23179410e-02 9.96606099e-01 -1.99553312e-04 2.47694277e+02] [-2.43200930e-03 -6.47473266e-07 9.99997043e-01 -1.55928169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:958.90, Y:247.69, Z:-15.60 [[ 9.96454371e-01 8.41000109e-02 2.42380860e-03 9.58899408e+02] [-8.40997743e-02 9.96457319e-01 -1.99553312e-04 2.47688352e+02] [-2.43200426e-03 -4.99598591e-06 9.99997043e-01 -1.55973979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.8053361949999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:958.96, Y:247.68, Z:-15.60 [[ 9.96306844e-01 8.58300563e-02 2.42380776e-03 9.58959861e+02] [-8.58298247e-02 9.96309792e-01 -1.99563488e-04 2.47682952e+02] [-2.43199195e-03 -9.20852676e-06 9.99997043e-01 -1.55953448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.8653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:959.02, Y:247.68, Z:-15.60 [[ 9.96049232e-01 8.87696625e-02 2.42380776e-03 9.59018891e+02] [-8.87694397e-02 9.96052181e-01 -1.99563488e-04 2.47678099e+02] [-2.43195419e-03 -1.63849981e-05 9.99997043e-01 -1.55982432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:959.08, Y:247.67, Z:-15.60 [[ 9.95899149e-01 9.04378809e-02 2.42381014e-03 9.59079166e+02] [-9.04376631e-02 9.95902098e-01 -1.99534595e-04 2.47673966e+02] [-2.43192309e-03 -2.04873920e-05 9.99997043e-01 -1.55957228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:959.14, Y:247.67, Z:-15.60 [[ 9.96033272e-01 8.89485610e-02 2.42381014e-03 9.59138766e+02] [-8.89483388e-02 9.96036221e-01 -1.99534595e-04 2.47667745e+02] [-2.43195101e-03 -1.68507905e-05 9.99997043e-01 -1.56001073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.045336195 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:959.20, Y:247.66, Z:-15.59 [[ 9.96228062e-01 8.67396921e-02 2.42380677e-03 9.59199542e+02] [-8.67394633e-02 9.96231010e-01 -1.99575575e-04 2.47661566e+02] [-2.43198259e-03 -1.14169096e-05 9.99997043e-01 -1.55934461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.1053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:959.26, Y:247.66, Z:-15.60 [[ 9.96357564e-01 8.52392545e-02 2.42380179e-03 9.59259269e+02] [-8.52390211e-02 9.96360512e-01 -1.99635967e-04 2.47657097e+02] [-2.43199722e-03 -7.69368671e-06 9.99997043e-01 -1.56008566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.1653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:959.32, Y:247.65, Z:-15.60 [[ 9.96620898e-01 8.21030445e-02 2.42379933e-03 9.59319411e+02] [-8.21028017e-02 9.96623846e-01 -1.99665864e-04 2.47651861e+02] [-2.43200939e-03 -9.54331035e-09 9.99997043e-01 -1.56025096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:959.38, Y:247.64, Z:-15.60 [[ 9.96899539e-01 7.86475271e-02 2.42378764e-03 9.59380229e+02] [-7.86472738e-02 9.96902486e-01 -1.99807660e-04 2.47644687e+02] [-2.43199430e-03 8.56387410e-06 9.99997043e-01 -1.55979192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:959.44, Y:247.64, Z:-15.59 [[ 9.97038001e-01 7.68722969e-02 2.42378284e-03 9.59441445e+02] [-7.68720382e-02 9.97040947e-01 -1.99865832e-04 2.47638002e+02] [-2.43197489e-03 1.29527027e-05 9.99997043e-01 -1.55941947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.3453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:959.50, Y:247.63, Z:-15.59 [[ 9.97112804e-01 7.58958652e-02 2.42377797e-03 9.59501067e+02] [-7.58956034e-02 9.97115749e-01 -1.99924985e-04 2.47631815e+02] [-2.43196066e-03 1.53936706e-05 9.99997043e-01 -1.55945886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.4053361949998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:959.56, Y:247.62, Z:-15.59 [[ 9.97136079e-01 7.55894495e-02 2.42376722e-03 9.59561555e+02] [-7.55891865e-02 9.97139025e-01 -2.00055195e-04 2.47624341e+02] [-2.43195494e-03 1.62716604e-05 9.99997043e-01 -1.55917366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:959.62, Y:247.62, Z:-15.59 [[ 9.97048421e-01 7.67370281e-02 2.42376251e-03 9.59622749e+02] [-7.67367683e-02 9.97051367e-01 -2.00112232e-04 2.47617188e+02] [-2.43197174e-03 1.35298830e-05 9.99997043e-01 -1.55931296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:959.68, Y:247.61, Z:-15.59 [[ 9.96887974e-01 7.87939895e-02 2.42375773e-03 9.59684119e+02] [-7.87937357e-02 9.96890920e-01 -2.00170102e-04 2.47610487e+02] [-2.43199427e-03 8.57024133e-06 9.99997043e-01 -1.55909518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.5853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:959.75, Y:247.60, Z:-15.59 [[ 9.96695568e-01 8.11915670e-02 2.42375285e-03 9.59745001e+02] [-8.11913201e-02 9.96698515e-01 -2.00229194e-04 2.47604741e+02] [-2.43200779e-03 2.77985710e-06 9.99997043e-01 -1.55906872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.6453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:959.81, Y:247.60, Z:-15.59 [[ 9.96576971e-01 8.26345339e-02 2.42374800e-03 9.59805251e+02] [-8.26342912e-02 9.96579918e-01 -2.00287854e-04 2.47600123e+02] [-2.43200928e-03 -6.82435560e-07 9.99997043e-01 -1.55922601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:959.87, Y:247.60, Z:-15.59 [[ 9.96295352e-01 8.59633501e-02 2.42373522e-03 9.59866815e+02] [-8.59631168e-02 9.96298300e-01 -2.00442400e-04 2.47597462e+02] [-2.43199398e-03 -8.65200258e-06 9.99997043e-01 -1.55921656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:959.93, Y:247.60, Z:-15.59 [[ 9.96055976e-01 8.86939575e-02 2.42373042e-03 9.59926924e+02] [-8.86937322e-02 9.96058925e-01 -2.00500415e-04 2.47596145e+02] [-2.43196149e-03 -1.52600600e-05 9.99997043e-01 -1.55897587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.8253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:959.99, Y:247.59, Z:-15.59 [[ 9.96055061e-01 8.87042283e-02 2.42372048e-03 9.59987307e+02] [-8.87040027e-02 9.96058010e-01 -2.00620493e-04 2.47594437e+02] [-2.43196209e-03 -1.51646502e-05 9.99997043e-01 -1.55885091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.8853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:960.05, Y:247.59, Z:-15.59 [[ 9.96200598e-01 8.70545413e-02 2.42372048e-03 9.60047296e+02] [-8.70543109e-02 9.96203547e-01 -2.00620493e-04 2.47592849e+02] [-2.43198386e-03 -1.11370606e-05 9.99997043e-01 -1.55921853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:960.11, Y:247.59, Z:-15.59 [[ 9.96416586e-01 8.45465125e-02 2.42371805e-03 9.60107872e+02] [-8.45462745e-02 9.96419534e-01 -2.00649908e-04 2.47590497e+02] [-2.43200426e-03 -4.98543541e-06 9.99997043e-01 -1.55892744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:960.17, Y:247.59, Z:-15.59 [[ 9.96858217e-01 7.91695655e-02 2.42371805e-03 9.60168870e+02] [-7.91693116e-02 9.96861164e-01 -2.00649908e-04 2.47586809e+02] [-2.43199576e-03 8.13541991e-06 9.99997043e-01 -1.55871623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.0653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:960.23, Y:247.58, Z:-15.59 [[ 9.97347366e-01 7.27485841e-02 2.42371316e-03 9.60230412e+02] [-7.27483112e-02 9.97350311e-01 -2.00708910e-04 2.47580708e+02] [-2.43189236e-03 2.38554639e-05 9.99997043e-01 -1.55860857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.1253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:960.29, Y:247.57, Z:-15.59 [[ 9.97645079e-01 6.85450376e-02 2.42370819e-03 9.60291185e+02] [-6.85447521e-02 9.97648022e-01 -2.00768861e-04 2.47572914e+02] [-2.43176940e-03 3.41635885e-05 9.99997043e-01 -1.55883320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:960.35, Y:247.57, Z:-15.59 [[ 9.97671015e-01 6.81664992e-02 2.42370323e-03 9.60352167e+02] [-6.81662124e-02 9.97673958e-01 -2.00828754e-04 2.47567049e+02] [-2.43175539e-03 3.51463576e-05 9.99997043e-01 -1.55888639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:960.41, Y:247.56, Z:-15.59 [[ 9.97620552e-01 6.89010807e-02 2.42369825e-03 9.60413186e+02] [-6.89007959e-02 9.97623496e-01 -2.00888817e-04 2.47559105e+02] [-2.43177978e-03 3.34160743e-05 9.99997043e-01 -1.55900824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.3053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:960.47, Y:247.55, Z:-15.59 [[ 9.97417911e-01 7.17749055e-02 2.42369331e-03 9.60473651e+02] [-7.17746290e-02 9.97420855e-01 -2.00948408e-04 2.47551612e+02] [-2.43186531e-03 2.64698528e-05 9.99997043e-01 -1.55874929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.3653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:960.54, Y:247.55, Z:-15.59 [[ 9.97118403e-01 7.58222643e-02 2.42369084e-03 9.60535214e+02] [-7.58219998e-02 9.97121349e-01 -2.00978217e-04 2.47546172e+02] [-2.43195250e-03 1.66299927e-05 9.99997043e-01 -1.55864999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.425336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:960.59, Y:247.54, Z:-15.58 [[ 9.96268443e-01 8.62746547e-02 2.42368591e-03 9.60594384e+02] [-8.62744209e-02 9.96271391e-01 -2.01037640e-04 2.47540639e+02] [-2.43199339e-03 -8.81464183e-06 9.99997043e-01 -1.55828566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.485336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:960.65, Y:247.54, Z:-15.58 [[ 9.95215314e-01 9.76760176e-02 2.42368835e-03 9.60654194e+02] [-9.76758176e-02 9.95218265e-01 -2.01008223e-04 2.47536434e+02] [-2.43173260e-03 -3.66892798e-05 9.99997043e-01 -1.55833594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:960.71, Y:247.54, Z:-15.58 [[ 9.94387107e-01 1.05775270e-01 2.42368594e-03 9.60714061e+02] [-1.05775094e-01 9.94390059e-01 -2.01037334e-04 2.47538902e+02] [-2.43135398e-03 -5.64566756e-05 9.99997043e-01 -1.55845156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.6053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:960.77, Y:247.54, Z:-15.59 [[ 9.94163323e-01 1.07858303e-01 2.42369075e-03 9.60772814e+02] [-1.07858133e-01 9.94166275e-01 -2.00979253e-04 2.47537007e+02] [-2.43122889e-03 -6.16085581e-05 9.99997043e-01 -1.55869999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.6653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:960.83, Y:247.54, Z:-15.59 [[ 9.94333499e-01 1.06278025e-01 2.42369556e-03 9.60832582e+02] [-1.06277851e-01 9.94336451e-01 -2.00921283e-04 2.47539532e+02] [-2.43132236e-03 -5.78023927e-05 9.99997043e-01 -1.55872522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.725336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:960.89, Y:247.54, Z:-15.58 [[ 9.95068611e-01 9.91593933e-02 2.42370028e-03 9.60891800e+02] [-9.91591981e-02 9.95071562e-01 -2.00864301e-04 2.47537561e+02] [-2.43167281e-03 -4.04584152e-05 9.99997043e-01 -1.55831177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:960.95, Y:247.54, Z:-15.59 [[ 9.95695627e-01 9.26517345e-02 2.42370570e-03 9.60951876e+02] [-9.26515202e-02 9.95698577e-01 -2.00798868e-04 2.47535178e+02] [-2.43188468e-03 -2.46254628e-05 9.99997043e-01 -1.55855765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.8453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:961.01, Y:247.53, Z:-15.59 [[ 9.96682400e-01 8.13530518e-02 2.42371046e-03 9.61012804e+02] [-8.13528042e-02 9.96685347e-01 -2.00741453e-04 2.47532430e+02] [-2.43200763e-03 2.89983118e-06 9.99997043e-01 -1.55853942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.9053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:961.07, Y:247.52, Z:-15.58 [[ 9.97479608e-01 7.09123202e-02 2.42371046e-03 9.61073414e+02] [-7.09120417e-02 9.97482552e-01 -2.00741453e-04 2.47524835e+02] [-2.43184393e-03 2.83652491e-05 9.99997043e-01 -1.55825170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:961.13, Y:247.51, Z:-15.58 [[ 9.97983825e-01 6.34224806e-02 2.42370547e-03 9.61133430e+02] [-6.34221799e-02 9.97986767e-01 -2.00801670e-04 2.47514981e+02] [-2.43156132e-03 4.66801349e-05 9.99997043e-01 -1.55843053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:961.19, Y:247.51, Z:-15.58 [[ 9.98100918e-01 6.15522793e-02 2.42370302e-03 9.61194367e+02] [-6.15519730e-02 9.98103859e-01 -2.00831257e-04 2.47505598e+02] [-2.43146896e-03 5.12661599e-05 9.99997043e-01 -1.55825061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.0853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:961.25, Y:247.50, Z:-15.58 [[ 9.97859473e-01 6.53498100e-02 2.42369816e-03 9.61253899e+02] [-6.53495148e-02 9.97862416e-01 -2.00889807e-04 2.47495937e+02] [-2.43164541e-03 4.20722983e-05 9.99997043e-01 -1.55829600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.1453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:961.31, Y:247.49, Z:-15.58 [[ 9.97564209e-01 6.97120861e-02 2.42369576e-03 9.61313694e+02] [-6.97118037e-02 9.97567153e-01 -2.00918748e-04 2.47488465e+02] [-2.43180575e-03 3.14691491e-05 9.99997043e-01 -1.55843102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:961.37, Y:247.48, Z:-15.58 [[ 9.96996466e-01 7.74091249e-02 2.42369576e-03 9.61372433e+02] [-7.74088652e-02 9.96999412e-01 -2.00918748e-04 2.47480813e+02] [-2.43197620e-03 1.26997434e-05 9.99997043e-01 -1.55845641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:961.43, Y:247.48, Z:-15.58 [[ 9.96362372e-01 8.51830392e-02 2.42369812e-03 9.61433116e+02] [-8.51828026e-02 9.96365319e-01 -2.00890315e-04 2.47475815e+02] [-2.43200120e-03 -6.29784821e-06 9.99997043e-01 -1.55845233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.3253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:961.49, Y:247.47, Z:-15.58 [[ 9.96003181e-01 8.92848805e-02 2.42369812e-03 9.61492916e+02] [-8.92846560e-02 9.96006129e-01 -2.00890315e-04 2.47469428e+02] [-2.43195465e-03 -1.63116607e-05 9.99997043e-01 -1.55826368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.3853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:961.55, Y:247.47, Z:-15.58 [[ 9.95607192e-01 9.35972498e-02 2.42369812e-03 9.61553296e+02] [-9.35970381e-02 9.95610142e-01 -2.00890315e-04 2.47466496e+02] [-2.43186121e-03 -2.68431234e-05 9.99997043e-01 -1.55784009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:961.61, Y:247.46, Z:-15.58 [[ 9.95448357e-01 9.52716841e-02 2.42369812e-03 9.61613775e+02] [-9.52714774e-02 9.95451307e-01 -2.00890315e-04 2.47462059e+02] [-2.43181262e-03 -3.09333670e-05 9.99997043e-01 -1.55769312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:961.67, Y:247.46, Z:-15.58 [[ 9.95482033e-01 9.49191638e-02 2.42369812e-03 9.61674517e+02] [-9.49189560e-02 9.95484983e-01 -2.00890315e-04 2.47458761e+02] [-2.43182342e-03 -3.00721964e-05 9.99997043e-01 -1.55788509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.5653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:961.73, Y:247.46, Z:-15.58 [[ 9.95501731e-01 9.47123533e-02 2.42369812e-03 9.61734287e+02] [-9.47121449e-02 9.95504681e-01 -2.00890315e-04 2.47455954e+02] [-2.43182962e-03 -2.95669917e-05 9.99997043e-01 -1.55807198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.6253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:961.80, Y:247.45, Z:-15.58 [[ 9.95562604e-01 9.40703330e-02 2.42370279e-03 9.61795019e+02] [-9.40701228e-02 9.95565554e-01 -2.00834021e-04 2.47452489e+02] [-2.43184753e-03 -2.80551780e-05 9.99997043e-01 -1.55798542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:961.86, Y:247.45, Z:-15.58 [[ 9.95804816e-01 9.14707285e-02 2.42370279e-03 9.61855781e+02] [-9.14705106e-02 9.95807765e-01 -2.00834021e-04 2.47448786e+02] [-2.43191249e-03 -2.17058463e-05 9.99997043e-01 -1.55793541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:961.92, Y:247.45, Z:-15.58 [[ 9.96233647e-01 8.66755284e-02 2.42370279e-03 9.61915429e+02] [-8.66752963e-02 9.96236595e-01 -2.00834021e-04 2.47445751e+02] [-2.43198880e-03 -9.99754831e-06 9.99997043e-01 -1.55809871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.8053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:961.98, Y:247.44, Z:-15.58 [[ 9.96569280e-01 8.27272407e-02 2.42370522e-03 9.61975827e+02] [-8.27269970e-02 9.96572227e-01 -2.00804622e-04 2.47440882e+02] [-2.43200932e-03 -3.90136954e-07 9.99997043e-01 -1.55811731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.8653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:962.04, Y:247.44, Z:-15.58 [[ 9.96944627e-01 7.80739207e-02 2.42370522e-03 9.62036050e+02] [-7.80736632e-02 9.96947573e-01 -2.00804622e-04 2.47436372e+02] [-2.43198464e-03 1.09635437e-05 9.99997043e-01 -1.55798626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.925336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:962.10, Y:247.43, Z:-15.58 [[ 9.97091176e-01 7.61794761e-02 2.42370522e-03 9.62096638e+02] [-7.61792130e-02 9.97094122e-01 -2.00804622e-04 2.47429740e+02] [-2.43195942e-03 1.55845604e-05 9.99997043e-01 -1.55760045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:962.16, Y:247.43, Z:-15.58 [[ 9.96974039e-01 7.76974332e-02 2.42370031e-03 9.62156393e+02] [-7.76971744e-02 9.96976985e-01 -2.00863840e-04 2.47426574e+02] [-2.43198004e-03 1.19413683e-05 9.99997043e-01 -1.55761601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:962.22, Y:247.42, Z:-15.58 [[ 9.96874700e-01 7.89617469e-02 2.42370273e-03 9.62216126e+02] [-7.89614920e-02 9.96877647e-01 -2.00834631e-04 2.47419392e+02] [-2.43199333e-03 8.82777894e-06 9.99997043e-01 -1.55759913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.1053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:962.28, Y:247.41, Z:-15.58 [[ 9.96880732e-01 7.88855554e-02 2.42370273e-03 9.62276407e+02] [-7.88853003e-02 9.96883679e-01 -2.00834631e-04 2.47414138e+02] [-2.43199265e-03 9.01365638e-06 9.99997043e-01 -1.55751393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.1653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:962.34, Y:247.41, Z:-15.58 [[ 9.96830380e-01 7.95193005e-02 2.42370273e-03 9.62336997e+02] [-7.95190472e-02 9.96833326e-01 -2.00834631e-04 2.47410573e+02] [-2.43199789e-03 7.46752977e-06 9.99997043e-01 -1.55764061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:962.40, Y:247.40, Z:-15.58 [[ 9.96749716e-01 8.05240866e-02 2.42370273e-03 9.62396522e+02] [-8.05238363e-02 9.96752663e-01 -2.00834631e-04 2.47404165e+02] [-2.43200418e-03 5.01601969e-06 9.99997043e-01 -1.55765767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:962.46, Y:247.40, Z:-15.57 [[ 9.96211507e-01 8.69296232e-02 2.42370521e-03 9.62456392e+02] [-8.69293919e-02 9.96214455e-01 -2.00804734e-04 2.47401589e+02] [-2.43198605e-03 -1.06472338e-05 9.99997043e-01 -1.55711936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.3453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:962.51, Y:247.40, Z:-15.57 [[ 9.95894978e-01 9.04838068e-02 2.42371018e-03 9.62514545e+02] [-9.04835862e-02 9.95897927e-01 -2.00744734e-04 2.47398317e+02] [-2.43193209e-03 -1.93853169e-05 9.99997043e-01 -1.55739501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.4053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:962.57, Y:247.39, Z:-15.57 [[ 9.95573412e-01 9.39558737e-02 2.42371755e-03 9.62573714e+02] [-9.39556636e-02 9.95576362e-01 -2.00655712e-04 2.47394882e+02] [-2.43184868e-03 -2.79544988e-05 9.99997043e-01 -1.55742240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:962.63, Y:247.39, Z:-15.57 [[ 9.95512813e-01 9.45958014e-02 2.42372247e-03 9.62633072e+02] [-9.45955933e-02 9.95515763e-01 -2.00596291e-04 2.47391582e+02] [-2.43182949e-03 -2.95772870e-05 9.99997043e-01 -1.55738494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:962.69, Y:247.39, Z:-15.58 [[ 9.95512380e-01 9.46003532e-02 2.42372740e-03 9.62691377e+02] [-9.46001452e-02 9.95515330e-01 -2.00536685e-04 2.47388097e+02] [-2.43182862e-03 -2.96482115e-05 9.99997043e-01 -1.55763234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.5853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:962.75, Y:247.38, Z:-15.58 [[ 9.95642120e-01 9.32249653e-02 2.42373467e-03 9.62750988e+02] [-9.32247535e-02 9.95645070e-01 -2.00448726e-04 2.47384318e+02] [-2.43186631e-03 -2.63768726e-05 9.99997043e-01 -1.55766621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.6453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:962.81, Y:247.38, Z:-15.58 [[ 9.95905336e-01 9.03697263e-02 2.42373956e-03 9.62810383e+02] [-9.03695062e-02 9.95908285e-01 -2.00389658e-04 2.47381288e+02] [-2.43193147e-03 -1.94630174e-05 9.99997043e-01 -1.55752870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:962.87, Y:247.38, Z:-15.58 [[ 9.96188319e-01 8.71949502e-02 2.42374440e-03 9.62869256e+02] [-8.71947209e-02 9.96191267e-01 -2.00331080e-04 2.47375728e+02] [-2.43198086e-03 -1.17702344e-05 9.99997043e-01 -1.55771955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:962.93, Y:247.37, Z:-15.58 [[ 9.96267449e-01 8.62861219e-02 2.42374137e-03 9.62928288e+02] [-8.62858898e-02 9.96270398e-01 -2.00367791e-04 2.47371364e+02] [-2.43199073e-03 -9.51477276e-06 9.99997043e-01 -1.55773406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.8253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:962.99, Y:247.37, Z:-15.58 [[ 9.96334779e-01 8.55051641e-02 2.42374373e-03 9.62987982e+02] [-8.55049297e-02 9.96337727e-01 -2.00339177e-04 2.47367289e+02] [-2.43199735e-03 -7.63714794e-06 9.99997043e-01 -1.55757059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.8853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:963.05, Y:247.36, Z:-15.57 [[ 9.96469233e-01 8.39237358e-02 2.42374849e-03 9.63047920e+02] [-8.39234969e-02 9.96472181e-01 -2.00281536e-04 2.47361849e+02] [-2.43200632e-03 -3.83506023e-06 9.99997043e-01 -1.55740535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:963.11, Y:247.36, Z:-15.58 [[ 9.96534829e-01 8.31412028e-02 2.42374849e-03 9.63107345e+02] [-8.31409616e-02 9.96537777e-01 -2.00281536e-04 2.47356327e+02] [-2.43200858e-03 -1.92525377e-06 9.99997043e-01 -1.55754464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:963.17, Y:247.35, Z:-15.58 [[ 9.96525170e-01 8.32568981e-02 2.42375091e-03 9.63167392e+02] [-8.32566573e-02 9.96528117e-01 -2.00252343e-04 2.47350593e+02] [-2.43200832e-03 -2.23689823e-06 9.99997043e-01 -1.55762250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.0653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:963.23, Y:247.35, Z:-15.57 [[ 9.96504329e-01 8.35059707e-02 2.42375091e-03 9.63226160e+02] [-8.35057306e-02 9.96507277e-01 -2.00252343e-04 2.47345335e+02] [-2.43200768e-03 -2.84476348e-06 9.99997043e-01 -1.55749849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.1253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:963.29, Y:247.34, Z:-15.57 [[ 9.96487394e-01 8.37078167e-02 2.42374401e-03 9.63285673e+02] [-8.37075770e-02 9.96490342e-01 -2.00335804e-04 2.47340012e+02] [-2.43200717e-03 -3.25363486e-06 9.99997043e-01 -1.55732928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:963.35, Y:247.33, Z:-15.57 [[ 9.96538356e-01 8.30989181e-02 2.42374625e-03 9.63345039e+02] [-8.30986767e-02 9.96541304e-01 -2.00308666e-04 2.47333054e+02] [-2.43200868e-03 -1.79483714e-06 9.99997043e-01 -1.55724584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:963.40, Y:247.33, Z:-15.57 [[ 9.96639168e-01 8.18809728e-02 2.42375071e-03 9.63404545e+02] [-8.18807280e-02 9.96642115e-01 -2.00254731e-04 2.47326648e+02] [-2.43200908e-03 1.12323606e-06 9.99997043e-01 -1.55718216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.3053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:963.46, Y:247.32, Z:-15.57 [[ 9.96807016e-01 7.98116367e-02 2.42375071e-03 9.63464398e+02] [-7.98113857e-02 9.96809963e-01 -2.00254731e-04 2.47318944e+02] [-2.43200151e-03 6.17241817e-06 9.99997043e-01 -1.55746039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.3653361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:963.52, Y:247.31, Z:-15.58 [[ 9.96992844e-01 7.74557602e-02 2.42375071e-03 9.63524072e+02] [-7.74555022e-02 9.96995790e-01 -2.00254731e-04 2.47309241e+02] [-2.43198013e-03 1.19197054e-05 9.99997043e-01 -1.55761048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.425336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:963.58, Y:247.30, Z:-15.58 [[ 9.97052839e-01 7.66796006e-02 2.42374855e-03 9.63584887e+02] [-7.66793403e-02 9.97055785e-01 -2.00280809e-04 2.47303232e+02] [-2.43196997e-03 1.38391090e-05 9.99997043e-01 -1.55778759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:963.65, Y:247.29, Z:-15.57 [[ 9.97115070e-01 7.58660890e-02 2.42374428e-03 9.63645465e+02] [-7.58658261e-02 9.97118015e-01 -2.00332502e-04 2.47293812e+02] [-2.43195753e-03 1.58751943e-05 9.99997043e-01 -1.55734305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.545336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:963.71, Y:247.29, Z:-15.57 [[ 9.97096506e-01 7.61096739e-02 2.42373956e-03 9.63706366e+02] [-7.61094116e-02 9.97099452e-01 -2.00389526e-04 2.47285868e+02] [-2.43196097e-03 1.53383046e-05 9.99997043e-01 -1.55731491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.6053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:963.77, Y:247.28, Z:-15.58 [[ 9.97014257e-01 7.71796441e-02 2.42373488e-03 9.63766729e+02] [-7.71793848e-02 9.97017203e-01 -2.00446160e-04 2.47277451e+02] [-2.43197573e-03 1.27853118e-05 9.99997043e-01 -1.55760790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.6653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:963.83, Y:247.27, Z:-15.58 [[ 9.96783850e-01 8.01004483e-02 2.42373023e-03 9.63828127e+02] [-8.01001975e-02 9.96786797e-01 -2.00502387e-04 2.47271605e+02] [-2.43200262e-03 5.71627169e-06 9.99997043e-01 -1.55783186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:963.89, Y:247.26, Z:-15.58 [[ 9.96666083e-01 8.15527087e-02 2.42372560e-03 9.63888285e+02] [-8.15524621e-02 9.96669030e-01 -2.00558371e-04 2.47264911e+02] [-2.43200832e-03 2.22893615e-06 9.99997043e-01 -1.55803682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:963.95, Y:247.26, Z:-15.58 [[ 9.96761420e-01 8.03790865e-02 2.42371363e-03 9.63948347e+02] [-8.03788361e-02 9.96764367e-01 -2.00702892e-04 2.47258138e+02] [-2.43200369e-03 5.23761905e-06 9.99997043e-01 -1.55787141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.8453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:964.01, Y:247.25, Z:-15.57 [[ 9.97058030e-01 7.66120820e-02 2.42371137e-03 9.64009482e+02] [-7.66118204e-02 9.97060975e-01 -2.00730134e-04 2.47249266e+02] [-2.43196638e-03 1.44546513e-05 9.99997043e-01 -1.55722420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.9053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:964.07, Y:247.24, Z:-15.57 [[ 9.97241426e-01 7.41866856e-02 2.42370654e-03 9.64070114e+02] [-7.41864167e-02 9.97244371e-01 -2.00788481e-04 2.47238183e+02] [-2.43192353e-03 2.04284880e-05 9.99997043e-01 -1.55701967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:964.13, Y:247.23, Z:-15.57 [[ 9.97246547e-01 7.41178095e-02 2.42367546e-03 9.64131519e+02] [-7.41175395e-02 9.97249492e-01 -2.01162870e-04 2.47229986e+02] [-2.43191888e-03 2.09721155e-05 9.99997043e-01 -1.55715867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:964.19, Y:247.22, Z:-15.57 [[ 9.97186904e-01 7.49159851e-02 2.42364228e-03 9.64193448e+02] [-7.49157165e-02 9.97189849e-01 -2.01561926e-04 2.47221606e+02] [-2.43193169e-03 1.94260152e-05 9.99997043e-01 -1.55738695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.0853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:964.25, Y:247.21, Z:-15.57 [[ 9.97096140e-01 7.61144772e-02 2.42360927e-03 9.64254859e+02] [-7.61142111e-02 9.97099085e-01 -2.01958070e-04 2.47213346e+02] [-2.43195052e-03 1.69005046e-05 9.99997043e-01 -1.55743587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.1453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:964.32, Y:247.20, Z:-15.57 [[ 9.96956331e-01 7.79243198e-02 2.42357636e-03 9.64315257e+02] [-7.79240581e-02 9.96959277e-01 -2.02352158e-04 2.47198958e+02] [-2.43197509e-03 1.28813596e-05 9.99997043e-01 -1.55694981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:964.38, Y:247.19, Z:-15.57 [[ 9.96821482e-01 7.96307736e-02 2.42354599e-03 9.64376699e+02] [-7.96305161e-02 9.96824428e-01 -2.02715268e-04 2.47190601e+02] [-2.43199222e-03 9.08271579e-06 9.99997043e-01 -1.55684227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:964.44, Y:247.18, Z:-15.57 [[ 9.96494603e-01 8.36219622e-02 2.42351353e-03 9.64439479e+02] [-8.36217155e-02 9.96497550e-01 -2.03102586e-04 2.47180066e+02] [-2.43200913e-03 -2.67728398e-07 9.99997043e-01 -1.55674127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.3253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:964.50, Y:247.17, Z:-15.57 [[ 9.96201840e-01 8.70403372e-02 2.42347561e-03 9.64501170e+02] [-8.70400996e-02 9.96204788e-01 -2.03554025e-04 2.47173419e+02] [-2.43199542e-03 -8.15866424e-06 9.99997043e-01 -1.55686841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.3853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:964.56, Y:247.16, Z:-15.57 [[ 9.95807287e-01 9.14438258e-02 2.42344038e-03 9.64561603e+02] [-9.14436002e-02 9.95810236e-01 -2.03972687e-04 2.47164707e+02] [-2.43193878e-03 -1.84906252e-05 9.99997043e-01 -1.55726845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:964.62, Y:247.16, Z:-15.57 [[ 9.95405841e-01 9.57148812e-02 2.42341028e-03 9.64623100e+02] [-9.57146673e-02 9.95408791e-01 -2.04329589e-04 2.47159674e+02] [-2.43184128e-03 -2.85650432e-05 9.99997043e-01 -1.55738548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:964.68, Y:247.16, Z:-15.57 [[ 9.95125171e-01 9.85901648e-02 2.42337636e-03 9.64684428e+02] [-9.85899585e-02 9.95128121e-01 -2.04731126e-04 2.47155090e+02] [-2.43175444e-03 -3.51874776e-05 9.99997043e-01 -1.55745081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.5653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:964.75, Y:247.15, Z:-15.58 [[ 9.94674264e-01 1.03039969e-01 2.42334277e-03 9.64745550e+02] [-1.03039775e-01 9.94677215e-01 -2.05127970e-04 2.47153965e+02] [-2.43158022e-03 -4.56651801e-05 9.99997043e-01 -1.55772988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.6253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:964.81, Y:247.15, Z:-15.58 [[ 9.94366450e-01 1.05969290e-01 2.42331365e-03 9.64807489e+02] [-1.05969104e-01 9.94369402e-01 -2.05471391e-04 2.47152061e+02] [-2.43144260e-03 -5.24825180e-05 9.99997043e-01 -1.55760119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:964.87, Y:247.15, Z:-15.57 [[ 9.94412728e-01 1.05534138e-01 2.42328003e-03 9.64869984e+02] [-1.05533949e-01 9.94415679e-01 -2.05867186e-04 2.47153502e+02] [-2.43147367e-03 -5.10213616e-05 9.99997043e-01 -1.55727470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:964.93, Y:247.15, Z:-15.58 [[ 9.94593265e-01 1.03818909e-01 2.42324519e-03 9.64931789e+02] [-1.03818715e-01 9.94596216e-01 -2.06276412e-04 2.47153334e+02] [-2.43156589e-03 -4.64170714e-05 9.99997043e-01 -1.55772911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.8053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:964.99, Y:247.15, Z:-15.57 [[ 9.95089504e-01 9.89495216e-02 2.42321322e-03 9.64994108e+02] [-9.89493117e-02 9.95092454e-01 -2.06651357e-04 2.47153737e+02] [-2.43176924e-03 -3.41386836e-05 9.99997043e-01 -1.55728566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.8653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:965.06, Y:247.15, Z:-15.57 [[ 9.95664799e-01 9.29824522e-02 2.42317851e-03 9.65056346e+02] [-9.29822236e-02 9.95667747e-01 -2.07057576e-04 2.47154148e+02] [-2.43193341e-03 -1.91525857e-05 9.99997043e-01 -1.55706661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:965.12, Y:247.16, Z:-15.57 [[ 9.96227757e-01 8.67432096e-02 2.42314298e-03 9.65118686e+02] [-8.67429615e-02 9.96230704e-01 -2.07472520e-04 2.47155526e+02] [-2.43200627e-03 -3.50071477e-06 9.99997043e-01 -1.55708282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:965.18, Y:247.15, Z:-15.57 [[ 9.96592306e-01 8.24494001e-02 2.42310683e-03 9.65180299e+02] [-8.24491383e-02 9.96595252e-01 -2.07893823e-04 2.47154201e+02] [-2.43199749e-03 7.40231366e-06 9.99997043e-01 -1.55724955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:965.24, Y:247.15, Z:-15.57 [[ 9.97187314e-01 7.49105485e-02 2.42308629e-03 9.65242125e+02] [-7.49102639e-02 9.97190257e-01 -2.08133004e-04 2.47152284e+02] [-2.43186940e-03 2.60335579e-05 9.99997043e-01 -1.55742574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.1053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:965.30, Y:247.15, Z:-15.58 [[ 9.97665976e-01 6.82402241e-02 2.42305150e-03 9.65303410e+02] [-6.82399188e-02 9.97668918e-01 -2.08537167e-04 2.47149243e+02] [-2.43163380e-03 4.27015988e-05 9.99997043e-01 -1.55761939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.1653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:965.36, Y:247.14, Z:-15.57 [[ 9.97854994e-01 6.54181931e-02 2.42304655e-03 9.65364792e+02] [-6.54178793e-02 9.97857935e-01 -2.08594657e-04 2.47143551e+02] [-2.43150212e-03 4.96366529e-05 9.99997043e-01 -1.55740786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:965.43, Y:247.14, Z:-15.57 [[ 9.97722030e-01 6.74157194e-02 2.42304158e-03 9.65425279e+02] [-6.74154114e-02 9.97724972e-01 -2.08652424e-04 2.47139619e+02] [-2.43159555e-03 4.48267753e-05 9.99997043e-01 -1.55734870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:965.49, Y:247.13, Z:-15.57 [[ 9.97381856e-01 7.22742109e-02 2.42303913e-03 9.65485424e+02] [-7.22739172e-02 9.97384799e-01 -2.08680880e-04 2.47134471e+02] [-2.43178464e-03 3.30119945e-05 9.99997043e-01 -1.55742137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.3453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:965.55, Y:247.13, Z:-15.57 [[ 9.97096618e-01 7.61082284e-02 2.42303913e-03 9.65545823e+02] [-7.61079460e-02 9.97099562e-01 -2.08680880e-04 2.47129664e+02] [-2.43189359e-03 2.36624688e-05 9.99997043e-01 -1.55741198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.4053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:965.61, Y:247.13, Z:-15.57 [[ 9.96669217e-01 8.15144261e-02 2.42303913e-03 9.65606420e+02] [-8.15141597e-02 9.96672162e-01 -2.08680880e-04 2.47125156e+02] [-2.43198615e-03 1.04738110e-05 9.99997043e-01 -1.55740151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:965.67, Y:247.12, Z:-15.57 [[ 9.96141304e-01 8.77304470e-02 2.42303913e-03 9.65666545e+02] [-8.77301989e-02 9.96144251e-01 -2.08680880e-04 2.47122751e+02] [-2.43200417e-03 -4.69806058e-06 9.99997043e-01 -1.55726028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:965.73, Y:247.12, Z:-15.57 [[ 9.95796984e-01 9.15559694e-02 2.42303913e-03 9.65726373e+02] [-9.15557326e-02 9.95799932e-01 -2.08680880e-04 2.47119868e+02] [-2.43196818e-03 -1.40393315e-05 9.99997043e-01 -1.55733389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.5853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:965.78, Y:247.12, Z:-15.58 [[ 9.95409010e-01 9.56819269e-02 2.42304166e-03 9.65784893e+02] [-9.56817024e-02 9.95411959e-01 -2.08651443e-04 2.47119803e+02] [-2.43188882e-03 -2.41472247e-05 9.99997043e-01 -1.55753865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.6453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:965.84, Y:247.12, Z:-15.58 [[ 9.95368694e-01 9.61004222e-02 2.42304911e-03 9.65844259e+02] [-9.61001992e-02 9.95371643e-01 -2.08564924e-04 2.47118029e+02] [-2.43187755e-03 -2.52565059e-05 9.99997043e-01 -1.55773289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:965.90, Y:247.12, Z:-15.58 [[ 9.95584321e-01 9.38402286e-02 2.42305402e-03 9.65903262e+02] [-9.38399991e-02 9.95587269e-01 -2.08507851e-04 2.47115303e+02] [-2.43192816e-03 -1.97922400e-05 9.99997043e-01 -1.55778518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:965.96, Y:247.11, Z:-15.58 [[ 9.96102906e-01 8.81653554e-02 2.42306132e-03 9.65962814e+02] [-8.81651092e-02 9.96105853e-01 -2.08423057e-04 2.47112365e+02] [-2.43200125e-03 -6.01865283e-06 9.99997043e-01 -1.55767148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.8253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:966.02, Y:247.11, Z:-15.57 [[ 9.96630006e-01 8.19924339e-02 2.42306623e-03 9.66023088e+02] [-8.19921697e-02 9.96632952e-01 -2.08365932e-04 2.47109441e+02] [-2.43199208e-03 8.99128287e-06 9.99997043e-01 -1.55749869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.8853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:966.08, Y:247.10, Z:-15.57 [[ 9.96925918e-01 7.83124730e-02 2.42306623e-03 9.66083031e+02] [-7.83121979e-02 9.96928862e-01 -2.08365932e-04 2.47103480e+02] [-2.43194231e-03 1.79697561e-05 9.99997043e-01 -1.55743473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:966.14, Y:247.10, Z:-15.58 [[ 9.97198136e-01 7.47663403e-02 2.42306623e-03 9.66142900e+02] [-7.47660547e-02 9.97201080e-01 -2.08365932e-04 2.47097039e+02] [-2.43186302e-03 2.66190170e-05 9.99997043e-01 -1.55753356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:966.20, Y:247.09, Z:-15.58 [[ 9.97546302e-01 6.99678861e-02 2.42306623e-03 9.66203270e+02] [-6.99675863e-02 9.97549244e-01 -2.08365932e-04 2.47090515e+02] [-2.43170681e-03 3.83185694e-05 9.99997043e-01 -1.55776828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.0653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:966.26, Y:247.08, Z:-15.58 [[ 9.97669007e-01 6.81959024e-02 2.42306374e-03 9.66263451e+02] [-6.81955973e-02 9.97671949e-01 -2.08394864e-04 2.47082519e+02] [-2.43163440e-03 4.26668176e-05 9.99997043e-01 -1.55769801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.1253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:966.32, Y:247.07, Z:-15.58 [[ 9.97669594e-01 6.81873141e-02 2.42306374e-03 9.66322940e+02] [-6.81870091e-02 9.97672536e-01 -2.08394864e-04 2.47071905e+02] [-2.43163403e-03 4.26877499e-05 9.99997043e-01 -1.55770307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:966.38, Y:247.06, Z:-15.58 [[ 9.97355166e-01 7.26415956e-02 2.42305265e-03 9.66383207e+02] [-7.26413033e-02 9.97358109e-01 -2.08523691e-04 2.47063934e+02] [-2.43179871e-03 3.19584778e-05 9.99997043e-01 -1.55751258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:966.44, Y:247.06, Z:-15.58 [[ 9.96951235e-01 7.79895097e-02 2.42305265e-03 9.66442426e+02] [-7.79892332e-02 9.96954180e-01 -2.08523691e-04 2.47055116e+02] [-2.43193513e-03 1.89159330e-05 9.99997043e-01 -1.55798748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.3053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:966.50, Y:247.05, Z:-15.58 [[ 9.96641209e-01 8.18561490e-02 2.42305518e-03 9.66502339e+02] [-8.18558840e-02 9.96644155e-01 -2.08494382e-04 2.47048476e+02] [-2.43199032e-03 9.45276924e-06 9.99997043e-01 -1.55814304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.3653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:966.56, Y:247.04, Z:-15.58 [[ 9.96080773e-01 8.84150565e-02 2.42305518e-03 9.66562944e+02] [-8.84148109e-02 9.96083720e-01 -2.08494382e-04 2.47042103e+02] [-2.43199986e-03 -6.55672019e-06 9.99997043e-01 -1.55826154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:966.62, Y:247.04, Z:-15.58 [[ 9.95578395e-01 9.39030736e-02 2.42305518e-03 9.66621940e+02] [-9.39028443e-02 9.95581344e-01 -2.08494382e-04 2.47037024e+02] [-2.43192679e-03 -1.99592708e-05 9.99997043e-01 -1.55777477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:966.68, Y:247.03, Z:-15.58 [[ 9.95231786e-01 9.75080572e-02 2.42306021e-03 9.66681088e+02] [-9.75078387e-02 9.95234735e-01 -2.08435821e-04 2.47030664e+02] [-2.43183786e-03 -2.88254107e-05 9.99997043e-01 -1.55760211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:966.74, Y:247.03, Z:-15.58 [[ 9.94978018e-01 1.00064346e-01 2.42306271e-03 9.66740498e+02] [-1.00064135e-01 9.94980967e-01 -2.08406796e-04 2.47026578e+02] [-2.43175537e-03 -3.51014941e-05 9.99997043e-01 -1.55755467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.6053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:966.80, Y:247.02, Z:-15.57 [[ 9.94605447e-01 1.03702142e-01 2.42306760e-03 9.66800022e+02] [-1.03701942e-01 9.94608397e-01 -2.08349978e-04 2.47022765e+02] [-2.43160972e-03 -4.40507927e-05 9.99997043e-01 -1.55749866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.6653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:966.86, Y:247.02, Z:-15.58 [[ 9.94275490e-01 1.06819378e-01 2.42307254e-03 9.66858233e+02] [-1.06819187e-01 9.94278441e-01 -2.08292422e-04 2.47018866e+02] [-2.43145846e-03 -5.17305898e-05 9.99997043e-01 -1.55757388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:966.92, Y:247.02, Z:-15.58 [[ 9.94032066e-01 1.09061359e-01 2.42307988e-03 9.66917897e+02] [-1.09061176e-01 9.94035018e-01 -2.08206989e-04 2.47015515e+02] [-2.43133359e-03 -5.72995173e-05 9.99997043e-01 -1.55766050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:966.98, Y:247.02, Z:-15.58 [[ 9.93770837e-01 1.11416571e-01 2.42308471e-03 9.66977531e+02] [-1.11416395e-01 9.93773789e-01 -2.08150828e-04 2.47015894e+02] [-2.43118952e-03 -6.31171391e-05 9.99997043e-01 -1.55763206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.8453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:967.04, Y:247.02, Z:-15.58 [[ 9.93798058e-01 1.11173507e-01 2.42308974e-03 9.67037447e+02] [-1.11173330e-01 9.93801010e-01 -2.08092283e-04 2.47016501e+02] [-2.43120338e-03 -6.25812476e-05 9.99997043e-01 -1.55769064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.9053361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:967.10, Y:247.02, Z:-15.58 [[ 9.94077306e-01 1.08648235e-01 2.42309480e-03 9.67096128e+02] [-1.08648050e-01 9.94080257e-01 -2.08033353e-04 2.47018010e+02] [-2.43135315e-03 -5.64632899e-05 9.99997043e-01 -1.55775583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:967.15, Y:247.02, Z:-15.58 [[ 9.94466469e-01 1.05026521e-01 2.42310227e-03 9.67154832e+02] [-1.05026326e-01 9.94469420e-01 -2.07946228e-04 2.47018747e+02] [-2.43154098e-03 -4.76939783e-05 9.99997043e-01 -1.55773445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:967.21, Y:247.02, Z:-15.58 [[ 9.94781190e-01 1.02002511e-01 2.42311225e-03 9.67214068e+02] [-1.02002307e-01 9.94784140e-01 -2.07829877e-04 2.47018213e+02] [-2.43167281e-03 -4.04177874e-05 9.99997043e-01 -1.55775307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.0853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:967.27, Y:247.02, Z:-15.58 [[ 9.95341035e-01 9.63864779e-02 2.42311964e-03 9.67274223e+02] [-9.63862577e-02 9.95343984e-01 -2.07743645e-04 2.47020733e+02] [-2.43186124e-03 -2.67796601e-05 9.99997043e-01 -1.55792107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.1453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:967.33, Y:247.02, Z:-15.58 [[ 9.95934207e-01 9.00510032e-02 2.42312477e-03 9.67332817e+02] [-9.00507645e-02 9.95937155e-01 -2.07683885e-04 2.47022209e+02] [-2.43198213e-03 -1.13647519e-05 9.99997043e-01 -1.55809550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:967.39, Y:247.02, Z:-15.58 [[ 9.96280762e-01 8.61322892e-02 2.42313242e-03 9.67392122e+02] [-8.61320390e-02 9.96283709e-01 -2.07594577e-04 2.47022259e+02] [-2.43200795e-03 -1.88685255e-06 9.99997043e-01 -1.55793287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:967.45, Y:247.02, Z:-15.58 [[ 9.96643807e-01 8.18245063e-02 2.42314256e-03 9.67451440e+02] [-8.18242437e-02 9.96646753e-01 -2.07476161e-04 2.47023717e+02] [-2.43199380e-03 8.50802388e-06 9.99997043e-01 -1.55813641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.3253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:967.51, Y:247.02, Z:-15.58 [[ 9.96963563e-01 7.78317530e-02 2.42315259e-03 9.67510330e+02] [-7.78314789e-02 9.96966508e-01 -2.07358948e-04 2.47024134e+02] [-2.43194108e-03 1.81317660e-05 9.99997043e-01 -1.55802510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.3853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:967.57, Y:247.02, Z:-15.58 [[ 9.97152412e-01 7.53737045e-02 2.42316268e-03 9.67568661e+02] [-7.53734234e-02 9.97155356e-01 -2.07240937e-04 2.47023068e+02] [-2.43189016e-03 2.40087339e-05 9.99997043e-01 -1.55842168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.445336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:967.63, Y:247.02, Z:-15.58 [[ 9.97356042e-01 7.26295653e-02 2.42317016e-03 9.67627112e+02] [-7.26292764e-02 9.97358985e-01 -2.07153459e-04 2.47021295e+02] [-2.43181600e-03 3.06126590e-05 9.99997043e-01 -1.55823213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:967.69, Y:247.02, Z:-15.58 [[ 9.97479710e-01 7.09109056e-02 2.42317983e-03 9.67686160e+02] [-7.09106118e-02 9.97482653e-01 -2.07040298e-04 2.47017217e+02] [-2.43176126e-03 3.46893320e-05 9.99997043e-01 -1.55803838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.5653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:967.75, Y:247.01, Z:-15.58 [[ 9.97474153e-01 7.09890357e-02 2.42318516e-03 9.67745679e+02] [-7.09887423e-02 9.97477095e-01 -2.06977830e-04 2.47014512e+02] [-2.43176485e-03 3.44361685e-05 9.99997043e-01 -1.55798660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.6253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:967.80, Y:247.01, Z:-15.58 [[ 9.97387961e-01 7.21899064e-02 2.42319011e-03 9.67804717e+02] [-7.21896167e-02 9.97390905e-01 -2.06919871e-04 2.47011079e+02] [-2.43180530e-03 3.14502227e-05 9.99997043e-01 -1.55788495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:967.86, Y:247.01, Z:-15.58 [[ 9.97088301e-01 7.62171139e-02 2.42320031e-03 9.67862736e+02] [-7.62168364e-02 9.97091245e-01 -2.06800414e-04 2.47007969e+02] [-2.43191354e-03 2.15096121e-05 9.99997043e-01 -1.55808469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:967.92, Y:247.01, Z:-15.58 [[ 9.96744331e-01 8.05907396e-02 2.42321293e-03 9.67921226e+02] [-8.05904754e-02 9.96747276e-01 -2.06652349e-04 2.47005576e+02] [-2.43198516e-03 1.06916753e-05 9.99997043e-01 -1.55820983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.8053361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:967.98, Y:247.00, Z:-15.58 [[ 9.96626953e-01 8.20295316e-02 2.42322253e-03 9.67979624e+02] [-8.20292719e-02 9.96629899e-01 -2.06539812e-04 2.47003134e+02] [-2.43199839e-03 7.06796366e-06 9.99997043e-01 -1.55829637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.8653361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:968.04, Y:247.00, Z:-15.58 [[ 9.96577609e-01 8.26268585e-02 2.42323236e-03 9.68038692e+02] [-8.26266009e-02 9.96580555e-01 -2.06424375e-04 2.47000995e+02] [-2.43200245e-03 5.49445677e-06 9.99997043e-01 -1.55817141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:968.10, Y:247.00, Z:-15.58 [[ 9.96686062e-01 8.13081844e-02 2.42324240e-03 9.68096383e+02] [-8.13079231e-02 9.96689008e-01 -2.06306436e-04 2.46997358e+02] [-2.43199347e-03 8.59394279e-06 9.99997043e-01 -1.55808833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.985336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:968.16, Y:246.99, Z:-15.58 [[ 9.96835922e-01 7.94498124e-02 2.42325608e-03 9.68155413e+02] [-7.94495460e-02 9.96838867e-01 -2.06145593e-04 2.46994122e+02] [-2.43197408e-03 1.29667364e-05 9.99997043e-01 -1.55795622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:968.21, Y:246.99, Z:-15.58 [[ 9.97106496e-01 7.59787052e-02 2.42326612e-03 9.68212699e+02] [-7.59784289e-02 9.97109440e-01 -2.06027577e-04 2.46991318e+02] [-2.43191523e-03 2.13154834e-05 9.99997043e-01 -1.55807303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.1053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:968.27, Y:246.99, Z:-15.58 [[ 9.97450753e-01 7.13170551e-02 2.42328099e-03 9.68271189e+02] [-7.13167654e-02 9.97453696e-01 -2.05852554e-04 2.46986005e+02] [-2.43179137e-03 3.25072233e-05 9.99997043e-01 -1.55800438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.1653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:968.33, Y:246.98, Z:-15.58 [[ 9.97797438e-01 6.62902788e-02 2.42329072e-03 9.68329411e+02] [-6.62899746e-02 9.97800379e-01 -2.05737852e-04 2.46978788e+02] [-2.43159882e-03 4.46448215e-05 9.99997043e-01 -1.55794750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:968.39, Y:246.97, Z:-15.58 [[ 9.97937715e-01 6.41439355e-02 2.42330054e-03 9.68388953e+02] [-6.41436252e-02 9.97940656e-01 -2.05622210e-04 2.46972625e+02] [-2.43149954e-03 4.97588768e-05 9.99997043e-01 -1.55799302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:968.45, Y:246.97, Z:-15.58 [[ 9.98006837e-01 6.30593395e-02 2.42330538e-03 9.68448009e+02] [-6.30590262e-02 9.98009778e-01 -2.05565047e-04 2.46965128e+02] [-2.43144527e-03 5.23440449e-05 9.99997043e-01 -1.55785016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.3453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:968.51, Y:246.96, Z:-15.58 [[ 9.97934039e-01 6.42011083e-02 2.42331040e-03 9.68505565e+02] [-6.42007985e-02 9.97936980e-01 -2.05505947e-04 2.46958176e+02] [-2.43150477e-03 4.95029173e-05 9.99997043e-01 -1.55800558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.4053361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:968.56, Y:246.95, Z:-15.58 [[ 9.97836611e-01 6.56979836e-02 2.42332374e-03 9.68564805e+02] [-6.56976786e-02 9.97839553e-01 -2.05348536e-04 2.46950868e+02] [-2.43157926e-03 4.56975434e-05 9.99997043e-01 -1.55808617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:968.62, Y:246.94, Z:-15.58 [[ 9.97680022e-01 6.80345568e-02 2.42332856e-03 9.68624458e+02] [-6.80342588e-02 9.97682964e-01 -2.05291614e-04 2.46943554e+02] [-2.43168054e-03 3.99459795e-05 9.99997043e-01 -1.55820971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:968.68, Y:246.94, Z:-15.58 [[ 9.97380811e-01 7.22886228e-02 2.42333352e-03 9.68681969e+02] [-7.22883375e-02 9.97383755e-01 -2.05233025e-04 2.46937307e+02] [-2.43182950e-03 2.95167296e-05 9.99997043e-01 -1.55831037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.5853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:968.74, Y:246.93, Z:-15.58 [[ 9.97119041e-01 7.58138814e-02 2.42334578e-03 9.68740291e+02] [-7.58136068e-02 9.97121986e-01 -2.05088197e-04 2.46932464e+02] [-2.43191989e-03 2.07747631e-05 9.99997043e-01 -1.55828867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.6453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:968.80, Y:246.93, Z:-15.58 [[ 9.96713020e-01 8.09770550e-02 2.42335562e-03 9.68797620e+02] [-8.09767960e-02 9.96715966e-01 -2.04971769e-04 2.46925633e+02] [-2.43199525e-03 8.06245656e-06 9.99997043e-01 -1.55835226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:968.85, Y:246.92, Z:-15.58 [[ 9.96468473e-01 8.39327701e-02 2.42336888e-03 9.68854887e+02] [-8.39325203e-02 9.96471420e-01 -2.04814907e-04 2.46921412e+02] [-2.43200851e-03 6.92139620e-07 9.99997043e-01 -1.55831942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:968.91, Y:246.92, Z:-15.58 [[ 9.96529501e-01 8.32050568e-02 2.42338088e-03 9.68913085e+02] [-8.32048051e-02 9.96532447e-01 -2.04672881e-04 2.46915334e+02] [-2.43200749e-03 2.32563023e-06 9.99997043e-01 -1.55829226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.8253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:968.97, Y:246.91, Z:-15.59 [[ 9.96649237e-01 8.17583384e-02 2.42339094e-03 9.68970897e+02] [-8.17580828e-02 9.96652183e-01 -2.04553647e-04 2.46910497e+02] [-2.43200184e-03 5.73643943e-06 9.99997043e-01 -1.55856228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.8853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:969.03, Y:246.90, Z:-15.58 [[ 9.96838300e-01 7.94199636e-02 2.42340338e-03 9.69029793e+02] [-7.94197014e-02 9.96841246e-01 -2.04406122e-04 2.46903581e+02] [-2.43198238e-03 1.12938780e-05 9.99997043e-01 -1.55848469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:969.09, Y:246.90, Z:-15.58 [[ 9.96974155e-01 7.76959561e-02 2.42341274e-03 9.69088871e+02] [-7.76956891e-02 9.96977100e-01 -2.04295158e-04 2.46898850e+02] [-2.43195991e-03 1.53882694e-05 9.99997043e-01 -1.55830666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:969.15, Y:246.89, Z:-15.58 [[ 9.97105277e-01 7.59947001e-02 2.42342260e-03 9.69146553e+02] [-7.59944283e-02 9.97108221e-01 -2.04178122e-04 2.46893206e+02] [-2.43193105e-03 1.94204680e-05 9.99997043e-01 -1.55834073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.0653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:969.20, Y:246.89, Z:-15.58 [[ 9.97250223e-01 7.40683499e-02 2.42343482e-03 9.69204657e+02] [-7.40680727e-02 9.97253167e-01 -2.04033024e-04 2.46887346e+02] [-2.43189043e-03 2.39728328e-05 9.99997043e-01 -1.55838650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.1253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:969.26, Y:246.88, Z:-15.59 [[ 9.97440232e-01 7.14640504e-02 2.42344474e-03 9.69262711e+02] [-7.14637658e-02 9.97443176e-01 -2.03915118e-04 2.46880644e+02] [-2.43182101e-03 3.02046552e-05 9.99997043e-01 -1.55853916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:969.32, Y:246.87, Z:-15.58 [[ 9.97644575e-01 6.85523831e-02 2.42345207e-03 9.69321530e+02] [-6.85520901e-02 9.97647518e-01 -2.03827901e-04 2.46873726e+02] [-2.43172383e-03 3.72150946e-05 9.99997043e-01 -1.55836686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:969.38, Y:246.87, Z:-15.58 [[ 9.97765448e-01 6.67700335e-02 2.42345698e-03 9.69381377e+02] [-6.67697355e-02 9.97768390e-01 -2.03769471e-04 2.46868021e+02] [-2.43165447e-03 4.15005559e-05 9.99997043e-01 -1.55829691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.3053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:969.44, Y:246.86, Z:-15.58 [[ 9.97937422e-01 6.41484932e-02 2.42346198e-03 9.69440691e+02] [-6.41481876e-02 9.97940363e-01 -2.03710056e-04 2.46859516e+02] [-2.43153822e-03 4.78291948e-05 9.99997043e-01 -1.55833491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.3653361949998 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:969.50, Y:246.85, Z:-15.58 [[ 9.98013086e-01 6.29603671e-02 2.42346692e-03 9.69498631e+02] [-6.29600581e-02 9.98016027e-01 -2.03651214e-04 2.46850313e+02] [-2.43148079e-03 5.06649578e-05 9.99997043e-01 -1.55833254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.4253361949998 meters Centerline goodness : 0.999098 with order 1 Centerline is valid? [True, True] Translation: X:969.56, Y:246.84, Z:-15.58 [[ 9.97964812e-01 6.37209589e-02 2.42347430e-03 9.69557624e+02] [-6.37206523e-02 9.97967754e-01 -2.03563377e-04 2.46841562e+02] [-2.43152046e-03 4.87237236e-05 9.99997043e-01 -1.55834065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.485336195 meters Centerline goodness : 0.998813 with order 1 Centerline is valid? [True, True] Translation: X:969.62, Y:246.83, Z:-15.58 [[ 9.97938995e-01 6.41240200e-02 2.42347917e-03 9.69615397e+02] [-6.41237148e-02 9.97941936e-01 -2.03505374e-04 2.46834268e+02] [-2.43154108e-03 4.76834609e-05 9.99997043e-01 -1.55845469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.545336195 meters Centerline goodness : 0.998608 with order 1 Centerline is valid? [True, True] Translation: X:969.67, Y:246.82, Z:-15.58 [[ 9.97865668e-01 6.52551607e-02 2.42348407e-03 9.69673949e+02] [-6.52548590e-02 9.97868610e-01 -2.03447034e-04 2.46822736e+02] [-2.43159465e-03 4.48686990e-05 9.99997043e-01 -1.55832138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.6053361949998 meters Centerline goodness : 0.998347 with order 1 Centerline is valid? [True, True] Translation: X:969.73, Y:246.81, Z:-15.58 [[ 9.97666140e-01 6.82378242e-02 2.42348643e-03 9.69733567e+02] [-6.82375313e-02 9.97669082e-01 -2.03418963e-04 2.46814450e+02] [-2.43171835e-03 3.75714803e-05 9.99997043e-01 -1.55812910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.6653361949998 meters Centerline goodness : 0.998347 with order 1 Centerline is valid? [True, True] Translation: X:969.79, Y:246.80, Z:-15.58 [[ 9.97275168e-01 7.37317153e-02 2.42349134e-03 9.69792390e+02] [-7.37314388e-02 9.97278112e-01 -2.03360441e-04 2.46804119e+02] [-2.43188898e-03 2.41188149e-05 9.99997043e-01 -1.55830302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.725336195 meters Centerline goodness : 0.998322 with order 1 Centerline is valid? [True, True] Translation: X:969.85, Y:246.80, Z:-15.58 [[ 9.97094930e-01 7.61303276e-02 2.42349626e-03 9.69850465e+02] [-7.61300583e-02 9.97097875e-01 -2.03301740e-04 2.46798485e+02] [-2.43194040e-03 1.82102226e-05 9.99997043e-01 -1.55841540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.785336195 meters Centerline goodness : 0.998458 with order 1 Centerline is valid? [True, True] Translation: X:969.91, Y:246.79, Z:-15.58 [[ 9.96761659e-01 8.03761309e-02 2.42350362e-03 9.69909750e+02] [-8.03758743e-02 9.96764605e-01 -2.03213983e-04 2.46792782e+02] [-2.43199618e-03 7.76468441e-06 9.99997043e-01 -1.55843305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.8453361949998 meters Centerline goodness : 0.998339 with order 1 Centerline is valid? [True, True] Translation: X:969.97, Y:246.79, Z:-15.59 [[ 9.96376494e-01 8.50176937e-02 2.42350842e-03 9.69968105e+02] [-8.50174511e-02 9.96379442e-01 -2.03156697e-04 2.46786952e+02] [-2.43200588e-03 -3.61995151e-06 9.99997043e-01 -1.55850039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.9053361949998 meters Centerline goodness : 0.998265 with order 1 Centerline is valid? [True, True] Translation: X:970.03, Y:246.78, Z:-15.58 [[ 9.96178318e-01 8.73091336e-02 2.42351556e-03 9.70027720e+02] [-8.73088979e-02 9.96181266e-01 -2.03071531e-04 2.46780418e+02] [-2.43199080e-03 -9.29901628e-06 9.99997043e-01 -1.55832481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.965336195 meters Centerline goodness : 0.998215 with order 1 Centerline is valid? [True, True] Translation: X:970.09, Y:246.78, Z:-15.58 [[ 9.96055725e-01 8.86967818e-02 2.42352054e-03 9.70086811e+02] [-8.86965504e-02 9.96058673e-01 -2.03012097e-04 2.46775705e+02] [-2.43197517e-03 -1.27465494e-05 9.99997043e-01 -1.55830536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.025336195 meters Centerline goodness : 0.998313 with order 1 Centerline is valid? [True, True] Translation: X:970.15, Y:246.77, Z:-15.59 [[ 9.95881093e-01 9.06365036e-02 2.42352558e-03 9.70145121e+02] [-9.06362781e-02 9.95884041e-01 -2.02951835e-04 2.46770772e+02] [-2.43194530e-03 -1.75434439e-05 9.99997043e-01 -1.55862689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.0853361949999 meters Centerline goodness : 0.998380 with order 1 Centerline is valid? [True, True] Translation: X:970.20, Y:246.77, Z:-15.59 [[ 9.95825128e-01 9.12493301e-02 2.42353310e-03 9.70204781e+02] [-9.12491066e-02 9.95828077e-01 -2.02862064e-04 2.46765933e+02] [-2.43193333e-03 -1.91300888e-05 9.99997043e-01 -1.55863918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.1453361949998 meters Centerline goodness : 0.998113 with order 1 Centerline is valid? [True, True] Translation: X:970.26, Y:246.76, Z:-15.59 [[ 9.95920613e-01 9.02012176e-02 2.42353805e-03 9.70263056e+02] [-9.02009912e-02 9.95923561e-01 -2.02802835e-04 2.46760248e+02] [-2.43195171e-03 -1.66300108e-05 9.99997043e-01 -1.55865374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.205336195 meters Centerline goodness : 0.998022 with order 1 Centerline is valid? [True, True] Translation: X:970.32, Y:246.75, Z:-15.59 [[ 9.96064895e-01 8.85937397e-02 2.42354541e-03 9.70321973e+02] [-8.85935087e-02 9.96067844e-01 -2.02714833e-04 2.46753891e+02] [-2.43197492e-03 -1.27932628e-05 9.99997043e-01 -1.55866283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.265336195 meters Centerline goodness : 0.998226 with order 1 Centerline is valid? [True, True] Translation: X:970.38, Y:246.75, Z:-15.59 [[ 9.96167995e-01 8.74268391e-02 2.42355022e-03 9.70381432e+02] [-8.74266048e-02 9.96170943e-01 -2.02657406e-04 2.46748851e+02] [-2.43198800e-03 -1.00019449e-05 9.99997043e-01 -1.55852873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.3253361949999 meters Centerline goodness : 0.998206 with order 1 Centerline is valid? [True, True] Translation: X:970.44, Y:246.74, Z:-15.59 [[ 9.96230921e-01 8.67068572e-02 2.42355499e-03 9.70440579e+02] [-8.67066209e-02 9.96233869e-01 -2.02600305e-04 2.46742186e+02] [-2.43199440e-03 -8.30157524e-06 9.99997043e-01 -1.55856356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.3853361949998 meters Centerline goodness : 0.998028 with order 1 Centerline is valid? [True, True] Translation: X:970.50, Y:246.74, Z:-15.59 [[ 9.96236798e-01 8.66393058e-02 2.42355974e-03 9.70500382e+02] [-8.66390694e-02 9.96239746e-01 -2.02543514e-04 2.46736364e+02] [-2.43199476e-03 -8.19365804e-06 9.99997043e-01 -1.55855552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.445336195 meters Centerline goodness : 0.998357 with order 1 Centerline is valid? [True, True] Translation: X:970.56, Y:246.73, Z:-15.59 [[ 9.96208025e-01 8.69695149e-02 2.42356462e-03 9.70558478e+02] [-8.69692796e-02 9.96210973e-01 -2.02485028e-04 2.46731609e+02] [-2.43199170e-03 -9.05845915e-06 9.99997043e-01 -1.55885455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.505336195 meters Centerline goodness : 0.998225 with order 1 Centerline is valid? [True, True] Translation: X:970.62, Y:246.73, Z:-15.59 [[ 9.96186210e-01 8.72190460e-02 2.42357188e-03 9.70617898e+02] [-8.72188117e-02 9.96189158e-01 -2.02398071e-04 2.46725529e+02] [-2.43198900e-03 -9.75489293e-06 9.99997043e-01 -1.55887868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.5653361949999 meters Centerline goodness : 0.998110 with order 1 Centerline is valid? [True, True] Translation: X:970.68, Y:246.72, Z:-15.59 [[ 9.96057446e-01 8.86774488e-02 2.42357691e-03 9.70677600e+02] [-8.86772190e-02 9.96060395e-01 -2.02337846e-04 2.46720382e+02] [-2.43197178e-03 -1.33759424e-05 9.99997043e-01 -1.55881050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.6253361949998 meters Centerline goodness : 0.998267 with order 1 Centerline is valid? [True, True] Translation: X:970.74, Y:246.72, Z:-15.59 [[ 9.95874415e-01 9.07098424e-02 2.42357940e-03 9.70736054e+02] [-9.07096186e-02 9.95877364e-01 -2.02308080e-04 2.46716337e+02] [-2.43193920e-03 -1.83685223e-05 9.99997043e-01 -1.55881866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.685336195 meters Centerline goodness : 0.998091 with order 1 Centerline is valid? [True, True] Translation: X:970.79, Y:246.71, Z:-15.59 [[ 9.95671959e-01 9.29057367e-02 2.42358671e-03 9.70794203e+02] [-9.29055197e-02 9.95674909e-01 -2.02220481e-04 2.46712785e+02] [-2.43189191e-03 -2.38193198e-05 9.99997043e-01 -1.55893902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.745336195 meters Centerline goodness : 0.998375 with order 1 Centerline is valid? [True, True] Translation: X:970.85, Y:246.71, Z:-15.59 [[ 9.95565775e-01 9.40367716e-02 2.42359197e-03 9.70853846e+02] [-9.40365581e-02 9.95568724e-01 -2.02157382e-04 2.46710925e+02] [-2.43186259e-03 -2.66452761e-05 9.99997043e-01 -1.55909265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.8053361949999 meters Centerline goodness : 0.998348 with order 1 Centerline is valid? [True, True] Translation: X:970.91, Y:246.71, Z:-15.59 [[ 9.95572532e-01 9.39652028e-02 2.42359678e-03 9.70912734e+02] [-9.39649893e-02 9.95575482e-01 -2.02099725e-04 2.46707569e+02] [-2.43186387e-03 -2.65283097e-05 9.99997043e-01 -1.55917276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.8653361949998 meters Centerline goodness : 0.998175 with order 1 Centerline is valid? [True, True] Translation: X:970.97, Y:246.71, Z:-15.59 [[ 9.95722749e-01 9.23598054e-02 2.42360393e-03 9.70972865e+02] [-9.23595872e-02 9.95725698e-01 -2.02013966e-04 2.46705780e+02] [-2.43190268e-03 -2.26931563e-05 9.99997043e-01 -1.55896022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.9253361949998 meters Centerline goodness : 0.998310 with order 1 Centerline is valid? [True, True] Translation: X:971.03, Y:246.70, Z:-15.59 [[ 9.95955735e-01 8.98125858e-02 2.42360883e-03 9.71031346e+02] [-8.98123602e-02 9.95958683e-01 -2.01955137e-04 2.46703716e+02] [-2.43195237e-03 -1.65316522e-05 9.99997043e-01 -1.55903286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.985336195 meters Centerline goodness : 0.998313 with order 1 Centerline is valid? [True, True] Translation: X:971.09, Y:246.70, Z:-15.59 [[ 9.96182902e-01 8.72568181e-02 2.42361610e-03 9.71090620e+02] [-8.72565852e-02 9.96185850e-01 -2.01867859e-04 2.46699874e+02] [-2.43198641e-03 -1.03791551e-05 9.99997043e-01 -1.55908116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.045336195 meters Centerline goodness : 0.998315 with order 1 Centerline is valid? [True, True] Translation: X:971.15, Y:246.70, Z:-15.59 [[ 9.96484046e-01 8.37476640e-02 2.42362092e-03 9.71149887e+02] [-8.37474209e-02 9.96486994e-01 -2.01809906e-04 2.46697904e+02] [-2.43200784e-03 -1.87165024e-06 9.99997043e-01 -1.55890419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.1053361949998 meters Centerline goodness : 0.998409 with order 1 Centerline is valid? [True, True] Translation: X:971.21, Y:246.69, Z:-15.59 [[ 9.96601968e-01 8.23325203e-02 2.42362590e-03 9.71208367e+02] [-8.23322731e-02 9.96604915e-01 -2.01750129e-04 2.46693273e+02] [-2.43200808e-03 1.52194654e-06 9.99997043e-01 -1.55908626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.1653361949998 meters Centerline goodness : 0.998534 with order 1 Centerline is valid? [True, True] Translation: X:971.27, Y:246.69, Z:-15.59 [[ 9.96850124e-01 7.92714134e-02 2.42363326e-03 9.71268184e+02] [-7.92711574e-02 9.96853070e-01 -2.01661659e-04 2.46689190e+02] [-2.43199226e-03 8.90223577e-06 9.99997043e-01 -1.55908018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.225336195 meters Centerline goodness : 0.998438 with order 1 Centerline is valid? [True, True] Translation: X:971.33, Y:246.68, Z:-15.59 [[ 9.96967821e-01 7.77771850e-02 2.42363821e-03 9.71327208e+02] [-7.77769247e-02 9.96970767e-01 -2.01602145e-04 2.46682600e+02] [-2.43197649e-03 1.24877249e-05 9.99997043e-01 -1.55941106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.285336195 meters Centerline goodness : 0.998485 with order 1 Centerline is valid? [True, True] Translation: X:971.39, Y:246.68, Z:-15.59 [[ 9.96964778e-01 7.78161719e-02 2.42364066e-03 9.71385836e+02] [-7.78159119e-02 9.96967724e-01 -2.01572665e-04 2.46678025e+02] [-2.43197713e-03 1.23630396e-05 9.99997043e-01 -1.55940923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.3453361949998 meters Centerline goodness : 0.998517 with order 1 Centerline is valid? [True, True] Translation: X:971.45, Y:246.67, Z:-15.59 [[ 9.96838642e-01 7.94156674e-02 2.42364768e-03 9.71445150e+02] [-7.94154122e-02 9.96841588e-01 -2.01488274e-04 2.46672687e+02] [-2.43199413e-03 8.37631755e-06 9.99997043e-01 -1.55923877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.4053361949998 meters Centerline goodness : 0.998480 with order 1 Centerline is valid? [True, True] Translation: X:971.50, Y:246.67, Z:-15.59 [[ 9.96778189e-01 8.01708629e-02 2.42365241e-03 9.71503959e+02] [-8.01706101e-02 9.96781136e-01 -2.01431344e-04 2.46665760e+02] [-2.43199993e-03 6.47667741e-06 9.99997043e-01 -1.55930499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.465336195 meters Centerline goodness : 0.998580 with order 1 Centerline is valid? [True, True] Translation: X:971.56, Y:246.66, Z:-15.59 [[ 9.96766033e-01 8.03218597e-02 2.42365715e-03 9.71563847e+02] [-8.03216075e-02 9.96768980e-01 -2.01374291e-04 2.46660264e+02] [-2.43200102e-03 6.05101540e-06 9.99997043e-01 -1.55943607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.525336195 meters Centerline goodness : 0.998202 with order 1 Centerline is valid? [True, True] Translation: X:971.62, Y:246.65, Z:-15.60 [[ 9.96788766e-01 8.00392530e-02 2.42366189e-03 9.71622372e+02] [-8.00390001e-02 9.96791712e-01 -2.01317192e-04 2.46652053e+02] [-2.43199937e-03 6.68324048e-06 9.99997043e-01 -1.55965592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.5853361949999 meters Centerline goodness : 0.998168 with order 1 Centerline is valid? [True, True] Translation: X:971.68, Y:246.64, Z:-15.60 [[ 9.96777557e-01 8.01787198e-02 2.42366695e-03 9.71681651e+02] [-8.01784674e-02 9.96780504e-01 -2.01256337e-04 2.46643832e+02] [-2.43200044e-03 6.28189904e-06 9.99997043e-01 -1.55957898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.6453361949998 meters Centerline goodness : 0.998053 with order 1 Centerline is valid? [True, True] Translation: X:971.74, Y:246.64, Z:-15.60 [[ 9.96751570e-01 8.05011401e-02 2.42367166e-03 9.71740958e+02] [-8.05008889e-02 9.96754517e-01 -2.01199556e-04 2.46638386e+02] [-2.43200247e-03 5.43825044e-06 9.99997043e-01 -1.55964045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.705336195 meters Centerline goodness : 0.998037 with order 1 Centerline is valid? [True, True] Translation: X:971.80, Y:246.63, Z:-15.59 [[ 9.96544986e-01 8.30193780e-02 2.42366930e-03 9.71799973e+02] [-8.30191341e-02 9.96547933e-01 -2.01227935e-04 2.46632655e+02] [-2.43200845e-03 -6.78237746e-07 9.99997043e-01 -1.55934665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.765336195 meters Centerline goodness : 0.997968 with order 1 Centerline is valid? [True, True] Translation: X:971.86, Y:246.63, Z:-15.60 [[ 9.96380074e-01 8.49757205e-02 2.42367409e-03 9.71859010e+02] [-8.49754826e-02 9.96383022e-01 -2.01170227e-04 2.46627536e+02] [-2.43200230e-03 -5.51086966e-06 9.99997043e-01 -1.55954534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.8253361949999 meters Centerline goodness : 0.998116 with order 1 Centerline is valid? [True, True] Translation: X:971.92, Y:246.62, Z:-15.60 [[ 9.96124803e-01 8.79175940e-02 2.42367895e-03 9.71918200e+02] [-8.79173649e-02 9.96127751e-01 -2.01111738e-04 2.46623071e+02] [-2.43197512e-03 -1.27510757e-05 9.99997043e-01 -1.55967249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.8853361949998 meters Centerline goodness : 0.997767 with order 1 Centerline is valid? [True, True] Translation: X:971.98, Y:246.62, Z:-15.60 [[ 9.95985138e-01 8.94859210e-02 2.42368380e-03 9.71976137e+02] [-8.94856967e-02 9.95988087e-01 -2.01053266e-04 2.46616544e+02] [-2.43195163e-03 -1.66389682e-05 9.99997043e-01 -1.55988898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.945336195 meters Centerline goodness : 0.998079 with order 1 Centerline is valid? [True, True] Translation: X:972.03, Y:246.61, Z:-15.60 [[ 9.95966362e-01 8.96946517e-02 2.42369102e-03 9.72034927e+02] [-8.96944282e-02 9.95969311e-01 -2.00966170e-04 2.46610624e+02] [-2.43194747e-03 -1.72360352e-05 9.99997043e-01 -1.56008293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.005336195 meters Centerline goodness : 0.998052 with order 1 Centerline is valid? [True, True] Translation: X:972.09, Y:246.60, Z:-15.60 [[ 9.96095139e-01 8.82530449e-02 2.42369813e-03 9.72093949e+02] [-8.82528173e-02 9.96098087e-01 -2.00880359e-04 2.46603707e+02] [-2.43196938e-03 -1.38022390e-05 9.99997043e-01 -1.55965358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.0653361949999 meters Centerline goodness : 0.998108 with order 1 Centerline is valid? [True, True] Translation: X:972.15, Y:246.60, Z:-15.60 [[ 9.96297011e-01 8.59441229e-02 2.42370313e-03 9.72153417e+02] [-8.59438886e-02 9.96299959e-01 -2.00820035e-04 2.46596262e+02] [-2.43199463e-03 -8.22607155e-06 9.99997043e-01 -1.55957701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.1253361949998 meters Centerline goodness : 0.997960 with order 1 Centerline is valid? [True, True] Translation: X:972.21, Y:246.59, Z:-15.60 [[ 9.96396315e-01 8.47850729e-02 2.42370154e-03 9.72212848e+02] [-8.47848352e-02 9.96399263e-01 -2.00839209e-04 2.46588387e+02] [-2.43200260e-03 -5.37768793e-06 9.99997043e-01 -1.55973291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.185336195 meters Centerline goodness : 0.997995 with order 1 Centerline is valid? [True, True] Translation: X:972.27, Y:246.58, Z:-15.60 [[ 9.96326968e-01 8.55961330e-02 2.42370390e-03 9.72273163e+02] [-8.55958978e-02 9.96329916e-01 -2.00810706e-04 2.46581743e+02] [-2.43199733e-03 -7.38598934e-06 9.99997043e-01 -1.55970902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.245336195 meters Centerline goodness : 0.998108 with order 1 Centerline is valid? [True, True] Translation: X:972.33, Y:246.57, Z:-15.59 [[ 9.96144228e-01 8.76972254e-02 2.42370390e-03 9.72332725e+02] [-8.76969963e-02 9.96147176e-01 -2.00810706e-04 2.46573683e+02] [-2.43197634e-03 -1.25151265e-05 9.99997043e-01 -1.55948976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.3053361949999 meters Centerline goodness : 0.997905 with order 1 Centerline is valid? [True, True] Translation: X:972.39, Y:246.57, Z:-15.60 [[ 9.95901364e-01 9.04134851e-02 2.42370390e-03 9.72391795e+02] [-9.04132641e-02 9.95904313e-01 -2.00810706e-04 2.46566812e+02] [-2.43193317e-03 -1.91473248e-05 9.99997043e-01 -1.55961862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.3653361949998 meters Centerline goodness : 0.997876 with order 1 Centerline is valid? [True, True] Translation: X:972.45, Y:246.56, Z:-15.60 [[ 9.95740846e-01 9.21644889e-02 2.42370888e-03 9.72451081e+02] [-9.21642733e-02 9.95743796e-01 -2.00750628e-04 2.46560654e+02] [-2.43189516e-03 -2.34837676e-05 9.99997043e-01 -1.55978758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.4253361949998 meters Centerline goodness : 0.998112 with order 1 Centerline is valid? [True, True] Translation: X:972.51, Y:246.55, Z:-15.60 [[ 9.95512176e-01 9.46025050e-02 2.42371134e-03 9.72510507e+02] [-9.46022967e-02 9.95515126e-01 -2.00720935e-04 2.46554937e+02] [-2.43183000e-03 -2.94685248e-05 9.99997043e-01 -1.55975352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.485336195 meters Centerline goodness : 0.997930 with order 1 Centerline is valid? [True, True] Translation: X:972.57, Y:246.55, Z:-15.60 [[ 9.95338743e-01 9.64101260e-02 2.42371605e-03 9.72570855e+02] [-9.64099232e-02 9.95341693e-01 -2.00664003e-04 2.46549955e+02] [-2.43177168e-03 -3.39416218e-05 9.99997043e-01 -1.55950452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.545336195 meters Centerline goodness : 0.998226 with order 1 Centerline is valid? [True, True] Translation: X:972.63, Y:246.55, Z:-15.60 [[ 9.95274130e-01 9.70748725e-02 2.42371605e-03 9.72630388e+02] [-9.70746716e-02 9.95277081e-01 -2.00664003e-04 2.46545244e+02] [-2.43174847e-03 -3.55657486e-05 9.99997043e-01 -1.55970059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.6053361949998 meters Centerline goodness : 0.998029 with order 1 Centerline is valid? [True, True] Translation: X:972.69, Y:246.54, Z:-15.59 [[ 9.95253414e-01 9.72870404e-02 2.42371854e-03 9.72689869e+02] [-9.72868402e-02 9.95256364e-01 -2.00633933e-04 2.46541236e+02] [-2.43174038e-03 -3.61143113e-05 9.99997043e-01 -1.55944941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.6653361949998 meters Centerline goodness : 0.998329 with order 1 Centerline is valid? [True, True] Translation: X:972.75, Y:246.54, Z:-15.60 [[ 9.95277231e-01 9.70430769e-02 2.42372348e-03 9.72749713e+02] [-9.70428762e-02 9.95280182e-01 -2.00574267e-04 2.46537042e+02] [-2.43174829e-03 -3.55780961e-05 9.99997043e-01 -1.55950208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.725336195 meters Centerline goodness : 0.998269 with order 1 Centerline is valid? [True, True] Translation: X:972.81, Y:246.53, Z:-15.59 [[ 9.95323297e-01 9.65694539e-02 2.42372833e-03 9.72809028e+02] [-9.65692519e-02 9.95326248e-01 -2.00515615e-04 2.46534931e+02] [-2.43176411e-03 -3.44797687e-05 9.99997043e-01 -1.55929668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.785336195 meters Centerline goodness : 0.998218 with order 1 Centerline is valid? [True, True] Translation: X:972.87, Y:246.53, Z:-15.59 [[ 9.95341592e-01 9.63807026e-02 2.42373332e-03 9.72867260e+02] [-9.63805001e-02 9.95344543e-01 -2.00455250e-04 2.46531751e+02] [-2.43176975e-03 -3.40791821e-05 9.99997043e-01 -1.55944854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.8453361949998 meters Centerline goodness : 0.998095 with order 1 Centerline is valid? [True, True] Translation: X:972.93, Y:246.53, Z:-15.59 [[ 9.95421822e-01 9.55485338e-02 2.42374071e-03 9.72927038e+02] [-9.55483291e-02 9.95424772e-01 -2.00365835e-04 2.46529609e+02] [-2.43179621e-03 -3.21358507e-05 9.99997043e-01 -1.55939757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.9053361949998 meters Centerline goodness : 0.998258 with order 1 Centerline is valid? [True, True] Translation: X:972.99, Y:246.53, Z:-15.59 [[ 9.95604155e-01 9.36295434e-02 2.42374561e-03 9.72986870e+02] [-9.36293332e-02 9.95607105e-01 -2.00306559e-04 2.46526852e+02] [-2.43185297e-03 -2.75076433e-05 9.99997043e-01 -1.55929259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.965336195 meters Centerline goodness : 0.998504 with order 1 Centerline is valid? [True, True] Translation: X:973.05, Y:246.53, Z:-15.59 [[ 9.95856963e-01 9.09012336e-02 2.42375055e-03 9.73045749e+02] [-9.09010154e-02 9.95859912e-01 -2.00246840e-04 2.46525236e+02] [-2.43191869e-03 -2.09041759e-05 9.99997043e-01 -1.55939098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.025336195 meters Centerline goodness : 0.998472 with order 1 Centerline is valid? [True, True] Translation: X:973.11, Y:246.52, Z:-15.59 [[ 9.95998732e-01 8.93344921e-02 2.42375787e-03 9.73105430e+02] [-8.93342695e-02 9.96001681e-01 -2.00158143e-04 2.46523163e+02] [-2.43194794e-03 -1.71673826e-05 9.99997043e-01 -1.55940580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.0853361949999 meters Centerline goodness : 0.998441 with order 1 Centerline is valid? [True, True] Translation: X:973.17, Y:246.52, Z:-15.59 [[ 9.96142651e-01 8.77151292e-02 2.42376267e-03 9.73165248e+02] [-8.77149020e-02 9.96145600e-01 -2.00099974e-04 2.46520141e+02] [-2.43197232e-03 -1.32719872e-05 9.99997043e-01 -1.55945857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.1453361949998 meters Centerline goodness : 0.998493 with order 1 Centerline is valid? [True, True] Translation: X:973.22, Y:246.52, Z:-15.59 [[ 9.96428249e-01 8.44089389e-02 2.42376743e-03 9.73224952e+02] [-8.44087020e-02 9.96431197e-01 -2.00042333e-04 2.46516413e+02] [-2.43200284e-03 -5.25923130e-06 9.99997043e-01 -1.55926707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.205336195 meters Centerline goodness : 0.998539 with order 1 Centerline is valid? [True, True] Translation: X:973.29, Y:246.51, Z:-15.59 [[ 9.96806482e-01 7.98183058e-02 2.42377220e-03 9.73285081e+02] [-7.98180555e-02 9.96809429e-01 -1.99984554e-04 2.46512103e+02] [-2.43200141e-03 5.88511640e-06 9.99997043e-01 -1.55904196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.265336195 meters Centerline goodness : 0.998843 with order 1 Centerline is valid? [True, True] Translation: X:973.35, Y:246.51, Z:-15.59 [[ 9.97039424e-01 7.68538423e-02 2.42377220e-03 9.73345348e+02] [-7.68535832e-02 9.97042370e-01 -1.99984554e-04 2.46505110e+02] [-2.43197316e-03 1.31169066e-05 9.99997043e-01 -1.55904385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.3253361949999 meters Centerline goodness : 0.998395 with order 1 Centerline is valid? [True, True] Translation: X:973.40, Y:246.50, Z:-15.59 [[ 9.97073350e-01 7.64124344e-02 2.42377220e-03 9.73404127e+02] [-7.64121740e-02 9.97076296e-01 -1.99984554e-04 2.46499959e+02] [-2.43196711e-03 1.41935668e-05 9.99997043e-01 -1.55931452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.3853361949998 meters Centerline goodness : 0.998356 with order 1 Centerline is valid? [True, True] Translation: X:973.46, Y:246.49, Z:-15.59 [[ 9.97016814e-01 7.71466032e-02 2.42376966e-03 9.73463196e+02] [-7.71463449e-02 9.97019760e-01 -2.00015335e-04 2.46494636e+02] [-2.43197675e-03 1.24336823e-05 9.99997043e-01 -1.55884450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.445336195 meters Centerline goodness : 0.998465 with order 1 Centerline is valid? [True, True] Translation: X:973.52, Y:246.49, Z:-15.59 [[ 9.96817914e-01 7.96754170e-02 2.42377450e-03 9.73522728e+02] [-7.96751663e-02 9.96820860e-01 -1.99956590e-04 2.46488335e+02] [-2.43200061e-03 6.20567410e-06 9.99997043e-01 -1.55894863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.505336195 meters Centerline goodness : 0.998656 with order 1 Centerline is valid? [True, True] Translation: X:973.58, Y:246.48, Z:-15.59 [[ 9.96739743e-01 8.06474456e-02 2.42377930e-03 9.73582305e+02] [-8.06471980e-02 9.96742690e-01 -1.99898437e-04 2.46481712e+02] [-2.43200560e-03 3.77570754e-06 9.99997043e-01 -1.55897302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.5653361949999 meters Centerline goodness : 0.998729 with order 1 Centerline is valid? [True, True] Translation: X:973.64, Y:246.48, Z:-15.59 [[ 9.96744597e-01 8.05874307e-02 2.42378424e-03 9.73642028e+02] [-8.05871830e-02 9.96747544e-01 -1.99838544e-04 2.46476591e+02] [-2.43200546e-03 3.86204514e-06 9.99997043e-01 -1.55941547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.6253361949998 meters Centerline goodness : 0.998692 with order 1 Centerline is valid? [True, True] Translation: X:973.70, Y:246.47, Z:-15.59 [[ 9.96759355e-01 8.04046883e-02 2.42378668e-03 9.73702148e+02] [-8.04044402e-02 9.96762302e-01 -1.99808914e-04 2.46469364e+02] [-2.43200477e-03 4.27819319e-06 9.99997043e-01 -1.55901692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.685336195 meters Centerline goodness : 0.998782 with order 1 Centerline is valid? [True, True] Translation: X:973.76, Y:246.46, Z:-15.59 [[ 9.96839138e-01 7.94094386e-02 2.42378668e-03 9.73761101e+02] [-7.94091875e-02 9.96842084e-01 -1.99808914e-04 2.46461073e+02] [-2.43199928e-03 6.70641465e-06 9.99997043e-01 -1.55882328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.745336195 meters Centerline goodness : 0.998677 with order 1 Centerline is valid? [True, True] Translation: X:973.82, Y:246.45, Z:-15.59 [[ 9.96803607e-01 7.98542072e-02 2.42378906e-03 9.73821247e+02] [-7.98539575e-02 9.96806554e-01 -1.99780110e-04 2.46454197e+02] [-2.43200210e-03 5.59238585e-06 9.99997043e-01 -1.55850599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.8053361949999 meters Centerline goodness : 0.998981 with order 1 Centerline is valid? [True, True] Translation: X:973.88, Y:246.45, Z:-15.58 [[ 9.96622574e-01 8.20827083e-02 2.42378906e-03 9.73880781e+02] [-8.20824652e-02 9.96625521e-01 -1.99780110e-04 2.46446017e+02] [-2.43200852e-03 1.54786588e-07 9.99997043e-01 -1.55820275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.8653361949998 meters Centerline goodness : 0.998924 with order 1 Centerline is valid? [True, True] Translation: X:973.94, Y:246.44, Z:-15.59 [[ 9.96262951e-01 8.63380402e-02 2.42379152e-03 9.73939915e+02] [-8.63378097e-02 9.96265900e-01 -1.99750192e-04 2.46439860e+02] [-2.43198688e-03 -1.02611355e-05 9.99997043e-01 -1.55851619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.9253361949998 meters Centerline goodness : 0.999116 with order 1 Centerline is valid? [True, True] Translation: X:974.00, Y:246.43, Z:-15.59 [[ 9.95944177e-01 8.99406601e-02 2.42379397e-03 9.73998724e+02] [-8.99404404e-02 9.95947126e-01 -1.99720479e-04 2.46434255e+02] [-2.43193363e-03 -1.90866495e-05 9.99997043e-01 -1.55876314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.985336195 meters Centerline goodness : 0.999010 with order 1 Centerline is valid? [True, True] Translation: X:974.06, Y:246.43, Z:-15.58 [[ 9.95343932e-01 9.63565325e-02 2.42379125e-03 9.74058205e+02] [-9.63563317e-02 9.95346883e-01 -1.99753492e-04 2.46429296e+02] [-2.43176062e-03 -3.47242073e-05 9.99997043e-01 -1.55830777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.045336195 meters Centerline goodness : 0.998966 with order 1 Centerline is valid? [True, True] Translation: X:974.12, Y:246.43, Z:-15.58 [[ 9.94741276e-01 1.02391010e-01 2.42379602e-03 9.74117495e+02] [-1.02390828e-01 9.94744228e-01 -1.99695567e-04 2.46426792e+02] [-2.43150413e-03 -4.95290571e-05 9.99997043e-01 -1.55812655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.1053361949998 meters Centerline goodness : 0.999094 with order 1 Centerline is valid? [True, True] Translation: X:974.18, Y:246.42, Z:-15.58 [[ 9.94433623e-01 1.05337055e-01 2.42380087e-03 9.74177271e+02] [-1.05336881e-01 9.94436575e-01 -1.99636729e-04 2.46424219e+02] [-2.43134538e-03 -5.67901482e-05 9.99997043e-01 -1.55818184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.1653361949998 meters Centerline goodness : 0.999141 with order 1 Centerline is valid? [True, True] Translation: X:974.24, Y:246.42, Z:-15.58 [[ 9.94275049e-01 1.06823463e-01 2.42380564e-03 9.74235795e+02] [-1.06823294e-01 9.94278001e-01 -1.99578792e-04 2.46422269e+02] [-2.43125632e-03 -6.04826885e-05 9.99997043e-01 -1.55813667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.225336195 meters Centerline goodness : 0.999108 with order 1 Centerline is valid? [True, True] Translation: X:974.29, Y:246.42, Z:-15.58 [[ 9.94227642e-01 1.07263796e-01 2.42381097e-03 9.74294582e+02] [-1.07263628e-01 9.94230594e-01 -1.99513964e-04 2.46420114e+02] [-2.43122765e-03 -6.16244611e-05 9.99997043e-01 -1.55811056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.285336195 meters Centerline goodness : 0.999119 with order 1 Centerline is valid? [True, True] Translation: X:974.35, Y:246.42, Z:-15.58 [[ 9.94135600e-01 1.08113526e-01 2.42382028e-03 9.74354153e+02] [-1.08113361e-01 9.94138552e-01 -1.99400897e-04 2.46422593e+02] [-2.43117111e-03 -6.38158257e-05 9.99997043e-01 -1.55802253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.3453361949998 meters Centerline goodness : 0.998976 with order 1 Centerline is valid? [True, True] Translation: X:974.41, Y:246.42, Z:-15.58 [[ 9.94195660e-01 1.07559822e-01 2.42382988e-03 9.74413068e+02] [-1.07559656e-01 9.94198612e-01 -1.99284058e-04 2.46423678e+02] [-2.43120326e-03 -6.25789618e-05 9.99997043e-01 -1.55791361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.4053361949998 meters Centerline goodness : 0.998729 with order 1 Centerline is valid? [True, True] Translation: X:974.47, Y:246.42, Z:-15.58 [[ 9.94329603e-01 1.06314469e-01 2.42383985e-03 9.74471106e+02] [-1.06314300e-01 9.94332555e-01 -1.99162778e-04 2.46424830e+02] [-2.43127675e-03 -5.96553905e-05 9.99997043e-01 -1.55807042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.465336195 meters Centerline goodness : 0.997665 with order 1 Centerline is valid? [True, True] Translation: X:974.53, Y:246.43, Z:-15.58 [[ 9.94706239e-01 1.02730826e-01 2.42385366e-03 9.74529085e+02] [-1.02730646e-01 9.94709191e-01 -1.98994496e-04 2.46426449e+02] [-2.43147239e-03 -5.10629872e-05 9.99997043e-01 -1.55808414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.525336195 meters Centerline goodness : 0.996000 with order 1 Centerline is valid? [True, True] Translation: X:974.59, Y:246.43, Z:-15.58 [[ 9.95221985e-01 9.76080226e-02 2.42386509e-03 9.74588323e+02] [-9.76078277e-02 9.95224936e-01 -1.98855233e-04 2.46429625e+02] [-2.43170084e-03 -3.86831068e-05 9.99997043e-01 -1.55789166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.5853361949999 meters Centerline goodness : 0.993476 with order 1 Centerline is valid? [True, True] Translation: X:974.65, Y:246.43, Z:-15.58 [[ 9.95907160e-01 9.03496168e-02 2.42387473e-03 9.74645867e+02] [-9.03494007e-02 9.95910110e-01 -1.98737633e-04 2.46429284e+02] [-2.43191722e-03 -2.10713977e-05 9.99997043e-01 -1.55820204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.6453361949998 meters Centerline goodness : 0.991641 with order 1 Centerline is valid? [True, True] Translation: X:974.70, Y:246.43, Z:-15.58 [[ 9.96343069e-01 8.54085132e-02 2.42388663e-03 9.74704489e+02] [-8.54082828e-02 9.96346017e-01 -1.98592365e-04 2.46428130e+02] [-2.43199127e-03 -9.15386829e-06 9.99997043e-01 -1.55801520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.705336195 meters Centerline goodness : 0.987452 with order 1 Centerline is valid? [True, True] Translation: X:974.76, Y:246.42, Z:-15.60 [[ 9.96784009e-01 8.00984705e-02 2.42389605e-03 9.74763622e+02] [-8.00982247e-02 9.96786956e-01 -1.98477388e-04 2.46424788e+02] [-2.43200570e-03 3.68931575e-06 9.99997043e-01 -1.56017920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.765336195 meters Centerline goodness : 0.984386 with order 1 Centerline is valid? [True, True] Translation: X:974.82, Y:246.42, Z:-15.61 [[ 9.96961177e-01 7.78622907e-02 2.42389881e-03 9.74823908e+02] [-7.78620383e-02 9.96964124e-01 -1.98443658e-04 2.46422446e+02] [-2.43199143e-03 9.11092120e-06 9.99997043e-01 -1.56069331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.8253361949999 meters Centerline goodness : 0.980837 with order 1 Centerline is valid? [True, True] Translation: X:974.88, Y:246.42, Z:-15.60 [[ 9.96935111e-01 7.81953325e-02 2.42390090e-03 9.74883837e+02] [-7.81950812e-02 9.96938057e-01 -1.98418057e-04 2.46419199e+02] [-2.43199442e-03 8.27279996e-06 9.99997043e-01 -1.55956718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.8853361949998 meters Centerline goodness : 0.976538 with order 1 Centerline is valid? [True, True] Translation: X:974.94, Y:246.42, Z:-15.60 [[ 9.96824270e-01 7.95958548e-02 2.42390069e-03 9.74943206e+02] [-7.95956076e-02 9.96827217e-01 -1.98420739e-04 2.46417368e+02] [-2.43200364e-03 4.85876079e-06 9.99997043e-01 -1.55959263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.945336195 meters Centerline goodness : 0.969536 with order 1 Centerline is valid? [True, True] Translation: X:975.00, Y:246.42, Z:-15.59 [[ 9.96651108e-01 8.17355076e-02 2.42391667e-03 9.75002536e+02] [-8.17352672e-02 9.96654056e-01 -1.98225266e-04 2.46418882e+02] [-2.43200842e-03 -5.58045607e-07 9.99997043e-01 -1.55887934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.005336195 meters Centerline goodness : 0.131883 with order 1 Centerline is valid? [True, False] Translation: X:975.00, Y:246.42, Z:-15.59 [[ 9.96645419e-01 8.17906544e-02 2.86322062e-03 9.75001326e+02] [-8.17883344e-02 9.96649299e-01 -9.18376529e-04 2.46422234e+02] [-2.92874144e-03 6.81117714e-04 9.99995479e-01 -1.55892524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.0653361949999 meters Centerline goodness : 0.142891 with order 1 Centerline is valid? [False, False] Translation: X:975.04, Y:246.43, Z:-15.59 [[ 9.96650787e-01 8.15814236e-02 5.62854527e-03 9.75040709e+02] [-8.15601007e-02 9.96660718e-01 -3.91960259e-03 2.46426695e+02] [-5.92951673e-03 3.44741028e-03 9.99976478e-01 -1.55914012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.1253361949998 meters Centerline goodness : 0.152241 with order 1 Centerline is valid? [False, False] Translation: X:975.04, Y:246.43, Z:-15.59 [[ 9.96989279e-01 7.73161278e-02 5.88172899e-03 9.75039357e+02] [-7.72554021e-02 9.96961855e-01 -9.93289891e-03 2.46434472e+02] [-6.63183272e-03 9.44859838e-03 9.99933369e-01 -1.55925957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.185336195 meters Centerline goodness : 0.148561 with order 1 Centerline is valid? [False, False] Translation: X:975.10, Y:246.43, Z:-15.59 [[ 9.97466800e-01 7.09346943e-02 5.31526075e-03 9.75101858e+02] [-7.08968885e-02 9.97459141e-01 -6.99243921e-03 2.46432089e+02] [-5.79776196e-03 6.59789051e-03 9.99961426e-01 -1.55910020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.245336195 meters Centerline goodness : 0.161677 with order 1 Centerline is valid? [False, False] Translation: X:975.10, Y:246.44, Z:-15.59 [[ 9.97770963e-01 6.65283302e-02 5.20457508e-03 9.75102244e+02] [-6.64603877e-02 9.97713381e-01 -1.22892343e-02 2.46436414e+02] [-6.01025644e-03 1.19159431e-02 9.99910940e-01 -1.55925444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.3053361949999 meters Centerline goodness : 0.165013 with order 1 Centerline is valid? [False, False] Translation: X:975.13, Y:246.43, Z:-15.60 [[ 9.97824329e-01 6.52407261e-02 9.50036873e-03 9.75128193e+02] [-6.52145442e-02 9.97866634e-01 -3.04041008e-03 2.46428845e+02] [-9.67845952e-03 2.41423293e-03 9.99950248e-01 -1.56005778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.3653361949998 meters Centerline goodness : 0.088567 with order 1 Centerline is valid? [False, False] Translation: X:975.13, Y:246.43, Z:-15.60 [[ 9.98083339e-01 6.11900610e-02 9.24255463e-03 9.75128979e+02] [-6.11185255e-02 9.98099774e-01 -7.83376599e-03 2.46432276e+02] [-9.70434030e-03 7.25386001e-03 9.99926601e-01 -1.56011089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.4253361949998 meters Centerline goodness : 0.084315 with order 1 Centerline is valid? [False, False] Translation: X:975.16, Y:246.42, Z:-15.61 [[ 9.98056735e-01 6.04434055e-02 1.51442505e-02 9.75156052e+02] [-6.04409141e-02 9.98171583e-01 -6.22567549e-04 2.46421222e+02] [-1.51541906e-02 -2.93974609e-04 9.99885125e-01 -1.56100283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.485336195 meters Centerline goodness : 0.084137 with order 1 Centerline is valid? [False, False] Translation: X:975.16, Y:246.43, Z:-15.61 [[ 9.98295514e-01 5.63437331e-02 1.52135035e-02 9.75155982e+02] [-5.62584160e-02 9.98398337e-01 -5.97923902e-03 2.46426152e+02] [-1.55260292e-02 5.11315988e-03 9.99866390e-01 -1.56117939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.545336195 meters Centerline goodness : 0.084146 with order 1 Centerline is valid? [False, False] Translation: X:975.23, Y:246.46, Z:-15.60 [[ 9.98592273e-01 5.19296517e-02 1.08066258e-02 9.75227761e+02] [-5.12682274e-02 9.97200485e-01 -5.44312464e-02 2.46457333e+02] [-1.36029682e-02 5.38005855e-02 9.98459041e-01 -1.56044146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.6053361949998 meters Centerline goodness : 0.084644 with order 1 Centerline is valid? [False, False] Translation: X:975.26, Y:246.44, Z:-15.61 [[ 9.98230005e-01 5.71015824e-02 1.66212878e-02 9.75257849e+02] [-5.63691487e-02 9.97541950e-01 -4.16242290e-02 2.46441983e+02] [-1.89572412e-02 4.06136264e-02 9.98995073e-01 -1.56140337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.6653361949998 meters Centerline goodness : 0.085489 with order 1 Centerline is valid? [False, False] Translation: X:975.26, Y:246.44, Z:-15.62 [[ 9.97936216e-01 6.19072493e-02 1.70529076e-02 9.75258697e+02] [-6.12513529e-02 9.97450396e-01 -3.66193900e-02 2.46437357e+02] [-1.92764351e-02 3.54993018e-02 9.99183776e-01 -1.56154814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.725336195 meters Centerline goodness : 0.087663 with order 1 Centerline is valid? [False, False] Translation: X:975.26, Y:246.44, Z:-15.62 [[ 9.97618377e-01 6.66377934e-02 1.78038722e-02 9.75259386e+02] [-6.60401150e-02 9.97294731e-01 -3.22788157e-02 2.46437045e+02] [-1.99066970e-02 3.10261700e-02 9.99320319e-01 -1.56173743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.785336195 meters Centerline goodness : 0.089405 with order 1 Centerline is valid? [False, False] Translation: X:975.29, Y:246.43, Z:-15.63 [[ 9.97289562e-01 6.93154723e-02 2.46757989e-02 9.75288740e+02] [-6.87645371e-02 9.97378775e-01 -2.25170357e-02 2.46427254e+02] [-2.61718970e-02 2.07591848e-02 9.99441888e-01 -1.56276496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.8453361949998 meters Centerline goodness : 0.089317 with order 1 Centerline is valid? [False, False] Translation: X:975.29, Y:246.43, Z:-15.63 [[ 9.97281207e-01 6.93827263e-02 2.48240204e-02 9.75290203e+02] [-6.88286058e-02 9.97374259e-01 -2.25213379e-02 2.46427191e+02] [-2.63214308e-02 2.07515044e-02 9.99438121e-01 -1.56292981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.9053361949998 meters Centerline goodness : 0.091430 with order 1 Centerline is valid? [False, False] Translation: X:975.30, Y:246.43, Z:-15.64 [[ 9.97425592e-01 6.73904556e-02 2.45094965e-02 9.75297064e+02] [-6.67980021e-02 9.97472078e-01 -2.42379920e-02 2.46426262e+02] [-2.60809477e-02 2.25384081e-02 9.99405726e-01 -1.56357558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.965336195 meters Centerline goodness : 0.089318 with order 1 Centerline is valid? [False, False] Translation: X:975.33, Y:246.42, Z:-15.65 [[ 9.97549725e-01 6.29718334e-02 3.04810601e-02 9.75325253e+02] [-6.23843998e-02 9.97854684e-01 -1.98548899e-02 2.46420078e+02] [-3.16659674e-02 1.79046973e-02 9.99338125e-01 -1.56467664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.025336195 meters SLAMing on 1114.0853361949999 meters Centerline goodness : 0.807729 with order 2 Centerline is valid? [False, False] Translation: X:975.35, Y:246.41, Z:-15.66 [[ 9.97596542e-01 5.79019220e-02 3.80592554e-02 9.75354237e+02] [-5.72658374e-02 9.98203875e-01 -1.75968114e-02 2.46412158e+02] [-3.90097854e-02 1.53750231e-02 9.99120536e-01 -1.56587920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.1453361949998 meters Centerline goodness : 0.794422 with order 2 Centerline is valid? [False, False] Translation: X:975.36, Y:246.41, Z:-15.66 [[ 9.97695466e-01 5.61697335e-02 3.80620324e-02 9.75360139e+02] [-5.54879875e-02 9.98283513e-01 -1.87379719e-02 2.46409811e+02] [-3.90492063e-02 1.65828041e-02 9.99099680e-01 -1.56645615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.205336195 meters Centerline goodness : 0.779606 with order 1 Centerline is valid? [False, False] Translation: X:975.37, Y:246.41, Z:-15.67 [[ 9.97773163e-01 5.50218615e-02 3.77002715e-02 9.75368732e+02] [-5.43251091e-02 9.98337463e-01 -1.92637787e-02 2.46405168e+02] [-3.86975223e-02 1.71728100e-02 9.99103396e-01 -1.56721166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.265336195 meters Centerline goodness : 0.773585 with order 3 Centerline is valid? [False, False] Translation: X:975.37, Y:246.40, Z:-15.67 [[ 9.97747552e-01 5.53574172e-02 3.78863811e-02 9.75370359e+02] [-5.46803359e-02 9.98329146e-01 -1.86809037e-02 2.46401483e+02] [-3.88572051e-02 1.65671859e-02 9.99107425e-01 -1.56739062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.3253361949999 meters Centerline goodness : 0.762779 with order 2 Centerline is valid? [False, False] Translation: X:975.37, Y:246.40, Z:-15.68 [[ 9.97689009e-01 5.61297466e-02 3.82895978e-02 9.75372141e+02] [-5.54822063e-02 9.98301525e-01 -1.77704712e-02 2.46395465e+02] [-3.92220159e-02 1.56050124e-02 9.99108661e-01 -1.56763392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.3853361949998 meters Centerline goodness : 0.755728 with order 2 Centerline is valid? [False, False] Translation: X:975.38, Y:246.39, Z:-15.68 [[ 9.97601752e-01 5.76407358e-02 3.83182629e-02 9.75376474e+02] [-5.70436899e-02 9.98235376e-01 -1.64970039e-02 2.46391908e+02] [-3.92015450e-02 1.42716249e-02 9.99129401e-01 -1.56799326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.445336195 meters Centerline goodness : 0.748844 with order 2 Centerline is valid? [False, False] Translation: X:975.44, Y:246.38, Z:-15.68 [[ 9.97424946e-01 6.38758817e-02 3.26090165e-02 9.75440774e+02] [-6.33546019e-02 9.97850047e-01 -1.67772968e-02 2.46384865e+02] [-3.36105733e-02 1.46681631e-02 9.99327361e-01 -1.56752785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.505336195 meters Centerline goodness : 0.477409 with order 2 Centerline is valid? [False, False] Translation: X:975.45, Y:246.38, Z:-15.68 [[ 9.97295543e-01 6.60359352e-02 3.22622828e-02 9.75447675e+02] [-6.55646536e-02 9.97728633e-01 -1.54547843e-02 2.46383523e+02] [-3.32095745e-02 1.32977221e-02 9.99359943e-01 -1.56800359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.5653361949999 meters Centerline goodness : 0.503910 with order 2 Centerline is valid? [False, False] Translation: X:975.45, Y:246.38, Z:-15.69 [[ 9.97121849e-01 6.85603007e-02 3.23651441e-02 9.75454310e+02] [-6.81305876e-02 9.97575359e-01 -1.41995073e-02 2.46382821e+02] [-3.32601927e-02 1.19535827e-02 9.99375241e-01 -1.56857889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.6253361949998 meters Centerline goodness : 0.705654 with order 3 Centerline is valid? [False, False] Translation: X:975.46, Y:246.38, Z:-15.69 [[ 9.96957046e-01 7.09467549e-02 3.22987144e-02 9.75462440e+02] [-7.05584931e-02 9.97422831e-01 -1.30075257e-02 2.46382337e+02] [-3.31383169e-02 1.06889957e-02 9.99393615e-01 -1.56923901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.685336195 meters Centerline goodness : 0.505432 with order 2 Centerline is valid? [False, False] Translation: X:975.47, Y:246.38, Z:-15.70 [[ 9.96865224e-01 7.23482272e-02 3.20228047e-02 9.75473051e+02] [-7.19763217e-02 9.97326505e-01 -1.26195233e-02 2.46384250e+02] [-3.28501920e-02 1.02750802e-02 9.99407468e-01 -1.57009517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.745336195 meters Centerline goodness : 0.513126 with order 2 Centerline is valid? [False, False] Translation: X:975.48, Y:246.38, Z:-15.70 [[ 9.96856060e-01 7.23515436e-02 3.22993655e-02 9.75475489e+02] [-7.19734304e-02 9.97325423e-01 -1.27211016e-02 2.46384639e+02] [-3.31333697e-02 1.03564111e-02 9.99397281e-01 -1.57027781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.8053361949999 meters Centerline goodness : 0.505581 with order 2 Centerline is valid? [False, False] Translation: X:975.48, Y:246.38, Z:-15.71 [[ 9.97063099e-01 6.94807165e-02 3.22118907e-02 9.75482701e+02] [-6.89974791e-02 9.97490445e-01 -1.58795548e-02 2.46384072e+02] [-3.32343761e-02 1.36103789e-02 9.99354909e-01 -1.57087181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.8653361949998 meters Centerline goodness : 0.498072 with order 2 Centerline is valid? [False, False] Translation: X:975.49, Y:246.38, Z:-15.71 [[ 9.97196639e-01 6.78184357e-02 3.16152243e-02 9.75490530e+02] [-6.73136537e-02 9.97590959e-01 -1.67675260e-02 2.46384283e+02] [-3.26762093e-02 1.45923843e-02 9.99359459e-01 -1.57131466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.9253361949998 meters Centerline goodness : 0.488337 with order 2 Centerline is valid? [False, False] Translation: X:975.50, Y:246.38, Z:-15.72 [[ 9.97315482e-01 6.62485030e-02 3.11923791e-02 9.75499057e+02] [-6.57229326e-02 9.97682955e-01 -1.75845529e-02 2.46384223e+02] [-3.22850553e-02 1.54872922e-02 9.99358704e-01 -1.57190378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.985336195 meters Centerline goodness : 0.477709 with order 2 Centerline is valid? [False, False] Translation: X:975.51, Y:246.38, Z:-15.73 [[ 9.97352730e-01 6.57534719e-02 3.10485568e-02 9.75509481e+02] [-6.52198188e-02 9.97710369e-01 -1.78995880e-02 2.46383523e+02] [-3.21544271e-02 1.58272217e-02 9.99357590e-01 -1.57273176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.045336195 meters Centerline goodness : 0.471327 with order 3 Centerline is valid? [False, False] Translation: X:975.52, Y:246.38, Z:-15.74 [[ 9.97370463e-01 6.55487627e-02 3.09114673e-02 9.75519021e+02] [-6.50100074e-02 9.97720004e-01 -1.81243623e-02 2.46383753e+02] [-3.20290188e-02 1.60671489e-02 9.99357788e-01 -1.57352477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.1053361949998 meters Centerline goodness : 0.473282 with order 2 Centerline is valid? [False, False] Translation: X:975.54, Y:246.38, Z:-15.74 [[ 9.97714918e-01 6.17399235e-02 2.74431219e-02 9.75544159e+02] [-6.12817704e-02 9.97971706e-01 -1.72342030e-02 2.46383961e+02] [-2.84514976e-02 1.55130584e-02 9.99474791e-01 -1.57370767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.1653361949998 meters Centerline goodness : 0.471468 with order 2 Centerline is valid? [False, False] Translation: X:975.55, Y:246.38, Z:-15.74 [[ 9.97803044e-01 6.04859348e-02 2.70284553e-02 9.75551401e+02] [-6.00157174e-02 9.98037230e-01 -1.78829821e-02 2.46383689e+02] [-2.80570736e-02 1.62215619e-02 9.99474693e-01 -1.57412087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.225336195 meters Centerline goodness : 0.102573 with order 1 Centerline is valid? [False, False] Translation: X:975.58, Y:246.38, Z:-15.74 [[ 9.98127331e-01 5.64846067e-02 2.34802183e-02 9.75577662e+02] [-5.61018769e-02 9.98286181e-01 -1.66517067e-02 2.46381851e+02] [-2.43805426e-02 1.53032392e-02 9.99585614e-01 -1.57424579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.285336195 meters Centerline goodness : 0.359645 with order 2 Centerline is valid? [False, False] Translation: X:975.58, Y:246.38, Z:-15.74 [[ 9.98119804e-01 5.66275695e-02 2.34558028e-02 9.75581796e+02] [-5.62466873e-02 9.98279024e-01 -1.65921535e-02 2.46381877e+02] [-2.43550092e-02 1.52416458e-02 9.99587178e-01 -1.57447547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.3453361949998 meters Centerline goodness : 0.415763 with order 2 Centerline is valid? [False, False] Translation: X:975.58, Y:246.38, Z:-15.75 [[ 9.98124137e-01 5.66108928e-02 2.33112534e-02 9.75583733e+02] [-5.62296604e-02 9.98278227e-01 -1.66975301e-02 2.46382763e+02] [-2.42163788e-02 1.53554240e-02 9.99588804e-01 -1.57463710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.4053361949998 meters Centerline goodness : 0.083313 with order 1 Centerline is valid? [False, False] Translation: X:975.63, Y:246.38, Z:-15.74 [[ 9.98177846e-01 5.79696987e-02 1.67481863e-02 9.75627748e+02] [-5.76915248e-02 9.98195756e-01 -1.66409197e-02 2.46379769e+02] [-1.76826376e-02 1.56443689e-02 9.99721250e-01 -1.57415815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.465336195 meters Centerline goodness : 0.332027 with order 2 Centerline is valid? [False, False] Translation: X:975.64, Y:246.38, Z:-15.75 [[ 9.98152766e-01 5.84562788e-02 1.65504880e-02 9.75637035e+02] [-5.81852052e-02 9.98170886e-01 -1.64123275e-02 2.46379124e+02] [-1.74796189e-02 1.54190166e-02 9.99728322e-01 -1.57483299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.525336195 meters Centerline goodness : 0.512258 with order 2 Centerline is valid? [False, False] Translation: X:975.65, Y:246.38, Z:-15.76 [[ 9.98170762e-01 5.83232558e-02 1.59225690e-02 9.75648850e+02] [-5.80626993e-02 9.98178820e-01 -1.63635531e-02 2.46376525e+02] [-1.68479468e-02 1.54091130e-02 9.99739319e-01 -1.57563236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.5853361949999 meters Centerline goodness : 0.346176 with order 2 Centerline is valid? [False, False] Translation: X:975.65, Y:246.37, Z:-15.76 [[ 9.98157063e-01 5.84750542e-02 1.62217813e-02 9.75652098e+02] [-5.82129845e-02 9.98173008e-01 -1.61831272e-02 2.46374875e+02] [-1.71384534e-02 1.52089844e-02 9.99737446e-01 -1.57583182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.6453361949998 meters Centerline goodness : 0.527403 with order 2 Centerline is valid? [False, False] Translation: X:975.66, Y:246.37, Z:-15.77 [[ 9.98152606e-01 5.87205824e-02 1.55970761e-02 9.75664444e+02] [-5.84737329e-02 9.98163308e-01 -1.58377071e-02 2.46371396e+02] [-1.64984285e-02 1.48964294e-02 9.99752919e-01 -1.57668584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.705336195 meters Centerline goodness : 0.363786 with order 2 Centerline is valid? [False, False] Translation: X:975.67, Y:246.37, Z:-15.77 [[ 9.98106225e-01 5.95512165e-02 1.54147853e-02 9.75674633e+02] [-5.93165483e-02 9.98122607e-01 -1.52580386e-02 2.46369935e+02] [-1.62944804e-02 1.43147914e-02 9.99764761e-01 -1.57737843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.765336195 meters Centerline goodness : 0.369945 with order 2 Centerline is valid? [False, False] Translation: X:975.68, Y:246.37, Z:-15.78 [[ 9.98081793e-01 5.99187736e-02 1.55716026e-02 9.75678063e+02] [-5.96861636e-02 9.98104531e-01 -1.49969255e-02 2.46367583e+02] [-1.64406845e-02 1.40387490e-02 9.99766281e-01 -1.57757484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.8253361949999 meters Centerline goodness : 0.345148 with order 2 Centerline is valid? [False, False] Translation: X:975.69, Y:246.36, Z:-15.78 [[ 9.98041441e-01 6.06655036e-02 1.52636131e-02 9.75689354e+02] [-6.04461608e-02 9.98066954e-01 -1.44435590e-02 2.46364858e+02] [-1.61103336e-02 1.34926436e-02 9.99779178e-01 -1.57833709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.8853361949998 meters Centerline goodness : 0.062120 with order 1 Centerline is valid? [False, False] Translation: X:975.69, Y:246.36, Z:-15.79 [[ 9.98019001e-01 6.10215303e-02 1.53116524e-02 9.75692876e+02] [-6.08058557e-02 9.98048927e-01 -1.41770129e-02 2.46363152e+02] [-1.61468813e-02 1.32178902e-02 9.99782259e-01 -1.57851033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.945336195 meters Centerline goodness : 0.340746 with order 2 Centerline is valid? [False, False] Translation: X:975.74, Y:246.36, Z:-15.78 [[ 9.98029003e-01 6.21562082e-02 8.64378644e-03 9.75737541e+02] [-6.20355127e-02 9.97981372e-01 -1.35932474e-02 2.46359024e+02] [-9.47124257e-03 1.30302334e-02 9.99870246e-01 -1.57772828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.005336195 meters Centerline goodness : 0.308532 with order 2 Centerline is valid? [False, False] Translation: X:975.75, Y:246.36, Z:-15.79 [[ 9.98013732e-01 6.25099986e-02 7.81606570e-03 9.75751268e+02] [-6.24019146e-02 9.97961380e-01 -1.33822841e-02 2.46357210e+02] [-8.63665827e-03 1.28679659e-02 9.99879905e-01 -1.57856820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.0653361949999 meters Centerline goodness : 0.329409 with order 2 Centerline is valid? [False, False] Translation: X:975.76, Y:246.36, Z:-15.79 [[ 9.98028054e-01 6.23413068e-02 7.31879996e-03 9.75759974e+02] [-6.22393503e-02 9.97971055e-01 -1.34177866e-02 2.46356496e+02] [-8.14043287e-03 1.29358101e-02 9.99883192e-01 -1.57907592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.1253361949998 meters Centerline goodness : 0.325074 with order 2 Centerline is valid? [False, False] Translation: X:975.79, Y:246.35, Z:-15.79 [[ 9.98276832e-01 5.85623613e-02 3.71717452e-03 9.75788116e+02] [-5.85142957e-02 9.98215196e-01 -1.19373621e-02 2.46353435e+02] [-4.40962021e-03 1.16992842e-02 9.99921838e-01 -1.57897831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.185336195 meters Centerline goodness : 0.324301 with order 2 Centerline is valid? [False, False] Translation: X:975.82, Y:246.35, Z:-15.79 [[ 9.98513135e-01 5.45041260e-02 -9.05099450e-04 9.75822673e+02] [-5.45106335e-02 9.98457969e-01 -1.05011907e-02 2.46350659e+02] [ 3.31345535e-04 1.05349144e-02 9.99944451e-01 -1.57906599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.245336195 meters Centerline goodness : 0.073039 with order 1 Centerline is valid? [False, False] Translation: X:975.83, Y:246.35, Z:-15.80 [[ 9.98540642e-01 5.39724100e-02 -1.88794465e-03 9.75834151e+02] [-5.39889075e-02 9.98489591e-01 -1.01850582e-02 2.46346494e+02] [ 1.33538095e-03 1.02721226e-02 9.99946349e-01 -1.57972679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.3053361949999 meters Centerline goodness : 0.295677 with order 2 Centerline is valid? [False, False] Translation: X:975.86, Y:246.34, Z:-15.80 [[ 9.98752600e-01 4.95947532e-02 -5.79699761e-03 9.75863998e+02] [-4.96404678e-02 9.98734891e-01 -8.02756879e-03 2.46340268e+02] [ 5.39153848e-03 8.30532087e-03 9.99950975e-01 -1.57953517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.3653361949998 meters Centerline goodness : 0.430938 with order 2 Centerline is valid? [False, False] Translation: X:975.89, Y:246.34, Z:-15.79 [[ 9.98884548e-01 4.61965125e-02 -9.77455491e-03 9.75893907e+02] [-4.62567715e-02 9.98911375e-01 -6.03122261e-03 2.46335531e+02] [ 9.48529264e-03 6.47663443e-03 9.99934039e-01 -1.57925016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.4253361949998 meters Centerline goodness : 0.215762 with order 2 Centerline is valid? [False, False] Translation: X:975.94, Y:246.33, Z:-15.78 [[ 9.98733702e-01 4.76108442e-02 -1.62542218e-02 9.75936150e+02] [-4.77046566e-02 9.98846708e-01 -5.43325442e-03 2.46327956e+02] [ 1.59767941e-02 6.20177637e-03 9.99853129e-01 -1.57817736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.485336195 meters Centerline goodness : 0.370389 with order 2 Centerline is valid? [False, False] Translation: X:975.94, Y:246.33, Z:-15.78 [[ 9.98711963e-01 4.80322445e-02 -1.63498483e-02 9.75939859e+02] [-4.81230679e-02 9.98827840e-01 -5.20742398e-03 2.46326558e+02] [ 1.60805594e-02 5.98752149e-03 9.99852772e-01 -1.57825938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.545336195 meters Centerline goodness : 0.233797 with order 1 Centerline is valid? [False, False] Translation: X:975.99, Y:246.32, Z:-15.79 [[ 9.98764805e-01 4.86144933e-02 -1.02711092e-02 9.75989223e+02] [-4.86678714e-02 9.98802440e-01 -5.01236796e-03 2.46320538e+02] [ 1.00151352e-02 5.50604972e-03 9.99934688e-01 -1.57907806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.6053361949998 meters Centerline goodness : 0.261100 with order 3 Centerline is valid? [False, False] Translation: X:976.00, Y:246.32, Z:-15.80 [[ 9.98735894e-01 4.89732472e-02 -1.13240571e-02 9.76001472e+02] [-4.90268699e-02 9.98787291e-01 -4.50703388e-03 2.46315697e+02] [ 1.10896002e-02 5.05651959e-03 9.99925723e-01 -1.57980878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.6653361949998 meters Centerline goodness : 0.237406 with order 1 Centerline is valid? [False, False] Translation: X:976.05, Y:246.31, Z:-15.79 [[ 9.98556014e-01 5.04131755e-02 -1.85579572e-02 9.76051108e+02] [-5.04925000e-02 9.98717094e-01 -3.83067251e-03 2.46312083e+02] [ 1.83410327e-02 4.76217873e-03 9.99820448e-01 -1.57914955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.725336195 meters Centerline goodness : 0.068563 with order 1 Centerline is valid? [False, False] Translation: X:976.06, Y:246.31, Z:-15.80 [[ 9.98491772e-01 5.12794693e-02 -1.96111743e-02 9.76063501e+02] [-5.13582799e-02 9.98674033e-01 -3.53601705e-03 2.46312996e+02] [ 1.94038454e-02 4.53788011e-03 9.99801429e-01 -1.57979953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.785336195 meters Centerline goodness : 0.232279 with order 1 Centerline is valid? [False, False] Translation: X:976.11, Y:246.31, Z:-15.81 [[ 9.98537373e-01 5.23966860e-02 -1.33305257e-02 9.76112355e+02] [-5.24446379e-02 9.98618469e-01 -3.27313265e-03 2.46311675e+02] [ 1.31406078e-02 3.96745987e-03 9.99905787e-01 -1.58058314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.8453361949998 meters Centerline goodness : 0.114984 with order 3 Centerline is valid? [False, False] Translation: X:976.12, Y:246.31, Z:-15.81 [[ 9.98537520e-01 5.21358257e-02 -1.43065620e-02 9.76123808e+02] [-5.21868765e-02 9.98632151e-01 -3.21827086e-03 2.46309169e+02] [ 1.41192056e-02 3.96017899e-03 9.99892477e-01 -1.58122878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.9053361949998 meters Centerline goodness : 0.139028 with order 1 Centerline is valid? [False, False] Translation: X:976.17, Y:246.30, Z:-15.82 [[ 9.98622138e-01 5.18274929e-02 -8.23027260e-03 9.76172622e+02] [-5.18529140e-02 9.98650505e-01 -2.90584408e-03 2.46304856e+02] [ 8.06856328e-03 3.32860384e-03 9.99961909e-01 -1.58204228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.965336195 meters Centerline goodness : 0.122218 with order 3 Centerline is valid? [False, False] Translation: X:976.22, Y:246.30, Z:-15.83 [[ 9.98834133e-01 4.82189259e-02 -2.30424130e-03 9.76220850e+02] [-4.82314948e-02 9.98819622e-01 -5.75197061e-03 2.46299300e+02] [ 2.02416758e-03 5.85640158e-03 9.99980802e-01 -1.58281704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.025336195 meters Centerline goodness : 0.110072 with order 3 Centerline is valid? [False, False] Translation: X:976.25, Y:246.29, Z:-15.82 [[ 9.99048393e-01 4.32362045e-02 -5.73921550e-03 9.76246722e+02] [-4.32566915e-02 9.99057879e-01 -3.49480340e-03 2.46294456e+02] [ 5.58270643e-03 3.73973720e-03 9.99977424e-01 -1.58240705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.0853361949999 meters Centerline goodness : 0.126415 with order 1 Centerline is valid? [False, False] Translation: X:976.29, Y:246.29, Z:-15.83 [[ 9.99141164e-01 4.14330427e-02 4.86307606e-04 9.76293610e+02] [-4.14306491e-02 9.99132604e-01 -4.18826137e-03 2.46286703e+02] [-6.59418197e-04 4.16451631e-03 9.99991111e-01 -1.58316497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.1453361949998 meters Centerline goodness : 0.128790 with order 1 Centerline is valid? [False, False] Translation: X:976.32, Y:246.28, Z:-15.83 [[ 9.99294867e-01 3.74299906e-02 -2.96056669e-03 9.76321854e+02] [-3.74353140e-02 9.99297497e-01 -1.76357824e-03 2.46281790e+02] [ 2.89247617e-03 1.87316443e-03 9.99994062e-01 -1.58285114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.205336195 meters Centerline goodness : 0.188211 with order 1 Centerline is valid? [False, False] Translation: X:976.37, Y:246.27, Z:-15.84 [[ 9.99352041e-01 3.58779606e-02 2.87584059e-03 9.76369861e+02] [-3.58709010e-02 9.99353380e-01 -2.46991996e-03 2.46272373e+02] [-2.96259671e-03 2.36516056e-03 9.99992814e-01 -1.58372796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.265336195 meters Centerline goodness : 0.476988 with order 1 Centerline is valid? [False, False] Translation: X:976.37, Y:246.27, Z:-15.84 [[ 9.99346871e-01 3.60383569e-02 2.65859158e-03 9.76371974e+02] [-3.60330573e-02 9.99348567e-01 -2.01508241e-03 2.46268895e+02] [-2.72947994e-03 1.91796912e-03 9.99994436e-01 -1.58380632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.3253361949999 meters Centerline goodness : 0.472806 with order 1 Centerline is valid? [False, False] Translation: X:976.40, Y:246.26, Z:-15.84 [[ 9.99474585e-01 3.23869953e-02 -1.27892897e-03 9.76399918e+02] [-3.23869539e-02 9.99475404e-01 5.30812395e-05 2.46264535e+02] [ 1.27997719e-03 -1.16327363e-05 9.99999181e-01 -1.58370694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.3853361949998 meters Centerline goodness : 0.124868 with order 1 Centerline is valid? [False, False] Translation: X:976.45, Y:246.26, Z:-15.83 [[ 9.99437552e-01 3.24172508e-02 -8.58490556e-03 9.76449143e+02] [-3.24058194e-02 9.99473716e-01 1.46737513e-03 2.46255757e+02] [ 8.62795573e-03 -1.18834891e-03 9.99962072e-01 -1.58313639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.445336195 meters SLAMing on 1117.505336195 meters Centerline goodness : 0.119537 with order 1 Centerline is valid? [False, False] Translation: X:976.52, Y:246.24, Z:-15.82 [[ 9.99176898e-01 3.55432569e-02 -1.95500146e-02 9.76524893e+02] [-3.54960864e-02 9.99366019e-01 2.75466122e-03 2.46241773e+02] [ 1.96355299e-02 -2.05844485e-03 9.99805085e-01 -1.58154484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.5653361949999 meters Centerline goodness : 0.174287 with order 1 Centerline is valid? [False, False] Translation: X:976.57, Y:246.23, Z:-15.82 [[ 9.99211408e-01 3.77056580e-02 -1.24437162e-02 9.76568258e+02] [-3.76497098e-02 9.99279944e-01 4.70022708e-03 2.46234576e+02] [ 1.26119812e-02 -4.22801822e-03 9.99911527e-01 -1.58197932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.6253361949998 meters Centerline goodness : 0.099787 with order 1 Centerline is valid? [False, False] Translation: X:976.59, Y:246.23, Z:-15.82 [[ 9.99223697e-01 3.58097773e-02 -1.64214471e-02 9.76594570e+02] [-3.57042693e-02 9.99340114e-01 6.67389162e-03 2.46232381e+02] [ 1.66496014e-02 -6.08239489e-03 9.99842885e-01 -1.58182920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.685336195 meters Centerline goodness : 0.179935 with order 1 Centerline is valid? [False, False] Translation: X:976.64, Y:246.23, Z:-15.83 [[ 9.99252596e-01 3.71317307e-02 -1.07463490e-02 9.76642643e+02] [-3.70623060e-02 9.99291234e-01 6.58897760e-03 2.46228822e+02] [ 1.09833925e-02 -6.18576850e-03 9.99920548e-01 -1.58258249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.745336195 meters Centerline goodness : 0.088797 with order 1 Centerline is valid? [False, False] Translation: X:976.66, Y:246.23, Z:-15.83 [[ 9.99193856e-01 3.83969672e-02 -1.17179891e-02 9.76656156e+02] [-3.83159865e-02 9.99240741e-01 7.05885946e-03 2.46228137e+02] [ 1.19801309e-02 -6.60418269e-03 9.99906426e-01 -1.58321087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.8053361949999 meters Centerline goodness : 0.192784 with order 1 Centerline is valid? [False, False] Translation: X:976.66, Y:246.23, Z:-15.83 [[ 9.99174610e-01 3.86818405e-02 -1.24021943e-02 9.76662486e+02] [-3.85959724e-02 9.99229746e-01 7.08987609e-03 2.46228095e+02] [ 1.26668909e-02 -6.60534943e-03 9.99897954e-01 -1.58342154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.8653361949998 meters SLAMing on 1117.9253361949998 meters Centerline goodness : 0.116702 with order 1 Centerline is valid? [False, False] Translation: X:976.76, Y:246.23, Z:-15.83 [[ 9.98930713e-01 4.42793974e-02 -1.32953517e-02 9.76756974e+02] [-4.41685009e-02 9.98987747e-01 8.52203399e-03 2.46229049e+02] [ 1.36592440e-02 -7.92568573e-03 9.99875297e-01 -1.58341411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.985336195 meters SLAMing on 1118.045336195 meters Centerline goodness : 0.115314 with order 1 Centerline is valid? [False, False] Translation: X:976.81, Y:246.23, Z:-15.84 [[ 9.98898568e-01 4.62026927e-02 -8.18300365e-03 9.76812855e+02] [-4.61315548e-02 9.98897672e-01 8.67873370e-03 2.46231983e+02] [ 8.57496416e-03 -8.29167999e-03 9.99928856e-01 -1.58449352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.1053361949998 meters Centerline goodness : 0.116943 with order 1 Centerline is valid? [False, False] Translation: X:976.84, Y:246.23, Z:-15.84 [[ 9.98915322e-01 4.50489992e-02 -1.17799815e-02 9.76838018e+02] [-4.48855989e-02 9.98897007e-01 1.37859343e-02 2.46233287e+02] [ 1.23880308e-02 -1.32422295e-02 9.99835577e-01 -1.58416688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.1653361949998 meters Centerline goodness : 0.115627 with order 1 Centerline is valid? [False, False] Translation: X:976.88, Y:246.24, Z:-15.84 [[ 9.99003116e-01 4.44488774e-02 -4.13172534e-03 9.76876304e+02] [-4.43940552e-02 9.98935537e-01 1.25283669e-02 2.46235161e+02] [ 4.68419912e-03 -1.23324536e-02 9.99912981e-01 -1.58441510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.225336195 meters Centerline goodness : 0.115528 with order 1 Centerline is valid? [False, False] Translation: X:976.90, Y:246.24, Z:-15.84 [[ 9.99142188e-01 4.06534559e-02 -7.88577387e-03 9.76903476e+02] [-4.05421188e-02 9.99082540e-01 1.37991153e-02 2.46241088e+02] [ 8.43952072e-03 -1.34675723e-02 9.99873692e-01 -1.58417065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.285336195 meters Centerline goodness : 0.145680 with order 1 Centerline is valid? [False, False] Translation: X:976.93, Y:246.25, Z:-15.84 [[ 9.99260091e-01 3.66663387e-02 -1.16124838e-02 9.76929938e+02] [-3.64882702e-02 9.99218601e-01 1.51918790e-02 2.46245240e+02] [ 1.21604404e-02 -1.47569189e-02 9.99817162e-01 -1.58405549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.3453361949998 meters Centerline goodness : 0.115985 with order 1 Centerline is valid? [False, False] Translation: X:976.96, Y:246.24, Z:-15.85 [[ 9.99474608e-01 3.22936891e-02 -2.76129325e-03 9.76956465e+02] [-3.22385700e-02 9.99316308e-01 1.80995037e-02 2.46243933e+02] [ 3.34390512e-03 -1.80009743e-02 9.99832378e-01 -1.58526810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.4053361949998 meters Centerline goodness : 0.116499 with order 1 Centerline is valid? [False, False] Translation: X:976.96, Y:246.25, Z:-15.85 [[ 9.99612844e-01 2.76273257e-02 -3.30037248e-03 9.76960811e+02] [-2.75804978e-02 9.99528707e-01 1.34788865e-02 2.46246023e+02] [ 3.67120263e-03 -1.33826422e-02 9.99903709e-01 -1.58535457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.465336195 meters Centerline goodness : 0.118806 with order 1 Centerline is valid? [False, False] Translation: X:976.99, Y:246.25, Z:-15.85 [[ 9.99780238e-01 1.96745073e-02 -7.23808747e-03 9.76989673e+02] [-1.95924799e-02 9.99744930e-01 1.12342788e-02 2.46250262e+02] [ 7.45727015e-03 -1.10899978e-02 9.99910697e-01 -1.58535932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.525336195 meters Centerline goodness : 0.118236 with order 1 Centerline is valid? [False, False] Translation: X:976.99, Y:246.25, Z:-15.85 [[ 9.99845509e-01 1.57953304e-02 -7.71142635e-03 9.76992485e+02] [-1.57439246e-02 9.99853729e-01 6.68198230e-03 2.46254311e+02] [ 7.81584251e-03 -6.55954188e-03 9.99947941e-01 -1.58537468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.5853361949999 meters Centerline goodness : 0.117912 with order 1 Centerline is valid? [False, False] Translation: X:977.02, Y:246.25, Z:-15.85 [[ 9.99902194e-01 9.50267455e-03 -1.02616335e-02 9.77015378e+02] [-9.41153566e-03 9.99916160e-01 8.89358298e-03 2.46252718e+02] [ 1.03452859e-02 -8.79613541e-03 9.99907797e-01 -1.58477442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.6453361949998 meters Centerline goodness : 0.121490 with order 1 Centerline is valid? [False, False] Translation: X:977.02, Y:246.26, Z:-15.85 [[ 9.99927619e-01 5.46814879e-03 -1.07171193e-02 9.77018159e+02] [-5.42062093e-03 9.99975368e-01 4.45880209e-03 2.46255107e+02] [ 1.07412367e-02 -4.40038591e-03 9.99932629e-01 -1.58479370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.705336195 meters Centerline goodness : 0.121692 with order 1 Centerline is valid? [False, False] Translation: X:977.02, Y:246.25, Z:-15.85 [[ 9.99936775e-01 1.49001621e-03 -1.11456409e-02 9.77021778e+02] [-1.48502461e-03 9.99998793e-01 4.56115219e-04 2.46254739e+02] [ 1.11463071e-02 -4.39534830e-04 9.99937781e-01 -1.58481557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.765336195 meters Centerline goodness : 0.120999 with order 1 Centerline is valid? [False, False] Translation: X:977.03, Y:246.25, Z:-15.85 [[ 9.99932222e-01 1.15832576e-03 -1.15848491e-02 9.77025520e+02] [-1.14379879e-03 9.99998551e-01 1.26050979e-03 2.46247095e+02] [ 1.15862924e-02 -1.24717362e-03 9.99932099e-01 -1.58485479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.8253361949999 meters Centerline goodness : 0.121926 with order 1 Centerline is valid? [False, False] Translation: X:977.03, Y:246.24, Z:-15.85 [[ 9.99928055e-01 1.43226782e-03 -1.19093934e-02 9.77027523e+02] [-1.40988586e-03 9.99997225e-01 1.88753703e-03 2.46243104e+02] [ 1.19120638e-02 -1.87061035e-03 9.99927299e-01 -1.58483607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.8853361949998 meters Centerline goodness : 0.116826 with order 1 Centerline is valid? [False, False] Translation: X:977.03, Y:246.24, Z:-15.85 [[ 9.99923319e-01 2.04837788e-03 -1.22130811e-02 9.77030211e+02] [-2.01453148e-03 9.99994098e-01 2.78298246e-03 2.46238270e+02] [ 1.22187096e-02 -2.75816542e-03 9.99921545e-01 -1.58483676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.945336195 meters Centerline goodness : 0.115792 with order 1 Centerline is valid? [False, False] Translation: X:977.03, Y:246.23, Z:-15.85 [[ 9.99917967e-01 2.87277313e-03 -1.24822576e-02 9.77033065e+02] [-2.82529166e-03 9.99988713e-01 3.81988730e-03 2.46232660e+02] [ 1.24930904e-02 -3.78430793e-03 9.99914797e-01 -1.58487417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.005336195 meters Centerline goodness : 0.093736 with order 1 Centerline is valid? [False, False] Translation: X:977.05, Y:246.23, Z:-15.86 [[ 9.99964462e-01 7.40280337e-03 -4.03409999e-03 9.77049314e+02] [-7.40798703e-03 9.99971752e-01 -1.27153638e-03 2.46232290e+02] [ 4.02457310e-03 1.30137575e-03 9.99991055e-01 -1.58550547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.0653361949999 meters Centerline goodness : 0.093972 with order 1 Centerline is valid? [False, False] Translation: X:977.05, Y:246.23, Z:-15.86 [[ 9.99915912e-01 1.21975395e-02 -4.40323769e-03 9.77051951e+02] [-1.21806351e-02 9.99918418e-01 3.84571153e-03 2.46227421e+02] [ 4.44978668e-03 -3.79175392e-03 9.99982911e-01 -1.58552210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.1253361949998 meters Centerline goodness : 0.096218 with order 1 Centerline is valid? [False, False] Translation: X:977.06, Y:246.22, Z:-15.86 [[ 9.99864338e-01 1.56658397e-02 -5.08800921e-03 9.77059037e+02] [-1.56274769e-02 9.99849799e-01 7.49405270e-03 2.46222857e+02] [ 5.20464562e-03 -7.41352330e-03 9.99958975e-01 -1.58591340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.185336195 meters Centerline goodness : 0.098017 with order 1 Centerline is valid? [False, False] Translation: X:977.06, Y:246.22, Z:-15.86 [[ 9.99861531e-01 1.57844349e-02 -5.26975032e-03 9.77059883e+02] [-1.57439342e-02 9.99846864e-01 7.64051475e-03 2.46222119e+02] [ 5.38954454e-03 -7.55649017e-03 9.99956925e-01 -1.58593097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.245336195 meters Centerline goodness : 0.100395 with order 1 Centerline is valid? [False, False] Translation: X:977.06, Y:246.22, Z:-15.86 [[ 9.99851950e-01 1.62268705e-02 -5.72423785e-03 9.77062593e+02] [-1.61797525e-02 9.99835607e-01 8.18376580e-03 2.46219610e+02] [ 5.85609374e-03 -8.08993744e-03 9.99950128e-01 -1.58594564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.3053361949999 meters Centerline goodness : 0.102423 with order 1 Centerline is valid? [False, False] Translation: X:977.15, Y:246.20, Z:-15.86 [[ 9.99630749e-01 1.51170098e-02 -2.25796814e-02 9.77147003e+02] [-1.48025456e-02 9.99792005e-01 1.40296857e-02 2.46200152e+02] [ 2.27870718e-02 -1.36902684e-02 9.99646601e-01 -1.58558235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.3653361949998 meters Centerline goodness : 0.104737 with order 1 Centerline is valid? [False, False] Translation: X:977.17, Y:246.20, Z:-15.86 [[ 9.99730856e-01 1.70492008e-02 -1.57334267e-02 9.77166729e+02] [-1.69438374e-02 9.99833279e-01 6.80597321e-03 2.46198876e+02] [ 1.58468400e-02 -6.53755680e-03 9.99853058e-01 -1.58627617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.4253361949998 meters Centerline goodness : 0.104936 with order 1 Centerline is valid? [False, False] Translation: X:977.17, Y:246.20, Z:-15.86 [[ 9.99764731e-01 1.43287728e-02 -1.62840276e-02 9.77170276e+02] [-1.42903370e-02 9.99894827e-01 2.47425478e-03 2.46202395e+02] [ 1.63177680e-02 -2.24096843e-03 9.99864345e-01 -1.58628675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.485336195 meters Centerline goodness : 0.107541 with order 1 Centerline is valid? [False, False] Translation: X:977.20, Y:246.20, Z:-15.86 [[ 9.99815912e-01 1.70462912e-02 -8.80713794e-03 9.77196009e+02] [-1.69717045e-02 9.99820049e-01 8.47534413e-03 2.46195387e+02] [ 8.95002626e-03 -8.32431178e-03 9.99925299e-01 -1.58630941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.545336195 meters Centerline goodness : 0.107248 with order 1 Centerline is valid? [False, False] Translation: X:977.20, Y:246.20, Z:-15.86 [[ 9.99802423e-01 1.74706244e-02 -9.48113935e-03 9.77199351e+02] [-1.73923541e-02 9.99814490e-01 8.27597182e-03 2.46196722e+02] [ 9.62396690e-03 -8.10943734e-03 9.99920805e-01 -1.58627496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.6053361949998 meters Centerline goodness : 0.106437 with order 1 Centerline is valid? [False, False] Translation: X:977.20, Y:246.20, Z:-15.86 [[ 9.99797568e-01 1.75676268e-02 -9.80827780e-03 9.77200829e+02] [-1.74887403e-02 9.99814480e-01 8.07151321e-03 2.46197606e+02] [ 9.94825550e-03 -7.89834485e-03 9.99919321e-01 -1.58624268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.6653361949998 meters Centerline goodness : 0.104267 with order 1 Centerline is valid? [False, False] Translation: X:977.20, Y:246.20, Z:-15.86 [[ 9.99847993e-01 1.41744432e-02 -1.01526722e-02 9.77203214e+02] [-1.41405821e-02 9.99894239e-01 3.39925557e-03 2.46201545e+02] [ 1.01997810e-02 -3.25517416e-03 9.99942683e-01 -1.58625403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.725336195 meters Centerline goodness : 0.103401 with order 1 Centerline is valid? [False, False] Translation: X:977.20, Y:246.20, Z:-15.86 [[ 9.99894394e-01 1.00309703e-02 -1.05156980e-02 9.77204899e+02] [-1.00430393e-02 9.99948967e-01 -1.09553495e-03 2.46202828e+02] [ 1.05041721e-02 1.20102882e-03 9.99944108e-01 -1.58625201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.785336195 meters Centerline goodness : 0.101124 with order 1 Centerline is valid? [False, False] Translation: X:977.16, Y:246.20, Z:-15.87 [[ 9.99947096e-01 6.73478064e-03 -7.77479009e-03 9.77159137e+02] [-6.75890510e-03 9.99972413e-01 -3.08081390e-03 2.46203911e+02] [ 7.75382699e-03 3.13319999e-03 9.99965030e-01 -1.58650407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.8453361949998 meters Centerline goodness : 0.099242 with order 1 Centerline is valid? [False, False] Translation: X:977.18, Y:246.20, Z:-15.87 [[ 9.99994893e-01 -6.87954515e-04 -3.12093232e-03 9.77179997e+02] [ 6.86627956e-04 9.99999673e-01 -4.26103481e-04 2.46200336e+02] [ 3.12122444e-03 4.23958386e-04 9.99995039e-01 -1.58685321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.9053361949998 meters Centerline goodness : 0.076780 with order 1 Centerline is valid? [False, False] Translation: X:977.18, Y:246.20, Z:-15.87 [[ 9.99982248e-01 -5.11441438e-03 -3.05718259e-03 9.77180042e+02] [ 5.10208759e-03 9.99978878e-01 -4.02636545e-03 2.46195691e+02] [ 3.07771052e-03 4.01069596e-03 9.99987221e-01 -1.58680587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.965336195 meters Centerline goodness : 0.443118 with order 1 Centerline is valid? [False, False] Translation: X:977.20, Y:246.20, Z:-15.87 [[ 9.99974474e-01 -6.96592552e-03 1.58979851e-03 9.77197172e+02] [ 6.99262049e-03 9.99823220e-01 -1.74537263e-02 2.46199305e+02] [-1.46793611e-03 1.74643977e-02 9.99846408e-01 -1.58705949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.025336195 meters Centerline goodness : 0.096901 with order 1 Centerline is valid? [False, False] Translation: X:977.20, Y:246.19, Z:-15.87 [[ 9.99937559e-01 -1.10820733e-02 1.43735961e-03 9.77197755e+02] [ 1.11096598e-02 9.99720592e-01 -2.08641647e-02 2.46194206e+02] [-1.20573980e-03 2.08788305e-02 9.99781286e-01 -1.58706108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.0853361949999 meters Centerline goodness : 0.981148 with order 1 Centerline is valid? [False, True] Translation: X:977.22, Y:246.19, Z:-15.88 [[ 9.99906417e-01 -1.24644495e-02 5.63860405e-03 9.77218801e+02] [ 1.26420349e-02 9.99387241e-01 -3.26392758e-02 2.46190339e+02] [-5.22831833e-03 3.27075048e-02 9.99451291e-01 -1.58757373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.1453361949998 meters Centerline goodness : 0.979791 with order 1 Centerline is valid? [True, True] Translation: X:977.28, Y:246.16, Z:-15.87 [[ 9.99887608e-01 -1.38633543e-02 5.70772392e-03 9.77279167e+02] [ 1.38636461e-02 9.99903895e-01 -1.15598526e-05 2.46163147e+02] [-5.70701512e-03 9.06884176e-05 9.99983711e-01 -1.58746670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.205336195 meters Centerline goodness : 0.985023 with order 1 Centerline is valid? [True, True] Translation: X:977.34, Y:246.15, Z:-15.87 [[ 9.99878137e-01 -1.45304277e-02 5.70772380e-03 9.77340896e+02] [ 1.45307307e-02 9.99894423e-01 -1.16226585e-05 2.46154702e+02] [-5.70695231e-03 9.45586394e-05 9.99983711e-01 -1.58725700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.265336195 meters Centerline goodness : 0.987116 with order 1 Centerline is valid? [True, True] Translation: X:977.40, Y:246.15, Z:-15.87 [[ 9.99900989e-01 -1.28620798e-02 5.70772354e-03 9.77401228e+02] [ 1.28623563e-02 9.99917276e-01 -1.17474428e-05 2.46147666e+02] [-5.70710028e-03 8.51610538e-05 9.99983711e-01 -1.58711351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.3253361949999 meters Centerline goodness : 0.989023 with order 1 Centerline is valid? [True, True] Translation: X:977.46, Y:246.14, Z:-15.87 [[ 9.99947132e-01 -8.55303652e-03 5.70772354e-03 9.77460344e+02] [ 8.55324290e-03 9.99963420e-01 -1.17474427e-05 2.46138343e+02] [-5.70741428e-03 6.05663675e-05 9.99983711e-01 -1.58700514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.3853361949998 meters Centerline goodness : 0.992316 with order 1 Centerline is valid? [True, True] Translation: X:977.52, Y:246.13, Z:-15.87 [[ 9.99983379e-01 -8.14306091e-04 5.70772356e-03 9.77521330e+02] [ 8.14386348e-04 9.99999668e-01 -1.17369342e-05 2.46132680e+02] [-5.70771211e-03 1.63850313e-05 9.99983711e-01 -1.58650298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.445336195 meters Centerline goodness : 0.993226 with order 1 Centerline is valid? [True, True] Translation: X:977.58, Y:246.13, Z:-15.86 [[ 9.99973546e-01 4.50881721e-03 5.70772321e-03 9.77583917e+02] [-4.50882269e-03 9.99989835e-01 -1.19064973e-05 2.46129686e+02] [-5.70771887e-03 -1.38289296e-05 9.99983711e-01 -1.58636699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.505336195 meters Centerline goodness : 0.994043 with order 1 Centerline is valid? [True, True] Translation: X:977.65, Y:246.12, Z:-15.87 [[ 9.99928535e-01 1.05045911e-02 5.70772266e-03 9.77645544e+02] [-1.05046928e-02 9.99944824e-01 -1.21615043e-05 2.46124628e+02] [-5.70753549e-03 -4.77972378e-05 9.99983711e-01 -1.58692146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.5653361949999 meters Centerline goodness : 0.995890 with order 1 Centerline is valid? [True, True] Translation: X:977.71, Y:246.12, Z:-15.87 [[ 9.99899146e-01 1.30045664e-02 5.70772212e-03 9.77707353e+02] [-1.30047074e-02 9.99915435e-01 -1.24124429e-05 2.46122246e+02] [-5.70740086e-03 -6.18160649e-05 9.99983711e-01 -1.58702996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.6253361949998 meters Centerline goodness : 0.997120 with order 1 Centerline is valid? [True, True] Translation: X:977.77, Y:246.12, Z:-15.87 [[ 9.99868593e-01 1.51729595e-02 5.70772009e-03 9.77769174e+02] [-1.51731309e-02 9.99884881e-01 -1.32832547e-05 2.46116518e+02] [-5.70726457e-03 -7.33224748e-05 9.99983711e-01 -1.58703829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.685336195 meters Centerline goodness : 0.997250 with order 1 Centerline is valid? [True, True] Translation: X:977.83, Y:246.11, Z:-15.87 [[ 9.99825432e-01 1.77912374e-02 5.70771795e-03 9.77830862e+02] [-1.77914465e-02 9.99841720e-01 -1.41459240e-05 2.46111605e+02] [-5.70706621e-03 -8.74051038e-05 9.99983711e-01 -1.58716687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.745336195 meters Centerline goodness : 0.998436 with order 1 Centerline is valid? [True, True] Translation: X:977.89, Y:246.11, Z:-15.87 [[ 9.99769379e-01 2.07029342e-02 5.70771554e-03 9.77893365e+02] [-2.07031855e-02 9.99785666e-01 -1.50591338e-05 2.46111461e+02] [-5.70680395e-03 -1.03112233e-04 9.99983711e-01 -1.58740687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.8053361949999 meters Centerline goodness : 0.999130 with order 1 Centerline is valid? [True, True] Translation: X:977.95, Y:246.11, Z:-15.88 [[ 9.99719512e-01 2.29851876e-02 5.70771300e-03 9.77954301e+02] [-2.29854709e-02 9.99735799e-01 -1.59690845e-05 2.46109986e+02] [-5.70657207e-03 -1.15229866e-04 9.99983711e-01 -1.58751522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.8653361949998 meters Centerline goodness : 0.999135 with order 1 Centerline is valid? [True, True] Translation: X:978.02, Y:246.11, Z:-15.87 [[ 9.99678130e-01 2.47196007e-02 5.70771053e-03 9.78016021e+02] [-2.47199074e-02 9.99694416e-01 -1.68066731e-05 2.46109240e+02] [-5.70638180e-03 -1.24292812e-04 9.99983711e-01 -1.58735439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.9253361949998 meters Centerline goodness : 0.999247 with order 1 Centerline is valid? [True, True] Translation: X:978.08, Y:246.11, Z:-15.87 [[ 9.99670274e-01 2.50352822e-02 5.70770779e-03 9.78078646e+02] [-2.50355891e-02 9.99686560e-01 -1.76904804e-05 2.46109230e+02] [-5.70636166e-03 -1.25211179e-04 9.99983711e-01 -1.58724294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.985336195 meters Centerline goodness : 0.999537 with order 1 Centerline is valid? [True, True] Translation: X:978.14, Y:246.11, Z:-15.87 [[ 9.99675834e-01 2.48122826e-02 5.70770442e-03 9.78140864e+02] [-2.48125800e-02 9.99692120e-01 -1.87187880e-05 2.46109775e+02] [-5.70641159e-03 -1.22910152e-04 9.99983711e-01 -1.58714757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.045336195 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:978.20, Y:246.11, Z:-15.87 [[ 9.99739956e-01 2.20780919e-02 5.70770131e-03 9.78203700e+02] [-2.20783395e-02 9.99756244e-01 -1.96238817e-05 2.46111785e+02] [-5.70674328e-03 -1.06397789e-04 9.99983711e-01 -1.58717887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.1053361949998 meters Centerline goodness : 0.999627 with order 1 Centerline is valid? [True, True] Translation: X:978.27, Y:246.11, Z:-15.87 [[ 9.99767688e-01 2.07844320e-02 5.70769748e-03 9.78266767e+02] [-2.07846525e-02 9.99783976e-01 -2.06798486e-05 2.46112262e+02] [-5.70689430e-03 -9.79574645e-05 9.99983711e-01 -1.58725511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.1653361949998 meters Centerline goodness : 0.999628 with order 1 Centerline is valid? [True, True] Translation: X:978.33, Y:246.11, Z:-15.87 [[ 9.99887761e-01 1.38523812e-02 5.70769343e-03 9.78330128e+02] [-1.38524827e-02 9.99904050e-01 -2.17435042e-05 2.46111194e+02] [-5.70744697e-03 -5.73246610e-05 9.99983711e-01 -1.58729959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.225336195 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:978.39, Y:246.11, Z:-15.87 [[ 9.99955084e-01 7.56652517e-03 5.70768909e-03 9.78391864e+02] [-7.56651813e-03 9.99971373e-01 -2.28275934e-05 2.46110008e+02] [-5.70769843e-03 -2.03607649e-05 9.99983711e-01 -1.58666732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.285336195 meters Centerline goodness : 0.999629 with order 1 Centerline is valid? [True, True] Translation: X:978.45, Y:246.11, Z:-15.87 [[ 9.99981125e-01 2.27431726e-03 5.70768510e-03 9.78453007e+02] [-2.27421854e-03 9.99997414e-01 -2.37863363e-05 2.46110236e+02] [-5.70772443e-03 1.08053640e-05 9.99983711e-01 -1.58726087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.3453361949998 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:978.52, Y:246.11, Z:-15.87 [[ 9.99983432e-01 -7.46506687e-04 5.70768128e-03 9.78515749e+02] [ 7.46659651e-04 9.99999721e-01 -2.46688232e-05 2.46107300e+02] [-5.70766128e-03 2.89301098e-05 9.99983711e-01 -1.58740745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.4053361949998 meters Centerline goodness : 0.999696 with order 1 Centerline is valid? [True, True] Translation: X:978.58, Y:246.11, Z:-15.87 [[ 9.99981340e-01 -2.17760574e-03 5.70767639e-03 9.78577362e+02] [ 2.17778820e-03 9.99997628e-01 -2.57525494e-05 2.46105355e+02] [-5.70760678e-03 3.81821792e-05 9.99983711e-01 -1.58723484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.465336195 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:978.64, Y:246.10, Z:-15.87 [[ 9.99978286e-01 -3.29408337e-03 5.70767231e-03 9.78639986e+02] [ 3.29428901e-03 9.99994573e-01 -2.66281212e-05 2.46103293e+02] [-5.70755362e-03 4.54302652e-05 9.99983711e-01 -1.58713286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.525336195 meters Centerline goodness : 0.999413 with order 1 Centerline is valid? [True, True] Translation: X:978.70, Y:246.10, Z:-15.87 [[ 9.99970833e-01 -5.07506710e-03 5.70767096e-03 9.78701954e+02] [ 5.07530339e-03 9.99987120e-01 -2.69143943e-05 2.46098311e+02] [-5.70746085e-03 5.58817710e-05 9.99983711e-01 -1.58686136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.5853361949999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:978.76, Y:246.09, Z:-15.87 [[ 9.99968606e-01 -5.49633877e-03 5.70766577e-03 9.78764398e+02] [ 5.49658796e-03 9.99984893e-01 -2.79730951e-05 2.46092688e+02] [-5.70742580e-03 5.93449039e-05 9.99983711e-01 -1.58742712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.6453361949998 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:978.83, Y:246.09, Z:-15.88 [[ 9.99973124e-01 -4.60150865e-03 5.70766436e-03 9.78825155e+02] [ 4.60174488e-03 9.99989412e-01 -2.82573568e-05 2.46088541e+02] [-5.70747390e-03 5.45218126e-05 9.99983711e-01 -1.58759063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.705336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:978.89, Y:246.08, Z:-15.87 [[ 9.99983674e-01 2.72196071e-04 5.70766331e-03 9.78886766e+02] [-2.72038012e-04 9.99999963e-01 -2.84688157e-05 2.46084679e+02] [-5.70767084e-03 2.69156495e-05 9.99983711e-01 -1.58723479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.765336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:978.95, Y:246.08, Z:-15.87 [[ 9.99939002e-01 9.45592277e-03 5.70766261e-03 9.78948451e+02] [-9.45591352e-03 9.99955291e-01 -2.86078536e-05 2.46081728e+02] [-5.70767794e-03 -2.53650554e-05 9.99983711e-01 -1.58717277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.8253361949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:979.01, Y:246.08, Z:-15.87 [[ 9.99848507e-01 1.64434262e-02 5.70766120e-03 9.79010120e+02] [-1.64435292e-02 9.99864796e-01 -2.88870889e-05 2.46081537e+02] [-5.70736450e-03 -6.49713810e-05 9.99983711e-01 -1.58733665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.8853361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:979.07, Y:246.08, Z:-15.88 [[ 9.99665262e-01 2.52346460e-02 5.70765944e-03 9.79072227e+02] [-2.52348903e-02 9.99681549e-01 -2.92313014e-05 2.46082205e+02] [-5.70657947e-03 -1.14810643e-04 9.99983711e-01 -1.58756211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.945336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:979.13, Y:246.08, Z:-15.88 [[ 9.99499801e-01 3.11057799e-02 5.70765797e-03 9.79133941e+02] [-3.11061182e-02 9.99516087e-01 -2.95146712e-05 2.46084845e+02] [-5.70581404e-03 -1.48043175e-04 9.99983711e-01 -1.58764880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.005336195 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:979.20, Y:246.09, Z:-15.88 [[ 9.99418567e-01 3.36147409e-02 5.70765237e-03 9.79196478e+02] [-3.36151141e-02 9.99434852e-01 -3.05598913e-05 2.46087381e+02] [-5.70545397e-03 -1.61321263e-04 9.99983711e-01 -1.58765792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.0653361949999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:979.26, Y:246.09, Z:-15.87 [[ 9.99363140e-01 3.52241065e-02 5.70764629e-03 9.79259806e+02] [-3.52244997e-02 9.99379424e-01 -3.16560846e-05 2.46090594e+02] [-5.70521933e-03 -1.69413061e-04 9.99983711e-01 -1.58740865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.1253361949998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:979.32, Y:246.10, Z:-15.87 [[ 9.99365689e-01 3.51517055e-02 5.70764007e-03 9.79323078e+02] [-3.51520913e-02 9.99381974e-01 -3.27417726e-05 2.46095969e+02] [-5.70526352e-03 -1.67914480e-04 9.99983711e-01 -1.58743989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.185336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:979.39, Y:246.10, Z:-15.88 [[ 9.99428971e-01 3.33039771e-02 5.70763353e-03 9.79385544e+02] [-3.33043265e-02 9.99445256e-01 -3.38444857e-05 2.46101861e+02] [-5.70559441e-03 -1.56263731e-04 9.99983711e-01 -1.58774140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.245336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:979.45, Y:246.11, Z:-15.88 [[ 9.99507327e-01 3.08630213e-02 5.70762940e-03 9.79447347e+02] [-3.08633270e-02 9.99523613e-01 -3.45269453e-05 2.46105174e+02] [-5.70597597e-03 -1.41646498e-04 9.99983711e-01 -1.58809654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.3053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:979.51, Y:246.11, Z:-15.88 [[ 9.99652926e-01 2.57186920e-02 5.70762369e-03 9.79509915e+02] [-2.57189087e-02 9.99669214e-01 -3.54468879e-05 2.46109156e+02] [-5.70664733e-03 -1.11359267e-04 9.99983711e-01 -1.58804055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.3653361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:979.57, Y:246.11, Z:-15.88 [[ 9.99738033e-01 2.21650490e-02 5.70761645e-03 9.79572221e+02] [-2.21652013e-02 9.99754321e-01 -3.65756298e-05 2.46113187e+02] [-5.70702491e-03 -8.99444194e-05 9.99983711e-01 -1.58805903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.4253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:979.64, Y:246.12, Z:-15.88 [[ 9.99763227e-01 2.09979501e-02 5.70760953e-03 9.79635248e+02] [-2.09980775e-02 9.99779515e-01 -3.76253946e-05 2.46116751e+02] [-5.70714115e-03 -8.22323412e-05 9.99983711e-01 -1.58791586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:979.70, Y:246.12, Z:-15.88 [[ 9.99781054e-01 2.01312680e-02 5.70760199e-03 9.79697806e+02] [-2.01313749e-02 9.99797343e-01 -3.87363003e-05 2.46121642e+02] [-5.70722512e-03 -7.61740563e-05 9.99983711e-01 -1.58776100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:979.76, Y:246.12, Z:-15.88 [[ 9.99798949e-01 1.92220101e-02 5.70759422e-03 9.79760043e+02] [-1.92220958e-02 9.99815238e-01 -3.98496536e-05 2.46124927e+02] [-5.70730566e-03 -6.98702809e-05 9.99983711e-01 -1.58788862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.6053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:979.82, Y:246.13, Z:-15.88 [[ 9.99823562e-01 1.78960251e-02 5.70758931e-03 9.79823129e+02] [-1.78960853e-02 9.99839851e-01 -4.05403099e-05 2.46131226e+02] [-5.70740076e-03 -6.16103479e-05 9.99983711e-01 -1.58804475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.6653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:979.89, Y:246.14, Z:-15.88 [[ 9.99866200e-01 1.53298831e-02 5.70758094e-03 9.79885074e+02] [-1.53298949e-02 9.99882489e-01 -4.16867631e-05 2.46136149e+02] [-5.70754929e-03 -4.58154303e-05 9.99983711e-01 -1.58825419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.725336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:979.95, Y:246.14, Z:-15.88 [[ 9.99903304e-01 1.26809562e-02 5.70757568e-03 9.79946726e+02] [-1.26809208e-02 9.99919593e-01 -4.23949920e-05 2.46140636e+02] [-5.70765436e-03 -2.99864225e-05 9.99983711e-01 -1.58838119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:980.01, Y:246.14, Z:-15.88 [[ 9.99934270e-01 9.94376984e-03 5.70756814e-03 9.80009442e+02] [-9.94368417e-03 9.99950559e-01 -4.33872804e-05 2.46144385e+02] [-5.70771739e-03 -1.33698264e-05 9.99983711e-01 -1.58820281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.8453361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:980.07, Y:246.15, Z:-15.88 [[ 9.99942964e-01 9.02732058e-03 5.70755942e-03 9.80072384e+02] [-9.02721360e-03 9.99959253e-01 -4.45058362e-05 2.46146170e+02] [-5.70772862e-03 -7.02006025e-06 9.99983711e-01 -1.58829661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.9053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:980.13, Y:246.15, Z:-15.88 [[ 9.99948261e-01 8.42014633e-03 5.70755051e-03 9.80134683e+02] [-8.42002309e-03 9.99964550e-01 -4.56202188e-05 2.46148123e+02] [-5.70773230e-03 -2.43984862e-06 9.99983711e-01 -1.58849451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.965336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:980.20, Y:246.15, Z:-15.89 [[ 9.99951130e-01 8.07228602e-03 5.70754205e-03 9.80197774e+02] [-8.07215121e-03 9.99967419e-01 -4.66548040e-05 2.46149041e+02] [-5.70773270e-03 5.80381458e-07 9.99983711e-01 -1.58860002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.025336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:980.26, Y:246.15, Z:-15.89 [[ 9.99954440e-01 7.65128309e-03 5.70753251e-03 9.80259541e+02] [-7.65113493e-03 9.99970728e-01 -4.77942891e-05 2.46152340e+02] [-5.70773113e-03 4.12301027e-06 9.99983711e-01 -1.58891055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.0853361949999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:980.32, Y:246.15, Z:-15.89 [[ 9.99959957e-01 6.89260134e-03 5.70752410e-03 9.80321718e+02] [-6.89243520e-03 9.99976246e-01 -4.87781060e-05 2.46152971e+02] [-5.70772473e-03 9.43741274e-06 9.99983711e-01 -1.58880024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.1453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:980.38, Y:246.16, Z:-15.89 [[ 9.99970728e-01 5.09590131e-03 5.70751498e-03 9.80383756e+02] [-5.09569994e-03 9.99987016e-01 -4.98234715e-05 2.46156258e+02] [-5.70769476e-03 2.07382293e-05 9.99983711e-01 -1.58899122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:980.45, Y:246.16, Z:-15.89 [[ 9.99977657e-01 3.48003448e-03 5.70750577e-03 9.80445568e+02] [-3.47980089e-03 9.99993944e-01 -5.08561432e-05 2.46158311e+02] [-5.70764819e-03 3.09940232e-05 9.99983711e-01 -1.58872514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.265336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:980.51, Y:246.16, Z:-15.89 [[ 9.99980707e-01 2.45143166e-03 5.70749702e-03 9.80508272e+02] [-2.45117582e-03 9.99996995e-01 -5.18203039e-05 2.46160064e+02] [-5.70760690e-03 3.78292254e-05 9.99983711e-01 -1.58861668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.3253361949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:980.57, Y:246.16, Z:-15.89 [[ 9.99983129e-01 1.07980076e-03 5.70748667e-03 9.80569816e+02] [-1.07951621e-03 9.99999416e-01 -5.29367557e-05 2.46161000e+02] [-5.70754049e-03 4.67745383e-05 9.99983711e-01 -1.58853282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.3853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:980.63, Y:246.16, Z:-15.89 [[ 9.99982718e-01 1.40975800e-03 5.70747687e-03 9.80632936e+02] [-1.40947291e-03 9.99999005e-01 -5.39730750e-05 2.46163139e+02] [-5.70754728e-03 4.59276083e-05 9.99983711e-01 -1.58867889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:980.69, Y:246.16, Z:-15.89 [[ 9.99981996e-01 1.85263267e-03 5.70746600e-03 9.80694381e+02] [-1.85234837e-03 9.99998283e-01 -5.50985985e-05 2.46162419e+02] [-5.70755828e-03 4.45253912e-05 9.99983711e-01 -1.58898438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:980.76, Y:246.16, Z:-15.89 [[ 9.99982308e-01 1.67573251e-03 5.70745712e-03 9.80756609e+02] [-1.67544017e-03 9.99998595e-01 -5.60031143e-05 2.46162077e+02] [-5.70754295e-03 4.64396206e-05 9.99983711e-01 -1.58920890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.5653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:980.82, Y:246.16, Z:-15.89 [[ 9.99983448e-01 7.27707158e-04 5.70744688e-03 9.80819986e+02] [-7.27393518e-04 9.99999734e-01 -5.70283824e-05 2.46159278e+02] [-5.70748686e-03 5.28758786e-05 9.99983711e-01 -1.58902931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.6253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:980.88, Y:246.16, Z:-15.89 [[ 9.99983077e-01 1.12735685e-03 5.70743555e-03 9.80882083e+02] [-1.12704336e-03 9.99999363e-01 -5.81410485e-05 2.46156430e+02] [-5.70749746e-03 5.17075372e-05 9.99983711e-01 -1.58912548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:980.94, Y:246.15, Z:-15.89 [[ 9.99974199e-01 4.36199214e-03 5.70742483e-03 9.80944507e+02] [-4.36172544e-03 9.99990486e-01 -5.91743244e-05 2.46152810e+02] [-5.70762865e-03 3.42785776e-05 9.99983711e-01 -1.58906496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:981.01, Y:246.15, Z:-15.89 [[ 9.99924983e-01 1.08375822e-02 5.70742191e-03 9.81007060e+02] [-1.08374194e-02 9.99941272e-01 -5.94548383e-05 2.46153362e+02] [-5.70773107e-03 -2.40334689e-06 9.99983711e-01 -1.58895073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.8053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:981.07, Y:246.15, Z:-15.89 [[ 9.99869426e-01 1.51181009e-02 5.70741900e-03 9.81069300e+02] [-1.51180062e-02 9.99885715e-01 -5.97324851e-05 2.46154543e+02] [-5.70766977e-03 -2.65601104e-05 9.99983711e-01 -1.58894133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.8653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:981.13, Y:246.16, Z:-15.89 [[ 9.99767793e-01 2.07794655e-02 5.70740808e-03 9.81131871e+02] [-2.07794572e-02 9.99784082e-01 -6.07585207e-05 2.46156397e+02] [-5.70743828e-03 -5.78524298e-05 9.99983711e-01 -1.58897130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.9253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:981.19, Y:246.16, Z:-15.89 [[ 9.99682656e-01 2.45359613e-02 5.70739587e-03 9.81194077e+02] [-2.45360078e-02 9.99698945e-01 -6.18846139e-05 2.46158050e+02] [-5.70719603e-03 -7.81717346e-05 9.99983711e-01 -1.58902142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:981.26, Y:246.16, Z:-15.89 [[ 9.99634468e-01 2.64264336e-02 5.70738823e-03 9.81256950e+02] [-2.64265069e-02 9.99650757e-01 -6.25816902e-05 2.46161657e+02] [-5.70704877e-03 -8.82675200e-05 9.99983711e-01 -1.58898624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:981.32, Y:246.17, Z:-15.89 [[ 9.99594021e-01 2.79144903e-02 5.70737626e-03 9.81319961e+02] [-2.79145817e-02 9.99610310e-01 -6.36548358e-05 2.46165677e+02] [-5.70692904e-03 -9.56900276e-05 9.99983711e-01 -1.58908125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.1053361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:981.38, Y:246.17, Z:-15.89 [[ 9.99599162e-01 2.77297774e-02 5.70736369e-03 9.81381552e+02] [-2.77298595e-02 9.99615451e-01 -6.47627948e-05 2.46169426e+02] [-5.70696479e-03 -9.35275578e-05 9.99983711e-01 -1.58893035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.1653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:981.44, Y:246.18, Z:-15.89 [[ 9.99617941e-01 2.70443818e-02 5.70735580e-03 9.81444998e+02] [-2.70444488e-02 9.99634230e-01 -6.54502455e-05 2.46176459e+02] [-5.70703828e-03 -8.89270521e-05 9.99983711e-01 -1.58923092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:981.51, Y:246.18, Z:-15.89 [[ 9.99652650e-01 2.57294809e-02 5.70734297e-03 9.81508502e+02] [-2.57295202e-02 9.99668939e-01 -6.65512436e-05 2.46179780e+02] [-5.70716581e-03 -8.03190693e-05 9.99983711e-01 -1.58916150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:981.57, Y:246.19, Z:-15.89 [[ 9.99715168e-01 2.31734488e-02 5.70732980e-03 9.81570626e+02] [-2.31734401e-02 9.99731457e-01 -6.76616323e-05 2.46186666e+02] [-5.70736509e-03 -6.46161050e-05 9.99983711e-01 -1.58922009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.3453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:981.63, Y:246.19, Z:-15.89 [[ 9.99758574e-01 2.12183893e-02 5.70731740e-03 9.81633997e+02] [-2.12183428e-02 9.99774863e-01 -6.86920384e-05 2.46191874e+02] [-5.70749001e-03 -5.24243630e-05 9.99983711e-01 -1.58923643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.4053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:981.70, Y:246.20, Z:-15.90 [[ 9.99823590e-01 1.78945731e-02 5.70730382e-03 9.81696278e+02] [-1.78944662e-02 9.99839879e-01 -6.98020438e-05 2.46200226e+02] [-5.70763904e-03 -3.23394252e-05 9.99983711e-01 -1.58950687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:981.76, Y:246.21, Z:-15.90 [[ 9.99882280e-01 1.42426452e-02 5.70729101e-03 9.81757371e+02] [-1.42424729e-02 9.99898568e-01 -7.08348435e-05 2.46208872e+02] [-5.70772098e-03 -1.04594329e-05 9.99983711e-01 -1.58967239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:981.82, Y:246.21, Z:-15.90 [[ 9.99916270e-01 1.16138157e-02 5.70728435e-03 9.81820196e+02] [-1.16135975e-02 9.99932557e-01 -7.13668828e-05 2.46213755e+02] [-5.70772828e-03 5.07880370e-06 9.99983711e-01 -1.58970089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.5853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:981.88, Y:246.22, Z:-15.90 [[ 9.99957542e-01 7.23473603e-03 5.70727046e-03 9.81883599e+02] [-7.23444029e-03 9.99973828e-01 -7.24609973e-05 2.46222204e+02] [-5.70764533e-03 3.11690133e-05 9.99983711e-01 -1.58969398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.6453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:981.94, Y:246.23, Z:-15.90 [[ 9.99981733e-01 1.98997124e-03 5.70725601e-03 9.81944792e+02] [-1.98958369e-03 9.99998018e-01 -7.35822563e-05 2.46228781e+02] [-5.70739112e-03 6.22258487e-05 9.99983711e-01 -1.59003342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:982.01, Y:246.23, Z:-15.90 [[ 9.99982166e-01 -1.75945276e-03 5.70724433e-03 9.82007031e+02] [ 1.75990648e-03 9.99998449e-01 -7.44768690e-05 2.46231589e+02] [-5.70710444e-03 8.45197570e-05 9.99983711e-01 -1.59003635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:982.07, Y:246.24, Z:-15.90 [[ 9.99962056e-01 -6.58131797e-03 5.70723098e-03 9.82069590e+02] [ 6.58185595e-03 9.99978337e-01 -7.54859434e-05 2.46236053e+02] [-5.70661055e-03 1.13047251e-04 9.99983711e-01 -1.59031335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.8253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:982.13, Y:246.24, Z:-15.90 [[ 9.99948306e-01 -8.41505912e-03 5.70721574e-03 9.82130839e+02] [ 8.41563343e-03 9.99964585e-01 -7.66216306e-05 2.46238646e+02] [-5.70636884e-03 1.24647505e-04 9.99983711e-01 -1.59031308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.8853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:982.19, Y:246.24, Z:-15.90 [[ 9.99940597e-01 -9.28600849e-03 5.70721303e-03 9.82192698e+02] [ 9.28659813e-03 9.99956876e-01 -7.68229477e-05 2.46240546e+02] [-5.70625353e-03 1.29818978e-04 9.99983711e-01 -1.59027510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:982.25, Y:246.24, Z:-15.90 [[ 9.99939868e-01 -9.36424620e-03 5.70720944e-03 9.82254375e+02] [ 9.36483863e-03 9.99956146e-01 -7.70884948e-05 2.46240571e+02] [-5.70623728e-03 1.30530955e-04 9.99983711e-01 -1.59028070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.005336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:982.32, Y:246.24, Z:-15.90 [[ 9.99949364e-01 -8.28842127e-03 5.70720584e-03 9.82315133e+02] [ 8.28899771e-03 9.99965643e-01 -7.73545327e-05 2.46242496e+02] [-5.70636860e-03 1.24657632e-04 9.99983711e-01 -1.59048600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.0653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:982.38, Y:246.24, Z:-15.91 [[ 9.99952470e-01 -7.90478047e-03 5.70720316e-03 9.82377305e+02] [ 7.90535179e-03 9.99968749e-01 -7.75512552e-05 2.46243238e+02] [-5.70641178e-03 1.22665018e-04 9.99983711e-01 -1.59052148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.1253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:982.44, Y:246.24, Z:-15.90 [[ 9.99945955e-01 -8.68989787e-03 5.70719964e-03 9.82439773e+02] [ 8.69048344e-03 9.99962234e-01 -7.78098371e-05 2.46241953e+02] [-5.70630794e-03 1.27403956e-04 9.99983711e-01 -1.59038739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:982.50, Y:246.24, Z:-15.90 [[ 9.99939909e-01 -9.35982839e-03 5.70719581e-03 9.82500467e+02] [ 9.36042646e-03 9.99956187e-01 -7.80897335e-05 2.46238854e+02] [-5.70621485e-03 1.31506828e-04 9.99983711e-01 -1.59039212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.245336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:982.56, Y:246.24, Z:-15.90 [[ 9.99936487e-01 -9.71850876e-03 5.70719295e-03 9.82561601e+02] [ 9.71911385e-03 9.99952765e-01 -7.82978372e-05 2.46236066e+02] [-5.70616244e-03 1.33761722e-04 9.99983711e-01 -1.59034603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.3053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:982.62, Y:246.23, Z:-15.91 [[ 9.99936101e-01 -9.75817524e-03 5.70719036e-03 9.82623443e+02] [ 9.75878206e-03 9.99952379e-01 -7.84865567e-05 2.46230700e+02] [-5.70615269e-03 1.34176768e-04 9.99983711e-01 -1.59054044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.3653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:982.69, Y:246.23, Z:-15.91 [[ 9.99937135e-01 -9.65163737e-03 5.70718656e-03 9.82685300e+02] [ 9.65224402e-03 9.99953413e-01 -7.87617143e-05 2.46227570e+02] [-5.70616050e-03 1.33843920e-04 9.99983711e-01 -1.59069770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.4253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:982.75, Y:246.22, Z:-15.91 [[ 9.99926776e-01 -1.06710019e-02 5.70718278e-03 9.82747798e+02] [ 1.06716267e-02 9.99943053e-01 -7.90344569e-05 2.46221081e+02] [-5.70601440e-03 1.39933594e-04 9.99983711e-01 -1.59071537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:982.81, Y:246.21, Z:-15.91 [[ 9.99910471e-01 -1.21027873e-02 5.70717902e-03 9.82810293e+02] [ 1.21034370e-02 9.99926748e-01 -7.93048827e-05 2.46212079e+02] [-5.70580115e-03 1.48374264e-04 9.99983711e-01 -1.59085086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:982.87, Y:246.21, Z:-15.91 [[ 9.99919690e-01 -1.13155902e-02 5.70717524e-03 9.82871143e+02] [ 1.13162286e-02 9.99935966e-01 -7.95762151e-05 2.46207288e+02] [-5.70590934e-03 1.44153524e-04 9.99983711e-01 -1.59091094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.6053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:982.93, Y:246.20, Z:-15.91 [[ 9.99960035e-01 -6.88153973e-03 5.70717243e-03 9.82933450e+02] [ 6.88210708e-03 9.99976315e-01 -7.97769899e-05 2.46200461e+02] [-5.70648827e-03 1.19051173e-04 9.99983711e-01 -1.59096003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.6653361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:983.00, Y:246.19, Z:-15.91 [[ 9.99982934e-01 -1.24897048e-03 5.70716867e-03 9.82995600e+02] [ 1.24944765e-03 9.99999216e-01 -8.00451750e-05 2.46193895e+02] [-5.70706423e-03 8.71746175e-05 9.99983711e-01 -1.59106693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.725336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:983.06, Y:246.19, Z:-15.91 [[ 9.99975666e-01 4.01199534e-03 5.70716492e-03 9.83058135e+02] [-4.01160231e-03 9.99991950e-01 -8.03122167e-05 2.46187445e+02] [-5.70744119e-03 5.74153864e-05 9.99983711e-01 -1.59083975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:983.12, Y:246.18, Z:-15.91 [[ 9.99959308e-01 6.98651691e-03 5.70716102e-03 9.83120532e+02] [-6.98617075e-03 9.99975593e-01 -8.05882335e-05 2.46183197e+02] [-5.70758476e-03 4.07137528e-05 9.99983711e-01 -1.59070591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.8453361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:983.18, Y:246.18, Z:-15.90 [[ 9.99925921e-01 1.07508661e-02 5.70715712e-03 9.83182234e+02] [-1.07505797e-02 9.99942208e-01 -8.08634092e-05 2.46176724e+02] [-5.70769664e-03 1.95021715e-05 9.99983711e-01 -1.59028102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.9053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:983.25, Y:246.17, Z:-15.91 [[ 9.99872492e-01 1.49140097e-02 5.70714245e-03 9.83245439e+02] [-1.49137852e-02 9.99888780e-01 -8.18854897e-05 2.46173709e+02] [-5.70772895e-03 -3.24004823e-06 9.99983711e-01 -1.59053374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:983.31, Y:246.17, Z:-15.91 [[ 9.99728037e-01 2.26115010e-02 5.70712687e-03 9.83308664e+02] [-2.26113958e-02 9.99744326e-01 -8.29578022e-05 2.46171797e+02] [-5.70754351e-03 -4.61108639e-05 9.99983711e-01 -1.59056482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:983.37, Y:246.17, Z:-15.91 [[ 9.99552205e-01 2.93737826e-02 5.70711091e-03 9.83370269e+02] [-2.93737814e-02 9.99568494e-01 -8.40411596e-05 2.46171751e+02] [-5.70711687e-03 -8.36359021e-05 9.99983711e-01 -1.59080276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.0853361949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:983.43, Y:246.17, Z:-15.91 [[ 9.99442218e-01 3.29041472e-02 5.70709800e-03 9.83433473e+02] [-3.29041987e-02 9.99458507e-01 -8.49092363e-05 2.46172625e+02] [-5.70680151e-03 -1.02925611e-04 9.99983711e-01 -1.59091496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.1453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:983.50, Y:246.17, Z:-15.91 [[ 9.99445727e-01 3.27973660e-02 5.70708191e-03 9.83496246e+02] [-3.27974096e-02 9.99462017e-01 -8.59771016e-05 2.46171467e+02] [-5.70683142e-03 -1.01248056e-04 9.99983711e-01 -1.59083260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:983.56, Y:246.17, Z:-15.91 [[ 9.99539517e-01 2.98023987e-02 5.70706575e-03 9.83557571e+02] [-2.98023874e-02 9.99555806e-01 -8.70368681e-05 2.46172615e+02] [-5.70712462e-03 -8.30873955e-05 9.99983711e-01 -1.59089412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:983.62, Y:246.17, Z:-15.91 [[ 9.99617369e-01 2.70655741e-02 5.70705796e-03 9.83620063e+02] [-2.70655153e-02 9.99633658e-01 -8.75444292e-05 2.46173283e+02] [-5.70733667e-03 -6.69535328e-05 9.99983711e-01 -1.59090371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.3253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:983.68, Y:246.17, Z:-15.91 [[ 9.99733426e-01 2.23720013e-02 5.70704296e-03 9.83681634e+02] [-2.23718606e-02 9.99749715e-01 -8.85119327e-05 2.46174699e+02] [-5.70759476e-03 -3.91888315e-05 9.99983711e-01 -1.59135029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.3853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:983.74, Y:246.17, Z:-15.91 [[ 9.99837906e-01 1.70760629e-02 5.70702901e-03 9.83743584e+02] [-1.70758308e-02 9.99854193e-01 -8.94025365e-05 2.46173188e+02] [-5.70772353e-03 -8.06421675e-06 9.99983711e-01 -1.59133396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:983.81, Y:246.17, Z:-15.91 [[ 9.99897829e-01 1.31058186e-02 5.70701887e-03 9.83806059e+02] [-1.31055182e-02 9.99914115e-01 -9.00450142e-05 2.46172670e+02] [-5.70770884e-03 1.52423747e-05 9.99983711e-01 -1.59123384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.505336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:983.87, Y:246.17, Z:-15.91 [[ 9.99958041e-01 7.16565099e-03 5.70700466e-03 9.83868026e+02] [-7.16524868e-03 9.99974325e-01 -9.09370033e-05 2.46171197e+02] [-5.70750975e-03 5.00410801e-05 9.99983711e-01 -1.59086790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.5653361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:983.93, Y:246.17, Z:-15.91 [[ 9.99976204e-01 3.87578346e-03 5.70699042e-03 9.83929749e+02] [-3.87532253e-03 9.99992487e-01 -9.18219470e-05 2.46169526e+02] [-5.70730342e-03 6.97033335e-05 9.99983711e-01 -1.59113107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.6253361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:983.99, Y:246.17, Z:-15.91 [[ 9.99980940e-01 2.35603685e-03 5.70697513e-03 9.83992129e+02] [-2.35554581e-03 9.99997221e-01 -9.27624963e-05 2.46167362e+02] [-5.70717783e-03 7.93176868e-05 9.99983711e-01 -1.59136805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:984.05, Y:246.16, Z:-15.91 [[ 9.99983302e-01 9.09354419e-04 5.70696093e-03 9.84054445e+02] [-9.08834884e-04 9.99999583e-01 -9.36279062e-05 2.46163966e+02] [-5.70704369e-03 8.84396576e-05 9.99983711e-01 -1.59142748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:984.12, Y:246.16, Z:-15.91 [[ 9.99982994e-01 1.20104393e-03 5.70694568e-03 9.84116885e+02] [-1.20052390e-03 9.99999275e-01 -9.45484948e-05 2.46161695e+02] [-5.70705510e-03 8.76955623e-05 9.99983711e-01 -1.59124178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.8053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:984.18, Y:246.16, Z:-15.91 [[ 9.99980808e-01 2.41124421e-03 5.70693151e-03 9.84179296e+02] [-2.41073904e-03 9.99997090e-01 -9.53963599e-05 2.46160434e+02] [-5.70714492e-03 8.16366064e-05 9.99983711e-01 -1.59119662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.8653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:984.24, Y:246.16, Z:-15.91 [[ 9.99970627e-01 5.11628021e-03 5.70692747e-03 9.84241422e+02] [-5.11581771e-03 9.99986910e-01 -9.56372881e-05 2.46158320e+02] [-5.70734207e-03 6.64388783e-05 9.99983711e-01 -1.59130999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.9253361949998 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:984.30, Y:246.15, Z:-15.91 [[ 9.99933477e-01 1.00236494e-02 5.70692343e-03 9.84304034e+02] [-1.00232654e-02 9.99949761e-01 -9.58775603e-05 2.46154995e+02] [-5.70759777e-03 3.86691740e-05 9.99983711e-01 -1.59085864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:984.37, Y:246.16, Z:-15.91 [[ 9.99873334e-01 1.48575679e-02 5.70691941e-03 9.84365697e+02] [-1.48572613e-02 9.99889620e-01 -9.61166051e-05 2.46155346e+02] [-5.70771754e-03 1.13152373e-05 9.99983711e-01 -1.59092622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:984.43, Y:246.16, Z:-15.91 [[ 9.99841830e-01 1.68447563e-02 5.70690618e-03 9.84428445e+02] [-1.68444776e-02 9.99858117e-01 -9.68958201e-05 2.46156366e+02] [-5.70772865e-03 7.50640894e-07 9.99983711e-01 -1.59067632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.1053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:984.49, Y:246.15, Z:-15.91 [[ 9.99840296e-01 1.69355649e-02 5.70688727e-03 9.84491175e+02] [-1.69352814e-02 9.99856583e-01 -9.79967306e-05 2.46154507e+02] [-5.70772844e-03 1.33333820e-06 9.99983711e-01 -1.59075603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.1653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:984.55, Y:246.15, Z:-15.91 [[ 9.99854559e-01 1.60715006e-02 5.70686821e-03 9.84552164e+02] [-1.60711968e-02 9.99870845e-01 -9.90944184e-05 2.46153339e+02] [-5.70772374e-03 7.36380388e-06 9.99983711e-01 -1.59100713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:984.61, Y:246.15, Z:-15.91 [[ 9.99853797e-01 1.61188192e-02 5.70685277e-03 9.84614053e+02] [-1.61185111e-02 9.99870083e-01 -9.99759763e-05 2.46152724e+02] [-5.70772285e-03 7.97538958e-06 9.99983711e-01 -1.59112801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:984.68, Y:246.15, Z:-15.91 [[ 9.99805669e-01 1.88694486e-02 5.70683598e-03 9.84675933e+02] [-1.88691799e-02 9.99821956e-01 -1.00925436e-04 2.46152783e+02] [-5.70772432e-03 -6.77749147e-06 9.99983711e-01 -1.59111292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.3453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:984.74, Y:246.15, Z:-15.91 [[ 9.99747475e-01 2.17352039e-02 5.70681797e-03 9.84737884e+02] [-2.17349761e-02 9.99763762e-01 -1.01933823e-04 2.46154197e+02] [-5.70768535e-03 -2.21294702e-05 9.99983711e-01 -1.59118859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.4053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:984.80, Y:246.15, Z:-15.91 [[ 9.99729987e-01 2.25252051e-02 5.70680606e-03 9.84800788e+02] [-2.25249865e-02 9.99746275e-01 -1.02596216e-04 2.46154948e+02] [-5.70766910e-03 -2.59772155e-05 9.99983711e-01 -1.59107415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:984.86, Y:246.16, Z:-15.91 [[ 9.99731148e-01 2.24736198e-02 5.70678689e-03 9.84863108e+02] [-2.24733943e-02 9.99747436e-01 -1.03651595e-04 2.46155471e+02] [-5.70767499e-03 -2.46271437e-05 9.99983711e-01 -1.59120232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:984.93, Y:246.16, Z:-15.91 [[ 9.99743348e-01 2.19242276e-02 5.70676892e-03 9.84925279e+02] [-2.19239875e-02 9.99759635e-01 -1.04631446e-04 2.46155939e+02] [-5.70769118e-03 -2.05105388e-05 9.99983711e-01 -1.59148251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.5853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:984.99, Y:246.16, Z:-15.91 [[ 9.99780394e-01 2.01642432e-02 5.70675225e-03 9.84988847e+02] [-2.01639693e-02 9.99796681e-01 -1.05533010e-04 2.46158646e+02] [-5.70771995e-03 -9.56094311e-06 9.99983711e-01 -1.59141353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.6453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:985.05, Y:246.16, Z:-15.92 [[ 9.99820492e-01 1.80669898e-02 5.70674338e-03 9.85050467e+02] [-1.80666790e-02 9.99836779e-01 -1.06010666e-04 2.46159095e+02] [-5.70772721e-03 2.88973562e-06 9.99983711e-01 -1.59154024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:985.11, Y:246.16, Z:-15.91 [[ 9.99874178e-01 1.48007143e-02 5.70672442e-03 9.85113168e+02] [-1.48003445e-02 9.99890463e-01 -1.07021606e-04 2.46159599e+02] [-5.70768332e-03 2.25466534e-05 9.99983711e-01 -1.59119580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:985.18, Y:246.16, Z:-15.91 [[ 9.99918468e-01 1.14233017e-02 5.70670403e-03 9.85176059e+02] [-1.14228708e-02 9.99934751e-01 -1.08098057e-04 2.46162044e+02] [-5.70756651e-03 4.29023001e-05 9.99983711e-01 -1.59116370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.8253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:985.24, Y:246.16, Z:-15.91 [[ 9.99942188e-01 9.11337785e-03 5.70668348e-03 9.85238137e+02] [-9.11290319e-03 9.99958471e-01 -1.09172390e-04 2.46162198e+02] [-5.70744141e-03 5.71616247e-05 9.99983711e-01 -1.59132581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.8853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:985.30, Y:246.16, Z:-15.91 [[ 9.99965263e-01 6.07501772e-03 5.70666416e-03 9.85301222e+02] [-6.07448788e-03 9.99981544e-01 -1.10172805e-04 2.46160844e+02] [-5.70722814e-03 7.55039152e-05 9.99983711e-01 -1.59111698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:985.36, Y:246.16, Z:-15.92 [[ 9.99978044e-01 3.36823465e-03 5.70664372e-03 9.85362164e+02] [-3.36765477e-03 9.99994323e-01 -1.11221505e-04 2.46160987e+02] [-5.70698595e-03 9.20010571e-05 9.99983711e-01 -1.59153286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:985.43, Y:246.16, Z:-15.91 [[ 9.99982720e-01 1.41214516e-03 5.70663354e-03 9.85425447e+02] [-1.41153046e-03 9.99998998e-01 -1.11741662e-04 2.46159629e+02] [-5.70678561e-03 1.03684644e-04 9.99983711e-01 -1.59148486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.0653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:985.49, Y:246.16, Z:-15.91 [[ 9.99983568e-01 -5.46377142e-04 5.70661320e-03 9.85487474e+02] [ 5.47029584e-04 9.99999844e-01 -1.12770658e-04 2.46155508e+02] [-5.70655070e-03 1.15890492e-04 9.99983711e-01 -1.59088169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.1253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:985.55, Y:246.15, Z:-15.91 [[ 9.99983261e-01 -9.55278865e-04 5.70659360e-03 9.85549652e+02] [ 9.55943574e-04 9.99999537e-01 -1.13754315e-04 2.46153578e+02] [-5.70648229e-03 1.19207592e-04 9.99983711e-01 -1.59120533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:985.61, Y:246.15, Z:-15.91 [[ 9.99983669e-01 3.12301818e-04 5.70657258e-03 9.85611562e+02] [-3.11651781e-04 9.99999945e-01 -1.14798996e-04 2.46150763e+02] [-5.70660812e-03 1.13018658e-04 9.99983711e-01 -1.59148960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:985.67, Y:246.15, Z:-15.91 [[ 9.99977075e-01 3.64486658e-03 5.70656755e-03 9.85673547e+02] [-3.64426937e-03 9.99993353e-01 -1.15048546e-04 2.46147898e+02] [-5.70694896e-03 9.42496389e-05 9.99983711e-01 -1.59112086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.3053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:985.74, Y:246.15, Z:-15.91 [[ 9.99963179e-01 6.40900833e-03 5.70656184e-03 9.85736171e+02] [-6.40845450e-03 9.99979459e-01 -1.15330955e-04 2.46146815e+02] [-5.70718378e-03 7.87564661e-05 9.99983711e-01 -1.59128643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.3653361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:985.80, Y:246.15, Z:-15.91 [[ 9.99932667e-01 1.01043388e-02 5.70655613e-03 9.85797216e+02] [-1.01038436e-02 9.99948948e-01 -1.15612667e-04 2.46145362e+02] [-5.70743299e-03 5.79467318e-05 9.99983711e-01 -1.59132931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.4253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:985.86, Y:246.14, Z:-15.91 [[ 9.99900422e-01 1.29066362e-02 5.70654561e-03 9.85859396e+02] [-1.29061836e-02 9.99916705e-01 -1.16129721e-04 2.46142821e+02] [-5.70756913e-03 4.24684315e-05 9.99983711e-01 -1.59127198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:985.92, Y:246.14, Z:-15.91 [[ 9.99879136e-01 1.44619831e-02 5.70652557e-03 9.85922151e+02] [-1.44615503e-02 9.99895419e-01 -1.17106624e-04 2.46141247e+02] [-5.70762237e-03 3.45672632e-05 9.99983711e-01 -1.59120516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:985.99, Y:246.14, Z:-15.91 [[ 9.99846655e-01 1.65560070e-02 5.70650222e-03 9.85985168e+02] [-1.65556019e-02 9.99862940e-01 -1.18233408e-04 2.46141468e+02] [-5.70767756e-03 2.37406982e-05 9.99983711e-01 -1.59114891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.6053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:986.05, Y:246.14, Z:-15.91 [[ 9.99838156e-01 1.70616116e-02 5.70647876e-03 9.86046341e+02] [-1.70612082e-02 9.99854440e-01 -1.19354822e-04 2.46138844e+02] [-5.70768451e-03 2.19760830e-05 9.99983711e-01 -1.59145161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.6653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:986.11, Y:246.14, Z:-15.91 [[ 9.99842655e-01 1.67958986e-02 5.70645977e-03 9.86109718e+02] [-1.67954858e-02 9.99858939e-01 -1.20256083e-04 2.46136614e+02] [-5.70767462e-03 2.43943967e-05 9.99983711e-01 -1.59146990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:986.17, Y:246.14, Z:-15.92 [[ 9.99849394e-01 1.63897937e-02 5.70643669e-03 9.86172060e+02] [-1.63893681e-02 9.99865678e-01 -1.21341542e-04 2.46135061e+02] [-5.70765895e-03 2.77983752e-05 9.99983711e-01 -1.59165216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:986.23, Y:246.13, Z:-15.92 [[ 9.99896336e-01 1.32194641e-02 5.70641514e-03 9.86234877e+02] [-1.32189811e-02 9.99912618e-01 -1.22346826e-04 2.46132315e+02] [-5.70753386e-03 4.69011491e-05 9.99983711e-01 -1.59154722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.8453361949998 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:986.30, Y:246.13, Z:-15.91 [[ 9.99956334e-01 7.40045455e-03 5.70639110e-03 9.86296469e+02] [-7.39987050e-03 9.99972613e-01 -1.23457875e-04 2.46127319e+02] [-5.70714846e-03 8.12259290e-05 9.99983711e-01 -1.59089344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.9053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:986.36, Y:246.12, Z:-15.91 [[ 9.99977426e-01 3.54738564e-03 5.70637127e-03 9.86358399e+02] [-3.54673367e-03 9.99993703e-01 -1.24367565e-04 2.46121827e+02] [-5.70677652e-03 1.04125778e-04 9.99983711e-01 -1.59101172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.965336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:986.42, Y:246.11, Z:-15.91 [[ 9.99976667e-01 -3.75532610e-03 5.70634956e-03 9.86419950e+02] [ 3.75610254e-03 9.99992938e-01 -1.25356137e-04 2.46110952e+02] [-5.70583850e-03 1.46786846e-04 9.99983711e-01 -1.59082323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:986.48, Y:246.10, Z:-15.91 [[ 9.99942781e-01 -9.04830332e-03 5.70632635e-03 9.86482855e+02] [ 9.04917185e-03 9.99959047e-01 -1.26403874e-04 2.46097768e+02] [-5.70494892e-03 1.78034169e-04 9.99983711e-01 -1.59116301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.0853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:986.54, Y:246.09, Z:-15.91 [[ 9.99920195e-01 -1.12713220e-02 5.70630178e-03 9.86543800e+02] [ 1.12722330e-02 9.99936458e-01 -1.27503473e-04 2.46086102e+02] [-5.70450206e-03 1.91816061e-04 9.99983711e-01 -1.59134445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.1453361949998 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:986.61, Y:246.07, Z:-15.91 [[ 9.99940625e-01 -9.28361578e-03 5.70629722e-03 9.86605044e+02] [ 9.28449557e-03 9.99956890e-01 -1.27707193e-04 2.46073314e+02] [-5.70486563e-03 1.80679702e-04 9.99983711e-01 -1.59104565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:986.67, Y:246.06, Z:-15.91 [[ 9.99983303e-01 -9.12117879e-04 5.70629413e-03 9.86665679e+02] [ 9.12862254e-04 9.99999575e-01 -1.27844819e-04 2.46060312e+02] [-5.70617510e-03 1.33051745e-04 9.99983711e-01 -1.59140644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:986.73, Y:246.05, Z:-15.91 [[ 9.99958178e-01 7.14707318e-03 5.70629098e-03 9.86727458e+02] [-7.14645917e-03 9.99974456e-01 -1.27985252e-04 2.46052174e+02] [-5.70705994e-03 8.72001235e-05 9.99983711e-01 -1.59139991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.3253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:986.79, Y:246.04, Z:-15.91 [[ 9.99783917e-01 1.99889406e-02 5.70628458e-03 9.86788011e+02] [-1.99885340e-02 9.99800201e-01 -1.28270007e-04 2.46041398e+02] [-5.70770846e-03 1.41820267e-05 9.99983711e-01 -1.59139474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.3853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:986.85, Y:246.04, Z:-15.91 [[ 9.99597508e-01 2.77895657e-02 5.70627977e-03 9.86850000e+02] [-2.77892850e-02 9.99613795e-01 -1.28483632e-04 2.46035344e+02] [-5.70764648e-03 -3.01415169e-05 9.99983711e-01 -1.59116080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:986.91, Y:246.03, Z:-15.91 [[ 9.99233218e-01 3.87351830e-02 5.70625807e-03 9.86911629e+02] [-3.87350753e-02 9.99249507e-01 -1.29440381e-04 2.46029081e+02] [-5.70698946e-03 -9.16912077e-05 9.99983711e-01 -1.59129526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:986.97, Y:246.03, Z:-15.92 [[ 9.98842771e-01 4.77551861e-02 5.70623494e-03 9.86973242e+02] [-4.77552196e-02 9.98859060e-01 -1.30452147e-04 2.46025291e+02] [-5.70595424e-03 -1.42201318e-04 9.99983711e-01 -1.59164031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.5653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:987.04, Y:246.02, Z:-15.92 [[ 9.98621825e-01 5.21717301e-02 5.70621359e-03 9.87036551e+02] [-5.21718304e-02 9.98638114e-01 -1.31379611e-04 2.46023406e+02] [-5.70529668e-03 -1.66505061e-04 9.99983711e-01 -1.59174460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.6253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:987.10, Y:246.02, Z:-15.92 [[ 9.98452373e-01 5.53199652e-02 5.70618865e-03 9.87097896e+02] [-5.53201107e-02 9.98468661e-01 -1.32453851e-04 2.46023013e+02] [-5.70477789e-03 -1.83418126e-04 9.99983711e-01 -1.59167151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:987.16, Y:246.02, Z:-15.91 [[ 9.98560245e-01 5.33373833e-02 5.70616855e-03 9.87159833e+02] [-5.33374915e-02 9.98576534e-01 -1.33314097e-04 2.46022478e+02] [-5.70515664e-03 -1.71230560e-04 9.99983711e-01 -1.59135223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:987.22, Y:246.02, Z:-15.91 [[ 9.98719576e-01 5.02657875e-02 5.70614725e-03 9.87222840e+02] [-5.02658404e-02 9.98735865e-01 -1.34219858e-04 2.46020896e+02] [-5.70568057e-03 -1.52776288e-04 9.99983711e-01 -1.59122470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.8053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:987.29, Y:246.02, Z:-15.91 [[ 9.98964684e-01 4.51331425e-02 5.70612201e-03 9.87286037e+02] [-4.51331057e-02 9.98980973e-01 -1.35284168e-04 2.46021815e+02] [-5.70641312e-03 -1.22390902e-04 9.99983711e-01 -1.59103591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.8653361949998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:987.35, Y:246.02, Z:-15.91 [[ 9.99145939e-01 4.09247228e-02 5.70609675e-03 9.87348879e+02] [-4.09246113e-02 9.99162228e-01 -1.36341389e-04 2.46021799e+02] [-5.70689608e-03 -9.72948469e-05 9.99983711e-01 -1.59080082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.9253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:987.41, Y:246.02, Z:-15.91 [[ 9.99365810e-01 3.51485327e-02 5.70607083e-03 9.87409822e+02] [-3.51483209e-02 9.99382097e-01 -1.37417978e-04 2.46021507e+02] [-5.70737507e-03 -6.32279799e-05 9.99983711e-01 -1.59124163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:987.47, Y:246.02, Z:-15.92 [[ 9.99523657e-01 3.03298641e-02 5.70605809e-03 9.87470560e+02] [-3.03295708e-02 9.99539943e-01 -1.37944816e-04 2.46021021e+02] [-5.70761683e-03 -3.51831862e-05 9.99983711e-01 -1.59170585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:987.53, Y:246.02, Z:-15.92 [[ 9.99602530e-01 2.76083912e-02 5.70603724e-03 9.87533731e+02] [-2.76080487e-02 9.99618816e-01 -1.38802004e-04 2.46019618e+02] [-5.70769429e-03 -1.87857195e-05 9.99983711e-01 -1.59163507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.1053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:987.60, Y:246.02, Z:-15.92 [[ 9.99614462e-01 2.71729581e-02 5.70601105e-03 9.87596318e+02] [-2.71726023e-02 9.99630747e-01 -1.39870448e-04 2.46017856e+02] [-5.70770478e-03 -1.52306461e-05 9.99983711e-01 -1.59177871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.1653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:987.66, Y:246.02, Z:-15.92 [[ 9.99610304e-01 2.73254821e-02 5.70598457e-03 9.87657185e+02] [-2.73251227e-02 9.99626589e-01 -1.40942546e-04 2.46017506e+02] [-5.70770521e-03 -1.50291070e-05 9.99983711e-01 -1.59198475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:987.72, Y:246.02, Z:-15.92 [[ 9.99604809e-01 2.75257825e-02 5.70596307e-03 9.87720620e+02] [-2.75254215e-02 9.99621094e-01 -1.41807597e-04 2.46017128e+02] [-5.70770441e-03 -1.53074828e-05 9.99983711e-01 -1.59199117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:987.78, Y:246.02, Z:-15.92 [[ 9.99603602e-01 2.75695709e-02 5.70593684e-03 9.87782351e+02] [-2.75692046e-02 9.99619887e-01 -1.42855080e-04 2.46017645e+02] [-5.70770640e-03 -1.45096879e-05 9.99983711e-01 -1.59218637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.3453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:987.84, Y:246.02, Z:-15.92 [[ 9.99607388e-01 2.74319420e-02 5.70591227e-03 9.87844045e+02] [-2.74315679e-02 9.99623673e-01 -1.43829818e-04 2.46017916e+02] [-5.70771052e-03 -1.27487707e-05 9.99983711e-01 -1.59203502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.4053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:987.91, Y:246.02, Z:-15.92 [[ 9.99596522e-01 2.78250991e-02 5.70589968e-03 9.87905948e+02] [-2.78247286e-02 9.99612807e-01 -1.44327565e-04 2.46018302e+02] [-5.70770633e-03 -1.44957783e-05 9.99983711e-01 -1.59209470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:987.97, Y:246.02, Z:-15.92 [[ 9.99628478e-01 2.66523726e-02 5.70587533e-03 9.87968587e+02] [-2.66519775e-02 9.99644762e-01 -1.45283846e-04 2.46018218e+02] [-5.70772055e-03 -6.84299070e-06 9.99983711e-01 -1.59226480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:988.03, Y:246.02, Z:-15.92 [[ 9.99698633e-01 2.38764800e-02 5.70584999e-03 9.88030708e+02] [-2.38760340e-02 9.99714916e-01 -1.46272540e-04 2.46017743e+02] [-5.70771581e-03 9.99538952e-06 9.99983711e-01 -1.59245151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.5853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:988.09, Y:246.02, Z:-15.92 [[ 9.99718759e-01 2.30183821e-02 5.70583411e-03 9.88093567e+02] [-2.30179187e-02 9.99735042e-01 -1.46889417e-04 2.46016340e+02] [-5.70770346e-03 1.55116805e-05 9.99983711e-01 -1.59233116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.6453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:988.16, Y:246.01, Z:-15.93 [[ 9.99779524e-01 2.02076165e-02 5.70580545e-03 9.88155110e+02] [-2.02071010e-02 9.99795805e-01 -1.47994189e-04 2.46014760e+02] [-5.70763096e-03 3.26637733e-05 9.99983711e-01 -1.59301326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:988.22, Y:246.01, Z:-15.93 [[ 9.99795038e-01 1.94248904e-02 5.70578226e-03 9.88217559e+02] [-1.94243570e-02 9.99811318e-01 -1.48882969e-04 2.46012483e+02] [-5.70759772e-03 3.80213015e-05 9.99983711e-01 -1.59320461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:988.28, Y:246.01, Z:-15.93 [[ 9.99787192e-01 1.98245821e-02 5.70576011e-03 9.88280295e+02] [-1.98240504e-02 9.99803473e-01 -1.49726898e-04 2.46010430e+02] [-5.70760705e-03 3.65837588e-05 9.99983711e-01 -1.59314273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.8253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:988.34, Y:246.01, Z:-15.93 [[ 9.99766486e-01 2.08427215e-02 5.70573250e-03 9.88342993e+02] [-2.08422004e-02 9.99782766e-01 -1.50772099e-04 2.46007969e+02] [-5.70763552e-03 3.18168710e-05 9.99983711e-01 -1.59305622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.8853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:988.41, Y:246.01, Z:-15.93 [[ 9.99747727e-01 2.17238679e-02 5.70570471e-03 9.88406397e+02] [-2.17233552e-02 9.99764009e-01 -1.51816214e-04 2.46006648e+02] [-5.70765625e-03 2.78308647e-05 9.99983711e-01 -1.59304384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:988.47, Y:246.00, Z:-15.93 [[ 9.99719367e-01 2.29920259e-02 5.70567684e-03 9.88467803e+02] [-2.29915279e-02 9.99735648e-01 -1.52856688e-04 2.46004936e+02] [-5.70768302e-03 2.16315625e-05 9.99983711e-01 -1.59295423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:988.53, Y:246.00, Z:-15.93 [[ 9.99663296e-01 2.53128261e-02 5.70566342e-03 9.88530727e+02] [-2.53123631e-02 9.99679579e-01 -1.53355798e-04 2.46002325e+02] [-5.70771708e-03 8.88033857e-06 9.99983711e-01 -1.59275411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.0653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:988.59, Y:246.00, Z:-15.93 [[ 9.99612445e-01 2.72471219e-02 5.70563381e-03 9.88592796e+02] [-2.72466842e-02 9.99628728e-01 -1.54449783e-04 2.46001634e+02] [-5.70772378e-03 -1.06967750e-06 9.99983711e-01 -1.59303254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.1253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:988.65, Y:246.00, Z:-15.93 [[ 9.99625181e-01 2.67757986e-02 5.70560617e-03 9.88654637e+02] [-2.67753474e-02 9.99641464e-01 -1.55464347e-04 2.45997916e+02] [-5.70772318e-03 2.63648879e-06 9.99983711e-01 -1.59306893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.185336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:988.72, Y:245.99, Z:-15.93 [[ 9.99707391e-01 2.35069882e-02 5.70558057e-03 9.88716725e+02] [-2.35064785e-02 9.99723672e-01 -1.56398058e-04 2.45994710e+02] [-5.70768041e-03 2.22341874e-05 9.99983711e-01 -1.59311266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.245336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:988.78, Y:245.99, Z:-15.93 [[ 9.99766527e-01 2.08408025e-02 5.70555325e-03 9.88779601e+02] [-2.08402437e-02 9.99782806e-01 -1.57388395e-04 2.45989673e+02] [-5.70759414e-03 3.84465292e-05 9.99983711e-01 -1.59281931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.3053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:988.84, Y:245.98, Z:-15.93 [[ 9.99808301e-01 1.87298653e-02 5.70552305e-03 9.88842803e+02] [-1.87292659e-02 9.99824579e-01 -1.58475656e-04 2.45982744e+02] [-5.70749041e-03 5.15850177e-05 9.99983711e-01 -1.59281118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.3653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:988.90, Y:245.98, Z:-15.93 [[ 9.99774172e-01 2.04707501e-02 5.70549217e-03 9.88904397e+02] [-2.04701727e-02 9.99790451e-01 -1.59579721e-04 2.45977948e+02] [-5.70756331e-03 4.27512736e-05 9.99983711e-01 -1.59273026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.4253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:988.97, Y:245.97, Z:-15.93 [[ 9.99714406e-01 2.32067731e-02 5.70546331e-03 9.88966452e+02] [-2.32062344e-02 9.99730686e-01 -1.60605078e-04 2.45974023e+02] [-5.70765388e-03 2.81568915e-05 9.99983711e-01 -1.59267101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:989.03, Y:245.97, Z:-15.93 [[ 9.99603313e-01 2.75801640e-02 5.70543531e-03 9.89029210e+02] [-2.75796909e-02 9.99619595e-01 -1.61593801e-04 2.45968101e+02] [-5.70772171e-03 4.17555625e-06 9.99983711e-01 -1.59259791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:989.09, Y:245.96, Z:-15.93 [[ 9.99498029e-01 3.11630897e-02 5.70540468e-03 9.89090682e+02] [-3.11626689e-02 9.99514313e-01 -1.62668071e-04 2.45963253e+02] [-5.70770288e-03 -1.52092206e-05 9.99983711e-01 -1.59286473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.6053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:989.15, Y:245.96, Z:-15.93 [[ 9.99433156e-01 3.31785455e-02 5.70537622e-03 9.89153500e+02] [-3.31781518e-02 9.99449440e-01 -1.63660286e-04 2.45959040e+02] [-5.70766508e-03 -2.57263226e-05 9.99983711e-01 -1.59291394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.6653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:989.22, Y:245.95, Z:-15.93 [[ 9.99287204e-01 3.73166459e-02 5.70534507e-03 9.89215158e+02] [-3.73163135e-02 9.99303490e-01 -1.64739038e-04 2.45954179e+02] [-5.70751875e-03 -4.82808325e-05 9.99983711e-01 -1.59289922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:989.28, Y:245.95, Z:-15.93 [[ 9.99075462e-01 4.26106806e-02 5.70532571e-03 9.89278283e+02] [-4.26104307e-02 9.99091749e-01 -1.65406587e-04 2.45951560e+02] [-5.70719194e-03 -7.78527238e-05 9.99983711e-01 -1.59276069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:989.34, Y:245.95, Z:-15.93 [[ 9.98919904e-01 4.61137269e-02 5.70529421e-03 9.89340723e+02] [-4.61135279e-02 9.98936192e-01 -1.66486126e-04 2.45949456e+02] [-5.70690217e-03 -9.67849395e-05 9.99983711e-01 -1.59280563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.8453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:989.40, Y:245.95, Z:-15.93 [[ 9.98727514e-01 5.01079023e-02 5.70526486e-03 9.89404078e+02] [-5.01077627e-02 9.98743803e-01 -1.67485982e-04 2.45949305e+02] [-5.70649029e-03 -1.18605200e-04 9.99983711e-01 -1.59292977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.9053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:989.47, Y:245.95, Z:-15.93 [[ 9.98607401e-01 5.24471994e-02 5.70523210e-03 9.89465306e+02] [-5.24470917e-02 9.98623690e-01 -1.68594555e-04 2.45949023e+02] [-5.70622224e-03 -1.30863061e-04 9.99983711e-01 -1.59326977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:989.53, Y:245.95, Z:-15.93 [[ 9.98631921e-01 5.19782316e-02 5.70520566e-03 9.89527777e+02] [-5.19781112e-02 9.98648210e-01 -1.69484747e-04 2.45948150e+02] [-5.70630293e-03 -1.27292935e-04 9.99983711e-01 -1.59337411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:989.59, Y:245.95, Z:-15.93 [[ 9.98769062e-01 4.92728259e-02 5.70517679e-03 9.89590951e+02] [-4.92726559e-02 9.98785350e-01 -1.70450953e-04 2.45949191e+02] [-5.70664560e-03 -1.10868074e-04 9.99983711e-01 -1.59319300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.0853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:989.65, Y:245.95, Z:-15.93 [[ 9.98892325e-01 4.67073336e-02 5.70514600e-03 9.89653898e+02] [-4.67071158e-02 9.98908612e-01 -1.71475233e-04 2.45949043e+02] [-5.70692863e-03 -9.51856213e-05 9.99983711e-01 -1.59311034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.1453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:989.72, Y:245.95, Z:-15.93 [[ 9.99114657e-01 4.16815773e-02 5.70511382e-03 9.89716446e+02] [-4.16812715e-02 9.99130943e-01 -1.72539528e-04 2.45948576e+02] [-5.70734747e-03 -6.54096267e-05 9.99983711e-01 -1.59313012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:989.78, Y:245.95, Z:-15.93 [[ 9.99325749e-01 3.62698225e-02 5.70508108e-03 9.89778636e+02] [-3.62694223e-02 9.99342033e-01 -1.73615317e-04 2.45948020e+02] [-5.70762432e-03 -3.34217385e-05 9.99983711e-01 -1.59302191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:989.84, Y:245.95, Z:-15.93 [[ 9.99440300e-01 3.29626830e-02 5.70506061e-03 9.89841812e+02] [-3.29622251e-02 9.99456583e-01 -1.74285230e-04 2.45947088e+02] [-5.70770529e-03 -1.38638094e-05 9.99983711e-01 -1.59324094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.3253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:989.90, Y:245.94, Z:-15.93 [[ 9.99573736e-01 2.86321396e-02 5.70502798e-03 9.89904472e+02] [-2.86316052e-02 9.99590016e-01 -1.75346846e-04 2.45944085e+02] [-5.70770957e-03 1.19279932e-05 9.99983711e-01 -1.59335884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.3853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:989.97, Y:245.94, Z:-15.94 [[ 9.99639513e-01 2.62354034e-02 5.70499420e-03 9.89966407e+02] [-2.62348237e-02 9.99655792e-01 -1.76439158e-04 2.45942932e+02] [-5.70765945e-03 2.67060366e-05 9.99983711e-01 -1.59353130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:990.03, Y:245.94, Z:-15.93 [[ 9.99670904e-01 2.50107550e-02 5.70496247e-03 9.90029477e+02] [-2.50101495e-02 9.99687182e-01 -1.77459313e-04 2.45940026e+02] [-5.70761624e-03 3.47189470e-05 9.99983711e-01 -1.59343240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:990.09, Y:245.94, Z:-15.93 [[ 9.99687773e-01 2.43271571e-02 5.70492755e-03 9.90092776e+02] [-2.43265341e-02 9.99704050e-01 -1.78574882e-04 2.45937459e+02] [-5.70758339e-03 3.97380112e-05 9.99983711e-01 -1.59336152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.5653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:990.15, Y:245.94, Z:-15.93 [[ 9.99672716e-01 2.49382447e-02 5.70489265e-03 9.90154413e+02] [-2.49376253e-02 9.99688993e-01 -1.79682926e-04 2.45936191e+02] [-5.70759936e-03 3.73576434e-05 9.99983711e-01 -1.59338622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.6253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:990.22, Y:245.94, Z:-15.93 [[ 9.99601423e-01 2.76486938e-02 5.70486011e-03 9.90217344e+02] [-2.76481127e-02 9.99617702e-01 -1.80710220e-04 2.45936330e+02] [-5.70767555e-03 2.29095780e-05 9.99983711e-01 -1.59347611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:990.28, Y:245.94, Z:-15.94 [[ 9.99517373e-01 3.05364575e-02 5.70482529e-03 9.90279480e+02] [-3.05359172e-02 9.99533654e-01 -1.81802682e-04 2.45936594e+02] [-5.70771648e-03 7.51286702e-06 9.99983711e-01 -1.59375026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:990.34, Y:245.94, Z:-15.94 [[ 9.99457150e-01 3.24478170e-02 5.70479475e-03 9.90341108e+02] [-3.24473024e-02 9.99473431e-01 -1.82756131e-04 2.45936190e+02] [-5.70772082e-03 -2.44827885e-06 9.99983711e-01 -1.59403012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.8053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:990.40, Y:245.94, Z:-15.94 [[ 9.99419096e-01 3.35995107e-02 5.70476214e-03 9.90403817e+02] [-3.35990091e-02 9.99435377e-01 -1.83768550e-04 2.45937511e+02] [-5.70771563e-03 -8.01255657e-06 9.99983711e-01 -1.59394006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.8653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:990.47, Y:245.94, Z:-15.94 [[ 9.99421402e-01 3.35308437e-02 5.70472610e-03 9.90465380e+02] [-3.35303346e-02 9.99437683e-01 -1.84880498e-04 2.45937223e+02] [-5.70771743e-03 -6.50784806e-06 9.99983711e-01 -1.59397202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.9253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:990.53, Y:245.94, Z:-15.94 [[ 9.99477592e-01 3.18119466e-02 5.70469244e-03 9.90528668e+02] [-3.18114036e-02 9.99493872e-01 -1.85913447e-04 2.45935831e+02] [-5.70771940e-03 4.34205031e-06 9.99983711e-01 -1.59400587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.985336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:990.59, Y:245.93, Z:-15.94 [[ 9.99580240e-01 2.84042245e-02 5.70465545e-03 9.90590395e+02] [-2.84036196e-02 9.99596518e-01 -1.87041603e-04 2.45931866e+02] [-5.70766649e-03 2.49302270e-05 9.99983711e-01 -1.59382018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:990.65, Y:245.93, Z:-15.94 [[ 9.99676042e-01 2.48046192e-02 5.70462092e-03 9.90651979e+02] [-2.48039497e-02 9.99692317e-01 -1.88088677e-04 2.45927937e+02] [-5.70753118e-03 4.65306138e-05 9.99983711e-01 -1.59367511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.1053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:990.72, Y:245.92, Z:-15.93 [[ 9.99723486e-01 2.28124985e-02 5.70459158e-03 9.90715072e+02] [-2.28117915e-02 9.99739759e-01 -1.88974587e-04 2.45924103e+02] [-5.70741799e-03 5.87903790e-05 9.99983711e-01 -1.59349754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.1653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:990.78, Y:245.92, Z:-15.94 [[ 9.99743913e-01 2.18989990e-02 5.70455379e-03 9.90778099e+02] [-2.18982707e-02 9.99760186e-01 -1.90108469e-04 2.45918911e+02] [-5.70734894e-03 6.51399219e-05 9.99983711e-01 -1.59352799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:990.84, Y:245.91, Z:-15.94 [[ 9.99713364e-01 2.32518253e-02 5.70451608e-03 9.90840197e+02] [-2.32511125e-02 9.99729638e-01 -1.91233411e-04 2.45912636e+02] [-5.70742032e-03 5.85422515e-05 9.99983711e-01 -1.59388100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:990.90, Y:245.91, Z:-15.94 [[ 9.99670860e-01 2.50126228e-02 5.70448318e-03 9.90901232e+02] [-2.50119332e-02 9.99687134e-01 -1.92209662e-04 2.45908603e+02] [-5.70750611e-03 4.94662456e-05 9.99983711e-01 -1.59412877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.3453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:990.96, Y:245.90, Z:-15.94 [[ 9.99598621e-01 2.77498762e-02 5.70445293e-03 9.90963135e+02] [-2.77492261e-02 9.99614897e-01 -1.93103269e-04 2.45903119e+02] [-5.70761472e-03 3.47316073e-05 9.99983711e-01 -1.59423830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.4053361949998 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:991.03, Y:245.90, Z:-15.94 [[ 9.99554246e-01 2.93047463e-02 5.70441860e-03 9.91026241e+02] [-2.93041157e-02 9.99570523e-01 -1.94112299e-04 2.45900579e+02] [-5.70765709e-03 2.68628298e-05 9.99983711e-01 -1.59404751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:991.09, Y:245.89, Z:-15.94 [[ 9.99497233e-01 3.11888040e-02 5.70438075e-03 9.91088988e+02] [-3.11881977e-02 9.99513511e-01 -1.95218193e-04 2.45894764e+02] [-5.70769425e-03 1.72106885e-05 9.99983711e-01 -1.59415168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:991.15, Y:245.89, Z:-15.94 [[ 9.99435000e-01 3.31231100e-02 5.70434283e-03 9.91152017e+02] [-3.31225290e-02 9.99451279e-01 -1.96319999e-04 2.45891078e+02] [-5.70771547e-03 7.26681759e-06 9.99983711e-01 -1.59419883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.5853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:991.21, Y:245.89, Z:-15.94 [[ 9.99396270e-01 3.42718114e-02 5.70430503e-03 9.91214297e+02] [-3.42712428e-02 9.99412549e-01 -1.97412179e-04 2.45887651e+02] [-5.70771971e-03 1.79937201e-06 9.99983711e-01 -1.59395568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.6453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:991.28, Y:245.88, Z:-15.94 [[ 9.99342694e-01 3.58000041e-02 5.70427086e-03 9.91276681e+02] [-3.57994549e-02 9.99358974e-01 -1.98394664e-04 2.45884951e+02] [-5.70771681e-03 -5.94552936e-06 9.99983711e-01 -1.59396244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:991.34, Y:245.88, Z:-15.94 [[ 9.99216397e-01 3.91669988e-02 5.70423448e-03 9.91339467e+02] [-3.91664985e-02 9.99232678e-01 -1.99435206e-04 2.45884260e+02] [-5.70766878e-03 -2.41359634e-05 9.99983711e-01 -1.59402983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:991.40, Y:245.88, Z:-15.94 [[ 9.99084615e-01 4.23956948e-02 5.70419615e-03 9.91402352e+02] [-4.23952408e-02 9.99100897e-01 -2.00525736e-04 2.45883246e+02] [-5.70756892e-03 -4.14885913e-05 9.99983711e-01 -1.59417256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.8253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:991.47, Y:245.88, Z:-15.94 [[ 9.98891299e-01 4.67293917e-02 5.70415752e-03 9.91465027e+02] [-4.67290022e-02 9.98907583e-01 -2.01618437e-04 2.45884024e+02] [-5.70734771e-03 -6.51546866e-05 9.99983711e-01 -1.59410939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.8853361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:991.53, Y:245.89, Z:-15.94 [[ 9.98832609e-01 4.79675209e-02 5.70411782e-03 9.91526104e+02] [-4.79671452e-02 9.98848893e-01 -2.02735465e-04 2.45886427e+02] [-5.70727649e-03 -7.11114547e-05 9.99983711e-01 -1.59430622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.945336195 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:991.59, Y:245.89, Z:-15.94 [[ 9.98894821e-01 4.66540537e-02 5.70408589e-03 9.91589173e+02] [-4.66536514e-02 9.98911105e-01 -2.03629838e-04 2.45887547e+02] [-5.70737490e-03 -6.27116450e-05 9.99983711e-01 -1.59429535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:991.65, Y:245.89, Z:-15.95 [[ 9.98904798e-01 4.64399458e-02 5.70404654e-03 9.91651912e+02] [-4.64395338e-02 9.98921082e-01 -2.04726161e-04 2.45886422e+02] [-5.70739982e-03 -6.03913181e-05 9.99983711e-01 -1.59464395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.0653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:991.71, Y:245.89, Z:-15.95 [[ 9.98930914e-01 4.58747617e-02 5.70400737e-03 9.91714512e+02] [-4.58743343e-02 9.98947197e-01 -2.05811881e-04 2.45888408e+02] [-5.70744375e-03 -5.60756904e-05 9.99983711e-01 -1.59477523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.1253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:991.78, Y:245.89, Z:-15.95 [[ 9.98985490e-01 4.46705139e-02 5.70397224e-03 9.91777212e+02] [-4.46700613e-02 9.99001773e-01 -2.06780806e-04 2.45887464e+02] [-5.70751539e-03 -4.82257655e-05 9.99983711e-01 -1.59470989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:991.84, Y:245.89, Z:-15.95 [[ 9.99121923e-01 4.15072033e-02 5.70393135e-03 9.91838852e+02] [-4.15066927e-02 9.99138204e-01 -2.07902850e-04 2.45887427e+02] [-5.70764519e-03 -2.90310305e-05 9.99983711e-01 -1.59474060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:991.90, Y:245.89, Z:-15.95 [[ 9.99238926e-01 3.85880170e-02 5.70389326e-03 9.91901972e+02] [-3.85874530e-02 9.99255205e-01 -2.08942702e-04 2.45887813e+02] [-5.70770771e-03 -1.13150318e-05 9.99983711e-01 -1.59470459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.3053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:991.96, Y:245.89, Z:-15.95 [[ 9.99288781e-01 3.72746238e-02 5.70385204e-03 9.91963231e+02] [-3.72740320e-02 9.99305060e-01 -2.10061963e-04 2.45887717e+02] [-5.70771818e-03 -2.69300051e-06 9.99983711e-01 -1.59500342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.3653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:992.03, Y:245.89, Z:-15.95 [[ 9.99287990e-01 3.72958338e-02 5.70383169e-03 9.92025111e+02] [-3.72952392e-02 9.99304268e-01 -2.10612850e-04 2.45887723e+02] [-5.70771834e-03 -2.26287581e-06 9.99983711e-01 -1.59514226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.4253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:992.09, Y:245.89, Z:-15.95 [[ 9.99267082e-01 3.78518980e-02 5.70379553e-03 9.92087769e+02] [-3.78513069e-02 9.99283360e-01 -2.11587771e-04 2.45886597e+02] [-5.70771696e-03 -4.46342115e-06 9.99983711e-01 -1.59516630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:992.15, Y:245.89, Z:-15.95 [[ 9.99229018e-01 3.88437399e-02 5.70375417e-03 9.92149363e+02] [-3.88431586e-02 9.99245297e-01 -2.12696897e-04 2.45889003e+02] [-5.70771147e-03 -9.01891669e-06 9.99983711e-01 -1.59494911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:992.21, Y:245.89, Z:-15.95 [[ 9.99259538e-01 3.80505472e-02 5.70372081e-03 9.92212017e+02] [-3.80499479e-02 9.99275816e-01 -2.13587801e-04 2.45888555e+02] [-5.70771739e-03 -3.59663207e-06 9.99983711e-01 -1.59464286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.6053361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:992.27, Y:245.89, Z:-15.95 [[ 9.99357168e-01 3.53937743e-02 5.70368455e-03 9.92274635e+02] [-3.53931262e-02 9.99373444e-01 -2.14551612e-04 2.45889208e+02] [-5.70770467e-03 1.25424646e-05 9.99983711e-01 -1.59486883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.6653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:992.34, Y:245.89, Z:-15.95 [[ 9.99481916e-01 3.16759795e-02 5.70364757e-03 9.92337087e+02] [-3.16752653e-02 9.99498190e-01 -2.15530311e-04 2.45886456e+02] [-5.70761255e-03 3.47540978e-05 9.99983711e-01 -1.59514848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:992.40, Y:245.88, Z:-15.95 [[ 9.99535116e-01 2.99502955e-02 5.70360472e-03 9.92398941e+02] [-2.99495467e-02 9.99551388e-01 -2.16658259e-04 2.45884524e+02] [-5.70753500e-03 4.57371621e-05 9.99983711e-01 -1.59514605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:992.46, Y:245.88, Z:-15.95 [[ 9.99552691e-01 2.93579198e-02 5.70356459e-03 9.92461991e+02] [-2.93571554e-02 9.99568962e-01 -2.17709595e-04 2.45882417e+02] [-5.70749764e-03 5.01717789e-05 9.99983711e-01 -1.59502571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.8453361949998 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:992.53, Y:245.88, Z:-15.95 [[ 9.99561790e-01 2.90464808e-02 5.70352138e-03 9.92525380e+02] [-2.90457049e-02 9.99578061e-01 -2.18835790e-04 2.45879923e+02] [-5.70747125e-03 5.30770948e-05 9.99983711e-01 -1.59463147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.9053361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:992.59, Y:245.88, Z:-15.95 [[ 9.99596940e-01 2.78105781e-02 5.70347781e-03 9.92586963e+02] [-2.78097757e-02 9.99613209e-01 -2.19965563e-04 2.45875825e+02] [-5.70738913e-03 6.12644648e-05 9.99983711e-01 -1.59469994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:992.65, Y:245.87, Z:-15.95 [[ 9.99655218e-01 2.56303741e-02 5.70343724e-03 9.92649628e+02] [-2.56295302e-02 9.99671485e-01 -2.21012598e-04 2.45867939e+02] [-5.70722821e-03 7.47599802e-05 9.99983711e-01 -1.59494724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:992.71, Y:245.86, Z:-15.95 [[ 9.99676857e-01 2.47720343e-02 5.70339392e-03 9.92712647e+02] [-2.47711701e-02 9.99693123e-01 -2.22124752e-04 2.45863198e+02] [-5.70714616e-03 8.07732332e-05 9.99983711e-01 -1.59501634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.0853361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:992.77, Y:245.86, Z:-15.95 [[ 9.99680123e-01 2.46398593e-02 5.70335077e-03 9.92774314e+02] [-2.46389867e-02 9.99696389e-01 -2.23227384e-04 2.45856525e+02] [-5.70711946e-03 8.26311958e-05 9.99983711e-01 -1.59464457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.1453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:992.84, Y:245.85, Z:-15.95 [[ 9.99651923e-01 2.57585951e-02 5.70331050e-03 9.92836643e+02] [-2.57577348e-02 9.99668189e-01 -2.24251417e-04 2.45851298e+02] [-5.70719448e-03 7.72690012e-05 9.99983711e-01 -1.59488661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.205336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:992.90, Y:245.84, Z:-15.95 [[ 9.99602103e-01 2.76244106e-02 5.70326799e-03 9.92898167e+02] [-2.76235746e-02 9.99618371e-01 -2.25327477e-04 2.45844096e+02] [-5.70731599e-03 6.76931719e-05 9.99983711e-01 -1.59479454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:992.96, Y:245.84, Z:-15.95 [[ 9.99482608e-01 3.16542108e-02 5.70322807e-03 9.92960119e+02] [-3.16534346e-02 9.99498879e-01 -2.26333420e-04 2.45837750e+02] [-5.70753446e-03 4.56895609e-05 9.99983711e-01 -1.59513939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.3253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:993.02, Y:245.83, Z:-15.95 [[ 9.99295785e-01 3.70864879e-02 5.70318539e-03 9.93022952e+02] [-3.70857940e-02 9.99312059e-01 -2.27403600e-04 2.45831963e+02] [-5.70769554e-03 1.57362996e-05 9.99983711e-01 -1.59524178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.3853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:993.09, Y:245.83, Z:-15.95 [[ 9.99168724e-01 4.03650322e-02 5.70314108e-03 9.93085842e+02] [-4.03643854e-02 9.99185000e-01 -2.28509713e-04 2.45828076e+02] [-5.70771682e-03 -1.88402572e-06 9.99983711e-01 -1.59520503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:993.15, Y:245.82, Z:-15.95 [[ 9.99099641e-01 4.20402452e-02 5.70309653e-03 9.93147903e+02] [-4.20396194e-02 9.99115918e-01 -2.29616195e-04 2.45824099e+02] [-5.70770764e-03 -1.03465495e-05 9.99983711e-01 -1.59533128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:993.21, Y:245.82, Z:-15.96 [[ 9.99174424e-01 4.02236936e-02 5.70306886e-03 9.93209755e+02] [-4.02230343e-02 9.99190700e-01 -2.30301238e-04 2.45817315e+02] [-5.70771693e-03 7.16372081e-07 9.99983711e-01 -1.59552953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.5653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:993.27, Y:245.81, Z:-15.95 [[ 9.99261952e-01 3.79871916e-02 5.70304155e-03 9.93272149e+02] [-3.79864920e-02 9.99278226e-01 -2.30975755e-04 2.45811872e+02] [-5.70769936e-03 1.41667415e-05 9.99983711e-01 -1.59541309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.6253361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:993.34, Y:245.81, Z:-15.95 [[ 9.99383468e-01 3.46433073e-02 5.70299764e-03 9.93335343e+02] [-3.46425471e-02 9.99399740e-01 -2.32054680e-04 2.45805126e+02] [-5.70761350e-03 3.43452466e-05 9.99983711e-01 -1.59512562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:993.40, Y:245.80, Z:-15.95 [[ 9.99406265e-01 3.39793067e-02 5.70295366e-03 9.93397855e+02] [-3.39785296e-02 9.99422536e-01 -2.33130681e-04 2.45795820e+02] [-5.70758203e-03 3.92142839e-05 9.99983711e-01 -1.59534150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:993.46, Y:245.79, Z:-15.95 [[ 9.99412171e-01 3.38051811e-02 5.70290922e-03 9.93461132e+02] [-3.38043950e-02 9.99428441e-01 -2.34212701e-04 2.45789675e+02] [-5.70756727e-03 4.12916284e-05 9.99983711e-01 -1.59534552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.8053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:993.52, Y:245.78, Z:-15.96 [[ 9.99393480e-01 3.43533010e-02 5.70286350e-03 9.93523358e+02] [-3.43525175e-02 9.99409750e-01 -2.35320814e-04 2.45782434e+02] [-5.70758143e-03 3.92703692e-05 9.99983711e-01 -1.59556155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.8653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:993.59, Y:245.77, Z:-15.96 [[ 9.99335273e-01 3.60067946e-02 5.70282085e-03 9.93585424e+02] [-3.60060321e-02 9.99351545e-01 -2.36349793e-04 2.45773282e+02] [-5.70763302e-03 3.08567348e-05 9.99983711e-01 -1.59573417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.9253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:993.65, Y:245.77, Z:-15.96 [[ 9.99270517e-01 3.77612553e-02 5.70278188e-03 9.93647024e+02] [-3.77605160e-02 9.99286789e-01 -2.37286392e-04 2.45767757e+02] [-5.70767483e-03 2.17733088e-05 9.99983711e-01 -1.59593079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:993.71, Y:245.76, Z:-15.96 [[ 9.99097033e-01 4.21022302e-02 5.70275433e-03 9.93709362e+02] [-4.21015578e-02 9.99113308e-01 -2.37946558e-04 2.45760844e+02] [-5.70771583e-03 -2.36314106e-06 9.99983711e-01 -1.59559990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:993.77, Y:245.76, Z:-15.96 [[ 9.98905393e-01 4.64273150e-02 5.70270801e-03 9.93771390e+02] [-4.64267068e-02 9.98921670e-01 -2.39051565e-04 2.45756613e+02] [-5.70765714e-03 -2.59680556e-05 9.99983711e-01 -1.59564509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.1053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:993.83, Y:245.75, Z:-15.96 [[ 9.98614644e-01 5.23093973e-02 5.70266493e-03 9.93833891e+02] [-5.23088792e-02 9.98630925e-01 -2.40075038e-04 2.45749993e+02] [-5.70741573e-03 -5.85575623e-05 9.99983711e-01 -1.59566160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.1653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:993.90, Y:245.74, Z:-15.96 [[ 9.98315327e-01 5.77406969e-02 5.70262041e-03 9.93896862e+02] [-5.77402614e-02 9.98331610e-01 -2.41127957e-04 2.45744695e+02] [-5.70702911e-03 -8.85490569e-05 9.99983711e-01 -1.59562445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:993.96, Y:245.74, Z:-15.95 [[ 9.98116382e-01 6.10832928e-02 5.70257514e-03 9.93957450e+02] [-6.10829056e-02 9.98132667e-01 -2.42193678e-04 2.45741124e+02] [-5.70672052e-03 -1.06592382e-04 9.99983711e-01 -1.59548778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:994.02, Y:245.74, Z:-15.96 [[ 9.97877044e-01 6.48759309e-02 5.70255557e-03 9.94020239e+02] [-6.48756030e-02 9.97893330e-01 -2.42653673e-04 2.45738211e+02] [-5.70628455e-03 -1.27818202e-04 9.99983711e-01 -1.59558258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.3453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:994.08, Y:245.73, Z:-15.96 [[ 9.97749643e-01 6.68066657e-02 5.70251012e-03 9.94082869e+02] [-6.68063633e-02 9.97765930e-01 -2.43717135e-04 2.45734917e+02] [-5.70605224e-03 -1.37795278e-04 9.99983711e-01 -1.59564902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.4053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:994.14, Y:245.73, Z:-15.96 [[ 9.97628757e-01 6.85882215e-02 5.70246364e-03 9.94144193e+02] [-6.85879419e-02 9.97645044e-01 -2.44799872e-04 2.45732706e+02] [-5.70582498e-03 -1.46900853e-04 9.99983711e-01 -1.59602857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:994.21, Y:245.73, Z:-15.96 [[ 9.97506805e-01 7.03395781e-02 5.70242637e-03 9.94207503e+02] [-7.03393222e-02 9.97523092e-01 -2.45664918e-04 2.45732008e+02] [-5.70558195e-03 -1.56052379e-04 9.99983711e-01 -1.59602243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:994.27, Y:245.73, Z:-15.96 [[ 9.97520456e-01 7.01457280e-02 5.70237997e-03 9.94269666e+02] [-7.01454628e-02 9.97536743e-01 -2.46737362e-04 2.45732266e+02] [-5.70564111e-03 -1.53870516e-04 9.99983711e-01 -1.59614610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.5853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:994.33, Y:245.73, Z:-15.96 [[ 9.97633695e-01 6.85163826e-02 5.70233682e-03 9.94332867e+02] [-6.85160852e-02 9.97649981e-01 -2.47730654e-04 2.45732873e+02] [-5.70590982e-03 -1.43557347e-04 9.99983711e-01 -1.59588427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.6453361949998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:994.39, Y:245.74, Z:-15.96 [[ 9.97861481e-01 6.51148905e-02 5.70228936e-03 9.94394961e+02] [-6.51145313e-02 9.97877766e-01 -2.48818288e-04 2.45735449e+02] [-5.70638954e-03 -1.23015714e-04 9.99983711e-01 -1.59562296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:994.46, Y:245.74, Z:-15.96 [[ 9.98066001e-01 6.19010592e-02 5.70224505e-03 9.94456103e+02] [-6.19006418e-02 9.98082285e-01 -2.49829667e-04 2.45735779e+02] [-5.70677449e-03 -1.03626131e-04 9.99983711e-01 -1.59593514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.765336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:994.52, Y:245.74, Z:-15.96 [[ 9.98401050e-01 5.62390285e-02 5.70220715e-03 9.94519673e+02] [-5.62385138e-02 9.98417331e-01 -2.50691725e-04 2.45737809e+02] [-5.70728110e-03 -7.03927744e-05 9.99983711e-01 -1.59555167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.8253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:994.58, Y:245.74, Z:-15.96 [[ 9.98645780e-01 5.17116092e-02 5.70215977e-03 9.94582472e+02] [-5.17110145e-02 9.98662059e-01 -2.51764676e-04 2.45738836e+02] [-5.70754977e-03 -4.34407355e-05 9.99983711e-01 -1.59578542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.8853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:994.65, Y:245.74, Z:-15.96 [[ 9.98765818e-01 4.93388897e-02 5.70211212e-03 9.94645641e+02] [-4.93382503e-02 9.98782095e-01 -2.52839292e-04 2.45737910e+02] [-5.70764230e-03 -2.88049923e-05 9.99983711e-01 -1.59593571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:994.71, Y:245.74, Z:-15.96 [[ 9.98927901e-01 4.59405502e-02 5.70206428e-03 9.94707668e+02] [-4.59398493e-02 9.98944176e-01 -2.53913745e-04 2.45738462e+02] [-5.70770884e-03 -8.31044908e-06 9.99983711e-01 -1.59628268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:994.77, Y:245.74, Z:-15.97 [[ 9.99145962e-01 4.09247384e-02 5.70202209e-03 9.94768997e+02] [-4.09239504e-02 9.99162232e-01 -2.54857551e-04 2.45737200e+02] [-5.70767510e-03 2.12906232e-05 9.99983711e-01 -1.59670204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.0653361949999 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:994.83, Y:245.74, Z:-15.96 [[ 9.99346908e-01 3.56825541e-02 5.70198294e-03 9.94832188e+02] [-3.56816758e-02 9.99363174e-01 -2.55730554e-04 2.45735177e+02] [-5.70747688e-03 5.21072318e-05 9.99983711e-01 -1.59608154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.1253361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:994.89, Y:245.73, Z:-15.96 [[ 9.99409072e-01 3.38968292e-02 5.70193256e-03 9.94893136e+02] [-3.38959154e-02 9.99425335e-01 -2.56849053e-04 2.45731850e+02] [-5.70736222e-03 6.34250504e-05 9.99983711e-01 -1.59614700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:994.96, Y:245.73, Z:-15.96 [[ 9.99437613e-01 3.30445977e-02 5.70190857e-03 9.94955994e+02] [-3.30436670e-02 9.99453876e-01 -2.57380315e-04 2.45727504e+02] [-5.70729965e-03 6.88235994e-05 9.99983711e-01 -1.59607830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:995.02, Y:245.72, Z:-15.96 [[ 9.99415954e-01 3.36933131e-02 5.70185817e-03 9.95016802e+02] [-3.36923867e-02 9.99432217e-01 -2.58492064e-04 2.45723455e+02] [-5.70733021e-03 6.62318827e-05 9.99983711e-01 -1.59646861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.3053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:995.08, Y:245.72, Z:-15.97 [[ 9.99383179e-01 3.46518375e-02 5.70183332e-03 9.95078691e+02] [-3.46509235e-02 9.99399443e-01 -2.59039120e-04 2.45719473e+02] [-5.70738523e-03 6.13055488e-05 9.99983711e-01 -1.59652283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.3653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:995.14, Y:245.72, Z:-15.97 [[ 9.99333646e-01 3.60520867e-02 5.70178992e-03 9.95140739e+02] [-3.60511901e-02 9.99349911e-01 -2.59990910e-04 2.45715026e+02] [-5.70745646e-03 5.42613516e-05 9.99983711e-01 -1.59674529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.4253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:995.20, Y:245.71, Z:-15.97 [[ 9.99229030e-01 3.88437466e-02 5.70174643e-03 9.95203257e+02] [-3.88428899e-02 9.99245296e-01 -2.60941248e-04 2.45709816e+02] [-5.70757923e-03 3.92677613e-05 9.99983711e-01 -1.59670391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:995.26, Y:245.71, Z:-15.97 [[ 9.99082294e-01 4.24506879e-02 5.70169581e-03 9.95264995e+02] [-4.24498837e-02 9.99098563e-01 -2.62042544e-04 2.45706989e+02] [-5.70767998e-03 1.97657415e-05 9.99983711e-01 -1.59665352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:995.33, Y:245.70, Z:-15.97 [[ 9.98759747e-01 4.94616976e-02 5.70164887e-03 9.95328020e+02] [-4.94610019e-02 9.98776021e-01 -2.63059929e-04 2.45704555e+02] [-5.70768157e-03 -1.92755979e-05 9.99983711e-01 -1.59653365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.6053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:995.39, Y:245.70, Z:-15.96 [[ 9.98532569e-01 5.38535102e-02 5.70159875e-03 9.95389568e+02] [-5.38528798e-02 9.98548846e-01 -2.64141880e-04 2.45702376e+02] [-5.70754982e-03 -4.32932422e-05 9.99983711e-01 -1.59636978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.6653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:995.45, Y:245.70, Z:-15.96 [[ 9.98335407e-01 5.73925718e-02 5.70155840e-03 9.95451211e+02] [-5.73919941e-02 9.98351686e-01 -2.65010010e-04 2.45700459e+02] [-5.70737005e-03 -6.26549296e-05 9.99983711e-01 -1.59584011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:995.51, Y:245.70, Z:-15.96 [[ 9.98374595e-01 5.67067917e-02 5.70151698e-03 9.95514003e+02] [-5.67061978e-02 9.98390874e-01 -2.65898125e-04 2.45697940e+02] [-5.70742075e-03 -5.78454166e-05 9.99983711e-01 -1.59588386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:995.58, Y:245.70, Z:-15.96 [[ 9.98536930e-01 5.37726027e-02 5.70146609e-03 9.95575183e+02] [-5.37719547e-02 9.98553206e-01 -2.66984975e-04 2.45695005e+02] [-5.70757372e-03 -3.99846191e-05 9.99983711e-01 -1.59631769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.8453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:995.64, Y:245.69, Z:-15.96 [[ 9.98666308e-01 5.13137291e-02 5.70142500e-03 9.95636845e+02] [-5.13130361e-02 9.98682582e-01 -2.67859466e-04 2.45690284e+02] [-5.70765871e-03 -2.50552025e-05 9.99983711e-01 -1.59648671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.9053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:995.70, Y:245.69, Z:-15.96 [[ 9.98781598e-01 4.90185113e-02 5.70138271e-03 9.95699531e+02] [-4.90177758e-02 9.98797870e-01 -2.68756699e-04 2.45686410e+02] [-5.70770296e-03 -1.10398539e-05 9.99983711e-01 -1.59638701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.965336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:995.76, Y:245.68, Z:-15.96 [[ 9.98827368e-01 4.80768530e-02 5.70133094e-03 9.95760705e+02] [-4.80760959e-02 9.98843640e-01 -2.69850492e-04 2.45684412e+02] [-5.70771171e-03 -4.56367569e-06 9.99983711e-01 -1.59639060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:995.82, Y:245.68, Z:-15.97 [[ 9.98761192e-01 4.94325558e-02 5.70128927e-03 9.95823420e+02] [-4.94318158e-02 9.98777464e-01 -2.70727881e-04 2.45681384e+02] [-5.70770201e-03 -1.14325797e-05 9.99983711e-01 -1.59653474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.0853361949999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:995.89, Y:245.68, Z:-15.96 [[ 9.98713940e-01 5.03781815e-02 5.70123718e-03 9.95885984e+02] [-5.03774506e-02 9.98730213e-01 -2.71820473e-04 2.45678936e+02] [-5.70769165e-03 -1.57428993e-05 9.99983711e-01 -1.59613489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.1453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:995.95, Y:245.68, Z:-15.96 [[ 9.98661063e-01 5.14157350e-02 5.70118390e-03 9.95948589e+02] [-5.14150147e-02 9.98677336e-01 -2.72933422e-04 2.45678069e+02] [-5.70767622e-03 -2.05584728e-05 9.99983711e-01 -1.59631039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:996.01, Y:245.67, Z:-15.96 [[ 9.98649612e-01 5.16376737e-02 5.70113742e-03 9.96010312e+02] [-5.16369514e-02 9.98665885e-01 -2.73900819e-04 2.45674934e+02] [-5.70767505e-03 -2.08584097e-05 9.99983711e-01 -1.59645506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.265336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:996.07, Y:245.67, Z:-15.97 [[ 9.98649392e-01 5.16419435e-02 5.70108790e-03 9.96071824e+02] [-5.16412155e-02 9.98665664e-01 -2.74927764e-04 2.45672062e+02] [-5.70767854e-03 -1.98546653e-05 9.99983711e-01 -1.59662322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.3253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:996.13, Y:245.67, Z:-15.97 [[ 9.98612860e-01 5.23436200e-02 5.70104646e-03 9.96134322e+02] [-5.23428985e-02 9.98629133e-01 -2.75784436e-04 2.45670077e+02] [-5.70766664e-03 -2.30074117e-05 9.99983711e-01 -1.59669317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.3853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:996.20, Y:245.67, Z:-15.97 [[ 9.98585334e-01 5.28661435e-02 5.70100217e-03 9.96197193e+02] [-5.28654253e-02 9.98601607e-01 -2.76696891e-04 2.45668148e+02] [-5.70765783e-03 -2.50804473e-05 9.99983711e-01 -1.59673179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:996.26, Y:245.67, Z:-15.97 [[ 9.98600778e-01 5.25736236e-02 5.70095130e-03 9.96259887e+02] [-5.25728947e-02 9.98617051e-01 -2.77741049e-04 2.45666217e+02] [-5.70766903e-03 -2.23630856e-05 9.99983711e-01 -1.59677548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:996.32, Y:245.66, Z:-15.97 [[ 9.98598890e-01 5.26094637e-02 5.70090059e-03 9.96322606e+02] [-5.26087295e-02 9.98615163e-01 -2.78778108e-04 2.45664168e+02] [-5.70767214e-03 -2.15296279e-05 9.99983711e-01 -1.59662247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.5653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:996.39, Y:245.66, Z:-15.97 [[ 9.98567590e-01 5.32002701e-02 5.70084769e-03 9.96385855e+02] [-5.31995393e-02 9.98583863e-01 -2.79855831e-04 2.45661917e+02] [-5.70766291e-03 -2.38275075e-05 9.99983711e-01 -1.59670533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.6253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:996.45, Y:245.66, Z:-15.97 [[ 9.98510910e-01 5.42537009e-02 5.70079505e-03 9.96449316e+02] [-5.42529812e-02 9.98527183e-01 -2.80924079e-04 2.45660115e+02] [-5.70763999e-03 -2.87793689e-05 9.99983711e-01 -1.59660403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.685336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:996.51, Y:245.66, Z:-15.96 [[ 9.98398430e-01 5.62856734e-02 5.70074121e-03 9.96511958e+02] [-5.62849806e-02 9.98414704e-01 -2.82012409e-04 2.45661173e+02] [-5.70757710e-03 -3.93053621e-05 9.99983711e-01 -1.59625122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:996.57, Y:245.66, Z:-15.96 [[ 9.98302882e-01 5.79556610e-02 5.70068966e-03 9.96574602e+02] [-5.79549896e-02 9.98319157e-01 -2.83050544e-04 2.45661013e+02] [-5.70751208e-03 -4.78132359e-05 9.99983711e-01 -1.59647096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.8053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:996.64, Y:245.66, Z:-15.97 [[ 9.98215384e-01 5.94436738e-02 5.70063480e-03 9.96637090e+02] [-5.94430203e-02 9.98231660e-01 -2.84151076e-04 2.45664051e+02] [-5.70744513e-03 -5.52189747e-05 9.99983711e-01 -1.59668133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.8653361949998 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:996.70, Y:245.67, Z:-15.97 [[ 9.98238443e-01 5.90551857e-02 5.70058694e-03 9.96699038e+02] [-5.90545204e-02 9.98254718e-01 -2.85108186e-04 2.45668142e+02] [-5.70747492e-03 -5.20394761e-05 9.99983711e-01 -1.59663916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.9253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:996.76, Y:245.67, Z:-15.97 [[ 9.98281486e-01 5.83230586e-02 5.70053949e-03 9.96761897e+02] [-5.83223759e-02 9.98297761e-01 -2.86053596e-04 2.45669323e+02] [-5.70751933e-03 -4.69069987e-05 9.99983711e-01 -1.59695677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:996.82, Y:245.67, Z:-15.97 [[ 9.98405374e-01 5.61623904e-02 5.70048641e-03 9.96824926e+02] [-5.61616665e-02 9.98421647e-01 -2.87107617e-04 2.45671591e+02] [-5.70761368e-03 -3.34990292e-05 9.99983711e-01 -1.59684293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:996.89, Y:245.68, Z:-15.97 [[ 9.98448713e-01 5.53865825e-02 5.70043254e-03 9.96887581e+02] [-5.53858399e-02 9.98464985e-01 -2.88173286e-04 2.45675513e+02] [-5.70764322e-03 -2.79969977e-05 9.99983711e-01 -1.59689426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.1053361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:996.95, Y:245.68, Z:-15.97 [[ 9.98476951e-01 5.48751583e-02 5.70038404e-03 9.96950474e+02] [-5.48744019e-02 9.98493223e-01 -2.89129340e-04 2.45678168e+02] [-5.70766085e-03 -2.41161834e-05 9.99983711e-01 -1.59671132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.1653361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:997.01, Y:245.68, Z:-15.97 [[ 9.98631749e-01 5.19820689e-02 5.70035554e-03 9.97014024e+02] [-5.19812621e-02 9.98648018e-01 -2.89690201e-04 2.45680806e+02] [-5.70770746e-03 -7.01784369e-06 9.99983711e-01 -1.59681700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:997.08, Y:245.68, Z:-15.97 [[ 9.98854141e-01 4.75174959e-02 5.70029814e-03 9.97076628e+02] [-4.75166100e-02 9.98870406e-01 -2.90815345e-04 2.45681439e+02] [-5.70767793e-03 1.96232673e-05 9.99983711e-01 -1.59703676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:997.14, Y:245.68, Z:-15.97 [[ 9.98998295e-01 4.43836998e-02 5.70024796e-03 9.97139405e+02] [-4.43827573e-02 9.99014557e-01 -2.91795600e-04 2.45682399e+02] [-5.70758166e-03 3.85105851e-05 9.99983711e-01 -1.59703630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.3453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:997.20, Y:245.68, Z:-15.97 [[ 9.99034449e-01 4.35623300e-02 5.70019064e-03 9.97202376e+02] [-4.35613678e-02 9.99050710e-01 -2.92911007e-04 2.45680909e+02] [-5.70753940e-03 4.43200854e-05 9.99983711e-01 -1.59708466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.4053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:997.26, Y:245.68, Z:-15.97 [[ 9.99054136e-01 4.31084909e-02 5.70013315e-03 9.97264405e+02] [-4.31075150e-02 9.99070396e-01 -2.94025638e-04 2.45679116e+02] [-5.70750928e-03 4.80289550e-05 9.99983711e-01 -1.59720728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:997.33, Y:245.68, Z:-15.97 [[ 9.99046505e-01 4.32849815e-02 5.70007968e-03 9.97326203e+02] [-4.32840025e-02 9.99062765e-01 -2.95058537e-04 2.45677043e+02] [-5.70750897e-03 4.80549371e-05 9.99983711e-01 -1.59687330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:997.39, Y:245.68, Z:-15.97 [[ 9.98972655e-01 4.49571430e-02 5.70003093e-03 9.97387811e+02] [-4.49561859e-02 9.98988916e-01 -2.95997347e-04 2.45675178e+02] [-5.70757491e-03 3.94416058e-05 9.99983711e-01 -1.59702702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.5853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:997.45, Y:245.67, Z:-15.97 [[ 9.98910121e-01 4.63258083e-02 5.69997896e-03 9.97450277e+02] [-4.63248677e-02 9.98926383e-01 -2.96994808e-04 2.45671832e+02] [-5.70761789e-03 3.26203488e-05 9.99983711e-01 -1.59711036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.6453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:997.51, Y:245.67, Z:-15.97 [[ 9.98806582e-01 4.85069440e-02 5.69992238e-03 9.97512295e+02] [-4.85060328e-02 9.98822845e-01 -2.98076682e-04 2.45668187e+02] [-5.70767148e-03 2.12403291e-05 9.99983711e-01 -1.59716863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:997.58, Y:245.66, Z:-15.97 [[ 9.98692755e-01 5.07965740e-02 5.69987201e-03 9.97575580e+02] [-5.07956946e-02 9.98709021e-01 -2.99036752e-04 2.45664800e+02] [-5.70770364e-03 9.11687971e-06 9.99983711e-01 -1.59714107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:997.64, Y:245.66, Z:-15.97 [[ 9.98385432e-01 5.65158496e-02 5.69981410e-03 9.97637170e+02] [-5.65150571e-02 9.98401702e-01 -3.00136484e-04 2.45662690e+02] [-5.70766657e-03 -2.24734263e-05 9.99983711e-01 -1.59712175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.8253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:997.70, Y:245.66, Z:-15.97 [[ 9.98005544e-01 6.28684950e-02 5.69976013e-03 9.97699963e+02] [-6.28678003e-02 9.98021818e-01 -3.01158011e-04 2.45664062e+02] [-5.70741832e-03 -5.77740166e-05 9.99983711e-01 -1.59727279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.8853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:997.76, Y:245.67, Z:-15.98 [[ 9.97764305e-01 6.65875668e-02 5.69974232e-03 9.97762393e+02] [-6.65869308e-02 9.97780582e-01 -3.01494683e-04 2.45665698e+02] [-5.70716801e-03 -7.87077148e-05 9.99983711e-01 -1.59765508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:997.82, Y:245.66, Z:-15.97 [[ 9.97757778e-01 6.66853119e-02 5.69969295e-03 9.97824766e+02] [-6.66846722e-02 9.97774054e-01 -3.02425213e-04 2.45664819e+02] [-5.70717306e-03 -7.83350476e-05 9.99983711e-01 -1.59737625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:997.89, Y:245.67, Z:-15.97 [[ 9.97999289e-01 6.29677108e-02 5.69964112e-03 9.97885581e+02] [-6.29670049e-02 9.98015563e-01 -3.03398816e-04 2.45666186e+02] [-5.70743487e-03 -5.60975270e-05 9.99983711e-01 -1.59711852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.0653361949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:997.95, Y:245.67, Z:-15.97 [[ 9.98366906e-01 5.68422071e-02 5.69960070e-03 9.97947998e+02] [-5.68413969e-02 9.98383174e-01 -3.04156212e-04 2.45665212e+02] [-5.70767435e-03 -2.03137694e-05 9.99983711e-01 -1.59671758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.1253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:998.01, Y:245.66, Z:-15.97 [[ 9.98483927e-01 5.47481725e-02 5.69954983e-03 9.98010772e+02] [-5.47473228e-02 9.98500194e-01 -3.05106476e-04 2.45662054e+02] [-5.70770564e-03 -7.39118240e-06 9.99983711e-01 -1.59670154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:998.07, Y:245.66, Z:-15.97 [[ 9.98787780e-01 4.88925997e-02 5.69949150e-03 9.98074075e+02] [-4.88916484e-02 9.98804041e-01 -3.06192324e-04 2.45659526e+02] [-5.70764568e-03 2.71636167e-05 9.99983711e-01 -1.59664140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:998.14, Y:245.66, Z:-15.97 [[ 9.98920688e-01 4.60974479e-02 5.69943319e-03 9.98136662e+02] [-4.60964450e-02 9.98936947e-01 -3.07273864e-04 2.45657032e+02] [-5.70753893e-03 4.42186113e-05 9.99983711e-01 -1.59691107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.3053361949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:998.20, Y:245.65, Z:-15.97 [[ 9.99013946e-01 4.40301461e-02 5.69937514e-03 9.98198650e+02] [-4.40291034e-02 9.99030201e-01 -3.08346822e-04 2.45653398e+02] [-5.70742445e-03 5.71043977e-05 9.99983711e-01 -1.59727501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.3653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:998.26, Y:245.65, Z:-15.97 [[ 9.99012484e-01 4.40633022e-02 5.69932209e-03 9.98260369e+02] [-4.40622545e-02 9.99028739e-01 -3.09324318e-04 2.45648686e+02] [-5.70741641e-03 5.78938749e-05 9.99983711e-01 -1.59749884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.4253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:998.32, Y:245.65, Z:-15.97 [[ 9.98991909e-01 4.45273464e-02 5.69926572e-03 9.98323219e+02] [-4.45263003e-02 9.99008164e-01 -3.10359482e-04 2.45645834e+02] [-5.70743247e-03 5.62793941e-05 9.99983711e-01 -1.59721937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:998.39, Y:245.64, Z:-15.97 [[ 9.99012983e-01 4.40520086e-02 5.69920556e-03 9.98386212e+02] [-4.40509486e-02 9.99029237e-01 -3.11460296e-04 2.45640634e+02] [-5.70739343e-03 6.00974688e-05 9.99983711e-01 -1.59727728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:998.45, Y:245.64, Z:-15.98 [[ 9.99071772e-01 4.26979326e-02 5.69914515e-03 9.98447414e+02] [-4.26968442e-02 9.99088025e-01 -3.12561742e-04 2.45635234e+02] [-5.70729341e-03 6.89361009e-05 9.99983711e-01 -1.59760262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.6053361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:998.51, Y:245.63, Z:-15.98 [[ 9.99094493e-01 4.21629531e-02 5.69909645e-03 9.98510093e+02] [-4.21618509e-02 9.99110745e-01 -3.13447174e-04 2.45630356e+02] [-5.70724436e-03 7.28788900e-05 9.99983711e-01 -1.59755871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.6653361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:998.57, Y:245.63, Z:-15.97 [[ 9.98999512e-01 4.43564667e-02 5.69903560e-03 9.98572489e+02] [-4.43553939e-02 9.99015766e-01 -3.14549616e-04 2.45625574e+02] [-5.70737873e-03 6.14519436e-05 9.99983711e-01 -1.59720429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:998.63, Y:245.62, Z:-15.97 [[ 9.98813544e-01 4.83634868e-02 5.69897370e-03 9.98634337e+02] [-4.83624729e-02 9.98829801e-01 -3.15667151e-04 2.45618844e+02] [-5.70757154e-03 3.96761648e-05 9.99983711e-01 -1.59729689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:998.70, Y:245.62, Z:-15.97 [[ 9.98605661e-01 5.24810113e-02 5.69892001e-03 9.98697557e+02] [-5.24800589e-02 9.98621922e-01 -3.16633574e-04 2.45615642e+02] [-5.70768370e-03 1.71124217e-05 9.99983711e-01 -1.59723518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.8453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:998.76, Y:245.61, Z:-15.98 [[ 9.98534498e-01 5.38180226e-02 5.69885718e-03 9.98759151e+02] [-5.38170856e-02 9.98550760e-01 -3.17760300e-04 2.45610911e+02] [-5.70769940e-03 1.05987371e-05 9.99983711e-01 -1.59751549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.9053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:998.82, Y:245.60, Z:-15.98 [[ 9.98510588e-01 5.42598267e-02 5.69879852e-03 9.98821108e+02] [-5.42588908e-02 9.98526850e-01 -3.18808960e-04 2.45603591e+02] [-5.70770186e-03 9.12363588e-06 9.99983711e-01 -1.59773714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.965336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:998.88, Y:245.60, Z:-15.98 [[ 9.98448321e-01 5.53938100e-02 5.69874551e-03 9.98883737e+02] [-5.53928872e-02 9.98464584e-01 -3.19753644e-04 2.45597525e+02] [-5.70770794e-03 3.58752107e-06 9.99983711e-01 -1.59769903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:998.95, Y:245.59, Z:-15.97 [[ 9.98236826e-01 5.90826904e-02 5.69868414e-03 9.98945330e+02] [-5.90818216e-02 9.98253092e-01 -3.20843750e-04 2.45591372e+02] [-5.70768537e-03 -1.64105924e-05 9.99983711e-01 -1.59748369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.0853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:999.01, Y:245.59, Z:-15.97 [[ 9.97941054e-01 6.38840977e-02 5.69863101e-03 9.99008184e+02] [-6.38833017e-02 9.97957324e-01 -3.21784587e-04 2.45585930e+02] [-5.70754747e-03 -4.29253150e-05 9.99983711e-01 -1.59736167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.1453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:999.07, Y:245.58, Z:-15.98 [[ 9.97591809e-01 6.91238615e-02 5.69856941e-03 9.99070619e+02] [-6.91231448e-02 9.97608083e-01 -3.22871874e-04 2.45584319e+02] [-5.70725705e-03 -7.18087013e-05 9.99983711e-01 -1.59756332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:999.13, Y:245.58, Z:-15.98 [[ 9.97350666e-01 7.25201816e-02 5.69851604e-03 9.99133524e+02] [-7.25195149e-02 9.97366941e-01 -3.23811139e-04 2.45581674e+02] [-5.70699435e-03 -9.03003637e-05 9.99983711e-01 -1.59755711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.265336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:999.19, Y:245.58, Z:-15.98 [[ 9.97099689e-01 7.58929384e-02 5.69845390e-03 9.99194364e+02] [-7.58923205e-02 9.97115966e-01 -3.24901019e-04 2.45580251e+02] [-5.70667706e-03 -1.08510184e-04 9.99983711e-01 -1.59772286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.3253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:999.26, Y:245.58, Z:-15.98 [[ 9.97125884e-01 7.55479963e-02 5.69840366e-03 9.99256785e+02] [-7.55473677e-02 9.97142161e-01 -3.25779677e-04 2.45579210e+02] [-5.70673054e-03 -1.05656049e-04 9.99983711e-01 -1.59788487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.3853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:999.32, Y:245.58, Z:-15.98 [[ 9.97280915e-01 7.34731564e-02 5.69834689e-03 9.99318963e+02] [-7.34724883e-02 9.97297191e-01 -3.26769639e-04 2.45577548e+02] [-5.70695415e-03 -9.27906012e-05 9.99983711e-01 -1.59768437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.445336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:999.38, Y:245.58, Z:-15.97 [[ 9.97611734e-01 6.88357313e-02 5.69829369e-03 9.99381268e+02] [-6.88349823e-02 9.97628006e-01 -3.27694722e-04 2.45575373e+02] [-5.70733448e-03 -6.53298458e-05 9.99983711e-01 -1.59727035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:999.44, Y:245.57, Z:-15.98 [[ 9.98021524e-01 6.26144359e-02 5.69825595e-03 9.99443766e+02] [-6.26135817e-02 9.98037791e-01 -3.28349733e-04 2.45572126e+02] [-5.70763421e-03 -2.90881135e-05 9.99983711e-01 -1.59790357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.5653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:999.51, Y:245.57, Z:-15.98 [[ 9.98224547e-01 5.92898348e-02 5.69819578e-03 9.99506891e+02] [-5.92889205e-02 9.98240810e-01 -3.29390655e-04 2.45567798e+02] [-5.70770109e-03 -9.03403875e-06 9.99983711e-01 -1.59794655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.6253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:999.57, Y:245.56, Z:-15.98 [[ 9.98400071e-01 5.62568196e-02 5.69813523e-03 9.99569654e+02] [-5.62558500e-02 9.98416331e-01 -3.30434707e-04 2.45564659e+02] [-5.70770048e-03 9.35259446e-06 9.99983711e-01 -1.59795915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:999.63, Y:245.56, Z:-15.98 [[ 9.98407761e-01 5.61201856e-02 5.69807249e-03 9.99631588e+02] [-5.61192075e-02 9.98424020e-01 -3.31513237e-04 2.45562423e+02] [-5.70769702e-03 1.12140764e-05 9.99983711e-01 -1.59802938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:999.69, Y:245.56, Z:-15.98 [[ 9.98373632e-01 5.67241064e-02 5.69801395e-03 9.99694216e+02] [-5.67231325e-02 9.98389892e-01 -3.32516299e-04 2.45557212e+02] [-5.70770122e-03 8.76630501e-06 9.99983711e-01 -1.59778244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.8053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:999.76, Y:245.55, Z:-15.98 [[ 9.98337751e-01 5.73521478e-02 5.69795174e-03 9.99757496e+02] [-5.73511781e-02 9.98354011e-01 -3.33578912e-04 2.45554157e+02] [-5.70770444e-03 6.24017534e-06 9.99983711e-01 -1.59798843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.8653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:999.82, Y:245.55, Z:-15.98 [[ 9.98310535e-01 5.78239487e-02 5.69789002e-03 9.99819729e+02] [-5.78229807e-02 9.98326796e-01 -3.34629861e-04 2.45550609e+02] [-5.70770591e-03 4.59553149e-06 9.99983711e-01 -1.59826021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.9253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:999.88, Y:245.55, Z:-15.98 [[ 9.98232835e-01 5.91501619e-02 5.69783611e-03 9.99882020e+02] [-5.91492102e-02 9.98249096e-01 -3.35545273e-04 2.45545938e+02] [-5.70770731e-03 -2.07019675e-06 9.99983711e-01 -1.59839560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:999.95, Y:245.54, Z:-15.98 [[ 9.98119792e-01 6.10279888e-02 5.69777882e-03 9.99945038e+02] [-6.10270622e-02 9.98136055e-01 -3.36515393e-04 2.45542131e+02] [-5.70769533e-03 -1.18360276e-05 9.99983711e-01 -1.59828409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1000.01, Y:245.54, Z:-15.98 [[ 9.97934446e-01 6.39873290e-02 5.69771793e-03 1.00000702e+03] [-6.39864447e-02 9.97950711e-01 -3.37543183e-04 2.45539118e+02] [-5.70764014e-03 -2.77307436e-05 9.99983711e-01 -1.59796700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.1053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1000.07, Y:245.54, Z:-15.98 [[ 9.97695946e-01 6.76042572e-02 5.69766275e-03 1.00006883e+03] [-6.76034265e-02 9.97712214e-01 -3.38472006e-04 2.45536984e+02] [-5.70750987e-03 -4.74893773e-05 9.99983711e-01 -1.59802950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.1653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1000.13, Y:245.54, Z:-15.98 [[ 9.97393422e-01 7.19298164e-02 5.69760430e-03 1.00013182e+03] [-7.19290508e-02 9.97409693e-01 -3.39453157e-04 2.45535175e+02] [-5.70726256e-03 -7.12549224e-05 9.99983711e-01 -1.59815440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1000.19, Y:245.53, Z:-15.98 [[ 9.97384223e-01 7.20572732e-02 5.69754013e-03 1.00019302e+03] [-7.20565035e-02 9.97400493e-01 -3.40526735e-04 2.45534439e+02] [-5.70726677e-03 -7.09088278e-05 9.99983711e-01 -1.59849206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1000.26, Y:245.53, Z:-15.99 [[ 9.97612894e-01 6.88189856e-02 5.69748851e-03 1.00025529e+03] [-6.88181581e-02 9.97629162e-01 -3.41388316e-04 2.45529960e+02] [-5.70747468e-03 -5.15172789e-05 9.99983711e-01 -1.59855590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.3453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1000.32, Y:245.52, Z:-15.99 [[ 9.98138472e-01 6.07217356e-02 5.69744922e-03 1.00031840e+03] [-6.07207724e-02 9.98154733e-01 -3.42042660e-04 2.45523411e+02] [-5.70770533e-03 -4.54757875e-06 9.99983711e-01 -1.59852448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.4053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1000.38, Y:245.51, Z:-15.99 [[ 9.98647492e-01 5.16790754e-02 5.69738666e-03 1.00037979e+03] [-5.16779591e-02 9.98663743e-01 -3.43081622e-04 2.45514262e+02] [-5.70750362e-03 4.81882867e-05 9.99983711e-01 -1.59860823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1000.44, Y:245.50, Z:-15.99 [[ 9.98951837e-01 4.54177101e-02 5.69732813e-03 1.00044247e+03] [-4.54164864e-02 9.98968080e-01 -3.44050825e-04 2.45503578e+02] [-5.70707494e-03 8.49375786e-05 9.99983711e-01 -1.59865859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.525336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1000.50, Y:245.49, Z:-15.99 [[ 9.99032416e-01 4.36093329e-02 5.69726597e-03 1.00050419e+03] [-4.36080739e-02 9.99048656e-01 -3.45077090e-04 2.45493356e+02] [-5.70689449e-03 9.62964040e-05 9.99983711e-01 -1.59878887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.5853361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1000.57, Y:245.48, Z:-15.99 [[ 9.99008572e-01 4.41521794e-02 5.69722748e-03 1.00056605e+03] [-4.41509256e-02 9.99024813e-01 -3.45711374e-04 2.45482125e+02] [-5.70693553e-03 9.38307593e-05 9.99983711e-01 -1.59893129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.6453361949998 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:1000.63, Y:245.47, Z:-15.98 [[ 9.98922967e-01 4.60483320e-02 5.69717414e-03 1.00062877e+03] [-4.60471041e-02 9.98939209e-01 -3.46588241e-04 2.45474143e+02] [-5.70709044e-03 8.38765831e-05 9.99983711e-01 -1.59837356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.705336195 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:1000.69, Y:245.46, Z:-15.98 [[ 9.98698477e-01 5.06842764e-02 5.69710804e-03 1.00069096e+03] [-5.06831177e-02 9.98714724e-01 -3.47671302e-04 2.45462026e+02] [-5.70740716e-03 5.84716028e-05 9.99983711e-01 -1.59817210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.765336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1000.75, Y:245.45, Z:-15.98 [[ 9.98261491e-01 5.86646361e-02 5.69703755e-03 1.00075144e+03] [-5.86636007e-02 9.98277747e-01 -3.48822668e-04 2.45451292e+02] [-5.70768936e-03 1.40075013e-05 9.99983711e-01 -1.59845135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.8253361949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1000.81, Y:245.45, Z:-15.98 [[ 9.97792547e-01 6.61632625e-02 5.69698061e-03 1.00081405e+03] [-6.61623440e-02 9.97808810e-01 -3.49750111e-04 2.45445579e+02] [-5.70763805e-03 -2.79475363e-05 9.99983711e-01 -1.59839238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.8853361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1000.88, Y:245.44, Z:-15.98 [[ 9.96913972e-01 7.82948120e-02 5.69691195e-03 1.00087605e+03] [-7.82940850e-02 9.96930245e-01 -3.50864876e-04 2.45440815e+02] [-5.70689473e-03 -9.62524110e-05 9.99983711e-01 -1.59837667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.945336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1000.94, Y:245.44, Z:-15.99 [[ 9.96012858e-01 8.90277020e-02 5.69686941e-03 1.00093755e+03] [-8.90271463e-02 9.96029138e-01 -3.51554235e-04 2.45438689e+02] [-5.70554599e-03 -1.57023488e-04 9.99983711e-01 -1.59878405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1001.00, Y:245.44, Z:-15.98 [[ 9.95249416e-01 9.71912917e-02 5.69680672e-03 1.00100107e+03] [-9.71908638e-02 9.95265699e-01 -3.52567235e-04 2.45439208e+02] [-5.70410279e-03 -2.02785231e-04 9.99983711e-01 -1.59841366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.0653361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1001.06, Y:245.44, Z:-15.98 [[ 9.94953254e-01 1.00177692e-01 5.69674056e-03 1.00106402e+03] [-1.00177307e-01 9.94969538e-01 -3.53632991e-04 2.45438576e+02] [-5.70350946e-03 -2.18835835e-04 9.99983711e-01 -1.59838811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.1253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1001.13, Y:245.44, Z:-15.99 [[ 9.94913463e-01 1.00572112e-01 5.69667431e-03 1.00112618e+03] [-1.00571727e-01 9.94929747e-01 -3.54697007e-04 2.45440276e+02] [-5.70346336e-03 -2.20031548e-04 9.99983711e-01 -1.59861432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.185336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1001.19, Y:245.44, Z:-15.98 [[ 9.95327033e-01 9.63931855e-02 5.69661275e-03 1.00118728e+03] [-9.63927267e-02 9.95343316e-01 -3.55682873e-04 2.45443213e+02] [-5.70437083e-03 -1.95091258e-04 9.99983711e-01 -1.59841936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1001.25, Y:245.44, Z:-15.98 [[ 9.95797967e-01 9.13999942e-02 5.69655983e-03 1.00124941e+03] [-9.13994489e-02 9.95814247e-01 -3.56528418e-04 2.45442899e+02] [-5.70530214e-03 -1.65632156e-04 9.99983711e-01 -1.59839183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.3053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1001.31, Y:245.44, Z:-15.98 [[ 9.96555981e-01 8.27268199e-02 5.69649909e-03 1.00131261e+03] [-8.27261274e-02 9.96572255e-01 -3.57496348e-04 2.45442430e+02] [-5.70654748e-03 -1.14984185e-04 9.99983711e-01 -1.59841261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.3653361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1001.37, Y:245.44, Z:-15.99 [[ 9.96968938e-01 7.75917939e-02 5.69643117e-03 1.00137500e+03] [-7.75910113e-02 9.96985209e-01 -3.58575363e-04 2.45440479e+02] [-5.70708012e-03 -8.45033561e-05 9.99983711e-01 -1.59865841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.4253361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1001.44, Y:245.44, Z:-15.99 [[ 9.97517369e-01 7.01900934e-02 5.69637171e-03 1.00143680e+03] [-7.01891848e-02 9.97533633e-01 -3.59517524e-04 2.45440121e+02] [-5.70755693e-03 -4.11987111e-05 9.99983711e-01 -1.59882541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1001.50, Y:245.44, Z:-15.99 [[ 9.97818267e-01 6.57742995e-02 5.69631058e-03 1.00149878e+03] [-6.57733133e-02 9.97834526e-01 -3.60483356e-04 2.45438927e+02] [-5.70768591e-03 -1.49683430e-05 9.99983711e-01 -1.59910740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.545336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1001.56, Y:245.44, Z:-15.99 [[ 9.98165368e-01 6.02781076e-02 5.69624525e-03 1.00156072e+03] [-6.02770260e-02 9.98181621e-01 -3.61512876e-04 2.45438293e+02] [-5.70767863e-03 1.74969099e-05 9.99983711e-01 -1.59901149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.6053361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1001.62, Y:245.44, Z:-15.99 [[ 9.98376349e-01 5.66764358e-02 5.69618442e-03 1.00162351e+03] [-5.66752902e-02 9.98392598e-01 -3.62468778e-04 2.45435924e+02] [-5.70757180e-03 3.90473505e-05 9.99983711e-01 -1.59892018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.6653361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1001.69, Y:245.43, Z:-15.99 [[ 9.98422976e-01 5.58490342e-02 5.69611644e-03 1.00168513e+03] [-5.58478690e-02 9.98439224e-01 -3.63533893e-04 2.45434247e+02] [-5.70752909e-03 4.48446270e-05 9.99983711e-01 -1.59924419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1001.75, Y:245.43, Z:-15.99 [[ 9.98435085e-01 5.56321564e-02 5.69605316e-03 1.00174808e+03] [-5.56309821e-02 9.98451331e-01 -3.64522735e-04 2.45432577e+02] [-5.70751105e-03 4.70752568e-05 9.99983711e-01 -1.59920601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1001.81, Y:245.43, Z:-15.99 [[ 9.98460458e-01 5.51749028e-02 5.69598696e-03 1.00180978e+03] [-5.51737151e-02 9.98476704e-01 -3.65554256e-04 2.45429121e+02] [-5.70747970e-03 5.07227085e-05 9.99983711e-01 -1.59937883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.8453361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1001.87, Y:245.43, Z:-15.99 [[ 9.98493710e-01 5.45698456e-02 5.69592834e-03 1.00187228e+03] [-5.45686429e-02 9.98509954e-01 -3.66465367e-04 2.45425378e+02] [-5.70743911e-03 5.50942845e-05 9.99983711e-01 -1.59940165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.9053361949998 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:1001.93, Y:245.42, Z:-15.99 [[ 9.98501363e-01 5.44296315e-02 5.69586146e-03 1.00193425e+03] [-5.44284206e-02 9.98517607e-01 -3.67501915e-04 2.45420782e+02] [-5.70742095e-03 5.69344194e-05 9.99983711e-01 -1.59900943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.965336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1002.00, Y:245.42, Z:-15.99 [[ 9.98503048e-01 5.43987168e-02 5.69579931e-03 1.00199696e+03] [-5.43974999e-02 9.98519292e-01 -3.68462679e-04 2.45415522e+02] [-5.70740939e-03 5.80738661e-05 9.99983711e-01 -1.59944884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.025336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1002.06, Y:245.41, Z:-15.99 [[ 9.98514917e-01 5.41804291e-02 5.69573312e-03 1.00205972e+03] [-5.41792028e-02 9.98531160e-01 -3.69483080e-04 2.45408122e+02] [-5.70738575e-03 6.03440875e-05 9.99983711e-01 -1.59934426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.0853361949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1002.12, Y:245.40, Z:-15.99 [[ 9.98504081e-01 5.43797707e-02 5.69566378e-03 1.00212107e+03] [-5.43785416e-02 9.98520324e-01 -3.70548809e-04 2.45402682e+02] [-5.70738640e-03 6.02726081e-05 9.99983711e-01 -1.59933220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.1453361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1002.18, Y:245.40, Z:-16.00 [[ 9.98482150e-01 5.47809854e-02 5.69559896e-03 1.00218175e+03] [-5.47797572e-02 9.98498393e-01 -3.71542536e-04 2.45395270e+02] [-5.70739987e-03 5.89750623e-05 9.99983711e-01 -1.59970051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.205336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1002.24, Y:245.39, Z:-16.00 [[ 9.98497272e-01 5.45046645e-02 5.69554653e-03 1.00224474e+03] [-5.45034272e-02 9.98513514e-01 -3.72344555e-04 2.45387094e+02] [-5.70737469e-03 6.13582174e-05 9.99983711e-01 -1.59977154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.265336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1002.31, Y:245.38, Z:-15.99 [[ 9.98457501e-01 5.52284297e-02 5.69548236e-03 1.00230769e+03] [-5.52271986e-02 9.98473744e-01 -3.73323501e-04 2.45379647e+02] [-5.70740766e-03 5.82021152e-05 9.99983711e-01 -1.59937465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.3253361949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1002.37, Y:245.37, Z:-15.99 [[ 9.98209890e-01 5.95363621e-02 5.69541116e-03 1.00236924e+03] [-5.95351949e-02 9.98226137e-01 -3.74406601e-04 2.45373251e+02] [-5.70759908e-03 3.46589587e-05 9.99983711e-01 -1.59908183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.3853361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1002.43, Y:245.37, Z:-15.99 [[ 9.98006493e-01 6.28538174e-02 5.69534659e-03 1.00243136e+03] [-6.28526986e-02 9.98022744e-01 -3.75386166e-04 2.45368515e+02] [-5.70767989e-03 1.66699280e-05 9.99983711e-01 -1.59927675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.445336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1002.49, Y:245.36, Z:-15.99 [[ 9.97811448e-01 6.58777495e-02 5.69527772e-03 1.00249370e+03] [-6.58766740e-02 9.97827702e-01 -3.76428148e-04 2.45362156e+02] [-5.70770412e-03 4.18361616e-07 9.99983711e-01 -1.59896989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.505336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1002.56, Y:245.36, Z:-15.99 [[ 9.97781604e-01 6.63282348e-02 5.69520482e-03 1.00255665e+03] [-6.63271604e-02 9.97797858e-01 -3.77528004e-04 2.45357410e+02] [-5.70770393e-03 -1.05626621e-06 9.99983711e-01 -1.59939994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.5653361949999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1002.62, Y:245.35, Z:-16.00 [[ 9.97841845e-01 6.54157353e-02 5.69513190e-03 1.00261711e+03] [-6.54146398e-02 9.97858097e-01 -3.78624811e-04 2.45351333e+02] [-5.70770150e-03 5.26267818e-06 9.99983711e-01 -1.59968110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.6253361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1002.68, Y:245.34, Z:-16.00 [[ 9.97943674e-01 6.38434698e-02 5.69509640e-03 1.00267936e+03] [-6.38423456e-02 9.97959925e-01 -3.79157954e-04 2.45343959e+02] [-5.70768474e-03 1.47899694e-05 9.99983711e-01 -1.59991979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.685336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1002.74, Y:245.34, Z:-16.00 [[ 9.97959235e-01 6.35997812e-02 5.69503261e-03 1.00274255e+03] [-6.35986476e-02 9.97975484e-01 -3.80113696e-04 2.45337619e+02] [-5.70767808e-03 1.71416007e-05 9.99983711e-01 -1.59993149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.745336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1002.80, Y:245.33, Z:-16.00 [[ 9.97878861e-01 6.48486437e-02 5.69495886e-03 1.00280415e+03] [-6.48475242e-02 9.97895111e-01 -3.81215536e-04 2.45333054e+02] [-5.70769291e-03 1.11029426e-05 9.99983711e-01 -1.59990467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.8053361949999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1002.87, Y:245.33, Z:-16.00 [[ 9.97817673e-01 6.57834297e-02 5.69489008e-03 1.00286565e+03] [-6.57823195e-02 9.97833924e-01 -3.82240259e-04 2.45327727e+02] [-5.70769959e-03 6.78300772e-06 9.99983711e-01 -1.59998356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.8653361949998 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1002.93, Y:245.32, Z:-16.00 [[ 9.97787497e-01 6.62395643e-02 5.69484495e-03 1.00292810e+03] [-6.62384577e-02 9.97803748e-01 -3.82911381e-04 2.45321610e+02] [-5.70770152e-03 4.84644230e-06 9.99983711e-01 -1.59986182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.9253361949998 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:1002.99, Y:245.32, Z:-15.99 [[ 9.97787037e-01 6.62465010e-02 5.69477115e-03 1.00299088e+03] [-6.62453883e-02 9.97803288e-01 -3.84005922e-04 2.45316943e+02] [-5.70770042e-03 5.90380466e-06 9.99983711e-01 -1.59933012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.985336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1003.05, Y:245.31, Z:-16.00 [[ 9.97845452e-01 6.53607291e-02 5.69469787e-03 1.00305350e+03] [-6.53595958e-02 9.97861701e-01 -3.85089509e-04 2.45312099e+02] [-5.70769064e-03 1.20566638e-05 9.99983711e-01 -1.59978730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.045336195 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:1003.12, Y:245.31, Z:-15.99 [[ 9.97858806e-01 6.51565447e-02 5.69462454e-03 1.00311508e+03] [-6.51554019e-02 9.97875055e-01 -3.86170937e-04 2.45306507e+02] [-5.70768533e-03 1.43085196e-05 9.99983711e-01 -1.59949853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.1053361949998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1003.18, Y:245.30, Z:-16.00 [[ 9.97802037e-01 6.60201972e-02 5.69455984e-03 1.00317692e+03] [-6.60190630e-02 9.97818287e-01 -3.87122531e-04 2.45301845e+02] [-5.70769385e-03 1.03221445e-05 9.99983711e-01 -1.59967051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.1653361949998 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:1003.24, Y:245.30, Z:-16.00 [[ 9.97669210e-01 6.79979404e-02 5.69449576e-03 1.00323977e+03] [-6.79968331e-02 9.97685462e-01 -3.88062965e-04 2.45298863e+02] [-5.70770311e-03 -4.92056085e-08 9.99983711e-01 -1.59963446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.225336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1003.30, Y:245.29, Z:-16.00 [[ 9.97541311e-01 6.98491621e-02 5.69442277e-03 1.00330162e+03] [-6.98480788e-02 9.97557564e-01 -3.89130974e-04 2.45294398e+02] [-5.70769499e-03 -9.57026811e-06 9.99983711e-01 -1.59974275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.285336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1003.36, Y:245.29, Z:-16.00 [[ 9.97498150e-01 7.04628568e-02 5.69437745e-03 1.00336221e+03] [-7.04617797e-02 9.97514404e-01 -3.89793099e-04 2.45288530e+02] [-5.70768946e-03 -1.24180740e-05 9.99983711e-01 -1.59994677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.3453361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1003.42, Y:245.28, Z:-16.00 [[ 9.97522027e-01 7.01240356e-02 5.69431938e-03 1.00342412e+03] [-7.01229482e-02 9.97538280e-01 -3.90639559e-04 2.45282053e+02] [-5.70769478e-03 -9.63089772e-06 9.99983711e-01 -1.59956095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.4053361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1003.49, Y:245.28, Z:-15.99 [[ 9.97438646e-01 7.13002367e-02 5.69425736e-03 1.00348729e+03] [-7.12991633e-02 9.97454899e-01 -3.91541611e-04 2.45276808e+02] [-5.70768191e-03 -1.54570509e-05 9.99983711e-01 -1.59941765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.465336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1003.55, Y:245.27, Z:-16.00 [[ 9.97276848e-01 7.35286617e-02 5.69418686e-03 1.00355020e+03] [-7.35276188e-02 9.97293104e-01 -3.92564126e-04 2.45270479e+02] [-5.70763801e-03 -2.71848862e-05 9.99983711e-01 -1.59952038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.525336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1003.61, Y:245.27, Z:-16.00 [[ 9.96858711e-01 7.89954869e-02 5.69411668e-03 1.00361266e+03] [-7.89945273e-02 9.96874972e-01 -3.93579504e-04 2.45266285e+02] [-5.70741341e-03 -5.74608981e-05 9.99983711e-01 -1.59979408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.5853361949999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1003.67, Y:245.26, Z:-16.00 [[ 9.96396967e-01 8.46206975e-02 5.69405584e-03 1.00367442e+03] [-8.46198247e-02 9.96413232e-01 -3.94457737e-04 2.45264867e+02] [-5.70701187e-03 -8.87935144e-05 9.99983711e-01 -1.60002469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.6453361949998 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1003.74, Y:245.26, Z:-16.00 [[ 9.96175869e-01 8.71849524e-02 5.69399364e-03 1.00373695e+03] [-8.71841163e-02 9.96192137e-01 -3.95353552e-04 2.45261173e+02] [-5.70678057e-03 -1.02584136e-04 9.99983711e-01 -1.60023250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.705336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1003.80, Y:245.26, Z:-16.00 [[ 9.95923007e-01 9.00274544e-02 5.69397157e-03 1.00380024e+03] [-9.00266629e-02 9.95939277e-01 -3.95671078e-04 2.45259396e+02] [-5.70647119e-03 -1.18551330e-04 9.99983711e-01 -1.60021798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.765336195 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:1003.86, Y:245.26, Z:-16.00 [[ 9.95837104e-01 9.09727519e-02 5.69390151e-03 1.00386364e+03] [-9.09719701e-02 9.95853374e-01 -3.96676841e-04 2.45258244e+02] [-5.70637781e-03 -1.22959922e-04 9.99983711e-01 -1.60008732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.8253361949999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1003.93, Y:245.26, Z:-16.00 [[ 9.95879777e-01 9.05044189e-02 5.69383174e-03 1.00392633e+03] [-9.05036238e-02 9.95896047e-01 -3.97675696e-04 2.45257186e+02] [-5.70645593e-03 -1.19275222e-04 9.99983711e-01 -1.59985859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.8853361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1003.99, Y:245.26, Z:-16.00 [[ 9.95974737e-01 8.94533618e-02 5.69375677e-03 1.00398962e+03] [-8.94525435e-02 9.95991006e-01 -3.98746281e-04 2.45255511e+02] [-5.70659972e-03 -1.12179802e-04 9.99983711e-01 -1.59984945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.945336195 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:1004.05, Y:245.26, Z:-16.00 [[ 9.96197900e-01 8.69328800e-02 5.69367919e-03 1.00405164e+03] [-8.69320141e-02 9.96214166e-01 -3.99850935e-04 2.45256981e+02] [-5.70688406e-03 -9.66323376e-05 9.99983711e-01 -1.59999874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.005336195 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:1004.11, Y:245.26, Z:-16.00 [[ 9.96327916e-01 8.54298907e-02 5.69360712e-03 1.00411269e+03] [-8.54289944e-02 9.96344181e-01 -4.00874490e-04 2.45257121e+02] [-5.70703899e-03 -8.69966861e-05 9.99983711e-01 -1.60005564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.0653361949999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1004.17, Y:245.26, Z:-16.00 [[ 9.96547864e-01 8.28247440e-02 5.69354745e-03 1.00417485e+03] [-8.28238004e-02 9.96564126e-01 -4.01720325e-04 2.45259476e+02] [-5.70725752e-03 -7.12277046e-05 9.99983711e-01 -1.59980054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.1253361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1004.24, Y:245.26, Z:-16.00 [[ 9.96621976e-01 8.19281461e-02 5.69348789e-03 1.00423798e+03] [-8.19271830e-02 9.96638237e-01 -4.02562665e-04 2.45258463e+02] [-5.70732894e-03 -6.52486253e-05 9.99983711e-01 -1.59968868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.185336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1004.30, Y:245.26, Z:-16.00 [[ 9.96762840e-01 8.01961678e-02 5.69341254e-03 1.00430109e+03] [-8.01951705e-02 9.96779099e-01 -4.03625551e-04 2.45262201e+02] [-5.70744384e-03 -5.42652384e-05 9.99983711e-01 -1.59982122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.245336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1004.36, Y:245.26, Z:-16.00 [[ 9.97103066e-01 7.58489448e-02 5.69333658e-03 1.00436342e+03] [-7.58478704e-02 9.97119319e-01 -4.04694138e-04 2.45263467e+02] [-5.70763152e-03 -2.83056897e-05 9.99983711e-01 -1.60004538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.3053361949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1004.43, Y:245.26, Z:-16.00 [[ 9.97382104e-01 7.20869236e-02 5.69326728e-03 1.00442582e+03] [-7.20857824e-02 9.97398353e-01 -4.05666653e-04 2.45262214e+02] [-5.70769867e-03 -5.79896662e-06 9.99983711e-01 -1.60000353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.3653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1004.49, Y:245.26, Z:-16.00 [[ 9.97845223e-01 6.53643564e-02 5.69319321e-03 1.00448774e+03] [-6.53630998e-02 9.97861463e-01 -4.06703591e-04 2.45261529e+02] [-5.70760202e-03 3.37024795e-05 9.99983711e-01 -1.60005746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.4253361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1004.55, Y:245.26, Z:-16.00 [[ 9.98216853e-01 5.94197152e-02 5.69312032e-03 1.00454987e+03] [-5.94183561e-02 9.98233085e-01 -4.07721304e-04 2.45260683e+02] [-5.70728775e-03 6.87184266e-05 9.99983711e-01 -1.60022062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.485336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1004.61, Y:245.26, Z:-16.00 [[ 9.98342125e-01 5.72764418e-02 5.69305280e-03 1.00461245e+03] [-5.72750425e-02 9.98358354e-01 -4.08661926e-04 2.45257390e+02] [-5.70711352e-03 8.19145747e-05 9.99983711e-01 -1.60037246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.545336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1004.67, Y:245.25, Z:-16.01 [[ 9.98405545e-01 5.61601060e-02 5.69301425e-03 1.00467399e+03] [-5.61586854e-02 9.98421772e-01 -4.09198320e-04 2.45252901e+02] [-5.70700999e-03 8.88336750e-05 9.99983711e-01 -1.60066951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.6053361949998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1004.74, Y:245.25, Z:-16.01 [[ 9.98399494e-01 5.62675729e-02 5.69294667e-03 1.00473625e+03] [-5.62661488e-02 9.98415721e-01 -4.10136387e-04 2.45248594e+02] [-5.70700483e-03 8.91597771e-05 9.99983711e-01 -1.60078581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.6653361949998 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:1004.80, Y:245.24, Z:-16.00 [[ 9.98346197e-01 5.72054351e-02 5.69287469e-03 1.00479793e+03] [-5.72040205e-02 9.98362425e-01 -4.11133026e-04 2.45243115e+02] [-5.70707122e-03 8.47977730e-05 9.99983711e-01 -1.60041202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.725336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1004.86, Y:245.24, Z:-16.00 [[ 9.98263467e-01 5.86314131e-02 5.69280311e-03 1.00485876e+03] [-5.86300161e-02 9.98279696e-01 -4.12121746e-04 2.45236936e+02] [-5.70717304e-03 7.76369449e-05 9.99983711e-01 -1.60018549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.785336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1004.92, Y:245.23, Z:-16.00 [[ 9.98184912e-01 5.99539415e-02 5.69273691e-03 1.00492108e+03] [-5.99525608e-02 9.98201142e-01 -4.13034259e-04 2.45231359e+02] [-5.70725951e-03 7.09904098e-05 9.99983711e-01 -1.60025953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.8453361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1004.98, Y:245.22, Z:-16.00 [[ 9.97997128e-01 6.30025924e-02 5.69265642e-03 1.00498358e+03] [-6.30012549e-02 9.98013362e-01 -4.14140576e-04 2.45223956e+02] [-5.70743910e-03 5.46666075e-05 9.99983711e-01 -1.60031218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.9053361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1005.04, Y:245.22, Z:-16.00 [[ 9.97645581e-01 6.83439061e-02 5.69257608e-03 1.00504477e+03] [-6.83426492e-02 9.97661821e-01 -4.15241956e-04 2.45217358e+02] [-5.70764508e-03 2.52185716e-05 9.99983711e-01 -1.60047061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.965336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1005.11, Y:245.21, Z:-16.00 [[ 9.97380998e-01 7.21022845e-02 5.69253700e-03 1.00510743e+03] [-7.21010859e-02 9.97397243e-01 -4.15776978e-04 2.45212773e+02] [-5.70769918e-03 4.24995823e-06 9.99983711e-01 -1.60038082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1005.17, Y:245.21, Z:-16.01 [[ 9.96996677e-01 7.72348527e-02 5.69245744e-03 1.00516883e+03] [-7.72337314e-02 9.97012927e-01 -4.16863463e-04 2.45206695e+02] [-5.70765004e-03 -2.40382421e-05 9.99983711e-01 -1.60059399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.0853361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1005.23, Y:245.20, Z:-16.01 [[ 9.96726052e-01 8.06521748e-02 5.69240806e-03 1.00523181e+03] [-8.06511054e-02 9.96742306e-01 -4.17536722e-04 2.45201777e+02] [-5.70753918e-03 -4.29292738e-05 9.99983711e-01 -1.60058704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.1453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1005.29, Y:245.20, Z:-16.01 [[ 9.96606548e-01 8.21156830e-02 5.69232820e-03 1.00529329e+03] [-8.21146312e-02 9.96622803e-01 -4.18622637e-04 2.45197069e+02] [-5.70747957e-03 -5.02213691e-05 9.99983711e-01 -1.60076197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.205336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1005.36, Y:245.19, Z:-16.01 [[ 9.96510434e-01 8.32739591e-02 5.69225398e-03 1.00535607e+03] [-8.32729206e-02 9.96526690e-01 -4.19629357e-04 2.45192344e+02] [-5.70742722e-03 -5.58455812e-05 9.99983711e-01 -1.60078146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.265336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1005.42, Y:245.19, Z:-16.01 [[ 9.96490686e-01 8.35099485e-02 5.69217388e-03 1.00541894e+03] [-8.35089075e-02 9.96506942e-01 -4.20713087e-04 2.45189131e+02] [-5.70742452e-03 -5.61105497e-05 9.99983711e-01 -1.60072351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.3253361949999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1005.48, Y:245.19, Z:-16.01 [[ 9.96565509e-01 8.26122700e-02 5.69209349e-03 1.00548186e+03] [-8.26112082e-02 9.96581763e-01 -4.21797969e-04 2.45186374e+02] [-5.70748225e-03 -4.98814129e-05 9.99983711e-01 -1.60068619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.3853361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1005.54, Y:245.18, Z:-16.00 [[ 9.96774325e-01 8.00533946e-02 5.69201156e-03 1.00554305e+03] [-8.00522848e-02 9.96790576e-01 -4.22900716e-04 2.45183603e+02] [-5.70759812e-03 -3.41219548e-05 9.99983711e-01 -1.60048547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.445336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1005.61, Y:245.18, Z:-16.00 [[ 9.96929193e-01 7.81011213e-02 5.69194544e-03 1.00560592e+03] [-7.80999747e-02 9.96945442e-01 -4.23788714e-04 2.45180603e+02] [-5.70765744e-03 -2.20534543e-05 9.99983711e-01 -1.60021116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.505336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1005.67, Y:245.18, Z:-16.00 [[ 9.97134936e-01 7.54289228e-02 5.69186192e-03 1.00566835e+03] [-7.54277262e-02 9.97151181e-01 -4.24907526e-04 2.45177596e+02] [-5.70769716e-03 -5.63406391e-06 9.99983711e-01 -1.60022686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.5653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1005.73, Y:245.17, Z:-16.00 [[ 9.97272354e-01 7.35897773e-02 5.69178408e-03 1.00573084e+03] [-7.35885448e-02 9.97288596e-01 -4.25947730e-04 2.45174437e+02] [-5.70769675e-03 5.93578769e-06 9.99983711e-01 -1.60039963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.6253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1005.79, Y:245.17, Z:-16.00 [[ 9.97473603e-01 7.08097093e-02 5.69170418e-03 1.00579404e+03] [-7.08084254e-02 9.97489842e-01 -4.27012718e-04 2.45172427e+02] [-5.70765375e-03 2.29133034e-05 9.99983711e-01 -1.60047895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1005.86, Y:245.17, Z:-16.01 [[ 9.97684736e-01 6.77700073e-02 5.69162232e-03 1.00585648e+03] [-6.77686678e-02 9.97700969e-01 -4.28101026e-04 2.45169695e+02] [-5.70754952e-03 4.13961970e-05 9.99983711e-01 -1.60073997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1005.92, Y:245.16, Z:-16.01 [[ 9.97760519e-01 6.66449806e-02 5.69154625e-03 1.00591969e+03] [-6.66436170e-02 9.97776751e-01 -4.29110029e-04 2.45164827e+02] [-5.70749055e-03 4.88438168e-05 9.99983711e-01 -1.60089602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.8053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1005.98, Y:245.16, Z:-16.01 [[ 9.97983060e-01 6.32251441e-02 5.69146541e-03 1.00598043e+03] [-6.32237188e-02 9.97999287e-01 -4.30179575e-04 2.45161443e+02] [-5.70727658e-03 6.94763204e-05 9.99983711e-01 -1.60118713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.8653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1006.04, Y:245.16, Z:-16.01 [[ 9.98105082e-01 6.12686898e-02 5.69140007e-03 1.00604338e+03] [-6.12672278e-02 9.98121306e-01 -4.31042299e-04 2.45157047e+02] [-5.70711707e-03 8.15292045e-05 9.99983711e-01 -1.60099039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.9253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1006.11, Y:245.15, Z:-16.01 [[ 9.98242253e-01 5.89916432e-02 5.69131560e-03 1.00610563e+03] [-5.89901379e-02 9.98258472e-01 -4.32154739e-04 2.45152331e+02] [-5.70689753e-03 9.56636282e-05 9.99983711e-01 -1.60093549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.985336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1006.17, Y:245.15, Z:-16.01 [[ 9.98312797e-01 5.77855461e-02 5.69123737e-03 1.00616752e+03] [-5.77840153e-02 9.98329014e-01 -4.33182573e-04 2.45146745e+02] [-5.70675908e-03 1.03589159e-04 9.99983711e-01 -1.60068974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1006.23, Y:245.14, Z:-16.01 [[ 9.98342109e-01 5.72769047e-02 5.69118886e-03 1.00622988e+03] [-5.72753619e-02 9.98358325e-01 -4.33818890e-04 2.45142000e+02] [-5.70669358e-03 1.07134764e-04 9.99983711e-01 -1.60090592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.1053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1006.29, Y:245.13, Z:-16.01 [[ 9.98349828e-01 5.71422096e-02 5.69110621e-03 1.00629166e+03] [-5.71406585e-02 9.98366043e-01 -4.34900451e-04 2.45134963e+02] [-5.70665836e-03 1.08989233e-04 9.99983711e-01 -1.60098393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.1653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1006.35, Y:245.13, Z:-16.01 [[ 9.98369676e-01 5.67943790e-02 5.69102967e-03 1.00635289e+03] [-5.67928166e-02 9.98385890e-01 -4.35899752e-04 2.45128669e+02] [-5.70660038e-03 1.11979490e-04 9.99983711e-01 -1.60131970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1006.41, Y:245.12, Z:-16.02 [[ 9.98417564e-01 5.59462389e-02 5.69096456e-03 1.00641417e+03] [-5.59446579e-02 9.98433776e-01 -4.36748167e-04 2.45120092e+02] [-5.70648565e-03 1.17677975e-04 9.99983711e-01 -1.60160469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.285336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1006.48, Y:245.11, Z:-16.01 [[ 9.98349022e-01 5.71563057e-02 5.69089352e-03 1.00647637e+03] [-5.71547390e-02 9.98365236e-01 -4.37671913e-04 2.45111652e+02] [-5.70660596e-03 1.11687793e-04 9.99983711e-01 -1.60093135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.3453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1006.54, Y:245.11, Z:-16.01 [[ 9.98236350e-01 5.90914864e-02 5.69080903e-03 1.00653694e+03] [-5.90899449e-02 9.98252566e-01 -4.38767703e-04 2.45105456e+02] [-5.70679216e-03 1.01724278e-04 9.99983711e-01 -1.60140958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.4053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1006.60, Y:245.10, Z:-16.01 [[ 9.98036260e-01 6.23797992e-02 5.69074093e-03 1.00659955e+03] [-6.23783062e-02 9.98052480e-01 -4.39649173e-04 2.45096484e+02] [-5.70708333e-03 8.38070356e-05 9.99983711e-01 -1.60133287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1006.66, Y:245.09, Z:-16.01 [[ 9.97911261e-01 6.43485163e-02 5.69066114e-03 1.00666238e+03] [-6.43470494e-02 9.97927484e-01 -4.40679566e-04 2.45087143e+02] [-5.70722423e-03 7.35818476e-05 9.99983711e-01 -1.60147326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1006.72, Y:245.08, Z:-16.02 [[ 9.97822624e-01 6.57086626e-02 5.69057721e-03 1.00672474e+03] [-6.57072116e-02 9.97838848e-01 -4.41760765e-04 2.45075799e+02] [-5.70730651e-03 6.68869245e-05 9.99983711e-01 -1.60160019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.5853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1006.79, Y:245.07, Z:-16.02 [[ 9.97708927e-01 6.74130129e-02 5.69049299e-03 1.00678739e+03] [-6.74115835e-02 9.97725154e-01 -4.42842929e-04 2.45068296e+02] [-5.70740137e-03 5.82232006e-05 9.99983711e-01 -1.60176979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.6453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1006.85, Y:245.06, Z:-16.02 [[ 9.97401449e-01 7.18190068e-02 5.69040706e-03 1.00684871e+03] [-7.18176427e-02 9.97417680e-01 -4.43944346e-04 2.45059266e+02] [-5.70759625e-03 3.41191128e-05 9.99983711e-01 -1.60188499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1006.91, Y:245.05, Z:-16.02 [[ 9.97051653e-01 7.65220372e-02 5.69032702e-03 1.00691100e+03] [-7.65207439e-02 9.97067890e-01 -4.44967920e-04 2.45053754e+02] [-5.70769221e-03 8.22794324e-06 9.99983711e-01 -1.60154430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1006.97, Y:245.05, Z:-16.02 [[ 9.96823156e-01 7.94431724e-02 5.69025244e-03 1.00697262e+03] [-7.94419212e-02 9.96839396e-01 -4.45919662e-04 2.45047125e+02] [-5.70769308e-03 -7.54154113e-06 9.99983711e-01 -1.60157663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.8253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1007.04, Y:245.04, Z:-16.02 [[ 9.96362091e-01 8.50306193e-02 5.69017320e-03 1.00703560e+03] [-8.50294535e-02 9.96378338e-01 -4.46928421e-04 2.45041889e+02] [-5.70756792e-03 -3.85297815e-05 9.99983711e-01 -1.60159649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.8853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1007.10, Y:245.04, Z:-16.02 [[ 9.95984116e-01 8.93491092e-02 5.69008983e-03 1.00709801e+03] [-8.93480078e-02 9.96000368e-01 -4.47987430e-04 2.45037366e+02] [-5.70735884e-03 -6.22098255e-05 9.99983711e-01 -1.60159842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1007.16, Y:245.04, Z:-16.02 [[ 9.95529475e-01 9.42798358e-02 5.69000703e-03 1.00716122e+03] [-9.42788089e-02 9.95545732e-01 -4.49036587e-04 2.45035205e+02] [-5.70699731e-03 -8.94179279e-05 9.99983711e-01 -1.60162043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1007.22, Y:245.03, Z:-16.01 [[ 9.95505164e-01 9.45362042e-02 5.68992467e-03 1.00722434e+03] [-9.45351755e-02 9.95521420e-01 -4.50077814e-04 2.45033334e+02] [-5.70699054e-03 -8.98432392e-05 9.99983711e-01 -1.60125697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.0653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1007.29, Y:245.03, Z:-16.01 [[ 9.95712323e-01 9.23287327e-02 5.68983718e-03 1.00728659e+03] [-9.23276616e-02 9.95728577e-01 -4.51181161e-04 2.45029543e+02] [-5.70719046e-03 -7.60827199e-05 9.99983711e-01 -1.60117449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.1253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1007.35, Y:245.03, Z:-16.01 [[ 9.96174567e-01 8.72001130e-02 5.68975576e-03 1.00734983e+03] [-8.71989524e-02 9.96190814e-01 -4.52205570e-04 2.45025937e+02] [-5.70751480e-03 -4.56650542e-05 9.99983711e-01 -1.60140786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1007.41, Y:245.02, Z:-16.02 [[ 9.96662155e-01 8.14381702e-02 5.68966945e-03 1.00741181e+03] [-8.14369095e-02 9.96678396e-01 -4.53289004e-04 2.45023620e+02] [-5.70768564e-03 -1.15730995e-05 9.99983711e-01 -1.60170884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1007.47, Y:245.02, Z:-16.02 [[ 9.97031087e-01 7.67895791e-02 5.68958905e-03 1.00747490e+03] [-7.67882369e-02 9.97047321e-01 -4.54295842e-04 2.45019144e+02] [-5.70767471e-03 1.60535649e-05 9.99983711e-01 -1.60187451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.3053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1007.54, Y:245.01, Z:-16.02 [[ 9.97593238e-01 6.91039836e-02 5.68950337e-03 1.00753773e+03] [-6.91025103e-02 9.97609461e-01 -4.55366412e-04 2.45013604e+02] [-5.70737002e-03 6.11114881e-05 9.99983711e-01 -1.60167064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.3653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1007.60, Y:245.01, Z:-16.02 [[ 9.97890605e-01 6.46681638e-02 5.68941830e-03 1.00760013e+03] [-6.46666124e-02 9.97906820e-01 -4.56426835e-04 2.45009240e+02] [-5.70702561e-03 8.75486424e-05 9.99983711e-01 -1.60164736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.4253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1007.66, Y:245.00, Z:-16.02 [[ 9.98132528e-01 6.08201320e-02 5.68933384e-03 1.00766269e+03] [-6.08185120e-02 9.98148736e-01 -4.57477131e-04 2.45003980e+02] [-5.70662520e-03 1.10605987e-04 9.99983711e-01 -1.60173616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1007.72, Y:245.00, Z:-16.02 [[ 9.98081411e-01 6.16532977e-02 5.68924920e-03 1.00772486e+03] [-6.16516852e-02 9.98097620e-01 -4.58527412e-04 2.44996825e+02] [-5.70669581e-03 1.06895886e-04 9.99983711e-01 -1.60202598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.545336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1007.79, Y:244.99, Z:-16.02 [[ 9.97782250e-01 6.63190446e-02 5.68916187e-03 1.00778690e+03] [-6.63175018e-02 9.97798465e-01 -4.59608342e-04 2.44992907e+02] [-5.70711777e-03 8.12980429e-05 9.99983711e-01 -1.60226920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.6053361949998 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1007.85, Y:244.99, Z:-16.02 [[ 9.97520538e-01 7.01456407e-02 5.68908069e-03 1.00784935e+03] [-7.01441544e-02 9.97536759e-01 -4.60611045e-04 2.44988971e+02] [-5.70737697e-03 6.04132234e-05 9.99983711e-01 -1.60218874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.6653361949998 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:1007.91, Y:244.98, Z:-16.02 [[ 9.97256960e-01 7.37983129e-02 5.68899700e-03 1.00791265e+03] [-7.37968801e-02 9.97273186e-01 -4.61642356e-04 2.44983953e+02] [-5.70755259e-03 4.05458226e-05 9.99983711e-01 -1.60211898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.725336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1007.98, Y:244.98, Z:-16.02 [[ 9.97060312e-01 7.64092250e-02 5.68890984e-03 1.00797591e+03] [-7.64078286e-02 9.97076542e-01 -4.62713953e-04 2.44978968e+02] [-5.70763416e-03 2.66764709e-05 9.99983711e-01 -1.60206488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.785336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1008.04, Y:244.97, Z:-16.02 [[ 9.96896309e-01 7.85199791e-02 5.68882034e-03 1.00803790e+03] [-7.85186108e-02 9.96912540e-01 -4.63811749e-04 2.44973276e+02] [-5.70767482e-03 1.56939506e-05 9.99983711e-01 -1.60207878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.8453361949998 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1008.10, Y:244.97, Z:-16.02 [[ 9.96904895e-01 7.84109002e-02 5.68876454e-03 1.00810030e+03] [-7.84095262e-02 9.96921125e-01 -4.64495074e-04 2.44968266e+02] [-5.70767103e-03 1.70040804e-05 9.99983711e-01 -1.60212225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.9053361949998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1008.16, Y:244.96, Z:-16.03 [[ 9.96977112e-01 7.74872702e-02 5.68868682e-03 1.00816235e+03] [-7.74858758e-02 9.96993341e-01 -4.65444964e-04 2.44962963e+02] [-5.70764894e-03 2.32450955e-05 9.99983711e-01 -1.60268076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.965336195 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:1008.22, Y:244.95, Z:-16.02 [[ 9.97107008e-01 7.57974582e-02 5.68860424e-03 1.00822481e+03] [-7.57960305e-02 9.97123234e-01 -4.66452104e-04 2.44954425e+02] [-5.70759534e-03 3.39290412e-05 9.99983711e-01 -1.60239313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.025336195 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:1008.29, Y:244.95, Z:-16.02 [[ 9.97200358e-01 7.45592847e-02 5.68851133e-03 1.00828687e+03] [-7.45578305e-02 9.97216582e-01 -4.67582404e-04 2.44947761e+02] [-5.70754044e-03 4.21502774e-05 9.99983711e-01 -1.60235373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.0853361949999 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:1008.35, Y:244.94, Z:-16.02 [[ 9.97282119e-01 7.34575896e-02 5.68845365e-03 1.00834978e+03] [-7.34561134e-02 9.97298341e-01 -4.68283052e-04 2.44941678e+02] [-5.70748433e-03 4.91586173e-05 9.99983711e-01 -1.60245545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.1453361949998 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:1008.41, Y:244.94, Z:-16.03 [[ 9.97396824e-01 7.18833588e-02 5.68836630e-03 1.00841219e+03] [-7.18818510e-02 9.97413043e-01 -4.69341740e-04 2.44935064e+02] [-5.70738861e-03 5.92296620e-05 9.99983711e-01 -1.60266899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.205336195 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:1008.47, Y:244.93, Z:-16.03 [[ 9.97555245e-01 6.96503929e-02 5.68827923e-03 1.00847395e+03] [-6.96488428e-02 9.97571460e-01 -4.70394626e-04 2.44927473e+02] [-5.70722819e-03 7.30625606e-05 9.99983711e-01 -1.60302943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.265336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:1008.54, Y:244.92, Z:-16.03 [[ 9.97590589e-01 6.91423247e-02 5.68820002e-03 1.00853706e+03] [-6.91407608e-02 9.97606803e-01 -4.71350532e-04 2.44920898e+02] [-5.70717731e-03 7.69283774e-05 9.99983711e-01 -1.60314552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.3253361949999 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:1008.60, Y:244.91, Z:-16.03 [[ 9.97505127e-01 7.03645327e-02 5.68810996e-03 1.00859965e+03] [-7.03629825e-02 9.97521342e-01 -4.72434836e-04 2.44914178e+02] [-5.70725374e-03 7.10237891e-05 9.99983711e-01 -1.60295095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.3853361949998 meters Centerline goodness : 0.999673 with order 1 Centerline is valid? [True, True] Translation: X:1008.66, Y:244.91, Z:-16.03 [[ 9.97249002e-01 7.39058493e-02 5.68802066e-03 1.00866244e+03] [-7.39043506e-02 9.97265222e-01 -4.73507585e-04 2.44906140e+02] [-5.70746017e-03 5.18354932e-05 9.99983711e-01 -1.60272280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.445336195 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:1008.72, Y:244.90, Z:-16.03 [[ 9.97015090e-01 7.69971233e-02 5.68792714e-03 1.00872409e+03] [-7.69956685e-02 9.97031314e-01 -4.74628394e-04 2.44900481e+02] [-5.70758649e-03 3.52659188e-05 9.99983711e-01 -1.60287086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.505336195 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:1008.79, Y:244.90, Z:-16.03 [[ 9.96595253e-01 8.22529696e-02 5.68783973e-03 1.00878605e+03] [-8.22515944e-02 9.96611483e-01 -4.75673543e-04 2.44895846e+02] [-5.70769195e-03 6.22010843e-06 9.99983711e-01 -1.60303874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.5653361949999 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:1008.85, Y:244.89, Z:-16.03 [[ 9.96101612e-01 8.80297028e-02 5.68778219e-03 1.00884891e+03] [-8.80284179e-02 9.96117850e-01 -4.76360533e-04 2.44893729e+02] [-5.70763525e-03 -2.61829733e-05 9.99983711e-01 -1.60287166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.6253361949998 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:1008.91, Y:244.89, Z:-16.03 [[ 9.95765781e-01 9.17505283e-02 5.68768909e-03 1.00891184e+03] [-9.17492977e-02 9.95782024e-01 -4.77469624e-04 2.44891970e+02] [-5.70750664e-03 -4.63935658e-05 9.99983711e-01 -1.60289473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.685336195 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:1008.97, Y:244.89, Z:-16.03 [[ 9.95295375e-01 9.67200527e-02 5.68759367e-03 1.00897397e+03] [-9.67188966e-02 9.95311623e-01 -4.78603562e-04 2.44893545e+02] [-5.70721864e-03 -7.37458729e-05 9.99983711e-01 -1.60289080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.745336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:1009.04, Y:244.90, Z:-16.03 [[ 9.95045337e-01 9.92594058e-02 5.68751077e-03 1.00903611e+03] [-9.92582856e-02 9.95061587e-01 -4.79586703e-04 2.44896581e+02] [-5.70702698e-03 -8.73220553e-05 9.99983711e-01 -1.60306336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.8053361949999 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:1009.10, Y:244.90, Z:-16.03 [[ 9.95107452e-01 9.86347384e-02 5.68743468e-03 1.00909884e+03] [-9.86336028e-02 9.95123702e-01 -4.80487337e-04 2.44896524e+02] [-5.70709379e-03 -8.28356439e-05 9.99983711e-01 -1.60327456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.8653361949998 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:1009.16, Y:244.90, Z:-16.03 [[ 9.95568793e-01 9.38639081e-02 5.68735148e-03 1.00916061e+03] [-9.38626891e-02 9.95585036e-01 -4.81470138e-04 2.44897905e+02] [-5.70743470e-03 -5.44934592e-05 9.99983711e-01 -1.60336551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.9253361949998 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:1009.22, Y:244.90, Z:-16.03 [[ 9.96426211e-01 8.42760969e-02 5.68730531e-03 1.00922274e+03] [-8.42747184e-02 9.96442442e-01 -4.82014847e-04 2.44897872e+02] [-5.70769472e-03 9.96173586e-07 9.99983711e-01 -1.60336003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.985336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:1009.29, Y:244.89, Z:-16.04 [[ 9.97478684e-01 7.07384593e-02 5.68721800e-03 1.00928556e+03] [-7.07368548e-02 9.97494894e-01 -4.83042901e-04 2.44893699e+02] [-5.70714062e-03 7.95290837e-05 9.99983711e-01 -1.60351241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.045336195 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:1009.35, Y:244.89, Z:-16.04 [[ 9.98058558e-01 6.20223435e-02 5.68712441e-03 1.00934720e+03] [-6.20205911e-02 9.98074753e-01 -4.84142209e-04 2.44887387e+02] [-5.70620293e-03 1.30483458e-04 9.99983711e-01 -1.60370265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.1053361949998 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:1009.41, Y:244.88, Z:-16.04 [[ 9.98624198e-01 5.21283857e-02 5.68703813e-03 1.00940993e+03] [-5.21264671e-02 9.98640374e-01 -4.85153632e-04 2.44880356e+02] [-5.70459616e-03 1.88040951e-04 9.99983711e-01 -1.60367510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.1653361949998 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:1009.47, Y:244.87, Z:-16.04 [[ 9.98861329e-01 4.73677635e-02 5.68694326e-03 1.00947247e+03] [-4.73657616e-02 9.98877494e-01 -4.86263147e-04 2.44871575e+02] [-5.70359283e-03 2.16343054e-04 9.99983711e-01 -1.60364083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.225336195 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:1009.53, Y:244.86, Z:-16.04 [[ 9.98847030e-01 4.76683453e-02 5.68684919e-03 1.00953363e+03] [-4.76663421e-02 9.98863195e-01 -4.87360832e-04 2.44863537e+02] [-5.70361604e-03 2.15727620e-04 9.99983711e-01 -1.60357461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.285336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:1009.60, Y:244.86, Z:-16.04 [[ 9.98680676e-01 5.10349658e-02 5.68676189e-03 1.00959591e+03] [-5.10330112e-02 9.98696848e-01 -4.88377408e-04 2.44856455e+02] [-5.70427549e-03 1.97520497e-04 9.99983711e-01 -1.60350198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.3453361949998 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:1009.66, Y:244.85, Z:-16.03 [[ 9.98324375e-01 5.75856193e-02 5.68666983e-03 1.00965859e+03] [-5.75837648e-02 9.98340558e-01 -4.89447012e-04 2.44848456e+02] [-5.70541824e-03 1.61167025e-04 9.99983711e-01 -1.60346062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.4053361949998 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:1009.72, Y:244.84, Z:-16.04 [[ 9.97886255e-01 6.47354944e-02 5.68657839e-03 1.00972093e+03] [-6.47337498e-02 9.97902451e-01 -4.90507079e-04 2.44841435e+02] [-5.70640373e-03 1.21356730e-04 9.99983711e-01 -1.60364463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.465336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:1009.78, Y:244.84, Z:-16.04 [[ 9.97582302e-01 6.92619283e-02 5.68648201e-03 1.00978265e+03] [-6.92602509e-02 9.97598504e-01 -4.91621887e-04 2.44835071e+02] [-5.70687663e-03 9.65861228e-05 9.99983711e-01 -1.60383113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.525336195 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:1009.85, Y:244.83, Z:-16.04 [[ 9.97176312e-01 7.48803573e-02 5.68639254e-03 1.00984557e+03] [-7.48787653e-02 9.97192523e-01 -4.92654545e-04 2.44827230e+02] [-5.70731827e-03 6.54733897e-05 9.99983711e-01 -1.60397457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.5853361949999 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:1009.91, Y:244.82, Z:-16.04 [[ 9.96965312e-01 7.76391150e-02 5.68629842e-03 1.00990696e+03] [-7.76375616e-02 9.96981527e-01 -4.93738504e-04 2.44820861e+02] [-5.70746790e-03 5.07698174e-05 9.99983711e-01 -1.60400206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.6453361949998 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:1009.97, Y:244.81, Z:-16.04 [[ 9.96743281e-01 8.04394054e-02 5.68621079e-03 1.00996932e+03] [-8.04378918e-02 9.96759500e-01 -4.94745651e-04 2.44814337e+02] [-5.70758167e-03 3.57475948e-05 9.99983711e-01 -1.60402589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.705336195 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:1010.03, Y:244.81, Z:-16.04 [[ 9.96421494e-01 8.43319282e-02 5.68611755e-03 1.01003107e+03] [-8.43304720e-02 9.96437718e-01 -4.95814975e-04 2.44806247e+02] [-5.70767503e-03 1.45277219e-05 9.99983711e-01 -1.60400467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.765336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:1010.09, Y:244.80, Z:-16.04 [[ 9.96149597e-01 8.74851440e-02 5.68603092e-03 1.01009290e+03] [-8.74837334e-02 9.96165824e-01 -4.96806461e-04 2.44799899e+02] [-5.70769286e-03 -2.54165774e-06 9.99983711e-01 -1.60410849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.8253361949999 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:1010.16, Y:244.79, Z:-16.04 [[ 9.96079351e-01 8.82813464e-02 5.68594872e-03 1.01015509e+03] [-8.82799435e-02 9.96095580e-01 -4.97745484e-04 2.44793742e+02] [-5.70769003e-03 -6.16123304e-06 9.99983711e-01 -1.60439113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.8853361949998 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:1010.22, Y:244.79, Z:-16.04 [[ 9.96184041e-01 8.70920616e-02 5.68586235e-03 1.01021728e+03] [-8.70906336e-02 9.96200267e-01 -4.98730198e-04 2.44786210e+02] [-5.70769303e-03 1.64170973e-06 9.99983711e-01 -1.60440447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.945336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:1010.28, Y:244.78, Z:-16.04 [[ 9.96437067e-01 8.41477475e-02 5.68576288e-03 1.01027850e+03] [-8.41462652e-02 9.96453289e-01 -4.99861616e-04 2.44777192e+02] [-5.70765935e-03 1.96449319e-05 9.99983711e-01 -1.60438421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.005336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:1010.34, Y:244.77, Z:-16.04 [[ 9.96459057e-01 8.38869489e-02 5.68567018e-03 1.01033976e+03] [-8.38854563e-02 9.96475278e-01 -5.00913777e-04 2.44769909e+02] [-5.70764990e-03 2.21950328e-05 9.99983711e-01 -1.60444808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.0653361949999 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:1010.40, Y:244.76, Z:-16.04 [[ 9.96331796e-01 8.53851627e-02 5.68558133e-03 1.01040237e+03] [-8.53836888e-02 9.96348018e-01 -5.01920223e-04 2.44761658e+02] [-5.70767423e-03 1.46231704e-05 9.99983711e-01 -1.60449901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.1253361949998 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:1010.47, Y:244.75, Z:-16.05 [[ 9.96066830e-01 8.84225387e-02 5.68549001e-03 1.01046515e+03] [-8.84211083e-02 9.96083056e-01 -5.02952521e-04 2.44754394e+02] [-5.70769261e-03 -1.74300529e-06 9.99983711e-01 -1.60461189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.185336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:1010.53, Y:244.75, Z:-16.05 [[ 9.95855230e-01 9.07746477e-02 5.68539851e-03 1.01052812e+03] [-9.07732497e-02 9.95871459e-01 -5.03984802e-04 2.44748221e+02] [-5.70767515e-03 -1.41861970e-05 9.99983711e-01 -1.60461963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.245336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1010.59, Y:244.74, Z:-16.04 [[ 9.95456789e-01 9.50445070e-02 5.68529948e-03 1.01058970e+03] [-9.50431723e-02 9.95473023e-01 -5.05099378e-04 2.44741430e+02] [-5.70756919e-03 -3.75442934e-05 9.99983711e-01 -1.60413521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.3053361949999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1010.65, Y:244.74, Z:-16.05 [[ 9.94888557e-01 1.00818829e-01 5.68523817e-03 1.01065144e+03] [-1.00817585e-01 9.94904799e-01 -5.05788604e-04 2.44737461e+02] [-5.70726375e-03 -6.99686855e-05 9.99983711e-01 -1.60450416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.3653361949998 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:1010.71, Y:244.74, Z:-16.04 [[ 9.94333724e-01 1.06151420e-01 5.68515444e-03 1.01071344e+03] [-1.06150257e-01 9.94349972e-01 -5.06727921e-04 2.44736732e+02] [-5.70682305e-03 -9.96239452e-05 9.99983711e-01 -1.60396296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.4253361949998 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1010.77, Y:244.73, Z:-16.05 [[ 9.93992953e-01 1.09296335e-01 5.68507045e-03 1.01077489e+03] [-1.09295218e-01 9.94009204e-01 -5.07668494e-04 2.44734230e+02] [-5.70649866e-03 -1.16732107e-04 9.99983711e-01 -1.60461989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.485336195 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:1010.84, Y:244.74, Z:-16.04 [[ 9.93863811e-01 1.10464500e-01 5.68499338e-03 1.01083646e+03] [-1.10463398e-01 9.93880063e-01 -5.08530128e-04 2.44735944e+02] [-5.70637610e-03 -1.22573992e-04 9.99983711e-01 -1.60413564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.545336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:1010.90, Y:244.74, Z:-16.05 [[ 9.94007195e-01 1.09166739e-01 5.68498097e-03 1.01089662e+03] [-1.09165615e-01 9.94023445e-01 -5.08668742e-04 2.44736563e+02] [-5.70653408e-03 -1.14984052e-04 9.99983711e-01 -1.60485573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.6053361949998 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1010.96, Y:244.74, Z:-16.05 [[ 9.94309771e-01 1.06375562e-01 5.68497484e-03 1.01095802e+03] [-1.06374391e-01 9.94326018e-01 -5.08737272e-04 2.44735208e+02] [-5.70683561e-03 -9.88932989e-05 9.99983711e-01 -1.60459083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.6653361949998 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:1011.02, Y:244.74, Z:-16.05 [[ 9.95142188e-01 9.82838044e-02 5.68496275e-03 1.01101934e+03] [-9.82825010e-02 9.95158425e-01 -5.08872391e-04 2.44735306e+02] [-5.70745249e-03 -5.23319714e-05 9.99983711e-01 -1.60461665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.725336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1011.08, Y:244.73, Z:-16.05 [[ 9.96138682e-01 8.76094011e-02 5.68495017e-03 1.01108008e+03] [-8.76079229e-02 9.96154904e-01 -5.09012836e-04 2.44732920e+02] [-5.70768530e-03 9.00069974e-06 9.99983711e-01 -1.60499049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.785336195 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:1011.14, Y:244.73, Z:-16.05 [[ 9.96681872e-01 8.11968413e-02 5.68490099e-03 1.01114189e+03] [-8.11952556e-02 9.96698084e-01 -5.09561562e-04 2.44728087e+02] [-5.70750471e-03 4.62837835e-05 9.99983711e-01 -1.60527032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.8453361949998 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:1011.20, Y:244.72, Z:-16.06 [[ 9.97207684e-01 7.44615218e-02 5.68481435e-03 1.01120237e+03] [-7.44598211e-02 9.97223884e-01 -5.10526338e-04 2.44722497e+02] [-5.70704721e-03 8.58105280e-05 9.99983711e-01 -1.60553472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.9053361949998 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:1011.26, Y:244.72, Z:-16.05 [[ 9.97383639e-01 7.20663581e-02 5.68473483e-03 1.01126472e+03] [-7.20646135e-02 9.97399835e-01 -5.11410220e-04 2.44717003e+02] [-5.70680905e-03 1.00403968e-04 9.99983711e-01 -1.60529559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.965336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1011.33, Y:244.71, Z:-16.05 [[ 9.97549064e-01 6.97391617e-02 5.68464582e-03 1.01132653e+03] [-6.97373736e-02 9.97565254e-01 -5.12397679e-04 2.44711967e+02] [-5.70653934e-03 1.14709555e-04 9.99983711e-01 -1.60510634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.025336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1011.39, Y:244.71, Z:-16.05 [[ 9.97629285e-01 6.85820313e-02 5.68455162e-03 1.01138804e+03] [-6.85802186e-02 9.97645473e-01 -5.13440613e-04 2.44705115e+02] [-5.70637999e-03 1.22375599e-04 9.99983711e-01 -1.60513207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.0853361949999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1011.45, Y:244.70, Z:-16.05 [[ 9.97745183e-01 6.68747831e-02 5.68448964e-03 1.01145004e+03] [-6.68729388e-02 9.97761367e-01 -5.14125941e-04 2.44697004e+02] [-5.70614621e-03 1.32828153e-04 9.99983711e-01 -1.60524945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.1453361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1011.51, Y:244.69, Z:-16.05 [[ 9.97936807e-01 6.39516740e-02 5.68439823e-03 1.01151218e+03] [-6.39497764e-02 9.97952985e-01 -5.15134586e-04 2.44687654e+02] [-5.70570591e-03 1.50555768e-04 9.99983711e-01 -1.60517613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.205336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1011.57, Y:244.68, Z:-16.05 [[ 9.98023119e-01 6.25902706e-02 5.68429876e-03 1.01157422e+03] [-6.25883448e-02 9.98039294e-01 -5.16229945e-04 2.44677448e+02] [-5.70546449e-03 1.59438570e-04 9.99983711e-01 -1.60505603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.265336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1011.63, Y:244.66, Z:-16.05 [[ 9.98075716e-01 6.17458956e-02 5.68419967e-03 1.01163498e+03] [-6.17439499e-02 9.98091888e-01 -5.17318641e-04 2.44664899e+02] [-5.70529589e-03 1.65358232e-04 9.99983711e-01 -1.60501973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.3253361949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1011.70, Y:244.65, Z:-16.05 [[ 9.98031768e-01 6.24522258e-02 5.68410753e-03 1.01169712e+03] [-6.24502857e-02 9.98047941e-01 -5.18329061e-04 2.44654820e+02] [-5.70538263e-03 1.62334730e-04 9.99983711e-01 -1.60526881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.3853361949998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1011.76, Y:244.64, Z:-16.06 [[ 9.97843302e-01 6.53944703e-02 5.68400989e-03 1.01175705e+03] [-6.53925719e-02 9.97859480e-01 -5.19397637e-04 2.44640653e+02] [-5.70580889e-03 1.46585428e-04 9.99983711e-01 -1.60571596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.445336195 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:1011.82, Y:244.63, Z:-16.05 [[ 9.97744966e-01 6.68780633e-02 5.68393129e-03 1.01181962e+03] [-6.68761841e-02 9.97761146e-01 -5.20256406e-04 2.44632303e+02] [-5.70599954e-03 1.38963575e-04 9.99983711e-01 -1.60514489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.505336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1011.88, Y:244.62, Z:-16.06 [[ 9.97285934e-01 7.34061300e-02 5.68383421e-03 1.01188207e+03] [-7.34043507e-02 9.97302126e-01 -5.21314846e-04 2.44618964e+02] [-5.70676764e-03 1.02681804e-04 9.99983711e-01 -1.60554087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.5653361949999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1011.94, Y:244.60, Z:-16.05 [[ 9.96734268e-01 8.05511845e-02 5.68373466e-03 1.01194355e+03] [-8.05495150e-02 9.96750472e-01 -5.22397954e-04 2.44604409e+02] [-5.70734497e-03 6.28698726e-05 9.99983711e-01 -1.60529463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.6253361949998 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:1012.00, Y:244.59, Z:-16.05 [[ 9.96342310e-01 8.52625241e-02 5.68363248e-03 1.01200450e+03] [-8.52609250e-02 9.96358520e-01 -5.23507288e-04 2.44593762e+02] [-5.70757120e-03 3.70006980e-05 9.99983711e-01 -1.60547905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.685336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1012.07, Y:244.58, Z:-16.06 [[ 9.95704146e-01 9.24172646e-02 5.68353741e-03 1.01206510e+03] [-9.24157761e-02 9.95720367e-01 -5.24537355e-04 2.44579932e+02] [-5.70769027e-03 -2.96450170e-06 9.99983711e-01 -1.60558953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.745336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1012.13, Y:244.57, Z:-16.06 [[ 9.95200673e-01 9.76899116e-02 5.68344545e-03 1.01212774e+03] [-9.76885034e-02 9.95216901e-01 -5.25531923e-04 2.44570678e+02] [-5.70760013e-03 -3.21975564e-05 9.99983711e-01 -1.60568951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.8053361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1012.19, Y:244.56, Z:-16.06 [[ 9.94400153e-01 1.05527412e-01 5.68334469e-03 1.01218847e+03] [-1.05526125e-01 9.94416391e-01 -5.26619278e-04 2.44558593e+02] [-5.70718389e-03 -7.60710536e-05 9.99983711e-01 -1.60575493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.8653361949998 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1012.25, Y:244.55, Z:-16.05 [[ 9.93636014e-01 1.12495211e-01 5.68325116e-03 1.01225143e+03] [-1.12494033e-01 9.93652260e-01 -5.27626809e-04 2.44550512e+02] [-5.70653085e-03 -1.15062843e-04 9.99983711e-01 -1.60516715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.9253361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1012.31, Y:244.54, Z:-16.06 [[ 9.93245516e-01 1.15892389e-01 5.68315253e-03 1.01231442e+03] [-1.15891260e-01 9.93261766e-01 -5.28687008e-04 2.44544786e+02] [-5.70612892e-03 -1.33511706e-04 9.99983711e-01 -1.60567958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1012.38, Y:244.54, Z:-16.06 [[ 9.93053664e-01 1.17524988e-01 5.68305125e-03 1.01237639e+03] [-1.17523879e-01 9.93069916e-01 -5.29773496e-04 2.44539363e+02] [-5.70592884e-03 -1.41800717e-04 9.99983711e-01 -1.60583205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1012.44, Y:244.53, Z:-16.06 [[ 9.93100307e-01 1.17130198e-01 5.68298845e-03 1.01243868e+03] [-1.17129079e-01 9.93116558e-01 -5.30446249e-04 2.44533168e+02] [-5.70600120e-03 -1.38856872e-04 9.99983711e-01 -1.60587040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.1053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1012.50, Y:244.53, Z:-16.06 [[ 9.93405894e-01 1.14509539e-01 5.68289348e-03 1.01250107e+03] [-1.14508372e-01 9.93422141e-01 -5.31461744e-04 2.44529644e+02] [-5.70636965e-03 -1.22781651e-04 9.99983711e-01 -1.60591492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.1653361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1012.56, Y:244.53, Z:-16.06 [[ 9.93966168e-01 1.09539777e-01 5.68283450e-03 1.01256311e+03] [-1.09538525e-01 9.93982409e-01 -5.32091746e-04 2.44526214e+02] [-5.70692273e-03 -9.36081127e-05 9.99983711e-01 -1.60597218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.225336195 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:1012.63, Y:244.52, Z:-16.06 [[ 9.94412162e-01 1.05414225e-01 5.68274657e-03 1.01262538e+03] [-1.05412900e-01 9.94428397e-01 -5.33029089e-04 2.44521719e+02] [-5.70727341e-03 -6.89841856e-05 9.99983711e-01 -1.60557785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.285336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1012.69, Y:244.52, Z:-16.07 [[ 9.95104346e-01 9.86663513e-02 5.68265989e-03 1.01268696e+03] [-9.86649108e-02 9.95120571e-01 -5.33951634e-04 2.44519839e+02] [-5.70761481e-03 -2.93415404e-05 9.99983711e-01 -1.60676573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.3453361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1012.75, Y:244.52, Z:-16.07 [[ 9.95480066e-01 9.48005599e-02 5.68261099e-03 1.01275007e+03] [-9.47990535e-02 9.95496285e-01 -5.34471571e-04 2.44515889e+02] [-5.70768633e-03 -6.65034879e-06 9.99983711e-01 -1.60682053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.4053361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1012.81, Y:244.51, Z:-16.06 [[ 9.96007280e-01 8.90910066e-02 5.68251880e-03 1.01281191e+03] [-8.90894016e-02 9.96023490e-01 -5.35449894e-04 2.44513286e+02] [-5.70762598e-03 2.70597926e-05 9.99983711e-01 -1.60649229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1012.88, Y:244.51, Z:-16.06 [[ 9.96635692e-01 8.17618902e-02 5.68243868e-03 1.01287504e+03] [-8.17601612e-02 9.96651889e-01 -5.36298824e-04 2.44508380e+02] [-5.70726205e-03 6.98974473e-05 9.99983711e-01 -1.60616390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1012.94, Y:244.50, Z:-16.06 [[ 9.96975612e-01 7.75070330e-02 5.68233634e-03 1.01293676e+03] [-7.75052287e-02 9.96991801e-01 -5.37381042e-04 2.44502541e+02] [-5.70689355e-03 9.53450162e-05 9.99983711e-01 -1.60640216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.5853361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1013.00, Y:244.50, Z:-16.06 [[ 9.97297688e-01 7.32463932e-02 5.68224138e-03 1.01299933e+03] [-7.32445140e-02 9.97313868e-01 -5.38383283e-04 2.44496857e+02] [-5.70641276e-03 1.20735395e-04 9.99983711e-01 -1.60639258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.6453361949998 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:1013.06, Y:244.49, Z:-16.06 [[ 9.97371130e-01 7.22394800e-02 5.68214065e-03 1.01306232e+03] [-7.22375785e-02 9.97387308e-01 -5.39444237e-04 2.44492562e+02] [-5.70626414e-03 1.27562027e-04 9.99983711e-01 -1.60575420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1013.12, Y:244.48, Z:-16.06 [[ 9.97393849e-01 7.19251279e-02 5.68203891e-03 1.01312475e+03] [-7.19232151e-02 9.97410026e-01 -5.40513755e-04 2.44483989e+02] [-5.70619910e-03 1.30434588e-04 9.99983711e-01 -1.60609821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1013.19, Y:244.48, Z:-16.06 [[ 9.97398306e-01 7.18633129e-02 5.68193594e-03 1.01318759e+03] [-7.18613930e-02 9.97414481e-01 -5.41594040e-04 2.44476602e+02] [-5.70616593e-03 1.31873146e-04 9.99983711e-01 -1.60619215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.8253361949999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1013.25, Y:244.47, Z:-16.06 [[ 9.97369238e-01 7.22656151e-02 5.68183008e-03 1.01324898e+03] [-7.22636955e-02 9.97385414e-01 -5.42702368e-04 2.44470539e+02] [-5.70619317e-03 1.30684609e-04 9.99983711e-01 -1.60595483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.8853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1013.31, Y:244.46, Z:-16.07 [[ 9.97315707e-01 7.30006748e-02 5.68173196e-03 1.01331093e+03] [-7.29987612e-02 9.97331883e-01 -5.43727707e-04 2.44459101e+02] [-5.70626492e-03 1.27508789e-04 9.99983711e-01 -1.60667968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.945336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1013.37, Y:244.45, Z:-16.07 [[ 9.97279763e-01 7.34900952e-02 5.68162835e-03 1.01337258e+03] [-7.34881834e-02 9.97295939e-01 -5.44808186e-04 2.44448895e+02] [-5.70630289e-03 1.25793632e-04 9.99983711e-01 -1.60679863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1013.43, Y:244.44, Z:-16.07 [[ 9.97217074e-01 7.43359107e-02 5.68153131e-03 1.01343460e+03] [-7.43340069e-02 9.97233251e-01 -5.45818309e-04 2.44437953e+02] [-5.70638584e-03 1.21968350e-04 9.99983711e-01 -1.60666353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.0653361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1013.50, Y:244.42, Z:-16.07 [[ 9.97125955e-01 7.55483414e-02 5.68142409e-03 1.01349581e+03] [-7.55464510e-02 9.97142134e-01 -5.46932125e-04 2.44424248e+02] [-5.70650715e-03 1.16148791e-04 9.99983711e-01 -1.60682444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.1253361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1013.56, Y:244.41, Z:-16.07 [[ 9.97060121e-01 7.64122827e-02 5.68132400e-03 1.01355795e+03] [-7.64104003e-02 9.97076301e-01 -5.47969789e-04 2.44412833e+02] [-5.70658514e-03 1.12246584e-04 9.99983711e-01 -1.60667135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1013.62, Y:244.40, Z:-16.07 [[ 9.96854096e-01 7.90546284e-02 5.68121626e-03 1.01361939e+03] [-7.90527826e-02 9.96870280e-01 -5.49084608e-04 2.44400106e+02] [-5.70684332e-03 9.82412877e-05 9.99983711e-01 -1.60672597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1013.68, Y:244.39, Z:-16.07 [[ 9.96423527e-01 8.43082443e-02 5.68111580e-03 1.01367985e+03] [-8.43064778e-02 9.96439720e-01 -5.50122066e-04 2.44387828e+02] [-5.70726926e-03 6.91997062e-05 9.99983711e-01 -1.60691369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.3053361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1013.74, Y:244.38, Z:-16.07 [[ 9.96012518e-01 8.90325211e-02 5.68103199e-03 1.01374225e+03] [-8.90308265e-02 9.96028719e-01 -5.50986178e-04 2.44377146e+02] [-5.70752670e-03 4.30021571e-05 9.99983711e-01 -1.60692039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.3653361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1013.80, Y:244.37, Z:-16.07 [[ 9.95589748e-01 9.36417635e-02 5.68092295e-03 1.01380442e+03] [-9.36401376e-02 9.95605956e-01 -5.52108105e-04 2.44368161e+02] [-5.70766110e-03 1.77107625e-05 9.99983711e-01 -1.60686383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.4253361949998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1013.87, Y:244.36, Z:-16.07 [[ 9.95176934e-01 9.79316010e-02 5.68081402e-03 1.01386593e+03] [-9.79300385e-02 9.95193148e-01 -5.53226652e-04 2.44359628e+02] [-5.70768556e-03 -5.76393225e-06 9.99983711e-01 -1.60664177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.485336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1013.93, Y:244.35, Z:-16.07 [[ 9.94673372e-01 1.02920422e-01 5.68071274e-03 1.01392850e+03] [-1.02918935e-01 9.94689593e-01 -5.54264664e-04 2.44348309e+02] [-5.70759100e-03 -3.33406050e-05 9.99983711e-01 -1.60675469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1013.99, Y:244.34, Z:-16.07 [[ 9.94379807e-01 1.05719112e-01 5.68060511e-03 1.01399101e+03] [-1.05717664e-01 9.94396031e-01 -5.55365574e-04 2.44340745e+02] [-5.70748393e-03 -4.82959891e-05 9.99983711e-01 -1.60671002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.6053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1014.05, Y:244.33, Z:-16.07 [[ 9.94114738e-01 1.08183265e-01 5.68049530e-03 1.01405127e+03] [-1.08181851e-01 9.94130966e-01 -5.56486554e-04 2.44330536e+02] [-5.70735881e-03 -6.13150117e-05 9.99983711e-01 -1.60698173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.6653361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1014.11, Y:244.32, Z:-16.07 [[ 9.93807689e-01 1.10968510e-01 5.68040758e-03 1.01411296e+03] [-1.10967136e-01 9.93823920e-01 -5.57380509e-04 2.44322345e+02] [-5.70717661e-03 -7.64095262e-05 9.99983711e-01 -1.60712743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1014.18, Y:244.32, Z:-16.07 [[ 9.93398146e-01 1.14576864e-01 5.68031482e-03 1.01417573e+03] [-1.14575544e-01 9.93414381e-01 -5.58324273e-04 2.44315200e+02] [-5.70687747e-03 -9.61868622e-05 9.99983711e-01 -1.60704927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.785336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1014.24, Y:244.31, Z:-16.07 [[ 9.93194576e-01 1.16328281e-01 5.68020878e-03 1.01423850e+03] [-1.16326984e-01 9.93210813e-01 -5.59401010e-04 2.44308211e+02] [-5.70671894e-03 -1.05167504e-04 9.99983711e-01 -1.60684848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.8453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1014.30, Y:244.30, Z:-16.07 [[ 9.92996123e-01 1.18010325e-01 5.68009848e-03 1.01429971e+03] [-1.18009049e-01 9.93012362e-01 -5.60518752e-04 2.44301810e+02] [-5.70655500e-03 -1.13710071e-04 9.99983711e-01 -1.60684687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.9053361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1014.36, Y:244.30, Z:-16.07 [[ 9.92914499e-01 1.18695134e-01 5.68003019e-03 1.01436271e+03] [-1.18693865e-01 9.92930738e-01 -5.61209907e-04 2.44295561e+02] [-5.70648945e-03 -1.16951283e-04 9.99983711e-01 -1.60680879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.965336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1014.43, Y:244.29, Z:-16.07 [[ 9.92874325e-01 1.19030728e-01 5.67992486e-03 1.01442575e+03] [-1.19029458e-01 9.92890564e-01 -5.62273895e-04 2.44291204e+02] [-5.70647167e-03 -1.17811064e-04 9.99983711e-01 -1.60657372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1014.49, Y:244.29, Z:-16.07 [[ 9.92642023e-01 1.20952694e-01 5.67981823e-03 1.01448738e+03] [-1.20951450e-01 9.92658264e-01 -5.63348969e-04 2.44289326e+02] [-5.70625708e-03 -1.27778389e-04 9.99983711e-01 -1.60679217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.0853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1014.55, Y:244.29, Z:-16.07 [[ 9.92430212e-01 1.22678506e-01 5.67971947e-03 1.01454947e+03] [-1.22677285e-01 9.92446455e-01 -5.64342885e-04 2.44287514e+02] [-5.70605020e-03 -1.36701633e-04 9.99983711e-01 -1.60675734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.1453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1014.61, Y:244.29, Z:-16.07 [[ 9.92310150e-01 1.23645896e-01 5.67962346e-03 1.01461299e+03] [-1.23644685e-01 9.92326394e-01 -5.65307551e-04 2.44286954e+02] [-5.70593822e-03 -1.41294830e-04 9.99983711e-01 -1.60666741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1014.68, Y:244.29, Z:-16.07 [[ 9.92303684e-01 1.23697780e-01 5.67951733e-03 1.01467542e+03] [-1.23696564e-01 9.92319928e-01 -5.66371812e-04 2.44285055e+02] [-5.70595716e-03 -1.40523941e-04 9.99983711e-01 -1.60670820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1014.74, Y:244.29, Z:-16.07 [[ 9.92402879e-01 1.22899431e-01 5.67941835e-03 1.01473753e+03] [-1.22898196e-01 9.92419121e-01 -5.67362562e-04 2.44286737e+02] [-5.70609190e-03 -1.34938030e-04 9.99983711e-01 -1.60703957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.3253361949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1014.80, Y:244.29, Z:-16.07 [[ 9.92694004e-01 1.20525352e-01 5.67932831e-03 1.01480084e+03] [-1.20524072e-01 9.92710242e-01 -5.68262507e-04 2.44288747e+02] [-5.70641742e-03 -1.20384992e-04 9.99983711e-01 -1.60693995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.3853361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1014.86, Y:244.29, Z:-16.07 [[ 9.93038646e-01 1.17652005e-01 5.67922122e-03 1.01486397e+03] [-1.17650672e-01 9.93054880e-01 -5.69330710e-04 2.44286730e+02] [-5.70676125e-03 -1.02796796e-04 9.99983711e-01 -1.60696528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1014.93, Y:244.29, Z:-16.07 [[ 9.93679292e-01 1.12112501e-01 5.67911376e-03 1.01492693e+03] [-1.12111072e-01 9.93695518e-01 -5.70400639e-04 2.44287361e+02] [-5.70725893e-03 -6.98962294e-05 9.99983711e-01 -1.60699066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.505336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1014.99, Y:244.29, Z:-16.07 [[ 9.94242109e-01 1.07006442e-01 5.67900679e-03 1.01498976e+03] [-1.07004923e-01 9.94258327e-01 -5.71463678e-04 2.44286819e+02] [-5.70755008e-03 -3.95084318e-05 9.99983711e-01 -1.60728698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.5653361949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1015.05, Y:244.28, Z:-16.07 [[ 9.94619055e-01 1.03444121e-01 5.67891370e-03 1.01505206e+03] [-1.03442539e-01 9.94635267e-01 -5.72387251e-04 2.44284160e+02] [-5.70765794e-03 -1.81339830e-05 9.99983711e-01 -1.60748411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.6253361949998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1015.11, Y:244.28, Z:-16.07 [[ 9.95173375e-01 9.79678750e-02 5.67881738e-03 1.01511479e+03] [-9.79661983e-02 9.95189578e-01 -5.73341290e-04 2.44282003e+02] [-5.70766890e-03 1.42418375e-05 9.99983711e-01 -1.60733855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1015.18, Y:244.28, Z:-16.07 [[ 9.95510665e-01 9.44789248e-02 5.67870564e-03 1.01517630e+03] [-9.44771851e-02 9.95526861e-01 -5.74445921e-04 2.44278738e+02] [-5.70757703e-03 3.53589181e-05 9.99983711e-01 -1.60712858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1015.24, Y:244.28, Z:-16.07 [[ 9.95917364e-01 9.00908234e-02 5.67861530e-03 1.01523892e+03] [-9.00890072e-02 9.95933552e-01 -5.75337562e-04 2.44275449e+02] [-5.70735614e-03 6.14078541e-05 9.99983711e-01 -1.60668795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.8053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1015.30, Y:244.27, Z:-16.07 [[ 9.96290451e-01 8.58667037e-02 5.67851900e-03 1.01530144e+03] [-8.58648134e-02 9.96306630e-01 -5.76286475e-04 2.44268912e+02] [-5.70702995e-03 8.65637382e-05 9.99983711e-01 -1.60680013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.8653361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1015.36, Y:244.26, Z:-16.07 [[ 9.96535705e-01 8.29719465e-02 5.67840865e-03 1.01536432e+03] [-8.29700031e-02 9.96551878e-01 -5.77371712e-04 2.44261252e+02] [-5.70673446e-03 1.04233943e-04 9.99983711e-01 -1.60706782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.9253361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1015.43, Y:244.25, Z:-16.07 [[ 9.96840310e-01 7.92284873e-02 5.67829850e-03 1.01542612e+03] [-7.92264770e-02 9.96856474e-01 -5.78452981e-04 2.44253108e+02] [-5.70627858e-03 1.26753664e-04 9.99983711e-01 -1.60748231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.985336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1015.49, Y:244.24, Z:-16.07 [[ 9.96788743e-01 7.98746484e-02 5.67819917e-03 1.01548843e+03] [-7.98726430e-02 9.96804908e-01 -5.79426401e-04 2.44243903e+02] [-5.70633828e-03 1.24032939e-04 9.99983711e-01 -1.60730019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.045336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1015.55, Y:244.24, Z:-16.07 [[ 9.96537584e-01 8.29494059e-02 5.67808542e-03 1.01555116e+03] [-8.29474441e-02 9.96553754e-01 -5.80538990e-04 2.44235270e+02] [-5.70667270e-03 1.07546249e-04 9.99983711e-01 -1.60711463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.1053361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1015.61, Y:244.23, Z:-16.07 [[ 9.95958460e-01 8.96354045e-02 5.67797139e-03 1.01561237e+03] [-8.96335449e-02 9.95974643e-01 -5.81652129e-04 2.44226742e+02] [-5.70725215e-03 7.03646553e-05 9.99983711e-01 -1.60721326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.1653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1015.67, Y:244.22, Z:-16.08 [[ 9.95374335e-01 9.59046147e-02 5.67786528e-03 1.01567446e+03] [-9.59028511e-02 9.95390528e-01 -5.82686108e-04 2.44219296e+02] [-5.70757560e-03 3.54673287e-05 9.99983711e-01 -1.60750610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1015.74, Y:244.21, Z:-16.08 [[ 9.95001614e-01 9.96972963e-02 5.67776612e-03 1.01573534e+03] [-9.96955889e-02 9.95017813e-01 -5.83650729e-04 2.44211518e+02] [-5.70766683e-03 1.46851802e-05 9.99983711e-01 -1.60788774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.285336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1015.80, Y:244.20, Z:-16.08 [[ 9.94815824e-01 1.01534433e-01 5.67767463e-03 1.01579715e+03] [-1.01532751e-01 9.94832025e-01 -5.84539323e-04 2.44204737e+02] [-5.70768342e-03 5.03904308e-06 9.99983711e-01 -1.60794242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.3453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1015.86, Y:244.20, Z:-16.08 [[ 9.94295992e-01 1.06504675e-01 5.67757062e-03 1.01585994e+03] [-1.06503068e-01 9.94312201e-01 -5.85547828e-04 2.44199509e+02] [-5.70764132e-03 -2.24708322e-05 9.99983711e-01 -1.60772604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.4053361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1015.92, Y:244.19, Z:-16.08 [[ 9.94044465e-01 1.08827236e-01 5.67745997e-03 1.01592199e+03] [-1.08825661e-01 9.94060678e-01 -5.86618762e-04 2.44193792e+02] [-5.70757980e-03 -3.47281975e-05 9.99983711e-01 -1.60750828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.465336195 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:1015.98, Y:244.19, Z:-16.07 [[ 9.94041512e-01 1.08854211e-01 5.67736292e-03 1.01598469e+03] [-1.08852631e-01 9.94057724e-01 -5.87556507e-04 2.44186886e+02] [-5.70758447e-03 -3.39403321e-05 9.99983711e-01 -1.60740775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.525336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1016.05, Y:244.18, Z:-16.08 [[ 9.94155993e-01 1.07803669e-01 5.67724576e-03 1.01604664e+03] [-1.07802065e-01 9.94172203e-01 -5.88686428e-04 2.44180281e+02] [-5.70762247e-03 -2.67726757e-05 9.99983711e-01 -1.60767614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.5853361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1016.11, Y:244.17, Z:-16.08 [[ 9.94242350e-01 1.07004293e-01 5.67713705e-03 1.01610958e+03] [-1.07002670e-01 9.94258558e-01 -5.89732892e-04 2.44173812e+02] [-5.70764605e-03 -2.11314069e-05 9.99983711e-01 -1.60782277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.6453361949998 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:1016.17, Y:244.17, Z:-16.07 [[ 9.94503852e-01 1.04545969e-01 5.67702424e-03 1.01617025e+03] [-1.04544300e-01 9.94520055e-01 -5.90816875e-04 2.44168805e+02] [-5.70768198e-03 -5.93086599e-06 9.99983711e-01 -1.60742016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.23, Y:244.16, Z:-16.08 [[ 9.94739532e-01 1.02279202e-01 5.67693367e-03 1.01623265e+03] [-1.02277491e-01 9.94755731e-01 -5.91685800e-04 2.44162600e+02] [-5.70767946e-03 7.95072173e-06 9.99983711e-01 -1.60796529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.765336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1016.30, Y:244.16, Z:-16.08 [[ 9.95148536e-01 9.82199817e-02 5.67682326e-03 1.01629502e+03] [-9.82181985e-02 9.95164727e-01 -5.92743280e-04 2.44156541e+02] [-5.70759350e-03 3.23002541e-05 9.99983711e-01 -1.60772572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.8253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.36, Y:244.15, Z:-16.08 [[ 9.95557400e-01 9.39853100e-02 5.67672296e-03 1.01635698e+03] [-9.39834524e-02 9.95573583e-01 -5.93702242e-04 2.44147388e+02] [-5.70739471e-03 5.75466375e-05 9.99983711e-01 -1.60790564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.8853361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1016.42, Y:244.14, Z:-16.08 [[ 9.95851429e-01 9.08168846e-02 5.67660758e-03 1.01641811e+03] [-9.08149693e-02 9.95867605e-01 -5.94803397e-04 2.44139790e+02] [-5.70716779e-03 7.68148699e-05 9.99983711e-01 -1.60832187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.945336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1016.48, Y:244.13, Z:-16.08 [[ 9.95997364e-01 8.92021698e-02 5.67651488e-03 1.01648072e+03] [-8.92002232e-02 9.96013537e-01 -5.95686808e-04 2.44131779e+02] [-5.70702222e-03 8.69560968e-05 9.99983711e-01 -1.60828128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.005336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1016.54, Y:244.12, Z:-16.08 [[ 9.96038392e-01 8.87428863e-02 5.67640211e-03 1.01654129e+03] [-8.87409261e-02 9.96054563e-01 -5.96759475e-04 2.44123821e+02] [-5.70696438e-03 9.06661678e-05 9.99983711e-01 -1.60802720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.0653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.60, Y:244.11, Z:-16.08 [[ 9.95869056e-01 9.06234088e-02 5.67631135e-03 1.01660236e+03] [-9.06214743e-02 9.95885230e-01 -5.97621567e-04 2.44114812e+02] [-5.70711313e-03 8.07571229e-05 9.99983711e-01 -1.60768805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.1253361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1016.67, Y:244.11, Z:-16.08 [[ 9.95636243e-01 9.31463963e-02 5.67625826e-03 1.01666507e+03] [-9.31444998e-02 9.95652421e-01 -5.98125345e-04 2.44107785e+02] [-5.70729350e-03 6.68030351e-05 9.99983711e-01 -1.60777252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.73, Y:244.10, Z:-16.08 [[ 9.95412723e-01 9.55054559e-02 5.67614668e-03 1.01672631e+03] [-9.55035918e-02 9.95428905e-01 -5.99182354e-04 2.44099280e+02] [-5.70742566e-03 5.43413430e-05 9.99983711e-01 -1.60792886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.245336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1016.79, Y:244.09, Z:-16.08 [[ 9.95313116e-01 9.65379878e-02 5.67604278e-03 1.01678843e+03] [-9.65361349e-02 9.95329300e-01 -6.00164964e-04 2.44091380e+02] [-5.70747041e-03 4.94088284e-05 9.99983711e-01 -1.60799430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.3053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.85, Y:244.08, Z:-16.08 [[ 9.95122025e-01 9.84882737e-02 5.67593014e-03 1.01685107e+03] [-9.84864464e-02 9.95138211e-01 -6.01228377e-04 2.44082591e+02] [-5.70754891e-03 3.92934105e-05 9.99983711e-01 -1.60779164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.3653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.91, Y:244.07, Z:-16.08 [[ 9.94899872e-01 1.00707647e-01 5.67581497e-03 1.01691375e+03] [-1.00705850e-01 9.94916061e-01 -6.02313664e-04 2.44074411e+02] [-5.70761707e-03 2.76540162e-05 9.99983711e-01 -1.60781711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.4253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.98, Y:244.07, Z:-16.08 [[ 9.94464350e-01 1.04921123e-01 5.67570103e-03 1.01697516e+03] [-1.04919388e-01 9.94480547e-01 -6.03385488e-04 2.44066542e+02] [-5.70768214e-03 4.55427760e-06 9.99983711e-01 -1.60800679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1017.04, Y:244.06, Z:-16.08 [[ 9.94124925e-01 1.08089879e-01 5.67559490e-03 1.01703636e+03] [-1.08088190e-01 9.94141126e-01 -6.04382079e-04 2.44061258e+02] [-5.70766989e-03 -1.26334908e-05 9.99983711e-01 -1.60834434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1017.10, Y:244.06, Z:-16.09 [[ 9.94055824e-01 1.08723540e-01 5.67550579e-03 1.01709806e+03] [-1.08721857e-01 9.94072025e-01 -6.05217713e-04 2.44055855e+02] [-5.70766295e-03 -1.54313354e-05 9.99983711e-01 -1.60878813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.6053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1017.16, Y:244.05, Z:-16.09 [[ 9.94377612e-01 1.05740035e-01 5.67540488e-03 1.01716007e+03] [-1.05738297e-01 9.94393808e-01 -6.06162517e-04 2.44047505e+02] [-5.70768312e-03 2.64678837e-06 9.99983711e-01 -1.60884965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.6653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1017.22, Y:244.04, Z:-16.09 [[ 9.95021236e-01 9.95014107e-02 5.67530033e-03 1.01722075e+03] [-9.94995662e-02 9.95037420e-01 -6.07139860e-04 2.44039652e+02] [-5.70754747e-03 3.94271337e-05 9.99983711e-01 -1.60867719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1017.28, Y:244.03, Z:-16.08 [[ 9.95421787e-01 9.54109913e-02 5.67520413e-03 1.01728218e+03] [-9.54090752e-02 9.95437963e-01 -6.08037721e-04 2.44030373e+02] [-5.70732712e-03 6.37880179e-05 9.99983711e-01 -1.60838902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1017.34, Y:244.02, Z:-16.08 [[ 9.95806258e-01 9.13109454e-02 5.67510827e-03 1.01734488e+03] [-9.13089575e-02 9.95822426e-01 -6.08931077e-04 2.44021260e+02] [-5.70700216e-03 8.81891574e-05 9.99983711e-01 -1.60826167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.8453361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1017.41, Y:244.01, Z:-16.08 [[ 9.95924762e-01 9.00092412e-02 5.67499258e-03 1.01740747e+03] [-9.00072261e-02 9.95940926e-01 -6.10007362e-04 2.44011526e+02] [-5.70686367e-03 9.67310964e-05 9.99983711e-01 -1.60835694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.9053361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1017.47, Y:244.00, Z:-16.09 [[ 9.95927273e-01 8.99814519e-02 5.67487702e-03 1.01747007e+03] [-8.99794303e-02 9.95943437e-01 -6.11080532e-04 2.44001702e+02] [-5.70684244e-03 9.79695663e-05 9.99983711e-01 -1.60850011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1017.53, Y:243.99, Z:-16.08 [[ 9.95862888e-01 9.06912683e-02 5.67476178e-03 1.01753213e+03] [-9.06892520e-02 9.95879051e-01 -6.12148856e-04 2.43990544e+02] [-5.70689293e-03 9.49764258e-05 9.99983711e-01 -1.60832300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.025336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1017.59, Y:243.98, Z:-16.08 [[ 9.95707830e-01 9.23781156e-02 5.67464613e-03 1.01759391e+03] [-9.23761206e-02 9.95723996e-01 -6.13219082e-04 2.43981162e+02] [-5.70702934e-03 8.63852461e-05 9.99983711e-01 -1.60787489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.0853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1017.66, Y:243.97, Z:-16.09 [[ 9.95134381e-01 9.83634297e-02 5.67453850e-03 1.01765537e+03] [-9.83615263e-02 9.95150558e-01 -6.14213398e-04 2.43969083e+02] [-5.70743629e-03 5.30686010e-05 9.99983711e-01 -1.60859233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.1453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1017.72, Y:243.96, Z:-16.09 [[ 9.94485647e-01 1.04719138e-01 5.67443266e-03 1.01771748e+03] [-1.04717332e-01 9.94501836e-01 -6.15189703e-04 2.43961145e+02] [-5.70765583e-03 1.75858808e-05 9.99983711e-01 -1.60865571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1017.78, Y:243.95, Z:-16.09 [[ 9.94133338e-01 1.08012542e-01 5.67432168e-03 1.01778018e+03] [-1.08010784e-01 9.94149531e-01 -6.16211674e-04 2.43953628e+02] [-5.70768282e-03 -2.91364910e-07 9.99983711e-01 -1.60875628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.265336195 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:1017.84, Y:243.95, Z:-16.08 [[ 9.93093451e-01 1.17188740e-01 5.67421099e-03 1.01784107e+03] [-1.17187126e-01 9.93109660e-01 -6.17229249e-04 2.43948978e+02] [-5.70744606e-03 -5.19781530e-05 9.99983711e-01 -1.60847863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.3253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1017.90, Y:243.94, Z:-16.09 [[ 9.92192029e-01 1.24590459e-01 5.67412198e-03 1.01790337e+03] [-1.24588961e-01 9.92208249e-01 -6.18046405e-04 2.43942363e+02] [-5.70691332e-03 -9.37122459e-05 9.99983711e-01 -1.60892619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.3853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1017.97, Y:243.94, Z:-16.09 [[ 9.91645768e-01 1.28866118e-01 5.67400488e-03 1.01796606e+03] [-1.28864685e-01 9.91661994e-01 -6.19119587e-04 2.43938066e+02] [-5.70647853e-03 -1.17231530e-04 9.99983711e-01 -1.60883494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1018.03, Y:243.94, Z:-16.09 [[ 9.91239355e-01 1.31955856e-01 5.67388806e-03 1.01802903e+03] [-1.31954467e-01 9.91255585e-01 -6.20188355e-04 2.43936411e+02] [-5.70611071e-03 -1.33939768e-04 9.99983711e-01 -1.60891768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1018.09, Y:243.93, Z:-16.09 [[ 9.91509709e-01 1.29908834e-01 5.67377069e-03 1.01809014e+03] [-1.29907405e-01 9.91525935e-01 -6.21260170e-04 2.43931854e+02] [-5.70639798e-03 -1.21079339e-04 9.99983711e-01 -1.60935108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.5653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1018.15, Y:243.93, Z:-16.09 [[ 9.92085515e-01 1.25435801e-01 5.67371263e-03 1.01815296e+03] [-1.25434296e-01 9.92101734e-01 -6.21789969e-04 2.43926293e+02] [-5.70689487e-03 -9.48093288e-05 9.99983711e-01 -1.60926142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.6253361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1018.22, Y:243.92, Z:-16.09 [[ 9.93057954e-01 1.17489192e-01 5.67359625e-03 1.01821562e+03] [-1.17487550e-01 9.93074160e-01 -6.22850101e-04 2.43922458e+02] [-5.70747999e-03 -4.80506790e-05 9.99983711e-01 -1.60894196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1018.28, Y:243.92, Z:-16.09 [[ 9.93743606e-01 1.11541284e-01 5.67347646e-03 1.01827700e+03] [-1.11539539e-01 9.93759801e-01 -6.23939365e-04 2.43917150e+02] [-5.70766784e-03 -1.27811972e-05 9.99983711e-01 -1.60911589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1018.34, Y:243.91, Z:-16.09 [[ 9.93947865e-01 1.09706217e-01 5.67341904e-03 1.01833971e+03] [-1.09704440e-01 9.93964057e-01 -6.24461043e-04 2.43910993e+02] [-5.70768186e-03 -1.71753564e-06 9.99983711e-01 -1.60903726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.8053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1018.40, Y:243.91, Z:-16.09 [[ 9.94021263e-01 1.09039182e-01 5.67329923e-03 1.01840253e+03] [-1.09037388e-01 9.94037452e-01 -6.25547650e-04 2.43905802e+02] [-5.70768112e-03 3.20593564e-06 9.99983711e-01 -1.60892033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.8653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1018.46, Y:243.90, Z:-16.09 [[ 9.93959467e-01 1.09601064e-01 5.67317617e-03 1.01846489e+03] [-1.09599273e-01 9.93975657e-01 -6.26661744e-04 2.43900317e+02] [-5.70768180e-03 1.10039096e-06 9.99983711e-01 -1.60907685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.9253361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1018.53, Y:243.90, Z:-16.09 [[ 9.93990332e-01 1.09320792e-01 5.67305417e-03 1.01852563e+03] [-1.09318990e-01 9.94006521e-01 -6.27764252e-04 2.43895244e+02] [-5.70768052e-03 3.81904831e-06 9.99983711e-01 -1.60892941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1018.59, Y:243.89, Z:-16.09 [[ 9.94054849e-01 1.08732581e-01 5.67295635e-03 1.01858708e+03] [-1.08730764e-01 9.94071037e-01 -6.28646984e-04 2.43890203e+02] [-5.70767600e-03 8.08470750e-06 9.99983711e-01 -1.60913931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.045336195 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:1018.65, Y:243.89, Z:-16.09 [[ 9.94004011e-01 1.09196359e-01 5.67285730e-03 1.01864980e+03] [-1.09194544e-01 9.94020199e-01 -6.29539495e-04 2.43885127e+02] [-5.70767816e-03 6.31971482e-06 9.99983711e-01 -1.60858605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.1053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1018.71, Y:243.88, Z:-16.09 [[ 9.93937494e-01 1.09800175e-01 5.67273308e-03 1.01871112e+03] [-1.09798364e-01 9.93953682e-01 -6.30656837e-04 2.43878755e+02] [-5.70768016e-03 3.97666566e-06 9.99983711e-01 -1.60932209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.1653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1018.77, Y:243.87, Z:-16.10 [[ 9.93818143e-01 1.10875245e-01 5.67261765e-03 1.01877365e+03] [-1.10873445e-01 9.93834332e-01 -6.31693369e-04 2.43874557e+02] [-5.70768134e-03 -1.15433143e-06 9.99983711e-01 -1.60954128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.225336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1018.84, Y:243.87, Z:-16.10 [[ 9.93644733e-01 1.12418711e-01 5.67251235e-03 1.01883534e+03] [-1.12416931e-01 9.93660925e-01 -6.32637549e-04 2.43869371e+02] [-5.70767417e-03 -9.06946045e-06 9.99983711e-01 -1.60970731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.285336195 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:1018.90, Y:243.86, Z:-16.10 [[ 9.93541978e-01 1.13323264e-01 5.67240009e-03 1.01889830e+03] [-1.13321493e-01 9.93558170e-01 -6.33642568e-04 2.43863741e+02] [-5.70766589e-03 -1.32543572e-05 9.99983711e-01 -1.60978417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.3453361949998 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:1018.96, Y:243.86, Z:-16.09 [[ 9.93455506e-01 1.14078845e-01 5.67228297e-03 1.01895989e+03] [-1.14077081e-01 9.93471699e-01 -6.34689209e-04 2.43857065e+02] [-5.70765722e-03 -1.65419942e-05 9.99983711e-01 -1.60921532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.4053361949998 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:1019.02, Y:243.85, Z:-16.10 [[ 9.93443205e-01 1.14185918e-01 5.67217488e-03 1.01902045e+03] [-1.14184150e-01 9.93459398e-01 -6.35653774e-04 2.43849715e+02] [-5.70765815e-03 -1.61865454e-05 9.99983711e-01 -1.60978541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.465336195 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:1019.08, Y:243.84, Z:-16.10 [[ 9.93577157e-01 1.13014424e-01 5.67207555e-03 1.01908273e+03] [-1.13012632e-01 9.93593347e-01 -6.36538924e-04 2.43841595e+02] [-5.70767461e-03 -8.56565134e-06 9.99983711e-01 -1.60964312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.525336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:1019.15, Y:243.83, Z:-16.10 [[ 9.93696874e-01 1.11956915e-01 5.67195805e-03 1.01914565e+03] [-1.11955099e-01 9.93713062e-01 -6.37584170e-04 2.43833324e+02] [-5.70768076e-03 -1.43923041e-06 9.99983711e-01 -1.60955681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.5853361949999 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:1019.21, Y:243.83, Z:-16.10 [[ 9.93584447e-01 1.12950328e-01 5.67183844e-03 1.01920733e+03] [-1.12948523e-01 9.93600636e-01 -6.38646390e-04 2.43825100e+02] [-5.70767760e-03 -6.07665385e-06 9.99983711e-01 -1.60966239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.6453361949998 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:1019.27, Y:243.82, Z:-16.10 [[ 9.93103985e-01 1.17099555e-01 5.67172693e-03 1.01926917e+03] [-1.17097811e-01 9.93120181e-01 -6.39635227e-04 2.43818807e+02] [-5.70760747e-03 -2.89225158e-05 9.99983711e-01 -1.60986049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.705336195 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:1019.33, Y:243.81, Z:-16.10 [[ 9.92586341e-01 1.21409178e-01 5.67162821e-03 1.01933089e+03] [-1.21407500e-01 9.92602543e-01 -6.40509386e-04 2.43811023e+02] [-5.70743630e-03 -5.28173306e-05 9.99983711e-01 -1.60988311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.765336195 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:1019.39, Y:243.80, Z:-16.10 [[ 9.92376988e-01 1.23108679e-01 5.67152115e-03 1.01939357e+03] [-1.23107023e-01 9.92393193e-01 -6.41455981e-04 2.43804705e+02] [-5.70734778e-03 -6.16379289e-05 9.99983711e-01 -1.60956566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.8253361949999 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:1019.45, Y:243.80, Z:-16.10 [[ 9.92435694e-01 1.22634536e-01 5.67139853e-03 1.01945487e+03] [-1.22632866e-01 9.92451897e-01 -6.42538265e-04 2.43796997e+02] [-5.70738761e-03 -5.78219485e-05 9.99983711e-01 -1.61017819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.8853361949998 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:1019.52, Y:243.79, Z:-16.11 [[ 9.92504155e-01 1.22079229e-01 5.67132273e-03 1.01951616e+03] [-1.22077547e-01 9.92520357e-01 -6.43206615e-04 2.43788479e+02] [-5.70742543e-03 -5.39559286e-05 9.99983711e-01 -1.61054199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.945336195 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:1019.58, Y:243.78, Z:-16.10 [[ 9.92664695e-01 1.20766890e-01 5.67121240e-03 1.01957776e+03] [-1.20765180e-01 9.92680894e-01 -6.44177961e-04 2.43779315e+02] [-5.70749956e-03 -4.54322675e-05 9.99983711e-01 -1.61017863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.005336195 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:1019.64, Y:243.77, Z:-16.10 [[ 9.92685731e-01 1.20593853e-01 5.67110958e-03 1.01963981e+03] [-1.20592136e-01 9.92701929e-01 -6.45081815e-04 2.43770585e+02] [-5.70751433e-03 -4.35277039e-05 9.99983711e-01 -1.60974324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.0653361949999 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:1019.70, Y:243.76, Z:-16.10 [[ 9.92649870e-01 1.20888689e-01 5.67100183e-03 1.01970149e+03] [-1.20886971e-01 9.92666068e-01 -6.46027747e-04 2.43762809e+02] [-5.70750853e-03 -4.42708711e-05 9.99983711e-01 -1.60968825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.1253361949998 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:1019.76, Y:243.75, Z:-16.10 [[ 9.92377079e-01 1.23107976e-01 5.67092541e-03 1.01976287e+03] [-1.23106290e-01 9.92393281e-01 -6.46697860e-04 2.43752743e+02] [-5.70740193e-03 -5.63584532e-05 9.99983711e-01 -1.60961500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.185336195 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:1019.82, Y:243.74, Z:-16.09 [[ 9.92034619e-01 1.25837821e-01 5.67081282e-03 1.01982465e+03] [-1.25836175e-01 9.92050824e-01 -6.47683606e-04 2.43744699e+02] [-5.70723763e-03 -7.10688342e-05 9.99983711e-01 -1.60934032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.245336195 meters Centerline goodness : 0.999637 with order 1 Centerline is valid? [True, True] Translation: X:1019.89, Y:243.74, Z:-16.09 [[ 9.91468586e-01 1.30222449e-01 5.67070591e-03 1.01988623e+03] [-1.30220868e-01 9.91484798e-01 -6.48618287e-04 2.43738187e+02] [-5.70688337e-03 -9.53595915e-05 9.99983711e-01 -1.60949152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.3053361949999 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:1019.95, Y:243.73, Z:-16.10 [[ 9.90872405e-01 1.34683779e-01 5.67059999e-03 1.01994895e+03] [-1.34682267e-01 9.90888624e-01 -6.49542970e-04 2.43730786e+02] [-5.70641593e-03 -1.20115054e-04 9.99983711e-01 -1.60998128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.3653361949998 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:1020.01, Y:243.73, Z:-16.10 [[ 9.90326181e-01 1.38643071e-01 5.67047397e-03 1.02001052e+03] [-1.38641616e-01 9.90342405e-01 -6.50641274e-04 2.43725447e+02] [-5.70591773e-03 -1.41816589e-04 9.99983711e-01 -1.60988775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.4253361949998 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:1020.07, Y:243.72, Z:-16.10 [[ 9.90027788e-01 1.40758040e-01 5.67035680e-03 1.02007302e+03] [-1.40756614e-01 9.90044015e-01 -6.51660812e-04 2.43719584e+02] [-5.70562931e-03 -1.52977914e-04 9.99983711e-01 -1.60986309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.485336195 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:1020.14, Y:243.71, Z:-16.10 [[ 9.89809103e-01 1.42287695e-01 5.67023451e-03 1.02013613e+03] [-1.42286289e-01 9.89825331e-01 -6.52723159e-04 2.43714025e+02] [-5.70541623e-03 -1.60725300e-04 9.99983711e-01 -1.60996638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.545336195 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:1020.20, Y:243.71, Z:-16.10 [[ 9.89740087e-01 1.42766980e-01 5.67011298e-03 1.02019850e+03] [-1.42765575e-01 9.89756315e-01 -6.53777169e-04 2.43709363e+02] [-5.70536792e-03 -1.62427469e-04 9.99983711e-01 -1.61007735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.6053361949998 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:1020.26, Y:243.71, Z:-16.10 [[ 9.89717686e-01 1.42922196e-01 5.66999222e-03 1.02026120e+03] [-1.42920788e-01 9.89733913e-01 -6.54822805e-04 2.43706935e+02] [-5.70537231e-03 -1.62270048e-04 9.99983711e-01 -1.61003300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.6653361949998 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:1020.32, Y:243.70, Z:-16.10 [[ 9.89632097e-01 1.43513642e-01 5.66988770e-03 1.02032261e+03] [-1.43512239e-01 9.89648325e-01 -6.55726594e-04 2.43704535e+02] [-5.70530058e-03 -1.64770194e-04 9.99983711e-01 -1.60999464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.725336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:1020.38, Y:243.70, Z:-16.10 [[ 9.89572416e-01 1.43924587e-01 5.66987269e-03 1.02038458e+03] [-1.43923189e-01 9.89588645e-01 -6.55856379e-04 2.43701668e+02] [-5.70523548e-03 -1.67008779e-04 9.99983711e-01 -1.60985166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.785336195 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:1020.45, Y:243.70, Z:-16.10 [[ 9.89782938e-01 1.42469607e-01 5.66976410e-03 1.02044623e+03] [-1.42468180e-01 9.89799165e-01 -6.56793714e-04 2.43701461e+02] [-5.70550092e-03 -1.57677761e-04 9.99983711e-01 -1.60980909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.8453361949998 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:1020.51, Y:243.70, Z:-16.10 [[ 9.90164917e-01 1.39790168e-01 5.66974832e-03 1.02050742e+03] [-1.39788696e-01 9.90181139e-01 -6.56929966e-04 2.43702364e+02] [-5.70591020e-03 -1.42097721e-04 9.99983711e-01 -1.60989148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.9053361949998 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:1020.57, Y:243.70, Z:-16.10 [[ 9.90457753e-01 1.37700016e-01 5.66974050e-03 1.02056837e+03] [-1.37698510e-01 9.90473972e-01 -6.56997460e-04 2.43701437e+02] [-5.70619895e-03 -1.29986591e-04 9.99983711e-01 -1.61001218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.965336195 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:1020.63, Y:243.70, Z:-16.10 [[ 9.91068253e-01 1.33235023e-01 5.66974050e-03 1.02062825e+03] [-1.33233444e-01 9.91084466e-01 -6.56997460e-04 2.43701777e+02] [-5.70672680e-03 -1.04269725e-04 9.99983711e-01 -1.61028010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.025336195 meters Centerline goodness : 0.999640 with order 1 Centerline is valid? [True, True] Translation: X:1020.69, Y:243.70, Z:-16.10 [[ 9.91594510e-01 1.29260134e-01 5.66973221e-03 1.02068764e+03] [-1.29258490e-01 9.91610715e-01 -6.57068955e-04 2.43699624e+02] [-5.70710003e-03 -8.13150549e-05 9.99983711e-01 -1.61048036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.0853361949999 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:1020.75, Y:243.70, Z:-16.11 [[ 9.92471205e-01 1.22346889e-01 5.66973979e-03 1.02074812e+03] [-1.22345132e-01 9.92487399e-01 -6.57003575e-04 2.43699505e+02] [-5.70752764e-03 -4.16079301e-05 9.99983711e-01 -1.61063887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.1453361949998 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:1020.81, Y:243.70, Z:-16.10 [[ 9.93423617e-01 1.14356332e-01 5.66973979e-03 1.02080878e+03] [-1.14354444e-01 9.93439797e-01 -6.57003575e-04 2.43696779e+02] [-5.70767766e-03 4.32292573e-06 9.99983711e-01 -1.61039945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.205336195 meters Centerline goodness : 0.999651 with order 1 Centerline is valid? [True, True] Translation: X:1020.87, Y:243.69, Z:-16.11 [[ 9.94188749e-01 1.07501562e-01 5.66973979e-03 1.02086927e+03] [-1.07499563e-01 9.94204915e-01 -6.57003575e-04 2.43692615e+02] [-5.70751207e-03 4.36910132e-05 9.99983711e-01 -1.61066042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.265336195 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:1020.93, Y:243.69, Z:-16.11 [[ 9.94623887e-01 1.03398148e-01 5.66973192e-03 1.02093008e+03] [-1.03396082e-01 9.94640045e-01 -6.57071421e-04 2.43687213e+02] [-5.70728238e-03 6.73108637e-05 9.99983711e-01 -1.61082708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.3253361949999 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:1020.99, Y:243.68, Z:-16.11 [[ 9.94732818e-01 1.02344885e-01 5.66971626e-03 1.02099056e+03] [-1.02342801e-01 9.94748973e-01 -6.57206508e-04 2.43681196e+02] [-5.70720616e-03 7.34902379e-05 9.99983711e-01 -1.61090503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.3853361949998 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:1021.05, Y:243.68, Z:-16.11 [[ 9.94626947e-01 1.03368713e-01 5.66971626e-03 1.02104958e+03] [-1.03366646e-01 9.94643104e-01 -6.57206508e-04 2.43675768e+02] [-5.70727878e-03 6.76157489e-05 9.99983711e-01 -1.61075952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.445336195 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:1021.11, Y:243.67, Z:-16.11 [[ 9.94444185e-01 1.05112403e-01 5.66972422e-03 1.02111013e+03] [-1.05110364e-01 9.94460346e-01 -6.57137882e-04 2.43669007e+02] [-5.70738925e-03 5.75401672e-05 9.99983711e-01 -1.61064060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.505336195 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:1021.17, Y:243.66, Z:-16.11 [[ 9.94270716e-01 1.06740794e-01 5.66972422e-03 1.02117007e+03] [-1.06738783e-01 9.94286880e-01 -6.57137882e-04 2.43660605e+02] [-5.70747583e-03 4.81934925e-05 9.99983711e-01 -1.61077724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.5653361949999 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:1021.23, Y:243.65, Z:-16.11 [[ 9.94125901e-01 1.08081211e-01 5.66972422e-03 1.02122855e+03] [-1.08079220e-01 9.94142067e-01 -6.57137882e-04 2.43652469e+02] [-5.70753561e-03 4.04984155e-05 9.99983711e-01 -1.61094441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.6253361949998 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:1021.29, Y:243.64, Z:-16.11 [[ 9.93958667e-01 1.09608500e-01 5.66973187e-03 1.02128838e+03] [-1.09606535e-01 9.93974837e-01 -6.57071862e-04 2.43642781e+02] [-5.70759147e-03 3.16626061e-05 9.99983711e-01 -1.61099795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.685336195 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:1021.35, Y:243.63, Z:-16.10 [[ 9.93899791e-01 1.10141090e-01 5.66973187e-03 1.02134825e+03] [-1.10139134e-01 9.93915962e-01 -6.57071862e-04 2.43633593e+02] [-5.70760762e-03 2.86042272e-05 9.99983711e-01 -1.61048552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.745336195 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:1021.41, Y:243.62, Z:-16.11 [[ 9.93710569e-01 1.11835413e-01 5.66973187e-03 1.02140779e+03] [-1.11833484e-01 9.93726743e-01 -6.57071862e-04 2.43622872e+02] [-5.70764809e-03 1.88733865e-05 9.99983711e-01 -1.61093084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.8053361949999 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1021.47, Y:243.61, Z:-16.11 [[ 9.93444850e-01 1.14171732e-01 5.66973187e-03 1.02146761e+03] [-1.14169841e-01 9.93461029e-01 -6.57071862e-04 2.43613358e+02] [-5.70767669e-03 5.45226948e-06 9.99983711e-01 -1.61093745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.8653361949998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1021.53, Y:243.60, Z:-16.11 [[ 9.92789767e-01 1.19734426e-01 5.66973187e-03 1.02152709e+03] [-1.19732626e-01 9.92805956e-01 -6.57071862e-04 2.43602984e+02] [-5.70761769e-03 -2.65176645e-05 9.99983711e-01 -1.61108845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.9253361949998 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1021.59, Y:243.59, Z:-16.11 [[ 9.91959065e-01 1.26432067e-01 5.66973187e-03 1.02158653e+03] [-1.26430377e-01 9.91975266e-01 -6.57071862e-04 2.43592468e+02] [-5.70730873e-03 -6.50379452e-05 9.99983711e-01 -1.61124774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.985336195 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:1021.65, Y:243.59, Z:-16.11 [[ 9.91617842e-01 1.29081016e-01 5.66973187e-03 1.02164537e+03] [-1.29079369e-01 9.91634048e-01 -6.57071862e-04 2.43585967e+02] [-5.70711467e-03 -8.02812270e-05 9.99983711e-01 -1.61101453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.045336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1021.70, Y:243.58, Z:-16.11 [[ 9.90656515e-01 1.36262697e-01 5.66973983e-03 1.02170445e+03] [-1.36261167e-01 9.90672732e-01 -6.57003129e-04 2.43580659e+02] [-5.70638167e-03 -1.21700938e-04 9.99983711e-01 -1.61124301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.1053361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1021.76, Y:243.58, Z:-16.11 [[ 9.90127151e-01 1.40057416e-01 5.66975541e-03 1.02176399e+03] [-1.40055949e-01 9.90143373e-01 -6.56868658e-04 2.43575243e+02] [-5.70587008e-03 -1.43699483e-04 9.99983711e-01 -1.61116753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.1653361949998 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1021.82, Y:243.57, Z:-16.11 [[ 9.89543802e-01 1.44121194e-01 5.66977159e-03 1.02182292e+03] [-1.44119794e-01 9.89560030e-01 -6.56728999e-04 2.43570994e+02] [-5.70522791e-03 -1.67264206e-04 9.99983711e-01 -1.61127768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.225336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:1021.88, Y:243.57, Z:-16.11 [[ 9.89292103e-01 1.45838916e-01 5.66978863e-03 1.02188319e+03] [-1.45837545e-01 9.89308334e-01 -6.56581857e-04 2.43569758e+02] [-5.70492433e-03 -1.77316811e-04 9.99983711e-01 -1.61117819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.285336195 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:1021.94, Y:243.57, Z:-16.11 [[ 9.89476623e-01 1.44581695e-01 5.66980400e-03 1.02194175e+03] [-1.44580305e-01 9.89492852e-01 -6.56449142e-04 2.43566474e+02] [-5.70514106e-03 -1.70200908e-04 9.99983711e-01 -1.61131807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.3453361949998 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:1022.00, Y:243.56, Z:-16.12 [[ 9.90284739e-01 1.38938793e-01 5.66983470e-03 1.02200045e+03] [-1.38937312e-01 9.90300961e-01 -6.56183869e-04 2.43564046e+02] [-5.70601214e-03 -1.37942718e-04 9.99983711e-01 -1.61152326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.4053361949998 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:1022.06, Y:243.56, Z:-16.11 [[ 9.91308218e-01 1.31437705e-01 5.66984989e-03 1.02205955e+03] [-1.31436102e-01 9.91324428e-01 -6.56052553e-04 2.43559777e+02] [-5.70689074e-03 -9.48726832e-05 9.99983711e-01 -1.61149674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.465336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1022.12, Y:243.56, Z:-16.11 [[ 9.91808410e-01 1.27608505e-01 5.66986547e-03 1.02211821e+03] [-1.27606840e-01 9.91824614e-01 -6.55917882e-04 2.43555327e+02] [-5.70721283e-03 -7.29687431e-05 9.99983711e-01 -1.61146257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.525336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1022.18, Y:243.55, Z:-16.11 [[ 9.92262084e-01 1.24031485e-01 5.66988867e-03 1.02217708e+03] [-1.24029763e-01 9.92278281e-01 -6.55717320e-04 2.43552560e+02] [-5.70743697e-03 -5.25915140e-05 9.99983711e-01 -1.61127630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.5853361949999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1022.24, Y:243.55, Z:-16.11 [[ 9.92506452e-01 1.22060623e-01 5.66991101e-03 1.02223620e+03] [-1.22058870e-01 9.92522646e-01 -6.55524056e-04 2.43547891e+02] [-5.70752875e-03 -4.14510747e-05 9.99983711e-01 -1.61131304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.6453361949998 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1022.29, Y:243.54, Z:-16.11 [[ 9.92637889e-01 1.20987082e-01 5.66994160e-03 1.02229393e+03] [-1.20985313e-01 9.92654081e-01 -6.55259324e-04 2.43543995e+02] [-5.70756859e-03 -3.55444279e-05 9.99983711e-01 -1.61132658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.705336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1022.35, Y:243.54, Z:-16.11 [[ 9.92902572e-01 1.18795344e-01 5.66997940e-03 1.02235263e+03] [-1.18793541e-01 9.92918761e-01 -6.54932115e-04 2.43539506e+02] [-5.70763181e-03 -2.32731487e-05 9.99983711e-01 -1.61138910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.765336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1022.41, Y:243.53, Z:-16.11 [[ 9.92898154e-01 1.18832265e-01 5.67001035e-03 1.02241150e+03] [-1.18830464e-01 9.92914343e-01 -6.54664050e-04 2.43534382e+02] [-5.70762981e-03 -2.37552338e-05 9.99983711e-01 -1.61127054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.8253361949999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1022.47, Y:243.53, Z:-16.11 [[ 9.92660661e-01 1.20800092e-01 5.67004152e-03 1.02247030e+03] [-1.20798325e-01 9.92676854e-01 -6.54393958e-04 2.43531445e+02] [-5.70756983e-03 -3.53403784e-05 9.99983711e-01 -1.61084510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.8853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1022.53, Y:243.53, Z:-16.11 [[ 9.92383601e-01 1.23055429e-01 5.67007282e-03 1.02252877e+03] [-1.23053700e-01 9.92399798e-01 -6.54122688e-04 2.43528035e+02] [-5.70747247e-03 -4.85828087e-05 9.99983711e-01 -1.61119887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.945336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:1022.59, Y:243.53, Z:-16.11 [[ 9.92061216e-01 1.25627996e-01 5.67010525e-03 1.02258651e+03] [-1.25626310e-01 9.92077418e-01 -6.53841412e-04 2.43526174e+02] [-5.70732416e-03 -6.36636952e-05 9.99983711e-01 -1.61088744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1022.64, Y:243.52, Z:-16.12 [[ 9.91993796e-01 1.26159254e-01 5.67014547e-03 1.02264492e+03] [-1.26157579e-01 9.92009999e-01 -6.53492441e-04 2.43522338e+02] [-5.70728512e-03 -6.70713804e-05 9.99983711e-01 -1.61154106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.0653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1022.70, Y:243.52, Z:-16.12 [[ 9.92218222e-01 1.24381871e-01 5.67017757e-03 1.02270239e+03] [-1.24380168e-01 9.92234421e-01 -6.53213801e-04 2.43520129e+02] [-5.70739332e-03 -5.71270055e-05 9.99983711e-01 -1.61154424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.1253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1022.76, Y:243.52, Z:-16.11 [[ 9.92594639e-01 1.21341382e-01 5.67022069e-03 1.02276120e+03] [-1.21339632e-01 9.92610834e-01 -6.52839299e-04 2.43517470e+02] [-5.70753891e-03 -4.00177043e-05 9.99983711e-01 -1.61136285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.185336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1022.82, Y:243.51, Z:-16.11 [[ 9.92916467e-01 1.18679137e-01 5.67025217e-03 1.02281957e+03] [-1.18677346e-01 9.92932657e-01 -6.52565771e-04 2.43513139e+02] [-5.70762450e-03 -2.49871770e-05 9.99983711e-01 -1.61132691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1022.88, Y:243.51, Z:-16.12 [[ 9.93399675e-01 1.14564100e-01 5.67028400e-03 1.02287866e+03] [-1.14562243e-01 9.93415858e-01 -6.52289104e-04 2.43508177e+02] [-5.70767895e-03 -1.61666694e-06 9.99983711e-01 -1.61150019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.3053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1022.94, Y:243.50, Z:-16.11 [[ 9.93675966e-01 1.12142416e-01 5.67031630e-03 1.02293772e+03] [-1.12140521e-01 9.93692145e-01 -6.52008166e-04 2.43502760e+02] [-5.70766654e-03 1.20126203e-05 9.99983711e-01 -1.61148436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.3653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1023.00, Y:243.50, Z:-16.12 [[ 9.94017558e-01 1.09073103e-01 5.67034846e-03 1.02299501e+03] [-1.09071160e-01 9.94033730e-01 -6.51728386e-04 2.43497541e+02] [-5.70760367e-03 2.93579752e-05 9.99983711e-01 -1.61157380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.4253361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1023.05, Y:243.49, Z:-16.12 [[ 9.94190244e-01 1.07487696e-01 5.67038818e-03 1.02305390e+03] [-1.07485729e-01 9.94206414e-01 -6.51382552e-04 2.43491158e+02] [-5.70755191e-03 3.81123732e-05 9.99983711e-01 -1.61159527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.485336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1023.11, Y:243.48, Z:-16.12 [[ 9.94291229e-01 1.06549509e-01 5.67041997e-03 1.02311117e+03] [-1.06547528e-01 9.94307397e-01 -6.51105719e-04 2.43483459e+02] [-5.70751552e-03 4.32194751e-05 9.99983711e-01 -1.61169912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1023.17, Y:243.48, Z:-16.12 [[ 9.94339755e-01 1.06095700e-01 5.67045919e-03 1.02316935e+03] [-1.06093714e-01 9.94355922e-01 -6.50763996e-04 2.43475943e+02] [-5.70749794e-03 4.54804370e-05 9.99983711e-01 -1.61157188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.6053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1023.23, Y:243.47, Z:-16.12 [[ 9.94322061e-01 1.06261401e-01 5.67049003e-03 1.02322772e+03] [-1.06259419e-01 9.94338229e-01 -6.50495181e-04 2.43468682e+02] [-5.70750754e-03 4.42587332e-05 9.99983711e-01 -1.61151445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.6653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1023.29, Y:243.46, Z:-16.12 [[ 9.94131741e-01 1.08027433e-01 5.67052044e-03 1.02328639e+03] [-1.08025482e-01 9.94147913e-01 -6.50229949e-04 2.43461278e+02] [-5.70757873e-03 3.38535284e-05 9.99983711e-01 -1.61153181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1023.34, Y:243.45, Z:-16.12 [[ 9.93852202e-01 1.10569644e-01 5.67055069e-03 1.02334477e+03] [-1.10567735e-01 9.93868378e-01 -6.49966057e-04 2.43453605e+02] [-5.70764753e-03 1.89902497e-05 9.99983711e-01 -1.61150287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1023.40, Y:243.45, Z:-16.11 [[ 9.93669456e-01 1.12200073e-01 5.67058125e-03 1.02340360e+03] [-1.12198192e-01 9.93685636e-01 -6.49699318e-04 2.43446631e+02] [-5.70767145e-03 9.35740216e-06 9.99983711e-01 -1.61134355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.8453361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1023.46, Y:243.44, Z:-16.11 [[ 9.93493835e-01 1.13744648e-01 5.67061191e-03 1.02346156e+03] [-1.13742794e-01 9.93510018e-01 -6.49431634e-04 2.43438655e+02] [-5.70767911e-03 2.15082680e-07 9.99983711e-01 -1.61140058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.9053361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1023.52, Y:243.43, Z:-16.11 [[ 9.93452334e-01 1.14106547e-01 5.67064318e-03 1.02351881e+03] [-1.14104701e-01 9.93468518e-01 -6.49158436e-04 2.43431536e+02] [-5.70767870e-03 -2.13907956e-06 9.99983711e-01 -1.61117614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1023.58, Y:243.42, Z:-16.12 [[ 9.93322074e-01 1.15234981e-01 5.67068187e-03 1.02357660e+03] [-1.15233155e-01 9.93338260e-01 -6.48820244e-04 2.43421936e+02] [-5.70767206e-03 -8.96309421e-06 9.99983711e-01 -1.61170395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.025336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1023.63, Y:243.41, Z:-16.12 [[ 9.93223203e-01 1.16084073e-01 5.67071226e-03 1.02363452e+03] [-1.16082262e-01 9.93239391e-01 -6.48554529e-04 2.43413998e+02] [-5.70766165e-03 -1.41097020e-05 9.99983711e-01 -1.61168014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.0853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1023.69, Y:243.41, Z:-16.12 [[ 9.93042456e-01 1.17620252e-01 5.67074344e-03 1.02369304e+03] [-1.17618468e-01 9.93058647e-01 -6.48281827e-04 2.43405711e+02] [-5.70763188e-03 -2.32127764e-05 9.99983711e-01 -1.61150329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.1453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1023.75, Y:243.40, Z:-16.12 [[ 9.92828599e-01 1.19411960e-01 5.67077509e-03 1.02375035e+03] [-1.19410207e-01 9.92844793e-01 -6.48004878e-04 2.43397759e+02] [-5.70757905e-03 -3.37906510e-05 9.99983711e-01 -1.61154698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1023.81, Y:243.39, Z:-16.11 [[ 9.92348766e-01 1.23335998e-01 5.67081437e-03 1.02380846e+03] [-1.23334310e-01 9.92364967e-01 -6.47660917e-04 2.43389811e+02] [-5.70739742e-03 -5.67004682e-05 9.99983711e-01 -1.61146251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.265336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1023.87, Y:243.39, Z:-16.12 [[ 9.91831076e-01 1.27432170e-01 5.67084577e-03 1.02386649e+03] [-1.27430551e-01 9.91847284e-01 -6.47385840e-04 2.43385045e+02] [-5.70711076e-03 -8.05416062e-05 9.99983711e-01 -1.61169832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.3253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1023.92, Y:243.38, Z:-16.12 [[ 9.91608176e-01 1.29155203e-01 5.67088454e-03 1.02392497e+03] [-1.29153614e-01 9.91624387e-01 -6.47046088e-04 2.43378829e+02] [-5.70695677e-03 -9.07990441e-05 9.99983711e-01 -1.61185799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.3853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1023.98, Y:243.37, Z:-16.12 [[ 9.91494812e-01 1.30022607e-01 5.67091545e-03 1.02398240e+03] [-1.30021034e-01 9.91511025e-01 -6.46775026e-04 2.43372173e+02] [-5.70687057e-03 -9.60642061e-05 9.99983711e-01 -1.61187546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.445336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1024.04, Y:243.37, Z:-16.12 [[ 9.91558297e-01 1.29537579e-01 5.67095374e-03 1.02404125e+03] [-1.29536000e-01 9.91574509e-01 -6.46439172e-04 2.43367096e+02] [-5.70691133e-03 -9.36105393e-05 9.99983711e-01 -1.61160724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.505336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1024.10, Y:243.36, Z:-16.11 [[ 9.91671414e-01 1.28668747e-01 5.67098391e-03 1.02409975e+03] [-1.28667155e-01 9.91687625e-01 -6.46174392e-04 2.43362027e+02] [-5.70698701e-03 -8.88766913e-05 9.99983711e-01 -1.61098820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.5653361949999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1024.16, Y:243.35, Z:-16.11 [[ 9.91921156e-01 1.26729082e-01 5.67101510e-03 1.02415667e+03] [-1.26727460e-01 9.91937364e-01 -6.45900575e-04 2.43354603e+02] [-5.70714615e-03 -7.79908963e-05 9.99983711e-01 -1.61136022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.6253361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1024.21, Y:243.35, Z:-16.12 [[ 9.92059953e-01 1.25637925e-01 5.67105371e-03 1.02421417e+03] [-1.25636287e-01 9.92076160e-01 -6.45561316e-04 2.43349566e+02] [-5.70722417e-03 -7.20546055e-05 9.99983711e-01 -1.61154132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.685336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1024.27, Y:243.35, Z:-16.12 [[ 9.92220767e-01 1.24361523e-01 5.67109138e-03 1.02427333e+03] [-1.24359866e-01 9.92236971e-01 -6.45230247e-04 2.43345008e+02] [-5.70730835e-03 -6.50453161e-05 9.99983711e-01 -1.61182007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.745336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1024.33, Y:243.34, Z:-16.12 [[ 9.92277694e-01 1.23906486e-01 5.67112215e-03 1.02433229e+03] [-1.23904823e-01 9.92293897e-01 -6.44959669e-04 2.43339595e+02] [-5.70733459e-03 -6.27002948e-05 9.99983711e-01 -1.61192565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.8053361949999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:1024.39, Y:243.34, Z:-16.12 [[ 9.92199422e-01 1.24531699e-01 5.67115281e-03 1.02439009e+03] [-1.24530048e-01 9.92215627e-01 -6.44690014e-04 2.43336878e+02] [-5.70729079e-03 -6.65678731e-05 9.99983711e-01 -1.61186911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.8653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1024.45, Y:243.34, Z:-16.12 [[ 9.92224945e-01 1.24328178e-01 5.67119071e-03 1.02444895e+03] [-1.24326526e-01 9.92241150e-01 -6.44356446e-04 2.43336127e+02] [-5.70730045e-03 -6.57329000e-05 9.99983711e-01 -1.61179183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.9253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1024.51, Y:243.33, Z:-16.12 [[ 9.92284692e-01 1.23850420e-01 5.67122174e-03 1.02450679e+03] [-1.23848761e-01 9.92300897e-01 -6.44083220e-04 2.43332695e+02] [-5.70732839e-03 -6.32598678e-05 9.99983711e-01 -1.61179268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.985336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1024.57, Y:243.33, Z:-16.12 [[ 9.92456983e-01 1.22462135e-01 5.67126021e-03 1.02456566e+03] [-1.22460455e-01 9.92473185e-01 -6.43744281e-04 2.43329885e+02] [-5.70740798e-03 -5.56166009e-05 9.99983711e-01 -1.61189542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.045336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1024.62, Y:243.33, Z:-16.12 [[ 9.92614307e-01 1.21180341e-01 5.67129128e-03 1.02462353e+03] [-1.21178642e-01 9.92630507e-01 -6.43470451e-04 2.43330642e+02] [-5.70747271e-03 -4.85214004e-05 9.99983711e-01 -1.61198424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.1053361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1024.68, Y:243.33, Z:-16.12 [[ 9.92810085e-01 1.19565763e-01 5.67132959e-03 1.02468198e+03] [-1.19564040e-01 9.92826282e-01 -6.43132623e-04 2.43327360e+02] [-5.70754172e-03 -3.95785235e-05 9.99983711e-01 -1.61212660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.1653361949998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1024.74, Y:243.33, Z:-16.12 [[ 9.93295555e-01 1.15463314e-01 5.67136097e-03 1.02474107e+03] [-1.15461526e-01 9.93311745e-01 -6.42855745e-04 2.43325132e+02] [-5.70765572e-03 -1.62782375e-05 9.99983711e-01 -1.61218999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.225336195 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:1024.80, Y:243.32, Z:-16.12 [[ 9.93858488e-01 1.10513080e-01 5.67139226e-03 1.02479917e+03] [-1.10511212e-01 9.93874670e-01 -6.42579618e-04 2.43323361e+02] [-5.70766656e-03 1.18807731e-05 9.99983711e-01 -1.61209187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1024.86, Y:243.32, Z:-16.12 [[ 9.94163035e-01 1.07739011e-01 5.67143094e-03 1.02485746e+03] [-1.07737100e-01 9.94179212e-01 -6.42238054e-04 2.43319141e+02] [-5.70761283e-03 2.74658116e-05 9.99983711e-01 -1.61219376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.3453361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1024.92, Y:243.31, Z:-16.12 [[ 9.94394649e-01 1.05579907e-01 5.67146182e-03 1.02491524e+03] [-1.05577963e-01 9.94410821e-01 -6.41965222e-04 2.43312466e+02] [-5.70754164e-03 3.95853980e-05 9.99983711e-01 -1.61222960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.4053361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1024.97, Y:243.31, Z:-16.12 [[ 9.94414576e-01 1.05392058e-01 5.67149986e-03 1.02497410e+03] [-1.05390112e-01 9.94430748e-01 -6.41629032e-04 2.43308502e+02] [-5.70753645e-03 4.03252540e-05 9.99983711e-01 -1.61229602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.465336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1025.03, Y:243.30, Z:-16.13 [[ 9.94287474e-01 1.06584491e-01 5.67153021e-03 1.02503186e+03] [-1.06582567e-01 9.94303648e-01 -6.41360578e-04 2.43304805e+02] [-5.70758227e-03 3.32105413e-05 9.99983711e-01 -1.61260045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1025.09, Y:243.30, Z:-16.13 [[ 9.94148450e-01 1.07873505e-01 5.67156776e-03 1.02509010e+03] [-1.07871604e-01 9.94164627e-01 -6.41028389e-04 2.43298423e+02] [-5.70762203e-03 2.54762684e-05 9.99983711e-01 -1.61272913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.5853361949999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1025.15, Y:243.29, Z:-16.13 [[ 9.93904268e-01 1.10100584e-01 5.67159752e-03 1.02514803e+03] [-1.10098720e-01 9.93920450e-01 -6.40764988e-04 2.43293493e+02] [-5.70766536e-03 1.24234296e-05 9.99983711e-01 -1.61284819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.6453361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1025.21, Y:243.29, Z:-16.13 [[ 9.93647513e-01 1.12394183e-01 5.67164427e-03 1.02520604e+03] [-1.12392359e-01 9.93663699e-01 -6.40350915e-04 2.43289076e+02] [-5.70767874e-03 -1.16638373e-06 9.99983711e-01 -1.61291393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.705336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1025.26, Y:243.28, Z:-16.13 [[ 9.93492987e-01 1.13752000e-01 5.67168280e-03 1.02526391e+03] [-1.13750200e-01 9.93509176e-01 -6.40009456e-04 2.43282758e+02] [-5.70767126e-03 -9.31014537e-06 9.99983711e-01 -1.61290205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.765336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1025.32, Y:243.28, Z:-16.13 [[ 9.93328454e-01 1.15179920e-01 5.67172015e-03 1.02532135e+03] [-1.15178146e-01 9.93344646e-01 -6.39678330e-04 2.43278246e+02] [-5.70765094e-03 -1.78475219e-05 9.99983711e-01 -1.61283832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.8253361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1025.38, Y:243.27, Z:-16.13 [[ 9.93240786e-01 1.15933477e-01 5.67176649e-03 1.02537899e+03] [-1.15931717e-01 9.93256980e-01 -6.39267159e-04 2.43272195e+02] [-5.70763412e-03 -2.25914128e-05 9.99983711e-01 -1.61300634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.8853361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1025.44, Y:243.27, Z:-16.13 [[ 9.93040457e-01 1.17637077e-01 5.67180445e-03 1.02543759e+03] [-1.17635347e-01 9.93056653e-01 -6.38930129e-04 2.43267454e+02] [-5.70758502e-03 -3.27212174e-05 9.99983711e-01 -1.61307749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.945336195 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:1025.50, Y:243.26, Z:-16.13 [[ 9.92866426e-01 1.19096977e-01 5.67183399e-03 1.02549576e+03] [-1.19095272e-01 9.92882626e-01 -6.38667827e-04 2.43264052e+02] [-5.70752883e-03 -4.13767679e-05 9.99983711e-01 -1.61305190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.005336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1025.55, Y:243.26, Z:-16.13 [[ 9.92778438e-01 1.19828222e-01 5.67188120e-03 1.02555301e+03] [-1.19826531e-01 9.92794639e-01 -6.38248275e-04 2.43259924e+02] [-5.70749341e-03 -4.60027246e-05 9.99983711e-01 -1.61296461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.0653361949999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:1025.61, Y:243.26, Z:-16.13 [[ 9.92679515e-01 1.20644972e-01 5.67195019e-03 1.02561118e+03] [-1.20643298e-01 9.92695718e-01 -6.37634596e-04 2.43256520e+02] [-5.70744807e-03 -5.13159732e-05 9.99983711e-01 -1.61319742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.1253361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1025.67, Y:243.25, Z:-16.13 [[ 9.92692285e-01 1.20539854e-01 5.67199712e-03 1.02566839e+03] [-1.20538181e-01 9.92708487e-01 -6.37216882e-04 2.43252491e+02] [-5.70744971e-03 -5.11319328e-05 9.99983711e-01 -1.61347825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.185336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1025.73, Y:243.25, Z:-16.14 [[ 9.92900539e-01 1.18812234e-01 5.67205122e-03 1.02572577e+03] [-1.18810535e-01 9.92916739e-01 -6.36734943e-04 2.43248131e+02] [-5.70752650e-03 -4.16849728e-05 9.99983711e-01 -1.61359720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.245336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:1025.78, Y:243.24, Z:-16.14 [[ 9.93302897e-01 1.15400099e-01 5.67209600e-03 1.02578382e+03] [-1.15398346e-01 9.93319091e-01 -6.36335820e-04 2.43243663e+02] [-5.70763446e-03 -2.24762856e-05 9.99983711e-01 -1.61363982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.3053361949999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1025.84, Y:243.24, Z:-16.14 [[ 9.93616564e-01 1.12667436e-01 5.67214052e-03 1.02584181e+03] [-1.12665641e-01 9.93632754e-01 -6.35938692e-04 2.43236827e+02] [-5.70767419e-03 -7.17612965e-06 9.99983711e-01 -1.61381854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.3653361949998 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1025.90, Y:243.23, Z:-16.14 [[ 9.93991856e-01 1.09306981e-01 5.67217069e-03 1.02590004e+03] [-1.09305134e-01 9.94008040e-01 -6.35669478e-04 2.43228067e+02] [-5.70766638e-03 1.18529090e-05 9.99983711e-01 -1.61406934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.4253361949998 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:1025.96, Y:243.22, Z:-16.14 [[ 9.94313796e-01 1.06338620e-01 5.67220090e-03 1.02595799e+03] [-1.06336725e-01 9.94329974e-01 -6.35399849e-04 2.43220840e+02] [-5.70760691e-03 2.86235682e-05 9.99983711e-01 -1.61422958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.485336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:1026.01, Y:243.21, Z:-16.14 [[ 9.94484898e-01 1.04726371e-01 5.67224618e-03 1.02601495e+03] [-1.04724453e-01 9.94501074e-01 -6.34995364e-04 2.43213355e+02] [-5.70755567e-03 3.74704227e-05 9.99983711e-01 -1.61427572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.545336195 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:1026.07, Y:243.20, Z:-16.14 [[ 9.94520229e-01 1.04390324e-01 5.67228346e-03 1.02607336e+03] [-1.04388402e-01 9.94536404e-01 -6.34662124e-04 2.43203593e+02] [-5.70754498e-03 3.90637160e-05 9.99983711e-01 -1.61416889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.6053361949998 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:1026.13, Y:243.19, Z:-16.14 [[ 9.94361679e-01 1.05889926e-01 5.67231268e-03 1.02613156e+03] [-1.05888029e-01 9.94377857e-01 -6.34400865e-04 2.43193924e+02] [-5.70759879e-03 3.01938967e-05 9.99983711e-01 -1.61440637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.6653361949998 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:1026.19, Y:243.19, Z:-16.14 [[ 9.94073710e-01 1.08560050e-01 5.67234211e-03 1.02618911e+03] [-1.08558199e-01 9.94089893e-01 -6.34137664e-04 2.43185586e+02] [-5.70765997e-03 1.46003375e-05 9.99983711e-01 -1.61447429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.725336195 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:1026.25, Y:243.18, Z:-16.14 [[ 9.93581084e-01 1.12979885e-01 5.67237848e-03 1.02624740e+03] [-1.12978107e-01 9.93597275e-01 -6.33812127e-04 2.43179144e+02] [-5.70766782e-03 -1.11108439e-05 9.99983711e-01 -1.61438265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.785336195 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:1026.30, Y:243.17, Z:-16.14 [[ 9.93441574e-01 1.14200096e-01 5.67240779e-03 1.02630458e+03] [-1.14198340e-01 9.93457769e-01 -6.33549710e-04 2.43171284e+02] [-5.70764902e-03 -1.83849313e-05 9.99983711e-01 -1.61437104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.8453361949998 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:1026.36, Y:243.16, Z:-16.14 [[ 9.93407516e-01 1.14495983e-01 5.67245288e-03 1.02636334e+03] [-1.14494234e-01 9.93423711e-01 -6.33145717e-04 2.43162852e+02] [-5.70764183e-03 -2.04914345e-05 9.99983711e-01 -1.61409516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.9053361949998 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:1026.42, Y:243.15, Z:-16.14 [[ 9.93490280e-01 1.13775594e-01 5.67248275e-03 1.02642035e+03] [-1.13773836e-01 9.93506474e-01 -6.32878001e-04 2.43154515e+02] [-5.70765441e-03 -1.66219766e-05 9.99983711e-01 -1.61438887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.965336195 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:1026.48, Y:243.15, Z:-16.14 [[ 9.93636821e-01 1.12488621e-01 5.67252354e-03 1.02647832e+03] [-1.12486843e-01 9.93653013e-01 -6.32512225e-04 2.43146822e+02] [-5.70767053e-03 -9.59683080e-06 9.99983711e-01 -1.61442373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.025336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:1026.54, Y:243.14, Z:-16.14 [[ 9.94075097e-01 1.08547330e-01 5.67255293e-03 1.02653635e+03] [-1.08545489e-01 9.94091282e-01 -6.32248564e-04 2.43136680e+02] [-5.70766430e-03 1.27725211e-05 9.99983711e-01 -1.61449462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.0853361949999 meters Centerline goodness : 0.999637 with order 1 Centerline is valid? [True, True] Translation: X:1026.59, Y:243.13, Z:-16.14 [[ 9.94420504e-01 1.05336045e-01 5.67258234e-03 1.02659498e+03] [-1.05334153e-01 9.94436683e-01 -6.31984505e-04 2.43128388e+02] [-5.70759472e-03 3.09416906e-05 9.99983711e-01 -1.61447295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.1453361949998 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:1026.65, Y:243.12, Z:-16.15 [[ 9.94957906e-01 1.00132847e-01 5.67261196e-03 1.02665268e+03] [-1.00130873e-01 9.94974075e-01 -6.31718553e-04 2.43116258e+02] [-5.70735761e-03 6.05297814e-05 9.99983711e-01 -1.61466020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.205336195 meters Centerline goodness : 0.999441 with order 1 Centerline is valid? [True, True] Translation: X:1026.71, Y:243.11, Z:-16.15 [[ 9.95215133e-01 9.75431152e-02 5.67264286e-03 1.02670958e+03] [-9.75411003e-02 9.95231297e-01 -6.31441014e-04 2.43106257e+02] [-5.70718443e-03 7.51038269e-05 9.99983711e-01 -1.61491889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.265336195 meters Centerline goodness : 0.999505 with order 1 Centerline is valid? [True, True] Translation: X:1026.77, Y:243.09, Z:-16.15 [[ 9.95555342e-01 9.40073458e-02 5.67268583e-03 1.02676756e+03] [-9.40052757e-02 9.95571499e-01 -6.31054679e-04 2.43093752e+02] [-5.70688811e-03 9.49874612e-05 9.99983711e-01 -1.61476027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.3253361949999 meters Centerline goodness : 0.999549 with order 1 Centerline is valid? [True, True] Translation: X:1026.83, Y:243.08, Z:-16.15 [[ 9.95870309e-01 9.06098714e-02 5.67271529e-03 1.02682571e+03] [-9.06077477e-02 9.95886458e-01 -6.30789745e-04 2.43079577e+02] [-5.70653612e-03 1.14192822e-04 9.99983711e-01 -1.61509827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.3853361949998 meters Centerline goodness : 0.999528 with order 1 Centerline is valid? [True, True] Translation: X:1026.88, Y:243.07, Z:-16.15 [[ 9.96102592e-01 8.80195746e-02 5.67273000e-03 1.02688364e+03] [-8.80174096e-02 9.96118737e-01 -6.30657435e-04 2.43066251e+02] [-5.70622284e-03 1.28900506e-04 9.99983711e-01 -1.61517789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.445336195 meters Centerline goodness : 0.999440 with order 1 Centerline is valid? [True, True] Translation: X:1026.94, Y:243.05, Z:-16.15 [[ 9.96315210e-01 8.55793322e-02 5.67275187e-03 1.02694229e+03] [-8.55771289e-02 9.96331349e-01 -6.30460671e-04 2.43050143e+02] [-5.70589493e-03 1.42679738e-04 9.99983711e-01 -1.61518839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.505336195 meters Centerline goodness : 0.999184 with order 1 Centerline is valid? [True, True] Translation: X:1027.00, Y:243.04, Z:-16.15 [[ 9.96346659e-01 8.52124128e-02 5.67276634e-03 1.02700197e+03] [-8.52102042e-02 9.96362797e-01 -6.30330422e-04 2.43036696e+02] [-5.70584532e-03 1.44650032e-04 9.99983711e-01 -1.61454330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.5653361949999 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:1027.06, Y:243.02, Z:-16.15 [[ 9.96285180e-01 8.59282258e-02 5.67276634e-03 1.02705997e+03] [-8.59260288e-02 9.96301320e-01 -6.30330422e-04 2.43018517e+02] [-5.70594777e-03 1.40550574e-04 9.99983711e-01 -1.61461469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.6253361949998 meters Centerline goodness : 0.999443 with order 1 Centerline is valid? [True, True] Translation: X:1027.12, Y:243.00, Z:-16.15 [[ 9.96054305e-01 8.85643333e-02 5.67275832e-03 1.02711884e+03] [-8.85621787e-02 9.96070451e-01 -6.30402652e-04 2.42999089e+02] [-5.70629812e-03 1.25523440e-04 9.99983711e-01 -1.61543121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.685336195 meters Centerline goodness : 0.999590 with order 1 Centerline is valid? [True, True] Translation: X:1027.18, Y:242.99, Z:-16.15 [[ 9.95932395e-01 8.99248838e-02 5.67275117e-03 1.02717926e+03] [-8.99227508e-02 9.95948544e-01 -6.30466987e-04 2.42988076e+02] [-5.70646293e-03 1.17793107e-04 9.99983711e-01 -1.61549363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.745336195 meters Centerline goodness : 0.999530 with order 1 Centerline is valid? [True, True] Translation: X:1027.24, Y:242.97, Z:-16.16 [[ 9.95659874e-01 9.28936806e-02 5.67273642e-03 1.02723917e+03] [-9.28915950e-02 9.95676029e-01 -6.30599657e-04 2.42974099e+02] [-5.70678639e-03 1.00913240e-04 9.99983711e-01 -1.61567219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.8053361949999 meters Centerline goodness : 0.999570 with order 1 Centerline is valid? [True, True] Translation: X:1027.30, Y:242.96, Z:-16.16 [[ 9.95315279e-01 9.65158853e-02 5.67272162e-03 1.02729845e+03] [-9.65138578e-02 9.95331441e-01 -6.30732756e-04 2.42956408e+02] [-5.70711391e-03 8.02817014e-05 9.99983711e-01 -1.61579618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.8653361949998 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:1027.36, Y:242.94, Z:-16.16 [[ 9.94974264e-01 9.99701708e-02 5.67270629e-03 1.02735953e+03] [-9.99681985e-02 9.94990433e-01 -6.30870548e-04 2.42942908e+02] [-5.70735673e-03 6.06097303e-05 9.99983711e-01 -1.61595025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.9253361949998 meters Centerline goodness : 0.999548 with order 1 Centerline is valid? [True, True] Translation: X:1027.42, Y:242.93, Z:-16.16 [[ 9.94378294e-01 1.05733774e-01 5.67259796e-03 1.02741967e+03] [-1.05731890e-01 9.94394473e-01 -6.31843159e-04 2.42927618e+02] [-5.70760722e-03 2.85166167e-05 9.99983711e-01 -1.61595235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.985336195 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:1027.48, Y:242.92, Z:-16.16 [[ 9.93947879e-01 1.09706136e-01 5.67249831e-03 1.02748126e+03] [-1.09704312e-01 9.93964066e-01 -6.32736568e-04 2.42915412e+02] [-5.70767456e-03 6.60964791e-06 9.99983711e-01 -1.61571151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.045336195 meters Centerline goodness : 0.999573 with order 1 Centerline is valid? [True, True] Translation: X:1027.54, Y:242.90, Z:-16.16 [[ 9.93445138e-01 1.14169097e-01 5.67238972e-03 1.02754141e+03] [-1.14167339e-01 9.93461331e-01 -6.33708535e-04 2.42902454e+02] [-5.70764977e-03 -1.80469791e-05 9.99983711e-01 -1.61622855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.1053361949998 meters Centerline goodness : 0.999569 with order 1 Centerline is valid? [True, True] Translation: X:1027.60, Y:242.89, Z:-16.16 [[ 9.93131508e-01 1.16865874e-01 5.67228985e-03 1.02760323e+03] [-1.16864156e-01 9.93147706e-01 -6.34601213e-04 2.42892960e+02] [-5.70758488e-03 -3.26449063e-05 9.99983711e-01 -1.61649192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.1653361949998 meters Centerline goodness : 0.999597 with order 1 Centerline is valid? [True, True] Translation: X:1027.66, Y:242.88, Z:-16.17 [[ 9.92717836e-01 1.20329235e-01 5.67218484e-03 1.02766489e+03] [-1.20327568e-01 9.92734039e-01 -6.35538387e-04 2.42879178e+02] [-5.70744482e-03 -5.16099152e-05 9.99983711e-01 -1.61653828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.225336195 meters Centerline goodness : 0.999615 with order 1 Centerline is valid? [True, True] Translation: X:1027.73, Y:242.87, Z:-16.17 [[ 9.92386312e-01 1.23033470e-01 5.67206419e-03 1.02772589e+03] [-1.23031840e-01 9.92402520e-01 -6.36613402e-04 2.42870920e+02] [-5.70729555e-03 -6.60780691e-05 9.99983711e-01 -1.61660466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.285336195 meters Centerline goodness : 0.999486 with order 1 Centerline is valid? [True, True] Translation: X:1027.79, Y:242.86, Z:-16.17 [[ 9.92253309e-01 1.24101574e-01 5.67195246e-03 1.02778749e+03] [-1.24099956e-01 9.92269517e-01 -6.37607265e-04 2.42863215e+02] [-5.70723360e-03 -7.12211346e-05 9.99983711e-01 -1.61665290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.3453361949998 meters Centerline goodness : 0.999076 with order 1 Centerline is valid? [True, True] Translation: X:1027.85, Y:242.85, Z:-16.16 [[ 9.92325850e-01 1.23520191e-01 5.67185134e-03 1.02784984e+03] [-1.23518558e-01 9.92342057e-01 -6.38505510e-04 2.42854788e+02] [-5.70728495e-03 -6.69733787e-05 9.99983711e-01 -1.61591386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.4053361949998 meters Centerline goodness : 0.999201 with order 1 Centerline is valid? [True, True] Translation: X:1027.91, Y:242.85, Z:-16.16 [[ 9.92558216e-01 1.21638892e-01 5.67173059e-03 1.02791276e+03] [-1.21637223e-01 9.92574419e-01 -6.39576327e-04 2.42846614e+02] [-5.70741205e-03 -5.50768196e-05 9.99983711e-01 -1.61587429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.465336195 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:1027.98, Y:242.84, Z:-16.16 [[ 9.93066647e-01 1.17415790e-01 5.67160755e-03 1.02797565e+03] [-1.17414046e-01 9.93082842e-01 -6.40665599e-04 2.42838585e+02] [-5.70760040e-03 -2.97027512e-05 9.99983711e-01 -1.61646108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.525336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:1028.04, Y:242.83, Z:-16.17 [[ 9.93444038e-01 1.14178711e-01 5.67148246e-03 1.02803660e+03] [-1.14176908e-01 9.93460227e-01 -6.41771068e-04 2.42830743e+02] [-5.70766884e-03 -9.98868859e-06 9.99983711e-01 -1.61672568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.5853361949999 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:1028.10, Y:242.82, Z:-16.17 [[ 9.93656113e-01 1.12318143e-01 5.67138190e-03 1.02809955e+03] [-1.12316305e-01 9.93672297e-01 -6.42658424e-04 2.42824088e+02] [-5.70767729e-03 1.59281230e-06 9.99983711e-01 -1.61675084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.6453361949998 meters Centerline goodness : 0.999551 with order 1 Centerline is valid? [True, True] Translation: X:1028.16, Y:242.82, Z:-16.17 [[ 9.93876582e-01 1.10350241e-01 5.67125962e-03 1.02816086e+03] [-1.10348364e-01 9.93892763e-01 -6.43735773e-04 2.42818261e+02] [-5.70766029e-03 1.39796905e-05 9.99983711e-01 -1.61705052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.705336195 meters Centerline goodness : 0.999508 with order 1 Centerline is valid? [True, True] Translation: X:1028.22, Y:242.81, Z:-16.17 [[ 9.94058965e-01 1.08695039e-01 5.67116129e-03 1.02822374e+03] [-1.08693130e-01 9.94075142e-01 -6.44600823e-04 2.42810624e+02] [-5.70762538e-03 2.43549543e-05 9.99983711e-01 -1.61718513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.765336195 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:1028.29, Y:242.80, Z:-16.17 [[ 9.94142302e-01 1.07930171e-01 5.67104095e-03 1.02828651e+03] [-1.07928244e-01 9.94158477e-01 -6.45657821e-04 2.42803239e+02] [-5.70759939e-03 2.98102607e-05 9.99983711e-01 -1.61721428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.8253361949999 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:1028.35, Y:242.80, Z:-16.17 [[ 9.94298709e-01 1.06479657e-01 5.67091900e-03 1.02834819e+03] [-1.06477700e-01 9.94314880e-01 -6.46727168e-04 2.42795752e+02] [-5.70754243e-03 3.92135775e-05 9.99983711e-01 -1.61737882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.8853361949998 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:1028.41, Y:242.79, Z:-16.17 [[ 9.94365925e-01 1.05850128e-01 5.67080581e-03 1.02841015e+03] [-1.05848156e-01 9.94382094e-01 -6.47718176e-04 2.42789456e+02] [-5.70750880e-03 4.38245472e-05 9.99983711e-01 -1.61735159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.945336195 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:1028.47, Y:242.78, Z:-16.17 [[ 9.94400192e-01 1.05527726e-01 5.67069634e-03 1.02847243e+03] [-1.05525742e-01 9.94416360e-01 -6.48675097e-04 2.42782754e+02] [-5.70748642e-03 4.66382010e-05 9.99983711e-01 -1.61740465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.005336195 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:1028.54, Y:242.77, Z:-16.17 [[ 9.94478738e-01 1.04784944e-01 5.67057761e-03 1.02853531e+03] [-1.04782943e-01 9.94494903e-01 -6.49711380e-04 2.42774648e+02] [-5.70744050e-03 5.19443448e-05 9.99983711e-01 -1.61748224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.0653361949999 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:1028.60, Y:242.77, Z:-16.17 [[ 9.94335432e-01 1.06136208e-01 5.67045865e-03 1.02859673e+03] [-1.06134223e-01 9.94351599e-01 -6.50747973e-04 2.42767938e+02] [-5.70749755e-03 4.52320442e-05 9.99983711e-01 -1.61729175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.1253361949998 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:1028.66, Y:242.76, Z:-16.17 [[ 9.94119194e-01 1.08142851e-01 5.67035533e-03 1.02865887e+03] [-1.08140893e-01 9.94135364e-01 -6.51647016e-04 2.42761920e+02] [-5.70757173e-03 3.46175185e-05 9.99983711e-01 -1.61736109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.185336195 meters Centerline goodness : 0.999525 with order 1 Centerline is valid? [True, True] Translation: X:1028.72, Y:242.76, Z:-16.17 [[ 9.93991735e-01 1.09308180e-01 5.67024572e-03 1.02872123e+03] [-1.09306236e-01 9.94007908e-01 -6.52599379e-04 2.42756028e+02] [-5.70760354e-03 2.88851719e-05 9.99983711e-01 -1.61669917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.245336195 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:1028.78, Y:242.75, Z:-16.18 [[ 9.94046033e-01 1.08813296e-01 5.67011923e-03 1.02878265e+03] [-1.08811337e-01 9.94062204e-01 -6.53696599e-04 2.42749641e+02] [-5.70758210e-03 3.28312578e-05 9.99983711e-01 -1.61753947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.3053361949999 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:1028.85, Y:242.74, Z:-16.17 [[ 9.94135825e-01 1.07989873e-01 5.67004048e-03 1.02884508e+03] [-1.07987897e-01 9.94151993e-01 -6.54378927e-04 2.42741676e+02] [-5.70754834e-03 3.82457891e-05 9.99983711e-01 -1.61729858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.3653361949998 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:1028.91, Y:242.74, Z:-16.18 [[ 9.94110618e-01 1.08221672e-01 5.66991564e-03 1.02890685e+03] [-1.08219694e-01 9.94126787e-01 -6.55458780e-04 2.42736459e+02] [-5.70754987e-03 3.80019994e-05 9.99983711e-01 -1.61762305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.4253361949998 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:1028.97, Y:242.73, Z:-16.17 [[ 9.93851967e-01 1.10571789e-01 5.66980739e-03 1.02896784e+03] [-1.10569844e-01 9.93868140e-01 -6.56393875e-04 2.42730245e+02] [-5.70761957e-03 2.54486275e-05 9.99983711e-01 -1.61693756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.485336195 meters Centerline goodness : 0.999675 with order 1 Centerline is valid? [True, True] Translation: X:1029.03, Y:242.72, Z:-16.18 [[ 9.93724919e-01 1.11707836e-01 5.66970767e-03 1.02903049e+03] [-1.11705904e-01 9.93741093e-01 -6.57254077e-04 2.42723578e+02] [-5.70764192e-03 1.97899320e-05 9.99983711e-01 -1.61762975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.545336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:1029.09, Y:242.72, Z:-16.18 [[ 9.93633476e-01 1.12518311e-01 5.66958416e-03 1.02909228e+03] [-1.12516386e-01 9.93649651e-01 -6.58317777e-04 2.42718829e+02] [-5.70765313e-03 1.62054627e-05 9.99983711e-01 -1.61752124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.6053361949998 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:1029.15, Y:242.71, Z:-16.18 [[ 9.93584516e-01 1.12949837e-01 5.66947634e-03 1.02915345e+03] [-1.12947914e-01 9.93600691e-01 -6.59245026e-04 2.42712419e+02] [-5.70765723e-03 1.46601237e-05 9.99983711e-01 -1.61759477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.6653361949998 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:1029.22, Y:242.71, Z:-16.18 [[ 9.93327912e-01 1.15184711e-01 5.66936957e-03 1.02921512e+03] [-1.15182819e-01 9.93344091e-01 -6.60161976e-04 2.42706447e+02] [-5.70767532e-03 2.74334863e-06 9.99983711e-01 -1.61791010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.725336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:1029.28, Y:242.70, Z:-16.18 [[ 9.93183783e-01 1.16420927e-01 5.66926246e-03 1.02927669e+03] [-1.16419050e-01 9.93199964e-01 -6.61080449e-04 2.42700741e+02] [-5.70767487e-03 -3.43577164e-06 9.99983711e-01 -1.61797891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.785336195 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:1029.34, Y:242.70, Z:-16.18 [[ 9.93069292e-01 1.17393527e-01 5.66923261e-03 1.02933768e+03] [-1.17391665e-01 9.93085475e-01 -6.61336413e-04 2.42696791e+02] [-5.70766917e-03 -8.76777017e-06 9.99983711e-01 -1.61822334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.8453361949998 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:1029.40, Y:242.69, Z:-16.18 [[ 9.93142085e-01 1.16776106e-01 5.66913294e-03 1.02939873e+03] [-1.16774229e-01 9.93158266e-01 -6.62189681e-04 2.42691886e+02] [-5.70767417e-03 -4.36018755e-06 9.99983711e-01 -1.61809147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.9053361949998 meters Centerline goodness : 0.999593 with order 1 Centerline is valid? [True, True] Translation: X:1029.46, Y:242.69, Z:-16.18 [[ 9.93238439e-01 1.15953721e-01 5.66911731e-03 1.02945956e+03] [-1.15951829e-01 9.93254617e-01 -6.62323498e-04 2.42686110e+02] [-5.70767581e-03 5.00635420e-07 9.99983711e-01 -1.61757217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.965336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1029.52, Y:242.68, Z:-16.18 [[ 9.93486466e-01 1.13809065e-01 5.66901669e-03 1.02952106e+03] [-1.13807134e-01 9.93502640e-01 -6.63183595e-04 2.42680808e+02] [-5.70765935e-03 1.36893860e-05 9.99983711e-01 -1.61776238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.025336195 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:1029.58, Y:242.67, Z:-16.18 [[ 9.93950145e-01 1.09685790e-01 5.66890491e-03 1.02958199e+03] [-1.09683786e-01 9.93966310e-01 -6.64137718e-04 2.42673953e+02] [-5.70754696e-03 3.83328274e-05 9.99983711e-01 -1.61766075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.0853361949999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1029.64, Y:242.67, Z:-16.17 [[ 9.94327654e-01 1.06209140e-01 5.66880206e-03 1.02964242e+03] [-1.06207075e-01 9.94343811e-01 -6.65014441e-04 2.42666828e+02] [-5.70736886e-03 5.91753633e-05 9.99983711e-01 -1.61737990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.1453361949998 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:1029.70, Y:242.66, Z:-16.18 [[ 9.94935341e-01 1.00357026e-01 5.66870617e-03 1.02970402e+03] [-1.00354861e-01 9.94951486e-01 -6.65830816e-04 2.42655128e+02] [-5.70690842e-03 9.35763915e-05 9.99983711e-01 -1.61767878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.205336195 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:1029.77, Y:242.64, Z:-16.18 [[ 9.95271125e-01 9.69703853e-02 5.66858629e-03 1.02976506e+03] [-9.69681594e-02 9.95287261e-01 -6.66849841e-04 2.42643419e+02] [-5.70653641e-03 1.14024012e-04 9.99983711e-01 -1.61768223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.265336195 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:1029.83, Y:242.63, Z:-16.18 [[ 9.95477505e-01 9.48282928e-02 5.66847756e-03 1.02982714e+03] [-9.48260269e-02 9.95493636e-01 -6.67772808e-04 2.42629917e+02] [-5.70625709e-03 1.27233603e-04 9.99983711e-01 -1.61768418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.3253361949999 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1029.89, Y:242.62, Z:-16.18 [[ 9.95344603e-01 9.62132621e-02 5.66834990e-03 1.02988803e+03] [-9.62110126e-02 9.95360735e-01 -6.68854691e-04 2.42618504e+02] [-5.70640562e-03 1.20383223e-04 9.99983711e-01 -1.61823605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.3853361949998 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:1029.95, Y:242.60, Z:-16.18 [[ 9.95065171e-01 9.90614792e-02 5.66823122e-03 1.02994826e+03] [-9.90592700e-02 9.95081309e-01 -6.69858971e-04 2.42603834e+02] [-5.70670816e-03 1.05062485e-04 9.99983711e-01 -1.61815889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.445336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:1030.01, Y:242.59, Z:-16.17 [[ 9.94733974e-01 1.02333736e-01 5.66812581e-03 1.03000948e+03] [-1.02331575e-01 9.94750119e-01 -6.70749750e-04 2.42592416e+02] [-5.70700915e-03 8.71893215e-05 9.99983711e-01 -1.61745024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.505336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1030.07, Y:242.58, Z:-16.18 [[ 9.93937467e-01 1.09800662e-01 5.66801110e-03 1.03007099e+03] [-1.09798617e-01 9.93953627e-01 -6.71717652e-04 2.42581212e+02] [-5.70749523e-03 4.53055612e-05 9.99983711e-01 -1.61759569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.5653361949999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1030.13, Y:242.57, Z:-16.17 [[ 9.92825080e-01 1.19441349e-01 5.66793003e-03 1.03013323e+03] [-1.19439457e-01 9.92841258e-01 -6.72400982e-04 2.42572567e+02] [-5.70766727e-03 -9.39792488e-06 9.99983711e-01 -1.61743579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.6253361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1030.20, Y:242.57, Z:-16.17 [[ 9.91800882e-01 1.27667091e-01 5.66780111e-03 1.03019556e+03] [-1.27665326e-01 9.91817075e-01 -6.73485990e-04 2.42565644e+02] [-5.70740391e-03 -5.56176781e-05 9.99983711e-01 -1.61744297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.685336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:1030.26, Y:242.56, Z:-16.18 [[ 9.91196515e-01 1.32277537e-01 5.66767023e-03 1.03025686e+03] [-1.32275842e-01 9.91212715e-01 -6.74585599e-04 2.42558788e+02] [-5.70709932e-03 -8.10489556e-05 9.99983711e-01 -1.61753528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.745336195 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:1030.32, Y:242.55, Z:-16.17 [[ 9.90423008e-01 1.37949791e-01 5.66754879e-03 1.03031982e+03] [-1.37948183e-01 9.90439217e-01 -6.75604305e-04 2.42554346e+02] [-5.70656206e-03 -1.12694011e-04 9.99983711e-01 -1.61680624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.8053361949999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1030.38, Y:242.55, Z:-16.17 [[ 9.89832100e-01 1.42127736e-01 5.66741547e-03 1.03038134e+03] [-1.42126189e-01 9.89848316e-01 -6.76720879e-04 2.42550414e+02] [-5.70606246e-03 -1.35648115e-04 9.99983711e-01 -1.61734573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.8653361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1030.44, Y:242.55, Z:-16.17 [[ 9.89668653e-01 1.43261434e-01 5.66729168e-03 1.03044229e+03] [-1.43259900e-01 9.89684870e-01 -6.77755981e-04 2.42548372e+02] [-5.70592912e-03 -1.41141791e-04 9.99983711e-01 -1.61746392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.9253361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1030.50, Y:242.54, Z:-16.18 [[ 9.89764358e-01 1.42598728e-01 5.66722978e-03 1.03050338e+03] [-1.42597181e-01 9.89780574e-01 -6.78273154e-04 2.42543990e+02] [-5.70603483e-03 -1.36800398e-04 9.99983711e-01 -1.61754895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.985336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1030.56, Y:242.54, Z:-16.18 [[ 9.90309803e-01 1.38760138e-01 5.66721404e-03 1.03056498e+03] [-1.38758527e-01 9.90326012e-01 -6.78404638e-04 2.42543601e+02] [-5.70652500e-03 -1.14543508e-04 9.99983711e-01 -1.61772408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.045336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1030.63, Y:242.54, Z:-16.18 [[ 9.91127477e-01 1.32793853e-01 5.66719814e-03 1.03062545e+03] [-1.32792143e-01 9.91143676e-01 -6.78537415e-04 2.42540710e+02] [-5.70711320e-03 -8.00423113e-05 9.99983711e-01 -1.61772519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.1053361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1030.69, Y:242.54, Z:-16.18 [[ 9.91658822e-01 1.28765925e-01 5.66719024e-03 1.03068682e+03] [-1.28764150e-01 9.91675014e-01 -6.78603461e-04 2.42537647e+02] [-5.70739196e-03 -5.67878234e-05 9.99983711e-01 -1.61768377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.1653361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1030.75, Y:242.54, Z:-16.18 [[ 9.92516642e-01 1.21977857e-01 5.66717452e-03 1.03074680e+03] [-1.21975970e-01 9.92532822e-01 -6.78734675e-04 2.42535068e+02] [-5.70764732e-03 -1.76036474e-05 9.99983711e-01 -1.61781208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.225336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1030.81, Y:242.53, Z:-16.18 [[ 9.93376197e-01 1.14767655e-01 5.66716673e-03 1.03080845e+03] [-1.14765650e-01 9.93392362e-01 -6.78799736e-04 2.42533180e+02] [-5.70762439e-03 2.39074244e-05 9.99983711e-01 -1.61785546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.285336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1030.87, Y:242.53, Z:-16.18 [[ 9.93969334e-01 1.09511855e-01 5.66715110e-03 1.03087018e+03] [-1.09509764e-01 9.93985488e-01 -6.78930213e-04 2.42526881e+02] [-5.70741686e-03 5.42274334e-05 9.99983711e-01 -1.61787432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.3453361949998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:1030.93, Y:242.52, Z:-16.18 [[ 9.94739906e-01 1.02276121e-01 5.66703946e-03 1.03093238e+03] [-1.02273907e-01 9.94756043e-01 -6.79860803e-04 2.42520434e+02] [-5.70685527e-03 9.66944025e-05 9.99983711e-01 -1.61775874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.4053361949998 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1030.99, Y:242.51, Z:-16.17 [[ 9.95166629e-01 9.80370702e-02 5.66692915e-03 1.03099312e+03] [-9.80347823e-02 9.95182756e-01 -6.80779032e-04 2.42513809e+02] [-5.70637175e-03 1.21932409e-04 9.99983711e-01 -1.61742962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.465336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1031.05, Y:242.50, Z:-16.18 [[ 9.95408030e-01 9.55549109e-02 5.66686754e-03 1.03105439e+03] [-9.55525799e-02 9.95424151e-01 -6.81291498e-04 2.42504761e+02] [-5.70603755e-03 1.36679215e-04 9.99983711e-01 -1.61796828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.525336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1031.12, Y:242.49, Z:-16.18 [[ 9.95619157e-01 9.33294239e-02 5.66676029e-03 1.03111543e+03] [-9.33270517e-02 9.95635273e-01 -6.82182390e-04 2.42494814e+02] [-5.70569411e-03 1.50331826e-04 9.99983711e-01 -1.61788933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.5853361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1031.18, Y:242.48, Z:-16.18 [[ 9.95701099e-01 9.24511306e-02 5.66664643e-03 1.03117809e+03] [-9.24487389e-02 9.95717211e-01 -6.83126877e-04 2.42484641e+02] [-5.70553323e-03 1.56315866e-04 9.99983711e-01 -1.61799114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.6453361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1031.24, Y:242.47, Z:-16.18 [[ 9.95422279e-01 9.54063768e-02 5.66652488e-03 1.03123925e+03] [-9.54040272e-02 9.95438398e-01 -6.84133592e-04 2.42474960e+02] [-5.70594716e-03 1.40392525e-04 9.99983711e-01 -1.61789768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.705336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1031.30, Y:242.47, Z:-16.18 [[ 9.95019950e-01 9.95147732e-02 5.66641383e-03 1.03130054e+03] [-9.95124849e-02 9.95036078e-01 -6.85052142e-04 2.42466163e+02] [-5.70645901e-03 1.17761627e-04 9.99983711e-01 -1.61795801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.765336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1031.36, Y:242.46, Z:-16.18 [[ 9.94073186e-01 1.08565164e-01 5.66630137e-03 1.03136121e+03] [-1.08563017e-01 9.94089332e-01 -6.85981084e-04 2.42457497e+02] [-5.70728340e-03 6.67646292e-05 9.99983711e-01 -1.61793328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.8253361949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1031.42, Y:242.45, Z:-16.18 [[ 9.93312940e-01 1.15313905e-01 5.66628530e-03 1.03142212e+03] [-1.15311867e-01 9.93329101e-01 -6.86113840e-04 2.42451567e+02] [-5.70760455e-03 2.81358169e-05 9.99983711e-01 -1.61779077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.8853361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1031.48, Y:242.45, Z:-16.18 [[ 9.92305091e-01 1.23687103e-01 5.66626903e-03 1.03148252e+03] [-1.23685201e-01 9.92321269e-01 -6.86248158e-04 2.42446314e+02] [-5.70763932e-03 -1.98660815e-05 9.99983711e-01 -1.61779537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1031.54, Y:242.44, Z:-16.18 [[ 9.91567015e-01 1.29471035e-01 5.66626094e-03 1.03154224e+03] [-1.29469227e-01 9.91583203e-01 -6.86314985e-04 2.42439897e+02] [-5.70742708e-03 -5.30791217e-05 9.99983711e-01 -1.61794754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1031.60, Y:242.43, Z:-16.18 [[ 9.91181685e-01 1.32388676e-01 5.66627721e-03 1.03160145e+03] [-1.32386917e-01 9.91197878e-01 -6.86180597e-04 2.42434464e+02] [-5.70724449e-03 -7.00113281e-05 9.99983711e-01 -1.61808525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.0653361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1031.66, Y:242.43, Z:-16.18 [[ 9.90723041e-01 1.35778309e-01 5.66628523e-03 1.03166103e+03] [-1.35776605e-01 9.90739241e-01 -6.86114341e-04 2.42433208e+02] [-5.70697057e-03 -8.95996846e-05 9.99983711e-01 -1.61806972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.1253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1031.72, Y:242.43, Z:-16.18 [[ 9.90344123e-01 1.38515020e-01 5.66630114e-03 1.03171956e+03] [-1.38513362e-01 9.90360327e-01 -6.85982929e-04 2.42431325e+02] [-5.70669879e-03 -1.05499259e-04 9.99983711e-01 -1.61826244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.185336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1031.78, Y:242.43, Z:-16.18 [[ 9.90280416e-01 1.38969745e-01 5.66632471e-03 1.03177954e+03] [-1.38968095e-01 9.90296621e-01 -6.85788213e-04 2.42428101e+02] [-5.70664603e-03 -1.08315715e-04 9.99983711e-01 -1.61795812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1031.84, Y:242.43, Z:-16.18 [[ 9.90624680e-01 1.36494088e-01 5.66634055e-03 1.03183822e+03] [-1.36492398e-01 9.90640881e-01 -6.85657300e-04 2.42427545e+02] [-5.70689676e-03 -9.41833692e-05 9.99983711e-01 -1.61824795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.3053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1031.90, Y:242.42, Z:-16.18 [[ 9.91134625e-01 1.32740530e-01 5.66636401e-03 1.03189807e+03] [-1.32738780e-01 9.91150819e-01 -6.85463380e-04 2.42423776e+02] [-5.70721010e-03 -7.27597578e-05 9.99983711e-01 -1.61803846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.3653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1031.96, Y:242.42, Z:-16.18 [[ 9.92041402e-01 1.25784532e-01 5.66637988e-03 1.03195739e+03] [-1.25782670e-01 9.92057584e-01 -6.85332154e-04 2.42418207e+02] [-5.70757932e-03 -3.28545182e-05 9.99983711e-01 -1.61812787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.4253361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1032.02, Y:242.41, Z:-16.18 [[ 9.92896656e-01 1.18844955e-01 5.66639606e-03 1.03201806e+03] [-1.18842980e-01 9.92912824e-01 -6.85198323e-04 2.42414800e+02] [-5.70766968e-03 6.91973131e-06 9.99983711e-01 -1.61797896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1032.08, Y:242.41, Z:-16.18 [[ 9.93447064e-01 1.14152631e-01 5.66639606e-03 1.03207809e+03] [-1.14150580e-01 9.93463223e-01 -6.85198323e-04 2.42408504e+02] [-5.70757329e-03 3.38858668e-05 9.99983711e-01 -1.61802761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1032.14, Y:242.40, Z:-16.18 [[ 9.94192333e-01 1.07468589e-01 5.66639606e-03 1.03213760e+03] [-1.07466429e-01 9.94208478e-01 -6.85198323e-04 2.42401568e+02] [-5.70721630e-03 7.22715677e-05 9.99983711e-01 -1.61803580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.6053361949998 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:1032.20, Y:242.39, Z:-16.17 [[ 9.94623996e-01 1.03397287e-01 5.66640417e-03 1.03219780e+03] [-1.03395062e-01 9.94640132e-01 -6.85131305e-04 2.42394261e+02] [-5.70687371e-03 9.55698289e-05 9.99983711e-01 -1.61725637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.6653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1032.26, Y:242.39, Z:-16.18 [[ 9.95183820e-01 9.78624331e-02 5.66640417e-03 1.03225756e+03] [-9.78601176e-02 9.95199944e-01 -6.85131305e-04 2.42385398e+02] [-5.70625372e-03 1.27316611e-04 9.99983711e-01 -1.61816343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.725336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1032.32, Y:242.37, Z:-16.18 [[ 9.95459463e-01 9.50176274e-02 5.66639594e-03 1.03231809e+03] [-9.50152654e-02 9.95475580e-01 -6.85199340e-04 2.42374149e+02] [-5.70586480e-03 1.43694053e-04 9.99983711e-01 -1.61814808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.785336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1032.38, Y:242.37, Z:-16.18 [[ 9.95421212e-01 9.54175182e-02 5.66637962e-03 1.03237931e+03] [-9.54151619e-02 9.95437330e-01 -6.85334272e-04 2.42365652e+02] [-5.70591869e-03 1.41537743e-04 9.99983711e-01 -1.61800510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.8453361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1032.44, Y:242.36, Z:-16.18 [[ 9.95107323e-01 9.86372561e-02 5.66636268e-03 1.03243884e+03] [-9.86349512e-02 9.95123448e-01 -6.85474289e-04 2.42356896e+02] [-5.70634367e-03 1.23219078e-04 9.99983711e-01 -1.61799914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.9053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1032.50, Y:242.35, Z:-16.18 [[ 9.94810381e-01 1.01588379e-01 5.66635431e-03 1.03249840e+03] [-1.01586122e-01 9.94826512e-01 -6.85543466e-04 2.42347833e+02] [-5.70668275e-03 1.06362796e-04 9.99983711e-01 -1.61820765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.965336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1032.56, Y:242.34, Z:-16.18 [[ 9.94461890e-01 1.04944947e-01 5.66634650e-03 1.03255776e+03] [-1.04942744e-01 9.94478029e-01 -6.85608008e-04 2.42337410e+02] [-5.70700820e-03 8.71690854e-05 9.99983711e-01 -1.61776101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.025336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1032.62, Y:242.33, Z:-16.18 [[ 9.94314187e-01 1.06335276e-01 5.66634650e-03 1.03261805e+03] [-1.06333095e-01 9.94330329e-01 -6.85608008e-04 2.42327841e+02] [-5.70712450e-03 7.91896066e-05 9.99983711e-01 -1.61789066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.0853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1032.68, Y:242.32, Z:-16.18 [[ 9.94092631e-01 1.08386965e-01 5.66633025e-03 1.03267768e+03] [-1.08384816e-01 9.94108777e-01 -6.85742319e-04 2.42315749e+02] [-5.70727417e-03 6.75472229e-05 9.99983711e-01 -1.61806822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.1453361949998 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1032.74, Y:242.30, Z:-16.18 [[ 9.93796329e-01 1.11070921e-01 5.66629046e-03 1.03273694e+03] [-1.11068814e-01 9.93812481e-01 -6.86070939e-04 2.42303426e+02] [-5.70743271e-03 5.24666167e-05 9.99983711e-01 -1.61817933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1032.80, Y:242.29, Z:-16.18 [[ 9.93626199e-01 1.12582722e-01 5.66628249e-03 1.03279765e+03] [-1.12580640e-01 9.93642355e-01 -6.86136757e-04 2.42292902e+02] [-5.70750542e-03 4.38497490e-05 9.99983711e-01 -1.61829236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.265336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1032.86, Y:242.28, Z:-16.18 [[ 9.93297876e-01 1.15443590e-01 5.66626663e-03 1.03285713e+03] [-1.15441553e-01 9.93314037e-01 -6.86267746e-04 2.42281212e+02] [-5.70760739e-03 2.75456757e-05 9.99983711e-01 -1.61826143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.3253361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1032.92, Y:242.27, Z:-16.19 [[ 9.93086233e-01 1.17250273e-01 5.66625877e-03 1.03291788e+03] [-1.17248265e-01 9.93102398e-01 -6.86332604e-04 2.42268959e+02] [-5.70764786e-03 1.72284496e-05 9.99983711e-01 -1.61850833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.3853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1032.98, Y:242.26, Z:-16.18 [[ 9.93056997e-01 1.17497640e-01 5.66624322e-03 1.03297949e+03] [-1.17495635e-01 9.93073162e-01 -6.86460958e-04 2.42257985e+02] [-5.70765161e-03 1.59360096e-05 9.99983711e-01 -1.61845611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.445336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1033.04, Y:242.25, Z:-16.19 [[ 9.93014956e-01 1.17852414e-01 5.66612534e-03 1.03304059e+03] [-1.17850410e-01 9.93031122e-01 -6.87432610e-04 2.42247380e+02] [-5.70765439e-03 1.48756709e-05 9.99983711e-01 -1.61857264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.505336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1033.10, Y:242.24, Z:-16.18 [[ 9.93071399e-01 1.17375858e-01 5.66599989e-03 1.03310164e+03] [-1.17373841e-01 9.93087563e-01 -6.88465050e-04 2.42237286e+02] [-5.70764319e-03 1.86547828e-05 9.99983711e-01 -1.61838272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.5653361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1033.16, Y:242.23, Z:-16.18 [[ 9.93228667e-01 1.16037550e-01 5.66588279e-03 1.03316322e+03] [-1.16035505e-01 9.93244827e-01 -6.89427356e-04 2.42226938e+02] [-5.70760823e-03 2.73154429e-05 9.99983711e-01 -1.61843494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.6253361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1033.23, Y:242.21, Z:-16.19 [[ 9.93552291e-01 1.13233138e-01 5.66575812e-03 1.03322525e+03] [-1.13231042e-01 9.93568445e-01 -6.90450424e-04 2.42212181e+02] [-5.70750035e-03 4.44589052e-05 9.99983711e-01 -1.61855998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.685336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1033.29, Y:242.20, Z:-16.19 [[ 9.93686738e-01 1.12047163e-01 5.66562687e-03 1.03328616e+03] [-1.12045042e-01 9.93702888e-01 -6.91525728e-04 2.42200460e+02] [-5.70743328e-03 5.23545460e-05 9.99983711e-01 -1.61854755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1033.35, Y:242.19, Z:-16.18 [[ 9.93729844e-01 1.11664225e-01 5.66550561e-03 1.03334767e+03] [-1.11662091e-01 9.93745993e-01 -6.92517731e-04 2.42186476e+02] [-5.70740295e-03 5.55533336e-05 9.99983711e-01 -1.61833188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.8053361949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1033.41, Y:242.17, Z:-16.18 [[ 9.93581928e-01 1.12972814e-01 5.66537735e-03 1.03340919e+03] [-1.12970695e-01 9.93598078e-01 -6.93565452e-04 2.42174391e+02] [-5.70746209e-03 4.90924806e-05 9.99983711e-01 -1.61821610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.8653361949998 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:1033.47, Y:242.16, Z:-16.18 [[ 9.93279874e-01 1.15598432e-01 5.66524664e-03 1.03347103e+03] [-1.15596350e-01 9.93296029e-01 -6.94631457e-04 2.42159255e+02] [-5.70756530e-03 3.50816137e-05 9.99983711e-01 -1.61811372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.9253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1033.53, Y:242.15, Z:-16.18 [[ 9.92839366e-01 1.19322672e-01 5.66510952e-03 1.03353120e+03] [-1.19320644e-01 9.92855528e-01 -6.95747963e-04 2.42145419e+02] [-5.70765381e-03 1.48014468e-05 9.99983711e-01 -1.61844513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1033.59, Y:242.13, Z:-16.19 [[ 9.92522824e-01 1.21927648e-01 5.66499912e-03 1.03359234e+03] [-1.21925658e-01 9.92538991e-01 -6.96645750e-04 2.42134445e+02] [-5.70767289e-03 7.28061309e-07 9.99983711e-01 -1.61862892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1033.65, Y:242.12, Z:-16.19 [[ 9.92027905e-01 1.25891006e-01 5.66488258e-03 1.03365324e+03] [-1.25889075e-01 9.92044079e-01 -6.97592098e-04 2.42119784e+02] [-5.70763379e-03 -2.11159985e-05 9.99983711e-01 -1.61870218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.1053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1033.72, Y:242.11, Z:-16.18 [[ 9.91662160e-01 1.28740321e-01 5.66475905e-03 1.03371546e+03] [-1.28738431e-01 9.91678339e-01 -6.98593797e-04 2.42108791e+02] [-5.70755604e-03 -3.65031580e-05 9.99983711e-01 -1.61836366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.1653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1033.78, Y:242.10, Z:-16.19 [[ 9.90934043e-01 1.34229783e-01 5.66462472e-03 1.03377656e+03] [-1.34227977e-01 9.90950231e-01 -6.99681343e-04 2.42098369e+02] [-5.70727925e-03 -6.70130519e-05 9.99983711e-01 -1.61853906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1033.84, Y:242.09, Z:-16.19 [[ 9.90213726e-01 1.39444221e-01 5.66449978e-03 1.03383818e+03] [-1.39442494e-01 9.90229923e-01 -7.00691342e-04 2.42088129e+02] [-5.70686454e-03 -9.60377909e-05 9.99983711e-01 -1.61904850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.285336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1033.90, Y:242.08, Z:-16.19 [[ 9.89763658e-01 1.42603700e-01 5.66438546e-03 1.03390039e+03] [-1.42602019e-01 9.89779860e-01 -7.01614327e-04 2.42080986e+02] [-5.70654745e-03 -1.13320439e-04 9.99983711e-01 -1.61916165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.3453361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1033.96, Y:242.07, Z:-16.19 [[ 9.89477925e-01 1.44573002e-01 5.66425590e-03 1.03396168e+03] [-1.44571347e-01 9.89494129e-01 -7.02658735e-04 2.42072969e+02] [-5.70633344e-03 -1.23623798e-04 9.99983711e-01 -1.61885937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.4053361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1034.02, Y:242.06, Z:-16.19 [[ 9.89689422e-01 1.43118014e-01 5.66413889e-03 1.03402349e+03] [-1.43116330e-01 9.89705623e-01 -7.03600666e-04 2.42063767e+02] [-5.70652804e-03 -1.14284636e-04 9.99983711e-01 -1.61862530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.465336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1034.09, Y:242.05, Z:-16.19 [[ 9.90589460e-01 1.36749553e-01 5.66402294e-03 1.03408612e+03] [-1.36747760e-01 9.90605650e-01 -7.04532847e-04 2.42053462e+02] [-5.70715768e-03 -7.66396353e-05 9.99983711e-01 -1.61851023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.525336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1034.15, Y:242.04, Z:-16.19 [[ 9.91740831e-01 1.28132916e-01 5.66389091e-03 1.03414795e+03] [-1.28130976e-01 9.91757004e-01 -7.05592630e-04 2.42042173e+02] [-5.70761313e-03 -2.59548492e-05 9.99983711e-01 -1.61871688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.5853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1034.21, Y:242.03, Z:-16.19 [[ 9.92425204e-01 1.22719743e-01 5.66375859e-03 1.03420958e+03] [-1.22717709e-01 9.92441366e-01 -7.06653163e-04 2.42030139e+02] [-5.70766861e-03 6.25693030e-06 9.99983711e-01 -1.61872777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.6453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1034.27, Y:242.02, Z:-16.19 [[ 9.93062637e-01 1.17450083e-01 5.66362490e-03 1.03427144e+03] [-1.17447956e-01 9.93078787e-01 -7.07723061e-04 2.42018979e+02] [-5.70754788e-03 3.76321603e-05 9.99983711e-01 -1.61877174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1034.33, Y:242.01, Z:-16.19 [[ 9.93252353e-01 1.15834741e-01 5.66349137e-03 1.03433266e+03] [-1.15832583e-01 9.93268499e-01 -7.08790047e-04 2.42007769e+02] [-5.70747008e-03 4.79905497e-05 9.99983711e-01 -1.61863210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1034.39, Y:241.99, Z:-16.19 [[ 9.93337469e-01 1.15102555e-01 5.66336731e-03 1.03439322e+03] [-1.15100379e-01 9.93353612e-01 -7.09779910e-04 2.41994273e+02] [-5.70742385e-03 5.31952566e-05 9.99983711e-01 -1.61854518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.8253361949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1034.46, Y:241.98, Z:-16.19 [[ 9.93320841e-01 1.15245970e-01 5.66328550e-03 1.03445569e+03] [-1.15243792e-01 9.93336984e-01 -7.10432047e-04 2.41982305e+02] [-5.70742537e-03 5.30284605e-05 9.99983711e-01 -1.61872248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.8853361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1034.52, Y:241.97, Z:-16.19 [[ 9.93102794e-01 1.17110073e-01 5.66322872e-03 1.03451664e+03] [-1.17107923e-01 9.93118940e-01 -7.10884414e-04 2.41970523e+02] [-5.70751143e-03 4.27723434e-05 9.99983711e-01 -1.61910862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1034.58, Y:241.96, Z:-16.19 [[ 9.92836364e-01 1.19347740e-01 5.66311651e-03 1.03457830e+03] [-1.19345622e-01 9.92852515e-01 -7.11777157e-04 2.41959484e+02] [-5.70758846e-03 3.08100834e-05 9.99983711e-01 -1.61919742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1034.64, Y:241.95, Z:-16.19 [[ 9.92272831e-01 1.23945796e-01 5.66298917e-03 1.03464003e+03] [-1.23943746e-01 9.92288990e-01 -7.12788866e-04 2.41947957e+02] [-5.70766899e-03 5.38893168e-06 9.99983711e-01 -1.61892764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.0653361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1034.70, Y:241.94, Z:-16.19 [[ 9.91600920e-01 1.29211252e-01 5.66285578e-03 1.03470236e+03] [-1.29209283e-01 9.91617089e-01 -7.13846990e-04 2.41938993e+02] [-5.70762163e-03 -2.38422010e-05 9.99983711e-01 -1.61883941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.1253361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1034.76, Y:241.93, Z:-16.19 [[ 9.91065256e-01 1.33257613e-01 5.66271585e-03 1.03476412e+03] [-1.33255703e-01 9.91081433e-01 -7.14955340e-04 2.41930305e+02] [-5.70748578e-03 -4.60217818e-05 9.99983711e-01 -1.61910576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.185336195 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:1034.82, Y:241.92, Z:-16.19 [[ 9.90284208e-01 1.38942878e-01 5.66258585e-03 1.03482446e+03] [-1.38941055e-01 9.90300394e-01 -7.15983508e-04 2.41922974e+02] [-5.70714180e-03 -7.77384927e-05 9.99983711e-01 -1.61862276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.245336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1034.89, Y:241.92, Z:-16.19 [[ 9.89924990e-01 1.41479505e-01 5.66248075e-03 1.03488771e+03] [-1.41477719e-01 9.89941181e-01 -7.16813743e-04 2.41917594e+02] [-5.70693733e-03 -9.15230209e-05 9.99983711e-01 -1.61924701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.3053361949999 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:1034.95, Y:241.91, Z:-16.19 [[ 9.89806630e-01 1.42305209e-01 5.66234429e-03 1.03494854e+03] [-1.42303430e-01 9.89822822e-01 -7.17890017e-04 2.41911958e+02] [-5.70687709e-03 -9.51987185e-05 9.99983711e-01 -1.61871341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.3653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1035.01, Y:241.90, Z:-16.19 [[ 9.90089293e-01 1.40325090e-01 5.66223570e-03 1.03501061e+03] [-1.40323274e-01 9.90105480e-01 -7.18745508e-04 2.41904396e+02] [-5.70706863e-03 -8.29212194e-05 9.99983711e-01 -1.61946466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.4253361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1035.07, Y:241.90, Z:-16.19 [[ 9.90934157e-01 1.34229050e-01 5.66209997e-03 1.03507327e+03] [-1.34227128e-01 9.90950332e-01 -7.19813192e-04 2.41896535e+02] [-5.70747968e-03 -4.67199404e-05 9.99983711e-01 -1.61947401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.485336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1035.13, Y:241.89, Z:-16.20 [[ 9.91605239e-01 1.29178143e-01 5.66196158e-03 1.03513425e+03] [-1.29176132e-01 9.91621403e-01 -7.20900063e-04 2.41888726e+02] [-5.70764682e-03 -1.65420189e-05 9.99983711e-01 -1.61975228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.545336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1035.20, Y:241.88, Z:-16.20 [[ 9.92488036e-01 1.22210644e-01 5.66188429e-03 1.03519623e+03] [-1.22208517e-01 9.92504185e-01 -7.21506607e-04 2.41879751e+02] [-5.70761964e-03 2.41561931e-05 9.99983711e-01 -1.61952291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.6053361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1035.26, Y:241.87, Z:-16.20 [[ 9.93012462e-01 1.17873641e-01 5.66174746e-03 1.03525707e+03] [-1.17871437e-01 9.93028601e-01 -7.22578697e-04 2.41871170e+02] [-5.70745014e-03 5.01713402e-05 9.99983711e-01 -1.61968615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.6653361949998 meters Centerline goodness : 0.999616 with order 1 Centerline is valid? [True, True] Translation: X:1035.32, Y:241.86, Z:-16.19 [[ 9.93059162e-01 1.17479557e-01 5.66168053e-03 1.03531933e+03] [-1.17477343e-01 9.93075300e-01 -7.23102753e-04 2.41863621e+02] [-5.70742488e-03 5.29646258e-05 9.99983711e-01 -1.61898236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.725336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:1035.38, Y:241.86, Z:-16.19 [[ 9.93019259e-01 1.17816371e-01 5.66163696e-03 1.03538116e+03] [-1.17814161e-01 9.93035397e-01 -7.23443755e-04 2.41856385e+02] [-5.70743942e-03 5.13725732e-05 9.99983711e-01 -1.61942505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.785336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:1035.44, Y:241.85, Z:-16.19 [[ 9.92866862e-01 1.19093833e-01 5.66151322e-03 1.03544266e+03] [-1.19091638e-01 9.92883003e-01 -7.24410846e-04 2.41847217e+02] [-5.70749311e-03 4.50046415e-05 9.99983711e-01 -1.61940973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.8453361949998 meters Centerline goodness : 0.999574 with order 1 Centerline is valid? [True, True] Translation: X:1035.51, Y:241.84, Z:-16.19 [[ 9.92540880e-01 1.21780750e-01 5.66138103e-03 1.03550545e+03] [-1.21778593e-01 9.92557025e-01 -7.25442444e-04 2.41841445e+02] [-5.70758844e-03 3.05962639e-05 9.99983711e-01 -1.61870817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.9053361949998 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:1035.57, Y:241.83, Z:-16.20 [[ 9.92286214e-01 1.23838682e-01 5.66124283e-03 1.03556780e+03] [-1.23836553e-01 9.92302363e-01 -7.26519307e-04 2.41834532e+02] [-5.70763584e-03 1.98462954e-05 9.99983711e-01 -1.61952784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.965336195 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:1035.63, Y:241.83, Z:-16.20 [[ 9.92009689e-01 1.26034634e-01 5.66110553e-03 1.03562989e+03] [-1.26032534e-01 9.92025842e-01 -7.27587589e-04 2.41829124e+02] [-5.70766422e-03 8.29046208e-06 9.99983711e-01 -1.61974531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.025336195 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:1035.69, Y:241.82, Z:-16.19 [[ 9.91729402e-01 1.28221477e-01 5.66098588e-03 1.03569187e+03] [-1.28219408e-01 9.91745558e-01 -7.28517323e-04 2.41824140e+02] [-5.70766917e-03 -3.35620815e-06 9.99983711e-01 -1.61914137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.0853361949999 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:1035.75, Y:241.82, Z:-16.20 [[ 9.91647453e-01 1.28853729e-01 5.66085838e-03 1.03575336e+03] [-1.28851664e-01 9.91663611e-01 -7.29506747e-04 2.41818187e+02] [-5.70766692e-03 -5.99751629e-06 9.99983711e-01 -1.61955760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.1453361949998 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:1035.82, Y:241.81, Z:-16.20 [[ 9.91820458e-01 1.27515239e-01 5.66073523e-03 1.03581612e+03] [-1.27513147e-01 9.91836611e-01 -7.30461103e-04 2.41813156e+02] [-5.70766937e-03 2.66810378e-06 9.99983711e-01 -1.61951196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.205336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:1035.88, Y:241.81, Z:-16.20 [[ 9.92306316e-01 1.23677534e-01 5.66059356e-03 1.03587826e+03] [-1.23675373e-01 9.92322461e-01 -7.31557307e-04 2.41806457e+02] [-5.70761134e-03 2.58529170e-05 9.99983711e-01 -1.61969771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.265336195 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:1035.94, Y:241.80, Z:-16.20 [[ 9.92768971e-01 1.19907173e-01 5.66047006e-03 1.03594011e+03] [-1.19904945e-01 9.92785106e-01 -7.32511618e-04 2.41799174e+02] [-5.70746377e-03 4.84964538e-05 9.99983711e-01 -1.61976742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.3253361949999 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:1036.00, Y:241.79, Z:-16.20 [[ 9.93469749e-01 1.13955334e-01 5.66038191e-03 1.03600262e+03] [-1.13953006e-01 9.93485870e-01 -7.33192158e-04 2.41789968e+02] [-5.70706061e-03 8.33866957e-05 9.99983711e-01 -1.61959000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.3853361949998 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:1036.06, Y:241.78, Z:-16.20 [[ 9.93872663e-01 1.10386099e-01 5.66024375e-03 1.03606422e+03] [-1.10383706e-01 9.93888776e-01 -7.34257222e-04 2.41780043e+02] [-5.70670452e-03 1.04959497e-04 9.99983711e-01 -1.61955164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.445336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:1036.13, Y:241.77, Z:-16.19 [[ 9.94248165e-01 1.06951156e-01 5.66015822e-03 1.03612560e+03] [-1.06948705e-01 9.94264268e-01 -7.34915953e-04 2.41768470e+02] [-5.70629318e-03 1.25342247e-04 9.99983711e-01 -1.61931299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.505336195 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:1036.19, Y:241.76, Z:-16.20 [[ 9.94323256e-01 1.06250768e-01 5.66003712e-03 1.03618602e+03] [-1.06248300e-01 9.94339357e-01 -7.35847478e-04 2.41755845e+02] [-5.70618203e-03 1.30300941e-04 9.99983711e-01 -1.61957561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.5653361949999 meters Centerline goodness : 0.999636 with order 1 Centerline is valid? [True, True] Translation: X:1036.25, Y:241.74, Z:-16.20 [[ 9.94188516e-01 1.07504231e-01 5.65996933e-03 1.03624773e+03] [-1.07501780e-01 9.94204619e-01 -7.36368530e-04 2.41744122e+02] [-5.70633038e-03 1.23632356e-04 9.99983711e-01 -1.61958813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.6253361949998 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1036.31, Y:241.73, Z:-16.20 [[ 9.93784371e-01 1.11178189e-01 5.65983205e-03 1.03630962e+03] [-1.11175792e-01 9.93800483e-01 -7.37422157e-04 2.41730191e+02] [-5.70672908e-03 1.03602306e-04 9.99983711e-01 -1.61972051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.685336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:1036.37, Y:241.72, Z:-16.20 [[ 9.93209566e-01 1.16201226e-01 5.65969596e-03 1.03636967e+03] [-1.16198904e-01 9.93225689e-01 -7.38465144e-04 2.41720400e+02] [-5.70716598e-03 7.58001753e-05 9.99983711e-01 -1.61990089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.745336195 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:1036.43, Y:241.71, Z:-16.20 [[ 9.92780597e-01 1.19810915e-01 5.65962867e-03 1.03643142e+03] [-1.19808649e-01 9.92796727e-01 -7.38980516e-04 2.41709534e+02] [-5.70739875e-03 5.55730547e-05 9.99983711e-01 -1.61989822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.8053361949999 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:1036.49, Y:241.70, Z:-16.20 [[ 9.92417542e-01 1.22781893e-01 5.65948777e-03 1.03649283e+03] [-1.22779669e-01 9.92433678e-01 -7.40058023e-04 2.41698904e+02] [-5.70753199e-03 3.95765265e-05 9.99983711e-01 -1.61977288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.8653361949998 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:1036.56, Y:241.69, Z:-16.20 [[ 9.91974404e-01 1.26312124e-01 5.65935698e-03 1.03655552e+03] [-1.26309951e-01 9.91990548e-01 -7.41056810e-04 2.41689535e+02] [-5.70763310e-03 2.02762824e-05 9.99983711e-01 -1.61953919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.9253361949998 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:1036.62, Y:241.68, Z:-16.20 [[ 9.91560178e-01 1.29523688e-01 5.65922459e-03 1.03661573e+03] [-1.29521563e-01 9.91576328e-01 -7.42066510e-04 2.41679081e+02] [-5.70766833e-03 2.81198867e-06 9.99983711e-01 -1.61992987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.985336195 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:1036.68, Y:241.67, Z:-16.20 [[ 9.91392441e-01 1.30801387e-01 5.65911867e-03 1.03667716e+03] [-1.30799278e-01 9.91408592e-01 -7.42873416e-04 2.41669943e+02] [-5.70766774e-03 -3.72954503e-06 9.99983711e-01 -1.61986893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.045336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:1036.74, Y:241.66, Z:-16.20 [[ 9.91255702e-01 1.31833640e-01 5.65903795e-03 1.03673881e+03] [-1.31831544e-01 9.91271855e-01 -7.43487771e-04 2.41661457e+02] [-5.70766175e-03 -9.05321787e-06 9.99983711e-01 -1.61996640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.1053361949998 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:1036.80, Y:241.65, Z:-16.20 [[ 9.91133970e-01 1.32745734e-01 5.65892010e-03 1.03679932e+03] [-1.32743648e-01 9.91150125e-01 -7.44383708e-04 2.41650560e+02] [-5.70765312e-03 -1.34017162e-05 9.99983711e-01 -1.62021865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.1653361949998 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:1036.86, Y:241.64, Z:-16.20 [[ 9.91106874e-01 1.32947895e-01 5.65881165e-03 1.03686124e+03] [-1.32945807e-01 9.91123028e-01 -7.45207238e-04 2.41641595e+02] [-5.70765227e-03 -1.37352637e-05 9.99983711e-01 -1.61993102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.225336195 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:1036.92, Y:241.63, Z:-16.19 [[ 9.91282069e-01 1.31635248e-01 5.65867391e-03 1.03692370e+03] [-1.31633133e-01 9.91298220e-01 -7.46251706e-04 2.41631894e+02] [-5.70766640e-03 -5.12304101e-06 9.99983711e-01 -1.61948833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.285336195 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:1036.98, Y:241.62, Z:-16.20 [[ 9.91598149e-01 1.29232707e-01 5.65853701e-03 1.03698459e+03] [-1.29230547e-01 9.91614294e-01 -7.47288261e-04 2.41622079e+02] [-5.70766027e-03 9.75382216e-06 9.99983711e-01 -1.61975627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.3453361949998 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:1037.05, Y:241.61, Z:-16.19 [[ 9.92049411e-01 1.25721710e-01 5.65840995e-03 1.03704660e+03] [-1.25719488e-01 9.92065548e-01 -7.48249179e-04 2.41610265e+02] [-5.70758473e-03 3.09277585e-05 9.99983711e-01 -1.61948271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.4053361949998 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:1037.11, Y:241.60, Z:-16.20 [[ 9.92509551e-01 1.22035955e-01 5.65826461e-03 1.03710803e+03] [-1.22033666e-01 9.92525679e-01 -7.49346589e-04 2.41598461e+02] [-5.70742015e-03 5.32348741e-05 9.99983711e-01 -1.62013052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.465336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1037.17, Y:241.59, Z:-16.20 [[ 9.92623621e-01 1.21104631e-01 5.65813684e-03 1.03717036e+03] [-1.21102321e-01 9.92639746e-01 -7.50310111e-04 2.41588082e+02] [-5.70735754e-03 5.95620330e-05 9.99983711e-01 -1.62016795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.525336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:1037.23, Y:241.58, Z:-16.20 [[ 9.92492301e-01 1.22176179e-01 5.65799176e-03 1.03723103e+03] [-1.22173881e-01 9.92508427e-01 -7.51402595e-04 2.41577596e+02] [-5.70740800e-03 5.45024816e-05 9.99983711e-01 -1.62010445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.5853361949999 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:1037.29, Y:241.57, Z:-16.20 [[ 9.92456397e-01 1.22467496e-01 5.65787456e-03 1.03729349e+03] [-1.22465198e-01 9.92472523e-01 -7.52284037e-04 2.41567704e+02] [-5.70741538e-03 5.37163791e-05 9.99983711e-01 -1.62014024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.6453361949998 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:1037.35, Y:241.56, Z:-16.20 [[ 9.92442952e-01 1.22576415e-01 5.65772830e-03 1.03735438e+03] [-1.22574111e-01 9.92459077e-01 -7.53382360e-04 2.41557384e+02] [-5.70741072e-03 5.41979937e-05 9.99983711e-01 -1.62015923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.705336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:1037.42, Y:241.55, Z:-16.20 [[ 9.92635910e-01 1.21003888e-01 5.65759179e-03 1.03741658e+03] [-1.21001553e-01 9.92652031e-01 -7.54406142e-04 2.41547598e+02] [-5.70730606e-03 6.42732324e-05 9.99983711e-01 -1.62010352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.765336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:1037.48, Y:241.53, Z:-16.20 [[ 9.92915633e-01 1.18686726e-01 5.65744786e-03 1.03747753e+03] [-1.18684347e-01 9.92931747e-01 -7.55483980e-04 2.41534520e+02] [-5.70712551e-03 7.86813466e-05 9.99983711e-01 -1.62041132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.8253361949999 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:1037.54, Y:241.52, Z:-16.21 [[ 9.93037731e-01 1.17660783e-01 5.65732227e-03 1.03753903e+03] [-1.17658382e-01 9.93053842e-01 -7.56423213e-04 2.41524091e+02] [-5.70702697e-03 8.55254052e-05 9.99983711e-01 -1.62088717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.8853361949998 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:1037.60, Y:241.51, Z:-16.20 [[ 9.93078802e-01 1.17313638e-01 5.65718882e-03 1.03760013e+03] [-1.17311226e-01 9.93094911e-01 -7.57419983e-04 2.41513597e+02] [-5.70698112e-03 8.85259729e-05 9.99983711e-01 -1.62040156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.945336195 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:1037.66, Y:241.50, Z:-16.20 [[ 9.93026286e-01 1.17757351e-01 5.65706623e-03 1.03766252e+03] [-1.17754941e-01 9.93042395e-01 -7.58334456e-04 2.41502889e+02] [-5.70700606e-03 8.68985483e-05 9.99983711e-01 -1.62037847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.005336195 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:1037.72, Y:241.49, Z:-16.20 [[ 9.93070713e-01 1.17382104e-01 5.65692582e-03 1.03772396e+03] [-1.17379682e-01 9.93086821e-01 -7.59380445e-04 2.41490190e+02] [-5.70695615e-03 9.01103243e-05 9.99983711e-01 -1.62024818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.0653361949999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:1037.79, Y:241.48, Z:-16.20 [[ 9.93098385e-01 1.17147766e-01 5.65678178e-03 1.03778618e+03] [-1.17145334e-01 9.93114491e-01 -7.60451950e-04 2.41479529e+02] [-5.70691720e-03 9.25380095e-05 9.99983711e-01 -1.62025489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.1253361949998 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:1037.85, Y:241.47, Z:-16.20 [[ 9.93113703e-01 1.17017846e-01 5.65663451e-03 1.03784792e+03] [-1.17015406e-01 9.93129808e-01 -7.61545819e-04 2.41468114e+02] [-5.70688680e-03 9.43882044e-05 9.99983711e-01 -1.61969314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.185336195 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:1037.91, Y:241.46, Z:-16.20 [[ 9.93063497e-01 1.17443155e-01 5.65658869e-03 1.03790993e+03] [-1.17440720e-01 9.93079602e-01 -7.61885988e-04 2.41455679e+02] [-5.70692115e-03 9.22873153e-05 9.99983711e-01 -1.62047140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.245336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1037.97, Y:241.44, Z:-16.21 [[ 9.92985431e-01 1.18101390e-01 5.65644039e-03 1.03797112e+03] [-1.18098959e-01 9.93001538e-01 -7.62985454e-04 2.41444427e+02] [-5.70696365e-03 8.96137157e-05 9.99983711e-01 -1.62073348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.3053361949999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:1038.03, Y:241.43, Z:-16.21 [[ 9.92929073e-01 1.18574286e-01 5.65630269e-03 1.03803234e+03] [-1.18571857e-01 9.92945180e-01 -7.64004939e-04 2.41430471e+02] [-5.70698983e-03 8.79244005e-05 9.99983711e-01 -1.62075587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.3653361949998 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:1038.09, Y:241.41, Z:-16.21 [[ 9.93097168e-01 1.17158109e-01 5.65615639e-03 1.03809227e+03] [-1.17155651e-01 9.93113271e-01 -7.65086467e-04 2.41414634e+02] [-5.70684006e-03 9.71545208e-05 9.99983711e-01 -1.62096168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.4253361949998 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:1038.15, Y:241.40, Z:-16.21 [[ 9.93179996e-01 1.16453875e-01 5.65608498e-03 1.03815373e+03] [-1.16451402e-01 9.93196096e-01 -7.65614071e-04 2.41401177e+02] [-5.70676024e-03 1.01733553e-04 9.99983711e-01 -1.62090328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.485336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:1038.21, Y:241.38, Z:-16.21 [[ 9.93072580e-01 1.17366354e-01 5.65594088e-03 1.03821274e+03] [-1.17363890e-01 9.93088682e-01 -7.66677116e-04 2.41382991e+02] [-5.70683297e-03 9.75627991e-05 9.99983711e-01 -1.62077865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.545336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1038.27, Y:241.37, Z:-16.21 [[ 9.92586628e-01 1.21407569e-01 5.65582512e-03 1.03827371e+03] [-1.21405166e-01 9.92602738e-01 -7.67530123e-04 2.41366690e+02] [-5.70717147e-03 7.51937474e-05 9.99983711e-01 -1.62068220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.6053361949998 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:1038.33, Y:241.35, Z:-16.21 [[ 9.92178860e-01 1.24696120e-01 5.65568086e-03 1.03833422e+03] [-1.24693764e-01 9.92194978e-01 -7.68591643e-04 2.41353883e+02] [-5.70737854e-03 5.73522441e-05 9.99983711e-01 -1.62075636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.6653361949998 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:1038.40, Y:241.34, Z:-16.21 [[ 9.91495216e-01 1.30020197e-01 5.65554685e-03 1.03839578e+03] [-1.30017923e-01 9.91511345e-01 -7.69576479e-04 2.41337800e+02] [-5.70759935e-03 2.77089428e-05 9.99983711e-01 -1.62070206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.725336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1038.46, Y:241.32, Z:-16.21 [[ 9.90885190e-01 1.34590326e-01 5.65540637e-03 1.03845732e+03] [-1.34588120e-01 9.90901329e-01 -7.70607455e-04 2.41320396e+02] [-5.70766600e-03 2.43300253e-06 9.99983711e-01 -1.62059066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.785336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1038.52, Y:241.31, Z:-16.21 [[ 9.90388331e-01 1.38199032e-01 5.65526521e-03 1.03851926e+03] [-1.38196879e-01 9.90404477e-01 -7.71642009e-04 2.41307639e+02] [-5.70764016e-03 -1.73147607e-05 9.99983711e-01 -1.62052777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.8453361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1038.58, Y:241.29, Z:-16.21 [[ 9.89456518e-01 1.44719793e-01 5.65512351e-03 1.03857874e+03] [-1.44717740e-01 9.89472677e-01 -7.72679088e-04 2.41293935e+02] [-5.70741215e-03 -5.38643344e-05 9.99983711e-01 -1.62063673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.9053361949998 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1038.64, Y:241.28, Z:-16.21 [[ 9.88815467e-01 1.49036883e-01 5.65505469e-03 1.03864017e+03] [-1.49034897e-01 9.88831635e-01 -7.73182452e-04 2.41283006e+02] [-5.70712967e-03 -7.82657279e-05 9.99983711e-01 -1.62072064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.965336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1038.70, Y:241.27, Z:-16.21 [[ 9.87825475e-01 1.55463351e-01 5.65492593e-03 1.03870141e+03] [-1.55461466e-01 9.87841654e-01 -7.74122969e-04 2.41270743e+02] [-5.70651914e-03 -1.14424687e-04 9.99983711e-01 -1.62072078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.025336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1038.76, Y:241.26, Z:-16.21 [[ 9.86823940e-01 1.61698904e-01 5.65479610e-03 1.03876341e+03] [-1.61697116e-01 9.86840130e-01 -7.75070223e-04 2.41261962e+02] [-5.70570772e-03 -1.49506370e-04 9.99983711e-01 -1.62071674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.0853361949999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1038.82, Y:241.25, Z:-16.21 [[ 9.86187423e-01 1.65536679e-01 5.65464701e-03 1.03882489e+03] [-1.65534947e-01 9.86203619e-01 -7.76156420e-04 2.41254436e+02] [-5.70511570e-03 -1.70605996e-04 9.99983711e-01 -1.62077146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.1453361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1038.89, Y:241.25, Z:-16.21 [[ 9.85649605e-01 1.68709460e-01 5.65450921e-03 1.03888652e+03] [-1.68707775e-01 9.85665807e-01 -7.77159015e-04 2.41246857e+02] [-5.70457046e-03 -1.87953191e-04 9.99983711e-01 -1.62061628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.205336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1038.95, Y:241.24, Z:-16.21 [[ 9.85219994e-01 1.71200444e-01 5.65438212e-03 1.03894834e+03] [-1.71198794e-01 9.85236199e-01 -7.78082561e-04 2.41242298e+02] [-5.70411003e-03 -2.01440906e-04 9.99983711e-01 -1.62056650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.265336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1039.01, Y:241.24, Z:-16.21 [[ 9.85169672e-01 1.71489784e-01 5.65424702e-03 1.03901160e+03] [-1.71488133e-01 9.85185877e-01 -7.79063127e-04 2.41236704e+02] [-5.70408568e-03 -2.02126901e-04 9.99983711e-01 -1.62067618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.3253361949999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1039.08, Y:241.23, Z:-16.21 [[ 9.85537698e-01 1.69361970e-01 5.65410446e-03 1.03907503e+03] [-1.69360279e-01 9.85553899e-01 -7.80096400e-04 2.41232720e+02] [-5.70454336e-03 -1.88766298e-04 9.99983711e-01 -1.62082735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.3853361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1039.14, Y:241.23, Z:-16.21 [[ 9.85992473e-01 1.66693960e-01 5.65396083e-03 1.03913728e+03] [-1.66692219e-01 9.86008668e-01 -7.81135996e-04 2.41227434e+02] [-5.70506504e-03 -1.72277066e-04 9.99983711e-01 -1.62086682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.445336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:1039.20, Y:241.23, Z:-16.21 [[ 9.86763272e-01 1.62068749e-01 5.65382767e-03 1.03920065e+03] [-1.62066926e-01 9.86779459e-01 -7.82098634e-04 2.41227704e+02] [-5.70583475e-03 -1.44552264e-04 9.99983711e-01 -1.62081774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.505336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1039.26, Y:241.23, Z:-16.21 [[ 9.87539795e-01 1.57267890e-01 5.65367700e-03 1.03926180e+03] [-1.57265982e-01 9.87555972e-01 -7.83186274e-04 2.41226906e+02] [-5.70649254e-03 -1.15703455e-04 9.99983711e-01 -1.62070183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.5653361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1039.32, Y:241.22, Z:-16.21 [[ 9.87995182e-01 1.54381209e-01 5.65357371e-03 1.03932498e+03] [-1.54379250e-01 9.88011352e-01 -7.83931198e-04 2.41222869e+02] [-5.70681925e-03 -9.82742235e-05 9.99983711e-01 -1.62068043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.6253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1039.39, Y:241.22, Z:-16.21 [[ 9.88744898e-01 1.49504402e-01 5.65342590e-03 1.03938857e+03] [-1.49502357e-01 9.88761058e-01 -7.84995681e-04 2.41221418e+02] [-5.70724768e-03 -6.90400236e-05 9.99983711e-01 -1.62072618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1039.45, Y:241.22, Z:-16.21 [[ 9.89248351e-01 1.46136031e-01 5.65327832e-03 1.03945116e+03] [-1.46133925e-01 9.89264504e-01 -7.86057098e-04 2.41217203e+02] [-5.70745883e-03 -4.85300627e-05 9.99983711e-01 -1.62071166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.745336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1039.51, Y:241.22, Z:-16.21 [[ 9.89893163e-01 1.41702391e-01 5.65312940e-03 1.03951267e+03] [-1.41700207e-01 9.89909305e-01 -7.87126589e-04 2.41215486e+02] [-5.70762312e-03 -2.18783765e-05 9.99983711e-01 -1.62110524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.8053361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1039.57, Y:241.21, Z:-16.21 [[ 9.90320603e-01 1.38683622e-01 5.65300928e-03 1.03957490e+03] [-1.38681383e-01 9.90336737e-01 -7.87988338e-04 2.41212919e+02] [-5.70766385e-03 -3.60606268e-06 9.99983711e-01 -1.62121960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.8653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1039.64, Y:241.21, Z:-16.22 [[ 9.90383130e-01 1.38236392e-01 5.65287946e-03 1.03963733e+03] [-1.38234140e-01 9.90399263e-01 -7.88918546e-04 2.41209744e+02] [-5.70766491e-03 -8.93145660e-08 9.99983711e-01 -1.62156578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.9253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1039.70, Y:241.21, Z:-16.22 [[ 9.90363833e-01 1.38374584e-01 5.65275074e-03 1.03969820e+03] [-1.38372330e-01 9.90379965e-01 -7.89839771e-04 2.41206280e+02] [-5.70766483e-03 4.44511173e-08 9.99983711e-01 -1.62184234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.985336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1039.76, Y:241.20, Z:-16.22 [[ 9.90282537e-01 1.38955187e-01 5.65263244e-03 1.03976094e+03] [-1.38952938e-01 9.90298670e-01 -7.90685550e-04 2.41204159e+02] [-5.70766424e-03 -2.44779059e-06 9.99983711e-01 -1.62194361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.045336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1039.82, Y:241.20, Z:-16.22 [[ 9.90182701e-01 1.39664843e-01 5.65254203e-03 1.03982486e+03] [-1.39662601e-01 9.90198834e-01 -7.91331336e-04 2.41203020e+02] [-5.70766170e-03 -5.88612263e-06 9.99983711e-01 -1.62198354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.1053361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1039.89, Y:241.20, Z:-16.22 [[ 9.90081877e-01 1.40377804e-01 5.65239935e-03 1.03988753e+03] [-1.40375568e-01 9.90098011e-01 -7.92349198e-04 2.41198309e+02] [-5.70765759e-03 -8.96818600e-06 9.99983711e-01 -1.62184663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.1653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1039.95, Y:241.20, Z:-16.22 [[ 9.90153171e-01 1.39874052e-01 5.65225009e-03 1.03995001e+03] [-1.39871802e-01 9.90169303e-01 -7.93412504e-04 2.41196365e+02] [-5.70766236e-03 -4.99049737e-06 9.99983711e-01 -1.62171324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.225336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1040.01, Y:241.19, Z:-16.22 [[ 9.90298665e-01 1.38840222e-01 5.65211678e-03 1.04001197e+03] [-1.38837950e-01 9.90314795e-01 -7.94361043e-04 2.41191419e+02] [-5.70766413e-03 1.92637640e-06 9.99983711e-01 -1.62163991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.285336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1040.07, Y:241.19, Z:-16.22 [[ 9.90641514e-01 1.36372455e-01 5.65197511e-03 1.04007466e+03] [-1.36370136e-01 9.90657637e-01 -7.95367735e-04 2.41187346e+02] [-5.70763856e-03 1.71636807e-05 9.99983711e-01 -1.62175070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.3453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1040.14, Y:241.18, Z:-16.22 [[ 9.91048281e-01 1.33384263e-01 5.65182552e-03 1.04013719e+03] [-1.33381890e-01 9.91064396e-01 -7.96429307e-04 2.41181422e+02] [-5.70755418e-03 3.54487235e-05 9.99983711e-01 -1.62188381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.4053361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1040.20, Y:241.17, Z:-16.22 [[ 9.91530243e-01 1.29752982e-01 5.65167153e-03 1.04019920e+03] [-1.29750544e-01 9.91546348e-01 -7.97520571e-04 2.41173844e+02] [-5.70737494e-03 5.74583085e-05 9.99983711e-01 -1.62202669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1040.26, Y:241.17, Z:-16.22 [[ 9.91789961e-01 1.27752621e-01 5.65157600e-03 1.04026163e+03] [-1.27750146e-01 9.91806061e-01 -7.98196946e-04 2.41165426e+02] [-5.70723909e-03 6.96540579e-05 9.99983711e-01 -1.62199922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.525336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1040.32, Y:241.16, Z:-16.22 [[ 9.92316979e-01 1.23592369e-01 5.65142960e-03 1.04032429e+03] [-1.23589821e-01 9.92333068e-01 -7.99232200e-04 2.41155424e+02] [-5.70687947e-03 9.46325109e-05 9.99983711e-01 -1.62188927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.5853361949999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1040.39, Y:241.14, Z:-16.21 [[ 9.92661592e-01 1.20793325e-01 5.65127634e-03 1.04038560e+03] [-1.20790726e-01 9.92677672e-01 -8.00314408e-04 2.41144555e+02] [-5.70656848e-03 1.11819603e-04 9.99983711e-01 -1.62126930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.6453361949998 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:1040.45, Y:241.13, Z:-16.21 [[ 9.92717650e-01 1.20331757e-01 5.65113413e-03 1.04044760e+03] [-1.20329144e-01 9.92733728e-01 -8.01317310e-04 2.41133571e+02] [-5.70649537e-03 1.15485705e-04 9.99983711e-01 -1.62103050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1040.51, Y:241.12, Z:-16.22 [[ 9.92634360e-01 1.21016913e-01 5.65097722e-03 1.04050857e+03] [-1.21014305e-01 9.92650439e-01 -8.02422329e-04 2.41122620e+02] [-5.70655169e-03 1.12662895e-04 9.99983711e-01 -1.62207131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.765336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:1040.57, Y:241.11, Z:-16.21 [[ 9.92300336e-01 1.23725951e-01 5.65088031e-03 1.04057029e+03] [-1.23723383e-01 9.92316421e-01 -8.03104232e-04 2.41109551e+02] [-5.70682616e-03 9.77745720e-05 9.99983711e-01 -1.62142426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.8253361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1040.63, Y:241.10, Z:-16.21 [[ 9.91901937e-01 1.26880325e-01 5.65072814e-03 1.04063258e+03] [-1.26877802e-01 9.91918029e-01 -8.04173446e-04 2.41098935e+02] [-5.70709291e-03 8.07092316e-05 9.99983711e-01 -1.62148174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.8853361949998 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:1040.69, Y:241.09, Z:-16.22 [[ 9.91140493e-01 1.32697381e-01 5.65056316e-03 1.04069230e+03] [-1.32694946e-01 9.91156599e-01 -8.05331059e-04 2.41085719e+02] [-5.70745828e-03 4.83950521e-05 9.99983711e-01 -1.62151349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1040.75, Y:241.08, Z:-16.22 [[ 9.90057613e-01 1.40548909e-01 5.65043055e-03 1.04075417e+03] [-1.40546597e-01 9.90073737e-01 -8.06260429e-04 2.41075113e+02] [-5.70766191e-03 4.09549253e-06 9.99983711e-01 -1.62240416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1040.81, Y:241.07, Z:-16.23 [[ 9.89172865e-01 1.46646236e-01 5.65027970e-03 1.04081415e+03] [-1.46644017e-01 9.89189001e-01 -8.07316203e-04 2.41065536e+02] [-5.70758441e-03 -3.00044283e-05 9.99983711e-01 -1.62261691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.0653361949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1040.88, Y:241.06, Z:-16.23 [[ 9.88270234e-01 1.52610684e-01 5.65015913e-03 1.04087676e+03] [-1.52608558e-01 9.88286383e-01 -8.08159159e-04 2.41056287e+02] [-5.70730905e-03 -6.35829932e-05 9.99983711e-01 -1.62250308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.1253361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1040.94, Y:241.05, Z:-16.23 [[ 9.87339600e-01 1.58520002e-01 5.65000634e-03 1.04093770e+03] [-1.58517966e-01 9.87355761e-01 -8.09225875e-04 2.41048602e+02] [-5.70684480e-03 -9.66467594e-05 9.99983711e-01 -1.62267202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1041.00, Y:241.04, Z:-16.23 [[ 9.86187037e-01 1.65539139e-01 5.64993380e-03 1.04100048e+03] [-1.65537215e-01 9.86203212e-01 -8.09732075e-04 2.41041176e+02] [-5.70602521e-03 -1.36727028e-04 9.99983711e-01 -1.62261378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.245336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1041.06, Y:241.04, Z:-16.23 [[ 9.85451291e-01 1.69864158e-01 5.64979628e-03 1.04106212e+03] [-1.69862300e-01 9.85467474e-01 -8.10690440e-04 2.41035576e+02] [-5.70539772e-03 -1.60791449e-04 9.99983711e-01 -1.62276049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.3053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1041.12, Y:241.03, Z:-16.23 [[ 9.85288440e-01 1.70806239e-01 5.64966913e-03 1.04112423e+03] [-1.70804391e-01 9.85304624e-01 -8.11575608e-04 2.41028302e+02] [-5.70526729e-03 -1.65352232e-04 9.99983711e-01 -1.62250302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.3653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1041.19, Y:241.02, Z:-16.23 [[ 9.85080346e-01 1.72002312e-01 5.64952133e-03 1.04118688e+03] [-1.72000478e-01 9.85096531e-01 -8.12603157e-04 2.41024195e+02] [-5.70509348e-03 -1.71240971e-04 9.99983711e-01 -1.62252922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.4253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1041.25, Y:241.02, Z:-16.23 [[ 9.84874436e-01 1.73177453e-01 5.64938524e-03 1.04124782e+03] [-1.73175632e-01 9.84890623e-01 -8.13548207e-04 2.41021877e+02] [-5.70491475e-03 -1.77093030e-04 9.99983711e-01 -1.62338457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1041.31, Y:241.02, Z:-16.23 [[ 9.84977456e-01 1.72590544e-01 5.64930902e-03 1.04131051e+03] [-1.72588711e-01 9.84993642e-01 -8.14077112e-04 2.41015621e+02] [-5.70503548e-03 -1.73159360e-04 9.99983711e-01 -1.62299098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.545336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1041.37, Y:241.01, Z:-16.23 [[ 9.85695231e-01 1.68442863e-01 5.64916061e-03 1.04137239e+03] [-1.68440956e-01 9.85711408e-01 -8.15105652e-04 2.41010955e+02] [-5.70574079e-03 -1.48104259e-04 9.99983711e-01 -1.62264483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.6053361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1041.44, Y:241.01, Z:-16.22 [[ 9.86590463e-01 1.63117587e-01 5.64902587e-03 1.04143606e+03] [-1.63115587e-01 9.86606628e-01 -8.16038438e-04 2.41009832e+02] [-5.70647658e-03 -1.16348431e-04 9.99983711e-01 -1.62243288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.6653361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1041.50, Y:241.00, Z:-16.23 [[ 9.87089442e-01 1.60070369e-01 5.64886446e-03 1.04149805e+03] [-1.60068313e-01 9.87105601e-01 -8.17154227e-04 2.41004937e+02] [-5.70682792e-03 -9.75998946e-05 9.99983711e-01 -1.62272194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1041.56, Y:241.00, Z:-16.23 [[ 9.87929623e-01 1.54800365e-01 5.64871326e-03 1.04156069e+03] [-1.54798217e-01 9.87945769e-01 -8.18198048e-04 2.41001316e+02] [-5.70727973e-03 -6.60886505e-05 9.99983711e-01 -1.62291565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1041.62, Y:241.00, Z:-16.23 [[ 9.88736979e-01 1.49556945e-01 5.64857871e-03 1.04162214e+03] [-1.49554705e-01 9.88753113e-01 -8.19125882e-04 2.40998277e+02] [-5.70755575e-03 -3.48714749e-05 9.99983711e-01 -1.62313853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.8453361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1041.68, Y:240.99, Z:-16.23 [[ 9.89378788e-01 1.45250504e-01 5.64845453e-03 1.04168403e+03] [-1.45248190e-01 9.89394912e-01 -8.19981334e-04 2.40991893e+02] [-5.70765487e-03 -9.15565627e-06 9.99983711e-01 -1.62264405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.9053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1041.75, Y:240.98, Z:-16.23 [[ 9.89688832e-01 1.43122718e-01 5.64831653e-03 1.04174659e+03] [-1.43120364e-01 9.89704950e-01 -8.20930831e-04 2.40984574e+02] [-5.70766068e-03 4.07695856e-06 9.99983711e-01 -1.62252392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1041.81, Y:240.98, Z:-16.23 [[ 9.90021117e-01 1.40805844e-01 5.64815663e-03 1.04180838e+03] [-1.40803446e-01 9.90037229e-01 -8.22029520e-04 2.40980024e+02] [-5.70763189e-03 1.85466684e-05 9.99983711e-01 -1.62267550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1041.87, Y:240.97, Z:-16.23 [[ 9.89971262e-01 1.41155945e-01 5.64800776e-03 1.04186967e+03] [-1.41153547e-01 9.89987373e-01 -8.23051097e-04 2.40972319e+02] [-5.70763492e-03 1.75606040e-05 9.99983711e-01 -1.62273822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.0853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1041.93, Y:240.97, Z:-16.23 [[ 9.89637858e-01 1.43474780e-01 5.64786877e-03 1.04193114e+03] [-1.43472414e-01 9.89653974e-01 -8.24003719e-04 2.40967045e+02] [-5.70765953e-03 5.15191042e-06 9.99983711e-01 -1.62278471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.1453361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1041.99, Y:240.96, Z:-16.23 [[ 9.89343901e-01 1.45487969e-01 5.64772075e-03 1.04199399e+03] [-1.45485630e-01 9.89360021e-01 -8.25017007e-04 2.40959226e+02] [-5.70765917e-03 -5.43666954e-06 9.99983711e-01 -1.62262768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1042.06, Y:240.95, Z:-16.22 [[ 9.88963844e-01 1.48049383e-01 5.64756394e-03 1.04205692e+03] [-1.48047080e-01 9.88979969e-01 -8.26089060e-04 2.40952742e+02] [-5.70762959e-03 -1.91331371e-05 9.99983711e-01 -1.62249341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.265336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1042.12, Y:240.95, Z:-16.23 [[ 9.88728096e-01 1.49615707e-01 5.64740398e-03 1.04211800e+03] [-1.49613423e-01 9.88744224e-01 -8.27181145e-04 2.40945186e+02] [-5.70759736e-03 -2.70702008e-05 9.99983711e-01 -1.62252055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.3253361949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1042.18, Y:240.94, Z:-16.23 [[ 9.88195363e-01 1.53094848e-01 5.64730509e-03 1.04218010e+03] [-1.53092617e-01 9.88211498e-01 -8.27855775e-04 2.40941070e+02] [-5.70747227e-03 -4.64774741e-05 9.99983711e-01 -1.62273668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.3853361949998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1042.24, Y:240.94, Z:-16.23 [[ 9.87492441e-01 1.57565191e-01 5.64716674e-03 1.04224362e+03] [-1.57563027e-01 9.87508585e-01 -8.28798447e-04 2.40938476e+02] [-5.70721542e-03 -7.13524855e-05 9.99983711e-01 -1.62274806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.445336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1042.31, Y:240.93, Z:-16.23 [[ 9.87446414e-01 1.57853382e-01 5.64700691e-03 1.04230524e+03] [-1.57851217e-01 9.87462559e-01 -8.29885986e-04 2.40934429e+02] [-5.70720820e-03 -7.19189720e-05 9.99983711e-01 -1.62295405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.505336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1042.37, Y:240.93, Z:-16.23 [[ 9.87866039e-01 1.55205676e-01 5.64690769e-03 1.04236799e+03] [-1.55203464e-01 9.87882177e-01 -8.30560569e-04 2.40927456e+02] [-5.70738718e-03 -5.59370563e-05 9.99983711e-01 -1.62280279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.5653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1042.43, Y:240.92, Z:-16.23 [[ 9.88846862e-01 1.48828750e-01 5.64674421e-03 1.04242961e+03] [-1.48826427e-01 9.88862985e-01 -8.31670513e-04 2.40922143e+02] [-5.70763282e-03 -1.79899907e-05 9.99983711e-01 -1.62295367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.6253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1042.49, Y:240.91, Z:-16.23 [[ 9.89836067e-01 1.42100937e-01 5.64659161e-03 1.04248990e+03] [-1.42098499e-01 9.89852172e-01 -8.32705347e-04 2.40914785e+02] [-5.70761918e-03 2.18695951e-05 9.99983711e-01 -1.62327713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1042.55, Y:240.91, Z:-16.23 [[ 9.90602030e-01 1.36659193e-01 5.64646442e-03 1.04255298e+03] [-1.36656661e-01 9.90618121e-01 -8.33566869e-04 2.40908500e+02] [-5.70740455e-03 5.41060564e-05 9.99983711e-01 -1.62306557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.745336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1042.61, Y:240.90, Z:-16.23 [[ 9.91018292e-01 1.33607127e-01 5.64629714e-03 1.04261416e+03] [-1.33604540e-01 9.91034374e-01 -8.34698444e-04 2.40899494e+02] [-5.70719621e-03 7.28304947e-05 9.99983711e-01 -1.62329035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.8053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1042.68, Y:240.89, Z:-16.23 [[ 9.91348209e-01 1.31136760e-01 5.64614226e-03 1.04267560e+03] [-1.31134127e-01 9.91364283e-01 -8.35744783e-04 2.40889529e+02] [-5.70698064e-03 8.81121591e-05 9.99983711e-01 -1.62333443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.8653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1042.74, Y:240.88, Z:-16.23 [[ 9.91324022e-01 1.31319480e-01 5.64599331e-03 1.04273573e+03] [-1.31316843e-01 9.91340096e-01 -8.36749816e-04 2.40880088e+02] [-5.70698111e-03 8.80761743e-05 9.99983711e-01 -1.62335278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.9253361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1042.80, Y:240.87, Z:-16.23 [[ 9.91100740e-01 1.32994159e-01 5.64586699e-03 1.04279832e+03] [-1.32991545e-01 9.91116818e-01 -8.37601322e-04 2.40870487e+02] [-5.70710981e-03 7.92947154e-05 9.99983711e-01 -1.62324614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1042.86, Y:240.86, Z:-16.23 [[ 9.90579353e-01 1.36823506e-01 5.64571222e-03 1.04286000e+03] [-1.36820948e-01 9.90595440e-01 -8.38643229e-04 2.40860733e+02] [-5.70736288e-03 5.82909704e-05 9.99983711e-01 -1.62347876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1042.92, Y:240.85, Z:-16.23 [[ 9.90174044e-01 1.39726485e-01 5.64556799e-03 1.04292240e+03] [-1.39723969e-01 9.90190137e-01 -8.39613016e-04 2.40849958e+02] [-5.70750192e-03 4.25418478e-05 9.99983711e-01 -1.62333836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.1053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1042.98, Y:240.84, Z:-16.23 [[ 9.89473887e-01 1.44601367e-01 5.64541507e-03 1.04298404e+03] [-1.44598925e-01 9.89489992e-01 -8.40639982e-04 2.40841342e+02] [-5.70763940e-03 1.54703635e-05 9.99983711e-01 -1.62314582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.1653361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1043.05, Y:240.83, Z:-16.23 [[ 9.88658927e-01 1.50072176e-01 5.64527480e-03 1.04304517e+03] [-1.50069817e-01 9.88675044e-01 -8.41580908e-04 2.40832762e+02] [-5.70764018e-03 -1.51488759e-05 9.99983711e-01 -1.62317797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1043.11, Y:240.82, Z:-16.23 [[ 9.88092026e-01 1.53760466e-01 5.64513016e-03 1.04310670e+03] [-1.53758162e-01 9.88108151e-01 -8.42550017e-04 2.40824956e+02] [-5.70755000e-03 -3.54678822e-05 9.99983711e-01 -1.62317205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1043.17, Y:240.82, Z:-16.23 [[ 9.87426626e-01 1.57977188e-01 5.64498535e-03 1.04316740e+03] [-1.57974947e-01 9.87442760e-01 -8.43519101e-04 2.40817386e+02] [-5.70735669e-03 -5.88530396e-05 9.99983711e-01 -1.62310294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.3453361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1043.23, Y:240.81, Z:-16.23 [[ 9.87017465e-01 1.60513736e-01 5.64485262e-03 1.04322840e+03] [-1.60511532e-01 9.87033604e-01 -8.44406386e-04 2.40812766e+02] [-5.70719805e-03 -7.26200901e-05 9.99983711e-01 -1.62304476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.4053361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1043.29, Y:240.80, Z:-16.23 [[ 9.86997639e-01 1.60635604e-01 5.64483269e-03 1.04328972e+03] [-1.60633401e-01 9.87013778e-01 -8.44539584e-04 2.40804983e+02] [-5.70719077e-03 -7.31900972e-05 9.99983711e-01 -1.62318205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.465336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1043.35, Y:240.80, Z:-16.23 [[ 9.87163546e-01 1.59612874e-01 5.64481277e-03 1.04334955e+03] [-1.59610653e-01 9.87179683e-01 -8.44672708e-04 2.40799679e+02] [-5.70726512e-03 -6.71421450e-05 9.99983711e-01 -1.62323084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.525336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1043.41, Y:240.79, Z:-16.23 [[ 9.87553483e-01 1.57182234e-01 5.64476690e-03 1.04341015e+03] [-1.57179972e-01 9.87569614e-01 -8.44979131e-04 2.40793974e+02] [-5.70741598e-03 -5.27822191e-05 9.99983711e-01 -1.62310860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.5853361949999 meters Centerline goodness : 0.999637 with order 1 Centerline is valid? [True, True] Translation: X:1043.47, Y:240.79, Z:-16.23 [[ 9.87890869e-01 1.55047628e-01 5.64476690e-03 1.04347071e+03] [-1.55045331e-01 9.87906995e-01 -8.44979131e-04 2.40788822e+02] [-5.70751672e-03 -4.04475827e-05 9.99983711e-01 -1.62257473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.6453361949998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1043.53, Y:240.78, Z:-16.23 [[ 9.88475881e-01 1.51273158e-01 5.64476690e-03 1.04353184e+03] [-1.51270799e-01 9.88491999e-01 -8.44979131e-04 2.40781780e+02] [-5.70762958e-03 -1.86469092e-05 9.99983711e-01 -1.62321780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.705336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1043.59, Y:240.78, Z:-16.24 [[ 9.89062241e-01 1.47390703e-01 5.64474618e-03 1.04359325e+03] [-1.47388280e-01 9.89078349e-01 -8.45117528e-04 2.40776442e+02] [-5.70765870e-03 3.90440384e-06 9.99983711e-01 -1.62351231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1043.65, Y:240.77, Z:-16.23 [[ 9.89530362e-01 1.44214420e-01 5.64472540e-03 1.04365426e+03] [-1.44211945e-01 9.89546462e-01 -8.45256315e-04 2.40768532e+02] [-5.70761620e-03 2.23699596e-05 9.99983711e-01 -1.62343898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.8253361949999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1043.71, Y:240.76, Z:-16.24 [[ 9.90031524e-01 1.40732794e-01 5.64470463e-03 1.04371444e+03] [-1.40730261e-01 9.90047614e-01 -8.45395021e-04 2.40759868e+02] [-5.70750115e-03 4.25869629e-05 9.99983711e-01 -1.62362074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.8853361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1043.77, Y:240.75, Z:-16.24 [[ 9.90446234e-01 1.37783875e-01 5.64457088e-03 1.04377487e+03] [-1.37781289e-01 9.90462316e-01 -8.46287078e-04 2.40750969e+02] [-5.70733946e-03 6.04855965e-05 9.99983711e-01 -1.62355282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.945336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1043.84, Y:240.74, Z:-16.24 [[ 9.90598914e-01 1.36681860e-01 5.64455077e-03 1.04383549e+03] [-1.36679255e-01 9.90614993e-01 -8.46421208e-04 2.40742564e+02] [-5.70726704e-03 6.69709345e-05 9.99983711e-01 -1.62372871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.005336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1043.90, Y:240.73, Z:-16.24 [[ 9.90649414e-01 1.36315361e-01 5.64453082e-03 1.04389579e+03] [-1.36312750e-01 9.90665492e-01 -8.46554206e-04 2.40732140e+02] [-5.70724025e-03 6.92169099e-05 9.99983711e-01 -1.62382186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.0653361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1043.96, Y:240.72, Z:-16.24 [[ 9.90592189e-01 1.36730589e-01 5.64451087e-03 1.04395580e+03] [-1.36727983e-01 9.90608269e-01 -8.46687203e-04 2.40721685e+02] [-5.70726718e-03 6.69591415e-05 9.99983711e-01 -1.62357543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.1253361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1044.02, Y:240.71, Z:-16.23 [[ 9.90444109e-01 1.37799151e-01 5.64449105e-03 1.04401755e+03] [-1.37796562e-01 9.90460191e-01 -8.46819330e-04 2.40711179e+02] [-5.70733467e-03 6.09357547e-05 9.99983711e-01 -1.62341632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.185336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1044.08, Y:240.70, Z:-16.23 [[ 9.90002124e-01 1.40939474e-01 5.64434681e-03 1.04407799e+03] [-1.40936931e-01 9.90018213e-01 -8.47779611e-04 2.40700982e+02] [-5.70749176e-03 4.38066974e-05 9.99983711e-01 -1.62345722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.245336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1044.14, Y:240.69, Z:-16.23 [[ 9.89420287e-01 1.44967719e-01 5.64421429e-03 1.04413838e+03] [-1.44965236e-01 9.89436385e-01 -8.48660970e-04 2.40690707e+02] [-5.70761943e-03 2.14675230e-05 9.99983711e-01 -1.62324505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.3053361949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1044.20, Y:240.68, Z:-16.23 [[ 9.88993444e-01 1.47851655e-01 5.64419401e-03 1.04419823e+03] [-1.47849218e-01 9.89009549e-01 -8.48795865e-04 2.40681548e+02] [-5.70765764e-03 4.96387391e-06 9.99983711e-01 -1.62344182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.3653361949998 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1044.26, Y:240.67, Z:-16.23 [[ 9.88487799e-01 1.51195282e-01 5.64419401e-03 1.04425746e+03] [-1.51192900e-01 9.88503913e-01 -8.48795865e-04 2.40672606e+02] [-5.70764179e-03 -1.43377047e-05 9.99983711e-01 -1.62321214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.4253361949998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1044.32, Y:240.66, Z:-16.24 [[ 9.88067562e-01 1.53917629e-01 5.64418395e-03 1.04431697e+03] [-1.53915292e-01 9.88083682e-01 -8.48862714e-04 2.40663532e+02] [-5.70758100e-03 -2.99925070e-05 9.99983711e-01 -1.62358735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1044.38, Y:240.66, Z:-16.24 [[ 9.87641304e-01 1.56629495e-01 5.64418395e-03 1.04437678e+03] [-1.56627201e-01 9.87657430e-01 -8.48862714e-04 2.40655476e+02] [-5.70747716e-03 -4.56608585e-05 9.99983711e-01 -1.62360750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.545336195 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:1044.43, Y:240.65, Z:-16.24 [[ 9.87015733e-01 1.60524411e-01 5.64418395e-03 1.04443472e+03] [-1.60522181e-01 9.87031868e-01 -8.48862714e-04 2.40649631e+02] [-5.70725262e-03 -6.81758662e-05 9.99983711e-01 -1.62380310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.6053361949998 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1044.49, Y:240.64, Z:-16.24 [[ 9.86781359e-01 1.61958922e-01 5.64421318e-03 1.04449378e+03] [-1.61956716e-01 9.86797498e-01 -8.48668366e-04 2.40643650e+02] [-5.70714485e-03 -7.66681080e-05 9.99983711e-01 -1.62397186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.6653361949998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1044.55, Y:240.64, Z:-16.24 [[ 9.86996004e-01 1.60645671e-01 5.64423225e-03 1.04455352e+03] [-1.60643445e-01 9.87012140e-01 -8.48541511e-04 2.40636331e+02] [-5.70724027e-03 -6.92018318e-05 9.99983711e-01 -1.62393750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.725336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1044.61, Y:240.63, Z:-16.24 [[ 9.87788779e-01 1.55696725e-01 5.64423225e-03 1.04461274e+03] [-1.55694418e-01 9.87804904e-01 -8.48541511e-04 2.40630884e+02] [-5.70751543e-03 -4.05956725e-05 9.99983711e-01 -1.62417583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1044.67, Y:240.62, Z:-16.24 [[ 9.88890197e-01 1.48540640e-01 5.64424259e-03 1.04467144e+03] [-1.48538216e-01 9.88906304e-01 -8.48472729e-04 2.40622757e+02] [-5.70765976e-03 6.60637674e-07 9.99983711e-01 -1.62406479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.8453361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1044.73, Y:240.61, Z:-16.24 [[ 9.89247702e-01 1.46140776e-01 5.64426144e-03 1.04473071e+03] [-1.46138314e-01 9.89263804e-01 -8.48347314e-04 2.40613326e+02] [-5.70764167e-03 1.43827798e-05 9.99983711e-01 -1.62392667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.9053361949998 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1044.79, Y:240.60, Z:-16.24 [[ 9.90052406e-01 1.40585828e-01 5.64425203e-03 1.04479143e+03] [-1.40583276e-01 9.90068494e-01 -8.48409868e-04 2.40603355e+02] [-5.70747051e-03 4.64827922e-05 9.99983711e-01 -1.62394171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1044.85, Y:240.59, Z:-16.24 [[ 9.90510296e-01 1.37322602e-01 5.64423179e-03 1.04485179e+03] [-1.37319996e-01 9.90526375e-01 -8.48544518e-04 2.40594273e+02] [-5.70728479e-03 6.54261938e-05 9.99983711e-01 -1.62395751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1044.91, Y:240.58, Z:-16.24 [[ 9.90641988e-01 1.36369331e-01 5.64421171e-03 1.04491238e+03] [-1.36366709e-01 9.90658064e-01 -8.48678034e-04 2.40584344e+02] [-5.70721751e-03 7.10535199e-05 9.99983711e-01 -1.62389723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.0853361949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1044.97, Y:240.57, Z:-16.24 [[ 9.90565899e-01 1.36920937e-01 5.64419099e-03 1.04497275e+03] [-1.36918323e-01 9.90581977e-01 -8.48815822e-04 2.40573798e+02] [-5.70725453e-03 6.80148442e-05 9.99983711e-01 -1.62384202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.1453361949998 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:1045.03, Y:240.56, Z:-16.24 [[ 9.90377228e-01 1.38279027e-01 5.64417011e-03 1.04503286e+03] [-1.38276434e-01 9.90393309e-01 -8.48954645e-04 2.40564026e+02] [-5.70734094e-03 6.03296343e-05 9.99983711e-01 -1.62387674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1045.09, Y:240.55, Z:-16.24 [[ 9.90134891e-01 1.40003722e-01 5.64403601e-03 1.04509248e+03] [-1.40001152e-01 9.90150976e-01 -8.49845219e-04 2.40553658e+02] [-5.70742926e-03 5.12898622e-05 9.99983711e-01 -1.62398774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.265336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1045.15, Y:240.54, Z:-16.24 [[ 9.90006514e-01 1.40908650e-01 5.64402579e-03 1.04515299e+03] [-1.40906095e-01 9.90022601e-01 -8.49913111e-04 2.40542512e+02] [-5.70747320e-03 4.61418831e-05 9.99983711e-01 -1.62388847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.3253361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1045.21, Y:240.53, Z:-16.24 [[ 9.89764934e-01 1.42595652e-01 5.64400546e-03 1.04521263e+03] [-1.42593123e-01 9.89781026e-01 -8.50048077e-04 2.40530975e+02] [-5.70754268e-03 3.65514160e-05 9.99983711e-01 -1.62415924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.3853361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1045.27, Y:240.52, Z:-16.24 [[ 9.89440638e-01 1.44828757e-01 5.64399540e-03 1.04527205e+03] [-1.44826264e-01 9.89456735e-01 -8.50114882e-04 2.40520417e+02] [-5.70761034e-03 2.37394435e-05 9.99983711e-01 -1.62420142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.445336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1045.33, Y:240.51, Z:-16.24 [[ 9.89290968e-01 1.45847615e-01 5.64398549e-03 1.04533272e+03] [-1.45845139e-01 9.89307067e-01 -8.50180693e-04 2.40509092e+02] [-5.70763156e-03 1.79282348e-05 9.99983711e-01 -1.62405739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.505336195 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:1045.39, Y:240.50, Z:-16.24 [[ 9.89103119e-01 1.47116166e-01 5.64384998e-03 1.04539221e+03] [-1.47113705e-01 9.89119221e-01 -8.51079313e-04 2.40498238e+02] [-5.70764802e-03 1.15175243e-05 9.99983711e-01 -1.62422892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.5653361949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1045.45, Y:240.49, Z:-16.24 [[ 9.89073790e-01 1.47313223e-01 5.64380148e-03 1.04545294e+03] [-1.47310763e-01 9.89089892e-01 -8.51400775e-04 2.40488409e+02] [-5.70764959e-03 1.07054869e-05 9.99983711e-01 -1.62406294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.6253361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1045.51, Y:240.48, Z:-16.24 [[ 9.88899611e-01 1.48477971e-01 5.64378101e-03 1.04551194e+03] [-1.48475529e-01 9.88915715e-01 -8.51536479e-04 2.40477185e+02] [-5.70765814e-03 4.12071966e-06 9.99983711e-01 -1.62385182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.685336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1045.57, Y:240.47, Z:-16.24 [[ 9.88803083e-01 1.49119452e-01 5.64377087e-03 1.04557113e+03] [-1.49117020e-01 9.88819189e-01 -8.51603665e-04 2.40465455e+02] [-5.70765961e-03 4.86032928e-07 9.99983711e-01 -1.62373826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.745336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1045.63, Y:240.46, Z:-16.24 [[ 9.88716403e-01 1.49693096e-01 5.64376085e-03 1.04563054e+03] [-1.49690673e-01 9.88732510e-01 -8.51670083e-04 2.40456008e+02] [-5.70765896e-03 -2.75817864e-06 9.99983711e-01 -1.62387208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.8053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1045.69, Y:240.44, Z:-16.24 [[ 9.88595233e-01 1.50491239e-01 5.64375102e-03 1.04569080e+03] [-1.50488829e-01 9.88611343e-01 -8.51735214e-04 2.40442691e+02] [-5.70765496e-03 -7.30010993e-06 9.99983711e-01 -1.62393825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.8653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1045.75, Y:240.43, Z:-16.24 [[ 9.88295695e-01 1.52445948e-01 5.64373146e-03 1.04575029e+03] [-1.52443569e-01 9.88311809e-01 -8.51864810e-04 2.40431627e+02] [-5.70762979e-03 -1.84562390e-05 9.99983711e-01 -1.62420283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.9253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1045.81, Y:240.42, Z:-16.24 [[ 9.87965459e-01 1.54571667e-01 5.64372179e-03 1.04580977e+03] [-1.54569322e-01 9.87981578e-01 -8.51928832e-04 2.40423367e+02] [-5.70757722e-03 -3.06699933e-05 9.99983711e-01 -1.62436600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.985336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1045.87, Y:240.41, Z:-16.25 [[ 9.87553459e-01 1.57182425e-01 5.64372179e-03 1.04586928e+03] [-1.57180123e-01 9.87569584e-01 -8.51928832e-04 2.40414464e+02] [-5.70747622e-03 -4.57556218e-05 9.99983711e-01 -1.62464336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1045.93, Y:240.40, Z:-16.25 [[ 9.87488050e-01 1.57592829e-01 5.64372179e-03 1.04592793e+03] [-1.57590534e-01 9.87504176e-01 -8.51928832e-04 2.40402677e+02] [-5.70745671e-03 -4.81275873e-05 9.99983711e-01 -1.62467520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.1053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1045.99, Y:240.39, Z:-16.25 [[ 9.87622562e-01 1.56747639e-01 5.64373119e-03 1.04598811e+03] [-1.56745330e-01 9.87638687e-01 -8.51866550e-04 2.40393513e+02] [-5.70749534e-03 -4.33058851e-05 9.99983711e-01 -1.62459664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.1653361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1046.05, Y:240.38, Z:-16.24 [[ 9.87897825e-01 1.55003343e-01 5.64373119e-03 1.04604941e+03] [-1.55001006e-01 9.87913945e-01 -8.51866551e-04 2.40383365e+02] [-5.70756291e-03 -3.32268988e-05 9.99983711e-01 -1.62449140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1046.11, Y:240.37, Z:-16.25 [[ 9.88206990e-01 1.53019915e-01 5.64358953e-03 1.04611011e+03] [-1.53017540e-01 9.88223105e-01 -8.52804072e-04 2.40370984e+02] [-5.70762157e-03 -2.08212386e-05 9.99983711e-01 -1.62471803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.285336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1046.17, Y:240.36, Z:-16.25 [[ 9.88281081e-01 1.52540668e-01 5.64348922e-03 1.04616936e+03] [-1.52538282e-01 9.88297194e-01 -8.53467350e-04 2.40361595e+02] [-5.70763304e-03 -1.73825133e-05 9.99983711e-01 -1.62481886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.3453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1046.23, Y:240.35, Z:-16.25 [[ 9.88429645e-01 1.51575023e-01 5.64348004e-03 1.04622946e+03] [-1.51572621e-01 9.88445756e-01 -8.53528036e-04 2.40350582e+02] [-5.70764742e-03 -1.17446449e-05 9.99983711e-01 -1.62501272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.4053361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1046.29, Y:240.34, Z:-16.25 [[ 9.88436714e-01 1.51528919e-01 5.64346184e-03 1.04629026e+03] [-1.51526514e-01 9.88452825e-01 -8.53648340e-04 2.40337892e+02] [-5.70764821e-03 -1.13567423e-05 9.99983711e-01 -1.62494754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1046.35, Y:240.33, Z:-16.25 [[ 9.88290957e-01 1.52476679e-01 5.64332013e-03 1.04635247e+03] [-1.52474285e-01 9.88307069e-01 -8.54584120e-04 2.40327624e+02] [-5.70763733e-03 -1.58834429e-05 9.99983711e-01 -1.62509381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1046.41, Y:240.32, Z:-16.25 [[ 9.88074238e-01 1.53874806e-01 5.64315864e-03 1.04641446e+03] [-1.53872428e-01 9.88090352e-01 -8.55649191e-04 2.40316815e+02] [-5.70761346e-03 -2.28816026e-05 9.99983711e-01 -1.62501948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.5853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1046.48, Y:240.31, Z:-16.25 [[ 9.87524309e-01 1.57365487e-01 5.64299856e-03 1.04647508e+03] [-1.57363161e-01 9.87540430e-01 -8.56703605e-04 2.40306831e+02] [-5.70750481e-03 -4.19844555e-05 9.99983711e-01 -1.62484304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.6453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1046.54, Y:240.30, Z:-16.25 [[ 9.86936291e-01 1.61012162e-01 5.64286983e-03 1.04653603e+03] [-1.61009891e-01 9.86952420e-01 -8.57550672e-04 2.40297781e+02] [-5.70732013e-03 -6.22099762e-05 9.99983711e-01 -1.62521688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.705336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1046.60, Y:240.29, Z:-16.25 [[ 9.86555054e-01 1.63331819e-01 5.64285026e-03 1.04659666e+03] [-1.63329584e-01 9.86571189e-01 -8.57679422e-04 2.40288975e+02] [-5.70715984e-03 -7.54964180e-05 9.99983711e-01 -1.62541212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1046.66, Y:240.28, Z:-16.26 [[ 9.86423729e-01 1.64123082e-01 5.64283090e-03 1.04665684e+03] [-1.64120860e-01 9.86439865e-01 -8.57806839e-04 2.40280241e+02] [-5.70709925e-03 -7.99452384e-05 9.99983711e-01 -1.62557620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.8253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1046.72, Y:240.27, Z:-16.25 [[ 9.86157913e-01 1.65712791e-01 5.64282133e-03 1.04671597e+03] [-1.65710594e-01 9.86174053e-01 -8.57869777e-04 2.40272412e+02] [-5.70696397e-03 -8.90802058e-05 9.99983711e-01 -1.62532279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.8853361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1046.78, Y:240.26, Z:-16.25 [[ 9.86074831e-01 1.66206458e-01 5.64283915e-03 1.04677548e+03] [-1.66204270e-01 9.86090972e-01 -8.57752553e-04 2.40264027e+02] [-5.70691675e-03 -9.20557586e-05 9.99983711e-01 -1.62469980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1046.84, Y:240.26, Z:-16.25 [[ 9.86123844e-01 1.65915405e-01 5.64283915e-03 1.04683512e+03] [-1.65913213e-01 9.86139985e-01 -8.57752554e-04 2.40255798e+02] [-5.70694367e-03 -9.03713249e-05 9.99983711e-01 -1.62517725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1046.90, Y:240.25, Z:-16.25 [[ 9.86464525e-01 1.63877699e-01 5.64282988e-03 1.04689719e+03] [-1.63875473e-01 9.86480661e-01 -8.57813502e-04 2.40247586e+02] [-5.70711905e-03 -7.85188241e-05 9.99983711e-01 -1.62503039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.0653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1046.96, Y:240.24, Z:-16.25 [[ 9.86852813e-01 1.61523017e-01 5.64268870e-03 1.04695772e+03] [-1.61520746e-01 9.86868943e-01 -8.58741201e-04 2.40240430e+02] [-5.70730070e-03 -6.39601203e-05 9.99983711e-01 -1.62540600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.1253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1047.02, Y:240.23, Z:-16.25 [[ 9.87408652e-01 1.58089578e-01 5.64255863e-03 1.04701884e+03] [-1.58087247e-01 9.87424774e-01 -8.59595000e-04 2.40232628e+02] [-5.70749519e-03 -4.32450165e-05 9.99983711e-01 -1.62541475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1047.08, Y:240.23, Z:-16.25 [[ 9.87594815e-01 1.56922413e-01 5.64253933e-03 1.04708104e+03] [-1.56920062e-01 9.87610933e-01 -8.59721646e-04 2.40225113e+02] [-5.70754313e-03 -3.63709840e-05 9.99983711e-01 -1.62531830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1047.14, Y:240.22, Z:-16.25 [[ 9.87684464e-01 1.56357168e-01 5.64239566e-03 1.04714203e+03] [-1.56354802e-01 9.87700580e-01 -8.60663521e-04 2.40219478e+02] [-5.70756838e-03 -3.21516686e-05 9.99983711e-01 -1.62534726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.3053361949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1047.20, Y:240.21, Z:-16.25 [[ 9.87850667e-01 1.55303647e-01 5.64237513e-03 1.04720244e+03] [-1.55301263e-01 9.87866781e-01 -8.60798127e-04 2.40213695e+02] [-5.70760004e-03 -2.59279813e-05 9.99983711e-01 -1.62507892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.3653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1047.26, Y:240.21, Z:-16.25 [[ 9.88418214e-01 1.51649586e-01 5.64236497e-03 1.04726378e+03] [-1.51647143e-01 9.88434319e-01 -8.60864671e-04 2.40206317e+02] [-5.70765695e-03 -4.75420704e-06 9.99983711e-01 -1.62534646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.4253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1047.32, Y:240.20, Z:-16.25 [[ 9.88773436e-01 1.49315964e-01 5.64234482e-03 1.04732456e+03] [-1.49313481e-01 9.88789534e-01 -8.60996748e-04 2.40197532e+02] [-5.70765207e-03 8.85256429e-06 9.99983711e-01 -1.62530891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.485336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1047.39, Y:240.19, Z:-16.25 [[ 9.89048441e-01 1.47483370e-01 5.64232489e-03 1.04738538e+03] [-1.47480858e-01 9.89064535e-01 -8.61127343e-04 2.40189155e+02] [-5.70762541e-03 1.95617422e-05 9.99983711e-01 -1.62470014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.545336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1047.45, Y:240.18, Z:-16.25 [[ 9.89054326e-01 1.47443903e-01 5.64230486e-03 1.04744566e+03] [-1.47441389e-01 9.89070420e-01 -8.61258553e-04 2.40179024e+02] [-5.70762416e-03 1.99222339e-05 9.99983711e-01 -1.62493409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.6053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1047.51, Y:240.17, Z:-16.26 [[ 9.88898220e-01 1.48487292e-01 5.64228446e-03 1.04750552e+03] [-1.48484794e-01 9.88914316e-01 -8.61392182e-04 2.40170073e+02] [-5.70764167e-03 1.40357478e-05 9.99983711e-01 -1.62555158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.6653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1047.56, Y:240.16, Z:-16.26 [[ 9.88800246e-01 1.49138321e-01 5.64227438e-03 1.04756474e+03] [-1.49135833e-01 9.88816344e-01 -8.61458208e-04 2.40160330e+02] [-5.70764955e-03 1.03447983e-05 9.99983711e-01 -1.62584964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1047.62, Y:240.15, Z:-16.26 [[ 9.88865352e-01 1.48706020e-01 5.64222424e-03 1.04762387e+03] [-1.48703523e-01 9.88881449e-01 -8.61786483e-04 2.40150347e+02] [-5.70764372e-03 1.31721722e-05 9.99983711e-01 -1.62597696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1047.68, Y:240.14, Z:-16.26 [[ 9.89009503e-01 1.47744267e-01 5.64221445e-03 1.04768365e+03] [-1.47741754e-01 9.89025597e-01 -8.61850544e-04 2.40138931e+02] [-5.70762799e-03 1.87877161e-05 9.99983711e-01 -1.62579582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.8453361949998 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1047.74, Y:240.13, Z:-16.25 [[ 9.89099848e-01 1.47138219e-01 5.64221445e-03 1.04774332e+03] [-1.47135696e-01 9.89115941e-01 -8.61850544e-04 2.40126743e+02] [-5.70761541e-03 2.22850891e-05 9.99983711e-01 -1.62505129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.9053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1047.80, Y:240.12, Z:-16.26 [[ 9.88637966e-01 1.50210313e-01 5.64220507e-03 1.04780313e+03] [-1.50207840e-01 9.88654066e-01 -8.61911977e-04 2.40117893e+02] [-5.70765705e-03 4.61546543e-06 9.99983711e-01 -1.62585221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.965336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1047.86, Y:240.11, Z:-16.26 [[ 9.88164799e-01 1.53292193e-01 5.64220507e-03 1.04786329e+03] [-1.53289771e-01 9.88180906e-01 -8.61911977e-04 2.40109141e+02] [-5.70764370e-03 -1.31812448e-05 9.99983711e-01 -1.62551591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1047.92, Y:240.10, Z:-16.26 [[ 9.87749245e-01 1.55947408e-01 5.64220507e-03 1.04792345e+03] [-1.55945029e-01 9.87765359e-01 -8.61911977e-04 2.40100002e+02] [-5.70758766e-03 -2.85209294e-05 9.99983711e-01 -1.62564865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.0853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1047.99, Y:240.09, Z:-16.26 [[ 9.87667200e-01 1.56466188e-01 5.64218425e-03 1.04798504e+03] [-1.56463816e-01 9.87683315e-01 -8.62048270e-04 2.40091410e+02] [-5.70757265e-03 -3.13808773e-05 9.99983711e-01 -1.62564197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.1453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1048.05, Y:240.08, Z:-16.26 [[ 9.87602915e-01 1.56871442e-01 5.64203511e-03 1.04804530e+03] [-1.56869071e-01 9.87619031e-01 -8.63023240e-04 2.40082509e+02] [-5.70756495e-03 -3.27365385e-05 9.99983711e-01 -1.62584776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1048.10, Y:240.07, Z:-16.26 [[ 9.87433883e-01 1.57931933e-01 5.64195264e-03 1.04810443e+03] [-1.57929577e-01 9.87450000e-01 -8.63562072e-04 2.40074703e+02] [-5.70753016e-03 -3.83207406e-05 9.99983711e-01 -1.62581558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1048.17, Y:240.07, Z:-16.26 [[ 9.87410033e-01 1.58080977e-01 5.64196244e-03 1.04816517e+03] [-1.58078624e-01 9.87426151e-01 -8.63498045e-04 2.40066102e+02] [-5.70752387e-03 -3.92470227e-05 9.99983711e-01 -1.62558969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.3253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1048.22, Y:240.06, Z:-16.26 [[ 9.87706725e-01 1.56216499e-01 5.64194184e-03 1.04822498e+03] [-1.56214114e-01 9.87722838e-01 -8.63632593e-04 2.40058419e+02] [-5.70758847e-03 -2.83352256e-05 9.99983711e-01 -1.62563390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.3853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1048.29, Y:240.05, Z:-16.26 [[ 9.88215755e-01 1.52963364e-01 5.64193166e-03 1.04828588e+03] [-1.52960926e-01 9.88231860e-01 -8.63699110e-04 2.40047651e+02] [-5.70765094e-03 -9.47402403e-06 9.99983711e-01 -1.62576319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1048.35, Y:240.04, Z:-16.26 [[ 9.88400682e-01 1.51763838e-01 5.64178158e-03 1.04834653e+03] [-1.51761375e-01 9.88416783e-01 -8.64678348e-04 2.40037733e+02] [-5.70765850e-03 -1.55585841e-06 9.99983711e-01 -1.62613869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1048.41, Y:240.03, Z:-16.26 [[ 9.88404277e-01 1.51740426e-01 5.64164376e-03 1.04840686e+03] [-1.51737957e-01 9.88420378e-01 -8.65576617e-04 2.40027832e+02] [-5.70765862e-03 -5.11869970e-07 9.99983711e-01 -1.62621295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.5653361949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1048.47, Y:240.02, Z:-16.26 [[ 9.88592735e-01 1.50507727e-01 5.64162314e-03 1.04846886e+03] [-1.50505238e-01 9.88608833e-01 -8.65710959e-04 2.40017266e+02] [-5.70765466e-03 6.74173360e-06 9.99983711e-01 -1.62574187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.6253361949998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1048.53, Y:240.01, Z:-16.26 [[ 9.88873515e-01 1.48651762e-01 5.64145253e-03 1.04853077e+03] [-1.48649235e-01 9.88889606e-01 -8.66821374e-04 2.40006436e+02] [-5.70762829e-03 1.85790939e-05 9.99983711e-01 -1.62554635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1048.59, Y:240.00, Z:-16.26 [[ 9.88990338e-01 1.47872536e-01 5.64128291e-03 1.04859268e+03] [-1.47869991e-01 9.89006427e-01 -8.67923846e-04 2.39996210e+02] [-5.70760715e-03 2.41918444e-05 9.99983711e-01 -1.62612079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1048.65, Y:239.98, Z:-16.26 [[ 9.89481118e-01 1.44552049e-01 5.64111339e-03 1.04865327e+03] [-1.44549444e-01 9.89497197e-01 -8.69024231e-04 2.39982790e+02] [-5.70748512e-03 4.44632652e-05 9.99983711e-01 -1.62618154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.8053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1048.71, Y:239.97, Z:-16.26 [[ 9.89635607e-01 1.43490575e-01 5.64095588e-03 1.04871343e+03] [-1.43487947e-01 9.89651682e-01 -8.70045473e-04 2.39969685e+02] [-5.70742480e-03 5.16188037e-05 9.99983711e-01 -1.62604311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.8653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1048.78, Y:239.96, Z:-16.26 [[ 9.89561812e-01 1.43998614e-01 5.64082181e-03 1.04877528e+03] [-1.43995989e-01 9.89577888e-01 -8.70913800e-04 2.39956366e+02] [-5.70744292e-03 4.95673213e-05 9.99983711e-01 -1.62594391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.9253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1048.84, Y:239.94, Z:-16.26 [[ 9.89347149e-01 1.45466156e-01 5.64065830e-03 1.04883670e+03] [-1.45463549e-01 9.89363227e-01 -8.71971551e-04 2.39944141e+02] [-5.70750225e-03 4.21723934e-05 9.99983711e-01 -1.62604660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.985336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:1048.90, Y:239.93, Z:-16.26 [[ 9.88808123e-01 1.49086155e-01 5.64049538e-03 1.04889730e+03] [-1.49083601e-01 9.88824210e-01 -8.73024136e-04 2.39931764e+02] [-5.70761420e-03 2.23479968e-05 9.99983711e-01 -1.62579478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.045336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1048.96, Y:239.92, Z:-16.26 [[ 9.88193829e-01 1.53105009e-01 5.64035411e-03 1.04895896e+03] [-1.53102514e-01 9.88209925e-01 -8.73935909e-04 2.39920758e+02] [-5.70765788e-03 6.56758064e-08 9.99983711e-01 -1.62599421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.1053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1049.02, Y:239.91, Z:-16.27 [[ 9.86961765e-01 1.60856031e-01 5.64021421e-03 1.04901815e+03] [-1.60853658e-01 9.86977880e-01 -8.74837846e-04 2.39911232e+02] [-5.70748961e-03 -4.38175843e-05 9.99983711e-01 -1.62658916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.1653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1049.08, Y:239.90, Z:-16.26 [[ 9.85495451e-01 1.69608091e-01 5.64020434e-03 1.04908006e+03] [-1.69605861e-01 9.85511586e-01 -8.74901481e-04 2.39903875e+02] [-5.70687710e-03 -9.44002833e-05 9.99983711e-01 -1.62643869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1049.14, Y:239.90, Z:-16.27 [[ 9.84676523e-01 1.74299553e-01 5.64005600e-03 1.04914132e+03] [-1.74297394e-01 9.84692668e-01 -8.75856745e-04 2.39899007e+02] [-5.70638323e-03 -1.20611490e-04 9.99983711e-01 -1.62658306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1049.20, Y:239.89, Z:-16.27 [[ 9.84076048e-01 1.77658439e-01 5.64003468e-03 1.04920188e+03] [-1.77656334e-01 9.84092201e-01 -8.75993998e-04 2.39894169e+02] [-5.70594186e-03 -1.39943174e-04 9.99983711e-01 -1.62676290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.3453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1049.26, Y:239.89, Z:-16.26 [[ 9.84338077e-01 1.76200854e-01 5.64002414e-03 1.04926250e+03] [-1.76198725e-01 9.84354226e-01 -8.76061837e-04 2.39890211e+02] [-5.70614444e-03 -1.31424037e-04 9.99983711e-01 -1.62645034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.4053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1049.32, Y:239.89, Z:-16.26 [[ 9.84872685e-01 1.73187717e-01 5.64002414e-03 1.04932184e+03] [-1.73185539e-01 9.84888827e-01 -8.76061837e-04 2.39885162e+02] [-5.70651991e-03 -1.13961245e-04 9.99983711e-01 -1.62642323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1049.38, Y:239.88, Z:-16.27 [[ 9.86108926e-01 1.66004148e-01 5.64001416e-03 1.04938345e+03] [-1.66001852e-01 9.86125052e-01 -8.76126106e-04 2.39879485e+02] [-5.70719982e-03 -7.22970221e-05 9.99983711e-01 -1.62672034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1049.44, Y:239.87, Z:-16.27 [[ 9.87132250e-01 1.59806484e-01 5.63999371e-03 1.04944424e+03] [-1.59804086e-01 9.87148361e-01 -8.76257730e-04 2.39871060e+02] [-5.70754221e-03 -3.63117739e-05 9.99983711e-01 -1.62685637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.5853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1049.50, Y:239.86, Z:-16.27 [[ 9.88598707e-01 1.50468561e-01 5.63997281e-03 1.04950495e+03] [-1.50466010e-01 9.88614794e-01 -8.76392230e-04 2.39864772e+02] [-5.70763003e-03 1.77760207e-05 9.99983711e-01 -1.62710110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.6453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1049.57, Y:239.86, Z:-16.27 [[ 9.89811058e-01 1.42275303e-01 5.63983792e-03 1.04956666e+03] [-1.42272614e-01 9.89827123e-01 -8.77259378e-04 2.39856516e+02] [-5.70727689e-03 6.59265510e-05 9.99983711e-01 -1.62683663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1049.63, Y:239.85, Z:-16.27 [[ 9.90434062e-01 1.37871543e-01 5.63968680e-03 1.04962761e+03] [-1.37868776e-01 9.90450114e-01 -8.78229828e-04 2.39846844e+02] [-5.70691134e-03 9.22920176e-05 9.99983711e-01 -1.62677806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.765336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1049.69, Y:239.84, Z:-16.26 [[ 9.91042584e-01 1.33427102e-01 5.63953688e-03 1.04968857e+03] [-1.33424258e-01 9.91058623e-01 -8.79191520e-04 2.39838561e+02] [-5.70641963e-03 1.18865214e-04 9.99983711e-01 -1.62638337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.8253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1049.75, Y:239.83, Z:-16.27 [[ 9.91270186e-01 1.31725528e-01 5.63939927e-03 1.04975027e+03] [-1.31722652e-01 9.91286219e-01 -8.80073313e-04 2.39829369e+02] [-5.70618690e-03 1.29553812e-04 9.99983711e-01 -1.62710388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.8853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1049.81, Y:239.82, Z:-16.27 [[ 9.91495010e-01 1.30022472e-01 5.63925546e-03 1.04981148e+03] [-1.30019563e-01 9.91511037e-01 -8.80993840e-04 2.39817100e+02] [-5.70593302e-03 1.40287465e-04 9.99983711e-01 -1.62727566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1049.87, Y:239.80, Z:-16.27 [[ 9.91627164e-01 1.29010727e-01 5.63911122e-03 1.04987213e+03] [-1.29007797e-01 9.91643187e-01 -8.81916123e-04 2.39804661e+02] [-5.70576286e-03 1.47042669e-04 9.99983711e-01 -1.62708607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1049.93, Y:239.79, Z:-16.27 [[ 9.91462628e-01 1.30269180e-01 5.63896683e-03 1.04993252e+03] [-1.30266265e-01 9.91478654e-01 -8.82838382e-04 2.39792599e+02] [-5.70592187e-03 1.40734117e-04 9.99983711e-01 -1.62706496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.0653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1049.99, Y:239.78, Z:-16.27 [[ 9.91170432e-01 1.32474067e-01 5.63881285e-03 1.04999316e+03] [-1.32471182e-01 9.91186463e-01 -8.83820761e-04 2.39779610e+02] [-5.70619830e-03 1.29036804e-04 9.99983711e-01 -1.62705238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.1253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1050.05, Y:239.77, Z:-16.27 [[ 9.90529153e-01 1.37186742e-01 5.63866763e-03 1.05005289e+03] [-1.37183928e-01 9.90545197e-01 -8.84746275e-04 2.39766980e+02] [-5.70673060e-03 1.02832407e-04 9.99983711e-01 -1.62704904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.185336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1050.11, Y:239.75, Z:-16.27 [[ 9.89983935e-01 1.41067416e-01 5.63853410e-03 1.05011341e+03] [-1.41064660e-01 9.89999989e-01 -8.85596441e-04 2.39752668e+02] [-5.70707750e-03 8.13283533e-05 9.99983711e-01 -1.62680714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.245336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:1050.17, Y:239.74, Z:-16.27 [[ 9.89674553e-01 1.43221810e-01 5.63838820e-03 1.05017463e+03] [-1.43219083e-01 9.89690612e-01 -8.86524404e-04 2.39740049e+02] [-5.70722950e-03 6.98458527e-05 9.99983711e-01 -1.62688326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.3053361949999 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:1050.23, Y:239.72, Z:-16.27 [[ 9.89273531e-01 1.45966061e-01 5.63824295e-03 1.05023414e+03] [-1.45963373e-01 9.89289597e-01 -8.87447231e-04 2.39723402e+02] [-5.70739227e-03 5.49510962e-05 9.99983711e-01 -1.62735096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.3653361949998 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:1050.29, Y:239.71, Z:-16.28 [[ 9.89026344e-01 1.47631647e-01 5.63810927e-03 1.05029473e+03] [-1.47628981e-01 9.89042413e-01 -8.88295713e-04 2.39709886e+02] [-5.70746976e-03 4.61995329e-05 9.99983711e-01 -1.62751095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.4253361949998 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:1050.36, Y:239.70, Z:-16.28 [[ 9.88513257e-01 1.51028984e-01 5.63796347e-03 1.05035560e+03] [-1.51026368e-01 9.88529335e-01 -8.89220146e-04 2.39695581e+02] [-5.70759029e-03 2.75247554e-05 9.99983711e-01 -1.62756171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.485336195 meters Centerline goodness : 0.999661 with order 1 Centerline is valid? [True, True] Translation: X:1050.42, Y:239.68, Z:-16.27 [[ 9.87816251e-01 1.55522567e-01 5.63780843e-03 1.05041532e+03] [-1.55520020e-01 9.87832340e-01 -8.90202046e-04 2.39683443e+02] [-5.70765600e-03 2.56396951e-06 9.99983711e-01 -1.62739945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.545336195 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:1050.48, Y:239.67, Z:-16.27 [[ 9.87495725e-01 1.57544946e-01 5.63773001e-03 1.05047747e+03] [-1.57542428e-01 9.87511818e-01 -8.90698389e-04 2.39672352e+02] [-5.70765004e-03 -8.62082488e-06 9.99983711e-01 -1.62733659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.6053361949998 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:1050.54, Y:239.66, Z:-16.27 [[ 9.86722913e-01 1.62314853e-01 5.63756390e-03 1.05053830e+03] [-1.62312408e-01 9.86739017e-01 -8.91748555e-04 2.39661176e+02] [-5.70754829e-03 -3.51378365e-05 9.99983711e-01 -1.62733277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.6653361949998 meters Centerline goodness : 0.999548 with order 1 Centerline is valid? [True, True] Translation: X:1050.60, Y:239.65, Z:-16.27 [[ 9.86241349e-01 1.65215683e-01 5.63740946e-03 1.05060066e+03] [-1.65213279e-01 9.86257459e-01 -8.92723767e-04 2.39650244e+02] [-5.70742910e-03 -5.09338111e-05 9.99983711e-01 -1.62740839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.725336195 meters Centerline goodness : 0.999486 with order 1 Centerline is valid? [True, True] Translation: X:1050.66, Y:239.64, Z:-16.27 [[ 9.86158149e-01 1.65711580e-01 5.63723682e-03 1.05066247e+03] [-1.65709177e-01 9.86174259e-01 -8.93812612e-04 2.39641092e+02] [-5.70741295e-03 -5.27012856e-05 9.99983711e-01 -1.62749902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.785336195 meters Centerline goodness : 0.999660 with order 1 Centerline is valid? [True, True] Translation: X:1050.72, Y:239.63, Z:-16.28 [[ 9.86307303e-01 1.64821502e-01 5.63707696e-03 1.05072376e+03] [-1.64819079e-01 9.86323411e-01 -8.94819711e-04 2.39631198e+02] [-5.70746650e-03 -4.65306187e-05 9.99983711e-01 -1.62754726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.8453361949998 meters Centerline goodness : 0.999637 with order 1 Centerline is valid? [True, True] Translation: X:1050.79, Y:239.62, Z:-16.28 [[ 9.86735091e-01 1.62240828e-01 5.63691940e-03 1.05078566e+03] [-1.62238358e-01 9.86751191e-01 -8.95811129e-04 2.39620887e+02] [-5.70757407e-03 -3.05962709e-05 9.99983711e-01 -1.62763538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.9053361949998 meters Centerline goodness : 0.999544 with order 1 Centerline is valid? [True, True] Translation: X:1050.85, Y:239.61, Z:-16.28 [[ 9.87193492e-01 1.59427840e-01 5.63675129e-03 1.05084741e+03] [-1.59425318e-01 9.87209584e-01 -8.96867723e-04 2.39608890e+02] [-5.70764058e-03 -1.32588865e-05 9.99983711e-01 -1.62765644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.965336195 meters Centerline goodness : 0.999594 with order 1 Centerline is valid? [True, True] Translation: X:1050.91, Y:239.60, Z:-16.28 [[ 9.87615895e-01 1.56789900e-01 5.63657648e-03 1.05090817e+03] [-1.56787329e-01 9.87631980e-01 -8.97964992e-04 2.39599279e+02] [-5.70765503e-03 3.10072836e-06 9.99983711e-01 -1.62768990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.025336195 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:1050.97, Y:239.59, Z:-16.28 [[ 9.87753844e-01 1.55918485e-01 5.63641350e-03 1.05096978e+03] [-1.55915894e-01 9.87769926e-01 -8.98986849e-04 2.39588168e+02] [-5.70764841e-03 9.17126583e-06 9.99983711e-01 -1.62766878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.0853361949999 meters Centerline goodness : 0.999531 with order 1 Centerline is valid? [True, True] Translation: X:1051.03, Y:239.58, Z:-16.28 [[ 9.87972121e-01 1.54529355e-01 5.63624520e-03 1.05103187e+03] [-1.54526735e-01 9.87988197e-01 -9.00040769e-04 2.39576835e+02] [-5.70762645e-03 1.82646175e-05 9.99983711e-01 -1.62757688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.1453361949998 meters Centerline goodness : 0.999463 with order 1 Centerline is valid? [True, True] Translation: X:1051.09, Y:239.57, Z:-16.27 [[ 9.88286042e-01 1.52508799e-01 5.63607680e-03 1.05109363e+03] [-1.52506140e-01 9.88302112e-01 -9.01094062e-04 2.39565522e+02] [-5.70757138e-03 3.10023685e-05 9.99983711e-01 -1.62731949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.205336195 meters Centerline goodness : 0.999218 with order 1 Centerline is valid? [True, True] Translation: X:1051.15, Y:239.55, Z:-16.27 [[ 9.89014897e-01 1.47708395e-01 5.63589595e-03 1.05115418e+03] [-1.47705652e-01 9.89030953e-01 -9.02223750e-04 2.39551431e+02] [-5.70734157e-03 5.98590429e-05 9.99983711e-01 -1.62685295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.265336195 meters Centerline goodness : 0.999507 with order 1 Centerline is valid? [True, True] Translation: X:1051.21, Y:239.54, Z:-16.28 [[ 9.89703270e-01 1.43023337e-01 5.63572806e-03 1.05121335e+03] [-1.43020512e-01 9.89719312e-01 -9.03271260e-04 2.39535742e+02] [-5.70697777e-03 8.79458063e-05 9.99983711e-01 -1.62789839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.3253361949999 meters Centerline goodness : 0.999524 with order 1 Centerline is valid? [True, True] Translation: X:1051.28, Y:239.52, Z:-16.28 [[ 9.89740226e-01 1.42767381e-01 5.63558577e-03 1.05127523e+03] [-1.42764547e-01 9.89756266e-01 -9.04158161e-04 2.39521652e+02] [-5.70694062e-03 9.03198553e-05 9.99983711e-01 -1.62793395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.3853361949998 meters Centerline goodness : 0.999589 with order 1 Centerline is valid? [True, True] Translation: X:1051.34, Y:239.51, Z:-16.28 [[ 9.89085817e-01 1.47232772e-01 5.63540987e-03 1.05133686e+03] [-1.47230004e-01 9.89101869e-01 -9.05253167e-04 2.39508674e+02] [-5.70727737e-03 6.56716513e-05 9.99983711e-01 -1.62785109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.445336195 meters Centerline goodness : 0.999527 with order 1 Centerline is valid? [True, True] Translation: X:1051.40, Y:239.50, Z:-16.28 [[ 9.87863312e-01 1.55223455e-01 5.63523340e-03 1.05139744e+03] [-1.55220810e-01 9.87879385e-01 -9.06350361e-04 2.39495779e+02] [-5.70761774e-03 2.06447764e-05 9.99983711e-01 -1.62792518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.505336195 meters Centerline goodness : 0.999533 with order 1 Centerline is valid? [True, True] Translation: X:1051.46, Y:239.48, Z:-16.28 [[ 9.86602825e-01 1.63043284e-01 5.63506951e-03 1.05145821e+03] [-1.63040760e-01 9.86618917e-01 -9.07368216e-04 2.39483531e+02] [-5.70760647e-03 -2.35339730e-05 9.99983711e-01 -1.62773324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.5653361949999 meters Centerline goodness : 0.999590 with order 1 Centerline is valid? [True, True] Translation: X:1051.52, Y:239.47, Z:-16.28 [[ 9.85894784e-01 1.67271404e-01 5.63492129e-03 1.05152007e+03] [-1.67268944e-01 9.85910886e-01 -9.08287763e-04 2.39473408e+02] [-5.70746081e-03 -4.70711674e-05 9.99983711e-01 -1.62758956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.6253361949998 meters Centerline goodness : 0.999529 with order 1 Centerline is valid? [True, True] Translation: X:1051.58, Y:239.47, Z:-16.28 [[ 9.84883679e-01 1.73125354e-01 5.63475061e-03 1.05158138e+03] [-1.73122984e-01 9.84899795e-01 -9.09345354e-04 2.39465379e+02] [-5.70709546e-03 -7.99054446e-05 9.99983711e-01 -1.62774563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.685336195 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:1051.64, Y:239.46, Z:-16.28 [[ 9.84358324e-01 1.76087880e-01 5.63464517e-03 1.05164313e+03] [-1.76085555e-01 9.84374446e-01 -9.09998214e-04 2.39455662e+02] [-5.70684038e-03 -9.64153064e-05 9.99983711e-01 -1.62776115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.745336195 meters Centerline goodness : 0.999593 with order 1 Centerline is valid? [True, True] Translation: X:1051.71, Y:239.45, Z:-16.28 [[ 9.83906500e-01 1.78595216e-01 5.63447785e-03 1.05170524e+03] [-1.78592926e-01 9.83922627e-01 -9.11033077e-04 2.39448012e+02] [-5.70659640e-03 -1.09906521e-04 9.99983711e-01 -1.62750630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.8053361949999 meters Centerline goodness : 0.999596 with order 1 Centerline is valid? [True, True] Translation: X:1051.77, Y:239.44, Z:-16.27 [[ 9.83663655e-01 1.79927953e-01 5.63430567e-03 1.05176741e+03] [-1.79925679e-01 9.83679784e-01 -9.12096653e-04 2.39442465e+02] [-5.70646427e-03 -1.16559943e-04 9.99983711e-01 -1.62745793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.8653361949998 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:1051.83, Y:239.44, Z:-16.28 [[ 9.83594956e-01 1.80303130e-01 5.63414620e-03 1.05182964e+03] [-1.80300857e-01 9.83611085e-01 -9.13080686e-04 2.39437590e+02] [-5.70643996e-03 -1.17739828e-04 9.99983711e-01 -1.62769056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.9253361949998 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:1051.89, Y:239.43, Z:-16.28 [[ 9.83781183e-01 1.79284248e-01 5.63399713e-03 1.05189245e+03] [-1.79281953e-01 9.83797309e-01 -9.13999536e-04 2.39431594e+02] [-5.70657694e-03 -1.10898463e-04 9.99983711e-01 -1.62786943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.985336195 meters Centerline goodness : 0.999594 with order 1 Centerline is valid? [True, True] Translation: X:1051.96, Y:239.43, Z:-16.28 [[ 9.84380360e-01 1.75964674e-01 5.63382633e-03 1.05195502e+03] [-1.75962318e-01 9.84396478e-01 -9.15051126e-04 2.39426193e+02] [-5.70693547e-03 -9.05827842e-05 9.99983711e-01 -1.62810877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.045336195 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:1052.02, Y:239.42, Z:-16.28 [[ 9.84941966e-01 1.72793477e-01 5.63367695e-03 1.05201773e+03] [-1.72791064e-01 9.84958075e-01 -9.15969924e-04 2.39418681e+02] [-5.70720923e-03 -7.12718181e-05 9.99983711e-01 -1.62811706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.1053361949998 meters Centerline goodness : 0.999524 with order 1 Centerline is valid? [True, True] Translation: X:1052.08, Y:239.41, Z:-16.28 [[ 9.85773670e-01 1.67983736e-01 5.63350524e-03 1.05207960e+03] [-1.67981239e-01 9.85789766e-01 -9.17024792e-04 2.39412614e+02] [-5.70749706e-03 -4.23442934e-05 9.99983711e-01 -1.62757324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.1653361949998 meters Centerline goodness : 0.999611 with order 1 Centerline is valid? [True, True] Translation: X:1052.14, Y:239.40, Z:-16.28 [[ 9.86491421e-01 1.63716041e-01 5.63335409e-03 1.05214088e+03] [-1.63713468e-01 9.86507505e-01 -9.17952344e-04 2.39404534e+02] [-5.70762961e-03 -1.67038244e-05 9.99983711e-01 -1.62827187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.225336195 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:1052.20, Y:239.40, Z:-16.28 [[ 9.86970246e-01 1.60804231e-01 5.63319276e-03 1.05220338e+03] [-1.60801606e-01 9.86986322e-01 -9.18941335e-04 2.39397569e+02] [-5.70765385e-03 1.14131487e-06 9.99983711e-01 -1.62807980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.285336195 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:1052.27, Y:239.39, Z:-16.28 [[ 9.87194511e-01 1.59421661e-01 5.63301846e-03 1.05226556e+03] [-1.59419006e-01 9.87210582e-01 -9.20008516e-04 2.39388618e+02] [-5.70764472e-03 1.02171519e-05 9.99983711e-01 -1.62799272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.3453361949998 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:1052.33, Y:239.38, Z:-16.28 [[ 9.87373300e-01 1.58310571e-01 5.63284512e-03 1.05232757e+03] [-1.58307892e-01 9.87389367e-01 -9.21068599e-04 2.39379589e+02] [-5.70762627e-03 1.77147033e-05 9.99983711e-01 -1.62773986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.4053361949998 meters Centerline goodness : 0.999595 with order 1 Centerline is valid? [True, True] Translation: X:1052.39, Y:239.37, Z:-16.28 [[ 9.87287859e-01 1.58842550e-01 5.63266944e-03 1.05238948e+03] [-1.58839874e-01 9.87303927e-01 -9.22141716e-04 2.39370904e+02] [-5.70763199e-03 1.57268159e-05 9.99983711e-01 -1.62760073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.465336195 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:1052.45, Y:239.36, Z:-16.28 [[ 9.87126096e-01 1.59844753e-01 5.63256069e-03 1.05244909e+03] [-1.59842090e-01 9.87142165e-01 -9.22805498e-04 2.39363864e+02] [-5.70764377e-03 1.06051171e-05 9.99983711e-01 -1.62833435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.525336195 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:1052.51, Y:239.36, Z:-16.29 [[ 9.86801337e-01 1.61837557e-01 5.63255041e-03 1.05250955e+03] [-1.61834926e-01 9.86817412e-01 -9.22868199e-04 2.39356915e+02] [-5.70765356e-03 -8.55805522e-07 9.99983711e-01 -1.62872252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.5853361949999 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:1052.57, Y:239.35, Z:-16.29 [[ 9.86525320e-01 1.63511676e-01 5.63255041e-03 1.05257133e+03] [-1.63509072e-01 9.86541399e-01 -9.22868198e-04 2.39349153e+02] [-5.70764389e-03 -1.05402485e-05 9.99983711e-01 -1.62863191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.6453361949998 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:1052.63, Y:239.34, Z:-16.28 [[ 9.86228093e-01 1.65294962e-01 5.63239231e-03 1.05263217e+03] [-1.65292382e-01 9.86244176e-01 -9.23832112e-04 2.39342889e+02] [-5.70761891e-03 -1.98823579e-05 9.99983711e-01 -1.62847741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.705336195 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:1052.69, Y:239.34, Z:-16.29 [[ 9.86019952e-01 1.66532072e-01 5.63236932e-03 1.05269252e+03] [-1.66529511e-01 9.86036038e-01 -9.23972265e-04 2.39336103e+02] [-5.70759014e-03 -2.69006201e-05 9.99983711e-01 -1.62851687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.765336195 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:1052.75, Y:239.33, Z:-16.28 [[ 9.85918296e-01 1.67132854e-01 5.63231780e-03 1.05275150e+03] [-1.67130300e-01 9.85934383e-01 -9.24286197e-04 2.39330600e+02] [-5.70757437e-03 -3.00602940e-05 9.99983711e-01 -1.62842800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.8253361949999 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:1052.81, Y:239.33, Z:-16.28 [[ 9.86079758e-01 1.66177580e-01 5.63232841e-03 1.05281223e+03] [-1.66175012e-01 9.86095843e-01 -9.24221533e-04 2.39325348e+02] [-5.70760053e-03 -2.45960955e-05 9.99983711e-01 -1.62796256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.8853361949998 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:1052.87, Y:239.32, Z:-16.29 [[ 9.86290764e-01 1.64920604e-01 5.63232841e-03 1.05287253e+03] [-1.64918016e-01 9.86306846e-01 -9.24221533e-04 2.39317042e+02] [-5.70762724e-03 -1.73212629e-05 9.99983711e-01 -1.62868619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.945336195 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:1052.93, Y:239.31, Z:-16.29 [[ 9.86760538e-01 1.62086144e-01 5.63232841e-03 1.05293243e+03] [-1.62083509e-01 9.86776612e-01 -9.24221533e-04 2.39309999e+02] [-5.70765345e-03 -9.22215481e-07 9.99983711e-01 -1.62885124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.005336195 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:1052.99, Y:239.30, Z:-16.29 [[ 9.87168297e-01 1.59583926e-01 5.63232841e-03 1.05299250e+03] [-1.59581250e-01 9.87184365e-01 -9.24221534e-04 2.39303291e+02] [-5.70763745e-03 1.35481871e-05 9.99983711e-01 -1.62883184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.0653361949999 meters Centerline goodness : 0.999672 with order 1 Centerline is valid? [True, True] Translation: X:1053.05, Y:239.30, Z:-16.29 [[ 9.87430784e-01 1.57951652e-01 5.63232841e-03 1.05305122e+03] [-1.57948950e-01 9.87446847e-01 -9.24221533e-04 2.39295296e+02] [-5.70760725e-03 2.29844367e-05 9.99983711e-01 -1.62870069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.1253361949998 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:1053.11, Y:239.29, Z:-16.29 [[ 9.87777537e-01 1.55768466e-01 5.63231919e-03 1.05310961e+03] [-1.55765728e-01 9.87793594e-01 -9.24277744e-04 2.39286753e+02] [-5.70754214e-03 3.56584954e-05 9.99983711e-01 -1.62860943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.185336195 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:1053.17, Y:239.28, Z:-16.29 [[ 9.88176254e-01 1.53218693e-01 5.63234061e-03 1.05316928e+03] [-1.53215914e-01 9.88192304e-01 -9.24147156e-04 2.39277894e+02] [-5.70743227e-03 5.02560606e-05 9.99983711e-01 -1.62868416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.245336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:1053.23, Y:239.27, Z:-16.29 [[ 9.88453034e-01 1.51422841e-01 5.63234061e-03 1.05322848e+03] [-1.51420033e-01 9.88469079e-01 -9.24147156e-04 2.39267330e+02] [-5.70733153e-03 6.06268573e-05 9.99983711e-01 -1.62871583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.3053361949999 meters Centerline goodness : 0.999628 with order 1 Centerline is valid? [True, True] Translation: X:1053.29, Y:239.26, Z:-16.28 [[ 9.89025117e-01 1.47640087e-01 5.63234061e-03 1.05328860e+03] [-1.47637217e-01 9.89041151e-01 -9.24147156e-04 2.39257329e+02] [-5.70705781e-03 8.24616535e-05 9.99983711e-01 -1.62804476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.3653361949998 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:1053.35, Y:239.24, Z:-16.29 [[ 9.89362186e-01 1.45364168e-01 5.63231804e-03 1.05334739e+03] [-1.45361261e-01 9.89378214e-01 -9.24284743e-04 2.39244544e+02] [-5.70685064e-03 9.57315188e-05 9.99983711e-01 -1.62884552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.4253361949998 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:1053.41, Y:239.23, Z:-16.29 [[ 9.89852086e-01 1.41989875e-01 5.63230690e-03 1.05340806e+03] [-1.41986913e-01 9.89868103e-01 -9.24352618e-04 2.39228693e+02] [-5.70648966e-03 1.15258497e-04 9.99983711e-01 -1.62920458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.485336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:1053.47, Y:239.21, Z:-16.29 [[ 9.90017259e-01 1.40833609e-01 5.63215107e-03 1.05346797e+03] [-1.40830623e-01 9.90033272e-01 -9.25301137e-04 2.39213143e+02] [-5.70633045e-03 1.22884752e-04 9.99983711e-01 -1.62926732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.545336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:1053.53, Y:239.20, Z:-16.29 [[ 9.89796807e-01 1.42374716e-01 5.63206478e-03 1.05352821e+03] [-1.42371752e-01 9.89812824e-01 -9.25826050e-04 2.39198486e+02] [-5.70650417e-03 1.14532737e-04 9.99983711e-01 -1.62925886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.6053361949998 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:1053.59, Y:239.18, Z:-16.29 [[ 9.89052142e-01 1.47458950e-01 5.63190946e-03 1.05358984e+03] [-1.47456063e-01 9.89068173e-01 -9.26769899e-04 2.39182170e+02] [-5.70700292e-03 8.61645575e-05 9.99983711e-01 -1.62924351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.6653361949998 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:1053.65, Y:239.17, Z:-16.29 [[ 9.88072189e-01 1.53888375e-01 5.63172628e-03 1.05365007e+03] [-1.53885586e-01 9.88088238e-01 -9.27881726e-04 2.39166614e+02] [-5.70743270e-03 5.01726296e-05 9.99983711e-01 -1.62932794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.725336195 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:1053.71, Y:239.15, Z:-16.29 [[ 9.87547953e-01 1.57217447e-01 5.63161244e-03 1.05371120e+03] [-1.57214708e-01 9.87564010e-01 -9.28572124e-04 2.39153696e+02] [-5.70756550e-03 3.16371932e-05 9.99983711e-01 -1.62877706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.785336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1053.77, Y:239.14, Z:-16.29 [[ 9.86811224e-01 1.61777303e-01 5.63145992e-03 1.05377114e+03] [-1.61774633e-01 9.86827292e-01 -9.29496181e-04 2.39137159e+02] [-5.70764973e-03 6.20990265e-06 9.99983711e-01 -1.62908082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.8453361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1053.83, Y:239.12, Z:-16.29 [[ 9.86134199e-01 1.65854243e-01 5.63130743e-03 1.05383210e+03] [-1.65851634e-01 9.86150277e-01 -9.30419112e-04 2.39120842e+02] [-5.70762934e-03 -1.64434359e-05 9.99983711e-01 -1.62893573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.9053361949998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1053.89, Y:239.11, Z:-16.29 [[ 9.85486646e-01 1.69659545e-01 5.63112875e-03 1.05389356e+03] [-1.69656992e-01 9.85502733e-01 -9.31499255e-04 2.39107812e+02] [-5.70753052e-03 -3.73802906e-05 9.99983711e-01 -1.62917711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.965336195 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:1053.95, Y:239.09, Z:-16.29 [[ 9.84426124e-01 1.75708565e-01 5.63094954e-03 1.05395300e+03] [-1.75706104e-01 9.84442225e-01 -9.32581347e-04 2.39093667e+02] [-5.70720703e-03 -7.13347670e-05 9.99983711e-01 -1.62900612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1054.01, Y:239.08, Z:-16.29 [[ 9.83133407e-01 1.82803166e-01 5.63080585e-03 1.05401449e+03] [-1.82800817e-01 9.83149526e-01 -9.33448132e-04 2.39081625e+02] [-5.70656137e-03 -1.11611869e-04 9.99983711e-01 -1.62942823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.0853361949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1054.08, Y:239.07, Z:-16.29 [[ 9.82365899e-01 1.86883749e-01 5.63065505e-03 1.05407642e+03] [-1.86881462e-01 9.82382027e-01 -9.34356866e-04 2.39072558e+02] [-5.70607044e-03 -1.34384726e-04 9.99983711e-01 -1.62927861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.1453361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1054.14, Y:239.06, Z:-16.29 [[ 9.81564068e-01 1.91050462e-01 5.63047573e-03 1.05413778e+03] [-1.91048237e-01 9.81580204e-01 -9.35436258e-04 2.39064144e+02] [-5.70547904e-03 -1.57501841e-04 9.99983711e-01 -1.62911789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.205336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1054.20, Y:239.05, Z:-16.29 [[ 9.81078804e-01 1.93526948e-01 5.63031951e-03 1.05419862e+03] [-1.93524758e-01 9.81094945e-01 -9.36375546e-04 2.39054432e+02] [-5.70509191e-03 -1.70948022e-04 9.99983711e-01 -1.62911881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.265336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1054.26, Y:239.05, Z:-16.29 [[ 9.80849219e-01 1.94687211e-01 5.63017604e-03 1.05425929e+03] [-1.94685035e-01 9.80865362e-01 -9.37237435e-04 2.39047063e+02] [-5.70491280e-03 -1.76822411e-04 9.99983711e-01 -1.62941464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.3253361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1054.32, Y:239.04, Z:-16.29 [[ 9.80580683e-01 1.96035270e-01 5.63003493e-03 1.05432091e+03] [-1.96033111e-01 9.80596828e-01 -9.38084301e-04 2.39042393e+02] [-5.70469200e-03 -1.83805919e-04 9.99983711e-01 -1.62947431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.3853361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1054.38, Y:239.04, Z:-16.30 [[ 9.80520700e-01 1.96335072e-01 5.63001273e-03 1.05438092e+03] [-1.96332917e-01 9.80536845e-01 -9.38217510e-04 2.39035018e+02] [-5.70463993e-03 -1.85415135e-04 9.99983711e-01 -1.62986452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.445336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1054.44, Y:239.03, Z:-16.30 [[ 9.80691893e-01 1.95478169e-01 5.63000175e-03 1.05444099e+03] [-1.95476000e-01 9.80708037e-01 -9.38283415e-04 2.39031446e+02] [-5.70480188e-03 -1.80363285e-04 9.99983711e-01 -1.62993246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.505336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1054.50, Y:239.03, Z:-16.29 [[ 9.81367408e-01 1.92058098e-01 5.63002305e-03 1.05450210e+03] [-1.92055874e-01 9.81383544e-01 -9.38155563e-04 2.39028803e+02] [-5.70539235e-03 -1.60603702e-04 9.99983711e-01 -1.62928564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.5653361949999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1054.56, Y:239.02, Z:-16.30 [[ 9.82012671e-01 1.88731070e-01 5.63002305e-03 1.05456183e+03] [-1.88728791e-01 9.82028800e-01 -9.38155563e-04 2.39024316e+02] [-5.70590388e-03 -1.41266796e-04 9.99983711e-01 -1.62961229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.6253361949998 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:1054.62, Y:239.02, Z:-16.29 [[ 9.82853389e-01 1.84302793e-01 5.63001245e-03 1.05462260e+03] [-1.84300441e-01 9.82869507e-01 -9.38219201e-04 2.39023634e+02] [-5.70648398e-03 -1.15481855e-04 9.99983711e-01 -1.62885606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.685336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1054.68, Y:239.02, Z:-16.29 [[ 9.83371924e-01 1.81515733e-01 5.63003510e-03 1.05468182e+03] [-1.81513336e-01 9.83388036e-01 -9.38083257e-04 2.39024649e+02] [-5.70678603e-03 -9.94417177e-05 9.99983711e-01 -1.62949417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1054.74, Y:239.02, Z:-16.30 [[ 9.83556364e-01 1.80513658e-01 5.63005791e-03 1.05474156e+03] [-1.80511246e-01 9.83572473e-01 -9.37946353e-04 2.39023614e+02] [-5.70688211e-03 -9.37656634e-05 9.99983711e-01 -1.62954663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.8053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1054.80, Y:239.03, Z:-16.30 [[ 9.83896473e-01 1.78650585e-01 5.63010361e-03 1.05480177e+03] [-1.78648144e-01 9.83912578e-01 -9.37671921e-04 2.39025768e+02] [-5.70704540e-03 -8.32354647e-05 9.99983711e-01 -1.62989727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.8653361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1054.86, Y:239.02, Z:-16.30 [[ 9.84353409e-01 1.76115494e-01 5.63014879e-03 1.05486052e+03] [-1.76113013e-01 9.84369508e-01 -9.37400578e-04 2.39023438e+02] [-5.70723756e-03 -6.88090098e-05 9.99983711e-01 -1.63018622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.9253361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1054.92, Y:239.02, Z:-16.31 [[ 9.85268631e-01 1.70921112e-01 5.63019499e-03 1.05492067e+03] [-1.70918547e-01 9.85284716e-01 -9.37123022e-04 2.39024998e+02] [-5.70751918e-03 -3.89868305e-05 9.99983711e-01 -1.63051467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1054.98, Y:239.03, Z:-16.31 [[ 9.86167741e-01 1.65654722e-01 5.63024124e-03 1.05498012e+03] [-1.65652073e-01 9.86183813e-01 -9.36845040e-04 2.39028520e+02] [-5.70764558e-03 -8.77477810e-06 9.99983711e-01 -1.63060074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.045336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1055.04, Y:239.03, Z:-16.30 [[ 9.86582731e-01 1.63164990e-01 5.63029863e-03 1.05503834e+03] [-1.63162302e-01 9.86598797e-01 -9.36500019e-04 2.39025548e+02] [-5.70764987e-03 5.28225970e-06 9.99983711e-01 -1.63001705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.1053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1055.10, Y:239.02, Z:-16.30 [[ 9.87322565e-01 1.58626768e-01 5.63035505e-03 1.05509776e+03] [-1.58624009e-01 9.87338618e-01 -9.36160713e-04 2.39022767e+02] [-5.70756712e-03 3.11831083e-05 9.99983711e-01 -1.63025530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.1653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1055.16, Y:239.02, Z:-16.30 [[ 9.87730083e-01 1.56069156e-01 5.63039973e-03 1.05515694e+03] [-1.56066356e-01 9.87746130e-01 -9.35891927e-04 2.39019071e+02] [-5.70746940e-03 4.56926410e-05 9.99983711e-01 -1.63004475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.225336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1055.22, Y:239.02, Z:-16.30 [[ 9.88356665e-01 1.52050655e-01 5.63044468e-03 1.05521531e+03] [-1.52047791e-01 9.88372700e-01 -9.35621411e-04 2.39017362e+02] [-5.70723966e-03 6.86309791e-05 9.99983711e-01 -1.63026689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1055.27, Y:239.01, Z:-16.30 [[ 9.88824493e-01 1.48977915e-01 5.63050007e-03 1.05527355e+03] [-1.48975004e-01 9.88840520e-01 -9.35287954e-04 2.39009217e+02] [-5.70700386e-03 8.60318679e-05 9.99983711e-01 -1.63038916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.3453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1055.33, Y:239.00, Z:-16.31 [[ 9.89380609e-01 1.45238792e-01 5.63054538e-03 1.05533152e+03] [-1.45235822e-01 9.89396625e-01 -9.35015084e-04 2.39002274e+02] [-5.70664306e-03 1.07328906e-04 9.99983711e-01 -1.63061555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.4053361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1055.39, Y:238.99, Z:-16.31 [[ 9.89505832e-01 1.44383187e-01 5.63059010e-03 1.05538896e+03] [-1.44380204e-01 9.89521846e-01 -9.34745721e-04 2.38994999e+02] [-5.70655347e-03 1.11990595e-04 9.99983711e-01 -1.63083592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1055.45, Y:238.99, Z:-16.31 [[ 9.89403885e-01 1.45080143e-01 5.63064496e-03 1.05544755e+03] [-1.45077174e-01 9.89419901e-01 -9.34415132e-04 2.38987123e+02] [-5.70663726e-03 1.07635905e-04 9.99983711e-01 -1.63101022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1055.50, Y:238.98, Z:-16.31 [[ 9.89153158e-01 1.46779851e-01 5.63068894e-03 1.05550458e+03] [-1.46776911e-01 9.89169180e-01 -9.34150050e-04 2.38978546e+02] [-5.70681836e-03 9.75623423e-05 9.99983711e-01 -1.63104963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.5853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1055.56, Y:238.97, Z:-16.31 [[ 9.89067098e-01 1.47358643e-01 5.63074325e-03 1.05556208e+03] [-1.47355714e-01 9.89083122e-01 -9.33822596e-04 2.38969313e+02] [-5.70687994e-03 9.38910128e-05 9.99983711e-01 -1.63103478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.6453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1055.62, Y:238.96, Z:-16.31 [[ 9.89135435e-01 1.46899237e-01 5.63080846e-03 1.05561968e+03] [-1.46896303e-01 9.89151457e-01 -9.33429197e-04 2.38960232e+02] [-5.70684243e-03 9.61429505e-05 9.99983711e-01 -1.63108901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1055.68, Y:238.95, Z:-16.31 [[ 9.89205445e-01 1.46427050e-01 5.63087481e-03 1.05567570e+03] [-1.46424111e-01 9.89221466e-01 -9.33028753e-04 2.38948007e+02] [-5.70680289e-03 9.84612870e-05 9.99983711e-01 -1.63124881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.765336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1055.73, Y:238.94, Z:-16.31 [[ 9.88968149e-01 1.48021259e-01 5.63095144e-03 1.05573304e+03] [-1.48018348e-01 9.88984175e-01 -9.32566050e-04 2.38936324e+02] [-5.70696147e-03 8.87939892e-05 9.99983711e-01 -1.63066652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.8253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1055.79, Y:238.93, Z:-16.31 [[ 9.88484978e-01 1.51214217e-01 5.63099455e-03 1.05579055e+03] [-1.51211359e-01 9.88501014e-01 -9.32305707e-04 2.38927197e+02] [-5.70722170e-03 7.00998477e-05 9.99983711e-01 -1.63117470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.8853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1055.85, Y:238.92, Z:-16.31 [[ 9.87281274e-01 1.58883531e-01 5.63106188e-03 1.05584667e+03] [-1.58880800e-01 9.87297333e-01 -9.31898874e-04 2.38919101e+02] [-5.70759575e-03 2.53786940e-05 9.99983711e-01 -1.63121831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.945336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1055.90, Y:238.91, Z:-16.31 [[ 9.86355495e-01 1.64533061e-01 5.63116622e-03 1.05590263e+03] [-1.64530425e-01 9.86371569e-01 -9.31267924e-04 2.38910162e+02] [-5.70764662e-03 -7.93694065e-06 9.99983711e-01 -1.63149708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1055.96, Y:238.90, Z:-16.31 [[ 9.86068169e-01 1.66246370e-01 5.63124319e-03 1.05596032e+03] [-1.66243765e-01 9.86084248e-01 -9.30802273e-04 2.38901208e+02] [-5.70762270e-03 -1.83245751e-05 9.99983711e-01 -1.63126233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.0653361949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1056.02, Y:238.89, Z:-16.31 [[ 9.85964419e-01 1.66860582e-01 5.63128707e-03 1.05601811e+03] [-1.66857989e-01 9.85980500e-01 -9.30536741e-04 2.38892408e+02] [-5.70760914e-03 -2.21491169e-05 9.99983711e-01 -1.63060541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.1253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1056.08, Y:238.88, Z:-16.31 [[ 9.86181566e-01 1.65572361e-01 5.63133261e-03 1.05607575e+03] [-1.65569748e-01 9.86197644e-01 -9.30261026e-04 2.38884366e+02] [-5.70763247e-03 -1.49720475e-05 9.99983711e-01 -1.63103928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.185336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1056.13, Y:238.88, Z:-16.31 [[ 9.86353685e-01 1.64543901e-01 5.63138902e-03 1.05613391e+03] [-1.64541273e-01 9.86369761e-01 -9.29919457e-04 2.38876098e+02] [-5.70764441e-03 -9.36643649e-06 9.99983711e-01 -1.63121078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1056.19, Y:238.87, Z:-16.32 [[ 9.86647526e-01 1.62772682e-01 5.63143297e-03 1.05619122e+03] [-1.62770027e-01 9.86663597e-01 -9.29653216e-04 2.38868888e+02] [-5.70765206e-03 6.11550619e-07 9.99983711e-01 -1.63157510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.3053361949999 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:1056.25, Y:238.86, Z:-16.31 [[ 9.86738908e-01 1.62217797e-01 5.63148717e-03 1.05624867e+03] [-1.62215135e-01 9.86754978e-01 -9.29324753e-04 2.38859807e+02] [-5.70765101e-03 3.48843766e-06 9.99983711e-01 -1.63092242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.3653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1056.31, Y:238.85, Z:-16.31 [[ 9.87064587e-01 1.60224178e-01 5.63155185e-03 1.05630563e+03] [-1.60221486e-01 9.87080652e-01 -9.28932672e-04 2.38851682e+02] [-5.70763334e-03 1.46209415e-05 9.99983711e-01 -1.63144741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.4253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1056.36, Y:238.84, Z:-16.31 [[ 9.87413861e-01 1.58057433e-01 5.63161717e-03 1.05636225e+03] [-1.58054707e-01 9.87429920e-01 -9.28536481e-04 2.38842131e+02] [-5.70758939e-03 2.67461872e-05 9.99983711e-01 -1.63135122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1056.42, Y:238.83, Z:-16.31 [[ 9.87636299e-01 1.56661500e-01 5.63167125e-03 1.05642052e+03] [-1.56658754e-01 9.87652354e-01 -9.28208389e-04 2.38832359e+02] [-5.70754788e-03 3.44816991e-05 9.99983711e-01 -1.63130535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1056.48, Y:238.82, Z:-16.31 [[ 9.87979652e-01 1.54481361e-01 5.63171290e-03 1.05647815e+03] [-1.54478581e-01 9.87995702e-01 -9.27955587e-04 2.38820620e+02] [-5.70745998e-03 4.68222212e-05 9.99983711e-01 -1.63140129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.6053361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1056.54, Y:238.81, Z:-16.31 [[ 9.88193438e-01 1.53107846e-01 5.63175619e-03 1.05653564e+03] [-1.53105045e-01 9.88209484e-01 -9.27692800e-04 2.38808721e+02] [-5.70739192e-03 5.44896510e-05 9.99983711e-01 -1.63126488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.6653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1056.59, Y:238.80, Z:-16.32 [[ 9.88393450e-01 1.51811302e-01 5.63179984e-03 1.05659199e+03] [-1.51808482e-01 9.88409492e-01 -9.27427739e-04 2.38795363e+02] [-5.70731843e-03 6.17085202e-05 9.99983711e-01 -1.63170979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1056.65, Y:238.78, Z:-16.32 [[ 9.88333791e-01 1.52199209e-01 5.63185360e-03 1.05665013e+03] [-1.52196397e-01 9.88349835e-01 -9.27101180e-04 2.38783796e+02] [-5.70734564e-03 5.91375981e-05 9.99983711e-01 -1.63177692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.785336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1056.71, Y:238.77, Z:-16.32 [[ 9.87901368e-01 1.54981188e-01 5.63189650e-03 1.05670796e+03] [-1.54978423e-01 9.87917420e-01 -9.26840477e-04 2.38769878e+02] [-5.70749150e-03 4.28045380e-05 9.99983711e-01 -1.63165008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.8453361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1056.76, Y:238.76, Z:-16.32 [[ 9.87346661e-01 1.58476662e-01 5.63192900e-03 1.05676429e+03] [-1.58473954e-01 9.87362723e-01 -9.26642924e-04 2.38759190e+02] [-5.70760804e-03 2.24037370e-05 9.99983711e-01 -1.63193075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.9053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1056.82, Y:238.75, Z:-16.32 [[ 9.87114239e-01 1.59917979e-01 5.63198486e-03 1.05682235e+03] [-1.59915296e-01 9.87130305e-01 -9.26303324e-04 2.38748856e+02] [-5.70763549e-03 1.37266731e-05 9.99983711e-01 -1.63190775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1056.88, Y:238.74, Z:-16.32 [[ 9.87217214e-01 1.59281047e-01 5.63202579e-03 1.05687934e+03] [-1.59278356e-01 9.87233279e-01 -9.26054366e-04 2.38735362e+02] [-5.70762620e-03 1.71569999e-05 9.99983711e-01 -1.63195185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1056.94, Y:238.72, Z:-16.32 [[ 9.87762035e-01 1.55866746e-01 5.63206644e-03 1.05693610e+03] [-1.55864001e-01 9.87778090e-01 -9.25807075e-04 2.38721070e+02] [-5.70753437e-03 3.66406699e-05 9.99983711e-01 -1.63163301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.0853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1056.99, Y:238.71, Z:-16.32 [[ 9.88471964e-01 1.51299227e-01 5.63212170e-03 1.05699323e+03] [-1.51296409e-01 9.88488007e-01 -9.25470783e-04 2.38707718e+02] [-5.70730777e-03 6.26821307e-05 9.99983711e-01 -1.63167261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.1453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1057.05, Y:238.69, Z:-16.32 [[ 9.88875444e-01 1.48639277e-01 5.63216597e-03 1.05705020e+03] [-1.48636417e-01 9.88891480e-01 -9.25201326e-04 2.38694757e+02] [-5.70712220e-03 7.77639006e-05 9.99983711e-01 -1.63181266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1057.11, Y:238.68, Z:-16.32 [[ 9.89356328e-01 1.45404035e-01 5.63222079e-03 1.05710569e+03] [-1.45401125e-01 9.89372355e-01 -9.24867465e-04 2.38678853e+02] [-5.70684301e-03 9.60922384e-05 9.99983711e-01 -1.63194631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1057.16, Y:238.66, Z:-16.32 [[ 9.89718154e-01 1.42920440e-01 5.63227486e-03 1.05716277e+03] [-1.42917492e-01 9.89734174e-01 -9.24538075e-04 2.38661451e+02] [-5.70659030e-03 1.10081519e-04 9.99983711e-01 -1.63205666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.3253361949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1057.22, Y:238.65, Z:-16.32 [[ 9.89860721e-01 1.41929669e-01 5.63231771e-03 1.05721948e+03] [-1.41926706e-01 9.89876738e-01 -9.24276979e-04 2.38645193e+02] [-5.70648260e-03 1.15529177e-04 9.99983711e-01 -1.63207356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.3853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1057.28, Y:238.62, Z:-16.32 [[ 9.89755091e-01 1.42664416e-01 5.63236070e-03 1.05727668e+03] [-1.42661467e-01 9.89771111e-01 -9.24014937e-04 2.38624891e+02] [-5.70657195e-03 1.11027650e-04 9.99983711e-01 -1.63192617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.445336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1057.33, Y:238.61, Z:-16.32 [[ 9.89318766e-01 1.45659385e-01 5.63238221e-03 1.05733337e+03] [-1.45656485e-01 9.89334794e-01 -9.23883775e-04 2.38605063e+02] [-5.70688404e-03 9.36225623e-05 9.99983711e-01 -1.63191804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.505336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1057.39, Y:238.59, Z:-16.32 [[ 9.88474758e-01 1.51280956e-01 5.63241418e-03 1.05739173e+03] [-1.51278149e-01 9.88490803e-01 -9.23688807e-04 2.38587511e+02] [-5.70732615e-03 6.09818809e-05 9.99983711e-01 -1.63195202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.5653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1057.45, Y:238.57, Z:-16.32 [[ 9.87639258e-01 1.56642816e-01 5.63241418e-03 1.05744954e+03] [-1.56640095e-01 9.87655318e-01 -9.23688807e-04 2.38571689e+02] [-5.70757304e-03 3.00094334e-05 9.99983711e-01 -1.63229221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.6253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1057.51, Y:238.56, Z:-16.33 [[ 9.85908707e-01 1.67189408e-01 5.63242546e-03 1.05750607e+03] [-1.67186859e-01 9.85924795e-01 -9.23620036e-04 2.38555795e+02] [-5.70756740e-03 -3.10624872e-05 9.99983711e-01 -1.63271531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1057.56, Y:238.54, Z:-16.32 [[ 9.84573164e-01 1.74882706e-01 5.63245764e-03 1.05756435e+03] [-1.74880284e-01 9.84589271e-01 -9.23423790e-04 2.38543549e+02] [-5.70714821e-03 -7.58275089e-05 9.99983711e-01 -1.63244789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.745336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1057.62, Y:238.53, Z:-16.32 [[ 9.82746487e-01 1.84871897e-01 5.63247965e-03 1.05762273e+03] [-1.84869640e-01 9.82762618e-01 -9.23289511e-04 2.38532959e+02] [-5.70608073e-03 -1.33914963e-04 9.99983711e-01 -1.63214558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.8053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1057.68, Y:238.52, Z:-16.32 [[ 9.81864599e-01 1.89499827e-01 5.63250195e-03 1.05768127e+03] [-1.89497647e-01 9.81880741e-01 -9.23153459e-04 2.38524637e+02] [-5.70538260e-03 -1.60934165e-04 9.99983711e-01 -1.63228564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.8653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1057.74, Y:238.52, Z:-16.33 [[ 9.81668681e-01 1.90512142e-01 5.63253483e-03 1.05773900e+03] [-1.90509979e-01 9.81684825e-01 -9.22952758e-04 2.38516485e+02] [-5.70520768e-03 -1.67020278e-04 9.99983711e-01 -1.63254617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.9253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1057.80, Y:238.51, Z:-16.32 [[ 9.82006564e-01 1.88762765e-01 5.63258792e-03 1.05779768e+03] [-1.88760576e-01 9.82022705e-01 -9.22628652e-04 2.38508413e+02] [-5.70548716e-03 -1.57183148e-04 9.99983711e-01 -1.63222396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.985336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1057.86, Y:238.50, Z:-16.32 [[ 9.82819592e-01 1.84482852e-01 5.63260971e-03 1.05785739e+03] [-1.84480593e-01 9.82835724e-01 -9.22495591e-04 2.38501120e+02] [-5.70611466e-03 -1.32460438e-04 9.99983711e-01 -1.63162647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1057.92, Y:238.49, Z:-16.32 [[ 9.83862505e-01 1.78837482e-01 5.63263178e-03 1.05791526e+03] [-1.78835131e-01 9.83878623e-01 -9.22360865e-04 2.38494733e+02] [-5.70677869e-03 -9.98361731e-05 9.99983711e-01 -1.63223973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.1053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1057.97, Y:238.49, Z:-16.32 [[ 9.84866515e-01 1.73223038e-01 5.63267556e-03 1.05797300e+03] [-1.73220597e-01 9.84882620e-01 -9.22093417e-04 2.38485725e+02] [-5.70725208e-03 -6.75564917e-05 9.99983711e-01 -1.63227571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.1653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1058.03, Y:238.48, Z:-16.32 [[ 9.85883553e-01 1.67337659e-01 5.63270766e-03 1.05803144e+03] [-1.67335123e-01 9.85899643e-01 -9.21897283e-04 2.38478194e+02] [-5.70755261e-03 -3.36664623e-05 9.99983711e-01 -1.63244109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.225336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1058.09, Y:238.47, Z:-16.33 [[ 9.86751884e-01 1.62138803e-01 5.63272895e-03 1.05809097e+03] [-1.62136183e-01 9.86767961e-01 -9.21767179e-04 2.38467834e+02] [-5.70765069e-03 -3.71367055e-06 9.99983711e-01 -1.63260966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1058.15, Y:238.46, Z:-16.33 [[ 9.87495443e-01 1.57546888e-01 5.63272895e-03 1.05814998e+03] [-1.57544194e-01 9.87511507e-01 -9.21767179e-04 2.38457697e+02] [-5.70760621e-03 2.28371494e-05 9.99983711e-01 -1.63279004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.3453361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1058.21, Y:238.45, Z:-16.33 [[ 9.87544098e-01 1.57241621e-01 5.63273967e-03 1.05820905e+03] [-1.57238921e-01 9.87560161e-01 -9.21701644e-04 2.38449344e+02] [-5.70759916e-03 2.45351081e-05 9.99983711e-01 -1.63278356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.4053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1058.27, Y:238.44, Z:-16.33 [[ 9.87200021e-01 1.59387548e-01 5.63276086e-03 1.05826818e+03] [-1.59384884e-01 9.87216091e-01 -9.21572122e-04 2.38441103e+02] [-5.70763928e-03 1.19990813e-05 9.99983711e-01 -1.63277616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1058.33, Y:238.43, Z:-16.33 [[ 9.86891006e-01 1.61289847e-01 5.63278285e-03 1.05832589e+03] [-1.61287215e-01 9.86907080e-01 -9.21437723e-04 2.38433283e+02] [-5.70765183e-03 8.62743567e-07 9.99983711e-01 -1.63292528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.525336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1058.39, Y:238.43, Z:-16.33 [[ 9.86640736e-01 1.62813789e-01 5.63281539e-03 1.05838525e+03] [-1.62811183e-01 9.86656815e-01 -9.21238761e-04 2.38427388e+02] [-5.70764606e-03 -8.15364781e-06 9.99983711e-01 -1.63314752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.5853361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1058.44, Y:238.42, Z:-16.33 [[ 9.86214694e-01 1.65374873e-01 5.63283689e-03 1.05844385e+03] [-1.65372309e-01 9.86230780e-01 -9.21107265e-04 2.38420341e+02] [-5.70760512e-03 -2.31057262e-05 9.99983711e-01 -1.63327942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.6453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1058.50, Y:238.41, Z:-16.33 [[ 9.85920734e-01 1.67118452e-01 5.63285864e-03 1.05850205e+03] [-1.67115918e-01 9.85936824e-01 -9.20974276e-04 2.38413942e+02] [-5.70755455e-03 -3.33327056e-05 9.99983711e-01 -1.63301020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.705336195 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:1058.56, Y:238.41, Z:-16.33 [[ 9.85562032e-01 1.69221013e-01 5.63290063e-03 1.05856014e+03] [-1.69218514e-01 9.85578128e-01 -9.20717388e-04 2.38408913e+02] [-5.70746838e-03 -4.57669738e-05 9.99983711e-01 -1.63287018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.765336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1058.62, Y:238.40, Z:-16.33 [[ 9.85536649e-01 1.69368777e-01 5.63295260e-03 1.05861898e+03] [-1.69366282e-01 9.85552746e-01 -9.20399307e-04 2.38404975e+02] [-5.70745881e-03 -4.69449905e-05 9.99983711e-01 -1.63272039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.8253361949999 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:1058.68, Y:238.40, Z:-16.32 [[ 9.86093454e-01 1.66096266e-01 5.63299360e-03 1.05867636e+03] [-1.66093720e-01 9.86109542e-01 -9.20148334e-04 2.38398357e+02] [-5.70758194e-03 -2.82526132e-05 9.99983711e-01 -1.63245924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.8853361949998 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:1058.74, Y:238.39, Z:-16.33 [[ 9.86654173e-01 1.62732333e-01 5.63304745e-03 1.05873507e+03] [-1.62729733e-01 9.86670253e-01 -9.19818523e-04 2.38390591e+02] [-5.70764457e-03 -9.12152413e-06 9.99983711e-01 -1.63320700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.945336195 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:1058.79, Y:238.38, Z:-16.33 [[ 9.87623114e-01 1.56744550e-01 5.63308768e-03 1.05879291e+03] [-1.56741855e-01 9.87639178e-01 -9.19572079e-04 2.38383702e+02] [-5.70759600e-03 2.52500292e-05 9.99983711e-01 -1.63299248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.005336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1058.85, Y:238.37, Z:-16.33 [[ 9.88300588e-01 1.52414616e-01 5.63313748e-03 1.05885083e+03] [-1.52411852e-01 9.88316641e-01 -9.19266909e-04 2.38374464e+02] [-5.70743323e-03 4.99551099e-05 9.99983711e-01 -1.63322557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.0653361949999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1058.91, Y:238.36, Z:-16.33 [[ 9.88612582e-01 1.50377626e-01 5.63318193e-03 1.05890873e+03] [-1.50374830e-01 9.88628629e-01 -9.18994435e-04 2.38364384e+02] [-5.70732113e-03 6.14406839e-05 9.99983711e-01 -1.63310307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.1253361949998 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:1058.97, Y:238.35, Z:-16.33 [[ 9.88977826e-01 1.47956500e-01 5.63320577e-03 1.05896657e+03] [-1.47953666e-01 9.88993867e-01 -9.18848315e-04 2.38354653e+02] [-5.70715553e-03 7.52671659e-05 9.99983711e-01 -1.63263156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.185336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:1059.02, Y:238.34, Z:-16.33 [[ 9.88779250e-01 1.49277799e-01 5.63322798e-03 1.05902459e+03] [-1.49274987e-01 9.88795294e-01 -9.18712127e-04 2.38344376e+02] [-5.70725264e-03 6.75034540e-05 9.99983711e-01 -1.63284570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.245336195 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:1059.08, Y:238.34, Z:-16.33 [[ 9.88436277e-01 1.51532151e-01 5.63327346e-03 1.05908282e+03] [-1.51529377e-01 9.88452328e-01 -9.18433125e-04 2.38335034e+02] [-5.70739442e-03 5.42061994e-05 9.99983711e-01 -1.63291247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.3053361949999 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:1059.14, Y:238.33, Z:-16.33 [[ 9.87784163e-01 1.55726402e-01 5.63331860e-03 1.05913983e+03] [-1.55723698e-01 9.87800226e-01 -9.18156216e-04 2.38327416e+02] [-5.70757455e-03 2.96989661e-05 9.99983711e-01 -1.63331159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.3653361949998 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:1059.20, Y:238.32, Z:-16.33 [[ 9.87116310e-01 1.59905144e-01 5.63337439e-03 1.05919821e+03] [-1.59902510e-01 9.87132385e-01 -9.17813793e-04 2.38318671e+02] [-5.70764944e-03 5.19825923e-06 9.99983711e-01 -1.63275331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.4253361949998 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:1059.26, Y:238.31, Z:-16.33 [[ 9.86676319e-01 1.62597989e-01 5.63341877e-03 1.05925580e+03] [-1.62595401e-01 9.86692401e-01 -9.17541308e-04 2.38310423e+02] [-5.70764186e-03 -1.06517025e-05 9.99983711e-01 -1.63287711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.485336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1059.31, Y:238.30, Z:-16.33 [[ 9.85946802e-01 1.66964573e-01 5.63347379e-03 1.05931329e+03] [-1.66962057e-01 9.85962895e-01 -9.17203370e-04 2.38304820e+02] [-5.70753659e-03 -3.62626447e-05 9.99983711e-01 -1.63340913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.545336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:1059.37, Y:238.30, Z:-16.33 [[ 9.85297716e-01 1.70753258e-01 5.63352538e-03 1.05937153e+03] [-1.70750806e-01 9.85313819e-01 -9.16886351e-04 2.38299439e+02] [-5.70735174e-03 -5.85229740e-05 9.99983711e-01 -1.63340664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.6053361949998 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:1059.43, Y:238.29, Z:-16.34 [[ 9.84980932e-01 1.72571220e-01 5.63356592e-03 1.05942944e+03] [-1.72568799e-01 9.84997040e-01 -9.16637244e-04 2.38294038e+02] [-5.70723096e-03 -6.93074982e-05 9.99983711e-01 -1.63369745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.6653361949998 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:1059.49, Y:238.29, Z:-16.33 [[ 9.84730098e-01 1.73996827e-01 5.63362592e-03 1.05948905e+03] [-1.73994432e-01 9.84746210e-01 -9.16268339e-04 2.38292143e+02] [-5.70711955e-03 -7.79425272e-05 9.99983711e-01 -1.63298451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.725336195 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:1059.55, Y:238.29, Z:-16.33 [[ 9.84679531e-01 1.74282768e-01 5.63366919e-03 1.05954790e+03] [-1.74280379e-01 9.84695644e-01 -9.16002215e-04 2.38289019e+02] [-5.70709291e-03 -7.98693695e-05 9.99983711e-01 -1.63284934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.785336195 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:1059.61, Y:238.29, Z:-16.33 [[ 9.84980751e-01 1.72572247e-01 5.63371244e-03 1.05960564e+03] [-1.72569832e-01 9.84996860e-01 -9.15736090e-04 2.38287440e+02] [-5.70721970e-03 -7.02263884e-05 9.99983711e-01 -1.63288851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.8453361949998 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:1059.66, Y:238.29, Z:-16.33 [[ 9.85737259e-01 1.68197256e-01 5.63378725e-03 1.05966451e+03] [-1.68194772e-01 9.85753357e-01 -9.15275631e-04 2.38285029e+02] [-5.70747155e-03 -4.53522701e-05 9.99983711e-01 -1.63327178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.9053361949998 meters Centerline goodness : 0.999695 with order 1 Centerline is valid? [True, True] Translation: X:1059.72, Y:238.28, Z:-16.33 [[ 9.86662254e-01 1.62683298e-01 5.63383164e-03 1.05972372e+03] [-1.62680726e-01 9.86678339e-01 -9.15002290e-04 2.38284944e+02] [-5.70763524e-03 -1.37175982e-05 9.99983711e-01 -1.63310606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.965336195 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:1059.78, Y:238.28, Z:-16.33 [[ 9.87271191e-01 1.58946076e-01 5.63387614e-03 1.05978139e+03] [-1.58943444e-01 9.87287266e-01 -9.14728263e-04 2.38280226e+02] [-5.70764663e-03 7.61718558e-06 9.99983711e-01 -1.63331461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.025336195 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:1059.84, Y:238.28, Z:-16.33 [[ 9.88272472e-01 1.52596788e-01 5.63393114e-03 1.05983973e+03] [-1.52594054e-01 9.88288530e-01 -9.14389389e-04 2.38275135e+02] [-5.70748240e-03 4.39614681e-05 9.99983711e-01 -1.63301707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.0853361949999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1059.90, Y:238.27, Z:-16.33 [[ 9.88598066e-01 1.50472994e-01 5.63397463e-03 1.05989834e+03] [-1.50470228e-01 9.88614118e-01 -9.14121316e-04 2.38267696e+02] [-5.70737743e-03 5.59531205e-05 9.99983711e-01 -1.63306540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.1453361949998 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:1059.96, Y:238.26, Z:-16.33 [[ 9.89486688e-01 1.44514196e-01 5.63401768e-03 1.05995624e+03] [-1.44511335e-01 9.89502723e-01 -9.13855912e-04 2.38263191e+02] [-5.70694099e-03 9.00688447e-05 9.99983711e-01 -1.63337837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.205336195 meters Centerline goodness : 0.999633 with order 1 Centerline is valid? [True, True] Translation: X:1060.01, Y:238.26, Z:-16.33 [[ 9.90147584e-01 1.39914329e-01 5.63407084e-03 1.06001477e+03] [-1.39911395e-01 9.90163606e-01 -9.13528063e-04 2.38255871e+02] [-5.70646757e-03 1.16256893e-04 9.99983711e-01 -1.63349716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.265336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:1060.07, Y:238.25, Z:-16.34 [[ 9.90349928e-01 1.38474820e-01 5.63411542e-03 1.06007189e+03] [-1.38471865e-01 9.90365947e-01 -9.13253002e-04 2.38249828e+02] [-5.70629860e-03 1.24273577e-04 9.99983711e-01 -1.63375298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.3253361949999 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:1060.13, Y:238.24, Z:-16.34 [[ 9.90303058e-01 1.38809615e-01 5.63417023e-03 1.06012888e+03] [-1.38806667e-01 9.90319078e-01 -9.12914736e-04 2.38241328e+02] [-5.70634761e-03 1.22001865e-04 9.99983711e-01 -1.63384644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.3853361949998 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:1060.19, Y:238.23, Z:-16.34 [[ 9.90138853e-01 1.39976098e-01 5.63423237e-03 1.06018730e+03] [-1.39973171e-01 9.90154876e-01 -9.12531101e-04 2.38232924e+02] [-5.70649520e-03 1.14891127e-04 9.99983711e-01 -1.63356189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.445336195 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:1060.24, Y:238.22, Z:-16.34 [[ 9.90123321e-01 1.40085919e-01 5.63427584e-03 1.06024394e+03] [-1.40082995e-01 9.90139345e-01 -9.12262619e-04 2.38224941e+02] [-5.70651334e-03 1.13986260e-04 9.99983711e-01 -1.63366813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.505336195 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:1060.30, Y:238.22, Z:-16.34 [[ 9.90030080e-01 1.40743363e-01 5.63435092e-03 1.06030023e+03] [-1.40740452e-01 9.90046107e-01 -9.11798645e-04 2.38215644e+02] [-5.70659680e-03 1.09726991e-04 9.99983711e-01 -1.63379021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.5653361949999 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:1060.36, Y:238.21, Z:-16.33 [[ 9.89764030e-01 1.42602306e-01 5.63442428e-03 1.06035877e+03] [-1.42599428e-01 9.89780063e-01 -9.11345137e-04 2.38207406e+02] [-5.70680073e-03 9.85509583e-05 9.99983711e-01 -1.63344475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.6253361949998 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:1060.42, Y:238.20, Z:-16.33 [[ 9.89427799e-01 1.44916815e-01 5.63446655e-03 1.06041728e+03] [-1.44913976e-01 9.89443838e-01 -9.11083710e-04 2.38198132e+02] [-5.70701956e-03 8.49386000e-05 9.99983711e-01 -1.63331125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.685336195 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:1060.47, Y:238.19, Z:-16.33 [[ 9.89337188e-01 1.45534121e-01 5.63450853e-03 1.06047296e+03] [-1.45531293e-01 9.89353230e-01 -9.10824035e-04 2.38188318e+02] [-5.70707518e-03 8.11147770e-05 9.99983711e-01 -1.63325250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.745336195 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:1060.53, Y:238.18, Z:-16.33 [[ 9.89505670e-01 1.44384141e-01 5.63458152e-03 1.06052980e+03] [-1.44381297e-01 9.89521709e-01 -9.10372224e-04 2.38177932e+02] [-5.70698405e-03 8.72902880e-05 9.99983711e-01 -1.63326789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.8053361949999 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:1060.59, Y:238.17, Z:-16.33 [[ 9.89659644e-01 1.43324948e-01 5.63464585e-03 1.06058523e+03] [-1.43322089e-01 9.89675680e-01 -9.09973925e-04 2.38166713e+02] [-5.70689392e-03 9.29952550e-05 9.99983711e-01 -1.63337701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.8653361949998 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:1060.64, Y:238.16, Z:-16.33 [[ 9.89603683e-01 1.43710825e-01 5.63471993e-03 1.06064243e+03] [-1.43707975e-01 9.89619720e-01 -9.09514997e-04 2.38155382e+02] [-5.70693711e-03 9.03051984e-05 9.99983711e-01 -1.63345040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.9253361949998 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:1060.70, Y:238.14, Z:-16.34 [[ 9.89330843e-01 1.45577240e-01 5.63477979e-03 1.06069963e+03] [-1.45574422e-01 9.89346886e-01 -9.09143970e-04 2.38144203e+02] [-5.70710251e-03 7.91643578e-05 9.99983711e-01 -1.63352520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.985336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1060.76, Y:238.13, Z:-16.34 [[ 9.88862432e-01 1.48725716e-01 5.63483920e-03 1.06075642e+03] [-1.48722952e-01 9.88878485e-01 -9.08775600e-04 2.38134420e+02] [-5.70732955e-03 6.06241292e-05 9.99983711e-01 -1.63360680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.045336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:1060.81, Y:238.12, Z:-16.34 [[ 9.88466824e-01 1.51332702e-01 5.63490183e-03 1.06081404e+03] [-1.51329982e-01 9.88482884e-01 -9.08387100e-04 2.38124100e+02] [-5.70747268e-03 4.51809190e-05 9.99983711e-01 -1.63351012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.1053361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1060.87, Y:238.11, Z:-16.34 [[ 9.87842193e-01 1.55357807e-01 5.63494501e-03 1.06087115e+03] [-1.55355155e-01 9.87858265e-01 -9.08119149e-04 2.38113398e+02] [-5.70761040e-03 2.16606578e-05 9.99983711e-01 -1.63358039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.1653361949998 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:1060.93, Y:238.10, Z:-16.34 [[ 9.87364242e-01 1.58366981e-01 5.63499844e-03 1.06092893e+03] [-1.58364380e-01 9.87380321e-01 -9.07787504e-04 2.38104557e+02] [-5.70765014e-03 3.93388893e-06 9.99983711e-01 -1.63365275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.225336195 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:1060.98, Y:238.09, Z:-16.34 [[ 9.87119840e-01 1.59883295e-01 5.63506185e-03 1.06098480e+03] [-1.59880721e-01 9.87135924e-01 -9.07393674e-04 2.38093883e+02] [-5.70764908e-03 -5.23145116e-06 9.99983711e-01 -1.63370777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.285336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1061.04, Y:238.09, Z:-16.34 [[ 9.87189925e-01 1.59449983e-01 5.63513520e-03 1.06104254e+03] [-1.59447404e-01 9.87206008e-01 -9.06937954e-04 2.38085141e+02] [-5.70765057e-03 -3.18766716e-06 9.99983711e-01 -1.63377321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.3453361949998 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:1061.10, Y:238.08, Z:-16.34 [[ 9.87492694e-01 1.57564033e-01 5.63519839e-03 1.06109980e+03] [-1.57561425e-01 9.87508772e-01 -9.06545163e-04 2.38075391e+02] [-5.70764675e-03 7.31683778e-06 9.99983711e-01 -1.63383326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.4053361949998 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1061.16, Y:238.06, Z:-16.34 [[ 9.87879046e-01 1.55123285e-01 5.63526200e-03 1.06115535e+03] [-1.55120639e-01 9.87895119e-01 -9.06149560e-04 2.38064845e+02] [-5.70761272e-03 2.10207186e-05 9.99983711e-01 -1.63386622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.465336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1061.21, Y:238.05, Z:-16.34 [[ 9.88536894e-01 1.50874292e-01 5.63533516e-03 1.06121296e+03] [-1.50871580e-01 9.88552956e-01 -9.05694379e-04 2.38052394e+02] [-5.70747322e-03 4.51003884e-05 9.99983711e-01 -1.63380870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.525336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1061.27, Y:238.04, Z:-16.34 [[ 9.88843486e-01 1.48851614e-01 5.63537691e-03 1.06127103e+03] [-1.48848871e-01 9.88859542e-01 -9.05434522e-04 2.38040027e+02] [-5.70737162e-03 5.65135409e-05 9.99983711e-01 -1.63367219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.5853361949999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1061.33, Y:238.03, Z:-16.34 [[ 9.88733533e-01 1.49580223e-01 5.63542195e-03 1.06132742e+03] [-1.49577494e-01 9.88749591e-01 -9.05154087e-04 2.38026510e+02] [-5.70741430e-03 5.20239073e-05 9.99983711e-01 -1.63381231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.6453361949998 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:1061.38, Y:238.01, Z:-16.34 [[ 9.88479125e-01 1.51252307e-01 5.63547773e-03 1.06138498e+03] [-1.51249606e-01 9.88495189e-01 -9.04806697e-04 2.38014700e+02] [-5.70749672e-03 4.20187438e-05 9.99983711e-01 -1.63383173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.705336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1061.44, Y:238.00, Z:-16.34 [[ 9.87927595e-01 1.54813787e-01 5.63552119e-03 1.06144277e+03] [-1.54811146e-01 9.87943668e-01 -9.04535937e-04 2.38004179e+02] [-5.70761210e-03 2.11745180e-05 9.99983711e-01 -1.63399542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.765336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:1061.50, Y:237.99, Z:-16.34 [[ 9.87621161e-01 1.56756762e-01 5.63556514e-03 1.06149920e+03] [-1.56754154e-01 9.87637240e-01 -9.04261985e-04 2.37991823e+02] [-5.70764318e-03 9.67002297e-06 9.99983711e-01 -1.63401889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.8253361949999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1061.56, Y:237.98, Z:-16.34 [[ 9.87541295e-01 1.57259118e-01 5.63563079e-03 1.06155633e+03] [-1.57256521e-01 9.87557375e-01 -9.03852679e-04 2.37980987e+02] [-5.70764782e-03 6.35215298e-06 9.99983711e-01 -1.63395164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.8853361949998 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:1061.61, Y:237.97, Z:-16.33 [[ 9.87397856e-01 1.58157240e-01 5.63568469e-03 1.06161351e+03] [-1.58154660e-01 9.87413939e-01 -9.03516480e-04 2.37970293e+02] [-5.70765129e-03 8.20441485e-07 9.99983711e-01 -1.63342676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.945336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1061.67, Y:237.96, Z:-16.34 [[ 9.87048535e-01 1.60322886e-01 5.63574961e-03 1.06167030e+03] [-1.60320343e-01 9.87064624e-01 -9.03111314e-04 2.37958717e+02] [-5.70763849e-03 -1.21106124e-05 9.99983711e-01 -1.63417046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.005336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1061.73, Y:237.95, Z:-16.34 [[ 9.86937133e-01 1.61007247e-01 5.63581469e-03 1.06172652e+03] [-1.61004718e-01 9.86953224e-01 -9.02705027e-04 2.37949223e+02] [-5.70762753e-03 -1.64796414e-05 9.99983711e-01 -1.63423193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.0653361949999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1061.78, Y:237.94, Z:-16.34 [[ 9.86646184e-01 1.62780661e-01 5.63590365e-03 1.06178359e+03] [-1.62778163e-01 9.86662280e-01 -9.02149248e-04 2.37939395e+02] [-5.70758600e-03 -2.72999336e-05 9.99983711e-01 -1.63431575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.1253361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1061.84, Y:237.93, Z:-16.35 [[ 9.86386287e-01 1.64348194e-01 5.63596986e-03 1.06184150e+03] [-1.64345725e-01 9.86402387e-01 -9.01735471e-04 2.37931288e+02] [-5.70753272e-03 -3.67880479e-05 9.99983711e-01 -1.63453303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.185336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1061.90, Y:237.92, Z:-16.35 [[ 9.86317912e-01 1.64758037e-01 5.63603539e-03 1.06189873e+03] [-1.64755576e-01 9.86334014e-01 -9.01325666e-04 2.37921550e+02] [-5.70751406e-03 -3.95746079e-05 9.99983711e-01 -1.63456804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.245336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1061.96, Y:237.91, Z:-16.35 [[ 9.86402307e-01 1.64252013e-01 5.63610066e-03 1.06195638e+03] [-1.64249546e-01 9.86418408e-01 -9.00917369e-04 2.37912004e+02] [-5.70753093e-03 -3.70600047e-05 9.99983711e-01 -1.63471236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.3053361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1062.01, Y:237.90, Z:-16.35 [[ 9.86585444e-01 1.63148384e-01 5.63616524e-03 1.06201351e+03] [-1.63145902e-01 9.86601543e-01 -9.00513169e-04 2.37902174e+02] [-5.70756659e-03 -3.10840761e-05 9.99983711e-01 -1.63482812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.3653361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1062.07, Y:237.89, Z:-16.35 [[ 9.86958867e-01 1.60873950e-01 5.63622906e-03 1.06207049e+03] [-1.60871433e-01 9.86974960e-01 -9.00113568e-04 2.37891141e+02] [-5.70762177e-03 -1.83331784e-05 9.99983711e-01 -1.63506806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.4253361949998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1062.13, Y:237.88, Z:-16.35 [[ 9.87135018e-01 1.59789511e-01 5.63628607e-03 1.06212868e+03] [-1.59786978e-01 9.87151109e-01 -8.99756404e-04 2.37880807e+02] [-5.70763768e-03 -1.24240664e-05 9.99983711e-01 -1.63526734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.485336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:1062.19, Y:237.87, Z:-16.35 [[ 9.87036399e-01 1.60397567e-01 5.63632861e-03 1.06218645e+03] [-1.60395046e-01 9.87052491e-01 -8.99489857e-04 2.37870502e+02] [-5.70762818e-03 -1.62099571e-05 9.99983711e-01 -1.63542103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.545336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:1062.24, Y:237.86, Z:-16.35 [[ 9.86912514e-01 1.61158060e-01 5.63637156e-03 1.06224403e+03] [-1.61155553e-01 9.86928609e-01 -8.99220634e-04 2.37862675e+02] [-5.70761300e-03 -2.08804781e-05 9.99983711e-01 -1.63489795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.6053361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1062.30, Y:237.85, Z:-16.35 [[ 9.86652034e-01 1.62745183e-01 5.63642469e-03 1.06230190e+03] [-1.62742703e-01 9.86668133e-01 -8.98887522e-04 2.37854598e+02] [-5.70757024e-03 -3.03977898e-05 9.99983711e-01 -1.63544184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.6653361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1062.36, Y:237.85, Z:-16.35 [[ 9.86754746e-01 1.62121253e-01 5.63646502e-03 1.06236011e+03] [-1.62118764e-01 9.86770844e-01 -8.98634522e-04 2.37845713e+02] [-5.70758710e-03 -2.70448654e-05 9.99983711e-01 -1.63523771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.725336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1062.42, Y:237.84, Z:-16.35 [[ 9.87125158e-01 1.59850406e-01 5.63650713e-03 1.06241689e+03] [-1.59847883e-01 9.87141250e-01 -8.98370336e-04 2.37835749e+02] [-5.70763356e-03 -1.41797709e-05 9.99983711e-01 -1.63535222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.785336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1062.48, Y:237.83, Z:-16.35 [[ 9.87379845e-01 1.58269612e-01 5.63655919e-03 1.06247536e+03] [-1.58267064e-01 9.87395934e-01 -8.98043615e-04 2.37826548e+02] [-5.70764863e-03 -5.37150675e-06 9.99983711e-01 -1.63525798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.8453361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1062.53, Y:237.82, Z:-16.35 [[ 9.87639646e-01 1.56640220e-01 5.63660137e-03 1.06253321e+03] [-1.56637647e-01 9.87655730e-01 -8.97778786e-04 2.37816332e+02] [-5.70764990e-03 3.77794804e-06 9.99983711e-01 -1.63544858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.9053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1062.59, Y:237.81, Z:-16.36 [[ 9.87786095e-01 1.55714032e-01 5.63664315e-03 1.06259088e+03] [-1.55711445e-01 9.87802177e-01 -8.97516400e-04 2.37805946e+02] [-5.70764427e-03 8.86436978e-06 9.99983711e-01 -1.63553365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.965336195 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:1062.65, Y:237.79, Z:-16.36 [[ 9.88004996e-01 1.54319006e-01 5.63668494e-03 1.06264784e+03] [-1.54316399e-01 9.88021075e-01 -8.97253868e-04 2.37794275e+02] [-5.70762683e-03 1.66583845e-05 9.99983711e-01 -1.63564878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.025336195 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:1062.71, Y:237.78, Z:-16.35 [[ 9.88116828e-01 1.53601307e-01 5.63674032e-03 1.06270590e+03] [-1.53598690e-01 9.88132905e-01 -8.96905777e-04 2.37782601e+02] [-5.70761449e-03 2.04517621e-05 9.99983711e-01 -1.63514413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.0853361949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1062.76, Y:237.77, Z:-16.36 [[ 9.88058881e-01 1.53973613e-01 5.63678106e-03 1.06276387e+03] [-1.53971004e-01 9.88074960e-01 -8.96649689e-04 2.37769661e+02] [-5.70762261e-03 1.80418511e-05 9.99983711e-01 -1.63565819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.1453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1062.82, Y:237.76, Z:-16.36 [[ 9.87538151e-01 1.57278819e-01 5.63682144e-03 1.06282143e+03] [-1.57276264e-01 9.87554238e-01 -8.96395787e-04 2.37758661e+02] [-5.70765097e-03 -1.31318119e-06 9.99983711e-01 -1.63608629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1062.88, Y:237.75, Z:-16.36 [[ 9.86428563e-01 1.64094232e-01 5.63686148e-03 1.06287895e+03] [-1.64091790e-01 9.86444667e-01 -8.96143916e-04 2.37746753e+02] [-5.70750399e-03 -4.09807331e-05 9.99983711e-01 -1.63604413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1062.94, Y:237.74, Z:-16.36 [[ 9.85195390e-01 1.71342547e-01 5.63690396e-03 1.06293663e+03] [-1.71340225e-01 9.85211513e-01 -8.95876618e-04 2.37738495e+02] [-5.70704446e-03 -8.32148785e-05 9.99983711e-01 -1.63618808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.3253361949999 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:1062.99, Y:237.73, Z:-16.36 [[ 9.84642538e-01 1.74491541e-01 5.63696715e-03 1.06299338e+03] [-1.74489273e-01 9.84658668e-01 -8.95478871e-04 2.37730952e+02] [-5.70674205e-03 -1.01863712e-04 9.99983711e-01 -1.63565793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.3853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1063.05, Y:237.72, Z:-16.36 [[ 9.84421494e-01 1.75734303e-01 5.63703995e-03 1.06305130e+03] [-1.75732058e-01 9.84437628e-01 -8.95020318e-04 2.37722873e+02] [-5.70660001e-03 -1.09531393e-04 9.99983711e-01 -1.63625601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1063.11, Y:237.71, Z:-16.36 [[ 9.84965186e-01 1.72660955e-01 5.63708139e-03 1.06310747e+03] [-1.72658661e-01 9.84981313e-01 -8.94759233e-04 2.37714933e+02] [-5.70690981e-03 -9.19842330e-05 9.99983711e-01 -1.63644759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.505336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1063.16, Y:237.71, Z:-16.37 [[ 9.85442110e-01 1.69917837e-01 5.63715296e-03 1.06316467e+03] [-1.69915500e-01 9.85458230e-01 -8.94308156e-04 2.37708075e+02] [-5.70713768e-03 -7.65507489e-05 9.99983711e-01 -1.63657283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.5653361949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1063.22, Y:237.70, Z:-16.36 [[ 9.86542622e-01 1.63407088e-01 5.63720968e-03 1.06322213e+03] [-1.63404647e-01 9.86558727e-01 -8.93950465e-04 2.37698720e+02] [-5.70751625e-03 -3.92260234e-05 9.99983711e-01 -1.63608219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.6253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1063.28, Y:237.69, Z:-16.37 [[ 9.87869631e-01 1.55183164e-01 5.63725661e-03 1.06327975e+03] [-1.55180591e-01 9.87885715e-01 -8.93654385e-04 2.37686725e+02] [-5.70764540e-03 8.02121240e-06 9.99983711e-01 -1.63677261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1063.34, Y:237.67, Z:-16.37 [[ 9.88533059e-01 1.50899346e-01 5.63729399e-03 1.06333704e+03] [-1.50896704e-01 9.88549132e-01 -8.93418521e-04 2.37674359e+02] [-5.70755836e-03 3.25246570e-05 9.99983711e-01 -1.63682550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1063.39, Y:237.66, Z:-16.37 [[ 9.88911539e-01 1.48398748e-01 5.63733138e-03 1.06339435e+03] [-1.48396068e-01 9.88927606e-01 -8.93182539e-04 2.37660887e+02] [-5.70745980e-03 4.67207091e-05 9.99983711e-01 -1.63693592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.8053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1063.45, Y:237.65, Z:-16.37 [[ 9.88434920e-01 1.51540848e-01 5.63737110e-03 1.06345212e+03] [-1.51538220e-01 9.88450995e-01 -8.92931781e-04 2.37647068e+02] [-5.70758072e-03 2.83277690e-05 9.99983711e-01 -1.63701831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.8653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1063.51, Y:237.64, Z:-16.37 [[ 9.87292936e-01 1.58810825e-01 5.63741060e-03 1.06350863e+03] [-1.58808316e-01 9.87309031e-01 -8.92682358e-04 2.37636123e+02] [-5.70763401e-03 -1.39286987e-05 9.99983711e-01 -1.63717766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.9253361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1063.57, Y:237.63, Z:-16.37 [[ 9.86850821e-01 1.61535371e-01 5.63746297e-03 1.06356671e+03] [-1.61532909e-01 9.86866923e-01 -8.92351498e-04 2.37627139e+02] [-5.70757206e-03 -3.00179864e-05 9.99983711e-01 -1.63698919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1063.62, Y:237.62, Z:-16.37 [[ 9.85494532e-01 1.69613521e-01 5.63750508e-03 1.06362470e+03] [-1.69611192e-01 9.85510653e-01 -8.92085376e-04 2.37621144e+02] [-5.70713106e-03 -7.70386987e-05 9.99983711e-01 -1.63726065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.045336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1063.68, Y:237.61, Z:-16.37 [[ 9.84700230e-01 1.74165654e-01 5.63755733e-03 1.06368344e+03] [-1.74163401e-01 9.84716362e-01 -8.91755088e-04 2.37614734e+02] [-5.70670805e-03 -1.03744720e-04 9.99983711e-01 -1.63722915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.1053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1063.74, Y:237.61, Z:-16.37 [[ 9.83935101e-01 1.78437480e-01 5.63759907e-03 1.06374157e+03] [-1.78435299e-01 9.83951243e-01 -8.91491104e-04 2.37608565e+02] [-5.70619804e-03 -1.28777289e-04 9.99983711e-01 -1.63732378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.1653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1063.80, Y:237.61, Z:-16.38 [[ 9.83410514e-01 1.81306311e-01 5.63766089e-03 1.06380094e+03] [-1.81304180e-01 9.83426662e-01 -8.91100010e-04 2.37606416e+02] [-5.70578809e-03 -1.45814367e-04 9.99983711e-01 -1.63756751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1063.86, Y:237.61, Z:-16.38 [[ 9.83361264e-01 1.81573237e-01 5.63770184e-03 1.06386063e+03] [-1.81571111e-01 9.83377414e-01 -8.90840872e-04 2.37605266e+02] [-5.70574151e-03 -1.47625383e-04 9.99983711e-01 -1.63754222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1063.92, Y:237.60, Z:-16.38 [[ 9.83600774e-01 1.80271278e-01 5.63774382e-03 1.06391807e+03] [-1.80269132e-01 9.83616921e-01 -8.90575127e-04 2.37600995e+02] [-5.70592533e-03 -1.40340803e-04 9.99983711e-01 -1.63772564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.3453361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1063.98, Y:237.60, Z:-16.38 [[ 9.84518868e-01 1.75187940e-01 5.63783316e-03 1.06397688e+03] [-1.75185715e-01 9.84535004e-01 -8.90009147e-04 2.37598630e+02] [-5.70656296e-03 -1.11437034e-04 9.99983711e-01 -1.63767878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.4053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1064.04, Y:237.60, Z:-16.38 [[ 9.85696502e-01 1.68435802e-01 5.63787270e-03 1.06403667e+03] [-1.68433468e-01 9.85712623e-01 -8.89758645e-04 2.37598133e+02] [-5.70718950e-03 -7.25744648e-05 9.99983711e-01 -1.63758553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.465336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1064.09, Y:237.59, Z:-16.38 [[ 9.86336949e-01 1.64643968e-01 5.63791442e-03 1.06409338e+03] [-1.64641573e-01 9.86353061e-01 -8.89494174e-04 2.37593469e+02] [-5.70742400e-03 -5.08941311e-05 9.99983711e-01 -1.63778429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1064.15, Y:237.59, Z:-16.38 [[ 9.87124556e-01 1.59854068e-01 5.63800375e-03 1.06415288e+03] [-1.59851598e-01 9.87140657e-01 -8.88927592e-04 2.37590564e+02] [-5.70760142e-03 -2.37616576e-05 9.99983711e-01 -1.63751747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.5853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1064.21, Y:237.59, Z:-16.37 [[ 9.87963720e-01 1.54582987e-01 5.63804547e-03 1.06421206e+03] [-1.54580433e-01 9.87979807e-01 -8.88662950e-04 2.37585958e+02] [-5.70764725e-03 6.43524429e-06 9.99983711e-01 -1.63733437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.6453361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1064.27, Y:237.58, Z:-16.37 [[ 9.88587929e-01 1.50539427e-01 5.63808704e-03 1.06427038e+03] [-1.50536809e-01 9.88604006e-01 -8.88399089e-04 2.37579475e+02] [-5.70757453e-03 2.95209846e-05 9.99983711e-01 -1.63715065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.705336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1064.33, Y:237.57, Z:-16.37 [[ 9.89565170e-01 1.43975643e-01 5.63812812e-03 1.06432744e+03] [-1.43972919e-01 9.89581229e-01 -8.88138346e-04 2.37572049e+02] [-5.70725604e-03 6.71330077e-05 9.99983711e-01 -1.63726543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1064.39, Y:237.56, Z:-16.38 [[ 9.90201395e-01 1.39532820e-01 5.63818980e-03 1.06438590e+03] [-1.39530026e-01 9.90217443e-01 -8.87746605e-04 2.37563131e+02] [-5.70690367e-03 9.23511569e-05 9.99983711e-01 -1.63750178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.8253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1064.44, Y:237.55, Z:-16.38 [[ 9.90366828e-01 1.38353737e-01 5.63823218e-03 1.06444301e+03] [-1.38350926e-01 9.90382872e-01 -8.87477350e-04 2.37553089e+02] [-5.70679439e-03 9.88734831e-05 9.99983711e-01 -1.63775172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.8853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1064.50, Y:237.54, Z:-16.38 [[ 9.90327911e-01 1.38632028e-01 5.63828444e-03 1.06450068e+03] [-1.38629223e-01 9.90343956e-01 -8.87145213e-04 2.37542476e+02] [-5.70682766e-03 9.69336715e-05 9.99983711e-01 -1.63781945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1064.56, Y:237.53, Z:-16.38 [[ 9.90136042e-01 1.39995810e-01 5.63832734e-03 1.06455740e+03] [-1.39993029e-01 9.90152092e-01 -8.86872471e-04 2.37530807e+02] [-5.70696004e-03 8.87978760e-05 9.99983711e-01 -1.63801212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1064.62, Y:237.52, Z:-16.38 [[ 9.89658925e-01 1.43329761e-01 5.63838053e-03 1.06461507e+03] [-1.43327036e-01 9.89674984e-01 -8.86534143e-04 2.37520021e+02] [-5.70723089e-03 6.92340591e-05 9.99983711e-01 -1.63809751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.0653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1064.67, Y:237.51, Z:-16.38 [[ 9.89435709e-01 1.44862647e-01 5.63842237e-03 1.06467311e+03] [-1.44859948e-01 9.89451772e-01 -8.86267978e-04 2.37511194e+02] [-5.70733413e-03 6.01236131e-05 9.99983711e-01 -1.63812645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.1253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1064.73, Y:237.50, Z:-16.38 [[ 9.89235684e-01 1.46222327e-01 5.63846415e-03 1.06472972e+03] [-1.46219652e-01 9.89251752e-01 -8.86002126e-04 2.37500254e+02] [-5.70741383e-03 5.20106533e-05 9.99983711e-01 -1.63817183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.185336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1064.79, Y:237.49, Z:-16.38 [[ 9.88902125e-01 1.48461421e-01 5.63851567e-03 1.06478727e+03] [-1.48458784e-01 9.88918199e-01 -8.85674130e-04 2.37489900e+02] [-5.70751920e-03 3.87578483e-05 9.99983711e-01 -1.63819342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1064.85, Y:237.48, Z:-16.38 [[ 9.88381176e-01 1.51890942e-01 5.63855653e-03 1.06484514e+03] [-1.51888363e-01 9.88397259e-01 -8.85413897e-04 2.37481466e+02] [-5.70762017e-03 1.86953100e-05 9.99983711e-01 -1.63804823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.3053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1064.90, Y:237.47, Z:-16.38 [[ 9.88056650e-01 1.53987865e-01 5.63859863e-03 1.06490135e+03] [-1.53985321e-01 9.88072739e-01 -8.85145697e-04 2.37472163e+02] [-5.70764729e-03 6.31267091e-06 9.99983711e-01 -1.63819886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.3653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1064.96, Y:237.46, Z:-16.38 [[ 9.87705702e-01 1.56223081e-01 5.63867179e-03 1.06495933e+03] [-1.56220577e-01 9.87721797e-01 -8.84679401e-04 2.37464653e+02] [-5.70764638e-03 -7.07366908e-06 9.99983711e-01 -1.63822176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.4253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1065.02, Y:237.46, Z:-16.38 [[ 9.87639033e-01 1.56644008e-01 5.63873378e-03 1.06501780e+03] [-1.56641513e-01 9.87655129e-01 -8.84284126e-04 2.37456613e+02] [-5.70764215e-03 -9.90626936e-06 9.99983711e-01 -1.63826888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1065.07, Y:237.45, Z:-16.39 [[ 9.87530411e-01 1.57327342e-01 5.63877650e-03 1.06507481e+03] [-1.57324859e-01 9.87546509e-01 -8.84011633e-04 2.37449421e+02] [-5.70763325e-03 -1.41313458e-05 9.99983711e-01 -1.63853771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1065.13, Y:237.44, Z:-16.39 [[ 9.87405907e-01 1.58106860e-01 5.63882941e-03 1.06513299e+03] [-1.58104391e-01 9.87422007e-01 -8.83673992e-04 2.37441942e+02] [-5.70761918e-03 -1.89787726e-05 9.99983711e-01 -1.63853672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.6053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1065.19, Y:237.44, Z:-16.39 [[ 9.87254337e-01 1.59050552e-01 5.63887146e-03 1.06519072e+03] [-1.59048100e-01 9.87270440e-01 -8.83405611e-04 2.37436065e+02] [-5.70759725e-03 -2.47057731e-05 9.99983711e-01 -1.63907755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.6653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1065.25, Y:237.43, Z:-16.39 [[ 9.87179407e-01 1.59514957e-01 5.63892343e-03 1.06524933e+03] [-1.59512515e-01 9.87195511e-01 -8.83073735e-04 2.37428232e+02] [-5.70758337e-03 -2.77266530e-05 9.99983711e-01 -1.63893374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1065.31, Y:237.42, Z:-16.39 [[ 9.87459687e-01 1.57770618e-01 5.63896441e-03 1.06530762e+03] [-1.57768149e-01 9.87475788e-01 -8.82812010e-04 2.37421901e+02] [-5.70762262e-03 -1.79077072e-05 9.99983711e-01 -1.63861677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1065.37, Y:237.41, Z:-16.39 [[ 9.87651870e-01 1.56563042e-01 5.63900682e-03 1.06536519e+03] [-1.56560555e-01 9.87667967e-01 -8.82541007e-04 2.37414129e+02] [-5.70763971e-03 -1.12027610e-05 9.99983711e-01 -1.63863622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.8453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1065.42, Y:237.41, Z:-16.39 [[ 9.88082118e-01 1.53824344e-01 5.63907162e-03 1.06542212e+03] [-1.53821815e-01 9.88098209e-01 -8.82126763e-04 2.37406335e+02] [-5.70764914e-03 4.20145031e-06 9.99983711e-01 -1.63881100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.9053361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1065.48, Y:237.40, Z:-16.39 [[ 9.88772918e-01 1.49319514e-01 5.63912473e-03 1.06547959e+03] [-1.49316914e-01 9.88788998e-01 -8.81787145e-04 2.37395842e+02] [-5.70757251e-03 2.98705488e-05 9.99983711e-01 -1.63873636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1065.54, Y:237.39, Z:-16.39 [[ 9.88931189e-01 1.48267676e-01 5.63916687e-03 1.06553589e+03] [-1.48265060e-01 9.88947266e-01 -8.81517542e-04 2.37386312e+02] [-5.70753922e-03 3.56687789e-05 9.99983711e-01 -1.63876966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1065.59, Y:237.38, Z:-16.39 [[ 9.88537815e-01 1.50868112e-01 5.63923962e-03 1.06559406e+03] [-1.50865541e-01 9.88553900e-01 -8.81051911e-04 2.37377306e+02] [-5.70761495e-03 2.01861960e-05 9.99983711e-01 -1.63859201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.0853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1065.65, Y:237.37, Z:-16.38 [[ 9.88312886e-01 1.52334622e-01 5.63928080e-03 1.06565188e+03] [-1.52332076e-01 9.88328975e-01 -8.80788230e-04 2.37366920e+02] [-5.70763916e-03 1.14510054e-05 9.99983711e-01 -1.63833009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.1453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1065.71, Y:237.36, Z:-16.38 [[ 9.88111985e-01 1.53632367e-01 5.63932362e-03 1.06570815e+03] [-1.53629843e-01 9.88128077e-01 -8.80514017e-04 2.37355315e+02] [-5.70764945e-03 3.67804861e-06 9.99983711e-01 -1.63811409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.205336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1065.77, Y:237.34, Z:-16.38 [[ 9.87789543e-01 1.55692055e-01 5.63937654e-03 1.06576544e+03] [-1.55689567e-01 9.87805641e-01 -8.80174911e-04 2.37343583e+02] [-5.70764420e-03 -8.56452070e-06 9.99983711e-01 -1.63830122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.265336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1065.82, Y:237.33, Z:-16.38 [[ 9.87454899e-01 1.57800572e-01 5.63941777e-03 1.06582360e+03] [-1.57798120e-01 9.87471002e-01 -8.79910662e-04 2.37333795e+02] [-5.70761192e-03 -2.10174275e-05 9.99983711e-01 -1.63838894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.3253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1065.88, Y:237.33, Z:-16.39 [[ 9.86724571e-01 1.62304707e-01 5.63946006e-03 1.06588112e+03] [-1.62302330e-01 9.86740685e-01 -8.79639541e-04 2.37325140e+02] [-5.70745433e-03 -4.73355616e-05 9.99983711e-01 -1.63864905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.3853361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1065.94, Y:237.32, Z:-16.39 [[ 9.85906393e-01 1.67202813e-01 5.63951247e-03 1.06593891e+03] [-1.67200518e-01 9.85922519e-01 -8.79303421e-04 2.37316152e+02] [-5.70714435e-03 -7.60185423e-05 9.99983711e-01 -1.63853851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1066.00, Y:237.31, Z:-16.39 [[ 9.85400286e-01 1.70160135e-01 5.63957568e-03 1.06599580e+03] [-1.70157891e-01 9.85416419e-01 -8.78897837e-04 2.37308817e+02] [-5.70688385e-03 -9.35521228e-05 9.99983711e-01 -1.63871446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1066.05, Y:237.30, Z:-16.39 [[ 9.84881527e-01 1.73137438e-01 5.63968181e-03 1.06605448e+03] [-1.73135246e-01 9.84897667e-01 -8.78216319e-04 2.37304443e+02] [-5.70656158e-03 -1.11488670e-04 9.99983711e-01 -1.63894898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.5653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1066.11, Y:237.30, Z:-16.39 [[ 9.85178296e-01 1.71440716e-01 5.63972412e-03 1.06611175e+03] [-1.71438499e-01 9.85194433e-01 -8.77944532e-04 2.37299083e+02] [-5.70674024e-03 -1.01933936e-04 9.99983711e-01 -1.63916216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.6253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1066.17, Y:237.29, Z:-16.39 [[ 9.85782269e-01 1.67933054e-01 5.63977644e-03 1.06616993e+03] [-1.67930781e-01 9.85798399e-01 -8.77608279e-04 2.37294610e+02] [-5.70706202e-03 -8.19613796e-05 9.99983711e-01 -1.63906957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1066.23, Y:237.29, Z:-16.39 [[ 9.86238000e-01 1.65235590e-01 5.63982829e-03 1.06622804e+03] [-1.65233275e-01 9.86254123e-01 -8.77274965e-04 2.37288811e+02] [-5.70726095e-03 -6.66853886e-05 9.99983711e-01 -1.63912581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.745336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1066.29, Y:237.28, Z:-16.39 [[ 9.87259824e-01 1.59016451e-01 5.63988955e-03 1.06628640e+03] [-1.59014036e-01 9.87275933e-01 -8.76880907e-04 2.37282897e+02] [-5.70756571e-03 -3.11123126e-05 9.99983711e-01 -1.63929642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.8053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1066.35, Y:237.28, Z:-16.39 [[ 9.88389413e-01 1.51837281e-01 5.63993080e-03 1.06634513e+03] [-1.51834751e-01 9.88405504e-01 -8.76615536e-04 2.37278090e+02] [-5.70764156e-03 1.01000280e-05 9.99983711e-01 -1.63912695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.8653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1066.40, Y:237.27, Z:-16.39 [[ 9.89876006e-01 1.41822719e-01 5.63997266e-03 1.06640334e+03] [-1.41820027e-01 9.89892071e-01 -8.76346141e-04 2.37269855e+02] [-5.70725001e-03 6.76129419e-05 9.99983711e-01 -1.63869380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.9253361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1066.46, Y:237.26, Z:-16.39 [[ 9.90890622e-01 1.34550978e-01 5.64001443e-03 1.06646089e+03] [-1.34548171e-01 9.90906667e-01 -8.76077216e-04 2.37259409e+02] [-5.70660495e-03 1.09243074e-04 9.99983711e-01 -1.63860523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.985336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1066.52, Y:237.24, Z:-16.39 [[ 9.92040390e-01 1.25793695e-01 5.64005601e-03 1.06651775e+03] [-1.25790747e-01 9.92056410e-01 -8.75809433e-04 2.37244815e+02] [-5.70542503e-03 1.59371474e-04 9.99983711e-01 -1.63884147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.045336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1066.57, Y:237.23, Z:-16.38 [[ 9.92685159e-01 1.20600019e-01 5.64009735e-03 1.06657472e+03] [-1.20596988e-01 9.92701163e-01 -8.75543190e-04 2.37229644e+02] [-5.70452172e-03 1.88959976e-04 9.99983711e-01 -1.63832948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.1053361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1066.63, Y:237.21, Z:-16.39 [[ 9.92831341e-01 1.19390604e-01 5.64013888e-03 1.06662996e+03] [-1.19387556e-01 9.92847342e-01 -8.75275553e-04 2.37211815e+02] [-5.70429657e-03 1.95638605e-04 9.99983711e-01 -1.63899862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.1653361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1066.69, Y:237.20, Z:-16.39 [[ 9.92683064e-01 1.20617257e-01 5.64019023e-03 1.06668651e+03] [-1.20614230e-01 9.92699069e-01 -8.74944517e-04 2.37196774e+02] [-5.70454500e-03 1.88255401e-04 9.99983711e-01 -1.63893801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.225336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1066.74, Y:237.18, Z:-16.38 [[ 9.92250019e-01 1.24129319e-01 5.64023953e-03 1.06674350e+03] [-1.24126351e-01 9.92266035e-01 -8.74626574e-04 2.37179623e+02] [-5.70518492e-03 1.67745882e-04 9.99983711e-01 -1.63842875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1066.80, Y:237.16, Z:-16.39 [[ 9.91350940e-01 1.31116362e-01 5.64027947e-03 1.06680041e+03] [-1.31113508e-01 9.91366977e-01 -8.74368970e-04 2.37161534e+02] [-5.70623089e-03 1.27289673e-04 9.99983711e-01 -1.63868339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.3453361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1066.86, Y:237.14, Z:-16.39 [[ 9.89978884e-01 1.41102782e-01 5.64032232e-03 1.06685653e+03] [-1.41100092e-01 9.89994950e-01 -8.74092476e-04 2.37144807e+02] [-5.70722749e-03 6.94830973e-05 9.99983711e-01 -1.63890045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.4053361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1066.91, Y:237.13, Z:-16.39 [[ 9.88152042e-01 1.53374468e-01 5.64037532e-03 1.06691318e+03] [-1.53371980e-01 9.88168140e-01 -8.73750361e-04 2.37130117e+02] [-5.70765018e-03 -1.67732351e-06 9.99983711e-01 -1.63907515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1066.97, Y:237.12, Z:-16.39 [[ 9.86791149e-01 1.61899394e-01 5.64042600e-03 1.06697060e+03] [-1.61897046e-01 9.86807268e-01 -8.73423016e-04 2.37120260e+02] [-5.70742003e-03 -5.12822069e-05 9.99983711e-01 -1.63905323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1067.03, Y:237.11, Z:-16.39 [[ 9.84886761e-01 1.73107632e-01 5.64047639e-03 1.06702814e+03] [-1.73105470e-01 9.84902906e-01 -8.73097509e-04 2.37110189e+02] [-5.70646143e-03 -1.16495137e-04 9.99983711e-01 -1.63897235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.5853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1067.09, Y:237.10, Z:-16.39 [[ 9.83546798e-01 1.80565449e-01 5.64051714e-03 1.06708652e+03] [-1.80563411e-01 9.83562958e-01 -8.72834151e-04 2.37101161e+02] [-5.70540742e-03 -1.59997780e-04 9.99983711e-01 -1.63911718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.6453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1067.14, Y:237.09, Z:-16.39 [[ 9.82929674e-01 1.83895188e-01 5.64055811e-03 1.06714348e+03] [-1.83893206e-01 9.82945842e-01 -8.72569318e-04 2.37092783e+02] [-5.70482444e-03 -1.79586038e-04 9.99983711e-01 -1.63940657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1067.20, Y:237.09, Z:-16.39 [[ 9.82540362e-01 1.85964032e-01 5.64060860e-03 1.06720198e+03] [-1.85962086e-01 9.82556534e-01 -8.72242830e-04 2.37085465e+02] [-5.70442263e-03 -1.91925554e-04 9.99983711e-01 -1.63912863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.765336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1067.26, Y:237.08, Z:-16.39 [[ 9.82358305e-01 1.86923365e-01 5.64064877e-03 1.06726038e+03] [-1.86921436e-01 9.82374479e-01 -8.71982959e-04 2.37078354e+02] [-5.70422339e-03 -1.97758467e-04 9.99983711e-01 -1.63878604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.8253361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1067.32, Y:237.07, Z:-16.39 [[ 9.82661332e-01 1.85323744e-01 5.64068971e-03 1.06731678e+03] [-1.85321790e-01 9.82677503e-01 -8.71718030e-04 2.37072501e+02] [-5.70452893e-03 -1.88739113e-04 9.99983711e-01 -1.63927461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.8853361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1067.38, Y:237.07, Z:-16.39 [[ 9.83756461e-01 1.79419642e-01 5.64076088e-03 1.06737508e+03] [-1.79417593e-01 9.83772620e-01 -8.71257255e-04 2.37065964e+02] [-5.70554678e-03 -1.54946788e-04 9.99983711e-01 -1.63936633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.945336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1067.43, Y:237.06, Z:-16.39 [[ 9.85388053e-01 1.70230922e-01 5.64079986e-03 1.06743250e+03] [-1.70228725e-01 9.85404193e-01 -8.71004843e-04 2.37059790e+02] [-5.70673979e-03 -1.01948399e-04 9.99983711e-01 -1.63938951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1067.49, Y:237.05, Z:-16.39 [[ 9.86589962e-01 1.63120901e-01 5.64085789e-03 1.06749045e+03] [-1.63118589e-01 9.86606085e-01 -8.70628883e-04 2.37052280e+02] [-5.70732249e-03 -6.11750644e-05 9.99983711e-01 -1.63944531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.0653361949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1067.55, Y:237.04, Z:-16.39 [[ 9.88480073e-01 1.51245909e-01 5.64089875e-03 1.06754814e+03] [-1.51243405e-01 9.88496168e-01 -8.70364034e-04 2.37043233e+02] [-5.70764580e-03 7.18876746e-06 9.99983711e-01 -1.63944084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.1253361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1067.61, Y:237.03, Z:-16.39 [[ 9.90041971e-01 1.40659429e-01 5.64094128e-03 1.06760545e+03] [-1.40656754e-01 9.90058039e-01 -8.70088284e-04 2.37032449e+02] [-5.70724539e-03 6.79874305e-05 9.99983711e-01 -1.63935522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.185336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1067.66, Y:237.02, Z:-16.39 [[ 9.90825020e-01 1.35033179e-01 5.64099362e-03 1.06766249e+03] [-1.35030415e-01 9.90841072e-01 -8.69748866e-04 2.37022483e+02] [-5.70677312e-03 1.00063227e-04 9.99983711e-01 -1.63940772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.245336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1067.72, Y:237.01, Z:-16.39 [[ 9.91351006e-01 1.31115832e-01 5.64104525e-03 1.06771991e+03] [-1.31113007e-01 9.91367048e-01 -8.69413852e-04 2.37011993e+02] [-5.70634030e-03 1.22279892e-04 9.99983711e-01 -1.63920142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.3053361949999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1067.78, Y:237.00, Z:-16.39 [[ 9.91146455e-01 1.32653242e-01 5.64109597e-03 1.06777738e+03] [-1.32650443e-01 9.91162502e-01 -8.69084626e-04 2.37000578e+02] [-5.70652969e-03 1.13096265e-04 9.99983711e-01 -1.63911655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.3653361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1067.84, Y:236.99, Z:-16.39 [[ 9.90618517e-01 1.36539855e-01 5.64113759e-03 1.06783502e+03] [-1.36537121e-01 9.90634574e-01 -8.68814435e-04 2.36991390e+02] [-5.70693373e-03 9.04389816e-05 9.99983711e-01 -1.63916509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.4253361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1067.89, Y:236.98, Z:-16.39 [[ 9.90102212e-01 1.40234759e-01 5.64117909e-03 1.06789153e+03] [-1.40232086e-01 9.90118280e-01 -8.68544889e-04 2.36981603e+02] [-5.70723472e-03 6.88739050e-05 9.99983711e-01 -1.63915961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1067.95, Y:236.97, Z:-16.39 [[ 9.89738229e-01 1.42780999e-01 5.64123041e-03 1.06794997e+03] [-1.42778369e-01 9.89754305e-01 -8.68211399e-04 2.36972787e+02] [-5.70739617e-03 5.38563332e-05 9.99983711e-01 -1.63932015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.545336195 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:1068.01, Y:236.96, Z:-16.39 [[ 9.89074045e-01 1.47311605e-01 5.64127091e-03 1.06800823e+03] [-1.47309050e-01 9.89090133e-01 -8.67948185e-04 2.36962706e+02] [-5.70758423e-03 2.74547620e-05 9.99983711e-01 -1.63856495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.6053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1068.07, Y:236.95, Z:-16.39 [[ 9.88098708e-01 1.53717659e-01 5.64131284e-03 1.06806581e+03] [-1.53715211e-01 9.88114812e-01 -8.67675569e-04 2.36954773e+02] [-5.70764183e-03 -9.80648254e-06 9.99983711e-01 -1.63902514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.6653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1068.12, Y:236.95, Z:-16.39 [[ 9.87474655e-01 1.57676826e-01 5.64136480e-03 1.06812377e+03] [-1.57674444e-01 9.87490768e-01 -8.67337586e-04 2.36946929e+02] [-5.70755470e-03 -3.30251738e-05 9.99983711e-01 -1.63892689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.725336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1068.18, Y:236.94, Z:-16.39 [[ 9.86714311e-01 1.62367004e-01 5.64140577e-03 1.06818255e+03] [-1.62364700e-01 9.86730436e-01 -8.67071041e-04 2.36941740e+02] [-5.70733050e-03 -6.04137512e-05 9.99983711e-01 -1.63937591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.785336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1068.24, Y:236.94, Z:-16.40 [[ 9.86272035e-01 1.65032259e-01 5.64144652e-03 1.06824046e+03] [-1.65030000e-01 9.86288167e-01 -8.66805838e-04 2.36936266e+02] [-5.70714287e-03 -7.61015637e-05 9.99983711e-01 -1.63997084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.8453361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1068.30, Y:236.93, Z:-16.40 [[ 9.86320777e-01 1.64740701e-01 5.64149694e-03 1.06829949e+03] [-1.64738439e-01 9.86336908e-01 -8.66477556e-04 2.36930433e+02] [-5.70716077e-03 -7.47465818e-05 9.99983711e-01 -1.63998043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.9053361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1068.36, Y:236.92, Z:-16.40 [[ 9.86896312e-01 1.61257072e-01 5.64153693e-03 1.06835807e+03] [-1.61254755e-01 9.86912435e-01 -8.66217098e-04 2.36924154e+02] [-5.70738658e-03 -5.48581965e-05 9.99983711e-01 -1.63992574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1068.42, Y:236.92, Z:-16.40 [[ 9.87926900e-01 1.54817998e-01 5.64157667e-03 1.06841554e+03] [-1.54815578e-01 9.87943008e-01 -8.65958236e-04 2.36917404e+02] [-5.70762214e-03 -1.79005135e-05 9.99983711e-01 -1.63983938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.025336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1068.47, Y:236.91, Z:-16.40 [[ 9.88664169e-01 1.50037770e-01 5.64162584e-03 1.06847276e+03] [-1.50035274e-01 9.88680265e-01 -8.65637750e-04 2.36910105e+02] [-5.70764249e-03 9.38215073e-06 9.99983711e-01 -1.63995345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.0853361949999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1068.53, Y:236.90, Z:-16.40 [[ 9.89880444e-01 1.41791670e-01 5.64168395e-03 1.06853047e+03] [-1.41789041e-01 9.89896519e-01 -8.65258864e-04 2.36899874e+02] [-5.70736980e-03 5.65738692e-05 9.99983711e-01 -1.64012217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.1453361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1068.59, Y:236.89, Z:-16.40 [[ 9.90952121e-01 1.34097222e-01 5.64172248e-03 1.06858779e+03] [-1.34094470e-01 9.90968175e-01 -8.65007567e-04 2.36889191e+02] [-5.70676254e-03 1.00657296e-04 9.99983711e-01 -1.64010949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.205336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1068.64, Y:236.88, Z:-16.40 [[ 9.91698388e-01 1.28461972e-01 5.64176991e-03 1.06864463e+03] [-1.28459130e-01 9.91714427e-01 -8.64698087e-04 2.36875958e+02] [-5.70610544e-03 1.32782843e-04 9.99983711e-01 -1.64003915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.265336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1068.70, Y:236.86, Z:-16.40 [[ 9.91982707e-01 1.26247687e-01 5.64181640e-03 1.06870249e+03] [-1.26244811e-01 9.91998740e-01 -8.64394688e-04 2.36863261e+02] [-5.70580259e-03 1.45214536e-04 9.99983711e-01 -1.64007581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.3253361949999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1068.76, Y:236.85, Z:-16.40 [[ 9.92165815e-01 1.24800502e-01 5.64185329e-03 1.06875902e+03] [-1.24797605e-01 9.92181844e-01 -8.64153821e-04 2.36849113e+02] [-5.70559123e-03 1.53294105e-04 9.99983711e-01 -1.63983211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.3853361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1068.82, Y:236.83, Z:-16.40 [[ 9.92031153e-01 1.25866436e-01 5.64189891e-03 1.06881585e+03] [-1.25863557e-01 9.92047186e-01 -8.63855898e-04 2.36833943e+02] [-5.70576039e-03 1.46862497e-04 9.99983711e-01 -1.63979710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1068.87, Y:236.82, Z:-16.40 [[ 9.91500496e-01 1.29980521e-01 5.64193755e-03 1.06887243e+03] [-1.29977710e-01 9.91516540e-01 -8.63603451e-04 2.36818807e+02] [-5.70632602e-03 1.22937126e-04 9.99983711e-01 -1.64011980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1068.93, Y:236.81, Z:-16.40 [[ 9.91027272e-01 1.33540687e-01 5.64196621e-03 1.06893032e+03] [-1.33537935e-01 9.91043326e-01 -8.63416131e-04 2.36805678e+02] [-5.70673415e-03 1.02252413e-04 9.99983711e-01 -1.64030687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.5653361949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1068.99, Y:236.79, Z:-16.40 [[ 9.90283471e-01 1.38948966e-01 5.64200209e-03 1.06898861e+03] [-1.38946302e-01 9.90299541e-01 -8.63181641e-04 2.36790662e+02] [-5.70721027e-03 7.08591822e-05 9.99983711e-01 -1.63975396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.6253361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1069.05, Y:236.78, Z:-16.40 [[ 9.89817776e-01 1.42228474e-01 5.64202243e-03 1.06904632e+03] [-1.42225865e-01 9.89833854e-01 -8.63048671e-04 2.36778491e+02] [-5.70741490e-03 5.18193948e-05 9.99983711e-01 -1.63995885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.685336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1069.11, Y:236.77, Z:-16.40 [[ 9.89236444e-01 1.46217048e-01 5.64205277e-03 1.06910519e+03] [-1.46214505e-01 9.89252533e-01 -8.62850276e-04 2.36765807e+02] [-5.70757841e-03 2.86129861e-05 9.99983711e-01 -1.63955559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1069.16, Y:236.75, Z:-16.40 [[ 9.88385501e-01 1.51862661e-01 5.64207376e-03 1.06916257e+03] [-1.51860211e-01 9.88401605e-01 -8.62713027e-04 2.36752124e+02] [-5.70764865e-03 -4.11346294e-06 9.99983711e-01 -1.63959037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.8053361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1069.22, Y:236.74, Z:-16.40 [[ 9.87843533e-01 1.55349030e-01 5.64210500e-03 1.06922024e+03] [-1.55346637e-01 9.87859645e-01 -8.62508648e-04 2.36739301e+02] [-5.70759772e-03 -2.44584493e-05 9.99983711e-01 -1.64008893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.8653361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1069.28, Y:236.73, Z:-16.40 [[ 9.87464627e-01 1.57739583e-01 5.64212531e-03 1.06927888e+03] [-1.57737230e-01 9.87480745e-01 -8.62375754e-04 2.36727597e+02] [-5.70752090e-03 -3.84076678e-05 9.99983711e-01 -1.63992192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.9253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1069.34, Y:236.72, Z:-16.40 [[ 9.86621636e-01 1.62929168e-01 5.64214538e-03 1.06933748e+03] [-1.62926901e-01 9.86637766e-01 -8.62244437e-04 2.36716797e+02] [-5.70723848e-03 -6.85482436e-05 9.99983711e-01 -1.63985303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.985336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1069.40, Y:236.71, Z:-16.40 [[ 9.85446974e-01 1.69889459e-01 5.64216564e-03 1.06939548e+03] [-1.69887307e-01 9.85463119e-01 -8.62111822e-04 2.36708531e+02] [-5.70660987e-03 -1.08966840e-04 9.99983711e-01 -1.63974121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.045336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1069.45, Y:236.70, Z:-16.40 [[ 9.84351071e-01 1.76128174e-01 5.64220662e-03 1.06945375e+03] [-1.76126125e-01 9.84367231e-01 -8.61843544e-04 2.36702663e+02] [-5.70579824e-03 -1.45383375e-04 9.99983711e-01 -1.63962093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.1053361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1069.51, Y:236.70, Z:-16.40 [[ 9.83581432e-01 1.80376640e-01 5.64224781e-03 1.06951166e+03] [-1.80374663e-01 9.83597600e-01 -8.61573794e-04 2.36697991e+02] [-5.70510919e-03 -1.70290560e-04 9.99983711e-01 -1.63960923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.1653361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1069.57, Y:236.69, Z:-16.40 [[ 9.83367929e-01 1.81536994e-01 5.64229845e-03 1.06957003e+03] [-1.81535038e-01 9.83384100e-01 -8.61242039e-04 2.36692752e+02] [-5.70489388e-03 -1.77357062e-04 9.99983711e-01 -1.63954640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1069.63, Y:236.69, Z:-16.40 [[ 9.83283984e-01 1.81991126e-01 5.64233918e-03 1.06962878e+03] [-1.81989179e-01 9.83300156e-01 -8.60975116e-04 2.36690219e+02] [-5.70480283e-03 -1.80261632e-04 9.99983711e-01 -1.63951786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.285336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1069.69, Y:236.69, Z:-16.40 [[ 9.83436339e-01 1.81166028e-01 5.64237949e-03 1.06968839e+03] [-1.81164069e-01 9.83452510e-01 -8.60710891e-04 2.36688010e+02] [-5.70494384e-03 -1.75742057e-04 9.99983711e-01 -1.63970867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.3453361949998 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:1069.75, Y:236.68, Z:-16.39 [[ 9.83432448e-01 1.81187153e-01 5.64242143e-03 1.06974672e+03] [-1.81185195e-01 9.83448618e-01 -8.60435840e-04 2.36684416e+02] [-5.70493148e-03 -1.76142705e-04 9.99983711e-01 -1.63931661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.4053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1069.81, Y:236.68, Z:-16.40 [[ 9.83817975e-01 1.79081979e-01 5.64247338e-03 1.06980532e+03] [-1.79079989e-01 9.83834141e-01 -8.60095080e-04 2.36682567e+02] [-5.70528548e-03 -1.64277073e-04 9.99983711e-01 -1.63985396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1069.86, Y:236.68, Z:-16.40 [[ 9.84490848e-01 1.75345180e-01 5.64252286e-03 1.06986365e+03] [-1.75343130e-01 9.84507007e-01 -8.59770314e-04 2.36683077e+02] [-5.70585988e-03 -1.42941617e-04 9.99983711e-01 -1.64016695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.525336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1069.92, Y:236.68, Z:-16.40 [[ 9.85052030e-01 1.72164630e-01 5.64257124e-03 1.06992148e+03] [-1.72162530e-01 9.85068183e-01 -8.59452702e-04 2.36678583e+02] [-5.70628475e-03 -1.24833713e-04 9.99983711e-01 -1.64008838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.5853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1069.98, Y:236.68, Z:-16.40 [[ 9.85644726e-01 1.68738365e-01 5.64263200e-03 1.06997881e+03] [-1.68736211e-01 9.85660871e-01 -8.59053617e-04 2.36678085e+02] [-5.70667687e-03 -1.05394678e-04 9.99983711e-01 -1.64011203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.6453361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1070.04, Y:236.68, Z:-16.40 [[ 9.85929807e-01 1.67064584e-01 5.64270203e-03 1.07003723e+03] [-1.67062406e-01 9.85945950e-01 -8.58593377e-04 2.36677168e+02] [-5.70683975e-03 -9.61705734e-05 9.99983711e-01 -1.64034886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.705336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1070.09, Y:236.67, Z:-16.40 [[ 9.86197291e-01 1.65478283e-01 5.64275045e-03 1.07009494e+03] [-1.65476080e-01 9.86213430e-01 -8.58275018e-04 2.36673705e+02] [-5.70698215e-03 -8.73117294e-05 9.99983711e-01 -1.64022403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.765336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1070.15, Y:236.67, Z:-16.40 [[ 9.86839228e-01 1.61605994e-01 5.64281055e-03 1.07015329e+03] [-1.61603730e-01 9.86855358e-01 -8.57879726e-04 2.36672229e+02] [-5.70727633e-03 -6.53098654e-05 9.99983711e-01 -1.64029447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.8253361949999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1070.21, Y:236.67, Z:-16.40 [[ 9.87779867e-01 1.55753307e-01 5.64287107e-03 1.07021228e+03] [-1.55750950e-01 9.87795984e-01 -8.57481452e-04 2.36671973e+02] [-5.70756095e-03 -3.18796158e-05 9.99983711e-01 -1.64026554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.8853361949998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1070.27, Y:236.67, Z:-16.40 [[ 9.88949229e-01 1.48147156e-01 5.64293280e-03 1.07027106e+03] [-1.48144677e-01 9.88965328e-01 -8.57075025e-04 2.36665873e+02] [-5.70763811e-03 1.16332290e-05 9.99983711e-01 -1.64016694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.945336195 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:1070.33, Y:236.66, Z:-16.40 [[ 9.89623923e-01 1.43571055e-01 5.64297353e-03 1.07032845e+03] [-1.43568503e-01 9.89640011e-01 -8.56806786e-04 2.36660327e+02] [-5.70752503e-03 3.77632303e-05 9.99983711e-01 -1.64013229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.005336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1070.39, Y:236.65, Z:-16.40 [[ 9.90466663e-01 1.37637004e-01 5.64302353e-03 1.07038628e+03] [-1.37634358e-01 9.90482736e-01 -8.56477356e-04 2.36654871e+02] [-5.70720036e-03 7.16383490e-05 9.99983711e-01 -1.64010203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.0653361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1070.44, Y:236.65, Z:-16.40 [[ 9.90964670e-01 1.34004398e-01 5.64308327e-03 1.07044417e+03] [-1.34001695e-01 9.90980733e-01 -8.56083533e-04 2.36647232e+02] [-5.70690575e-03 9.21658123e-05 9.99983711e-01 -1.64005632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.1253361949998 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:1070.50, Y:236.64, Z:-16.40 [[ 9.91323737e-01 1.31321754e-01 5.64312475e-03 1.07050157e+03] [-1.31319010e-01 9.91339793e-01 -8.55809994e-04 2.36638677e+02] [-5.70664060e-03 1.07335208e-04 9.99983711e-01 -1.64024658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.185336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1070.56, Y:236.63, Z:-16.40 [[ 9.91546134e-01 1.29631857e-01 5.64317596e-03 1.07055855e+03] [-1.29629087e-01 9.91562186e-01 -8.55472212e-04 2.36629466e+02] [-5.70645634e-03 1.16720416e-04 9.99983711e-01 -1.64032594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.245336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1070.62, Y:236.62, Z:-16.40 [[ 9.91668586e-01 1.28691760e-01 5.64322572e-03 1.07061687e+03] [-1.28688976e-01 9.91684635e-01 -8.55143830e-04 2.36619963e+02] [-5.70635021e-03 1.21798332e-04 9.99983711e-01 -1.64005581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.3053361949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1070.67, Y:236.61, Z:-16.40 [[ 9.91923915e-01 1.26708720e-01 5.64326586e-03 1.07067395e+03] [-1.26705906e-01 9.91939959e-01 -8.54878870e-04 2.36609380e+02] [-5.70610151e-03 1.32939683e-04 9.99983711e-01 -1.64005919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.3653361949998 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:1070.73, Y:236.60, Z:-16.39 [[ 9.92114911e-01 1.25204461e-01 5.64331545e-03 1.07073128e+03] [-1.25201625e-01 9.92130951e-01 -8.54551357e-04 2.36597780e+02] [-5.70590157e-03 1.41260880e-04 9.99983711e-01 -1.63939604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.4253361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1070.79, Y:236.58, Z:-16.40 [[ 9.92294079e-01 1.23776467e-01 5.64335468e-03 1.07078862e+03] [-1.23773609e-01 9.92310115e-01 -8.54292256e-04 2.36583194e+02] [-5.70569920e-03 1.49210773e-04 9.99983711e-01 -1.64003755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1070.85, Y:236.57, Z:-16.40 [[ 9.92293629e-01 1.23780069e-01 5.64339415e-03 1.07084652e+03] [-1.23777213e-01 9.92309665e-01 -8.54031411e-04 2.36571780e+02] [-5.70570663e-03 1.48926330e-04 9.99983711e-01 -1.64024338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.545336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1070.90, Y:236.56, Z:-16.40 [[ 9.92267412e-01 1.23990061e-01 5.64343318e-03 1.07090466e+03] [-1.23987210e-01 9.92283449e-01 -8.53773455e-04 2.36560044e+02] [-5.70574476e-03 1.47458044e-04 9.99983711e-01 -1.64030782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.6053361949998 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1070.96, Y:236.54, Z:-16.41 [[ 9.92179306e-01 1.24693125e-01 5.64347293e-03 1.07096102e+03] [-1.24690286e-01 9.92195346e-01 -8.53510607e-04 2.36543978e+02] [-5.70585448e-03 1.43149307e-04 9.99983711e-01 -1.64056446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.6653361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1071.02, Y:236.53, Z:-16.41 [[ 9.92143496e-01 1.24977732e-01 5.64352211e-03 1.07101762e+03] [-1.24974900e-01 9.92159537e-01 -8.53185300e-04 2.36529614e+02] [-5.70590345e-03 1.41183635e-04 9.99983711e-01 -1.64051496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.725336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1071.07, Y:236.51, Z:-16.41 [[ 9.91962998e-01 1.26402374e-01 5.64356961e-03 1.07107443e+03] [-1.26399567e-01 9.91979043e-01 -8.52870979e-04 2.36512145e+02] [-5.70610770e-03 1.32671701e-04 9.99983711e-01 -1.64054525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.785336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1071.13, Y:236.50, Z:-16.41 [[ 9.91391183e-01 1.30811590e-01 5.64360694e-03 1.07113160e+03] [-1.30808855e-01 9.91407241e-01 -8.52623867e-04 2.36495622e+02] [-5.70664587e-03 1.07050024e-04 9.99983711e-01 -1.64069197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.8453361949998 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:1071.19, Y:236.48, Z:-16.41 [[ 9.90261688e-01 1.39104057e-01 5.64364429e-03 1.07118871e+03] [-1.39101458e-01 9.90277768e-01 -8.52376612e-04 2.36480561e+02] [-5.70734451e-03 5.90367519e-05 9.99983711e-01 -1.64051939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.9053361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1071.25, Y:236.47, Z:-16.41 [[ 9.89249781e-01 1.46126722e-01 5.64368425e-03 1.07124523e+03] [-1.46124239e-01 9.89265880e-01 -8.52111943e-04 2.36470079e+02] [-5.70762059e-03 1.82724872e-05 9.99983711e-01 -1.64074936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.965336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1071.30, Y:236.46, Z:-16.41 [[ 9.87601122e-01 1.56882669e-01 5.64373390e-03 1.07130293e+03] [-1.56880363e-01 9.87617247e-01 -8.51782947e-04 2.36457682e+02] [-5.70747892e-03 -4.41692275e-05 9.99983711e-01 -1.64082702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.025336195 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:1071.36, Y:236.45, Z:-16.41 [[ 9.86057282e-01 1.66310504e-01 5.64377058e-03 1.07136044e+03] [-1.66308354e-01 9.86073428e-01 -8.51539817e-04 2.36449804e+02] [-5.70679223e-03 -9.89391563e-05 9.99983711e-01 -1.64063938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.0853361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1071.42, Y:236.44, Z:-16.40 [[ 9.85266839e-01 1.70930987e-01 5.64382658e-03 1.07141839e+03] [-1.70928914e-01 9.85282996e-01 -8.51168538e-04 2.36441639e+02] [-5.70625744e-03 -1.26065013e-04 9.99983711e-01 -1.64037023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.1453361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1071.48, Y:236.44, Z:-16.40 [[ 9.84282061e-01 1.76513376e-01 5.64386531e-03 1.07147548e+03] [-1.76511396e-01 9.84298229e-01 -8.50911667e-04 2.36437747e+02] [-5.70544392e-03 -1.58669456e-04 9.99983711e-01 -1.64039296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.205336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1071.53, Y:236.43, Z:-16.40 [[ 9.83741033e-01 1.79504113e-01 5.64393235e-03 1.07153425e+03] [-1.79502185e-01 9.83757207e-01 -8.50466773e-04 2.36433435e+02] [-5.70492141e-03 -1.76459127e-04 9.99983711e-01 -1.64041819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.265336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1071.59, Y:236.43, Z:-16.40 [[ 9.83660970e-01 1.79942329e-01 5.64397154e-03 1.07159216e+03] [-1.79940410e-01 9.83677145e-01 -8.50206590e-04 2.36432423e+02] [-5.70483397e-03 -1.79263513e-04 9.99983711e-01 -1.64031244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.3253361949999 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:1071.65, Y:236.43, Z:-16.40 [[ 9.83951192e-01 1.78348528e-01 5.64401995e-03 1.07165094e+03] [-1.78346584e-01 9.83967364e-01 -8.49885111e-04 2.36433636e+02] [-5.70510719e-03 -1.70346211e-04 9.99983711e-01 -1.64028089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.3853361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1071.71, Y:236.43, Z:-16.41 [[ 9.84326617e-01 1.76264731e-01 5.64406788e-03 1.07171053e+03] [-1.76262755e-01 9.84342786e-01 -8.49566677e-04 2.36431076e+02] [-5.70544614e-03 -1.58587859e-04 9.99983711e-01 -1.64057923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.445336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1071.77, Y:236.43, Z:-16.41 [[ 9.85149383e-01 1.71606636e-01 5.64409540e-03 1.07176970e+03] [-1.71604585e-01 9.85165542e-01 -8.49383789e-04 2.36431025e+02] [-5.70612820e-03 -1.31782731e-04 9.99983711e-01 -1.64055924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.505336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1071.83, Y:236.43, Z:-16.41 [[ 9.86243385e-01 1.65203300e-01 5.64413567e-03 1.07182943e+03] [-1.65201145e-01 9.86259530e-01 -8.49116131e-04 2.36433439e+02] [-5.70685938e-03 -9.49825069e-05 9.99983711e-01 -1.64065063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.5653361949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1071.89, Y:236.43, Z:-16.41 [[ 9.87319034e-01 1.58648256e-01 5.64417577e-03 1.07188753e+03] [-1.58645995e-01 9.87335165e-01 -8.48849529e-04 2.36428859e+02] [-5.70736171e-03 -5.73405857e-05 9.99983711e-01 -1.64065902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.6253361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1071.95, Y:236.43, Z:-16.40 [[ 9.89649360e-01 1.43395562e-01 5.64423610e-03 1.07194748e+03] [-1.43393055e-01 9.89665454e-01 -8.48448161e-04 2.36429530e+02] [-5.70756919e-03 3.03219194e-05 9.99983711e-01 -1.64026660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.685336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1072.00, Y:236.42, Z:-16.40 [[ 9.90702174e-01 1.35931394e-01 5.64427628e-03 1.07200480e+03] [-1.35928768e-01 9.90718250e-01 -8.48180813e-04 2.36421997e+02] [-5.70718191e-03 7.30750575e-05 9.99983711e-01 -1.64044083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.745336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1072.06, Y:236.41, Z:-16.40 [[ 9.92125809e-01 1.25118028e-01 5.64432568e-03 1.07206298e+03] [-1.25115228e-01 9.92141855e-01 -8.47851894e-04 2.36411246e+02] [-5.70605331e-03 1.34984651e-04 9.99983711e-01 -1.64027606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.8053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1072.12, Y:236.40, Z:-16.40 [[ 9.93199104e-01 1.16291363e-01 5.64436495e-03 1.07211999e+03] [-1.16288422e-01 9.93215125e-01 -8.47590383e-04 2.36400353e+02] [-5.70463608e-03 1.85451714e-04 9.99983711e-01 -1.64043390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.8653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1072.18, Y:236.39, Z:-16.40 [[ 9.93663433e-01 1.12254721e-01 5.64441347e-03 1.07217827e+03] [-1.12251717e-01 9.93679442e-01 -8.47267193e-04 2.36388862e+02] [-5.70384737e-03 2.08303325e-04 9.99983711e-01 -1.64034618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.9253361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1072.24, Y:236.37, Z:-16.41 [[ 9.93890179e-01 1.10229085e-01 5.64447508e-03 1.07223539e+03] [-1.10226051e-01 9.93906183e-01 -8.46856511e-04 2.36373679e+02] [-5.70342690e-03 2.19514172e-04 9.99983711e-01 -1.64053219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.985336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1072.29, Y:236.36, Z:-16.40 [[ 9.93670197e-01 1.12194823e-01 5.64451325e-03 1.07229166e+03] [-1.12191822e-01 9.93686207e-01 -8.46602043e-04 2.36358739e+02] [-5.70385933e-03 2.07974994e-04 9.99983711e-01 -1.64047877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.045336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1072.35, Y:236.34, Z:-16.40 [[ 9.93105897e-01 1.17084654e-01 5.64456037e-03 1.07234929e+03] [-1.17081733e-01 9.93121922e-01 -8.46287749e-04 2.36343387e+02] [-5.70482395e-03 1.79578445e-04 9.99983711e-01 -1.64025062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.1053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1072.41, Y:236.33, Z:-16.40 [[ 9.92589247e-01 1.21386676e-01 5.64460023e-03 1.07240570e+03] [-1.21383826e-01 9.92605285e-01 -8.46021829e-04 2.36329610e+02] [-5.70555579e-03 1.54588996e-04 9.99983711e-01 -1.64034900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.1653361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1072.46, Y:236.31, Z:-16.40 [[ 9.91702109e-01 1.28433117e-01 5.64464996e-03 1.07246268e+03] [-1.28430384e-01 9.91718166e-01 -8.45689914e-04 2.36313460e+02] [-5.70651650e-03 1.13727912e-04 9.99983711e-01 -1.64035496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.225336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1072.52, Y:236.30, Z:-16.40 [[ 9.90783593e-01 1.35336651e-01 5.64469056e-03 1.07251891e+03] [-1.35334031e-01 9.90799670e-01 -8.45418809e-04 2.36297724e+02] [-5.70717369e-03 7.37083605e-05 9.99983711e-01 -1.64048714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.285336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1072.58, Y:236.28, Z:-16.41 [[ 9.89958141e-01 1.41248064e-01 5.64474695e-03 1.07257574e+03] [-1.41245541e-01 9.89974233e-01 -8.45042137e-04 2.36282758e+02] [-5.70751460e-03 3.92610034e-05 9.99983711e-01 -1.64063461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.3453361949998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1072.63, Y:236.27, Z:-16.41 [[ 9.89544190e-01 1.44119511e-01 5.64478665e-03 1.07263285e+03] [-1.44117037e-01 9.89560289e-01 -8.44776867e-04 2.36270198e+02] [-5.70760554e-03 2.24341168e-05 9.99983711e-01 -1.64060607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.4053361949998 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1072.69, Y:236.26, Z:-16.40 [[ 9.89196885e-01 1.46484328e-01 5.64483636e-03 1.07269004e+03] [-1.46481894e-01 9.89212991e-01 -8.44444551e-04 2.36257765e+02] [-5.70764335e-03 8.45559787e-06 9.99983711e-01 -1.64049967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.465336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1072.75, Y:236.25, Z:-16.41 [[ 9.88797079e-01 1.49159216e-01 5.64487764e-03 1.07274651e+03] [-1.49156827e-01 9.88813192e-01 -8.44168530e-04 2.36245108e+02] [-5.70764499e-03 -7.26066137e-06 9.99983711e-01 -1.64093763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.525336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1072.80, Y:236.23, Z:-16.41 [[ 9.88741739e-01 1.49525611e-01 5.64492854e-03 1.07280405e+03] [-1.49523231e-01 9.88757853e-01 -8.43828055e-04 2.36233497e+02] [-5.70764132e-03 -9.71993324e-06 9.99983711e-01 -1.64077762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.5853361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1072.86, Y:236.22, Z:-16.41 [[ 9.88764985e-01 1.49371817e-01 5.64496820e-03 1.07286188e+03] [-1.49369435e-01 9.88781098e-01 -8.43562613e-04 2.36220829e+02] [-5.70764234e-03 -9.10053767e-06 9.99983711e-01 -1.64082682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.6453361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1072.92, Y:236.21, Z:-16.41 [[ 9.88708492e-01 1.49745287e-01 5.64500811e-03 1.07291994e+03] [-1.49742913e-01 9.88724607e-01 -8.43295489e-04 2.36208889e+02] [-5.70763795e-03 -1.15265444e-05 9.99983711e-01 -1.64074427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.705336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1072.98, Y:236.20, Z:-16.41 [[ 9.88903788e-01 1.48450095e-01 5.64504832e-03 1.07297697e+03] [-1.48447701e-01 9.88919900e-01 -8.43026249e-04 2.36196852e+02] [-5.70764794e-03 -4.32259361e-06 9.99983711e-01 -1.64071331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.765336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1073.04, Y:236.19, Z:-16.41 [[ 9.89146147e-01 1.46826542e-01 5.64508817e-03 1.07303525e+03] [-1.46824123e-01 9.89162255e-01 -8.42759273e-04 2.36186341e+02] [-5.70764758e-03 4.77696659e-06 9.99983711e-01 -1.64084366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.8253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1073.09, Y:236.17, Z:-16.41 [[ 9.89573678e-01 1.43916881e-01 5.64510795e-03 1.07309346e+03] [-1.43914415e-01 9.89589779e-01 -8.42626782e-04 2.36174224e+02] [-5.70760935e-03 2.14288738e-05 9.99983711e-01 -1.64087491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.8853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1073.15, Y:236.16, Z:-16.41 [[ 9.89928089e-01 1.41458511e-01 5.64512799e-03 1.07315185e+03] [-1.41456006e-01 9.89944185e-01 -8.42492493e-04 2.36161115e+02] [-5.70753936e-03 3.54697230e-05 9.99983711e-01 -1.64096726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.945336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1073.21, Y:236.15, Z:-16.41 [[ 9.89877569e-01 1.41811606e-01 5.64514785e-03 1.07321103e+03] [-1.41809108e-01 9.89893665e-01 -8.42359412e-04 2.36149001e+02] [-5.70755243e-03 3.32993072e-05 9.99983711e-01 -1.64088281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.005336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1073.27, Y:236.14, Z:-16.41 [[ 9.89707157e-01 1.42996068e-01 5.64514785e-03 1.07327003e+03] [-1.42993589e-01 9.89723256e-01 -8.42359413e-04 2.36138007e+02] [-5.70758819e-03 2.64691889e-05 9.99983711e-01 -1.64093731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.0653361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1073.33, Y:236.13, Z:-16.41 [[ 9.89641026e-01 1.43453034e-01 5.64513914e-03 1.07332881e+03] [-1.43450562e-01 9.89657126e-01 -8.42417793e-04 2.36125975e+02] [-5.70759956e-03 2.38928255e-05 9.99983711e-01 -1.64099603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.1253361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1073.39, Y:236.11, Z:-16.41 [[ 9.89351409e-01 1.45437005e-01 5.64514899e-03 1.07338786e+03] [-1.45434566e-01 9.89367514e-01 -8.42351784e-04 2.36114259e+02] [-5.70763614e-03 1.23821290e-05 9.99983711e-01 -1.64112693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1073.45, Y:236.10, Z:-16.41 [[ 9.88876649e-01 1.48630766e-01 5.64515877e-03 1.07344606e+03] [-1.48628379e-01 9.88892762e-01 -8.42286196e-04 2.36102871e+02] [-5.70764629e-03 -6.11364739e-06 9.99983711e-01 -1.64135381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.245336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1073.50, Y:236.09, Z:-16.41 [[ 9.88191432e-01 1.53120299e-01 5.64517828e-03 1.07350399e+03] [-1.53117986e-01 9.88207556e-01 -8.42155433e-04 2.36093426e+02] [-5.70755892e-03 -3.21675476e-05 9.99983711e-01 -1.64125484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.3053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1073.56, Y:236.09, Z:-16.41 [[ 9.87329281e-01 1.58584436e-01 5.64520730e-03 1.07356107e+03] [-1.58582213e-01 9.87345417e-01 -8.41960881e-04 2.36086294e+02] [-5.70729144e-03 -6.39368371e-05 9.99983711e-01 -1.64135404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.3653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1073.62, Y:236.08, Z:-16.41 [[ 9.86649947e-01 1.62757528e-01 5.64525470e-03 1.07362085e+03] [-1.62755376e-01 9.86666093e-01 -8.41642948e-04 2.36080076e+02] [-5.70696512e-03 -8.83885786e-05 9.99983711e-01 -1.64112530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.4253361949998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:1073.68, Y:236.07, Z:-16.42 [[ 9.85724006e-01 1.68274523e-01 5.64527581e-03 1.07367932e+03] [-1.68272462e-01 9.85740164e-01 -8.41501320e-04 2.36074553e+02] [-5.70637833e-03 -1.20456405e-04 9.99983711e-01 -1.64180902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1073.74, Y:236.07, Z:-16.41 [[ 9.85281131e-01 1.70848538e-01 5.64530717e-03 1.07373884e+03] [-1.70846520e-01 9.85297295e-01 -8.41290880e-04 2.36074195e+02] [-5.70603920e-03 -1.35573054e-04 9.99983711e-01 -1.64132549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1073.80, Y:236.07, Z:-16.41 [[ 9.85296594e-01 1.70759339e-01 5.64534784e-03 1.07379679e+03] [-1.70757322e-01 9.85312757e-01 -8.41017895e-04 2.36072842e+02] [-5.70604490e-03 -1.35332409e-04 9.99983711e-01 -1.64120333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.6053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1073.85, Y:236.07, Z:-16.41 [[ 9.85441022e-01 1.69923870e-01 5.64539811e-03 1.07385495e+03] [-1.69921841e-01 9.85457184e-01 -8.40680289e-04 2.36070593e+02] [-5.70614977e-03 -1.30835597e-04 9.99983711e-01 -1.64125299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.6653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1073.91, Y:236.07, Z:-16.41 [[ 9.85994279e-01 1.66683563e-01 5.64545204e-03 1.07391485e+03] [-1.66681482e-01 9.86010435e-01 -8.40317978e-04 2.36070565e+02] [-5.70654181e-03 -1.12443596e-04 9.99983711e-01 -1.64114203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1073.97, Y:236.07, Z:-16.41 [[ 9.87057501e-01 1.60267334e-01 5.64549133e-03 1.07397397e+03] [-1.60265150e-01 9.87073643e-01 -8.40053916e-04 2.36069289e+02] [-5.70714890e-03 -7.55939946e-05 9.99983711e-01 -1.64116302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1074.03, Y:236.07, Z:-16.41 [[ 9.88450540e-01 1.51438630e-01 5.64553125e-03 1.07403373e+03] [-1.51436303e-01 9.88466661e-01 -8.39785555e-04 2.36067776e+02] [-5.70759540e-03 -2.48518975e-05 9.99983711e-01 -1.64112816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.8453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1074.09, Y:236.06, Z:-16.41 [[ 9.89894008e-01 1.41696791e-01 5.64559390e-03 1.07409128e+03] [-1.41694308e-01 9.89910106e-01 -8.39364181e-04 2.36063936e+02] [-5.70756567e-03 3.09330493e-05 9.99983711e-01 -1.64120540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.9053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1074.15, Y:236.06, Z:-16.41 [[ 9.90770958e-01 1.35429083e-01 5.64564834e-03 1.07414929e+03] [-1.35426500e-01 9.90787040e-01 -8.38997860e-04 2.36057245e+02] [-5.70725992e-03 6.66843179e-05 9.99983711e-01 -1.64108773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1074.21, Y:236.05, Z:-16.41 [[ 9.91744998e-01 1.28101461e-01 5.64568835e-03 1.07420718e+03] [-1.28098761e-01 9.91761062e-01 -8.38728513e-04 2.36049585e+02] [-5.70661622e-03 1.08599126e-04 9.99983711e-01 -1.64140006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1074.26, Y:236.04, Z:-16.42 [[ 9.92134654e-01 1.25047810e-01 5.64572778e-03 1.07426474e+03] [-1.25045063e-01 9.92150709e-01 -8.38463035e-04 2.36040304e+02] [-5.70626079e-03 1.25897849e-04 9.99983711e-01 -1.64168819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.0853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1074.32, Y:236.03, Z:-16.42 [[ 9.91770895e-01 1.27900810e-01 5.64574737e-03 1.07432258e+03] [-1.27898110e-01 9.91786958e-01 -8.38331113e-04 2.36032548e+02] [-5.70660184e-03 1.09351981e-04 9.99983711e-01 -1.64179751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.1453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1074.38, Y:236.03, Z:-16.42 [[ 9.90850138e-01 1.34848545e-01 5.64578596e-03 1.07437948e+03] [-1.34845958e-01 9.90866220e-01 -8.38071163e-04 2.36025378e+02] [-5.70723126e-03 6.90915108e-05 9.99983711e-01 -1.64188078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1074.44, Y:236.02, Z:-16.42 [[ 9.90123070e-01 1.40087225e-01 5.64583383e-03 1.07443838e+03] [-1.40084725e-01 9.90139166e-01 -8.37748565e-04 2.36018806e+02] [-5.70751907e-03 3.85790995e-05 9.99983711e-01 -1.64183285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1074.50, Y:236.02, Z:-16.42 [[ 9.89048207e-01 1.47484808e-01 5.64587213e-03 1.07449615e+03] [-1.47482430e-01 9.89064321e-01 -8.37490341e-04 2.36015706e+02] [-5.70764779e-03 -4.34862282e-06 9.99983711e-01 -1.64181129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.3253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1074.55, Y:236.01, Z:-16.42 [[ 9.88443476e-01 1.51484711e-01 5.64591953e-03 1.07455458e+03] [-1.51482400e-01 9.88459600e-01 -8.37170700e-04 2.36009549e+02] [-5.70758192e-03 -2.77615245e-05 9.99983711e-01 -1.64200761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.3853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1074.61, Y:236.00, Z:-16.42 [[ 9.87998425e-01 1.54360733e-01 5.64595716e-03 1.07461229e+03] [-1.54358470e-01 9.88014556e-01 -8.36916839e-04 2.36003467e+02] [-5.70747495e-03 -4.46287904e-05 9.99983711e-01 -1.64222855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.445336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1074.67, Y:236.00, Z:-16.42 [[ 9.87758817e-01 1.55886629e-01 5.64600398e-03 1.07466998e+03] [-1.55884393e-01 9.87774952e-01 -8.36600852e-04 2.35999939e+02] [-5.70739620e-03 -5.37640375e-05 9.99983711e-01 -1.64221315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1074.73, Y:235.99, Z:-16.42 [[ 9.88295925e-01 1.52444371e-01 5.64606765e-03 1.07472827e+03] [-1.52442081e-01 9.88312052e-01 -8.36170949e-04 2.35994168e+02] [-5.70754626e-03 -3.43139621e-05 9.99983711e-01 -1.64170614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.5653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1074.79, Y:235.99, Z:-16.42 [[ 9.89300006e-01 1.45786214e-01 5.64610673e-03 1.07478610e+03] [-1.45783818e-01 9.89316117e-01 -8.35906949e-04 2.35985997e+02] [-5.70764810e-03 3.85175366e-06 9.99983711e-01 -1.64158445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.6253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1074.84, Y:235.98, Z:-16.42 [[ 9.90333824e-01 1.38589459e-01 5.64614592e-03 1.07484351e+03] [-1.38586947e-01 9.90349918e-01 -8.35642147e-04 2.35976616e+02] [-5.70747134e-03 4.50825553e-05 9.99983711e-01 -1.64176214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1074.90, Y:235.96, Z:-16.42 [[ 9.91143075e-01 1.32678274e-01 5.64619413e-03 1.07490141e+03] [-1.32675668e-01 9.91159154e-01 -8.35316311e-04 2.35964448e+02] [-5.70710532e-03 7.88054007e-05 9.99983711e-01 -1.64159407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.745336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1074.96, Y:235.95, Z:-16.42 [[ 9.91498852e-01 1.29992868e-01 5.64623392e-03 1.07495938e+03] [-1.29990220e-01 9.91514924e-01 -8.35047259e-04 2.35954879e+02] [-5.70687539e-03 9.39932111e-05 9.99983711e-01 -1.64160959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.8053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1075.02, Y:235.94, Z:-16.42 [[ 9.91622156e-01 1.29048903e-01 5.64627432e-03 1.07501548e+03] [-1.29046241e-01 9.91638226e-01 -8.34773977e-04 2.35942077e+02] [-5.70678812e-03 9.91498912e-05 9.99983711e-01 -1.64188032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.8653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1075.07, Y:235.93, Z:-16.42 [[ 9.91181572e-01 1.32390375e-01 5.64632418e-03 1.07507292e+03] [-1.32387769e-01 9.91197651e-01 -8.34436623e-04 2.35929181e+02] [-5.70709464e-03 7.95739436e-05 9.99983711e-01 -1.64177830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.9253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1075.13, Y:235.92, Z:-16.42 [[ 9.90039220e-01 1.40678572e-01 5.64636444e-03 1.07512968e+03] [-1.40676103e-01 9.90055321e-01 -8.34164093e-04 2.35920334e+02] [-5.70756217e-03 3.15466245e-05 9.99983711e-01 -1.64202462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1075.19, Y:235.91, Z:-16.42 [[ 9.88654738e-01 1.50099727e-01 5.64641432e-03 1.07518809e+03] [-1.50097412e-01 9.88670861e-01 -8.33826308e-04 2.35912417e+02] [-5.70760241e-03 -2.31458487e-05 9.99983711e-01 -1.64189042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1075.25, Y:235.91, Z:-16.42 [[ 9.87861674e-01 1.55233469e-01 5.64645326e-03 1.07524556e+03] [-1.55231240e-01 9.87877810e-01 -8.33562527e-04 2.35905946e+02] [-5.70740269e-03 -5.30614659e-05 9.99983711e-01 -1.64192869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.1053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1075.30, Y:235.90, Z:-16.42 [[ 9.86974853e-01 1.60775483e-01 5.64650171e-03 1.07530356e+03] [-1.60773346e-01 9.86991001e-01 -8.33234246e-04 2.35901925e+02] [-5.70701001e-03 -8.54257263e-05 9.99983711e-01 -1.64171289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.1653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1075.36, Y:235.90, Z:-16.42 [[ 9.86670052e-01 1.62635558e-01 5.64656304e-03 1.07536172e+03] [-1.62633454e-01 9.86686204e-01 -8.32818405e-04 2.35897600e+02] [-5.70683174e-03 -9.66030716e-05 9.99983711e-01 -1.64164260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1075.42, Y:235.89, Z:-16.42 [[ 9.86768012e-01 1.62040139e-01 5.64661358e-03 1.07542007e+03] [-1.62038028e-01 9.86784163e-01 -8.32475618e-04 2.35894327e+02] [-5.70688332e-03 -9.35058157e-05 9.99983711e-01 -1.64189822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.285336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1075.48, Y:235.89, Z:-16.42 [[ 9.87255883e-01 1.59040679e-01 5.64666264e-03 1.07547915e+03] [-1.59038521e-01 9.87272028e-01 -8.32142710e-04 2.35889969e+02] [-5.70713661e-03 -7.64990865e-05 9.99983711e-01 -1.64204241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.3453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1075.54, Y:235.89, Z:-16.42 [[ 9.87695088e-01 1.56289885e-01 5.64670311e-03 1.07553663e+03] [-1.56287683e-01 9.87711227e-01 -8.31867980e-04 2.35885337e+02] [-5.70732461e-03 -6.08782301e-05 9.99983711e-01 -1.64210424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.4053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1075.59, Y:235.88, Z:-16.42 [[ 9.88358321e-01 1.52039285e-01 5.64676400e-03 1.07559406e+03] [-1.52037016e-01 9.88374451e-01 -8.31454451e-04 2.35879689e+02] [-5.70753100e-03 -3.67422217e-05 9.99983711e-01 -1.64210668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1075.65, Y:235.87, Z:-16.42 [[ 9.88950650e-01 1.48137519e-01 5.64681417e-03 1.07565283e+03] [-1.48135189e-01 9.88966772e-01 -8.31113549e-04 2.35874622e+02] [-5.70763068e-03 -1.45615981e-05 9.99983711e-01 -1.64190926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1075.71, Y:235.87, Z:-16.42 [[ 9.89322945e-01 1.45630433e-01 5.64685299e-03 1.07571044e+03] [-1.45628063e-01 9.89339061e-01 -8.30849749e-04 2.35870230e+02] [-5.70764924e-03 -3.61542917e-07 9.99983711e-01 -1.64186641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.5853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1075.77, Y:235.87, Z:-16.42 [[ 9.89220438e-01 1.46325107e-01 5.64690116e-03 1.07576870e+03] [-1.46322750e-01 9.89236556e-01 -8.30522229e-04 2.35867022e+02] [-5.70764731e-03 -4.70054172e-06 9.99983711e-01 -1.64160443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.6453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1075.83, Y:235.87, Z:-16.42 [[ 9.88747806e-01 1.49485411e-01 5.64696005e-03 1.07582715e+03] [-1.49483108e-01 9.88763931e-01 -8.30121617e-04 2.35867100e+02] [-5.70760149e-03 -2.33442122e-05 9.99983711e-01 -1.64195882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1075.89, Y:235.87, Z:-16.42 [[ 9.88243908e-01 1.52781181e-01 5.64700856e-03 1.07588627e+03] [-1.52778934e-01 9.88260041e-01 -8.29791456e-04 2.35865139e+02] [-5.70748943e-03 -4.27075955e-05 9.99983711e-01 -1.64213683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1075.94, Y:235.86, Z:-16.42 [[ 9.88268146e-01 1.52624316e-01 5.64704830e-03 1.07594470e+03] [-1.52622067e-01 9.88284279e-01 -8.29520965e-04 2.35861067e+02] [-5.70749413e-03 -4.20750395e-05 9.99983711e-01 -1.64215318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.8253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1076.00, Y:235.86, Z:-16.42 [[ 9.88909667e-01 1.48410854e-01 5.64710744e-03 1.07600329e+03] [-1.48408539e-01 9.88925790e-01 -8.29118159e-04 2.35861448e+02] [-5.70762032e-03 -1.81560044e-05 9.99983711e-01 -1.64217078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.8853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1076.06, Y:235.86, Z:-16.42 [[ 9.90091107e-01 1.40312902e-01 5.64715626e-03 1.07606273e+03] [-1.40310457e-01 9.90107211e-01 -8.28785521e-04 2.35858896e+02] [-5.70757943e-03 2.82180995e-05 9.99983711e-01 -1.64190688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.945336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1076.12, Y:235.85, Z:-16.42 [[ 9.91413870e-01 1.30639383e-01 5.64719495e-03 1.07612129e+03] [-1.30636783e-01 9.91429949e-01 -8.28521796e-04 2.35851556e+02] [-5.70703578e-03 8.36766204e-05 9.99983711e-01 -1.64206477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.005336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1076.18, Y:235.85, Z:-16.42 [[ 9.92513801e-01 1.22001897e-01 5.64723427e-03 1.07617928e+03] [-1.21999158e-01 9.92529858e-01 -8.28253672e-04 2.35845201e+02] [-5.70609715e-03 1.33095375e-04 9.99983711e-01 -1.64204230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.0653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1076.24, Y:235.84, Z:-16.42 [[ 9.93088848e-01 1.17229043e-01 5.64727292e-03 1.07623634e+03] [-1.17226229e-01 9.93104892e-01 -8.27990089e-04 2.35836230e+02] [-5.70539885e-03 1.60259216e-04 9.99983711e-01 -1.64217188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.1253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1076.29, Y:235.83, Z:-16.42 [[ 9.93728634e-01 1.11675916e-01 5.64733295e-03 1.07629359e+03] [-1.11673014e-01 9.93744662e-01 -8.27580456e-04 2.35825465e+02] [-5.70442778e-03 1.91735701e-04 9.99983711e-01 -1.64209749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.185336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1076.35, Y:235.81, Z:-16.42 [[ 9.93874386e-01 1.10371244e-01 5.64738226e-03 1.07635034e+03] [-1.10368323e-01 9.93890411e-01 -8.27243843e-04 2.35814240e+02] [-5.70418300e-03 1.98884360e-04 9.99983711e-01 -1.64189131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.245336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1076.41, Y:235.81, Z:-16.41 [[ 9.93823392e-01 1.10829470e-01 5.64742983e-03 1.07640748e+03] [-1.10826558e-01 9.93839419e-01 -8.26918972e-04 2.35805059e+02] [-5.70428537e-03 1.95926208e-04 9.99983711e-01 -1.64141736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.3053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1076.46, Y:235.79, Z:-16.42 [[ 9.93352525e-01 1.14973329e-01 5.64748814e-03 1.07646485e+03] [-1.14970487e-01 9.93368564e-01 -8.26520509e-04 2.35794061e+02] [-5.70506500e-03 1.71731774e-04 9.99983711e-01 -1.64208738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.3653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1076.52, Y:235.78, Z:-16.43 [[ 9.92608265e-01 1.21230931e-01 5.64752681e-03 1.07652204e+03] [-1.21228191e-01 9.92624321e-01 -8.26256207e-04 2.35782887e+02] [-5.70604028e-03 1.35509280e-04 9.99983711e-01 -1.64257570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.4253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1076.58, Y:235.77, Z:-16.43 [[ 9.91675943e-01 1.28634864e-01 5.64757460e-03 1.07657834e+03] [-1.28632246e-01 9.91692020e-01 -8.25929426e-04 2.35773870e+02] [-5.70689798e-03 9.25941378e-05 9.99983711e-01 -1.64265853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1076.63, Y:235.76, Z:-16.43 [[ 9.90686786e-01 1.36043360e-01 5.64766410e-03 1.07663499e+03] [-1.36040865e-01 9.90702883e-01 -8.25316974e-04 2.35762796e+02] [-5.70743600e-03 4.93175087e-05 9.99983711e-01 -1.64258816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1076.69, Y:235.75, Z:-16.43 [[ 9.90088567e-01 1.40330798e-01 5.64771110e-03 1.07669257e+03] [-1.40328375e-01 9.90104675e-01 -8.24995198e-04 2.35752892e+02] [-5.70759740e-03 2.42841922e-05 9.99983711e-01 -1.64255958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.6053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1076.75, Y:235.74, Z:-16.42 [[ 9.89227881e-01 1.46274752e-01 5.64774875e-03 1.07675060e+03] [-1.46272427e-01 9.89244003e-01 -8.24737425e-04 2.35742268e+02] [-5.70763984e-03 -1.02566619e-05 9.99983711e-01 -1.64236288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.6653361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1076.81, Y:235.73, Z:-16.42 [[ 9.88560732e-01 1.50717556e-01 5.64778661e-03 1.07680898e+03] [-1.50715305e-01 9.88576864e-01 -8.24478067e-04 2.35732238e+02] [-5.70753450e-03 -3.61612419e-05 9.99983711e-01 -1.64234374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1076.87, Y:235.72, Z:-16.43 [[ 9.88010742e-01 1.54281808e-01 5.64782714e-03 1.07686646e+03] [-1.54279617e-01 9.88026882e-01 -8.24200345e-04 2.35724115e+02] [-5.70736416e-03 -5.70258118e-05 9.99983711e-01 -1.64289758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1076.92, Y:235.72, Z:-16.43 [[ 9.87566118e-01 1.57102716e-01 5.64787754e-03 1.07692428e+03] [-1.57100573e-01 9.87582266e-01 -8.23854794e-04 2.35716611e+02] [-5.70717352e-03 -7.36737175e-05 9.99983711e-01 -1.64292181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.8453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1076.98, Y:235.71, Z:-16.43 [[ 9.87448249e-01 1.57841871e-01 5.64793239e-03 1.07698211e+03] [-1.57839742e-01 9.87464398e-01 -8.23478582e-04 2.35710926e+02] [-5.70711156e-03 -7.83257073e-05 9.99983711e-01 -1.64291642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.9053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1077.04, Y:235.70, Z:-16.43 [[ 9.87686967e-01 1.56341153e-01 5.64797763e-03 1.07704080e+03] [-1.56339002e-01 9.87703113e-01 -8.23168222e-04 2.35703027e+02] [-5.70722015e-03 -6.99666595e-05 9.99983711e-01 -1.64284846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1077.10, Y:235.70, Z:-16.43 [[ 9.88301159e-01 1.52410366e-01 5.64801699e-03 1.07709876e+03] [-1.52408152e-01 9.88317296e-01 -8.22898026e-04 2.35697482e+02] [-5.70745107e-03 -4.75327624e-05 9.99983711e-01 -1.64293260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1077.16, Y:235.69, Z:-16.42 [[ 9.89100898e-01 1.47130937e-01 5.64806576e-03 1.07715710e+03] [-1.47128639e-01 9.89117024e-01 -8.22563202e-04 2.35689832e+02] [-5.70762249e-03 -1.73942240e-05 9.99983711e-01 -1.64249884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.0853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1077.21, Y:235.68, Z:-16.42 [[ 9.89908944e-01 1.41592307e-01 5.64810228e-03 1.07721489e+03] [-1.41589920e-01 9.89925057e-01 -8.22312328e-04 2.35681193e+02] [-5.70763107e-03 1.42999800e-05 9.99983711e-01 -1.64235328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.1453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1077.27, Y:235.67, Z:-16.43 [[ 9.90624269e-01 1.36497821e-01 5.64816038e-03 1.07727182e+03] [-1.36495353e-01 9.90640370e-01 -8.21913100e-04 2.35671682e+02] [-5.70748503e-03 4.32594206e-05 9.99983711e-01 -1.64258234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.205336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1077.33, Y:235.66, Z:-16.42 [[ 9.91180827e-01 1.32395869e-01 5.64820795e-03 1.07732991e+03] [-1.32393337e-01 9.91196918e-01 -8.21586083e-04 2.35661496e+02] [-5.70726091e-03 6.65552782e-05 9.99983711e-01 -1.64249958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1077.39, Y:235.65, Z:-16.43 [[ 9.91419637e-01 1.30595560e-01 5.64824579e-03 1.07738750e+03] [-1.30593000e-01 9.91435723e-01 -8.21325845e-04 2.35650134e+02] [-5.70713416e-03 7.66572092e-05 9.99983711e-01 -1.64285407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.3253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1077.44, Y:235.64, Z:-16.43 [[ 9.91299115e-01 1.31507265e-01 5.64828329e-03 1.07744449e+03] [-1.31504722e-01 9.91315204e-01 -8.21067876e-04 2.35640543e+02] [-5.70720549e-03 7.11479379e-05 9.99983711e-01 -1.64305247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.3853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1077.50, Y:235.63, Z:-16.43 [[ 9.90741467e-01 1.35644539e-01 5.64834830e-03 1.07750165e+03] [-1.35642065e-01 9.90757567e-01 -8.20620363e-04 2.35630367e+02] [-5.70745649e-03 4.68689940e-05 9.99983711e-01 -1.64305698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1077.56, Y:235.62, Z:-16.43 [[ 9.90162269e-01 1.39809786e-01 5.64840325e-03 1.07755946e+03] [-1.39807382e-01 9.90178379e-01 -8.20241996e-04 2.35620608e+02] [-5.70760463e-03 2.24842061e-05 9.99983711e-01 -1.64310748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1077.62, Y:235.61, Z:-16.43 [[ 9.89888431e-01 1.41735630e-01 5.64843994e-03 1.07761706e+03] [-1.41733258e-01 9.89904546e-01 -8.19989242e-04 2.35610997e+02] [-5.70763807e-03 1.11260664e-05 9.99983711e-01 -1.64277820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.5653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1077.67, Y:235.60, Z:-16.43 [[ 9.89622786e-01 1.43578677e-01 5.64847960e-03 1.07767359e+03] [-1.43576337e-01 9.89638906e-01 -8.19715932e-04 2.35601560e+02] [-5.70764890e-03 2.21551083e-07 9.99983711e-01 -1.64286332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.6253361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1077.73, Y:235.59, Z:-16.43 [[ 9.89359623e-01 1.45380984e-01 5.64853849e-03 1.07773108e+03] [-1.45378676e-01 9.89375747e-01 -8.19309938e-04 2.35589937e+02] [-5.70763908e-03 -1.05848743e-05 9.99983711e-01 -1.64283914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1077.79, Y:235.58, Z:-16.43 [[ 9.89041613e-01 1.47528917e-01 5.64857614e-03 1.07778940e+03] [-1.47526645e-01 9.89057743e-01 -8.19050299e-04 2.35580552e+02] [-5.70760157e-03 -2.32406594e-05 9.99983711e-01 -1.64293753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1077.85, Y:235.57, Z:-16.43 [[ 9.88731790e-01 1.49591245e-01 5.64861485e-03 1.07784526e+03] [-1.49589008e-01 9.88747924e-01 -8.18783229e-04 2.35570587e+02] [-5.70753902e-03 -3.54136873e-05 9.99983711e-01 -1.64308814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.8053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1077.90, Y:235.56, Z:-16.43 [[ 9.88295761e-01 1.52445338e-01 5.64871398e-03 1.07790289e+03] [-1.52443151e-01 9.88311902e-01 -8.18098768e-04 2.35560653e+02] [-5.70740661e-03 -5.25842168e-05 9.99983711e-01 -1.64296241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.8653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1077.96, Y:235.55, Z:-16.43 [[ 9.88014034e-01 1.54260688e-01 5.64875276e-03 1.07796075e+03] [-1.54258533e-01 9.88030180e-01 -8.17830965e-04 2.35552083e+02] [-5.70729737e-03 -6.33398430e-05 9.99983711e-01 -1.64297773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.9253361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1078.02, Y:235.54, Z:-16.43 [[ 9.87631789e-01 1.56689311e-01 5.64881110e-03 1.07801923e+03] [-1.56687198e-01 9.87647940e-01 -8.17427785e-04 2.35543629e+02] [-5.70711884e-03 -7.77787199e-05 9.99983711e-01 -1.64283105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1078.08, Y:235.54, Z:-16.43 [[ 9.87699401e-01 1.56262550e-01 5.64885076e-03 1.07807633e+03] [-1.56260432e-01 9.87715551e-01 -8.17153618e-04 2.35537092e+02] [-5.70714825e-03 -7.55897195e-05 9.99983711e-01 -1.64327561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1078.14, Y:235.53, Z:-16.43 [[ 9.87812488e-01 1.55546065e-01 5.64891939e-03 1.07813543e+03] [-1.55543938e-01 9.87828637e-01 -8.16678935e-04 2.35531964e+02] [-5.70719553e-03 -7.19295141e-05 9.99983711e-01 -1.64313022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.1053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1078.19, Y:235.53, Z:-16.43 [[ 9.87942231e-01 1.54719869e-01 5.64895827e-03 1.07819389e+03] [-1.54717730e-01 9.87958378e-01 -8.16409922e-04 2.35525668e+02] [-5.70725048e-03 -6.74281590e-05 9.99983711e-01 -1.64283011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.1653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1078.25, Y:235.52, Z:-16.43 [[ 9.88006598e-01 1.54308297e-01 5.64899872e-03 1.07825093e+03] [-1.54306153e-01 9.88022745e-01 -8.16129876e-04 2.35519234e+02] [-5.70727484e-03 -6.53335576e-05 9.99983711e-01 -1.64290250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1078.31, Y:235.51, Z:-16.43 [[ 9.88427144e-01 1.51591125e-01 5.64910207e-03 1.07830856e+03] [-1.51588941e-01 9.88443285e-01 -8.15413944e-04 2.35513998e+02] [-5.70742652e-03 -5.03641217e-05 9.99983711e-01 -1.64291566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1078.37, Y:235.51, Z:-16.43 [[ 9.89150903e-01 1.46794339e-01 5.64916129e-03 1.07836716e+03] [-1.46792079e-01 9.89167034e-01 -8.15003420e-04 2.35509452e+02] [-5.70760201e-03 -2.30907592e-05 9.99983711e-01 -1.64302134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.3453361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1078.43, Y:235.50, Z:-16.43 [[ 9.89632297e-01 1.43513076e-01 5.64920052e-03 1.07842583e+03] [-1.43510763e-01 9.89648421e-01 -8.14731409e-04 2.35502748e+02] [-5.70764699e-03 -4.43656303e-06 9.99983711e-01 -1.64302841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.4053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1078.48, Y:235.50, Z:-16.43 [[ 9.90307787e-01 1.38775260e-01 5.64923959e-03 1.07848394e+03] [-1.38772872e-01 9.90323900e-01 -8.14460411e-04 2.35497546e+02] [-5.70760394e-03 2.26052874e-05 9.99983711e-01 -1.64293439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1078.54, Y:235.49, Z:-16.43 [[ 9.90556043e-01 1.36992012e-01 5.64928764e-03 1.07854267e+03] [-1.36989596e-01 9.90572152e-01 -8.14127025e-04 2.35489514e+02] [-5.70755591e-03 3.25448118e-05 9.99983711e-01 -1.64285544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1078.60, Y:235.48, Z:-16.43 [[ 9.90915254e-01 1.34369062e-01 5.64932650e-03 1.07860107e+03] [-1.34366606e-01 9.90931356e-01 -8.13857241e-04 2.35484489e+02] [-5.70745201e-03 4.73827269e-05 9.99983711e-01 -1.64301603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.5853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1078.66, Y:235.48, Z:-16.43 [[ 9.91501800e-01 1.29970250e-01 5.64936587e-03 1.07865835e+03] [-1.29967723e-01 9.91517891e-01 -8.13583887e-04 2.35475365e+02] [-5.70718903e-03 7.24346675e-05 9.99983711e-01 -1.64338010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.6453361949998 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1078.71, Y:235.46, Z:-16.43 [[ 9.92239679e-01 1.24211527e-01 5.64941434e-03 1.07871473e+03] [-1.24208909e-01 9.92255756e-01 -8.13247154e-04 2.35464469e+02] [-5.70667857e-03 1.05228502e-04 9.99983711e-01 -1.64298610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.705336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1078.77, Y:235.45, Z:-16.43 [[ 9.92762666e-01 1.19959877e-01 5.64947882e-03 1.07877205e+03] [-1.19957193e-01 9.92778732e-01 -8.12798976e-04 2.35452858e+02] [-5.70618569e-03 1.29220856e-04 9.99983711e-01 -1.64301079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1078.83, Y:235.44, Z:-16.43 [[ 9.93415658e-01 1.14426453e-01 5.64951581e-03 1.07882887e+03] [-1.14423681e-01 9.93431709e-01 -8.12541795e-04 2.35435574e+02] [-5.70538442e-03 1.60753347e-04 9.99983711e-01 -1.64329984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.8253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1078.89, Y:235.42, Z:-16.43 [[ 9.93418374e-01 1.14402867e-01 5.64955338e-03 1.07888516e+03] [-1.14400096e-01 9.93434426e-01 -8.12280506e-04 2.35422589e+02] [-5.70538803e-03 1.60624934e-04 9.99983711e-01 -1.64340110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.8853361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1078.94, Y:235.41, Z:-16.43 [[ 9.92965622e-01 1.18268147e-01 5.64959966e-03 1.07894279e+03] [-1.18265441e-01 9.92981685e-01 -8.11958449e-04 2.35408347e+02] [-5.70597781e-03 1.38094432e-04 9.99983711e-01 -1.64307581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1079.00, Y:235.39, Z:-16.43 [[ 9.92093949e-01 1.25370162e-01 5.64963918e-03 1.07899944e+03] [-1.25367572e-01 9.92110031e-01 -8.11683400e-04 2.35394695e+02] [-5.70682458e-03 9.69846450e-05 9.99983711e-01 -1.64289223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1079.06, Y:235.38, Z:-16.43 [[ 9.90997443e-01 1.33761541e-01 5.64968824e-03 1.07905601e+03] [-1.33759089e-01 9.91013546e-01 -8.11341791e-04 2.35380753e+02] [-5.70744390e-03 4.83404867e-05 9.99983711e-01 -1.64344185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.0653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1079.11, Y:235.37, Z:-16.43 [[ 9.90068248e-01 1.40473998e-01 5.64973653e-03 1.07911383e+03] [-1.40471658e-01 9.90084368e-01 -8.11005368e-04 2.35369357e+02] [-5.70764099e-03 9.32280862e-06 9.99983711e-01 -1.64338319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.1253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1079.17, Y:235.36, Z:-16.43 [[ 9.89564424e-01 1.43980313e-01 5.64977439e-03 1.07917209e+03] [-1.43978031e-01 9.89580552e-01 -8.10741522e-04 2.35359717e+02] [-5.70763768e-03 -1.11624235e-05 9.99983711e-01 -1.64342147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1079.23, Y:235.35, Z:-16.43 [[ 9.88522947e-01 1.50965104e-01 5.64981214e-03 1.07923000e+03] [-1.50962937e-01 9.88539091e-01 -8.10478361e-04 2.35349218e+02] [-5.70741411e-03 -5.17357784e-05 9.99983711e-01 -1.64294917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1079.29, Y:235.34, Z:-16.43 [[ 9.87992497e-01 1.54398526e-01 5.64985163e-03 1.07928652e+03] [-1.54396417e-01 9.88008649e-01 -8.10203046e-04 2.35341940e+02] [-5.70719643e-03 -7.18423153e-05 9.99983711e-01 -1.64298725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.3053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1079.34, Y:235.34, Z:-16.43 [[ 9.87422656e-01 1.58001825e-01 5.64992004e-03 1.07934371e+03] [-1.57999778e-01 9.87438816e-01 -8.09725644e-04 2.35335491e+02] [-5.70688849e-03 -9.31446646e-05 9.99983711e-01 -1.64305071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.3653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1079.40, Y:235.33, Z:-16.43 [[ 9.87324554e-01 1.58613689e-01 5.64997788e-03 1.07940162e+03] [-1.58611654e-01 9.87340715e-01 -8.09321900e-04 2.35328833e+02] [-5.70682273e-03 -9.70889525e-05 9.99983711e-01 -1.64314111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.4253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1079.46, Y:235.32, Z:-16.43 [[ 9.87539278e-01 1.57271267e-01 5.65003506e-03 1.07945989e+03] [-1.57269212e-01 9.87555437e-01 -8.08922540e-04 2.35321609e+02] [-5.70694311e-03 -8.97337804e-05 9.99983711e-01 -1.64329313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.485336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1079.52, Y:235.32, Z:-16.43 [[ 9.87673743e-01 1.56424594e-01 5.65007304e-03 1.07951880e+03] [-1.56422527e-01 9.87689900e-01 -8.08657170e-04 2.35316816e+02] [-5.70701394e-03 -8.51092475e-05 9.99983711e-01 -1.64325211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1079.58, Y:235.31, Z:-16.43 [[ 9.87675785e-01 1.56411699e-01 5.65011052e-03 1.07957631e+03] [-1.56409633e-01 9.87691942e-01 -8.08395178e-04 2.35311553e+02] [-5.70701110e-03 -8.52993717e-05 9.99983711e-01 -1.64338686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.6053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1079.64, Y:235.31, Z:-16.44 [[ 9.87892947e-01 1.55034196e-01 5.65016646e-03 1.07963544e+03] [-1.55032109e-01 9.87909101e-01 -8.08004014e-04 2.35307819e+02] [-5.70711912e-03 -7.77357584e-05 9.99983711e-01 -1.64353176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.6653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1079.69, Y:235.31, Z:-16.44 [[ 9.88389129e-01 1.51838743e-01 5.65020592e-03 1.07969268e+03] [-1.51836606e-01 9.88405278e-01 -8.07727990e-04 2.35305999e+02] [-5.70733775e-03 -5.95585257e-05 9.99983711e-01 -1.64374927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1079.75, Y:235.30, Z:-16.43 [[ 9.89134328e-01 1.46905940e-01 5.65027424e-03 1.07975174e+03] [-1.46903725e-01 9.89150466e-01 -8.07249812e-04 2.35301467e+02] [-5.70756118e-03 -3.15678325e-05 9.99983711e-01 -1.64327437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.785336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1079.81, Y:235.30, Z:-16.43 [[ 9.89797597e-01 1.42368507e-01 5.65031430e-03 1.07980875e+03] [-1.42366220e-01 9.89813724e-01 -8.06969252e-04 2.35297584e+02] [-5.70764565e-03 -5.67766080e-06 9.99983711e-01 -1.64336838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.8453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1079.87, Y:235.29, Z:-16.44 [[ 9.90241771e-01 1.39245492e-01 5.65038341e-03 1.07986736e+03] [-1.39243157e-01 9.90257892e-01 -8.06485114e-04 2.35294674e+02] [-5.70763618e-03 1.18380214e-05 9.99983711e-01 -1.64352642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.9053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1079.93, Y:235.29, Z:-16.44 [[ 9.90641810e-01 1.36370368e-01 5.65042112e-03 1.07992661e+03] [-1.36367988e-01 9.90657924e-01 -8.06220766e-04 2.35290032e+02] [-5.70757908e-03 2.81394392e-05 9.99983711e-01 -1.64358205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1079.99, Y:235.29, Z:-16.43 [[ 9.91062413e-01 1.33279276e-01 5.65045857e-03 1.07998501e+03] [-1.33276847e-01 9.91078520e-01 -8.05958204e-04 2.35285679e+02] [-5.70746565e-03 4.56795774e-05 9.99983711e-01 -1.64332681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1080.04, Y:235.28, Z:-16.43 [[ 9.91213635e-01 1.32149919e-01 5.65049751e-03 1.08004211e+03] [-1.32147473e-01 9.91229739e-01 -8.05685126e-04 2.35278337e+02] [-5.70741240e-03 5.19071141e-05 9.99983711e-01 -1.64340172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.0853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1080.10, Y:235.27, Z:-16.43 [[ 9.91523968e-01 1.29800971e-01 5.65055598e-03 1.08009862e+03] [-1.29798490e-01 9.91540067e-01 -8.05274880e-04 2.35272626e+02] [-5.70727811e-03 6.50157132e-05 9.99983711e-01 -1.64343736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.1453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1080.16, Y:235.27, Z:-16.43 [[ 9.91470656e-01 1.30207557e-01 5.65062328e-03 1.08015763e+03] [-1.30205085e-01 9.91486756e-01 -8.04802346e-04 2.35266343e+02] [-5.70730949e-03 6.21980291e-05 9.99983711e-01 -1.64335150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1080.22, Y:235.26, Z:-16.43 [[ 9.91372414e-01 1.30953456e-01 5.65066136e-03 1.08021532e+03] [-1.30950997e-01 9.91388516e-01 -8.04534881e-04 2.35259495e+02] [-5.70735740e-03 5.76339486e-05 9.99983711e-01 -1.64334491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1080.27, Y:235.26, Z:-16.43 [[ 9.90934150e-01 1.34229578e-01 5.65071901e-03 1.08027325e+03] [-1.34227175e-01 9.90950261e-01 -8.04129751e-04 2.35255168e+02] [-5.70751947e-03 3.83595813e-05 9.99983711e-01 -1.64336566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.3253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1080.33, Y:235.25, Z:-16.43 [[ 9.90622393e-01 1.36511327e-01 5.65077690e-03 1.08032972e+03] [-1.36508964e-01 9.90638510e-01 -8.03722732e-04 2.35250234e+02] [-5.70759447e-03 2.48040377e-05 9.99983711e-01 -1.64346779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.3853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1080.39, Y:235.25, Z:-16.44 [[ 9.90211139e-01 1.39463143e-01 5.65084393e-03 1.08038803e+03] [-1.39460830e-01 9.90227263e-01 -8.03251205e-04 2.35246978e+02] [-5.70764365e-03 7.31690790e-06 9.99983711e-01 -1.64350498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1080.45, Y:235.24, Z:-16.44 [[ 9.90068036e-01 1.40475446e-01 5.65090082e-03 1.08044552e+03] [-1.40473152e-01 9.90084163e-01 -8.02850787e-04 2.35243190e+02] [-5.70764823e-03 1.07705316e-06 9.99983711e-01 -1.64368178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1080.50, Y:235.24, Z:-16.44 [[ 9.90171332e-01 1.39745479e-01 5.65096638e-03 1.08050267e+03] [-1.39743176e-01 9.90187458e-01 -8.02389052e-04 2.35240721e+02] [-5.70764628e-03 4.81864840e-06 9.99983711e-01 -1.64371156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.5653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1080.56, Y:235.24, Z:-16.43 [[ 9.90538581e-01 1.37118146e-01 5.65103102e-03 1.08056136e+03] [-1.37115802e-01 9.90554700e-01 -8.01933530e-04 2.35236333e+02] [-5.70761498e-03 1.95004482e-05 9.99983711e-01 -1.64346759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.6253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1080.62, Y:235.23, Z:-16.43 [[ 9.91346326e-01 1.31150782e-01 5.65106854e-03 1.08061913e+03] [-1.31148343e-01 9.91362431e-01 -8.01669062e-04 2.35228117e+02] [-5.70739657e-03 5.36034036e-05 9.99983711e-01 -1.64324459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1080.68, Y:235.22, Z:-16.43 [[ 9.92477375e-01 1.22297693e-01 5.65113702e-03 1.08067592e+03] [-1.22295113e-01 9.92493458e-01 -8.01186047e-04 2.35218909e+02] [-5.70669973e-03 1.04052586e-04 9.99983711e-01 -1.64315225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1080.73, Y:235.21, Z:-16.43 [[ 9.93148870e-01 1.16719259e-01 5.65119498e-03 1.08073218e+03] [-1.16716591e-01 9.93164939e-01 -8.00777006e-04 2.35209582e+02] [-5.70603482e-03 1.35702567e-04 9.99983711e-01 -1.64323245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.8053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1080.79, Y:235.20, Z:-16.43 [[ 9.93857420e-01 1.10523720e-01 5.65126182e-03 1.08079017e+03] [-1.10520954e-01 9.93873472e-01 -8.00305015e-04 2.35196048e+02] [-5.70509190e-03 1.70806227e-04 9.99983711e-01 -1.64339702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.8653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1080.85, Y:235.18, Z:-16.43 [[ 9.94263165e-01 1.06812089e-01 5.65129021e-03 1.08084718e+03] [-1.06809265e-01 9.94279207e-01 -8.00104522e-04 2.35180260e+02] [-5.70442118e-03 1.91904301e-04 9.99983711e-01 -1.64349244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.9253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1080.90, Y:235.17, Z:-16.43 [[ 9.94358960e-01 1.05916579e-01 5.65132813e-03 1.08090320e+03] [-1.05913742e-01 9.94374999e-01 -7.99836598e-04 2.35165504e+02] [-5.70425536e-03 1.96771378e-04 9.99983711e-01 -1.64342246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1080.96, Y:235.15, Z:-16.43 [[ 9.94084803e-01 1.08459515e-01 5.65137500e-03 1.08095971e+03] [-1.08456721e-01 9.94100850e-01 -7.99505294e-04 2.35148751e+02] [-5.70475065e-03 1.81846462e-04 9.99983711e-01 -1.64349189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1081.02, Y:235.13, Z:-16.44 [[ 9.93526401e-01 1.13460796e-01 5.65142116e-03 1.08101593e+03] [-1.13458085e-01 9.93542462e-01 -7.99178847e-04 2.35130643e+02] [-5.70560237e-03 1.52805862e-04 9.99983711e-01 -1.64350189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.1053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1081.07, Y:235.12, Z:-16.44 [[ 9.92985743e-01 1.18099007e-01 5.65147761e-03 1.08107229e+03] [-1.18096372e-01 9.93001817e-01 -7.98779469e-04 2.35117336e+02] [-5.70626260e-03 1.25757622e-04 9.99983711e-01 -1.64352431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.1653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1081.13, Y:235.10, Z:-16.44 [[ 9.91882756e-01 1.27030146e-01 5.65153619e-03 1.08112838e+03] [-1.27027659e-01 9.91898854e-01 -7.98364818e-04 2.35103211e+02] [-5.70716867e-03 7.39828866e-05 9.99983711e-01 -1.64361995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1081.18, Y:235.09, Z:-16.44 [[ 9.90721415e-01 1.35790788e-01 5.65159277e-03 1.08118441e+03] [-1.35788445e-01 9.90737534e-01 -7.97964061e-04 2.35087575e+02] [-5.70760125e-03 2.31390891e-05 9.99983711e-01 -1.64374375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1081.24, Y:235.07, Z:-16.44 [[ 9.89600529e-01 1.43731875e-01 5.65164904e-03 1.08124120e+03] [-1.43729664e-01 9.89616667e-01 -7.97565304e-04 2.35073738e+02] [-5.70760165e-03 -2.30385723e-05 9.99983711e-01 -1.64378790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.3453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1081.30, Y:235.06, Z:-16.44 [[ 9.88516418e-01 1.51007781e-01 5.65170492e-03 1.08129822e+03] [-1.51005691e-01 9.88532572e-01 -7.97169119e-04 2.35061280e+02] [-5.70727314e-03 -6.54248467e-05 9.99983711e-01 -1.64377569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.4053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1081.36, Y:235.05, Z:-16.44 [[ 9.87633788e-01 1.56676602e-01 5.65177050e-03 1.08135553e+03] [-1.56674607e-01 9.87649955e-01 -7.96703949e-04 2.35048943e+02] [-5.70679574e-03 -9.86371831e-05 9.99983711e-01 -1.64383295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1081.41, Y:235.04, Z:-16.44 [[ 9.86993946e-01 1.60658044e-01 5.65182653e-03 1.08141383e+03] [-1.60656117e-01 9.87010121e-01 -7.96306225e-04 2.35038669e+02] [-5.70634299e-03 -1.22051081e-04 9.99983711e-01 -1.64410192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1081.47, Y:235.03, Z:-16.44 [[ 9.86785169e-01 1.61935439e-01 5.65186466e-03 1.08147153e+03] [-1.61933534e-01 9.86801346e-01 -7.96035503e-04 2.35030141e+02] [-5.70617402e-03 -1.29710393e-04 9.99983711e-01 -1.64429665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.5853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1081.53, Y:235.02, Z:-16.45 [[ 9.86976622e-01 1.60764432e-01 5.65190225e-03 1.08152976e+03] [-1.60762510e-01 9.86992797e-01 -7.95768518e-04 2.35020745e+02] [-5.70631809e-03 -1.23209069e-04 9.99983711e-01 -1.64454240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.6453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1081.59, Y:235.01, Z:-16.44 [[ 9.87048868e-01 1.60320263e-01 5.65193931e-03 1.08158657e+03] [-1.60318335e-01 9.87065043e-01 -7.95505258e-04 2.35012840e+02] [-5.70636733e-03 -1.20906936e-04 9.99983711e-01 -1.64441828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1081.65, Y:235.01, Z:-16.44 [[ 9.87086985e-01 1.60085410e-01 5.65199423e-03 1.08164550e+03] [-1.60083480e-01 9.87103159e-01 -7.95114873e-04 2.35007475e+02] [-5.70638765e-03 -1.19943363e-04 9.99983711e-01 -1.64437870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1081.70, Y:235.00, Z:-16.45 [[ 9.87426126e-01 1.57980065e-01 5.65203141e-03 1.08170264e+03] [-1.57978102e-01 9.87442296e-01 -7.94850450e-04 2.35002312e+02] [-5.70662540e-03 -1.08041097e-04 9.99983711e-01 -1.64455767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.8253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1081.76, Y:235.00, Z:-16.45 [[ 9.87985730e-01 1.54441739e-01 5.65211360e-03 1.08176128e+03] [-1.54439722e-01 9.88001893e-01 -7.94265608e-04 2.34997926e+02] [-5.70696670e-03 -8.81877644e-05 9.99983711e-01 -1.64471583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.8853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1081.82, Y:234.99, Z:-16.45 [[ 9.88368161e-01 1.51975103e-01 5.65215056e-03 1.08181950e+03] [-1.51973047e-01 9.88384319e-01 -7.94002500e-04 2.34992709e+02] [-5.70716559e-03 -7.42077543e-05 9.99983711e-01 -1.64458967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1081.88, Y:234.99, Z:-16.45 [[ 9.88662894e-01 1.50045777e-01 5.65218783e-03 1.08187826e+03] [-1.50043691e-01 9.88679048e-01 -7.93737104e-04 2.34987762e+02] [-5.70729658e-03 -6.33367010e-05 9.99983711e-01 -1.64452830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1081.94, Y:234.98, Z:-16.45 [[ 9.89102903e-01 1.47117301e-01 5.65222572e-03 1.08193542e+03] [-1.47115168e-01 9.89119051e-01 -7.93467199e-04 2.34982636e+02] [-5.70745689e-03 -4.67074286e-05 9.99983711e-01 -1.64461165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.0653361949999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1081.99, Y:234.98, Z:-16.44 [[ 9.89763543e-01 1.42604983e-01 5.65229112e-03 1.08199199e+03] [-1.42602780e-01 9.89779682e-01 -7.93001040e-04 2.34978364e+02] [-5.70760880e-03 -2.11489069e-05 9.99983711e-01 -1.64428728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.1253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1082.05, Y:234.97, Z:-16.45 [[ 9.90548663e-01 1.37045241e-01 5.65235394e-03 1.08204965e+03] [-1.37042949e-01 9.90564789e-01 -7.92553022e-04 2.34973141e+02] [-5.70763841e-03 1.04470806e-05 9.99983711e-01 -1.64461011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1082.11, Y:234.97, Z:-16.45 [[ 9.90958230e-01 1.34051617e-01 5.65241279e-03 1.08210678e+03] [-1.34049279e-01 9.90974350e-01 -7.92133084e-04 2.34967266e+02] [-5.70758281e-03 2.72689389e-05 9.99983711e-01 -1.64477158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1082.16, Y:234.96, Z:-16.45 [[ 9.91294839e-01 1.31539317e-01 5.65246128e-03 1.08216466e+03] [-1.31536941e-01 9.91310953e-01 -7.91786929e-04 2.34960258e+02] [-5.70749789e-03 4.13868336e-05 9.99983711e-01 -1.64483879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.3053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1082.22, Y:234.95, Z:-16.45 [[ 9.91397337e-01 1.30764557e-01 5.65250868e-03 1.08222179e+03] [-1.30762170e-01 9.91413450e-01 -7.91448375e-04 2.34954372e+02] [-5.70746653e-03 4.55055114e-05 9.99983711e-01 -1.64465103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.3653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1082.28, Y:234.95, Z:-16.45 [[ 9.91659836e-01 1.28758764e-01 5.65255450e-03 1.08228021e+03] [-1.28756346e-01 9.91675944e-01 -7.91121017e-04 2.34949094e+02] [-5.70736608e-03 5.67206760e-05 9.99983711e-01 -1.64456569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.4253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1082.34, Y:234.94, Z:-16.44 [[ 9.92222616e-01 1.24347608e-01 5.65259183e-03 1.08233864e+03] [-1.24345120e-01 9.92238714e-01 -7.90854165e-04 2.34940846e+02] [-5.70706128e-03 8.18311798e-05 9.99983711e-01 -1.64447413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1082.40, Y:234.93, Z:-16.45 [[ 9.92910710e-01 1.18728131e-01 5.65262948e-03 1.08239558e+03] [-1.18725553e-01 9.92926794e-01 -7.90584978e-04 2.34930825e+02] [-5.70651194e-03 1.13868731e-04 9.99983711e-01 -1.64472720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1082.45, Y:234.92, Z:-16.45 [[ 9.93256227e-01 1.15802046e-01 5.65267588e-03 1.08245320e+03] [-1.15799423e-01 9.93272304e-01 -7.90253096e-04 2.34921271e+02] [-5.70615932e-03 1.30347201e-04 9.99983711e-01 -1.64500946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.6053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1082.51, Y:234.91, Z:-16.45 [[ 9.93447008e-01 1.14153797e-01 5.65271257e-03 1.08250981e+03] [-1.14151149e-01 9.93463080e-01 -7.89990572e-04 2.34908182e+02] [-5.70594166e-03 1.39550135e-04 9.99983711e-01 -1.64495740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.6653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1082.57, Y:234.90, Z:-16.45 [[ 9.93502847e-01 1.13666793e-01 5.65275802e-03 1.08256778e+03] [-1.13664138e-01 9.93518918e-01 -7.89665218e-04 2.34895943e+02] [-5.70588074e-03 1.42018773e-04 9.99983711e-01 -1.64489224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1082.62, Y:234.88, Z:-16.45 [[ 9.93634703e-01 1.12508324e-01 5.65279381e-03 1.08262485e+03] [-1.12505653e-01 9.93650771e-01 -7.89408916e-04 2.34880151e+02] [-5.70571800e-03 1.48412836e-04 9.99983711e-01 -1.64477578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1082.68, Y:234.87, Z:-16.45 [[ 9.93587035e-01 1.12928518e-01 5.65282967e-03 1.08268089e+03] [-1.12925855e-01 9.93603104e-01 -7.89152084e-04 2.34866721e+02] [-5.70578688e-03 1.45740656e-04 9.99983711e-01 -1.64490629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.8453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1082.74, Y:234.85, Z:-16.45 [[ 9.93254182e-01 1.15819575e-01 5.65287393e-03 1.08273849e+03] [-1.15816961e-01 9.93270260e-01 -7.88834898e-04 2.34852007e+02] [-5.70619408e-03 1.28814885e-04 9.99983711e-01 -1.64516480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.9053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1082.80, Y:234.84, Z:-16.45 [[ 9.92626745e-01 1.21079270e-01 5.65290893e-03 1.08279612e+03] [-1.21076742e-01 9.92642836e-01 -7.88583957e-04 2.34837521e+02] [-5.70680073e-03 9.83337327e-05 9.99983711e-01 -1.64498233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1082.85, Y:234.82, Z:-16.45 [[ 9.91906590e-01 1.26843845e-01 5.65294752e-03 1.08285222e+03] [-1.26841412e-01 9.91922696e-01 -7.88307283e-04 2.34824053e+02] [-5.70727887e-03 6.48993417e-05 9.99983711e-01 -1.64510706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1082.91, Y:234.81, Z:-16.45 [[ 9.91187199e-01 1.32347951e-01 5.65299532e-03 1.08291014e+03] [-1.32345610e-01 9.91203319e-01 -7.87964304e-04 2.34811686e+02] [-5.70755319e-03 3.28710194e-05 9.99983711e-01 -1.64513845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.0853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1082.97, Y:234.80, Z:-16.45 [[ 9.90464043e-01 1.37655451e-01 5.65303242e-03 1.08296659e+03] [-1.37653197e-01 9.90480175e-01 -7.87698079e-04 2.34800754e+02] [-5.70764747e-03 2.02863566e-06 9.99983711e-01 -1.64518351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.1453361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1083.02, Y:234.79, Z:-16.45 [[ 9.89864798e-01 1.41900406e-01 5.65307834e-03 1.08302442e+03] [-1.41898223e-01 9.89880939e-01 -7.87368356e-04 2.34789956e+02] [-5.70760239e-03 -2.27735529e-05 9.99983711e-01 -1.64467578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1083.08, Y:234.78, Z:-16.45 [[ 9.89454503e-01 1.44733647e-01 5.65311569e-03 1.08308087e+03] [-1.44731512e-01 9.89470651e-01 -7.87100104e-04 2.34779492e+02] [-5.70751194e-03 -3.93842377e-05 9.99983711e-01 -1.64518734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1083.14, Y:234.77, Z:-16.45 [[ 9.88884874e-01 1.48575733e-01 5.65316221e-03 1.08313866e+03] [-1.48573663e-01 9.88901030e-01 -7.86765887e-04 2.34770692e+02] [-5.70731225e-03 -6.18901296e-05 9.99983711e-01 -1.64510527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.3253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1083.20, Y:234.76, Z:-16.45 [[ 9.88340401e-01 1.52155487e-01 5.65320067e-03 1.08319599e+03] [-1.52153477e-01 9.88356566e-01 -7.86489458e-04 2.34761447e+02] [-5.70704668e-03 -8.28348279e-05 9.99983711e-01 -1.64514197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.3853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1083.25, Y:234.76, Z:-16.45 [[ 9.87724219e-01 1.56105438e-01 5.65324832e-03 1.08325492e+03] [-1.56103495e-01 9.87740391e-01 -7.86146782e-04 2.34756349e+02] [-5.70666349e-03 -1.05995603e-04 9.99983711e-01 -1.64506432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1083.31, Y:234.75, Z:-16.45 [[ 9.87500141e-01 1.57516702e-01 5.65328587e-03 1.08331215e+03] [-1.57514783e-01 9.87516317e-01 -7.85876657e-04 2.34750037e+02] [-5.70650074e-03 -1.14422786e-04 9.99983711e-01 -1.64539104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1083.37, Y:234.75, Z:-16.45 [[ 9.87683229e-01 1.56364572e-01 5.65333218e-03 1.08337072e+03] [-1.56362636e-01 9.87699402e-01 -7.85543355e-04 2.34746174e+02] [-5.70662397e-03 -1.08101928e-04 9.99983711e-01 -1.64532843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.5653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1083.43, Y:234.74, Z:-16.45 [[ 9.88387355e-01 1.51850179e-01 5.65336895e-03 1.08342932e+03] [-1.51848170e-01 9.88403519e-01 -7.85278633e-04 2.34740383e+02] [-5.70705447e-03 -8.22942614e-05 9.99983711e-01 -1.64525544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.6253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1083.49, Y:234.73, Z:-16.45 [[ 9.89547206e-01 1.44098458e-01 5.65340531e-03 1.08348723e+03] [-1.44096325e-01 9.89563355e-01 -7.85016792e-04 2.34733850e+02] [-5.70752243e-03 -3.78237561e-05 9.99983711e-01 -1.64516896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.685336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1083.55, Y:234.73, Z:-16.45 [[ 9.91005995e-01 1.33698003e-01 5.65345034e-03 1.08354533e+03] [-1.33695702e-01 9.91022121e-01 -7.84692341e-04 2.34725496e+02] [-5.70760615e-03 2.17928007e-05 9.99983711e-01 -1.64497663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1083.60, Y:234.72, Z:-16.45 [[ 9.91959208e-01 1.26431671e-01 5.65348583e-03 1.08360254e+03] [-1.26429253e-01 9.91975317e-01 -7.84436588e-04 2.34716593e+02] [-5.70729603e-03 6.33631057e-05 9.99983711e-01 -1.64546623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.8053361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1083.66, Y:234.70, Z:-16.45 [[ 9.93129442e-01 1.16884344e-01 5.65352953e-03 1.08366095e+03] [-1.16881774e-01 9.93145526e-01 -7.84121527e-04 2.34704156e+02] [-5.70642909e-03 1.17939616e-04 9.99983711e-01 -1.64545261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.8653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1083.72, Y:234.69, Z:-16.45 [[ 9.93644334e-01 1.12423195e-01 5.65354803e-03 1.08371932e+03] [-1.12420553e-01 9.93660407e-01 -7.83988091e-04 2.34693530e+02] [-5.70584529e-03 1.43430330e-04 9.99983711e-01 -1.64538031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.9253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1083.78, Y:234.68, Z:-16.45 [[ 9.93920529e-01 1.09954621e-01 5.65356634e-03 1.08377801e+03] [-1.09951940e-01 9.93936596e-01 -7.83856075e-04 2.34682533e+02] [-5.70547508e-03 1.57470059e-04 9.99983711e-01 -1.64537911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.985336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1083.84, Y:234.67, Z:-16.45 [[ 9.94046154e-01 1.08813051e-01 5.65358446e-03 1.08383654e+03] [-1.08810352e-01 9.94062218e-01 -7.83725305e-04 2.34669641e+02] [-5.70529425e-03 1.63890611e-04 9.99983711e-01 -1.64544327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.045336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1083.89, Y:234.66, Z:-16.46 [[ 9.93896383e-01 1.10172665e-01 5.65360275e-03 1.08389498e+03] [-1.10169989e-01 9.93912451e-01 -7.83593369e-04 2.34656265e+02] [-5.70551673e-03 1.55953265e-04 9.99983711e-01 -1.64551914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.1053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1083.95, Y:234.64, Z:-16.45 [[ 9.93654793e-01 1.12330716e-01 5.65362085e-03 1.08395379e+03] [-1.12328075e-01 9.93670866e-01 -7.83462785e-04 2.34643397e+02] [-5.70584526e-03 1.43431202e-04 9.99983711e-01 -1.64546550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.1653361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1084.01, Y:234.63, Z:-16.45 [[ 9.93435649e-01 1.14252564e-01 5.65363924e-03 1.08401326e+03] [-1.14249956e-01 9.93451727e-01 -7.83330057e-04 2.34628866e+02] [-5.70611513e-03 1.32259972e-04 9.99983711e-01 -1.64548957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.225336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1084.07, Y:234.61, Z:-16.45 [[ 9.93130797e-01 1.16872825e-01 5.65363924e-03 1.08407104e+03] [-1.16870259e-01 9.93146882e-01 -7.83330057e-04 2.34614566e+02] [-5.70644418e-03 1.17206923e-04 9.99983711e-01 -1.64539882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1084.13, Y:234.60, Z:-16.45 [[ 9.92679628e-01 1.20644901e-01 5.65364827e-03 1.08412965e+03] [-1.20642396e-01 9.92695723e-01 -7.83264840e-04 2.34600227e+02] [-5.70684937e-03 9.54613740e-05 9.99983711e-01 -1.64544000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.3453361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1084.19, Y:234.59, Z:-16.46 [[ 9.92336115e-01 1.23438531e-01 5.65364827e-03 1.08418807e+03] [-1.23436072e-01 9.92352217e-01 -7.83264840e-04 2.34587291e+02] [-5.70709546e-03 7.93978544e-05 9.99983711e-01 -1.64563991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.4053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1084.25, Y:234.57, Z:-16.46 [[ 9.91783213e-01 1.27804909e-01 5.65365726e-03 1.08424691e+03] [-1.27802521e-01 9.91799326e-01 -7.83199927e-04 2.34572097e+02] [-5.70739026e-03 5.42128907e-05 9.99983711e-01 -1.64582238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1084.31, Y:234.56, Z:-16.46 [[ 9.90949174e-01 1.34118493e-01 5.65365726e-03 1.08430643e+03] [-1.34116208e-01 9.90965302e-01 -7.83199927e-04 2.34558791e+02] [-5.70761977e-03 1.78642499e-05 9.99983711e-01 -1.64592535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.525336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1084.37, Y:234.55, Z:-16.46 [[ 9.89895774e-01 1.41684127e-01 5.65365726e-03 1.08436588e+03] [-1.41681965e-01 9.89911919e-01 -7.83199927e-04 2.34547676e+02] [-5.70758971e-03 -2.57349709e-05 9.99983711e-01 -1.64560622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.5853361949999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1084.42, Y:234.54, Z:-16.46 [[ 9.89226428e-01 1.46284346e-01 5.65365726e-03 1.08442492e+03] [-1.46282259e-01 9.89242583e-01 -7.83199927e-04 2.34536935e+02] [-5.70740840e-03 -5.22676876e-05 9.99983711e-01 -1.64624728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.6453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1084.48, Y:234.53, Z:-16.46 [[ 9.89207374e-01 1.46413138e-01 5.65366681e-03 1.08448442e+03] [-1.46411054e-01 9.89223529e-01 -7.83131050e-04 2.34527065e+02] [-5.70740090e-03 -5.30803045e-05 9.99983711e-01 -1.64617017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.705336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1084.54, Y:234.52, Z:-16.46 [[ 9.89673883e-01 1.43225840e-01 5.65366681e-03 1.08454488e+03] [-1.43223703e-01 9.89690031e-01 -7.83131050e-04 2.34515608e+02] [-5.70754228e-03 -3.46947477e-05 9.99983711e-01 -1.64634337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.765336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1084.61, Y:234.50, Z:-16.46 [[ 9.90273988e-01 1.39016064e-01 5.65354319e-03 1.08460530e+03] [-1.39013853e-01 9.90290126e-01 -7.84022426e-04 2.34504424e+02] [-5.70763971e-03 -9.52380801e-06 9.99983711e-01 -1.64604020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.8253361949999 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:1084.67, Y:234.49, Z:-16.46 [[ 9.90732428e-01 1.35710327e-01 5.65352472e-03 1.08466664e+03] [-1.35708062e-01 9.90748559e-01 -7.84155598e-04 2.34493092e+02] [-5.70763948e-03 9.65949587e-06 9.99983711e-01 -1.64581010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.8853361949998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1084.73, Y:234.48, Z:-16.46 [[ 9.91822488e-01 1.27499772e-01 5.65339386e-03 1.08472711e+03] [-1.27497368e-01 9.91838598e-01 -7.85097878e-04 2.34476768e+02] [-5.70735404e-03 5.78848915e-05 9.99983711e-01 -1.64614823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.945336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1084.79, Y:234.46, Z:-16.46 [[ 9.92227448e-01 1.24309015e-01 5.65326104e-03 1.08478806e+03] [-1.24306553e-01 9.92243550e-01 -7.86053168e-04 2.34463975e+02] [-5.70712530e-03 7.72061354e-05 9.99983711e-01 -1.64620291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.005336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1084.85, Y:234.45, Z:-16.46 [[ 9.92479851e-01 1.22277504e-01 5.65311998e-03 1.08484982e+03] [-1.22275004e-01 9.92495947e-01 -7.87066337e-04 2.34448234e+02] [-5.70693917e-03 8.99122148e-05 9.99983711e-01 -1.64624419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.0653361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1084.91, Y:234.43, Z:-16.46 [[ 9.92368185e-01 1.23180477e-01 5.65297060e-03 1.08491011e+03] [-1.23177985e-01 9.92384282e-01 -7.88137733e-04 2.34434575e+02] [-5.70700235e-03 8.58012829e-05 9.99983711e-01 -1.64635261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.1253361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1084.97, Y:234.42, Z:-16.46 [[ 9.92102733e-01 1.25300487e-01 5.65287781e-03 1.08497185e+03] [-1.25298026e-01 9.92118835e-01 -7.88802712e-04 2.34420165e+02] [-5.70716391e-03 7.42788968e-05 9.99983711e-01 -1.64645779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.185336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1085.03, Y:234.41, Z:-16.46 [[ 9.91746411e-01 1.28090215e-01 5.65273140e-03 1.08503290e+03] [-1.28087793e-01 9.91762519e-01 -7.89850530e-04 2.34405833e+02] [-5.70733925e-03 5.92855385e-05 9.99983711e-01 -1.64648102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.245336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1085.09, Y:234.39, Z:-16.47 [[ 9.91446720e-01 1.30389605e-01 5.65259484e-03 1.08509428e+03] [-1.30387216e-01 9.91462833e-01 -7.90826650e-04 2.34393039e+02] [-5.70745326e-03 4.70363868e-05 9.99983711e-01 -1.64662235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.3053361949999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:1085.16, Y:234.38, Z:-16.47 [[ 9.90802869e-01 1.35195139e-01 5.65244970e-03 1.08515531e+03] [-1.35192821e-01 9.90818992e-01 -7.91862664e-04 2.34379211e+02] [-5.70761049e-03 2.04091770e-05 9.99983711e-01 -1.64674226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.3653361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1085.22, Y:234.36, Z:-16.47 [[ 9.89851800e-01 1.41991078e-01 5.65231440e-03 1.08521640e+03] [-1.41988866e-01 9.89867937e-01 -7.92827260e-04 2.34364809e+02] [-5.70761919e-03 -1.77842193e-05 9.99983711e-01 -1.64671992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.4253361949998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1085.28, Y:234.35, Z:-16.47 [[ 9.88870372e-01 1.48672258e-01 5.65217039e-03 1.08527728e+03] [-1.48670148e-01 9.88886524e-01 -7.93852619e-04 2.34354371e+02] [-5.70737899e-03 -5.52916752e-05 9.99983711e-01 -1.64696631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.485336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1085.34, Y:234.34, Z:-16.47 [[ 9.88301713e-01 1.52406621e-01 5.65204610e-03 1.08533963e+03] [-1.52404567e-01 9.88317872e-01 -7.94736522e-04 2.34342260e+02] [-5.70714128e-03 -7.59581745e-05 9.99983711e-01 -1.64685920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.545336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1085.40, Y:234.33, Z:-16.47 [[ 9.88140756e-01 1.53446743e-01 5.65189495e-03 1.08540038e+03] [-1.53444700e-01 9.88156916e-01 -7.95810014e-04 2.34331722e+02] [-5.70707354e-03 -8.08810185e-05 9.99983711e-01 -1.64700669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.6053361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1085.46, Y:234.32, Z:-16.47 [[ 9.88289384e-01 1.52486564e-01 5.65175495e-03 1.08546277e+03] [-1.52484500e-01 9.88305541e-01 -7.96802996e-04 2.34320407e+02] [-5.70716249e-03 -7.43330861e-05 9.99983711e-01 -1.64672178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.6653361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1085.52, Y:234.31, Z:-16.47 [[ 9.88721495e-01 1.49659162e-01 5.65160735e-03 1.08552427e+03] [-1.49657046e-01 9.88737646e-01 -7.97848586e-04 2.34308054e+02] [-5.70736229e-03 -5.69528117e-05 9.99983711e-01 -1.64658489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.725336195 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:1085.59, Y:234.30, Z:-16.47 [[ 9.89168412e-01 1.46676219e-01 5.65145596e-03 1.08558609e+03] [-1.46674048e-01 9.89184556e-01 -7.98919438e-04 2.34295541e+02] [-5.70751544e-03 -3.86560531e-05 9.99983711e-01 -1.64653292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.785336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1085.65, Y:234.28, Z:-16.47 [[ 9.89406270e-01 1.45063074e-01 5.65130044e-03 1.08564731e+03] [-1.45060871e-01 9.89422409e-01 -8.00018092e-04 2.34283679e+02] [-5.70757638e-03 -2.82396474e-05 9.99983711e-01 -1.64668872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.8453361949998 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:1085.71, Y:234.27, Z:-16.47 [[ 9.89543820e-01 1.44121801e-01 5.65115581e-03 1.08570909e+03] [-1.44119576e-01 9.89559956e-01 -8.01038359e-04 2.34272758e+02] [-5.70760459e-03 -2.17796237e-05 9.99983711e-01 -1.64676037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.9053361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1085.77, Y:234.26, Z:-16.47 [[ 9.89602162e-01 1.43720656e-01 5.65100438e-03 1.08576986e+03] [-1.43718419e-01 9.89618296e-01 -8.02105264e-04 2.34261542e+02] [-5.70761642e-03 -1.83883124e-05 9.99983711e-01 -1.64697916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.965336195 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:1085.83, Y:234.25, Z:-16.47 [[ 9.89492499e-01 1.44473742e-01 5.65086391e-03 1.08583208e+03] [-1.44471511e-01 9.89508634e-01 -8.03093667e-04 2.34249999e+02] [-5.70760457e-03 -2.17336881e-05 9.99983711e-01 -1.64681175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.025336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1085.89, Y:234.24, Z:-16.47 [[ 9.89078847e-01 1.47278999e-01 5.65070517e-03 1.08589377e+03] [-1.47276808e-01 9.89094988e-01 -8.04209047e-04 2.34241023e+02] [-5.70752726e-03 -3.67916613e-05 9.99983711e-01 -1.64691811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.0853361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1085.96, Y:234.23, Z:-16.47 [[ 9.88367769e-01 1.51977713e-01 5.65055745e-03 1.08595584e+03] [-1.51975593e-01 9.88383919e-01 -8.05245576e-04 2.34232084e+02] [-5.70729950e-03 -6.28680472e-05 9.99983711e-01 -1.64688313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.1453361949998 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:1086.02, Y:234.22, Z:-16.47 [[ 9.87497130e-01 1.57535681e-01 5.65040106e-03 1.08601726e+03] [-1.57533645e-01 9.87513291e-01 -8.06341461e-04 2.34224573e+02] [-5.70687370e-03 -9.38683992e-05 9.99983711e-01 -1.64699777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.205336195 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:1086.08, Y:234.22, Z:-16.47 [[ 9.86923543e-01 1.61090020e-01 5.65030413e-03 1.08607932e+03] [-1.61088038e-01 9.86939711e-01 -8.07020166e-04 2.34221975e+02] [-5.70651241e-03 -1.13729206e-04 9.99983711e-01 -1.64660820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.265336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:1086.14, Y:234.21, Z:-16.47 [[ 9.86919169e-01 1.61116821e-01 5.65017187e-03 1.08614072e+03] [-1.61114835e-01 9.86935336e-01 -8.07945083e-04 2.34213768e+02] [-5.70652781e-03 -1.12950019e-04 9.99983711e-01 -1.64725219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.3253361949999 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:1086.20, Y:234.21, Z:-16.47 [[ 9.87414663e-01 1.58051766e-01 5.65003175e-03 1.08620356e+03] [-1.58049724e-01 9.87430823e-01 -8.08923751e-04 2.34205879e+02] [-5.70686733e-03 -9.42427873e-05 9.99983711e-01 -1.64724476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.3853361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1086.27, Y:234.20, Z:-16.47 [[ 9.88227195e-01 1.52889140e-01 5.64987857e-03 1.08626646e+03] [-1.52887008e-01 9.88243344e-01 -8.09992193e-04 2.34200006e+02] [-5.70729391e-03 -6.33367156e-05 9.99983711e-01 -1.64721591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.445336195 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:1086.33, Y:234.19, Z:-16.47 [[ 9.88901518e-01 1.48465038e-01 5.64972242e-03 1.08632824e+03] [-1.48462827e-01 9.88917656e-01 -8.11079888e-04 2.34193367e+02] [-5.70752727e-03 -3.66956328e-05 9.99983711e-01 -1.64712555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.505336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1086.39, Y:234.19, Z:-16.47 [[ 9.89589144e-01 1.43810323e-01 5.64957754e-03 1.08638997e+03] [-1.43808030e-01 9.89605270e-01 -8.12087821e-04 2.34185313e+02] [-5.70763832e-03 -8.82132437e-06 9.99983711e-01 -1.64725429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.5653361949999 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:1086.45, Y:234.18, Z:-16.47 [[ 9.90226073e-01 1.39357120e-01 5.64948541e-03 1.08645260e+03] [-1.39354752e-01 9.90242189e-01 -8.12728228e-04 2.34177582e+02] [-5.70761827e-03 1.75020454e-05 9.99983711e-01 -1.64724286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.6253361949998 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:1086.52, Y:234.17, Z:-16.47 [[ 9.90620382e-01 1.36525986e-01 5.64932672e-03 1.08651516e+03] [-1.36523565e-01 9.90636489e-01 -8.13829839e-04 2.34168548e+02] [-5.70753811e-03 3.49302047e-05 9.99983711e-01 -1.64726583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.685336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:1086.58, Y:234.16, Z:-16.47 [[ 9.91218677e-01 1.32112154e-01 5.64916873e-03 1.08657786e+03] [-1.32109655e-01 9.91234773e-01 -8.14925029e-04 2.34158753e+02] [-5.70731398e-03 6.14591781e-05 9.99983711e-01 -1.64726958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.745336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:1086.64, Y:234.15, Z:-16.47 [[ 9.91470069e-01 1.30212100e-01 5.64900841e-03 1.08663835e+03] [-1.30209564e-01 9.91486159e-01 -8.16034844e-04 2.34147229e+02] [-5.70717126e-03 7.35192007e-05 9.99983711e-01 -1.64724108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.8053361949999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1086.70, Y:234.14, Z:-16.47 [[ 9.91329372e-01 1.31278963e-01 5.64885864e-03 1.08669913e+03] [-1.31276438e-01 9.91345464e-01 -8.17070263e-04 2.34136250e+02] [-5.70723453e-03 6.84237098e-05 9.99983711e-01 -1.64733283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.8653361949998 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:1086.76, Y:234.13, Z:-16.47 [[ 9.91098386e-01 1.33011584e-01 5.64871187e-03 1.08676109e+03] [-1.33009081e-01 9.91114481e-01 -8.18083728e-04 2.34125609e+02] [-5.70733474e-03 5.94714872e-05 9.99983711e-01 -1.64731580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.9253361949998 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:1086.82, Y:234.11, Z:-16.47 [[ 9.91069421e-01 1.33227236e-01 5.64855583e-03 1.08682252e+03] [-1.33224731e-01 9.91085516e-01 -8.19159693e-04 2.34111793e+02] [-5.70733625e-03 5.93167896e-05 9.99983711e-01 -1.64730465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.985336195 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:1086.88, Y:234.10, Z:-16.47 [[ 9.91134751e-01 1.32740349e-01 5.64839244e-03 1.08688438e+03] [-1.32737830e-01 9.91150844e-01 -8.20284743e-04 2.34098291e+02] [-5.70729382e-03 6.32573590e-05 9.99983711e-01 -1.64732817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.045336195 meters Centerline goodness : 0.999499 with order 1 Centerline is valid? [True, True] Translation: X:1086.95, Y:234.08, Z:-16.47 [[ 9.90974284e-01 1.33933066e-01 5.64823043e-03 1.08694618e+03] [-1.33930559e-01 9.90990379e-01 -8.21398778e-04 2.34083163e+02] [-5.70735447e-03 5.75144044e-05 9.99983711e-01 -1.64717861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.1053361949998 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:1087.01, Y:234.07, Z:-16.48 [[ 9.90598798e-01 1.36682555e-01 5.64806800e-03 1.08700546e+03] [-1.36680087e-01 9.90614899e-01 -8.22514216e-04 2.34067724e+02] [-5.70748365e-03 4.28031703e-05 9.99983711e-01 -1.64783338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.1653361949998 meters Centerline goodness : 0.999289 with order 1 Centerline is valid? [True, True] Translation: X:1087.07, Y:234.06, Z:-16.47 [[ 9.89984112e-01 1.41065791e-01 5.64798866e-03 1.08706779e+03] [-1.41063391e-01 9.90000223e-01 -8.23058659e-04 2.34055862e+02] [-5.70761545e-03 1.80905659e-05 9.99983711e-01 -1.64718459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.225336195 meters Centerline goodness : 0.999477 with order 1 Centerline is valid? [True, True] Translation: X:1087.13, Y:234.04, Z:-16.48 [[ 9.89252490e-01 1.46108226e-01 5.64783153e-03 1.08712910e+03] [-1.46105902e-01 9.89268612e-01 -8.24135465e-04 2.34039596e+02] [-5.70763543e-03 -9.90346171e-06 9.99983711e-01 -1.64767744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.285336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:1087.19, Y:234.03, Z:-16.48 [[ 9.88425962e-01 1.51598883e-01 5.64767522e-03 1.08719045e+03] [-1.51596642e-01 9.88442096e-01 -8.25205198e-04 2.34026401e+02] [-5.70750012e-03 -4.05143596e-05 9.99983711e-01 -1.64781067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.3453361949998 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:1087.25, Y:234.02, Z:-16.48 [[ 9.87462542e-01 1.57752446e-01 5.64752012e-03 1.08725256e+03] [-1.57750300e-01 9.87478688e-01 -8.26265360e-04 2.34015587e+02] [-5.70715114e-03 -7.49918988e-05 9.99983711e-01 -1.64770426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.4053361949998 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:1087.31, Y:234.01, Z:-16.48 [[ 9.86792916e-01 1.61888382e-01 5.64736269e-03 1.08731443e+03] [-1.61886298e-01 9.86809071e-01 -8.27339940e-04 2.34006546e+02] [-5.70680545e-03 -9.78174474e-05 9.99983711e-01 -1.64768955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.465336195 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:1087.38, Y:234.00, Z:-16.48 [[ 9.85894908e-01 1.67270261e-01 5.64720634e-03 1.08737625e+03] [-1.67268259e-01 9.85911073e-01 -8.28405775e-04 2.33998703e+02] [-5.70621091e-03 -1.27877335e-04 9.99983711e-01 -1.64774526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.525336195 meters Centerline goodness : 0.999610 with order 1 Centerline is valid? [True, True] Translation: X:1087.44, Y:233.99, Z:-16.48 [[ 9.85212174e-01 1.71245678e-01 5.64706187e-03 1.08743913e+03] [-1.71243735e-01 9.85228347e-01 -8.29389439e-04 2.33990667e+02] [-5.70567479e-03 -1.49899393e-04 9.99983711e-01 -1.64777068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.5853361949999 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:1087.50, Y:233.99, Z:-16.48 [[ 9.84866790e-01 1.73221010e-01 5.64690837e-03 1.08750120e+03] [-1.73219094e-01 9.84882966e-01 -8.30433237e-04 2.33985625e+02] [-5.70539234e-03 -1.60286234e-04 9.99983711e-01 -1.64805288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.6453361949998 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:1087.56, Y:233.98, Z:-16.48 [[ 9.84832577e-01 1.73415425e-01 5.64676611e-03 1.08756384e+03] [-1.73413506e-01 9.84848752e-01 -8.31399406e-04 2.33977382e+02] [-5.70538804e-03 -1.60436290e-04 9.99983711e-01 -1.64807959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.705336195 meters Centerline goodness : 0.999501 with order 1 Centerline is valid? [True, True] Translation: X:1087.63, Y:233.97, Z:-16.48 [[ 9.85213753e-01 1.71236610e-01 5.64661692e-03 1.08762626e+03] [-1.71234650e-01 9.85229923e-01 -8.32411484e-04 2.33972062e+02] [-5.70575527e-03 -1.46793230e-04 9.99983711e-01 -1.64802305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.765336195 meters Centerline goodness : 0.999491 with order 1 Centerline is valid? [True, True] Translation: X:1087.69, Y:233.97, Z:-16.48 [[ 9.86084126e-01 1.66151178e-01 5.64646835e-03 1.08768746e+03] [-1.66149128e-01 9.86100285e-01 -8.33418051e-04 2.33965259e+02] [-5.70645744e-03 -1.16335483e-04 9.99983711e-01 -1.64816494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.8253361949999 meters Centerline goodness : 0.999370 with order 1 Centerline is valid? [True, True] Translation: X:1087.75, Y:233.96, Z:-16.48 [[ 9.87295518e-01 1.58794457e-01 5.64633012e-03 1.08774962e+03] [-1.58792282e-01 9.87311661e-01 -8.34353454e-04 2.33958952e+02] [-5.70717827e-03 -7.28402209e-05 9.99983711e-01 -1.64787305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.8853361949998 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1087.81, Y:233.95, Z:-16.49 [[ 9.88431922e-01 1.51560074e-01 5.64619450e-03 1.08781128e+03] [-1.51557776e-01 9.88448048e-01 -8.35270214e-04 2.33949621e+02] [-5.70756355e-03 -3.01169371e-05 9.99983711e-01 -1.64855155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.945336195 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:1087.87, Y:233.94, Z:-16.49 [[ 9.89290206e-01 1.45852700e-01 5.64605626e-03 1.08787313e+03] [-1.45850303e-01 9.89306318e-01 -8.36203629e-04 2.33941627e+02] [-5.70764168e-03 3.76904506e-06 9.99983711e-01 -1.64862788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.005336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1087.93, Y:233.93, Z:-16.49 [[ 9.90200299e-01 1.39540283e-01 5.64590888e-03 1.08793492e+03] [-1.39537778e-01 9.90216394e-01 -8.37197519e-04 2.33931488e+02] [-5.70749431e-03 4.11756552e-05 9.99983711e-01 -1.64855331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.0653361949999 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:1088.00, Y:233.92, Z:-16.49 [[ 9.90997919e-01 1.33758175e-01 5.64575084e-03 1.08799753e+03] [-1.33755570e-01 9.91013998e-01 -8.38261944e-04 2.33921349e+02] [-5.70714250e-03 7.55652202e-05 9.99983711e-01 -1.64862529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.1253361949998 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1088.06, Y:233.91, Z:-16.49 [[ 9.91289858e-01 1.31577142e-01 5.64558531e-03 1.08805873e+03] [-1.31574495e-01 9.91305930e-01 -8.39375265e-04 2.33910044e+02] [-5.70694480e-03 8.92491488e-05 9.99983711e-01 -1.64868021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.185336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1088.12, Y:233.90, Z:-16.49 [[ 9.90929311e-01 1.34265518e-01 5.64543086e-03 1.08812028e+03] [-1.34262908e-01 9.90945390e-01 -8.40412792e-04 2.33898358e+02] [-5.70715214e-03 7.48177036e-05 9.99983711e-01 -1.64868643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.245336195 meters Centerline goodness : 0.999615 with order 1 Centerline is valid? [True, True] Translation: X:1088.18, Y:233.89, Z:-16.49 [[ 9.90315455e-01 1.38720694e-01 5.64526835e-03 1.08818101e+03] [-1.38718150e-01 9.90331544e-01 -8.41503004e-04 2.33887272e+02] [-5.70742120e-03 5.02522460e-05 9.99983711e-01 -1.64876693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.3053361949999 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:1088.24, Y:233.88, Z:-16.49 [[ 9.89613232e-01 1.43644642e-01 5.64511730e-03 1.08824339e+03] [-1.43642173e-01 9.89629333e-01 -8.42515061e-04 2.33876404e+02] [-5.70759645e-03 2.28871358e-05 9.99983711e-01 -1.64866035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.3653361949998 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:1088.31, Y:233.87, Z:-16.49 [[ 9.89180861e-01 1.46592494e-01 5.64495702e-03 1.08830533e+03] [-1.46590067e-01 9.89196968e-01 -8.43587592e-04 2.33865631e+02] [-5.70763798e-03 6.96607506e-06 9.99983711e-01 -1.64858710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.4253361949998 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:1088.37, Y:233.86, Z:-16.48 [[ 9.88610512e-01 1.50390798e-01 5.64479835e-03 1.08836666e+03] [-1.50388427e-01 9.88626627e-01 -8.44648019e-04 2.33855177e+02] [-5.70762524e-03 -1.38844332e-05 9.99983711e-01 -1.64805491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.485336195 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:1088.43, Y:233.84, Z:-16.49 [[ 9.88073620e-01 1.53878717e-01 5.64470032e-03 1.08842846e+03] [-1.53876399e-01 9.88089743e-01 -8.45302623e-04 2.33844200e+02] [-5.70754457e-03 -3.33649359e-05 9.99983711e-01 -1.64859040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.545336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1088.49, Y:233.83, Z:-16.49 [[ 9.87435502e-01 1.57921717e-01 5.64454533e-03 1.08848847e+03] [-1.57919459e-01 9.87451633e-01 -8.46336284e-04 2.33834385e+02] [-5.70737039e-03 -5.56810545e-05 9.99983711e-01 -1.64894700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.6053361949998 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:1088.55, Y:233.83, Z:-16.49 [[ 9.87170988e-01 1.59566856e-01 5.64442134e-03 1.08855040e+03] [-1.59564620e-01 9.87187122e-01 -8.47162448e-04 2.33825467e+02] [-5.70727911e-03 -6.43557551e-05 9.99983711e-01 -1.64903900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.6653361949998 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:1088.61, Y:233.82, Z:-16.49 [[ 9.87205843e-01 1.59351075e-01 5.64428292e-03 1.08861263e+03] [-1.59348830e-01 9.87221977e-01 -8.48083659e-04 2.33815222e+02] [-5.70730318e-03 -6.21767377e-05 9.99983711e-01 -1.64906734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.725336195 meters Centerline goodness : 0.999590 with order 1 Centerline is valid? [True, True] Translation: X:1088.68, Y:233.81, Z:-16.48 [[ 9.87309342e-01 1.58708562e-01 5.64412435e-03 1.08867542e+03] [-1.58706301e-01 9.87325473e-01 -8.49137688e-04 2.33806303e+02] [-5.70735316e-03 -5.73965270e-05 9.99983711e-01 -1.64844230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.785336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:1088.74, Y:233.80, Z:-16.49 [[ 9.87339298e-01 1.58522101e-01 5.64396141e-03 1.08873697e+03] [-1.58519830e-01 9.87355428e-01 -8.50219303e-04 2.33797201e+02] [-5.70737448e-03 -5.52248748e-05 9.99983711e-01 -1.64906674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.8453361949998 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:1088.80, Y:233.79, Z:-16.49 [[ 9.87212375e-01 1.59310621e-01 5.64386059e-03 1.08879786e+03] [-1.59308359e-01 9.87228506e-01 -8.50888029e-04 2.33787728e+02] [-5.70733556e-03 -5.91069803e-05 9.99983711e-01 -1.64906150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.9053361949998 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:1088.86, Y:233.78, Z:-16.49 [[ 9.86913335e-01 1.61152776e-01 5.64378427e-03 1.08885991e+03] [-1.61150542e-01 9.86929470e-01 -8.51393940e-04 2.33781895e+02] [-5.70722151e-03 -6.92468620e-05 9.99983711e-01 -1.64857660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.965336195 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:1088.92, Y:233.77, Z:-16.49 [[ 9.86709109e-01 1.62398533e-01 5.64364262e-03 1.08892274e+03] [-1.62396314e-01 9.86725246e-01 -8.52331894e-04 2.33773364e+02] [-5.70714210e-03 -7.55031169e-05 9.99983711e-01 -1.64854942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.025336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1088.99, Y:233.77, Z:-16.49 [[ 9.86677838e-01 1.62588423e-01 5.64347798e-03 1.08898510e+03] [-1.62586201e-01 9.86693974e-01 -8.53420572e-04 2.33770962e+02] [-5.70714202e-03 -7.55004799e-05 9.99983711e-01 -1.64857154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.0853361949999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1089.05, Y:233.76, Z:-16.49 [[ 9.86809121e-01 1.61789713e-01 5.64337567e-03 1.08904767e+03] [-1.61787474e-01 9.86825255e-01 -8.54096584e-04 2.33763902e+02] [-5.70720968e-03 -7.01971942e-05 9.99983711e-01 -1.64871420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.1453361949998 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:1089.11, Y:233.76, Z:-16.49 [[ 9.87309481e-01 1.58707726e-01 5.64321369e-03 1.08910939e+03] [-1.58705430e-01 9.87325607e-01 -8.55165518e-04 2.33756055e+02] [-5.70741076e-03 -5.12956328e-05 9.99983711e-01 -1.64895223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.205336195 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:1089.17, Y:233.75, Z:-16.49 [[ 9.87899764e-01 1.54991010e-01 5.64306311e-03 1.08917235e+03] [-1.54988648e-01 9.87915880e-01 -8.56158017e-04 2.33750038e+02] [-5.70756845e-03 -2.88124160e-05 9.99983711e-01 -1.64868650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.265336195 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:1089.24, Y:233.74, Z:-16.49 [[ 9.88301036e-01 1.52411349e-01 5.64289925e-03 1.08923506e+03] [-1.52408939e-01 9.88317146e-01 -8.57236648e-04 2.33742213e+02] [-5.70762667e-03 -1.28204186e-05 9.99983711e-01 -1.64874743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.3253361949999 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:1089.30, Y:233.74, Z:-16.49 [[ 9.88483725e-01 1.51221975e-01 5.64273485e-03 1.08929692e+03] [-1.51219539e-01 9.88499830e-01 -8.58317402e-04 2.33735575e+02] [-5.70763890e-03 -4.85898357e-06 9.99983711e-01 -1.64891300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.3853361949998 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:1089.36, Y:233.73, Z:-16.49 [[ 9.88568569e-01 1.50666340e-01 5.64258210e-03 1.08935863e+03] [-1.50663889e-01 9.88584672e-01 -8.59320441e-04 2.33730437e+02] [-5.70764084e-03 -6.36186711e-07 9.99983711e-01 -1.64864956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.445336195 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:1089.42, Y:233.72, Z:-16.49 [[ 9.88669927e-01 1.49999793e-01 5.64243583e-03 1.08941998e+03] [-1.49997326e-01 9.88686028e-01 -8.60279801e-04 2.33722154e+02] [-5.70763926e-03 4.18248349e-06 9.99983711e-01 -1.64924488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.505336195 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:1089.48, Y:233.72, Z:-16.49 [[ 9.88853370e-01 1.48785674e-01 5.64228004e-03 1.08948236e+03] [-1.48783181e-01 9.88869467e-01 -8.61300342e-04 2.33715236e+02] [-5.70762761e-03 1.22233726e-05 9.99983711e-01 -1.64920068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.5653361949999 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:1089.54, Y:233.71, Z:-16.49 [[ 9.88985670e-01 1.47903723e-01 5.64211816e-03 1.08954491e+03] [-1.47901210e-01 9.89001764e-01 -8.62359490e-04 2.33706317e+02] [-5.70761099e-03 1.83850769e-05 9.99983711e-01 -1.64916086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.6253361949998 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:1089.61, Y:233.70, Z:-16.49 [[ 9.89604356e-01 1.43705903e-01 5.64195119e-03 1.08960615e+03] [-1.43703316e-01 9.89620438e-01 -8.63450520e-04 2.33697050e+02] [-5.70747314e-03 4.37073016e-05 9.99983711e-01 -1.64926650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.685336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1089.67, Y:233.69, Z:-16.49 [[ 9.90010569e-01 1.40880246e-01 5.64179578e-03 1.08966860e+03] [-1.40877607e-01 9.90026642e-01 -8.64464761e-04 2.33687605e+02] [-5.70731414e-03 6.10265617e-05 9.99983711e-01 -1.64942718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.745336195 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:1089.73, Y:233.68, Z:-16.49 [[ 9.90074631e-01 1.40429330e-01 5.64163103e-03 1.08972992e+03] [-1.40426678e-01 9.90090702e-01 -8.65538608e-04 2.33677019e+02] [-5.70727344e-03 6.47123160e-05 9.99983711e-01 -1.64947458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.8053361949999 meters Centerline goodness : 0.999654 with order 1 Centerline is valid? [True, True] Translation: X:1089.79, Y:233.67, Z:-16.49 [[ 9.89880564e-01 1.41790841e-01 5.64147778e-03 1.08979087e+03] [-1.41788205e-01 9.89896638e-01 -8.66536347e-04 2.33666569e+02] [-5.70734680e-03 5.78724801e-05 9.99983711e-01 -1.64941433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.8653361949998 meters Centerline goodness : 0.999531 with order 1 Centerline is valid? [True, True] Translation: X:1089.85, Y:233.66, Z:-16.49 [[ 9.89467194e-01 1.44647320e-01 5.64132757e-03 1.08985300e+03] [-1.44644725e-01 9.89483275e-01 -8.67513098e-04 2.33655439e+02] [-5.70748272e-03 4.23874773e-05 9.99983711e-01 -1.64939133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.9253361949998 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:1089.91, Y:233.64, Z:-16.50 [[ 9.89285299e-01 1.45886170e-01 5.64116827e-03 1.08991472e+03] [-1.45883589e-01 9.89301382e-01 -8.68547783e-04 2.33642353e+02] [-5.70752467e-03 3.62876821e-05 9.99983711e-01 -1.64950297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.985336195 meters Centerline goodness : 0.999420 with order 1 Centerline is valid? [True, True] Translation: X:1089.98, Y:233.63, Z:-16.50 [[ 9.88526940e-01 1.50939288e-01 5.64100813e-03 1.08997590e+03] [-1.50936783e-01 9.88543035e-01 -8.69586580e-04 2.33629514e+02] [-5.70763408e-03 8.17413758e-06 9.99983711e-01 -1.64963039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.045336195 meters Centerline goodness : 0.999470 with order 1 Centerline is valid? [True, True] Translation: X:1090.04, Y:233.62, Z:-16.50 [[ 9.87855138e-01 1.55275261e-01 5.64086134e-03 1.09003742e+03] [-1.55272822e-01 9.87871243e-01 -8.70537730e-04 2.33619604e+02] [-5.70761768e-03 -1.59072879e-05 9.99983711e-01 -1.64966317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.1053361949998 meters Centerline goodness : 0.999484 with order 1 Centerline is valid? [True, True] Translation: X:1090.10, Y:233.61, Z:-16.50 [[ 9.86466404e-01 1.63866461e-01 5.64070599e-03 1.09010012e+03] [-1.63864156e-01 9.86482528e-01 -8.71543167e-04 2.33611092e+02] [-5.70727460e-03 -6.45614725e-05 9.99983711e-01 -1.64966317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.1653361949998 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:1090.16, Y:233.61, Z:-16.50 [[ 9.84998727e-01 1.72469392e-01 5.64053968e-03 1.09016327e+03] [-1.72467222e-01 9.85014871e-01 -8.72618223e-04 2.33605845e+02] [-5.70651540e-03 -1.13280370e-04 9.99983711e-01 -1.64961462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.225336195 meters Centerline goodness : 0.999484 with order 1 Centerline is valid? [True, True] Translation: X:1090.23, Y:233.60, Z:-16.50 [[ 9.83930583e-01 1.78462305e-01 5.64037273e-03 1.09022589e+03] [-1.78460227e-01 9.83946738e-01 -8.73696010e-04 2.33602831e+02] [-5.70574815e-03 -1.46925974e-04 9.99983711e-01 -1.64964582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.285336195 meters Centerline goodness : 0.999617 with order 1 Centerline is valid? [True, True] Translation: X:1090.29, Y:233.60, Z:-16.50 [[ 9.83676303e-01 1.79858606e-01 5.64021831e-03 1.09028872e+03] [-1.79856545e-01 9.83692461e-01 -8.74691733e-04 2.33599644e+02] [-5.70556107e-03 -1.54016650e-04 9.99983711e-01 -1.64977204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.3453361949998 meters Centerline goodness : 0.999569 with order 1 Centerline is valid? [True, True] Translation: X:1090.35, Y:233.60, Z:-16.50 [[ 9.84421170e-01 1.75736024e-01 5.64005715e-03 1.09035140e+03] [-1.75733889e-01 9.84437318e-01 -8.75729684e-04 2.33596113e+02] [-5.70617998e-03 -1.29062338e-04 9.99983711e-01 -1.64980736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.4053361949998 meters Centerline goodness : 0.999565 with order 1 Centerline is valid? [True, True] Translation: X:1090.41, Y:233.59, Z:-16.50 [[ 9.85266428e-01 1.70933490e-01 5.63990792e-03 1.09041434e+03] [-1.70931271e-01 9.85282565e-01 -8.76689660e-04 2.33588211e+02] [-5.70675857e-03 -1.00263741e-04 9.99983711e-01 -1.64958325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.465336195 meters Centerline goodness : 0.999508 with order 1 Centerline is valid? [True, True] Translation: X:1090.48, Y:233.58, Z:-16.49 [[ 9.86454102e-01 1.63940533e-01 5.63973743e-03 1.09047545e+03] [-1.63938193e-01 9.86470222e-01 -8.77785049e-04 2.33584479e+02] [-5.70733759e-03 -5.86737022e-05 9.99983711e-01 -1.64943494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.525336195 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:1090.54, Y:233.58, Z:-16.50 [[ 9.87165570e-01 1.59600537e-01 5.63959945e-03 1.09053639e+03] [-1.59598122e-01 9.87181679e-01 -8.78670690e-04 2.33578717e+02] [-5.70754557e-03 -3.26760265e-05 9.99983711e-01 -1.64988541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.5853361949999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1090.60, Y:233.57, Z:-16.50 [[ 9.87622463e-01 1.56748422e-01 5.63946404e-03 1.09059845e+03] [-1.56745955e-01 9.87638563e-01 -8.79538930e-04 2.33572421e+02] [-5.70761850e-03 -1.53107744e-05 9.99983711e-01 -1.65005899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.6453361949998 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:1090.66, Y:233.57, Z:-16.50 [[ 9.88116531e-01 1.53603122e-01 5.63931598e-03 1.09065945e+03] [-1.53600598e-01 9.88132623e-01 -8.80487202e-04 2.33565979e+02] [-5.70763767e-03 3.82165113e-06 9.99983711e-01 -1.64991411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.705336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1090.72, Y:233.56, Z:-16.50 [[ 9.88711694e-01 1.49724365e-01 5.63917930e-03 1.09072016e+03] [-1.49721773e-01 9.88727775e-01 -8.81361727e-04 2.33558747e+02] [-5.70757453e-03 2.71047216e-05 9.99983711e-01 -1.64984402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.765336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1090.78, Y:233.55, Z:-16.50 [[ 9.89124089e-01 1.46975292e-01 5.63909940e-03 1.09078019e+03] [-1.46972653e-01 9.89140163e-01 -8.81872639e-04 2.33548377e+02] [-5.70747319e-03 4.34880734e-05 9.99983711e-01 -1.65017675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.8253361949999 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:1090.84, Y:233.54, Z:-16.50 [[ 9.89193572e-01 1.46506924e-01 5.63901740e-03 1.09084161e+03] [-1.46504274e-01 9.89209644e-01 -8.82396668e-04 2.33538700e+02] [-5.70744761e-03 4.67209601e-05 9.99983711e-01 -1.65032291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.8853361949998 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:1090.90, Y:233.53, Z:-16.51 [[ 9.89106172e-01 1.47095832e-01 5.63887492e-03 1.09090231e+03] [-1.47093186e-01 9.89122244e-01 -8.83306197e-04 2.33529388e+02] [-5.70746728e-03 4.42435320e-05 9.99983711e-01 -1.65052238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.945336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1090.96, Y:233.52, Z:-16.51 [[ 9.88768373e-01 1.49349619e-01 5.63874382e-03 1.09096270e+03] [-1.49347006e-01 9.88784451e-01 -8.84142318e-04 2.33519387e+02] [-5.70754853e-03 3.20824559e-05 9.99983711e-01 -1.65064532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.005336195 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:1091.02, Y:233.51, Z:-16.51 [[ 9.88160180e-01 1.53322093e-01 5.63861381e-03 1.09102209e+03] [-1.53319539e-01 9.88176268e-01 -8.84970702e-04 2.33510550e+02] [-5.70762991e-03 9.98313674e-06 9.99983711e-01 -1.65061780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.0653361949999 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:1091.08, Y:233.50, Z:-16.51 [[ 9.87501431e-01 1.57509143e-01 5.63860393e-03 1.09108147e+03] [-1.57506657e-01 9.87517529e-01 -8.85033664e-04 2.33500335e+02] [-5.70762111e-03 -1.41456435e-05 9.99983711e-01 -1.65054250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.1253361949998 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:1091.14, Y:233.49, Z:-16.51 [[ 9.86862777e-01 1.61462272e-01 5.63859418e-03 1.09114170e+03] [-1.61459851e-01 9.86878885e-01 -8.85095745e-04 2.33491808e+02] [-5.70751911e-03 -3.69385289e-05 9.99983711e-01 -1.65066894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.185336195 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:1091.20, Y:233.48, Z:-16.51 [[ 9.86140982e-01 1.65813659e-01 5.63859418e-03 1.09120045e+03] [-1.65811308e-01 9.86157100e-01 -8.85095745e-04 2.33483915e+02] [-5.70730065e-03 -6.21134884e-05 9.99983711e-01 -1.65057218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.245336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1091.26, Y:233.48, Z:-16.50 [[ 9.85391611e-01 1.70210397e-01 5.63860371e-03 1.09125916e+03] [-1.70208118e-01 9.85407740e-01 -8.85035055e-04 2.33478051e+02] [-5.70696590e-03 -8.76300089e-05 9.99983711e-01 -1.65024782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.3053361949999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1091.32, Y:233.47, Z:-16.50 [[ 9.84955858e-01 1.72714109e-01 5.63863198e-03 1.09131837e+03] [-1.72711873e-01 9.84971993e-01 -8.84854898e-04 2.33471962e+02] [-5.70672150e-03 -1.02315672e-04 9.99983711e-01 -1.65023601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.3653361949998 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:1091.38, Y:233.47, Z:-16.50 [[ 9.84537518e-01 1.75083069e-01 5.63865064e-03 1.09137718e+03] [-1.75080872e-01 9.84553658e-01 -8.84735998e-04 2.33468232e+02] [-5.70645640e-03 -1.16164089e-04 9.99983711e-01 -1.65025615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.4253361949998 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:1091.44, Y:233.47, Z:-16.50 [[ 9.84362889e-01 1.76062225e-01 5.63868775e-03 1.09143602e+03] [-1.76060046e-01 9.84379032e-01 -8.84499392e-04 2.33466437e+02] [-5.70633292e-03 -1.22079246e-04 9.99983711e-01 -1.65033780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.485336195 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:1091.49, Y:233.46, Z:-16.50 [[ 9.84491435e-01 1.75342004e-01 5.63872551e-03 1.09149409e+03] [-1.75339814e-01 9.84507576e-01 -8.84258612e-04 2.33461496e+02] [-5.70641566e-03 -1.18148053e-04 9.99983711e-01 -1.65048157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.545336195 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:1091.55, Y:233.46, Z:-16.50 [[ 9.84840065e-01 1.73373156e-01 5.63877445e-03 1.09155443e+03] [-1.73370936e-01 9.84856201e-01 -8.83946382e-04 2.33457677e+02] [-5.70663456e-03 -1.07053794e-04 9.99983711e-01 -1.65018137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.6053361949998 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:1091.62, Y:233.45, Z:-16.50 [[ 9.85830991e-01 1.67646836e-01 5.63877445e-03 1.09161538e+03] [-1.67644522e-01 9.85847114e-01 -8.83946382e-04 2.33453093e+02] [-5.70716034e-03 -7.38879105e-05 9.99983711e-01 -1.65009083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.6653361949998 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:1091.68, Y:233.45, Z:-16.50 [[ 9.87019705e-01 1.60500173e-01 5.63877445e-03 1.09167517e+03] [-1.60497743e-01 9.87035812e-01 -8.83946382e-04 2.33449232e+02] [-5.70754587e-03 -3.25380739e-05 9.99983711e-01 -1.65019834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.725336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:1091.74, Y:233.44, Z:-16.50 [[ 9.87997394e-01 1.54367589e-01 5.63878512e-03 1.09173509e+03] [-1.54365059e-01 9.88013485e-01 -8.83878358e-04 2.33443250e+02] [-5.70763791e-03 2.83811715e-06 9.99983711e-01 -1.65037780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.785336195 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:1091.79, Y:233.44, Z:-16.51 [[ 9.88441937e-01 1.51495019e-01 5.63880623e-03 1.09179498e+03] [-1.51492443e-01 9.88458021e-01 -8.83743645e-04 2.33438703e+02] [-5.70760601e-03 1.92927497e-05 9.99983711e-01 -1.65056255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.8453361949998 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:1091.85, Y:233.43, Z:-16.50 [[ 9.88350845e-01 1.52088169e-01 5.63882784e-03 1.09185331e+03] [-1.52085603e-01 9.88366930e-01 -8.83605737e-04 2.33434748e+02] [-5.70761694e-03 1.57279413e-05 9.99983711e-01 -1.65024290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.9053361949998 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:1091.91, Y:233.43, Z:-16.51 [[ 9.88263586e-01 1.52654145e-01 5.63884947e-03 1.09191195e+03] [-1.52651589e-01 9.88279673e-01 -8.83467715e-04 2.33427723e+02] [-5.70762531e-03 1.23196400e-05 9.99983711e-01 -1.65089903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.965336195 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:1091.97, Y:233.42, Z:-16.51 [[ 9.88213501e-01 1.52978034e-01 5.63889049e-03 1.09197071e+03] [-1.52975485e-01 9.88229589e-01 -8.83205779e-04 2.33421697e+02] [-5.70762952e-03 1.01838664e-05 9.99983711e-01 -1.65101279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.025336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1092.03, Y:233.41, Z:-16.51 [[ 9.88268844e-01 1.52620100e-01 5.63893139e-03 1.09202864e+03] [-1.52617547e-01 9.88284931e-01 -8.82944591e-04 2.33414786e+02] [-5.70762601e-03 1.19867552e-05 9.99983711e-01 -1.65088506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.0853361949999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1092.09, Y:233.41, Z:-16.51 [[ 9.88268845e-01 1.52620087e-01 5.63898197e-03 1.09208762e+03] [-1.52617536e-01 9.88284933e-01 -8.82621450e-04 2.33408024e+02] [-5.70762668e-03 1.16597508e-05 9.99983711e-01 -1.65101941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.1453361949998 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1092.14, Y:233.40, Z:-16.51 [[ 9.87909196e-01 1.54931021e-01 5.63904820e-03 1.09214466e+03] [-1.54928509e-01 9.87925290e-01 -8.82198088e-04 2.33401587e+02] [-5.70763818e-03 -2.11772515e-06 9.99983711e-01 -1.65113379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.205336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1092.20, Y:233.40, Z:-16.51 [[ 9.87337942e-01 1.58530719e-01 5.63909712e-03 1.09220315e+03] [-1.58528268e-01 9.87354045e-01 -8.81885245e-04 2.33397763e+02] [-5.70759126e-03 -2.32375351e-05 9.99983711e-01 -1.65128315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.265336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1092.26, Y:233.39, Z:-16.51 [[ 9.86607777e-01 1.63013173e-01 5.63913597e-03 1.09226253e+03] [-1.63010797e-01 9.86623891e-01 -8.81636811e-04 2.33394527e+02] [-5.70742468e-03 -4.94103127e-05 9.99983711e-01 -1.65091374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.3253361949999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1092.32, Y:233.39, Z:-16.51 [[ 9.86347852e-01 1.64578595e-01 5.63917783e-03 1.09231985e+03] [-1.64576245e-01 9.86363971e-01 -8.81368977e-04 2.33389420e+02] [-5.70733630e-03 -5.87383144e-05 9.99983711e-01 -1.65104560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.3853361949998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:1092.38, Y:233.39, Z:-16.51 [[ 9.86312185e-01 1.64792210e-01 5.63922949e-03 1.09237809e+03] [-1.64789866e-01 9.86328304e-01 -8.81038294e-04 2.33387237e+02] [-5.70731991e-03 -6.03090651e-05 9.99983711e-01 -1.65101504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.445336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1092.44, Y:233.38, Z:-16.51 [[ 9.86648182e-01 1.62768434e-01 5.63927722e-03 1.09243654e+03] [-1.62766059e-01 9.86664297e-01 -8.80732695e-04 2.33384903e+02] [-5.70742897e-03 -4.89096143e-05 9.99983711e-01 -1.65115107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.505336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1092.49, Y:233.38, Z:-16.51 [[ 9.87181460e-01 1.59502234e-01 5.63933360e-03 1.09249383e+03] [-1.59499807e-01 9.87197567e-01 -8.80371547e-04 2.33382863e+02] [-5.70755764e-03 -3.03861514e-05 9.99983711e-01 -1.65122508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.5653361949999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1092.55, Y:233.38, Z:-16.51 [[ 9.88015560e-01 1.54251255e-01 5.63939872e-03 1.09255131e+03] [-1.54248745e-01 9.88031655e-01 -8.79954188e-04 2.33377495e+02] [-5.70763849e-03 -4.61744086e-07 9.99983711e-01 -1.65111237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.6253361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1092.61, Y:233.37, Z:-16.51 [[ 9.89058112e-01 1.47418613e-01 5.63945806e-03 1.09260986e+03] [-1.47415994e-01 9.89074189e-01 -8.79573724e-04 2.33372884e+02] [-5.70750795e-03 3.86032119e-05 9.99983711e-01 -1.65101271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.685336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1092.67, Y:233.37, Z:-16.51 [[ 9.89849317e-01 1.42008896e-01 5.63949931e-03 1.09266866e+03] [-1.42006191e-01 9.89865379e-01 -8.79309161e-04 2.33365056e+02] [-5.70721485e-03 6.95397582e-05 9.99983711e-01 -1.65094272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.745336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1092.73, Y:233.36, Z:-16.51 [[ 9.90804735e-01 1.35181997e-01 5.63954000e-03 1.09272546e+03] [-1.35179183e-01 9.90820779e-01 -8.79048105e-04 2.33355083e+02] [-5.70660490e-03 1.08616615e-04 9.99983711e-01 -1.65116190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.8053361949999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1092.78, Y:233.34, Z:-16.51 [[ 9.91274223e-01 1.31695141e-01 5.63959023e-03 1.09278365e+03] [-1.31692272e-01 9.91290257e-01 -8.78725755e-04 2.33343752e+02] [-5.70619476e-03 1.28367738e-04 9.99983711e-01 -1.65106701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.8653361949998 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1092.84, Y:233.33, Z:-16.51 [[ 9.91432483e-01 1.30498375e-01 5.63963081e-03 1.09284054e+03] [-1.30495488e-01 9.91448514e-01 -8.78465243e-04 2.33332171e+02] [-5.70604187e-03 1.34992602e-04 9.99983711e-01 -1.65112591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.9253361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1092.90, Y:233.32, Z:-16.51 [[ 9.91442213e-01 1.30424430e-01 5.63968075e-03 1.09289769e+03] [-1.30421543e-01 9.91458244e-01 -8.78144483e-04 2.33318586e+02] [-5.70603947e-03 1.35093642e-04 9.99983711e-01 -1.65113715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.985336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1092.95, Y:233.31, Z:-16.51 [[ 9.91435827e-01 1.30472967e-01 5.63972047e-03 1.09295494e+03] [-1.30470083e-01 9.91451858e-01 -8.77889352e-04 2.33306328e+02] [-5.70605216e-03 1.34556157e-04 9.99983711e-01 -1.65118810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.045336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1093.01, Y:233.29, Z:-16.52 [[ 9.91143888e-01 1.32672481e-01 5.63976224e-03 1.09301192e+03] [-1.32669634e-01 9.91159926e-01 -8.77620929e-04 2.33293455e+02] [-5.70634247e-03 1.21623429e-04 9.99983711e-01 -1.65177237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.1053361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1093.07, Y:233.28, Z:-16.52 [[ 9.90261671e-01 1.39104336e-01 5.63980372e-03 1.09306929e+03] [-1.39101594e-01 9.90277727e-01 -8.77354274e-04 2.33282190e+02] [-5.70701579e-03 8.43046208e-05 9.99983711e-01 -1.65159918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.1653361949998 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1093.13, Y:233.27, Z:-16.52 [[ 9.89129766e-01 1.46937052e-01 5.63984549e-03 1.09312597e+03] [-1.46934439e-01 9.89145844e-01 -8.77085678e-04 2.33271846e+02] [-5.70750611e-03 3.88640173e-05 9.99983711e-01 -1.65159604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.225336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1093.18, Y:233.26, Z:-16.52 [[ 9.88646640e-01 1.50153297e-01 5.63989721e-03 1.09318422e+03] [-1.50150738e-01 9.88662727e-01 -8.76752961e-04 2.33260920e+02] [-5.70760350e-03 1.99641392e-05 9.99983711e-01 -1.65160354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.285336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1093.24, Y:233.25, Z:-16.52 [[ 9.88659094e-01 1.50071275e-01 5.63993819e-03 1.09324059e+03] [-1.50068716e-01 9.88675180e-01 -8.76489322e-04 2.33250337e+02] [-5.70760277e-03 2.01708542e-05 9.99983711e-01 -1.65174169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.3453361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1093.30, Y:233.24, Z:-16.52 [[ 9.88850348e-01 1.48805849e-01 5.63997181e-03 1.09329818e+03] [-1.48803272e-01 9.88866431e-01 -8.76272897e-04 2.33237823e+02] [-5.70757333e-03 2.72565014e-05 9.99983711e-01 -1.65155360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.4053361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1093.35, Y:233.23, Z:-16.52 [[ 9.89094456e-01 1.47174545e-01 5.64001487e-03 1.09335459e+03] [-1.47171942e-01 9.89110536e-01 -8.75995640e-04 2.33225671e+02] [-5.70752239e-03 3.63904873e-05 9.99983711e-01 -1.65205115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.465336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1093.41, Y:233.21, Z:-16.52 [[ 9.89308878e-01 1.45726230e-01 5.64006815e-03 1.09341178e+03] [-1.45723606e-01 9.89324954e-01 -8.75652491e-04 2.33212015e+02] [-5.70746570e-03 4.43997143e-05 9.99983711e-01 -1.65161002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.525336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1093.47, Y:233.20, Z:-16.52 [[ 9.89265242e-01 1.46022155e-01 5.64011119e-03 1.09346817e+03] [-1.46019538e-01 9.89281319e-01 -8.75375149e-04 2.33201058e+02] [-5.70748081e-03 4.24117796e-05 9.99983711e-01 -1.65171043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.5853361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1093.52, Y:233.19, Z:-16.52 [[ 9.88926236e-01 1.48300671e-01 5.64016430e-03 1.09352446e+03] [-1.48298093e-01 9.88942319e-01 -8.75032851e-04 2.33186805e+02] [-5.70756512e-03 2.89173352e-05 9.99983711e-01 -1.65181210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.6453361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1093.58, Y:233.17, Z:-16.52 [[ 9.88489823e-01 1.51182201e-01 5.64021610e-03 1.09358240e+03] [-1.51179671e-01 9.88505914e-01 -8.74698818e-04 2.33174933e+02] [-5.70762587e-03 1.19448644e-05 9.99983711e-01 -1.65156827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.705336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1093.64, Y:233.17, Z:-16.52 [[ 9.87947360e-01 1.54687429e-01 5.64025902e-03 1.09363895e+03] [-1.54684957e-01 9.87963461e-01 -8.74421989e-04 2.33165052e+02] [-5.70763191e-03 -8.58033039e-06 9.99983711e-01 -1.65177820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.765336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1093.70, Y:233.15, Z:-16.52 [[ 9.87343674e-01 1.58494971e-01 5.64031208e-03 1.09369681e+03] [-1.58492564e-01 9.87359784e-01 -8.74079584e-04 2.33154244e+02] [-5.70755454e-03 -3.09305758e-05 9.99983711e-01 -1.65179128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.8253361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1093.75, Y:233.15, Z:-16.52 [[ 9.86816987e-01 1.61741832e-01 5.64035290e-03 1.09375386e+03] [-1.61739480e-01 9.86833105e-01 -8.73816088e-04 2.33146066e+02] [-5.70741958e-03 -4.99711848e-05 9.99983711e-01 -1.65205884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.8853361949998 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1093.81, Y:233.14, Z:-16.52 [[ 9.85944102e-01 1.66980281e-01 5.64040345e-03 1.09381236e+03] [-1.66978016e-01 9.85960232e-01 -8.73489723e-04 2.33140242e+02] [-5.70706905e-03 -8.06113373e-05 9.99983711e-01 -1.65189086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.945336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1093.87, Y:233.14, Z:-16.52 [[ 9.85034459e-01 1.72265200e-01 5.64044508e-03 1.09387047e+03] [-1.72263023e-01 9.85050602e-01 -8.73220796e-04 2.33135736e+02] [-5.70654938e-03 -1.11487547e-04 9.99983711e-01 -1.65194236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.005336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1093.93, Y:233.13, Z:-16.52 [[ 9.84569762e-01 1.74901597e-01 5.64049650e-03 1.09392923e+03] [-1.74899465e-01 9.84585911e-01 -8.72888528e-04 2.33132605e+02] [-5.70622298e-03 -1.27100170e-04 9.99983711e-01 -1.65206854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.0653361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1093.99, Y:233.13, Z:-16.52 [[ 9.84564078e-01 1.74933587e-01 5.64053742e-03 1.09398671e+03] [-1.74931457e-01 9.84580227e-01 -8.72623989e-04 2.33127525e+02] [-5.70621286e-03 -1.27553195e-04 9.99983711e-01 -1.65222588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.1253361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1094.05, Y:233.12, Z:-16.52 [[ 9.84994565e-01 1.72493159e-01 5.64058790e-03 1.09404526e+03] [-1.72490991e-01 9.85010709e-01 -8.72297591e-04 2.33124310e+02] [-5.70650486e-03 -1.13742210e-04 9.99983711e-01 -1.65202358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.185336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1094.10, Y:233.12, Z:-16.52 [[ 9.85553151e-01 1.69272472e-01 5.64062944e-03 1.09410359e+03] [-1.69270253e-01 9.85569288e-01 -8.72028882e-04 2.33122390e+02] [-5.70684163e-03 -9.53599578e-05 9.99983711e-01 -1.65204647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.245336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1094.16, Y:233.12, Z:-16.52 [[ 9.85805512e-01 1.67796527e-01 5.64069149e-03 1.09416315e+03] [-1.67794286e-01 9.85821646e-01 -8.71627376e-04 2.33120993e+02] [-5.70697181e-03 -8.72207269e-05 9.99983711e-01 -1.65192001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.3053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1094.22, Y:233.12, Z:-16.52 [[ 9.86133213e-01 1.65859783e-01 5.64073263e-03 1.09422096e+03] [-1.65857512e-01 9.86149343e-01 -8.71361011e-04 2.33117359e+02] [-5.70712853e-03 -7.62798445e-05 9.99983711e-01 -1.65191393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.3653361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1094.28, Y:233.11, Z:-16.52 [[ 9.87144212e-01 1.59732544e-01 5.64079491e-03 1.09427932e+03] [-1.59730175e-01 9.87160328e-01 -8.70957670e-04 2.33112893e+02] [-5.70748924e-03 -4.12443329e-05 9.99983711e-01 -1.65225542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.4253361949998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1094.34, Y:233.11, Z:-16.52 [[ 9.88307720e-01 1.52368077e-01 5.64083635e-03 1.09433811e+03] [-1.52365589e-01 9.88323818e-01 -8.70689213e-04 2.33109499e+02] [-5.70763816e-03 1.03951782e-06 9.99983711e-01 -1.65244460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.485336195 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:1094.40, Y:233.10, Z:-16.52 [[ 9.89471674e-01 1.44616687e-01 5.64087729e-03 1.09439658e+03] [-1.44614075e-01 9.89487752e-01 -8.70423872e-04 2.33103729e+02] [-5.70745681e-03 4.55095161e-05 9.99983711e-01 -1.65235973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.545336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1094.46, Y:233.10, Z:-16.52 [[ 9.90147492e-01 1.39914703e-01 5.64091876e-03 1.09445538e+03] [-1.39912015e-01 9.90163558e-01 -8.70155073e-04 2.33096876e+02] [-5.70717967e-03 7.23495513e-05 9.99983711e-01 -1.65220677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.6053361949998 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:1094.51, Y:233.09, Z:-16.52 [[ 9.91080804e-01 1.33142852e-01 5.64095956e-03 1.09451284e+03] [-1.33140056e-01 9.91096851e-01 -8.69890442e-04 2.33090261e+02] [-5.70655696e-03 1.11094046e-04 9.99983711e-01 -1.65205956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.6653361949998 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1094.57, Y:233.08, Z:-16.52 [[ 9.91753824e-01 1.28033326e-01 5.64101006e-03 1.09457076e+03] [-1.28030449e-01 9.91769856e-01 -8.69562883e-04 2.33080429e+02] [-5.70591676e-03 1.40171261e-04 9.99983711e-01 -1.65214110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.725336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:1094.63, Y:233.07, Z:-16.52 [[ 9.92106721e-01 1.25269437e-01 5.64104975e-03 1.09462841e+03] [-1.25266518e-01 9.92122746e-01 -8.69305329e-04 2.33069921e+02] [-5.70551116e-03 1.55809002e-04 9.99983711e-01 -1.65241624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.785336195 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:1094.69, Y:233.06, Z:-16.53 [[ 9.92340066e-01 1.23407338e-01 5.64108909e-03 1.09468628e+03] [-1.23404390e-01 9.92356086e-01 -8.69049933e-04 2.33057956e+02] [-5.70521623e-03 1.66257910e-04 9.99983711e-01 -1.65262813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.8453361949998 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:1094.74, Y:233.05, Z:-16.53 [[ 9.92139943e-01 1.25006046e-01 5.64113078e-03 1.09474349e+03] [-1.25003125e-01 9.92155968e-01 -8.68779229e-04 2.33046664e+02] [-5.70548423e-03 1.56791599e-04 9.99983711e-01 -1.65266803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.9053361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1094.80, Y:233.04, Z:-16.52 [[ 9.91388612e-01 1.30831177e-01 5.64118769e-03 1.09480089e+03] [-1.30828352e-01 9.91404654e-01 -8.68409573e-04 2.33035471e+02] [-5.70631478e-03 1.22904072e-04 9.99983711e-01 -1.65220770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.965336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1094.86, Y:233.02, Z:-16.52 [[ 9.90305511e-01 1.38791829e-01 5.64123499e-03 1.09485731e+03] [-1.38789135e-01 9.90321575e-01 -8.68102183e-04 2.33024947e+02] [-5.70712221e-03 7.67442505e-05 9.99983711e-01 -1.65203519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.025336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1094.91, Y:233.02, Z:-16.52 [[ 9.89686212e-01 1.43141112e-01 5.64126722e-03 1.09491431e+03] [-1.43138490e-01 9.89702288e-01 -8.67892695e-04 2.33015027e+02] [-5.70740620e-03 5.14589602e-05 9.99983711e-01 -1.65217018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.0853361949999 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:1094.97, Y:233.00, Z:-16.53 [[ 9.89134554e-01 1.46904763e-01 5.64131402e-03 1.09497190e+03] [-1.46902204e-01 9.89150641e-01 -8.67588419e-04 2.33004626e+02] [-5.70756224e-03 2.94402222e-05 9.99983711e-01 -1.65262723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.1453361949998 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:1095.03, Y:232.99, Z:-16.53 [[ 9.88854090e-01 1.48780928e-01 5.64135126e-03 1.09502830e+03] [-1.48778401e-01 9.88870181e-01 -8.67346191e-04 2.32993457e+02] [-5.70760861e-03 1.83676074e-05 9.99983711e-01 -1.65267876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.205336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:1095.09, Y:232.99, Z:-16.53 [[ 9.88517793e-01 1.50999166e-01 5.64140769e-03 1.09508617e+03] [-1.50996677e-01 9.88533890e-01 -8.66979004e-04 2.32985072e+02] [-5.70763579e-03 5.19035613e-06 9.99983711e-01 -1.65260409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.265336195 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:1095.14, Y:232.98, Z:-16.52 [[ 9.88386356e-01 1.51857121e-01 5.64146244e-03 1.09514405e+03] [-1.51854648e-01 9.88402456e-01 -8.66622592e-04 2.32976888e+02] [-5.70763814e-03 -1.24349521e-07 9.99983711e-01 -1.65212163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.3253361949999 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:1095.20, Y:232.97, Z:-16.52 [[ 9.88274853e-01 1.52581089e-01 5.64151693e-03 1.09520255e+03] [-1.52578630e-01 9.88290955e-01 -8.66267692e-04 2.32967302e+02] [-5.70763623e-03 -4.66435118e-06 9.99983711e-01 -1.65238553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.3853361949998 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:1095.26, Y:232.96, Z:-16.52 [[ 9.88477302e-01 1.51263997e-01 5.64155524e-03 1.09526010e+03] [-1.51261518e-01 9.88493401e-01 -8.66018167e-04 2.32958385e+02] [-5.70763749e-03 2.68909202e-06 9.99983711e-01 -1.65244420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.445336195 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:1095.32, Y:232.95, Z:-16.52 [[ 9.89061182e-01 1.47397930e-01 5.64161246e-03 1.09531746e+03] [-1.47395390e-01 9.89077272e-01 -8.65645246e-04 2.32948590e+02] [-5.70758498e-03 2.46284409e-05 9.99983711e-01 -1.65210442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.505336195 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:1095.38, Y:232.94, Z:-16.53 [[ 9.89534501e-01 1.44186139e-01 5.64165991e-03 1.09537512e+03] [-1.44183549e-01 9.89550583e-01 -8.65335852e-04 2.32937912e+02] [-5.70747729e-03 4.28451311e-05 9.99983711e-01 -1.65277677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.5653361949999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1095.43, Y:232.93, Z:-16.53 [[ 9.89993779e-01 1.40998190e-01 5.64169701e-03 1.09543274e+03] [-1.40995549e-01 9.90009852e-01 -8.65093959e-04 2.32925233e+02] [-5.70731230e-03 6.09834690e-05 9.99983711e-01 -1.65293706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.6253361949998 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1095.49, Y:232.91, Z:-16.53 [[ 9.89871108e-01 1.41856832e-01 5.64173514e-03 1.09549057e+03] [-1.41854206e-01 9.89887184e-01 -8.64845186e-04 2.32913052e+02] [-5.70736551e-03 5.57814012e-05 9.99983711e-01 -1.65275641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.685336195 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:1095.55, Y:232.90, Z:-16.53 [[ 9.89512024e-01 1.44340310e-01 5.64177640e-03 1.09554872e+03] [-1.44337727e-01 9.89528106e-01 -8.64575932e-04 2.32901399e+02] [-5.70748948e-03 4.11871003e-05 9.99983711e-01 -1.65272961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.745336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:1095.61, Y:232.89, Z:-16.53 [[ 9.88703235e-01 1.49780117e-01 5.64181825e-03 1.09560561e+03] [-1.49777624e-01 9.88719331e-01 -8.64302769e-04 2.32892448e+02] [-5.70763014e-03 9.52081089e-06 9.99983711e-01 -1.65288291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.8053361949999 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:1095.66, Y:232.88, Z:-16.53 [[ 9.88329053e-01 1.52229606e-01 5.64187008e-03 1.09566275e+03] [-1.52227154e-01 9.88345156e-01 -8.63964328e-04 2.32882441e+02] [-5.70763591e-03 -4.96478231e-06 9.99983711e-01 -1.65305382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.8653361949998 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:1095.72, Y:232.87, Z:-16.53 [[ 9.87607595e-01 1.56841981e-01 5.64191989e-03 1.09572055e+03] [-1.56839607e-01 9.87623710e-01 -8.63638915e-04 2.32873843e+02] [-5.70754869e-03 -3.19401445e-05 9.99983711e-01 -1.65279919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.9253361949998 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:1095.78, Y:232.87, Z:-16.53 [[ 9.87068546e-01 1.60199421e-01 5.64196253e-03 1.09577808e+03] [-1.60197103e-01 9.87084669e-01 -8.63360254e-04 2.32866051e+02] [-5.70740453e-03 -5.16303014e-05 9.99983711e-01 -1.65291646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.985336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:1095.84, Y:232.86, Z:-16.53 [[ 9.86393344e-01 1.64305622e-01 5.64202080e-03 1.09583643e+03] [-1.64303374e-01 9.86409477e-01 -8.62979306e-04 2.32859104e+02] [-5.70713514e-03 -7.57660077e-05 9.99983711e-01 -1.65286887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.045336195 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:1095.90, Y:232.85, Z:-16.53 [[ 9.86437806e-01 1.64038479e-01 5.64206045e-03 1.09589501e+03] [-1.64036228e-01 9.86453938e-01 -8.62720037e-04 2.32851270e+02] [-5.70715203e-03 -7.44826506e-05 9.99983711e-01 -1.65304866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.1053361949998 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:1095.95, Y:232.84, Z:-16.53 [[ 9.86682689e-01 1.62559027e-01 5.64209968e-03 1.09595342e+03] [-1.62556752e-01 9.86698818e-01 -8.62463401e-04 2.32844296e+02] [-5.70725429e-03 -6.61836927e-05 9.99983711e-01 -1.65292136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.1653361949998 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:1096.01, Y:232.84, Z:-16.53 [[ 9.87062768e-01 1.60235008e-01 5.64214146e-03 1.09601048e+03] [-1.60232697e-01 9.87078892e-01 -8.62189988e-04 2.32835499e+02] [-5.70739176e-03 -5.30199065e-05 9.99983711e-01 -1.65283275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.225336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:1096.07, Y:232.83, Z:-16.53 [[ 9.87377568e-01 1.58283620e-01 5.64219314e-03 1.09606724e+03] [-1.58281280e-01 9.87393687e-01 -8.61851646e-04 2.32827091e+02] [-5.70748289e-03 -4.20805680e-05 9.99983711e-01 -1.65274270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.285336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1096.13, Y:232.82, Z:-16.53 [[ 9.87873498e-01 1.55158364e-01 5.64224379e-03 1.09612604e+03] [-1.55155974e-01 9.87889610e-01 -8.61519894e-04 2.32819233e+02] [-5.70758604e-03 -2.43551590e-05 9.99983711e-01 -1.65256372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.3453361949998 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:1096.18, Y:232.81, Z:-16.53 [[ 9.88260796e-01 1.52672082e-01 5.64228433e-03 1.09618461e+03] [-1.52669653e-01 9.88276902e-01 -8.61254340e-04 2.32811900e+02] [-5.70762877e-03 -1.02616912e-05 9.99983711e-01 -1.65261423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.4053361949998 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:1096.24, Y:232.80, Z:-16.53 [[ 9.88538317e-01 1.50864708e-01 5.64232585e-03 1.09624173e+03] [-1.50862252e-01 9.88554419e-01 -8.60982255e-04 2.32803608e+02] [-5.70763799e-03 -1.00032423e-07 9.99983711e-01 -1.65274053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.465336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1096.30, Y:232.80, Z:-16.53 [[ 9.88692508e-01 1.49850884e-01 5.64237714e-03 1.09629985e+03] [-1.49848413e-01 9.88708609e-01 -8.60645963e-04 2.32795434e+02] [-5.70763541e-03 5.41295852e-06 9.99983711e-01 -1.65273916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.525336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1096.36, Y:232.79, Z:-16.53 [[ 9.88600166e-01 1.50458879e-01 5.64241790e-03 1.09635860e+03] [-1.50456419e-01 9.88616268e-01 -8.60378646e-04 2.32788149e+02] [-5.70763774e-03 1.63248142e-06 9.99983711e-01 -1.65260225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.5853361949999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:1096.42, Y:232.78, Z:-16.53 [[ 9.88225030e-01 1.52903408e-01 5.64245832e-03 1.09641719e+03] [-1.52900990e-01 9.88241138e-01 -8.60113542e-04 2.32780776e+02] [-5.70762372e-03 -1.27517300e-05 9.99983711e-01 -1.65267279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.6453361949998 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1096.47, Y:232.77, Z:-16.53 [[ 9.87477540e-01 1.57658714e-01 5.64250032e-03 1.09647494e+03] [-1.57656374e-01 9.87493660e-01 -8.59837895e-04 2.32774935e+02] [-5.70749423e-03 -4.05055320e-05 9.99983711e-01 -1.65295666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.705336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1096.53, Y:232.77, Z:-16.53 [[ 9.86994667e-01 1.60653939e-01 5.64255936e-03 1.09653265e+03] [-1.60651650e-01 9.87010795e-01 -8.59450296e-04 2.32769750e+02] [-5.70734107e-03 -5.82136139e-05 9.99983711e-01 -1.65291539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.765336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1096.59, Y:232.77, Z:-16.53 [[ 9.86431051e-01 1.64079075e-01 5.64261995e-03 1.09659140e+03] [-1.64076845e-01 9.86447186e-01 -8.59052286e-04 2.32766736e+02] [-5.70709908e-03 -7.84274315e-05 9.99983711e-01 -1.65292024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.8253361949999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1096.65, Y:232.76, Z:-16.53 [[ 9.86228465e-01 1.65292391e-01 5.64266089e-03 1.09664935e+03] [-1.65290182e-01 9.86244604e-01 -8.58783329e-04 2.32764136e+02] [-5.70699420e-03 -8.57198813e-05 9.99983711e-01 -1.65309781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.8853361949998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1096.71, Y:232.76, Z:-16.53 [[ 9.86503169e-01 1.63644913e-01 5.64272145e-03 1.09670742e+03] [-1.63642680e-01 9.86519304e-01 -8.58385203e-04 2.32761832e+02] [-5.70712401e-03 -7.65903354e-05 9.99983711e-01 -1.65309221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.945336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1096.77, Y:232.76, Z:-16.53 [[ 9.86829599e-01 1.61664780e-01 5.64278236e-03 1.09676579e+03] [-1.61662517e-01 9.86845730e-01 -8.57984638e-04 2.32759271e+02] [-5.70726157e-03 -6.55417624e-05 9.99983711e-01 -1.65303862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.005336195 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:1096.83, Y:232.76, Z:-16.53 [[ 9.87674813e-01 1.56418099e-01 5.64284280e-03 1.09682512e+03] [-1.56415752e-01 9.87690932e-01 -8.57586944e-04 2.32755051e+02] [-5.70752678e-03 -3.56124746e-05 9.99983711e-01 -1.65288836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.0653361949999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1096.88, Y:232.75, Z:-16.53 [[ 9.88977482e-01 1.47958435e-01 5.64288255e-03 1.09688247e+03] [-1.47955951e-01 9.88993580e-01 -8.57325287e-04 2.32750558e+02] [-5.70762312e-03 1.29773469e-05 9.99983711e-01 -1.65287051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.1253361949998 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1096.94, Y:232.74, Z:-16.53 [[ 9.89932857e-01 1.41425229e-01 5.64295130e-03 1.09693975e+03] [-1.41422642e-01 9.89948939e-01 -8.56872531e-04 2.32743463e+02] [-5.70741705e-03 5.02051931e-05 9.99983711e-01 -1.65258709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.185336195 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:1097.00, Y:232.74, Z:-16.53 [[ 9.90801778e-01 1.35203524e-01 5.64301113e-03 1.09699703e+03] [-1.35200838e-01 9.90817844e-01 -8.56478362e-04 2.32735428e+02] [-5.70699501e-03 8.56604503e-05 9.99983711e-01 -1.65251503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.245336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1097.06, Y:232.73, Z:-16.53 [[ 9.91696468e-01 1.28476731e-01 5.64307258e-03 1.09705530e+03] [-1.28473939e-01 9.91712516e-01 -8.56073269e-04 2.32726793e+02] [-5.70629120e-03 1.23977078e-04 9.99983711e-01 -1.65331292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.3053361949999 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:1097.11, Y:232.72, Z:-16.53 [[ 9.91931211e-01 1.26651598e-01 5.64311337e-03 1.09711284e+03] [-1.26648778e-01 9.91947254e-01 -8.55804273e-04 2.32718190e+02] [-5.70605979e-03 1.34205558e-04 9.99983711e-01 -1.65323828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.3653361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1097.17, Y:232.71, Z:-16.53 [[ 9.91867717e-01 1.27147897e-01 5.64316363e-03 1.09717106e+03] [-1.27145086e-01 9.91883761e-01 -8.55472765e-04 2.32708709e+02] [-5.70613393e-03 1.31015291e-04 9.99983711e-01 -1.65322281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.4253361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1097.23, Y:232.70, Z:-16.53 [[ 9.91533332e-01 1.29729744e-01 5.64320153e-03 1.09722872e+03] [-1.29726977e-01 9.91549384e-01 -8.55222679e-04 2.32698354e+02] [-5.70646082e-03 1.15906316e-04 9.99983711e-01 -1.65321888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.485336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1097.29, Y:232.69, Z:-16.53 [[ 9.91068353e-01 1.33235409e-01 5.64324239e-03 1.09728642e+03] [-1.33232700e-01 9.91084415e-01 -8.54952957e-04 2.32689332e+02] [-5.70683959e-03 9.54523975e-05 9.99983711e-01 -1.65318313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.545336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1097.34, Y:232.68, Z:-16.53 [[ 9.90681070e-01 1.36085160e-01 5.64328318e-03 1.09734312e+03] [-1.36082499e-01 9.90697140e-01 -8.54683649e-04 2.32678484e+02] [-5.70709427e-03 7.87668375e-05 9.99983711e-01 -1.65323516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.6053361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1097.40, Y:232.67, Z:-16.54 [[ 9.89940783e-01 1.41369721e-01 5.64333367e-03 1.09740060e+03] [-1.41367148e-01 9.89956868e-01 -8.54350129e-04 2.32668372e+02] [-5.70743616e-03 4.79740509e-05 9.99983711e-01 -1.65352170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.6653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1097.46, Y:232.66, Z:-16.54 [[ 9.89143064e-01 1.46847375e-01 5.64337348e-03 1.09745741e+03] [-1.46844892e-01 9.89159162e-01 -8.54087106e-04 2.32659234e+02] [-5.70761503e-03 1.61137683e-05 9.99983711e-01 -1.65355965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.725336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:1097.52, Y:232.65, Z:-16.53 [[ 9.88193057e-01 1.53109875e-01 5.64343556e-03 1.09751614e+03] [-1.53107496e-01 9.88209171e-01 -8.53676736e-04 2.32651425e+02] [-5.70760111e-03 -2.04548663e-05 9.99983711e-01 -1.65329424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.785336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1097.57, Y:232.64, Z:-16.53 [[ 9.87648581e-01 1.56583624e-01 5.64347782e-03 1.09757245e+03] [-1.56581304e-01 9.87664704e-01 -8.53397228e-04 2.32642713e+02] [-5.70749188e-03 -4.08065533e-05 9.99983711e-01 -1.65323833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.8453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1097.63, Y:232.63, Z:-16.53 [[ 9.87445180e-01 1.57861226e-01 5.64355115e-03 1.09762842e+03] [-1.57858929e-01 9.87461306e-01 -8.52912000e-04 2.32634022e+02] [-5.70743013e-03 -4.86810990e-05 9.99983711e-01 -1.65307943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.9053361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1097.69, Y:232.62, Z:-16.53 [[ 9.87738520e-01 1.56015271e-01 5.64362300e-03 1.09768574e+03] [-1.56012947e-01 9.87754642e-01 -8.52436311e-04 2.32624790e+02] [-5.70750791e-03 -3.84940766e-05 9.99983711e-01 -1.65320409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.965336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1097.74, Y:232.61, Z:-16.54 [[ 9.88326797e-01 1.52244185e-01 5.64368511e-03 1.09774180e+03] [-1.52241802e-01 9.88342910e-01 -8.52024925e-04 2.32614399e+02] [-5.70761201e-03 -1.71257246e-05 9.99983711e-01 -1.65369696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1097.80, Y:232.60, Z:-16.54 [[ 9.88662850e-01 1.50046384e-01 5.64375669e-03 1.09779883e+03] [-1.50043968e-01 9.88678958e-01 -8.51550502e-04 2.32604037e+02] [-5.70763556e-03 -4.91530056e-06 9.99983711e-01 -1.65376013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.0853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1097.86, Y:232.59, Z:-16.54 [[ 9.89142276e-01 1.46852662e-01 5.64381681e-03 1.09785602e+03] [-1.46850196e-01 9.89158377e-01 -8.51151913e-04 2.32593947e+02] [-5.70762260e-03 1.31147398e-05 9.99983711e-01 -1.65362652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.1453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1097.91, Y:232.58, Z:-16.54 [[ 9.89634156e-01 1.43500465e-01 5.64387653e-03 1.09791250e+03] [-1.43497946e-01 9.89650249e-01 -8.50755705e-04 2.32582782e+02] [-5.70754765e-03 3.20522124e-05 9.99983711e-01 -1.65376481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1097.97, Y:232.57, Z:-16.54 [[ 9.89905503e-01 1.41616530e-01 5.64393577e-03 1.09796991e+03] [-1.41613983e-01 9.89921591e-01 -8.50362547e-04 2.32572071e+02] [-5.70747927e-03 4.25183403e-05 9.99983711e-01 -1.65392022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.265336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1098.03, Y:232.56, Z:-16.54 [[ 9.90220698e-01 1.39395535e-01 5.64399453e-03 1.09802671e+03] [-1.39392954e-01 9.90236781e-01 -8.49972367e-04 2.32558570e+02] [-5.70737332e-03 5.49271582e-05 9.99983711e-01 -1.65410196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.3253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1098.08, Y:232.55, Z:-16.54 [[ 9.90345858e-01 1.38503521e-01 5.64404302e-03 1.09808409e+03] [-1.38500928e-01 9.90361939e-01 -8.49650238e-04 2.32546797e+02] [-5.70732494e-03 5.97424000e-05 9.99983711e-01 -1.65397564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.3853361949998 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:1098.14, Y:232.53, Z:-16.53 [[ 9.89978037e-01 1.41108579e-01 5.64408360e-03 1.09814217e+03] [-1.41106030e-01 9.89994125e-01 -8.49380552e-04 2.32534401e+02] [-5.70746449e-03 4.44538619e-05 9.99983711e-01 -1.65328080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.445336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1098.20, Y:232.52, Z:-16.54 [[ 9.89089881e-01 1.47205135e-01 5.64412374e-03 1.09819856e+03] [-1.47202687e-01 9.89105984e-01 -8.49113786e-04 2.32523992e+02] [-5.70763047e-03 9.01967631e-06 9.99983711e-01 -1.65399996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.505336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1098.26, Y:232.52, Z:-16.54 [[ 9.88364796e-01 1.51997278e-01 5.64417585e-03 1.09825603e+03] [-1.51994909e-01 9.88380912e-01 -8.48767240e-04 2.32516131e+02] [-5.70760599e-03 -1.89943372e-05 9.99983711e-01 -1.65398405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.5653361949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1098.31, Y:232.51, Z:-16.54 [[ 9.87115344e-01 1.59910725e-01 5.64423594e-03 1.09831339e+03] [-1.59908488e-01 9.87131478e-01 -8.48367432e-04 2.32509318e+02] [-5.70726602e-03 -6.51247257e-05 9.99983711e-01 -1.65419044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.6253361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1098.37, Y:232.50, Z:-16.54 [[ 9.86200639e-01 1.65458275e-01 5.64429691e-03 1.09837059e+03] [-1.65456130e-01 9.86216786e-01 -8.47961652e-04 2.32503657e+02] [-5.70680263e-03 -9.76232023e-05 9.99983711e-01 -1.65447967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.685336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1098.43, Y:232.50, Z:-16.54 [[ 9.85987801e-01 1.66721918e-01 5.64436741e-03 1.09842832e+03] [-1.66719797e-01 9.86003951e-01 -8.47492081e-04 2.32497261e+02] [-5.70666407e-03 -1.05410936e-04 9.99983711e-01 -1.65448123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1098.49, Y:232.49, Z:-16.54 [[ 9.86179474e-01 1.65584373e-01 5.64442481e-03 1.09848608e+03] [-1.65582236e-01 9.86195622e-01 -8.47109638e-04 2.32492414e+02] [-5.70677516e-03 -9.92143426e-05 9.99983711e-01 -1.65438881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.8053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1098.54, Y:232.49, Z:-16.54 [[ 9.86688535e-01 1.62523458e-01 5.64448427e-03 1.09854373e+03] [-1.62521273e-01 9.86704677e-01 -8.46713278e-04 2.32487372e+02] [-5.70704979e-03 -8.19064858e-05 9.99983711e-01 -1.65433321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.8653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1098.60, Y:232.48, Z:-16.54 [[ 9.87333049e-01 1.58560993e-01 5.64454449e-03 1.09860112e+03] [-1.58558746e-01 9.87349182e-01 -8.46311637e-04 2.32483242e+02] [-5.70732840e-03 -5.94004432e-05 9.99983711e-01 -1.65449410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.9253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1098.66, Y:232.48, Z:-16.55 [[ 9.87861436e-01 1.55235050e-01 5.64461412e-03 1.09865941e+03] [-1.55232751e-01 9.87877562e-01 -8.45846948e-04 2.32477909e+02] [-5.70749273e-03 -4.06493969e-05 9.99983711e-01 -1.65454631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1098.72, Y:232.47, Z:-16.55 [[ 9.88873726e-01 1.48650234e-01 5.64467390e-03 1.09871644e+03] [-1.48647829e-01 9.88889836e-01 -8.45447829e-04 2.32471074e+02] [-5.70763666e-03 -3.02737764e-06 9.99983711e-01 -1.65458233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1098.77, Y:232.46, Z:-16.54 [[ 9.89842674e-01 1.42054981e-01 5.64474284e-03 1.09877382e+03] [-1.42052472e-01 9.89858768e-01 -8.44987266e-04 2.32464438e+02] [-5.70753285e-03 3.45547808e-05 9.99983711e-01 -1.65441753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.1053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1098.83, Y:232.46, Z:-16.54 [[ 9.90149591e-01 1.39899692e-01 5.64480101e-03 1.09883082e+03] [-1.39897150e-01 9.90165680e-01 -8.44598505e-04 2.32456311e+02] [-5.70744730e-03 4.65872889e-05 9.99983711e-01 -1.65441536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.1653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1098.89, Y:232.45, Z:-16.54 [[ 9.90926601e-01 1.34285546e-01 5.64485875e-03 1.09888789e+03] [-1.34282915e-01 9.90942675e-01 -8.44212449e-04 2.32447761e+02] [-5.70709696e-03 7.85444820e-05 9.99983711e-01 -1.65448209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1098.95, Y:232.44, Z:-16.55 [[ 9.91256057e-01 1.31831580e-01 5.64490607e-03 1.09894582e+03] [-1.31828911e-01 9.91272125e-01 -8.43895898e-04 2.32437210e+02] [-5.70689017e-03 9.23550999e-05 9.99983711e-01 -1.65462405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.285336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1099.00, Y:232.43, Z:-16.55 [[ 9.91146279e-01 1.32654395e-01 5.64494698e-03 1.09900303e+03] [-1.32651741e-01 9.91162350e-01 -8.43622174e-04 2.32429182e+02] [-5.70696910e-03 8.73409319e-05 9.99983711e-01 -1.65469772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.3453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1099.06, Y:232.42, Z:-16.55 [[ 9.90940313e-01 1.34184314e-01 5.64499769e-03 1.09906130e+03] [-1.34181686e-01 9.90956388e-01 -8.43282730e-04 2.32420761e+02] [-5.70710183e-03 7.81875434e-05 9.99983711e-01 -1.65515478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.4053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1099.12, Y:232.41, Z:-16.55 [[ 9.90713390e-01 1.35849598e-01 5.64503701e-03 1.09911909e+03] [-1.35846999e-01 9.90729470e-01 -8.43019396e-04 2.32411893e+02] [-5.70722837e-03 6.83292642e-05 9.99983711e-01 -1.65516280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1099.18, Y:232.40, Z:-16.55 [[ 9.90693753e-01 1.35992724e-01 5.64507755e-03 1.09917725e+03] [-1.35990129e-01 9.90709834e-01 -8.42747833e-04 2.32402629e+02] [-5.70724142e-03 6.72301880e-05 9.99983711e-01 -1.65519516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.525336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1099.23, Y:232.39, Z:-16.55 [[ 9.90639846e-01 1.36384851e-01 5.64511802e-03 1.09923457e+03] [-1.36382264e-01 9.90655928e-01 -8.42476690e-04 2.32392046e+02] [-5.70727069e-03 6.46969997e-05 9.99983711e-01 -1.65545511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.5853361949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1099.29, Y:232.38, Z:-16.55 [[ 9.90289814e-01 1.38903619e-01 5.64516817e-03 1.09929248e+03] [-1.38901076e-01 9.90305903e-01 -8.42140516e-04 2.32382134e+02] [-5.70741973e-03 4.98432448e-05 9.99983711e-01 -1.65544226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.6453361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1099.35, Y:232.37, Z:-16.56 [[ 9.89615849e-01 1.43626609e-01 5.64520731e-03 1.09934875e+03] [-1.43624144e-01 9.89631950e-01 -8.41878053e-04 2.32374852e+02] [-5.70759361e-03 2.23477995e-05 9.99983711e-01 -1.65551062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.705336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1099.41, Y:232.37, Z:-16.55 [[ 9.88963341e-01 1.48052830e-01 5.64529036e-03 1.09940718e+03] [-1.48050440e-01 9.88979453e-01 -8.41320757e-04 2.32367461e+02] [-5.70763610e-03 -3.75233464e-06 9.99983711e-01 -1.65523081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.765336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1099.46, Y:232.36, Z:-16.55 [[ 9.88697020e-01 1.49821001e-01 5.64532915e-03 1.09946467e+03] [-1.49818641e-01 9.88713137e-01 -8.41060424e-04 2.32359840e+02] [-5.70761961e-03 -1.42216068e-05 9.99983711e-01 -1.65525553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.8253361949999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1099.52, Y:232.35, Z:-16.55 [[ 9.88511693e-01 1.51038945e-01 5.64538727e-03 1.09952166e+03] [-1.51036607e-01 9.88527813e-01 -8.40670148e-04 2.32353415e+02] [-5.70759626e-03 -2.16478667e-05 9.99983711e-01 -1.65545898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.8853361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1099.58, Y:232.35, Z:-16.56 [[ 9.88403466e-01 1.51745565e-01 5.64545448e-03 1.09957989e+03] [-1.51743241e-01 9.88419588e-01 -8.40218529e-04 2.32345769e+02] [-5.70757723e-03 -2.61846540e-05 9.99983711e-01 -1.65579679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.945336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1099.64, Y:232.34, Z:-16.56 [[ 9.88481753e-01 1.51234759e-01 5.64549216e-03 1.09963689e+03] [-1.51232428e-01 9.88497874e-01 -8.39965259e-04 2.32339872e+02] [-5.70758895e-03 -2.34911567e-05 9.99983711e-01 -1.65590060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1099.69, Y:232.33, Z:-16.56 [[ 9.88601250e-01 1.50451640e-01 5.64558696e-03 1.09969425e+03] [-1.50449300e-01 9.88617370e-01 -8.39327640e-04 2.32333326e+02] [-5.70760355e-03 -1.96142508e-05 9.99983711e-01 -1.65588687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.0653361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1099.75, Y:232.33, Z:-16.56 [[ 9.88824630e-01 1.48976431e-01 5.64564550e-03 1.09975106e+03] [-1.48974069e-01 9.88840747e-01 -8.38933663e-04 2.32329046e+02] [-5.70762566e-03 -1.14965131e-05 9.99983711e-01 -1.65598362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.1253361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1099.81, Y:232.33, Z:-16.56 [[ 9.88788637e-01 1.49215137e-01 5.64571299e-03 1.09980887e+03] [-1.49212782e-01 9.88804755e-01 -8.38479246e-04 2.32325137e+02] [-5.70762164e-03 -1.33337917e-05 9.99983711e-01 -1.65612961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.185336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1099.87, Y:232.32, Z:-16.56 [[ 9.88706349e-01 1.49759411e-01 5.64576730e-03 1.09986783e+03] [-1.49757067e-01 9.88722468e-01 -8.38113392e-04 2.32322307e+02] [-5.70761235e-03 -1.68455217e-05 9.99983711e-01 -1.65614615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.245336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:1099.93, Y:232.32, Z:-16.56 [[ 9.88829969e-01 1.48940983e-01 5.64580682e-03 1.09992668e+03] [-1.48938627e-01 9.88846087e-01 -8.37847101e-04 2.32318101e+02] [-5.70762375e-03 -1.23903925e-05 9.99983711e-01 -1.65611728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.3053361949999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1099.98, Y:232.31, Z:-16.56 [[ 9.89564739e-01 1.43978300e-01 5.64584675e-03 1.09998480e+03] [-1.43975865e-01 9.89580845e-01 -8.37577974e-04 2.32314951e+02] [-5.70761485e-03 1.59719624e-05 9.99983711e-01 -1.65612746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.3653361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1100.04, Y:232.31, Z:-16.56 [[ 9.90421357e-01 1.37962531e-01 5.64590582e-03 1.10004266e+03] [-1.37960000e-01 9.90437448e-01 -8.37179597e-04 2.32310041e+02] [-5.70741596e-03 5.02513871e-05 9.99983711e-01 -1.65626057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.4253361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1100.10, Y:232.30, Z:-16.56 [[ 9.91149537e-01 1.32630007e-01 5.64596509e-03 1.10009942e+03] [-1.32627392e-01 9.91165614e-01 -8.36779636e-04 2.32304977e+02] [-5.70706855e-03 8.05641226e-05 9.99983711e-01 -1.65627221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.485336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1100.16, Y:232.30, Z:-16.56 [[ 9.91690363e-01 1.28523716e-01 5.64603361e-03 1.10015824e+03] [-1.28521037e-01 9.91706430e-01 -8.36317066e-04 2.32299853e+02] [-5.70669442e-03 1.03733481e-04 9.99983711e-01 -1.65617243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.545336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1100.22, Y:232.29, Z:-16.56 [[ 9.91893864e-01 1.26943625e-01 5.64607328e-03 1.10021735e+03] [-1.26940921e-01 9.91909927e-01 -8.36049166e-04 2.32294504e+02] [-5.70652725e-03 1.12554293e-04 9.99983711e-01 -1.65608773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.6053361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1100.27, Y:232.29, Z:-16.56 [[ 9.92103084e-01 1.25298015e-01 5.64611325e-03 1.10027470e+03] [-1.25295287e-01 9.92119142e-01 -8.35779137e-04 2.32287848e+02] [-5.70633851e-03 1.21747678e-04 9.99983711e-01 -1.65612955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.6653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1100.33, Y:232.28, Z:-16.56 [[ 9.92310762e-01 1.23642521e-01 5.64618353e-03 1.10033246e+03] [-1.23639769e-01 9.92326816e-01 -8.35304122e-04 2.32281193e+02] [-5.70613843e-03 1.30788444e-04 9.99983711e-01 -1.65624364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.725336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1100.39, Y:232.27, Z:-16.56 [[ 9.92364508e-01 1.23210402e-01 5.64624197e-03 1.10039038e+03] [-1.23207645e-01 9.92380562e-01 -8.34908916e-04 2.32274013e+02] [-5.70609024e-03 1.32873802e-04 9.99983711e-01 -1.65627152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.785336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1100.45, Y:232.27, Z:-16.56 [[ 9.92502946e-01 1.22090215e-01 5.64630027e-03 1.10044765e+03] [-1.22087442e-01 9.92518997e-01 -8.34514436e-04 2.32266615e+02] [-5.70594633e-03 1.38915681e-04 9.99983711e-01 -1.65634923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.8453361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1100.51, Y:232.26, Z:-16.56 [[ 9.92601169e-01 1.21289065e-01 5.64635783e-03 1.10050624e+03] [-1.21286281e-01 9.92617218e-01 -8.34124804e-04 2.32258643e+02] [-5.70584222e-03 1.43127511e-04 9.99983711e-01 -1.65617452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.9053361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1100.56, Y:232.25, Z:-16.56 [[ 9.92525064e-01 1.21910280e-01 5.64639672e-03 1.10056376e+03] [-1.21907508e-01 9.92541115e-01 -8.33861496e-04 2.32249432e+02] [-5.70593718e-03 1.39290280e-04 9.99983711e-01 -1.65647687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.965336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1100.62, Y:232.24, Z:-16.57 [[ 9.92357443e-01 1.23267283e-01 5.64644489e-03 1.10062079e+03] [-1.23264535e-01 9.92373498e-01 -8.33535158e-04 2.32241179e+02] [-5.70612988e-03 1.31158414e-04 9.99983711e-01 -1.65690094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.025336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1100.68, Y:232.23, Z:-16.57 [[ 9.92244397e-01 1.24173967e-01 5.64649144e-03 1.10067889e+03] [-1.24171235e-01 9.92260455e-01 -8.33219683e-04 2.32232662e+02] [-5.70625436e-03 1.25625748e-04 9.99983711e-01 -1.65679820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.0853361949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1100.74, Y:232.22, Z:-16.57 [[ 9.92216654e-01 1.24395453e-01 5.64653112e-03 1.10073729e+03] [-1.24392726e-01 9.92232713e-01 -8.32950692e-04 2.32223839e+02] [-5.70628817e-03 1.24080149e-04 9.99983711e-01 -1.65675607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.1453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1100.79, Y:232.21, Z:-16.57 [[ 9.92455508e-01 1.22475223e-01 5.64657153e-03 1.10079350e+03] [-1.22472467e-01 9.92471562e-01 -8.32676714e-04 2.32214433e+02] [-5.70604393e-03 1.34845048e-04 9.99983711e-01 -1.65695522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.205336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1100.85, Y:232.20, Z:-16.57 [[ 9.92716733e-01 1.20339529e-01 5.64666567e-03 1.10085186e+03] [-1.20336742e-01 9.92732782e-01 -8.32037813e-04 2.32203932e+02] [-5.70575716e-03 1.46476513e-04 9.99983711e-01 -1.65708384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.265336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1100.91, Y:232.19, Z:-16.57 [[ 9.93000021e-01 1.17979123e-01 5.64670393e-03 1.10090833e+03] [-1.17976299e-01 9.93016063e-01 -8.31778050e-04 2.32191221e+02] [-5.70540015e-03 1.59778390e-04 9.99983711e-01 -1.65718694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.3253361949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1100.97, Y:232.18, Z:-16.57 [[ 9.93148286e-01 1.16724444e-01 5.64676124e-03 1.10096568e+03] [-1.16721602e-01 9.93164325e-01 -8.31388838e-04 2.32178031e+02] [-5.70520521e-03 1.66593384e-04 9.99983711e-01 -1.65685228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.3853361949998 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:1101.02, Y:232.16, Z:-16.56 [[ 9.93147567e-01 1.16730558e-01 5.64679949e-03 1.10102257e+03] [-1.16727718e-01 9.93163606e-01 -8.31128912e-04 2.32163767e+02] [-5.70521389e-03 1.66295639e-04 9.99983711e-01 -1.65635453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.445336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1101.08, Y:232.15, Z:-16.57 [[ 9.93042552e-01 1.17620591e-01 5.64683737e-03 1.10107981e+03] [-1.17617766e-01 9.93058594e-01 -8.30871474e-04 2.32149844e+02] [-5.70536798e-03 1.60922332e-04 9.99983711e-01 -1.65694087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.505336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1101.14, Y:232.13, Z:-16.57 [[ 9.92848174e-01 1.19250228e-01 5.64687662e-03 1.10113658e+03] [-1.19247431e-01 9.92864220e-01 -8.30604670e-04 2.32133231e+02] [-5.70563155e-03 1.51288800e-04 9.99983711e-01 -1.65693845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.5653361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1101.19, Y:232.12, Z:-16.57 [[ 9.92541012e-01 1.21780343e-01 5.64691617e-03 1.10119250e+03] [-1.21777588e-01 9.92557066e-01 -8.30335679e-04 2.32118311e+02] [-5.70600511e-03 1.36474382e-04 9.99983711e-01 -1.65703541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.6253361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1101.25, Y:232.10, Z:-16.57 [[ 9.92132104e-01 1.25067985e-01 5.64696682e-03 1.10124984e+03] [-1.25065286e-01 9.92148167e-01 -8.29991077e-04 2.32102542e+02] [-5.70643309e-03 1.17221274e-04 9.99983711e-01 -1.65721836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.685336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1101.31, Y:232.09, Z:-16.57 [[ 9.91752440e-01 1.28043775e-01 5.64700535e-03 1.10130757e+03] [-1.28041126e-01 9.91768512e-01 -8.29728837e-04 2.32090474e+02] [-5.70676371e-03 9.98366758e-05 9.99983711e-01 -1.65714995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.745336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1101.37, Y:232.08, Z:-16.57 [[ 9.91092535e-01 1.33055242e-01 5.64704505e-03 1.10136527e+03] [-1.33052676e-01 9.91108620e-01 -8.29458592e-04 2.32075642e+02] [-5.70719884e-03 7.07157655e-05 9.99983711e-01 -1.65707759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.8053361949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1101.42, Y:232.06, Z:-16.57 [[ 9.90520898e-01 1.37245988e-01 5.64708480e-03 1.10142126e+03] [-1.37243491e-01 9.90536994e-01 -8.29187851e-04 2.32062039e+02] [-5.70744911e-03 4.63022649e-05 9.99983711e-01 -1.65710915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.8653361949998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1101.48, Y:232.05, Z:-16.57 [[ 9.90134553e-01 1.40005986e-01 5.64713407e-03 1.10147902e+03] [-1.40003535e-01 9.90150657e-01 -8.28852171e-04 2.32049734e+02] [-5.70755777e-03 3.00564399e-05 9.99983711e-01 -1.65697376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.9253361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1101.54, Y:232.04, Z:-16.57 [[ 9.89925436e-01 1.41476997e-01 5.64717321e-03 1.10153703e+03] [-1.41474572e-01 9.89941543e-01 -8.28585427e-04 2.32038921e+02] [-5.70759714e-03 2.13063761e-05 9.99983711e-01 -1.65702921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.985336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1101.59, Y:232.03, Z:-16.57 [[ 9.89514238e-01 1.44324917e-01 5.64721222e-03 1.10159334e+03] [-1.44322540e-01 9.89530352e-01 -8.28319475e-04 2.32027465e+02] [-5.70763504e-03 4.61390421e-06 9.99983711e-01 -1.65721013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.045336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1101.65, Y:232.02, Z:-16.57 [[ 9.89166386e-01 1.46690043e-01 5.64726039e-03 1.10165087e+03] [-1.46687707e-01 9.89182506e-01 -8.27990949e-04 2.32016908e+02] [-5.70762921e-03 -9.36286174e-06 9.99983711e-01 -1.65735469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.1053361949998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1101.71, Y:232.01, Z:-16.57 [[ 9.88673085e-01 1.49978798e-01 5.64729876e-03 1.10170916e+03] [-1.49976516e-01 9.88689213e-01 -8.27729142e-04 2.32006857e+02] [-5.70756519e-03 -2.86086708e-05 9.99983711e-01 -1.65733735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.1653361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1101.77, Y:232.00, Z:-16.57 [[ 9.88202529e-01 1.53048583e-01 5.64733788e-03 1.10176738e+03] [-1.53046353e-01 9.88218665e-01 -8.27462131e-04 2.31996434e+02] [-5.70744661e-03 -4.66042949e-05 9.99983711e-01 -1.65713819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1101.82, Y:231.99, Z:-16.57 [[ 9.87568537e-01 1.57087531e-01 5.64737736e-03 1.10182474e+03] [-1.57085369e-01 9.87584681e-01 -8.27192610e-04 2.31988497e+02] [-5.70720501e-03 -7.02109595e-05 9.99983711e-01 -1.65703295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.285336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1101.88, Y:231.98, Z:-16.57 [[ 9.87112846e-01 1.59926029e-01 5.64742620e-03 1.10188221e+03] [-1.59923915e-01 9.87128997e-01 -8.26859056e-04 2.31981866e+02] [-5.70697444e-03 -8.69553136e-05 9.99983711e-01 -1.65706684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.3453361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1101.94, Y:231.97, Z:-16.57 [[ 9.86754418e-01 1.62122869e-01 5.64748562e-03 1.10193985e+03] [-1.62120793e-01 9.86770574e-01 -8.26453018e-04 2.31974956e+02] [-5.70675956e-03 -1.00068680e-04 9.99983711e-01 -1.65712343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.4053361949998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:1102.00, Y:231.97, Z:-16.58 [[ 9.86760590e-01 1.62085299e-01 5.64754641e-03 1.10199798e+03] [-1.62083225e-01 9.86776746e-01 -8.26037345e-04 2.31969854e+02] [-5.70675598e-03 -1.00271436e-04 9.99983711e-01 -1.65751802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.465336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1102.06, Y:231.97, Z:-16.58 [[ 9.87140819e-01 1.59753274e-01 5.64759646e-03 1.10205638e+03] [-1.59751164e-01 9.87156970e-01 -8.25695012e-04 2.31965419e+02] [-5.70697170e-03 -8.71328595e-05 9.99983711e-01 -1.65783159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.525336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1102.11, Y:231.96, Z:-16.58 [[ 9.87538041e-01 1.57279120e-01 5.64763503e-03 1.10211467e+03] [-1.57276971e-01 9.87554187e-01 -8.25431176e-04 2.31959478e+02] [-5.70716871e-03 -7.30982453e-05 9.99983711e-01 -1.65788890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.5853361949999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:1102.17, Y:231.96, Z:-16.58 [[ 9.88417664e-01 1.51652975e-01 5.64767323e-03 1.10217210e+03] [-1.51650736e-01 9.88433798e-01 -8.25169672e-04 2.31955242e+02] [-5.70749054e-03 -4.08615217e-05 9.99983711e-01 -1.65774977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.6453361949998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1102.23, Y:231.95, Z:-16.57 [[ 9.89705963e-01 1.43004232e-01 5.64772058e-03 1.10223034e+03] [-1.43001853e-01 9.89722077e-01 -8.24845463e-04 2.31949357e+02] [-5.70763014e-03 8.71996425e-06 9.99983711e-01 -1.65743600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.705336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1102.29, Y:231.94, Z:-16.57 [[ 9.90741555e-01 1.35643923e-01 5.64775921e-03 1.10228842e+03] [-1.35641426e-01 9.90757651e-01 -8.24580913e-04 2.31941426e+02] [-5.70741004e-03 5.08764602e-05 9.99983711e-01 -1.65732595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.765336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1102.35, Y:231.93, Z:-16.58 [[ 9.92360647e-01 1.23241421e-01 5.64779771e-03 1.10234504e+03] [-1.23238725e-01 9.92376711e-01 -8.24317142e-04 2.31930779e+02] [-5.70633293e-03 1.21992506e-04 9.99983711e-01 -1.65755474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.8253361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1102.40, Y:231.92, Z:-16.58 [[ 9.93694493e-01 1.11979268e-01 5.64784529e-03 1.10240284e+03] [-1.11976392e-01 9.93710526e-01 -8.23991011e-04 2.31917327e+02] [-5.70459322e-03 1.86369993e-04 9.99983711e-01 -1.65755097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.8853361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1102.46, Y:231.91, Z:-16.58 [[ 9.94041235e-01 1.08858275e-01 5.64787333e-03 1.10246097e+03] [-1.08855349e-01 9.94057259e-01 -8.23798781e-04 2.31906989e+02] [-5.70398679e-03 2.04088735e-04 9.99983711e-01 -1.65760946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.945336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1102.52, Y:231.89, Z:-16.58 [[ 9.94699581e-01 1.02668615e-01 5.64791018e-03 1.10251811e+03] [-1.02665591e-01 9.94715587e-01 -8.23546051e-04 2.31891859e+02] [-5.70261662e-03 2.39334874e-04 9.99983711e-01 -1.65799717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.005336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1102.58, Y:231.88, Z:-16.58 [[ 9.94756937e-01 1.02111392e-01 5.64793753e-03 1.10257620e+03] [-1.02108360e-01 9.94772941e-01 -8.23358434e-04 2.31878587e+02] [-5.70248970e-03 2.42339875e-04 9.99983711e-01 -1.65808339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.0653361949999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1102.63, Y:231.86, Z:-16.58 [[ 9.94362740e-01 1.05881264e-01 5.64795559e-03 1.10263310e+03] [-1.05878294e-01 9.94378755e-01 -8.23234508e-04 2.31863193e+02] [-5.70337216e-03 2.20597820e-04 9.99983711e-01 -1.65804366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.1253361949998 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1102.69, Y:231.85, Z:-16.58 [[ 9.93667009e-01 1.12222883e-01 5.64798249e-03 1.10269084e+03] [-1.12220015e-01 9.93683043e-01 -8.23049952e-04 2.31847115e+02] [-5.70466946e-03 1.84020903e-04 9.99983711e-01 -1.65797129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.185336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1102.75, Y:231.83, Z:-16.58 [[ 9.92752228e-01 1.20046302e-01 5.64800158e-03 1.10274850e+03] [-1.20043562e-01 9.92768284e-01 -8.22918884e-04 2.31832192e+02] [-5.70594521e-03 1.38948327e-04 9.99983711e-01 -1.65790249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.245336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1102.81, Y:231.82, Z:-16.58 [[ 9.91847329e-01 1.27306623e-01 5.64802133e-03 1.10280680e+03] [-1.27304001e-01 9.91863405e-01 -8.22783332e-04 2.31815581e+02] [-5.70681144e-03 9.70597380e-05 9.99983711e-01 -1.65783719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.3053361949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1102.87, Y:231.80, Z:-16.58 [[ 9.91300858e-01 1.31494142e-01 5.64804133e-03 1.10286525e+03] [-1.31491589e-01 9.91316945e-01 -8.22646018e-04 2.31802574e+02] [-5.70717221e-03 7.28197733e-05 9.99983711e-01 -1.65782674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.3653361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1102.92, Y:231.79, Z:-16.58 [[ 9.90442837e-01 1.37808152e-01 5.64806172e-03 1.10292271e+03] [-1.37805703e-01 9.90458940e-01 -8.22506012e-04 2.31787447e+02] [-5.70752126e-03 3.63100743e-05 9.99983711e-01 -1.65789335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.4253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1102.98, Y:231.78, Z:-16.58 [[ 9.89740824e-01 1.42762740e-01 5.64809197e-03 1.10298142e+03] [-1.42760372e-01 9.89756940e-01 -8.22298230e-04 2.31776654e+02] [-5.70763177e-03 7.53841864e-06 9.99983711e-01 -1.65781250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1103.04, Y:231.77, Z:-16.58 [[ 9.88691550e-01 1.49856989e-01 5.64811200e-03 1.10303880e+03] [-1.49854738e-01 9.88707683e-01 -8.22160609e-04 2.31765229e+02] [-5.70753824e-03 -3.35330959e-05 9.99983711e-01 -1.65787564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.545336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1103.10, Y:231.75, Z:-16.58 [[ 9.87997624e-01 1.54365776e-01 5.64813333e-03 1.10309679e+03] [-1.54363599e-01 9.88013767e-01 -8.22014028e-04 2.31754948e+02] [-5.70732433e-03 -5.97182837e-05 9.99983711e-01 -1.65793557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.6053361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1103.16, Y:231.75, Z:-16.58 [[ 9.87820649e-01 1.55494257e-01 5.64817181e-03 1.10315518e+03] [-1.55492100e-01 9.87836794e-01 -8.21749605e-04 2.31746751e+02] [-5.70724927e-03 -6.65048659e-05 9.99983711e-01 -1.65779730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.6653361949998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1103.21, Y:231.74, Z:-16.58 [[ 9.87973989e-01 1.54516974e-01 5.64821007e-03 1.10321411e+03] [-1.54514802e-01 9.87990132e-01 -8.21486537e-04 2.31737861e+02] [-5.70730942e-03 -6.11247304e-05 9.99983711e-01 -1.65782311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.725336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1103.27, Y:231.73, Z:-16.58 [[ 9.88823633e-01 1.48982951e-01 5.64823012e-03 1.10327303e+03] [-1.48980690e-01 9.88839764e-01 -8.21348617e-04 2.31726677e+02] [-5.70756148e-03 -2.93082991e-05 9.99983711e-01 -1.65796356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.785336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1103.33, Y:231.72, Z:-16.58 [[ 9.90064805e-01 1.40498326e-01 5.64824001e-03 1.10333220e+03] [-1.40495927e-01 9.90080916e-01 -8.21280604e-04 2.31716312e+02] [-5.70760319e-03 1.95663050e-05 9.99983711e-01 -1.65812532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.8453361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1103.39, Y:231.70, Z:-16.58 [[ 9.91019579e-01 1.33597495e-01 5.64824001e-03 1.10339202e+03] [-1.33594984e-01 9.91035673e-01 -8.21280604e-04 2.31704908e+02] [-5.70732837e-03 5.93286246e-05 9.99983711e-01 -1.65823439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.9053361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1103.45, Y:231.69, Z:-16.58 [[ 9.92294824e-01 1.23770271e-01 5.64822056e-03 1.10345224e+03] [-1.23767600e-01 9.92310892e-01 -8.21414336e-04 2.31689303e+02] [-5.70645746e-03 1.16018491e-04 9.99983711e-01 -1.65834793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.965336195 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:1103.51, Y:231.68, Z:-16.58 [[ 9.93037640e-01 1.17661995e-01 5.64808402e-03 1.10351337e+03] [-1.17659220e-01 9.93053690e-01 -8.22352177e-04 2.31675940e+02] [-5.70561027e-03 1.52077507e-04 9.99983711e-01 -1.65775068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1103.57, Y:231.66, Z:-16.58 [[ 9.93300584e-01 1.15421187e-01 5.64793987e-03 1.10357484e+03] [-1.15418370e-01 9.93316627e-01 -8.23340950e-04 2.31660987e+02] [-5.70522358e-03 1.65949035e-04 9.99983711e-01 -1.65827938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.0853361949999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1103.64, Y:231.65, Z:-16.58 [[ 9.93311486e-01 1.15327331e-01 5.64778769e-03 1.10363692e+03] [-1.15324507e-01 9.93327528e-01 -8.24383577e-04 2.31647973e+02] [-5.70517694e-03 1.67541347e-04 9.99983711e-01 -1.65816755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.1453361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1103.70, Y:231.63, Z:-16.58 [[ 9.93133902e-01 1.16846722e-01 5.64763175e-03 1.10369775e+03] [-1.16843916e-01 9.93149947e-01 -8.25450454e-04 2.31633849e+02] [-5.70539636e-03 1.59891421e-04 9.99983711e-01 -1.65832473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.205336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1103.76, Y:231.62, Z:-16.58 [[ 9.92702243e-01 1.20458965e-01 5.64748655e-03 1.10375960e+03] [-1.20456211e-01 9.92718298e-01 -8.26442686e-04 2.31620470e+02] [-5.70591567e-03 1.40136676e-04 9.99983711e-01 -1.65836709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1103.82, Y:231.61, Z:-16.58 [[ 9.92044554e-01 1.25760527e-01 5.64733357e-03 1.10382167e+03] [-1.25757853e-01 9.92060622e-01 -8.27486732e-04 2.31607672e+02] [-5.70656242e-03 1.10707159e-04 9.99983711e-01 -1.65825712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.3253361949999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:1103.88, Y:231.60, Z:-16.58 [[ 9.91493851e-01 1.30030972e-01 5.64717565e-03 1.10388249e+03] [-1.30028362e-01 9.91509929e-01 -8.28563053e-04 2.31596478e+02] [-5.70696959e-03 8.72221739e-05 9.99983711e-01 -1.65834694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.3853361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1103.94, Y:231.58, Z:-16.58 [[ 9.90630218e-01 1.36454693e-01 5.64702854e-03 1.10394476e+03] [-1.36452181e-01 9.90646311e-01 -8.29564480e-04 2.31584642e+02] [-5.70740596e-03 5.12422824e-05 9.99983711e-01 -1.65847443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.445336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1104.01, Y:231.58, Z:-16.59 [[ 9.89590292e-01 1.43802529e-01 5.64687222e-03 1.10400644e+03] [-1.43800131e-01 9.89606403e-01 -8.30627204e-04 2.31576603e+02] [-5.70762720e-03 9.95965355e-06 9.99983711e-01 -1.65857785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.505336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1104.07, Y:231.57, Z:-16.59 [[ 9.89044886e-01 1.47507041e-01 5.64673589e-03 1.10406775e+03] [-1.47504697e-01 9.89061006e-01 -8.31552938e-04 2.31567353e+02] [-5.70762619e-03 -1.04768869e-05 9.99983711e-01 -1.65853934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.5653361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1104.13, Y:231.56, Z:-16.58 [[ 9.88483442e-01 1.51223681e-01 5.64659982e-03 1.10412993e+03] [-1.51221393e-01 9.88499569e-01 -8.32475899e-04 2.31559552e+02] [-5.70755156e-03 -3.09980477e-05 9.99983711e-01 -1.65821839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.6253361949998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1104.19, Y:231.55, Z:-16.58 [[ 9.88299219e-01 1.52423000e-01 5.64646068e-03 1.10419033e+03] [-1.52420726e-01 9.88315348e-01 -8.33418595e-04 2.31551741e+02] [-5.70751591e-03 -3.69706907e-05 9.99983711e-01 -1.65836154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.685336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1104.25, Y:231.55, Z:-16.59 [[ 9.88298889e-01 1.52425138e-01 5.64644098e-03 1.10425151e+03] [-1.52422863e-01 9.88315019e-01 -8.33552044e-04 2.31546490e+02] [-5.70751670e-03 -3.68481422e-05 9.99983711e-01 -1.65856830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.745336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1104.31, Y:231.54, Z:-16.59 [[ 9.88356004e-01 1.52054355e-01 5.64642147e-03 1.10431183e+03] [-1.52052074e-01 9.88372132e-01 -8.33684171e-04 2.31540307e+02] [-5.70753094e-03 -3.45733362e-05 9.99983711e-01 -1.65856871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.8053361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1104.37, Y:231.53, Z:-16.58 [[ 9.88320994e-01 1.52281748e-01 5.64641182e-03 1.10437261e+03] [-1.52279469e-01 9.88337123e-01 -8.33749487e-04 2.31532541e+02] [-5.70752325e-03 -3.58204746e-05 9.99983711e-01 -1.65846870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.8653361949998 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1104.43, Y:231.53, Z:-16.58 [[ 9.88278973e-01 1.52554222e-01 5.64639166e-03 1.10443243e+03] [-1.52551947e-01 9.88295102e-01 -8.33886016e-04 2.31526852e+02] [-5.70751405e-03 -3.72560265e-05 9.99983711e-01 -1.65835858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.9253361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1104.49, Y:231.52, Z:-16.58 [[ 9.88344821e-01 1.52127032e-01 5.64638169e-03 1.10449357e+03] [-1.52124750e-01 9.88360949e-01 -8.33953540e-04 2.31524017e+02] [-5.70753004e-03 -3.47207424e-05 9.99983711e-01 -1.65832110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.985336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1104.55, Y:231.52, Z:-16.59 [[ 9.88617424e-01 1.50345292e-01 5.64638169e-03 1.10455321e+03] [-1.50342981e-01 9.88633548e-01 -8.33953540e-04 2.31520340e+02] [-5.70758335e-03 -2.44328553e-05 9.99983711e-01 -1.65858053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.045336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1104.61, Y:231.52, Z:-16.59 [[ 9.88920728e-01 1.48337158e-01 5.64639157e-03 1.10461209e+03] [-1.48334815e-01 9.88936847e-01 -8.33886638e-04 2.31516746e+02] [-5.70762105e-03 -1.29086672e-05 9.99983711e-01 -1.65904688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.1053361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1104.67, Y:231.51, Z:-16.59 [[ 9.89241083e-01 1.46185490e-01 5.64641835e-03 1.10467183e+03] [-1.46183113e-01 9.89257197e-01 -8.33705256e-04 2.31513715e+02] [-5.70763560e-03 -6.75519903e-07 9.99983711e-01 -1.65890463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.1653361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1104.73, Y:231.51, Z:-16.59 [[ 9.89523148e-01 1.44263846e-01 5.64643785e-03 1.10473147e+03] [-1.44261438e-01 9.89539258e-01 -8.33573180e-04 2.31508354e+02] [-5.70762639e-03 1.02767108e-05 9.99983711e-01 -1.65882763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.225336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1104.79, Y:231.50, Z:-16.59 [[ 9.90092947e-01 1.40299939e-01 5.64645751e-03 1.10479233e+03] [-1.40297467e-01 9.90109048e-01 -8.33439940e-04 2.31503581e+02] [-5.70754024e-03 3.29993174e-05 9.99983711e-01 -1.65864846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.285336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1104.85, Y:231.50, Z:-16.59 [[ 9.90863478e-01 1.34750459e-01 5.64645751e-03 1.10485116e+03] [-1.34747898e-01 9.90879564e-01 -8.33439939e-04 2.31497621e+02] [-5.70726577e-03 6.49769173e-05 9.99983711e-01 -1.65866807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.3453361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1104.91, Y:231.49, Z:-16.59 [[ 9.91407209e-01 1.30689949e-01 5.64644807e-03 1.10491132e+03] [-1.30687321e-01 9.91423285e-01 -8.33503896e-04 2.31490094e+02] [-5.70695068e-03 8.84226018e-05 9.99983711e-01 -1.65867725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.4053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1104.97, Y:231.48, Z:-16.59 [[ 9.91593192e-01 1.29271264e-01 5.64644807e-03 1.10497142e+03] [-1.29268613e-01 9.91609263e-01 -8.33503896e-04 2.31481747e+02] [-5.70681832e-03 9.65882755e-05 9.99983711e-01 -1.65884105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1105.03, Y:231.47, Z:-16.59 [[ 9.91710211e-01 1.28370458e-01 5.64644807e-03 1.10503178e+03] [-1.28367792e-01 9.91726280e-01 -8.33503896e-04 2.31473319e+02] [-5.70672822e-03 1.01772252e-04 9.99983711e-01 -1.65883605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1105.09, Y:231.46, Z:-16.59 [[ 9.91606544e-01 1.29168802e-01 5.64644807e-03 1.10509069e+03] [-1.29166149e-01 9.91622615e-01 -8.33503896e-04 2.31464317e+02] [-5.70680831e-03 9.71779660e-05 9.99983711e-01 -1.65897963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.5853361949999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1105.15, Y:231.46, Z:-16.59 [[ 9.91286401e-01 1.31603147e-01 5.64645785e-03 1.10515047e+03] [-1.31600534e-01 9.91302479e-01 -8.33437635e-04 2.31457286e+02] [-5.70703068e-03 8.30985249e-05 9.99983711e-01 -1.65876687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.6453361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1105.21, Y:231.45, Z:-16.59 [[ 9.91054477e-01 1.33338444e-01 5.64646753e-03 1.10521083e+03] [-1.33335860e-01 9.91070560e-01 -8.33372090e-04 2.31448989e+02] [-5.70716827e-03 7.30405382e-05 9.99983711e-01 -1.65929007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.705336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1105.27, Y:231.44, Z:-16.59 [[ 9.90662194e-01 1.36222375e-01 5.64646753e-03 1.10527071e+03] [-1.36219838e-01 9.90678283e-01 -8.33372090e-04 2.31440904e+02] [-5.70735668e-03 5.64293318e-05 9.99983711e-01 -1.65931640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1105.33, Y:231.43, Z:-16.59 [[ 9.90364394e-01 1.38370822e-01 5.64646753e-03 1.10532936e+03] [-1.38368319e-01 9.90380489e-01 -8.33372090e-04 2.31432944e+02] [-5.70746565e-03 4.40498228e-05 9.99983711e-01 -1.65927145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.8253361949999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1105.39, Y:231.43, Z:-16.59 [[ 9.90116392e-01 1.40134393e-01 5.64648741e-03 1.10538668e+03] [-1.40131920e-01 9.90132492e-01 -8.33237364e-04 2.31427741e+02] [-5.70753586e-03 3.37488509e-05 9.99983711e-01 -1.65931015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.8853361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1105.45, Y:231.42, Z:-16.59 [[ 9.90086511e-01 1.40345351e-01 5.64653656e-03 1.10544611e+03] [-1.40342883e-01 9.90102612e-01 -8.32904162e-04 2.31419374e+02] [-5.70754482e-03 3.21959539e-05 9.99983711e-01 -1.65939601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1105.50, Y:231.41, Z:-16.59 [[ 9.90305368e-01 1.38792633e-01 5.64655599e-03 1.10550452e+03] [-1.38790141e-01 9.90321465e-01 -8.32772427e-04 2.31410910e+02] [-5.70748827e-03 4.10127030e-05 9.99983711e-01 -1.65919182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.005336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1105.56, Y:231.40, Z:-16.59 [[ 9.90573545e-01 1.36865513e-01 5.64658494e-03 1.10556333e+03] [-1.36862990e-01 9.90589637e-01 -8.32576104e-04 2.31401611e+02] [-5.70739948e-03 5.19193628e-05 9.99983711e-01 -1.65917555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.0653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1105.62, Y:231.39, Z:-16.59 [[ 9.91135605e-01 1.32734054e-01 5.64660403e-03 1.10562154e+03] [-1.32731465e-01 9.91151686e-01 -8.32446561e-04 2.31390670e+02] [-5.70713512e-03 7.55853989e-05 9.99983711e-01 -1.65916460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.1253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1105.68, Y:231.38, Z:-16.59 [[ 9.91583186e-01 1.29347986e-01 5.64662283e-03 1.10567981e+03] [-1.29345342e-01 9.91599259e-01 -8.32319071e-04 2.31380069e+02] [-5.70684580e-03 9.49492332e-05 9.99983711e-01 -1.65923689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.185336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1105.74, Y:231.37, Z:-16.59 [[ 9.92168149e-01 1.24781728e-01 5.64664153e-03 1.10573832e+03] [-1.24779012e-01 9.92184210e-01 -8.32192162e-04 2.31366196e+02] [-5.70635094e-03 1.21092206e-04 9.99983711e-01 -1.65928233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1105.80, Y:231.35, Z:-16.60 [[ 9.92654173e-01 1.20854493e-01 5.64665075e-03 1.10579664e+03] [-1.20851714e-01 9.92670223e-01 -8.32129564e-04 2.31351157e+02] [-5.70582866e-03 1.43609465e-04 9.99983711e-01 -1.65959713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.3053361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1105.86, Y:231.34, Z:-16.60 [[ 9.92841117e-01 1.19308980e-01 5.64664168e-03 1.10585507e+03] [-1.19306175e-01 9.92857162e-01 -8.32191145e-04 2.31335601e+02] [-5.70559651e-03 1.52554363e-04 9.99983711e-01 -1.65972504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.3653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1105.91, Y:231.32, Z:-16.60 [[ 9.92753908e-01 1.20032465e-01 5.64663268e-03 1.10591474e+03] [-1.20029672e-01 9.92769956e-01 -8.32252170e-04 2.31322908e+02] [-5.70570456e-03 1.48458125e-04 9.99983711e-01 -1.65966362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.4253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1105.97, Y:231.31, Z:-16.60 [[ 9.92433249e-01 1.22655459e-01 5.64661495e-03 1.10597305e+03] [-1.22652708e-01 9.92449304e-01 -8.32372503e-04 2.31305376e+02] [-5.70607410e-03 1.33501535e-04 9.99983711e-01 -1.65959822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.485336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1106.03, Y:231.29, Z:-16.60 [[ 9.92043729e-01 1.25767072e-01 5.64660612e-03 1.10603240e+03] [-1.25764370e-01 9.92059792e-01 -8.32432386e-04 2.31287792e+02] [-5.70646347e-03 1.15667466e-04 9.99983711e-01 -1.65978652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.545336195 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:1106.09, Y:231.27, Z:-16.60 [[ 9.91688636e-01 1.28537019e-01 5.64658870e-03 1.10609233e+03] [-1.28534361e-01 9.91704706e-01 -8.32550507e-04 2.31272418e+02] [-5.70676215e-03 9.98502057e-05 9.99983711e-01 -1.65988237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.6053361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1106.15, Y:231.25, Z:-16.60 [[ 9.91170931e-01 1.32470000e-01 5.64657137e-03 1.10615208e+03] [-1.32467406e-01 9.91187012e-01 -8.32668064e-04 2.31254240e+02] [-5.70711174e-03 7.73297205e-05 9.99983711e-01 -1.66010679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.6653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1106.21, Y:231.23, Z:-16.60 [[ 9.90716527e-01 1.35826657e-01 5.64644992e-03 1.10621239e+03] [-1.35824113e-01 9.90732616e-01 -8.33490824e-04 2.31234664e+02] [-5.70733237e-03 5.88290840e-05 9.99983711e-01 -1.66017544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1106.27, Y:231.22, Z:-16.60 [[ 9.90488896e-01 1.37476781e-01 5.64631041e-03 1.10627432e+03] [-1.37474258e-01 9.90504988e-01 -8.34434834e-04 2.31222361e+02] [-5.70741404e-03 5.02761042e-05 9.99983711e-01 -1.66012620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1106.34, Y:231.20, Z:-16.60 [[ 9.89739804e-01 1.42769888e-01 5.64617036e-03 1.10633542e+03] [-1.42767446e-01 9.89755909e-01 -8.35381365e-04 2.31204145e+02] [-5.70759778e-03 2.07208679e-05 9.99983711e-01 -1.65970073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.8453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1106.40, Y:231.19, Z:-16.60 [[ 9.89081651e-01 1.47260351e-01 5.64601458e-03 1.10639739e+03] [-1.47257976e-01 9.89097765e-01 -8.36432934e-04 2.31190559e+02] [-5.70763381e-03 -4.12020975e-06 9.99983711e-01 -1.65969072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.9053361949998 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1106.46, Y:231.18, Z:-16.59 [[ 9.88167971e-01 1.53271609e-01 5.64585997e-03 1.10645804e+03] [-1.53269326e-01 9.88184098e-01 -8.37475205e-04 2.31176475e+02] [-5.70751022e-03 -3.77709785e-05 9.99983711e-01 -1.65930968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1106.52, Y:231.16, Z:-16.60 [[ 9.87580711e-01 1.57011034e-01 5.64572199e-03 1.10652001e+03] [-1.57008807e-01 9.87596847e-01 -8.38404373e-04 2.31163626e+02] [-5.70733597e-03 -5.84360856e-05 9.99983711e-01 -1.66005468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1106.58, Y:231.15, Z:-16.60 [[ 9.87055075e-01 1.60282274e-01 5.64556443e-03 1.10658017e+03] [-1.60280094e-01 9.87071217e-01 -8.39463994e-04 2.31149272e+02] [-5.70712535e-03 -7.62744009e-05 9.99983711e-01 -1.66009568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.0853361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1106.64, Y:231.14, Z:-16.60 [[ 9.86937706e-01 1.61003398e-01 5.64541833e-03 1.10664263e+03] [-1.61001224e-01 9.86953849e-01 -8.40445325e-04 2.31137947e+02] [-5.70708191e-03 -7.94520830e-05 9.99983711e-01 -1.65994729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.1453361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1106.70, Y:231.13, Z:-16.60 [[ 9.87190772e-01 1.59444382e-01 5.64525931e-03 1.10670402e+03] [-1.59442177e-01 9.87206910e-01 -8.41512107e-04 2.31125492e+02] [-5.70721339e-03 -6.93594472e-05 9.99983711e-01 -1.65984297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.205336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1106.76, Y:231.11, Z:-16.60 [[ 9.87443685e-01 1.57870521e-01 5.64509559e-03 1.10676463e+03] [-1.57868283e-01 9.87459820e-01 -8.42608995e-04 2.31114237e+02] [-5.70732819e-03 -5.91526183e-05 9.99983711e-01 -1.66001872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.265336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1106.83, Y:231.10, Z:-16.59 [[ 9.87698676e-01 1.56267271e-01 5.64494409e-03 1.10682718e+03] [-1.56265002e-01 9.87714806e-01 -8.43622710e-04 2.31103584e+02] [-5.70742548e-03 -4.88621650e-05 9.99983711e-01 -1.65919309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.3253361949999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1106.89, Y:231.09, Z:-16.60 [[ 9.87666562e-01 1.56470122e-01 5.64478310e-03 1.10688955e+03] [-1.56467850e-01 9.87682691e-01 -8.44698575e-04 2.31092369e+02] [-5.70742465e-03 -4.89465345e-05 9.99983711e-01 -1.65966737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.3853361949998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:1106.95, Y:231.08, Z:-16.60 [[ 9.87446049e-01 1.57855750e-01 5.64462108e-03 1.10695098e+03] [-1.57853494e-01 9.87462181e-01 -8.45779848e-04 2.31083227e+02] [-5.70736106e-03 -5.58611933e-05 9.99983711e-01 -1.65974169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1107.01, Y:231.07, Z:-16.60 [[ 9.87382933e-01 1.58250063e-01 5.64452088e-03 1.10701309e+03] [-1.58247809e-01 9.87399065e-01 -8.46448047e-04 2.31074783e+02] [-5.70734510e-03 -5.74647087e-05 9.99983711e-01 -1.65974983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.505336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1107.08, Y:231.07, Z:-16.60 [[ 9.87510870e-01 1.57449750e-01 5.64436343e-03 1.10707560e+03] [-1.57447477e-01 9.87526999e-01 -8.47496681e-04 2.31066966e+02] [-5.70739942e-03 -5.17785978e-05 9.99983711e-01 -1.65986749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.5653361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1107.14, Y:231.06, Z:-16.60 [[ 9.87730926e-01 1.56063325e-01 5.64420278e-03 1.10713821e+03] [-1.56061024e-01 9.87747051e-01 -8.48565192e-04 2.31057408e+02] [-5.70747456e-03 -4.26859821e-05 9.99983711e-01 -1.65988229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.6253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1107.20, Y:231.05, Z:-16.60 [[ 9.87998799e-01 1.54358410e-01 5.64404005e-03 1.10720102e+03] [-1.54356075e-01 9.88014919e-01 -8.49646195e-04 2.31049378e+02] [-5.70754581e-03 -3.17424490e-05 9.99983711e-01 -1.65976055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.685336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1107.26, Y:231.04, Z:-16.59 [[ 9.88216979e-01 1.52955385e-01 5.64387788e-03 1.10726272e+03] [-1.52953021e-01 9.88233095e-01 -8.50722067e-04 2.31042215e+02] [-5.70758943e-03 -2.25501794e-05 9.99983711e-01 -1.65941489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.745336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1107.33, Y:231.04, Z:-16.60 [[ 9.88386251e-01 1.51857723e-01 5.64372725e-03 1.10732554e+03] [-1.51855335e-01 9.88402363e-01 -8.51720204e-04 2.31035069e+02] [-5.70761364e-03 -1.52015544e-05 9.99983711e-01 -1.66006746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.8053361949999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1107.39, Y:231.03, Z:-16.60 [[ 9.88440408e-01 1.51504819e-01 5.64356714e-03 1.10738798e+03] [-1.51502420e-01 9.88456519e-01 -8.52779799e-04 2.31027199e+02] [-5.70762097e-03 -1.20920650e-05 9.99983711e-01 -1.66014190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.8653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1107.45, Y:231.02, Z:-16.60 [[ 9.88498181e-01 1.51127423e-01 5.64340647e-03 1.10745077e+03] [-1.51125011e-01 9.88514290e-01 -8.53841694e-04 2.31021429e+02] [-5.70762684e-03 -8.83890312e-06 9.99983711e-01 -1.66023714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.9253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1107.51, Y:231.02, Z:-16.60 [[ 9.88736398e-01 1.49560990e-01 5.64324495e-03 1.10751385e+03] [-1.49558547e-01 9.88752502e-01 -8.54907919e-04 2.31015084e+02] [-5.70763344e-03 1.28306139e-06 9.99983711e-01 -1.66003883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1107.58, Y:231.01, Z:-16.60 [[ 9.89029998e-01 1.47606974e-01 5.64308172e-03 1.10757654e+03] [-1.47604493e-01 9.89046096e-01 -8.55983999e-04 2.31006265e+02] [-5.70761715e-03 1.36496370e-05 9.99983711e-01 -1.66002985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1107.64, Y:231.00, Z:-16.60 [[ 9.89602614e-01 1.43717863e-01 5.64291861e-03 1.10763786e+03] [-1.43715313e-01 9.89618702e-01 -8.57057912e-04 2.30997643e+02] [-5.70751232e-03 3.71729378e-05 9.99983711e-01 -1.66008348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.1053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1107.70, Y:230.99, Z:-16.60 [[ 9.89871006e-01 1.41857498e-01 5.64276743e-03 1.10770008e+03] [-1.41854911e-01 9.89887088e-01 -8.58052140e-04 2.30988072e+02] [-5.70742375e-03 4.89066638e-05 9.99983711e-01 -1.66002645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.1653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1107.76, Y:230.98, Z:-16.60 [[ 9.90074535e-01 1.40429968e-01 5.64260736e-03 1.10776289e+03] [-1.40427352e-01 9.90090612e-01 -8.59103495e-04 2.30978953e+02] [-5.70733645e-03 5.82000829e-05 9.99983711e-01 -1.65994944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1107.82, Y:230.97, Z:-16.60 [[ 9.90087271e-01 1.40340154e-01 5.64244840e-03 1.10782381e+03] [-1.40337531e-01 9.90103347e-01 -8.60146224e-04 2.30968713e+02] [-5.70732010e-03 5.97725511e-05 9.99983711e-01 -1.66001128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1107.89, Y:230.96, Z:-16.60 [[ 9.89972718e-01 1.41145962e-01 5.64230125e-03 1.10788506e+03] [-1.41143347e-01 9.89988795e-01 -8.61110390e-04 2.30960501e+02] [-5.70735727e-03 5.61025115e-05 9.99983711e-01 -1.66003539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.3453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1107.95, Y:230.95, Z:-16.60 [[ 9.89727880e-01 1.42852687e-01 5.64215538e-03 1.10794730e+03] [-1.42850094e-01 9.89743961e-01 -8.62065099e-04 2.30950646e+02] [-5.70743753e-03 4.72274357e-05 9.99983711e-01 -1.66002323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.4053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1108.01, Y:230.94, Z:-16.60 [[ 9.89594947e-01 1.43770680e-01 5.64200055e-03 1.10800934e+03] [-1.43768096e-01 9.89611029e-01 -8.63077216e-04 2.30940757e+02] [-5.70747118e-03 4.29571739e-05 9.99983711e-01 -1.65991835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1108.07, Y:230.93, Z:-16.60 [[ 9.89378561e-01 1.45252309e-01 5.64183416e-03 1.10806994e+03] [-1.45249743e-01 9.89394646e-01 -8.64163576e-04 2.30930052e+02] [-5.70752226e-03 3.55099566e-05 9.99983711e-01 -1.66002314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1108.13, Y:230.92, Z:-16.60 [[ 9.89220942e-01 1.46321905e-01 5.64167924e-03 1.10813214e+03] [-1.46319350e-01 9.89237029e-01 -8.65173772e-04 2.30920522e+02] [-5.70755188e-03 3.03611743e-05 9.99983711e-01 -1.65992946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.5853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1108.19, Y:230.91, Z:-16.60 [[ 9.88791727e-01 1.49194818e-01 5.64151975e-03 1.10819444e+03] [-1.49192304e-01 9.88807821e-01 -8.66212494e-04 2.30909767e+02] [-5.70761326e-03 1.48324161e-05 9.99983711e-01 -1.65987631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.6453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1108.26, Y:230.90, Z:-16.60 [[ 9.88631313e-01 1.50254122e-01 5.64135692e-03 1.10825639e+03] [-1.50251620e-01 9.88647409e-01 -8.67271673e-04 2.30899738e+02] [-5.70762404e-03 9.78891965e-06 9.99983711e-01 -1.65993107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1108.32, Y:230.89, Z:-16.60 [[ 9.88443867e-01 1.51482338e-01 5.64119455e-03 1.10831869e+03] [-1.51479849e-01 9.88459964e-01 -8.68326519e-04 2.30889197e+02] [-5.70763109e-03 3.76472266e-06 9.99983711e-01 -1.66006517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1108.38, Y:230.88, Z:-16.60 [[ 9.88670189e-01 1.49998123e-01 5.64103392e-03 1.10838065e+03] [-1.49995604e-01 9.88686281e-01 -8.69368818e-04 2.30878368e+02] [-5.70761654e-03 1.33887450e-05 9.99983711e-01 -1.66019919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.8253361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1108.44, Y:230.87, Z:-16.60 [[ 9.89431805e-01 1.44889212e-01 5.64087396e-03 1.10844277e+03] [-1.44886604e-01 9.89447884e-01 -8.70405432e-04 2.30865338e+02] [-5.70746316e-03 4.39197424e-05 9.99983711e-01 -1.66023858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.8853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1108.50, Y:230.85, Z:-16.60 [[ 9.90017126e-01 1.40834204e-01 5.64070774e-03 1.10850356e+03] [-1.40831524e-01 9.90033193e-01 -8.71481320e-04 2.30852477e+02] [-5.70722227e-03 6.83919640e-05 9.99983711e-01 -1.66039895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1108.56, Y:230.84, Z:-16.61 [[ 9.90792778e-01 1.35269565e-01 5.64055307e-03 1.10856412e+03] [-1.35266789e-01 9.90808828e-01 -8.72481282e-04 2.30836776e+02] [-5.70672994e-03 1.01468651e-04 9.99983711e-01 -1.66064240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1108.63, Y:230.82, Z:-16.61 [[ 9.91128864e-01 1.32784640e-01 5.64040029e-03 1.10862530e+03] [-1.32781818e-01 9.91144907e-01 -8.73467855e-04 2.30822281e+02] [-5.70643713e-03 1.16776599e-04 9.99983711e-01 -1.66071098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.0653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1108.69, Y:230.81, Z:-16.61 [[ 9.91410597e-01 1.30664518e-01 5.64024098e-03 1.10868664e+03] [-1.30661657e-01 9.91426632e-01 -8.74495337e-04 2.30805425e+02] [-5.70615063e-03 1.30020715e-04 9.99983711e-01 -1.66062694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.1253361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1108.75, Y:230.79, Z:-16.61 [[ 9.91557236e-01 1.29547047e-01 5.64008254e-03 1.10874788e+03] [-1.29544161e-01 9.91573267e-01 -8.75516013e-04 2.30790104e+02] [-5.70597558e-03 1.37484475e-04 9.99983711e-01 -1.66055202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1108.81, Y:230.77, Z:-16.60 [[ 9.91577720e-01 1.29390170e-01 5.63991135e-03 1.10880797e+03] [-1.29387276e-01 9.91593750e-01 -8.76617378e-04 2.30770983e+02] [-5.70592652e-03 1.39501494e-04 9.99983711e-01 -1.66049895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1108.87, Y:230.75, Z:-16.60 [[ 9.91440271e-01 1.30439187e-01 5.63980539e-03 1.10886912e+03] [-1.30436306e-01 9.91456303e-01 -8.77298572e-04 2.30754330e+02] [-5.70605471e-03 1.34153754e-04 9.99983711e-01 -1.66025841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.3053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1108.93, Y:230.73, Z:-16.60 [[ 9.91212923e-01 1.32155727e-01 5.63963828e-03 1.10893000e+03] [-1.32152868e-01 9.91228958e-01 -8.78371504e-04 2.30734754e+02] [-5.70625460e-03 1.25358814e-04 9.99983711e-01 -1.66031430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.3653361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1108.99, Y:230.72, Z:-16.60 [[ 9.90895582e-01 1.34514464e-01 5.63947194e-03 1.10899071e+03] [-1.34511637e-01 9.90911624e-01 -8.79438155e-04 2.30718009e+02] [-5.70651545e-03 1.12856781e-04 9.99983711e-01 -1.66042623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.4253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1109.05, Y:230.70, Z:-16.61 [[ 9.90065739e-01 1.40492104e-01 5.63930330e-03 1.10905018e+03] [-1.40489367e-01 9.90081796e-01 -8.80518251e-04 2.30698609e+02] [-5.70707740e-03 7.95088009e-05 9.99983711e-01 -1.66051841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1109.11, Y:230.68, Z:-16.61 [[ 9.89272280e-01 1.45974508e-01 5.63914657e-03 1.10911088e+03] [-1.45971855e-01 9.89288351e-01 -8.81520838e-04 2.30683183e+02] [-5.70742158e-03 4.89074456e-05 9.99983711e-01 -1.66062446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1109.17, Y:230.67, Z:-16.61 [[ 9.87750210e-01 1.55941416e-01 5.63899445e-03 1.10917238e+03] [-1.55938919e-01 9.87766306e-01 -8.82492899e-04 2.30666643e+02] [-5.70762590e-03 -7.65615221e-06 9.99983711e-01 -1.66071451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.6053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1109.23, Y:230.65, Z:-16.61 [[ 9.86799373e-01 1.61849317e-01 5.63883330e-03 1.10923413e+03] [-1.61846910e-01 9.86815483e-01 -8.83521347e-04 2.30652427e+02] [-5.70748533e-03 -4.07694363e-05 9.99983711e-01 -1.66074896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.6653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1109.30, Y:230.64, Z:-16.61 [[ 9.85644021e-01 1.68742610e-01 5.63866814e-03 1.10929546e+03] [-1.68740311e-01 9.85660147e-01 -8.84574185e-04 2.30636739e+02] [-5.70707582e-03 -7.95953556e-05 9.99983711e-01 -1.66070835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1109.36, Y:230.62, Z:-16.61 [[ 9.85124600e-01 1.71749031e-01 5.63850527e-03 1.10935706e+03] [-1.71746775e-01 9.85140732e-01 -8.85611107e-04 2.30624448e+02] [-5.70682406e-03 -9.59578087e-05 9.99983711e-01 -1.66070253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1109.42, Y:230.61, Z:-16.61 [[ 9.84353375e-01 1.76115424e-01 5.63834162e-03 1.10941756e+03] [-1.76113233e-01 9.84369516e-01 -8.86651821e-04 2.30611622e+02] [-5.70636467e-03 -1.20207857e-04 9.99983711e-01 -1.66077805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.8453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1109.48, Y:230.60, Z:-16.61 [[ 9.83770870e-01 1.79340699e-01 5.63818996e-03 1.10947989e+03] [-1.79338555e-01 9.83787017e-01 -8.87615138e-04 2.30600565e+02] [-5.70596360e-03 -1.37934925e-04 9.99983711e-01 -1.66096755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.9053361949998 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:1109.54, Y:230.59, Z:-16.61 [[ 9.82956472e-01 1.83751969e-01 5.63803148e-03 1.10954103e+03] [-1.83749892e-01 9.82972628e-01 -8.88620671e-04 2.30593093e+02] [-5.70531642e-03 -1.62512237e-04 9.99983711e-01 -1.66129961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1109.60, Y:230.59, Z:-16.61 [[ 9.82530964e-01 1.86013759e-01 5.63795373e-03 1.10960363e+03] [-1.86011716e-01 9.82547124e-01 -8.89113692e-04 2.30585130e+02] [-5.70494260e-03 -1.75143717e-04 9.99983711e-01 -1.66145667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.025336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1109.67, Y:230.58, Z:-16.61 [[ 9.82338658e-01 1.87026670e-01 5.63779914e-03 1.10966617e+03] [-1.87024639e-01 9.82354820e-01 -8.90092876e-04 2.30576617e+02] [-5.70479026e-03 -1.80034707e-04 9.99983711e-01 -1.66143266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.0853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1109.73, Y:230.57, Z:-16.61 [[ 9.82599161e-01 1.85653189e-01 5.63764524e-03 1.10972877e+03] [-1.85651129e-01 9.82615318e-01 -8.91066528e-04 2.30569344e+02] [-5.70506592e-03 -1.71073984e-04 9.99983711e-01 -1.66132025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.1453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1109.79, Y:230.56, Z:-16.61 [[ 9.82900826e-01 1.84049410e-01 5.63748009e-03 1.10979157e+03] [-1.84047318e-01 9.82916980e-01 -8.92110181e-04 2.30560784e+02] [-5.70536725e-03 -1.60707260e-04 9.99983711e-01 -1.66136789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1109.85, Y:230.55, Z:-16.62 [[ 9.83229077e-01 1.82287695e-01 5.63731248e-03 1.10985460e+03] [-1.82285568e-01 9.83245226e-01 -8.93168079e-04 2.30554677e+02] [-5.70567413e-03 -1.49411883e-04 9.99983711e-01 -1.66157308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1109.92, Y:230.55, Z:-16.62 [[ 9.83323713e-01 1.81776504e-01 5.63714590e-03 1.10991756e+03] [-1.81774363e-01 9.83339861e-01 -8.94218167e-04 2.30547899e+02] [-5.70577812e-03 -1.45382676e-04 9.99983711e-01 -1.66170410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.3253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1109.98, Y:230.54, Z:-16.62 [[ 9.83330238e-01 1.81741211e-01 5.63697539e-03 1.10997841e+03] [-1.81739063e-01 9.83346384e-01 -8.95291746e-04 2.30541698e+02] [-5.70581078e-03 -1.44091181e-04 9.99983711e-01 -1.66173657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.3853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1110.04, Y:230.54, Z:-16.62 [[ 9.83087501e-01 1.83049695e-01 5.63689359e-03 1.11004077e+03] [-1.83047565e-01 9.83103650e-01 -8.95806461e-04 2.30535577e+02] [-5.70562777e-03 -1.51163513e-04 9.99983711e-01 -1.66153418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1110.10, Y:230.53, Z:-16.62 [[ 9.82729785e-01 1.84960526e-01 5.63672705e-03 1.11010387e+03] [-1.84958421e-01 9.82745938e-01 -8.96853167e-04 2.30532646e+02] [-5.70535305e-03 -1.61195818e-04 9.99983711e-01 -1.66161270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1110.17, Y:230.53, Z:-16.62 [[ 9.82607119e-01 1.85611096e-01 5.63656147e-03 1.11016537e+03] [-1.85608997e-01 9.82623272e-01 -8.97892637e-04 2.30525611e+02] [-5.70527531e-03 -1.63920824e-04 9.99983711e-01 -1.66167077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.5653361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1110.23, Y:230.52, Z:-16.62 [[ 9.82415428e-01 1.86623034e-01 5.63645872e-03 1.11022807e+03] [-1.86620948e-01 9.82431583e-01 -8.98537149e-04 2.30521075e+02] [-5.70512279e-03 -1.69144510e-04 9.99983711e-01 -1.66170454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.6253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1110.29, Y:230.52, Z:-16.62 [[ 9.82419174e-01 1.86603318e-01 5.63629207e-03 1.11029138e+03] [-1.86601225e-01 9.82435328e-01 -8.99581335e-04 2.30520134e+02] [-5.70515731e-03 -1.67973052e-04 9.99983711e-01 -1.66174370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.685336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1110.35, Y:230.52, Z:-16.62 [[ 9.82749038e-01 1.84858222e-01 5.63612512e-03 1.11035428e+03] [-1.84856095e-01 9.82765187e-01 -9.00626075e-04 2.30518622e+02] [-5.70547569e-03 -1.56782669e-04 9.99983711e-01 -1.66163620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.745336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1110.42, Y:230.52, Z:-16.62 [[ 9.83299198e-01 1.81909108e-01 5.63596931e-03 1.11041742e+03] [-1.81906927e-01 9.83315340e-01 -9.01600030e-04 2.30515182e+02] [-5.70594434e-03 -1.38679273e-04 9.99983711e-01 -1.66161040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.8053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1110.48, Y:230.51, Z:-16.62 [[ 9.84015213e-01 1.77995218e-01 5.63580206e-03 1.11048055e+03] [-1.77992967e-01 9.84031346e-01 -9.02644295e-04 2.30509446e+02] [-5.70647226e-03 -1.14917410e-04 9.99983711e-01 -1.66160211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.8653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1110.54, Y:230.51, Z:-16.62 [[ 9.85173047e-01 1.71471010e-01 5.63563363e-03 1.11054377e+03] [-1.71468646e-01 9.85189163e-01 -9.03694693e-04 2.30506794e+02] [-5.70712262e-03 -7.60388115e-05 9.99983711e-01 -1.66182770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.9253361949998 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1110.61, Y:230.50, Z:-16.62 [[ 9.85794211e-01 1.67863082e-01 5.63546320e-03 1.11060595e+03] [-1.67860653e-01 9.85810318e-01 -9.04756224e-04 2.30500118e+02] [-5.70737294e-03 -5.40690832e-05 9.99983711e-01 -1.66198303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.985336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1110.67, Y:230.50, Z:-16.62 [[ 9.86637350e-01 1.62834221e-01 5.63530371e-03 1.11066897e+03] [-1.62831704e-01 9.86653443e-01 -9.05748558e-04 2.30496101e+02] [-5.70757866e-03 -2.39607463e-05 9.99983711e-01 -1.66218171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.045336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1110.73, Y:230.49, Z:-16.62 [[ 9.87143781e-01 1.59735411e-01 5.63513409e-03 1.11073182e+03] [-1.59732838e-01 9.87159865e-01 -9.06802616e-04 2.30489457e+02] [-5.70762669e-03 -4.97139561e-06 9.99983711e-01 -1.66216757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.1053361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1110.79, Y:230.48, Z:-16.62 [[ 9.87696545e-01 1.56281101e-01 5.63496256e-03 1.11079390e+03] [-1.56278465e-01 9.87712619e-01 -9.07867275e-04 2.30483341e+02] [-5.70760612e-03 1.60740708e-05 9.99983711e-01 -1.66205433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.1653361949998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1110.86, Y:230.48, Z:-16.62 [[ 9.87786708e-01 1.55710206e-01 5.63485559e-03 1.11085644e+03] [-1.55707557e-01 9.87802780e-01 -9.08530730e-04 2.30475667e+02] [-5.70759352e-03 2.00449808e-05 9.99983711e-01 -1.66191624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1110.92, Y:230.47, Z:-16.62 [[ 9.87565641e-01 1.57106192e-01 5.63467891e-03 1.11091783e+03] [-1.57103559e-01 9.87581715e-01 -9.09625137e-04 2.30469990e+02] [-5.70761361e-03 1.30864189e-05 9.99983711e-01 -1.66200802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.285336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1110.98, Y:230.47, Z:-16.62 [[ 9.86859115e-01 1.61484797e-01 5.63451465e-03 1.11098119e+03] [-1.61482229e-01 9.86875200e-01 -9.10641465e-04 2.30467046e+02] [-5.70761753e-03 -1.11991579e-05 9.99983711e-01 -1.66222598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.3453361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1111.04, Y:230.46, Z:-16.62 [[ 9.86440506e-01 1.64022504e-01 5.63434217e-03 1.11104392e+03] [-1.64019972e-01 9.86456597e-01 -9.11707402e-04 2.30461104e+02] [-5.70757454e-03 -2.47995352e-05 9.99983711e-01 -1.66227731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.4053361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1111.11, Y:230.46, Z:-16.62 [[ 9.86157114e-01 1.65717840e-01 5.63417101e-03 1.11110752e+03] [-1.65715330e-01 9.86173208e-01 -9.12763937e-04 2.30457376e+02] [-5.70752977e-03 -3.35398559e-05 9.99983711e-01 -1.66205849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1111.17, Y:230.45, Z:-16.62 [[ 9.86256865e-01 1.65123146e-01 5.63399591e-03 1.11117027e+03] [-1.65120620e-01 9.86272957e-01 -9.13843460e-04 2.30451695e+02] [-5.70755451e-03 -2.90045111e-05 9.99983711e-01 -1.66203017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1111.23, Y:230.45, Z:-16.62 [[ 9.86828713e-01 1.61670505e-01 5.63381938e-03 1.11123198e+03] [-1.61667916e-01 9.86844794e-01 -9.14930459e-04 2.30447509e+02] [-5.70762260e-03 -7.92819403e-06 9.99983711e-01 -1.66207860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.5853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1111.29, Y:230.44, Z:-16.62 [[ 9.87398851e-01 1.58151104e-01 5.63365562e-03 1.11129389e+03] [-1.58148452e-01 9.87414922e-01 -9.15937702e-04 2.30440376e+02] [-5.70761218e-03 1.34419181e-05 9.99983711e-01 -1.66213259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.6453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1111.36, Y:230.43, Z:-16.62 [[ 9.88473114e-01 1.51291663e-01 5.63349481e-03 1.11135678e+03] [-1.51288895e-01 9.88489165e-01 -9.16925708e-04 2.30432816e+02] [-5.70737180e-03 5.40712075e-05 9.99983711e-01 -1.66206595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.705336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1111.42, Y:230.42, Z:-16.62 [[ 9.89202739e-01 1.46445236e-01 5.63331008e-03 1.11141803e+03] [-1.46442382e-01 9.89218776e-01 -9.18059218e-04 2.30422755e+02] [-5.70702150e-03 8.31913455e-05 9.99983711e-01 -1.66217143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.765336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1111.48, Y:230.41, Z:-16.62 [[ 9.90194804e-01 1.39579794e-01 5.63313903e-03 1.11147881e+03] [-1.39576822e-01 9.90210819e-01 -9.19107586e-04 2.30412296e+02] [-5.70628406e-03 1.23839910e-04 9.99983711e-01 -1.66224785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.8253361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1111.54, Y:230.40, Z:-16.62 [[ 9.90750481e-01 1.35579328e-01 5.63302935e-03 1.11154082e+03] [-1.35576288e-01 9.90766483e-01 -9.19779285e-04 2.30399958e+02] [-5.70571974e-03 1.47566557e-04 9.99983711e-01 -1.66228448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.8853361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1111.60, Y:230.39, Z:-16.62 [[ 9.91492342e-01 1.30043099e-01 5.63285217e-03 1.11160219e+03] [-1.30039964e-01 9.91508326e-01 -9.20863102e-04 2.30385411e+02] [-5.70477171e-03 1.80532820e-04 9.99983711e-01 -1.66234160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.945336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1111.66, Y:230.37, Z:-16.62 [[ 9.91847734e-01 1.27304142e-01 5.63267412e-03 1.11166293e+03] [-1.27300957e-01 9.91863709e-01 -9.21950882e-04 2.30372226e+02] [-5.70421321e-03 1.97390089e-04 9.99983711e-01 -1.66236944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1111.73, Y:230.36, Z:-16.62 [[ 9.92040931e-01 1.25789767e-01 5.63250923e-03 1.11172500e+03] [-1.25786552e-01 9.92056899e-01 -9.22957164e-04 2.30358558e+02] [-5.70386821e-03 2.07117370e-04 9.99983711e-01 -1.66226346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.0653361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1111.79, Y:230.34, Z:-16.62 [[ 9.92049451e-01 1.25722562e-01 5.63233359e-03 1.11178579e+03] [-1.25719339e-01 9.92065418e-01 -9.24027733e-04 2.30342270e+02] [-5.70381452e-03 2.08587948e-04 9.99983711e-01 -1.66217950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.1253361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1111.85, Y:230.33, Z:-16.62 [[ 9.91790703e-01 1.27747720e-01 5.63215934e-03 1.11184742e+03] [-1.27744524e-01 9.91806675e-01 -9.25088641e-04 2.30327183e+02] [-5.70419119e-03 1.98016802e-04 9.99983711e-01 -1.66234514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.185336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1111.91, Y:230.31, Z:-16.63 [[ 9.91169168e-01 1.32483816e-01 5.63198545e-03 1.11190778e+03] [-1.32480690e-01 9.91185154e-01 -9.26146061e-04 2.30310752e+02] [-5.70503973e-03 1.71838100e-04 9.99983711e-01 -1.66253479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.245336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1111.97, Y:230.30, Z:-16.63 [[ 9.90691911e-01 1.36006693e-01 5.63182407e-03 1.11196942e+03] [-1.36003618e-01 9.90707907e-01 -9.27126352e-04 2.30296528e+02] [-5.70558803e-03 1.52548127e-04 9.99983711e-01 -1.66254711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.3053361949999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1112.03, Y:230.28, Z:-16.62 [[ 9.90180875e-01 1.39678628e-01 5.63165315e-03 1.11202997e+03] [-1.39675607e-01 9.90196881e-01 -9.28163426e-04 2.30282254e+02] [-5.70608998e-03 1.32445104e-04 9.99983711e-01 -1.66248987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.3653361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1112.09, Y:230.26, Z:-16.62 [[ 9.89447595e-01 1.44781706e-01 5.63154704e-03 1.11209110e+03] [-1.44778764e-01 9.89463616e-01 -9.28806814e-04 2.30264133e+02] [-5.70668513e-03 1.03677251e-04 9.99983711e-01 -1.66241098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.4253361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1112.15, Y:230.25, Z:-16.62 [[ 9.89198381e-01 1.46474743e-01 5.63137103e-03 1.11215296e+03] [-1.46471822e-01 9.89214406e-01 -9.29872719e-04 2.30251467e+02] [-5.70683622e-03 9.49914122e-05 9.99983711e-01 -1.66245445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.485336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1112.21, Y:230.23, Z:-16.63 [[ 9.88762712e-01 1.49387376e-01 5.63119633e-03 1.11221333e+03] [-1.49384497e-01 9.88778744e-01 -9.30929469e-04 2.30234707e+02] [-5.70707635e-03 7.92549172e-05 9.99983711e-01 -1.66270841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.545336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1112.27, Y:230.22, Z:-16.63 [[ 9.88590239e-01 1.50524522e-01 5.63103328e-03 1.11227314e+03] [-1.50521655e-01 9.88606273e-01 -9.31914711e-04 2.30219109e+02] [-5.70715084e-03 7.36893382e-05 9.99983711e-01 -1.66280633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.6053361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1112.33, Y:230.20, Z:-16.62 [[ 9.88471122e-01 1.51304776e-01 5.63087620e-03 1.11233390e+03] [-1.51301916e-01 9.88487157e-01 -9.32862895e-04 2.30200241e+02] [-5.70719541e-03 7.01456744e-05 9.99983711e-01 -1.66249216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.6653361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1112.39, Y:230.18, Z:-16.63 [[ 9.88396337e-01 1.51792541e-01 5.63069923e-03 1.11239408e+03] [-1.51789683e-01 9.88412373e-01 -9.33929813e-04 2.30184800e+02] [-5.70721637e-03 6.84107532e-05 9.99983711e-01 -1.66258682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1112.46, Y:230.17, Z:-16.63 [[ 9.88215199e-01 1.52967369e-01 5.63058998e-03 1.11245519e+03] [-1.52964527e-01 9.88231238e-01 -9.34588029e-04 2.30169506e+02] [-5.70728638e-03 6.22935645e-05 9.99983711e-01 -1.66267413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1112.52, Y:230.15, Z:-16.63 [[ 9.87811319e-01 1.55554161e-01 5.63041774e-03 1.11251637e+03] [-1.55551355e-01 9.87827364e-01 -9.35624541e-04 2.30151004e+02] [-5.70742100e-03 4.84014032e-05 9.99983711e-01 -1.66275860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.8453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1112.58, Y:230.13, Z:-16.63 [[ 9.87272427e-01 1.58938527e-01 5.63023859e-03 1.11257592e+03] [-1.58935770e-01 9.87288480e-01 -9.36701374e-04 2.30133250e+02] [-5.70754763e-03 2.99331354e-05 9.99983711e-01 -1.66288564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.9053361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1112.64, Y:230.12, Z:-16.63 [[ 9.86908935e-01 1.61180195e-01 5.63007235e-03 1.11263721e+03] [-1.61177469e-01 9.86924994e-01 -9.37699479e-04 2.30117838e+02] [-5.70759771e-03 1.79831850e-05 9.99983711e-01 -1.66294402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1112.70, Y:230.10, Z:-16.63 [[ 9.86238265e-01 1.65234343e-01 5.62989607e-03 1.11269829e+03] [-1.65231677e-01 9.86254334e-01 -9.38756680e-04 2.30100046e+02] [-5.70762424e-03 -4.39940652e-06 9.99983711e-01 -1.66306922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.025336195 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:1112.76, Y:230.09, Z:-16.63 [[ 9.85429374e-01 1.69991928e-01 5.62971507e-03 1.11275844e+03] [-1.69989333e-01 9.85445454e-01 -9.39840889e-04 2.30086682e+02] [-5.70754249e-03 -3.08446886e-05 9.99983711e-01 -1.66321431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.0853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1112.82, Y:230.07, Z:-16.63 [[ 9.83653811e-01 1.79981912e-01 5.62954744e-03 1.11281988e+03] [-1.79979474e-01 9.83669916e-01 -9.40843904e-04 2.30074307e+02] [-5.70695134e-03 -8.77382953e-05 9.99983711e-01 -1.66313749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.1453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1112.88, Y:230.06, Z:-16.63 [[ 9.82344501e-01 1.86996236e-01 5.62937746e-03 1.11288209e+03] [-1.86993908e-01 9.82360622e-01 -9.41859848e-04 2.30064648e+02] [-5.70620299e-03 -1.27428446e-04 9.99983711e-01 -1.66327456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1112.94, Y:230.06, Z:-16.64 [[ 9.80789070e-01 1.94990034e-01 5.62920668e-03 1.11294324e+03] [-1.94987830e-01 9.80805208e-01 -9.42879437e-04 2.30057261e+02] [-5.70500732e-03 -1.72860952e-04 9.99983711e-01 -1.66357559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.265336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1113.01, Y:230.05, Z:-16.64 [[ 9.80223399e-01 1.97814060e-01 5.62906958e-03 1.11300628e+03] [-1.97811899e-01 9.80239543e-01 -9.43697241e-04 2.30050607e+02] [-5.70451317e-03 -1.88462827e-04 9.99983711e-01 -1.66352771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.3253361949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1113.07, Y:230.05, Z:-16.63 [[ 9.80048844e-01 1.98677072e-01 5.62889609e-03 1.11306808e+03] [-1.98674919e-01 9.80064990e-01 -9.44730913e-04 2.30046997e+02] [-5.70438036e-03 -1.92438038e-04 9.99983711e-01 -1.66337266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.3853361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1113.13, Y:230.04, Z:-16.63 [[ 9.80326382e-01 1.97303073e-01 5.62873493e-03 1.11313073e+03] [-1.97300892e-01 9.80342524e-01 -9.45690110e-04 2.30040329e+02] [-5.70467577e-03 -1.83469461e-04 9.99983711e-01 -1.66331051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.445336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1113.19, Y:230.04, Z:-16.64 [[ 9.81071318e-01 1.93564944e-01 5.62855753e-03 1.11319242e+03] [-1.93562696e-01 9.81087451e-01 -9.46744821e-04 2.30036138e+02] [-5.70536376e-03 -1.60654577e-04 9.99983711e-01 -1.66360363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.505336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1113.26, Y:230.03, Z:-16.64 [[ 9.81749916e-01 1.90093198e-01 5.62839249e-03 1.11325530e+03] [-1.90090887e-01 9.81766040e-01 -9.47724928e-04 2.30031066e+02] [-5.70592067e-03 -1.39477252e-04 9.99983711e-01 -1.66372985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.5653361949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1113.32, Y:230.03, Z:-16.64 [[ 9.82933366e-01 1.83875830e-01 5.62821489e-03 1.11331846e+03] [-1.83873411e-01 9.82949474e-01 -9.48778460e-04 2.30027906e+02] [-5.70670830e-03 -1.02293064e-04 9.99983711e-01 -1.66376834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.6253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1113.38, Y:230.02, Z:-16.64 [[ 9.83755180e-01 1.79427065e-01 5.62803704e-03 1.11338092e+03] [-1.79424567e-01 9.83771276e-01 -9.49832303e-04 2.30021163e+02] [-5.70712680e-03 -7.54056577e-05 9.99983711e-01 -1.66357823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.685336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1113.44, Y:230.02, Z:-16.63 [[ 9.84913088e-01 1.72958190e-01 5.62785326e-03 1.11344400e+03] [-1.72955580e-01 9.84929167e-01 -9.50919971e-04 2.30018049e+02] [-5.70750622e-03 -3.67950988e-05 9.99983711e-01 -1.66332601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.745336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1113.51, Y:230.01, Z:-16.63 [[ 9.85498003e-01 1.69593678e-01 5.62766961e-03 1.11350571e+03] [-1.69591007e-01 9.85514071e-01 -9.52005600e-04 2.30012418e+02] [-5.70760172e-03 -1.62025377e-05 9.99983711e-01 -1.66339960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.8053361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1113.57, Y:230.01, Z:-16.64 [[ 9.85914836e-01 1.67153423e-01 5.62749881e-03 1.11356787e+03] [-1.67150707e-01 9.85930897e-01 -9.53014176e-04 2.30005857e+02] [-5.70762453e-03 -1.04958601e-06 9.99983711e-01 -1.66350343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.8653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1113.63, Y:230.00, Z:-16.64 [[ 9.86475888e-01 1.63809816e-01 5.62733164e-03 1.11363129e+03] [-1.63807039e-01 9.86491938e-01 -9.54000220e-04 2.30002731e+02] [-5.70759190e-03 1.93016802e-05 9.99983711e-01 -1.66366311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.9253361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1113.69, Y:230.00, Z:-16.64 [[ 9.86731112e-01 1.62265365e-01 5.62714985e-03 1.11369434e+03] [-1.62262557e-01 9.86747156e-01 -9.55071311e-04 2.29996372e+02] [-5.70754911e-03 2.93228550e-05 9.99983711e-01 -1.66383742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1113.76, Y:229.99, Z:-16.64 [[ 9.87028933e-01 1.60443830e-01 5.62696844e-03 1.11375734e+03] [-1.60440987e-01 9.87044971e-01 -9.56138923e-04 2.29992212e+02] [-5.70747750e-03 4.09404126e-05 9.99983711e-01 -1.66403195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1113.82, Y:229.99, Z:-16.64 [[ 9.87194595e-01 1.59421365e-01 5.62678669e-03 1.11381954e+03] [-1.59418499e-01 9.87210629e-01 -9.57207291e-04 2.29987802e+02] [-5.70742292e-03 4.79359753e-05 9.99983711e-01 -1.66403990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.1053361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1113.88, Y:229.98, Z:-16.64 [[ 9.87285002e-01 1.58860525e-01 5.62661705e-03 1.11388255e+03] [-1.58857644e-01 9.87301034e-01 -9.58203456e-04 2.29981996e+02] [-5.70738553e-03 5.21887748e-05 9.99983711e-01 -1.66407623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.1653361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1113.95, Y:229.97, Z:-16.64 [[ 9.87501474e-01 1.57509305e-01 5.62643724e-03 1.11394542e+03] [-1.57506396e-01 9.87517501e-01 -9.59258116e-04 2.29973988e+02] [-5.70729732e-03 6.10689521e-05 9.99983711e-01 -1.66407421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.225336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1114.01, Y:229.97, Z:-16.64 [[ 9.87860348e-01 1.55242644e-01 5.62625635e-03 1.11400779e+03] [-1.55239692e-01 9.87876367e-01 -9.60317912e-04 2.29969087e+02] [-5.70712797e-03 7.52416834e-05 9.99983711e-01 -1.66352975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1114.07, Y:229.96, Z:-16.64 [[ 9.87985932e-01 1.54441395e-01 5.62614451e-03 1.11406992e+03] [-1.54438426e-01 9.88001948e-01 -9.60972685e-04 2.29960105e+02] [-5.70705570e-03 8.05345893e-05 9.99983711e-01 -1.66412931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.3453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1114.13, Y:229.95, Z:-16.64 [[ 9.87919009e-01 1.54868915e-01 5.62596785e-03 1.11413143e+03] [-1.54865947e-01 9.87935025e-01 -9.62005819e-04 2.29951987e+02] [-5.70707548e-03 7.91129948e-05 9.99983711e-01 -1.66412408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.4053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1114.19, Y:229.94, Z:-16.64 [[ 9.87768994e-01 1.55822865e-01 5.62580363e-03 1.11419210e+03] [-1.55819907e-01 9.87785012e-01 -9.62965203e-04 2.29944657e+02] [-5.70713650e-03 7.45749715e-05 9.99983711e-01 -1.66434071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.465336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1114.25, Y:229.94, Z:-16.65 [[ 9.87617620e-01 1.56779427e-01 5.62571938e-03 1.11425352e+03] [-1.56776482e-01 9.87633640e-01 -9.63457177e-04 2.29939077e+02] [-5.70719997e-03 6.95467902e-05 9.99983711e-01 -1.66457096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1114.31, Y:229.93, Z:-16.65 [[ 9.87639732e-01 1.56640072e-01 5.62569779e-03 1.11431481e+03] [-1.56637124e-01 9.87655751e-01 -9.63583228e-04 2.29931360e+02] [-5.70718852e-03 7.04799592e-05 9.99983711e-01 -1.66466734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.5853361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1114.38, Y:229.92, Z:-16.64 [[ 9.87671078e-01 1.56442304e-01 5.62567543e-03 1.11437524e+03] [-1.56439352e-01 9.87687096e-01 -9.63713748e-04 2.29923626e+02] [-5.70717263e-03 7.17551777e-05 9.99983711e-01 -1.66449915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.6453361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1114.44, Y:229.92, Z:-16.65 [[ 9.87597575e-01 1.56905645e-01 5.62565270e-03 1.11443521e+03] [-1.56902700e-01 9.87613595e-01 -9.63846383e-04 2.29915888e+02] [-5.70720403e-03 6.92122524e-05 9.99983711e-01 -1.66450553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.705336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1114.50, Y:229.91, Z:-16.64 [[ 9.87408168e-01 1.58093207e-01 5.62564144e-03 1.11449520e+03] [-1.58090280e-01 9.87424192e-01 -9.63912138e-04 2.29910361e+02] [-5.70728241e-03 6.24154867e-05 9.99983711e-01 -1.66437485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.765336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1114.56, Y:229.90, Z:-16.65 [[ 9.87395066e-01 1.58175014e-01 5.62564144e-03 1.11455535e+03] [-1.58172089e-01 9.87411090e-01 -9.63912138e-04 2.29903038e+02] [-5.70728756e-03 6.19426299e-05 9.99983711e-01 -1.66452006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.8253361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1114.62, Y:229.89, Z:-16.65 [[ 9.87645445e-01 1.56604048e-01 5.62564144e-03 1.11461525e+03] [-1.56601097e-01 9.87661464e-01 -9.63912138e-04 2.29894070e+02] [-5.70718180e-03 7.10218100e-05 9.99983711e-01 -1.66480010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.8853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1114.68, Y:229.89, Z:-16.65 [[ 9.87844143e-01 1.55345749e-01 5.62564144e-03 1.11467503e+03] [-1.55342779e-01 9.87860158e-01 -9.63912138e-04 2.29885552e+02] [-5.70708669e-03 7.82921879e-05 9.99983711e-01 -1.66490355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.945336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1114.73, Y:229.88, Z:-16.65 [[ 9.87997453e-01 1.54367692e-01 5.62564144e-03 1.11473421e+03] [-1.54364706e-01 9.88013466e-01 -9.63912138e-04 2.29875579e+02] [-5.70700639e-03 8.39422522e-05 9.99983711e-01 -1.66487500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.005336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1114.79, Y:229.87, Z:-16.65 [[ 9.87839641e-01 1.55374372e-01 5.62564144e-03 1.11479496e+03] [-1.55371402e-01 9.87855657e-01 -9.63912138e-04 2.29866613e+02] [-5.70708896e-03 7.81268247e-05 9.99983711e-01 -1.66460846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.0653361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1114.85, Y:229.86, Z:-16.65 [[ 9.87584044e-01 1.56990793e-01 5.62561844e-03 1.11485396e+03] [-1.56987848e-01 9.87600064e-01 -9.64046306e-04 2.29856993e+02] [-5.70720753e-03 6.89230142e-05 9.99983711e-01 -1.66465421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.1253361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1114.91, Y:229.85, Z:-16.64 [[ 9.87031480e-01 1.60428205e-01 5.62562984e-03 1.11491412e+03] [-1.60425317e-01 9.87047511e-01 -9.63979812e-04 2.29850211e+02] [-5.70741348e-03 4.89849725e-05 9.99983711e-01 -1.66447481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1114.97, Y:229.84, Z:-16.65 [[ 9.86635330e-01 1.62846794e-01 5.62562984e-03 1.11497248e+03] [-1.62843945e-01 9.86651367e-01 -9.63979813e-04 2.29841479e+02] [-5.70751639e-03 3.49967859e-05 9.99983711e-01 -1.66451270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.245336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1115.03, Y:229.83, Z:-16.65 [[ 9.86143919e-01 1.65796629e-01 5.62565287e-03 1.11503124e+03] [-1.65793828e-01 9.86159965e-01 -9.63845384e-04 2.29833921e+02] [-5.70759596e-03 1.77917392e-05 9.99983711e-01 -1.66460148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.3053361949999 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:1115.09, Y:229.83, Z:-16.64 [[ 9.85797353e-01 1.67844962e-01 5.62567537e-03 1.11508955e+03] [-1.67842195e-01 9.85813405e-01 -9.63714064e-04 2.29827731e+02] [-5.70762074e-03 5.80106995e-06 9.99983711e-01 -1.66401409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.3653361949998 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:1115.15, Y:229.82, Z:-16.65 [[ 9.85569914e-01 1.69175341e-01 5.62570879e-03 1.11514819e+03] [-1.69172598e-01 9.85585970e-01 -9.63518919e-04 2.29821812e+02] [-5.70762329e-03 -2.10051145e-06 9.99983711e-01 -1.66461435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.4253361949998 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:1115.21, Y:229.81, Z:-16.65 [[ 9.85626631e-01 1.68844587e-01 5.62575336e-03 1.11520591e+03] [-1.68841839e-01 9.85642687e-01 -9.63258589e-04 2.29814280e+02] [-5.70762366e-03 -4.49225740e-07 9.99983711e-01 -1.66467824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.485336195 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:1115.26, Y:229.81, Z:-16.65 [[ 9.86091412e-01 1.66108632e-01 5.62580853e-03 1.11526410e+03] [-1.66105841e-01 9.86107460e-01 -9.62936290e-04 2.29807518e+02] [-5.70760379e-03 1.50635473e-05 9.99983711e-01 -1.66486313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.545336195 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:1115.32, Y:229.80, Z:-16.65 [[ 9.86576546e-01 1.63202541e-01 5.62585187e-03 1.11532310e+03] [-1.63199705e-01 9.86592585e-01 -9.62683032e-04 2.29798478e+02] [-5.70753606e-03 3.16231342e-05 9.99983711e-01 -1.66469955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.6053361949998 meters Centerline goodness : 0.999637 with order 1 Centerline is valid? [True, True] Translation: X:1115.38, Y:229.79, Z:-16.65 [[ 9.87153743e-01 1.59674161e-01 5.62587493e-03 1.11538073e+03] [-1.59671268e-01 9.87169772e-01 -9.62548212e-04 2.29790000e+02] [-5.70738776e-03 5.18924866e-05 9.99983711e-01 -1.66477724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.6653361949998 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:1115.44, Y:229.78, Z:-16.65 [[ 9.87589825e-01 1.56954407e-01 5.62590919e-03 1.11543861e+03] [-1.56951471e-01 9.87605847e-01 -9.62347942e-04 2.29780952e+02] [-5.70722556e-03 6.74103112e-05 9.99983711e-01 -1.66487617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.725336195 meters Centerline goodness : 0.999614 with order 1 Centerline is valid? [True, True] Translation: X:1115.50, Y:229.77, Z:-16.65 [[ 9.88274631e-01 1.52583098e-01 5.62595174e-03 1.11549792e+03] [-1.52580093e-01 9.88290640e-01 -9.62099107e-04 2.29771660e+02] [-5.70687551e-03 9.24098993e-05 9.99983711e-01 -1.66462551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.785336195 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:1115.56, Y:229.76, Z:-16.65 [[ 9.88827670e-01 1.48957000e-01 5.62597415e-03 1.11555679e+03] [-1.48953936e-01 9.88843668e-01 -9.61968094e-04 2.29760874e+02] [-5.70650079e-03 1.13209674e-04 9.99983711e-01 -1.66471571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.8453361949998 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:1115.62, Y:229.75, Z:-16.65 [[ 9.88908781e-01 1.48417558e-01 5.62599672e-03 1.11561520e+03] [-1.48414487e-01 9.88924777e-01 -9.61836051e-04 2.29751040e+02] [-5.70644091e-03 1.16188699e-04 9.99983711e-01 -1.66489690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.9053361949998 meters Centerline goodness : 0.999422 with order 1 Centerline is valid? [True, True] Translation: X:1115.67, Y:229.74, Z:-16.64 [[ 9.88528902e-01 1.50926995e-01 5.62601911e-03 1.11567423e+03] [-1.50923965e-01 9.88544906e-01 -9.61705065e-04 2.29741078e+02] [-5.70671979e-03 1.01572139e-04 9.99983711e-01 -1.66444831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.965336195 meters Centerline goodness : 0.999576 with order 1 Centerline is valid? [True, True] Translation: X:1115.73, Y:229.73, Z:-16.65 [[ 9.87969475e-01 1.54546642e-01 5.62604133e-03 1.11573155e+03] [-1.54543672e-01 9.87985490e-01 -9.61575091e-04 2.29731446e+02] [-5.70705540e-03 8.05377536e-05 9.99983711e-01 -1.66518615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.025336195 meters Centerline goodness : 0.999614 with order 1 Centerline is valid? [True, True] Translation: X:1115.79, Y:229.72, Z:-16.65 [[ 9.87157599e-01 1.59650310e-01 5.62608553e-03 1.11579027e+03] [-1.59647423e-01 9.87173630e-01 -9.61316402e-04 2.29723606e+02] [-5.70739773e-03 5.07807328e-05 9.99983711e-01 -1.66526175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.0853361949999 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:1115.85, Y:229.72, Z:-16.65 [[ 9.86635976e-01 1.62842859e-01 5.62613080e-03 1.11584769e+03] [-1.62840026e-01 9.86652017e-01 -9.61051352e-04 2.29715666e+02] [-5.70753365e-03 3.20485514e-05 9.99983711e-01 -1.66539657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.1453361949998 meters Centerline goodness : 0.999618 with order 1 Centerline is valid? [True, True] Translation: X:1115.91, Y:229.71, Z:-16.66 [[ 9.85921342e-01 1.67115089e-01 5.62618679e-03 1.11590541e+03] [-1.67112328e-01 9.85937395e-01 -9.60723469e-04 2.29708729e+02] [-5.70761934e-03 6.99260183e-06 9.99983711e-01 -1.66580543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.205336195 meters Centerline goodness : 0.999572 with order 1 Centerline is valid? [True, True] Translation: X:1115.96, Y:229.70, Z:-16.66 [[ 9.85603825e-01 1.68977646e-01 5.62624138e-03 1.11596338e+03] [-1.68974916e-01 9.85619884e-01 -9.60403664e-04 2.29700103e+02] [-5.70762213e-03 -4.11614101e-06 9.99983711e-01 -1.66566401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.265336195 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:1116.02, Y:229.69, Z:-16.66 [[ 9.85512323e-01 1.69510487e-01 5.62628447e-03 1.11602163e+03] [-1.69507768e-01 9.85528384e-01 -9.60151189e-04 2.29691300e+02] [-5.70761873e-03 -7.45809300e-06 9.99983711e-01 -1.66574774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.3253361949999 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:1116.08, Y:229.68, Z:-16.66 [[ 9.85582379e-01 1.69102688e-01 5.62632731e-03 1.11607963e+03] [-1.69099964e-01 9.85598438e-01 -9.59900085e-04 2.29682268e+02] [-5.70762109e-03 -5.35113709e-06 9.99983711e-01 -1.66576253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.3853361949998 meters Centerline goodness : 0.999616 with order 1 Centerline is valid? [True, True] Translation: X:1116.14, Y:229.67, Z:-16.65 [[ 9.86043187e-01 1.66394643e-01 5.62637050e-03 1.11613749e+03] [-1.66391876e-01 9.86059239e-01 -9.59646887e-04 2.29674528e+02] [-5.70761471e-03 1.00709354e-05 9.99983711e-01 -1.66541676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.445336195 meters Centerline goodness : 0.999598 with order 1 Centerline is valid? [True, True] Translation: X:1116.19, Y:229.66, Z:-16.66 [[ 9.86447163e-01 1.63982739e-01 5.62643471e-03 1.11619407e+03] [-1.63979935e-01 9.86463208e-01 -9.59270269e-04 2.29664859e+02] [-5.70757460e-03 2.36470365e-05 9.99983711e-01 -1.66551731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.505336195 meters Centerline goodness : 0.999617 with order 1 Centerline is valid? [True, True] Translation: X:1116.25, Y:229.66, Z:-16.66 [[ 9.86978957e-01 1.60750993e-01 5.62649651e-03 1.11625116e+03] [-1.60748138e-01 9.86994993e-01 -9.58907650e-04 2.29655698e+02] [-5.70746924e-03 4.19728330e-05 9.99983711e-01 -1.66563753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.5653361949999 meters Centerline goodness : 0.999505 with order 1 Centerline is valid? [True, True] Translation: X:1116.31, Y:229.65, Z:-16.66 [[ 9.87040617e-01 1.60371952e-01 5.62654857e-03 1.11630904e+03] [-1.60369093e-01 9.87056652e-01 -9.58602078e-04 2.29645669e+02] [-5.70745508e-03 4.38546933e-05 9.99983711e-01 -1.66558602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.6253361949998 meters Centerline goodness : 0.999571 with order 1 Centerline is valid? [True, True] Translation: X:1116.37, Y:229.64, Z:-16.65 [[ 9.86922194e-01 1.61099112e-01 5.62658999e-03 1.11636749e+03] [-1.61096266e-01 9.86938232e-01 -9.58358903e-04 2.29637092e+02] [-5.70748754e-03 3.94030351e-05 9.99983711e-01 -1.66530664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.685336195 meters Centerline goodness : 0.999490 with order 1 Centerline is valid? [True, True] Translation: X:1116.42, Y:229.63, Z:-16.65 [[ 9.86811895e-01 1.61773372e-01 5.62663614e-03 1.11642463e+03] [-1.61770539e-01 9.86827936e-01 -9.58087825e-04 2.29627639e+02] [-5.70751483e-03 3.52285022e-05 9.99983711e-01 -1.66539335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.745336195 meters Centerline goodness : 0.999571 with order 1 Centerline is valid? [True, True] Translation: X:1116.48, Y:229.62, Z:-16.65 [[ 9.86719122e-01 1.62338269e-01 5.62669785e-03 1.11648238e+03] [-1.62335447e-01 9.86735165e-01 -9.57725289e-04 2.29618618e+02] [-5.70753610e-03 3.15933434e-05 9.99983711e-01 -1.66540369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.8053361949999 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:1116.54, Y:229.61, Z:-16.65 [[ 9.86640863e-01 1.62813229e-01 5.62674257e-03 1.11654017e+03] [-1.62810416e-01 9.86656907e-01 -9.57462501e-04 2.29609744e+02] [-5.70755198e-03 2.85793281e-05 9.99983711e-01 -1.66535961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.8653361949998 meters Centerline goodness : 0.999396 with order 1 Centerline is valid? [True, True] Translation: X:1116.60, Y:229.60, Z:-16.65 [[ 9.86522340e-01 1.63529850e-01 5.62678715e-03 1.11659822e+03] [-1.63527050e-01 9.86538386e-01 -9.57200413e-04 2.29600987e+02] [-5.70757236e-03 2.41676860e-05 9.99983711e-01 -1.66525152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.9253361949998 meters Centerline goodness : 0.999124 with order 1 Centerline is valid? [True, True] Translation: X:1116.66, Y:229.59, Z:-16.65 [[ 9.86446939e-01 1.63984069e-01 5.62683257e-03 1.11665502e+03] [-1.63981278e-01 9.86462987e-01 -9.56933351e-04 2.29592384e+02] [-5.70758389e-03 2.12687801e-05 9.99983711e-01 -1.66465215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.985336195 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:1116.71, Y:229.58, Z:-16.65 [[ 9.86240761e-01 1.65219551e-01 5.62688859e-03 1.11671281e+03] [-1.65216782e-01 9.86256812e-01 -9.56603870e-04 2.29583781e+02] [-5.70760686e-03 1.37853008e-05 9.99983711e-01 -1.66549771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.045336195 meters Centerline goodness : 0.999376 with order 1 Centerline is valid? [True, True] Translation: X:1116.77, Y:229.58, Z:-16.65 [[ 9.86030273e-01 1.66471136e-01 5.62693286e-03 1.11677051e+03] [-1.66468389e-01 9.86046328e-01 -9.56343396e-04 2.29575958e+02] [-5.70762005e-03 6.27709354e-06 9.99983711e-01 -1.66520283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.1053361949998 meters Centerline goodness : 0.999636 with order 1 Centerline is valid? [True, True] Translation: X:1116.83, Y:229.57, Z:-16.66 [[ 9.85904757e-01 1.67212881e-01 5.62699150e-03 1.11682851e+03] [-1.67210148e-01 9.85920815e-01 -9.55998204e-04 2.29568232e+02] [-5.70762326e-03 1.63309537e-06 9.99983711e-01 -1.66588050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.1653361949998 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:1116.89, Y:229.56, Z:-16.66 [[ 9.86136153e-01 1.65842769e-01 5.62703528e-03 1.11688610e+03] [-1.65840015e-01 9.86152207e-01 -9.55740460e-04 2.29558194e+02] [-5.70761591e-03 9.30260344e-06 9.99983711e-01 -1.66597317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.225336195 meters Centerline goodness : 0.999530 with order 1 Centerline is valid? [True, True] Translation: X:1116.94, Y:229.55, Z:-16.66 [[ 9.86845625e-01 1.61567474e-01 5.62708043e-03 1.11694273e+03] [-1.61564652e-01 9.86861667e-01 -9.55474574e-04 2.29549117e+02] [-5.70752358e-03 3.37686118e-05 9.99983711e-01 -1.66584344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.285336195 meters Centerline goodness : 0.999382 with order 1 Centerline is valid? [True, True] Translation: X:1117.00, Y:229.54, Z:-16.66 [[ 9.87444694e-01 1.57864851e-01 5.62714744e-03 1.11699922e+03] [-1.57861971e-01 9.87460726e-01 -9.55079762e-04 2.29538779e+02] [-5.70736062e-03 5.47758557e-05 9.99983711e-01 -1.66584129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.3453361949998 meters Centerline goodness : 0.999576 with order 1 Centerline is valid? [True, True] Translation: X:1117.06, Y:229.53, Z:-16.66 [[ 9.88251325e-01 1.52733932e-01 5.62720693e-03 1.11705722e+03] [-1.52730971e-01 9.88267342e-01 -9.54729104e-04 2.29526618e+02] [-5.70700437e-03 8.40635223e-05 9.99983711e-01 -1.66581740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.4053361949998 meters Centerline goodness : 0.999113 with order 1 Centerline is valid? [True, True] Translation: X:1117.11, Y:229.51, Z:-16.65 [[ 9.88767615e-01 1.49355071e-01 5.62725046e-03 1.11711409e+03] [-1.49352057e-01 9.88783623e-01 -9.54472474e-04 2.29514722e+02] [-5.70668840e-03 1.03310043e-04 9.99983711e-01 -1.66502137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.465336195 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:1117.17, Y:229.50, Z:-16.66 [[ 9.88962078e-01 1.48061951e-01 5.62730429e-03 1.11717200e+03] [-1.48058918e-01 9.88978082e-01 -9.54154986e-04 2.29502864e+02] [-5.70655465e-03 1.10450515e-04 9.99983711e-01 -1.66580777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.525336195 meters Centerline goodness : 0.999355 with order 1 Centerline is valid? [True, True] Translation: X:1117.23, Y:229.49, Z:-16.66 [[ 9.89217719e-01 1.46344239e-01 5.62734687e-03 1.11722933e+03] [-1.46341180e-01 9.89233718e-01 -9.53903820e-04 2.29490353e+02] [-5.70635959e-03 1.20105982e-04 9.99983711e-01 -1.66590644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.5853361949999 meters Centerline goodness : 0.999343 with order 1 Centerline is valid? [True, True] Translation: X:1117.29, Y:229.48, Z:-16.66 [[ 9.89338394e-01 1.45526198e-01 5.62738956e-03 1.11728670e+03] [-1.45523127e-01 9.89354391e-01 -9.53651876e-04 2.29479040e+02] [-5.70626390e-03 1.24569089e-04 9.99983711e-01 -1.66590987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.6453361949998 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:1117.34, Y:229.46, Z:-16.66 [[ 9.89592154e-01 1.43790475e-01 5.62741103e-03 1.11734420e+03] [-1.43787376e-01 9.89608145e-01 -9.53525160e-04 2.29464349e+02] [-5.70603963e-03 1.34450350e-04 9.99983711e-01 -1.66580883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.705336195 meters Centerline goodness : 0.999445 with order 1 Centerline is valid? [True, True] Translation: X:1117.40, Y:229.45, Z:-16.66 [[ 9.89825899e-01 1.42172506e-01 5.62744228e-03 1.11740106e+03] [-1.42169382e-01 9.89841885e-01 -9.53340720e-04 2.29451311e+02] [-5.70581692e-03 1.43591344e-04 9.99983711e-01 -1.66571389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.765336195 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:1117.46, Y:229.43, Z:-16.66 [[ 9.90239133e-01 1.39265186e-01 5.62746294e-03 1.11745919e+03] [-1.39262016e-01 9.90255110e-01 -9.53218741e-04 2.29434384e+02] [-5.70537412e-03 1.60222665e-04 9.99983711e-01 -1.66581860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.8253361949999 meters Centerline goodness : 0.999423 with order 1 Centerline is valid? [True, True] Translation: X:1117.52, Y:229.42, Z:-16.66 [[ 9.90348604e-01 1.38484565e-01 5.62746294e-03 1.11751677e+03] [-1.38481382e-01 9.90364578e-01 -9.53218741e-04 2.29419407e+02] [-5.70524605e-03 1.64720004e-04 9.99983711e-01 -1.66601871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.8853361949998 meters Centerline goodness : 0.999527 with order 1 Centerline is valid? [True, True] Translation: X:1117.58, Y:229.40, Z:-16.66 [[ 9.90101333e-01 1.40241511e-01 5.62747306e-03 1.11757587e+03] [-1.40238357e-01 9.90117314e-01 -9.53159021e-04 2.29400695e+02] [-5.70553097e-03 1.54536440e-04 9.99983711e-01 -1.66607881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.945336195 meters Centerline goodness : 0.999444 with order 1 Centerline is valid? [True, True] Translation: X:1117.64, Y:229.38, Z:-16.66 [[ 9.89684417e-01 1.43154066e-01 5.62745175e-03 1.11763639e+03] [-1.43150958e-01 9.89700406e-01 -9.53284822e-04 2.29384817e+02] [-5.70595788e-03 1.37876023e-04 9.99983711e-01 -1.66606390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.005336195 meters Centerline goodness : 0.999262 with order 1 Centerline is valid? [True, True] Translation: X:1117.70, Y:229.37, Z:-16.66 [[ 9.89029064e-01 1.47613837e-01 5.62729227e-03 1.11769608e+03] [-1.47610796e-01 9.89045066e-01 -9.54225317e-04 2.29365868e+02] [-5.70650251e-03 1.13107484e-04 9.99983711e-01 -1.66600220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.0653361949999 meters Centerline goodness : 0.999219 with order 1 Centerline is valid? [True, True] Translation: X:1117.76, Y:229.35, Z:-16.66 [[ 9.88492783e-01 1.51163331e-01 5.62713106e-03 1.11775675e+03] [-1.51160342e-01 9.88508795e-01 -9.55175026e-04 2.29350333e+02] [-5.70685598e-03 9.35845628e-05 9.99983711e-01 -1.66610721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.1253361949998 meters Centerline goodness : 0.999466 with order 1 Centerline is valid? [True, True] Translation: X:1117.82, Y:229.34, Z:-16.66 [[ 9.87824207e-01 1.55472417e-01 5.62696763e-03 1.11781584e+03] [-1.55469492e-01 9.87840231e-01 -9.56136815e-04 2.29335361e+02] [-5.70719791e-03 6.96732910e-05 9.99983711e-01 -1.66644810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.185336195 meters Centerline goodness : 0.999525 with order 1 Centerline is valid? [True, True] Translation: X:1117.88, Y:229.32, Z:-16.66 [[ 9.86941413e-01 1.60981321e-01 5.62681722e-03 1.11787579e+03] [-1.60978481e-01 9.86957452e-01 -9.57021139e-04 2.29322154e+02] [-5.70749172e-03 3.87273054e-05 9.99983711e-01 -1.66631748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.245336195 meters Centerline goodness : 0.999423 with order 1 Centerline is valid? [True, True] Translation: X:1117.93, Y:229.31, Z:-16.66 [[ 9.85432881e-01 1.69971693e-01 5.62679450e-03 1.11793475e+03] [-1.69968999e-01 9.85448945e-01 -9.57154717e-04 2.29309842e+02] [-5.70760791e-03 -1.31688972e-05 9.99983711e-01 -1.66647393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.3053361949999 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:1118.00, Y:229.30, Z:-16.66 [[ 9.84504684e-01 1.75267983e-01 5.62678320e-03 1.11799552e+03] [-1.75265374e-01 9.84520763e-01 -9.57221138e-04 2.29298797e+02] [-5.70745511e-03 -4.37915687e-05 9.99983711e-01 -1.66645391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.3653361949998 meters Centerline goodness : 0.999257 with order 1 Centerline is valid? [True, True] Translation: X:1118.06, Y:229.29, Z:-16.66 [[ 9.83527334e-01 1.80671865e-01 5.62676026e-03 1.11805502e+03] [-1.80669344e-01 9.83543426e-01 -9.57355985e-04 2.29286976e+02] [-5.70713035e-03 -7.49973027e-05 9.99983711e-01 -1.66645536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.4253361949998 meters Centerline goodness : 0.999377 with order 1 Centerline is valid? [True, True] Translation: X:1118.12, Y:229.28, Z:-16.66 [[ 9.83178858e-01 1.82558682e-01 5.62674893e-03 1.11811600e+03] [-1.82556191e-01 9.83194955e-01 -9.57422544e-04 2.29276890e+02] [-5.70697696e-03 -8.58802509e-05 9.99983711e-01 -1.66646750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.485336195 meters Centerline goodness : 0.999335 with order 1 Centerline is valid? [True, True] Translation: X:1118.18, Y:229.27, Z:-16.66 [[ 9.83098060e-01 1.82993290e-01 5.62672607e-03 1.11817544e+03] [-1.82990806e-01 9.83114158e-01 -9.57556898e-04 2.29268565e+02] [-5.70694055e-03 -8.82668105e-05 9.99983711e-01 -1.66637605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.545336195 meters Centerline goodness : 0.999532 with order 1 Centerline is valid? [True, True] Translation: X:1118.24, Y:229.26, Z:-16.67 [[ 9.83303072e-01 1.81888452e-01 5.62673742e-03 1.11823500e+03] [-1.81885950e-01 9.83319167e-01 -9.57490170e-04 2.29259290e+02] [-5.70703516e-03 -8.19214566e-05 9.99983711e-01 -1.66652245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.6053361949998 meters Centerline goodness : 0.999463 with order 1 Centerline is valid? [True, True] Translation: X:1118.30, Y:229.25, Z:-16.67 [[ 9.84121727e-01 1.77405657e-01 5.62673742e-03 1.11829550e+03] [-1.77403082e-01 9.84137810e-01 -9.57490169e-04 2.29248072e+02] [-5.70734922e-03 -5.59136819e-05 9.99983711e-01 -1.66659913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.6653361949998 meters Centerline goodness : 0.999424 with order 1 Centerline is valid? [True, True] Translation: X:1118.36, Y:229.24, Z:-16.67 [[ 9.84827517e-01 1.73444809e-01 5.62671487e-03 1.11835588e+03] [-1.73442169e-01 9.84843590e-01 -9.57622710e-04 2.29238133e+02] [-5.70752876e-03 -3.28164322e-05 9.99983711e-01 -1.66672378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.725336195 meters Centerline goodness : 0.999588 with order 1 Centerline is valid? [True, True] Translation: X:1118.42, Y:229.23, Z:-16.67 [[ 9.85716301e-01 1.68320271e-01 5.62669243e-03 1.11841724e+03] [-1.68317546e-01 9.85732360e-01 -9.57754494e-04 2.29226799e+02] [-5.70762231e-03 -2.99684833e-06 9.99983711e-01 -1.66661594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.785336195 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:1118.48, Y:229.22, Z:-16.67 [[ 9.86009181e-01 1.66596032e-01 5.62652588e-03 1.11847877e+03] [-1.66593274e-01 9.86025234e-01 -9.58731979e-04 2.29216125e+02] [-5.70761744e-03 7.97716741e-06 9.99983711e-01 -1.66661797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.8453361949998 meters Centerline goodness : 0.999612 with order 1 Centerline is valid? [True, True] Translation: X:1118.54, Y:229.21, Z:-16.67 [[ 9.86237321e-01 1.65240099e-01 5.62637031e-03 1.11853869e+03] [-1.65237314e-01 9.86253370e-01 -9.59644038e-04 2.29205876e+02] [-5.70759836e-03 1.67504489e-05 9.99983711e-01 -1.66660458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.9053361949998 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:1118.60, Y:229.20, Z:-16.67 [[ 9.86215090e-01 1.65372738e-01 5.62622700e-03 1.11859921e+03] [-1.65369950e-01 9.86231138e-01 -9.60483537e-04 2.29196071e+02] [-5.70759805e-03 1.68344814e-05 9.99983711e-01 -1.66667102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.965336195 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:1118.66, Y:229.19, Z:-16.67 [[ 9.86152666e-01 1.65744575e-01 5.62620521e-03 1.11865795e+03] [-1.65741792e-01 9.86168716e-01 -9.60611129e-04 2.29187390e+02] [-5.70760365e-03 1.48118900e-05 9.99983711e-01 -1.66670048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.025336195 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:1118.72, Y:229.18, Z:-16.67 [[ 9.86129098e-01 1.65884743e-01 5.62621604e-03 1.11871803e+03] [-1.65881962e-01 9.86145148e-01 -9.60547703e-04 2.29179495e+02] [-5.70760586e-03 1.39362841e-05 9.99983711e-01 -1.66659462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.0853361949999 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:1118.78, Y:229.17, Z:-16.67 [[ 9.86234621e-01 1.65256219e-01 5.62621604e-03 1.11877796e+03] [-1.65253429e-01 9.86250669e-01 -9.60547703e-04 2.29170211e+02] [-5.70759581e-03 1.75739090e-05 9.99983711e-01 -1.66659752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.1453361949998 meters Centerline goodness : 0.999505 with order 1 Centerline is valid? [True, True] Translation: X:1118.84, Y:229.16, Z:-16.67 [[ 9.86421113e-01 1.64139374e-01 5.62621604e-03 1.11883638e+03] [-1.64136565e-01 9.86437157e-01 -9.60547703e-04 2.29160904e+02] [-5.70757226e-03 2.40367572e-05 9.99983711e-01 -1.66660481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.205336195 meters Centerline goodness : 0.999594 with order 1 Centerline is valid? [True, True] Translation: X:1118.90, Y:229.15, Z:-16.67 [[ 9.86453517e-01 1.63944518e-01 5.62622654e-03 1.11889607e+03] [-1.63941706e-01 9.86469561e-01 -9.60486201e-04 2.29151517e+02] [-5.70756767e-03 2.51018110e-05 9.99983711e-01 -1.66670833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.265336195 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:1118.96, Y:229.14, Z:-16.67 [[ 9.86722476e-01 1.62317899e-01 5.62622654e-03 1.11895579e+03] [-1.62315061e-01 9.86738516e-01 -9.60486201e-04 2.29141092e+02] [-5.70751853e-03 3.45120178e-05 9.99983711e-01 -1.66673776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.3253361949999 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:1119.02, Y:229.13, Z:-16.67 [[ 9.86970407e-01 1.60803487e-01 5.62621620e-03 1.11901502e+03] [-1.60800624e-01 9.86986442e-01 -9.60546751e-04 2.29130355e+02] [-5.70745838e-03 4.33321414e-05 9.99983711e-01 -1.66685171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.3853361949998 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:1119.07, Y:229.12, Z:-16.67 [[ 9.87326055e-01 1.58605189e-01 5.62621620e-03 1.11907485e+03] [-1.58602291e-01 9.87342084e-01 -9.60546751e-04 2.29118656e+02] [-5.70734773e-03 5.60420575e-05 9.99983711e-01 -1.66699596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.445336195 meters Centerline goodness : 0.999593 with order 1 Centerline is valid? [True, True] Translation: X:1119.13, Y:229.11, Z:-16.67 [[ 9.87318799e-01 1.58650355e-01 5.62619586e-03 1.11913412e+03] [-1.58647456e-01 9.87334828e-01 -9.60665873e-04 2.29107752e+02] [-5.70734910e-03 5.59018160e-05 9.99983711e-01 -1.66707916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.505336195 meters Centerline goodness : 0.999550 with order 1 Centerline is valid? [True, True] Translation: X:1119.20, Y:229.10, Z:-16.67 [[ 9.86972840e-01 1.60788556e-01 5.62618582e-03 1.11919560e+03] [-1.60785692e-01 9.86988874e-01 -9.60724686e-04 2.29096072e+02] [-5.70745635e-03 4.35989908e-05 9.99983711e-01 -1.66715385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.5653361949999 meters Centerline goodness : 0.999637 with order 1 Centerline is valid? [True, True] Translation: X:1119.26, Y:229.09, Z:-16.67 [[ 9.86729472e-01 1.62275377e-01 5.62602500e-03 1.11925554e+03] [-1.62272531e-01 9.86745510e-01 -9.61665543e-04 2.29085201e+02] [-5.70750954e-03 3.59544166e-05 9.99983711e-01 -1.66734673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.6253361949998 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:1119.32, Y:229.07, Z:-16.67 [[ 9.86378116e-01 1.64397575e-01 5.62587687e-03 1.11931685e+03] [-1.64394759e-01 9.86394159e-01 -9.62531327e-04 2.29073901e+02] [-5.70756990e-03 2.45551618e-05 9.99983711e-01 -1.66727783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.685336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:1119.38, Y:229.06, Z:-16.67 [[ 9.86154448e-01 1.65733993e-01 5.62571488e-03 1.11937629e+03] [-1.65731194e-01 9.86170494e-01 -9.63477168e-04 2.29064276e+02] [-5.70759494e-03 1.77808502e-05 9.99983711e-01 -1.66729924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.745336195 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:1119.44, Y:229.05, Z:-16.67 [[ 9.85851133e-01 1.67528789e-01 5.62570345e-03 1.11943616e+03] [-1.67526018e-01 9.85867184e-01 -9.63543918e-04 2.29054574e+02] [-5.70761777e-03 7.45916379e-06 9.99983711e-01 -1.66735545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.8053361949999 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:1119.50, Y:229.04, Z:-16.67 [[ 9.85650653e-01 1.68704303e-01 5.62569219e-03 1.11949532e+03] [-1.68701551e-01 9.85666707e-01 -9.63609652e-04 2.29044156e+02] [-5.70762259e-03 7.19482283e-07 9.99983711e-01 -1.66742436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.8653361949998 meters Centerline goodness : 0.999682 with order 1 Centerline is valid? [True, True] Translation: X:1119.55, Y:229.04, Z:-16.68 [[ 9.85263952e-01 1.70948227e-01 5.62569219e-03 1.11955372e+03] [-1.70945511e-01 9.85280013e-01 -9.63609652e-04 2.29035521e+02] [-5.70760944e-03 -1.22769742e-05 9.99983711e-01 -1.66754485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.9253361949998 meters Centerline goodness : 0.999572 with order 1 Centerline is valid? [True, True] Translation: X:1119.61, Y:229.03, Z:-16.68 [[ 9.85107157e-01 1.71849474e-01 5.62568078e-03 1.11961476e+03] [-1.71846773e-01 9.85123220e-01 -9.63676290e-04 2.29026733e+02] [-5.70759602e-03 -1.74306770e-05 9.99983711e-01 -1.66758547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.985336195 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:1119.68, Y:229.02, Z:-16.68 [[ 9.85129714e-01 1.71720114e-01 5.62565768e-03 1.11967506e+03] [-1.71717410e-01 9.85145777e-01 -9.63811072e-04 2.29019507e+02] [-5.70759866e-03 -1.65444431e-05 9.99983711e-01 -1.66773402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.045336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:1119.74, Y:229.01, Z:-16.68 [[ 9.85198755e-01 1.71323571e-01 5.62564627e-03 1.11973530e+03] [-1.71320860e-01 9.85214816e-01 -9.63877720e-04 2.29010408e+02] [-5.70760502e-03 -1.41794278e-05 9.99983711e-01 -1.66776625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.1053361949998 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:1119.80, Y:229.00, Z:-16.68 [[ 9.85620824e-01 1.68878486e-01 5.62564627e-03 1.11979618e+03] [-1.68875735e-01 9.85636879e-01 -9.63877720e-04 2.29001559e+02] [-5.70762264e-03 -1.71939297e-08 9.99983711e-01 -1.66783250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.1653361949998 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:1119.86, Y:228.99, Z:-16.68 [[ 9.85981061e-01 1.66762405e-01 5.62562306e-03 1.11985555e+03] [-1.66759619e-01 9.85997110e-01 -9.64013160e-04 2.28992594e+02] [-5.70760923e-03 1.23719588e-05 9.99983711e-01 -1.66796572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.225336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1119.92, Y:228.98, Z:-16.68 [[ 9.86624189e-01 1.62914280e-01 5.62561155e-03 1.11991603e+03] [-1.62911431e-01 9.86640226e-01 -9.64080294e-04 2.28983401e+02] [-5.70751710e-03 3.47085108e-05 9.99983711e-01 -1.66784019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.285336195 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:1119.98, Y:228.97, Z:-16.68 [[ 9.87121545e-01 1.59873103e-01 5.62558849e-03 1.11997639e+03] [-1.59870204e-01 9.87137573e-01 -9.64214867e-04 2.28973148e+02] [-5.70738179e-03 5.24332891e-05 9.99983711e-01 -1.66779773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.3453361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1120.04, Y:228.96, Z:-16.68 [[ 9.87813925e-01 1.55537789e-01 5.62543941e-03 1.12003758e+03] [-1.55534815e-01 9.87829940e-01 -9.65083848e-04 2.28961407e+02] [-5.70708448e-03 7.83715874e-05 9.99983711e-01 -1.66784770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.4053361949998 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:1120.10, Y:228.95, Z:-16.68 [[ 9.88127523e-01 1.53532909e-01 5.62528179e-03 1.12009754e+03] [-1.53529897e-01 9.88143531e-01 -9.66001687e-04 2.28949882e+02] [-5.70689886e-03 9.08839205e-05 9.99983711e-01 -1.66793601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.465336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1120.16, Y:228.94, Z:-16.68 [[ 9.88280766e-01 1.52543391e-01 5.62513691e-03 1.12015808e+03] [-1.52540358e-01 9.88296769e-01 -9.66844605e-04 2.28938611e+02] [-5.70679039e-03 9.74535306e-05 9.99983711e-01 -1.66796132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.525336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1120.22, Y:228.93, Z:-16.68 [[ 9.88267450e-01 1.52629633e-01 5.62511477e-03 1.12021730e+03] [-1.52626601e-01 9.88283454e-01 -9.66973391e-04 2.28927908e+02] [-5.70679665e-03 9.70861802e-05 9.99983711e-01 -1.66805083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.5853361949999 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:1120.28, Y:228.92, Z:-16.68 [[ 9.88143958e-01 1.53427107e-01 5.62506363e-03 1.12027745e+03] [-1.53424086e-01 9.88159964e-01 -9.67270817e-04 2.28916435e+02] [-5.70686823e-03 9.27825657e-05 9.99983711e-01 -1.66800528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.6453361949998 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1120.34, Y:228.91, Z:-16.68 [[ 9.87861141e-01 1.55237643e-01 5.62504185e-03 1.12033783e+03] [-1.55234650e-01 9.87877152e-01 -9.67397429e-04 2.28905437e+02] [-5.70702682e-03 8.24529238e-05 9.99983711e-01 -1.66791523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.705336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1120.40, Y:228.89, Z:-16.68 [[ 9.87633250e-01 1.56680960e-01 5.62502012e-03 1.12039858e+03] [-1.56677990e-01 9.87649265e-01 -9.67523757e-04 2.28893213e+02] [-5.70713954e-03 7.42417852e-05 9.99983711e-01 -1.66806732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.765336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1120.46, Y:228.88, Z:-16.68 [[ 9.87480790e-01 1.57638991e-01 5.62485740e-03 1.12045872e+03] [-1.57636031e-01 9.87496807e-01 -9.68468874e-04 2.28881327e+02] [-5.70719717e-03 6.96642135e-05 9.99983711e-01 -1.66821948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.8253361949999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1120.52, Y:228.87, Z:-16.68 [[ 9.87225781e-01 1.59228203e-01 5.62470739e-03 1.12051947e+03] [-1.59225265e-01 9.87241802e-01 -9.69339323e-04 2.28869938e+02] [-5.70729241e-03 6.13612475e-05 9.99983711e-01 -1.66815779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.8853361949998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1120.58, Y:228.86, Z:-16.68 [[ 9.87051961e-01 1.60302181e-01 5.62468461e-03 1.12057978e+03] [-1.60299259e-01 9.87067985e-01 -9.69471450e-04 2.28858078e+02] [-5.70735450e-03 5.52859183e-05 9.99983711e-01 -1.66814536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.945336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1120.64, Y:228.85, Z:-16.68 [[ 9.86900076e-01 1.61234625e-01 5.62466184e-03 1.12063984e+03] [-1.61231717e-01 9.86916102e-01 -9.69603541e-04 2.28846118e+02] [-5.70740301e-03 5.00279221e-05 9.99983711e-01 -1.66825195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.005336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1120.70, Y:228.83, Z:-16.68 [[ 9.86593003e-01 1.63103071e-01 5.62451509e-03 1.12069877e+03] [-1.63100189e-01 9.86609034e-01 -9.70454087e-04 2.28832449e+02] [-5.70748144e-03 4.00837370e-05 9.99983711e-01 -1.66842301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.0653361949999 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:1120.76, Y:228.82, Z:-16.68 [[ 9.86383439e-01 1.64365680e-01 5.62451509e-03 1.12076063e+03] [-1.64362818e-01 9.86399474e-01 -9.70454087e-04 2.28820514e+02] [-5.70752807e-03 3.27786881e-05 9.99983711e-01 -1.66822209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.1253361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1120.82, Y:228.81, Z:-16.68 [[ 9.86265613e-01 1.65071222e-01 5.62432504e-03 1.12082112e+03] [-1.65068365e-01 9.86281649e-01 -9.71554272e-04 2.28806409e+02] [-5.70754423e-03 2.98124295e-05 9.99983711e-01 -1.66812801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.185336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1120.88, Y:228.79, Z:-16.68 [[ 9.86354461e-01 1.64539500e-01 5.62414878e-03 1.12088160e+03] [-1.64536629e-01 9.86370494e-01 -9.72573576e-04 2.28792922e+02] [-5.70752118e-03 3.39238041e-05 9.99983711e-01 -1.66806341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.245336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1120.94, Y:228.78, Z:-16.68 [[ 9.86486342e-01 1.63746962e-01 5.62398908e-03 1.12094313e+03] [-1.63744073e-01 9.86502373e-01 -9.73496133e-04 2.28778658e+02] [-5.70748561e-03 3.94457629e-05 9.99983711e-01 -1.66808554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.3053361949999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1121.00, Y:228.76, Z:-16.68 [[ 9.86711244e-01 1.62386251e-01 5.62380401e-03 1.12100400e+03] [-1.62383334e-01 9.86727269e-01 -9.74564112e-04 2.28763188e+02] [-5.70741658e-03 4.84013222e-05 9.99983711e-01 -1.66828548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.3653361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1121.07, Y:228.75, Z:-16.68 [[ 9.86826397e-01 1.61684994e-01 5.62362021e-03 1.12106564e+03] [-1.61682059e-01 9.86842419e-01 -9.75623586e-04 2.28748576e+02] [-5.70737066e-03 5.35326143e-05 9.99983711e-01 -1.66840567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.4253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1121.13, Y:228.73, Z:-16.69 [[ 9.87051475e-01 1.60305217e-01 5.62343531e-03 1.12112616e+03] [-1.60302254e-01 9.87067492e-01 -9.76688164e-04 2.28733624e+02] [-5.70727839e-03 6.25921398e-05 9.99983711e-01 -1.66869511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.485336195 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:1121.19, Y:228.72, Z:-16.69 [[ 9.87140902e-01 1.59753621e-01 5.62326361e-03 1.12118771e+03] [-1.59750643e-01 9.87156916e-01 -9.77675721e-04 2.28719232e+02] [-5.70723080e-03 6.67837158e-05 9.99983711e-01 -1.66877321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.545336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1121.25, Y:228.70, Z:-16.69 [[ 9.87287839e-01 1.58843017e-01 5.62308448e-03 1.12124837e+03] [-1.58840019e-01 9.87303849e-01 -9.78704882e-04 2.28702665e+02] [-5.70715339e-03 7.30925828e-05 9.99983711e-01 -1.66858852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.6053361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1121.31, Y:228.69, Z:-16.69 [[ 9.87409605e-01 1.58084326e-01 5.62290348e-03 1.12130929e+03] [-1.58081310e-01 9.87425612e-01 -9.79743663e-04 2.28687957e+02] [-5.70708103e-03 7.85323566e-05 9.99983711e-01 -1.66855222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.6653361949998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1121.37, Y:228.67, Z:-16.69 [[ 9.87511112e-01 1.57449002e-01 5.62271722e-03 1.12137062e+03] [-1.57445969e-01 9.87527116e-01 -9.80811436e-04 2.28673370e+02] [-5.70701351e-03 8.32880288e-05 9.99983711e-01 -1.66850619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1121.43, Y:228.66, Z:-16.68 [[ 9.87651406e-01 1.56566559e-01 5.62252930e-03 1.12143111e+03] [-1.56563506e-01 9.87667406e-01 -9.81887515e-04 2.28656023e+02] [-5.70691968e-03 8.94796874e-05 9.99983711e-01 -1.66848468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1121.49, Y:228.64, Z:-16.69 [[ 9.87753240e-01 1.55922821e-01 5.62234027e-03 1.12149075e+03] [-1.55919751e-01 9.87769237e-01 -9.82968763e-04 2.28638430e+02] [-5.70684202e-03 9.42966878e-05 9.99983711e-01 -1.66862270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.8453361949998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1121.55, Y:228.62, Z:-16.69 [[ 9.87790359e-01 1.55687499e-01 5.62216498e-03 1.12155159e+03] [-1.55684420e-01 9.87806354e-01 -9.83970304e-04 2.28623490e+02] [-5.70680217e-03 9.66728868e-05 9.99983711e-01 -1.66881370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.9053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1121.61, Y:228.61, Z:-16.69 [[ 9.87768083e-01 1.55828778e-01 5.62197917e-03 1.12161087e+03] [-1.55825695e-01 9.87784077e-01 -9.85030772e-04 2.28606151e+02] [-5.70679765e-03 9.69331441e-05 9.99983711e-01 -1.66911365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.965336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1121.67, Y:228.59, Z:-16.69 [[ 9.87716382e-01 1.56156150e-01 5.62183009e-03 1.12167281e+03] [-1.56153067e-01 9.87732376e-01 -9.85880913e-04 2.28592853e+02] [-5.70681496e-03 9.59047156e-05 9.99983711e-01 -1.66917097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.025336195 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:1121.73, Y:228.58, Z:-16.69 [[ 9.87528069e-01 1.57342653e-01 5.62164641e-03 1.12173349e+03] [-1.57339584e-01 9.87544066e-01 -9.86927184e-04 2.28576882e+02] [-5.70690929e-03 9.01107903e-05 9.99983711e-01 -1.66923480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.0853361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1121.79, Y:228.56, Z:-16.69 [[ 9.86980623e-01 1.60740940e-01 5.62146408e-03 1.12179340e+03] [-1.60737919e-01 9.86996629e-01 -9.87964615e-04 2.28561428e+02] [-5.70717246e-03 7.15194922e-05 9.99983711e-01 -1.66915271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.1453361949998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:1121.86, Y:228.55, Z:-16.69 [[ 9.86586355e-01 1.63143388e-01 5.62129487e-03 1.12185521e+03] [-1.63140401e-01 9.86602368e-01 -9.88926426e-04 2.28547497e+02] [-5.70731964e-03 5.86010190e-05 9.99983711e-01 -1.66919247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.205336195 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:1121.92, Y:228.53, Z:-16.69 [[ 9.86485155e-01 1.63754209e-01 5.62111416e-03 1.12191571e+03] [-1.63751227e-01 9.86501169e-01 -9.89952536e-04 2.28530273e+02] [-5.70734458e-03 5.61091421e-05 9.99983711e-01 -1.66863232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.265336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1121.98, Y:228.51, Z:-16.69 [[ 9.86646558e-01 1.62778912e-01 5.62092344e-03 1.12197677e+03] [-1.62775907e-01 9.86662567e-01 -9.91034239e-04 2.28512246e+02] [-5.70727423e-03 6.28496104e-05 9.99983711e-01 -1.66908067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.3253361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1122.04, Y:228.49, Z:-16.69 [[ 9.87086660e-01 1.60088515e-01 5.62072871e-03 1.12203584e+03] [-1.60085460e-01 9.87102660e-01 -9.92137464e-04 2.28493096e+02] [-5.70706607e-03 7.95287156e-05 9.99983711e-01 -1.66920327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.3853361949998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1122.10, Y:228.48, Z:-16.69 [[ 9.87380747e-01 1.58264558e-01 5.62054791e-03 1.12209529e+03] [-1.58261468e-01 9.87396740e-01 -9.93160673e-04 2.28475576e+02] [-5.70689281e-03 9.11115668e-05 9.99983711e-01 -1.66941036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.445336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1122.16, Y:228.46, Z:-16.69 [[ 9.87436886e-01 1.57913926e-01 5.62037019e-03 1.12215626e+03] [-1.57910824e-01 9.87452876e-01 -9.94165381e-04 2.28456305e+02] [-5.70684327e-03 9.41582770e-05 9.99983711e-01 -1.66921184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1122.22, Y:228.44, Z:-16.69 [[ 9.87199531e-01 1.59391024e-01 5.62018204e-03 1.12221698e+03] [-1.59387941e-01 9.87215526e-01 -9.95227855e-04 2.28439533e+02] [-5.70696136e-03 8.66992285e-05 9.99983711e-01 -1.66917396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.5653361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1122.28, Y:228.42, Z:-16.69 [[ 9.86642408e-01 1.62804101e-01 5.61999532e-03 1.12227753e+03] [-1.62801066e-01 9.86658411e-01 -9.96281134e-04 2.28420258e+02] [-5.70721431e-03 6.80319850e-05 9.99983711e-01 -1.66901960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.6253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1122.34, Y:228.40, Z:-16.69 [[ 9.86169544e-01 1.65644340e-01 5.61981089e-03 1.12233882e+03] [-1.65641346e-01 9.86185556e-01 -9.97320429e-04 2.28403963e+02] [-5.70737680e-03 5.26539944e-05 9.99983711e-01 -1.66889846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.685336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1122.40, Y:228.39, Z:-16.69 [[ 9.85363513e-01 1.70373612e-01 5.61962828e-03 1.12239852e+03] [-1.70370689e-01 9.85379537e-01 -9.98348298e-04 2.28386553e+02] [-5.70755892e-03 2.63160425e-05 9.99983711e-01 -1.66906876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.745336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1122.46, Y:228.37, Z:-16.69 [[ 9.84658411e-01 1.74402510e-01 5.61951524e-03 1.12245958e+03] [-1.74399649e-01 9.84674446e-01 -9.98984206e-04 2.28372190e+02] [-5.70761840e-03 3.61671899e-06 9.99983711e-01 -1.66926454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.8053361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1122.52, Y:228.36, Z:-16.69 [[ 9.83614142e-01 1.80198899e-01 5.61933654e-03 1.12252073e+03] [-1.80196126e-01 9.83630193e-01 -9.99988344e-04 2.28358078e+02] [-5.70754589e-03 -2.89800006e-05 9.99983711e-01 -1.66932034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.8653361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1122.58, Y:228.34, Z:-16.69 [[ 9.82973040e-01 1.83663901e-01 5.61914522e-03 1.12258190e+03] [-1.83661179e-01 9.82989099e-01 -1.00106225e-03 2.28343359e+02] [-5.70741750e-03 -4.80016289e-05 9.99983711e-01 -1.66940701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.9253361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1122.64, Y:228.33, Z:-16.69 [[ 9.82265872e-01 1.87409134e-01 5.61895523e-03 1.12264395e+03] [-1.87406467e-01 9.82281941e-01 -1.00212756e-03 2.28329885e+02] [-5.70720611e-03 -6.86728487e-05 9.99983711e-01 -1.66943111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.985336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1122.70, Y:228.32, Z:-16.69 [[ 9.81909513e-01 1.89267373e-01 5.61876379e-03 1.12270483e+03] [-1.89264730e-01 9.81925585e-01 -1.00319980e-03 2.28318524e+02] [-5.70708091e-03 -7.83823896e-05 9.99983711e-01 -1.66945172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.045336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1122.77, Y:228.31, Z:-16.69 [[ 9.81577100e-01 1.90983843e-01 5.61858640e-03 1.12276651e+03] [-1.90981223e-01 9.81593176e-01 -1.00419228e-03 2.28307253e+02] [-5.70695058e-03 -8.73523558e-05 9.99983711e-01 -1.66940784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.1053361949998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:1122.83, Y:228.30, Z:-16.69 [[ 9.81324315e-01 1.92278503e-01 5.61839804e-03 1.12282762e+03] [-1.92275898e-01 9.81340394e-01 -1.00524509e-03 2.28295488e+02] [-5.70684796e-03 -9.38110785e-05 9.99983711e-01 -1.66930319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.1653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1122.89, Y:228.29, Z:-16.69 [[ 9.81133808e-01 1.93248248e-01 5.61822372e-03 1.12288908e+03] [-1.93245654e-01 9.81149889e-01 -1.00621840e-03 2.28285421e+02] [-5.70676952e-03 -9.84624281e-05 9.99983711e-01 -1.66931583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.225336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1122.95, Y:228.28, Z:-16.69 [[ 9.81179583e-01 1.93015705e-01 5.61805250e-03 1.12295110e+03] [-1.93013101e-01 9.81195663e-01 -1.00717343e-03 2.28276576e+02] [-5.70680904e-03 -9.61397298e-05 9.99983711e-01 -1.66918955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.285336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1123.01, Y:228.27, Z:-16.69 [[ 9.81585396e-01 1.90941223e-01 5.61787055e-03 1.12301236e+03] [-1.90938580e-01 9.81601468e-01 -1.00818730e-03 2.28267142e+02] [-5.70701450e-03 -8.30462955e-05 9.99983711e-01 -1.66929753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.3453361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1123.08, Y:228.26, Z:-16.69 [[ 9.81864949e-01 1.89498450e-01 5.61770123e-03 1.12307505e+03] [-1.89495777e-01 9.81881017e-01 -1.00912989e-03 2.28257329e+02] [-5.70714275e-03 -7.37013933e-05 9.99983711e-01 -1.66913981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.4053361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1123.14, Y:228.25, Z:-16.69 [[ 9.82249200e-01 1.87496538e-01 5.61751231e-03 1.12313695e+03] [-1.87493827e-01 9.82265262e-01 -1.01018048e-03 2.28250298e+02] [-5.70729254e-03 -6.09999133e-05 9.99983711e-01 -1.66916868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.465336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1123.20, Y:228.24, Z:-16.69 [[ 9.82492180e-01 1.86219123e-01 5.61733685e-03 1.12319933e+03] [-1.86216386e-01 9.82508237e-01 -1.01115520e-03 2.28241432e+02] [-5.70737616e-03 -5.25880857e-05 9.99983711e-01 -1.66917304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1123.26, Y:228.24, Z:-16.69 [[ 9.83053770e-01 1.83231367e-01 5.61714813e-03 1.12326273e+03] [-1.83228574e-01 9.83069817e-01 -1.01220250e-03 2.28236564e+02] [-5.70751603e-03 -3.41725623e-05 9.99983711e-01 -1.66926179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.5853361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1123.33, Y:228.23, Z:-16.69 [[ 9.83563907e-01 1.80472966e-01 5.61696008e-03 1.12332502e+03] [-1.80470122e-01 9.83579945e-01 -1.01324495e-03 2.28228276e+02] [-5.70759261e-03 -1.71023165e-05 9.99983711e-01 -1.66941255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.6453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1123.39, Y:228.22, Z:-16.69 [[ 9.84432513e-01 1.75673215e-01 5.61677157e-03 1.12338611e+03] [-1.75670287e-01 9.84448537e-01 -1.01428887e-03 2.28219886e+02] [-5.70760594e-03 1.17990694e-05 9.99983711e-01 -1.66940911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.705336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1123.45, Y:228.21, Z:-16.69 [[ 9.84955382e-01 1.72717542e-01 5.61659602e-03 1.12344884e+03] [-1.72714560e-01 9.84971395e-01 -1.01526003e-03 2.28211276e+02] [-5.70753964e-03 2.99179214e-05 9.99983711e-01 -1.66932867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.765336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1123.51, Y:228.20, Z:-16.69 [[ 9.85297253e-01 1.70756492e-01 5.61640816e-03 1.12351045e+03] [-1.70753473e-01 9.85313259e-01 -1.01629819e-03 2.28203581e+02] [-5.70746095e-03 4.23346181e-05 9.99983711e-01 -1.66940402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.8253361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1123.57, Y:228.19, Z:-16.69 [[ 9.85806475e-01 1.67791695e-01 5.61623342e-03 1.12357312e+03] [-1.67788622e-01 9.85822471e-01 -1.01726294e-03 2.28194837e+02] [-5.70729738e-03 6.04843308e-05 9.99983711e-01 -1.66948692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.8853361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1123.63, Y:228.18, Z:-16.70 [[ 9.85948363e-01 1.66955940e-01 5.61604085e-03 1.12363459e+03] [-1.66952847e-01 9.85964355e-01 -1.01832499e-03 2.28184226e+02] [-5.70723150e-03 6.64018435e-05 9.99983711e-01 -1.66961750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.945336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1123.70, Y:228.17, Z:-16.70 [[ 9.86194508e-01 1.65495784e-01 5.61592076e-03 1.12369644e+03] [-1.65492664e-01 9.86210495e-01 -1.01898681e-03 2.28174991e+02] [-5.70711801e-03 7.55255037e-05 9.99983711e-01 -1.66961098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.005336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1123.76, Y:228.17, Z:-16.69 [[ 9.86500687e-01 1.63660800e-01 5.61573271e-03 1.12375896e+03] [-1.63657644e-01 9.86516667e-01 -1.02002210e-03 2.28166675e+02] [-5.70695156e-03 8.71949178e-05 9.99983711e-01 -1.66934764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.0653361949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1123.82, Y:228.16, Z:-16.69 [[ 9.87025282e-01 1.60466688e-01 5.61554000e-03 1.12382072e+03] [-1.60463475e-01 9.87041251e-01 -1.02108196e-03 2.28156372e+02] [-5.70661926e-03 1.06744650e-04 9.99983711e-01 -1.66928801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.1253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1123.88, Y:228.14, Z:-16.69 [[ 9.87342068e-01 1.58505866e-01 5.61534267e-03 1.12388118e+03] [-1.58502615e-01 9.87358028e-01 -1.02216603e-03 2.28143870e+02] [-5.70637297e-03 1.19181024e-04 9.99983711e-01 -1.66931052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1123.94, Y:228.13, Z:-16.70 [[ 9.87642955e-01 1.56620123e-01 5.61515870e-03 1.12394223e+03] [-1.56616835e-01 9.87658909e-01 -1.02317564e-03 2.28132660e+02] [-5.70611140e-03 1.31103827e-04 9.99983711e-01 -1.66958040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.245336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1124.00, Y:228.12, Z:-16.70 [[ 9.87542160e-01 1.57254425e-01 5.61498059e-03 1.12400260e+03] [-1.57251142e-01 9.87558114e-01 -1.02415213e-03 2.28121686e+02] [-5.70617210e-03 1.28431300e-04 9.99983711e-01 -1.66984641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.3053361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1124.06, Y:228.11, Z:-16.70 [[ 9.87266263e-01 1.58977359e-01 5.61482902e-03 1.12406401e+03] [-1.58974099e-01 9.87282222e-01 -1.02498243e-03 2.28109886e+02] [-5.70636987e-03 1.19318183e-04 9.99983711e-01 -1.66976719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.3653361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1124.13, Y:228.10, Z:-16.70 [[ 9.86916441e-01 1.61134769e-01 5.61464179e-03 1.12412641e+03] [-1.61131538e-01 9.86932406e-01 -1.02600703e-03 2.28098408e+02] [-5.70659733e-03 1.07887337e-04 9.99983711e-01 -1.66976633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.4253361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1124.19, Y:228.09, Z:-16.70 [[ 9.86753610e-01 1.62128932e-01 5.61445188e-03 1.12418807e+03] [-1.62125712e-01 9.86769577e-01 -1.02704516e-03 2.28085833e+02] [-5.70668404e-03 1.03193513e-04 9.99983711e-01 -1.66979734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1124.25, Y:228.07, Z:-16.70 [[ 9.86608806e-01 1.63007802e-01 5.61426256e-03 1.12424867e+03] [-1.63004590e-01 9.86624775e-01 -1.02807903e-03 2.28072003e+02] [-5.70675544e-03 9.91612611e-05 9.99983711e-01 -1.66989805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.545336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1124.31, Y:228.06, Z:-16.70 [[ 9.86323040e-01 1.64728087e-01 5.61408659e-03 1.12431022e+03] [-1.64724897e-01 9.86339013e-01 -1.02903907e-03 2.28058135e+02] [-5.70690426e-03 9.01851050e-05 9.99983711e-01 -1.66987232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.6053361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1124.37, Y:228.05, Z:-16.70 [[ 9.85847712e-01 1.67549314e-01 5.61388863e-03 1.12437053e+03] [-1.67546164e-01 9.85863693e-01 -1.03011788e-03 2.28045406e+02] [-5.70712452e-03 7.49538495e-05 9.99983711e-01 -1.67014121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.6653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1124.43, Y:228.03, Z:-16.70 [[ 9.85216391e-01 1.71222511e-01 5.61370475e-03 1.12443243e+03] [-1.71219415e-01 9.85232383e-01 -1.03111898e-03 2.28032294e+02] [-5.70735449e-03 5.47000754e-05 9.99983711e-01 -1.67006234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.725336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1124.49, Y:228.02, Z:-16.70 [[ 9.84009656e-01 1.78026643e-01 5.61351036e-03 1.12449231e+03] [-1.78023652e-01 9.84025667e-01 -1.03217620e-03 2.28021279e+02] [-5.70759314e-03 1.63337349e-05 9.99983711e-01 -1.66996392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1124.55, Y:228.01, Z:-16.70 [[ 9.83284154e-01 1.81991106e-01 5.61335430e-03 1.12455462e+03] [-1.81988174e-01 9.83300177e-01 -1.03302419e-03 2.28010391e+02] [-5.70761349e-03 -5.80778293e-06 9.99983711e-01 -1.66979391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.8453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1124.62, Y:228.00, Z:-16.70 [[ 9.82515410e-01 1.86096644e-01 5.61316491e-03 1.12461733e+03] [-1.86093774e-01 9.82531444e-01 -1.03405227e-03 2.28000909e+02] [-5.70754468e-03 -2.86027505e-05 9.99983711e-01 -1.66969721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.9053361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1124.68, Y:227.99, Z:-16.70 [[ 9.82200419e-01 1.87752048e-01 5.61297690e-03 1.12467785e+03] [-1.87749199e-01 9.82216456e-01 -1.03507180e-03 2.27989911e+02] [-5.70749513e-03 -3.71839632e-05 9.99983711e-01 -1.66992764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.965336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1124.74, Y:227.98, Z:-16.70 [[ 9.82051738e-01 1.88528195e-01 5.61280289e-03 1.12473955e+03] [-1.88525352e-01 9.82067777e-01 -1.03601451e-03 2.27980821e+02] [-5.70747081e-03 -4.07357898e-05 9.99983711e-01 -1.67007780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.025336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1124.80, Y:227.97, Z:-16.70 [[ 9.82155172e-01 1.87988608e-01 5.61263084e-03 1.12480111e+03] [-1.87985751e-01 9.82171208e-01 -1.03694577e-03 2.27969272e+02] [-5.70749841e-03 -3.66529783e-05 9.99983711e-01 -1.67019717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.0853361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1124.86, Y:227.96, Z:-16.70 [[ 9.82462193e-01 1.86377413e-01 5.61244861e-03 1.12486193e+03] [-1.86374525e-01 9.82478223e-01 -1.03793117e-03 2.27959515e+02] [-5.70755546e-03 -2.62893087e-05 9.99983711e-01 -1.67005350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.1453361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1124.92, Y:227.95, Z:-16.70 [[ 9.82799556e-01 1.84590182e-01 5.61227927e-03 1.12492400e+03] [-1.84587260e-01 9.82815580e-01 -1.03884600e-03 2.27948509e+02] [-5.70759628e-03 -1.49778674e-05 9.99983711e-01 -1.67006471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1124.99, Y:227.94, Z:-16.70 [[ 9.83501544e-01 1.80812658e-01 5.61209870e-03 1.12498606e+03] [-1.80809668e-01 9.83517556e-01 -1.03982057e-03 2.27937165e+02] [-5.70761032e-03 7.94343322e-06 9.99983711e-01 -1.67003733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1125.05, Y:227.92, Z:-16.70 [[ 9.83929504e-01 1.78469153e-01 5.61189931e-03 1.12504685e+03] [-1.78466119e-01 9.83945507e-01 -1.04089560e-03 2.27924847e+02] [-5.70757086e-03 2.26339994e-05 9.99983711e-01 -1.67007229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.3253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1125.11, Y:227.91, Z:-16.70 [[ 9.84004643e-01 1.78054401e-01 5.61177533e-03 1.12510904e+03] [-1.78051357e-01 9.84020645e-01 -1.04156354e-03 2.27913618e+02] [-5.70755775e-03 2.57191530e-05 9.99983711e-01 -1.67011249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.3853361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1125.17, Y:227.90, Z:-16.70 [[ 9.83703769e-01 1.79709223e-01 5.61157777e-03 1.12517052e+03] [-1.79706199e-01 9.83719775e-01 -1.04262684e-03 2.27902752e+02] [-5.70758968e-03 1.72006403e-05 9.99983711e-01 -1.67014415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1125.23, Y:227.89, Z:-16.70 [[ 9.82978988e-01 1.83632302e-01 5.61139491e-03 1.12523241e+03] [-1.83629336e-01 9.82995004e-01 -1.04361009e-03 2.27890072e+02] [-5.70761368e-03 -4.56993068e-06 9.99983711e-01 -1.67020241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1125.29, Y:227.88, Z:-16.70 [[ 9.82519407e-01 1.86075602e-01 5.61120178e-03 1.12529479e+03] [-1.86072670e-01 9.82535429e-01 -1.04464746e-03 2.27878805e+02] [-5.70758795e-03 -1.77048971e-05 9.99983711e-01 -1.67033330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.5653361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1125.36, Y:227.87, Z:-16.70 [[ 9.81939102e-01 1.89114033e-01 5.61100729e-03 1.12535587e+03] [-1.89111145e-01 9.81955132e-01 -1.04569107e-03 2.27869635e+02] [-5.70751226e-03 -3.42990638e-05 9.99983711e-01 -1.67037044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.6253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1125.42, Y:227.86, Z:-16.70 [[ 9.81546274e-01 1.91142436e-01 5.61082644e-03 1.12541828e+03] [-1.91139575e-01 9.81562309e-01 -1.04666053e-03 2.27858960e+02] [-5.70743700e-03 -4.51052422e-05 9.99983711e-01 -1.67011215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1125.48, Y:227.85, Z:-16.70 [[ 9.81160876e-01 1.93110993e-01 5.61062852e-03 1.12547906e+03] [-1.93108159e-01 9.81176916e-01 -1.04772041e-03 2.27848878e+02] [-5.70734552e-03 -5.54758630e-05 9.99983711e-01 -1.67017438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.745336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1125.54, Y:227.84, Z:-16.70 [[ 9.80950462e-01 1.94177016e-01 5.61044440e-03 1.12554136e+03] [-1.94174194e-01 9.80966504e-01 -1.04870541e-03 2.27838699e+02] [-5.70729252e-03 -6.06754603e-05 9.99983711e-01 -1.67025509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.8053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1125.60, Y:227.83, Z:-16.70 [[ 9.80877967e-01 1.94542895e-01 5.61024793e-03 1.12560230e+03] [-1.94540073e-01 9.80894010e-01 -1.04975541e-03 2.27828921e+02] [-5.70728105e-03 -6.17360905e-05 9.99983711e-01 -1.67037652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.8653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1125.66, Y:227.82, Z:-16.71 [[ 9.81122063e-01 1.93308106e-01 5.61006574e-03 1.12566324e+03] [-1.93305258e-01 9.81138101e-01 -1.05072816e-03 2.27818476e+02] [-5.70736352e-03 -5.35626252e-05 9.99983711e-01 -1.67050171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.9253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1125.73, Y:227.81, Z:-16.70 [[ 9.81437275e-01 1.91701341e-01 5.60989069e-03 1.12572563e+03] [-1.91698461e-01 9.81453307e-01 -1.05166198e-03 2.27807754e+02] [-5.70745078e-03 -4.32671457e-05 9.99983711e-01 -1.67025097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1125.79, Y:227.80, Z:-16.70 [[ 9.81811737e-01 1.89774194e-01 5.60969218e-03 1.12578729e+03] [-1.89771277e-01 9.81827762e-01 -1.05271978e-03 2.27797757e+02] [-5.70753056e-03 -3.09858101e-05 9.99983711e-01 -1.67028702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1125.85, Y:227.79, Z:-16.70 [[ 9.82018247e-01 1.88702666e-01 5.60950795e-03 1.12584953e+03] [-1.88699726e-01 9.82034268e-01 -1.05370054e-03 2.27787038e+02] [-5.70756513e-03 -2.37594599e-05 9.99983711e-01 -1.67028135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.1053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1125.91, Y:227.78, Z:-16.70 [[ 9.82401883e-01 1.86695142e-01 5.60931375e-03 1.12591015e+03] [-1.86692163e-01 9.82417897e-01 -1.05473333e-03 2.27776320e+02] [-5.70760381e-03 -1.10429069e-05 9.99983711e-01 -1.67025345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.1653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1125.97, Y:227.76, Z:-16.70 [[ 9.82714825e-01 1.85040832e-01 5.60913307e-03 1.12597125e+03] [-1.85037820e-01 9.82730833e-01 -1.05569335e-03 2.27764686e+02] [-5.70761439e-03 -4.56248458e-07 9.99983711e-01 -1.67023552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1126.03, Y:227.75, Z:-16.70 [[ 9.83115570e-01 1.82899743e-01 5.60895406e-03 1.12603333e+03] [-1.82896692e-01 9.83131570e-01 -1.05664355e-03 2.27753256e+02] [-5.70759965e-03 1.29435816e-05 9.99983711e-01 -1.67006635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1126.09, Y:227.74, Z:-16.70 [[ 9.83189346e-01 1.82502747e-01 5.60876156e-03 1.12609469e+03] [-1.82499683e-01 9.83205343e-01 -1.05766441e-03 2.27741059e+02] [-5.70759099e-03 1.62871733e-05 9.99983711e-01 -1.67025388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.3453361949998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1126.16, Y:227.73, Z:-16.70 [[ 9.83206419e-01 1.82410749e-01 5.60856950e-03 1.12615572e+03] [-1.82407678e-01 9.83222415e-01 -1.05868186e-03 2.27729431e+02] [-5.70758620e-03 1.78566596e-05 9.99983711e-01 -1.66971979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.4053361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1126.22, Y:227.72, Z:-16.71 [[ 9.83001485e-01 1.83511922e-01 5.60839974e-03 1.12621792e+03] [-1.83508864e-01 9.83017484e-01 -1.05958041e-03 2.27717315e+02] [-5.70760064e-03 1.23780487e-05 9.99983711e-01 -1.67053139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.465336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1126.28, Y:227.71, Z:-16.70 [[ 9.82581824e-01 1.85745815e-01 5.60820252e-03 1.12628014e+03] [-1.85742787e-01 9.82597828e-01 -1.06062325e-03 2.27706847e+02] [-5.70761394e-03 4.65959454e-07 9.99983711e-01 -1.67039452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.525336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1126.34, Y:227.70, Z:-16.70 [[ 9.82477050e-01 1.86299212e-01 5.60800017e-03 1.12634085e+03] [-1.86296187e-01 9.82493055e-01 -1.06169210e-03 2.27696086e+02] [-5.70761362e-03 -1.66092264e-06 9.99983711e-01 -1.67046399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.5853361949999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1126.40, Y:227.68, Z:-16.71 [[ 9.82711224e-01 1.85059999e-01 5.60781168e-03 1.12640229e+03] [-1.85056948e-01 9.82727224e-01 -1.06268673e-03 2.27682760e+02] [-5.70761001e-03 6.54966636e-06 9.99983711e-01 -1.67056005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.6453361949998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1126.46, Y:227.67, Z:-16.71 [[ 9.82781404e-01 1.84686942e-01 5.60761465e-03 1.12646349e+03] [-1.84683879e-01 9.82797402e-01 -1.06372544e-03 2.27671419e+02] [-5.70760530e-03 9.77355349e-06 9.99983711e-01 -1.67076972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1126.52, Y:227.66, Z:-16.71 [[ 9.82665709e-01 1.85301541e-01 5.60743250e-03 1.12652491e+03] [-1.85298483e-01 9.82681708e-01 -1.06468478e-03 2.27660755e+02] [-5.70760907e-03 7.18049288e-06 9.99983711e-01 -1.67086692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.765336195 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:1126.59, Y:227.65, Z:-16.71 [[ 9.82511372e-01 1.86118140e-01 5.60723867e-03 1.12658712e+03] [-1.86115089e-01 9.82527373e-01 -1.06570462e-03 2.27650052e+02] [-5.70761244e-03 3.47518711e-06 9.99983711e-01 -1.67067279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.8253361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1126.65, Y:227.64, Z:-16.71 [[ 9.82532917e-01 1.86004376e-01 5.60703002e-03 1.12664842e+03] [-1.86001317e-01 9.82548916e-01 -1.06680124e-03 2.27638291e+02] [-5.70761097e-03 5.25236163e-06 9.99983711e-01 -1.67069980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.8853361949998 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:1126.71, Y:227.63, Z:-16.71 [[ 9.82543528e-01 1.85948323e-01 5.60683661e-03 1.12670936e+03] [-1.85945257e-01 9.82559526e-01 -1.06781679e-03 2.27626562e+02] [-5.70760946e-03 6.61180420e-06 9.99983711e-01 -1.67066777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.945336195 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:1126.77, Y:227.62, Z:-16.71 [[ 9.82465096e-01 1.86362282e-01 5.60665498e-03 1.12677125e+03] [-1.86359217e-01 9.82481094e-01 -1.06876960e-03 2.27615103e+02] [-5.70761086e-03 5.17699529e-06 9.99983711e-01 -1.67055486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.005336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1126.83, Y:227.60, Z:-16.71 [[ 9.82391584e-01 1.86749413e-01 5.60645350e-03 1.12683359e+03] [-1.86746349e-01 9.82407582e-01 -1.06982549e-03 2.27603596e+02] [-5.70761170e-03 4.00283791e-06 9.99983711e-01 -1.67069656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.0653361949999 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:1126.90, Y:227.59, Z:-16.71 [[ 9.82177355e-01 1.87872864e-01 5.60624905e-03 1.12689557e+03] [-1.87869812e-01 9.82193355e-01 -1.07089578e-03 2.27593032e+02] [-5.70761282e-03 -1.43536863e-06 9.99983711e-01 -1.67066448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.1253361949998 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1126.96, Y:227.58, Z:-16.71 [[ 9.82113644e-01 1.88205639e-01 5.60604538e-03 1.12695679e+03] [-1.88202586e-01 9.82129644e-01 -1.07196092e-03 2.27582025e+02] [-5.70761244e-03 -2.28479298e-06 9.99983711e-01 -1.67073337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.185336195 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:1127.02, Y:227.57, Z:-16.71 [[ 9.82205161e-01 1.87727453e-01 5.60585718e-03 1.12701843e+03] [-1.87724387e-01 9.82221158e-01 -1.07294423e-03 2.27570391e+02] [-5.70761262e-03 1.49526270e-06 9.99983711e-01 -1.67076580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.245336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1127.08, Y:227.56, Z:-16.71 [[ 9.82359075e-01 1.86920367e-01 5.60564992e-03 1.12707881e+03] [-1.86917282e-01 9.82375069e-01 -1.07402598e-03 2.27558525e+02] [-5.70760806e-03 7.28632165e-06 9.99983711e-01 -1.67078387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.3053361949999 meters Centerline goodness : 0.999269 with order 1 Centerline is valid? [True, True] Translation: X:1127.14, Y:227.55, Z:-16.70 [[ 9.83006895e-01 1.83483032e-01 5.60545687e-03 1.12714070e+03] [-1.83479885e-01 9.83022877e-01 -1.07503260e-03 2.27545919e+02] [-5.70754257e-03 2.82758822e-05 9.99983711e-01 -1.67013175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.3653361949998 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1127.20, Y:227.53, Z:-16.71 [[ 9.83573504e-01 1.80421017e-01 5.60525110e-03 1.12720201e+03] [-1.80417814e-01 9.83589474e-01 -1.07610440e-03 2.27532447e+02] [-5.70741783e-03 4.71406195e-05 9.99983711e-01 -1.67087862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.4253361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1127.26, Y:227.52, Z:-16.71 [[ 9.84182684e-01 1.77067863e-01 5.60504463e-03 1.12726259e+03] [-1.77064599e-01 9.84198642e-01 -1.07717873e-03 2.27519321e+02] [-5.70721105e-03 6.76856753e-05 9.99983711e-01 -1.67117749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.485336195 meters Centerline goodness : 0.999484 with order 1 Centerline is valid? [True, True] Translation: X:1127.32, Y:227.51, Z:-16.70 [[ 9.84263555e-01 1.76617781e-01 5.60485260e-03 1.12732404e+03] [-1.76614504e-01 9.84279510e-01 -1.07817703e-03 2.27505887e+02] [-5.70716680e-03 7.13120962e-05 9.99983711e-01 -1.67021722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.545336195 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:1127.38, Y:227.49, Z:-16.71 [[ 9.84181548e-01 1.77074188e-01 5.60465127e-03 1.12738442e+03] [-1.77070913e-01 9.84197504e-01 -1.07922259e-03 2.27491095e+02] [-5.70718625e-03 6.97302395e-05 9.99983711e-01 -1.67094087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.6053361949998 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1127.45, Y:227.48, Z:-16.71 [[ 9.83963632e-01 1.78281127e-01 5.60447408e-03 1.12744619e+03] [-1.78277866e-01 9.83979591e-01 -1.08014194e-03 2.27477744e+02] [-5.70725704e-03 6.36667068e-05 9.99983711e-01 -1.67097179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.6653361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1127.51, Y:227.46, Z:-16.71 [[ 9.83813382e-01 1.79108410e-01 5.60427303e-03 1.12750834e+03] [-1.79105156e-01 9.83829342e-01 -1.08118405e-03 2.27464962e+02] [-5.70729741e-03 5.99291401e-05 9.99983711e-01 -1.67103353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.725336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1127.57, Y:227.45, Z:-16.71 [[ 9.83349914e-01 1.81635735e-01 5.60407193e-03 1.12756859e+03] [-1.81632517e-01 9.83365882e-01 -1.08222545e-03 2.27451160e+02] [-5.70742395e-03 4.63246105e-05 9.99983711e-01 -1.67112369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.785336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1127.63, Y:227.44, Z:-16.71 [[ 9.82649337e-01 1.85388449e-01 5.60388477e-03 1.12762995e+03] [-1.85385286e-01 9.82665316e-01 -1.08319371e-03 2.27438124e+02] [-5.70755480e-03 2.55217980e-05 9.99983711e-01 -1.67102145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.8453361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1127.69, Y:227.43, Z:-16.71 [[ 9.82103984e-01 1.88256113e-01 5.60368535e-03 1.12769145e+03] [-1.88252991e-01 9.82119970e-01 -1.08422439e-03 2.27425249e+02] [-5.70760316e-03 9.91056644e-06 9.99983711e-01 -1.67096240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.9053361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1127.75, Y:227.41, Z:-16.71 [[ 9.81187347e-01 1.92976659e-01 5.60348612e-03 1.12775250e+03] [-1.92973608e-01 9.81203347e-01 -1.08525307e-03 2.27412662e+02] [-5.70758785e-03 -1.64883532e-05 9.99983711e-01 -1.67106004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.965336195 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:1127.81, Y:227.40, Z:-16.71 [[ 9.80596281e-01 1.95957995e-01 5.60330147e-03 1.12781463e+03] [-1.95954988e-01 9.80612290e-01 -1.08620560e-03 2.27400710e+02] [-5.70751696e-03 -3.28657024e-05 9.99983711e-01 -1.67109067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.025336195 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:1127.88, Y:227.39, Z:-16.71 [[ 9.79952485e-01 1.99152533e-01 5.60310647e-03 1.12787687e+03] [-1.99149572e-01 9.79968503e-01 -1.08721058e-03 2.27390037e+02] [-5.70738859e-03 -5.04415481e-05 9.99983711e-01 -1.67099985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.0853361949999 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:1127.94, Y:227.38, Z:-16.71 [[ 9.79644445e-01 2.00662323e-01 5.60290137e-03 1.12793881e+03] [-2.00659381e-01 9.79660466e-01 -1.08826650e-03 2.27378952e+02] [-5.70731505e-03 -5.81604922e-05 9.99983711e-01 -1.67114867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.1453361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1128.00, Y:227.37, Z:-16.71 [[ 9.79581409e-01 2.00969829e-01 5.60269566e-03 1.12800102e+03] [-2.00966886e-01 9.79597430e-01 -1.08932453e-03 2.27367110e+02] [-5.70730763e-03 -5.88742354e-05 9.99983711e-01 -1.67109297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.205336195 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:1128.06, Y:227.36, Z:-16.70 [[ 9.79583933e-01 2.00957534e-01 5.60248685e-03 1.12806181e+03] [-2.00954584e-01 9.79599952e-01 -1.09039740e-03 2.27356966e+02] [-5.70731942e-03 -5.77096446e-05 9.99983711e-01 -1.67042632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.265336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1128.12, Y:227.35, Z:-16.71 [[ 9.79536080e-01 2.01190661e-01 5.60229363e-03 1.12812343e+03] [-2.01187709e-01 9.79552099e-01 -1.09138926e-03 2.27346282e+02] [-5.70731581e-03 -5.80574639e-05 9.99983711e-01 -1.67113603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.3253361949999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1128.19, Y:227.33, Z:-16.71 [[ 9.79488283e-01 2.01423235e-01 5.60209273e-03 1.12818548e+03] [-2.01420281e-01 9.79504302e-01 -1.09241948e-03 2.27334896e+02] [-5.70731259e-03 -5.83630095e-05 9.99983711e-01 -1.67109845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.3853361949998 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:1128.25, Y:227.33, Z:-16.71 [[ 9.79523233e-01 2.01253209e-01 5.60188980e-03 1.12824766e+03] [-2.01250246e-01 9.79539250e-01 -1.09345914e-03 2.27325797e+02] [-5.70733309e-03 -5.63130735e-05 9.99983711e-01 -1.67102505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.445336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:1128.31, Y:227.32, Z:-16.71 [[ 9.79418880e-01 2.01760449e-01 5.60168334e-03 1.12831030e+03] [-2.01757489e-01 9.79434897e-01 -1.09451578e-03 2.27316409e+02] [-5.70731414e-03 -5.81921489e-05 9.99983711e-01 -1.67111308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.505336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:1128.37, Y:227.31, Z:-16.71 [[ 9.79141494e-01 2.03102333e-01 5.60147341e-03 1.12837254e+03] [-2.03099389e-01 9.79157514e-01 -1.09558907e-03 2.27309292e+02] [-5.70724148e-03 -6.49191095e-05 9.99983711e-01 -1.67127247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.5653361949999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1128.43, Y:227.30, Z:-16.71 [[ 9.78847836e-01 2.04512934e-01 5.60128866e-03 1.12843420e+03] [-2.04510007e-01 9.78863859e-01 -1.09653282e-03 2.27301397e+02] [-5.70715418e-03 -7.21808037e-05 9.99983711e-01 -1.67142066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.6253361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1128.50, Y:227.30, Z:-16.72 [[ 9.78749651e-01 2.04982313e-01 5.60109267e-03 1.12849653e+03] [-2.04979388e-01 9.78765675e-01 -1.09753301e-03 2.27296026e+02] [-5.70713210e-03 -7.38984937e-05 9.99983711e-01 -1.67157771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.685336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1128.56, Y:227.29, Z:-16.71 [[ 9.78945343e-01 2.04045694e-01 5.60090933e-03 1.12855891e+03] [-2.04042748e-01 9.78961363e-01 -1.09846785e-03 2.27287913e+02] [-5.70721147e-03 -6.74849417e-05 9.99983711e-01 -1.67138029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.745336195 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:1128.62, Y:227.28, Z:-16.71 [[ 9.79773348e-01 2.00032046e-01 5.60069999e-03 1.12862109e+03] [-2.00029029e-01 9.79789354e-01 -1.09953417e-03 2.27281242e+02] [-5.70744829e-03 -4.30083079e-05 9.99983711e-01 -1.67143557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.8053361949999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1128.68, Y:227.27, Z:-16.71 [[ 9.80553882e-01 1.96170125e-01 5.60057010e-03 1.12868278e+03] [-1.96167041e-01 9.80569876e-01 -1.10019537e-03 2.27272450e+02] [-5.70757579e-03 -1.98464239e-05 9.99983711e-01 -1.67146859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.8653361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1128.74, Y:227.26, Z:-16.72 [[ 9.81757034e-01 1.90057262e-01 5.60037777e-03 1.12874435e+03] [-1.90054073e-01 9.81773007e-01 -1.10117350e-03 2.27264610e+02] [-5.70758575e-03 1.67102290e-05 9.99983711e-01 -1.67165362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.9253361949998 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:1128.81, Y:227.26, Z:-16.72 [[ 9.82451651e-01 1.86433343e-01 5.60025056e-03 1.12880682e+03] [-1.86430091e-01 9.82467611e-01 -1.10182009e-03 2.27255047e+02] [-5.70748080e-03 3.84297458e-05 9.99983711e-01 -1.67153036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.985336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1128.87, Y:227.24, Z:-16.72 [[ 9.83575979e-01 1.80407688e-01 5.60004871e-03 1.12886850e+03] [-1.80404333e-01 9.83591918e-01 -1.10284503e-03 2.27243865e+02] [-5.70712438e-03 7.44588336e-05 9.99983711e-01 -1.67208387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.045336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1128.93, Y:227.23, Z:-16.72 [[ 9.84310974e-01 1.76353478e-01 5.59984751e-03 1.12893060e+03] [-1.76350051e-01 9.84326897e-01 -1.10386572e-03 2.27232636e+02] [-5.70675109e-03 9.90137488e-05 9.99983711e-01 -1.67195436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.1053361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1128.99, Y:227.22, Z:-16.72 [[ 9.85320350e-01 1.70623714e-01 5.59963468e-03 1.12899135e+03] [-1.70620188e-01 9.85336253e-01 -1.10494432e-03 2.27219541e+02] [-5.70605275e-03 1.33313401e-04 9.99983711e-01 -1.67191884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.1653361949998 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1129.05, Y:227.21, Z:-16.72 [[ 9.85872243e-01 1.67405396e-01 5.59943695e-03 1.12905242e+03] [-1.67401813e-01 9.85888133e-01 -1.10594544e-03 2.27205611e+02] [-5.70555967e-03 1.52965017e-04 9.99983711e-01 -1.67179770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.225336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1129.11, Y:227.19, Z:-16.72 [[ 9.86549839e-01 1.63364821e-01 5.59922053e-03 1.12911242e+03] [-1.63361166e-01 9.86565712e-01 -1.10704007e-03 2.27190374e+02] [-5.70485039e-03 1.77455008e-04 9.99983711e-01 -1.67197273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.285336195 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:1129.17, Y:227.17, Z:-16.72 [[ 9.86832693e-01 1.61647417e-01 5.59902007e-03 1.12917315e+03] [-1.61643729e-01 9.86848558e-01 -1.10805295e-03 2.27174309e+02] [-5.70449879e-03 1.88416392e-04 9.99983711e-01 -1.67218469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.3453361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1129.23, Y:227.16, Z:-16.72 [[ 9.86787970e-01 1.61920212e-01 5.59881920e-03 1.12923426e+03] [-1.61916522e-01 9.86803836e-01 -1.10906703e-03 2.27157174e+02] [-5.70451663e-03 1.87872675e-04 9.99983711e-01 -1.67218789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.4053361949998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:1129.30, Y:227.14, Z:-16.72 [[ 9.86145493e-01 1.65788187e-01 5.59860625e-03 1.12929528e+03] [-1.65784554e-01 9.86161371e-01 -1.11014094e-03 2.27141402e+02] [-5.70517747e-03 1.66598042e-04 9.99983711e-01 -1.67217157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.465336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:1129.36, Y:227.13, Z:-16.72 [[ 9.85750703e-01 1.68119629e-01 5.59839255e-03 1.12935589e+03] [-1.68116027e-01 9.85766588e-01 -1.11121758e-03 2.27125744e+02] [-5.70552581e-03 1.54203998e-04 9.99983711e-01 -1.67210816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.525336195 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:1129.42, Y:227.11, Z:-16.72 [[ 9.85353764e-01 1.70430689e-01 5.59825230e-03 1.12941531e+03] [-1.70427121e-01 9.85369657e-01 -1.11192373e-03 2.27108238e+02] [-5.70585387e-03 1.41544215e-04 9.99983711e-01 -1.67155128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.5853361949999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1129.48, Y:227.09, Z:-16.72 [[ 9.85179155e-01 1.71437142e-01 5.59804378e-03 1.12947656e+03] [-1.71433583e-01 9.85195051e-01 -1.11297253e-03 2.27092810e+02] [-5.70596985e-03 1.36784630e-04 9.99983711e-01 -1.67229882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.6453361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1129.54, Y:227.07, Z:-16.72 [[ 9.84514700e-01 1.75212644e-01 5.59783477e-03 1.12953652e+03] [-1.75209140e-01 9.84530607e-01 -1.11402277e-03 2.27073018e+02] [-5.70643054e-03 1.15979971e-04 9.99983711e-01 -1.67229465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.705336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1129.60, Y:227.06, Z:-16.72 [[ 9.83883553e-01 1.78722751e-01 5.59762691e-03 1.12959795e+03] [-1.78719298e-01 9.83899471e-01 -1.11506625e-03 2.27056636e+02] [-5.70678986e-03 9.66913920e-05 9.99983711e-01 -1.67228097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.765336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1129.66, Y:227.04, Z:-16.72 [[ 9.83120774e-01 1.82872124e-01 5.59740837e-03 1.12965862e+03] [-1.82868732e-01 9.83136705e-01 -1.11616219e-03 2.27041620e+02] [-5.70713257e-03 7.37312682e-05 9.99983711e-01 -1.67232031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.8253361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1129.72, Y:227.02, Z:-16.72 [[ 9.82107935e-01 1.88235690e-01 5.59727372e-03 1.12971863e+03] [-1.88232382e-01 9.82123884e-01 -1.11683701e-03 2.27023975e+02] [-5.70744479e-03 4.32663206e-05 9.99983711e-01 -1.67219624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.8853361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1129.78, Y:227.01, Z:-16.72 [[ 9.81616818e-01 1.90780227e-01 5.59707872e-03 1.12977933e+03] [-1.90776954e-01 9.81632775e-01 -1.11781339e-03 2.27008060e+02] [-5.70753261e-03 2.94707951e-05 9.99983711e-01 -1.67212510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1129.84, Y:226.99, Z:-16.72 [[ 9.80863102e-01 1.94618216e-01 5.59686793e-03 1.12983990e+03] [-1.94615000e-01 9.80879070e-01 -1.11886783e-03 2.26991559e+02] [-5.70760267e-03 8.22171557e-06 9.99983711e-01 -1.67209841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1129.90, Y:226.98, Z:-16.72 [[ 9.80267666e-01 1.97595497e-01 5.59665502e-03 1.12990090e+03] [-1.97592323e-01 9.80283642e-01 -1.11993179e-03 2.26977133e+02] [-5.70760285e-03 -8.02314598e-06 9.99983711e-01 -1.67210975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.0653361949999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1129.96, Y:226.96, Z:-16.72 [[ 9.79280425e-01 2.02431541e-01 5.59644059e-03 1.12996084e+03] [-2.02428440e-01 9.79296416e-01 -1.12100234e-03 2.26962762e+02] [-5.70750044e-03 -3.51030896e-05 9.99983711e-01 -1.67228978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.1253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1130.02, Y:226.95, Z:-16.73 [[ 9.78778583e-01 2.04844253e-01 5.59624129e-03 1.13002133e+03] [-2.04841186e-01 9.78794580e-01 -1.12199640e-03 2.26950491e+02] [-5.70740515e-03 -4.81546565e-05 9.99983711e-01 -1.67250415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.185336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1130.08, Y:226.94, Z:-16.73 [[ 9.78315643e-01 2.07043926e-01 5.59604889e-03 1.13008351e+03] [-2.07040889e-01 9.78331646e-01 -1.12295516e-03 2.26938030e+02] [-5.70729277e-03 -6.00063344e-05 9.99983711e-01 -1.67256824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.245336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1130.14, Y:226.93, Z:-16.73 [[ 9.78166713e-01 2.07746404e-01 5.59584168e-03 1.13014476e+03] [-2.07743373e-01 9.78182717e-01 -1.12398679e-03 2.26925391e+02] [-5.70725983e-03 -6.30525612e-05 9.99983711e-01 -1.67261641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.3053361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1130.21, Y:226.91, Z:-16.73 [[ 9.78210189e-01 2.07541598e-01 5.59563667e-03 1.13020665e+03] [-2.07538558e-01 9.78226191e-01 -1.12500647e-03 2.26912899e+02] [-5.70728399e-03 -6.08175682e-05 9.99983711e-01 -1.67265711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.3653361949998 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:1130.27, Y:226.90, Z:-16.73 [[ 9.78473424e-01 2.06296994e-01 5.59542642e-03 1.13026716e+03] [-2.06293927e-01 9.78489421e-01 -1.12605124e-03 2.26899343e+02] [-5.70736654e-03 -5.24912803e-05 9.99983711e-01 -1.67273475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.4253361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1130.33, Y:226.89, Z:-16.72 [[ 9.78872275e-01 2.04396090e-01 5.59529645e-03 1.13032891e+03] [-2.04392989e-01 9.78888266e-01 -1.12669668e-03 2.26887589e+02] [-5.70746243e-03 -4.07472201e-05 9.99983711e-01 -1.67248277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1130.39, Y:226.88, Z:-16.72 [[ 9.78955458e-01 2.03997321e-01 5.59508869e-03 1.13039104e+03] [-2.03994207e-01 9.78971446e-01 -1.12772743e-03 2.26876749e+02] [-5.70748544e-03 -3.73707606e-05 9.99983711e-01 -1.67243287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1130.45, Y:226.87, Z:-16.73 [[ 9.78677479e-01 2.05326789e-01 5.59487410e-03 1.13045198e+03] [-2.05323691e-01 9.78693470e-01 -1.12879105e-03 2.26866935e+02] [-5.70743779e-03 -4.40378199e-05 9.99983711e-01 -1.67259983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.6053361949998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1130.51, Y:226.86, Z:-16.73 [[ 9.78449511e-01 2.06410398e-01 5.59474100e-03 1.13051391e+03] [-2.06407314e-01 9.78465505e-01 -1.12945038e-03 2.26856744e+02] [-5.70739138e-03 -4.96852886e-05 9.99983711e-01 -1.67266383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.6653361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1130.58, Y:226.85, Z:-16.73 [[ 9.78216172e-01 2.07513426e-01 5.59452737e-03 1.13057635e+03] [-2.07510354e-01 9.78232168e-01 -1.13050757e-03 2.26847727e+02] [-5.70734214e-03 -5.50415632e-05 9.99983711e-01 -1.67269782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.725336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1130.64, Y:226.84, Z:-16.73 [[ 9.78072757e-01 2.08188340e-01 5.59431406e-03 1.13063826e+03] [-2.08185273e-01 9.78088755e-01 -1.13156213e-03 2.26840437e+02] [-5.70731372e-03 -5.79037093e-05 9.99983711e-01 -1.67297425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.785336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1130.70, Y:226.83, Z:-16.73 [[ 9.78295723e-01 2.07138082e-01 5.59411614e-03 1.13070079e+03] [-2.07134992e-01 9.78311715e-01 -1.13253973e-03 2.26830352e+02] [-5.70738147e-03 -5.07784226e-05 9.99983711e-01 -1.67303257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.8453361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1130.76, Y:226.82, Z:-16.73 [[ 9.79119688e-01 2.03207638e-01 5.59389746e-03 1.13076335e+03] [-2.03204478e-01 9.79135667e-01 -1.13361885e-03 2.26821045e+02] [-5.70754453e-03 -2.67564773e-05 9.99983711e-01 -1.67292809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.9053361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1130.82, Y:226.81, Z:-16.73 [[ 9.80139941e-01 1.98228168e-01 5.59368040e-03 1.13082500e+03] [-1.98224920e-01 9.80155903e-01 -1.13468887e-03 2.26812278e+02] [-5.70760616e-03 3.34702997e-06 9.99983711e-01 -1.67309557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.965336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1130.89, Y:226.80, Z:-16.73 [[ 9.80909647e-01 1.94383581e-01 5.59347952e-03 1.13088693e+03] [-1.94380265e-01 9.80925595e-01 -1.13567828e-03 2.26800522e+02] [-5.70754443e-03 2.67357441e-05 9.99983711e-01 -1.67310118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.025336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1130.95, Y:226.79, Z:-16.73 [[ 9.82146644e-01 1.88033735e-01 5.59326663e-03 1.13094804e+03] [-1.88030311e-01 9.82162568e-01 -1.13672578e-03 2.26786684e+02] [-5.70723991e-03 6.47277478e-05 9.99983711e-01 -1.67310062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.0853361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1131.01, Y:226.77, Z:-16.73 [[ 9.82867789e-01 1.84227107e-01 5.59304681e-03 1.13100965e+03] [-1.84223614e-01 9.82883699e-01 -1.13780635e-03 2.26772761e+02] [-5.70692931e-03 8.79419208e-05 9.99983711e-01 -1.67316461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.1453361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1131.07, Y:226.76, Z:-16.73 [[ 9.83714413e-01 1.79651535e-01 5.59282748e-03 1.13107059e+03] [-1.79647962e-01 9.83730305e-01 -1.13888346e-03 2.26756839e+02] [-5.70643604e-03 1.15596017e-04 9.99983711e-01 -1.67324495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.205336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1131.13, Y:226.74, Z:-16.73 [[ 9.84029790e-01 1.77915978e-01 5.59260720e-03 1.13113107e+03] [-1.77912371e-01 9.84045674e-01 -1.13996413e-03 2.26741841e+02] [-5.70619875e-03 1.26764662e-04 9.99983711e-01 -1.67330474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.265336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1131.19, Y:226.73, Z:-16.73 [[ 9.84095627e-01 1.77551460e-01 5.59240205e-03 1.13119190e+03] [-1.77547842e-01 9.84111509e-01 -1.14096965e-03 2.26726416e+02] [-5.70612805e-03 1.29904334e-04 9.99983711e-01 -1.67324461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.3253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1131.25, Y:226.71, Z:-16.73 [[ 9.83713161e-01 1.79658409e-01 5.59217944e-03 1.13125151e+03] [-1.79654818e-01 9.83729049e-01 -1.14205967e-03 2.26710242e+02] [-5.70636999e-03 1.18797142e-04 9.99983711e-01 -1.67333667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.3853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1131.31, Y:226.69, Z:-16.73 [[ 9.82689691e-01 1.85174784e-01 5.59197259e-03 1.13131138e+03] [-1.85171277e-01 9.82705598e-01 -1.14307160e-03 2.26692701e+02] [-5.70693080e-03 8.78119677e-05 9.99983711e-01 -1.67342249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.445336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1131.37, Y:226.68, Z:-16.73 [[ 9.81699647e-01 1.90353710e-01 5.59176992e-03 1.13137201e+03] [-1.90350281e-01 9.81715571e-01 -1.14406217e-03 2.26678064e+02] [-5.70730408e-03 5.87304537e-05 9.99983711e-01 -1.67339868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.505336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1131.43, Y:226.66, Z:-16.73 [[ 9.81050265e-01 1.93672689e-01 5.59163670e-03 1.13143399e+03] [-1.93669310e-01 9.81066200e-01 -1.14471293e-03 2.26664547e+02] [-5.70746540e-03 4.00925018e-05 9.99983711e-01 -1.67330624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.5653361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1131.49, Y:226.65, Z:-16.73 [[ 9.79025580e-01 2.03660624e-01 5.59142416e-03 1.13149424e+03] [-2.03657402e-01 9.79041547e-01 -1.14575013e-03 2.26652215e+02] [-5.70758075e-03 -1.70162278e-05 9.99983711e-01 -1.67323905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.6253361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1131.56, Y:226.64, Z:-16.73 [[ 9.77747499e-01 2.09710673e-01 5.59122669e-03 1.13155561e+03] [-2.09707544e-01 9.77763484e-01 -1.14671297e-03 2.26639212e+02] [-5.70737524e-03 -5.13266855e-05 9.99983711e-01 -1.67328052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1131.62, Y:226.63, Z:-16.73 [[ 9.76249114e-01 2.16578874e-01 5.59101903e-03 1.13161690e+03] [-2.16575851e-01 9.76265119e-01 -1.14772460e-03 2.26626238e+02] [-5.70688976e-03 -9.04145784e-05 9.99983711e-01 -1.67338714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.745336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1131.68, Y:226.62, Z:-16.74 [[ 9.75474263e-01 2.20042507e-01 5.59081231e-03 1.13167782e+03] [-2.20039536e-01 9.75490278e-01 -1.14873067e-03 2.26615414e+02] [-5.70655263e-03 -1.09642543e-04 9.99983711e-01 -1.67357524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.8053361949999 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:1131.74, Y:226.61, Z:-16.73 [[ 9.74837209e-01 2.22847842e-01 5.59062102e-03 1.13173967e+03] [-2.22844912e-01 9.74853232e-01 -1.14966091e-03 2.26605249e+02] [-5.70623442e-03 -1.25109218e-04 9.99983711e-01 -1.67314834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.8653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1131.80, Y:226.60, Z:-16.74 [[ 9.74336782e-01 2.25025739e-01 5.59041749e-03 1.13180125e+03] [-2.25022839e-01 9.74352810e-01 -1.15064975e-03 2.26596828e+02] [-5.70596480e-03 -1.36851240e-04 9.99983711e-01 -1.67381004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.9253361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1131.86, Y:226.59, Z:-16.74 [[ 9.74257077e-01 2.25370576e-01 5.59022860e-03 1.13186410e+03] [-2.25367676e-01 9.74273106e-01 -1.15156671e-03 2.26587513e+02] [-5.70593863e-03 -1.37934811e-04 9.99983711e-01 -1.67368719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1131.93, Y:226.58, Z:-16.74 [[ 9.74584280e-01 2.23951407e-01 5.59002853e-03 1.13192655e+03] [-2.23948478e-01 9.74600303e-01 -1.15253709e-03 2.26581090e+02] [-5.70615580e-03 -1.28633855e-04 9.99983711e-01 -1.67390467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.045336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1131.99, Y:226.57, Z:-16.74 [[ 9.75535006e-01 2.19773076e-01 5.58984249e-03 1.13198861e+03] [-2.19770074e-01 9.75551016e-01 -1.15343866e-03 2.26573886e+02] [-5.70667128e-03 -1.03260309e-04 9.99983711e-01 -1.67392056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.1053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1132.05, Y:226.57, Z:-16.74 [[ 9.76221312e-01 2.16704190e-01 5.58972045e-03 1.13205127e+03] [-2.16701134e-01 9.76237311e-01 -1.15402980e-03 2.26565125e+02] [-5.70697675e-03 -8.47102749e-05 9.99983711e-01 -1.67381846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.1653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1132.11, Y:226.56, Z:-16.74 [[ 9.77391482e-01 2.11363782e-01 5.58952579e-03 1.13211397e+03] [-2.11360633e-01 9.77407463e-01 -1.15497183e-03 2.26558861e+02] [-5.70736344e-03 -5.25460767e-05 9.99983711e-01 -1.67385598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1132.18, Y:226.55, Z:-16.74 [[ 9.78260443e-01 2.07304765e-01 5.58932857e-03 1.13217596e+03] [-2.07301544e-01 9.78276410e-01 -1.15592549e-03 2.26550505e+02] [-5.70753715e-03 -2.78802607e-05 9.99983711e-01 -1.67391508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1132.24, Y:226.54, Z:-16.74 [[ 9.79474432e-01 2.01490937e-01 5.58914503e-03 1.13223837e+03] [-2.01487616e-01 9.79490379e-01 -1.15681225e-03 2.26542787e+02] [-5.70760097e-03 6.92451439e-06 9.99983711e-01 -1.67400899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.3453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1132.30, Y:226.53, Z:-16.74 [[ 9.80273584e-01 1.97566355e-01 5.58893293e-03 1.13230023e+03] [-1.97562965e-01 9.80289516e-01 -1.15783606e-03 2.26532903e+02] [-5.70752181e-03 3.08299371e-05 9.99983711e-01 -1.67410642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.4053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1132.36, Y:226.52, Z:-16.74 [[ 9.81532977e-01 1.91211351e-01 5.58871229e-03 1.13236128e+03] [-1.91207851e-01 9.81548885e-01 -1.15890009e-03 2.26524160e+02] [-5.70718917e-03 6.88929834e-05 9.99983711e-01 -1.67420933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.465336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1132.42, Y:226.51, Z:-16.74 [[ 9.82339915e-01 1.87021547e-01 5.58857465e-03 1.13242295e+03] [-1.87017975e-01 9.82355807e-01 -1.15956346e-03 2.26513116e+02] [-5.70683211e-03 9.39215582e-05 9.99983711e-01 -1.67421621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1132.48, Y:226.50, Z:-16.74 [[ 9.83305531e-01 1.81876340e-01 5.58835685e-03 1.13248352e+03] [-1.81872680e-01 9.83321403e-01 -1.16061217e-03 2.26500603e+02] [-5.70623879e-03 1.24866934e-04 9.99983711e-01 -1.67417500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.5853361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1132.54, Y:226.49, Z:-16.74 [[ 9.83697642e-01 1.79743490e-01 5.58815502e-03 1.13254497e+03] [-1.79739790e-01 9.83713504e-01 -1.16158314e-03 2.26487131e+02] [-5.70593056e-03 1.38232791e-04 9.99983711e-01 -1.67419447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.6453361949998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1132.61, Y:226.47, Z:-16.74 [[ 9.83901645e-01 1.78623424e-01 5.58794001e-03 1.13260636e+03] [-1.78619700e-01 9.83917502e-01 -1.16261654e-03 2.26474431e+02] [-5.70574253e-03 1.45784161e-04 9.99983711e-01 -1.67417469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1132.67, Y:226.46, Z:-16.74 [[ 9.83794567e-01 1.79212238e-01 5.58772639e-03 1.13266749e+03] [-1.79208518e-01 9.83810425e-01 -1.16364233e-03 2.26461425e+02] [-5.70580242e-03 1.43416835e-04 9.99983711e-01 -1.67409920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.765336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:1132.73, Y:226.45, Z:-16.74 [[ 9.83636389e-01 1.80078408e-01 5.58751606e-03 1.13272826e+03] [-1.80074696e-01 9.83652249e-01 -1.16465143e-03 2.26446809e+02] [-5.70590131e-03 1.39423271e-04 9.99983711e-01 -1.67416428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.8253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1132.79, Y:226.43, Z:-16.74 [[ 9.83439378e-01 1.81151237e-01 5.58730715e-03 1.13278840e+03] [-1.81147537e-01 9.83455241e-01 -1.16565280e-03 2.26432762e+02] [-5.70602594e-03 1.34221940e-04 9.99983711e-01 -1.67439027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.8853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1132.85, Y:226.42, Z:-16.74 [[ 9.82811441e-01 1.84527655e-01 5.58711271e-03 1.13285007e+03] [-1.84524004e-01 9.82827315e-01 -1.16658403e-03 2.26418403e+02] [-5.70643399e-03 1.15575729e-04 9.99983711e-01 -1.67435397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.945336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1132.91, Y:226.41, Z:-16.74 [[ 9.82221524e-01 1.87642383e-01 5.58690653e-03 1.13291044e+03] [-1.87638777e-01 9.82237408e-01 -1.16757059e-03 2.26405086e+02] [-5.70675432e-03 9.84926570e-05 9.99983711e-01 -1.67440490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1132.97, Y:226.39, Z:-16.75 [[ 9.81621111e-01 1.90758441e-01 5.58671460e-03 1.13297241e+03] [-1.90754880e-01 9.81637005e-01 -1.16848824e-03 2.26391465e+02] [-5.70702479e-03 8.13196506e-05 9.99983711e-01 -1.67456176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.0653361949999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1133.03, Y:226.38, Z:-16.74 [[ 9.80898299e-01 1.94441038e-01 5.58651169e-03 1.13303343e+03] [-1.94437531e-01 9.80914206e-01 -1.16945756e-03 2.26377507e+02] [-5.70727922e-03 6.08913951e-05 9.99983711e-01 -1.67426903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.1253361949998 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1133.09, Y:226.36, Z:-16.74 [[ 9.80554828e-01 1.96165806e-01 5.58629169e-03 1.13309452e+03] [-1.96162320e-01 9.80570739e-01 -1.17050752e-03 2.26364305e+02] [-5.70736772e-03 5.19268565e-05 9.99983711e-01 -1.67427124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.185336195 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:1133.16, Y:226.35, Z:-16.74 [[ 9.80105134e-01 1.98400410e-01 5.58606944e-03 1.13315673e+03] [-1.98396955e-01 9.80121052e-01 -1.17156719e-03 2.26351649e+02] [-5.70746367e-03 3.99998527e-05 9.99983711e-01 -1.67386631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.245336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1133.22, Y:226.34, Z:-16.75 [[ 9.79902586e-01 1.99398393e-01 5.58584991e-03 1.13321793e+03] [-1.99394948e-01 9.79918507e-01 -1.17261297e-03 2.26337591e+02] [-5.70749484e-03 3.52562239e-05 9.99983711e-01 -1.67459607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.3053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1133.28, Y:226.32, Z:-16.75 [[ 9.79876863e-01 1.99524772e-01 5.58562445e-03 1.13327875e+03] [-1.99521323e-01 9.79892782e-01 -1.17368590e-03 2.26323505e+02] [-5.70749250e-03 3.56164804e-05 9.99983711e-01 -1.67474252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.3653361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1133.34, Y:226.31, Z:-16.75 [[ 9.79932033e-01 1.99253641e-01 5.58541561e-03 1.13334037e+03] [-1.99250182e-01 9.79947950e-01 -1.17467894e-03 2.26309879e+02] [-5.70747563e-03 3.82104453e-05 9.99983711e-01 -1.67477723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.4253361949998 meters Centerline goodness : 0.999616 with order 1 Centerline is valid? [True, True] Translation: X:1133.40, Y:226.30, Z:-16.74 [[ 9.80095710e-01 1.98446985e-01 5.58519764e-03 1.13340204e+03] [-1.98443507e-01 9.80111622e-01 -1.17571441e-03 2.26297053e+02] [-5.70743409e-03 4.39664426e-05 9.99983711e-01 -1.67405092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.485336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1133.46, Y:226.28, Z:-16.75 [[ 9.80254572e-01 1.97660778e-01 5.58497586e-03 1.13346350e+03] [-1.97657281e-01 9.80270480e-01 -1.17676695e-03 2.26283692e+02] [-5.70738764e-03 4.96200365e-05 9.99983711e-01 -1.67481213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.545336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1133.52, Y:226.27, Z:-16.75 [[ 9.80146873e-01 1.98194141e-01 5.58475496e-03 1.13352383e+03] [-1.98190647e-01 9.80162782e-01 -1.17781439e-03 2.26270367e+02] [-5.70740487e-03 4.75848903e-05 9.99983711e-01 -1.67482399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.6053361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1133.59, Y:226.26, Z:-16.75 [[ 9.79883257e-01 1.99493396e-01 5.58455068e-03 1.13358523e+03] [-1.99489917e-01 9.79899170e-01 -1.17878216e-03 2.26258529e+02] [-5.70745583e-03 4.10073503e-05 9.99983712e-01 -1.67486619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.6653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1133.65, Y:226.25, Z:-16.75 [[ 9.79417334e-01 2.01768434e-01 5.58433361e-03 1.13364591e+03] [-2.01764987e-01 9.79433254e-01 -1.17980962e-03 2.26248215e+02] [-5.70753038e-03 2.88029928e-05 9.99983712e-01 -1.67500956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.725336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1133.71, Y:226.24, Z:-16.75 [[ 9.79148679e-01 2.03068170e-01 5.58419933e-03 1.13370740e+03] [-2.03064740e-01 9.79164602e-01 -1.18044483e-03 2.26235890e+02] [-5.70756109e-03 2.18770041e-05 9.99983712e-01 -1.67505602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1133.77, Y:226.23, Z:-16.75 [[ 9.78980142e-01 2.03879133e-01 5.58397366e-03 1.13376922e+03] [-2.03875710e-01 9.78996067e-01 -1.18151140e-03 2.26225345e+02] [-5.70757377e-03 1.82396025e-05 9.99983712e-01 -1.67501178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.8453361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1133.83, Y:226.21, Z:-16.75 [[ 9.79100085e-01 2.03302350e-01 5.58374905e-03 1.13383004e+03] [-2.03298911e-01 9.79116006e-01 -1.18257195e-03 2.26212752e+02] [-5.70755772e-03 2.26861912e-05 9.99983712e-01 -1.67508050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.9053361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1133.89, Y:226.20, Z:-16.75 [[ 9.79408718e-01 2.01810273e-01 5.58354073e-03 1.13389206e+03] [-2.01806805e-01 9.79424634e-01 -1.18355470e-03 2.26199946e+02] [-5.70751083e-03 3.23872805e-05 9.99983712e-01 -1.67508645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.965336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1133.95, Y:226.19, Z:-16.75 [[ 9.79888278e-01 1.99468766e-01 5.58331429e-03 1.13395390e+03] [-1.99465254e-01 9.79904184e-01 -1.18462194e-03 2.26186385e+02] [-5.70740811e-03 4.71199570e-05 9.99983712e-01 -1.67513130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.025336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1134.02, Y:226.17, Z:-16.75 [[ 9.80417460e-01 1.96851299e-01 5.58308765e-03 1.13401547e+03] [-1.96847738e-01 9.80433354e-01 -1.18568914e-03 2.26171927e+02] [-5.70724980e-03 6.34521614e-05 9.99983712e-01 -1.67519709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.0853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1134.08, Y:226.16, Z:-16.75 [[ 9.80762871e-01 1.95123096e-01 5.58286273e-03 1.13407651e+03] [-1.95119501e-01 9.80778758e-01 -1.18674725e-03 2.26158224e+02] [-5.70711497e-03 7.45922509e-05 9.99983712e-01 -1.67519692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.1453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1134.14, Y:226.14, Z:-16.75 [[ 9.80954884e-01 1.94155478e-01 5.58263663e-03 1.13413805e+03] [-1.94151861e-01 9.80970766e-01 -1.18780987e-03 2.26142901e+02] [-5.70702313e-03 8.13086011e-05 9.99983712e-01 -1.67522980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1134.20, Y:226.13, Z:-16.75 [[ 9.80948685e-01 1.94186804e-01 5.58241222e-03 1.13419863e+03] [-1.94183182e-01 9.80964565e-01 -1.18886365e-03 2.26128018e+02] [-5.70701020e-03 8.22036669e-05 9.99983712e-01 -1.67525030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1134.26, Y:226.11, Z:-16.75 [[ 9.80615717e-01 1.95861310e-01 5.58227304e-03 1.13425884e+03] [-1.95857712e-01 9.80631603e-01 -1.18951680e-03 2.26113011e+02] [-5.70713368e-03 7.31276475e-05 9.99983712e-01 -1.67530604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.3253361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1134.32, Y:226.10, Z:-16.75 [[ 9.79658931e-01 2.00592173e-01 5.58206737e-03 1.13431959e+03] [-2.00588646e-01 9.79674833e-01 -1.19048114e-03 2.26097887e+02] [-5.70741212e-03 4.65661510e-05 9.99983712e-01 -1.67533895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.3853361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1134.38, Y:226.08, Z:-16.75 [[ 9.78817705e-01 2.04657627e-01 5.58185069e-03 1.13438076e+03] [-2.04654160e-01 9.78833620e-01 -1.19149622e-03 2.26083522e+02] [-5.70755191e-03 2.39086337e-05 9.99983712e-01 -1.67526775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.445336195 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:1134.44, Y:226.07, Z:-16.74 [[ 9.77551116e-01 2.10624455e-01 5.58162839e-03 1.13444276e+03] [-2.10621079e-01 9.77567051e-01 -1.19253673e-03 2.26071072e+02] [-5.70759340e-03 -9.84298553e-06 9.99983712e-01 -1.67441845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.505336195 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:1134.50, Y:226.06, Z:-16.75 [[ 9.76792396e-01 2.14115536e-01 5.58139745e-03 1.13450334e+03] [-2.14112211e-01 9.76808342e-01 -1.19361659e-03 2.26057285e+02] [-5.70752744e-03 -2.91297354e-05 9.99983712e-01 -1.67525547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.5653361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1134.56, Y:226.05, Z:-16.75 [[ 9.75827350e-01 2.18471583e-01 5.58125452e-03 1.13456449e+03] [-2.18468326e-01 9.75843309e-01 -1.19428455e-03 2.26045355e+02] [-5.70734712e-03 -5.39117990e-05 9.99983712e-01 -1.67541443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.6253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1134.63, Y:226.03, Z:-16.75 [[ 9.75137839e-01 2.21528884e-01 5.58111907e-03 1.13462668e+03] [-2.21525673e-01 9.75153808e-01 -1.19491721e-03 2.26033338e+02] [-5.70715819e-03 -7.11521694e-05 9.99983712e-01 -1.67538995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1134.69, Y:226.02, Z:-16.75 [[ 9.74292397e-01 2.25218068e-01 5.58089917e-03 1.13468709e+03] [-2.25214911e-01 9.74308377e-01 -1.19594337e-03 2.26024037e+02] [-5.70686487e-03 -9.17031752e-05 9.99983712e-01 -1.67537904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.745336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1134.75, Y:226.01, Z:-16.75 [[ 9.73806438e-01 2.27310090e-01 5.58072235e-03 1.13474970e+03] [-2.27306963e-01 9.73822423e-01 -1.19676791e-03 2.26014237e+02] [-5.70666998e-03 -1.03116760e-04 9.99983712e-01 -1.67530447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.8053361949999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:1134.81, Y:226.01, Z:-16.75 [[ 9.73562556e-01 2.28352375e-01 5.58049600e-03 1.13481118e+03] [-2.28349259e-01 9.73578544e-01 -1.19782245e-03 2.26008166e+02] [-5.70657677e-03 -1.08147039e-04 9.99983712e-01 -1.67530294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.8653361949998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:1134.87, Y:226.00, Z:-16.75 [[ 9.73853528e-01 2.27108271e-01 5.58031416e-03 1.13487187e+03] [-2.27105130e-01 9.73869510e-01 -1.19866897e-03 2.26000072e+02] [-5.70672546e-03 -9.99899675e-05 9.99983712e-01 -1.67534336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.9253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1134.93, Y:225.99, Z:-16.75 [[ 9.74948764e-01 2.22359545e-01 5.58028654e-03 1.13493272e+03] [-2.22356326e-01 9.74964731e-01 -1.19879756e-03 2.25992760e+02] [-5.70714665e-03 -7.20458097e-05 9.99983712e-01 -1.67540702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1134.99, Y:225.98, Z:-16.76 [[ 9.75892934e-01 2.18178462e-01 5.58025873e-03 1.13499269e+03] [-2.18175173e-01 9.75908887e-01 -1.19892698e-03 2.25984017e+02] [-5.70740414e-03 -4.74495424e-05 9.99983712e-01 -1.67561215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.045336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1135.05, Y:225.98, Z:-16.76 [[ 9.77159727e-01 2.12432881e-01 5.58024490e-03 1.13505489e+03] [-2.12429498e-01 9.77175660e-01 -1.19899135e-03 2.25976304e+02] [-5.70758468e-03 -1.38025672e-05 9.99983712e-01 -1.67560341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.1053361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1135.12, Y:225.97, Z:-16.76 [[ 9.77739868e-01 2.09746546e-01 5.58004101e-03 1.13511554e+03] [-2.09743114e-01 9.77755791e-01 -1.19993951e-03 2.25967624e+02] [-5.70760058e-03 2.85352306e-06 9.99983712e-01 -1.67578301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.1653361949998 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1135.18, Y:225.96, Z:-16.75 [[ 9.78291854e-01 2.07156731e-01 5.58001163e-03 1.13517592e+03] [-2.07153256e-01 9.78307768e-01 -1.20007610e-03 2.25961641e+02] [-5.70757257e-03 1.81071000e-05 9.99983712e-01 -1.67537829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.225336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1135.24, Y:225.95, Z:-16.76 [[ 9.78677921e-01 2.05325087e-01 5.57999713e-03 1.13523619e+03] [-2.05321581e-01 9.78693827e-01 -1.20014353e-03 2.25951887e+02] [-5.70752832e-03 2.88601442e-05 9.99983712e-01 -1.67598438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.285336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1135.30, Y:225.94, Z:-16.76 [[ 9.79287086e-01 2.02399769e-01 5.57996833e-03 1.13529629e+03] [-2.02396215e-01 9.79302982e-01 -1.20027742e-03 2.25941864e+02] [-5.70741550e-03 4.60517074e-05 9.99983712e-01 -1.67596631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.3453361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1135.36, Y:225.93, Z:-16.76 [[ 9.80044020e-01 1.98702247e-01 5.57996833e-03 1.13535526e+03] [-1.98698633e-01 9.80059903e-01 -1.20027742e-03 2.25931486e+02] [-5.70720104e-03 6.75926298e-05 9.99983712e-01 -1.67594808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.4053361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1135.42, Y:225.92, Z:-16.76 [[ 9.81169263e-01 1.93069267e-01 5.57996833e-03 1.13541566e+03] [-1.93065562e-01 9.81185124e-01 -1.20027742e-03 2.25920031e+02] [-5.70671860e-03 1.00375591e-04 9.99983712e-01 -1.67591549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.465336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1135.48, Y:225.91, Z:-16.76 [[ 9.81801837e-01 1.89826279e-01 5.57994009e-03 1.13547599e+03] [-1.89822521e-01 9.81817686e-01 -1.20040871e-03 2.25906850e+02] [-5.70635298e-03 1.19365177e-04 9.99983712e-01 -1.67589756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.525336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1135.54, Y:225.89, Z:-16.76 [[ 9.82469665e-01 1.86338996e-01 5.57991101e-03 1.13553554e+03] [-1.86335181e-01 9.82485501e-01 -1.20054387e-03 2.25893522e+02] [-5.70588980e-03 1.39764203e-04 9.99983712e-01 -1.67599900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.5853361949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1135.60, Y:225.88, Z:-16.76 [[ 9.82696393e-01 1.85139586e-01 5.57972389e-03 1.13559531e+03] [-1.85135747e-01 9.82712222e-01 -1.20141289e-03 2.25880415e+02] [-5.70569195e-03 1.47617762e-04 9.99983712e-01 -1.67604602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.6453361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1135.65, Y:225.87, Z:-16.76 [[ 9.82757346e-01 1.84815761e-01 5.57966764e-03 1.13565457e+03] [-1.84811915e-01 9.82773174e-01 -1.20167408e-03 2.25867658e+02] [-5.70563599e-03 1.49764963e-04 9.99983712e-01 -1.67596513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1135.71, Y:225.85, Z:-16.76 [[ 9.82242959e-01 1.87530364e-01 5.57960207e-03 1.13571390e+03] [-1.87526560e-01 9.82258797e-01 -1.20197844e-03 2.25853357e+02] [-5.70602067e-03 1.34311275e-04 9.99983712e-01 -1.67598428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1135.77, Y:225.84, Z:-16.76 [[ 9.81339927e-01 1.92199937e-01 5.57957297e-03 1.13577388e+03] [-1.92196208e-01 9.81355783e-01 -1.20211351e-03 2.25838959e+02] [-5.70659234e-03 1.07309213e-04 9.99983712e-01 -1.67600059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.8253361949999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:1135.83, Y:225.83, Z:-16.76 [[ 9.80582618e-01 1.96027036e-01 5.57954338e-03 1.13583288e+03] [-1.96023368e-01 9.80598488e-01 -1.20225082e-03 2.25826136e+02] [-5.70696547e-03 8.51853718e-05 9.99983712e-01 -1.67612635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.8853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1135.89, Y:225.81, Z:-16.76 [[ 9.79538803e-01 2.01178038e-01 5.57952872e-03 1.13589160e+03] [-2.01174453e-01 9.79554692e-01 -1.20231887e-03 2.25814638e+02] [-5.70733369e-03 5.52593525e-05 9.99983712e-01 -1.67613886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1135.95, Y:225.80, Z:-16.76 [[ 9.78939956e-01 2.04072123e-01 5.57955636e-03 1.13595094e+03] [-2.04068586e-01 9.78955855e-01 -1.20219061e-03 2.25802521e+02] [-5.70747296e-03 3.82602453e-05 9.99983712e-01 -1.67609134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1136.01, Y:225.79, Z:-16.76 [[ 9.78377916e-01 2.06749900e-01 5.57955636e-03 1.13600949e+03] [-2.06746406e-01 9.78393826e-01 -1.20219061e-03 2.25790472e+02] [-5.70755628e-03 2.26435186e-05 9.99983712e-01 -1.67615953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.0653361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1136.07, Y:225.78, Z:-16.76 [[ 9.77722122e-01 2.09829265e-01 5.57957110e-03 1.13606847e+03] [-2.09825822e-01 9.77738042e-01 -1.20212217e-03 2.25779647e+02] [-5.70759934e-03 4.60334679e-06 9.99983712e-01 -1.67632377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.1253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1136.13, Y:225.77, Z:-16.76 [[ 9.77584016e-01 2.10471757e-01 5.57959994e-03 1.13612721e+03] [-2.10468325e-01 9.77599938e-01 -1.20198831e-03 2.25769186e+02] [-5.70760115e-03 7.15501702e-07 9.99983712e-01 -1.67637236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1136.19, Y:225.76, Z:-16.76 [[ 9.77861826e-01 2.09177240e-01 5.57962837e-03 1.13618592e+03] [-2.09173788e-01 9.77877744e-01 -1.20185629e-03 2.25759617e+02] [-5.70759539e-03 8.13738999e-06 9.99983712e-01 -1.67633942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.245336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1136.24, Y:225.75, Z:-16.77 [[ 9.78634780e-01 2.05530620e-01 5.57965665e-03 1.13624340e+03] [-2.05527109e-01 9.78650685e-01 -1.20172499e-03 2.25747814e+02] [-5.70752609e-03 2.92791765e-05 9.99983712e-01 -1.67657564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.3053361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1136.30, Y:225.74, Z:-16.77 [[ 9.79311869e-01 2.02279831e-01 5.57969869e-03 1.13630122e+03] [-2.02276269e-01 9.79327763e-01 -1.20152979e-03 2.25735224e+02] [-5.70739908e-03 4.80317504e-05 9.99983712e-01 -1.67664488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.3653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1136.36, Y:225.72, Z:-16.77 [[ 9.80526632e-01 1.96306876e-01 5.57972691e-03 1.13635974e+03] [-1.96303217e-01 9.80542505e-01 -1.20139871e-03 2.25721634e+02] [-5.70700223e-03 8.26850890e-05 9.99983712e-01 -1.67675405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.4253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1136.42, Y:225.71, Z:-16.77 [[ 9.81177021e-01 1.93029843e-01 5.57972691e-03 1.13641871e+03] [-1.93026132e-01 9.81192881e-01 -1.20139871e-03 2.25708629e+02] [-5.70669413e-03 1.01751709e-04 9.99983712e-01 -1.67673614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1136.48, Y:225.69, Z:-16.77 [[ 9.81740239e-01 1.90144601e-01 5.57972691e-03 1.13647780e+03] [-1.90140842e-01 9.81756088e-01 -1.20139871e-03 2.25693118e+02] [-5.70637034e-03 1.18527484e-04 9.99983712e-01 -1.67667499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.545336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1136.54, Y:225.68, Z:-16.77 [[ 9.81795502e-01 1.89859050e-01 5.57969890e-03 1.13653656e+03] [-1.89855286e-01 9.81811350e-01 -1.20152881e-03 2.25679980e+02] [-5.70633282e-03 1.20320255e-04 9.99983712e-01 -1.67666912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.6053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1136.59, Y:225.67, Z:-16.77 [[ 9.81441950e-01 1.91678285e-01 5.57969890e-03 1.13659404e+03] [-1.91674551e-01 9.81457805e-01 -1.20152881e-03 2.25666445e+02] [-5.70654601e-03 1.09744502e-04 9.99983712e-01 -1.67677373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.6653361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1136.65, Y:225.65, Z:-16.77 [[ 9.81401717e-01 1.91884176e-01 5.57971274e-03 1.13665139e+03] [-1.91880445e-01 9.81417572e-01 -1.20146451e-03 2.25653855e+02] [-5.70657016e-03 1.08481563e-04 9.99983712e-01 -1.67701132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1136.71, Y:225.64, Z:-16.77 [[ 9.81581379e-01 1.90962990e-01 5.57974273e-03 1.13671091e+03] [-1.90959245e-01 9.81597231e-01 -1.20132524e-03 2.25638463e+02] [-5.70646867e-03 1.13695028e-04 9.99983712e-01 -1.67705149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1136.77, Y:225.62, Z:-16.77 [[ 9.81691854e-01 1.90394252e-01 5.57971375e-03 1.13677081e+03] [-1.90390497e-01 9.81707704e-01 -1.20145979e-03 2.25623093e+02] [-5.70639901e-03 1.17138811e-04 9.99983712e-01 -1.67691721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.8453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1136.83, Y:225.61, Z:-16.77 [[ 9.81776436e-01 1.89957617e-01 5.57968494e-03 1.13683007e+03] [-1.89953854e-01 9.81792284e-01 -1.20159358e-03 2.25605076e+02] [-5.70634348e-03 1.19813603e-04 9.99983712e-01 -1.67680955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.9053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1136.89, Y:225.59, Z:-16.77 [[ 9.81864371e-01 1.89502574e-01 5.57948563e-03 1.13688870e+03] [-1.89498798e-01 9.81880216e-01 -1.20251836e-03 2.25588413e+02] [-5.70626688e-03 1.23404108e-04 9.99983712e-01 -1.67704918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1136.95, Y:225.57, Z:-16.77 [[ 9.81901146e-01 1.89311942e-01 5.57930177e-03 1.13694853e+03] [-1.89308159e-01 9.81916989e-01 -1.20337080e-03 2.25569214e+02] [-5.70622366e-03 1.25383827e-04 9.99983712e-01 -1.67704154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1137.01, Y:225.55, Z:-16.77 [[ 9.81738526e-01 1.90153466e-01 5.57910781e-03 1.13700908e+03] [-1.90149691e-01 9.81754371e-01 -1.20426937e-03 2.25551769e+02] [-5.70630947e-03 1.21412013e-04 9.99983712e-01 -1.67711185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.0853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1137.07, Y:225.53, Z:-16.77 [[ 9.81195621e-01 1.92935301e-01 5.57888191e-03 1.13706873e+03] [-1.92931565e-01 9.81211475e-01 -1.20531495e-03 2.25534074e+02] [-5.70661075e-03 1.06307329e-04 9.99983712e-01 -1.67738681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.1453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1137.13, Y:225.52, Z:-16.77 [[ 9.80788185e-01 1.94995935e-01 5.57867142e-03 1.13712888e+03] [-1.94992227e-01 9.80804046e-01 -1.20628843e-03 2.25516687e+02] [-5.70680484e-03 9.53158703e-05 9.99983712e-01 -1.67739379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1137.19, Y:225.50, Z:-16.77 [[ 9.80390160e-01 1.96987349e-01 5.57848128e-03 1.13718974e+03] [-1.96983668e-01 9.80406027e-01 -1.20716707e-03 2.25498867e+02] [-5.70697331e-03 8.46250147e-05 9.99983712e-01 -1.67727615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1137.25, Y:225.48, Z:-16.77 [[ 9.80008535e-01 1.98877237e-01 5.57824876e-03 1.13724926e+03] [-1.98873580e-01 9.80024407e-01 -1.20824056e-03 2.25482965e+02] [-5.70711148e-03 7.47197602e-05 9.99983712e-01 -1.67745566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.3253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1137.31, Y:225.46, Z:-16.78 [[ 9.79732181e-01 2.00234208e-01 5.57803319e-03 1.13730947e+03] [-2.00230568e-01 9.79748058e-01 -1.20923499e-03 2.25464601e+02] [-5.70719739e-03 6.78336768e-05 9.99983712e-01 -1.67764759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.3853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1137.37, Y:225.45, Z:-16.78 [[ 9.79601011e-01 2.00874956e-01 5.57780728e-03 1.13737044e+03] [-2.00871320e-01 9.79616888e-01 -1.21027612e-03 2.25446727e+02] [-5.70722838e-03 6.51661977e-05 9.99983712e-01 -1.67769234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.445336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1137.43, Y:225.43, Z:-16.77 [[ 9.79492098e-01 2.01405364e-01 5.57758255e-03 1.13743079e+03] [-2.01401732e-01 9.79507976e-01 -1.21131093e-03 2.25429248e+02] [-5.70725111e-03 6.31346957e-05 9.99983712e-01 -1.67723178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.505336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1137.49, Y:225.41, Z:-16.77 [[ 9.79179525e-01 2.02919566e-01 5.57735815e-03 1.13749153e+03] [-2.02915951e-01 9.79195408e-01 -1.21234328e-03 2.25410662e+02] [-5.70733166e-03 5.53667825e-05 9.99983712e-01 -1.67707891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.5653361949999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1137.55, Y:225.39, Z:-16.77 [[ 9.79057626e-01 2.03506905e-01 5.57713065e-03 1.13755174e+03] [-2.03503294e-01 9.79073509e-01 -1.21338895e-03 2.25393356e+02] [-5.70735390e-03 5.30132426e-05 9.99983712e-01 -1.67735366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.6253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1137.61, Y:225.37, Z:-16.78 [[ 9.78852159e-01 2.04492905e-01 5.57690503e-03 1.13761113e+03] [-2.04489304e-01 9.78868045e-01 -1.21442505e-03 2.25373888e+02] [-5.70739543e-03 4.83251538e-05 9.99983712e-01 -1.67799847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.685336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1137.67, Y:225.36, Z:-16.78 [[ 9.78674292e-01 2.05342472e-01 5.57669481e-03 1.13767218e+03] [-2.05338880e-01 9.78690179e-01 -1.21538961e-03 2.25356112e+02] [-5.70742755e-03 4.43583004e-05 9.99983712e-01 -1.67809154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.745336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1137.73, Y:225.34, Z:-16.78 [[ 9.78513158e-01 2.06108960e-01 5.57646816e-03 1.13773172e+03] [-2.06105374e-01 9.78529047e-01 -1.21642864e-03 2.25339076e+02] [-5.70745291e-03 4.09513728e-05 9.99983712e-01 -1.67767259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.8053361949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1137.79, Y:225.32, Z:-16.78 [[ 9.78544663e-01 2.05959333e-01 5.57625867e-03 1.13779185e+03] [-2.05955740e-01 9.78560551e-01 -1.21738820e-03 2.25320475e+02] [-5.70743922e-03 4.28062481e-05 9.99983712e-01 -1.67814454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.8653361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1137.85, Y:225.30, Z:-16.78 [[ 9.78408691e-01 2.06604310e-01 5.57603656e-03 1.13785108e+03] [-2.06600721e-01 9.78424579e-01 -1.21840471e-03 2.25301202e+02] [-5.70745889e-03 4.00845854e-05 9.99983712e-01 -1.67821433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.9253361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1137.91, Y:225.28, Z:-16.78 [[ 9.78097731e-01 2.08071476e-01 5.57583044e-03 1.13791187e+03] [-2.08067905e-01 9.78113623e-01 -1.21934724e-03 2.25284871e+02] [-5.70750709e-03 3.24894109e-05 9.99983712e-01 -1.67826284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.985336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1137.97, Y:225.27, Z:-16.78 [[ 9.77371066e-01 2.11458537e-01 5.57561252e-03 1.13797308e+03] [-2.11455016e-01 9.77386969e-01 -1.22034287e-03 2.25269450e+02] [-5.70758294e-03 1.37365790e-05 9.99983712e-01 -1.67756631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.045336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1138.03, Y:225.25, Z:-16.78 [[ 9.76937340e-01 2.13453390e-01 5.57538082e-03 1.13803387e+03] [-2.13449896e-01 9.76953249e-01 -1.22140052e-03 2.25252838e+02] [-5.70759849e-03 3.16731987e-06 9.99983712e-01 -1.67819392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.1053361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1138.09, Y:225.24, Z:-16.78 [[ 9.76427996e-01 2.15771376e-01 5.57514877e-03 1.13809455e+03] [-2.15767913e-01 9.76443912e-01 -1.22245883e-03 2.25237138e+02] [-5.70759170e-03 -9.29519060e-06 9.99983712e-01 -1.67819904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.1653361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1138.15, Y:225.22, Z:-16.78 [[ 9.76139674e-01 2.17072007e-01 5.57491112e-03 1.13815466e+03] [-2.17068559e-01 9.76155594e-01 -1.22354163e-03 2.25222771e+02] [-5.70757732e-03 -1.57904014e-05 9.99983712e-01 -1.67841698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1138.22, Y:225.21, Z:-16.79 [[ 9.75495250e-01 2.19949857e-01 5.57468956e-03 1.13821515e+03] [-2.19946450e-01 9.75511179e-01 -1.22455027e-03 2.25209353e+02] [-5.70751164e-03 -3.15902096e-05 9.99983712e-01 -1.67860209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.285336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1138.28, Y:225.20, Z:-16.78 [[ 9.75047203e-01 2.21927638e-01 5.57447536e-03 1.13827678e+03] [-2.21924258e-01 9.75063137e-01 -1.22552459e-03 2.25196612e+02] [-5.70744321e-03 -4.21669801e-05 9.99983712e-01 -1.67848595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.3453361949998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1138.34, Y:225.19, Z:-16.78 [[ 9.74526853e-01 2.24201560e-01 5.57424655e-03 1.13833933e+03] [-2.24198212e-01 9.74542794e-01 -1.22656448e-03 2.25185513e+02] [-5.70733947e-03 -5.44160873e-05 9.99983712e-01 -1.67773731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.4053361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1138.40, Y:225.17, Z:-16.78 [[ 9.74352487e-01 2.24958134e-01 5.57400994e-03 1.13840024e+03] [-2.24954792e-01 9.74368429e-01 -1.22763876e-03 2.25172441e+02] [-5.70730663e-03 -5.77473628e-05 9.99983712e-01 -1.67820517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1138.46, Y:225.16, Z:-16.78 [[ 9.74422218e-01 2.24655899e-01 5.57386307e-03 1.13846231e+03] [-2.24652548e-01 9.74438158e-01 -1.22830523e-03 2.25160705e+02] [-5.70733088e-03 -5.52946340e-05 9.99983712e-01 -1.67834171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1138.52, Y:225.15, Z:-16.78 [[ 9.74723460e-01 2.23345275e-01 5.57363126e-03 1.13852343e+03] [-2.23341896e-01 9.74739394e-01 -1.22935623e-03 2.25149066e+02] [-5.70740886e-03 -4.65430167e-05 9.99983712e-01 -1.67841869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.5853361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1138.58, Y:225.14, Z:-16.78 [[ 9.75446263e-01 2.20167040e-01 5.57341606e-03 1.13858484e+03] [-2.20163604e-01 9.75462185e-01 -1.23033109e-03 2.25137057e+02] [-5.70753496e-03 -2.69415024e-05 9.99983712e-01 -1.67833706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.6453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1138.65, Y:225.13, Z:-16.78 [[ 9.76281790e-01 2.16431990e-01 5.57318850e-03 1.13864558e+03] [-2.16428488e-01 9.76297697e-01 -1.23136102e-03 2.25126166e+02] [-5.70759702e-03 -4.04142000e-06 9.99983712e-01 -1.67838589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1138.71, Y:225.11, Z:-16.78 [[ 9.76785122e-01 2.14148939e-01 5.57297626e-03 1.13870737e+03] [-2.14145394e-01 9.76801020e-01 -1.23232085e-03 2.25113446e+02] [-5.70758909e-03 1.02854815e-05 9.99983712e-01 -1.67840413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1138.77, Y:225.10, Z:-16.78 [[ 9.77333273e-01 2.11633217e-01 5.57275067e-03 1.13876952e+03] [-2.11629625e-01 9.77349160e-01 -1.23334015e-03 2.25100620e+02] [-5.70753893e-03 2.60252327e-05 9.99983712e-01 -1.67837100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.8253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1138.83, Y:225.09, Z:-16.78 [[ 9.77563086e-01 2.10569134e-01 5.57252323e-03 1.13883077e+03] [-2.10565519e-01 9.77578968e-01 -1.23436691e-03 2.25086949e+02] [-5.70750108e-03 3.32902756e-05 9.99983712e-01 -1.67834131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.8853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1138.89, Y:225.08, Z:-16.78 [[ 9.77708230e-01 2.09894179e-01 5.57229733e-03 1.13889240e+03] [-2.09890547e-01 9.77724108e-01 -1.23538588e-03 2.25075051e+02] [-5.70746974e-03 3.82744122e-05 9.99983712e-01 -1.67833009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1138.95, Y:225.06, Z:-16.79 [[ 9.77762252e-01 2.09642386e-01 5.57206456e-03 1.13895317e+03] [-2.09638744e-01 9.77778128e-01 -1.23643487e-03 2.25061932e+02] [-5.70745201e-03 4.08187312e-05 9.99983712e-01 -1.67852512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1139.01, Y:225.05, Z:-16.79 [[ 9.77666204e-01 2.10089856e-01 5.57184821e-03 1.13901453e+03] [-2.10086216e-01 9.77682081e-01 -1.23740904e-03 2.25048413e+02] [-5.70746324e-03 3.92044959e-05 9.99983712e-01 -1.67858998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.0653361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1139.08, Y:225.03, Z:-16.78 [[ 9.77537418e-01 2.10688287e-01 5.57162178e-03 1.13907557e+03] [-2.10684650e-01 9.77553295e-01 -1.23842773e-03 2.25034640e+02] [-5.70747945e-03 3.67542611e-05 9.99983712e-01 -1.67842900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.1253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1139.14, Y:225.02, Z:-16.78 [[ 9.77177899e-01 2.12349509e-01 5.57138183e-03 1.13913583e+03] [-2.12345893e-01 9.77193781e-01 -1.23950629e-03 2.25021512e+02] [-5.70752822e-03 2.81581036e-05 9.99983712e-01 -1.67832894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1139.20, Y:225.01, Z:-16.78 [[ 9.76624694e-01 2.14879431e-01 5.57115889e-03 1.13919720e+03] [-2.14875850e-01 9.76640584e-01 -1.24050751e-03 2.25008890e+02] [-5.70757942e-03 1.44027667e-05 9.99983712e-01 -1.67835411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1139.26, Y:225.00, Z:-16.78 [[ 9.75391016e-01 2.20411730e-01 5.57091893e-03 1.13925842e+03] [-2.20408234e-01 9.75406925e-01 -1.24158418e-03 2.24997163e+02] [-5.70757262e-03 -1.68463518e-05 9.99983712e-01 -1.67835447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.3053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1139.32, Y:224.98, Z:-16.78 [[ 9.74428806e-01 2.24627398e-01 5.57077013e-03 1.13931967e+03] [-2.24623967e-01 9.74444729e-01 -1.24225149e-03 2.24984807e+02] [-5.70745131e-03 -4.08428436e-05 9.99983712e-01 -1.67837277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.3653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1139.38, Y:224.98, Z:-16.79 [[ 9.73325156e-01 2.29362397e-01 5.57055373e-03 1.13938246e+03] [-2.29359037e-01 9.73341095e-01 -1.24322112e-03 2.24975193e+02] [-5.70719704e-03 -6.75984499e-05 9.99983712e-01 -1.67858676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.4253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1139.44, Y:224.96, Z:-16.79 [[ 9.72823060e-01 2.31482753e-01 5.57031584e-03 1.13944468e+03] [-2.31479423e-01 9.72839004e-01 -1.24428605e-03 2.24963851e+02] [-5.70705128e-03 -7.89433286e-05 9.99983712e-01 -1.67857759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1139.51, Y:224.96, Z:-16.79 [[ 9.72546957e-01 2.32640045e-01 5.57007974e-03 1.13950623e+03] [-2.32636727e-01 9.72562904e-01 -1.24534209e-03 2.24955468e+02] [-5.70696937e-03 -8.46514603e-05 9.99983712e-01 -1.67852492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1139.57, Y:224.95, Z:-16.78 [[ 9.72456734e-01 2.33016903e-01 5.56986057e-03 1.13956824e+03] [-2.33013586e-01 9.72472681e-01 -1.24632156e-03 2.24945732e+02] [-5.70695123e-03 -8.58593884e-05 9.99983712e-01 -1.67849381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.6053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1139.63, Y:224.94, Z:-16.79 [[ 9.72476164e-01 2.32935806e-01 5.56962919e-03 1.13963058e+03] [-2.32932481e-01 9.72492110e-01 -1.24735472e-03 2.24938394e+02] [-5.70697402e-03 -8.43248112e-05 9.99983712e-01 -1.67860542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.6653361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1139.69, Y:224.93, Z:-16.79 [[ 9.72490622e-01 2.32875444e-01 5.56941463e-03 1.13969161e+03] [-2.32872113e-01 9.72506566e-01 -1.24831197e-03 2.24929077e+02] [-5.70699350e-03 -8.29896689e-05 9.99983712e-01 -1.67875073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1139.75, Y:224.92, Z:-16.79 [[ 9.72727826e-01 2.31882640e-01 5.56938620e-03 1.13975228e+03] [-2.31879292e-01 9.72743767e-01 -1.24843883e-03 2.24924488e+02] [-5.70707700e-03 -7.70341409e-05 9.99983712e-01 -1.67888220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.785336195 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:1139.81, Y:224.92, Z:-16.78 [[ 9.73117478e-01 2.30241951e-01 5.56938620e-03 1.13981231e+03] [-2.30238576e-01 9.73133413e-01 -1.24843883e-03 2.24917281e+02] [-5.70719879e-03 -6.74099061e-05 9.99983712e-01 -1.67822209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.8453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1139.87, Y:224.91, Z:-16.79 [[ 9.74159185e-01 2.25793853e-01 5.56941421e-03 1.13987054e+03] [-2.25790406e-01 9.74175104e-01 -1.24831387e-03 2.24908980e+02] [-5.70744626e-03 -4.14638762e-05 9.99983712e-01 -1.67897894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.9053361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1139.93, Y:224.90, Z:-16.79 [[ 9.75391899e-01 2.20407858e-01 5.56945579e-03 1.13992962e+03] [-2.20404324e-01 9.75407800e-01 -1.24812833e-03 2.24901877e+02] [-5.70758791e-03 -1.01178787e-05 9.99983712e-01 -1.67908579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.965336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1139.99, Y:224.89, Z:-16.79 [[ 9.76220431e-01 2.16708680e-01 5.56948323e-03 1.13998887e+03] [-2.16705086e-01 9.76236318e-01 -1.24800585e-03 2.24891620e+02] [-5.70758550e-03 1.13934596e-05 9.99983712e-01 -1.67927419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1140.05, Y:224.88, Z:-16.80 [[ 9.76923573e-01 2.13516541e-01 5.56951060e-03 1.14004766e+03] [-2.13512896e-01 9.76939448e-01 -1.24788367e-03 2.24881125e+02] [-5.70751842e-03 2.99246374e-05 9.99983712e-01 -1.67950880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.0853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1140.11, Y:224.87, Z:-16.79 [[ 9.77744326e-01 2.09726041e-01 5.56953789e-03 1.14010517e+03] [-2.09722336e-01 9.77760188e-01 -1.24776188e-03 2.24871330e+02] [-5.70736057e-03 5.19355976e-05 9.99983712e-01 -1.67941264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.1453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1140.16, Y:224.86, Z:-16.79 [[ 9.78409297e-01 2.06601617e-01 5.56956794e-03 1.14016251e+03] [-2.06597862e-01 9.78425146e-01 -1.24762771e-03 2.24861575e+02] [-5.70716723e-03 7.00297238e-05 9.99983712e-01 -1.67928828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.205336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1140.22, Y:224.85, Z:-16.79 [[ 9.78698031e-01 2.05229488e-01 5.56963487e-03 1.14022021e+03] [-2.05225712e-01 9.78713876e-01 -1.24732886e-03 2.24849533e+02] [-5.70706760e-03 7.77260147e-05 9.99983712e-01 -1.67929295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.265336195 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:1140.28, Y:224.84, Z:-16.79 [[ 9.78691684e-01 2.05259753e-01 5.56968794e-03 1.14027665e+03] [-2.05255979e-01 9.78707529e-01 -1.24709184e-03 2.24838493e+02] [-5.70707329e-03 7.73066673e-05 9.99983712e-01 -1.67897574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.3253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1140.33, Y:224.83, Z:-16.80 [[ 9.78594641e-01 2.05721913e-01 5.56975359e-03 1.14033394e+03] [-2.05718149e-01 9.78610489e-01 -1.24679860e-03 2.24825743e+02] [-5.70711307e-03 7.43110362e-05 9.99983712e-01 -1.67996701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.3853361949998 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:1140.39, Y:224.81, Z:-16.79 [[ 9.78218131e-01 2.07504854e-01 5.56980577e-03 1.14039256e+03] [-2.07501120e-01 9.78233986e-01 -1.24656545e-03 2.24814582e+02] [-5.70724168e-03 6.36719898e-05 9.99983712e-01 -1.67901467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1140.45, Y:224.80, Z:-16.79 [[ 9.77648548e-01 2.10172057e-01 5.56983402e-03 1.14045032e+03] [-2.10168366e-01 9.77664413e-01 -1.24643918e-03 2.24800899e+02] [-5.70739520e-03 4.79765387e-05 9.99983712e-01 -1.67943143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.505336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1140.51, Y:224.79, Z:-16.79 [[ 9.77044285e-01 2.12963477e-01 5.56986319e-03 1.14050830e+03] [-2.12959833e-01 9.77060160e-01 -1.24630885e-03 2.24788444e+02] [-5.70750968e-03 3.15418058e-05 9.99983712e-01 -1.67920298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.5653361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1140.57, Y:224.78, Z:-16.79 [[ 9.75884770e-01 2.18215241e-01 5.56989217e-03 1.14056515e+03] [-2.18211683e-01 9.75900665e-01 -1.24617929e-03 2.24777401e+02] [-5.70759679e-03 7.11851376e-07 9.99983712e-01 -1.67924587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.6253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1140.62, Y:224.77, Z:-16.79 [[ 9.75247630e-01 2.21045326e-01 5.56996382e-03 1.14062266e+03] [-2.21041816e-01 9.75263535e-01 -1.24585899e-03 2.24765645e+02] [-5.70757391e-03 -1.61738905e-05 9.99983712e-01 -1.67939812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.685336195 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:1140.68, Y:224.75, Z:-16.80 [[ 9.74984168e-01 2.22204515e-01 5.57002028e-03 1.14067939e+03] [-2.22201025e-01 9.75000078e-01 -1.24560651e-03 2.24752378e+02] [-5.70754960e-03 -2.32175940e-05 9.99983712e-01 -1.67958065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1140.74, Y:224.74, Z:-16.80 [[ 9.75070727e-01 2.21824369e-01 5.57009011e-03 1.14073610e+03] [-2.21820875e-01 9.75086637e-01 -1.24529415e-03 2.24738623e+02] [-5.70755702e-03 -2.13123871e-05 9.99983712e-01 -1.67951067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.8053361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1140.79, Y:224.72, Z:-16.79 [[ 9.74968984e-01 2.22271126e-01 5.57014566e-03 1.14079419e+03] [-2.22267640e-01 9.74984895e-01 -1.24504562e-03 2.24724843e+02] [-5.70754558e-03 -2.41822700e-05 9.99983712e-01 -1.67935523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.8653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1140.85, Y:224.71, Z:-16.79 [[ 9.74556801e-01 2.24071448e-01 5.57017534e-03 1.14085121e+03] [-2.24067993e-01 9.74572719e-01 -1.24491283e-03 2.24712909e+02] [-5.70749035e-03 -3.48597376e-05 9.99983712e-01 -1.67934185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.9253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1140.91, Y:224.70, Z:-16.79 [[ 9.73525680e-01 2.28509788e-01 5.57021925e-03 1.14090943e+03] [-2.28506406e-01 9.73541613e-01 -1.24471633e-03 2.24701945e+02] [-5.70727010e-03 -6.10674715e-05 9.99983712e-01 -1.67937693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.985336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1140.97, Y:224.69, Z:-16.80 [[ 9.73149023e-01 2.30108564e-01 5.57027700e-03 1.14096761e+03] [-2.30105209e-01 9.73164962e-01 -1.24445786e-03 2.24690564e+02] [-5.70715881e-03 -7.07068006e-05 9.99983712e-01 -1.67951086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.045336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1141.03, Y:224.68, Z:-16.80 [[ 9.71785805e-01 2.35799321e-01 5.57033447e-03 1.14102531e+03] [-2.35796061e-01 9.71801764e-01 -1.24420054e-03 2.24682802e+02] [-5.70664251e-03 -1.04366509e-04 9.99983712e-01 -1.67955529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.1053361949998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:1141.08, Y:224.67, Z:-16.79 [[ 9.70910217e-01 2.39379032e-01 5.57040534e-03 1.14108291e+03] [-2.39375833e-01 9.70926188e-01 -1.24388316e-03 2.24673893e+02] [-5.70621197e-03 -1.25721547e-04 9.99983712e-01 -1.67945613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.1653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1141.14, Y:224.67, Z:-16.80 [[ 9.70417010e-01 2.41370663e-01 5.57047518e-03 1.14113957e+03] [-2.41367499e-01 9.70432988e-01 -1.24357033e-03 2.24667170e+02] [-5.70593427e-03 -1.37749855e-04 9.99983712e-01 -1.67962913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.225336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1141.20, Y:224.66, Z:-16.80 [[ 9.70706538e-01 2.40203632e-01 5.57059711e-03 1.14119726e+03] [-2.40200451e-01 9.70722513e-01 -1.24302388e-03 2.24658613e+02] [-5.70608288e-03 -1.31448533e-04 9.99983712e-01 -1.67982107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1141.25, Y:224.65, Z:-16.80 [[ 9.71416396e-01 2.37316568e-01 5.57067919e-03 1.14125431e+03] [-2.37313343e-01 9.71432362e-01 -1.24265596e-03 2.24650081e+02] [-5.70644089e-03 -1.14860126e-04 9.99983712e-01 -1.67991365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.3453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1141.31, Y:224.64, Z:-16.80 [[ 9.73090345e-01 2.30356564e-01 5.57076097e-03 1.14131082e+03] [-2.30353226e-01 9.73106288e-01 -1.24228924e-03 2.24642166e+02] [-5.70711201e-03 -7.43830925e-05 9.99983712e-01 -1.68000986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.4053361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1141.37, Y:224.63, Z:-16.80 [[ 9.74881892e-01 2.22652785e-01 5.57085508e-03 1.14136890e+03] [-2.22649324e-01 9.74897808e-01 -1.24186704e-03 2.24632588e+02] [-5.70751957e-03 -2.96734285e-05 9.99983712e-01 -1.68000069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.465336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1141.43, Y:224.62, Z:-16.80 [[ 9.75840888e-01 2.18411368e-01 5.57091333e-03 1.14142712e+03] [-2.18407839e-01 9.75856790e-01 -1.24160570e-03 2.24621512e+02] [-5.70759440e-03 -5.12153883e-06 9.99983712e-01 -1.67995257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.525336195 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:1141.49, Y:224.61, Z:-16.79 [[ 9.76790730e-01 2.14123408e-01 5.57097239e-03 1.14148577e+03] [-2.14119810e-01 9.76806616e-01 -1.24134064e-03 2.24613632e+02] [-5.70756278e-03 1.96744771e-05 9.99983712e-01 -1.67918695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.5853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1141.54, Y:224.60, Z:-16.80 [[ 9.77203570e-01 2.12231350e-01 5.57103161e-03 1.14154320e+03] [-2.12227723e-01 9.77219450e-01 -1.24107484e-03 2.24602460e+02] [-5.70751543e-03 3.04554048e-05 9.99983712e-01 -1.67983298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.6453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1141.60, Y:224.59, Z:-16.80 [[ 9.77423800e-01 2.11214767e-01 5.57109157e-03 1.14160057e+03] [-2.11211126e-01 9.77439676e-01 -1.24080561e-03 2.24593233e+02] [-5.70748241e-03 3.61164156e-05 9.99983712e-01 -1.67991048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1141.66, Y:224.58, Z:-16.80 [[ 9.77690140e-01 2.09978457e-01 5.57117151e-03 1.14165768e+03] [-2.09974797e-01 9.77706012e-01 -1.24044656e-03 2.24584489e+02] [-5.70743494e-03 4.29667624e-05 9.99983712e-01 -1.68019120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1141.71, Y:224.57, Z:-16.80 [[ 9.77773626e-01 2.09589353e-01 5.57124291e-03 1.14171440e+03] [-2.09585689e-01 9.77789497e-01 -1.24012579e-03 2.24574500e+02] [-5.70741997e-03 4.49095058e-05 9.99983712e-01 -1.68015825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.8253361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1141.77, Y:224.57, Z:-16.80 [[ 9.77742542e-01 2.09734313e-01 5.57133259e-03 1.14177168e+03] [-2.09730653e-01 9.77758414e-01 -1.23972278e-03 2.24565726e+02] [-5.70742972e-03 4.36504838e-05 9.99983712e-01 -1.68021422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.8853361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1141.83, Y:224.56, Z:-16.80 [[ 9.77848163e-01 2.09241319e-01 5.57142166e-03 1.14182934e+03] [-2.09237654e-01 9.77864034e-01 -1.23932236e-03 2.24556543e+02] [-5.70741030e-03 4.61178932e-05 9.99983712e-01 -1.68045826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.945336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1141.89, Y:224.54, Z:-16.81 [[ 9.78174900e-01 2.07708506e-01 5.57149511e-03 1.14188602e+03] [-2.07704818e-01 9.78190765e-01 -1.23899207e-03 2.24544693e+02] [-5.70733426e-03 5.47245682e-05 9.99983712e-01 -1.68051184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.005336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1141.94, Y:224.53, Z:-16.80 [[ 9.78553109e-01 2.05919329e-01 5.57158493e-03 1.14194248e+03] [-2.05915614e-01 9.78568968e-01 -1.23858805e-03 2.24533460e+02] [-5.70722933e-03 6.47478555e-05 9.99983712e-01 -1.68045423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.0653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1142.00, Y:224.52, Z:-16.80 [[ 9.79200581e-01 2.02818094e-01 5.57167357e-03 1.14199925e+03] [-2.02814331e-01 9.79216429e-01 -1.23818918e-03 2.24521130e+02] [-5.70700146e-03 8.24203127e-05 9.99983712e-01 -1.68043500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.1253361949998 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:1142.06, Y:224.51, Z:-16.81 [[ 9.79648173e-01 2.00644990e-01 5.57174651e-03 1.14205565e+03] [-2.00641194e-01 9.79664013e-01 -1.23786087e-03 2.24507694e+02] [-5.70681013e-03 9.47462638e-05 9.99983712e-01 -1.68051672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.185336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:1142.11, Y:224.49, Z:-16.81 [[ 9.80347107e-01 1.97201686e-01 5.57181839e-03 1.14211281e+03] [-1.97197836e-01 9.80362934e-01 -1.23753721e-03 2.24491656e+02] [-5.70644865e-03 1.14465496e-04 9.99983712e-01 -1.68059556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.245336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1142.17, Y:224.48, Z:-16.81 [[ 9.80741020e-01 1.95233207e-01 5.57187762e-03 1.14216982e+03] [-1.95229327e-01 9.80756840e-01 -1.23727049e-03 2.24476528e+02] [-5.70621337e-03 1.25648010e-04 9.99983712e-01 -1.68074099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.3053361949999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:1142.23, Y:224.46, Z:-16.81 [[ 9.80960344e-01 1.94128197e-01 5.57193618e-03 1.14222648e+03] [-1.94124301e-01 9.80976160e-01 -1.23700674e-03 2.24459892e+02] [-5.70607444e-03 1.31806339e-04 9.99983712e-01 -1.68065174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.3653361949998 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1142.28, Y:224.44, Z:-16.81 [[ 9.80752513e-01 1.95175461e-01 5.57199495e-03 1.14228304e+03] [-1.95171583e-01 9.80768333e-01 -1.23674194e-03 2.24443810e+02] [-5.70621788e-03 1.25442694e-04 9.99983712e-01 -1.68060055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.4253361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1142.34, Y:224.43, Z:-16.81 [[ 9.79957903e-01 1.99126747e-01 5.57205302e-03 1.14234008e+03] [-1.99122934e-01 9.79973739e-01 -1.23648024e-03 2.24428054e+02] [-5.70668192e-03 1.02175034e-04 9.99983712e-01 -1.68058055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.485336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1142.40, Y:224.41, Z:-16.81 [[ 9.79269904e-01 2.02483103e-01 5.57211224e-03 1.14239706e+03] [-2.02479346e-01 9.79285753e-01 -1.23621334e-03 2.24412643e+02] [-5.70700244e-03 8.23488703e-05 9.99983712e-01 -1.68059569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.545336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1142.45, Y:224.40, Z:-16.81 [[ 9.78665498e-01 2.05384501e-01 5.57217099e-03 1.14245307e+03] [-2.05380792e-01 9.78681359e-01 -1.23594844e-03 2.24398269e+02] [-5.70722453e-03 6.51632070e-05 9.99983712e-01 -1.68074377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.6053361949998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1142.51, Y:224.38, Z:-16.81 [[ 9.77705724e-01 2.09905853e-01 5.57224910e-03 1.14251002e+03] [-2.09902220e-01 9.77721602e-01 -1.23559618e-03 2.24382676e+02] [-5.70746719e-03 3.84219964e-05 9.99983712e-01 -1.68065763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.6653361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1142.57, Y:224.37, Z:-16.81 [[ 9.76637167e-01 2.14822704e-01 5.57230817e-03 1.14256731e+03] [-2.14819153e-01 9.76653063e-01 -1.23532975e-03 2.24368942e+02] [-5.70758872e-03 9.43043087e-06 9.99983712e-01 -1.68073413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.725336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1142.62, Y:224.36, Z:-16.81 [[ 9.75817895e-01 2.18514038e-01 5.57236787e-03 1.14262452e+03] [-2.18510548e-01 9.75833805e-01 -1.23506037e-03 2.24355391e+02] [-5.70758297e-03 -1.24271417e-05 9.99983712e-01 -1.68079714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.785336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1142.68, Y:224.34, Z:-16.81 [[ 9.74959066e-01 2.22314567e-01 5.57242709e-03 1.14268099e+03] [-2.22311141e-01 9.74974990e-01 -1.23479314e-03 2.24342562e+02] [-5.70748955e-03 -3.49398591e-05 9.99983712e-01 -1.68064932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.8453361949998 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1142.74, Y:224.33, Z:-16.80 [[ 9.74704649e-01 2.23427380e-01 5.57249998e-03 1.14273826e+03] [-2.23423974e-01 9.74720577e-01 -1.23446410e-03 2.24331271e+02] [-5.70744348e-03 -4.17921916e-05 9.99983712e-01 -1.67996241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.9053361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1142.80, Y:224.32, Z:-16.80 [[ 9.74747390e-01 2.23240837e-01 5.57258697e-03 1.14279563e+03] [-2.23237430e-01 9.74763318e-01 -1.23407127e-03 2.24318878e+02] [-5.70744848e-03 -4.11022423e-05 9.99983712e-01 -1.68049926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.965336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1142.85, Y:224.31, Z:-16.80 [[ 9.74982661e-01 2.22211061e-01 5.57264499e-03 1.14285318e+03] [-2.22207638e-01 9.74998586e-01 -1.23380923e-03 2.24305749e+02] [-5.70748705e-03 -3.53416721e-05 9.99983712e-01 -1.68047461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1142.91, Y:224.29, Z:-16.81 [[ 9.75621408e-01 2.19389638e-01 5.57270437e-03 1.14291040e+03] [-2.19386171e-01 9.75637323e-01 -1.23354100e-03 2.24292883e+02] [-5.70756448e-03 -1.91052637e-05 9.99983712e-01 -1.68059901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.0853361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1142.97, Y:224.28, Z:-16.81 [[ 9.75964978e-01 2.17856158e-01 5.57276322e-03 1.14296726e+03] [-2.17852667e-01 9.75980888e-01 -1.23327506e-03 2.24281409e+02] [-5.70758696e-03 -1.04080659e-05 9.99983712e-01 -1.68074763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.1453361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1143.02, Y:224.27, Z:-16.81 [[ 9.75958274e-01 2.17886187e-01 5.57284149e-03 1.14302415e+03] [-2.17882699e-01 9.75974185e-01 -1.23292126e-03 2.24271361e+02] [-5.70758595e-03 -1.09460417e-05 9.99983712e-01 -1.68082404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.205336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1143.08, Y:224.26, Z:-16.81 [[ 9.76080209e-01 2.17339292e-01 5.57292740e-03 1.14308198e+03] [-2.17335797e-01 9.76096118e-01 -1.23253281e-03 2.24262124e+02] [-5.70759061e-03 -8.14573750e-06 9.99983712e-01 -1.68084347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1143.14, Y:224.25, Z:-16.81 [[ 9.76450919e-01 2.15667670e-01 5.57301372e-03 1.14314032e+03] [-2.15664150e-01 9.76466823e-01 -1.23214241e-03 2.24251349e+02] [-5.70759628e-03 1.22731838e-06 9.99983712e-01 -1.68082200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.3253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1143.20, Y:224.24, Z:-16.81 [[ 9.76898027e-01 2.13633295e-01 5.57307332e-03 1.14319709e+03] [-2.13629744e-01 9.76913924e-01 -1.23187275e-03 2.24239956e+02] [-5.70758196e-03 1.28398282e-05 9.99983712e-01 -1.68101290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.3853361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1143.26, Y:224.23, Z:-16.81 [[ 9.77538272e-01 2.10684283e-01 5.57314720e-03 1.14325531e+03] [-2.10680686e-01 9.77554158e-01 -1.23153845e-03 2.24229378e+02] [-5.70751901e-03 2.97214920e-05 9.99983712e-01 -1.68090190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.445336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1143.31, Y:224.22, Z:-16.81 [[ 9.77889269e-01 2.09049076e-01 5.57320531e-03 1.14331342e+03] [-2.09045453e-01 9.77905150e-01 -1.23127542e-03 2.24218874e+02] [-5.70746316e-03 3.89977899e-05 9.99983712e-01 -1.68094863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.505336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1143.37, Y:224.21, Z:-16.81 [[ 9.78402706e-01 2.06632726e-01 5.57326420e-03 1.14337057e+03] [-2.06629066e-01 9.78418578e-01 -1.23100878e-03 2.24208019e+02] [-5.70735193e-03 5.28239448e-05 9.99983712e-01 -1.68101459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.5653361949999 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:1143.43, Y:224.20, Z:-16.80 [[ 9.78830460e-01 2.04596844e-01 5.57333702e-03 1.14342814e+03] [-2.04593153e-01 9.78846325e-01 -1.23067901e-03 2.24197059e+02] [-5.70723350e-03 6.43595071e-05 9.99983712e-01 -1.68040599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.6253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1143.48, Y:224.18, Z:-16.81 [[ 9.79735079e-01 2.00220159e-01 5.57339509e-03 1.14348450e+03] [-2.00216399e-01 9.79750927e-01 -1.23041597e-03 2.24183776e+02] [-5.70689309e-03 8.95965923e-05 9.99983712e-01 -1.68118182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.685336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1143.54, Y:224.17, Z:-16.81 [[ 9.80478838e-01 1.96545631e-01 5.57347252e-03 1.14354165e+03] [-1.96541813e-01 9.80494672e-01 -1.23006515e-03 2.24170173e+02] [-5.70652404e-03 1.10632457e-04 9.99983712e-01 -1.68130896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1143.60, Y:224.16, Z:-16.81 [[ 9.80832135e-01 1.94774892e-01 5.57352884e-03 1.14359852e+03] [-1.94771047e-01 9.80847963e-01 -1.22980988e-03 2.24156164e+02] [-5.70632050e-03 1.20675000e-04 9.99983712e-01 -1.68124496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.8053361949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1143.66, Y:224.14, Z:-16.81 [[ 9.80960530e-01 1.94127211e-01 5.57358752e-03 1.14365574e+03] [-1.94123357e-01 9.80976356e-01 -1.22954388e-03 2.24142410e+02] [-5.70624550e-03 1.24170493e-04 9.99983712e-01 -1.68119794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.8653361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1143.71, Y:224.13, Z:-16.81 [[ 9.80942010e-01 1.94220768e-01 5.57364587e-03 1.14371147e+03] [-1.94216917e-01 9.80957837e-01 -1.22927932e-03 2.24127113e+02] [-5.70626317e-03 1.23355415e-04 9.99983712e-01 -1.68115082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.9253361949998 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1143.77, Y:224.11, Z:-16.81 [[ 9.80833055e-01 1.94770254e-01 5.57371762e-03 1.14376716e+03] [-1.94766414e-01 9.80848884e-01 -1.22895392e-03 2.24113087e+02] [-5.70633838e-03 1.19825631e-04 9.99983712e-01 -1.68061713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.985336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1143.82, Y:224.10, Z:-16.81 [[ 9.80408303e-01 1.96897161e-01 5.57379374e-03 1.14382258e+03] [-1.96893357e-01 9.80424141e-01 -1.22860860e-03 2.24097387e+02] [-5.70659148e-03 1.07095120e-04 9.99983712e-01 -1.68138338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1143.88, Y:224.08, Z:-16.82 [[ 9.79841766e-01 1.99697387e-01 5.57386413e-03 1.14387992e+03] [-1.99693630e-01 9.79857615e-01 -1.22828918e-03 2.24082983e+02] [-5.70687935e-03 9.04638753e-05 9.99983712e-01 -1.68156462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.1053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1143.94, Y:224.07, Z:-16.81 [[ 9.78621468e-01 2.05594148e-01 5.57391984e-03 1.14393580e+03] [-2.05590488e-01 9.78637340e-01 -1.22803631e-03 2.24067472e+02] [-5.70732316e-03 5.58378013e-05 9.99983712e-01 -1.68138337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.1653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1143.99, Y:224.05, Z:-16.81 [[ 9.77549224e-01 2.10633438e-01 5.57399521e-03 1.14399331e+03] [-2.10629862e-01 9.77565115e-01 -1.22769412e-03 2.24053506e+02] [-5.70753670e-03 2.60815989e-05 9.99983712e-01 -1.68121555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.225336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1144.05, Y:224.04, Z:-16.81 [[ 9.76409679e-01 2.15854277e-01 5.57405019e-03 1.14405027e+03] [-2.15850787e-01 9.76425589e-01 -1.22744442e-03 2.24041452e+02] [-5.70759437e-03 -4.67451009e-06 9.99983712e-01 -1.68125527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1144.11, Y:224.03, Z:-16.81 [[ 9.74669406e-01 2.23581032e-01 5.57413218e-03 1.14410727e+03] [-2.23577670e-01 9.74685344e-01 -1.22707196e-03 2.24030480e+02] [-5.70737496e-03 -5.02619899e-05 9.99983712e-01 -1.68138011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.3453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1144.17, Y:224.02, Z:-16.81 [[ 9.73326885e-01 2.29354973e-01 5.57419982e-03 1.14416552e+03] [-2.29351707e-01 9.73342843e-01 -1.22676464e-03 2.24019209e+02] [-5.70697207e-03 -8.44092418e-05 9.99983712e-01 -1.68145772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.4053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1144.22, Y:224.01, Z:-16.81 [[ 9.72684460e-01 2.32064363e-01 5.57425535e-03 1.14422163e+03] [-2.32061144e-01 9.72700427e-01 -1.22651227e-03 2.24009930e+02] [-5.70671035e-03 -1.00558649e-04 9.99983712e-01 -1.68149226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1144.28, Y:224.00, Z:-16.81 [[ 9.72211078e-01 2.34039625e-01 5.57435139e-03 1.14427907e+03] [-2.34036440e-01 9.72227052e-01 -1.22607560e-03 2.24000533e+02] [-5.70648550e-03 -1.12597073e-04 9.99983712e-01 -1.68135026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1144.34, Y:223.99, Z:-16.81 [[ 9.71995226e-01 2.34934474e-01 5.57443975e-03 1.14433640e+03] [-2.34931306e-01 9.72011203e-01 -1.22567374e-03 2.23992616e+02] [-5.70637091e-03 -1.18261388e-04 9.99983712e-01 -1.68128141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.5853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1144.39, Y:223.98, Z:-16.81 [[ 9.72191132e-01 2.34122464e-01 5.57451272e-03 1.14439270e+03] [-2.34119285e-01 9.72207107e-01 -1.22534178e-03 2.23984387e+02] [-5.70646092e-03 -1.13834528e-04 9.99983712e-01 -1.68130223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.6453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1144.45, Y:223.98, Z:-16.81 [[ 9.72757074e-01 2.31759785e-01 5.57461254e-03 1.14445097e+03] [-2.31756570e-01 9.72773042e-01 -1.22488749e-03 2.23977915e+02] [-5.70671246e-03 -1.00435106e-04 9.99983712e-01 -1.68145052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1144.51, Y:223.97, Z:-16.82 [[ 9.73219173e-01 2.29811585e-01 5.57469840e-03 1.14450759e+03] [-2.29808340e-01 9.73235135e-01 -1.22449660e-03 2.23969028e+02] [-5.70689585e-03 -8.94086183e-05 9.99983712e-01 -1.68174350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.765336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1144.57, Y:223.96, Z:-16.81 [[ 9.74020846e-01 2.26389739e-01 5.57479780e-03 1.14456516e+03] [-2.26386441e-01 9.74036797e-01 -1.22404391e-03 2.23962705e+02] [-5.70716917e-03 -6.98143432e-05 9.99983712e-01 -1.68095952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.8253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1144.62, Y:223.95, Z:-16.81 [[ 9.74313405e-01 2.25127318e-01 5.57488365e-03 1.14462325e+03] [-2.25124001e-01 9.74329352e-01 -1.22365276e-03 2.23950984e+02] [-5.70725044e-03 -6.28188212e-05 9.99983712e-01 -1.68149346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.8853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1144.68, Y:223.94, Z:-16.82 [[ 9.75303176e-01 2.20799987e-01 5.57494172e-03 1.14468011e+03] [-2.20796601e-01 9.75319109e-01 -1.22338816e-03 2.23943446e+02] [-5.70747128e-03 -3.77538208e-05 9.99983712e-01 -1.68161492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.945336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1144.74, Y:223.93, Z:-16.81 [[ 9.76123663e-01 2.17143993e-01 5.57504206e-03 1.14473732e+03] [-2.17140550e-01 9.76139583e-01 -1.22293072e-03 2.23934363e+02] [-5.70757129e-03 -1.68360854e-05 9.99983712e-01 -1.68101802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1144.80, Y:223.92, Z:-16.81 [[ 9.77363215e-01 2.11494833e-01 5.57512737e-03 1.14479536e+03] [-2.11491300e-01 9.77379115e-01 -1.22254166e-03 2.23924840e+02] [-5.70757431e-03 1.57763130e-05 9.99983712e-01 -1.68144506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.0653361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1144.85, Y:223.91, Z:-16.82 [[ 9.78248146e-01 2.07363163e-01 5.57518753e-03 1.14485075e+03] [-2.07359565e-01 9.78264032e-01 -1.22226726e-03 2.23913490e+02] [-5.70745864e-03 3.96122166e-05 9.99983712e-01 -1.68150044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.1253361949998 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:1144.91, Y:223.90, Z:-16.81 [[ 9.79288930e-01 2.02390976e-01 5.57532077e-03 1.14490687e+03] [-2.02387300e-01 9.79304798e-01 -1.22165920e-03 2.23903537e+02] [-5.70719118e-03 6.79832151e-05 9.99983712e-01 -1.68095454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.185336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:1144.96, Y:223.89, Z:-16.82 [[ 9.79603457e-01 2.00863090e-01 5.57545000e-03 1.14496401e+03] [-2.00859393e-01 9.79619321e-01 -1.22106914e-03 2.23891420e+02] [-5.70708626e-03 7.62820509e-05 9.99983712e-01 -1.68155730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1145.02, Y:223.88, Z:-16.82 [[ 9.79987362e-01 1.98981616e-01 5.57550407e-03 1.14501925e+03] [-1.98977890e-01 9.80003219e-01 -1.22082218e-03 2.23878456e+02] [-5.70693311e-03 8.69882736e-05 9.99983712e-01 -1.68155234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.3053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1145.08, Y:223.86, Z:-16.82 [[ 9.80262048e-01 1.97623962e-01 5.57559772e-03 1.14507548e+03] [-1.97620216e-01 9.80277900e-01 -1.22039431e-03 2.23864868e+02] [-5.70681439e-03 9.44554003e-05 9.99983712e-01 -1.68158515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.3653361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1145.13, Y:223.85, Z:-16.82 [[ 9.80564032e-01 1.96120092e-01 5.57567774e-03 1.14513201e+03] [-1.96116324e-01 9.80579879e-01 -1.22002862e-03 2.23851195e+02] [-5.70666953e-03 1.02834758e-04 9.99983712e-01 -1.68176029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.4253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1145.19, Y:223.84, Z:-16.82 [[ 9.80633981e-01 1.95770033e-01 5.57574379e-03 1.14518878e+03] [-1.95766261e-01 9.80649827e-01 -1.21972671e-03 2.23837232e+02] [-5.70663812e-03 1.04562948e-04 9.99983712e-01 -1.68181738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.485336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1145.25, Y:223.82, Z:-16.82 [[ 9.80522588e-01 1.96327190e-01 5.57582152e-03 1.14524532e+03] [-1.96323429e-01 9.80538436e-01 -1.21937128e-03 2.23821321e+02] [-5.70670304e-03 1.00956682e-04 9.99983712e-01 -1.68177256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.545336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:1145.30, Y:223.81, Z:-16.82 [[ 9.80407525e-01 1.96900976e-01 5.57587278e-03 1.14530192e+03] [-1.96897226e-01 9.80423376e-01 -1.21913682e-03 2.23807000e+02] [-5.70676524e-03 9.73770255e-05 9.99983712e-01 -1.68181558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.6053361949998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1145.36, Y:223.79, Z:-16.82 [[ 9.80262935e-01 1.97619553e-01 5.57594947e-03 1.14535869e+03] [-1.97615816e-01 9.80278789e-01 -1.21878595e-03 2.23791406e+02] [-5.70684093e-03 9.28348891e-05 9.99983712e-01 -1.68182382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.6653361949998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1145.42, Y:223.78, Z:-16.82 [[ 9.80263546e-01 1.97616518e-01 5.57600611e-03 1.14541546e+03] [-1.97612783e-01 9.80279401e-01 -1.21852678e-03 2.23776796e+02] [-5.70684495e-03 9.25872975e-05 9.99983712e-01 -1.68188217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.725336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1145.47, Y:223.76, Z:-16.82 [[ 9.79969611e-01 1.99069004e-01 5.57606496e-03 1.14547142e+03] [-1.99065294e-01 9.79985472e-01 -1.21825740e-03 2.23762530e+02] [-5.70697994e-03 8.38542137e-05 9.99983712e-01 -1.68186479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1145.53, Y:223.75, Z:-16.82 [[ 9.79571021e-01 2.01021197e-01 5.57613771e-03 1.14552738e+03] [-2.01017521e-01 9.79586889e-01 -1.21792433e-03 2.23749211e+02] [-5.70714000e-03 7.21420019e-05 9.99983712e-01 -1.68188581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.8453361949998 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1145.58, Y:223.74, Z:-16.82 [[ 9.78929176e-01 2.04123920e-01 5.57622096e-03 1.14558333e+03] [-2.04120296e-01 9.78945056e-01 -1.21754307e-03 2.23735751e+02] [-5.70734360e-03 5.36685650e-05 9.99983712e-01 -1.68193330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.9053361949998 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1145.64, Y:223.72, Z:-16.82 [[ 9.78652672e-01 2.05445497e-01 5.57630638e-03 1.14564009e+03] [-2.05441897e-01 9.78668558e-01 -1.21715172e-03 2.23722538e+02] [-5.70741406e-03 4.55618198e-05 9.99983712e-01 -1.68194810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.965336195 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:1145.70, Y:223.71, Z:-16.82 [[ 9.78537214e-01 2.05994719e-01 5.57639461e-03 1.14569560e+03] [-2.05991130e-01 9.78553102e-01 -1.21674734e-03 2.23709986e+02] [-5.70744177e-03 4.19447304e-05 9.99983712e-01 -1.68206551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.025336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:1145.75, Y:223.70, Z:-16.82 [[ 9.78318255e-01 2.07032112e-01 5.57649639e-03 1.14575233e+03] [-2.07028543e-01 9.78334147e-01 -1.21628072e-03 2.23696709e+02] [-5.70748600e-03 3.54157065e-05 9.99983712e-01 -1.68209778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.0853361949999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1145.81, Y:223.68, Z:-16.82 [[ 9.77867294e-01 2.09151756e-01 5.57658295e-03 1.14580871e+03] [-2.09148222e-01 9.77883195e-01 -1.21588369e-03 2.23683215e+02] [-5.70755096e-03 2.26404806e-05 9.99983712e-01 -1.68222003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.1453361949998 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1145.86, Y:223.67, Z:-16.82 [[ 9.77471164e-01 2.10995317e-01 5.57665426e-03 1.14586419e+03] [-2.10991816e-01 9.77487072e-01 -1.21555656e-03 2.23671353e+02] [-5.70758418e-03 1.15430812e-05 9.99983712e-01 -1.68237469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.205336195 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:1145.92, Y:223.66, Z:-16.82 [[ 9.77030344e-01 2.13027245e-01 5.57677576e-03 1.14592239e+03] [-2.13023780e-01 9.77046259e-01 -1.21499889e-03 2.23659902e+02] [-5.70759576e-03 -8.95066085e-07 9.99983712e-01 -1.68223066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.265336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1145.98, Y:223.65, Z:-16.82 [[ 9.77050896e-01 2.12932961e-01 5.57682971e-03 1.14598035e+03] [-2.12929496e-01 9.77066811e-01 -1.21475118e-03 2.23648714e+02] [-5.70759579e-03 -5.97810923e-07 9.99983712e-01 -1.68234950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.3253361949999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1146.04, Y:223.64, Z:-16.83 [[ 9.77290546e-01 2.11830324e-01 5.57688516e-03 1.14603800e+03] [-2.11826843e-01 9.77306458e-01 -1.21449656e-03 2.23638215e+02] [-5.70759309e-03 5.58202905e-06 9.99983712e-01 -1.68251218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.3853361949998 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1146.10, Y:223.63, Z:-16.83 [[ 9.77547876e-01 2.10639616e-01 5.57694165e-03 1.14609529e+03] [-2.10636116e-01 9.77563784e-01 -1.21423711e-03 2.23627078e+02] [-5.70758262e-03 1.22695796e-05 9.99983712e-01 -1.68263194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.445336195 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:1146.15, Y:223.62, Z:-16.83 [[ 9.78213745e-01 2.07525337e-01 5.57699865e-03 1.14615274e+03] [-2.07521789e-01 9.78229642e-01 -1.21397524e-03 2.23617231e+02] [-5.70751602e-03 3.01785343e-05 9.99983712e-01 -1.68270384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.505336195 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:1146.21, Y:223.61, Z:-16.83 [[ 9.78798875e-01 2.04747790e-01 5.57706888e-03 1.14621057e+03] [-2.04744199e-01 9.78814763e-01 -1.21365254e-03 2.23607097e+02] [-5.70741003e-03 4.60492482e-05 9.99983712e-01 -1.68266916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.5653361949999 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:1146.27, Y:223.60, Z:-16.82 [[ 9.80008626e-01 1.98876816e-01 5.57712342e-03 1.14626778e+03] [-1.98873130e-01 9.80024492e-01 -1.21340184e-03 2.23595452e+02] [-5.70703504e-03 8.00042827e-05 9.99983712e-01 -1.68216607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.6253361949998 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:1146.33, Y:223.58, Z:-16.82 [[ 9.80871950e-01 1.94574180e-01 5.57719518e-03 1.14632548e+03] [-1.94570427e-01 9.80887801e-01 -1.21307193e-03 2.23582170e+02] [-5.70663519e-03 1.04710986e-04 9.99983712e-01 -1.68211758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.685336195 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:1146.38, Y:223.57, Z:-16.82 [[ 9.81842663e-01 1.89615081e-01 5.57725285e-03 1.14638195e+03] [-1.89611250e-01 9.81858494e-01 -1.21280673e-03 2.23568658e+02] [-5.70603953e-03 1.33275505e-04 9.99983712e-01 -1.68235958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.745336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1146.44, Y:223.56, Z:-16.82 [[ 9.82066697e-01 1.88451311e-01 5.57732427e-03 1.14643971e+03] [-1.88447462e-01 9.82082524e-01 -1.21247818e-03 2.23555662e+02] [-5.70588580e-03 1.39701838e-04 9.99983712e-01 -1.68230710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.8053361949999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1146.50, Y:223.54, Z:-16.82 [[ 9.82289404e-01 1.87287000e-01 5.57738280e-03 1.14649551e+03] [-1.87283134e-01 9.82305227e-01 -1.21220890e-03 2.23542277e+02] [-5.70572324e-03 1.46190230e-04 9.99983712e-01 -1.68243249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.8653361949998 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:1146.55, Y:223.53, Z:-16.83 [[ 9.82137996e-01 1.88079370e-01 5.57745529e-03 1.14655110e+03] [-1.88075519e-01 9.82153822e-01 -1.21187527e-03 2.23527907e+02] [-5.70584777e-03 1.41245946e-04 9.99983712e-01 -1.68251186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.9253361949998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1146.61, Y:223.51, Z:-16.83 [[ 9.81617586e-01 1.90776846e-01 5.57752613e-03 1.14660825e+03] [-1.90773040e-01 9.81633424e-01 -1.21154917e-03 2.23513387e+02] [-5.70622160e-03 1.25236353e-04 9.99983712e-01 -1.68259027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.985336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1146.67, Y:223.50, Z:-16.83 [[ 9.81069679e-01 1.93574727e-01 5.57758263e-03 1.14666556e+03] [-1.93570968e-01 9.81085528e-01 -1.21128900e-03 2.23499733e+02] [-5.70656053e-03 1.08700838e-04 9.99983712e-01 -1.68267006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.045336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1146.72, Y:223.49, Z:-16.83 [[ 9.80148477e-01 1.98186409e-01 5.57763900e-03 1.14672311e+03] [-1.98182726e-01 9.80164344e-01 -1.21102936e-03 2.23485455e+02] [-5.70701243e-03 8.15968795e-05 9.99983712e-01 -1.68265010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.1053361949998 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:1146.78, Y:223.47, Z:-16.83 [[ 9.79437428e-01 2.01671053e-01 5.57769656e-03 1.14678014e+03] [-2.01667428e-01 9.79453308e-01 -1.21076422e-03 2.23472121e+02] [-5.70726944e-03 6.10280764e-05 9.99983712e-01 -1.68270733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.1653361949998 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:1146.84, Y:223.46, Z:-16.83 [[ 9.78515424e-01 2.06098167e-01 5.57775379e-03 1.14683525e+03] [-2.06094615e-01 9.78531320e-01 -1.21050050e-03 2.23459260e+02] [-5.70748871e-03 3.49483929e-05 9.99983712e-01 -1.68285508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.225336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:1146.89, Y:223.45, Z:-16.83 [[ 9.78115691e-01 2.07986975e-01 5.57785319e-03 1.14689275e+03] [-2.07983457e-01 9.78131595e-01 -1.21004229e-03 2.23445601e+02] [-5.70754748e-03 2.34601606e-05 9.99983712e-01 -1.68293294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.285336195 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:1146.95, Y:223.43, Z:-16.82 [[ 9.77791178e-01 2.09507279e-01 5.57790968e-03 1.14694939e+03] [-2.09503787e-01 9.77807087e-01 -1.20978185e-03 2.23432779e+02] [-5.70757772e-03 1.43208220e-05 9.99983712e-01 -1.68249349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.3453361949998 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:1147.01, Y:223.42, Z:-16.83 [[ 9.77696448e-01 2.09948904e-01 5.57797962e-03 1.14700649e+03] [-2.09945421e-01 9.77712359e-01 -1.20945927e-03 2.23418289e+02] [-5.70758426e-03 1.14127585e-05 9.99983712e-01 -1.68306598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.4053361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1147.06, Y:223.40, Z:-16.83 [[ 9.77703573e-01 2.09915719e-01 5.57803488e-03 1.14706341e+03] [-2.09912237e-01 9.77719485e-01 -1.20920438e-03 2.23404665e+02] [-5.70758439e-03 1.13456628e-05 9.99983712e-01 -1.68298982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.465336195 meters Centerline goodness : 0.999615 with order 1 Centerline is valid? [True, True] Translation: X:1147.12, Y:223.39, Z:-16.82 [[ 9.77716392e-01 2.09856003e-01 5.57809330e-03 1.14711998e+03] [-2.09852521e-01 9.77732304e-01 -1.20893480e-03 2.23392646e+02] [-5.70758424e-03 1.14184272e-05 9.99983712e-01 -1.68222391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.525336195 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:1147.18, Y:223.38, Z:-16.83 [[ 9.77526363e-01 2.10739397e-01 5.57818070e-03 1.14717603e+03] [-2.10735932e-01 9.77542279e-01 -1.20853141e-03 2.23379030e+02] [-5.70759265e-03 5.84821055e-06 9.99983712e-01 -1.68285945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.5853361949999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1147.23, Y:223.37, Z:-16.83 [[ 9.77523822e-01 2.10751184e-01 5.57825251e-03 1.14723323e+03] [-2.10747721e-01 9.77539738e-01 -1.20819985e-03 2.23366777e+02] [-5.70759304e-03 5.44013266e-06 9.99983712e-01 -1.68269687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.6453361949998 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1147.29, Y:223.35, Z:-16.83 [[ 9.77536704e-01 2.10691422e-01 5.57830954e-03 1.14729041e+03] [-2.10687959e-01 9.77552620e-01 -1.20793651e-03 2.23353772e+02] [-5.70759296e-03 5.51961599e-06 9.99983712e-01 -1.68282195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.705336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1147.35, Y:223.34, Z:-16.83 [[ 9.77587684e-01 2.10454751e-01 5.57836705e-03 1.14734805e+03] [-2.10451286e-01 9.77603599e-01 -1.20767085e-03 2.23340963e+02] [-5.70759177e-03 6.62963363e-06 9.99983712e-01 -1.68285898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1147.41, Y:223.33, Z:-16.83 [[ 9.77593546e-01 2.10427515e-01 5.57842434e-03 1.14740543e+03] [-2.10424052e-01 9.77609462e-01 -1.20740615e-03 2.23328908e+02] [-5.70759190e-03 6.51780503e-06 9.99983712e-01 -1.68300687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.8253361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1147.46, Y:223.32, Z:-16.83 [[ 9.77643837e-01 2.10193739e-01 5.57848118e-03 1.14746313e+03] [-2.10190273e-01 9.77659753e-01 -1.20714350e-03 2.23315535e+02] [-5.70759053e-03 7.61392896e-06 9.99983712e-01 -1.68305579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.8853361949998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1147.52, Y:223.30, Z:-16.83 [[ 9.77622763e-01 2.10291733e-01 5.57853869e-03 1.14752054e+03] [-2.10288270e-01 9.77638679e-01 -1.20687768e-03 2.23303894e+02] [-5.70759159e-03 6.76984339e-06 9.99983712e-01 -1.68299233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.945336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:1147.58, Y:223.29, Z:-16.83 [[ 9.77692193e-01 2.09968698e-01 5.57859615e-03 1.14757658e+03] [-2.09965231e-01 9.77708109e-01 -1.20661202e-03 2.23290594e+02] [-5.70758944e-03 8.38392105e-06 9.99983712e-01 -1.68298173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.005336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1147.63, Y:223.28, Z:-16.83 [[ 9.77728357e-01 2.09800234e-01 5.57866740e-03 1.14763441e+03] [-2.09796766e-01 9.77744272e-01 -1.20628250e-03 2.23279096e+02] [-5.70758845e-03 9.03022694e-06 9.99983712e-01 -1.68300519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.0653361949999 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:1147.69, Y:223.27, Z:-16.83 [[ 9.77758583e-01 2.09659324e-01 5.57872435e-03 1.14769178e+03] [-2.09655855e-01 9.77774497e-01 -1.20601906e-03 2.23266307e+02] [-5.70758754e-03 9.58326676e-06 9.99983712e-01 -1.68311060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.1253361949998 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1147.75, Y:223.26, Z:-16.83 [[ 9.77638687e-01 2.10217685e-01 5.57878081e-03 1.14774956e+03] [-2.10214227e-01 9.77654604e-01 -1.20575782e-03 2.23255090e+02] [-5.70759236e-03 6.05639221e-06 9.99983712e-01 -1.68303815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.185336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1147.81, Y:223.24, Z:-16.83 [[ 9.77561497e-01 2.10576344e-01 5.57883765e-03 1.14780633e+03] [-2.10572893e-01 9.77577416e-01 -1.20549478e-03 2.23243892e+02] [-5.70759437e-03 3.69329343e-06 9.99983712e-01 -1.68309175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.245336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1147.86, Y:223.23, Z:-16.83 [[ 9.77643628e-01 2.10194699e-01 5.57890778e-03 1.14786416e+03] [-2.10191244e-01 9.77659546e-01 -1.20517014e-03 2.23234668e+02] [-5.70759282e-03 5.58933655e-06 9.99983712e-01 -1.68318335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.3053361949999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1147.92, Y:223.22, Z:-16.83 [[ 9.77986130e-01 2.08595313e-01 5.57899156e-03 1.14792134e+03] [-2.08591834e-01 9.78002042e-01 -1.20478217e-03 2.23222953e+02] [-5.70757706e-03 1.45281628e-05 9.99983712e-01 -1.68321961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.3653361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1147.98, Y:223.21, Z:-16.83 [[ 9.78800373e-01 2.04740577e-01 5.57907561e-03 1.14797774e+03] [-2.04737038e-01 9.78816272e-01 -1.20439283e-03 2.23210777e+02] [-5.70747808e-03 3.66167428e-05 9.99983712e-01 -1.68336562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.4253361949998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1148.04, Y:223.20, Z:-16.83 [[ 9.79364761e-01 2.02023609e-01 5.57914491e-03 1.14803503e+03] [-2.02020028e-01 9.79380651e-01 -1.20407172e-03 2.23198561e+02] [-5.70735749e-03 5.21263987e-05 9.99983712e-01 -1.68324099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.485336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1148.09, Y:223.18, Z:-16.83 [[ 9.80307576e-01 1.97397897e-01 5.57920055e-03 1.14809082e+03] [-1.97394242e-01 9.80323449e-01 -1.20381384e-03 2.23184811e+02] [-5.70705145e-03 7.88057626e-05 9.99983712e-01 -1.68346479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.545336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1148.15, Y:223.17, Z:-16.83 [[ 9.80941988e-01 1.94220720e-01 5.57926930e-03 1.14814840e+03] [-1.94217015e-01 9.80957850e-01 -1.20349513e-03 2.23170544e+02] [-5.70677171e-03 9.69698729e-05 9.99983712e-01 -1.68325930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.6053361949998 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1148.20, Y:223.16, Z:-16.83 [[ 9.81432391e-01 1.91727238e-01 5.57932765e-03 1.14820385e+03] [-1.91723494e-01 9.81448243e-01 -1.20322459e-03 2.23155159e+02] [-5.70651224e-03 1.11195392e-04 9.99983712e-01 -1.68327424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.6653361949998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1148.26, Y:223.14, Z:-16.83 [[ 9.81710917e-01 1.90295940e-01 5.57939948e-03 1.14826033e+03] [-1.90292176e-01 9.81726765e-01 -1.20289142e-03 2.23139960e+02] [-5.70635115e-03 1.19175575e-04 9.99983712e-01 -1.68323502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.725336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1148.32, Y:223.12, Z:-16.83 [[ 9.81827593e-01 1.89693033e-01 5.57945703e-03 1.14831777e+03] [-1.89689260e-01 9.81843439e-01 -1.20262443e-03 2.23124448e+02] [-5.70628275e-03 1.22406772e-04 9.99983712e-01 -1.68310254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.785336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1148.37, Y:223.11, Z:-16.83 [[ 9.81707794e-01 1.90312050e-01 5.57948600e-03 1.14837423e+03] [-1.90308288e-01 9.81723642e-01 -1.20248999e-03 2.23105652e+02] [-5.70636165e-03 1.18671367e-04 9.99983712e-01 -1.68308580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.8453361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1148.43, Y:223.09, Z:-16.83 [[ 9.81208502e-01 1.92869762e-01 5.57952901e-03 1.14843093e+03] [-1.92866043e-01 9.81224360e-01 -1.20229040e-03 2.23086553e+02] [-5.70665524e-03 1.03595881e-04 9.99983712e-01 -1.68310383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.9053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1148.49, Y:223.07, Z:-16.83 [[ 9.80601259e-01 1.95933764e-01 5.57955720e-03 1.14848803e+03] [-1.95930094e-01 9.80617129e-01 -1.20215954e-03 2.23070172e+02] [-5.70695301e-03 8.56359846e-05 9.99983712e-01 -1.68319753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.965336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1148.55, Y:223.05, Z:-16.83 [[ 9.79402422e-01 2.01840939e-01 5.57958531e-03 1.14854512e+03] [-2.01837366e-01 9.79418314e-01 -1.20202906e-03 2.23051306e+02] [-5.70736671e-03 5.11013694e-05 9.99983712e-01 -1.68331163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.025336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1148.60, Y:223.03, Z:-16.83 [[ 9.78467197e-01 2.06326956e-01 5.57961355e-03 1.14860236e+03] [-2.06323457e-01 9.78483105e-01 -1.20189799e-03 2.23034463e+02] [-5.70754154e-03 2.48125968e-05 9.99983712e-01 -1.68322250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.0853361949999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:1148.66, Y:223.02, Z:-16.83 [[ 9.76884937e-01 2.13692974e-01 5.57964233e-03 1.14865822e+03] [-2.13689596e-01 9.76900871e-01 -1.20176436e-03 2.23017371e+02] [-5.70756605e-03 -1.83260134e-05 9.99983712e-01 -1.68299071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.1453361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1148.72, Y:223.00, Z:-16.83 [[ 9.75916598e-01 2.18072606e-01 5.57968496e-03 1.14871640e+03] [-2.18069300e-01 9.75932547e-01 -1.20156638e-03 2.23002298e+02] [-5.70742487e-03 -4.41294171e-05 9.99983712e-01 -1.68296727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.205336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1148.77, Y:222.99, Z:-16.83 [[ 9.74713218e-01 2.23389816e-01 5.57971416e-03 1.14877436e+03] [-2.23386598e-01 9.74729185e-01 -1.20143077e-03 2.22986418e+02] [-5.70709764e-03 -7.53829145e-05 9.99983712e-01 -1.68327958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.265336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1148.83, Y:222.97, Z:-16.83 [[ 9.73954342e-01 2.26675554e-01 5.57974303e-03 1.14883226e+03] [-2.26672390e-01 9.73970320e-01 -1.20129669e-03 2.22973356e+02] [-5.70680870e-03 -9.47655665e-05 9.99983712e-01 -1.68333443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.3253361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1148.89, Y:222.96, Z:-16.83 [[ 9.73141620e-01 2.30139639e-01 5.57977256e-03 1.14888952e+03] [-2.30136534e-01 9.73157610e-01 -1.20115950e-03 2.22961819e+02] [-5.70643254e-03 -1.15211212e-04 9.99983712e-01 -1.68343332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.3853361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1148.95, Y:222.95, Z:-16.83 [[ 9.72860910e-01 2.31323402e-01 5.57981628e-03 1.14894819e+03] [-2.31320317e-01 9.72876903e-01 -1.20095638e-03 2.22950019e+02] [-5.70628370e-03 -1.22361350e-04 9.99983712e-01 -1.68342839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.445336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1149.01, Y:222.94, Z:-16.84 [[ 9.72672801e-01 2.32113090e-01 5.57984452e-03 1.14900545e+03] [-2.32110019e-01 9.72688798e-01 -1.20082516e-03 2.22939335e+02] [-5.70617950e-03 -1.27127843e-04 9.99983712e-01 -1.68352079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.505336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1149.06, Y:222.93, Z:-16.84 [[ 9.72745817e-01 2.31806901e-01 5.57991720e-03 1.14906307e+03] [-2.31803827e-01 9.72761813e-01 -1.20048732e-03 2.22927843e+02] [-5.70621162e-03 -1.25677147e-04 9.99983712e-01 -1.68355630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.5653361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1149.12, Y:222.92, Z:-16.84 [[ 9.73296824e-01 2.29482365e-01 5.57997337e-03 1.14912075e+03] [-2.29479254e-01 9.73312813e-01 -1.20022617e-03 2.22917958e+02] [-5.70649032e-03 -1.12311800e-04 9.99983712e-01 -1.68380699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.6253361949998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1149.18, Y:222.91, Z:-16.84 [[ 9.73894422e-01 2.26932848e-01 5.58002871e-03 1.14917941e+03] [-2.26929697e-01 9.73910403e-01 -1.19996885e-03 2.22906380e+02] [-5.70676036e-03 -9.76312499e-05 9.99983712e-01 -1.68377260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.685336195 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:1149.24, Y:222.90, Z:-16.84 [[ 9.74781073e-01 2.23093527e-01 5.58005723e-03 1.14923750e+03] [-2.23090314e-01 9.74797042e-01 -1.19983623e-03 2.22897115e+02] [-5.70709897e-03 -7.52790659e-05 9.99983712e-01 -1.68385593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1149.30, Y:222.89, Z:-16.84 [[ 9.75382626e-01 2.20448624e-01 5.58009964e-03 1.14929510e+03] [-2.20445368e-01 9.75398586e-01 -1.19963896e-03 2.22885558e+02] [-5.70728005e-03 -6.00001215e-05 9.99983712e-01 -1.68383116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.8053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1149.35, Y:222.87, Z:-16.84 [[ 9.76191303e-01 2.16839577e-01 5.58015519e-03 1.14935253e+03] [-2.16836264e-01 9.76207251e-01 -1.19938051e-03 2.22874244e+02] [-5.70746112e-03 -3.91551823e-05 9.99983712e-01 -1.68384942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.8653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1149.41, Y:222.86, Z:-16.84 [[ 9.76594969e-01 2.15014250e-01 5.58021053e-03 1.14940961e+03] [-2.15010908e-01 9.76610911e-01 -1.19912295e-03 2.22863070e+02] [-5.70752302e-03 -2.87486948e-05 9.99983712e-01 -1.68386151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.9253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1149.47, Y:222.85, Z:-16.84 [[ 9.76885315e-01 2.13691230e-01 5.58028179e-03 1.14946762e+03] [-2.13687869e-01 9.76901253e-01 -1.19879128e-03 2.22852296e+02] [-5.70755545e-03 -2.13569273e-05 9.99983712e-01 -1.68395849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1149.53, Y:222.84, Z:-16.84 [[ 9.76806684e-01 2.14050371e-01 5.58033627e-03 1.14952547e+03] [-2.14047017e-01 9.76822624e-01 -1.19853760e-03 2.22840721e+02] [-5.70754614e-03 -2.37147915e-05 9.99983712e-01 -1.68391738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1149.58, Y:222.83, Z:-16.84 [[ 9.76304646e-01 2.16328678e-01 5.58039293e-03 1.14958369e+03] [-2.16325363e-01 9.76320594e-01 -1.19827376e-03 2.22831847e+02] [-5.70747351e-03 -3.73002868e-05 9.99983712e-01 -1.68380781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.1053361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1149.64, Y:222.82, Z:-16.84 [[ 9.75895479e-01 2.18167074e-01 5.58045084e-03 1.14964211e+03] [-2.18163790e-01 9.75911433e-01 -1.19800401e-03 2.22822539e+02] [-5.70739080e-03 -4.83256100e-05 9.99983712e-01 -1.68398934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.1653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1149.70, Y:222.81, Z:-16.84 [[ 9.75485760e-01 2.19991796e-01 5.58050856e-03 1.14969936e+03] [-2.19988543e-01 9.75501720e-01 -1.19773506e-03 2.22814009e+02] [-5.70728759e-03 -5.92744569e-05 9.99983712e-01 -1.68417578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.225336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1149.76, Y:222.80, Z:-16.84 [[ 9.75259244e-01 2.20993811e-01 5.58058462e-03 1.14975780e+03] [-2.20990577e-01 9.75275208e-01 -1.19738055e-03 2.22804859e+02] [-5.70721952e-03 -6.55001650e-05 9.99983712e-01 -1.68430786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.285336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1149.82, Y:222.80, Z:-16.84 [[ 9.74952193e-01 2.22344502e-01 5.58064063e-03 1.14981663e+03] [-2.22341291e-01 9.74968162e-01 -1.19711945e-03 2.22798981e+02] [-5.70711987e-03 -7.36726087e-05 9.99983712e-01 -1.68367068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.3453361949998 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:1149.87, Y:222.79, Z:-16.84 [[ 9.75018349e-01 2.22054218e-01 5.58069735e-03 1.14987494e+03] [-2.22051004e-01 9.75034317e-01 -1.19685497e-03 2.22788834e+02] [-5.70713813e-03 -7.22438965e-05 9.99983712e-01 -1.68358435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.4053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1149.93, Y:222.78, Z:-16.84 [[ 9.75867779e-01 2.18290935e-01 5.58075448e-03 1.14993237e+03] [-2.18287661e-01 9.75883736e-01 -1.19658855e-03 2.22779662e+02] [-5.70737196e-03 -5.04976273e-05 9.99983712e-01 -1.68433145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1149.99, Y:222.77, Z:-16.84 [[ 9.76734479e-01 2.14379599e-01 5.58082530e-03 1.14998908e+03] [-2.14376263e-01 9.76750422e-01 -1.19625813e-03 2.22769137e+02] [-5.70752681e-03 -2.79699159e-05 9.99983712e-01 -1.68444646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.525336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1150.05, Y:222.76, Z:-16.84 [[ 9.77682511e-01 2.10013718e-01 5.58089531e-03 1.15004705e+03] [-2.10010312e-01 9.77698439e-01 -1.19593143e-03 2.22757331e+02] [-5.70759464e-03 -2.80432543e-06 9.99983712e-01 -1.68445240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.5853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1150.10, Y:222.74, Z:-16.84 [[ 9.78656737e-01 2.05426005e-01 5.58095220e-03 1.15010426e+03] [-2.05422527e-01 9.78672650e-01 -1.19566590e-03 2.22744304e+02] [-5.70754615e-03 2.36931819e-05 9.99983712e-01 -1.68448066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.6453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1150.16, Y:222.73, Z:-16.85 [[ 9.79754797e-01 2.00123439e-01 5.58101067e-03 1.15016041e+03] [-2.00119876e-01 9.79770691e-01 -1.19539290e-03 2.22730458e+02] [-5.70733682e-03 5.43207640e-05 9.99983712e-01 -1.68465952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1150.22, Y:222.72, Z:-16.85 [[ 9.80127143e-01 1.98291795e-01 5.58108289e-03 1.15021776e+03] [-1.98288204e-01 9.80143030e-01 -1.19505563e-03 2.22716057e+02] [-5.70722922e-03 6.46435587e-05 9.99983712e-01 -1.68467058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.765336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1150.27, Y:222.70, Z:-16.85 [[ 9.80188720e-01 1.97987180e-01 5.58113996e-03 1.15027361e+03] [-1.97983586e-01 9.80204607e-01 -1.19478903e-03 2.22702049e+02] [-5.70721202e-03 6.61446268e-05 9.99983712e-01 -1.68455561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.8253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1150.33, Y:222.69, Z:-16.85 [[ 9.79863823e-01 1.99588925e-01 5.58121045e-03 1.15033046e+03] [-1.99585358e-01 9.79879716e-01 -1.19445966e-03 2.22688416e+02] [-5.70731583e-03 5.64799218e-05 9.99983712e-01 -1.68454267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.8853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1150.39, Y:222.67, Z:-16.85 [[ 9.79512220e-01 2.01307380e-01 5.58126680e-03 1.15038796e+03] [-2.01303843e-01 9.79528119e-01 -1.19419634e-03 2.22674648e+02] [-5.70740830e-03 4.61994545e-05 9.99983712e-01 -1.68464547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1150.45, Y:222.66, Z:-16.85 [[ 9.78752060e-01 2.04971348e-01 5.58132294e-03 1.15044503e+03] [-2.04967872e-01 9.78767974e-01 -1.19393388e-03 2.22660230e+02] [-5.70754238e-03 2.45733560e-05 9.99983712e-01 -1.68458731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.005336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1150.50, Y:222.65, Z:-16.85 [[ 9.78105361e-01 2.08035456e-01 5.58137924e-03 1.15050231e+03] [-2.08032032e-01 9.78121285e-01 -1.19367064e-03 2.22647227e+02] [-5.70759165e-03 6.42999047e-06 9.99983712e-01 -1.68460950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.0653361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1150.56, Y:222.64, Z:-16.84 [[ 9.76973708e-01 2.13286712e-01 5.58143594e-03 1.15055867e+03] [-2.13283374e-01 9.76989651e-01 -1.19340548e-03 2.22635091e+02] [-5.70754268e-03 -2.45017170e-05 9.99983712e-01 -1.68432500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.1253361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1150.62, Y:222.62, Z:-16.85 [[ 9.76108339e-01 2.17212702e-01 5.58150609e-03 1.15061607e+03] [-2.17209430e-01 9.76124295e-01 -1.19307729e-03 2.22623290e+02] [-5.70739524e-03 -4.77830603e-05 9.99983712e-01 -1.68463069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1150.67, Y:222.61, Z:-16.85 [[ 9.74999334e-01 2.22137669e-01 5.58156179e-03 1.15067308e+03] [-2.22134480e-01 9.75015308e-01 -1.19281663e-03 2.22614036e+02] [-5.70707769e-03 -7.68619012e-05 9.99983712e-01 -1.68480080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.245336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1150.73, Y:222.60, Z:-16.85 [[ 9.74633330e-01 2.23738056e-01 5.58163045e-03 1.15073067e+03] [-2.23734894e-01 9.74649309e-01 -1.19249527e-03 2.22603793e+02] [-5.70693883e-03 -8.65598675e-05 9.99983712e-01 -1.68479630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.3053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1150.79, Y:222.59, Z:-16.85 [[ 9.74822093e-01 2.22914181e-01 5.58171153e-03 1.15078761e+03] [-2.22911009e-01 9.74838069e-01 -1.19211564e-03 2.22594821e+02] [-5.70700437e-03 -8.21242874e-05 9.99983712e-01 -1.68502923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.3653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1150.84, Y:222.58, Z:-16.85 [[ 9.75242068e-01 2.21069565e-01 5.58177827e-03 1.15084486e+03] [-2.21066364e-01 9.75258039e-01 -1.19180306e-03 2.22584396e+02] [-5.70714551e-03 -7.16469449e-05 9.99983712e-01 -1.68505926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.4253361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1150.90, Y:222.57, Z:-16.85 [[ 9.75919358e-01 2.18060196e-01 5.58185540e-03 1.15090149e+03] [-2.18056948e-01 9.75935320e-01 -1.19144169e-03 2.22574607e+02] [-5.70733585e-03 -5.44113394e-05 9.99983712e-01 -1.68500332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1150.96, Y:222.56, Z:-16.85 [[ 9.76303435e-01 2.16334103e-01 5.58191898e-03 1.15095894e+03] [-2.16330829e-01 9.76319391e-01 -1.19114374e-03 2.22564287e+02] [-5.70742076e-03 -4.46234362e-05 9.99983712e-01 -1.68476944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1151.02, Y:222.56, Z:-16.85 [[ 9.76920985e-01 2.13528056e-01 5.58198934e-03 1.15101588e+03] [-2.13524738e-01 9.76936932e-01 -1.19081393e-03 2.22555123e+02] [-5.70752372e-03 -2.85616890e-05 9.99983712e-01 -1.68504407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.6053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1151.07, Y:222.54, Z:-16.85 [[ 9.77363989e-01 2.11491072e-01 5.58205878e-03 1.15107344e+03] [-2.11487722e-01 9.77379929e-01 -1.19048833e-03 2.22543527e+02] [-5.70756987e-03 -1.69964735e-05 9.99983712e-01 -1.68527264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.6653361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1151.13, Y:222.53, Z:-16.85 [[ 9.78212557e-01 2.07530802e-01 5.58211370e-03 1.15113033e+03] [-2.07527389e-01 9.78228484e-01 -1.19023077e-03 2.22532859e+02] [-5.70759217e-03 5.85720559e-06 9.99983712e-01 -1.68532760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1151.19, Y:222.52, Z:-16.85 [[ 9.78982088e-01 2.03869837e-01 5.58218179e-03 1.15118772e+03] [-2.03866366e-01 9.78998003e-01 -1.18991134e-03 2.22521323e+02] [-5.70753185e-03 2.68827732e-05 9.99983712e-01 -1.68522590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1151.24, Y:222.51, Z:-16.85 [[ 9.79332663e-01 2.02179061e-01 5.58223154e-03 1.15124430e+03] [-2.02175565e-01 9.79348572e-01 -1.18967791e-03 2.22508182e+02] [-5.70747845e-03 3.64996231e-05 9.99983712e-01 -1.68519837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.8453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1151.30, Y:222.50, Z:-16.85 [[ 9.79441089e-01 2.01653146e-01 5.58231139e-03 1.15130074e+03] [-2.01649643e-01 9.79456996e-01 -1.18930311e-03 2.22495045e+02] [-5.70746066e-03 3.91812356e-05 9.99983712e-01 -1.68534342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.9053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1151.36, Y:222.48, Z:-16.85 [[ 9.79190844e-01 2.02864802e-01 5.58237711e-03 1.15135780e+03] [-2.02861320e-01 9.79206756e-01 -1.18899456e-03 2.22482631e+02] [-5.70750653e-03 3.18041989e-05 9.99983712e-01 -1.68533928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1151.41, Y:222.47, Z:-16.86 [[ 9.78868686e-01 2.04413628e-01 5.58243319e-03 1.15141454e+03] [-2.04410172e-01 9.78884604e-01 -1.18873119e-03 2.22469438e+02] [-5.70755076e-03 2.25056024e-05 9.99983712e-01 -1.68553286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1151.47, Y:222.46, Z:-16.86 [[ 9.78828831e-01 2.04604387e-01 5.58250777e-03 1.15147216e+03] [-2.04600937e-01 9.78844750e-01 -1.18838083e-03 2.22455481e+02] [-5.70755636e-03 2.10351029e-05 9.99983712e-01 -1.68550168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.0853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1151.53, Y:222.44, Z:-16.86 [[ 9.78965666e-01 2.03948669e-01 5.58256465e-03 1.15152795e+03] [-2.03945210e-01 9.78981583e-01 -1.18811360e-03 2.22439992e+02] [-5.70754216e-03 2.45851019e-05 9.99983712e-01 -1.68565531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.1453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1151.59, Y:222.43, Z:-16.86 [[ 9.79001176e-01 2.03778143e-01 5.58263491e-03 1.15158533e+03] [-2.03774683e-01 9.79017093e-01 -1.18778337e-03 2.22425679e+02] [-5.70753929e-03 2.52416564e-05 9.99983712e-01 -1.68575261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1151.64, Y:222.41, Z:-16.86 [[ 9.78762331e-01 2.04922261e-01 5.58269075e-03 1.15164200e+03] [-2.04918821e-01 9.78778252e-01 -1.18752085e-03 2.22410110e+02] [-5.70756575e-03 1.83022723e-05 9.99983712e-01 -1.68575697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.265336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1151.70, Y:222.40, Z:-16.86 [[ 9.78326768e-01 2.06991710e-01 5.58274633e-03 1.15169916e+03] [-2.06988305e-01 9.78342697e-01 -1.18725951e-03 2.22396367e+02] [-5.70759197e-03 5.96455845e-06 9.99983712e-01 -1.68578470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.3253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1151.76, Y:222.38, Z:-16.86 [[ 9.77419280e-01 2.11235374e-01 5.58280345e-03 1.15175665e+03] [-2.11232039e-01 9.77435224e-01 -1.18699087e-03 2.22382076e+02] [-5.70756320e-03 -1.90791977e-05 9.99983712e-01 -1.68559930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.3853361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1151.81, Y:222.37, Z:-16.85 [[ 9.76807878e-01 2.14044856e-01 5.58286076e-03 1.15181245e+03] [-2.14041569e-01 9.76823832e-01 -1.18672125e-03 2.22368397e+02] [-5.70748302e-03 -3.57656104e-05 9.99983712e-01 -1.68549653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1151.87, Y:222.35, Z:-16.85 [[ 9.76424261e-01 2.15788074e-01 5.58293132e-03 1.15186966e+03] [-2.15784818e-01 9.76440221e-01 -1.18638920e-03 2.22354896e+02] [-5.70740733e-03 -4.62926220e-05 9.99983712e-01 -1.68536152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1151.93, Y:222.34, Z:-16.86 [[ 9.76113046e-01 2.17191510e-01 5.58298755e-03 1.15192630e+03] [-2.17188278e-01 9.76129010e-01 -1.18612453e-03 2.22341366e+02] [-5.70733229e-03 -5.47678233e-05 9.99983712e-01 -1.68550242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.5653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1151.98, Y:222.33, Z:-16.86 [[ 9.75921120e-01 2.18052280e-01 5.58305702e-03 1.15198342e+03] [-2.18049064e-01 9.75937088e-01 -1.18579744e-03 2.22326806e+02] [-5.70727825e-03 -6.01355937e-05 9.99983712e-01 -1.68584312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.6253361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1152.04, Y:222.31, Z:-16.86 [[ 9.75825232e-01 2.18480997e-01 5.58311252e-03 1.15203973e+03] [-2.18477789e-01 9.75841201e-01 -1.18553606e-03 2.22313793e+02] [-5.70724833e-03 -6.29100822e-05 9.99983712e-01 -1.68593107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1152.10, Y:222.30, Z:-16.86 [[ 9.75707758e-01 2.19005022e-01 5.58318507e-03 1.15209723e+03] [-2.19001826e-01 9.75723729e-01 -1.18519431e-03 2.22301291e+02] [-5.70720966e-03 -6.63244426e-05 9.99983712e-01 -1.68585133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.745336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1152.15, Y:222.29, Z:-16.86 [[ 9.75270292e-01 2.20944984e-01 5.58323924e-03 1.15215440e+03] [-2.20941820e-01 9.75286270e-01 -1.18493909e-03 2.22289548e+02] [-5.70706292e-03 -7.79351504e-05 9.99983712e-01 -1.68586984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.8053361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1152.21, Y:222.28, Z:-16.86 [[ 9.74962062e-01 2.22301158e-01 5.58329348e-03 1.15221257e+03] [-2.22298018e-01 9.74978045e-01 -1.18468343e-03 2.22279245e+02] [-5.70694506e-03 -8.61336719e-05 9.99983712e-01 -1.68592685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.8653361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1152.27, Y:222.27, Z:-16.86 [[ 9.74634287e-01 2.23733842e-01 5.58334983e-03 1.15226992e+03] [-2.23730727e-01 9.74650275e-01 -1.18441779e-03 2.22270213e+02] [-5.70680779e-03 -9.47927309e-05 9.99983712e-01 -1.68590864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.9253361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1152.33, Y:222.26, Z:-16.86 [[ 9.74828213e-01 2.22887373e-01 5.58341929e-03 1.15232727e+03] [-2.22884246e-01 9.74844198e-01 -1.18409026e-03 2.22259236e+02] [-5.70688267e-03 -9.01716019e-05 9.99983712e-01 -1.68583165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1152.38, Y:222.25, Z:-16.86 [[ 9.75485300e-01 2.19993759e-01 5.58347437e-03 1.15238412e+03] [-2.19990586e-01 9.75501276e-01 -1.18383051e-03 2.22248377e+02] [-5.70712170e-03 -7.35025386e-05 9.99983712e-01 -1.68601723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.045336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1152.44, Y:222.24, Z:-16.86 [[ 9.76420546e-01 2.15804868e-01 5.58354667e-03 1.15244231e+03] [-2.15801628e-01 9.76436509e-01 -1.18348941e-03 2.22238356e+02] [-5.70738159e-03 -4.93550866e-05 9.99983712e-01 -1.68608302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.1053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1152.50, Y:222.23, Z:-16.86 [[ 9.77259348e-01 2.11974031e-01 5.58360404e-03 1.15249860e+03] [-2.11970731e-01 9.77275299e-01 -1.18321866e-03 2.22225889e+02] [-5.70752994e-03 -2.72491330e-05 9.99983712e-01 -1.68613468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.1653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1152.56, Y:222.21, Z:-16.86 [[ 9.78334294e-01 2.06956112e-01 5.58367506e-03 1.15255588e+03] [-2.06952732e-01 9.78350227e-01 -1.18288340e-03 2.22213736e+02] [-5.70759472e-03 1.69858821e-06 9.99983712e-01 -1.68619282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.225336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1152.61, Y:222.20, Z:-16.86 [[ 9.78705799e-01 2.05192057e-01 5.58370775e-03 1.15261385e+03] [-2.05188649e-01 9.78721727e-01 -1.18272908e-03 2.22201939e+02] [-5.70758271e-03 1.18303565e-05 9.99983712e-01 -1.68617452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1152.67, Y:222.19, Z:-16.86 [[ 9.78687593e-01 2.05278877e-01 5.58376407e-03 1.15267072e+03] [-2.05275471e-01 9.78703521e-01 -1.18246315e-03 2.22190664e+02] [-5.70758426e-03 1.10522125e-05 9.99983712e-01 -1.68615068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.3453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1152.73, Y:222.18, Z:-16.86 [[ 9.78395508e-01 2.06666520e-01 5.58383956e-03 1.15272844e+03] [-2.06663139e-01 9.78411442e-01 -1.18210656e-03 2.22179897e+02] [-5.70759436e-03 2.59393966e-06 9.99983712e-01 -1.68608576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.4053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1152.79, Y:222.17, Z:-16.86 [[ 9.78032114e-01 2.08379471e-01 5.58389457e-03 1.15278654e+03] [-2.08376119e-01 9.78048054e-01 -1.18184663e-03 2.22169708e+02] [-5.70758980e-03 -7.66631992e-06 9.99983712e-01 -1.68612001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1152.84, Y:222.16, Z:-16.86 [[ 9.77977653e-01 2.08634918e-01 5.58395150e-03 1.15284318e+03] [-2.08631573e-01 9.77993594e-01 -1.18157761e-03 2.22159885e+02] [-5.70758715e-03 -9.43208335e-06 9.99983712e-01 -1.68634786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1152.90, Y:222.15, Z:-16.86 [[ 9.78247224e-01 2.07367279e-01 5.58402651e-03 1.15290138e+03] [-2.07363914e-01 9.78263161e-01 -1.18122302e-03 2.22149706e+02] [-5.70759442e-03 -2.39745767e-06 9.99983712e-01 -1.68618762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.5853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1152.96, Y:222.14, Z:-16.86 [[ 9.78615562e-01 2.05621984e-01 5.58408175e-03 1.15295913e+03] [-2.05618593e-01 9.78631493e-01 -1.18096183e-03 2.22138528e+02] [-5.70758997e-03 7.51659003e-06 9.99983712e-01 -1.68614229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.6453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1153.02, Y:222.13, Z:-16.86 [[ 9.79260392e-01 2.02528768e-01 5.58413664e-03 1.15301586e+03] [-2.02525328e-01 9.79276313e-01 -1.18070219e-03 2.22126780e+02] [-5.70753890e-03 2.52857823e-05 9.99983712e-01 -1.68627504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.705336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1153.07, Y:222.11, Z:-16.86 [[ 9.80028885e-01 1.98776760e-01 5.58420479e-03 1.15307316e+03] [-1.98773261e-01 9.80044794e-01 -1.18037982e-03 2.22113299e+02] [-5.70740290e-03 4.68157269e-05 9.99983712e-01 -1.68647406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.765336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1153.13, Y:222.10, Z:-16.87 [[ 9.80535289e-01 1.96263505e-01 5.58426224e-03 1.15313032e+03] [-1.96259967e-01 9.80551188e-01 -1.18010795e-03 2.22099415e+02] [-5.70726710e-03 6.11703728e-05 9.99983712e-01 -1.68660786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.8253361949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1153.19, Y:222.08, Z:-16.87 [[ 9.81066301e-01 1.93591654e-01 5.58430474e-03 1.15318780e+03] [-1.93588074e-01 9.81082191e-01 -1.17990680e-03 2.22084542e+02] [-5.70708204e-03 7.65119966e-05 9.99983712e-01 -1.68667938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.8853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1153.25, Y:222.07, Z:-16.87 [[ 9.81050100e-01 1.93673739e-01 5.58433279e-03 1.15324642e+03] [-1.93670160e-01 9.81065990e-01 -1.17977404e-03 2.22071602e+02] [-5.70709023e-03 7.58988089e-05 9.99983712e-01 -1.68677181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.945336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:1153.30, Y:222.06, Z:-16.86 [[ 9.80720663e-01 1.95335085e-01 5.58436072e-03 1.15330453e+03] [-1.95331534e-01 9.80736560e-01 -1.17964179e-03 2.22057393e+02] [-5.70721216e-03 6.60973355e-05 9.99983712e-01 -1.68635782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.005336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1153.36, Y:222.04, Z:-16.87 [[ 9.80345967e-01 1.97206997e-01 5.58438963e-03 1.15336127e+03] [-1.97203477e-01 9.80361871e-01 -1.17950492e-03 2.22044007e+02] [-5.70732929e-03 5.50618400e-05 9.99983712e-01 -1.68688296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.0653361949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1153.42, Y:222.03, Z:-16.87 [[ 9.79789167e-01 1.99955003e-01 5.58441877e-03 1.15341933e+03] [-1.99951528e-01 9.79805080e-01 -1.17936696e-03 2.22033115e+02] [-5.70746220e-03 3.89179054e-05 9.99983712e-01 -1.68661939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.1253361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1153.48, Y:222.02, Z:-16.86 [[ 9.79570601e-01 2.01023014e-01 5.58447295e-03 1.15347776e+03] [-2.01019559e-01 9.79586518e-01 -1.17911034e-03 2.22020530e+02] [-5.70750273e-03 3.24335370e-05 9.99983712e-01 -1.68648575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.185336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1153.53, Y:222.01, Z:-16.87 [[ 9.79552707e-01 2.01110189e-01 5.58450177e-03 1.15353447e+03] [-2.01106736e-01 9.79568625e-01 -1.17897385e-03 2.22007013e+02] [-5.70750637e-03 3.17861052e-05 9.99983712e-01 -1.68653379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1153.59, Y:222.00, Z:-16.87 [[ 9.79565286e-01 2.01048908e-01 5.58454470e-03 1.15359111e+03] [-2.01045454e-01 9.79581204e-01 -1.17877044e-03 2.21995901e+02] [-5.70750553e-03 3.19352787e-05 9.99983712e-01 -1.68665965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.3053361949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1153.65, Y:221.98, Z:-16.87 [[ 9.79532904e-01 2.01206617e-01 5.58461371e-03 1.15364957e+03] [-2.01203168e-01 9.79548823e-01 -1.17844340e-03 2.21984072e+02] [-5.70751240e-03 3.06821085e-05 9.99983712e-01 -1.68653020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.3653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1153.71, Y:221.97, Z:-16.87 [[ 9.79503477e-01 2.01349820e-01 5.58464235e-03 1.15370739e+03] [-2.01346375e-01 9.79519397e-01 -1.17830767e-03 2.21971629e+02] [-5.70751754e-03 2.97089699e-05 9.99983712e-01 -1.68663957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.4253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1153.77, Y:221.96, Z:-16.87 [[ 9.79563485e-01 2.01057678e-01 5.58468489e-03 1.15376585e+03] [-2.01054229e-01 9.79579404e-01 -1.17810600e-03 2.21959420e+02] [-5.70750956e-03 3.12051029e-05 9.99983712e-01 -1.68669078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1153.82, Y:221.95, Z:-16.87 [[ 9.79831274e-01 1.99748555e-01 5.58471399e-03 1.15382301e+03] [-1.99745085e-01 9.79847189e-01 -1.17796805e-03 2.21948104e+02] [-5.70746372e-03 3.86907611e-05 9.99983712e-01 -1.68680058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1153.88, Y:221.94, Z:-16.87 [[ 9.79990498e-01 1.98965912e-01 5.58475717e-03 1.15387957e+03] [-1.98962431e-01 9.80006410e-01 -1.17776330e-03 2.21936105e+02] [-5.70743258e-03 4.30399824e-05 9.99983712e-01 -1.68687924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.6053361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1153.94, Y:221.92, Z:-16.87 [[ 9.80114236e-01 1.98355475e-01 5.58482564e-03 1.15393816e+03] [-1.98351986e-01 9.80130146e-01 -1.17743852e-03 2.21923532e+02] [-5.70740735e-03 4.62629993e-05 9.99983712e-01 -1.68674108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.6653361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1154.00, Y:221.91, Z:-16.87 [[ 9.80271747e-01 1.97575584e-01 5.58485441e-03 1.15399628e+03] [-1.97572082e-01 9.80287655e-01 -1.17730207e-03 2.21911498e+02] [-5.70736997e-03 5.06646409e-05 9.99983712e-01 -1.68661025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1154.05, Y:221.90, Z:-16.87 [[ 9.80616043e-01 1.95859608e-01 5.58488291e-03 1.15405342e+03] [-1.95856080e-01 9.80631944e-01 -1.17716684e-03 2.21900190e+02] [-5.70727402e-03 6.05154131e-05 9.99983712e-01 -1.68658198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.785336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1154.11, Y:221.89, Z:-16.87 [[ 9.81476429e-01 1.91501510e-01 5.58492526e-03 1.15411175e+03] [-1.91497912e-01 9.81492315e-01 -1.17696590e-03 2.21886849e+02] [-5.70695197e-03 8.56627612e-05 9.99983712e-01 -1.68673735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.8453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1154.17, Y:221.87, Z:-16.87 [[ 9.81892825e-01 1.89354930e-01 5.58495301e-03 1.15417000e+03] [-1.89351298e-01 9.81908703e-01 -1.17683420e-03 2.21873287e+02] [-5.70675332e-03 9.80069570e-05 9.99983712e-01 -1.68679545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.9053361949998 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1154.23, Y:221.86, Z:-16.86 [[ 9.82177012e-01 1.87875293e-01 5.58498081e-03 1.15422876e+03] [-1.87871639e-01 9.82192885e-01 -1.17670226e-03 2.21861651e+02] [-5.70660169e-03 1.06470411e-04 9.99983712e-01 -1.68617075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.965336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1154.29, Y:221.85, Z:-16.87 [[ 9.82450183e-01 1.86441535e-01 5.58500897e-03 1.15428686e+03] [-1.86437858e-01 9.82466051e-01 -1.17656859e-03 2.21848076e+02] [-5.70644296e-03 1.14662914e-04 9.99983712e-01 -1.68666251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1154.35, Y:221.83, Z:-16.87 [[ 9.82780542e-01 1.84692214e-01 5.58502288e-03 1.15434530e+03] [-1.84688509e-01 9.82796403e-01 -1.17650255e-03 2.21834825e+02] [-5.70623126e-03 1.24754272e-04 9.99983712e-01 -1.68666399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.0853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1154.40, Y:221.82, Z:-16.87 [[ 9.82980213e-01 1.83626546e-01 5.58505005e-03 1.15440376e+03] [-1.83622825e-01 9.82996070e-01 -1.17637355e-03 2.21821259e+02] [-5.70609566e-03 1.30809259e-04 9.99983712e-01 -1.68677862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.1453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1154.46, Y:221.81, Z:-16.87 [[ 9.83176310e-01 1.82573684e-01 5.58505005e-03 1.15446256e+03] [-1.82569945e-01 9.83192164e-01 -1.17637355e-03 2.21806742e+02] [-5.70595230e-03 1.36920328e-04 9.99983712e-01 -1.68673595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1154.52, Y:221.79, Z:-16.87 [[ 9.83195895e-01 1.82468188e-01 5.58505005e-03 1.15452034e+03] [-1.82464447e-01 9.83211748e-01 -1.17637355e-03 2.21792631e+02] [-5.70593757e-03 1.37532578e-04 9.99983712e-01 -1.68669714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1154.58, Y:221.78, Z:-16.87 [[ 9.83134858e-01 1.82796765e-01 5.58506388e-03 1.15457934e+03] [-1.82793030e-01 9.83150713e-01 -1.17630789e-03 2.21777714e+02] [-5.70598481e-03 1.35558546e-04 9.99983712e-01 -1.68665592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.3253361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1154.64, Y:221.76, Z:-16.87 [[ 9.82962986e-01 1.83718738e-01 5.58506388e-03 1.15463711e+03] [-1.83715018e-01 9.82978844e-01 -1.17630789e-03 2.21762788e+02] [-5.70610944e-03 1.30207011e-04 9.99983712e-01 -1.68686758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.3853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1154.70, Y:221.75, Z:-16.87 [[ 9.82763017e-01 1.84785440e-01 5.58507773e-03 1.15469621e+03] [-1.84781738e-01 9.82778879e-01 -1.17624210e-03 2.21748155e+02] [-5.70624885e-03 1.23946862e-04 9.99983712e-01 -1.68694616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.445336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1154.75, Y:221.73, Z:-16.87 [[ 9.82298176e-01 1.87240755e-01 5.58507773e-03 1.15475469e+03] [-1.87237093e-01 9.82314047e-01 -1.17624210e-03 2.21732166e+02] [-5.70654077e-03 1.09686752e-04 9.99983712e-01 -1.68665136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1154.81, Y:221.72, Z:-16.87 [[ 9.81789467e-01 1.89890099e-01 5.58507773e-03 1.15481318e+03] [-1.89886479e-01 9.81805348e-01 -1.17624210e-03 2.21715844e+02] [-5.70681592e-03 9.42913584e-05 9.99983712e-01 -1.68724025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.5653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1154.87, Y:221.70, Z:-16.87 [[ 9.80890691e-01 1.94479459e-01 5.58507773e-03 1.15487169e+03] [-1.94475914e-01 9.80906589e-01 -1.17624210e-03 2.21699804e+02] [-5.70719447e-03 6.76018306e-05 9.99983712e-01 -1.68712227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.6253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1154.93, Y:221.69, Z:-16.87 [[ 9.80163588e-01 1.98111453e-01 5.58507773e-03 1.15493087e+03] [-1.98107966e-01 9.80179499e-01 -1.17624210e-03 2.21685347e+02] [-5.70740573e-03 4.64612859e-05 9.99983712e-01 -1.68697214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1154.99, Y:221.67, Z:-16.87 [[ 9.78958985e-01 2.03980668e-01 5.58507773e-03 1.15498970e+03] [-2.03977277e-01 9.78974916e-01 -1.17624210e-03 2.21671222e+02] [-5.70758166e-03 1.22638215e-05 9.99983712e-01 -1.68702339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1155.05, Y:221.66, Z:-16.87 [[ 9.77997253e-01 2.08542993e-01 5.58507773e-03 1.15504903e+03] [-2.08539677e-01 9.78013200e-01 -1.17624210e-03 2.21657497e+02] [-5.70757680e-03 -1.43487627e-05 9.99983712e-01 -1.68734259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.8053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1155.11, Y:221.64, Z:-16.87 [[ 9.77521834e-01 2.10760223e-01 5.58507773e-03 1.15510740e+03] [-2.10756943e-01 9.77537788e-01 -1.17624210e-03 2.21644089e+02] [-5.70752958e-03 -2.72915754e-05 9.99983712e-01 -1.68749951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.8653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1155.17, Y:221.63, Z:-16.88 [[ 9.76949065e-01 2.13399462e-01 5.58509153e-03 1.15516601e+03] [-2.13396225e-01 9.76965029e-01 -1.17617659e-03 2.21631108e+02] [-5.70743456e-03 -4.27728223e-05 9.99983712e-01 -1.68754332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.9253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1155.22, Y:221.62, Z:-16.88 [[ 9.76613883e-01 2.14928197e-01 5.58509153e-03 1.15522459e+03] [-2.14924985e-01 9.76629852e-01 -1.17617660e-03 2.21619160e+02] [-5.70736063e-03 -5.17053182e-05 9.99983712e-01 -1.68760149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1155.28, Y:221.61, Z:-16.87 [[ 9.76499518e-01 2.15447206e-01 5.58510525e-03 1.15528349e+03] [-2.15444002e-01 9.76515488e-01 -1.17611142e-03 2.21607305e+02] [-5.70733170e-03 -5.48051924e-05 9.99983712e-01 -1.68740100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1155.34, Y:221.59, Z:-16.88 [[ 9.76817544e-01 2.14000681e-01 5.58513207e-03 1.15534027e+03] [-2.13997455e-01 9.76833510e-01 -1.17598407e-03 2.21594264e+02] [-5.70740555e-03 -4.64821752e-05 9.99983712e-01 -1.68753328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.1053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1155.40, Y:221.58, Z:-16.88 [[ 9.77138799e-01 2.12528995e-01 5.58516119e-03 1.15539761e+03] [-2.12525745e-01 9.77154760e-01 -1.17584575e-03 2.21582223e+02] [-5.70746815e-03 -3.80260379e-05 9.99983712e-01 -1.68750440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.1653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1155.46, Y:221.57, Z:-16.88 [[ 9.77355100e-01 2.11532065e-01 5.58520018e-03 1.15545559e+03] [-2.11528801e-01 9.77371058e-01 -1.17566052e-03 2.21569854e+02] [-5.70750290e-03 -3.23928901e-05 9.99983712e-01 -1.68756222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1155.51, Y:221.56, Z:-16.87 [[ 9.77401013e-01 2.11319818e-01 5.58522619e-03 1.15551494e+03] [-2.11316550e-01 9.77416970e-01 -1.17553693e-03 2.21555914e+02] [-5.70750911e-03 -3.12797395e-05 9.99983712e-01 -1.68746841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.285336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1155.57, Y:221.54, Z:-16.88 [[ 9.77280338e-01 2.11877198e-01 5.58519828e-03 1.15557444e+03] [-2.11873939e-01 9.77296297e-01 -1.17566953e-03 2.21543661e+02] [-5.70749116e-03 -3.43992364e-05 9.99983712e-01 -1.68762457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.3453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1155.63, Y:221.53, Z:-16.88 [[ 9.77096729e-01 2.12722325e-01 5.58518448e-03 1.15563099e+03] [-2.12719080e-01 9.77112691e-01 -1.17573509e-03 2.21533116e+02] [-5.70745974e-03 -3.92683890e-05 9.99983712e-01 -1.68784809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.4053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1155.69, Y:221.52, Z:-16.88 [[ 9.76872991e-01 2.13747431e-01 5.58525596e-03 1.15568932e+03] [-2.13744204e-01 9.76888957e-01 -1.17539543e-03 2.21523751e+02] [-5.70741262e-03 -4.56040378e-05 9.99983712e-01 -1.68786472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1155.75, Y:221.51, Z:-16.88 [[ 9.76879423e-01 2.13718030e-01 5.58530576e-03 1.15574758e+03] [-2.13714804e-01 9.76895389e-01 -1.17515872e-03 2.21511631e+02] [-5.70741205e-03 -4.56741579e-05 9.99983712e-01 -1.68772338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.525336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1155.81, Y:221.50, Z:-16.87 [[ 9.76851649e-01 2.13844943e-01 5.58533309e-03 1.15580527e+03] [-2.13841720e-01 9.76867615e-01 -1.17502880e-03 2.21502765e+02] [-5.70740499e-03 -4.65484145e-05 9.99983712e-01 -1.68690990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.5853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1155.86, Y:221.49, Z:-16.87 [[ 9.76920671e-01 2.13529404e-01 5.58536412e-03 1.15586497e+03] [-2.13526176e-01 9.76936637e-01 -1.17488131e-03 2.21490779e+02] [-5.70741854e-03 -4.48556013e-05 9.99983712e-01 -1.68749660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.6453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1155.92, Y:221.48, Z:-16.88 [[ 9.76981123e-01 2.13252641e-01 5.58536412e-03 1.15592455e+03] [-2.13249409e-01 9.76997088e-01 -1.17488131e-03 2.21479976e+02] [-5.70743102e-03 -4.32387333e-05 9.99983712e-01 -1.68776356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1155.98, Y:221.47, Z:-16.88 [[ 9.77117435e-01 2.12627189e-01 5.58536412e-03 1.15598384e+03] [-2.12623947e-01 9.77133398e-01 -1.17488131e-03 2.21468105e+02] [-5.70745753e-03 -3.95851456e-05 9.99983712e-01 -1.68779592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1156.04, Y:221.46, Z:-16.88 [[ 9.77103290e-01 2.12692184e-01 5.58536412e-03 1.15604150e+03] [-2.12688943e-01 9.77119252e-01 -1.17488131e-03 2.21458516e+02] [-5.70745488e-03 -3.99647933e-05 9.99983712e-01 -1.68779802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.8253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1156.10, Y:221.45, Z:-16.88 [[ 9.76960027e-01 2.13349264e-01 5.58540605e-03 1.15609904e+03] [-2.13346035e-01 9.76975992e-01 -1.17468194e-03 2.21448826e+02] [-5.70742514e-03 -4.40069278e-05 9.99983712e-01 -1.68788595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.8853361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1156.16, Y:221.44, Z:-16.88 [[ 9.76639347e-01 2.14812449e-01 5.58543826e-03 1.15615856e+03] [-2.14809245e-01 9.76655317e-01 -1.17452876e-03 2.21439814e+02] [-5.70735138e-03 -5.27127706e-05 9.99983712e-01 -1.68777445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1156.22, Y:221.43, Z:-16.88 [[ 9.76256781e-01 2.16544454e-01 5.58546630e-03 1.15621752e+03] [-2.16541278e-01 9.76272757e-01 -1.17439540e-03 2.21431913e+02] [-5.70724739e-03 -6.29725418e-05 9.99983712e-01 -1.68780216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1156.28, Y:221.42, Z:-16.88 [[ 9.76187579e-01 2.16856204e-01 5.58552184e-03 1.15627572e+03] [-2.16853035e-01 9.76203556e-01 -1.17413116e-03 2.21423012e+02] [-5.70722391e-03 -6.50651087e-05 9.99983712e-01 -1.68798133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.0653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1156.33, Y:221.41, Z:-16.88 [[ 9.76415853e-01 2.15826047e-01 5.58557716e-03 1.15633408e+03] [-2.15822863e-01 9.76431828e-01 -1.17386797e-03 2.21414582e+02] [-5.70728660e-03 -5.93119609e-05 9.99983712e-01 -1.68807614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.1253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1156.39, Y:221.40, Z:-16.88 [[ 9.76722277e-01 2.14435058e-01 5.58563235e-03 1.15639264e+03] [-2.14431852e-01 9.76738247e-01 -1.17360530e-03 2.21404744e+02] [-5.70736287e-03 -5.14510508e-05 9.99983712e-01 -1.68811170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1156.45, Y:221.40, Z:-16.88 [[ 9.77111600e-01 2.12653994e-01 5.58568843e-03 1.15644998e+03] [-2.12650761e-01 9.77127565e-01 -1.17333831e-03 2.21396892e+02] [-5.70744521e-03 -4.13184212e-05 9.99983712e-01 -1.68817268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.245336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1156.51, Y:221.39, Z:-16.88 [[ 9.77490273e-01 2.10906534e-01 5.58575809e-03 1.15650781e+03] [-2.10903274e-01 9.77506232e-01 -1.17300660e-03 2.21387788e+02] [-5.70750810e-03 -3.14521289e-05 9.99983712e-01 -1.68772922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.3053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1156.57, Y:221.38, Z:-16.88 [[ 9.77982592e-01 2.08611716e-01 5.58581428e-03 1.15656573e+03] [-2.08608421e-01 9.77998544e-01 -1.17273897e-03 2.21377933e+02] [-5.70756532e-03 -1.83296029e-05 9.99983712e-01 -1.68807016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.3653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1156.62, Y:221.37, Z:-16.88 [[ 9.78441787e-01 2.06447252e-01 5.58587027e-03 1.15662430e+03] [-2.06443923e-01 9.78457731e-01 -1.17247221e-03 2.21368355e+02] [-5.70759162e-03 -5.97316632e-06 9.99983712e-01 -1.68824111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.4253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1156.68, Y:221.36, Z:-16.88 [[ 9.78682426e-01 2.05303450e-01 5.58592604e-03 1.15668256e+03] [-2.05300103e-01 9.78698367e-01 -1.17220644e-03 2.21357868e+02] [-5.70759472e-03 4.26651236e-07 9.99983712e-01 -1.68846292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.485336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:1156.74, Y:221.35, Z:-16.88 [[ 9.78877613e-01 2.04370781e-01 5.58598191e-03 1.15673968e+03] [-2.04367421e-01 9.78893551e-01 -1.17194017e-03 2.21348406e+02] [-5.70759199e-03 5.59328053e-06 9.99983712e-01 -1.68766808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1156.80, Y:221.34, Z:-16.88 [[ 9.78952106e-01 2.04013651e-01 5.58605107e-03 1.15679719e+03] [-2.04010287e-01 9.78968043e-01 -1.17161042e-03 2.21337582e+02] [-5.70759001e-03 7.33861057e-06 9.99983712e-01 -1.68846185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.6053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1156.85, Y:221.33, Z:-16.88 [[ 9.78973445e-01 2.03911231e-01 5.58610558e-03 1.15685496e+03] [-2.03907866e-01 9.78989382e-01 -1.17135048e-03 2.21327696e+02] [-5.70758956e-03 7.67014423e-06 9.99983712e-01 -1.68845525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.6653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1156.91, Y:221.32, Z:-16.89 [[ 9.79062984e-01 2.03480881e-01 5.58616101e-03 1.15691146e+03] [-2.03477512e-01 9.79078920e-01 -1.17108605e-03 2.21316841e+02] [-5.70758611e-03 9.90885823e-06 9.99983712e-01 -1.68861123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1156.97, Y:221.31, Z:-16.89 [[ 9.79062872e-01 2.03481414e-01 5.58622942e-03 1.15696822e+03] [-2.03478046e-01 9.79078809e-01 -1.17075962e-03 2.21305794e+02] [-5.70758667e-03 9.57222811e-06 9.99983712e-01 -1.68870045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1157.03, Y:221.30, Z:-16.89 [[ 9.78910054e-01 2.04215325e-01 5.58629667e-03 1.15702638e+03] [-2.04211971e-01 9.78925994e-01 -1.17043866e-03 2.21296044e+02] [-5.70759253e-03 4.96551789e-06 9.99983712e-01 -1.68891226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.8453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1157.08, Y:221.29, Z:-16.89 [[ 9.78563129e-01 2.05871306e-01 5.58635038e-03 1.15708343e+03] [-2.05867981e-01 9.78579075e-01 -1.17018226e-03 2.21287175e+02] [-5.70759254e-03 -4.95345851e-06 9.99983712e-01 -1.68902864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.9053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1157.14, Y:221.28, Z:-16.89 [[ 9.78448590e-01 2.06414992e-01 5.58641684e-03 1.15714096e+03] [-2.06411677e-01 9.78464537e-01 -1.16986489e-03 2.21276907e+02] [-5.70758842e-03 -8.44901569e-06 9.99983712e-01 -1.68892928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1157.20, Y:221.27, Z:-16.89 [[ 9.78538896e-01 2.05986455e-01 5.58647166e-03 1.15719884e+03] [-2.05983135e-01 9.78554843e-01 -1.16960305e-03 2.21265718e+02] [-5.70759128e-03 -6.21686844e-06 9.99983712e-01 -1.68888529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1157.26, Y:221.25, Z:-16.89 [[ 9.78993185e-01 2.03816421e-01 5.58652686e-03 1.15725610e+03] [-2.03813067e-01 9.79009125e-01 -1.16933933e-03 2.21253848e+02] [-5.70759133e-03 6.16806632e-06 9.99983712e-01 -1.68888587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.0853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1157.31, Y:221.24, Z:-16.89 [[ 9.79363285e-01 2.02030559e-01 5.58658167e-03 1.15731323e+03] [-2.02027177e-01 9.79379218e-01 -1.16907742e-03 2.21241410e+02] [-5.70757135e-03 1.63101732e-05 9.99983712e-01 -1.68903334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.1453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1157.37, Y:221.23, Z:-16.89 [[ 9.79681697e-01 2.00480826e-01 5.58663647e-03 1.15737091e+03] [-2.00477420e-01 9.79697626e-01 -1.16881549e-03 2.21228072e+02] [-5.70753958e-03 2.50726795e-05 9.99983712e-01 -1.68897887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.205336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1157.43, Y:221.22, Z:-16.88 [[ 9.79915514e-01 1.99334829e-01 5.58669370e-03 1.15742765e+03] [-1.99331406e-01 9.79931439e-01 -1.16854189e-03 2.21216199e+02] [-5.70750789e-03 3.14688125e-05 9.99983712e-01 -1.68838841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1157.48, Y:221.20, Z:-16.89 [[ 9.80109246e-01 1.98380074e-01 5.58676975e-03 1.15748375e+03] [-1.98376638e-01 9.80125168e-01 -1.16817817e-03 2.21202945e+02] [-5.70747691e-03 3.66576227e-05 9.99983712e-01 -1.68905230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.3253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1157.54, Y:221.19, Z:-16.89 [[ 9.80292528e-01 1.97472396e-01 5.58684325e-03 1.15754078e+03] [-1.97468947e-01 9.80308447e-01 -1.16782656e-03 2.21189709e+02] [-5.70744314e-03 4.15835936e-05 9.99983712e-01 -1.68923069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.3853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1157.60, Y:221.18, Z:-16.89 [[ 9.80514329e-01 1.96368118e-01 5.58689983e-03 1.15759715e+03] [-1.96364653e-01 9.80530244e-01 -1.16755580e-03 2.21175379e+02] [-5.70739499e-03 4.77355496e-05 9.99983712e-01 -1.68942357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.445336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1157.65, Y:221.16, Z:-16.89 [[ 9.80920788e-01 1.94327540e-01 5.58697002e-03 1.15765282e+03] [-1.94324044e-01 9.80936697e-01 -1.16721985e-03 2.21160728e+02] [-5.70728688e-03 5.92676082e-05 9.99983712e-01 -1.68948645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.505336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1157.71, Y:221.15, Z:-16.89 [[ 9.81148965e-01 1.93172187e-01 5.58703940e-03 1.15771020e+03] [-1.93168674e-01 9.81164870e-01 -1.16688765e-03 2.21146449e+02] [-5.70721703e-03 6.56496137e-05 9.99983712e-01 -1.68944684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.5653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1157.77, Y:221.13, Z:-16.89 [[ 9.81088072e-01 1.93481210e-01 5.58709452e-03 1.15776776e+03] [-1.93477703e-01 9.81103979e-01 -1.16662367e-03 2.21132116e+02] [-5.70724042e-03 6.35823504e-05 9.99983712e-01 -1.68926929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.6253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1157.82, Y:221.12, Z:-16.89 [[ 9.80906627e-01 1.94399005e-01 5.58715066e-03 1.15782440e+03] [-1.94395515e-01 9.80922537e-01 -1.16635474e-03 2.21116226e+02] [-5.70730020e-03 5.79680654e-05 9.99983712e-01 -1.68933031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1157.88, Y:221.10, Z:-16.89 [[ 9.80574685e-01 1.96066493e-01 5.58719230e-03 1.15788128e+03] [-1.96063031e-01 9.80590602e-01 -1.16615524e-03 2.21103085e+02] [-5.70739223e-03 4.80604469e-05 9.99983712e-01 -1.68936624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1157.94, Y:221.09, Z:-16.89 [[ 9.80047838e-01 1.98683211e-01 5.58724509e-03 1.15793823e+03] [-1.98679793e-01 9.80063764e-01 -1.16590226e-03 2.21087381e+02] [-5.70750166e-03 3.25672934e-05 9.99983712e-01 -1.68945137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.8053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1158.00, Y:221.07, Z:-16.89 [[ 9.79598089e-01 2.00888938e-01 5.58730010e-03 1.15799551e+03] [-2.00885557e-01 9.79614023e-01 -1.16563858e-03 2.21074442e+02] [-5.70756143e-03 1.94494376e-05 9.99983712e-01 -1.68943521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.8653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1158.05, Y:221.06, Z:-16.90 [[ 9.78775099e-01 2.04861141e-01 5.58735513e-03 1.15805196e+03] [-2.04857826e-01 9.78791047e-01 -1.16537474e-03 2.21060391e+02] [-5.70759318e-03 -3.97365156e-06 9.99983712e-01 -1.68952696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.9253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1158.11, Y:221.05, Z:-16.90 [[ 9.78284676e-01 2.07190426e-01 5.58742314e-03 1.15810965e+03] [-2.07187151e-01 9.78300632e-01 -1.16504856e-03 2.21047562e+02] [-5.70756650e-03 -1.78931336e-05 9.99983712e-01 -1.68968628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1158.17, Y:221.03, Z:-16.90 [[ 9.77869416e-01 2.09141542e-01 5.58747629e-03 1.15816644e+03] [-2.09138301e-01 9.77885379e-01 -1.16479360e-03 2.21034274e+02] [-5.70751810e-03 -2.95392589e-05 9.99983712e-01 -1.68994439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1158.22, Y:221.02, Z:-16.90 [[ 9.77715268e-01 2.09860988e-01 5.58754190e-03 1.15822390e+03] [-2.09857760e-01 9.77731233e-01 -1.16447882e-03 2.21020868e+02] [-5.70749290e-03 -3.40603110e-05 9.99983712e-01 -1.68996685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.1053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1158.28, Y:221.01, Z:-16.90 [[ 9.77473063e-01 2.10986231e-01 5.58759371e-03 1.15828150e+03] [-2.10983022e-01 9.77489033e-01 -1.16423013e-03 2.21007039e+02] [-5.70744810e-03 -4.08838223e-05 9.99983712e-01 -1.68989597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.1653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1158.34, Y:221.00, Z:-16.90 [[ 9.77004497e-01 2.13145471e-01 5.58764518e-03 1.15833959e+03] [-2.13142299e-01 9.77020473e-01 -1.16398306e-03 2.20996091e+02] [-5.70734146e-03 -5.37468523e-05 9.99983712e-01 -1.68972663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1158.40, Y:220.98, Z:-16.90 [[ 9.76614133e-01 2.14926995e-01 5.58770144e-03 1.15839638e+03] [-2.14923855e-01 9.76630115e-01 -1.16371294e-03 2.20984429e+02] [-5.70723083e-03 -6.44318231e-05 9.99983712e-01 -1.68962460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1158.45, Y:220.97, Z:-16.90 [[ 9.75905013e-01 2.18124238e-01 5.58777091e-03 1.15845304e+03] [-2.18121151e-01 9.75921006e-01 -1.16337928e-03 2.20974864e+02] [-5.70698422e-03 -8.34633558e-05 9.99983712e-01 -1.68964997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.3453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1158.51, Y:220.97, Z:-16.90 [[ 9.75499522e-01 2.19930575e-01 5.58783905e-03 1.15851170e+03] [-2.19927520e-01 9.75515522e-01 -1.16305188e-03 2.20965588e+02] [-5.70681440e-03 -9.43630302e-05 9.99983712e-01 -1.68963470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.4053361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1158.57, Y:220.96, Z:-16.90 [[ 9.75094002e-01 2.21721590e-01 5.58789300e-03 1.15857028e+03] [-2.21718566e-01 9.75110007e-01 -1.16279261e-03 2.20957948e+02] [-5.70662661e-03 -1.05107518e-04 9.99983712e-01 -1.68955439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1158.63, Y:220.95, Z:-16.90 [[ 9.75011055e-01 2.22086061e-01 5.58794802e-03 1.15862851e+03] [-2.22083044e-01 9.75027061e-01 -1.16252817e-03 2.20948564e+02] [-5.70658183e-03 -1.07510686e-04 9.99983712e-01 -1.68957642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.525336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1158.69, Y:220.94, Z:-16.90 [[ 9.75096123e-01 2.21712259e-01 5.58800321e-03 1.15868735e+03] [-2.21709237e-01 9.75112129e-01 -1.16226279e-03 2.20941899e+02] [-5.70661762e-03 -1.05593993e-04 9.99983712e-01 -1.68972767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.5853361949999 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:1158.75, Y:220.94, Z:-16.89 [[ 9.75275091e-01 2.20923675e-01 5.58805819e-03 1.15874595e+03] [-2.20920643e-01 9.75291095e-01 -1.16199843e-03 2.20940182e+02] [-5.70669635e-03 -1.01249279e-04 9.99983712e-01 -1.68905956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.6453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1158.80, Y:220.93, Z:-16.90 [[ 9.75527521e-01 2.19806342e-01 5.58812616e-03 1.15880365e+03] [-2.19803293e-01 9.75543522e-01 -1.16167142e-03 2.20931586e+02] [-5.70680303e-03 -9.50460865e-05 9.99983712e-01 -1.69004071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1158.86, Y:220.93, Z:-16.90 [[ 9.76389572e-01 2.15944845e-01 5.58821092e-03 1.15886294e+03] [-2.15941735e-01 9.76405561e-01 -1.16126356e-03 2.20926801e+02] [-5.70712910e-03 -7.28823340e-05 9.99983712e-01 -1.69025846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1158.92, Y:220.92, Z:-16.91 [[ 9.77322491e-01 2.11682594e-01 5.58826767e-03 1.15892088e+03] [-2.11679415e-01 9.77338466e-01 -1.16099040e-03 2.20919232e+02] [-5.70739041e-03 -4.82592017e-05 9.99983712e-01 -1.69058464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.8253361949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1158.98, Y:220.91, Z:-16.91 [[ 9.79114467e-01 2.03232947e-01 5.58833820e-03 1.15897986e+03] [-2.03229633e-01 9.79130415e-01 -1.16065081e-03 2.20912646e+02] [-5.70759439e-03 6.94084130e-07 9.99983712e-01 -1.69067824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.8853361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1159.04, Y:220.90, Z:-16.91 [[ 9.80411277e-01 1.96881939e-01 5.58839306e-03 1.15903667e+03] [-1.96878523e-01 9.80427203e-01 -1.16038659e-03 2.20902993e+02] [-5.70747174e-03 3.74215245e-05 9.99983712e-01 -1.69074169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.945336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1159.09, Y:220.89, Z:-16.91 [[ 9.82279031e-01 1.87341064e-01 5.58847601e-03 1.15909476e+03] [-1.87337496e-01 9.82294924e-01 -1.15998699e-03 2.20892525e+02] [-5.70684481e-03 9.24997978e-05 9.99983712e-01 -1.69058447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.005336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1159.15, Y:220.88, Z:-16.91 [[ 9.83327997e-01 1.81754830e-01 5.58853245e-03 1.15915140e+03] [-1.81751173e-01 9.83343870e-01 -1.15971499e-03 2.20881444e+02] [-5.70623293e-03 1.24657894e-04 9.99983712e-01 -1.69057199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.0653361949999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:1159.21, Y:220.87, Z:-16.91 [[ 9.84074424e-01 1.77669063e-01 5.58860219e-03 1.15920844e+03] [-1.77665341e-01 9.84090282e-01 -1.15937885e-03 2.20869827e+02] [-5.70567485e-03 1.48014155e-04 9.99983712e-01 -1.69072020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.1253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1159.27, Y:220.86, Z:-16.91 [[ 9.84458413e-01 1.75528917e-01 5.58866967e-03 1.15926565e+03] [-1.75525163e-01 9.84474263e-01 -1.15905344e-03 2.20856534e+02] [-5.70534885e-03 1.60087754e-04 9.99983712e-01 -1.69069964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.185336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1159.32, Y:220.84, Z:-16.91 [[ 9.84306185e-01 1.76380553e-01 5.58872244e-03 1.15932311e+03] [-1.76376814e-01 9.84322039e-01 -1.15879894e-03 2.20843101e+02] [-5.70549227e-03 1.54891905e-04 9.99983712e-01 -1.69064635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.245336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1159.38, Y:220.83, Z:-16.91 [[ 9.83667301e-01 1.79909437e-01 5.58877719e-03 1.15937946e+03] [-1.79905757e-01 9.83683169e-01 -1.15853486e-03 2.20829761e+02] [-5.70601741e-03 1.34159674e-04 9.99983712e-01 -1.69053971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.3053361949999 meters Centerline goodness : 0.999593 with order 1 Centerline is valid? [True, True] Translation: X:1159.44, Y:220.82, Z:-16.91 [[ 9.83001918e-01 1.83510202e-01 5.58884472e-03 1.15943687e+03] [-1.83506582e-01 9.83017799e-01 -1.15820898e-03 2.20816933e+02] [-5.70647700e-03 1.12931856e-04 9.99983712e-01 -1.69053912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.3653361949998 meters Centerline goodness : 0.999446 with order 1 Centerline is valid? [True, True] Translation: X:1159.49, Y:220.80, Z:-16.91 [[ 9.82328315e-01 1.87082458e-01 5.58889983e-03 1.15949334e+03] [-1.87078897e-01 9.82344209e-01 -1.15794299e-03 2.20803777e+02] [-5.70685421e-03 9.19149763e-05 9.99983712e-01 -1.69064343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.4253361949998 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:1159.55, Y:220.79, Z:-16.91 [[ 9.81331631e-01 1.92242015e-01 5.58896815e-03 1.15954934e+03] [-1.92238540e-01 9.81347545e-01 -1.15761317e-03 2.20790394e+02] [-5.70726206e-03 6.15873426e-05 9.99983712e-01 -1.69088014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.485336195 meters Centerline goodness : 0.999484 with order 1 Centerline is valid? [True, True] Translation: X:1159.61, Y:220.78, Z:-16.91 [[ 9.80152156e-01 1.98167895e-01 5.58903424e-03 1.15960643e+03] [-1.98164517e-01 9.80168090e-01 -1.15729399e-03 2.20777022e+02] [-5.70753153e-03 2.67759221e-05 9.99983712e-01 -1.69076248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.545336195 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:1159.66, Y:220.77, Z:-16.91 [[ 9.79213973e-01 2.02752948e-01 5.58908896e-03 1.15966399e+03] [-2.02749647e-01 9.79229923e-01 -1.15702966e-03 2.20765219e+02] [-5.70759432e-03 -2.06206018e-07 9.99983712e-01 -1.69057154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.6053361949998 meters Centerline goodness : 0.999612 with order 1 Centerline is valid? [True, True] Translation: X:1159.72, Y:220.75, Z:-16.90 [[ 9.77925333e-01 2.08879880e-01 5.58914584e-03 1.15972102e+03] [-2.08876680e-01 9.77941304e-01 -1.15675482e-03 2.20754381e+02] [-5.70747938e-03 -3.62223828e-05 9.99983712e-01 -1.69036936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.6653361949998 meters Centerline goodness : 0.999575 with order 1 Centerline is valid? [True, True] Translation: X:1159.78, Y:220.74, Z:-16.90 [[ 9.77344323e-01 2.11581746e-01 5.58921630e-03 1.15977744e+03] [-2.11578593e-01 9.77360303e-01 -1.15641425e-03 2.20743023e+02] [-5.70735429e-03 -5.23436131e-05 9.99983712e-01 -1.69024121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.725336195 meters Centerline goodness : 0.999591 with order 1 Centerline is valid? [True, True] Translation: X:1159.83, Y:220.73, Z:-16.90 [[ 9.76879601e-01 2.13717116e-01 5.58928481e-03 1.15983447e+03] [-2.13714000e-01 9.76895588e-01 -1.15608303e-03 2.20734584e+02] [-5.70722240e-03 -6.51544835e-05 9.99983712e-01 -1.69037229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.785336195 meters Centerline goodness : 0.999375 with order 1 Centerline is valid? [True, True] Translation: X:1159.89, Y:220.73, Z:-16.90 [[ 9.76841388e-01 2.13891707e-01 5.58936950e-03 1.15989184e+03] [-2.13888595e-01 9.76857376e-01 -1.15567344e-03 2.20725049e+02] [-5.70720579e-03 -6.65927452e-05 9.99983712e-01 -1.68981374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.8453361949998 meters Centerline goodness : 0.999531 with order 1 Centerline is valid? [True, True] Translation: X:1159.95, Y:220.71, Z:-16.90 [[ 9.77116173e-01 2.12632882e-01 5.58943931e-03 1.15994919e+03] [-2.12629752e-01 9.77132158e-01 -1.15533569e-03 2.20714231e+02] [-5.70728325e-03 -5.95839068e-05 9.99983712e-01 -1.69047489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.9053361949998 meters Centerline goodness : 0.999421 with order 1 Centerline is valid? [True, True] Translation: X:1160.01, Y:220.70, Z:-16.91 [[ 9.77198849e-01 2.12252601e-01 5.58952260e-03 1.16000513e+03] [-2.12249466e-01 9.77214833e-01 -1.15493260e-03 2.20703814e+02] [-5.70730184e-03 -5.77743839e-05 9.99983712e-01 -1.69050901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.965336195 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:1160.06, Y:220.70, Z:-16.90 [[ 9.77338381e-01 2.11609178e-01 5.58961867e-03 1.16006348e+03] [-2.11606036e-01 9.77354364e-01 -1.15446745e-03 2.20695886e+02] [-5.70733411e-03 -5.44917012e-05 9.99983712e-01 -1.69044617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.025336195 meters Centerline goodness : 0.999590 with order 1 Centerline is valid? [True, True] Translation: X:1160.12, Y:220.69, Z:-16.91 [[ 9.77634696e-01 2.10235955e-01 5.58967290e-03 1.16012200e+03] [-2.10232792e-01 9.77650674e-01 -1.15420483e-03 2.20687184e+02] [-5.70740283e-03 -4.67418541e-05 9.99983712e-01 -1.69064991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.0853361949999 meters Centerline goodness : 0.999629 with order 1 Centerline is valid? [True, True] Translation: X:1160.18, Y:220.68, Z:-16.91 [[ 9.77831504e-01 2.09318666e-01 5.58972692e-03 1.16017902e+03] [-2.09315489e-01 9.77847480e-01 -1.15394314e-03 2.20677851e+02] [-5.70744223e-03 -4.16544692e-05 9.99983712e-01 -1.69072975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.1453361949998 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:1160.24, Y:220.67, Z:-16.91 [[ 9.78018395e-01 2.08443694e-01 5.58981158e-03 1.16023673e+03] [-2.08440505e-01 9.78034368e-01 -1.15353290e-03 2.20669824e+02] [-5.70747450e-03 -3.69667560e-05 9.99983712e-01 -1.69101978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.205336195 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:1160.29, Y:220.66, Z:-16.91 [[ 9.78064773e-01 2.08225967e-01 5.58988146e-03 1.16029388e+03] [-2.08222777e-01 9.78080746e-01 -1.15319418e-03 2.20660878e+02] [-5.70748040e-03 -3.60420321e-05 9.99983712e-01 -1.69132411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.265336195 meters Centerline goodness : 0.999528 with order 1 Centerline is valid? [True, True] Translation: X:1160.35, Y:220.65, Z:-16.91 [[ 9.78267759e-01 2.07270218e-01 5.58997832e-03 1.16035217e+03] [-2.07267015e-01 9.78283730e-01 -1.15272449e-03 2.20654241e+02] [-5.70751029e-03 -3.09449123e-05 9.99983712e-01 -1.69143077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.3253361949999 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:1160.41, Y:220.64, Z:-16.91 [[ 9.78625830e-01 2.05572948e-01 5.59003247e-03 1.16041066e+03] [-2.05569718e-01 9.78641795e-01 -1.15246180e-03 2.20644897e+02] [-5.70755438e-03 -2.13125185e-05 9.99983712e-01 -1.69130039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.3853361949998 meters Centerline goodness : 0.999501 with order 1 Centerline is valid? [True, True] Translation: X:1160.47, Y:220.64, Z:-16.90 [[ 9.79193024e-01 2.02854066e-01 5.59008627e-03 1.16046870e+03] [-2.02850794e-01 9.79208981e-01 -1.15220079e-03 2.20636919e+02] [-5.70759129e-03 -5.72645872e-06 9.99983712e-01 -1.69046361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.445336195 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:1160.53, Y:220.63, Z:-16.91 [[ 9.79802431e-01 1.99889835e-01 5.59014007e-03 1.16052679e+03] [-1.99886516e-01 9.79818378e-01 -1.15193972e-03 2.20627017e+02] [-5.70758302e-03 1.12797125e-05 9.99983712e-01 -1.69135132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.505336195 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:1160.58, Y:220.62, Z:-16.92 [[ 9.80109682e-01 1.98377826e-01 5.59019332e-03 1.16058343e+03] [-1.98374484e-01 9.80125623e-01 -1.15168124e-03 2.20616253e+02] [-5.70755973e-03 1.98222211e-05 9.99983712e-01 -1.69156096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.5653361949999 meters Centerline goodness : 0.999615 with order 1 Centerline is valid? [True, True] Translation: X:1160.64, Y:220.61, Z:-16.92 [[ 9.80295559e-01 1.97457253e-01 5.59025926e-03 1.16064036e+03] [-1.97453898e-01 9.80311498e-01 -1.15136107e-03 2.20605873e+02] [-5.70754002e-03 2.48556609e-05 9.99983712e-01 -1.69167434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.6253361949998 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:1160.70, Y:220.60, Z:-16.92 [[ 9.80448307e-01 1.96697395e-01 5.59032405e-03 1.16069815e+03] [-1.96694030e-01 9.80464244e-01 -1.15104640e-03 2.20595400e+02] [-5.70752067e-03 2.89581256e-05 9.99983712e-01 -1.69159850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.685336195 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:1160.76, Y:220.58, Z:-16.91 [[ 9.80767680e-01 1.95098709e-01 5.59037558e-03 1.16075549e+03] [-1.95095319e-01 9.80783611e-01 -1.15079609e-03 2.20582516e+02] [-5.70746758e-03 3.80075072e-05 9.99983712e-01 -1.69146694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.745336195 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:1160.81, Y:220.57, Z:-16.91 [[ 9.80946375e-01 1.94198238e-01 5.59042700e-03 1.16081239e+03] [-1.94194835e-01 9.80962304e-01 -1.15054623e-03 2.20570135e+02] [-5.70743221e-03 4.29921057e-05 9.99983712e-01 -1.69138900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.8053361949999 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:1160.87, Y:220.56, Z:-16.91 [[ 9.80930704e-01 1.94277381e-01 5.59050340e-03 1.16086888e+03] [-1.94273981e-01 9.80946633e-01 -1.15017491e-03 2.20559127e+02] [-5.70743846e-03 4.21525352e-05 9.99983712e-01 -1.69130131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.8653361949998 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:1160.93, Y:220.55, Z:-16.92 [[ 9.80735692e-01 1.95259438e-01 5.59058728e-03 1.16092580e+03] [-1.95256056e-01 9.80751625e-01 -1.14976702e-03 2.20546865e+02] [-5.70748043e-03 3.60215239e-05 9.99983712e-01 -1.69167234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.9253361949998 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:1160.98, Y:220.53, Z:-16.92 [[ 9.80085149e-01 1.98498980e-01 5.59065666e-03 1.16098216e+03] [-1.98495653e-01 9.80101094e-01 -1.14942960e-03 2.20534994e+02] [-5.70756931e-03 1.68178384e-05 9.99983712e-01 -1.69163025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.985336195 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:1161.04, Y:220.52, Z:-16.92 [[ 9.79817745e-01 1.99814741e-01 5.59073637e-03 1.16103753e+03] [-1.99811437e-01 9.79833695e-01 -1.14904174e-03 2.20523641e+02] [-5.70758735e-03 8.75841263e-06 9.99983712e-01 -1.69176326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.045336195 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:1161.10, Y:220.51, Z:-16.91 [[ 9.78957427e-01 2.03987987e-01 5.59082874e-03 1.16109574e+03] [-2.03984754e-01 9.78973391e-01 -1.14859213e-03 2.20513340e+02] [-5.70757157e-03 -1.60210261e-05 9.99983712e-01 -1.69144008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.1053361949998 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:1161.15, Y:220.50, Z:-16.92 [[ 9.78516535e-01 2.06092533e-01 5.59088358e-03 1.16115312e+03] [-2.06089335e-01 9.78532507e-01 -1.14832514e-03 2.20502610e+02] [-5.70752256e-03 -2.85663453e-05 9.99983712e-01 -1.69156502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.1653361949998 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:1161.21, Y:220.49, Z:-16.92 [[ 9.78287918e-01 2.07175026e-01 5.59096801e-03 1.16120994e+03] [-2.07171849e-01 9.78303893e-01 -1.14791390e-03 2.20491264e+02] [-5.70748487e-03 -3.53008858e-05 9.99983712e-01 -1.69193007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.225336195 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:1161.27, Y:220.48, Z:-16.92 [[ 9.78408175e-01 2.06606349e-01 5.59103783e-03 1.16126730e+03] [-2.06603165e-01 9.78424149e-01 -1.14757373e-03 2.20481847e+02] [-5.70750245e-03 -3.23305913e-05 9.99983712e-01 -1.69213192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.285336195 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:1161.32, Y:220.47, Z:-16.92 [[ 9.78966755e-01 2.03943207e-01 5.59110286e-03 1.16132470e+03] [-2.03939980e-01 9.78982721e-01 -1.14725684e-03 2.20471681e+02] [-5.70756833e-03 -1.71231051e-05 9.99983712e-01 -1.69211737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.3453361949998 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:1161.38, Y:220.46, Z:-16.92 [[ 9.79540620e-01 2.01168866e-01 5.59119428e-03 1.16138245e+03] [-2.01165597e-01 9.79556577e-01 -1.14681110e-03 2.20461308e+02] [-5.70759382e-03 -1.40787856e-06 9.99983712e-01 -1.69170748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.4053361949998 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:1161.44, Y:220.45, Z:-16.92 [[ 9.80763727e-01 1.95118551e-01 5.59124807e-03 1.16144023e+03] [-1.95115185e-01 9.80779664e-01 -1.14654880e-03 2.20449146e+02] [-5.70749535e-03 3.35560779e-05 9.99983712e-01 -1.69161001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.465336195 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:1161.50, Y:220.44, Z:-16.92 [[ 9.81860405e-01 1.89522776e-01 5.59130194e-03 1.16149624e+03] [-1.89519321e-01 9.81876323e-01 -1.14628605e-03 2.20436091e+02] [-5.70721430e-03 6.58331398e-05 9.99983712e-01 -1.69167208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.525336195 meters Centerline goodness : 0.999527 with order 1 Centerline is valid? [True, True] Translation: X:1161.55, Y:220.42, Z:-16.91 [[ 9.83419923e-01 1.81256702e-01 5.59138243e-03 1.16155351e+03] [-1.81253115e-01 9.83435811e-01 -1.14589328e-03 2.20421841e+02] [-5.70646656e-03 1.13438798e-04 9.99983712e-01 -1.69117858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.5853361949999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:1161.61, Y:220.41, Z:-16.92 [[ 9.84512023e-01 1.75227885e-01 5.59143650e-03 1.16161007e+03] [-1.75224203e-01 9.84527890e-01 -1.14562939e-03 2.20405263e+02] [-5.70567140e-03 1.48130909e-04 9.99983712e-01 -1.69197390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.6453361949998 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:1161.67, Y:220.39, Z:-16.92 [[ 9.84713013e-01 1.74094853e-01 5.59149289e-03 1.16166657e+03] [-1.74091154e-01 9.84728875e-01 -1.14535408e-03 2.20390216e+02] [-5.70550476e-03 1.54415617e-04 9.99983712e-01 -1.69196689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.705336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:1161.72, Y:220.37, Z:-16.92 [[ 9.84627734e-01 1.74576515e-01 5.59154903e-03 1.16172148e+03] [-1.74572825e-01 9.84643599e-01 -1.14507998e-03 2.20371601e+02] [-5.70558703e-03 1.51344995e-04 9.99983712e-01 -1.69180986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.765336195 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:1161.78, Y:220.36, Z:-16.92 [[ 9.84418467e-01 1.75752712e-01 5.59161846e-03 1.16177713e+03] [-1.75749043e-01 9.84434337e-01 -1.14474082e-03 2.20357168e+02] [-5.70577251e-03 1.44182414e-04 9.99983712e-01 -1.69178251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.8253361949999 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:1161.83, Y:220.34, Z:-16.92 [[ 9.84032096e-01 1.77903250e-01 5.59169015e-03 1.16183313e+03] [-1.77899617e-01 9.84047975e-01 -1.14439053e-03 2.20339459e+02] [-5.70608216e-03 1.31357475e-04 9.99983712e-01 -1.69161709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.8853361949998 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:1161.89, Y:220.32, Z:-16.92 [[ 9.83579264e-01 1.80390033e-01 5.59174530e-03 1.16188827e+03] [-1.80386443e-01 9.83595152e-01 -1.14412098e-03 2.20322958e+02] [-5.70640159e-03 1.16658627e-04 9.99983712e-01 -1.69171259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.945336195 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:1161.94, Y:220.30, Z:-16.92 [[ 9.82667095e-01 1.85294665e-01 5.59181354e-03 1.16194446e+03] [-1.85291156e-01 9.82683000e-01 -1.14378740e-03 2.20304528e+02] [-5.70691781e-03 8.78486447e-05 9.99983712e-01 -1.69172264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.005336195 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:1162.00, Y:220.29, Z:-16.92 [[ 9.81729248e-01 1.90200983e-01 5.59186712e-03 1.16200053e+03] [-1.90197555e-01 9.81745172e-01 -1.14352539e-03 2.20288997e+02] [-5.70728820e-03 5.90728725e-05 9.99983712e-01 -1.69182839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.0653361949999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1162.06, Y:220.27, Z:-16.92 [[ 9.80154965e-01 1.98153918e-01 5.59193397e-03 1.16205781e+03] [-1.98150620e-01 9.80170916e-01 -1.14319836e-03 2.20273493e+02] [-5.70758028e-03 1.24663663e-05 9.99983712e-01 -1.69166212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.1253361949998 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:1162.11, Y:220.26, Z:-16.92 [[ 9.78508135e-01 2.06132382e-01 5.59199011e-03 1.16211416e+03] [-2.06129217e-01 9.78524113e-01 -1.14292372e-03 2.20258438e+02] [-5.70749075e-03 -3.43123781e-05 9.99983712e-01 -1.69193560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.185336195 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:1162.17, Y:220.25, Z:-16.92 [[ 9.77546712e-01 2.10644617e-01 5.59205980e-03 1.16217141e+03] [-2.10641527e-01 9.77562705e-01 -1.14258264e-03 2.20246569e+02] [-5.70726798e-03 -6.09921086e-05 9.99983712e-01 -1.69203321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.245336195 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:1162.23, Y:220.23, Z:-16.92 [[ 9.76836516e-01 2.13913880e-01 5.59214057e-03 1.16222845e+03] [-2.13910846e-01 9.76852520e-01 -1.14218715e-03 2.20234458e+02] [-5.70702630e-03 -8.04894038e-05 9.99983712e-01 -1.69210536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.3053361949999 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:1162.28, Y:220.22, Z:-16.92 [[ 9.76100642e-01 2.17247009e-01 5.59222251e-03 1.16228464e+03] [-2.17244032e-01 9.76116656e-01 -1.14178585e-03 2.20222497e+02] [-5.70671110e-03 -1.00379066e-04 9.99983712e-01 -1.69219051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.3653361949998 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:1162.34, Y:220.21, Z:-16.92 [[ 9.75781637e-01 2.18675384e-01 5.59229015e-03 1.16234153e+03] [-2.18672432e-01 9.75797656e-01 -1.14145445e-03 2.20211781e+02] [-5.70655161e-03 -1.09069400e-04 9.99983712e-01 -1.69212300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.4253361949998 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:1162.40, Y:220.20, Z:-16.92 [[ 9.75810217e-01 2.18547810e-01 5.59235656e-03 1.16239935e+03] [-2.18544858e-01 9.75826236e-01 -1.14112902e-03 2.20200439e+02] [-5.70655950e-03 -1.08655407e-04 9.99983712e-01 -1.69211214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.485336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1162.46, Y:220.19, Z:-16.92 [[ 9.76168571e-01 2.16941572e-01 5.59240970e-03 1.16245743e+03] [-2.16938595e-01 9.76184585e-01 -1.14086854e-03 2.20188617e+02] [-5.70672595e-03 -9.95294911e-05 9.99983712e-01 -1.69208095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.545336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1162.51, Y:220.18, Z:-16.92 [[ 9.76496640e-01 2.15460057e-01 5.59246252e-03 1.16251470e+03] [-2.15457057e-01 9.76512650e-01 -1.14060952e-03 2.20177635e+02] [-5.70686619e-03 -9.11341564e-05 9.99983712e-01 -1.69212496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.6053361949998 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:1162.57, Y:220.17, Z:-16.92 [[ 9.76977548e-01 2.13268832e-01 5.59252778e-03 1.16257075e+03] [-2.13265798e-01 9.76993551e-01 -1.14028949e-03 2.20167089e+02] [-5.70705178e-03 -7.86576665e-05 9.99983712e-01 -1.69219467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.6653361949998 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:1162.63, Y:220.16, Z:-16.92 [[ 9.77454007e-01 2.11074365e-01 5.59261707e-03 1.16262872e+03] [-2.11071298e-01 9.77470004e-01 -1.13985140e-03 2.20157375e+02] [-5.70720883e-03 -6.62886248e-05 9.99983712e-01 -1.69233953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.725336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:1162.69, Y:220.15, Z:-16.93 [[ 9.77731128e-01 2.09786946e-01 5.59267183e-03 1.16268594e+03] [-2.09783859e-01 9.77747122e-01 -1.13958262e-03 2.20146507e+02] [-5.70728834e-03 -5.90468775e-05 9.99983712e-01 -1.69252022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.785336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:1162.74, Y:220.14, Z:-16.93 [[ 9.78128687e-01 2.07925452e-01 5.59273942e-03 1.16274234e+03] [-2.07922337e-01 9.78144674e-01 -1.13925080e-03 2.20137402e+02] [-5.70738752e-03 -4.85215622e-05 9.99983712e-01 -1.69260545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.8453361949998 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:1162.80, Y:220.13, Z:-16.93 [[ 9.78280406e-01 2.07210443e-01 5.59285075e-03 1.16279982e+03] [-2.07207319e-01 9.78296392e-01 -1.13870404e-03 2.20126570e+02] [-5.70741707e-03 -4.49077644e-05 9.99983712e-01 -1.69256461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.9053361949998 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:1162.86, Y:220.12, Z:-16.93 [[ 9.78637880e-01 2.05515495e-01 5.59293208e-03 1.16285709e+03] [-2.05512345e-01 9.78653861e-01 -1.13830440e-03 2.20116540e+02] [-5.70748377e-03 -3.54287886e-05 9.99983712e-01 -1.69276275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.965336195 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:1162.91, Y:220.11, Z:-16.93 [[ 9.79333682e-01 2.02173831e-01 5.59299911e-03 1.16291369e+03] [-2.02170629e-01 9.79349652e-01 -1.13797495e-03 2.20106987e+02] [-5.70757049e-03 -1.62829533e-05 9.99983712e-01 -1.69300137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.025336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1162.97, Y:220.10, Z:-16.93 [[ 9.79773104e-01 2.00033451e-01 5.59306395e-03 1.16297181e+03] [-2.00030216e-01 9.79789068e-01 -1.13765620e-03 2.20096309e+02] [-5.70759221e-03 -4.13684380e-06 9.99983712e-01 -1.69273696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.0853361949999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1163.03, Y:220.09, Z:-16.93 [[ 9.80413866e-01 1.96868913e-01 5.59311671e-03 1.16302915e+03] [-1.96865628e-01 9.80429820e-01 -1.13739676e-03 2.20086737e+02] [-5.70757647e-03 1.40271257e-05 9.99983712e-01 -1.69273274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.1453361949998 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:1163.09, Y:220.08, Z:-16.93 [[ 9.80800708e-01 1.94932518e-01 5.59319492e-03 1.16308670e+03] [-1.94929203e-01 9.80816656e-01 -1.13701202e-03 2.20076242e+02] [-5.70753935e-03 2.49051656e-05 9.99983712e-01 -1.69266674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.205336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1163.14, Y:220.07, Z:-16.93 [[ 9.81440929e-01 1.91683122e-01 5.59324907e-03 1.16314303e+03] [-1.91679756e-01 9.81456866e-01 -1.13674559e-03 2.20065487e+02] [-5.70742764e-03 4.35360264e-05 9.99983712e-01 -1.69284570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.265336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1163.20, Y:220.05, Z:-16.93 [[ 9.82140826e-01 1.88064118e-01 5.59331589e-03 1.16320043e+03] [-1.88060696e-01 9.82156751e-01 -1.13641671e-03 2.20053079e+02] [-5.70723217e-03 6.42383709e-05 9.99983712e-01 -1.69290170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.3253361949999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1163.26, Y:220.04, Z:-16.93 [[ 9.82648746e-01 1.85391899e-01 5.59336935e-03 1.16325749e+03] [-1.85388435e-01 9.82664662e-01 -1.13615353e-03 2.20040445e+02] [-5.70704006e-03 7.94938556e-05 9.99983712e-01 -1.69305409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.3853361949998 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:1163.31, Y:220.03, Z:-16.93 [[ 9.83207373e-01 1.82406071e-01 5.59342268e-03 1.16331310e+03] [-1.82402560e-01 9.83223279e-01 -1.13589091e-03 2.20025940e+02] [-5.70677678e-03 9.65617063e-05 9.99983712e-01 -1.69302222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.445336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1163.37, Y:220.01, Z:-16.93 [[ 9.83408381e-01 1.81319247e-01 5.59348852e-03 1.16337005e+03] [-1.81315720e-01 9.83424283e-01 -1.13556658e-03 2.20012760e+02] [-5.70667252e-03 1.02538295e-04 9.99983712e-01 -1.69293444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.505336195 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:1163.43, Y:220.00, Z:-16.93 [[ 9.83521051e-01 1.80707094e-01 5.59354261e-03 1.16342629e+03] [-1.80703559e-01 9.83536952e-01 -1.13530011e-03 2.19997082e+02] [-5.70661263e-03 1.05818507e-04 9.99983712e-01 -1.69307757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.5653361949999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1163.48, Y:219.98, Z:-16.93 [[ 9.83477212e-01 1.80945528e-01 5.59360940e-03 1.16348337e+03] [-1.80941998e-01 9.83493114e-01 -1.13497090e-03 2.19982151e+02] [-5.70664424e-03 1.04099157e-04 9.99983712e-01 -1.69330649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.6253361949998 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1163.54, Y:219.97, Z:-16.93 [[ 9.83361288e-01 1.81574468e-01 5.59366273e-03 1.16353872e+03] [-1.81570950e-01 9.83377192e-01 -1.13470802e-03 2.19965934e+02] [-5.70671436e-03 1.00181283e-04 9.99983712e-01 -1.69334459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.685336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1163.60, Y:219.95, Z:-16.93 [[ 9.83201901e-01 1.82435558e-01 5.59372857e-03 1.16359510e+03] [-1.82432056e-01 9.83217808e-01 -1.13438338e-03 2.19950202e+02] [-5.70680541e-03 9.48524942e-05 9.99983712e-01 -1.69331785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.745336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1163.65, Y:219.93, Z:-16.93 [[ 9.82648650e-01 1.85392396e-01 5.59378194e-03 1.16365184e+03] [-1.85388944e-01 9.82664568e-01 -1.13412011e-03 2.19934036e+02] [-5.70706856e-03 7.74162711e-05 9.99983712e-01 -1.69318356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.8053361949999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1163.71, Y:219.92, Z:-16.93 [[ 9.82135283e-01 1.88093046e-01 5.59383496e-03 1.16370860e+03] [-1.88089639e-01 9.82151211e-01 -1.13385856e-03 2.19919616e+02] [-5.70726269e-03 6.14600982e-05 9.99983712e-01 -1.69319373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.8653361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1163.77, Y:219.90, Z:-16.93 [[ 9.81465419e-01 1.91557667e-01 5.59388801e-03 1.16376603e+03] [-1.91554317e-01 9.81481359e-01 -1.13359676e-03 2.19902781e+02] [-5.70744596e-03 4.10526233e-05 9.99983712e-01 -1.69304679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.9253361949998 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1163.82, Y:219.89, Z:-16.93 [[ 9.81104882e-01 1.93395757e-01 5.59391570e-03 1.16382360e+03] [-1.93392437e-01 9.81120829e-01 -1.13346013e-03 2.19888780e+02] [-5.70751358e-03 3.02222767e-05 9.99983712e-01 -1.69260391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.985336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1163.88, Y:219.87, Z:-16.93 [[ 9.80932393e-01 1.94268751e-01 5.59394303e-03 1.16388159e+03] [-1.94265447e-01 9.80948343e-01 -1.13332522e-03 2.19873565e+02] [-5.70753882e-03 2.50055796e-05 9.99983712e-01 -1.69336908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.045336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1163.94, Y:219.86, Z:-16.93 [[ 9.80691568e-01 1.95480834e-01 5.59397012e-03 1.16393869e+03] [-1.95477551e-01 9.80707522e-01 -1.13319150e-03 2.19859922e+02] [-5.70756579e-03 1.78157743e-05 9.99983712e-01 -1.69347479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.1053361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1164.00, Y:219.85, Z:-16.93 [[ 9.80362381e-01 1.97125112e-01 5.59401027e-03 1.16399703e+03] [-1.97121856e-01 9.80378340e-01 -1.13299327e-03 2.19845442e+02] [-5.70758793e-03 8.04228826e-06 9.99983712e-01 -1.69334160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.1653361949998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1164.06, Y:219.83, Z:-16.93 [[ 9.80193698e-01 1.97962169e-01 5.59403714e-03 1.16405587e+03] [-1.97958928e-01 9.80209661e-01 -1.13286059e-03 2.19830517e+02] [-5.70759279e-03 3.03322235e-06 9.99983712e-01 -1.69331723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.225336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1164.11, Y:219.82, Z:-16.93 [[ 9.80133134e-01 1.98261814e-01 5.59403714e-03 1.16411419e+03] [-1.98258577e-01 9.80149097e-01 -1.13286059e-03 2.19817383e+02] [-5.70759345e-03 1.28835809e-06 9.99983712e-01 -1.69337781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1164.17, Y:219.80, Z:-16.93 [[ 9.80253146e-01 1.97667589e-01 5.59405083e-03 1.16417298e+03] [-1.97664343e-01 9.80269108e-01 -1.13279298e-03 2.19803047e+02] [-5.70759167e-03 4.67950247e-06 9.99983712e-01 -1.69348908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.3453361949998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1164.23, Y:219.79, Z:-16.94 [[ 9.80412894e-01 1.96873726e-01 5.59405083e-03 1.16423195e+03] [-1.96870467e-01 9.80428853e-01 -1.13279298e-03 2.19788774e+02] [-5.70758601e-03 9.30144972e-06 9.99983712e-01 -1.69357980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.4053361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1164.29, Y:219.77, Z:-16.94 [[ 9.80542273e-01 1.96228332e-01 5.59405083e-03 1.16429099e+03] [-1.96225063e-01 9.80558230e-01 -1.13279298e-03 2.19774531e+02] [-5.70757865e-03 1.30584317e-05 9.99983712e-01 -1.69351932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.465336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1164.35, Y:219.76, Z:-16.94 [[ 9.80394749e-01 1.96964066e-01 5.59405083e-03 1.16434950e+03] [-1.96960808e-01 9.80410708e-01 -1.13279298e-03 2.19761525e+02] [-5.70758684e-03 8.77552049e-06 9.99983712e-01 -1.69351554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.525336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1164.41, Y:219.75, Z:-16.93 [[ 9.80083903e-01 1.98505036e-01 5.59406411e-03 1.16440743e+03] [-1.98501804e-01 9.80099868e-01 -1.13272737e-03 2.19749115e+02] [-5.70759358e-03 -2.63950264e-07 9.99983712e-01 -1.69346572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.5853361949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1164.47, Y:219.74, Z:-16.93 [[ 9.80013556e-01 1.98852047e-01 5.59409022e-03 1.16446723e+03] [-1.98848822e-01 9.80029522e-01 -1.13259844e-03 2.19737066e+02] [-5.70759308e-03 -2.41642661e-06 9.99983712e-01 -1.69344931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.6453361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1164.53, Y:219.72, Z:-16.94 [[ 9.80022467e-01 1.98808123e-01 5.59409022e-03 1.16452674e+03] [-1.98804897e-01 9.80038433e-01 -1.13259844e-03 2.19724701e+02] [-5.70759318e-03 -2.16061471e-06 9.99983712e-01 -1.69370585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.705336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1164.58, Y:219.71, Z:-16.94 [[ 9.80200068e-01 1.97930629e-01 5.59401928e-03 1.16458398e+03] [-1.97927387e-01 9.80216030e-01 -1.13294869e-03 2.19712120e+02] [-5.70759262e-03 3.30676026e-06 9.99983712e-01 -1.69390842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1164.64, Y:219.70, Z:-16.94 [[ 9.80300602e-01 1.97432104e-01 5.59404809e-03 1.16464332e+03] [-1.97428854e-01 9.80316563e-01 -1.13280641e-03 2.19698318e+02] [-5.70759035e-03 6.06430588e-06 9.99983712e-01 -1.69395590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.8253361949999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1164.70, Y:219.69, Z:-16.93 [[ 9.80198650e-01 1.97937650e-01 5.59404809e-03 1.16470088e+03] [-1.97934409e-01 9.80214612e-01 -1.13280641e-03 2.19687133e+02] [-5.70759272e-03 3.12071342e-06 9.99983712e-01 -1.69343055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.8853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1164.76, Y:219.68, Z:-16.94 [[ 9.79832959e-01 1.99740028e-01 5.59408708e-03 1.16475850e+03] [-1.99736817e-01 9.79848928e-01 -1.13261384e-03 2.19675592e+02] [-5.70758855e-03 -7.57277258e-06 9.99983712e-01 -1.69383454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1164.82, Y:219.66, Z:-16.94 [[ 9.79581411e-01 2.00970058e-01 5.59413665e-03 1.16481672e+03] [-2.00966868e-01 9.79597384e-01 -1.13236898e-03 2.19663451e+02] [-5.70757389e-03 -1.49885223e-05 9.99983712e-01 -1.69371016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1164.87, Y:219.65, Z:-16.94 [[ 9.79437361e-01 2.01670923e-01 5.59416290e-03 1.16487441e+03] [-2.01667745e-01 9.79453337e-01 -1.13223928e-03 2.19652346e+02] [-5.70756126e-03 -1.92047650e-05 9.99983712e-01 -1.69371991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.0653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1164.93, Y:219.64, Z:-16.94 [[ 9.79330112e-01 2.02191088e-01 5.59420188e-03 1.16493270e+03] [-2.02187920e-01 9.79346090e-01 -1.13204665e-03 2.19641854e+02] [-5.70754948e-03 -2.24326665e-05 9.99983712e-01 -1.69401322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.1253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1164.99, Y:219.63, Z:-16.94 [[ 9.79286704e-01 2.02401225e-01 5.59422760e-03 1.16499040e+03] [-2.02398061e-01 9.79302682e-01 -1.13191955e-03 2.19631225e+02] [-5.70754399e-03 -2.37870581e-05 9.99983712e-01 -1.69421631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1165.05, Y:219.62, Z:-16.94 [[ 9.79292104e-01 2.02375094e-01 5.59426575e-03 1.16504906e+03] [-2.02371931e-01 9.79308083e-01 -1.13173094e-03 2.19621541e+02] [-5.70754382e-03 -2.38271876e-05 9.99983712e-01 -1.69417130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1165.11, Y:219.61, Z:-16.94 [[ 9.79252014e-01 2.02568992e-01 5.59429115e-03 1.16510657e+03] [-2.02565832e-01 9.79267993e-01 -1.13160539e-03 2.19611604e+02] [-5.70753843e-03 -2.50853860e-05 9.99983712e-01 -1.69419694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.3053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1165.17, Y:219.60, Z:-16.94 [[ 9.79283302e-01 2.02417683e-01 5.59432896e-03 1.16516559e+03] [-2.02414522e-01 9.79299281e-01 -1.13141843e-03 2.19602297e+02] [-5.70754142e-03 -2.43942421e-05 9.99983712e-01 -1.69412377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.3653361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1165.22, Y:219.59, Z:-16.94 [[ 9.79460785e-01 2.01557122e-01 5.59435561e-03 1.16522342e+03] [-2.01553948e-01 9.79476761e-01 -1.13128663e-03 2.19593616e+02] [-5.70756019e-03 -1.95135649e-05 9.99983712e-01 -1.69442806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.4253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1165.28, Y:219.58, Z:-16.94 [[ 9.79680869e-01 2.00484655e-01 5.59439513e-03 1.16528266e+03] [-2.00481465e-01 9.79696842e-01 -1.13109119e-03 2.19583377e+02] [-5.70757767e-03 -1.34641274e-05 9.99983712e-01 -1.69424102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1165.34, Y:219.57, Z:-16.94 [[ 9.80005424e-01 1.98892111e-01 5.59442208e-03 1.16534064e+03] [-1.98888895e-01 9.80021392e-01 -1.13095786e-03 2.19573795e+02] [-5.70759191e-03 -4.32359124e-06 9.99983712e-01 -1.69437281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1165.40, Y:219.56, Z:-16.94 [[ 9.80129453e-01 1.98279997e-01 5.59446215e-03 1.16539917e+03] [-1.98276772e-01 9.80145419e-01 -1.13075959e-03 2.19564362e+02] [-5.70759346e-03 -9.61115728e-07 9.99983712e-01 -1.69412213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.6053361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1165.46, Y:219.56, Z:-16.94 [[ 9.79922631e-01 1.99299621e-01 5.59448898e-03 1.16545791e+03] [-1.99296415e-01 9.79938601e-01 -1.13062686e-03 2.19555119e+02] [-5.70758921e-03 -7.03474431e-06 9.99983712e-01 -1.69433011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.6653361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1165.52, Y:219.55, Z:-16.94 [[ 9.79600531e-01 2.00876832e-01 5.59451612e-03 1.16551568e+03] [-2.00873651e-01 9.79616506e-01 -1.13049255e-03 2.19547054e+02] [-5.70757009e-03 -1.63597805e-05 9.99983712e-01 -1.69395019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1165.57, Y:219.54, Z:-16.94 [[ 9.79224313e-01 2.02702850e-01 5.59458827e-03 1.16557434e+03] [-2.02699702e-01 9.79240294e-01 -1.13013539e-03 2.19539243e+02] [-5.70752793e-03 -2.73653193e-05 9.99983712e-01 -1.69414677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1165.63, Y:219.53, Z:-16.94 [[ 9.79147338e-01 2.03074347e-01 5.59464125e-03 1.16563293e+03] [-2.03071206e-01 9.79163321e-01 -1.12987302e-03 2.19531223e+02] [-5.70751573e-03 -2.97983844e-05 9.99983712e-01 -1.69401332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.8453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1165.69, Y:219.52, Z:-16.94 [[ 9.79365721e-01 2.02018521e-01 5.59469372e-03 1.16569034e+03] [-2.02015365e-01 9.79381701e-01 -1.12961319e-03 2.19524673e+02] [-5.70754344e-03 -2.39096492e-05 9.99983712e-01 -1.69406045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.9053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1165.75, Y:219.52, Z:-16.94 [[ 9.79601247e-01 2.00873334e-01 5.59475862e-03 1.16574920e+03] [-2.00870160e-01 9.79617223e-01 -1.12929164e-03 2.19516950e+02] [-5.70756648e-03 -1.75645676e-05 9.99983712e-01 -1.69423859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1165.81, Y:219.51, Z:-16.94 [[ 9.80208826e-01 1.97887229e-01 5.59481005e-03 1.16580752e+03] [-1.97884008e-01 9.80224793e-01 -1.12903678e-03 2.19511200e+02] [-5.70759348e-03 -4.31625172e-07 9.99983712e-01 -1.69436233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1165.87, Y:219.50, Z:-16.94 [[ 9.81169863e-01 1.93065785e-01 5.59487392e-03 1.16586581e+03] [-1.93062488e-01 9.81185814e-01 -1.12872021e-03 2.19503907e+02] [-5.70752817e-03 2.73059806e-05 9.99983712e-01 -1.69443367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.0853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1165.92, Y:219.49, Z:-16.94 [[ 9.81771811e-01 1.89981073e-01 5.59492643e-03 1.16592351e+03] [-1.89977727e-01 9.81787752e-01 -1.12845986e-03 2.19494475e+02] [-5.70741625e-03 4.49786715e-05 9.99983712e-01 -1.69441744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.1453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1165.98, Y:219.49, Z:-16.95 [[ 9.82204558e-01 1.87730930e-01 5.59497996e-03 1.16598132e+03] [-1.87727549e-01 9.82220492e-01 -1.12819436e-03 2.19489344e+02] [-5.70730095e-03 5.77857706e-05 9.99983712e-01 -1.69465127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1166.04, Y:219.48, Z:-16.95 [[ 9.82376510e-01 1.86829036e-01 5.59504622e-03 1.16603982e+03] [-1.86825642e-01 9.82392441e-01 -1.12786568e-03 2.19480977e+02] [-5.70724917e-03 6.26906532e-05 9.99983712e-01 -1.69466380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.265336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1166.10, Y:219.47, Z:-16.95 [[ 9.82828324e-01 1.84437472e-01 5.59509692e-03 1.16609672e+03] [-1.84434040e-01 9.82844247e-01 -1.12761411e-03 2.19471948e+02] [-5.70708311e-03 7.63247543e-05 9.99983712e-01 -1.69480600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.3253361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1166.15, Y:219.46, Z:-16.95 [[ 9.83285070e-01 1.81986716e-01 5.59515978e-03 1.16615435e+03] [-1.81983246e-01 9.83300985e-01 -1.12730212e-03 2.19461724e+02] [-5.70688013e-03 9.02340003e-05 9.99983712e-01 -1.69485947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.3853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1166.21, Y:219.45, Z:-16.95 [[ 9.83813069e-01 1.79110407e-01 5.59520924e-03 1.16621246e+03] [-1.79106893e-01 9.83828974e-01 -1.12705657e-03 2.19452702e+02] [-5.70659653e-03 1.06672444e-04 9.99983712e-01 -1.69458537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1166.27, Y:219.44, Z:-16.95 [[ 9.84041006e-01 1.77853851e-01 5.59526224e-03 1.16626909e+03] [-1.77850318e-01 9.84056906e-01 -1.12679339e-03 2.19441771e+02] [-5.70646099e-03 1.13691738e-04 9.99983712e-01 -1.69470536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1166.33, Y:219.43, Z:-16.95 [[ 9.84198773e-01 1.76978720e-01 5.59532748e-03 1.16632677e+03] [-1.76975175e-01 9.84214671e-01 -1.12646933e-03 2.19430468e+02] [-5.70636450e-03 1.18435673e-04 9.99983712e-01 -1.69477562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.5653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1166.38, Y:219.42, Z:-16.95 [[ 9.84157324e-01 1.77209065e-01 5.59537791e-03 1.16638463e+03] [-1.77205525e-01 9.84173223e-01 -1.12621880e-03 2.19419547e+02] [-5.70639729e-03 1.16844606e-04 9.99983712e-01 -1.69480246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.6253361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1166.44, Y:219.41, Z:-16.95 [[ 9.83970610e-01 1.78242896e-01 5.59543263e-03 1.16644119e+03] [-1.78239374e-01 9.83986513e-01 -1.12594688e-03 2.19408375e+02] [-5.70652227e-03 1.10572227e-04 9.99983712e-01 -1.69508450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1166.50, Y:219.40, Z:-16.95 [[ 9.83933773e-01 1.78446126e-01 5.59550054e-03 1.16649808e+03] [-1.78442609e-01 9.83949678e-01 -1.12560927e-03 2.19397352e+02] [-5.70655157e-03 1.09049259e-04 9.99983712e-01 -1.69515772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1166.56, Y:219.39, Z:-16.95 [[ 9.83833140e-01 1.79000119e-01 5.59556573e-03 1.16655561e+03] [-1.78996613e-01 9.83849046e-01 -1.12528510e-03 2.19386506e+02] [-5.70661818e-03 1.05505457e-04 9.99983712e-01 -1.69511516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.8053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1166.61, Y:219.37, Z:-16.95 [[ 9.83884244e-01 1.78719006e-01 5.59561911e-03 1.16661291e+03] [-1.78715497e-01 9.83900150e-01 -1.12501959e-03 2.19373821e+02] [-5.70659287e-03 1.06865203e-04 9.99983712e-01 -1.69513034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.8653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1166.67, Y:219.36, Z:-16.95 [[ 9.83944129e-01 1.78389009e-01 5.59567248e-03 1.16666985e+03] [-1.78385497e-01 9.83960035e-01 -1.12475407e-03 2.19361475e+02] [-5.70656186e-03 1.08508347e-04 9.99983712e-01 -1.69526430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.9253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1166.73, Y:219.35, Z:-16.95 [[ 9.83782075e-01 1.79280551e-01 5.59573848e-03 1.16672685e+03] [-1.79277054e-01 9.83797984e-01 -1.12442562e-03 2.19348248e+02] [-5.70666388e-03 1.03002256e-04 9.99983712e-01 -1.69515871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1166.78, Y:219.34, Z:-16.95 [[ 9.83496547e-01 1.80840344e-01 5.59579046e-03 1.16678380e+03] [-1.80836874e-01 9.83512461e-01 -1.12416689e-03 2.19335919e+02] [-5.70682438e-03 9.36889965e-05 9.99983712e-01 -1.69518414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1166.84, Y:219.32, Z:-16.95 [[ 9.83113122e-01 1.82913302e-01 5.59585475e-03 1.16684062e+03] [-1.82909867e-01 9.83129044e-01 -1.12384678e-03 2.19322195e+02] [-5.70701386e-03 8.13314648e-05 9.99983712e-01 -1.69517959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.1053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1166.90, Y:219.31, Z:-16.95 [[ 9.82932677e-01 1.83880498e-01 5.59590639e-03 1.16689833e+03] [-1.83877081e-01 9.82948603e-01 -1.12358958e-03 2.19309259e+02] [-5.70709459e-03 7.54539808e-05 9.99983712e-01 -1.69523728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.1653361949998 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1166.96, Y:219.30, Z:-16.95 [[ 9.82813307e-01 1.84517447e-01 5.59595870e-03 1.16695542e+03] [-1.84514041e-01 9.82829236e-01 -1.12332901e-03 2.19296041e+02] [-5.70714561e-03 7.14897477e-05 9.99983712e-01 -1.69456022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1167.01, Y:219.28, Z:-16.96 [[ 9.82915761e-01 1.83970896e-01 5.59601124e-03 1.16701175e+03] [-1.83967483e-01 9.82931688e-01 -1.12306721e-03 2.19282539e+02] [-5.70710846e-03 7.43963607e-05 9.99983712e-01 -1.69550203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.285336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1167.07, Y:219.27, Z:-16.95 [[ 9.83010949e-01 1.83461596e-01 5.59607642e-03 1.16706872e+03] [-1.83458176e-01 9.83026875e-01 -1.12274235e-03 2.19266246e+02] [-5.70707362e-03 7.70220495e-05 9.99983712e-01 -1.69547855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.3453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1167.13, Y:219.25, Z:-16.95 [[ 9.82987438e-01 1.83587529e-01 5.59612873e-03 1.16712547e+03] [-1.83584113e-01 9.83003364e-01 -1.12248153e-03 2.19250740e+02] [-5.70708698e-03 7.60249116e-05 9.99983712e-01 -1.69530433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.4053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1167.18, Y:219.24, Z:-16.95 [[ 9.82860951e-01 1.84263489e-01 5.59618383e-03 1.16718266e+03] [-1.84260086e-01 9.82876880e-01 -1.12220678e-03 2.19236069e+02] [-5.70714144e-03 7.18199145e-05 9.99983712e-01 -1.69532050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1167.24, Y:219.22, Z:-16.95 [[ 9.82636079e-01 1.85458938e-01 5.59622454e-03 1.16724043e+03] [-1.85455555e-01 9.82652013e-01 -1.12200371e-03 2.19221423e+02] [-5.70722693e-03 6.46703934e-05 9.99983712e-01 -1.69521881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1167.30, Y:219.21, Z:-16.95 [[ 9.82379129e-01 1.86815226e-01 5.59625174e-03 1.16729723e+03] [-1.86811866e-01 9.82395067e-01 -1.12186807e-03 2.19207703e+02] [-5.70731214e-03 5.66535423e-05 9.99983712e-01 -1.69529339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.5853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1167.35, Y:219.19, Z:-16.95 [[ 9.81670352e-01 1.90504597e-01 5.59629222e-03 1.16735457e+03] [-1.90501298e-01 9.81686303e-01 -1.12166611e-03 2.19194355e+02] [-5.70748596e-03 3.50054281e-05 9.99983712e-01 -1.69530225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.6453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1167.41, Y:219.18, Z:-16.95 [[ 9.81169635e-01 1.93066902e-01 5.59634765e-03 1.16741154e+03] [-1.93063647e-01 9.81185595e-01 -1.12138944e-03 2.19182801e+02] [-5.70755888e-03 1.98219784e-05 9.99983712e-01 -1.69544289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1167.47, Y:219.17, Z:-16.96 [[ 9.80475605e-01 1.96561105e-01 5.59641622e-03 1.16746961e+03] [-1.96557908e-01 9.80491577e-01 -1.12104713e-03 2.19171670e+02] [-5.70759323e-03 -8.60498397e-07 9.99983712e-01 -1.69554729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1167.53, Y:219.16, Z:-16.96 [[ 9.80273510e-01 1.97566509e-01 5.59647010e-03 1.16752689e+03] [-1.97563330e-01 9.80289485e-01 -1.12077808e-03 2.19161263e+02] [-5.70758901e-03 -6.98820648e-06 9.99983712e-01 -1.69557593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.8253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1167.59, Y:219.15, Z:-16.95 [[ 9.80389493e-01 1.96990153e-01 5.59653676e-03 1.16758525e+03] [-1.96986967e-01 9.80405467e-01 -1.12044513e-03 2.19150676e+02] [-5.70759189e-03 -3.97217339e-06 9.99983712e-01 -1.69540703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.8853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1167.64, Y:219.14, Z:-16.96 [[ 9.80741809e-01 1.95228538e-01 5.59658940e-03 1.16764301e+03] [-1.95225324e-01 9.80757777e-01 -1.12018212e-03 2.19140171e+02] [-5.70759010e-03 6.01345916e-06 9.99983712e-01 -1.69550535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1167.70, Y:219.13, Z:-16.96 [[ 9.81154761e-01 1.93142465e-01 5.59664222e-03 1.16770056e+03] [-1.93139219e-01 9.81170723e-01 -1.11991817e-03 2.19128405e+02] [-5.70756525e-03 1.78819374e-05 9.99983712e-01 -1.69559966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1167.76, Y:219.12, Z:-16.96 [[ 9.81657609e-01 1.90570241e-01 5.59669535e-03 1.16775715e+03] [-1.90566954e-01 9.81673562e-01 -1.11965259e-03 2.19118935e+02] [-5.70750033e-03 3.25702998e-05 9.99983712e-01 -1.69571064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.0653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1167.82, Y:219.11, Z:-16.96 [[ 9.81950985e-01 1.89052743e-01 5.59676111e-03 1.16781503e+03] [-1.89049434e-01 9.81966934e-01 -1.11932379e-03 2.19108085e+02] [-5.70744558e-03 4.10565755e-05 9.99983712e-01 -1.69575111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.1253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1167.87, Y:219.10, Z:-16.96 [[ 9.82315884e-01 1.87147480e-01 5.59681375e-03 1.16787130e+03] [-1.87144142e-01 9.82331827e-01 -1.11906052e-03 2.19096551e+02] [-5.70735763e-03 5.18600185e-05 9.99983712e-01 -1.69582975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1167.93, Y:219.09, Z:-16.96 [[ 9.82542145e-01 1.85955933e-01 5.59687912e-03 1.16792962e+03] [-1.85952577e-01 9.82558084e-01 -1.11873347e-03 2.19085843e+02] [-5.70729395e-03 5.84486907e-05 9.99983712e-01 -1.69586185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1167.99, Y:219.07, Z:-16.96 [[ 9.82643695e-01 1.85418561e-01 5.59693308e-03 1.16798672e+03] [-1.85415198e-01 9.82659632e-01 -1.11846348e-03 2.19074166e+02] [-5.70726409e-03 6.12946316e-05 9.99983712e-01 -1.69599997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.3053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1168.04, Y:219.06, Z:-16.96 [[ 9.82785767e-01 1.84664047e-01 5.59700003e-03 1.16804414e+03] [-1.84660674e-01 9.82801702e-01 -1.11812835e-03 2.19061427e+02] [-5.70721926e-03 6.53348264e-05 9.99983712e-01 -1.69597964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.3653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1168.10, Y:219.05, Z:-16.96 [[ 9.82758714e-01 1.84807963e-01 5.59705173e-03 1.16810165e+03] [-1.84804593e-01 9.82774650e-01 -1.11786948e-03 2.19050432e+02] [-5.70723174e-03 6.42351096e-05 9.99983712e-01 -1.69592706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.4253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1168.16, Y:219.04, Z:-16.96 [[ 9.82647531e-01 1.85398225e-01 5.59710356e-03 1.16815930e+03] [-1.85394866e-01 9.82663470e-01 -1.11760993e-03 2.19038299e+02] [-5.70727210e-03 6.05423782e-05 9.99983712e-01 -1.69585004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1168.22, Y:219.03, Z:-16.96 [[ 9.82666961e-01 1.85295210e-01 5.59715585e-03 1.16821671e+03] [-1.85291851e-01 9.82682900e-01 -1.11734799e-03 2.19026404e+02] [-5.70726857e-03 6.08735863e-05 9.99983712e-01 -1.69583015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1168.27, Y:219.01, Z:-16.96 [[ 9.82666809e-01 1.85296017e-01 5.59720805e-03 1.16827354e+03] [-1.85292660e-01 9.82682748e-01 -1.11708644e-03 2.19013307e+02] [-5.70727145e-03 6.06021984e-05 9.99983712e-01 -1.69589579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.6053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1168.33, Y:219.00, Z:-16.96 [[ 9.82663814e-01 1.85311896e-01 5.59727284e-03 1.16833093e+03] [-1.85308541e-01 9.82679753e-01 -1.11676170e-03 2.19001867e+02] [-5.70727592e-03 6.01788544e-05 9.99983712e-01 -1.69594239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.6653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1168.39, Y:218.99, Z:-16.96 [[ 9.82700105e-01 1.85119347e-01 5.59732423e-03 1.16838785e+03] [-1.85115991e-01 9.82716044e-01 -1.11650404e-03 2.18989269e+02] [-5.70726683e-03 6.10344177e-05 9.99983712e-01 -1.69601259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1168.44, Y:218.98, Z:-16.96 [[ 9.82776827e-01 1.84711607e-01 5.59738803e-03 1.16844468e+03] [-1.84708245e-01 9.82792765e-01 -1.11618410e-03 2.18975829e+02] [-5.70724462e-03 6.30761489e-05 9.99983712e-01 -1.69608941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1168.50, Y:218.96, Z:-16.96 [[ 9.82940551e-01 1.83838359e-01 5.59743821e-03 1.16850236e+03] [-1.83834985e-01 9.82956486e-01 -1.11593242e-03 2.18962407e+02] [-5.70718938e-03 6.78902622e-05 9.99983712e-01 -1.69602111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.8453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1168.56, Y:218.95, Z:-16.96 [[ 9.83117813e-01 1.82888038e-01 5.59746513e-03 1.16855980e+03] [-1.82884649e-01 9.83133745e-01 -1.11579739e-03 2.18948617e+02] [-5.70712285e-03 7.32698455e-05 9.99983712e-01 -1.69633382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.9053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1168.62, Y:218.93, Z:-16.97 [[ 9.83331759e-01 1.81734202e-01 5.59750525e-03 1.16861722e+03] [-1.81730796e-01 9.83347687e-01 -1.11559605e-03 2.18932761e+02] [-5.70703580e-03 7.97619458e-05 9.99983712e-01 -1.69668718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1168.67, Y:218.92, Z:-16.97 [[ 9.83325808e-01 1.81766399e-01 5.59753038e-03 1.16867427e+03] [-1.81762994e-01 9.83341736e-01 -1.11546996e-03 2.18917439e+02] [-5.70704020e-03 7.94465242e-05 9.99983712e-01 -1.69665443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1168.73, Y:218.90, Z:-16.96 [[ 9.83109980e-01 1.82930135e-01 5.59756769e-03 1.16873299e+03] [-1.82926750e-01 9.83125913e-01 -1.11528269e-03 2.18902754e+02] [-5.70713266e-03 7.25006800e-05 9.99983712e-01 -1.69631992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.0853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1168.79, Y:218.89, Z:-16.96 [[ 9.82370551e-01 1.86860291e-01 5.59756769e-03 1.16878963e+03] [-1.86856970e-01 9.82386497e-01 -1.11528269e-03 2.18887847e+02] [-5.70737697e-03 4.96763374e-05 9.99983712e-01 -1.69623454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.1453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1168.85, Y:218.87, Z:-16.96 [[ 9.81647021e-01 1.90624743e-01 5.59760690e-03 1.16884795e+03] [-1.90621484e-01 9.81662980e-01 -1.11508586e-03 2.18874243e+02] [-5.70752643e-03 2.75965813e-05 9.99983712e-01 -1.69616278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1168.91, Y:218.86, Z:-16.96 [[ 9.80247269e-01 1.97696633e-01 5.59763357e-03 1.16890529e+03] [-1.97693490e-01 9.80263251e-01 -1.11495197e-03 2.18862490e+02] [-5.70757673e-03 -1.36870907e-05 9.99983712e-01 -1.69638851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1168.96, Y:218.85, Z:-16.96 [[ 9.79347484e-01 2.02106831e-01 5.59767316e-03 1.16896277e+03] [-2.02103760e-01 9.79363481e-01 -1.11475318e-03 2.18851205e+02] [-5.70745590e-03 -3.95800727e-05 9.99983712e-01 -1.69641456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.3253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1169.02, Y:218.84, Z:-16.96 [[ 9.78604654e-01 2.05673518e-01 5.59772551e-03 1.16902169e+03] [-2.05670507e-01 9.78620662e-01 -1.11449027e-03 2.18840450e+02] [-5.70727097e-03 -6.06416807e-05 9.99983712e-01 -1.69627737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.3853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1169.08, Y:218.83, Z:-16.96 [[ 9.77954793e-01 2.08741676e-01 5.59775308e-03 1.16907973e+03] [-2.08738716e-01 9.77970811e-01 -1.11435177e-03 2.18831458e+02] [-5.70705077e-03 -7.86821330e-05 9.99983712e-01 -1.69645976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1169.14, Y:218.82, Z:-16.96 [[ 9.77729336e-01 2.09795165e-01 5.59778064e-03 1.16913852e+03] [-2.09792223e-01 9.77745356e-01 -1.11421331e-03 2.18824291e+02] [-5.70696059e-03 -8.49718039e-05 9.99983712e-01 -1.69640718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.505336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1169.20, Y:218.82, Z:-16.96 [[ 9.77927907e-01 2.08867595e-01 5.59783317e-03 1.16919681e+03] [-2.08864639e-01 9.77943926e-01 -1.11394930e-03 2.18816141e+02] [-5.70703486e-03 -7.98272963e-05 9.99983712e-01 -1.69645304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.5653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1169.26, Y:218.81, Z:-16.97 [[ 9.78797982e-01 2.04751493e-01 5.59788586e-03 1.16925502e+03] [-2.04748472e-01 9.78813988e-01 -1.11368448e-03 2.18809740e+02] [-5.70731754e-03 -5.60864510e-05 9.99983712e-01 -1.69664302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.6253361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1169.31, Y:218.80, Z:-16.97 [[ 9.79608302e-01 2.00838836e-01 5.59793818e-03 1.16931319e+03] [-2.00835752e-01 9.79624296e-01 -1.11342141e-03 2.18800884e+02] [-5.70749451e-03 -3.35492631e-05 9.99983712e-01 -1.69659276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1169.37, Y:218.79, Z:-16.97 [[ 9.80874411e-01 1.94561179e-01 5.59799183e-03 1.16937210e+03] [-1.94557994e-01 9.80890385e-01 -1.11315164e-03 2.18793771e+02] [-5.70759245e-03 2.72789807e-06 9.99983712e-01 -1.69655501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1169.43, Y:218.78, Z:-16.97 [[ 9.81843360e-01 1.89610859e-01 5.59804608e-03 1.16942911e+03] [-1.89607595e-01 9.81859318e-01 -1.11287875e-03 2.18784470e+02] [-5.70750760e-03 3.12405582e-05 9.99983712e-01 -1.69659969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.8053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1169.49, Y:218.77, Z:-16.97 [[ 9.83472078e-01 1.80973293e-01 5.59811886e-03 1.16948738e+03] [-1.80969891e-01 9.83488007e-01 -1.11251252e-03 2.18774659e+02] [-5.70701781e-03 8.10340432e-05 9.99983712e-01 -1.69691773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.8653361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1169.55, Y:218.76, Z:-16.97 [[ 9.84487101e-01 1.75367638e-01 5.59815828e-03 1.16954542e+03] [-1.75364147e-01 9.84503011e-01 -1.11231413e-03 2.18762435e+02] [-5.70646758e-03 1.13342659e-04 9.99983712e-01 -1.69697963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.9253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1169.60, Y:218.75, Z:-16.97 [[ 9.85688595e-01 1.68483396e-01 5.59818477e-03 1.16960370e+03] [-1.68479795e-01 9.85704480e-01 -1.11218079e-03 2.18749849e+02] [-5.70553980e-03 1.53082896e-04 9.99983712e-01 -1.69702921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.985336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1169.66, Y:218.73, Z:-16.97 [[ 9.86433802e-01 1.64064056e-01 5.59819788e-03 1.16966212e+03] [-1.64060383e-01 9.86449671e-01 -1.11211480e-03 2.18734035e+02] [-5.70479852e-03 1.78585137e-04 9.99983712e-01 -1.69676939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1169.72, Y:218.72, Z:-16.97 [[ 9.86611830e-01 1.62990053e-01 5.59819788e-03 1.16972054e+03] [-1.62986364e-01 9.86627695e-01 -1.11211480e-03 2.18720195e+02] [-5.70460072e-03 1.84795701e-04 9.99983712e-01 -1.69680039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.1053361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1169.78, Y:218.70, Z:-16.96 [[ 9.86507800e-01 1.63618525e-01 5.59819788e-03 1.16977952e+03] [-1.63614846e-01 9.86523667e-01 -1.11211480e-03 2.18704549e+02] [-5.70471728e-03 1.81161640e-04 9.99983712e-01 -1.69602558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.1653361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1169.84, Y:218.69, Z:-16.97 [[ 9.86189261e-01 1.65527645e-01 5.59819788e-03 1.16983848e+03] [-1.65523996e-01 9.86205136e-01 -1.11211480e-03 2.18690215e+02] [-5.70505724e-03 1.70119586e-04 9.99983712e-01 -1.69662709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.225336195 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:1169.90, Y:218.67, Z:-16.97 [[ 9.85449906e-01 1.69873902e-01 5.59819788e-03 1.16989546e+03] [-1.69870324e-01 9.85465797e-01 -1.11211480e-03 2.18673806e+02] [-5.70575181e-03 1.44965738e-04 9.99983712e-01 -1.69677496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.285336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1169.96, Y:218.66, Z:-16.97 [[ 9.84741536e-01 1.73933227e-01 5.59821069e-03 1.16995516e+03] [-1.73929714e-01 9.84757441e-01 -1.11205030e-03 2.18659885e+02] [-5.70630213e-03 1.21386935e-04 9.99983712e-01 -1.69676262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.3453361949998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1170.01, Y:218.64, Z:-16.97 [[ 9.83742941e-01 1.79495090e-01 5.59818366e-03 1.17001311e+03] [-1.79491666e-01 9.83758865e-01 -1.11218637e-03 2.18643069e+02] [-5.70689479e-03 8.92781758e-05 9.99983712e-01 -1.69691598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.4053361949998 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:1170.07, Y:218.63, Z:-16.96 [[ 9.83174561e-01 1.82582701e-01 5.59817025e-03 1.17007242e+03] [-1.82579327e-01 9.83190496e-01 -1.11225383e-03 2.18626543e+02] [-5.70714610e-03 7.14295146e-05 9.99983712e-01 -1.69623118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.465336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1170.13, Y:218.61, Z:-16.97 [[ 9.82960744e-01 1.83730334e-01 5.59814300e-03 1.17013236e+03] [-1.83726978e-01 9.82976683e-01 -1.11239097e-03 2.18612179e+02] [-5.70722400e-03 6.49067555e-05 9.99983712e-01 -1.69697322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.525336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1170.19, Y:218.60, Z:-16.97 [[ 9.82764255e-01 1.84778466e-01 5.59796804e-03 1.17019150e+03] [-1.84775122e-01 9.82780197e-01 -1.11327076e-03 2.18596960e+02] [-5.70728059e-03 5.97174796e-05 9.99983712e-01 -1.69697061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.5853361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1170.25, Y:218.58, Z:-16.97 [[ 9.82423525e-01 1.86581564e-01 5.59796804e-03 1.17024971e+03] [-1.86578249e-01 9.82439473e-01 -1.11327076e-03 2.18578061e+02] [-5.70738057e-03 4.92443048e-05 9.99983712e-01 -1.69722122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.6453361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1170.31, Y:218.56, Z:-16.97 [[ 9.82114869e-01 1.88199485e-01 5.59795497e-03 1.17030907e+03] [-1.88196197e-01 9.82130822e-01 -1.11333648e-03 2.18562162e+02] [-5.70745347e-03 3.99104803e-05 9.99983712e-01 -1.69726472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.705336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1170.37, Y:218.55, Z:-16.97 [[ 9.81568253e-01 1.91029914e-01 5.59792880e-03 1.17036802e+03] [-1.91026670e-01 9.81584215e-01 -1.11346803e-03 2.18545381e+02] [-5.70754425e-03 2.35911648e-05 9.99983712e-01 -1.69736415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.765336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1170.43, Y:218.53, Z:-16.97 [[ 9.80958686e-01 1.94135828e-01 5.59790287e-03 1.17042767e+03] [-1.94132635e-01 9.80974658e-01 -1.11359840e-03 2.18527628e+02] [-5.70759020e-03 5.65839130e-06 9.99983712e-01 -1.69742170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.8253361949999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1170.49, Y:218.51, Z:-16.97 [[ 9.80641438e-01 1.95732053e-01 5.59771867e-03 1.17048900e+03] [-1.95728880e-01 9.80657414e-01 -1.11452355e-03 2.18512177e+02] [-5.70759229e-03 -2.68722923e-06 9.99983712e-01 -1.69747071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.8853361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1170.55, Y:218.49, Z:-16.97 [[ 9.80417961e-01 1.96848395e-01 5.59750913e-03 1.17054842e+03] [-1.96845234e-01 9.80433939e-01 -1.11557492e-03 2.18494597e+02] [-5.70758706e-03 -8.11330778e-06 9.99983712e-01 -1.69747374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.945336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1170.61, Y:218.48, Z:-16.97 [[ 9.80374443e-01 1.97065018e-01 5.59737911e-03 1.17060965e+03] [-1.97061857e-01 9.80390421e-01 -1.11622692e-03 2.18479317e+02] [-5.70758614e-03 -8.70957473e-06 9.99983712e-01 -1.69735586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1170.67, Y:218.46, Z:-16.97 [[ 9.80106364e-01 1.98394019e-01 5.59716728e-03 1.17066999e+03] [-1.98390874e-01 9.80122346e-01 -1.11728809e-03 2.18463746e+02] [-5.70757200e-03 -1.53657362e-05 9.99983712e-01 -1.69735269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.0653361949999 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:1170.73, Y:218.45, Z:-16.98 [[ 9.79667920e-01 2.00547852e-01 5.59697045e-03 1.17073095e+03] [-2.00544736e-01 9.79683907e-01 -1.11827321e-03 2.18449357e+02] [-5.70752917e-03 -2.69065670e-05 9.99983712e-01 -1.69759997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.1253361949998 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1170.79, Y:218.44, Z:-16.98 [[ 9.79433316e-01 2.01690496e-01 5.59676407e-03 1.17079212e+03] [-2.01687393e-01 9.79449306e-01 -1.11930518e-03 2.18435435e+02] [-5.70749990e-03 -3.25119708e-05 9.99983712e-01 -1.69772913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.185336195 meters Centerline goodness : 0.999588 with order 1 Centerline is valid? [True, True] Translation: X:1170.85, Y:218.42, Z:-16.97 [[ 9.79552409e-01 2.01111304e-01 5.59655915e-03 1.17085344e+03] [-2.01108186e-01 9.79568396e-01 -1.12032883e-03 2.18422493e+02] [-5.70752326e-03 -2.80930537e-05 9.99983712e-01 -1.69708543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.245336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1170.91, Y:218.41, Z:-16.98 [[ 9.79837997e-01 1.99715249e-01 5.59634955e-03 1.17091345e+03] [-1.99712101e-01 9.79853978e-01 -1.12137487e-03 2.18406946e+02] [-5.70756103e-03 -1.88930248e-05 9.99983712e-01 -1.69773094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.3053361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1170.98, Y:218.39, Z:-16.98 [[ 9.80244649e-01 1.97709666e-01 5.59615460e-03 1.17097512e+03] [-1.97706480e-01 9.80260623e-01 -1.12234693e-03 2.18392142e+02] [-5.70758883e-03 -6.22146001e-06 9.99983712e-01 -1.69774875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.3653361949998 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1171.04, Y:218.38, Z:-16.98 [[ 9.80568756e-01 1.96095895e-01 5.59594713e-03 1.17103661e+03] [-1.96092677e-01 9.80584724e-01 -1.12338039e-03 2.18378001e+02] [-5.70759055e-03 4.22746051e-06 9.99983712e-01 -1.69768139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.4253361949998 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:1171.10, Y:218.36, Z:-16.98 [[ 9.81004640e-01 1.93903543e-01 5.59573054e-03 1.17109693e+03] [-1.93900284e-01 9.81020599e-01 -1.12445824e-03 2.18362931e+02] [-5.70756336e-03 1.80850101e-05 9.99983712e-01 -1.69772783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.485336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1171.16, Y:218.35, Z:-16.98 [[ 9.81189728e-01 1.92964783e-01 5.59552928e-03 1.17115878e+03] [-1.92961502e-01 9.81205683e-01 -1.12545882e-03 2.18349612e+02] [-5.70753905e-03 2.45669019e-05 9.99983712e-01 -1.69781843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.545336195 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:1171.22, Y:218.33, Z:-16.98 [[ 9.81420520e-01 1.91787529e-01 5.59530937e-03 1.17121883e+03] [-1.91784223e-01 9.81436469e-01 -1.12655111e-03 2.18334206e+02] [-5.70749912e-03 3.25283135e-05 9.99983712e-01 -1.69792364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.6053361949998 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:1171.28, Y:218.32, Z:-16.98 [[ 9.81518861e-01 1.91283613e-01 5.59510501e-03 1.17128015e+03] [-1.91280293e-01 9.81534807e-01 -1.12756515e-03 2.18319514e+02] [-5.70747505e-03 3.64931323e-05 9.99983712e-01 -1.69783013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.6653361949998 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:1171.34, Y:218.31, Z:-16.98 [[ 9.81526638e-01 1.91243711e-01 5.59489064e-03 1.17134185e+03] [-1.91240384e-01 9.81542583e-01 -1.12862781e-03 2.18305391e+02] [-5.70746638e-03 3.78092239e-05 9.99983712e-01 -1.69780063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.725336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1171.40, Y:218.29, Z:-16.98 [[ 9.81401872e-01 1.91882945e-01 5.59467035e-03 1.17140187e+03] [-1.91879623e-01 9.81417818e-01 -1.12971876e-03 2.18291033e+02] [-5.70748293e-03 3.52048728e-05 9.99983712e-01 -1.69789924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.785336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1171.46, Y:218.28, Z:-16.98 [[ 9.81035328e-01 1.93748258e-01 5.59446573e-03 1.17146347e+03] [-1.93744960e-01 9.81051279e-01 -1.13073115e-03 2.18277277e+02] [-5.70753495e-03 2.53876625e-05 9.99983712e-01 -1.69790428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.8453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1171.52, Y:218.26, Z:-16.98 [[ 9.80692709e-01 1.95475103e-01 5.59423890e-03 1.17152399e+03] [-1.95471827e-01 9.80708664e-01 -1.13185229e-03 2.18264652e+02] [-5.70756750e-03 1.64831879e-05 9.99983712e-01 -1.69801391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.9053361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1171.58, Y:218.25, Z:-16.98 [[ 9.80093030e-01 1.98459970e-01 5.59402909e-03 1.17158432e+03] [-1.98456737e-01 9.80108994e-01 -1.13288830e-03 2.18252125e+02] [-5.70759120e-03 1.63165772e-07 9.99983712e-01 -1.69821643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.965336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1171.65, Y:218.24, Z:-16.98 [[ 9.79797494e-01 1.99913932e-01 5.59382749e-03 1.17164603e+03] [-1.99910717e-01 9.79813462e-01 -1.13388283e-03 2.18238739e+02] [-5.70758646e-03 -7.29051162e-06 9.99983712e-01 -1.69833868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.025336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1171.71, Y:218.23, Z:-16.98 [[ 9.79423627e-01 2.01737627e-01 5.59361600e-03 1.17170780e+03] [-2.01734435e-01 9.79439600e-01 -1.13492522e-03 2.18226864e+02] [-5.70756613e-03 -1.68523847e-05 9.99983712e-01 -1.69830191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.0853361949999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1171.77, Y:218.22, Z:-16.98 [[ 9.79082648e-01 2.03386041e-01 5.59340348e-03 1.17176940e+03] [-2.03382870e-01 9.79098625e-01 -1.13597165e-03 2.18215177e+02] [-5.70753443e-03 -2.53923231e-05 9.99983712e-01 -1.69827389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.1453361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1171.83, Y:218.20, Z:-16.98 [[ 9.78559785e-01 2.05887015e-01 5.59318829e-03 1.17183071e+03] [-2.05883879e-01 9.78575769e-01 -1.13703015e-03 2.18204399e+02] [-5.70745828e-03 -3.88953248e-05 9.99983712e-01 -1.69843396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.205336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1171.89, Y:218.19, Z:-16.99 [[ 9.78296980e-01 2.07132172e-01 5.59298796e-03 1.17189299e+03] [-2.07129051e-01 9.78312967e-01 -1.13801472e-03 2.18194631e+02] [-5.70741211e-03 -4.51539238e-05 9.99983712e-01 -1.69858153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.265336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1171.95, Y:218.19, Z:-16.99 [[ 9.78073733e-01 2.08183797e-01 5.59277645e-03 1.17195494e+03] [-2.08180687e-01 9.78089722e-01 -1.13905326e-03 2.18185502e+02] [-5.70736959e-03 -5.02299622e-05 9.99983712e-01 -1.69865594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.3253361949999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1172.02, Y:218.17, Z:-16.99 [[ 9.77985600e-01 2.08597435e-01 5.59256440e-03 1.17201753e+03] [-2.08594325e-01 9.78001589e-01 -1.14009344e-03 2.18174901e+02] [-5.70735743e-03 -5.15822261e-05 9.99983712e-01 -1.69867779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.3853361949998 meters Centerline goodness : 0.999573 with order 1 Centerline is valid? [True, True] Translation: X:1172.08, Y:218.16, Z:-16.98 [[ 9.77979589e-01 2.08625621e-01 5.59234699e-03 1.17207936e+03] [-2.08622506e-01 9.77995577e-01 -1.14115888e-03 2.18164269e+02] [-5.70736560e-03 -5.06593491e-05 9.99983712e-01 -1.69799030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.445336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1172.14, Y:218.16, Z:-16.99 [[ 9.78393479e-01 2.06675903e-01 5.59213070e-03 1.17214161e+03] [-2.06672750e-01 9.78409459e-01 -1.14221779e-03 2.18155214e+02] [-5.70746247e-03 -3.82025972e-05 9.99983712e-01 -1.69876374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.505336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1172.20, Y:218.15, Z:-16.99 [[ 9.78875975e-01 2.04378463e-01 5.59191489e-03 1.17220259e+03] [-2.04375267e-01 9.78891947e-01 -1.14327336e-03 2.18146153e+02] [-5.70754090e-03 -2.37262708e-05 9.99983712e-01 -1.69870541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.5653361949999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1172.26, Y:218.14, Z:-16.99 [[ 9.80001458e-01 1.98911728e-01 5.59171439e-03 1.17226443e+03] [-1.98908437e-01 9.80017410e-01 -1.14425316e-03 2.18135824e+02] [-5.70758283e-03 9.13059952e-06 9.99983712e-01 -1.69867521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.6253361949998 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1172.33, Y:218.12, Z:-16.99 [[ 9.80758825e-01 1.95143186e-01 5.59150115e-03 1.17232678e+03] [-1.95139828e-01 9.80774763e-01 -1.14529424e-03 2.18124740e+02] [-5.70749958e-03 3.21328628e-05 9.99983712e-01 -1.69882563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.685336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:1172.39, Y:218.11, Z:-16.99 [[ 9.81883222e-01 1.89404528e-01 5.59127449e-03 1.17238797e+03] [-1.89401071e-01 9.81899140e-01 -1.14639970e-03 2.18113507e+02] [-5.70720090e-03 6.66372522e-05 9.99983712e-01 -1.69904882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.745336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1172.45, Y:218.10, Z:-16.99 [[ 9.82772437e-01 1.84735153e-01 5.59106259e-03 1.17244822e+03] [-1.84731614e-01 9.82788336e-01 -1.14743223e-03 2.18099385e+02] [-5.70680217e-03 9.48187579e-05 9.99983712e-01 -1.69892813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.8053361949999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1172.51, Y:218.09, Z:-16.99 [[ 9.83287614e-01 1.81973102e-01 5.59092314e-03 1.17250929e+03] [-1.81969514e-01 9.83303502e-01 -1.14811128e-03 2.18085318e+02] [-5.70649968e-03 1.11546037e-04 9.99983712e-01 -1.69891014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.8653361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1172.57, Y:218.07, Z:-16.99 [[ 9.83653269e-01 1.79986082e-01 5.59070030e-03 1.17256937e+03] [-1.79982456e-01 9.83669149e-01 -1.14919541e-03 2.18070713e+02] [-5.70623858e-03 1.24181848e-04 9.99983712e-01 -1.69913514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.9253361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1172.63, Y:218.06, Z:-16.99 [[ 9.83513274e-01 1.80749508e-01 5.59056255e-03 1.17263091e+03] [-1.80745891e-01 9.83529156e-01 -1.14986509e-03 2.18056771e+02] [-5.70631882e-03 1.20436371e-04 9.99983712e-01 -1.69921042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.985336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1172.69, Y:218.04, Z:-16.99 [[ 9.83128574e-01 1.82830399e-01 5.59034835e-03 1.17269244e+03] [-1.82826809e-01 9.83144462e-01 -1.15090554e-03 2.18042475e+02] [-5.70654054e-03 1.09422567e-04 9.99983712e-01 -1.69915192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.045336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1172.75, Y:218.03, Z:-16.99 [[ 9.82454906e-01 1.86416490e-01 5.59012455e-03 1.17275315e+03] [-1.86412952e-01 9.82470806e-01 -1.15199156e-03 2.18028257e+02] [-5.70688439e-03 8.97081356e-05 9.99983712e-01 -1.69925664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.1053361949998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1172.81, Y:218.01, Z:-16.99 [[ 9.82004302e-01 1.88775801e-01 5.58998571e-03 1.17281328e+03] [-1.88772297e-01 9.82020209e-01 -1.15266487e-03 2.18014411e+02] [-5.70707417e-03 7.66874164e-05 9.99983712e-01 -1.69932719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.1653361949998 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:1172.87, Y:218.00, Z:-17.00 [[ 9.81339734e-01 1.92200627e-01 5.58978729e-03 1.17287482e+03] [-1.92197173e-01 9.81355652e-01 -1.15362632e-03 2.18000132e+02] [-5.70729705e-03 5.77580282e-05 9.99983712e-01 -1.69953790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.225336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1172.94, Y:217.99, Z:-16.99 [[ 9.80933097e-01 1.94265326e-01 5.58956263e-03 1.17293649e+03] [-1.94261900e-01 9.80949021e-01 -1.15471379e-03 2.17986778e+02] [-5.70739684e-03 4.68579209e-05 9.99983712e-01 -1.69946094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.285336195 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:1173.00, Y:217.97, Z:-17.00 [[ 9.80344833e-01 1.97212496e-01 5.58933683e-03 1.17299651e+03] [-1.97209112e-01 9.80360765e-01 -1.15580574e-03 2.17973032e+02] [-5.70750587e-03 3.08200342e-05 9.99983712e-01 -1.69955759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.3453361949998 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1173.06, Y:217.96, Z:-17.00 [[ 9.80160840e-01 1.98124933e-01 5.58912711e-03 1.17305826e+03] [-1.98121557e-01 9.80176775e-01 -1.15681902e-03 2.17960271e+02] [-5.70752727e-03 2.65421421e-05 9.99983712e-01 -1.69969678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.4053361949998 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:1173.12, Y:217.95, Z:-17.00 [[ 9.80296917e-01 1.97450548e-01 5.58890662e-03 1.17311926e+03] [-1.97447155e-01 9.80312848e-01 -1.15788327e-03 2.17946964e+02] [-5.70750165e-03 3.15556871e-05 9.99983712e-01 -1.69973993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.465336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:1173.18, Y:217.93, Z:-17.00 [[ 9.80771511e-01 1.95079498e-01 5.58870207e-03 1.17317995e+03] [-1.95076061e-01 9.80787432e-01 -1.15886974e-03 2.17931185e+02] [-5.70740048e-03 4.63644428e-05 9.99983712e-01 -1.69994456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.525336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:1173.24, Y:217.92, Z:-17.00 [[ 9.81174322e-01 1.93043306e-01 5.58848932e-03 1.17324130e+03] [-1.93039831e-01 9.81190236e-01 -1.15989477e-03 2.17915119e+02] [-5.70728107e-03 5.92579307e-05 9.99983712e-01 -1.70007404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.5853361949999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1173.30, Y:217.90, Z:-17.00 [[ 9.81507967e-01 1.91339704e-01 5.58826222e-03 1.17330152e+03] [-1.91336195e-01 9.81523873e-01 -1.16098790e-03 2.17899082e+02] [-5.70715586e-03 7.02820434e-05 9.99983712e-01 -1.70015695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.6453361949998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1173.36, Y:217.88, Z:-17.00 [[ 9.81533520e-01 1.91208584e-01 5.58805139e-03 1.17336199e+03] [-1.91205066e-01 9.81549424e-01 -1.16200176e-03 2.17883596e+02] [-5.70713334e-03 7.20799395e-05 9.99983712e-01 -1.69993440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.705336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1173.42, Y:217.87, Z:-17.00 [[ 9.81215321e-01 1.92834825e-01 5.58784902e-03 1.17342259e+03] [-1.92831329e-01 9.81231230e-01 -1.16297410e-03 2.17867314e+02] [-5.70723388e-03 6.36156474e-05 9.99983712e-01 -1.69987472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.765336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1173.48, Y:217.85, Z:-17.00 [[ 9.80853736e-01 1.94665682e-01 5.58763658e-03 1.17348388e+03] [-1.94662210e-01 9.80869650e-01 -1.16399393e-03 2.17852188e+02] [-5.70733280e-03 5.40061137e-05 9.99983712e-01 -1.69982906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.8253361949999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1173.54, Y:217.84, Z:-17.00 [[ 9.80301057e-01 1.97430032e-01 5.58742611e-03 1.17354486e+03] [-1.97426598e-01 9.80316980e-01 -1.16500333e-03 2.17836863e+02] [-5.70745534e-03 3.89474692e-05 9.99983712e-01 -1.69981168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.8853361949998 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1173.61, Y:217.82, Z:-17.00 [[ 9.80017531e-01 1.98832650e-01 5.58721462e-03 1.17360635e+03] [-1.98829233e-01 9.80033457e-01 -1.16601675e-03 2.17821499e+02] [-5.70749946e-03 3.18152548e-05 9.99983712e-01 -1.69994704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.945336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1173.67, Y:217.81, Z:-17.00 [[ 9.79901645e-01 1.99402987e-01 5.58699764e-03 1.17366815e+03] [-1.99399574e-01 9.79917572e-01 -1.16705548e-03 2.17807327e+02] [-5.70751151e-03 2.95546339e-05 9.99983712e-01 -1.69999556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.005336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1173.73, Y:217.79, Z:-17.00 [[ 9.79638169e-01 2.00693413e-01 5.58677734e-03 1.17372912e+03] [-2.00690015e-01 9.79654099e-01 -1.16810913e-03 2.17790593e+02] [-5.70754113e-03 2.31138661e-05 9.99983712e-01 -1.70002669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.0653361949999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1173.79, Y:217.78, Z:-17.00 [[ 9.79453099e-01 2.01594687e-01 5.58655124e-03 1.17379063e+03] [-2.01591297e-01 9.79469031e-01 -1.16918945e-03 2.17775830e+02] [-5.70755631e-03 1.89661160e-05 9.99983712e-01 -1.70014537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.1253361949998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1173.85, Y:217.76, Z:-17.00 [[ 9.79297611e-01 2.02348667e-01 5.58632448e-03 1.17385099e+03] [-2.02345283e-01 9.79313544e-01 -1.17027190e-03 2.17761715e+02] [-5.70756618e-03 1.56780711e-05 9.99983712e-01 -1.70038683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.185336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1173.91, Y:217.75, Z:-17.00 [[ 9.79515700e-01 2.01290311e-01 5.58611414e-03 1.17391218e+03] [-2.01286905e-01 9.79531628e-01 -1.17127506e-03 2.17745405e+02] [-5.70754180e-03 2.28706806e-05 9.99983712e-01 -1.70044908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.245336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1173.97, Y:217.73, Z:-17.00 [[ 9.80076093e-01 1.98543823e-01 5.58589131e-03 1.17397153e+03] [-1.98540366e-01 9.80092010e-01 -1.17233680e-03 2.17728470e+02] [-5.70744767e-03 3.99543623e-05 9.99983712e-01 -1.70043210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.3053361949999 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:1174.03, Y:217.71, Z:-17.00 [[ 9.80192421e-01 1.97968732e-01 5.58568488e-03 1.17403287e+03] [-1.97965260e-01 9.80208335e-01 -1.17331951e-03 2.17714774e+02] [-5.70741545e-03 4.43073337e-05 9.99983712e-01 -1.69998187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.3653361949998 meters Centerline goodness : 0.999543 with order 1 Centerline is valid? [True, True] Translation: X:1174.09, Y:217.70, Z:-17.00 [[ 9.80394843e-01 1.96963842e-01 5.58546416e-03 1.17409390e+03] [-1.96960347e-01 9.80410752e-01 -1.17436931e-03 2.17697592e+02] [-5.70735741e-03 5.12306568e-05 9.99983712e-01 -1.69957525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.4253361949998 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:1174.15, Y:217.68, Z:-17.00 [[ 9.80310439e-01 1.97383506e-01 5.58523681e-03 1.17415382e+03] [-1.97380012e-01 9.80326348e-01 -1.17544956e-03 2.17681568e+02] [-5.70736916e-03 4.98913627e-05 9.99983712e-01 -1.70048409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.485336195 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:1174.21, Y:217.67, Z:-17.01 [[ 9.80052578e-01 1.98659890e-01 5.58502577e-03 1.17421360e+03] [-1.98656412e-01 9.80068491e-01 -1.17645144e-03 2.17666598e+02] [-5.70742149e-03 4.34830834e-05 9.99983712e-01 -1.70067824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.545336195 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:1174.28, Y:217.65, Z:-17.01 [[ 9.79838920e-01 1.99711042e-01 5.58481779e-03 1.17427507e+03] [-1.99707575e-01 9.79854835e-01 -1.17743795e-03 2.17652228e+02] [-5.70745807e-03 3.83691176e-05 9.99983712e-01 -1.70063802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.6053361949998 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:1174.34, Y:217.64, Z:-17.01 [[ 9.79591564e-01 2.00920828e-01 5.58460213e-03 1.17433584e+03] [-2.00917375e-01 9.79607482e-01 -1.17845991e-03 2.17637088e+02] [-5.70749518e-03 3.23657834e-05 9.99983712e-01 -1.70053085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.6653361949998 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:1174.40, Y:217.62, Z:-17.01 [[ 9.79408223e-01 2.01812654e-01 5.58438845e-03 1.17439711e+03] [-2.01809209e-01 9.79424143e-01 -1.17947161e-03 2.17622339e+02] [-5.70751717e-03 2.82031794e-05 9.99983712e-01 -1.70062625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.725336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1174.46, Y:217.61, Z:-17.01 [[ 9.78934830e-01 2.04096583e-01 5.58417654e-03 1.17445768e+03] [-2.04093170e-01 9.78950757e-01 -1.18047406e-03 2.17607927e+02] [-5.70756457e-03 1.59148805e-05 9.99983712e-01 -1.70093134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.785336195 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:1174.52, Y:217.59, Z:-17.01 [[ 9.78550744e-01 2.05930234e-01 5.58398918e-03 1.17451892e+03] [-2.05926845e-01 9.78566676e-01 -1.18135966e-03 2.17594605e+02] [-5.70758340e-03 6.12709825e-06 9.99983712e-01 -1.70105214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.8453361949998 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:1174.58, Y:217.58, Z:-17.01 [[ 9.78006182e-01 2.08501151e-01 5.58377653e-03 1.17458032e+03] [-2.08497798e-01 9.78022121e-01 -1.18236391e-03 2.17582026e+02] [-5.70758120e-03 -7.84589691e-06 9.99983712e-01 -1.70107102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.9053361949998 meters Centerline goodness : 0.999660 with order 1 Centerline is valid? [True, True] Translation: X:1174.64, Y:217.57, Z:-17.01 [[ 9.77720189e-01 2.09838166e-01 5.58355944e-03 1.17464194e+03] [-2.09834830e-01 9.77736132e-01 -1.18338820e-03 2.17567721e+02] [-5.70756782e-03 -1.46027129e-05 9.99983712e-01 -1.70114100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.965336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:1174.70, Y:217.56, Z:-17.01 [[ 9.77554585e-01 2.10608308e-01 5.58334251e-03 1.17470417e+03] [-2.10604978e-01 9.77570530e-01 -1.18441081e-03 2.17556148e+02] [-5.70755785e-03 -1.80535047e-05 9.99983712e-01 -1.70130960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.025336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1174.76, Y:217.54, Z:-17.01 [[ 9.77524318e-01 2.10748751e-01 5.58312305e-03 1.17476470e+03] [-2.10745418e-01 9.77540262e-01 -1.18544440e-03 2.17543330e+02] [-5.70755850e-03 -1.78168686e-05 9.99983712e-01 -1.70133046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.0853361949999 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:1174.83, Y:217.53, Z:-17.01 [[ 9.77464292e-01 2.11026985e-01 5.58291946e-03 1.17482699e+03] [-2.11023650e-01 9.77480236e-01 -1.18640245e-03 2.17531449e+02] [-5.70755636e-03 -1.84620179e-05 9.99983712e-01 -1.70114084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.1453361949998 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:1174.89, Y:217.52, Z:-17.01 [[ 9.77670993e-01 2.10067282e-01 5.58270383e-03 1.17488853e+03] [-2.10063927e-01 9.77686932e-01 -1.18741624e-03 2.17520046e+02] [-5.70757389e-03 -1.18222719e-05 9.99983712e-01 -1.70109913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.205336195 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:1174.95, Y:217.51, Z:-17.01 [[ 9.77802635e-01 2.09453678e-01 5.58248746e-03 1.17494970e+03] [-2.09450307e-01 9.77818570e-01 -1.18843264e-03 2.17508623e+02] [-5.70758149e-03 -7.20114052e-06 9.99983712e-01 -1.70116820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.265336195 meters Centerline goodness : 0.999612 with order 1 Centerline is valid? [True, True] Translation: X:1175.01, Y:217.50, Z:-17.01 [[ 9.77946900e-01 2.08779067e-01 5.58228547e-03 1.17501182e+03] [-2.08775679e-01 9.77962832e-01 -1.18938063e-03 2.17496386e+02] [-5.70758549e-03 -2.29433920e-06 9.99983712e-01 -1.70108753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.3253361949999 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:1175.07, Y:217.48, Z:-17.01 [[ 9.78009352e-01 2.08486327e-01 5.58205821e-03 1.17507267e+03] [-2.08482928e-01 9.78025282e-01 -1.19044630e-03 2.17484641e+02] [-5.70758583e-03 5.03779053e-07 9.99983712e-01 -1.70112753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.3853361949998 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:1175.13, Y:217.47, Z:-17.01 [[ 9.78296140e-01 2.07136440e-01 5.58184730e-03 1.17513277e+03] [-2.07133014e-01 9.78312064e-01 -1.19143439e-03 2.17474216e+02] [-5.70757803e-03 9.39081049e-06 9.99983712e-01 -1.70137323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.445336195 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:1175.20, Y:217.46, Z:-17.01 [[ 9.78803981e-01 2.04723255e-01 5.58174112e-03 1.17519518e+03] [-2.04719786e-01 9.78819896e-01 -1.19193165e-03 2.17463239e+02] [-5.70753538e-03 2.39745952e-05 9.99983712e-01 -1.70146620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.505336195 meters Centerline goodness : 0.999662 with order 1 Centerline is valid? [True, True] Translation: X:1175.26, Y:217.45, Z:-17.01 [[ 9.79245659e-01 2.02600063e-01 5.58152660e-03 1.17525640e+03] [-2.02596554e-01 9.79261565e-01 -1.19293534e-03 2.17451086e+02] [-5.70746325e-03 3.73786976e-05 9.99983712e-01 -1.70145354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.5653361949999 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:1175.32, Y:217.44, Z:-17.01 [[ 9.79619448e-01 2.00784925e-01 5.58132764e-03 1.17531788e+03] [-2.00781382e-01 9.79635346e-01 -1.19386547e-03 2.17438119e+02] [-5.70737602e-03 4.89071554e-05 9.99983712e-01 -1.70125413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.6253361949998 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:1175.38, Y:217.43, Z:-17.02 [[ 9.79993864e-01 1.98949435e-01 5.58110296e-03 1.17537897e+03] [-1.98945855e-01 9.80009754e-01 -1.19491487e-03 2.17426295e+02] [-5.70726298e-03 6.06719374e-05 9.99983712e-01 -1.70150456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.685336195 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:1175.44, Y:217.41, Z:-17.02 [[ 9.80289252e-01 1.97488824e-01 5.58089391e-03 1.17544061e+03] [-1.97485216e-01 9.80305136e-01 -1.19589047e-03 2.17413806e+02] [-5.70715396e-03 7.01745368e-05 9.99983712e-01 -1.70172430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.745336195 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:1175.50, Y:217.40, Z:-17.02 [[ 9.80499835e-01 1.96440650e-01 5.58066602e-03 1.17550102e+03] [-1.96437018e-01 9.80515714e-01 -1.19695297e-03 2.17400467e+02] [-5.70706095e-03 7.73627964e-05 9.99983712e-01 -1.70186907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.8053361949999 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:1175.56, Y:217.39, Z:-17.02 [[ 9.80716472e-01 1.95356238e-01 5.58052412e-03 1.17556026e+03] [-1.95352585e-01 9.80732345e-01 -1.19761419e-03 2.17386669e+02] [-5.70696191e-03 8.43501530e-05 9.99983712e-01 -1.70169773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.8653361949998 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:1175.62, Y:217.37, Z:-17.02 [[ 9.80912766e-01 1.94368219e-01 5.58041897e-03 1.17562145e+03] [-1.94364547e-01 9.80928635e-01 -1.19810396e-03 2.17373125e+02] [-5.70686609e-03 9.05998618e-05 9.99983712e-01 -1.70151116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.9253361949998 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:1175.68, Y:217.36, Z:-17.02 [[ 9.81236162e-01 1.92728969e-01 5.58018738e-03 1.17568150e+03] [-1.92725265e-01 9.81252024e-01 -1.19918160e-03 2.17358322e+02] [-5.70668720e-03 1.01237259e-04 9.99983712e-01 -1.70162253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.985336195 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:1175.74, Y:217.34, Z:-17.02 [[ 9.81237211e-01 1.92723633e-01 5.57997159e-03 1.17574135e+03] [-1.92719923e-01 9.81253072e-01 -1.20018489e-03 2.17342267e+02] [-5.70666825e-03 1.02294378e-04 9.99983712e-01 -1.70178649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.045336195 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:1175.80, Y:217.33, Z:-17.02 [[ 9.80924953e-01 1.94306721e-01 5.57983058e-03 1.17580156e+03] [-1.94303033e-01 9.80940819e-01 -1.20084010e-03 2.17327948e+02] [-5.70681488e-03 9.37560120e-05 9.99983712e-01 -1.70205660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.1053361949998 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:1175.86, Y:217.31, Z:-17.02 [[ 9.79957783e-01 1.99127122e-01 5.57969283e-03 1.17586273e+03] [-1.99123508e-01 9.79973665e-01 -1.20147979e-03 2.17313188e+02] [-5.70719925e-03 6.63514640e-05 9.99983712e-01 -1.70222669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.1653361949998 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:1175.92, Y:217.30, Z:-17.02 [[ 9.79136593e-01 2.03126565e-01 5.57947275e-03 1.17592431e+03] [-2.03123011e-01 9.79152489e-01 -1.20250097e-03 2.17300115e+02] [-5.70741452e-03 4.40934046e-05 9.99983712e-01 -1.70216099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.225336195 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:1175.99, Y:217.29, Z:-17.02 [[ 9.78661424e-01 2.05403721e-01 5.57924428e-03 1.17598633e+03] [-2.05400197e-01 9.78677327e-01 -1.20356006e-03 2.17286977e+02] [-5.70749559e-03 3.18999249e-05 9.99983712e-01 -1.70219545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.285336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1176.05, Y:217.27, Z:-17.02 [[ 9.77716257e-01 2.09856608e-01 5.57901757e-03 1.17604764e+03] [-2.09853151e-01 9.77732174e-01 -1.20461001e-03 2.17274469e+02] [-5.70758035e-03 6.99237545e-06 9.99983712e-01 -1.70219020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.3453361949998 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:1176.11, Y:217.26, Z:-17.02 [[ 9.77023529e-01 2.13058443e-01 5.57878634e-03 1.17610938e+03] [-2.13055032e-01 9.77039457e-01 -1.20567994e-03 2.17263948e+02] [-5.70757467e-03 -1.06108367e-05 9.99983712e-01 -1.70227277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.4053361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1176.17, Y:217.25, Z:-17.02 [[ 9.76717055e-01 2.14459027e-01 5.57855277e-03 1.17617046e+03] [-2.14455632e-01 9.76732986e-01 -1.20675970e-03 2.17251713e+02] [-5.70755701e-03 -1.76892771e-05 9.99983712e-01 -1.70229515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.465336195 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:1176.23, Y:217.24, Z:-17.02 [[ 9.76527790e-01 2.15319201e-01 5.57833710e-03 1.17623257e+03] [-2.15315814e-01 9.76543722e-01 -1.20775583e-03 2.17241764e+02] [-5.70754309e-03 -2.16970634e-05 9.99983712e-01 -1.70219061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.525336195 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:1176.29, Y:217.23, Z:-17.02 [[ 9.76498640e-01 2.15451364e-01 5.57810990e-03 1.17629390e+03] [-2.15447974e-01 9.76514572e-01 -1.20880425e-03 2.17231668e+02] [-5.70754413e-03 -2.13967706e-05 9.99983712e-01 -1.70233509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.5853361949999 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:1176.36, Y:217.22, Z:-17.02 [[ 9.76670799e-01 2.14669599e-01 5.57789857e-03 1.17635637e+03] [-2.14666191e-01 9.76686727e-01 -1.20977861e-03 2.17223434e+02] [-5.70756219e-03 -1.58308006e-05 9.99983712e-01 -1.70244034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.6453361949998 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:1176.42, Y:217.21, Z:-17.02 [[ 9.76844484e-01 2.13877870e-01 5.57767144e-03 1.17641886e+03] [-2.13874442e-01 9.76860408e-01 -1.21082489e-03 2.17213074e+02] [-5.70757505e-03 -1.01337521e-05 9.99983712e-01 -1.70237626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.705336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:1176.48, Y:217.20, Z:-17.02 [[ 9.77495518e-01 2.10882441e-01 5.57743791e-03 1.17647997e+03] [-2.10878959e-01 9.77511430e-01 -1.21189966e-03 2.17204352e+02] [-5.70757767e-03 8.46218491e-06 9.99983712e-01 -1.70246349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.765336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:1176.54, Y:217.20, Z:-17.02 [[ 9.78251104e-01 2.07349157e-01 5.57722145e-03 1.17654212e+03] [-2.07345611e-01 9.78267002e-01 -1.21289500e-03 2.17195502e+02] [-5.70750446e-03 3.01034807e-05 9.99983712e-01 -1.70233326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.8253361949999 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:1176.60, Y:217.18, Z:-17.02 [[ 9.78836448e-01 2.04568094e-01 5.57699147e-03 1.17660287e+03] [-2.04564497e-01 9.78852335e-01 -1.21395157e-03 2.17184123e+02] [-5.70738687e-03 4.74055834e-05 9.99983712e-01 -1.70220058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.8853361949998 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:1176.66, Y:217.17, Z:-17.02 [[ 9.79433799e-01 2.01688702e-01 5.57677663e-03 1.17666486e+03] [-2.01685053e-01 9.79449674e-01 -1.21493771e-03 2.17174776e+02] [-5.70721126e-03 6.51985631e-05 9.99983712e-01 -1.70216344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.945336195 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:1176.73, Y:217.16, Z:-17.02 [[ 9.79663049e-01 2.00572213e-01 5.57653872e-03 1.17672547e+03] [-2.00568540e-01 9.79678918e-01 -1.21602873e-03 2.17163186e+02] [-5.70711899e-03 7.28201868e-05 9.99983712e-01 -1.70223323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.005336195 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:1176.79, Y:217.15, Z:-17.02 [[ 9.79868259e-01 1.99567280e-01 5.57631688e-03 1.17678710e+03] [-1.99563584e-01 9.79884123e-01 -1.21704516e-03 2.17151476e+02] [-5.70702677e-03 7.97141371e-05 9.99983712e-01 -1.70229729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.0653361949999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1176.85, Y:217.14, Z:-17.02 [[ 9.79904317e-01 1.99390163e-01 5.57609339e-03 1.17684956e+03] [-1.99386459e-01 9.79920179e-01 -1.21806824e-03 2.17140344e+02] [-5.70699726e-03 8.17928077e-05 9.99983712e-01 -1.70224029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.1253361949998 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:1176.91, Y:217.13, Z:-17.02 [[ 9.80006775e-01 1.98885974e-01 5.57586289e-03 1.17691154e+03] [-1.98882256e-01 9.80022633e-01 -1.21912251e-03 2.17127941e+02] [-5.70693820e-03 8.58081265e-05 9.99983712e-01 -1.70222158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.185336195 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:1176.97, Y:217.11, Z:-17.02 [[ 9.80185180e-01 1.98004860e-01 5.57562289e-03 1.17697290e+03] [-1.98001122e-01 9.80201034e-01 -1.22021912e-03 2.17114167e+02] [-5.70684064e-03 9.20611152e-05 9.99983712e-01 -1.70241958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.245336195 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:1177.03, Y:217.10, Z:-17.03 [[ 9.80272163e-01 1.97573786e-01 5.57538594e-03 1.17703321e+03] [-1.97570034e-01 9.80288014e-01 -1.22130083e-03 2.17100686e+02] [-5.70678104e-03 9.56780119e-05 9.99983712e-01 -1.70252545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.3053361949999 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:1177.09, Y:217.09, Z:-17.02 [[ 9.80163434e-01 1.98112495e-01 5.57516540e-03 1.17709448e+03] [-1.98108747e-01 9.80179285e-01 -1.22230677e-03 2.17087998e+02] [-5.70681588e-03 9.35713751e-05 9.99983712e-01 -1.70244191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.3653361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1177.16, Y:217.07, Z:-17.02 [[ 9.79923729e-01 1.99294772e-01 5.57494169e-03 1.17715606e+03] [-1.99291037e-01 9.79939583e-01 -1.22332623e-03 2.17074305e+02] [-5.70690856e-03 8.77304930e-05 9.99983712e-01 -1.70236840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.4253361949998 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:1177.22, Y:217.06, Z:-17.02 [[ 9.79882780e-01 1.99496015e-01 5.57470502e-03 1.17721688e+03] [-1.99492277e-01 9.79898634e-01 -1.22440381e-03 2.17060118e+02] [-5.70690951e-03 8.76616116e-05 9.99983712e-01 -1.70241312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.485336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:1177.28, Y:217.05, Z:-17.03 [[ 9.79901132e-01 1.99405857e-01 5.57455787e-03 1.17727836e+03] [-1.99402113e-01 9.79916984e-01 -1.22507342e-03 2.17045060e+02] [-5.70689075e-03 8.88722100e-05 9.99983712e-01 -1.70259518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.545336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:1177.34, Y:217.03, Z:-17.03 [[ 9.79933696e-01 1.99245774e-01 5.57432427e-03 1.17733995e+03] [-1.99242022e-01 9.79949546e-01 -1.22613542e-03 2.17030501e+02] [-5.70685884e-03 9.08917728e-05 9.99983712e-01 -1.70281823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.6053361949998 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:1177.40, Y:217.01, Z:-17.03 [[ 9.80137906e-01 1.98238784e-01 5.57409206e-03 1.17740032e+03] [-1.98235009e-01 9.80153751e-01 -1.22719013e-03 2.17013188e+02] [-5.70674392e-03 9.78353727e-05 9.99983712e-01 -1.70278816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.6653361949998 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:1177.46, Y:217.00, Z:-17.03 [[ 9.80163883e-01 1.98110307e-01 5.57385322e-03 1.17745906e+03] [-1.98106525e-01 9.80179727e-01 -1.22827400e-03 2.16996889e+02] [-5.70671166e-03 9.96931218e-05 9.99983712e-01 -1.70257943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.725336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1177.52, Y:216.98, Z:-17.03 [[ 9.79981925e-01 1.99008440e-01 5.57373902e-03 1.17751882e+03] [-1.99004669e-01 9.79997771e-01 -1.22879197e-03 2.16981576e+02] [-5.70679180e-03 9.49938296e-05 9.99983712e-01 -1.70260377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.785336195 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:1177.58, Y:216.96, Z:-17.03 [[ 9.79574719e-01 2.01003250e-01 5.57352051e-03 1.17757830e+03] [-2.00999505e-01 9.79590571e-01 -1.22978231e-03 2.16964336e+02] [-5.70695838e-03 8.43887921e-05 9.99983712e-01 -1.70265227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.8453361949998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1177.64, Y:216.95, Z:-17.03 [[ 9.79337704e-01 2.02154891e-01 5.57330965e-03 1.17763903e+03] [-2.02151160e-01 9.79353559e-01 -1.23073718e-03 2.16948758e+02] [-5.70704018e-03 7.86563112e-05 9.99983712e-01 -1.70267802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.9053361949998 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1177.70, Y:216.93, Z:-17.03 [[ 9.79032572e-01 2.03627510e-01 5.57307501e-03 1.17769980e+03] [-2.03623797e-01 9.79048432e-01 -1.23179876e-03 2.16930727e+02] [-5.70713846e-03 7.11604176e-05 9.99983712e-01 -1.70276573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.965336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:1177.76, Y:216.92, Z:-17.03 [[ 9.78688852e-01 2.05273171e-01 5.57283488e-03 1.17775966e+03] [-2.05269479e-01 9.78704716e-01 -1.23288418e-03 2.16915829e+02] [-5.70723783e-03 6.26770897e-05 9.99983712e-01 -1.70282302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.025336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1177.82, Y:216.90, Z:-17.03 [[ 9.77921507e-01 2.08898236e-01 5.57261290e-03 1.17782057e+03] [-2.08894596e-01 9.77937383e-01 -1.23388674e-03 2.16899612e+02] [-5.70742323e-03 4.25556576e-05 9.99983712e-01 -1.70269088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.0853361949999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1177.88, Y:216.89, Z:-17.03 [[ 9.77625819e-01 2.10277690e-01 5.57237676e-03 1.17788073e+03] [-2.10274067e-01 9.77641699e-01 -1.23495225e-03 2.16885410e+02] [-5.70747079e-03 3.55948765e-05 9.99983712e-01 -1.70276167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.1453361949998 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1177.94, Y:216.87, Z:-17.03 [[ 9.77187150e-01 2.12306912e-01 5.57215880e-03 1.17794227e+03] [-2.12303316e-01 9.77203036e-01 -1.23593491e-03 2.16870310e+02] [-5.70752802e-03 2.47519279e-05 9.99983712e-01 -1.70291288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.205336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1178.00, Y:216.85, Z:-17.03 [[ 9.76711567e-01 2.14484192e-01 5.57192659e-03 1.17800275e+03] [-2.14480626e-01 9.76727460e-01 -1.23698089e-03 2.16854229e+02] [-5.70756655e-03 1.31032381e-05 9.99983712e-01 -1.70294241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.265336195 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:1178.06, Y:216.84, Z:-17.03 [[ 9.76412322e-01 2.15842381e-01 5.57169041e-03 1.17806326e+03] [-2.15838831e-01 9.76428219e-01 -1.23804379e-03 2.16838999e+02] [-5.70757806e-03 6.25406638e-06 9.99983712e-01 -1.70298563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.3253361949999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1178.12, Y:216.82, Z:-17.03 [[ 9.75764795e-01 2.18751054e-01 5.57147108e-03 1.17812368e+03] [-2.18747546e-01 9.75780701e-01 -1.23903003e-03 2.16822556e+02] [-5.70757308e-03 -9.74373679e-06 9.99983712e-01 -1.70292749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.3853361949998 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:1178.19, Y:216.81, Z:-17.03 [[ 9.74982057e-01 2.22213749e-01 5.57124323e-03 1.17818538e+03] [-2.22210291e-01 9.74997974e-01 -1.24005369e-03 2.16808034e+02] [-5.70750784e-03 -2.89574871e-05 9.99983712e-01 -1.70302446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.445336195 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:1178.25, Y:216.79, Z:-17.03 [[ 9.74554738e-01 2.24080404e-01 5.57100288e-03 1.17824623e+03] [-2.24076970e-01 9.74570660e-01 -1.24113254e-03 2.16794598e+02] [-5.70744944e-03 -3.87818485e-05 9.99983712e-01 -1.70312925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.505336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1178.31, Y:216.78, Z:-17.03 [[ 9.73935459e-01 2.26756891e-01 5.57078026e-03 1.17830651e+03] [-2.26753495e-01 9.73951390e-01 -1.24213095e-03 2.16781755e+02] [-5.70733093e-03 -5.34385167e-05 9.99983712e-01 -1.70328602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.5653361949999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1178.37, Y:216.77, Z:-17.03 [[ 9.73542478e-01 2.28438203e-01 5.57056389e-03 1.17836827e+03] [-2.28434829e-01 9.73558413e-01 -1.24310058e-03 2.16769104e+02] [-5.70724100e-03 -6.22995883e-05 9.99983712e-01 -1.70324211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.6253361949998 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1178.43, Y:216.76, Z:-17.03 [[ 9.73210538e-01 2.29848253e-01 5.57032467e-03 1.17843010e+03] [-2.29844896e-01 9.73226477e-01 -1.24417156e-03 2.16758069e+02] [-5.70715812e-03 -6.94698193e-05 9.99983712e-01 -1.70325278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.685336195 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:1178.49, Y:216.75, Z:-17.03 [[ 9.73331932e-01 2.29333652e-01 5.57008449e-03 1.17849074e+03] [-2.29330281e-01 9.73347868e-01 -1.24524590e-03 2.16746547e+02] [-5.70720666e-03 -6.53514414e-05 9.99983712e-01 -1.70327217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.745336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1178.55, Y:216.73, Z:-17.03 [[ 9.73795649e-01 2.27356573e-01 5.56986245e-03 1.17855284e+03] [-2.27353163e-01 9.73811576e-01 -1.24623828e-03 2.16734570e+02] [-5.70733700e-03 -5.27444305e-05 9.99983712e-01 -1.70314661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.8053361949999 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:1178.61, Y:216.72, Z:-17.03 [[ 9.74216076e-01 2.25548257e-01 5.56962691e-03 1.17861388e+03] [-2.25544812e-01 9.74231996e-01 -1.24729008e-03 2.16723121e+02] [-5.70743284e-03 -4.10704113e-05 9.99983712e-01 -1.70319015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.8653361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1178.68, Y:216.71, Z:-17.03 [[ 9.75087948e-01 2.21748674e-01 5.56940736e-03 1.17867531e+03] [-2.21745161e-01 9.75103854e-01 -1.24826962e-03 2.16709985e+02] [-5.70755272e-03 -1.78164719e-05 9.99983712e-01 -1.70313094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.9253361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1178.74, Y:216.70, Z:-17.03 [[ 9.76168444e-01 2.16942741e-01 5.56917459e-03 1.17873577e+03] [-2.16939144e-01 9.76184331e-01 -1.24930729e-03 2.16696989e+02] [-5.70756911e-03 1.13623908e-05 9.99983712e-01 -1.70318749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.985336195 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:1178.80, Y:216.68, Z:-17.03 [[ 9.77004854e-01 2.13144324e-01 5.56895834e-03 1.17879716e+03] [-2.13140660e-01 9.77020724e-01 -1.25027052e-03 2.16682481e+02] [-5.70747577e-03 3.45489091e-05 9.99983712e-01 -1.70316103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.045336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1178.86, Y:216.67, Z:-17.03 [[ 9.78188784e-01 2.07643182e-01 5.56873138e-03 1.17885740e+03] [-2.07639423e-01 9.78204633e-01 -1.25128058e-03 2.16665462e+02] [-5.70717872e-03 6.77004547e-05 9.99983712e-01 -1.70295698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.1053361949998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1178.92, Y:216.65, Z:-17.03 [[ 9.78850081e-01 2.04503078e-01 5.56858607e-03 1.17891853e+03] [-2.04499265e-01 9.78865917e-01 -1.25192693e-03 2.16648317e+02] [-5.70692202e-03 8.66770183e-05 9.99983712e-01 -1.70312302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.1653361949998 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1178.98, Y:216.63, Z:-17.03 [[ 9.79382560e-01 2.01937602e-01 5.56835361e-03 1.17897725e+03] [-2.01933740e-01 9.79398384e-01 -1.25296002e-03 2.16630544e+02] [-5.70665626e-03 1.02688720e-04 9.99983712e-01 -1.70344703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.225336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1179.04, Y:216.61, Z:-17.04 [[ 9.79505253e-01 2.01341636e-01 5.56823954e-03 1.17903790e+03] [-2.01337762e-01 9.79521074e-01 -1.25346672e-03 2.16612338e+02] [-5.70658302e-03 1.06680343e-04 9.99983712e-01 -1.70350848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.285336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1179.10, Y:216.59, Z:-17.04 [[ 9.79464698e-01 2.01538835e-01 5.56801034e-03 1.17909706e+03] [-2.01534959e-01 9.79480519e-01 -1.25448402e-03 2.16592090e+02] [-5.70658491e-03 1.06574076e-04 9.99983712e-01 -1.70351179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.3453361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1179.16, Y:216.57, Z:-17.03 [[ 9.79247730e-01 2.02590431e-01 5.56779813e-03 1.17915753e+03] [-2.02586567e-01 9.79263553e-01 -1.25542519e-03 2.16572477e+02] [-5.70667891e-03 1.01411163e-04 9.99983712e-01 -1.70347931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.4053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1179.22, Y:216.55, Z:-17.04 [[ 9.78680297e-01 2.05314095e-01 5.56757354e-03 1.17921614e+03] [-2.05310268e-01 9.78696130e-01 -1.25642039e-03 2.16551692e+02] [-5.70692350e-03 8.65538651e-05 9.99983712e-01 -1.70360281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.465336195 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:1179.28, Y:216.53, Z:-17.04 [[ 9.78049753e-01 2.08297110e-01 5.56736521e-03 1.17927590e+03] [-2.08293326e-01 9.78065596e-01 -1.25734285e-03 2.16531112e+02] [-5.70714926e-03 7.00988441e-05 9.99983712e-01 -1.70350889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.525336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1179.34, Y:216.51, Z:-17.03 [[ 9.77585009e-01 2.10467473e-01 5.56714642e-03 1.17933580e+03] [-2.10463719e-01 9.77600859e-01 -1.25831086e-03 2.16511968e+02] [-5.70728063e-03 5.84234935e-05 9.99983712e-01 -1.70340587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.5853361949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1179.39, Y:216.49, Z:-17.04 [[ 9.76878118e-01 2.13724477e-01 5.56691373e-03 1.17939443e+03] [-2.13720770e-01 9.76893979e-01 -1.25933946e-03 2.16491569e+02] [-5.70743617e-03 4.04560741e-05 9.99983712e-01 -1.70359606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.6453361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1179.45, Y:216.47, Z:-17.04 [[ 9.76400473e-01 2.15896103e-01 5.56669765e-03 1.17945485e+03] [-2.15892427e-01 9.76416341e-01 -1.26029389e-03 2.16473368e+02] [-5.70750709e-03 2.87436836e-05 9.99983712e-01 -1.70351774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.705336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1179.51, Y:216.45, Z:-17.04 [[ 9.75760297e-01 2.18771246e-01 5.56646963e-03 1.17951310e+03] [-2.18767611e-01 9.75776174e-01 -1.26130021e-03 2.16452140e+02] [-5.70756466e-03 1.29634093e-05 9.99983712e-01 -1.70378907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.765336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1179.57, Y:216.43, Z:-17.04 [[ 9.75346411e-01 2.20609146e-01 5.56625808e-03 1.17957275e+03] [-2.20605535e-01 9.75362294e-01 -1.26223310e-03 2.16433950e+02] [-5.70757842e-03 3.16717830e-06 9.99983712e-01 -1.70400533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.8253361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1179.63, Y:216.42, Z:-17.04 [[ 9.74597422e-01 2.23894804e-01 5.56607480e-03 1.17963276e+03] [-2.23891242e-01 9.74613316e-01 -1.26304083e-03 2.16415268e+02] [-5.70755889e-03 -1.52390660e-05 9.99983712e-01 -1.70395949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.8853361949998 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:1179.69, Y:216.40, Z:-17.03 [[ 9.74138694e-01 2.25882326e-01 5.56586462e-03 1.17969321e+03] [-2.25878792e-01 9.74154594e-01 -1.26396635e-03 2.16397630e+02] [-5.70752025e-03 -2.59322440e-05 9.99983712e-01 -1.70345729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.945336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:1179.75, Y:216.38, Z:-17.04 [[ 9.73511011e-01 2.28572387e-01 5.56561335e-03 1.17975241e+03] [-2.28568889e-01 9.73526919e-01 -1.26507176e-03 2.16377739e+02] [-5.70743489e-03 -4.05647775e-05 9.99983712e-01 -1.70350945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.005336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1179.81, Y:216.36, Z:-17.04 [[ 9.73305574e-01 2.29445603e-01 5.56545760e-03 1.17981326e+03] [-2.29442116e-01 9.73321485e-01 -1.26575661e-03 2.16362591e+02] [-5.70740174e-03 -4.49823999e-05 9.99983712e-01 -1.70353037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.0653361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1179.87, Y:216.35, Z:-17.04 [[ 9.72933960e-01 2.31016315e-01 5.56522039e-03 1.17987326e+03] [-2.31012847e-01 9.72949875e-01 -1.26679869e-03 2.16346181e+02] [-5.70733165e-03 -5.31259403e-05 9.99983712e-01 -1.70370715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.1253361949998 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1179.93, Y:216.33, Z:-17.04 [[ 9.72649584e-01 2.32210717e-01 5.56500676e-03 1.17993395e+03] [-2.32207264e-01 9.72665502e-01 -1.26773648e-03 2.16330150e+02] [-5.70727209e-03 -5.91716364e-05 9.99983712e-01 -1.70379740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.185336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1179.99, Y:216.32, Z:-17.04 [[ 9.72031249e-01 2.34785612e-01 5.56476471e-03 1.17999390e+03] [-2.34782195e-01 9.72047175e-01 -1.26879806e-03 2.16315020e+02] [-5.70710935e-03 -7.31963156e-05 9.99983712e-01 -1.70380633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.245336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1180.06, Y:216.30, Z:-17.04 [[ 9.71440705e-01 2.37217183e-01 5.56454038e-03 1.18005572e+03] [-2.37213800e-01 9.71456639e-01 -1.26978115e-03 2.16302141e+02] [-5.70692360e-03 -8.64686752e-05 9.99983712e-01 -1.70387653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.3053361949999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1180.12, Y:216.29, Z:-17.04 [[ 9.71088111e-01 2.38656487e-01 5.56430306e-03 1.18011640e+03] [-2.38653122e-01 9.71104048e-01 -1.27082027e-03 2.16289008e+02] [-5.70680673e-03 -9.38598403e-05 9.99983712e-01 -1.70400046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.3653361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1180.18, Y:216.28, Z:-17.04 [[ 9.71181748e-01 2.38275165e-01 5.56408383e-03 1.18017800e+03] [-2.38271788e-01 9.71197682e-01 -1.27177942e-03 2.16275718e+02] [-5.70685876e-03 -9.06352428e-05 9.99983712e-01 -1.70400128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.4253361949998 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:1180.24, Y:216.26, Z:-17.04 [[ 9.71567141e-01 2.36698827e-01 5.56385220e-03 1.18023858e+03] [-2.36695419e-01 9.71583068e-01 -1.27279194e-03 2.16262226e+02] [-5.70701295e-03 -8.03354984e-05 9.99983712e-01 -1.70409166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.485336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1180.30, Y:216.25, Z:-17.04 [[ 9.71910207e-01 2.35286197e-01 5.56363707e-03 1.18030016e+03] [-2.35282760e-01 9.71926129e-01 -1.27373160e-03 2.16249645e+02] [-5.70713571e-03 -7.10751417e-05 9.99983712e-01 -1.70421307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1180.36, Y:216.24, Z:-17.04 [[ 9.72057690e-01 2.34676150e-01 5.56340844e-03 1.18036210e+03] [-2.34672698e-01 9.72073608e-01 -1.27472947e-03 2.16236530e+02] [-5.70719112e-03 -6.64694860e-05 9.99983712e-01 -1.70413087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.6053361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1180.42, Y:216.22, Z:-17.04 [[ 9.72259347e-01 2.33839290e-01 5.56318076e-03 1.18042283e+03] [-2.33835818e-01 9.72275261e-01 -1.27572234e-03 2.16224420e+02] [-5.70725703e-03 -6.05379523e-05 9.99983712e-01 -1.70418603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.6653361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1180.48, Y:216.21, Z:-17.04 [[ 9.72540865e-01 2.32665681e-01 5.56296923e-03 1.18048482e+03] [-2.32662184e-01 9.72556774e-01 -1.27664407e-03 2.16210845e+02] [-5.70733467e-03 -5.27040424e-05 9.99983712e-01 -1.70406227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.725336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1180.55, Y:216.20, Z:-17.04 [[ 9.72874341e-01 2.31267321e-01 5.56272566e-03 1.18054538e+03] [-2.31263795e-01 9.72890243e-01 -1.27770447e-03 2.16198445e+02] [-5.70741281e-03 -4.34111525e-05 9.99983712e-01 -1.70396414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.785336195 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:1180.61, Y:216.19, Z:-17.04 [[ 9.73026745e-01 2.30625265e-01 5.56249877e-03 1.18060705e+03] [-2.30621723e-01 9.73042643e-01 -1.27869149e-03 2.16185839e+02] [-5.70744707e-03 -3.86320376e-05 9.99983712e-01 -1.70387981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.8453361949998 meters Centerline goodness : 0.999575 with order 1 Centerline is valid? [True, True] Translation: X:1180.67, Y:216.17, Z:-17.04 [[ 9.73242686e-01 2.29712288e-01 5.56225370e-03 1.18066719e+03] [-2.29708725e-01 9.73258580e-01 -1.27975665e-03 2.16172991e+02] [-5.70748697e-03 -3.21844094e-05 9.99983712e-01 -1.70401353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.9053361949998 meters Centerline goodness : 0.999334 with order 1 Centerline is valid? [True, True] Translation: X:1180.73, Y:216.16, Z:-17.04 [[ 9.73247086e-01 2.29693653e-01 5.56202654e-03 1.18072816e+03] [-2.29690084e-01 9.73262978e-01 -1.28074316e-03 2.16160465e+02] [-5.70749309e-03 -3.10628000e-05 9.99983712e-01 -1.70408602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.965336195 meters Centerline goodness : 0.998869 with order 1 Centerline is valid? [True, True] Translation: X:1180.79, Y:216.15, Z:-17.04 [[ 9.73115523e-01 2.30250398e-01 5.56180524e-03 1.18079007e+03] [-2.30246833e-01 9.73131416e-01 -1.28170345e-03 2.16148879e+02] [-5.70748014e-03 -3.33425214e-05 9.99983712e-01 -1.70420288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.025336195 meters Centerline goodness : 0.998325 with order 1 Centerline is valid? [True, True] Translation: X:1180.85, Y:216.14, Z:-17.04 [[ 9.72993280e-01 2.30766433e-01 5.56157181e-03 1.18085184e+03] [-2.30762871e-01 9.73009174e-01 -1.28271556e-03 2.16137858e+02] [-5.70746809e-03 -3.53306610e-05 9.99983712e-01 -1.70412891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.0853361949999 meters Centerline goodness : 0.998475 with order 1 Centerline is valid? [True, True] Translation: X:1180.91, Y:216.13, Z:-17.04 [[ 9.72957270e-01 2.30918216e-01 5.56132996e-03 1.18091263e+03] [-2.30914650e-01 9.72973163e-01 -1.28376330e-03 2.16126683e+02] [-5.70746913e-03 -3.51457268e-05 9.99983712e-01 -1.70436169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.1453361949998 meters Centerline goodness : 0.998301 with order 1 Centerline is valid? [True, True] Translation: X:1180.97, Y:216.12, Z:-17.05 [[ 9.72946468e-01 2.30963731e-01 5.56110600e-03 1.18097432e+03] [-2.30960160e-01 9.72962360e-01 -1.28473270e-03 2.16115830e+02] [-5.70747348e-03 -3.44177934e-05 9.99983712e-01 -1.70454540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.205336195 meters Centerline goodness : 0.998347 with order 1 Centerline is valid? [True, True] Translation: X:1181.04, Y:216.11, Z:-17.05 [[ 9.72818390e-01 2.31502604e-01 5.56089985e-03 1.18103588e+03] [-2.31499037e-01 9.72834283e-01 -1.28562442e-03 2.16105886e+02] [-5.70745942e-03 -3.66638854e-05 9.99983712e-01 -1.70465821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.265336195 meters Centerline goodness : 0.998252 with order 1 Centerline is valid? [True, True] Translation: X:1181.10, Y:216.10, Z:-17.04 [[ 9.72440273e-01 2.33085811e-01 5.56068060e-03 1.18109844e+03] [-2.33082264e-01 9.72456170e-01 -1.28657202e-03 2.16097327e+02] [-5.70739984e-03 -4.49815834e-05 9.99983712e-01 -1.70440130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.3253361949999 meters Centerline goodness : 0.998017 with order 1 Centerline is valid? [True, True] Translation: X:1181.16, Y:216.09, Z:-17.04 [[ 9.72226943e-01 2.33974044e-01 5.56043910e-03 1.18116064e+03] [-2.33970506e-01 9.72242842e-01 -1.28761490e-03 2.16088065e+02] [-5.70736558e-03 -4.91248597e-05 9.99983712e-01 -1.70422255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.3853361949998 meters Centerline goodness : 0.998145 with order 1 Centerline is valid? [True, True] Translation: X:1181.22, Y:216.08, Z:-17.04 [[ 9.72257673e-01 2.33846319e-01 5.56018551e-03 1.18122292e+03] [-2.33842772e-01 9.72273571e-01 -1.28870904e-03 2.16080940e+02] [-5.70738129e-03 -4.72519410e-05 9.99983712e-01 -1.70446374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.445336195 meters Centerline goodness : 0.997973 with order 1 Centerline is valid? [True, True] Translation: X:1181.28, Y:216.07, Z:-17.05 [[ 9.72540939e-01 2.32665443e-01 5.55994907e-03 1.18128424e+03] [-2.32661871e-01 9.72556831e-01 -1.28972833e-03 2.16071102e+02] [-5.70744166e-03 -3.92745538e-05 9.99983712e-01 -1.70452394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.505336195 meters Centerline goodness : 0.997691 with order 1 Centerline is valid? [True, True] Translation: X:1181.35, Y:216.07, Z:-17.04 [[ 9.73133868e-01 2.30172902e-01 5.55972391e-03 1.18134775e+03] [-2.30169285e-01 9.73149749e-01 -1.29069820e-03 2.16065459e+02] [-5.70752768e-03 -2.36555446e-05 9.99983712e-01 -1.70371615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.5653361949999 meters Centerline goodness : 0.998049 with order 1 Centerline is valid? [True, True] Translation: X:1181.41, Y:216.05, Z:-17.04 [[ 9.73774622e-01 2.27446869e-01 5.55947852e-03 1.18140977e+03] [-2.27443201e-01 9.73790492e-01 -1.29175431e-03 2.16054560e+02] [-5.70757280e-03 -6.58802171e-06 9.99983712e-01 -1.70445217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.6253361949998 meters Centerline goodness : 0.998032 with order 1 Centerline is valid? [True, True] Translation: X:1181.47, Y:216.04, Z:-17.05 [[ 9.75235070e-01 2.21101003e-01 5.55923301e-03 1.18147100e+03] [-2.21097226e-01 9.75250914e-01 -1.29281003e-03 2.16044348e+02] [-5.70748867e-03 3.16626842e-05 9.99983712e-01 -1.70461789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.685336195 meters Centerline goodness : 0.998033 with order 1 Centerline is valid? [True, True] Translation: X:1181.53, Y:216.03, Z:-17.05 [[ 9.76211221e-01 2.16750433e-01 5.55900464e-03 1.18153339e+03] [-2.16746579e-01 9.76227047e-01 -1.29379126e-03 2.16032662e+02] [-5.70728050e-03 5.81183077e-05 9.99983712e-01 -1.70459196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.745336195 meters Centerline goodness : 0.997985 with order 1 Centerline is valid? [True, True] Translation: X:1181.59, Y:216.02, Z:-17.05 [[ 9.77570617e-01 2.10534533e-01 5.55875420e-03 1.18159413e+03] [-2.10530573e-01 9.77586416e-01 -1.29486638e-03 2.16022063e+02] [-5.70677669e-03 9.55356242e-05 9.99983712e-01 -1.70450696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.8053361949999 meters Centerline goodness : 0.997845 with order 1 Centerline is valid? [True, True] Translation: X:1181.66, Y:216.01, Z:-17.04 [[ 9.78440792e-01 2.06452704e-01 5.55855289e-03 1.18165624e+03] [-2.06448673e-01 9.78456574e-01 -1.29572998e-03 2.16009256e+02] [-5.70630958e-03 1.20239200e-04 9.99983712e-01 -1.70446416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.8653361949998 meters Centerline goodness : 0.997957 with order 1 Centerline is valid? [True, True] Translation: X:1181.72, Y:215.99, Z:-17.05 [[ 9.78905632e-01 2.04237284e-01 5.55830555e-03 1.18171681e+03] [-2.04233211e-01 9.78921403e-01 -1.29679015e-03 2.15994405e+02] [-5.70599716e-03 1.34244593e-04 9.99983712e-01 -1.70459478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.9253361949998 meters Centerline goodness : 0.998188 with order 1 Centerline is valid? [True, True] Translation: X:1181.78, Y:215.98, Z:-17.05 [[ 9.79245297e-01 2.02602461e-01 5.55807537e-03 1.18177724e+03] [-2.02598356e-01 9.79261059e-01 -1.29777596e-03 2.15980349e+02] [-5.70573937e-03 1.44784074e-04 9.99983712e-01 -1.70472019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.985336195 meters Centerline goodness : 0.997620 with order 1 Centerline is valid? [True, True] Translation: X:1181.84, Y:215.97, Z:-17.04 [[ 9.79267738e-01 2.02493968e-01 5.55785373e-03 1.18183798e+03] [-2.02489856e-01 9.79283499e-01 -1.29872444e-03 2.15966872e+02] [-5.70569832e-03 1.46389941e-04 9.99983712e-01 -1.70391815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.045336195 meters Centerline goodness : 0.998138 with order 1 Centerline is valid? [True, True] Translation: X:1181.90, Y:215.95, Z:-17.05 [[ 9.78927136e-01 2.04134208e-01 5.55764006e-03 1.18189820e+03] [-2.04130117e-01 9.78942902e-01 -1.29963815e-03 2.15950530e+02] [-5.70591290e-03 1.37769336e-04 9.99983712e-01 -1.70493046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.1053361949998 meters Centerline goodness : 0.998215 with order 1 Centerline is valid? [True, True] Translation: X:1181.96, Y:215.94, Z:-17.05 [[ 9.78361698e-01 2.06827226e-01 5.55748860e-03 1.18195901e+03] [-2.06823175e-01 9.78377475e-01 -1.30028551e-03 2.15936026e+02] [-5.70625611e-03 1.22732104e-04 9.99983712e-01 -1.70487163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.1653361949998 meters Centerline goodness : 0.998322 with order 1 Centerline is valid? [True, True] Translation: X:1182.02, Y:215.92, Z:-17.05 [[ 9.77256762e-01 2.11986647e-01 5.55724984e-03 1.18201964e+03] [-2.11982673e-01 9.77272558e-01 -1.30130513e-03 2.15919540e+02] [-5.70680708e-03 9.36685603e-05 9.99983712e-01 -1.70475711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.225336195 meters Centerline goodness : 0.998357 with order 1 Centerline is valid? [True, True] Translation: X:1182.08, Y:215.91, Z:-17.05 [[ 9.76568788e-01 2.15133731e-01 5.55701252e-03 1.18208049e+03] [-2.15129803e-01 9.76584595e-01 -1.30231777e-03 2.15905021e+02] [-5.70706531e-03 7.63238824e-05 9.99983712e-01 -1.70473583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.285336195 meters Centerline goodness : 0.998510 with order 1 Centerline is valid? [True, True] Translation: X:1182.14, Y:215.89, Z:-17.05 [[ 9.75551282e-01 2.19701660e-01 5.55675937e-03 1.18214162e+03] [-2.19697800e-01 9.75567106e-01 -1.30339705e-03 2.15890265e+02] [-5.70735015e-03 5.07228521e-05 9.99983712e-01 -1.70460911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.3453361949998 meters Centerline goodness : 0.998425 with order 1 Centerline is valid? [True, True] Translation: X:1182.20, Y:215.88, Z:-17.05 [[ 9.74822998e-01 2.22910850e-01 5.55650547e-03 1.18220079e+03] [-2.22907035e-01 9.74838834e-01 -1.30447854e-03 2.15876551e+02] [-5.70747973e-03 3.30515246e-05 9.99983712e-01 -1.70453621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.4053361949998 meters Centerline goodness : 0.998250 with order 1 Centerline is valid? [True, True] Translation: X:1182.26, Y:215.86, Z:-17.05 [[ 9.73542527e-01 2.28438339e-01 5.55638427e-03 1.18226249e+03] [-2.28434612e-01 9.73558383e-01 -1.30499460e-03 2.15862772e+02] [-5.70757528e-03 1.19725563e-06 9.99983712e-01 -1.70457165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.465336195 meters Centerline goodness : 0.998338 with order 1 Centerline is valid? [True, True] Translation: X:1182.32, Y:215.85, Z:-17.05 [[ 9.72493341e-01 2.32864405e-01 5.55613892e-03 1.18232467e+03] [-2.32860744e-01 9.72509212e-01 -1.30603837e-03 2.15850088e+02] [-5.70752613e-03 -2.36930236e-05 9.99983712e-01 -1.70461091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.525336195 meters Centerline goodness : 0.998470 with order 1 Centerline is valid? [True, True] Translation: X:1182.39, Y:215.84, Z:-17.05 [[ 9.71291495e-01 2.37827591e-01 5.55588857e-03 1.18238599e+03] [-2.37824005e-01 9.71307384e-01 -1.30710249e-03 2.15838711e+02] [-5.70734063e-03 -5.17461355e-05 9.99983712e-01 -1.70489765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.5853361949999 meters Centerline goodness : 0.998088 with order 1 Centerline is valid? [True, True] Translation: X:1182.45, Y:215.83, Z:-17.04 [[ 9.70458521e-01 2.41204049e-01 5.55567068e-03 1.18244803e+03] [-2.41200513e-01 9.70474421e-01 -1.30802792e-03 2.15827779e+02] [-5.70713792e-03 -7.06437748e-05 9.99983712e-01 -1.70428789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.6453361949998 meters Centerline goodness : 0.998490 with order 1 Centerline is valid? [True, True] Translation: X:1182.51, Y:215.81, Z:-17.05 [[ 9.70236835e-01 2.42094242e-01 5.55542414e-03 1.18250970e+03] [-2.42090714e-01 9.70252736e-01 -1.30907420e-03 2.15814737e+02] [-5.70708480e-03 -7.48045850e-05 9.99983712e-01 -1.70486578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.705336195 meters Centerline goodness : 0.998529 with order 1 Centerline is valid? [True, True] Translation: X:1182.57, Y:215.80, Z:-17.05 [[ 9.70563286e-01 2.40782158e-01 5.55517762e-03 1.18257034e+03] [-2.40778602e-01 9.70579182e-01 -1.31011950e-03 2.15802587e+02] [-5.70719315e-03 -6.60140181e-05 9.99983712e-01 -1.70500412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.765336195 meters Centerline goodness : 0.998652 with order 1 Centerline is valid? [True, True] Translation: X:1182.63, Y:215.79, Z:-17.05 [[ 9.70993387e-01 2.39041804e-01 5.55495750e-03 1.18263082e+03] [-2.39038215e-01 9.71009275e-01 -1.31105216e-03 2.15790472e+02] [-5.70731153e-03 -5.48241492e-05 9.99983712e-01 -1.70513380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.8253361949999 meters Centerline goodness : 0.998820 with order 1 Centerline is valid? [True, True] Translation: X:1182.69, Y:215.78, Z:-17.05 [[ 9.71632850e-01 2.36429163e-01 5.55472292e-03 1.18269292e+03] [-2.36425525e-01 9.71648727e-01 -1.31204529e-03 2.15778514e+02] [-5.70744522e-03 -3.84519805e-05 9.99983712e-01 -1.70517790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.8853361949998 meters Centerline goodness : 0.998360 with order 1 Centerline is valid? [True, True] Translation: X:1182.76, Y:215.77, Z:-17.04 [[ 9.72435472e-01 2.33105985e-01 5.55447411e-03 1.18275560e+03] [-2.33102288e-01 9.72451335e-01 -1.31309776e-03 2.15767628e+02] [-5.70754671e-03 -1.78577775e-05 9.99983712e-01 -1.70417286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.945336195 meters Centerline goodness : 0.998721 with order 1 Centerline is valid? [True, True] Translation: X:1182.82, Y:215.75, Z:-17.05 [[ 9.73049095e-01 2.30531146e-01 5.55422012e-03 1.18281538e+03] [-2.30527400e-01 9.73064947e-01 -1.31417120e-03 2.15752905e+02] [-5.70757430e-03 -1.64682551e-06 9.99983712e-01 -1.70522335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.005336195 meters Centerline goodness : 0.998744 with order 1 Centerline is valid? [True, True] Translation: X:1182.88, Y:215.74, Z:-17.05 [[ 9.73902029e-01 2.26900842e-01 5.55398387e-03 1.18287690e+03] [-2.26897031e-01 9.73917865e-01 -1.31516890e-03 2.15739004e+02] [-5.70753704e-03 2.06632086e-05 9.99983712e-01 -1.70501300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.0653361949999 meters Centerline goodness : 0.998740 with order 1 Centerline is valid? [True, True] Translation: X:1182.94, Y:215.72, Z:-17.05 [[ 9.74511790e-01 2.24267533e-01 5.55374171e-03 1.18293818e+03] [-2.24263673e-01 9.74527615e-01 -1.31619073e-03 2.15724776e+02] [-5.70745351e-03 3.71408665e-05 9.99983712e-01 -1.70497459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.1253361949998 meters Centerline goodness : 0.998810 with order 1 Centerline is valid? [True, True] Translation: X:1183.00, Y:215.71, Z:-17.05 [[ 9.75517877e-01 2.19850019e-01 5.55349324e-03 1.18299886e+03] [-2.19846082e-01 9.75533682e-01 -1.31723828e-03 2.15709788e+02] [-5.70721457e-03 6.40757580e-05 9.99983712e-01 -1.70502647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.185336195 meters Centerline goodness : 0.998920 with order 1 Centerline is valid? [True, True] Translation: X:1183.06, Y:215.69, Z:-17.05 [[ 9.76425168e-01 2.15784738e-01 5.55323454e-03 1.18306014e+03] [-2.15780729e-01 9.76440955e-01 -1.31832798e-03 2.15693240e+02] [-5.70688070e-03 8.89676254e-05 9.99983712e-01 -1.70497977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.245336195 meters Centerline goodness : 0.998969 with order 1 Centerline is valid? [True, True] Translation: X:1183.12, Y:215.68, Z:-17.05 [[ 9.77014245e-01 2.13101690e-01 5.55297756e-03 1.18311973e+03] [-2.13097631e-01 9.77030019e-01 -1.31940953e-03 2.15676782e+02] [-5.70659418e-03 1.05755540e-04 9.99983712e-01 -1.70509719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.3053361949999 meters Centerline goodness : 0.998973 with order 1 Centerline is valid? [True, True] Translation: X:1183.18, Y:215.66, Z:-17.05 [[ 9.77460674e-01 2.11044540e-01 5.55273818e-03 1.18317912e+03] [-2.11040443e-01 9.77476439e-01 -1.32041622e-03 2.15657206e+02] [-5.70633737e-03 1.18802604e-04 9.99983712e-01 -1.70534655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.3653361949998 meters Centerline goodness : 0.999084 with order 1 Centerline is valid? [True, True] Translation: X:1183.24, Y:215.64, Z:-17.06 [[ 9.77289859e-01 2.11834137e-01 5.55252091e-03 1.18323806e+03] [-2.11830048e-01 9.77305625e-01 -1.32132923e-03 2.15640543e+02] [-5.70641256e-03 1.15130886e-04 9.99983712e-01 -1.70560193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.4253361949998 meters Centerline goodness : 0.998919 with order 1 Centerline is valid? [True, True] Translation: X:1183.30, Y:215.62, Z:-17.06 [[ 9.76292800e-01 2.16382857e-01 5.55232102e-03 1.18329869e+03] [-2.16378836e-01 9.76308584e-01 -1.32216863e-03 2.15623475e+02] [-5.70687330e-03 8.94189506e-05 9.99983712e-01 -1.70554644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.485336195 meters Centerline goodness : 0.999076 with order 1 Centerline is valid? [True, True] Translation: X:1183.36, Y:215.61, Z:-17.06 [[ 9.75370515e-01 2.20502910e-01 5.55207701e-03 1.18335969e+03] [-2.20498950e-01 9.75386314e-01 -1.32319252e-03 2.15605988e+02] [-5.70718773e-03 6.63758151e-05 9.99983712e-01 -1.70551543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.545336195 meters Centerline goodness : 0.999076 with order 1 Centerline is valid? [True, True] Translation: X:1183.42, Y:215.59, Z:-17.05 [[ 9.74202038e-01 2.25609323e-01 5.55183438e-03 1.18342053e+03] [-2.25605440e-01 9.74217857e-01 -1.32420976e-03 2.15588706e+02] [-5.70745025e-03 3.75238146e-05 9.99983712e-01 -1.70549865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.6053361949998 meters Centerline goodness : 0.999099 with order 1 Centerline is valid? [True, True] Translation: X:1183.48, Y:215.57, Z:-17.06 [[ 9.73508880e-01 2.28581801e-01 5.55158353e-03 1.18348011e+03] [-2.28577960e-01 9.73524710e-01 -1.32526056e-03 2.15573187e+02] [-5.70753419e-03 2.11832922e-05 9.99983712e-01 -1.70569138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.6653361949998 meters Centerline goodness : 0.999179 with order 1 Centerline is valid? [True, True] Translation: X:1183.54, Y:215.56, Z:-17.06 [[ 9.72467083e-01 2.32974149e-01 5.55135148e-03 1.18354073e+03] [-2.32970374e-01 9.72482928e-01 -1.32623187e-03 2.15556137e+02] [-5.70757229e-03 -3.58359973e-06 9.99983712e-01 -1.70563715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.725336195 meters Centerline goodness : 0.999307 with order 1 Centerline is valid? [True, True] Translation: X:1183.60, Y:215.54, Z:-17.06 [[ 9.71699912e-01 2.36153479e-01 5.55110783e-03 1.18360159e+03] [-2.36149750e-01 9.71715768e-01 -1.32725092e-03 2.15540079e+02] [-5.70753393e-03 -2.12031184e-05 9.99983712e-01 -1.70560707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.785336195 meters Centerline goodness : 0.999076 with order 1 Centerline is valid? [True, True] Translation: X:1183.66, Y:215.53, Z:-17.06 [[ 9.70752140e-01 2.40019730e-01 5.55085393e-03 1.18366245e+03] [-2.40016059e-01 9.70768009e-01 -1.32831196e-03 2.15525384e+02] [-5.70741249e-03 -4.28324020e-05 9.99983712e-01 -1.70569970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.8453361949998 meters Centerline goodness : 0.999142 with order 1 Centerline is valid? [True, True] Translation: X:1183.72, Y:215.51, Z:-17.06 [[ 9.70552881e-01 2.40824201e-01 5.55060280e-03 1.18372239e+03] [-2.40820536e-01 9.70568752e-01 -1.32936051e-03 2.15511392e+02] [-5.70738382e-03 -4.64844691e-05 9.99983712e-01 -1.70581738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.9053361949998 meters Centerline goodness : 0.999297 with order 1 Centerline is valid? [True, True] Translation: X:1183.78, Y:215.50, Z:-17.06 [[ 9.70578737e-01 2.40719981e-01 5.55036959e-03 1.18378211e+03] [-2.40716309e-01 9.70594606e-01 -1.33033352e-03 2.15496020e+02] [-5.70739664e-03 -4.48710476e-05 9.99983712e-01 -1.70562839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.965336195 meters Centerline goodness : 0.999247 with order 1 Centerline is valid? [True, True] Translation: X:1183.84, Y:215.48, Z:-17.06 [[ 9.70994600e-01 2.39036989e-01 5.55017041e-03 1.18384187e+03] [-2.39033285e-01 9.71010462e-01 -1.33116397e-03 2.15479725e+02] [-5.70747096e-03 -3.41224385e-05 9.99983712e-01 -1.70558675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.025336195 meters Centerline goodness : 0.999115 with order 1 Centerline is valid? [True, True] Translation: X:1183.90, Y:215.46, Z:-17.06 [[ 9.71856766e-01 2.35507164e-01 5.54994148e-03 1.18390282e+03] [-2.35503397e-01 9.71872613e-01 -1.33211773e-03 2.15463008e+02] [-5.70755940e-03 -1.24024423e-05 9.99983712e-01 -1.70567231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.0853361949999 meters Centerline goodness : 0.998946 with order 1 Centerline is valid? [True, True] Translation: X:1183.96, Y:215.45, Z:-17.06 [[ 9.72353901e-01 2.33446123e-01 5.54968449e-03 1.18396244e+03] [-2.33442317e-01 9.72369738e-01 -1.33318751e-03 2.15447045e+02] [-5.70757271e-03 7.98870890e-07 9.99983712e-01 -1.70576647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.1453361949998 meters Centerline goodness : 0.998420 with order 1 Centerline is valid? [True, True] Translation: X:1184.02, Y:215.43, Z:-17.05 [[ 9.73055783e-01 2.30503029e-01 5.54944508e-03 1.18402350e+03] [-2.30499169e-01 9.73071607e-01 -1.33418332e-03 2.15431735e+02] [-5.70754074e-03 1.90923206e-05 9.99983712e-01 -1.70464924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.205336195 meters Centerline goodness : 0.998733 with order 1 Centerline is valid? [True, True] Translation: X:1184.08, Y:215.41, Z:-17.06 [[ 9.73383901e-01 2.29113482e-01 5.54919101e-03 1.18408242e+03] [-2.29109593e-01 9.73399718e-01 -1.33523922e-03 2.15413834e+02] [-5.70750228e-03 2.83274715e-05 9.99983712e-01 -1.70556065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.265336195 meters Centerline goodness : 0.998847 with order 1 Centerline is valid? [True, True] Translation: X:1184.14, Y:215.40, Z:-17.06 [[ 9.73487798e-01 2.28671630e-01 5.54903344e-03 1.18414200e+03] [-2.28667730e-01 9.73503613e-01 -1.33589375e-03 2.15398147e+02] [-5.70748510e-03 3.15913847e-05 9.99983712e-01 -1.70555581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.3253361949999 meters Centerline goodness : 0.998714 with order 1 Centerline is valid? [True, True] Translation: X:1184.20, Y:215.38, Z:-17.05 [[ 9.73881026e-01 2.26991098e-01 5.54880019e-03 1.18420325e+03] [-2.26987165e-01 9.73896832e-01 -1.33686187e-03 2.15381355e+02] [-5.70741467e-03 4.24379803e-05 9.99983712e-01 -1.70543539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.3853361949998 meters Centerline goodness : 0.998755 with order 1 Centerline is valid? [True, True] Translation: X:1184.26, Y:215.37, Z:-17.06 [[ 9.74222805e-01 2.25519712e-01 5.54852931e-03 1.18426284e+03] [-2.25515749e-01 9.74238604e-01 -1.33798519e-03 2.15365113e+02] [-5.70733348e-03 5.22149401e-05 9.99983712e-01 -1.70567122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.445336195 meters Centerline goodness : 0.998671 with order 1 Centerline is valid? [True, True] Translation: X:1184.32, Y:215.35, Z:-17.06 [[ 9.74748785e-01 2.23235353e-01 5.54827676e-03 1.18432224e+03] [-2.23231347e-01 9.74764573e-01 -1.33903165e-03 2.15347886e+02] [-5.70718283e-03 6.66701811e-05 9.99983712e-01 -1.70586683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.505336195 meters Centerline goodness : 0.998689 with order 1 Centerline is valid? [True, True] Translation: X:1184.38, Y:215.33, Z:-17.06 [[ 9.75048883e-01 2.21920920e-01 5.54804171e-03 1.18438230e+03] [-2.21916887e-01 9.75064664e-01 -1.34000482e-03 2.15329652e+02] [-5.70707453e-03 7.53660608e-05 9.99983712e-01 -1.70572696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.5653361949999 meters Centerline goodness : 0.998673 with order 1 Centerline is valid? [True, True] Translation: X:1184.44, Y:215.31, Z:-17.06 [[ 9.75131895e-01 2.21555881e-01 5.54778852e-03 1.18444288e+03] [-2.21551837e-01 9.75147674e-01 -1.34105224e-03 2.15312585e+02] [-5.70703108e-03 7.85800756e-05 9.99983712e-01 -1.70566655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.6253361949998 meters Centerline goodness : 0.998811 with order 1 Centerline is valid? [True, True] Translation: X:1184.50, Y:215.29, Z:-17.06 [[ 9.75381762e-01 2.20453267e-01 5.54753296e-03 1.18450298e+03] [-2.20449198e-01 9.75397534e-01 -1.34210861e-03 2.15293694e+02] [-5.70692219e-03 8.61190661e-05 9.99983712e-01 -1.70554418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.685336195 meters Centerline goodness : 0.998481 with order 1 Centerline is valid? [True, True] Translation: X:1184.56, Y:215.28, Z:-17.06 [[ 9.75555030e-01 2.19685257e-01 5.54726460e-03 1.18456266e+03] [-2.19681170e-01 9.75570797e-01 -1.34321687e-03 2.15275482e+02] [-5.70683429e-03 9.17523972e-05 9.99983712e-01 -1.70560954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.745336195 meters Centerline goodness : 0.998914 with order 1 Centerline is valid? [True, True] Translation: X:1184.62, Y:215.25, Z:-17.06 [[ 9.75602301e-01 2.19475241e-01 5.54701490e-03 1.18462270e+03] [-2.19471144e-01 9.75618066e-01 -1.34424726e-03 2.15254032e+02] [-5.70679694e-03 9.40410115e-05 9.99983712e-01 -1.70569213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.8053361949999 meters Centerline goodness : 0.999033 with order 1 Centerline is valid? [True, True] Translation: X:1184.68, Y:215.24, Z:-17.06 [[ 9.75343640e-01 2.20621886e-01 5.54675826e-03 1.18468238e+03] [-2.20617802e-01 9.75359408e-01 -1.34530540e-03 2.15235714e+02] [-5.70688667e-03 8.84214524e-05 9.99983712e-01 -1.70585275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.8653361949998 meters Centerline goodness : 0.998798 with order 1 Centerline is valid? [True, True] Translation: X:1184.74, Y:215.22, Z:-17.06 [[ 9.74270594e-01 2.25313217e-01 5.54653250e-03 1.18474296e+03] [-2.25309204e-01 9.74286380e-01 -1.34623551e-03 2.15216569e+02] [-5.70723573e-03 6.19128496e-05 9.99983712e-01 -1.70585859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.9253361949998 meters Centerline goodness : 0.998786 with order 1 Centerline is valid? [True, True] Translation: X:1184.80, Y:215.20, Z:-17.06 [[ 9.72287509e-01 2.33722570e-01 5.54627331e-03 1.18480392e+03] [-2.33718687e-01 9.72303327e-01 -1.34730249e-03 2.15198799e+02] [-5.70755500e-03 1.36976678e-05 9.99983712e-01 -1.70578871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.985336195 meters Centerline goodness : 0.998911 with order 1 Centerline is valid? [True, True] Translation: X:1184.86, Y:215.18, Z:-17.06 [[ 9.70691774e-01 2.40263860e-01 5.54601585e-03 1.18486409e+03] [-2.40260078e-01 9.70707617e-01 -1.34836146e-03 2.15183848e+02] [-5.70752236e-03 -2.36428250e-05 9.99983712e-01 -1.70597154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.045336195 meters Centerline goodness : 0.998765 with order 1 Centerline is valid? [True, True] Translation: X:1184.93, Y:215.17, Z:-17.06 [[ 9.68684601e-01 2.48232529e-01 5.54577739e-03 1.18492540e+03] [-2.48228871e-01 9.68700473e-01 -1.34934155e-03 2.15171775e+02] [-5.70714765e-03 -6.95356868e-05 9.99983712e-01 -1.70607689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.1053361949998 meters Centerline goodness : 0.999138 with order 1 Centerline is valid? [True, True] Translation: X:1184.99, Y:215.16, Z:-17.07 [[ 9.67689314e-01 2.52084584e-01 5.54554478e-03 1.18498653e+03] [-2.52080984e-01 9.67705200e-01 -1.35029684e-03 2.15158973e+02] [-5.70684154e-03 -9.12585623e-05 9.99983712e-01 -1.70651673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.1653361949998 meters Centerline goodness : 0.998904 with order 1 Centerline is valid? [True, True] Translation: X:1185.05, Y:215.15, Z:-17.06 [[ 9.67102202e-01 2.54327704e-01 5.54529916e-03 1.18504858e+03] [-2.54324135e-01 9.67118094e-01 -1.35130481e-03 2.15147720e+02] [-5.70663340e-03 -1.03453559e-04 9.99983712e-01 -1.70614510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.225336195 meters Centerline goodness : 0.998997 with order 1 Centerline is valid? [True, True] Translation: X:1185.11, Y:215.14, Z:-17.06 [[ 9.67466560e-01 2.52938148e-01 5.54504065e-03 1.18511013e+03] [-2.52934551e-01 9.67482446e-01 -1.35236473e-03 2.15137032e+02] [-5.70679413e-03 -9.41647081e-05 9.99983712e-01 -1.70637332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.285336195 meters Centerline goodness : 0.999051 with order 1 Centerline is valid? [True, True] Translation: X:1185.17, Y:215.12, Z:-17.06 [[ 9.68181472e-01 2.50187715e-01 5.54480095e-03 1.18517234e+03] [-2.50184066e-01 9.68197346e-01 -1.35334683e-03 2.15124960e+02] [-5.70705232e-03 -7.69355171e-05 9.99983712e-01 -1.70630977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.3453361949998 meters Centerline goodness : 0.999177 with order 1 Centerline is valid? [True, True] Translation: X:1185.23, Y:215.11, Z:-17.06 [[ 9.69072854e-01 2.46712508e-01 5.54454806e-03 1.18523425e+03] [-2.46708796e-01 9.69088714e-01 -1.35438210e-03 2.15112493e+02] [-5.70730195e-03 -5.53938518e-05 9.99983712e-01 -1.70608787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.4053361949998 meters Centerline goodness : 0.999373 with order 1 Centerline is valid? [True, True] Translation: X:1185.30, Y:215.10, Z:-17.06 [[ 9.70572713e-01 2.40744406e-01 5.54428410e-03 1.18529639e+03] [-2.40740590e-01 9.70588549e-01 -1.35546177e-03 2.15100663e+02] [-5.70753850e-03 -1.91600224e-05 9.99983712e-01 -1.70614836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.465336195 meters Centerline goodness : 0.999421 with order 1 Centerline is valid? [True, True] Translation: X:1185.36, Y:215.09, Z:-17.06 [[ 9.72286642e-01 2.33726226e-01 5.54401940e-03 1.18535759e+03] [-2.33722291e-01 9.72302448e-01 -1.35654358e-03 2.15088989e+02] [-5.70752345e-03 2.31882918e-05 9.99983712e-01 -1.70639353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.525336195 meters Centerline goodness : 0.999200 with order 1 Centerline is valid? [True, True] Translation: X:1185.42, Y:215.08, Z:-17.06 [[ 9.73390591e-01 2.29085186e-01 5.54385456e-03 1.18541949e+03] [-2.29081171e-01 9.73406377e-01 -1.35721692e-03 2.15075677e+02] [-5.70734167e-03 5.11094836e-05 9.99983712e-01 -1.70633133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.5853361949999 meters Centerline goodness : 0.999181 with order 1 Centerline is valid? [True, True] Translation: X:1185.48, Y:215.06, Z:-17.06 [[ 9.74913362e-01 2.22515630e-01 5.54359421e-03 1.18548098e+03] [-2.22511503e-01 9.74929119e-01 -1.35827948e-03 2.15062119e+02] [-5.70684983e-03 9.06913318e-05 9.99983712e-01 -1.70623251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.6453361949998 meters Centerline goodness : 0.999318 with order 1 Centerline is valid? [True, True] Translation: X:1185.54, Y:215.05, Z:-17.06 [[ 9.75653009e-01 2.19249806e-01 5.54333222e-03 1.18554178e+03] [-2.19245620e-01 9.75668750e-01 -1.35934785e-03 2.15048372e+02] [-5.70649277e-03 1.10900512e-04 9.99983712e-01 -1.70641335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.705336195 meters Centerline goodness : 0.999266 with order 1 Centerline is valid? [True, True] Translation: X:1185.60, Y:215.03, Z:-17.06 [[ 9.76365638e-01 2.16054195e-01 5.54308923e-03 1.18560279e+03] [-2.16049952e-01 9.76381364e-01 -1.36033800e-03 2.15033592e+02] [-5.70607575e-03 1.30603116e-04 9.99983712e-01 -1.70629534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.765336195 meters Centerline goodness : 0.999224 with order 1 Centerline is valid? [True, True] Translation: X:1185.66, Y:215.02, Z:-17.06 [[ 9.76831132e-01 2.13939750e-01 5.54282656e-03 1.18566419e+03] [-2.13935467e-01 9.76846847e-01 -1.36140744e-03 2.15018550e+02] [-5.70575181e-03 1.44057987e-04 9.99983712e-01 -1.70642240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.8253361949999 meters Centerline goodness : 0.999230 with order 1 Centerline is valid? [True, True] Translation: X:1185.72, Y:215.00, Z:-17.07 [[ 9.77198330e-01 2.12256223e-01 5.54256454e-03 1.18572413e+03] [-2.12251907e-01 9.77214036e-01 -1.36247335e-03 2.15002632e+02] [-5.70546531e-03 1.54986788e-04 9.99983712e-01 -1.70658402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.8853361949998 meters Centerline goodness : 0.999334 with order 1 Centerline is valid? [True, True] Translation: X:1185.78, Y:214.99, Z:-17.07 [[ 9.77079637e-01 2.12801942e-01 5.54232084e-03 1.18578435e+03] [-2.12797629e-01 9.77095343e-01 -1.36346395e-03 2.14985177e+02] [-5.70552366e-03 1.52820124e-04 9.99983712e-01 -1.70664180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.945336195 meters Centerline goodness : 0.999420 with order 1 Centerline is valid? [True, True] Translation: X:1185.85, Y:214.97, Z:-17.07 [[ 9.76718975e-01 2.14451227e-01 5.54206237e-03 1.18584571e+03] [-2.14446935e-01 9.76734688e-01 -1.36451372e-03 2.14968858e+02] [-5.70574620e-03 1.44268154e-04 9.99983712e-01 -1.70671252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.005336195 meters Centerline goodness : 0.999506 with order 1 Centerline is valid? [True, True] Translation: X:1185.91, Y:214.95, Z:-17.07 [[ 9.75735491e-01 2.18882478e-01 5.54194926e-03 1.18590600e+03] [-2.18878254e-01 9.75751222e-01 -1.36497297e-03 2.14953134e+02] [-5.70633243e-03 1.18840392e-04 9.99983712e-01 -1.70688776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.0653361949999 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:1185.97, Y:214.94, Z:-17.07 [[ 9.74855649e-01 2.22768384e-01 5.54170970e-03 1.18596714e+03] [-2.22764217e-01 9.74871396e-01 -1.36594488e-03 2.14937822e+02] [-5.70674360e-03 9.71044574e-05 9.99983712e-01 -1.70693985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.1253361949998 meters Centerline goodness : 0.999502 with order 1 Centerline is valid? [True, True] Translation: X:1186.03, Y:214.92, Z:-17.07 [[ 9.73504191e-01 2.28602019e-01 5.54145797e-03 1.18602685e+03] [-2.28597941e-01 9.73519960e-01 -1.36696534e-03 2.14921623e+02] [-5.70721098e-03 6.39806039e-05 9.99983712e-01 -1.70688656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.185336195 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:1186.09, Y:214.91, Z:-17.07 [[ 9.72676862e-01 2.32097000e-01 5.54122405e-03 1.18608746e+03] [-2.32092973e-01 9.72692645e-01 -1.36791291e-03 2.14906073e+02] [-5.70739636e-03 4.44580770e-05 9.99983712e-01 -1.70695729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.245336195 meters Centerline goodness : 0.999440 with order 1 Centerline is valid? [True, True] Translation: X:1186.15, Y:214.89, Z:-17.07 [[ 9.71940160e-01 2.35162971e-01 5.54097726e-03 1.18614864e+03] [-2.35158989e-01 9.71955954e-01 -1.36891189e-03 2.14889260e+02] [-5.70750322e-03 2.74898297e-05 9.99983712e-01 -1.70690187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.3053361949999 meters Centerline goodness : 0.999486 with order 1 Centerline is valid? [True, True] Translation: X:1186.21, Y:214.87, Z:-17.07 [[ 9.71855285e-01 2.35513493e-01 5.54073297e-03 1.18620880e+03] [-2.35509510e-01 9.71871079e-01 -1.36989991e-03 2.14872516e+02] [-5.70750805e-03 2.64491602e-05 9.99983712e-01 -1.70705119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.3653361949998 meters Centerline goodness : 0.999435 with order 1 Centerline is valid? [True, True] Translation: X:1186.27, Y:214.85, Z:-17.07 [[ 9.72129684e-01 2.34378286e-01 5.54050652e-03 1.18626805e+03] [-2.34374280e-01 9.72145472e-01 -1.37081520e-03 2.14854322e+02] [-5.70746764e-03 3.40579197e-05 9.99983712e-01 -1.70706041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.4253361949998 meters Centerline goodness : 0.999309 with order 1 Centerline is valid? [True, True] Translation: X:1186.33, Y:214.84, Z:-17.07 [[ 9.72358916e-01 2.33425456e-01 5.54028264e-03 1.18632873e+03] [-2.33421429e-01 9.72374699e-01 -1.37171943e-03 2.14836724e+02] [-5.70742490e-03 4.05829290e-05 9.99983712e-01 -1.70710887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.485336195 meters Centerline goodness : 0.999397 with order 1 Centerline is valid? [True, True] Translation: X:1186.39, Y:214.82, Z:-17.07 [[ 9.72744449e-01 2.31813600e-01 5.54004584e-03 1.18638798e+03] [-2.31809542e-01 9.72760223e-01 -1.37267515e-03 2.14815335e+02] [-5.70734099e-03 5.10266485e-05 9.99983712e-01 -1.70691869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.545336195 meters Centerline goodness : 0.999401 with order 1 Centerline is valid? [True, True] Translation: X:1186.45, Y:214.80, Z:-17.07 [[ 9.72916846e-01 2.31088990e-01 5.53980880e-03 1.18644695e+03] [-2.31084914e-01 9.72932616e-01 -1.37363112e-03 2.14796722e+02] [-5.70729169e-03 5.62626144e-05 9.99983712e-01 -1.70697576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.6053361949998 meters Centerline goodness : 0.999379 with order 1 Centerline is valid? [True, True] Translation: X:1186.51, Y:214.78, Z:-17.07 [[ 9.72925090e-01 2.31054283e-01 5.53966228e-03 1.18650661e+03] [-2.31050204e-01 9.72940859e-01 -1.37422174e-03 2.14779230e+02] [-5.70728360e-03 5.70747098e-05 9.99983712e-01 -1.70723624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.6653361949998 meters Centerline goodness : 0.999417 with order 1 Centerline is valid? [True, True] Translation: X:1186.57, Y:214.76, Z:-17.08 [[ 9.73041199e-01 2.30564826e-01 5.53944408e-03 1.18656603e+03] [-2.30560734e-01 9.73056965e-01 -1.37510074e-03 2.14758578e+02] [-5.70724451e-03 6.08513777e-05 9.99983712e-01 -1.70755484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.725336195 meters Centerline goodness : 0.999376 with order 1 Centerline is valid? [True, True] Translation: X:1186.63, Y:214.74, Z:-17.07 [[ 9.73013763e-01 2.30680583e-01 5.53937253e-03 1.18662584e+03] [-2.30676491e-01 9.73029529e-01 -1.37538892e-03 2.14736998e+02] [-5.70724856e-03 6.04693343e-05 9.99983712e-01 -1.70731320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.785336195 meters Centerline goodness : 0.999355 with order 1 Centerline is valid? [True, True] Translation: X:1186.69, Y:214.72, Z:-17.07 [[ 9.72793471e-01 2.31607819e-01 5.53912087e-03 1.18668622e+03] [-2.31603736e-01 9.72809239e-01 -1.37640167e-03 2.14719053e+02] [-5.70729335e-03 5.60734679e-05 9.99983712e-01 -1.70729435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.8453361949998 meters Centerline goodness : 0.999546 with order 1 Centerline is valid? [True, True] Translation: X:1186.75, Y:214.70, Z:-17.07 [[ 9.72206518e-01 2.34059412e-01 5.53887039e-03 1.18674544e+03] [-2.34055362e-01 9.72222295e-01 -1.37740893e-03 2.14701411e+02] [-5.70740880e-03 4.27236233e-05 9.99983712e-01 -1.70740159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.9053361949998 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:1186.81, Y:214.68, Z:-17.08 [[ 9.71579689e-01 2.36647906e-01 5.53863876e-03 1.18680618e+03] [-2.36643894e-01 9.71595475e-01 -1.37833971e-03 2.14683527e+02] [-5.70749756e-03 2.84818236e-05 9.99983712e-01 -1.70750278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.965336195 meters Centerline goodness : 0.999591 with order 1 Centerline is valid? [True, True] Translation: X:1186.87, Y:214.67, Z:-17.07 [[ 9.70419178e-01 2.41362684e-01 5.53839287e-03 1.18686675e+03] [-2.41358743e-01 9.70434982e-01 -1.37932701e-03 2.14666209e+02] [-5.70756825e-03 1.78583841e-06 9.99983712e-01 -1.70738052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.025336195 meters Centerline goodness : 0.999094 with order 1 Centerline is valid? [True, True] Translation: X:1186.93, Y:214.65, Z:-17.07 [[ 9.69079022e-01 2.46688421e-01 5.53812978e-03 1.18692640e+03] [-2.46684561e-01 9.69094847e-01 -1.38038254e-03 2.14650838e+02] [-5.70749742e-03 -2.84713455e-05 9.99983712e-01 -1.70687452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.0853361949999 meters Centerline goodness : 0.999309 with order 1 Centerline is valid? [True, True] Translation: X:1186.99, Y:214.64, Z:-17.07 [[ 9.68303817e-01 2.49713937e-01 5.53788577e-03 1.18698666e+03] [-2.49710120e-01 9.68319652e-01 -1.38136077e-03 2.14635858e+02] [-5.70738866e-03 -4.52892122e-05 9.99983712e-01 -1.70721541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.1453361949998 meters Centerline goodness : 0.999209 with order 1 Centerline is valid? [True, True] Translation: X:1187.05, Y:214.62, Z:-17.07 [[ 9.67423424e-01 2.53103245e-01 5.53765118e-03 1.18704756e+03] [-2.53099479e-01 9.67439271e-01 -1.38230057e-03 2.14621975e+02] [-5.70720598e-03 -6.43066725e-05 9.99983712e-01 -1.70721893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.205336195 meters Centerline goodness : 0.999310 with order 1 Centerline is valid? [True, True] Translation: X:1187.11, Y:214.61, Z:-17.07 [[ 9.67019514e-01 2.54642095e-01 5.53740318e-03 1.18710898e+03] [-2.54638348e-01 9.67035366e-01 -1.38329332e-03 2.14609381e+02] [-5.70710942e-03 -7.23635620e-05 9.99983712e-01 -1.70727815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.265336195 meters Centerline goodness : 0.999315 with order 1 Centerline is valid? [True, True] Translation: X:1187.17, Y:214.60, Z:-17.07 [[ 9.66974830e-01 2.54811730e-01 5.53714246e-03 1.18717075e+03] [-2.54807980e-01 9.66990681e-01 -1.38433616e-03 2.14595176e+02] [-5.70711025e-03 -7.22898650e-05 9.99983712e-01 -1.70748307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.3253361949999 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:1187.23, Y:214.58, Z:-17.08 [[ 9.67276225e-01 2.53665228e-01 5.53688416e-03 1.18723016e+03] [-2.53661453e-01 9.67292070e-01 -1.38536849e-03 2.14582662e+02] [-5.70720396e-03 -6.44600840e-05 9.99983712e-01 -1.70766568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.3853361949998 meters Centerline goodness : 0.999183 with order 1 Centerline is valid? [True, True] Translation: X:1187.29, Y:214.57, Z:-17.08 [[ 9.67597408e-01 2.52437322e-01 5.53667587e-03 1.18729212e+03] [-2.52433522e-01 9.67613247e-01 -1.38620046e-03 2.14569470e+02] [-5.70728964e-03 -5.63586174e-05 9.99983712e-01 -1.70761130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.445336195 meters Centerline goodness : 0.999063 with order 1 Centerline is valid? [True, True] Translation: X:1187.35, Y:214.55, Z:-17.08 [[ 9.68199998e-01 2.50116199e-01 5.53641460e-03 1.18735246e+03] [-2.50112355e-01 9.68215826e-01 -1.38724316e-03 2.14554020e+02] [-5.70741622e-03 -4.15968672e-05 9.99983712e-01 -1.70753037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.505336195 meters Centerline goodness : 0.999420 with order 1 Centerline is valid? [True, True] Translation: X:1187.41, Y:214.54, Z:-17.07 [[ 9.68839128e-01 2.47628946e-01 5.53617195e-03 1.18741378e+03] [-2.47625056e-01 9.68854945e-01 -1.38821083e-03 2.14539993e+02] [-5.70750876e-03 -2.59419191e-05 9.99983712e-01 -1.70741346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.5653361949999 meters Centerline goodness : 0.999351 with order 1 Centerline is valid? [True, True] Translation: X:1187.48, Y:214.53, Z:-17.07 [[ 9.69138494e-01 2.46454729e-01 5.53592158e-03 1.18747505e+03] [-2.46450814e-01 9.69154305e-01 -1.38920857e-03 2.14526679e+02] [-5.70753925e-03 -1.79968722e-05 9.99983712e-01 -1.70732590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.6253361949998 meters Centerline goodness : 0.999358 with order 1 Centerline is valid? [True, True] Translation: X:1187.54, Y:214.51, Z:-17.07 [[ 9.69224777e-01 2.46115194e-01 5.53565719e-03 1.18753537e+03] [-2.46111267e-01 9.69240585e-01 -1.39026129e-03 2.14511698e+02] [-5.70754804e-03 -1.49119148e-05 9.99983712e-01 -1.70742723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.685336195 meters Centerline goodness : 0.999506 with order 1 Centerline is valid? [True, True] Translation: X:1187.60, Y:214.50, Z:-17.08 [[ 9.69277360e-01 2.45908025e-01 5.53549327e-03 1.18759687e+03] [-2.45904092e-01 9.69293167e-01 -1.39091364e-03 2.14496549e+02] [-5.70755263e-03 -1.30193476e-05 9.99983712e-01 -1.70750060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.745336195 meters Centerline goodness : 0.999569 with order 1 Centerline is valid? [True, True] Translation: X:1187.66, Y:214.48, Z:-17.08 [[ 9.69432718e-01 2.45294856e-01 5.53523360e-03 1.18765774e+03] [-2.45290907e-01 9.69448520e-01 -1.39194624e-03 2.14483886e+02] [-5.70756128e-03 -8.34424364e-06 9.99983712e-01 -1.70770162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.8053361949999 meters Centerline goodness : 0.999502 with order 1 Centerline is valid? [True, True] Translation: X:1187.72, Y:214.47, Z:-17.08 [[ 9.69694002e-01 2.44259915e-01 5.53500106e-03 1.18771925e+03] [-2.44255944e-01 9.69709799e-01 -1.39287033e-03 2.14470483e+02] [-5.70756715e-03 -1.29890452e-06 9.99983712e-01 -1.70788968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.8653361949998 meters Centerline goodness : 0.999475 with order 1 Centerline is valid? [True, True] Translation: X:1187.78, Y:214.46, Z:-17.08 [[ 9.70075670e-01 2.42739699e-01 5.53473348e-03 1.18778037e+03] [-2.42735697e-01 9.70091459e-01 -1.39393278e-03 2.14456096e+02] [-5.70756050e-03 8.74288294e-06 9.99983712e-01 -1.70788558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.9253361949998 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:1187.84, Y:214.44, Z:-17.08 [[ 9.70367762e-01 2.41569404e-01 5.53445932e-03 1.18784042e+03] [-2.41565376e-01 9.70383544e-01 -1.39502046e-03 2.14441862e+02] [-5.70754251e-03 1.67491358e-05 9.99983712e-01 -1.70790646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.985336195 meters Centerline goodness : 0.999487 with order 1 Centerline is valid? [True, True] Translation: X:1187.90, Y:214.43, Z:-17.08 [[ 9.70747075e-01 2.40040600e-01 5.53420339e-03 1.18790056e+03] [-2.40036542e-01 9.70762849e-01 -1.39603503e-03 2.14428712e+02] [-5.70750413e-03 2.67858782e-05 9.99983712e-01 -1.70824563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.045336195 meters Centerline goodness : 0.999441 with order 1 Centerline is valid? [True, True] Translation: X:1187.96, Y:214.41, Z:-17.08 [[ 9.70753880e-01 2.40013082e-01 5.53398516e-03 1.18796155e+03] [-2.40009019e-01 9.70769653e-01 -1.39689955e-03 2.14414017e+02] [-5.70749902e-03 2.78393059e-05 9.99983712e-01 -1.70828620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.1053361949998 meters Centerline goodness : 0.999225 with order 1 Centerline is valid? [True, True] Translation: X:1188.02, Y:214.40, Z:-17.08 [[ 9.70406042e-01 2.41415600e-01 5.53371770e-03 1.18802270e+03] [-2.41411553e-01 9.70421819e-01 -1.39795827e-03 2.14400828e+02] [-5.70752934e-03 2.06837679e-05 9.99983712e-01 -1.70823755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.1653361949998 meters Centerline goodness : 0.999378 with order 1 Centerline is valid? [True, True] Translation: X:1188.08, Y:214.39, Z:-17.08 [[ 9.69830408e-01 2.43717789e-01 5.53345189e-03 1.18808337e+03] [-2.43713774e-01 9.69846194e-01 -1.39900962e-03 2.14388805e+02] [-5.70756079e-03 8.22362789e-06 9.99983712e-01 -1.70825496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.225336195 meters Centerline goodness : 0.999590 with order 1 Centerline is valid? [True, True] Translation: X:1188.14, Y:214.38, Z:-17.08 [[ 9.69560395e-01 2.44789751e-01 5.53328739e-03 1.18814446e+03] [-2.44785750e-01 9.69576185e-01 -1.39965995e-03 2.14375381e+02] [-5.70756609e-03 2.58494687e-06 9.99983712e-01 -1.70816453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.285336195 meters Centerline goodness : 0.999618 with order 1 Centerline is valid? [True, True] Translation: X:1188.21, Y:214.36, Z:-17.08 [[ 9.69559991e-01 2.44791359e-01 5.53302632e-03 1.18820505e+03] [-2.44787351e-01 9.69575779e-01 -1.40069122e-03 2.14361906e+02] [-5.70756541e-03 3.63930768e-06 9.99983712e-01 -1.70813639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.3453361949998 meters Centerline goodness : 0.999527 with order 1 Centerline is valid? [True, True] Translation: X:1188.27, Y:214.35, Z:-17.08 [[ 9.70045860e-01 2.42858841e-01 5.53286467e-03 1.18826621e+03] [-2.42854799e-01 9.70061639e-01 -1.40132946e-03 2.14348217e+02] [-5.70754502e-03 1.56711063e-05 9.99983712e-01 -1.70804683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.4053361949998 meters Centerline goodness : 0.999309 with order 1 Centerline is valid? [True, True] Translation: X:1188.33, Y:214.33, Z:-17.08 [[ 9.70327774e-01 2.41730016e-01 5.53260917e-03 1.18832709e+03] [-2.41725950e-01 9.70343547e-01 -1.40233750e-03 2.14333663e+02] [-5.70751867e-03 2.33518144e-05 9.99983712e-01 -1.70807512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.465336195 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:1188.39, Y:214.32, Z:-17.08 [[ 9.70834402e-01 2.39687206e-01 5.53234096e-03 1.18838689e+03] [-2.39683100e-01 9.70850165e-01 -1.40339482e-03 2.14317259e+02] [-5.70744991e-03 3.64553380e-05 9.99983712e-01 -1.70821654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.525336195 meters Centerline goodness : 0.999530 with order 1 Centerline is valid? [True, True] Translation: X:1188.45, Y:214.30, Z:-17.08 [[ 9.71182042e-01 2.38274710e-01 5.53209187e-03 1.18844738e+03] [-2.38270576e-01 9.71197797e-01 -1.40437602e-03 2.14300455e+02] [-5.70738272e-03 4.57700536e-05 9.99983712e-01 -1.70828208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.5853361949999 meters Centerline goodness : 0.999591 with order 1 Centerline is valid? [True, True] Translation: X:1188.51, Y:214.29, Z:-17.08 [[ 9.71225668e-01 2.38096831e-01 5.53182860e-03 1.18850781e+03] [-2.38092688e-01 9.71241420e-01 -1.40541226e-03 2.14285159e+02] [-5.70736528e-03 4.78845216e-05 9.99983712e-01 -1.70834517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.6453361949998 meters Centerline goodness : 0.999593 with order 1 Centerline is valid? [True, True] Translation: X:1188.57, Y:214.27, Z:-17.08 [[ 9.71247045e-01 2.38009618e-01 5.53158414e-03 1.18856817e+03] [-2.38005468e-01 9.71262796e-01 -1.40637381e-03 2.14268809e+02] [-5.70735237e-03 4.93891312e-05 9.99983712e-01 -1.70842873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.705336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1188.63, Y:214.25, Z:-17.09 [[ 9.71291771e-01 2.37827038e-01 5.53131686e-03 1.18862790e+03] [-2.37822879e-01 9.71307519e-01 -1.40742422e-03 2.14251183e+02] [-5.70733319e-03 5.15458629e-05 9.99983712e-01 -1.70872744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.765336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:1188.69, Y:214.23, Z:-17.08 [[ 9.71114164e-01 2.38551225e-01 5.53106911e-03 1.18868835e+03] [-2.38547072e-01 9.71129914e-01 -1.40839718e-03 2.14234727e+02] [-5.70736155e-03 4.82941028e-05 9.99983712e-01 -1.70847688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.8253361949999 meters Centerline goodness : 0.999569 with order 1 Centerline is valid? [True, True] Translation: X:1188.75, Y:214.22, Z:-17.08 [[ 9.70687480e-01 2.40281555e-01 5.53080414e-03 1.18874893e+03] [-2.40277424e-01 9.70703236e-01 -1.40943695e-03 2.14218454e+02] [-5.70743118e-03 3.91954287e-05 9.99983712e-01 -1.70807187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.8853361949998 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:1188.81, Y:214.20, Z:-17.09 [[ 9.69602574e-01 2.44622692e-01 5.53053693e-03 1.18880973e+03] [-2.44618626e-01 9.69618347e-01 -1.41048472e-03 2.14202497e+02] [-5.70754664e-03 1.47372644e-05 9.99983712e-01 -1.70857709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.945336195 meters Centerline goodness : 0.999675 with order 1 Centerline is valid? [True, True] Translation: X:1188.87, Y:214.19, Z:-17.09 [[ 9.68329078e-01 2.49616129e-01 5.53027180e-03 1.18886999e+03] [-2.49612139e-01 9.68344870e-01 -1.41152346e-03 2.14188577e+02] [-5.70754935e-03 -1.36037655e-05 9.99983712e-01 -1.70850452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.005336195 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:1188.93, Y:214.17, Z:-17.09 [[ 9.67757473e-01 2.51823138e-01 5.53002594e-03 1.18893170e+03] [-2.51819178e-01 9.67773272e-01 -1.41248603e-03 2.14174419e+02] [-5.70750796e-03 -2.56226753e-05 9.99983712e-01 -1.70856053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.0653361949999 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:1188.99, Y:214.16, Z:-17.09 [[ 9.67356848e-01 2.53357752e-01 5.52976709e-03 1.18899218e+03] [-2.53353811e-01 9.67372652e-01 -1.41349867e-03 2.14159834e+02] [-5.70746631e-03 -3.36299496e-05 9.99983712e-01 -1.70872351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.1253361949998 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:1189.05, Y:214.15, Z:-17.09 [[ 9.67379230e-01 2.53272282e-01 5.52952676e-03 1.18905316e+03] [-2.53268335e-01 9.67395033e-01 -1.41443823e-03 2.14145101e+02] [-5.70747472e-03 -3.21558665e-05 9.99983712e-01 -1.70869010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.185336195 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:1189.11, Y:214.13, Z:-17.09 [[ 9.67764321e-01 2.51796836e-01 5.52927302e-03 1.18911356e+03] [-2.51792859e-01 9.67780116e-01 -1.41542943e-03 2.14131604e+02] [-5.70752114e-03 -2.24293593e-05 9.99983712e-01 -1.70874625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.245336195 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:1189.17, Y:214.12, Z:-17.09 [[ 9.68348681e-01 2.49540100e-01 5.52903645e-03 1.18917450e+03] [-2.49536080e-01 9.68364466e-01 -1.41635292e-03 2.14115932e+02] [-5.70755928e-03 -8.17059899e-06 9.99983712e-01 -1.70888051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.3053361949999 meters Centerline goodness : 0.999674 with order 1 Centerline is valid? [True, True] Translation: X:1189.23, Y:214.10, Z:-17.09 [[ 9.69621546e-01 2.44547521e-01 5.52878732e-03 1.18923438e+03] [-2.44543415e-01 9.69637308e-01 -1.41732475e-03 2.14099832e+02] [-5.70752171e-03 2.22400846e-05 9.99983712e-01 -1.70865042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.3653361949998 meters Centerline goodness : 0.999451 with order 1 Centerline is valid? [True, True] Translation: X:1189.29, Y:214.08, Z:-17.09 [[ 9.70519002e-01 2.40961205e-01 5.52857108e-03 1.18929423e+03] [-2.40957036e-01 9.70534747e-01 -1.41816776e-03 2.14083050e+02] [-5.70739374e-03 4.42106602e-05 9.99983712e-01 -1.70876292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.4253361949998 meters Centerline goodness : 0.999472 with order 1 Centerline is valid? [True, True] Translation: X:1189.35, Y:214.07, Z:-17.09 [[ 9.70843552e-01 2.39650236e-01 5.52834068e-03 1.18935451e+03] [-2.39646041e-01 9.70859290e-01 -1.41906531e-03 2.14066512e+02] [-5.70732025e-03 5.28454480e-05 9.99983712e-01 -1.70897275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.485336195 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:1189.41, Y:214.05, Z:-17.09 [[ 9.70788969e-01 2.39871252e-01 5.52809364e-03 1.18941451e+03] [-2.39867055e-01 9.70804707e-01 -1.42002704e-03 2.14049811e+02] [-5.70732299e-03 5.25390480e-05 9.99983712e-01 -1.70889535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.545336195 meters Centerline goodness : 0.999508 with order 1 Centerline is valid? [True, True] Translation: X:1189.48, Y:214.03, Z:-17.09 [[ 9.70562469e-01 2.40786081e-01 5.52786364e-03 1.18947584e+03] [-2.40781894e-01 9.70578209e-01 -1.42092181e-03 2.14033653e+02] [-5.70736219e-03 4.80839069e-05 9.99983712e-01 -1.70889273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.6053361949998 meters Centerline goodness : 0.999440 with order 1 Centerline is valid? [True, True] Translation: X:1189.54, Y:214.02, Z:-17.09 [[ 9.69513926e-01 2.44973859e-01 5.52761734e-03 1.18953599e+03] [-2.44969734e-01 9.69529684e-01 -1.42187933e-03 2.14018741e+02] [-5.70751236e-03 2.44328637e-05 9.99983712e-01 -1.70892845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.6653361949998 meters Centerline goodness : 0.999589 with order 1 Centerline is valid? [True, True] Translation: X:1189.60, Y:214.00, Z:-17.09 [[ 9.67957376e-01 2.51053711e-01 5.52738899e-03 1.18959630e+03] [-2.51049680e-01 9.67973158e-01 -1.42276646e-03 2.14004540e+02] [-5.70755497e-03 -1.04719524e-05 9.99983712e-01 -1.70886728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.725336195 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:1189.66, Y:213.99, Z:-17.09 [[ 9.66875977e-01 2.55186785e-01 5.52716363e-03 1.18965599e+03] [-2.55182816e-01 9.66891774e-01 -1.42364138e-03 2.13991261e+02] [-5.70746352e-03 -3.39525284e-05 9.99983712e-01 -1.70884368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.785336195 meters Centerline goodness : 0.999523 with order 1 Centerline is valid? [True, True] Translation: X:1189.72, Y:213.98, Z:-17.09 [[ 9.65387503e-01 2.60761233e-01 5.52704801e-03 1.18971556e+03] [-2.60757353e-01 9.65403322e-01 -1.42409014e-03 2.13979838e+02] [-5.70717801e-03 -6.64195804e-05 9.99983712e-01 -1.70898397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.8453361949998 meters Centerline goodness : 0.999465 with order 1 Centerline is valid? [True, True] Translation: X:1189.78, Y:213.97, Z:-17.09 [[ 9.64331385e-01 2.64640192e-01 5.52704801e-03 1.18977514e+03] [-2.64636375e-01 9.64347220e-01 -1.42409014e-03 2.13970928e+02] [-5.70686487e-03 -8.93631290e-05 9.99983712e-01 -1.70930505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.9053361949998 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:1189.83, Y:213.96, Z:-17.09 [[ 9.64047292e-01 2.65673241e-01 5.52707742e-03 1.18983357e+03] [-2.65669442e-01 9.64063131e-01 -1.42397599e-03 2.13958897e+02] [-5.70676387e-03 -9.55953764e-05 9.99983712e-01 -1.70860112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.965336195 meters Centerline goodness : 0.999529 with order 1 Centerline is valid? [True, True] Translation: X:1189.89, Y:213.95, Z:-17.09 [[ 9.64062633e-01 2.65617564e-01 5.52710670e-03 1.18989254e+03] [-2.65613765e-01 9.64078472e-01 -1.42386233e-03 2.13946996e+02] [-5.70676742e-03 -9.53831460e-05 9.99983712e-01 -1.70927760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.025336195 meters Centerline goodness : 0.999443 with order 1 Centerline is valid? [True, True] Translation: X:1189.95, Y:213.94, Z:-17.09 [[ 9.64323743e-01 2.64668037e-01 5.52713597e-03 1.18995183e+03] [-2.64664222e-01 9.64339578e-01 -1.42374869e-03 2.13936673e+02] [-5.70685674e-03 -8.98804824e-05 9.99983712e-01 -1.70912781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.0853361949999 meters Centerline goodness : 0.999337 with order 1 Centerline is valid? [True, True] Translation: X:1190.01, Y:213.93, Z:-17.09 [[ 9.64925392e-01 2.62466069e-01 5.52716528e-03 1.19001450e+03] [-2.62462219e-01 9.64941219e-01 -1.42363488e-03 2.13925973e+02] [-5.70704546e-03 -7.69706225e-05 9.99983712e-01 -1.70909213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.1453361949998 meters Centerline goodness : 0.999331 with order 1 Centerline is valid? [True, True] Translation: X:1190.08, Y:213.91, Z:-17.09 [[ 9.65677462e-01 2.59685372e-01 5.52690348e-03 1.19007567e+03] [-2.59681471e-01 9.65693276e-01 -1.42465055e-03 2.13912687e+02] [-5.70725444e-03 -5.94814966e-05 9.99983712e-01 -1.70914592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.205336195 meters Centerline goodness : 0.999337 with order 1 Centerline is valid? [True, True] Translation: X:1190.14, Y:213.90, Z:-17.09 [[ 9.66925071e-01 2.55000714e-01 5.52663293e-03 1.19013751e+03] [-2.54996731e-01 9.66940864e-01 -1.42569930e-03 2.13899715e+02] [-5.70748156e-03 -3.07289355e-05 9.99983712e-01 -1.70929477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.265336195 meters Centerline goodness : 0.999532 with order 1 Centerline is valid? [True, True] Translation: X:1190.20, Y:213.89, Z:-17.09 [[ 9.67521705e-01 2.52727542e-01 5.52636326e-03 1.19019867e+03] [-2.52723515e-01 9.67537487e-01 -1.42674386e-03 2.13887042e+02] [-5.70754109e-03 -1.62362956e-05 9.99983712e-01 -1.70938383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.3253361949999 meters Centerline goodness : 0.999501 with order 1 Centerline is valid? [True, True] Translation: X:1190.26, Y:213.87, Z:-17.09 [[ 9.67891410e-01 2.51307939e-01 5.52611297e-03 1.19026064e+03] [-2.51303884e-01 9.67907185e-01 -1.42771263e-03 2.13874901e+02] [-5.70755997e-03 -6.86286588e-06 9.99983712e-01 -1.70928542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.3853361949998 meters Centerline goodness : 0.999482 with order 1 Centerline is valid? [True, True] Translation: X:1190.32, Y:213.86, Z:-17.09 [[ 9.67667259e-01 2.52169665e-01 5.52584544e-03 1.19031984e+03] [-2.52165618e-01 9.67683037e-01 -1.42874733e-03 2.13864247e+02] [-5.70755363e-03 -1.08762117e-05 9.99983712e-01 -1.70930798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.445336195 meters Centerline goodness : 0.999633 with order 1 Centerline is valid? [True, True] Translation: X:1190.38, Y:213.85, Z:-17.09 [[ 9.67309023e-01 2.53540369e-01 5.52582888e-03 1.19038107e+03] [-2.53536344e-01 9.67324806e-01 -1.42881137e-03 2.13853183e+02] [-5.70753271e-03 -1.88963225e-05 9.99983712e-01 -1.70931621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.505336195 meters Centerline goodness : 0.999528 with order 1 Centerline is valid? [True, True] Translation: X:1190.44, Y:213.84, Z:-17.09 [[ 9.66959841e-01 2.54868856e-01 5.52558876e-03 1.19044080e+03] [-2.54864847e-01 9.66975628e-01 -1.42973938e-03 2.13843683e+02] [-5.70750570e-03 -2.57777661e-05 9.99983712e-01 -1.70936803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.5653361949999 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:1190.50, Y:213.83, Z:-17.09 [[ 9.66873954e-01 2.55194484e-01 5.52557174e-03 1.19049925e+03] [-2.55190480e-01 9.66889743e-01 -1.42980516e-03 2.13832519e+02] [-5.70749703e-03 -2.76319347e-05 9.99983712e-01 -1.70863061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.6253361949998 meters Centerline goodness : 0.999485 with order 1 Centerline is valid? [True, True] Translation: X:1190.56, Y:213.82, Z:-17.10 [[ 9.66856007e-01 2.55262471e-01 5.52558851e-03 1.19055829e+03] [-2.55258468e-01 9.66871796e-01 -1.42974034e-03 2.13824758e+02] [-5.70749474e-03 -2.81002268e-05 9.99983712e-01 -1.70957379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.685336195 meters Centerline goodness : 0.999548 with order 1 Centerline is valid? [True, True] Translation: X:1190.62, Y:213.81, Z:-17.10 [[ 9.66943778e-01 2.54929791e-01 5.52565372e-03 1.19061811e+03] [-2.54925784e-01 9.66959565e-01 -1.42948827e-03 2.13814571e+02] [-5.70750287e-03 -2.63968199e-05 9.99983712e-01 -1.70953251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.745336195 meters Centerline goodness : 0.999419 with order 1 Centerline is valid? [True, True] Translation: X:1190.68, Y:213.80, Z:-17.10 [[ 9.67501118e-01 2.52806357e-01 5.52565372e-03 1.19067710e+03] [-2.52802316e-01 9.67516897e-01 -1.42948827e-03 2.13804618e+02] [-5.70754706e-03 -1.38665569e-05 9.99983712e-01 -1.70968008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.8053361949999 meters Centerline goodness : 0.999419 with order 1 Centerline is valid? [True, True] Translation: X:1190.74, Y:213.80, Z:-17.09 [[ 9.68555775e-01 2.48735158e-01 5.52567105e-03 1.19073669e+03] [-2.48731051e-01 9.68571536e-01 -1.42942127e-03 2.13796693e+02] [-5.70755503e-03 1.00682545e-05 9.99983712e-01 -1.70944323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.8653361949998 meters Centerline goodness : 0.999291 with order 1 Centerline is valid? [True, True] Translation: X:1190.79, Y:213.79, Z:-17.09 [[ 9.69393827e-01 2.45448723e-01 5.52570569e-03 1.19079463e+03] [-2.45444563e-01 9.69409575e-01 -1.42928735e-03 2.13785423e+02] [-5.70748876e-03 2.92879075e-05 9.99983712e-01 -1.70892988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.9253361949998 meters Centerline goodness : 0.999444 with order 1 Centerline is valid? [True, True] Translation: X:1190.85, Y:213.77, Z:-17.10 [[ 9.70706607e-01 2.40204390e-01 5.52574201e-03 1.19085110e+03] [-2.40200146e-01 9.70722333e-01 -1.42914693e-03 2.13774116e+02] [-5.70724854e-03 5.99983348e-05 9.99983712e-01 -1.71003507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.985336195 meters Centerline goodness : 0.999506 with order 1 Centerline is valid? [True, True] Translation: X:1190.91, Y:213.76, Z:-17.10 [[ 9.71937755e-01 2.35173267e-01 5.52582689e-03 1.19090911e+03] [-2.35168944e-01 9.71953459e-01 -1.42881867e-03 2.13759889e+02] [-5.70686651e-03 8.92199351e-05 9.99983712e-01 -1.70994607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.045336195 meters Centerline goodness : 0.999463 with order 1 Centerline is valid? [True, True] Translation: X:1190.97, Y:213.75, Z:-17.10 [[ 9.72555659e-01 2.32604717e-01 5.52586154e-03 1.19096675e+03] [-2.32600352e-01 9.72571352e-01 -1.42868466e-03 2.13746865e+02] [-5.70661342e-03 1.04158011e-04 9.99983712e-01 -1.70990209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.1053361949998 meters Centerline goodness : 0.999481 with order 1 Centerline is valid? [True, True] Translation: X:1191.02, Y:213.73, Z:-17.09 [[ 9.72901325e-01 2.31154660e-01 5.52591289e-03 1.19102459e+03] [-2.31150274e-01 9.72917011e-01 -1.42848602e-03 2.13733567e+02] [-5.70645585e-03 1.12459670e-04 9.99983712e-01 -1.70913386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.1653361949998 meters Centerline goodness : 0.999660 with order 1 Centerline is valid? [True, True] Translation: X:1191.08, Y:213.72, Z:-17.10 [[ 9.72790623e-01 2.31620093e-01 5.52594674e-03 1.19108031e+03] [-2.31615714e-01 9.72806312e-01 -1.42835505e-03 2.13720065e+02] [-5.70651160e-03 1.09594294e-04 9.99983712e-01 -1.70990489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.225336195 meters Centerline goodness : 0.999611 with order 1 Centerline is valid? [True, True] Translation: X:1191.14, Y:213.71, Z:-17.10 [[ 9.72224415e-01 2.33985364e-01 5.52603021e-03 1.19113784e+03] [-2.33981025e-01 9.72240115e-01 -1.42803205e-03 2.13707864e+02] [-5.70676684e-03 9.53814083e-05 9.99983712e-01 -1.71015803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.285336195 meters Centerline goodness : 0.999616 with order 1 Centerline is valid? [True, True] Translation: X:1191.19, Y:213.70, Z:-17.10 [[ 9.71653984e-01 2.36342966e-01 5.52609717e-03 1.19119452e+03] [-2.36338667e-01 9.71669695e-01 -1.42777289e-03 2.13695815e+02] [-5.70698523e-03 8.12707832e-05 9.99983712e-01 -1.71030213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.3453361949998 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:1191.25, Y:213.68, Z:-17.10 [[ 9.71734808e-01 2.36010434e-01 5.52618008e-03 1.19125199e+03] [-2.36006131e-01 9.71750518e-01 -1.42745189e-03 2.13681259e+02] [-5.70696190e-03 8.28923085e-05 9.99983712e-01 -1.71026217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.4053361949998 meters Centerline goodness : 0.999346 with order 1 Centerline is valid? [True, True] Translation: X:1191.31, Y:213.67, Z:-17.10 [[ 9.72152597e-01 2.34283564e-01 5.52624585e-03 1.19130828e+03] [-2.34279235e-01 9.72168300e-01 -1.42719722e-03 2.13666763e+02] [-5.70680989e-03 9.27688357e-05 9.99983712e-01 -1.71026756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.465336195 meters Centerline goodness : 0.999548 with order 1 Centerline is valid? [True, True] Translation: X:1191.37, Y:213.65, Z:-17.10 [[ 9.72376694e-01 2.33351720e-01 5.52632736e-03 1.19136522e+03] [-2.33347378e-01 9.72392393e-01 -1.42688154e-03 2.13651492e+02] [-5.70672395e-03 9.79123521e-05 9.99983712e-01 -1.71025847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.525336195 meters Centerline goodness : 0.999440 with order 1 Centerline is valid? [True, True] Translation: X:1191.42, Y:213.63, Z:-17.10 [[ 9.72719519e-01 2.31918511e-01 5.52639201e-03 1.19142186e+03] [-2.31914148e-01 9.72735212e-01 -1.42663112e-03 2.13634896e+02] [-5.70657827e-03 1.06063443e-04 9.99983712e-01 -1.71037342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.5853361949999 meters Centerline goodness : 0.999486 with order 1 Centerline is valid? [True, True] Translation: X:1191.48, Y:213.62, Z:-17.10 [[ 9.72775689e-01 2.31682796e-01 5.52645655e-03 1.19147828e+03] [-2.31678430e-01 9.72791381e-01 -1.42638105e-03 2.13618583e+02] [-5.70655725e-03 1.07188027e-04 9.99983712e-01 -1.71023591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.6453361949998 meters Centerline goodness : 0.999568 with order 1 Centerline is valid? [True, True] Translation: X:1191.53, Y:213.60, Z:-17.10 [[ 9.72709401e-01 2.31960942e-01 5.52652192e-03 1.19153398e+03] [-2.31956582e-01 9.72725095e-01 -1.42612775e-03 2.13603531e+02] [-5.70659249e-03 1.05294739e-04 9.99983712e-01 -1.71026245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.705336195 meters Centerline goodness : 0.999401 with order 1 Centerline is valid? [True, True] Translation: X:1191.59, Y:213.59, Z:-17.10 [[ 9.72748445e-01 2.31797153e-01 5.52660249e-03 1.19158950e+03] [-2.31792792e-01 9.72764138e-01 -1.42581543e-03 2.13586306e+02] [-5.70658067e-03 1.05933116e-04 9.99983712e-01 -1.71023452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.765336195 meters Centerline goodness : 0.999462 with order 1 Centerline is valid? [True, True] Translation: X:1191.65, Y:213.57, Z:-17.10 [[ 9.72753868e-01 2.31774392e-01 5.52668039e-03 1.19164555e+03] [-2.31770032e-01 9.72769562e-01 -1.42551343e-03 2.13568965e+02] [-5.70658397e-03 1.05754813e-04 9.99983712e-01 -1.71030660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.8253361949999 meters Centerline goodness : 0.999523 with order 1 Centerline is valid? [True, True] Translation: X:1191.70, Y:213.55, Z:-17.10 [[ 9.72371989e-01 2.33371313e-01 5.52674221e-03 1.19170297e+03] [-2.33366981e-01 9.72387691e-01 -1.42527372e-03 2.13550934e+02] [-5.70675409e-03 9.61370973e-05 9.99983712e-01 -1.71023306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.8853361949998 meters Centerline goodness : 0.999488 with order 1 Centerline is valid? [True, True] Translation: X:1191.76, Y:213.53, Z:-17.10 [[ 9.71412035e-01 2.37335445e-01 5.52677691e-03 1.19175945e+03] [-2.37331178e-01 9.71427754e-01 -1.42513915e-03 2.13534314e+02] [-5.70710051e-03 7.27208477e-05 9.99983712e-01 -1.71024636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.945336195 meters Centerline goodness : 0.999573 with order 1 Centerline is valid? [True, True] Translation: X:1191.82, Y:213.52, Z:-17.10 [[ 9.70427062e-01 2.41331247e-01 5.52682851e-03 1.19181585e+03] [-2.41327045e-01 9.70442799e-01 -1.42493901e-03 2.13519358e+02] [-5.70735324e-03 4.90261914e-05 9.99983712e-01 -1.71029934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.005336195 meters Centerline goodness : 0.999357 with order 1 Centerline is valid? [True, True] Translation: X:1191.87, Y:213.51, Z:-17.10 [[ 9.68869425e-01 2.47510588e-01 5.52689576e-03 1.19187266e+03] [-2.47506488e-01 9.68885189e-01 -1.42467812e-03 2.13505228e+02] [-5.70755036e-03 1.23845070e-05 9.99983712e-01 -1.71033487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.0653361949999 meters Centerline goodness : 0.999437 with order 1 Centerline is valid? [True, True] Translation: X:1191.93, Y:213.49, Z:-17.10 [[ 9.68096512e-01 2.50516660e-01 5.52696258e-03 1.19193020e+03] [-2.50512610e-01 9.68112289e-01 -1.42441885e-03 2.13490796e+02] [-5.70756104e-03 -5.59890306e-06 9.99983712e-01 -1.71040654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.1253361949998 meters Centerline goodness : 0.999591 with order 1 Centerline is valid? [True, True] Translation: X:1191.99, Y:213.48, Z:-17.11 [[ 9.67167319e-01 2.54080359e-01 5.52703063e-03 1.19198829e+03] [-2.54076369e-01 9.67183111e-01 -1.42415476e-03 2.13479068e+02] [-5.70750043e-03 -2.68919339e-05 9.99983712e-01 -1.71057820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.185336195 meters Centerline goodness : 0.999376 with order 1 Centerline is valid? [True, True] Translation: X:1192.04, Y:213.47, Z:-17.11 [[ 9.66723703e-01 2.55763040e-01 5.52709864e-03 1.19204463e+03] [-2.55759079e-01 9.66739503e-01 -1.42389075e-03 2.13467001e+02] [-5.70744322e-03 -3.70967155e-05 9.99983712e-01 -1.71071205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.245336195 meters Centerline goodness : 0.999572 with order 1 Centerline is valid? [True, True] Translation: X:1192.10, Y:213.45, Z:-17.11 [[ 9.66790689e-01 2.55509713e-01 5.52718269e-03 1.19210141e+03] [-2.55505750e-01 9.66806488e-01 -1.42356439e-03 2.13453435e+02] [-5.70745062e-03 -3.59381587e-05 9.99983712e-01 -1.71080534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.3053361949999 meters Centerline goodness : 0.999573 with order 1 Centerline is valid? [True, True] Translation: X:1192.16, Y:213.44, Z:-17.11 [[ 9.67480258e-01 2.52886142e-01 5.52724956e-03 1.19215807e+03] [-2.52882137e-01 9.67496046e-01 -1.42330472e-03 2.13441722e+02] [-5.70752613e-03 -2.07234685e-05 9.99983712e-01 -1.71073571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.3653361949998 meters Centerline goodness : 0.999106 with order 1 Centerline is valid? [True, True] Translation: X:1192.22, Y:213.43, Z:-17.10 [[ 9.68550345e-01 2.48756260e-01 5.52733200e-03 1.19221569e+03] [-2.48752190e-01 9.68566117e-01 -1.42298450e-03 2.13427638e+02] [-5.70756280e-03 3.29618916e-06 9.99983712e-01 -1.70978285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.4253361949998 meters Centerline goodness : 0.999547 with order 1 Centerline is valid? [True, True] Translation: X:1192.27, Y:213.41, Z:-17.11 [[ 9.69463700e-01 2.45172555e-01 5.52736722e-03 1.19227200e+03] [-2.45168428e-01 9.69479457e-01 -1.42284767e-03 2.13412441e+02] [-5.70751217e-03 2.42632324e-05 9.99983712e-01 -1.71087505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.485336195 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:1192.33, Y:213.40, Z:-17.11 [[ 9.70557646e-01 2.40805529e-01 5.52741966e-03 1.19233003e+03] [-2.40801331e-01 9.70573385e-01 -1.42264394e-03 2.13396755e+02] [-5.70734693e-03 4.97479448e-05 9.99983712e-01 -1.71082809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.545336195 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:1192.39, Y:213.38, Z:-17.11 [[ 9.71062796e-01 2.38760327e-01 5.52745446e-03 1.19238754e+03] [-2.38756097e-01 9.71078525e-01 -1.42250872e-03 2.13383149e+02] [-5.70723097e-03 6.16318398e-05 9.99983712e-01 -1.71080904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.6053361949998 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:1192.44, Y:213.37, Z:-17.11 [[ 9.71033667e-01 2.38878764e-01 5.52750599e-03 1.19244352e+03] [-2.38874537e-01 9.71049398e-01 -1.42230843e-03 2.13369390e+02] [-5.70724065e-03 6.07289392e-05 9.99983712e-01 -1.71080552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.6653361949998 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:1192.50, Y:213.35, Z:-17.11 [[ 9.70622636e-01 2.40543437e-01 5.52759013e-03 1.19250135e+03] [-2.40539239e-01 9.70638374e-01 -1.42198137e-03 2.13354761e+02] [-5.70733938e-03 5.06049776e-05 9.99983712e-01 -1.71087506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.725336195 meters Centerline goodness : 0.999660 with order 1 Centerline is valid? [True, True] Translation: X:1192.56, Y:213.34, Z:-17.11 [[ 9.70161769e-01 2.42395519e-01 5.52762508e-03 1.19255791e+03] [-2.42391352e-01 9.70177515e-01 -1.42184551e-03 2.13342815e+02] [-5.70742654e-03 3.95716422e-05 9.99983712e-01 -1.71107993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.785336195 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:1192.62, Y:213.33, Z:-17.11 [[ 9.69993478e-01 2.43068092e-01 5.52771178e-03 1.19261506e+03] [-2.43063938e-01 9.70009227e-01 -1.42150838e-03 2.13329155e+02] [-5.70745476e-03 3.52664653e-05 9.99983712e-01 -1.71105417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.8453361949998 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:1192.67, Y:213.32, Z:-17.11 [[ 9.70030316e-01 2.42921036e-01 5.52777863e-03 1.19267126e+03] [-2.42916881e-01 9.70046065e-01 -1.42124838e-03 2.13316063e+02] [-5.70745103e-03 3.58632694e-05 9.99983712e-01 -1.71121600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.9053361949998 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:1192.73, Y:213.30, Z:-17.11 [[ 9.70282970e-01 2.41909902e-01 5.52786104e-03 1.19272757e+03] [-2.41905732e-01 9.70298716e-01 -1.42092776e-03 2.13302297e+02] [-5.70741296e-03 4.14807350e-05 9.99983712e-01 -1.71133065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.965336195 meters Centerline goodness : 0.999654 with order 1 Centerline is valid? [True, True] Translation: X:1192.79, Y:213.29, Z:-17.11 [[ 9.70749603e-01 2.40030521e-01 5.52794196e-03 1.19278515e+03] [-2.40026323e-01 9.70765340e-01 -1.42061289e-03 2.13288165e+02] [-5.70732491e-03 5.22078217e-05 9.99983712e-01 -1.71107131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.025336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:1192.84, Y:213.27, Z:-17.11 [[ 9.71405095e-01 2.37363820e-01 5.52800907e-03 1.19284244e+03] [-2.37359580e-01 9.71420821e-01 -1.42035171e-03 2.13272010e+02] [-5.70716321e-03 6.76109707e-05 9.99983712e-01 -1.71086617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.0853361949999 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:1192.90, Y:213.26, Z:-17.11 [[ 9.71810478e-01 2.35698613e-01 5.52804368e-03 1.19289945e+03] [-2.35694347e-01 9.71826197e-01 -1.42021697e-03 2.13256862e+02] [-5.70704084e-03 7.72530900e-05 9.99983712e-01 -1.71085424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.1453361949998 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:1192.96, Y:213.24, Z:-17.11 [[ 9.72511891e-01 2.32787590e-01 5.52809499e-03 1.19295528e+03] [-2.32783278e-01 9.72527598e-01 -1.42001722e-03 2.13238750e+02] [-5.70678733e-03 9.41355575e-05 9.99983712e-01 -1.71089115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.205336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1193.01, Y:213.22, Z:-17.11 [[ 9.72916664e-01 2.31090035e-01 5.52814563e-03 1.19301291e+03] [-2.31085696e-01 9.72932364e-01 -1.41982007e-03 2.13221532e+02] [-5.70661806e-03 1.03891225e-04 9.99983712e-01 -1.71108194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.265336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:1193.07, Y:213.20, Z:-17.11 [[ 9.73310590e-01 2.29425225e-01 5.52817879e-03 1.19306965e+03] [-2.29420861e-01 9.73326283e-01 -1.41969095e-03 2.13200889e+02] [-5.70643462e-03 1.13520698e-04 9.99983712e-01 -1.71111653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.3253361949999 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:1193.13, Y:213.18, Z:-17.11 [[ 9.73362358e-01 2.29205497e-01 5.52817879e-03 1.19312609e+03] [-2.29201129e-01 9.73378049e-01 -1.41969095e-03 2.13184655e+02] [-5.70640885e-03 1.14808908e-04 9.99983712e-01 -1.71117257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.3853361949998 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:1193.18, Y:213.17, Z:-17.11 [[ 9.72943296e-01 2.30977879e-01 5.52822891e-03 1.19318281e+03] [-2.30973540e-01 9.72958996e-01 -1.41949573e-03 2.13165328e+02] [-5.70661217e-03 1.04214255e-04 9.99983712e-01 -1.71106047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.445336195 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:1193.24, Y:213.15, Z:-17.11 [[ 9.72533602e-01 2.32696867e-01 5.52826198e-03 1.19323935e+03] [-2.32692557e-01 9.72549309e-01 -1.41936695e-03 2.13148097e+02] [-5.70678961e-03 9.39966390e-05 9.99983712e-01 -1.71121816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.505336195 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:1193.30, Y:213.13, Z:-17.11 [[ 9.71739564e-01 2.35990799e-01 5.52831094e-03 1.19329708e+03] [-2.35986544e-01 9.71755287e-01 -1.41917620e-03 2.13126849e+02] [-5.70707791e-03 7.44626667e-05 9.99983712e-01 -1.71131579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.5653361949999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:1193.35, Y:213.11, Z:-17.12 [[ 9.70688205e-01 2.40278685e-01 5.52827659e-03 1.19335438e+03] [-2.40274498e-01 9.70703946e-01 -1.41930999e-03 2.13107898e+02] [-5.70734984e-03 4.94035887e-05 9.99983712e-01 -1.71153938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.6253361949998 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1193.41, Y:213.09, Z:-17.12 [[ 9.69848140e-01 2.43647333e-01 5.52825958e-03 1.19341116e+03] [-2.43643201e-01 9.69863896e-01 -1.41937624e-03 2.13091761e+02] [-5.70748661e-03 2.96565517e-05 9.99983712e-01 -1.71166052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.685336195 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:1193.47, Y:213.07, Z:-17.11 [[ 9.68275967e-01 2.49822115e-01 5.52830894e-03 1.19346650e+03] [-2.49818084e-01 9.68291749e-01 -1.41918398e-03 2.13074824e+02] [-5.70755948e-03 -6.90980742e-06 9.99983712e-01 -1.71097591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.745336195 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:1193.52, Y:213.06, Z:-17.12 [[ 9.66768030e-01 2.55595408e-01 5.52838989e-03 1.19352483e+03] [-2.55591473e-01 9.66783836e-01 -1.41886856e-03 2.13059943e+02] [-5.70741428e-03 -4.12925558e-05 9.99983712e-01 -1.71167632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.8053361949999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1193.58, Y:213.05, Z:-17.12 [[ 9.66140529e-01 2.57957197e-01 5.52838989e-03 1.19358272e+03] [-2.57953301e-01 9.66156344e-01 -1.41886856e-03 2.13045720e+02] [-5.70729633e-03 -5.52400037e-05 9.99983712e-01 -1.71175178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.8653361949998 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:1193.64, Y:213.03, Z:-17.12 [[ 9.65828119e-01 2.59124450e-01 5.52840675e-03 1.19364284e+03] [-2.59120573e-01 9.65843939e-01 -1.41880290e-03 2.13031388e+02] [-5.70722467e-03 -6.22041943e-05 9.99983712e-01 -1.71160784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.9253361949998 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1193.70, Y:213.02, Z:-17.12 [[ 9.65996160e-01 2.58497303e-01 5.52837188e-03 1.19370192e+03] [-2.58493416e-01 9.66011978e-01 -1.41893873e-03 2.13016991e+02] [-5.70726529e-03 -5.83583624e-05 9.99983712e-01 -1.71168621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.985336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1193.76, Y:213.00, Z:-17.12 [[ 9.65895285e-01 2.58873975e-01 5.52835468e-03 1.19376045e+03] [-2.58870093e-01 9.65911104e-01 -1.41900574e-03 2.13003431e+02] [-5.70724283e-03 -6.05147323e-05 9.99983712e-01 -1.71161010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.045336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1193.82, Y:212.99, Z:-17.11 [[ 9.65382309e-01 2.60780434e-01 5.52838841e-03 1.19381928e+03] [-2.60776584e-01 9.65398136e-01 -1.41887431e-03 2.12991362e+02] [-5.70711053e-03 -7.19180900e-05 9.99983712e-01 -1.71149774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.1053361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1193.88, Y:212.98, Z:-17.12 [[ 9.65074988e-01 2.61915451e-01 5.52842263e-03 1.19387743e+03] [-2.61911620e-01 9.65090820e-01 -1.41874098e-03 2.12980942e+02] [-5.70702011e-03 -7.87666971e-05 9.99983712e-01 -1.71177985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.1653361949998 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:1193.94, Y:212.97, Z:-17.12 [[ 9.65150799e-01 2.61635952e-01 5.52847325e-03 1.19393511e+03] [-2.61632118e-01 9.65166629e-01 -1.41854369e-03 2.12971896e+02] [-5.70703992e-03 -7.73175889e-05 9.99983712e-01 -1.71191158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.225336195 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:1193.99, Y:212.96, Z:-17.12 [[ 9.65789083e-01 2.59269903e-01 5.52855524e-03 1.19399295e+03] [-2.59266032e-01 9.65804904e-01 -1.41822408e-03 2.12960530e+02] [-5.70720859e-03 -6.36612453e-05 9.99983712e-01 -1.71190079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.285336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1194.05, Y:212.95, Z:-17.12 [[ 9.66737634e-01 2.55710346e-01 5.52861900e-03 1.19405144e+03] [-2.55706418e-01 9.66753442e-01 -1.41797550e-03 2.12950508e+02] [-5.70740245e-03 -4.28930810e-05 9.99983712e-01 -1.71187971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.3453361949998 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:1194.11, Y:212.94, Z:-17.12 [[ 9.67324908e-01 2.53479695e-01 5.52868509e-03 1.19410915e+03] [-2.53475732e-01 9.67340707e-01 -1.41771775e-03 2.12939397e+02] [-5.70748481e-03 -2.99938069e-05 9.99983712e-01 -1.71187534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.4053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1194.17, Y:212.93, Z:-17.12 [[ 9.68272392e-01 2.49835961e-01 5.52875088e-03 1.19416694e+03] [-2.49831940e-01 9.68288177e-01 -1.41746114e-03 2.12928981e+02] [-5.70755687e-03 -8.77006655e-06 9.99983712e-01 -1.71183380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.465336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1194.22, Y:212.92, Z:-17.12 [[ 9.68881026e-01 2.47465129e-01 5.52881970e-03 1.19422330e+03] [-2.47461071e-01 9.68896800e-01 -1.41719265e-03 2.12916245e+02] [-5.70756148e-03 4.92341945e-06 9.99983712e-01 -1.71201768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.525336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:1194.28, Y:212.90, Z:-17.12 [[ 9.69847461e-01 2.43650022e-01 5.52890496e-03 1.19428024e+03] [-2.43645904e-01 9.69863220e-01 -1.41685997e-03 2.12904221e+02] [-5.70749953e-03 2.70430033e-05 9.99983712e-01 -1.71215991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.5853361949999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1194.34, Y:212.89, Z:-17.12 [[ 9.70392259e-01 2.41471102e-01 5.52898632e-03 1.19433671e+03] [-2.41466950e-01 9.70408010e-01 -1.41654239e-03 2.12890876e+02] [-5.70742666e-03 3.95343024e-05 9.99983712e-01 -1.71219381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.6453361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1194.39, Y:212.88, Z:-17.12 [[ 9.70697501e-01 2.40241110e-01 5.52908151e-03 1.19439427e+03] [-2.40236941e-01 9.70713246e-01 -1.41617074e-03 2.12877534e+02] [-5.70737510e-03 4.63837742e-05 9.99983712e-01 -1.71226383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.705336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1194.45, Y:212.87, Z:-17.12 [[ 9.70485632e-01 2.41095554e-01 5.52914658e-03 1.19445105e+03] [-2.41091399e-01 9.70501382e-01 -1.41591666e-03 2.12866626e+02] [-5.70741561e-03 4.10970930e-05 9.99983712e-01 -1.71229064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.765336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1194.51, Y:212.85, Z:-17.12 [[ 9.70171234e-01 2.42357595e-01 5.52924313e-03 1.19450819e+03] [-2.42353463e-01 9.70186990e-01 -1.41553950e-03 2.12854728e+02] [-5.70746650e-03 3.32844818e-05 9.99983712e-01 -1.71234916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.8253361949999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1194.56, Y:212.84, Z:-17.12 [[ 9.69548385e-01 2.44837405e-01 5.52933985e-03 1.19456475e+03] [-2.44833316e-01 9.69564152e-01 -1.41516160e-03 2.12842717e+02] [-5.70753420e-03 1.83010290e-05 9.99983712e-01 -1.71228105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.8853361949998 meters Centerline goodness : 0.999612 with order 1 Centerline is valid? [True, True] Translation: X:1194.62, Y:212.83, Z:-17.12 [[ 9.69187275e-01 2.46262971e-01 5.52944065e-03 1.19462310e+03] [-2.46258907e-01 9.69203048e-01 -1.41476765e-03 2.12831260e+02] [-5.70755562e-03 9.50079420e-06 9.99983712e-01 -1.71162995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.945336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1194.68, Y:212.82, Z:-17.13 [[ 9.69383436e-01 2.45489671e-01 5.52949148e-03 1.19467912e+03] [-2.45485596e-01 9.69399206e-01 -1.41456897e-03 2.12818630e+02] [-5.70754672e-03 1.38492153e-05 9.99983712e-01 -1.71278793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.005336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:1194.74, Y:212.81, Z:-17.13 [[ 9.69813006e-01 2.43787114e-01 5.52957493e-03 1.19473606e+03] [-2.43783013e-01 9.69828770e-01 -1.41424267e-03 2.12805451e+02] [-5.70751499e-03 2.35344950e-05 9.99983712e-01 -1.71289387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.0653361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1194.79, Y:212.79, Z:-17.13 [[ 9.70382325e-01 2.41511006e-01 5.52967460e-03 1.19479207e+03] [-2.41506871e-01 9.70398079e-01 -1.41385284e-03 2.12791803e+02] [-5.70744664e-03 3.65233985e-05 9.99983712e-01 -1.71273921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.1253361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1194.85, Y:212.78, Z:-17.13 [[ 9.71019521e-01 2.38936210e-01 5.52977053e-03 1.19484823e+03] [-2.38932034e-01 9.71035265e-01 -1.41347754e-03 2.12778793e+02] [-5.70733316e-03 5.12749616e-05 9.99983712e-01 -1.71254575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.185336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1194.90, Y:212.76, Z:-17.13 [[ 9.71608051e-01 2.36531639e-01 5.52985176e-03 1.19490411e+03] [-2.36527426e-01 9.71623785e-01 -1.41315971e-03 2.12764548e+02] [-5.70719248e-03 6.50757509e-05 9.99983712e-01 -1.71259002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.245336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1194.96, Y:212.75, Z:-17.13 [[ 9.71775152e-01 2.35844172e-01 5.52993204e-03 1.19496043e+03] [-2.35839950e-01 9.71790884e-01 -1.41284547e-03 2.12750277e+02] [-5.70714892e-03 6.87892259e-05 9.99983712e-01 -1.71258614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.3053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1195.02, Y:212.74, Z:-17.13 [[ 9.72013001e-01 2.34861968e-01 5.53002748e-03 1.19501657e+03] [-2.34857732e-01 9.72028729e-01 -1.41247182e-03 2.12735758e+02] [-5.70708149e-03 7.41712597e-05 9.99983712e-01 -1.71265524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.3653361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1195.07, Y:212.72, Z:-17.13 [[ 9.72102076e-01 2.34493009e-01 5.53012253e-03 1.19507221e+03] [-2.34488769e-01 9.72117803e-01 -1.41209957e-03 2.12722254e+02] [-5.70705804e-03 7.59532968e-05 9.99983712e-01 -1.71277389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.4253361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1195.13, Y:212.71, Z:-17.13 [[ 9.71915691e-01 2.35264330e-01 5.53025851e-03 1.19512706e+03] [-2.35260106e-01 9.71931422e-01 -1.41156685e-03 2.12708241e+02] [-5.70712335e-03 7.08747681e-05 9.99983712e-01 -1.71281071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1195.18, Y:212.69, Z:-17.13 [[ 9.71685814e-01 2.36211970e-01 5.53036719e-03 1.19518280e+03] [-2.36207764e-01 9.71701549e-01 -1.41114092e-03 2.12693897e+02] [-5.70719474e-03 6.48699419e-05 9.99983712e-01 -1.71286190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.545336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1195.24, Y:212.68, Z:-17.13 [[ 9.71203699e-01 2.38186457e-01 5.53045903e-03 1.19523779e+03] [-2.38182284e-01 9.71219444e-01 -1.41078087e-03 2.12679696e+02] [-5.70731825e-03 5.28982312e-05 9.99983712e-01 -1.71290036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.6053361949998 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:1195.29, Y:212.67, Z:-17.12 [[ 9.70595438e-01 2.40653088e-01 5.53056527e-03 1.19529483e+03] [-2.40648958e-01 9.70611194e-01 -1.41036426e-03 2.12666359e+02] [-5.70743708e-03 3.79683514e-05 9.99983712e-01 -1.71216897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.6653361949998 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1195.35, Y:212.65, Z:-17.12 [[ 9.69948285e-01 2.43248301e-01 5.53062569e-03 1.19535232e+03] [-2.43244215e-01 9.69964053e-01 -1.41012731e-03 2.12652364e+02] [-5.70751918e-03 2.24578683e-05 9.99983712e-01 -1.71247627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.725336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1195.41, Y:212.64, Z:-17.13 [[ 9.69734640e-01 2.44098626e-01 5.53069208e-03 1.19540766e+03] [-2.44094555e-01 9.69750411e-01 -1.40986685e-03 2.12636454e+02] [-5.70753749e-03 1.71848997e-05 9.99983712e-01 -1.71329403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.785336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1195.47, Y:212.62, Z:-17.13 [[ 9.69509870e-01 2.44989843e-01 5.53078779e-03 1.19546520e+03] [-2.44985788e-01 9.69525645e-01 -1.40949129e-03 2.12623318e+02] [-5.70755165e-03 1.15513108e-05 9.99983712e-01 -1.71298206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.8453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1195.52, Y:212.61, Z:-17.13 [[ 9.68716787e-01 2.48107227e-01 5.53085255e-03 1.19552272e+03] [-2.48103225e-01 9.68732576e-01 -1.40923715e-03 2.12611829e+02] [-5.70755896e-03 -7.07067274e-06 9.99983712e-01 -1.71289963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.9053361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1195.58, Y:212.60, Z:-17.13 [[ 9.68175767e-01 2.50210097e-01 5.53091709e-03 1.19557806e+03] [-2.50206131e-01 9.68191565e-01 -1.40898381e-03 2.12598768e+02] [-5.70752925e-03 -1.97253841e-05 9.99983712e-01 -1.71294208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.965336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1195.63, Y:212.59, Z:-17.13 [[ 9.67804198e-01 2.51643483e-01 5.53102853e-03 1.19563491e+03] [-2.51639543e-01 9.67820002e-01 -1.40854619e-03 2.12585489e+02] [-5.70749151e-03 -2.86285733e-05 9.99983712e-01 -1.71307386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1195.69, Y:212.57, Z:-17.13 [[ 9.68259254e-01 2.49886821e-01 5.53109483e-03 1.19569164e+03] [-2.49882853e-01 9.68275052e-01 -1.40828580e-03 2.12572347e+02] [-5.70753319e-03 -1.85399991e-05 9.99983712e-01 -1.71304829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.0853361949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1195.75, Y:212.56, Z:-17.13 [[ 9.68544492e-01 2.48778966e-01 5.53119695e-03 1.19574722e+03] [-2.48774982e-01 9.68560285e-01 -1.40788459e-03 2.12556905e+02] [-5.70754977e-03 -1.24245587e-05 9.99983712e-01 -1.71302551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.1453361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1195.80, Y:212.54, Z:-17.13 [[ 9.68148847e-01 2.50314233e-01 5.53128130e-03 1.19580450e+03] [-2.50310277e-01 9.68164647e-01 -1.40755311e-03 2.12543901e+02] [-5.70752159e-03 -2.18156359e-05 9.99983712e-01 -1.71305229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.205336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1195.86, Y:212.53, Z:-17.13 [[ 9.67413309e-01 2.53142043e-01 5.53134798e-03 1.19586164e+03] [-2.53138134e-01 9.67429121e-01 -1.40729105e-03 2.12530940e+02] [-5.70743164e-03 -3.87630137e-05 9.99983712e-01 -1.71330092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1195.92, Y:212.52, Z:-17.13 [[ 9.67097655e-01 2.54345294e-01 5.53141394e-03 1.19591886e+03] [-2.54341406e-01 9.67113473e-01 -1.40703172e-03 2.12518273e+02] [-5.70737684e-03 -4.61305211e-05 9.99983712e-01 -1.71335608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.3253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1195.98, Y:212.51, Z:-17.13 [[ 9.66992196e-01 2.54745944e-01 5.53147947e-03 1.19597619e+03] [-2.54742065e-01 9.67008015e-01 -1.40677407e-03 2.12505771e+02] [-5.70735497e-03 -4.87609526e-05 9.99983712e-01 -1.71305517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.3853361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1196.03, Y:212.49, Z:-17.13 [[ 9.67016994e-01 2.54651791e-01 5.53154702e-03 1.19603256e+03] [-2.54647911e-01 9.67032814e-01 -1.40650840e-03 2.12491615e+02] [-5.70735736e-03 -4.84793680e-05 9.99983712e-01 -1.71290249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.445336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1196.09, Y:212.48, Z:-17.13 [[ 9.66845412e-01 2.55302470e-01 5.53163081e-03 1.19608792e+03] [-2.55298602e-01 9.66861234e-01 -1.40617880e-03 2.12478163e+02] [-5.70732031e-03 -5.26600894e-05 9.99983712e-01 -1.71295574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1196.15, Y:212.47, Z:-17.13 [[ 9.66306662e-01 2.57334093e-01 5.53174252e-03 1.19614592e+03] [-2.57330262e-01 9.66322493e-01 -1.40573920e-03 2.12466550e+02] [-5.70719184e-03 -6.51095944e-05 9.99983712e-01 -1.71312220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.5653361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1196.20, Y:212.46, Z:-17.13 [[ 9.65929519e-01 2.58746137e-01 5.53180474e-03 1.19620357e+03] [-2.58742330e-01 9.65945356e-01 -1.40549433e-03 2.12455250e+02] [-5.70708732e-03 -7.37035889e-05 9.99983712e-01 -1.71303941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.6253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1196.26, Y:212.44, Z:-17.13 [[ 9.65792480e-01 2.59257178e-01 5.53187166e-03 1.19626108e+03] [-2.59253381e-01 9.65808319e-01 -1.40523089e-03 2.12442619e+02] [-5.70704386e-03 -7.69950058e-05 9.99983712e-01 -1.71303615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.685336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1196.32, Y:212.43, Z:-17.13 [[ 9.65817286e-01 2.59164751e-01 5.53193786e-03 1.19631922e+03] [-2.59160954e-01 9.65833125e-01 -1.40497021e-03 2.12431786e+02] [-5.70704759e-03 -7.67177834e-05 9.99983712e-01 -1.71298025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1196.38, Y:212.42, Z:-17.13 [[ 9.65792468e-01 2.59257219e-01 5.53200374e-03 1.19637623e+03] [-2.59253425e-01 9.65808308e-01 -1.40471077e-03 2.12422116e+02] [-5.70703658e-03 -7.75318313e-05 9.99983712e-01 -1.71303753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.8053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1196.43, Y:212.41, Z:-17.13 [[ 9.65791187e-01 2.59261987e-01 5.53210166e-03 1.19643342e+03] [-2.59258196e-01 9.65807028e-01 -1.40432504e-03 2.12411339e+02] [-5.70703076e-03 -7.79579481e-05 9.99983712e-01 -1.71311467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.8653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1196.49, Y:212.40, Z:-17.13 [[ 9.65800158e-01 2.59228567e-01 5.53219897e-03 1.19649028e+03] [-2.59224777e-01 9.65815999e-01 -1.40394160e-03 2.12404060e+02] [-5.70702804e-03 -7.81560218e-05 9.99983712e-01 -1.71317051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.9253361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1196.55, Y:212.40, Z:-17.13 [[ 9.66240159e-01 2.57583670e-01 5.53237477e-03 1.19654785e+03] [-2.57579857e-01 9.66255995e-01 -1.40324848e-03 2.12396819e+02] [-5.70714418e-03 -6.91532672e-05 9.99983712e-01 -1.71310991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.985336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1196.61, Y:212.39, Z:-17.13 [[ 9.66638322e-01 2.56085429e-01 5.53246926e-03 1.19660578e+03] [-2.56081593e-01 9.66654152e-01 -1.40287585e-03 2.12386269e+02] [-5.70724044e-03 -6.06899837e-05 9.99983712e-01 -1.71330580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.045336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1196.66, Y:212.38, Z:-17.13 [[ 9.67282883e-01 2.53639932e-01 5.53253223e-03 1.19666465e+03] [-2.53636058e-01 9.67298704e-01 -1.40262745e-03 2.12378855e+02] [-5.70737359e-03 -4.65121419e-05 9.99983712e-01 -1.71345661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.1053361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1196.72, Y:212.37, Z:-17.13 [[ 9.67664076e-01 2.52181734e-01 5.53259486e-03 1.19672171e+03] [-2.52177837e-01 9.67679891e-01 -1.40238038e-03 2.12370127e+02] [-5.70743551e-03 -3.81646878e-05 9.99983712e-01 -1.71348510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.1653361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1196.78, Y:212.36, Z:-17.13 [[ 9.68066030e-01 2.50634298e-01 5.53270347e-03 1.19677942e+03] [-2.50630379e-01 9.68081839e-01 -1.40195175e-03 2.12362101e+02] [-5.70748695e-03 -2.94817059e-05 9.99983712e-01 -1.71328953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1196.84, Y:212.35, Z:-17.13 [[ 9.68493380e-01 2.48977831e-01 5.53280402e-03 1.19683608e+03] [-2.48973887e-01 9.68509184e-01 -1.40155482e-03 2.12353968e+02] [-5.70752759e-03 -2.01271560e-05 9.99983712e-01 -1.71348642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.285336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1196.89, Y:212.35, Z:-17.13 [[ 9.69008138e-01 2.46966831e-01 5.53298645e-03 1.19689389e+03] [-2.46962858e-01 9.69023934e-01 -1.40083427e-03 2.12347207e+02] [-5.70755590e-03 -9.02234481e-06 9.99983712e-01 -1.71341996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.3453361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1196.95, Y:212.34, Z:-17.13 [[ 9.69466952e-01 2.45159567e-01 5.53322760e-03 1.19695186e+03] [-2.45155570e-01 9.69482742e-01 -1.39988110e-03 2.12339511e+02] [-5.70756291e-03 6.36898312e-07 9.99983712e-01 -1.71349998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.4053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1197.01, Y:212.33, Z:-17.14 [[ 9.70502110e-01 2.41029118e-01 5.53346772e-03 1.19700878e+03] [-2.41025059e-01 9.70517884e-01 -1.39893131e-03 2.12333524e+02] [-5.70751256e-03 2.39614019e-05 9.99983712e-01 -1.71359102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.465336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1197.07, Y:212.33, Z:-17.13 [[ 9.71904703e-01 2.35309642e-01 5.53357167e-03 1.19706722e+03] [-2.35305493e-01 9.71920454e-01 -1.39851999e-03 2.12326624e+02] [-5.70727673e-03 5.71483473e-05 9.99983712e-01 -1.71339242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.525336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1197.12, Y:212.32, Z:-17.13 [[ 9.73024283e-01 2.30636345e-01 5.53368141e-03 1.19712411e+03] [-2.30632123e-01 9.73040014e-01 -1.39808562e-03 2.12315779e+02] [-5.70694280e-03 8.41265702e-05 9.99983712e-01 -1.71310675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.5853361949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1197.18, Y:212.30, Z:-17.13 [[ 9.74803536e-01 2.22996508e-01 5.53378255e-03 1.19717985e+03] [-2.22992165e-01 9.74819235e-01 -1.39768520e-03 2.12304662e+02] [-5.70611659e-03 1.28478320e-04 9.99983712e-01 -1.71325305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.6453361949998 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:1197.24, Y:212.29, Z:-17.12 [[ 9.76348118e-01 2.16133587e-01 5.53396523e-03 1.19723619e+03] [-2.16129137e-01 9.76363787e-01 -1.39696154e-03 2.12293244e+02] [-5.70509355e-03 1.67869639e-04 9.99983712e-01 -1.71245039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.705336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1197.29, Y:212.28, Z:-17.13 [[ 9.77136006e-01 2.12543173e-01 5.53404683e-03 1.19729206e+03] [-2.12538668e-01 9.77151659e-01 -1.39663818e-03 2.12277611e+02] [-5.70444895e-03 1.88506516e-04 9.99983712e-01 -1.71347910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.765336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1197.35, Y:212.26, Z:-17.13 [[ 9.78103586e-01 2.08045062e-01 5.53412653e-03 1.19734793e+03] [-2.08040487e-01 9.78119219e-01 -1.39632233e-03 2.12259363e+02] [-5.70353348e-03 2.14425499e-04 9.99983712e-01 -1.71324652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.8253361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1197.40, Y:212.24, Z:-17.13 [[ 9.78448195e-01 2.06418269e-01 5.53419018e-03 1.19740403e+03] [-2.06413669e-01 9.78463821e-01 -1.39607001e-03 2.12242770e+02] [-5.70317922e-03 2.23649683e-04 9.99983712e-01 -1.71335209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.8853361949998 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:1197.46, Y:212.22, Z:-17.13 [[ 9.78195413e-01 2.07612878e-01 5.53425357e-03 1.19745907e+03] [-2.07608298e-01 9.78211044e-01 -1.39581865e-03 2.12224645e+02] [-5.70345789e-03 2.16426431e-04 9.99983712e-01 -1.71254292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1197.51, Y:212.21, Z:-17.14 [[ 9.77002720e-01 2.13155005e-01 5.53433188e-03 1.19751438e+03] [-2.13150516e-01 9.77018378e-01 -1.39550811e-03 2.12205023e+02] [-5.70460349e-03 1.83769528e-04 9.99983712e-01 -1.71364470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1197.57, Y:212.19, Z:-17.13 [[ 9.75253231e-01 2.21021506e-01 5.53442507e-03 1.19757047e+03] [-2.21017145e-01 9.75268924e-01 -1.39513842e-03 2.12187290e+02] [-5.70590838e-03 1.37410426e-04 9.99983712e-01 -1.71349777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.0653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1197.63, Y:212.17, Z:-17.14 [[ 9.73956836e-01 2.26665947e-01 5.53449119e-03 1.19762548e+03] [-2.26661679e-01 9.73972555e-01 -1.39487606e-03 2.12171126e+02] [-5.70661343e-03 1.04092005e-04 9.99983712e-01 -1.71353668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.1253361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1197.68, Y:212.15, Z:-17.14 [[ 9.72215663e-01 2.34021523e-01 5.53460609e-03 1.19768083e+03] [-2.34017376e-01 9.72231414e-01 -1.39442001e-03 2.12153131e+02] [-5.70724220e-03 6.04829798e-05 9.99983712e-01 -1.71354368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1197.74, Y:212.14, Z:-17.14 [[ 9.70754796e-01 2.40009356e-01 5.53487054e-03 1.19773581e+03] [-2.40005312e-01 9.70770575e-01 -1.39336957e-03 2.12136444e+02] [-5.70751118e-03 2.42218569e-05 9.99983712e-01 -1.71381657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.245336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1197.79, Y:212.12, Z:-17.14 [[ 9.69814340e-01 2.43781685e-01 5.53498565e-03 1.19779287e+03] [-2.43777705e-01 9.69830135e-01 -1.39291213e-03 2.12121484e+02] [-5.70756235e-03 1.56005661e-06 9.99983712e-01 -1.71360586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.3053361949999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1197.85, Y:212.11, Z:-17.13 [[ 9.68553126e-01 2.48745264e-01 5.53505096e-03 1.19784870e+03] [-2.48741367e-01 9.68568941e-01 -1.39265256e-03 2.12107376e+02] [-5.70749418e-03 -2.79381556e-05 9.99983712e-01 -1.71347910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.3653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1197.90, Y:212.09, Z:-17.13 [[ 9.68049255e-01 2.50699028e-01 5.53513174e-03 1.19790466e+03] [-2.50695165e-01 9.68065078e-01 -1.39233143e-03 2.12094389e+02] [-5.70742388e-03 -3.97853611e-05 9.99983712e-01 -1.71347794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.4253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1197.96, Y:212.08, Z:-17.14 [[ 9.67971837e-01 2.50997776e-01 5.53524383e-03 1.19796159e+03] [-2.50993920e-01 9.67987662e-01 -1.39188568e-03 2.12081765e+02] [-5.70740794e-03 -4.20064120e-05 9.99983712e-01 -1.71369715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1198.02, Y:212.07, Z:-17.14 [[ 9.68347147e-01 2.49545914e-01 5.53532293e-03 1.19801798e+03] [-2.49542036e-01 9.68362967e-01 -1.39157104e-03 2.12068827e+02] [-5.70746260e-03 -3.37719067e-05 9.99983712e-01 -1.71367141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1198.07, Y:212.06, Z:-17.14 [[ 9.69040547e-01 2.46839573e-01 5.53557552e-03 1.19807366e+03] [-2.46835657e-01 9.69056358e-01 -1.39056552e-03 2.12055938e+02] [-5.70753125e-03 -1.88630477e-05 9.99983712e-01 -1.71369482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.6053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1198.13, Y:212.04, Z:-17.14 [[ 9.69662519e-01 2.44384851e-01 5.53568414e-03 1.19812975e+03] [-2.44380897e-01 9.69678320e-01 -1.39013300e-03 2.12043863e+02] [-5.70756034e-03 -4.85559463e-06 9.99983712e-01 -1.71367140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.6653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1198.19, Y:212.03, Z:-17.14 [[ 9.70119086e-01 2.42566102e-01 5.53579135e-03 1.19818591e+03] [-2.42562122e-01 9.70134880e-01 -1.38970592e-03 2.12030825e+02] [-5.70755983e-03 5.40694747e-06 9.99983712e-01 -1.71383635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1198.24, Y:212.02, Z:-17.14 [[ 9.71007113e-01 2.38986482e-01 5.53603422e-03 1.19824232e+03] [-2.38982448e-01 9.71022894e-01 -1.38873773e-03 2.12017998e+02] [-5.70750552e-03 2.54592015e-05 9.99983712e-01 -1.71398143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1198.30, Y:212.00, Z:-17.14 [[ 9.71626395e-01 2.36456125e-01 5.53627463e-03 1.19829844e+03] [-2.36452056e-01 9.71642166e-01 -1.38777867e-03 2.12004366e+02] [-5.70742664e-03 3.93388622e-05 9.99983712e-01 -1.71403112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.8453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1198.36, Y:211.99, Z:-17.14 [[ 9.71587162e-01 2.36617274e-01 5.53651221e-03 1.19835533e+03] [-2.36613213e-01 9.71602935e-01 -1.38683019e-03 2.11991430e+02] [-5.70743950e-03 3.74144635e-05 9.99983712e-01 -1.71391690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.9053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1198.41, Y:211.98, Z:-17.14 [[ 9.70964386e-01 2.39160001e-01 5.53662281e-03 1.19841246e+03] [-2.39155984e-01 9.70980171e-01 -1.38638853e-03 2.11978724e+02] [-5.70751965e-03 2.20174106e-05 9.99983712e-01 -1.71362087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1198.47, Y:211.97, Z:-17.14 [[ 9.70445524e-01 2.41256772e-01 5.53668585e-03 1.19846962e+03] [-2.41252790e-01 9.70461318e-01 -1.38613670e-03 2.11966737e+02] [-5.70755432e-03 9.42924522e-06 9.99983712e-01 -1.71362897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1198.53, Y:211.96, Z:-17.14 [[ 9.69363955e-01 2.45566419e-01 5.53675179e-03 1.19852650e+03] [-2.45562509e-01 9.69379767e-01 -1.38587327e-03 2.11957808e+02] [-5.70753910e-03 -1.62030661e-05 9.99983712e-01 -1.71368201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.0853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1198.58, Y:211.95, Z:-17.14 [[ 9.68548937e-01 2.48761531e-01 5.53693042e-03 1.19858402e+03] [-2.48757677e-01 9.68564763e-01 -1.38515925e-03 2.11947201e+02] [-5.70745003e-03 -3.57594338e-05 9.99983712e-01 -1.71365202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.1453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1198.64, Y:211.94, Z:-17.14 [[ 9.67974999e-01 2.50985539e-01 5.53718866e-03 1.19864142e+03] [-2.50981728e-01 9.67990835e-01 -1.38412615e-03 2.11937074e+02] [-5.70734352e-03 -4.99336712e-05 9.99983712e-01 -1.71378447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1198.70, Y:211.93, Z:-17.14 [[ 9.67659212e-01 2.52200295e-01 5.53726845e-03 1.19869930e+03] [-2.52196505e-01 9.67675053e-01 -1.38380686e-03 2.11930835e+02] [-5.70727304e-03 -5.74262966e-05 9.99983712e-01 -1.71382324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1198.76, Y:211.92, Z:-17.14 [[ 9.68341381e-01 2.49568240e-01 5.53752170e-03 1.19875698e+03] [-2.49564413e-01 9.68357213e-01 -1.38279272e-03 2.11923781e+02] [-5.70740022e-03 -4.29529402e-05 9.99983712e-01 -1.71382545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.3253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1198.81, Y:211.91, Z:-17.14 [[ 9.69261072e-01 2.45972167e-01 5.53777230e-03 1.19881366e+03] [-2.45968287e-01 9.69276892e-01 -1.38178838e-03 2.11913095e+02] [-5.70751620e-03 -2.28026765e-05 9.99983712e-01 -1.71385133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.3853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1198.87, Y:211.90, Z:-17.14 [[ 9.70701427e-01 2.40225040e-01 5.53802121e-03 1.19887152e+03] [-2.40221072e-01 9.70717225e-01 -1.38079005e-03 2.11903553e+02] [-5.70755293e-03 9.98548089e-06 9.99983712e-01 -1.71389793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1198.93, Y:211.89, Z:-17.14 [[ 9.72026227e-01 2.34807031e-01 5.53828170e-03 1.19892983e+03] [-2.34802981e-01 9.72042004e-01 -1.37974447e-03 2.11894166e+02] [-5.70741614e-03 4.07427581e-05 9.99983712e-01 -1.71385876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1198.99, Y:211.88, Z:-17.14 [[ 9.72776347e-01 2.31679742e-01 5.53850722e-03 1.19898675e+03] [-2.31675646e-01 9.72792112e-01 -1.37883858e-03 2.11881770e+02] [-5.70726511e-03 5.81643212e-05 9.99983712e-01 -1.71397809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.5653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1199.04, Y:211.87, Z:-17.14 [[ 9.73383720e-01 2.29114504e-01 5.53876062e-03 1.19904331e+03] [-2.29110372e-01 9.73399475e-01 -1.37781995e-03 2.11871394e+02] [-5.70710521e-03 7.21600005e-05 9.99983712e-01 -1.71426808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.6253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1199.10, Y:211.86, Z:-17.15 [[ 9.73260823e-01 2.29636000e-01 5.53883851e-03 1.19910040e+03] [-2.29631879e-01 9.73276581e-01 -1.37750675e-03 2.11861261e+02] [-5.70714695e-03 6.87794562e-05 9.99983712e-01 -1.71453061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1199.16, Y:211.85, Z:-17.14 [[ 9.72806924e-01 2.31551308e-01 5.53891548e-03 1.19915799e+03] [-2.31547220e-01 9.72822691e-01 -1.37719718e-03 2.11850209e+02] [-5.70727447e-03 5.72264723e-05 9.99983712e-01 -1.71424236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1199.21, Y:211.84, Z:-17.14 [[ 9.71889888e-01 2.35370695e-01 5.53912946e-03 1.19921397e+03] [-2.35366673e-01 9.71905672e-01 -1.37633603e-03 2.11841031e+02] [-5.70746050e-03 3.39205955e-05 9.99983712e-01 -1.71423627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.8053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1199.27, Y:211.83, Z:-17.14 [[ 9.71443329e-01 2.37207032e-01 5.53923575e-03 1.19927140e+03] [-2.37203043e-01 9.71459121e-01 -1.37590811e-03 2.11830406e+02] [-5.70751617e-03 2.26931802e-05 9.99983712e-01 -1.71438715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.8653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1199.33, Y:211.82, Z:-17.15 [[ 9.71073861e-01 2.38715043e-01 5.53947601e-03 1.19932872e+03] [-2.38711083e-01 9.71089660e-01 -1.37494012e-03 2.11819824e+02] [-5.70754677e-03 1.28340931e-05 9.99983712e-01 -1.71466387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.9253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1199.39, Y:211.81, Z:-17.15 [[ 9.71277451e-01 2.37885321e-01 5.53955057e-03 1.19938584e+03] [-2.37881350e-01 9.71293248e-01 -1.37463968e-03 2.11809503e+02] [-5.70753466e-03 1.74007584e-05 9.99983712e-01 -1.71466731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1199.44, Y:211.80, Z:-17.14 [[ 9.71631356e-01 2.36435656e-01 5.53978536e-03 1.19944220e+03] [-2.36431667e-01 9.71647148e-01 -1.37369282e-03 2.11797825e+02] [-5.70750660e-03 2.49423360e-05 9.99983712e-01 -1.71441843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.045336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1199.50, Y:211.79, Z:-17.14 [[ 9.72164677e-01 2.34233109e-01 5.54002896e-03 1.19950029e+03] [-2.34229090e-01 9.72180461e-01 -1.37270967e-03 2.11786042e+02] [-5.70744197e-03 3.68639145e-05 9.99983712e-01 -1.71404276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.1053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1199.56, Y:211.77, Z:-17.14 [[ 9.72807438e-01 2.31549116e-01 5.54025515e-03 1.19955557e+03] [-2.31545058e-01 9.72823213e-01 -1.37179616e-03 2.11773208e+02] [-5.70732701e-03 5.16748105e-05 9.99983712e-01 -1.71408257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.1653361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1199.61, Y:211.76, Z:-17.14 [[ 9.73351630e-01 2.29250755e-01 5.54042983e-03 1.19961187e+03] [-2.29246664e-01 9.73367396e-01 -1.37109031e-03 2.11759410e+02] [-5.70719724e-03 6.44279335e-05 9.99983712e-01 -1.71411794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1199.67, Y:211.75, Z:-17.14 [[ 9.74184888e-01 2.25683639e-01 5.54068802e-03 1.19966780e+03] [-2.25679496e-01 9.74200640e-01 -1.37004615e-03 2.11745365e+02] [-5.70693882e-03 8.42585792e-05 9.99983712e-01 -1.71430412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.285336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1199.72, Y:211.73, Z:-17.15 [[ 9.74882675e-01 2.22650103e-01 5.54094605e-03 1.19972394e+03] [-2.22645917e-01 9.74898416e-01 -1.36900177e-03 2.11730287e+02] [-5.70666791e-03 1.00947093e-04 9.99983712e-01 -1.71450762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.3453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1199.78, Y:211.71, Z:-17.15 [[ 9.75947803e-01 2.17933892e-01 5.54120178e-03 1.19977910e+03] [-2.17929636e-01 9.75963525e-01 -1.36796591e-03 2.11713950e+02] [-5.70613696e-03 1.27471237e-04 9.99983712e-01 -1.71456134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.4053361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1199.83, Y:211.70, Z:-17.15 [[ 9.76585906e-01 2.15056411e-01 5.54145416e-03 1.19983490e+03] [-2.15052115e-01 9.76601618e-01 -1.36694278e-03 2.11697026e+02] [-5.70576290e-03 1.43235621e-04 9.99983712e-01 -1.71458766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1199.89, Y:211.68, Z:-17.15 [[ 9.76846625e-01 2.13869028e-01 5.54170371e-03 1.19989004e+03] [-2.13864718e-01 9.76862333e-01 -1.36593032e-03 2.11678757e+02] [-5.70561180e-03 1.49129527e-04 9.99983712e-01 -1.71455909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1199.94, Y:211.66, Z:-17.15 [[ 9.76839234e-01 2.13902775e-01 5.54196116e-03 1.19994498e+03] [-2.13898471e-01 9.76854944e-01 -1.36488499e-03 2.11661613e+02] [-5.70564484e-03 1.47856185e-04 9.99983712e-01 -1.71461254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.5853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1200.00, Y:211.64, Z:-17.15 [[ 9.76559860e-01 2.15174642e-01 5.54204033e-03 1.19999952e+03] [-2.15170361e-01 9.76575575e-01 -1.36456344e-03 2.11642398e+02] [-5.70584067e-03 1.40095065e-04 9.99983712e-01 -1.71472559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.6453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1200.06, Y:211.62, Z:-17.14 [[ 9.75779403e-01 2.18686623e-01 5.54227904e-03 1.20005558e+03] [-2.18682404e-01 9.75795136e-01 -1.36359319e-03 2.11622992e+02] [-5.70632852e-03 1.18567251e-04 9.99983712e-01 -1.71448722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.705336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1200.11, Y:211.60, Z:-17.14 [[ 9.74565266e-01 2.24035315e-01 5.54249453e-03 1.20011036e+03] [-2.24031187e-01 9.74581023e-01 -1.36271677e-03 2.11604023e+02] [-5.70690667e-03 8.63648060e-05 9.99983712e-01 -1.71443215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.765336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1200.17, Y:211.59, Z:-17.14 [[ 9.73696297e-01 2.27782351e-01 5.54274687e-03 1.20016569e+03] [-2.27778290e-01 9.73712071e-01 -1.36168962e-03 2.11586764e+02] [-5.70720839e-03 6.33547397e-05 9.99983712e-01 -1.71442676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.8253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1200.22, Y:211.57, Z:-17.15 [[ 9.72191852e-01 2.34120221e-01 5.54300608e-03 1.20021993e+03] [-2.34116268e-01 9.72207654e-01 -1.36063363e-03 2.11569082e+02] [-5.70750478e-03 2.50890258e-05 9.99983712e-01 -1.71463422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.8853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1200.28, Y:211.55, Z:-17.15 [[ 9.71204934e-01 2.38181130e-01 5.54311765e-03 1.20027595e+03] [-2.38177246e-01 9.71220752e-01 -1.36017896e-03 2.11553827e+02] [-5.70755985e-03 7.68013426e-07 9.99983712e-01 -1.71462252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.945336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1200.33, Y:211.54, Z:-17.15 [[ 9.70088087e-01 2.42689873e-01 5.54337583e-03 1.20033114e+03] [-2.42686068e-01 9.70103925e-01 -1.35912594e-03 2.11539091e+02] [-5.70749675e-03 -2.68282031e-05 9.99983712e-01 -1.71481133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1200.39, Y:211.52, Z:-17.15 [[ 9.69131304e-01 2.46482828e-01 5.54348728e-03 1.20038834e+03] [-2.46479088e-01 9.69147158e-01 -1.35867121e-03 2.11524023e+02] [-5.70734406e-03 -4.96228894e-05 9.99983712e-01 -1.71463787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.0653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1200.45, Y:211.51, Z:-17.14 [[ 9.68093276e-01 2.50528793e-01 5.54369619e-03 1.20044569e+03] [-2.50525125e-01 9.68109146e-01 -1.35781827e-03 2.11510390e+02] [-5.70707556e-03 -7.43404404e-05 9.99983712e-01 -1.71441343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.1253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1200.50, Y:211.50, Z:-17.14 [[ 9.68059809e-01 2.50658077e-01 5.54390465e-03 1.20050200e+03] [-2.50654416e-01 9.68075680e-01 -1.35696661e-03 2.11497052e+02] [-5.70705390e-03 -7.59793421e-05 9.99983712e-01 -1.71437537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.185336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1200.56, Y:211.48, Z:-17.15 [[ 9.68759925e-01 2.47938439e-01 5.54415496e-03 1.20055832e+03] [-2.47934738e-01 9.68775788e-01 -1.35594315e-03 2.11482888e+02] [-5.70723351e-03 -6.10052198e-05 9.99983712e-01 -1.71500613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.245336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1200.61, Y:211.47, Z:-17.15 [[ 9.69519511e-01 2.44951380e-01 5.54423242e-03 1.20061496e+03] [-2.44947633e-01 9.69535363e-01 -1.35562636e-03 2.11468998e+02] [-5.70739193e-03 -4.37403985e-05 9.99983712e-01 -1.71508157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.3053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1200.67, Y:211.45, Z:-17.15 [[ 9.70867528e-01 2.39552712e-01 5.54447776e-03 1.20067016e+03] [-2.39548882e-01 9.70883360e-01 -1.35462215e-03 2.11454564e+02] [-5.70754461e-03 -1.30147862e-05 9.99983712e-01 -1.71522164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.3653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1200.73, Y:211.44, Z:-17.15 [[ 9.71961383e-01 2.35075151e-01 5.54458354e-03 1.20072670e+03] [-2.35071251e-01 9.71977198e-01 -1.35418905e-03 2.11439376e+02] [-5.70754497e-03 1.28472690e-05 9.99983712e-01 -1.71504233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.4253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1200.78, Y:211.42, Z:-17.15 [[ 9.73501328e-01 2.28614129e-01 5.54479258e-03 1.20078303e+03] [-2.28610129e-01 9.73517117e-01 -1.35333259e-03 2.11422686e+02] [-5.70734144e-03 4.98753225e-05 9.99983712e-01 -1.71472876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1200.84, Y:211.41, Z:-17.15 [[ 9.74831287e-01 2.22874891e-01 5.54485564e-03 1.20083891e+03] [-2.22870799e-01 9.74847053e-01 -1.35307417e-03 2.11405527e+02] [-5.70695244e-03 8.32326308e-05 9.99983712e-01 -1.71467380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1200.89, Y:211.39, Z:-17.15 [[ 9.75398103e-01 2.20381021e-01 5.54495437e-03 1.20089339e+03] [-2.20376891e-01 9.75413859e-01 -1.35266947e-03 2.11388246e+02] [-5.70672802e-03 9.74114244e-05 9.99983712e-01 -1.71503521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.6053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1200.95, Y:211.37, Z:-17.15 [[ 9.75808400e-01 2.18557127e-01 5.54506755e-03 1.20094888e+03] [-2.18552971e-01 9.75824149e-01 -1.35220534e-03 2.11369394e+02] [-5.70654494e-03 1.07602339e-04 9.99983712e-01 -1.71487638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.6653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1201.00, Y:211.35, Z:-17.15 [[ 9.75734567e-01 2.18886516e-01 5.54513158e-03 1.20100436e+03] [-2.18882366e-01 9.75750318e-01 -1.35194270e-03 2.11351627e+02] [-5.70658593e-03 1.05405705e-04 9.99983712e-01 -1.71495299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1201.06, Y:211.33, Z:-17.15 [[ 9.75467695e-01 2.20072777e-01 5.54521058e-03 1.20105951e+03] [-2.20068648e-01 9.75483451e-01 -1.35161858e-03 2.11334887e+02] [-5.70671561e-03 9.81332635e-05 9.99983712e-01 -1.71495568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.785336195 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:1201.11, Y:211.32, Z:-17.15 [[ 9.74664002e-01 2.23605304e-01 5.54530115e-03 1.20111445e+03] [-2.23601235e-01 9.74679774e-01 -1.35124690e-03 2.11317895e+02] [-5.70703885e-03 7.70755294e-05 9.99983712e-01 -1.71501616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.8453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1201.17, Y:211.30, Z:-17.15 [[ 9.73727413e-01 2.27649232e-01 5.54546479e-03 1.20117003e+03] [-2.27645232e-01 9.73743202e-01 -1.35057500e-03 2.11300733e+02] [-5.70731601e-03 5.26932782e-05 9.99983712e-01 -1.71525029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.9053361949998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:1201.23, Y:211.28, Z:-17.15 [[ 9.72941347e-01 2.30985674e-01 5.54553850e-03 1.20122578e+03] [-2.30981730e-01 9.72957151e-01 -1.35027230e-03 2.11283691e+02] [-5.70746489e-03 3.28176773e-05 9.99983712e-01 -1.71521765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1201.28, Y:211.27, Z:-17.15 [[ 9.72577375e-01 2.32513431e-01 5.54561139e-03 1.20128208e+03] [-2.32509513e-01 9.72593185e-01 -1.34997284e-03 2.11267308e+02] [-5.70751067e-03 2.35456431e-05 9.99983712e-01 -1.71489698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1201.34, Y:211.25, Z:-17.15 [[ 9.72154595e-01 2.34274814e-01 5.54567528e-03 1.20133779e+03] [-2.34270926e-01 9.72170413e-01 -1.34971033e-03 2.11250229e+02] [-5.70754457e-03 1.29366158e-05 9.99983712e-01 -1.71491739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.0853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1201.39, Y:211.23, Z:-17.15 [[ 9.71900906e-01 2.35325039e-01 5.54577080e-03 1.20139464e+03] [-2.35321170e-01 9.71916728e-01 -1.34931774e-03 2.11233398e+02] [-5.70755566e-03 6.36586150e-06 9.99983712e-01 -1.71512191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.1453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1201.45, Y:211.22, Z:-17.15 [[ 9.71436727e-01 2.37233911e-01 5.54583435e-03 1.20145098e+03] [-2.37230075e-01 9.71452557e-01 -1.34905649e-03 2.11217001e+02] [-5.70755691e-03 -5.11567730e-06 9.99983712e-01 -1.71522677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.205336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1201.51, Y:211.20, Z:-17.15 [[ 9.70786333e-01 2.39881510e-01 5.54589763e-03 1.20150717e+03] [-2.39877719e-01 9.70802174e-01 -1.34879632e-03 2.11200337e+02] [-5.70752077e-03 -2.09442391e-05 9.99983712e-01 -1.71508385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.265336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1201.56, Y:211.19, Z:-17.15 [[ 9.70317997e-01 2.41768953e-01 5.54596268e-03 1.20156319e+03] [-2.41765194e-01 9.70333846e-01 -1.34852879e-03 2.11185729e+02] [-5.70746769e-03 -3.23189917e-05 9.99983712e-01 -1.71515857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.3253361949999 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:1201.62, Y:211.17, Z:-17.15 [[ 9.69883573e-01 2.43505845e-01 5.54604318e-03 1.20162051e+03] [-2.43502116e-01 9.69899429e-01 -1.34819764e-03 2.11172239e+02] [-5.70739812e-03 -4.28785103e-05 9.99983712e-01 -1.71494823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.3853361949998 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:1201.68, Y:211.16, Z:-17.15 [[ 9.69952181e-01 2.43232415e-01 5.54610646e-03 1.20167711e+03] [-2.43228684e-01 9.69968036e-01 -1.34793729e-03 2.11156926e+02] [-5.70740803e-03 -4.15374581e-05 9.99983712e-01 -1.71481254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.445336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1201.73, Y:211.14, Z:-17.15 [[ 9.70030026e-01 2.42921774e-01 5.54617046e-03 1.20173268e+03] [-2.42918039e-01 9.70045880e-01 -1.34767388e-03 2.11143212e+02] [-5.70741914e-03 -3.99807277e-05 9.99983712e-01 -1.71482923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.505336195 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:1201.79, Y:211.13, Z:-17.15 [[ 9.70084449e-01 2.42704350e-01 5.54628114e-03 1.20178874e+03] [-2.42700614e-01 9.70100303e-01 -1.34721826e-03 2.11129548e+02] [-5.70742474e-03 -3.91703566e-05 9.99983712e-01 -1.71488606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.5653361949999 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:1201.85, Y:211.12, Z:-17.15 [[ 9.69999880e-01 2.43042116e-01 5.54637530e-03 1.20184615e+03] [-2.43038388e-01 9.70015736e-01 -1.34683049e-03 2.11115620e+02] [-5.70740785e-03 -4.15566917e-05 9.99983712e-01 -1.71507080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.6253361949998 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:1201.90, Y:211.10, Z:-17.15 [[ 9.69796513e-01 2.43852333e-01 5.54643741e-03 1.20190279e+03] [-2.43848619e-01 9.69812372e-01 -1.34657467e-03 2.11104381e+02] [-5.70736899e-03 -4.65876838e-05 9.99983712e-01 -1.71501847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.685336195 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:1201.96, Y:211.09, Z:-17.15 [[ 9.69571803e-01 2.44744264e-01 5.54653271e-03 1.20196025e+03] [-2.44740567e-01 9.69587666e-01 -1.34618200e-03 2.11093354e+02] [-5.70732003e-03 -5.22414538e-05 9.99983712e-01 -1.71500087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.745336195 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:1202.02, Y:211.08, Z:-17.15 [[ 9.69578856e-01 2.44716317e-01 5.54663090e-03 1.20201568e+03] [-2.44712623e-01 9.69594720e-01 -1.34577731e-03 2.11081165e+02] [-5.70731770e-03 -5.24933651e-05 9.99983712e-01 -1.71504910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.8053361949999 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:1202.07, Y:211.07, Z:-17.15 [[ 9.69342807e-01 2.45649661e-01 5.54680825e-03 1.20207422e+03] [-2.45645985e-01 9.69358675e-01 -1.34504594e-03 2.11071721e+02] [-5.70725677e-03 -5.87405735e-05 9.99983712e-01 -1.71520738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.8653361949998 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:1202.13, Y:211.06, Z:-17.15 [[ 9.69177721e-01 2.46300179e-01 5.54687221e-03 1.20213098e+03] [-2.46296515e-01 9.69193592e-01 -1.34478210e-03 2.11059852e+02] [-5.70721308e-03 -6.28424460e-05 9.99983712e-01 -1.71522589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.9253361949998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1202.19, Y:211.05, Z:-17.15 [[ 9.68428287e-01 2.49230586e-01 5.54696857e-03 1.20218874e+03] [-2.49226973e-01 9.68444169e-01 -1.34438452e-03 2.11052086e+02] [-5.70699111e-03 -8.05141864e-05 9.99983712e-01 -1.71521828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.985336195 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:1202.25, Y:211.05, Z:-17.15 [[ 9.67906516e-01 2.51249291e-01 5.54706391e-03 1.20224713e+03] [-2.51245713e-01 9.67922407e-01 -1.34399102e-03 2.11045854e+02] [-5.70680424e-03 -9.28183618e-05 9.99983712e-01 -1.71525064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.045336195 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:1202.31, Y:211.04, Z:-17.15 [[ 9.68069345e-01 2.50621171e-01 5.54731695e-03 1.20230517e+03] [-2.50617589e-01 9.68085234e-01 -1.34294579e-03 2.11037826e+02] [-5.70684628e-03 -9.01905501e-05 9.99983712e-01 -1.71544446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.1053361949998 meters Centerline goodness : 0.999592 with order 1 Centerline is valid? [True, True] Translation: X:1202.36, Y:211.03, Z:-17.16 [[ 9.69217933e-01 2.46141874e-01 5.54756901e-03 1.20236309e+03] [-2.46138225e-01 9.69233808e-01 -1.34190374e-03 2.11030761e+02] [-5.70719014e-03 -6.48716135e-05 9.99983712e-01 -1.71560230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.1653361949998 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:1202.42, Y:211.02, Z:-17.16 [[ 9.70522283e-01 2.40947546e-01 5.54782288e-03 1.20241921e+03] [-2.40943817e-01 9.70538139e-01 -1.34085335e-03 2.11021837e+02] [-5.70744902e-03 -3.53855730e-05 9.99983712e-01 -1.71561682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.225336195 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:1202.48, Y:211.01, Z:-17.16 [[ 9.72535532e-01 2.32688331e-01 5.54799445e-03 1.20247628e+03] [-2.32684472e-01 9.72551356e-01 -1.34014310e-03 2.11014365e+02] [-5.70754519e-03 1.24046248e-05 9.99983712e-01 -1.71573035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.285336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1202.53, Y:211.01, Z:-17.16 [[ 9.74492372e-01 2.24352033e-01 5.54810263e-03 1.20253265e+03] [-2.24348041e-01 9.74508164e-01 -1.33969509e-03 2.11006032e+02] [-5.70723462e-03 6.08166848e-05 9.99983712e-01 -1.71588497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.3453361949998 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:1202.59, Y:211.00, Z:-17.15 [[ 9.76467283e-01 2.15594208e-01 5.54826946e-03 1.20259001e+03] [-2.15590078e-01 9.76483039e-01 -1.33900380e-03 2.10995602e+02] [-5.70647249e-03 1.11341556e-04 9.99983712e-01 -1.71501938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.4053361949998 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1202.65, Y:210.98, Z:-17.16 [[ 9.77664979e-01 2.10096177e-01 5.54835913e-03 1.20264661e+03] [-2.10091961e-01 9.77680713e-01 -1.33863214e-03 2.10981612e+02] [-5.70576520e-03 1.43068109e-04 9.99983712e-01 -1.71587612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.465336195 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:1202.70, Y:210.97, Z:-17.16 [[ 9.78823112e-01 2.04632673e-01 5.54841829e-03 1.20270301e+03] [-2.04628371e-01 9.78838822e-01 -1.33838687e-03 2.10967333e+02] [-5.70488491e-03 1.74680209e-04 9.99983712e-01 -1.71579743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.525336195 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:1202.76, Y:210.95, Z:-17.16 [[ 9.79141272e-01 2.03104856e-01 5.54851347e-03 1.20275833e+03] [-2.03100532e-01 9.79156976e-01 -1.33799220e-03 2.10952918e+02] [-5.70461838e-03 1.83177353e-04 9.99983712e-01 -1.71607540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.5853361949999 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:1202.81, Y:210.94, Z:-17.16 [[ 9.78682840e-01 2.05302486e-01 5.54868536e-03 1.20281304e+03] [-2.05298201e-01 9.78698554e-01 -1.33727899e-03 2.10937340e+02] [-5.70503704e-03 1.69636877e-04 9.99983712e-01 -1.71615632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.6453361949998 meters Centerline goodness : 0.999566 with order 1 Centerline is valid? [True, True] Translation: X:1202.87, Y:210.92, Z:-17.16 [[ 9.77573669e-01 2.10520625e-01 5.54878502e-03 1.20286947e+03] [-2.10516426e-01 9.77589406e-01 -1.33686533e-03 2.10921474e+02] [-5.70587118e-03 1.38773953e-04 9.99983712e-01 -1.71573818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.705336195 meters Centerline goodness : 0.999654 with order 1 Centerline is valid? [True, True] Translation: X:1202.93, Y:210.91, Z:-17.16 [[ 9.76721745e-01 2.14438437e-01 5.54884957e-03 1.20292506e+03] [-2.14434302e-01 9.76737500e-01 -1.33659733e-03 2.10907091e+02] [-5.70638730e-03 1.15619993e-04 9.99983712e-01 -1.71573087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.765336195 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:1202.98, Y:210.89, Z:-17.16 [[ 9.75114999e-01 2.21630205e-01 5.54896154e-03 1.20298066e+03] [-2.21626189e-01 9.75130785e-01 -1.33613232e-03 2.10892569e+02] [-5.70709050e-03 7.30874649e-05 9.99983712e-01 -1.71593575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.8253361949999 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:1203.04, Y:210.88, Z:-17.16 [[ 9.73930249e-01 2.26779796e-01 5.54920958e-03 1.20303686e+03] [-2.26775870e-01 9.73946057e-01 -1.33510140e-03 2.10878538e+02] [-5.70740481e-03 4.18688146e-05 9.99983712e-01 -1.71592659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.8853361949998 meters Centerline goodness : 0.999463 with order 1 Centerline is valid? [True, True] Translation: X:1203.09, Y:210.86, Z:-17.16 [[ 9.72125629e-01 2.34394889e-01 5.54945808e-03 1.20309306e+03] [-2.34391093e-01 9.72141469e-01 -1.33406769e-03 2.10864606e+02] [-5.70755698e-03 -3.86215302e-06 9.99983712e-01 -1.71586872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.945336195 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:1203.15, Y:210.85, Z:-17.16 [[ 9.71107071e-01 2.38579672e-01 5.54953494e-03 1.20314963e+03] [-2.38575946e-01 9.71122927e-01 -1.33374788e-03 2.10852383e+02] [-5.70748574e-03 -2.87735455e-05 9.99983712e-01 -1.71567043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.005336195 meters Centerline goodness : 0.999568 with order 1 Centerline is valid? [True, True] Translation: X:1203.21, Y:210.84, Z:-17.16 [[ 9.71281173e-01 2.37869887e-01 5.54979182e-03 1.20320595e+03] [-2.37866156e-01 9.71297028e-01 -1.33267812e-03 2.10836772e+02] [-5.70750029e-03 -2.57024726e-05 9.99983712e-01 -1.71569861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.0653361949999 meters Centerline goodness : 0.999272 with order 1 Centerline is valid? [True, True] Translation: X:1203.26, Y:210.82, Z:-17.16 [[ 9.71756878e-01 2.35918987e-01 5.54988884e-03 1.20326073e+03] [-2.35915225e-01 9.71772726e-01 -1.33227395e-03 2.10822416e+02] [-5.70753933e-03 -1.46569009e-05 9.99983712e-01 -1.71582446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.1253361949998 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:1203.32, Y:210.81, Z:-17.16 [[ 9.72393167e-01 2.33282502e-01 5.55000058e-03 1.20331611e+03] [-2.33278700e-01 9.72409006e-01 -1.33180829e-03 2.10808292e+02] [-5.70755812e-03 3.44363680e-07 9.99983712e-01 -1.71591982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.185336195 meters Centerline goodness : 0.999554 with order 1 Centerline is valid? [True, True] Translation: X:1203.37, Y:210.79, Z:-17.16 [[ 9.72702438e-01 2.31989577e-01 5.55010983e-03 1.20337161e+03] [-2.31985757e-01 9.72718272e-01 -1.33135290e-03 2.10793416e+02] [-5.70755323e-03 7.46377745e-06 9.99983712e-01 -1.71614634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.245336195 meters Centerline goodness : 0.999359 with order 1 Centerline is valid? [True, True] Translation: X:1203.43, Y:210.78, Z:-17.16 [[ 9.73217186e-01 2.29820592e-01 5.55021673e-03 1.20342758e+03] [-2.29816739e-01 9.73233012e-01 -1.33090707e-03 2.10775565e+02] [-5.70752400e-03 1.97289243e-05 9.99983712e-01 -1.71614798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.3053361949999 meters Centerline goodness : 0.999535 with order 1 Centerline is valid? [True, True] Translation: X:1203.48, Y:210.76, Z:-17.16 [[ 9.73454909e-01 2.28811572e-01 5.55027932e-03 1.20348349e+03] [-2.28807704e-01 9.73470731e-01 -1.33064599e-03 2.10762638e+02] [-5.70750167e-03 2.53772012e-05 9.99983712e-01 -1.71618138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.3653361949998 meters Centerline goodness : 0.999533 with order 1 Centerline is valid? [True, True] Translation: X:1203.54, Y:210.75, Z:-17.16 [[ 9.73827392e-01 2.27221046e-01 5.55038789e-03 1.20353798e+03] [-2.27217155e-01 9.73843209e-01 -1.33019300e-03 2.10746595e+02] [-5.70745539e-03 3.42350382e-05 9.99983712e-01 -1.71641119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.4253361949998 meters Centerline goodness : 0.999636 with order 1 Centerline is valid? [True, True] Translation: X:1203.59, Y:210.73, Z:-17.16 [[ 9.74293123e-01 2.25215680e-01 5.55049476e-03 1.20359343e+03] [-2.25211759e-01 9.74308932e-01 -1.32974688e-03 2.10728643e+02] [-5.70737648e-03 4.55265514e-05 9.99983712e-01 -1.71638685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.485336195 meters Centerline goodness : 0.999590 with order 1 Centerline is valid? [True, True] Translation: X:1203.65, Y:210.71, Z:-17.16 [[ 9.74409124e-01 2.24713262e-01 5.55058723e-03 1.20364882e+03] [-2.24709335e-01 9.74424932e-01 -1.32936081e-03 2.10712080e+02] [-5.70735558e-03 4.80725357e-05 9.99983712e-01 -1.71634321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.545336195 meters Centerline goodness : 0.999590 with order 1 Centerline is valid? [True, True] Translation: X:1203.71, Y:210.70, Z:-17.16 [[ 9.74288201e-01 2.25236965e-01 5.55068200e-03 1.20370567e+03] [-2.25233049e-01 9.74304012e-01 -1.32896499e-03 2.10695568e+02] [-5.70738378e-03 4.45978796e-05 9.99983712e-01 -1.71631271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.6053361949998 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:1203.76, Y:210.68, Z:-17.16 [[ 9.74071812e-01 2.26170941e-01 5.55074489e-03 1.20376017e+03] [-2.26167041e-01 9.74087626e-01 -1.32870225e-03 2.10678041e+02] [-5.70742575e-03 3.88558616e-05 9.99983712e-01 -1.71625996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.6653361949998 meters Centerline goodness : 0.999575 with order 1 Centerline is valid? [True, True] Translation: X:1203.82, Y:210.66, Z:-17.17 [[ 9.73832501e-01 2.27199135e-01 5.55091572e-03 1.20381543e+03] [-2.27195256e-01 9.73848321e-01 -1.32798817e-03 2.10659389e+02] [-5.70746772e-03 3.20963230e-05 9.99983712e-01 -1.71666542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.725336195 meters Centerline goodness : 0.999464 with order 1 Centerline is valid? [True, True] Translation: X:1203.87, Y:210.64, Z:-17.16 [[ 9.73304113e-01 2.29452152e-01 5.55099207e-03 1.20387098e+03] [-2.29448312e-01 9.73319942e-01 -1.32766896e-03 2.10640884e+02] [-5.70752778e-03 1.85598942e-05 9.99983712e-01 -1.71633932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.785336195 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:1203.93, Y:210.63, Z:-17.16 [[ 9.73125591e-01 2.30208099e-01 5.55108321e-03 1.20392770e+03] [-2.30204273e-01 9.73141424e-01 -1.32728778e-03 2.10626486e+02] [-5.70754142e-03 1.37346275e-05 9.99983712e-01 -1.71634361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.8453361949998 meters Centerline goodness : 0.999615 with order 1 Centerline is valid? [True, True] Translation: X:1203.98, Y:210.61, Z:-17.16 [[ 9.72242235e-01 2.33910711e-01 5.55114391e-03 1.20398271e+03] [-2.33906947e-01 9.72258083e-01 -1.32703389e-03 2.10609453e+02] [-5.70755197e-03 -8.25273248e-06 9.99983712e-01 -1.71641066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.9053361949998 meters Centerline goodness : 0.999550 with order 1 Centerline is valid? [True, True] Translation: X:1204.04, Y:210.59, Z:-17.17 [[ 9.71465471e-01 2.37116053e-01 5.55121887e-03 1.20403919e+03] [-2.37112343e-01 9.71481331e-01 -1.32672025e-03 2.10594712e+02] [-5.70749216e-03 -2.73995927e-05 9.99983712e-01 -1.71653264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.965336195 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:1204.09, Y:210.58, Z:-17.17 [[ 9.70474687e-01 2.41139099e-01 5.55130792e-03 1.20409490e+03] [-2.41135457e-01 9.70490563e-01 -1.32634754e-03 2.10579664e+02] [-5.70732619e-03 -5.14304614e-05 9.99983712e-01 -1.71662412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.025336195 meters Centerline goodness : 0.999356 with order 1 Centerline is valid? [True, True] Translation: X:1204.15, Y:210.57, Z:-17.16 [[ 9.70024642e-01 2.42943155e-01 5.55139733e-03 1.20415078e+03] [-2.42939544e-01 9.70040525e-01 -1.32597321e-03 2.10565554e+02] [-5.70721649e-03 -6.24272480e-05 9.99983712e-01 -1.71622281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.0853361949999 meters Centerline goodness : 0.999570 with order 1 Centerline is valid? [True, True] Translation: X:1204.21, Y:210.55, Z:-17.17 [[ 9.69593146e-01 2.44659585e-01 5.55147116e-03 1.20420648e+03] [-2.44656004e-01 9.69609036e-01 -1.32566402e-03 2.10550740e+02] [-5.70709301e-03 -7.28460051e-05 9.99983712e-01 -1.71697970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.1453361949998 meters Centerline goodness : 0.999593 with order 1 Centerline is valid? [True, True] Translation: X:1204.26, Y:210.54, Z:-17.17 [[ 9.69160268e-01 2.46368737e-01 5.55154330e-03 1.20426280e+03] [-2.46365186e-01 9.69176165e-01 -1.32536185e-03 2.10537798e+02] [-5.70695117e-03 -8.32189555e-05 9.99983712e-01 -1.71684389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.205336195 meters Centerline goodness : 0.999596 with order 1 Centerline is valid? [True, True] Translation: X:1204.32, Y:210.52, Z:-17.17 [[ 9.68931141e-01 2.47268318e-01 5.55177561e-03 1.20431883e+03] [-2.47264788e-01 9.68947042e-01 -1.32438801e-03 2.10524375e+02] [-5.70685575e-03 -8.95178292e-05 9.99983712e-01 -1.71684298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.265336195 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:1204.38, Y:210.51, Z:-17.17 [[ 9.69000111e-01 2.46997900e-01 5.55184713e-03 1.20437582e+03] [-2.46994367e-01 9.69016011e-01 -1.32408814e-03 2.10511166e+02] [-5.70687575e-03 -8.82334095e-05 9.99983712e-01 -1.71661087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.3253361949999 meters Centerline goodness : 0.999465 with order 1 Centerline is valid? [True, True] Translation: X:1204.43, Y:210.50, Z:-17.17 [[ 9.69270431e-01 2.45934965e-01 5.55191067e-03 1.20443193e+03] [-2.45931416e-01 9.69286328e-01 -1.32382165e-03 2.10500054e+02] [-5.70696514e-03 -8.22480726e-05 9.99983712e-01 -1.71665070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.3853361949998 meters Centerline goodness : 0.999551 with order 1 Centerline is valid? [True, True] Translation: X:1204.49, Y:210.49, Z:-17.17 [[ 9.69507574e-01 2.44998447e-01 5.55202074e-03 1.20448818e+03] [-2.44994885e-01 9.69523468e-01 -1.32335989e-03 2.10486316e+02] [-5.70703552e-03 -7.72092490e-05 9.99983712e-01 -1.71695103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.445336195 meters Centerline goodness : 0.999592 with order 1 Centerline is valid? [True, True] Translation: X:1204.55, Y:210.47, Z:-17.17 [[ 9.69894377e-01 2.43462670e-01 5.55209814e-03 1.20454565e+03] [-2.43459084e-01 9.69910266e-01 -1.32303508e-03 2.10474721e+02] [-5.70714663e-03 -6.85044488e-05 9.99983712e-01 -1.71681797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.505336195 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:1204.60, Y:210.46, Z:-17.17 [[ 9.70112009e-01 2.42594030e-01 5.55215986e-03 1.20460286e+03] [-2.42590432e-01 9.70127895e-01 -1.32277602e-03 2.10464592e+02] [-5.70720272e-03 -6.36599553e-05 9.99983712e-01 -1.71677671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.5653361949999 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:1204.66, Y:210.45, Z:-17.17 [[ 9.70054731e-01 2.42822962e-01 5.55225330e-03 1.20466007e+03] [-2.42819370e-01 9.70070619e-01 -1.32238368e-03 2.10454542e+02] [-5.70718291e-03 -6.54101011e-05 9.99983712e-01 -1.71676027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.6253361949998 meters Centerline goodness : 0.999639 with order 1 Centerline is valid? [True, True] Translation: X:1204.72, Y:210.45, Z:-17.17 [[ 9.69796189e-01 2.43853487e-01 5.55233011e-03 1.20471723e+03] [-2.43849914e-01 9.69812081e-01 -1.32206107e-03 2.10447222e+02] [-5.70710602e-03 -7.18054306e-05 9.99983712e-01 -1.71685087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.685336195 meters Centerline goodness : 0.999636 with order 1 Centerline is valid? [True, True] Translation: X:1204.78, Y:210.44, Z:-17.17 [[ 9.69927122e-01 2.43332177e-01 5.55243487e-03 1.20477635e+03] [-2.43328598e-01 9.69943012e-01 -1.32162097e-03 2.10439646e+02] [-5.70713831e-03 -6.91901645e-05 9.99983712e-01 -1.71707856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.745336195 meters Centerline goodness : 0.999567 with order 1 Centerline is valid? [True, True] Translation: X:1204.83, Y:210.43, Z:-17.17 [[ 9.70266494e-01 2.41975413e-01 5.55249584e-03 1.20483436e+03] [-2.41971813e-01 9.70282379e-01 -1.32136478e-03 2.10430843e+02] [-5.70722666e-03 -6.14715090e-05 9.99983712e-01 -1.71703312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.8053361949999 meters Centerline goodness : 0.999486 with order 1 Centerline is valid? [True, True] Translation: X:1204.89, Y:210.42, Z:-17.17 [[ 9.71136930e-01 2.38458032e-01 5.55256003e-03 1.20489151e+03] [-2.38454376e-01 9.71152802e-01 -1.32109496e-03 2.10423225e+02] [-5.70740994e-03 -4.10681345e-05 9.99983712e-01 -1.71699301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.8653361949998 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:1204.95, Y:210.42, Z:-17.17 [[ 9.72345796e-01 2.33479807e-01 5.55265516e-03 1.20494899e+03] [-2.33476072e-01 9.72361651e-01 -1.32069502e-03 2.10415215e+02] [-5.70754456e-03 -1.22398707e-05 9.99983712e-01 -1.71683852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.9253361949998 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:1205.01, Y:210.41, Z:-17.17 [[ 9.73585523e-01 2.28255111e-01 5.55276600e-03 1.20500724e+03] [-2.28251294e-01 9.73601358e-01 -1.32022884e-03 2.10406559e+02] [-5.70752950e-03 1.79296608e-05 9.99983712e-01 -1.71701472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.985336195 meters Centerline goodness : 0.999614 with order 1 Centerline is valid? [True, True] Translation: X:1205.06, Y:210.40, Z:-17.17 [[ 9.74136028e-01 2.25894144e-01 5.55282794e-03 1.20506481e+03] [-2.25890290e-01 9.74151854e-01 -1.31996827e-03 2.10396075e+02] [-5.70747074e-03 3.14987365e-05 9.99983712e-01 -1.71718798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.045336195 meters Centerline goodness : 0.999188 with order 1 Centerline is valid? [True, True] Translation: X:1205.12, Y:210.39, Z:-17.16 [[ 9.74577680e-01 2.23981049e-01 5.55289092e-03 1.20512342e+03] [-2.23977165e-01 9.74593499e-01 -1.31970328e-03 2.10385801e+02] [-5.70739991e-03 4.24325897e-05 9.99983712e-01 -1.71640717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.1053361949998 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:1205.18, Y:210.38, Z:-17.17 [[ 9.74974288e-01 2.22248287e-01 5.55300945e-03 1.20518027e+03] [-2.22244377e-01 9.74990101e-01 -1.31920432e-03 2.10377284e+02] [-5.70732015e-03 5.20651607e-05 9.99983712e-01 -1.71717988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.1653361949998 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:1205.24, Y:210.37, Z:-17.17 [[ 9.75318268e-01 2.20733864e-01 5.55314429e-03 1.20523770e+03] [-2.20729933e-01 9.75334075e-01 -1.31863648e-03 2.10367567e+02] [-5.70723858e-03 6.03450824e-05 9.99983712e-01 -1.71700601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.225336195 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:1205.30, Y:210.36, Z:-17.17 [[ 9.75629651e-01 2.19353471e-01 5.55321997e-03 1.20529541e+03] [-2.19349520e-01 9.75645453e-01 -1.31831770e-03 2.10356136e+02] [-5.70715138e-03 6.80937020e-05 9.99983712e-01 -1.71688366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.285336195 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:1205.35, Y:210.35, Z:-17.17 [[ 9.76041034e-01 2.17515653e-01 5.55343788e-03 1.20535196e+03] [-2.17511678e-01 9.76056830e-01 -1.31739912e-03 2.10345364e+02] [-5.70702590e-03 7.78980101e-05 9.99983712e-01 -1.71697051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.3453361949998 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:1205.41, Y:210.33, Z:-17.17 [[ 9.76304071e-01 2.16331962e-01 5.55368403e-03 1.20540738e+03] [-2.16327973e-01 9.76319863e-01 -1.31636058e-03 2.10333703e+02] [-5.70694290e-03 8.37509889e-05 9.99983712e-01 -1.71721887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.4053361949998 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:1205.46, Y:210.32, Z:-17.17 [[ 9.76704954e-01 2.14514771e-01 5.55385085e-03 1.20546318e+03] [-2.14510757e-01 9.76720740e-01 -1.31565642e-03 2.10322164e+02] [-5.70678904e-03 9.36473934e-05 9.99983712e-01 -1.71731679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.465336195 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:1205.52, Y:210.31, Z:-17.17 [[ 9.77295831e-01 2.11806546e-01 5.55395384e-03 1.20552051e+03] [-2.11802490e-01 9.77311606e-01 -1.31522150e-03 2.10308083e+02] [-5.70651607e-03 1.09019229e-04 9.99983712e-01 -1.71711223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.525336195 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:1205.58, Y:210.29, Z:-17.17 [[ 9.77688464e-01 2.09986712e-01 5.55416554e-03 1.20557631e+03] [-2.09982632e-01 9.77704233e-01 -1.31432689e-03 2.10294421e+02] [-5.70632234e-03 1.18723939e-04 9.99983712e-01 -1.71707784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.5853361949999 meters Centerline goodness : 0.999632 with order 1 Centerline is valid? [True, True] Translation: X:1205.63, Y:210.28, Z:-17.17 [[ 9.78229804e-01 2.07450235e-01 5.55424025e-03 1.20563232e+03] [-2.07446116e-01 9.78245563e-01 -1.31401107e-03 2.10278908e+02] [-5.70600279e-03 1.33199225e-04 9.99983712e-01 -1.71722225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.6453361949998 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:1205.69, Y:210.26, Z:-17.17 [[ 9.78400465e-01 2.06643842e-01 5.55448473e-03 1.20568750e+03] [-2.06639716e-01 9.78416222e-01 -1.31297683e-03 2.10262923e+02] [-5.70591654e-03 1.36839998e-04 9.99983712e-01 -1.71709619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.705336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1205.74, Y:210.25, Z:-17.17 [[ 9.78397121e-01 2.06659672e-01 5.55459041e-03 1.20574260e+03] [-2.06655548e-01 9.78412879e-01 -1.31252960e-03 2.10248498e+02] [-5.70592973e-03 1.36288256e-04 9.99983712e-01 -1.71720652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.765336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:1205.80, Y:210.23, Z:-17.17 [[ 9.78367682e-01 2.06798993e-01 5.55469404e-03 1.20579773e+03] [-2.06794874e-01 9.78383441e-01 -1.31209087e-03 2.10231783e+02] [-5.70595974e-03 1.35025046e-04 9.99983712e-01 -1.71716238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.8253361949999 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:1205.85, Y:210.22, Z:-17.17 [[ 9.78277577e-01 2.07224822e-01 5.55479761e-03 1.20585367e+03] [-2.07220713e-01 9.78293338e-01 -1.31165225e-03 2.10215013e+02] [-5.70602840e-03 1.32090858e-04 9.99983712e-01 -1.71726790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.8853361949998 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:1205.91, Y:210.19, Z:-17.17 [[ 9.78015246e-01 2.08459400e-01 5.55488925e-03 1.20590754e+03] [-2.08455313e-01 9.78031013e-01 -1.31126402e-03 2.10194865e+02] [-5.70619928e-03 1.24490026e-04 9.99983712e-01 -1.71744265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.945336195 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:1205.96, Y:210.18, Z:-17.18 [[ 9.77290782e-01 2.11829812e-01 5.55499508e-03 1.20596392e+03] [-2.11825782e-01 9.77306564e-01 -1.31081557e-03 2.10176974e+02] [-5.70660297e-03 1.04356802e-04 9.99983712e-01 -1.71757691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.005336195 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:1206.02, Y:210.16, Z:-17.18 [[ 9.76388980e-01 2.15948375e-01 5.55505092e-03 1.20601848e+03] [-2.15944413e-01 9.76404779e-01 -1.31057887e-03 2.10160856e+02] [-5.70699564e-03 8.00525590e-05 9.99983712e-01 -1.71770759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.0653361949999 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:1206.07, Y:210.14, Z:-17.18 [[ 9.74758055e-01 2.23194702e-01 5.55514807e-03 1.20607352e+03] [-2.23190860e-01 9.74773883e-01 -1.31016696e-03 2.10143218e+02] [-5.70743558e-03 3.72375215e-05 9.99983712e-01 -1.71758001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.1253361949998 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:1206.13, Y:210.13, Z:-17.18 [[ 9.73264209e-01 2.29621251e-01 5.55523568e-03 1.20612863e+03] [-2.29617516e-01 9.73280063e-01 -1.30979537e-03 2.10127044e+02] [-5.70755698e-03 -8.02464952e-07 9.99983712e-01 -1.71760950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.185336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:1206.18, Y:210.11, Z:-17.18 [[ 9.72069826e-01 2.34626067e-01 5.55530816e-03 1.20618488e+03] [-2.34622415e-01 9.72085700e-01 -1.30948787e-03 2.10111198e+02] [-5.70747561e-03 -3.04861649e-05 9.99983712e-01 -1.71752807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.245336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:1206.24, Y:210.10, Z:-17.18 [[ 9.71312761e-01 2.37740733e-01 5.55552686e-03 1.20624177e+03] [-2.37737137e-01 9.71328647e-01 -1.30855941e-03 2.10097735e+02] [-5.70734026e-03 -4.97346006e-05 9.99983712e-01 -1.71771941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.3053361949999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1206.30, Y:210.08, Z:-17.18 [[ 9.70342027e-01 2.41672268e-01 5.55574585e-03 1.20629758e+03] [-2.41668741e-01 9.70357929e-01 -1.30762895e-03 2.10083818e+02] [-5.70707969e-03 -7.38027851e-05 9.99983712e-01 -1.71775778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.3653361949998 meters Centerline goodness : 0.999551 with order 1 Centerline is valid? [True, True] Translation: X:1206.35, Y:210.07, Z:-17.18 [[ 9.69870031e-01 2.43559551e-01 5.55597683e-03 1.20635423e+03] [-2.43556062e-01 9.69885940e-01 -1.30664682e-03 2.10070875e+02] [-5.70691012e-03 -8.59142426e-05 9.99983712e-01 -1.71801511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.4253361949998 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:1206.41, Y:210.06, Z:-17.18 [[ 9.70657788e-01 2.40400892e-01 5.55604815e-03 1.20641145e+03] [-2.40397352e-01 9.70673687e-01 -1.30634347e-03 2.10058799e+02] [-5.70715588e-03 -6.76467987e-05 9.99983712e-01 -1.71769410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.485336195 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:1206.47, Y:210.04, Z:-17.18 [[ 9.71721755e-01 2.36063467e-01 5.55610841e-03 1.20646715e+03] [-2.36059858e-01 9.71737638e-01 -1.30608711e-03 2.10044954e+02] [-5.70739912e-03 -4.24208993e-05 9.99983712e-01 -1.71770768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.545336195 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:1206.52, Y:210.03, Z:-17.18 [[ 9.73731781e-01 2.27630288e-01 5.55621286e-03 1.20652361e+03] [-2.27626544e-01 9.73747633e-01 -1.30564263e-03 2.10029993e+02] [-5.70755293e-03 6.60419720e-06 9.99983712e-01 -1.71784951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.6053361949998 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:1206.58, Y:210.01, Z:-17.18 [[ 9.75791137e-01 2.18633908e-01 5.55627201e-03 1.20657917e+03] [-2.18630019e-01 9.75806954e-01 -1.30539086e-03 2.10013088e+02] [-5.70725157e-03 5.90209752e-05 9.99983712e-01 -1.71786664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.6653361949998 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:1206.64, Y:210.00, Z:-17.18 [[ 9.77030620e-01 2.13026512e-01 5.55636029e-03 1.20663574e+03] [-2.13022535e-01 9.77046415e-01 -1.30501501e-03 2.09997010e+02] [-5.70682470e-03 9.14096704e-05 9.99983712e-01 -1.71766999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.725336195 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:1206.69, Y:209.98, Z:-17.18 [[ 9.78347685e-01 2.06893533e-01 5.55642061e-03 1.20669135e+03] [-2.06889458e-01 9.78363455e-01 -1.30475811e-03 2.09975521e+02] [-5.70614488e-03 1.26942232e-04 9.99983712e-01 -1.71752574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.785336195 meters Centerline goodness : 0.999529 with order 1 Centerline is valid? [True, True] Translation: X:1206.75, Y:209.96, Z:-17.17 [[ 9.78933117e-01 2.04105557e-01 5.55648134e-03 1.20674712e+03] [-2.04101438e-01 9.78948876e-01 -1.30449946e-03 2.09957263e+02] [-5.70576675e-03 1.42931888e-04 9.99983712e-01 -1.71733544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.8453361949998 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:1206.80, Y:209.94, Z:-17.17 [[ 9.78963732e-01 2.03958665e-01 5.55654392e-03 1.20680248e+03] [-2.03954545e-01 9.78979490e-01 -1.30423281e-03 2.09938666e+02] [-5.70575212e-03 1.43514233e-04 9.99983712e-01 -1.71728411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.9053361949998 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:1206.86, Y:209.92, Z:-17.17 [[ 9.78604458e-01 2.05675564e-01 5.55663723e-03 1.20685674e+03] [-2.05671475e-01 9.78620225e-01 -1.30383516e-03 2.09916324e+02] [-5.70600461e-03 1.33097123e-04 9.99983712e-01 -1.71749058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.965336195 meters Centerline goodness : 0.999632 with order 1 Centerline is valid? [True, True] Translation: X:1206.91, Y:209.89, Z:-17.18 [[ 9.77582605e-01 2.10478913e-01 5.55671429e-03 1.20691122e+03] [-2.10474903e-01 9.77598392e-01 -1.30350666e-03 2.09894762e+02] [-5.70659562e-03 1.04736539e-04 9.99983712e-01 -1.71765607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.025336195 meters Centerline goodness : 0.999636 with order 1 Centerline is valid? [True, True] Translation: X:1206.96, Y:209.87, Z:-17.18 [[ 9.75888021e-01 2.18201039e-01 5.55680618e-03 1.20696471e+03] [-2.18197156e-01 9.75903839e-01 -1.30311482e-03 2.09873293e+02] [-5.70724949e-03 5.92148347e-05 9.99983712e-01 -1.71775006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.0853361949999 meters Centerline goodness : 0.999250 with order 1 Centerline is valid? [True, True] Translation: X:1207.02, Y:209.85, Z:-17.17 [[ 9.74306114e-01 2.25159313e-01 5.55691266e-03 1.20701975e+03] [-2.25155545e-01 9.74321961e-01 -1.30266061e-03 2.09854353e+02] [-5.70752821e-03 1.80204985e-05 9.99983712e-01 -1.71709725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.1453361949998 meters Centerline goodness : 0.999526 with order 1 Centerline is valid? [True, True] Translation: X:1207.08, Y:209.84, Z:-17.18 [[ 9.71306138e-01 2.37767755e-01 5.55700452e-03 1.20707554e+03] [-2.37764195e-01 9.71322033e-01 -1.30226861e-03 2.09836542e+02] [-5.70727841e-03 -5.63552093e-05 9.99983712e-01 -1.71764014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.205336195 meters Centerline goodness : 0.999491 with order 1 Centerline is valid? [True, True] Translation: X:1207.13, Y:209.82, Z:-17.18 [[ 9.68937876e-01 2.47241806e-01 5.55710134e-03 1.20713146e+03] [-2.47238404e-01 9.68953805e-01 -1.30185534e-03 2.09821550e+02] [-5.70644755e-03 -1.12511920e-04 9.99983712e-01 -1.71796998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.265336195 meters Centerline goodness : 0.999599 with order 1 Centerline is valid? [True, True] Translation: X:1207.19, Y:209.81, Z:-17.18 [[ 9.65676244e-01 2.59689257e-01 5.55718077e-03 1.20718672e+03] [-2.59686062e-01 9.65692216e-01 -1.30151619e-03 2.09808803e+02] [-5.70451598e-03 -1.86279125e-04 9.99983712e-01 -1.71811536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.3253361949999 meters Centerline goodness : 0.999637 with order 1 Centerline is valid? [True, True] Translation: X:1207.24, Y:209.80, Z:-17.18 [[ 9.62985010e-01 2.69497658e-01 5.55728372e-03 1.20724360e+03] [-2.69494629e-01 9.63001014e-01 -1.30107647e-03 2.09797582e+02] [-5.70230691e-03 -2.44740977e-04 9.99983712e-01 -1.71810364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.3853361949998 meters Centerline goodness : 0.999549 with order 1 Centerline is valid? [True, True] Translation: X:1207.30, Y:209.79, Z:-17.18 [[ 9.61464606e-01 2.74872566e-01 5.55737340e-03 1.20730157e+03] [-2.74869628e-01 9.61480627e-01 -1.30069329e-03 2.09788492e+02] [-5.70083176e-03 -2.76982597e-04 9.99983712e-01 -1.71784384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.445336195 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:1207.36, Y:209.78, Z:-17.18 [[ 9.61180414e-01 2.75864689e-01 5.55743417e-03 1.20735878e+03] [-2.75861770e-01 9.61196438e-01 -1.30043359e-03 2.09779181e+02] [-5.70052964e-03 -2.83132323e-04 9.99983712e-01 -1.71771525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.505336195 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:1207.42, Y:209.77, Z:-17.18 [[ 9.61562664e-01 2.74529338e-01 5.55754769e-03 1.20741632e+03] [-2.74526399e-01 9.61578684e-01 -1.29994825e-03 2.09773637e+02] [-5.70089333e-03 -2.75711855e-04 9.99983712e-01 -1.71770575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.5653361949999 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:1207.48, Y:209.77, Z:-17.17 [[ 9.62360401e-01 2.71719655e-01 5.55765138e-03 1.20747526e+03] [-2.71716672e-01 9.62376414e-01 -1.29950482e-03 2.09766550e+02] [-5.70165360e-03 -2.59514559e-04 9.99983712e-01 -1.71743335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.6253361949998 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:1207.53, Y:209.76, Z:-17.18 [[ 9.63723781e-01 2.66843749e-01 5.55771062e-03 1.20753327e+03] [-2.66840686e-01 9.63739778e-01 -1.29925142e-03 2.09759929e+02] [-5.70288392e-03 -2.30903818e-04 9.99983712e-01 -1.71805934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.6853361949998 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:1207.59, Y:209.76, Z:-17.18 [[ 9.66247029e-01 2.57557352e-01 5.55779878e-03 1.20759027e+03] [-2.57554137e-01 9.66262997e-01 -1.29887418e-03 2.09755556e+02] [-5.70482990e-03 -1.76400754e-04 9.99983712e-01 -1.71801562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.745336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:1207.65, Y:209.75, Z:-17.18 [[ 9.68176345e-01 2.50207264e-01 5.55790064e-03 1.20764869e+03] [-2.50203930e-01 9.68192288e-01 -1.29843817e-03 2.09748538e+02] [-5.70599520e-03 -1.33491461e-04 9.99983712e-01 -1.71800044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.8053361949999 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:1207.71, Y:209.74, Z:-17.18 [[ 9.71060090e-01 2.38770625e-01 5.55798779e-03 1.20770620e+03] [-2.38767106e-01 9.71075993e-01 -1.29806501e-03 2.09742046e+02] [-5.70716831e-03 -6.65655389e-05 9.99983712e-01 -1.71789791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.8653361949998 meters Centerline goodness : 0.999675 with order 1 Centerline is valid? [True, True] Translation: X:1207.76, Y:209.73, Z:-17.18 [[ 9.73612867e-01 2.28138321e-01 5.55808861e-03 1.20776448e+03] [-2.28134631e-01 9.73628731e-01 -1.29763319e-03 2.09734557e+02] [-5.70755462e-03 -4.60011836e-06 9.99983712e-01 -1.71806402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.9253361949998 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1207.82, Y:209.73, Z:-17.18 [[ 9.75424722e-01 2.20262842e-01 5.55815111e-03 1.20782080e+03] [-2.20259025e-01 9.75440556e-01 -1.29736541e-03 2.09727093e+02] [-5.70740740e-03 4.12493561e-05 9.99983712e-01 -1.71827822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.985336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1207.88, Y:209.72, Z:-17.18 [[ 9.76422226e-01 2.15797920e-01 5.55831645e-03 1.20787732e+03] [-2.15794035e-01 9.76438044e-01 -1.29665666e-03 2.09716842e+02] [-5.70716745e-03 6.66328465e-05 9.99983712e-01 -1.71828114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.045336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:1207.93, Y:209.71, Z:-17.18 [[ 9.77479451e-01 2.10957405e-01 5.55841656e-03 1.20793460e+03] [-2.10953444e-01 9.77495250e-01 -1.29622737e-03 2.09707410e+02] [-5.70677455e-03 9.44685001e-05 9.99983712e-01 -1.71823464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.1053361949998 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:1207.99, Y:209.70, Z:-17.18 [[ 9.77840038e-01 2.09279631e-01 5.55850488e-03 1.20799088e+03] [-2.09275645e-01 9.77855831e-01 -1.29584854e-03 2.09695613e+02] [-5.70661111e-03 1.03872890e-04 9.99983712e-01 -1.71829846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.1653361949998 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:1208.05, Y:209.68, Z:-17.18 [[ 9.77855279e-01 2.09208401e-01 5.55860675e-03 1.20804762e+03] [-2.09204416e-01 9.77871072e-01 -1.29541138e-03 2.09683737e+02] [-5.70661169e-03 1.03839777e-04 9.99983712e-01 -1.71834703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.225336195 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:1208.10, Y:209.67, Z:-17.19 [[ 9.77146399e-01 2.12494742e-01 5.55869285e-03 1.20810427e+03] [-2.12490813e-01 9.77162206e-01 -1.29504184e-03 2.09671496e+02] [-5.70693415e-03 8.42743077e-05 9.99983712e-01 -1.71852512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.285336195 meters Centerline goodness : 0.999572 with order 1 Centerline is valid? [True, True] Translation: X:1208.16, Y:209.66, Z:-17.19 [[ 9.76093939e-01 2.17277985e-01 5.55876387e-03 1.20816196e+03] [-2.17274135e-01 9.76109765e-01 -1.29473691e-03 2.09659090e+02] [-5.70728153e-03 5.60092390e-05 9.99983712e-01 -1.71867917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.3453361949998 meters Centerline goodness : 0.999467 with order 1 Centerline is valid? [True, True] Translation: X:1208.22, Y:209.65, Z:-17.18 [[ 9.75290879e-01 2.20854704e-01 5.55881999e-03 1.20821974e+03] [-2.20850913e-01 9.75306720e-01 -1.29449593e-03 2.09646527e+02] [-5.70745001e-03 3.48396070e-05 9.99983712e-01 -1.71845968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.4053361949998 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:1208.28, Y:209.63, Z:-17.18 [[ 9.74225217e-01 2.25509035e-01 5.55888136e-03 1.20827641e+03] [-2.25505322e-01 9.74241076e-01 -1.29423233e-03 2.09634038e+02] [-5.70755165e-03 7.31644625e-06 9.99983712e-01 -1.71840771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.465336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:1208.33, Y:209.62, Z:-17.19 [[ 9.73269347e-01 2.29599379e-01 5.55912585e-03 1.20833234e+03] [-2.29595738e-01 9.73285223e-01 -1.29318134e-03 2.09622387e+02] [-5.70752867e-03 -1.77378372e-05 9.99983712e-01 -1.71875733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.525336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:1208.39, Y:209.61, Z:-17.19 [[ 9.72639812e-01 2.32251785e-01 5.55923236e-03 1.20838952e+03] [-2.32248190e-01 9.72655698e-01 -1.29272330e-03 2.09610762e+02] [-5.70745632e-03 -3.37675013e-05 9.99983712e-01 -1.71886411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.5853361949999 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:1208.45, Y:209.60, Z:-17.19 [[ 9.71795569e-01 2.35759334e-01 5.55945204e-03 1.20844782e+03] [-2.35755802e-01 9.71811470e-01 -1.29177786e-03 2.09600052e+02] [-5.70728795e-03 -5.53290749e-05 9.99983712e-01 -1.71887961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.6453361949998 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1208.50, Y:209.59, Z:-17.19 [[ 9.71503793e-01 2.36958799e-01 5.55951360e-03 1.20850439e+03] [-2.36955287e-01 9.71519698e-01 -1.29151286e-03 2.09588044e+02] [-5.70721231e-03 -6.26464973e-05 9.99983712e-01 -1.71891328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.705336195 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:1208.56, Y:209.58, Z:-17.19 [[ 9.71768209e-01 2.35872077e-01 5.55975757e-03 1.20856187e+03] [-2.35868554e-01 9.71784112e-01 -1.29046176e-03 2.09576702e+02] [-5.70726796e-03 -5.73422680e-05 9.99983712e-01 -1.71876127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.765336195 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:1208.62, Y:209.57, Z:-17.19 [[ 9.72335466e-01 2.33522653e-01 5.55981820e-03 1.20861831e+03] [-2.33519093e-01 9.72351361e-01 -1.29020048e-03 2.09565067e+02] [-5.70738783e-03 -4.38160160e-05 9.99983712e-01 -1.71882589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.8253361949999 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:1208.67, Y:209.55, Z:-17.19 [[ 9.72775506e-01 2.31682761e-01 5.55990953e-03 1.20867457e+03] [-2.31679173e-01 9.72791394e-01 -1.28980678e-03 2.09551945e+02] [-5.70745814e-03 -3.34227988e-05 9.99983712e-01 -1.71890557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.8853361949998 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:1208.73, Y:209.54, Z:-17.19 [[ 9.73453155e-01 2.28818796e-01 5.56000229e-03 1.20873004e+03] [-2.28815164e-01 9.73469033e-01 -1.28940681e-03 2.09539263e+02] [-5.70753056e-03 -1.70357083e-05 9.99983712e-01 -1.71904596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.945336195 meters Centerline goodness : 0.999569 with order 1 Centerline is valid? [True, True] Translation: X:1208.79, Y:209.53, Z:-17.18 [[ 9.74022201e-01 2.26384267e-01 5.56017011e-03 1.20878601e+03] [-2.26380600e-01 9.74038071e-01 -1.28868271e-03 2.09526493e+02] [-5.70755486e-03 -3.50907307e-06 9.99983712e-01 -1.71847061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.005336195 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:1208.84, Y:209.51, Z:-17.19 [[ 9.74397840e-01 2.24761945e-01 5.56024506e-03 1.20884325e+03] [-2.24758253e-01 9.74413705e-01 -1.28835925e-03 2.09511591e+02] [-5.70755312e-03 5.66350119e-06 9.99983712e-01 -1.71898974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.0653361949999 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1208.90, Y:209.50, Z:-17.19 [[ 9.74440049e-01 2.24578880e-01 5.56030657e-03 1.20889981e+03] [-2.24575186e-01 9.74455913e-01 -1.28809373e-03 2.09498374e+02] [-5.70755226e-03 6.46323450e-06 9.99983712e-01 -1.71902934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.1253361949998 meters Centerline goodness : 0.999463 with order 1 Centerline is valid? [True, True] Translation: X:1208.96, Y:209.49, Z:-17.19 [[ 9.74123785e-01 2.25946751e-01 5.56039781e-03 1.20895601e+03] [-2.25943081e-01 9.74139654e-01 -1.28769975e-03 2.09485381e+02] [-5.70755557e-03 -1.95445860e-06 9.99983712e-01 -1.71905772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.1853361949998 meters Centerline goodness : 0.999444 with order 1 Centerline is valid? [True, True] Translation: X:1209.01, Y:209.47, Z:-17.19 [[ 9.73270542e-01 2.29594274e-01 5.56064378e-03 1.20901247e+03] [-2.29590670e-01 9.73286427e-01 -1.28663671e-03 2.09473061e+02] [-5.70750354e-03 -2.44263286e-05 9.99983712e-01 -1.71923682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.245336195 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:1209.07, Y:209.46, Z:-17.19 [[ 9.72543009e-01 2.32656771e-01 5.56088959e-03 1.20906885e+03] [-2.32653223e-01 9.72558906e-01 -1.28557344e-03 2.09460862e+02] [-5.70739006e-03 -4.34834296e-05 9.99983712e-01 -1.71926750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.3053361949999 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:1209.13, Y:209.45, Z:-17.19 [[ 9.71476337e-01 2.37071303e-01 5.56098104e-03 1.20912608e+03] [-2.37067830e-01 9.71492250e-01 -1.28517774e-03 2.09449281e+02] [-5.70712874e-03 -6.98099440e-05 9.99983712e-01 -1.71902950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.3653361949998 meters Centerline goodness : 0.999632 with order 1 Centerline is valid? [True, True] Translation: X:1209.18, Y:209.44, Z:-17.19 [[ 9.70954021e-01 2.39201511e-01 5.56119773e-03 1.20918287e+03] [-2.39198078e-01 9.70969943e-01 -1.28423939e-03 2.09437730e+02] [-5.70694784e-03 -8.32904103e-05 9.99983712e-01 -1.71890174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.4253361949998 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:1209.24, Y:209.43, Z:-17.19 [[ 9.70287492e-01 2.41890994e-01 5.56144842e-03 1.20923928e+03] [-2.41887612e-01 9.70303425e-01 -1.28315283e-03 2.09426873e+02] [-5.70667557e-03 -1.00218337e-04 9.99983712e-01 -1.71884127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.485336195 meters Centerline goodness : 0.999505 with order 1 Centerline is valid? [True, True] Translation: X:1209.30, Y:209.42, Z:-17.19 [[ 9.70030425e-01 2.42919829e-01 5.56161780e-03 1.20929647e+03] [-2.42916468e-01 9.70046362e-01 -1.28241828e-03 2.09416049e+02] [-5.70655194e-03 -1.07023806e-04 9.99983712e-01 -1.71884533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.545336195 meters Centerline goodness : 0.999572 with order 1 Centerline is valid? [True, True] Translation: X:1209.35, Y:209.41, Z:-17.19 [[ 9.69799617e-01 2.43839637e-01 5.56186173e-03 1.20935298e+03] [-2.43836296e-01 9.69815559e-01 -1.28135948e-03 2.09405694e+02] [-5.70642627e-03 -1.13521836e-04 9.99983712e-01 -1.71903395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.6053361949998 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:1209.41, Y:209.40, Z:-17.19 [[ 9.69569102e-01 2.44754612e-01 5.56196730e-03 1.20941074e+03] [-2.44751290e-01 9.69585048e-01 -1.28090105e-03 2.09397738e+02] [-5.70630677e-03 -1.19376589e-04 9.99983712e-01 -1.71921639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.6653361949998 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:1209.47, Y:209.39, Z:-17.19 [[ 9.69428924e-01 2.45309242e-01 5.56220456e-03 1.20946771e+03] [-2.45305934e-01 9.69444872e-01 -1.27986996e-03 2.09390834e+02] [-5.70621462e-03 -1.23698829e-04 9.99983712e-01 -1.71924307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.725336195 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:1209.52, Y:209.38, Z:-17.19 [[ 9.69581305e-01 2.44706260e-01 5.56236533e-03 1.20952399e+03] [-2.44702946e-01 9.69597252e-01 -1.27917087e-03 2.09382021e+02] [-5.70627526e-03 -1.20867024e-04 9.99983712e-01 -1.71947485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.785336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:1209.58, Y:209.38, Z:-17.20 [[ 9.70595506e-01 2.40652077e-01 5.56246587e-03 1.20958210e+03] [-2.40648699e-01 9.70611440e-01 -1.27873353e-03 2.09375563e+02] [-5.70672288e-03 -9.74671614e-05 9.99983712e-01 -1.71958024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.8453361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1209.64, Y:209.37, Z:-17.20 [[ 9.72269969e-01 2.33795132e-01 5.56271110e-03 1.20963834e+03] [-2.33791648e-01 9.72285880e-01 -1.27766583e-03 2.09367487e+02] [-5.70725751e-03 -5.82792809e-05 9.99983712e-01 -1.71973475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.9053361949998 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:1209.70, Y:209.36, Z:-17.20 [[ 9.73605412e-01 2.28170015e-01 5.56281700e-03 1.20969533e+03] [-2.28166442e-01 9.73621304e-01 -1.27720456e-03 2.09356411e+02] [-5.70749693e-03 -2.57548952e-05 9.99983712e-01 -1.71968658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.965336195 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:1209.75, Y:209.34, Z:-17.20 [[ 9.75769120e-01 2.18731976e-01 5.56305924e-03 1.20975243e+03] [-2.18728255e-01 9.75784977e-01 -1.27614858e-03 2.09344863e+02] [-5.70748414e-03 2.84281391e-05 9.99983712e-01 -1.71957878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.025336195 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:1209.81, Y:209.33, Z:-17.19 [[ 9.77537454e-01 2.10688340e-01 5.56330005e-03 1.20981019e+03] [-2.10684495e-01 9.77553281e-01 -1.27509793e-03 2.09333195e+02] [-5.70707048e-03 7.43549218e-05 9.99983712e-01 -1.71938195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.0853361949999 meters Centerline goodness : 0.999674 with order 1 Centerline is valid? [True, True] Translation: X:1209.87, Y:209.32, Z:-17.20 [[ 9.79020524e-01 2.03685698e-01 5.56336029e-03 1.20986564e+03] [-2.03681741e-01 9.79036324e-01 -1.27483505e-03 2.09317849e+02] [-5.70639747e-03 1.14934774e-04 9.99983712e-01 -1.71955826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.1453361949998 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1209.92, Y:209.30, Z:-17.20 [[ 9.79689515e-01 2.00443260e-01 5.56359905e-03 1.20992207e+03] [-2.00439257e-01 9.79705304e-01 -1.27379221e-03 2.09303818e+02] [-5.70601056e-03 1.32757213e-04 9.99983712e-01 -1.71980656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.205336195 meters Centerline goodness : 0.999527 with order 1 Centerline is valid? [True, True] Translation: X:1209.98, Y:209.29, Z:-17.19 [[ 9.79684582e-01 2.00467363e-01 5.56383470e-03 1.20997796e+03] [-2.00463366e-01 9.79700372e-01 -1.27276206e-03 2.09290015e+02] [-5.70603818e-03 1.31560337e-04 9.99983712e-01 -1.71934215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.265336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:1210.03, Y:209.28, Z:-17.20 [[ 9.79234185e-01 2.02655996e-01 5.56406790e-03 1.21003337e+03] [-2.02652040e-01 9.79249985e-01 -1.27174179e-03 2.09275638e+02] [-5.70633950e-03 1.17763327e-04 9.99983712e-01 -1.71992994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.3253361949999 meters Centerline goodness : 0.999425 with order 1 Centerline is valid? [True, True] Translation: X:1210.09, Y:209.26, Z:-17.19 [[ 9.78505811e-01 2.06144164e-01 5.56422564e-03 1.21009008e+03] [-2.06140268e-01 9.78521627e-01 -1.27105124e-03 2.09261657e+02] [-5.70673492e-03 9.67200572e-05 9.99983712e-01 -1.71925727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.3853361949998 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:1210.15, Y:209.25, Z:-17.20 [[ 9.78023605e-01 2.08419926e-01 5.56445280e-03 1.21014643e+03] [-2.08416073e-01 9.78039431e-01 -1.27005601e-03 2.09248269e+02] [-5.70695922e-03 8.24233572e-05 9.99983712e-01 -1.72021492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.445336195 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:1210.20, Y:209.23, Z:-17.20 [[ 9.77254048e-01 2.11998962e-01 5.56467839e-03 1.21020144e+03] [-2.11995172e-01 9.77269889e-01 -1.26906681e-03 2.09232896e+02] [-5.70723348e-03 6.05157231e-05 9.99983712e-01 -1.72023479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.505336195 meters Centerline goodness : 0.999422 with order 1 Centerline is valid? [True, True] Translation: X:1210.26, Y:209.22, Z:-17.19 [[ 9.76572121e-01 2.15118400e-01 5.56483149e-03 1.21025709e+03] [-2.15114664e-01 9.76587975e-01 -1.26839512e-03 2.09218375e+02] [-5.70740264e-03 4.16024598e-05 9.99983712e-01 -1.71937470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.5653361949999 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:1210.31, Y:209.20, Z:-17.20 [[ 9.76281424e-01 2.16433851e-01 5.56492838e-03 1.21031304e+03] [-2.16430140e-01 9.76297284e-01 -1.26796988e-03 2.09203274e+02] [-5.70745607e-03 3.34772148e-05 9.99983712e-01 -1.72027198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.6253361949998 meters Centerline goodness : 0.999588 with order 1 Centerline is valid? [True, True] Translation: X:1210.37, Y:209.19, Z:-17.20 [[ 9.76351826e-01 2.16116035e-01 5.56514896e-03 1.21036971e+03] [-2.16112324e-01 9.76367686e-01 -1.26700101e-03 2.09189127e+02] [-5.70745085e-03 3.43414701e-05 9.99983712e-01 -1.71978840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.6853361949998 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:1210.43, Y:209.17, Z:-17.20 [[ 9.76655987e-01 2.14737309e-01 5.56523435e-03 1.21042548e+03] [-2.14733578e-01 9.76671842e-01 -1.26662585e-03 2.09173684e+02] [-5.70739950e-03 4.20150341e-05 9.99983712e-01 -1.72022279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.745336195 meters Centerline goodness : 0.999570 with order 1 Centerline is valid? [True, True] Translation: X:1210.48, Y:209.16, Z:-17.19 [[ 9.77293756e-01 2.11815816e-01 5.56548128e-03 1.21047970e+03] [-2.11812043e-01 9.77309601e-01 -1.26553989e-03 2.09157122e+02] [-5.70725966e-03 5.79682685e-05 9.99983712e-01 -1.71941905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.8053361949999 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:1210.54, Y:209.14, Z:-17.20 [[ 9.77810244e-01 2.09418604e-01 5.56558769e-03 1.21053544e+03] [-2.09414795e-01 9.77826080e-01 -1.26507177e-03 2.09140878e+02] [-5.70710636e-03 7.14837266e-05 9.99983712e-01 -1.72011893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.8653361949998 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1210.59, Y:209.12, Z:-17.20 [[ 9.78468102e-01 2.06323038e-01 5.56565661e-03 1.21059121e+03] [-2.06319181e-01 9.78483927e-01 -1.26476848e-03 2.09122856e+02] [-5.70685641e-03 8.92339011e-05 9.99983712e-01 -1.72001968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.9253361949998 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1210.65, Y:209.10, Z:-17.20 [[ 9.79090143e-01 2.03350716e-01 5.56573888e-03 1.21064678e+03] [-2.03346813e-01 9.79105957e-01 -1.26440634e-03 2.09104101e+02] [-5.70656603e-03 1.06192525e-04 9.99983712e-01 -1.72013704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.985336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:1210.70, Y:209.09, Z:-17.20 [[ 9.79313354e-01 2.02273026e-01 5.56582042e-03 1.21070225e+03] [-2.02269108e-01 9.79329163e-01 -1.26404729e-03 2.09086021e+02] [-5.70645293e-03 1.12104858e-04 9.99983712e-01 -1.72032853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.045336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1210.76, Y:209.07, Z:-17.20 [[ 9.79226456e-01 2.02693286e-01 5.56590122e-03 1.21075695e+03] [-2.02689377e-01 9.79242268e-01 -1.26369142e-03 2.09066237e+02] [-5.70650750e-03 1.09291025e-04 9.99983712e-01 -1.72049443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.1053361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1210.81, Y:209.05, Z:-17.21 [[ 9.78774633e-01 2.04863949e-01 5.56598177e-03 1.21081071e+03] [-2.04860077e-01 9.78790454e-01 -1.26333653e-03 2.09045868e+02] [-5.70674194e-03 9.62742964e-05 9.99983712e-01 -1.72081515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.1653361949998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1210.87, Y:209.03, Z:-17.21 [[ 9.77521196e-01 2.10763681e-01 5.56612752e-03 1.21086557e+03] [-2.10759908e-01 9.77537041e-01 -1.26269407e-03 2.09026370e+02] [-5.70722587e-03 6.11936962e-05 9.99983712e-01 -1.72067388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.225336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:1210.92, Y:209.01, Z:-17.21 [[ 9.76188106e-01 2.16854327e-01 5.56621179e-03 1.21092114e+03] [-2.16850654e-01 9.76203975e-01 -1.26232248e-03 2.09011510e+02] [-5.70749816e-03 2.52275199e-05 9.99983712e-01 -1.72056259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.285336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1210.98, Y:209.00, Z:-17.20 [[ 9.73629326e-01 2.28067867e-01 5.56630936e-03 1.21097688e+03] [-2.28064380e-01 9.73645236e-01 -1.26189208e-03 2.08997099e+02] [-5.70740763e-03 -4.08617593e-05 9.99983712e-01 -1.72036967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.3453361949998 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1211.03, Y:208.98, Z:-17.20 [[ 9.71148397e-01 2.38411005e-01 5.56640100e-03 1.21103334e+03] [-2.38407689e-01 9.71164344e-01 -1.26148771e-03 2.08984687e+02] [-5.70664272e-03 -1.01981032e-04 9.99983712e-01 -1.72047087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.4053361949998 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:1211.09, Y:208.97, Z:-17.21 [[ 9.70499689e-01 2.41038103e-01 5.56649178e-03 1.21108931e+03] [-2.41034833e-01 9.70515646e-01 -1.26108701e-03 2.08972927e+02] [-5.70633738e-03 -1.17833860e-04 9.99983712e-01 -1.72057925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.465336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1211.15, Y:208.96, Z:-17.21 [[ 9.69254065e-01 2.45999126e-01 5.56659615e-03 1.21114694e+03] [-2.45995940e-01 9.69270039e-01 -1.26062613e-03 2.08963870e+02] [-5.70564779e-03 -1.47493047e-04 9.99983712e-01 -1.72072341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.525336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1211.20, Y:208.95, Z:-17.21 [[ 9.69374121e-01 2.45525612e-01 5.56668386e-03 1.21120434e+03] [-2.45522421e-01 9.69390093e-01 -1.26023870e-03 2.08952754e+02] [-5.70570906e-03 -1.45102914e-04 9.99983712e-01 -1.72075199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.5853361949999 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:1211.26, Y:208.94, Z:-17.20 [[ 9.70016303e-01 2.42976097e-01 5.56677049e-03 1.21126177e+03] [-2.42972866e-01 9.70032267e-01 -1.25985591e-03 2.08941678e+02] [-5.70606187e-03 -1.30493410e-04 9.99983712e-01 -1.72027602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.6453361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1211.32, Y:208.93, Z:-17.21 [[ 9.71394081e-01 2.37407980e-01 5.56685864e-03 1.21131731e+03] [-2.37404659e-01 9.71410028e-01 -1.25946628e-03 2.08930512e+02] [-5.70670965e-03 -9.81600852e-05 9.99983712e-01 -1.72111611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.705336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:1211.37, Y:208.92, Z:-17.21 [[ 9.73202447e-01 2.29882594e-01 5.56696036e-03 1.21137394e+03] [-2.29879153e-01 9.73218367e-01 -1.25901650e-03 2.08918557e+02] [-5.70729405e-03 -5.44501899e-05 9.99983712e-01 -1.72112076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.765336195 meters Centerline goodness : 0.999483 with order 1 Centerline is valid? [True, True] Translation: X:1211.43, Y:208.91, Z:-17.21 [[ 9.74994464e-01 2.22159411e-01 5.56704442e-03 1.21143017e+03] [-2.22155846e-01 9.75010357e-01 -1.25864473e-03 2.08906043e+02] [-5.70754574e-03 -9.57981419e-06 9.99983712e-01 -1.72113541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.8253361949999 meters Centerline goodness : 0.999271 with order 1 Centerline is valid? [True, True] Translation: X:1211.49, Y:208.89, Z:-17.21 [[ 9.76000354e-01 2.17697763e-01 5.56712830e-03 1.21148728e+03] [-2.17694127e-01 9.76016231e-01 -1.25827359e-03 2.08893541e+02] [-5.70753093e-03 1.61443321e-05 9.99983712e-01 -1.72107717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.8853361949998 meters Centerline goodness : 0.999057 with order 1 Centerline is valid? [True, True] Translation: X:1211.54, Y:208.88, Z:-17.21 [[ 9.77053735e-01 2.12920186e-01 5.56721923e-03 1.21154373e+03] [-2.12916475e-01 9.77069594e-01 -1.25787114e-03 2.08879445e+02] [-5.70738679e-03 4.36549995e-05 9.99983712e-01 -1.72113545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.945336195 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:1211.60, Y:208.86, Z:-17.21 [[ 9.77760626e-01 2.09650098e-01 5.56730922e-03 1.21160077e+03] [-2.09646336e-01 9.77776474e-01 -1.25747272e-03 2.08864818e+02] [-5.70721326e-03 6.23413286e-05 9.99983712e-01 -1.72138307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.005336195 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:1211.66, Y:208.85, Z:-17.22 [[ 9.77890797e-01 2.09042087e-01 5.56736863e-03 1.21165766e+03] [-2.09038317e-01 9.77906642e-01 -1.25720965e-03 2.08851245e+02] [-5.70717649e-03 6.56203779e-05 9.99983712e-01 -1.72150961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.0653361949999 meters Centerline goodness : 0.998933 with order 1 Centerline is valid? [True, True] Translation: X:1211.71, Y:208.84, Z:-17.21 [[ 9.77600977e-01 2.10393283e-01 5.56742834e-03 1.21171329e+03] [-2.10389536e-01 9.77616828e-01 -1.25694517e-03 2.08839393e+02] [-5.70726446e-03 5.74621579e-05 9.99983712e-01 -1.72129000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.1253361949998 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:1211.77, Y:208.82, Z:-17.21 [[ 9.77010183e-01 2.13119932e-01 5.56753196e-03 1.21177051e+03] [-2.13116232e-01 9.77026045e-01 -1.25648600e-03 2.08823846e+02] [-5.70740595e-03 4.10681846e-05 9.99983712e-01 -1.72135465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.1853361949998 meters Centerline goodness : 0.998921 with order 1 Centerline is valid? [True, True] Translation: X:1211.83, Y:208.81, Z:-17.21 [[ 9.76654579e-01 2.14743651e-01 5.56759065e-03 1.21182769e+03] [-2.14739979e-01 9.76670448e-01 -1.25622590e-03 2.08810657e+02] [-5.70746779e-03 3.13144813e-05 9.99983712e-01 -1.72127785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.245336195 meters Centerline goodness : 0.998926 with order 1 Centerline is valid? [True, True] Translation: X:1211.88, Y:208.80, Z:-17.22 [[ 9.76568686e-01 2.15133918e-01 5.56764978e-03 1.21188465e+03] [-2.15130253e-01 9.76584557e-01 -1.25596377e-03 2.08796388e+02] [-5.70748120e-03 2.87649816e-05 9.99983712e-01 -1.72152186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.3053361949999 meters Centerline goodness : 0.999054 with order 1 Centerline is valid? [True, True] Translation: X:1211.94, Y:208.78, Z:-17.22 [[ 9.76688137e-01 2.14590970e-01 5.56770878e-03 1.21194091e+03] [-2.14587298e-01 9.76704006e-01 -1.25570220e-03 2.08781373e+02] [-5.70746582e-03 3.16698534e-05 9.99983712e-01 -1.72198770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.3653361949998 meters Centerline goodness : 0.998950 with order 1 Centerline is valid? [True, True] Translation: X:1212.00, Y:208.77, Z:-17.22 [[ 9.77131468e-01 2.12563154e-01 5.56778196e-03 1.21199646e+03] [-2.12559451e-01 9.77147330e-01 -1.25537763e-03 2.08766102e+02] [-5.70739030e-03 4.31843078e-05 9.99983712e-01 -1.72196663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.4253361949998 meters Centerline goodness : 0.999010 with order 1 Centerline is valid? [True, True] Translation: X:1212.05, Y:208.75, Z:-17.22 [[ 9.77313721e-01 2.11723617e-01 5.56786980e-03 1.21205308e+03] [-2.11719903e-01 9.77329580e-01 -1.25498791e-03 2.08751081e+02] [-5.70735443e-03 4.76880491e-05 9.99983712e-01 -1.72182467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.485336195 meters Centerline goodness : 0.998946 with order 1 Centerline is valid? [True, True] Translation: X:1212.11, Y:208.74, Z:-17.22 [[ 9.77425147e-01 2.11208617e-01 5.56792830e-03 1.21210869e+03] [-2.11204896e-01 9.77441005e-01 -1.25472833e-03 2.08735102e+02] [-5.70733086e-03 5.04293031e-05 9.99983712e-01 -1.72173614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.545336195 meters Centerline goodness : 0.998871 with order 1 Centerline is valid? [True, True] Translation: X:1212.16, Y:208.72, Z:-17.22 [[ 9.77827826e-01 2.09336427e-01 5.56801914e-03 1.21216393e+03] [-2.09332678e-01 9.77843677e-01 -1.25432505e-03 2.08717881e+02] [-5.70722824e-03 6.09455808e-05 9.99983712e-01 -1.72171930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.6053361949998 meters Centerline goodness : 0.998724 with order 1 Centerline is valid? [True, True] Translation: X:1212.22, Y:208.70, Z:-17.22 [[ 9.78642411e-01 2.05494594e-01 5.56811029e-03 1.21221920e+03] [-2.05490785e-01 9.78658247e-01 -1.25392030e-03 2.08698647e+02] [-5.70695090e-03 8.29442329e-05 9.99983712e-01 -1.72172834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.6653361949998 meters Centerline goodness : 0.998913 with order 1 Centerline is valid? [True, True] Translation: X:1212.27, Y:208.68, Z:-17.22 [[ 9.79063795e-01 2.03477470e-01 5.56820322e-03 1.21227496e+03] [-2.03473631e-01 9.79079624e-01 -1.25350749e-03 2.08682454e+02] [-5.70677485e-03 9.42812778e-05 9.99983712e-01 -1.72173698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.725336195 meters Centerline goodness : 0.998282 with order 1 Centerline is valid? [True, True] Translation: X:1212.33, Y:208.66, Z:-17.20 [[ 9.79370017e-01 2.01998426e-01 5.56827963e-03 1.21233077e+03] [-2.01994565e-01 9.79385841e-01 -1.25316798e-03 2.08664279e+02] [-5.70663219e-03 1.02552931e-04 9.99983712e-01 -1.72041970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.785336195 meters Centerline goodness : 0.999038 with order 1 Centerline is valid? [True, True] Translation: X:1212.39, Y:208.64, Z:-17.22 [[ 9.79075746e-01 2.03419951e-01 5.56834069e-03 1.21238501e+03] [-2.03416114e-01 9.79091576e-01 -1.25289662e-03 2.08643724e+02] [-5.70677963e-03 9.39904720e-05 9.99983712e-01 -1.72156380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.8453361949998 meters Centerline goodness : 0.998941 with order 1 Centerline is valid? [True, True] Translation: X:1212.44, Y:208.62, Z:-17.22 [[ 9.78253770e-01 2.07336813e-01 5.56841628e-03 1.21244131e+03] [-2.07333042e-01 9.78269616e-01 -1.25256055e-03 2.08624515e+02] [-5.70711437e-03 7.08053941e-05 9.99983712e-01 -1.72168182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.9053361949998 meters Centerline goodness : 0.998940 with order 1 Centerline is valid? [True, True] Translation: X:1212.50, Y:208.61, Z:-17.22 [[ 9.77523507e-01 2.10752902e-01 5.56847790e-03 1.21249850e+03] [-2.10749187e-01 9.77539366e-01 -1.25228655e-03 2.08609384e+02] [-5.70732938e-03 5.05873494e-05 9.99983712e-01 -1.72179322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.965336195 meters Centerline goodness : 0.998961 with order 1 Centerline is valid? [True, True] Translation: X:1212.55, Y:208.59, Z:-17.22 [[ 9.76459740e-01 2.15627847e-01 5.56853928e-03 1.21255437e+03] [-2.15624213e-01 9.76475617e-01 -1.25201358e-03 2.08590762e+02] [-5.70751182e-03 2.18289497e-05 9.99983712e-01 -1.72197770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.025336195 meters Centerline goodness : 0.998952 with order 1 Centerline is valid? [True, True] Translation: X:1212.61, Y:208.57, Z:-17.22 [[ 9.75754116e-01 2.18798755e-01 5.56860014e-03 1.21260946e+03] [-2.18795174e-01 9.75770006e-01 -1.25174280e-03 2.08573655e+02] [-5.70755276e-03 3.01035392e-06 9.99983712e-01 -1.72191381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.0853361949999 meters Centerline goodness : 0.999010 with order 1 Centerline is valid? [True, True] Translation: X:1212.67, Y:208.56, Z:-17.22 [[ 9.75329258e-01 2.20684906e-01 5.56867563e-03 1.21266574e+03] [-2.20681358e-01 9.75345155e-01 -1.25140690e-03 2.08556704e+02] [-5.70754741e-03 -8.36913246e-06 9.99983712e-01 -1.72171283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.1453361949998 meters Centerline goodness : 0.998993 with order 1 Centerline is valid? [True, True] Translation: X:1212.72, Y:208.54, Z:-17.22 [[ 9.75019227e-01 2.22050662e-01 5.56873630e-03 1.21272263e+03] [-2.22047138e-01 9.75035129e-01 -1.25113688e-03 2.08542585e+02] [-5.70752929e-03 -1.66394467e-05 9.99983712e-01 -1.72176523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.205336195 meters Centerline goodness : 0.998844 with order 1 Centerline is valid? [True, True] Translation: X:1212.78, Y:208.53, Z:-17.22 [[ 9.74386544e-01 2.24810700e-01 5.56879631e-03 1.21277821e+03] [-2.24807223e-01 9.74402457e-01 -1.25086972e-03 2.08527809e+02] [-5.70745770e-03 -3.30750076e-05 9.99983712e-01 -1.72194505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.265336195 meters Centerline goodness : 0.999047 with order 1 Centerline is valid? [True, True] Translation: X:1212.83, Y:208.51, Z:-17.22 [[ 9.74057909e-01 2.26230366e-01 5.56887046e-03 1.21283476e+03] [-2.26226914e-01 9.74073827e-01 -1.25053950e-03 2.08514075e+02] [-5.70740097e-03 -4.17304873e-05 9.99983712e-01 -1.72205590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.3253361949999 meters Centerline goodness : 0.998902 with order 1 Centerline is valid? [True, True] Translation: X:1212.89, Y:208.50, Z:-17.22 [[ 9.74057503e-01 2.26232110e-01 5.56894302e-03 1.21289246e+03] [-2.26228660e-01 9.74073422e-01 -1.25021630e-03 2.08501862e+02] [-5.70739845e-03 -4.20719460e-05 9.99983712e-01 -1.72204992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.3853361949998 meters Centerline goodness : 0.998922 with order 1 Centerline is valid? [True, True] Translation: X:1212.95, Y:208.49, Z:-17.22 [[ 9.74411107e-01 2.24704209e-01 5.56900150e-03 1.21294865e+03] [-2.24700735e-01 9.74427020e-01 -1.24995575e-03 2.08489222e+02] [-5.70745585e-03 -3.33879685e-05 9.99983712e-01 -1.72217647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.445336195 meters Centerline goodness : 0.999013 with order 1 Centerline is valid? [True, True] Translation: X:1213.00, Y:208.48, Z:-17.22 [[ 9.74979160e-01 2.22226512e-01 5.56907407e-03 1.21300474e+03] [-2.22222999e-01 9.74995065e-01 -1.24963234e-03 2.08475034e+02] [-5.70752117e-03 -1.92108491e-05 9.99983712e-01 -1.72213451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.505336195 meters Centerline goodness : 0.998966 with order 1 Centerline is valid? [True, True] Translation: X:1213.06, Y:208.46, Z:-17.22 [[ 9.75821472e-01 2.18498145e-01 5.56914579e-03 1.21306203e+03] [-2.18494574e-01 9.75837364e-01 -1.24931262e-03 2.08459798e+02] [-5.70755303e-03 2.27794757e-06 9.99983712e-01 -1.72202413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.5653361949999 meters Centerline goodness : 0.998929 with order 1 Centerline is valid? [True, True] Translation: X:1213.12, Y:208.45, Z:-17.22 [[ 9.76457340e-01 2.15638696e-01 5.56920359e-03 1.21311829e+03] [-2.15635079e-01 9.76473222e-01 -1.24905491e-03 2.08445522e+02] [-5.70752274e-03 1.87331796e-05 9.99983712e-01 -1.72192698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.6253361949998 meters Centerline goodness : 0.998918 with order 1 Centerline is valid? [True, True] Translation: X:1213.17, Y:208.43, Z:-17.22 [[ 9.76821457e-01 2.13983235e-01 5.56927519e-03 1.21317395e+03] [-2.13979594e-01 9.76837332e-01 -1.24873557e-03 2.08431110e+02] [-5.70748440e-03 2.80804568e-05 9.99983712e-01 -1.72179900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.6853361949998 meters Centerline goodness : 0.998928 with order 1 Centerline is valid? [True, True] Translation: X:1213.23, Y:208.42, Z:-17.22 [[ 9.77001636e-01 2.13159063e-01 5.56934542e-03 1.21323113e+03] [-2.13155409e-01 9.77017509e-01 -1.24842227e-03 2.08416355e+02] [-5.70746051e-03 3.25744941e-05 9.99983712e-01 -1.72190208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.745336195 meters Centerline goodness : 0.998519 with order 1 Centerline is valid? [True, True] Translation: X:1213.29, Y:208.40, Z:-17.22 [[ 9.76989732e-01 2.13213616e-01 5.56940091e-03 1.21328713e+03] [-2.13209964e-01 9.77005605e-01 -1.24817468e-03 2.08402008e+02] [-5.70746374e-03 3.20020732e-05 9.99983712e-01 -1.72188125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.8053361949999 meters Centerline goodness : 0.998777 with order 1 Centerline is valid? [True, True] Translation: X:1213.34, Y:208.39, Z:-17.22 [[ 9.76506572e-01 2.15415634e-01 5.56946959e-03 1.21334468e+03] [-2.15412021e-01 9.76522454e-01 -1.24786813e-03 2.08387883e+02] [-5.70752242e-03 1.88207360e-05 9.99983712e-01 -1.72219044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.8653361949998 meters Centerline goodness : 0.998734 with order 1 Centerline is valid? [True, True] Translation: X:1213.40, Y:208.37, Z:-17.22 [[ 9.75880187e-01 2.18235746e-01 5.56952357e-03 1.21340247e+03] [-2.18232180e-01 9.75896080e-01 -1.24762717e-03 2.08374864e+02] [-5.70755306e-03 2.08536108e-06 9.99983712e-01 -1.72238549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.9253361949998 meters Centerline goodness : 0.998680 with order 1 Centerline is valid? [True, True] Translation: X:1213.46, Y:208.36, Z:-17.22 [[ 9.74931323e-01 2.22436271e-01 5.56957758e-03 1.21346033e+03] [-2.22432774e-01 9.74947232e-01 -1.24738600e-03 2.08364225e+02] [-5.70750814e-03 -2.27409147e-05 9.99983712e-01 -1.72172914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.985336195 meters Centerline goodness : 0.998849 with order 1 Centerline is valid? [True, True] Translation: X:1213.52, Y:208.35, Z:-17.23 [[ 9.74537151e-01 2.24156910e-01 5.56963834e-03 1.21351682e+03] [-2.24153443e-01 9.74553066e-01 -1.24711467e-03 2.08354072e+02] [-5.70745749e-03 -3.30940339e-05 9.99983712e-01 -1.72271021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.045336195 meters Centerline goodness : 0.998776 with order 1 Centerline is valid? [True, True] Translation: X:1213.57, Y:208.34, Z:-17.22 [[ 9.74427545e-01 2.24632896e-01 5.56971862e-03 1.21357482e+03] [-2.24629439e-01 9.74443462e-01 -1.24675600e-03 2.08344812e+02] [-5.70743831e-03 -3.62493814e-05 9.99983712e-01 -1.72237038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.1053361949998 meters Centerline goodness : 0.998856 with order 1 Centerline is valid? [True, True] Translation: X:1213.63, Y:208.33, Z:-17.22 [[ 9.74547734e-01 2.24110890e-01 5.56977794e-03 1.21363337e+03] [-2.24107426e-01 9.74563650e-01 -1.24649093e-03 2.08334998e+02] [-5.70745531e-03 -3.34636884e-05 9.99983712e-01 -1.72239514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.1653361949998 meters Centerline goodness : 0.998926 with order 1 Centerline is valid? [True, True] Translation: X:1213.69, Y:208.33, Z:-17.22 [[ 9.74788637e-01 2.23060730e-01 5.56983666e-03 1.21369034e+03] [-2.23057250e-01 9.74804550e-01 -1.24622853e-03 2.08326530e+02] [-5.70748676e-03 -2.75830384e-05 9.99983712e-01 -1.72249729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.225336195 meters Centerline goodness : 0.998894 with order 1 Centerline is valid? [True, True] Translation: X:1213.75, Y:208.32, Z:-17.22 [[ 9.75192610e-01 2.21287934e-01 5.56990945e-03 1.21374827e+03] [-2.21284427e-01 9.75208516e-01 -1.24590308e-03 2.08317677e+02] [-5.70752645e-03 -1.75387506e-05 9.99983712e-01 -1.72240860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.285336195 meters Centerline goodness : 0.998976 with order 1 Centerline is valid? [True, True] Translation: X:1213.81, Y:208.31, Z:-17.22 [[ 9.75850027e-01 2.18370558e-01 5.56996701e-03 1.21380637e+03] [-2.18367005e-01 9.75865923e-01 -1.24564570e-03 2.08308851e+02] [-5.70755335e-03 -7.33627691e-07 9.99983712e-01 -1.72246925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.3453361949998 meters Centerline goodness : 0.998840 with order 1 Centerline is valid? [True, True] Translation: X:1213.86, Y:208.30, Z:-17.23 [[ 9.76289875e-01 2.16395596e-01 5.57002605e-03 1.21386426e+03] [-2.16392012e-01 9.76305765e-01 -1.24538164e-03 2.08298466e+02] [-5.70754365e-03 1.05443436e-05 9.99983712e-01 -1.72255805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.4053361949998 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:1213.92, Y:208.29, Z:-17.23 [[ 9.76988404e-01 2.13219682e-01 5.57008569e-03 1.21392161e+03] [-2.13216049e-01 9.77004282e-01 -1.24511486e-03 2.08290046e+02] [-5.70748056e-03 2.88311143e-05 9.99983712e-01 -1.72286437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.465336195 meters Centerline goodness : 0.998913 with order 1 Centerline is valid? [True, True] Translation: X:1213.98, Y:208.28, Z:-17.23 [[ 9.77600159e-01 2.10397010e-01 5.57016446e-03 1.21397955e+03] [-2.10393333e-01 9.77616027e-01 -1.24476238e-03 2.08281246e+02] [-5.70737633e-03 4.49544360e-05 9.99983712e-01 -1.72267295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.525336195 meters Centerline goodness : 0.998565 with order 1 Centerline is valid? [True, True] Translation: X:1214.04, Y:208.27, Z:-17.22 [[ 9.77954271e-01 2.08744861e-01 5.57022299e-03 1.21403782e+03] [-2.08741158e-01 9.77970132e-01 -1.24450038e-03 2.08273757e+02] [-5.70729478e-03 5.43296605e-05 9.99983712e-01 -1.72178547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.5853361949999 meters Centerline goodness : 0.998952 with order 1 Centerline is valid? [True, True] Translation: X:1214.09, Y:208.26, Z:-17.23 [[ 9.78158698e-01 2.07784826e-01 5.57028173e-03 1.21409455e+03] [-2.07781109e-01 9.78174556e-01 -1.24423741e-03 2.08263564e+02] [-5.70724152e-03 5.96623310e-05 9.99983712e-01 -1.72253971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.6453361949998 meters Centerline goodness : 0.998854 with order 1 Centerline is valid? [True, True] Translation: X:1214.15, Y:208.26, Z:-17.23 [[ 9.78360715e-01 2.06831534e-01 5.57036168e-03 1.21415195e+03] [-2.06827804e-01 9.78376570e-01 -1.24387938e-03 2.08255955e+02] [-5.70718483e-03 6.48570456e-05 9.99983712e-01 -1.72256742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.705336195 meters Centerline goodness : 0.998701 with order 1 Centerline is valid? [True, True] Translation: X:1214.21, Y:208.25, Z:-17.22 [[ 9.78759079e-01 2.04938128e-01 5.57044833e-03 1.21420979e+03] [-2.04934369e-01 9.78774927e-01 -1.24349123e-03 2.08245076e+02] [-5.70705392e-03 7.55020181e-05 9.99983712e-01 -1.72247452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.765336195 meters Centerline goodness : 0.998651 with order 1 Centerline is valid? [True, True] Translation: X:1214.27, Y:208.24, Z:-17.22 [[ 9.79231670e-01 2.02667968e-01 5.57050710e-03 1.21426759e+03] [-2.02664174e-01 9.79247511e-01 -1.24322787e-03 2.08236182e+02] [-5.70686768e-03 8.84658859e-05 9.99983712e-01 -1.72249887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.8253361949999 meters Centerline goodness : 0.998622 with order 1 Centerline is valid? [True, True] Translation: X:1214.32, Y:208.22, Z:-17.23 [[ 9.79625113e-01 2.00757582e-01 5.57056710e-03 1.21432475e+03] [-2.00753759e-01 9.79640946e-01 -1.24295900e-03 2.08224407e+02] [-5.70668907e-03 9.93215672e-05 9.99983712e-01 -1.72258135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.8853361949998 meters Centerline goodness : 0.998529 with order 1 Centerline is valid? [True, True] Translation: X:1214.38, Y:208.21, Z:-17.23 [[ 9.80196228e-01 1.97950305e-01 5.57062689e-03 1.21438120e+03] [-1.97946438e-01 9.80212050e-01 -1.24269096e-03 2.08213008e+02] [-5.70638666e-03 1.15395243e-04 9.99983712e-01 -1.72269843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.945336195 meters Centerline goodness : 0.998319 with order 1 Centerline is valid? [True, True] Translation: X:1214.44, Y:208.20, Z:-17.23 [[ 9.80440184e-01 1.96738436e-01 5.57070694e-03 1.21443878e+03] [-1.96734552e-01 9.80456002e-01 -1.24233203e-03 2.08200787e+02] [-5.70624752e-03 1.22081715e-04 9.99983712e-01 -1.72267183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.005336195 meters Centerline goodness : 0.997893 with order 1 Centerline is valid? [True, True] Translation: X:1214.50, Y:208.19, Z:-17.22 [[ 9.80543894e-01 1.96220890e-01 5.57076603e-03 1.21449513e+03] [-1.96216999e-01 9.80559711e-01 -1.24206699e-03 2.08188613e+02] [-5.70618822e-03 1.24822209e-04 9.99983712e-01 -1.72206490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.0653361949999 meters Centerline goodness : 0.998316 with order 1 Centerline is valid? [True, True] Translation: X:1214.55, Y:208.18, Z:-17.23 [[ 9.80748888e-01 1.95193710e-01 5.57083946e-03 1.21455238e+03] [-1.95189803e-01 9.80764701e-01 -1.24173754e-03 2.08175225e+02] [-5.70606206e-03 1.30461655e-04 9.99983712e-01 -1.72283871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.1253361949998 meters Centerline goodness : 0.998344 with order 1 Centerline is valid? [True, True] Translation: X:1214.61, Y:208.16, Z:-17.23 [[ 9.81133966e-01 1.93248818e-01 5.57089707e-03 1.21460923e+03] [-1.93244882e-01 9.81149772e-01 -1.24147907e-03 2.08161243e+02] [-5.70579875e-03 1.41509937e-04 9.99983712e-01 -1.72281522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.1853361949998 meters Centerline goodness : 0.998384 with order 1 Centerline is valid? [True, True] Translation: X:1214.67, Y:208.15, Z:-17.23 [[ 9.81350492e-01 1.92146235e-01 5.57095447e-03 1.21466582e+03] [-1.92142283e-01 9.81366294e-01 -1.24122141e-03 2.08146856e+02] [-5.70564296e-03 1.47657336e-04 9.99983712e-01 -1.72291396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.245336195 meters Centerline goodness : 0.998490 with order 1 Centerline is valid? [True, True] Translation: X:1214.72, Y:208.13, Z:-17.23 [[ 9.82020068e-01 1.88694330e-01 5.57101175e-03 1.21472188e+03] [-1.88690324e-01 9.82035856e-01 -1.24096430e-03 2.08129724e+02] [-5.70509621e-03 1.67455833e-04 9.99983712e-01 -1.72296229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.3053361949999 meters Centerline goodness : 0.998707 with order 1 Centerline is valid? [True, True] Translation: X:1214.78, Y:208.11, Z:-17.23 [[ 9.82129131e-01 1.88125846e-01 5.57106954e-03 1.21477820e+03] [-1.88121832e-01 9.82144917e-01 -1.24070480e-03 2.08112310e+02] [-5.70500627e-03 1.70492525e-04 9.99983712e-01 -1.72278115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.3653361949998 meters Centerline goodness : 0.998508 with order 1 Centerline is valid? [True, True] Translation: X:1214.83, Y:208.10, Z:-17.23 [[ 9.81992323e-01 1.88838659e-01 5.57113019e-03 1.21483474e+03] [-1.88834658e-01 9.82008113e-01 -1.24043239e-03 2.08095992e+02] [-5.70513663e-03 1.66072619e-04 9.99983712e-01 -1.72286945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.4253361949998 meters Centerline goodness : 0.998780 with order 1 Centerline is valid? [True, True] Translation: X:1214.89, Y:208.08, Z:-17.23 [[ 9.81906441e-01 1.89284714e-01 5.57117507e-03 1.21489102e+03] [-1.89280721e-01 9.81922232e-01 -1.24023076e-03 2.08076256e+02] [-5.70521739e-03 1.63274539e-04 9.99983712e-01 -1.72286739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.485336195 meters Centerline goodness : 0.998697 with order 1 Centerline is valid? [True, True] Translation: X:1214.95, Y:208.06, Z:-17.23 [[ 9.81508987e-01 1.91334969e-01 5.57123059e-03 1.21494743e+03] [-1.91331011e-01 9.81524787e-01 -1.23998132e-03 2.08056166e+02] [-5.70555271e-03 1.51103625e-04 9.99983712e-01 -1.72255400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.545336195 meters Centerline goodness : 0.998680 with order 1 Centerline is valid? [True, True] Translation: X:1215.00, Y:208.04, Z:-17.23 [[ 9.80554053e-01 1.96170107e-01 5.57126024e-03 1.21500430e+03] [-1.96166227e-01 9.80569872e-01 -1.23984810e-03 2.08037362e+02] [-5.70623108e-03 1.22844976e-04 9.99983712e-01 -1.72262889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.6053361949998 meters Centerline goodness : 0.998710 with order 1 Centerline is valid? [True, True] Translation: X:1215.06, Y:208.02, Z:-17.23 [[ 9.79113769e-01 2.03236778e-01 5.57128971e-03 1.21505968e+03] [-2.03233013e-01 9.79129616e-01 -1.23971568e-03 2.08017788e+02] [-5.70697057e-03 8.15526934e-05 9.99983712e-01 -1.72301895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.6653361949998 meters Centerline goodness : 0.998669 with order 1 Centerline is valid? [True, True] Translation: X:1215.12, Y:208.00, Z:-17.23 [[ 9.77973814e-01 2.08653252e-01 5.57134816e-03 1.21511658e+03] [-2.08649577e-01 9.77989682e-01 -1.23945292e-03 2.08001428e+02] [-5.70733690e-03 4.96930572e-05 9.99983712e-01 -1.72312180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.725336195 meters Centerline goodness : 0.998735 with order 1 Centerline is valid? [True, True] Translation: X:1215.17, Y:207.99, Z:-17.23 [[ 9.76223819e-01 2.16693366e-01 5.57140617e-03 1.21517258e+03] [-2.16689822e-01 9.76239717e-01 -1.23919210e-03 2.07985308e+02] [-5.70755269e-03 2.46183340e-06 9.99983712e-01 -1.72313415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.785336195 meters Centerline goodness : 0.998727 with order 1 Centerline is valid? [True, True] Translation: X:1215.23, Y:207.97, Z:-17.23 [[ 9.74554224e-01 2.24082627e-01 5.57148370e-03 1.21522891e+03] [-2.24079206e-01 9.74570149e-01 -1.23884346e-03 2.07969675e+02] [-5.70740499e-03 -4.11335169e-05 9.99983712e-01 -1.72280449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.8453361949998 meters Centerline goodness : 0.998912 with order 1 Centerline is valid? [True, True] Translation: X:1215.29, Y:207.96, Z:-17.23 [[ 9.72953802e-01 2.30932580e-01 5.57155702e-03 1.21528500e+03] [-2.30929273e-01 9.72969751e-01 -1.23851359e-03 2.07955308e+02] [-5.70696959e-03 -8.16191126e-05 9.99983712e-01 -1.72285980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.9053361949998 meters Centerline goodness : 0.998860 with order 1 Centerline is valid? [True, True] Translation: X:1215.34, Y:207.94, Z:-17.23 [[ 9.72076195e-01 2.34599292e-01 5.57162918e-03 1.21534250e+03] [-2.34596048e-01 9.72092157e-01 -1.23818890e-03 2.07942756e+02] [-5.70661527e-03 -1.03468226e-04 9.99983712e-01 -1.72284899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.965336195 meters Centerline goodness : 0.998858 with order 1 Centerline is valid? [True, True] Translation: X:1215.40, Y:207.93, Z:-17.23 [[ 9.71198892e-01 2.38205097e-01 5.57168715e-03 1.21540012e+03] [-2.38201913e-01 9.71214866e-01 -1.23792801e-03 2.07931894e+02] [-5.70618615e-03 -1.24912229e-04 9.99983712e-01 -1.72286773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.025336195 meters Centerline goodness : 0.998843 with order 1 Centerline is valid? [True, True] Translation: X:1215.46, Y:207.92, Z:-17.23 [[ 9.70952144e-01 2.39208881e-01 5.57174459e-03 1.21545657e+03] [-2.39205715e-01 9.70968122e-01 -1.23766940e-03 2.07920881e+02] [-5.70604789e-03 -1.31075391e-04 9.99983712e-01 -1.72286653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.0853361949999 meters Centerline goodness : 0.998756 with order 1 Centerline is valid? [True, True] Translation: X:1215.51, Y:207.91, Z:-17.23 [[ 9.71074087e-01 2.38713369e-01 5.57181538e-03 1.21551403e+03] [-2.38710196e-01 9.71090063e-01 -1.23735065e-03 2.07911350e+02] [-5.70610669e-03 -1.28489992e-04 9.99983712e-01 -1.72264615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.1453361949998 meters Centerline goodness : 0.998537 with order 1 Centerline is valid? [True, True] Translation: X:1215.57, Y:207.90, Z:-17.23 [[ 9.71635057e-01 2.36419690e-01 5.57188307e-03 1.21557135e+03] [-2.36416482e-01 9.71651026e-01 -1.23704575e-03 2.07902751e+02] [-5.70638787e-03 -1.15327975e-04 9.99983712e-01 -1.72259396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.205336195 meters Centerline goodness : 0.998844 with order 1 Centerline is valid? [True, True] Translation: X:1215.63, Y:207.90, Z:-17.23 [[ 9.72430694e-01 2.33125498e-01 5.57196643e-03 1.21562858e+03] [-2.33122238e-01 9.72446653e-01 -1.23667016e-03 2.07895051e+02] [-5.70673945e-03 -9.63732611e-05 9.99983712e-01 -1.72296610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.265336195 meters Centerline goodness : 0.998678 with order 1 Centerline is valid? [True, True] Translation: X:1215.69, Y:207.89, Z:-17.23 [[ 9.73449739e-01 2.28833033e-01 5.57203551e-03 1.21568689e+03] [-2.28829704e-01 9.73465684e-01 -1.23635885e-03 2.07888432e+02] [-5.70710510e-03 -7.15140415e-05 9.99983712e-01 -1.72326741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.3253361949999 meters Centerline goodness : 0.998180 with order 1 Centerline is valid? [True, True] Translation: X:1215.75, Y:207.88, Z:-17.23 [[ 9.74120664e-01 2.25959917e-01 5.57209005e-03 1.21574558e+03] [-2.25956543e-01 9.74136599e-01 -1.23611295e-03 2.07879707e+02] [-5.70728883e-03 -5.49270363e-05 9.99983712e-01 -1.72255078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.3853361949998 meters Centerline goodness : 0.998663 with order 1 Centerline is valid? [True, True] Translation: X:1215.80, Y:207.87, Z:-17.23 [[ 9.75130823e-01 2.21559990e-01 5.57214466e-03 1.21580371e+03] [-2.21556545e-01 9.75146743e-01 -1.23586677e-03 2.07870354e+02] [-5.70747734e-03 -2.94133407e-05 9.99983712e-01 -1.72311212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.445336195 meters Centerline goodness : 0.998638 with order 1 Centerline is valid? [True, True] Translation: X:1215.86, Y:207.86, Z:-17.23 [[ 9.76309951e-01 2.16304948e-01 5.57220290e-03 1.21586238e+03] [-2.16301419e-01 9.76325852e-01 -1.23560411e-03 2.07861702e+02] [-5.70755303e-03 1.05719713e-06 9.99983712e-01 -1.72305729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.505336195 meters Centerline goodness : 0.998978 with order 1 Centerline is valid? [True, True] Translation: X:1215.92, Y:207.85, Z:-17.23 [[ 9.77179966e-01 2.12339975e-01 5.57226409e-03 1.21591990e+03] [-2.12336382e-01 9.77195853e-01 -1.23532811e-03 2.07851777e+02] [-5.70750290e-03 2.39434848e-05 9.99983712e-01 -1.72339304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.5653361949999 meters Centerline goodness : 0.998758 with order 1 Centerline is valid? [True, True] Translation: X:1215.98, Y:207.84, Z:-17.24 [[ 9.77385753e-01 2.11390726e-01 5.57232457e-03 1.21597749e+03] [-2.11387120e-01 9.77401637e-01 -1.23505523e-03 2.07840541e+02] [-5.70747838e-03 2.92077412e-05 9.99983712e-01 -1.72359226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.6253361949998 meters Centerline goodness : 0.998758 with order 1 Centerline is valid? [True, True] Translation: X:1216.04, Y:207.83, Z:-17.24 [[ 9.76850956e-01 2.13848445e-01 5.57238023e-03 1.21603576e+03] [-2.13844880e-01 9.76866850e-01 -1.23480403e-03 2.07831379e+02] [-5.70753445e-03 1.45945106e-05 9.99983712e-01 -1.72371616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.6853361949998 meters Centerline goodness : 0.998947 with order 1 Centerline is valid? [True, True] Translation: X:1216.09, Y:207.82, Z:-17.24 [[ 9.75469221e-01 2.20065324e-01 5.57243820e-03 1.21609310e+03] [-2.20061862e-01 9.75485137e-01 -1.23454238e-03 2.07824134e+02] [-5.70751061e-03 -2.20230368e-05 9.99983712e-01 -1.72383841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.745336195 meters Centerline goodness : 0.998864 with order 1 Centerline is valid? [True, True] Translation: X:1216.15, Y:207.82, Z:-17.23 [[ 9.73941580e-01 2.26730558e-01 5.57250949e-03 1.21615204e+03] [-2.26727207e-01 9.73957520e-01 -1.23422051e-03 2.07817844e+02] [-5.70722303e-03 -6.13808382e-05 9.99983712e-01 -1.72331063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.8053361949999 meters Centerline goodness : 0.998908 with order 1 Centerline is valid? [True, True] Translation: X:1216.21, Y:207.81, Z:-17.23 [[ 9.72966286e-01 2.30879954e-01 5.57256750e-03 1.21620964e+03] [-2.30876672e-01 9.72982240e-01 -1.23395854e-03 2.07811973e+02] [-5.70690550e-03 -8.59757799e-05 9.99983712e-01 -1.72320830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.8653361949998 meters Centerline goodness : 0.999051 with order 1 Centerline is valid? [True, True] Translation: X:1216.27, Y:207.80, Z:-17.23 [[ 9.72696105e-01 2.32015588e-01 5.57263933e-03 1.21626782e+03] [-2.32012327e-01 9.72712063e-01 -1.23363407e-03 2.07804142e+02] [-5.70679583e-03 -9.29699669e-05 9.99983712e-01 -1.72337111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.9253361949998 meters Centerline goodness : 0.998515 with order 1 Centerline is valid? [True, True] Translation: X:1216.33, Y:207.80, Z:-17.23 [[ 9.72726083e-01 2.31889873e-01 5.57269517e-03 1.21632678e+03] [-2.31886611e-01 9.72742041e-01 -1.23338175e-03 2.07799507e+02] [-5.70680361e-03 -9.24907974e-05 9.99983712e-01 -1.72256984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.985336195 meters Centerline goodness : 0.998437 with order 1 Centerline is valid? [True, True] Translation: X:1216.38, Y:207.80, Z:-17.23 [[ 9.73173536e-01 2.30004813e-01 5.57275433e-03 1.21638375e+03] [-2.30001521e-01 9.73189488e-01 -1.23311441e-03 2.07795443e+02] [-5.70696818e-03 -8.17076682e-05 9.99983712e-01 -1.72260917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.045336195 meters Centerline goodness : 0.999019 with order 1 Centerline is valid? [True, True] Translation: X:1216.44, Y:207.79, Z:-17.24 [[ 9.73902172e-01 2.26899762e-01 5.57291469e-03 1.21644181e+03] [-2.26896424e-01 9.73918115e-01 -1.23238925e-03 2.07789828e+02] [-5.70719139e-03 -6.42478541e-05 9.99983712e-01 -1.72361673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.1053361949998 meters Centerline goodness : 0.998880 with order 1 Centerline is valid? [True, True] Translation: X:1216.50, Y:207.78, Z:-17.24 [[ 9.74248359e-01 2.25408687e-01 5.57300154e-03 1.21649818e+03] [-2.25405327e-01 9.74264297e-01 -1.23199639e-03 2.07779565e+02] [-5.70727911e-03 -5.59137696e-05 9.99983712e-01 -1.72379293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.1653361949998 meters Centerline goodness : 0.999049 with order 1 Centerline is valid? [True, True] Translation: X:1216.56, Y:207.77, Z:-17.24 [[ 9.75086322e-01 2.21755733e-01 5.57310157e-03 1.21655600e+03] [-2.21752316e-01 9.75102248e-01 -1.23154369e-03 2.07771651e+02] [-5.70744575e-03 -3.49867749e-05 9.99983712e-01 -1.72379221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.225336195 meters Centerline goodness : 0.998967 with order 1 Centerline is valid? [True, True] Translation: X:1216.61, Y:207.77, Z:-17.24 [[ 9.76639069e-01 2.14814035e-01 5.57318490e-03 1.21661361e+03] [-2.14810507e-01 9.76654970e-01 -1.23116650e-03 2.07766219e+02] [-5.70755057e-03 5.22663327e-06 9.99983712e-01 -1.72368088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.285336195 meters Centerline goodness : 0.999233 with order 1 Centerline is valid? [True, True] Translation: X:1216.67, Y:207.76, Z:-17.24 [[ 9.78442074e-01 2.06446233e-01 5.57325363e-03 1.21667148e+03] [-2.06442571e-01 9.78457945e-01 -1.23085530e-03 2.07758134e+02] [-5.70729973e-03 5.37638064e-05 9.99983712e-01 -1.72370147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.3453361949998 meters Centerline goodness : 0.999059 with order 1 Centerline is valid? [True, True] Translation: X:1216.73, Y:207.75, Z:-17.24 [[ 9.79818017e-01 1.99813892e-01 5.57333508e-03 1.21672956e+03] [-1.99810125e-01 9.79833863e-01 -1.23048637e-03 2.07749159e+02] [-5.70681071e-03 9.20439371e-05 9.99983712e-01 -1.72384460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.4053361949998 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:1216.79, Y:207.74, Z:-17.24 [[ 9.80415314e-01 1.96862261e-01 5.57339033e-03 1.21678669e+03] [-1.96858447e-01 9.80431149e-01 -1.23023605e-03 2.07739394e+02] [-5.70651254e-03 1.08973299e-04 9.99983712e-01 -1.72381048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.465336195 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:1216.84, Y:207.73, Z:-17.24 [[ 9.81118929e-01 1.93325074e-01 5.57347523e-03 1.21684404e+03] [-1.93321205e-01 9.81134751e-01 -1.22985132e-03 2.07732612e+02] [-5.70609133e-03 1.29159459e-04 9.99983712e-01 -1.72370263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.525336195 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:1216.90, Y:207.72, Z:-17.24 [[ 9.81457025e-01 1.91601260e-01 5.57354538e-03 1.21690112e+03] [-1.91597366e-01 9.81472841e-01 -1.22953330e-03 2.07720983e+02] [-5.70586355e-03 1.38857482e-04 9.99983712e-01 -1.72370051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.5853361949999 meters Centerline goodness : 0.998909 with order 1 Centerline is valid? [True, True] Translation: X:1216.96, Y:207.71, Z:-17.23 [[ 9.81859665e-01 1.89527128e-01 5.57363094e-03 1.21695765e+03] [-1.89523202e-01 9.81875473e-01 -1.22914536e-03 2.07708910e+02] [-5.70556790e-03 1.50515868e-04 9.99983712e-01 -1.72317325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.6453361949998 meters Centerline goodness : 0.999328 with order 1 Centerline is valid? [True, True] Translation: X:1217.02, Y:207.69, Z:-17.24 [[ 9.82052050e-01 1.88527728e-01 5.57370136e-03 1.21701510e+03] [-1.88523787e-01 9.82067855e-01 -1.22882594e-03 2.07694389e+02] [-5.70542070e-03 1.55995743e-04 9.99983712e-01 -1.72369334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.705336195 meters Centerline goodness : 0.999278 with order 1 Centerline is valid? [True, True] Translation: X:1217.07, Y:207.68, Z:-17.24 [[ 9.82131872e-01 1.88111453e-01 5.57376033e-03 1.21707044e+03] [-1.88107508e-01 9.82147675e-01 -1.22855839e-03 2.07681554e+02] [-5.70536166e-03 1.58140189e-04 9.99983712e-01 -1.72382994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.765336195 meters Centerline goodness : 0.999172 with order 1 Centerline is valid? [True, True] Translation: X:1217.13, Y:207.67, Z:-17.24 [[ 9.82186405e-01 1.87826507e-01 5.57390944e-03 1.21712670e+03] [-1.87822561e-01 9.82202208e-01 -1.22788150e-03 2.07665271e+02] [-5.70533486e-03 1.59102569e-04 9.99983712e-01 -1.72389387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.8253361949999 meters Centerline goodness : 0.999167 with order 1 Centerline is valid? [True, True] Translation: X:1217.18, Y:207.65, Z:-17.24 [[ 9.81936917e-01 1.89126470e-01 5.57399155e-03 1.21718353e+03] [-1.89122547e-01 9.81952726e-01 -1.22750866e-03 2.07647962e+02] [-5.70555058e-03 1.51168585e-04 9.99983712e-01 -1.72418664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.8853361949998 meters Centerline goodness : 0.999316 with order 1 Centerline is valid? [True, True] Translation: X:1217.24, Y:207.63, Z:-17.25 [[ 9.81224437e-01 1.92788831e-01 5.57404595e-03 1.21723882e+03] [-1.92784969e-01 9.81240261e-01 -1.22726157e-03 2.07631837e+02] [-5.70608063e-03 1.29626769e-04 9.99983712e-01 -1.72458587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.945336195 meters Centerline goodness : 0.999252 with order 1 Centerline is valid? [True, True] Translation: X:1217.30, Y:207.62, Z:-17.24 [[ 9.80137525e-01 1.98240663e-01 5.57411321e-03 1.21729548e+03] [-1.98236890e-01 9.80153371e-01 -1.22695604e-03 2.07617131e+02] [-5.70671843e-03 9.75907890e-05 9.99983712e-01 -1.72443792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.005336195 meters Centerline goodness : 0.999202 with order 1 Centerline is valid? [True, True] Translation: X:1217.35, Y:207.60, Z:-17.24 [[ 9.79021452e-01 2.03680937e-01 5.57419776e-03 1.21735191e+03] [-2.03677255e-01 9.79037319e-01 -1.22657180e-03 2.07602976e+02] [-5.70717692e-03 6.55028116e-05 9.99983712e-01 -1.72359928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.0653361949999 meters Centerline goodness : 0.999068 with order 1 Centerline is valid? [True, True] Translation: X:1217.41, Y:207.59, Z:-17.23 [[ 9.78249671e-01 2.07355996e-01 5.57428451e-03 1.21740971e+03] [-2.07352375e-01 9.78265551e-01 -1.22617742e-03 2.07589646e+02] [-5.70738575e-03 4.36665198e-05 9.99983712e-01 -1.72331900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.1253361949998 meters Centerline goodness : 0.999377 with order 1 Centerline is valid? [True, True] Translation: X:1217.47, Y:207.58, Z:-17.24 [[ 9.77297142e-01 2.11799959e-01 5.57434483e-03 1.21746578e+03] [-2.11796412e-01 9.77313039e-01 -1.22590315e-03 2.07576800e+02] [-5.70752612e-03 1.74454092e-05 9.99983712e-01 -1.72414827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.1853361949998 meters Centerline goodness : 0.999464 with order 1 Centerline is valid? [True, True] Translation: X:1217.52, Y:207.56, Z:-17.24 [[ 9.76819012e-01 2.13994261e-01 5.57441941e-03 1.21752327e+03] [-2.13990751e-01 9.76834918e-01 -1.22556390e-03 2.07563398e+02] [-5.70755117e-03 4.27991600e-06 9.99983712e-01 -1.72407882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.245336195 meters Centerline goodness : 0.999316 with order 1 Centerline is valid? [True, True] Translation: X:1217.58, Y:207.55, Z:-17.24 [[ 9.77022724e-01 2.13062250e-01 5.57447733e-03 1.21758036e+03] [-2.13058727e-01 9.77038626e-01 -1.22530042e-03 2.07551114e+02] [-5.70754493e-03 9.45531271e-06 9.99983712e-01 -1.72410136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.3053361949999 meters Centerline goodness : 0.999339 with order 1 Centerline is valid? [True, True] Translation: X:1217.64, Y:207.54, Z:-17.24 [[ 9.77920351e-01 2.08903591e-01 5.57456454e-03 1.21763652e+03] [-2.08900003e-01 9.77936239e-01 -1.22490351e-03 2.07536382e+02] [-5.70745542e-03 3.33315246e-05 9.99983712e-01 -1.72438027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.3653361949998 meters Centerline goodness : 0.999424 with order 1 Centerline is valid? [True, True] Translation: X:1217.69, Y:207.52, Z:-17.25 [[ 9.78595697e-01 2.05716760e-01 5.57463655e-03 1.21769388e+03] [-2.05713122e-01 9.78611574e-01 -1.22457571e-03 2.07521038e+02] [-5.70731959e-03 5.15886365e-05 9.99983712e-01 -1.72458251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.4253361949998 meters Centerline goodness : 0.999337 with order 1 Centerline is valid? [True, True] Translation: X:1217.75, Y:207.50, Z:-17.25 [[ 9.79634411e-01 2.00712090e-01 5.57467902e-03 1.21774998e+03] [-2.00708372e-01 9.79650269e-01 -1.22438231e-03 2.07504314e+02] [-5.70698414e-03 8.05622918e-05 9.99983712e-01 -1.72459576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.485336195 meters Centerline goodness : 0.999446 with order 1 Centerline is valid? [True, True] Translation: X:1217.80, Y:207.49, Z:-17.25 [[ 9.80562488e-01 1.96127839e-01 5.57476630e-03 1.21780425e+03] [-1.96124049e-01 9.80578329e-01 -1.22398480e-03 2.07486363e+02] [-5.70655252e-03 1.06847842e-04 9.99983712e-01 -1.72471440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.545336195 meters Centerline goodness : 0.999615 with order 1 Centerline is valid? [True, True] Translation: X:1217.86, Y:207.47, Z:-17.24 [[ 9.81292366e-01 1.92442752e-01 5.57486621e-03 1.21786022e+03] [-1.92438905e-01 9.81308194e-01 -1.22352956e-03 2.07467680e+02] [-5.70612129e-03 1.27819074e-04 9.99983712e-01 -1.72441471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.6053361949998 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:1217.92, Y:207.45, Z:-17.24 [[ 9.81775130e-01 1.89964506e-01 5.57492282e-03 1.21791697e+03] [-1.89960621e-01 9.81790948e-01 -1.22327159e-03 2.07450483e+02] [-5.70578694e-03 1.41961822e-04 9.99983712e-01 -1.72443971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.6653361949998 meters Centerline goodness : 0.999534 with order 1 Centerline is valid? [True, True] Translation: X:1217.97, Y:207.43, Z:-17.25 [[ 9.82171675e-01 1.87903486e-01 5.57498120e-03 1.21797196e+03] [-1.87899569e-01 9.82187485e-01 -1.22300545e-03 2.07430371e+02] [-5.70548376e-03 1.53664740e-04 9.99983712e-01 -1.72470325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.725336195 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:1218.03, Y:207.41, Z:-17.25 [[ 9.82135190e-01 1.88094092e-01 5.57505348e-03 1.21802807e+03] [-1.88090180e-01 9.82151001e-01 -1.22267587e-03 2.07409753e+02] [-5.70552247e-03 1.52220185e-04 9.99983712e-01 -1.72461420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.785336195 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:1218.08, Y:207.39, Z:-17.25 [[ 9.81723790e-01 1.90229645e-01 5.57511187e-03 1.21808309e+03] [-1.90225768e-01 9.81739611e-01 -1.22240957e-03 2.07389018e+02] [-5.70584670e-03 1.39538619e-04 9.99983712e-01 -1.72469841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.8453361949998 meters Centerline goodness : 0.999632 with order 1 Centerline is valid? [True, True] Translation: X:1218.14, Y:207.37, Z:-17.25 [[ 9.81007104e-01 1.93891671e-01 5.57518431e-03 1.21813865e+03] [-1.93887855e-01 9.81022939e-01 -1.22207909e-03 2.07369403e+02] [-5.70633465e-03 1.17907740e-04 9.99983712e-01 -1.72454854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.9053361949998 meters Centerline goodness : 0.999615 with order 1 Centerline is valid? [True, True] Translation: X:1218.19, Y:207.35, Z:-17.24 [[ 9.80477382e-01 1.96552843e-01 5.57524271e-03 1.21819443e+03] [-1.96549072e-01 9.80493228e-01 -1.22181262e-03 2.07351916e+02] [-5.70663846e-03 1.02150859e-04 9.99983712e-01 -1.72443690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.965336195 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:1218.25, Y:207.33, Z:-17.24 [[ 9.79555884e-01 2.01094969e-01 5.57531519e-03 1.21825008e+03] [-2.01091273e-01 9.79571747e-01 -1.22148181e-03 2.07332836e+02] [-5.70705508e-03 7.53624617e-05 9.99983712e-01 -1.72432524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.025336195 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:1218.31, Y:207.32, Z:-17.24 [[ 9.79224096e-01 2.02704429e-01 5.57537303e-03 1.21830698e+03] [-2.02700761e-01 9.79239966e-01 -1.22121774e-03 2.07318177e+02] [-5.70717434e-03 6.57134814e-05 9.99983712e-01 -1.72436570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.0853361949999 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:1218.36, Y:207.30, Z:-17.25 [[ 9.77988483e-01 2.08584376e-01 5.57543086e-03 1.21836208e+03] [-2.08580805e-01 9.78004375e-01 -1.22095365e-03 2.07298521e+02] [-5.70746763e-03 3.11507559e-05 9.99983712e-01 -1.72455735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.1453361949998 meters Centerline goodness : 0.999637 with order 1 Centerline is valid? [True, True] Translation: X:1218.42, Y:207.28, Z:-17.25 [[ 9.77576483e-01 2.10506848e-01 5.57550240e-03 1.21841891e+03] [-2.10503310e-01 9.77592383e-01 -1.22062689e-03 2.07281581e+02] [-5.70751899e-03 1.95944291e-05 9.99983712e-01 -1.72463961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.205336195 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:1218.48, Y:207.26, Z:-17.25 [[ 9.77137134e-01 2.12536901e-01 5.57556003e-03 1.21847567e+03] [-2.12533397e-01 9.77153041e-01 -1.22036360e-03 2.07263377e+02] [-5.70754773e-03 7.46987783e-06 9.99983712e-01 -1.72459418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.265336195 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:1218.53, Y:207.24, Z:-17.25 [[ 9.76891775e-01 2.13661819e-01 5.57559017e-03 1.21853156e+03] [-2.13658334e-01 9.76907686e-01 -1.22022587e-03 2.07244138e+02] [-5.70755257e-03 7.57311667e-07 9.99983712e-01 -1.72451906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.3253361949999 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:1218.59, Y:207.23, Z:-17.25 [[ 9.76793258e-01 2.14111756e-01 5.57562057e-03 1.21858801e+03] [-2.14108280e-01 9.76809171e-01 -1.22008696e-03 2.07228129e+02] [-5.70755226e-03 -2.01381543e-06 9.99983712e-01 -1.72451242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.3853361949998 meters Centerline goodness : 0.999593 with order 1 Centerline is valid? [True, True] Translation: X:1218.65, Y:207.21, Z:-17.24 [[ 9.76356098e-01 2.16096463e-01 5.57566462e-03 1.21864588e+03] [-2.16093020e-01 9.76372019e-01 -1.21988561e-03 2.07211818e+02] [-5.70753588e-03 -1.38194478e-05 9.99983712e-01 -1.72377443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.445336195 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:1218.70, Y:207.19, Z:-17.25 [[ 9.76036969e-01 2.17533325e-01 5.57569373e-03 1.21870290e+03] [-2.17529907e-01 9.76052894e-01 -1.21975253e-03 2.07193225e+02] [-5.70750883e-03 -2.23565769e-05 9.99983712e-01 -1.72474834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.505336195 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:1218.76, Y:207.18, Z:-17.25 [[ 9.75495338e-01 2.19949445e-01 5.57567625e-03 1.21876115e+03] [-2.19946065e-01 9.75511271e-01 -1.21983242e-03 2.07175287e+02] [-5.70743649e-03 -3.64072114e-05 9.99983712e-01 -1.72459048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.5653361949999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1218.82, Y:207.16, Z:-17.25 [[ 9.74546742e-01 2.24115058e-01 5.57567625e-03 1.21881846e+03] [-2.24111746e-01 9.74562690e-01 -1.21983242e-03 2.07161155e+02] [-5.70722886e-03 -6.07908287e-05 9.99983712e-01 -1.72464068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.6253361949998 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1218.88, Y:207.15, Z:-17.25 [[ 9.73953600e-01 2.26678843e-01 5.57566061e-03 1.21887600e+03] [-2.26675573e-01 9.73969556e-01 -1.21990390e-03 2.07147048e+02] [-5.70705010e-03 -7.57362720e-05 9.99983712e-01 -1.72472088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.6853361949998 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:1218.93, Y:207.13, Z:-17.25 [[ 9.73324697e-01 2.29364220e-01 5.57568892e-03 1.21893463e+03] [-2.29360995e-01 9.73340663e-01 -1.21977451e-03 2.07134449e+02] [-5.70681738e-03 -9.16089048e-05 9.99983712e-01 -1.72503540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.745336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:1218.99, Y:207.12, Z:-17.25 [[ 9.73045971e-01 2.30543814e-01 5.57571687e-03 1.21899297e+03] [-2.30540609e-01 9.73061941e-01 -1.21964674e-03 2.07122653e+02] [-5.70669989e-03 -9.86568184e-05 9.99983712e-01 -1.72490778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.8053361949999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:1219.05, Y:207.11, Z:-17.24 [[ 9.73274756e-01 2.29576044e-01 5.57574487e-03 1.21905318e+03] [-2.29572824e-01 9.73290723e-01 -1.21951871e-03 2.07111534e+02] [-5.70679304e-03 -9.31127232e-05 9.99983712e-01 -1.72437436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.8653361949998 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:1219.11, Y:207.10, Z:-17.24 [[ 9.73651575e-01 2.27972634e-01 5.57571532e-03 1.21911278e+03] [-2.27969387e-01 9.73667536e-01 -1.21965382e-03 2.07098245e+02] [-5.70694069e-03 -8.35745423e-05 9.99983712e-01 -1.72421524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.9253361949998 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1219.17, Y:207.09, Z:-17.24 [[ 9.74597949e-01 2.23892273e-01 5.57568562e-03 1.21917236e+03] [-2.23888958e-01 9.74613896e-01 -1.21978954e-03 2.07087455e+02] [-5.70724214e-03 -5.95300596e-05 9.99983712e-01 -1.72423411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.985336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1219.23, Y:207.08, Z:-17.25 [[ 9.75751801e-01 2.18808902e-01 5.57567094e-03 1.21923219e+03] [-2.18805503e-01 9.75767730e-01 -1.21985667e-03 2.07075526e+02] [-5.70747527e-03 -2.97101457e-05 9.99983712e-01 -1.72455018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.045336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1219.29, Y:207.06, Z:-17.25 [[ 9.76521264e-01 2.15348863e-01 5.57565684e-03 1.21929197e+03] [-2.15345408e-01 9.76537182e-01 -1.21992110e-03 2.07062472e+02] [-5.70754484e-03 -9.41320330e-06 9.99983712e-01 -1.72467499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.1053361949998 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1219.35, Y:207.05, Z:-17.25 [[ 9.77593674e-01 2.10426998e-01 5.57562770e-03 1.21935206e+03] [-2.10423462e-01 9.77609573e-01 -1.22005427e-03 2.07049568e+02] [-5.70751938e-03 1.94744534e-05 9.99983712e-01 -1.72485757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.1653361949998 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1219.41, Y:207.04, Z:-17.25 [[ 9.77884549e-01 2.09071090e-01 5.57559863e-03 1.21941071e+03] [-2.09067532e-01 9.77900444e-01 -1.22018712e-03 2.07036387e+02] [-5.70748622e-03 2.75254853e-05 9.99983712e-01 -1.72496886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.225336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1219.47, Y:207.02, Z:-17.25 [[ 9.78092279e-01 2.08097106e-01 5.57558417e-03 1.21946919e+03] [-2.08093531e-01 9.78108171e-01 -1.22025319e-03 2.07024483e+02] [-5.70745559e-03 3.32772243e-05 9.99983712e-01 -1.72482758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.285336195 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:1219.53, Y:207.01, Z:-17.25 [[ 9.78212000e-01 2.07533603e-01 5.57561075e-03 1.21952671e+03] [-2.07530020e-01 9.78227889e-01 -1.22013170e-03 2.07010553e+02] [-5.70743626e-03 3.64408648e-05 9.99983712e-01 -1.72499543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.3453361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1219.58, Y:207.00, Z:-17.25 [[ 9.78159418e-01 2.07781293e-01 5.57563708e-03 1.21958469e+03] [-2.07777714e-01 9.78175308e-01 -1.22001139e-03 2.06998161e+02] [-5.70744606e-03 3.48725011e-05 9.99983712e-01 -1.72510316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.4053361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1219.64, Y:206.98, Z:-17.25 [[ 9.77793426e-01 2.09496842e-01 5.57568920e-03 1.21964308e+03] [-2.09493293e-01 9.77809323e-01 -1.21977315e-03 2.06983427e+02] [-5.70749950e-03 2.46166813e-05 9.99983712e-01 -1.72470384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.465336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1219.70, Y:206.97, Z:-17.24 [[ 9.77316068e-01 2.11712576e-01 5.57568920e-03 1.21970100e+03] [-2.11709062e-01 9.77331973e-01 -1.21977315e-03 2.06970160e+02] [-5.70754064e-03 1.16799700e-05 9.99983712e-01 -1.72426652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.525336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1219.76, Y:206.96, Z:-17.25 [[ 9.76514743e-01 2.15378428e-01 5.57570327e-03 1.21975722e+03] [-2.15374975e-01 9.76530661e-01 -1.21970883e-03 2.06955847e+02] [-5.70754417e-03 -9.80329016e-06 9.99983712e-01 -1.72482802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.5853361949999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1219.81, Y:206.94, Z:-17.25 [[ 9.75424719e-01 2.20262408e-01 5.57576783e-03 1.21981446e+03] [-2.20259036e-01 9.75440654e-01 -1.21941361e-03 2.06942884e+02] [-5.70742160e-03 -3.86670650e-05 9.99983712e-01 -1.72488489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.6453361949998 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:1219.87, Y:206.93, Z:-17.25 [[ 9.74121848e-01 2.25954721e-01 5.57581862e-03 1.21987317e+03] [-2.25951444e-01 9.74137803e-01 -1.21918132e-03 2.06931293e+02] [-5.70709548e-03 -7.22331054e-05 9.99983712e-01 -1.72460037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.705336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1219.93, Y:206.92, Z:-17.25 [[ 9.72761759e-01 2.31740092e-01 5.57584740e-03 1.21993088e+03] [-2.31736910e-01 9.72777733e-01 -1.21904971e-03 2.06921342e+02] [-5.70656288e-03 -1.06284703e-04 9.99983712e-01 -1.72478383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1219.99, Y:206.91, Z:-17.25 [[ 9.71650163e-01 2.36357504e-01 5.57588986e-03 1.21998926e+03] [-2.36354399e-01 9.71666153e-01 -1.21885545e-03 2.06914303e+02] [-5.70598908e-03 -1.33584999e-04 9.99983712e-01 -1.72456051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.8253361949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1220.05, Y:206.91, Z:-17.25 [[ 9.71289810e-01 2.37834006e-01 5.57594739e-03 1.22004794e+03] [-2.37830927e-01 9.71305804e-01 -1.21859223e-03 2.06906084e+02] [-5.70577273e-03 -1.42526516e-04 9.99983712e-01 -1.72460633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.8853361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1220.11, Y:206.90, Z:-17.25 [[ 9.71649889e-01 2.36358631e-01 5.57600490e-03 1.22010525e+03] [-2.36355529e-01 9.71665879e-01 -1.21832900e-03 2.06896479e+02] [-5.70597628e-03 -1.34130351e-04 9.99983712e-01 -1.72493242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1220.16, Y:206.89, Z:-17.25 [[ 9.72325032e-01 2.33565708e-01 5.57607675e-03 1.22016336e+03] [-2.33562562e-01 9.72341013e-01 -1.21800008e-03 2.06886263e+02] [-5.70633117e-03 -1.18070809e-04 9.99983712e-01 -1.72501664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.005336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1220.22, Y:206.88, Z:-17.24 [[ 9.73646055e-01 2.27996200e-01 5.57613297e-03 1.22022132e+03] [-2.27992964e-01 9.73662018e-01 -1.21774266e-03 2.06877273e+02] [-5.70690957e-03 -8.56687501e-05 9.99983712e-01 -1.72442826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.0653361949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1220.28, Y:206.87, Z:-17.25 [[ 9.74995315e-01 2.22155447e-01 5.57618904e-03 1.22027936e+03] [-2.22152117e-01 9.75011259e-01 -1.21748583e-03 2.06865558e+02] [-5.70731820e-03 -5.17192258e-05 9.99983712e-01 -1.72525239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.1253361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1220.34, Y:206.86, Z:-17.25 [[ 9.75799321e-01 2.18596868e-01 5.57624538e-03 1.22033730e+03] [-2.18593481e-01 9.75815253e-01 -1.21722772e-03 2.06855566e+02] [-5.70746747e-03 -3.11609105e-05 9.99983712e-01 -1.72524532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.1853361949998 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:1220.39, Y:206.85, Z:-17.25 [[ 9.76736748e-01 2.14369377e-01 5.57630136e-03 1.22039403e+03] [-2.14365923e-01 9.76752666e-01 -1.21697124e-03 2.06845926e+02] [-5.70754858e-03 -6.70845216e-06 9.99983712e-01 -1.72460700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.245336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:1220.45, Y:206.83, Z:-17.26 [[ 9.77523725e-01 2.10751679e-01 5.57638055e-03 1.22045111e+03] [-2.10748168e-01 9.77539631e-01 -1.21660826e-03 2.06831509e+02] [-5.70753522e-03 1.40514536e-05 9.99983712e-01 -1.72557986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.3053361949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1220.51, Y:206.82, Z:-17.26 [[ 9.77729856e-01 2.09793310e-01 5.57643577e-03 1.22050941e+03] [-2.09789785e-01 9.77745758e-01 -1.21635512e-03 2.06817777e+02] [-5.70751958e-03 1.93874558e-05 9.99983712e-01 -1.72560012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.3653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1220.57, Y:206.80, Z:-17.26 [[ 9.77579901e-01 2.10490951e-01 5.57646497e-03 1.22056696e+03] [-2.10487438e-01 9.77595806e-01 -1.21622121e-03 2.06804830e+02] [-5.70753232e-03 1.51775856e-05 9.99983712e-01 -1.72556968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.4253361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1220.62, Y:206.79, Z:-17.26 [[ 9.76722557e-01 2.14434023e-01 5.57650822e-03 1.22062475e+03] [-2.14430575e-01 9.76738476e-01 -1.21602288e-03 2.06792468e+02] [-5.70754681e-03 -8.05689003e-06 9.99983712e-01 -1.72551362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1220.68, Y:206.78, Z:-17.26 [[ 9.75618344e-01 2.19403166e-01 5.57656171e-03 1.22068170e+03] [-2.19399801e-01 9.75634280e-01 -1.21577753e-03 2.06781373e+02] [-5.70743021e-03 -3.73616654e-05 9.99983712e-01 -1.72561879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.545336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1220.74, Y:206.77, Z:-17.25 [[ 9.74839435e-01 2.22838457e-01 5.57664105e-03 1.22074009e+03] [-2.22835150e-01 9.74855384e-01 -1.21541348e-03 2.06770680e+02] [-5.70725942e-03 -5.78386540e-05 9.99983712e-01 -1.72502062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.6053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1220.80, Y:206.76, Z:-17.26 [[ 9.74581863e-01 2.23962256e-01 5.57668400e-03 1.22079745e+03] [-2.23958969e-01 9.74597816e-01 -1.21521640e-03 2.06757333e+02] [-5.70718665e-03 -6.46205306e-05 9.99983712e-01 -1.72565546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.6653361949998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1220.85, Y:206.74, Z:-17.26 [[ 9.74465580e-01 2.24467668e-01 5.57674275e-03 1.22085459e+03] [-2.24464391e-01 9.74481535e-01 -1.21494674e-03 2.06744662e+02] [-5.70714909e-03 -6.78563878e-05 9.99983712e-01 -1.72561757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.725336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1220.91, Y:206.74, Z:-17.26 [[ 9.74159184e-01 2.25793675e-01 5.57680145e-03 1.22091213e+03] [-2.25790421e-01 9.74175144e-01 -1.21467724e-03 2.06735013e+02] [-5.70704779e-03 -7.58993579e-05 9.99983712e-01 -1.72592981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.785336195 meters Centerline goodness : 0.999569 with order 1 Centerline is valid? [True, True] Translation: X:1220.97, Y:206.72, Z:-17.25 [[ 9.74242443e-01 2.25434160e-01 5.57687415e-03 1.22097040e+03] [-2.25430902e-01 9.74258402e-01 -1.21434333e-03 2.06724720e+02] [-5.70707097e-03 -7.41349564e-05 9.99983712e-01 -1.72525705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.8453361949998 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1221.03, Y:206.71, Z:-17.26 [[ 9.74770230e-01 2.23140979e-01 5.57693192e-03 1.22102720e+03] [-2.23137685e-01 9.74786181e-01 -1.21407797e-03 2.06711677e+02] [-5.70722672e-03 -6.09766159e-05 9.99983712e-01 -1.72585974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.9053361949998 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1221.08, Y:206.70, Z:-17.25 [[ 9.75503516e-01 2.19913134e-01 5.57700929e-03 1.22108445e+03] [-2.19909789e-01 9.75519457e-01 -1.21372246e-03 2.06700299e+02] [-5.70739459e-03 -4.24484098e-05 9.99983712e-01 -1.72511696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.965336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1221.14, Y:206.69, Z:-17.26 [[ 9.75745427e-01 2.18837287e-01 5.57708001e-03 1.22114197e+03] [-2.18833926e-01 9.75761365e-01 -1.21339744e-03 2.06688113e+02] [-5.70743580e-03 -3.64873104e-05 9.99983712e-01 -1.72579751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1221.20, Y:206.68, Z:-17.26 [[ 9.75658267e-01 2.19225550e-01 5.57713759e-03 1.22119924e+03] [-2.19222197e-01 9.75674206e-01 -1.21313272e-03 2.06675379e+02] [-5.70741898e-03 -3.90293904e-05 9.99983712e-01 -1.72579581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.0853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1221.26, Y:206.66, Z:-17.26 [[ 9.75462893e-01 2.20093251e-01 5.57719649e-03 1.22125565e+03] [-2.20089913e-01 9.75478836e-01 -1.21286185e-03 2.06664507e+02] [-5.70737985e-03 -4.43829599e-05 9.99983712e-01 -1.72587568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.1453361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1221.31, Y:206.65, Z:-17.26 [[ 9.75379206e-01 2.20463824e-01 5.57726923e-03 1.22131342e+03] [-2.20460495e-01 9.75395151e-01 -1.21252729e-03 2.06652714e+02] [-5.70735976e-03 -4.68936306e-05 9.99983712e-01 -1.72593101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.205336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1221.37, Y:206.64, Z:-17.26 [[ 9.75243126e-01 2.21065010e-01 5.57732571e-03 1.22137085e+03] [-2.21061692e-01 9.75259073e-01 -1.21226743e-03 2.06640473e+02] [-5.70732741e-03 -5.06775760e-05 9.99983712e-01 -1.72586565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1221.43, Y:206.63, Z:-17.26 [[ 9.75223306e-01 2.21152426e-01 5.57738518e-03 1.22142751e+03] [-2.21149110e-01 9.75239254e-01 -1.21199377e-03 2.06629617e+02] [-5.70732032e-03 -5.14692008e-05 9.99983712e-01 -1.72588403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.3253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1221.48, Y:206.62, Z:-17.26 [[ 9.75344792e-01 2.20616021e-01 5.57745858e-03 1.22148365e+03] [-2.20612699e-01 9.75360738e-01 -1.21165590e-03 2.06617339e+02] [-5.70734482e-03 -4.86759139e-05 9.99983712e-01 -1.72600473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.3853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1221.54, Y:206.60, Z:-17.26 [[ 9.75897551e-01 2.18157883e-01 5.57752965e-03 1.22154003e+03] [-2.18154523e-01 9.75913488e-01 -1.21132863e-03 2.06603082e+02] [-5.70744731e-03 -3.46306709e-05 9.99983712e-01 -1.72613663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.445336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1221.60, Y:206.59, Z:-17.26 [[ 9.76646613e-01 2.14779616e-01 5.57759917e-03 1.22159725e+03] [-2.14776202e-01 9.76662540e-01 -1.21100843e-03 2.06589834e+02] [-5.70753210e-03 -1.52082850e-05 9.99983712e-01 -1.72618834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.505336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1221.65, Y:206.58, Z:-17.26 [[ 9.77270317e-01 2.11923611e-01 5.57765575e-03 1.22165500e+03] [-2.11920152e-01 9.77286234e-01 -1.21074779e-03 2.06575135e+02] [-5.70755223e-03 1.21022367e-06 9.99983712e-01 -1.72601897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.5653361949999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1221.71, Y:206.56, Z:-17.26 [[ 9.77841205e-01 2.09273664e-01 5.57768461e-03 1.22171259e+03] [-2.09270163e-01 9.77857113e-01 -1.21061482e-03 2.06558382e+02] [-5.70752837e-03 1.65460843e-05 9.99983712e-01 -1.72614171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.6253361949998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1221.77, Y:206.54, Z:-17.26 [[ 9.78178017e-01 2.07693658e-01 5.57771368e-03 1.22177014e+03] [-2.07690132e-01 9.78193919e-01 -1.21048088e-03 2.06543603e+02] [-5.70749481e-03 2.56296965e-05 9.99983712e-01 -1.72630589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.6853361949998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1221.83, Y:206.53, Z:-17.26 [[ 9.78553829e-01 2.05915742e-01 5.57774257e-03 1.22182816e+03] [-2.05912188e-01 9.78569725e-01 -1.21034775e-03 2.06526011e+02] [-5.70743966e-03 3.58652473e-05 9.99983712e-01 -1.72619450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.745336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1221.89, Y:206.51, Z:-17.26 [[ 9.78530567e-01 2.06026258e-01 5.57774257e-03 1.22188574e+03] [-2.06022705e-01 9.78546463e-01 -1.21034775e-03 2.06508316e+02] [-5.70744368e-03 3.52206520e-05 9.99983712e-01 -1.72608988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.8053361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1221.94, Y:206.49, Z:-17.26 [[ 9.78305964e-01 2.07090150e-01 5.57772803e-03 1.22194443e+03] [-2.07086615e-01 9.78321864e-01 -1.21041476e-03 2.06491456e+02] [-5.70747825e-03 2.90831580e-05 9.99983712e-01 -1.72592204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.8653361949998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1222.00, Y:206.48, Z:-17.26 [[ 9.77928432e-01 2.08865678e-01 5.57769890e-03 1.22200255e+03] [-2.08862171e-01 9.77944338e-01 -1.21054896e-03 2.06475682e+02] [-5.70752119e-03 1.88599396e-05 9.99983712e-01 -1.72588623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.9253361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1222.06, Y:206.46, Z:-17.26 [[ 9.77125396e-01 2.12590803e-01 5.57768451e-03 1.22206173e+03] [-2.12587356e-01 9.77141315e-01 -1.21061528e-03 2.06458746e+02] [-5.70755165e-03 -2.82227362e-06 9.99983712e-01 -1.72609430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.985336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1222.12, Y:206.44, Z:-17.26 [[ 9.76065133e-01 2.17406869e-01 5.57765583e-03 1.22211980e+03] [-2.17403500e-01 9.76081069e-01 -1.21074737e-03 2.06442551e+02] [-5.70746906e-03 -3.08336030e-05 9.99983712e-01 -1.72638270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.045336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1222.18, Y:206.43, Z:-17.26 [[ 9.74945902e-01 2.22372163e-01 5.57765583e-03 1.22217972e+03] [-2.22368875e-01 9.74961854e-01 -1.21074737e-03 2.06427898e+02] [-5.70723819e-03 -5.98838630e-05 9.99983712e-01 -1.72629874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.1053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1222.24, Y:206.41, Z:-17.26 [[ 9.74192179e-01 2.25651254e-01 5.57762668e-03 1.22223891e+03] [-2.25648019e-01 9.74208143e-01 -1.21088165e-03 2.06414234e+02] [-5.70700629e-03 -7.89489808e-05 9.99983712e-01 -1.72645597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.1653361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1222.30, Y:206.40, Z:-17.26 [[ 9.73832221e-01 2.27199683e-01 5.57761229e-03 1.22229755e+03] [-2.27196473e-01 9.73848190e-01 -1.21094793e-03 2.06401646e+02] [-5.70687462e-03 -8.79537299e-05 9.99983712e-01 -1.72640962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.225336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1222.36, Y:206.39, Z:-17.26 [[ 9.73569172e-01 2.28324236e-01 5.57762652e-03 1.22235624e+03] [-2.28321044e-01 9.73585145e-01 -1.21088240e-03 2.06388727e+02] [-5.70676812e-03 -9.46117397e-05 9.99983712e-01 -1.72625796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.285336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1222.42, Y:206.38, Z:-17.26 [[ 9.73780910e-01 2.27419501e-01 5.57762652e-03 1.22241528e+03] [-2.27416295e-01 9.73796880e-01 -1.21088240e-03 2.06375240e+02] [-5.70685357e-03 -8.93089954e-05 9.99983712e-01 -1.72634191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.3453361949998 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1222.47, Y:206.36, Z:-17.26 [[ 9.74605326e-01 2.23860111e-01 5.57761239e-03 1.22247498e+03] [-2.23856846e-01 9.74621283e-01 -1.21094746e-03 2.06362198e+02] [-5.70714258e-03 -6.83908809e-05 9.99983712e-01 -1.72638504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.4053361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1222.53, Y:206.35, Z:-17.26 [[ 9.75427506e-01 2.20250019e-01 5.57758429e-03 1.22253417e+03] [-2.20246694e-01 9.75443452e-01 -1.21107690e-03 2.06349965e+02] [-5.70735778e-03 -4.71267840e-05 9.99983712e-01 -1.72648063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1222.59, Y:206.33, Z:-17.26 [[ 9.75880027e-01 2.18236256e-01 5.57751841e-03 1.22259464e+03] [-2.18232897e-01 9.75895965e-01 -1.21138021e-03 2.06334771e+02] [-5.70744480e-03 -3.50362448e-05 9.99983712e-01 -1.72641575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1222.65, Y:206.32, Z:-17.27 [[ 9.76541485e-01 2.15257107e-01 5.57731775e-03 1.22265428e+03] [-2.15253694e-01 9.76557411e-01 -1.21230338e-03 2.06320316e+02] [-5.70752790e-03 -1.66737046e-05 9.99983712e-01 -1.72675650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.5853361949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1222.71, Y:206.31, Z:-17.27 [[ 9.77114458e-01 2.12641086e-01 5.57720342e-03 1.22271467e+03] [-2.12637627e-01 9.77130374e-01 -1.21282913e-03 2.06305685e+02] [-5.70755217e-03 -8.50425421e-07 9.99983712e-01 -1.72663196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.6453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1222.77, Y:206.29, Z:-17.26 [[ 9.77333551e-01 2.11631819e-01 5.57700333e-03 1.22277337e+03] [-2.11628339e-01 9.77349463e-01 -1.21374850e-03 2.06290078e+02] [-5.70754902e-03 5.98518486e-06 9.99983712e-01 -1.72635860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.705336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1222.83, Y:206.28, Z:-17.26 [[ 9.77079558e-01 2.12801399e-01 5.57684708e-03 1.22283414e+03] [-2.12797934e-01 9.77095474e-01 -1.21446601e-03 2.06275501e+02] [-5.70755211e-03 -1.11623649e-07 9.99983712e-01 -1.72644522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.765336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1222.89, Y:206.26, Z:-17.27 [[ 9.76616365e-01 2.14917139e-01 5.57664741e-03 1.22289404e+03] [-2.14913703e-01 9.76632287e-01 -1.21538217e-03 2.06260492e+02] [-5.70754037e-03 -1.15358315e-05 9.99983712e-01 -1.72664993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.8253361949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1222.95, Y:206.25, Z:-17.27 [[ 9.76364157e-01 2.16060028e-01 5.57644872e-03 1.22295389e+03] [-2.16056605e-01 9.76380082e-01 -1.21629312e-03 2.06245653e+02] [-5.70752578e-03 -1.72835740e-05 9.99983712e-01 -1.72683415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.8853361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1223.01, Y:206.23, Z:-17.27 [[ 9.75887437e-01 2.18203154e-01 5.57625274e-03 1.22301226e+03] [-2.18199761e-01 9.75903367e-01 -1.21719096e-03 2.06231127e+02] [-5.70747873e-03 -2.88956464e-05 9.99983712e-01 -1.72682712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.945336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1223.07, Y:206.22, Z:-17.26 [[ 9.75054208e-01 2.21896816e-01 5.57623893e-03 1.22307125e+03] [-2.21893483e-01 9.75070152e-01 -1.21725420e-03 2.06218634e+02] [-5.70732897e-03 -5.04422443e-05 9.99983712e-01 -1.72641551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1223.13, Y:206.21, Z:-17.26 [[ 9.73901931e-01 2.26900713e-01 5.57623893e-03 1.22313119e+03] [-2.26897462e-01 9.73917892e-01 -1.21725420e-03 2.06206169e+02] [-5.70699471e-03 -7.97482411e-05 9.99983712e-01 -1.72644925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.0653361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1223.19, Y:206.20, Z:-17.27 [[ 9.72817731e-01 2.31505007e-01 5.57621011e-03 1.22319093e+03] [-2.31501830e-01 9.72833707e-01 -1.21738623e-03 2.06195435e+02] [-5.70655616e-03 -1.06607934e-04 9.99983712e-01 -1.72655940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.1253361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1223.25, Y:206.19, Z:-17.27 [[ 9.72345222e-01 2.33481638e-01 5.57619590e-03 1.22325092e+03] [-2.33478494e-01 9.72361204e-01 -1.21745133e-03 2.06185753e+02] [-5.70632909e-03 -1.18138838e-04 9.99983712e-01 -1.72665868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.1853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1223.31, Y:206.18, Z:-17.27 [[ 9.71940597e-01 2.35160333e-01 5.57619590e-03 1.22330986e+03] [-2.35157216e-01 9.71956584e-01 -1.21745133e-03 2.06178233e+02] [-5.70611658e-03 -1.27992333e-04 9.99983712e-01 -1.72692659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1223.37, Y:206.17, Z:-17.27 [[ 9.71753823e-01 2.35930948e-01 5.57622399e-03 1.22336859e+03] [-2.35927845e-01 9.71769813e-01 -1.21732265e-03 2.06170066e+02] [-5.70601023e-03 -1.32648573e-04 9.99983712e-01 -1.72705252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.3053361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1223.43, Y:206.16, Z:-17.27 [[ 9.71957001e-01 2.35092521e-01 5.57626574e-03 1.22342868e+03] [-2.35089405e-01 9.71972988e-01 -1.21713136e-03 2.06163696e+02] [-5.70611816e-03 -1.27921647e-04 9.99983712e-01 -1.72683184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.3653361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1223.49, Y:206.16, Z:-17.27 [[ 9.72438833e-01 2.33091443e-01 5.57629406e-03 1.22348731e+03] [-2.33088295e-01 9.72454814e-01 -1.21700161e-03 2.06158852e+02] [-5.70636666e-03 -1.16309248e-04 9.99983712e-01 -1.72705873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.4253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1223.55, Y:206.15, Z:-17.27 [[ 9.73431149e-01 2.28911998e-01 5.57635027e-03 1.22354647e+03] [-2.28908783e-01 9.73447116e-01 -1.21674401e-03 2.06152176e+02] [-5.70680939e-03 -9.20590386e-05 9.99983712e-01 -1.72714063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.485336195 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:1223.60, Y:206.14, Z:-17.26 [[ 9.74232858e-01 2.25475589e-01 5.57640705e-03 1.22360379e+03] [-2.25472319e-01 9.74248815e-01 -1.21648373e-03 2.06144198e+02] [-5.70709534e-03 -7.21870062e-05 9.99983712e-01 -1.72645102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1223.66, Y:206.14, Z:-17.27 [[ 9.75523588e-01 2.19824095e-01 5.57647727e-03 1.22366162e+03] [-2.19820735e-01 9.75539525e-01 -1.21616172e-03 2.06136429e+02] [-5.70741564e-03 -3.94308864e-05 9.99983712e-01 -1.72747914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.6053361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1223.72, Y:206.13, Z:-17.27 [[ 9.76503373e-01 2.15429954e-01 5.57654507e-03 1.22372064e+03] [-2.15426524e-01 9.76519296e-01 -1.21585077e-03 2.06128860e+02] [-5.70753454e-03 -1.40533446e-05 9.99983712e-01 -1.72706821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.6653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1223.78, Y:206.12, Z:-17.27 [[ 9.77074946e-01 2.12822583e-01 5.57660249e-03 1.22377919e+03] [-2.12819111e-01 9.77090860e-01 -1.21558734e-03 2.06120584e+02] [-5.70755176e-03 9.12346477e-07 9.99983712e-01 -1.72700908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.725336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1223.84, Y:206.11, Z:-17.27 [[ 9.77215961e-01 2.12174142e-01 5.57665945e-03 1.22383708e+03] [-2.12170662e-01 9.77231873e-01 -1.21532596e-03 2.06111273e+02] [-5.70755011e-03 4.43239675e-06 9.99983712e-01 -1.72712221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.785336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1223.90, Y:206.10, Z:-17.27 [[ 9.77189668e-01 2.12295204e-01 5.57671620e-03 1.22389532e+03] [-2.12291727e-01 9.77205580e-01 -1.21506551e-03 2.06101694e+02] [-5.70755077e-03 3.45874463e-06 9.99983712e-01 -1.72706889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.8453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1223.95, Y:206.09, Z:-17.27 [[ 9.76822847e-01 2.13976691e-01 5.57677416e-03 1.22395359e+03] [-2.13973243e-01 9.76838766e-01 -1.21479945e-03 2.06094677e+02] [-5.70754796e-03 -6.63659677e-06 9.99983712e-01 -1.72712557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.9053361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1224.01, Y:206.09, Z:-17.27 [[ 9.76477659e-01 2.15546472e-01 5.57683179e-03 1.22401091e+03] [-2.15543050e-01 9.76493583e-01 -1.21453481e-03 2.06087671e+02] [-5.70752915e-03 -1.60812237e-05 9.99983712e-01 -1.72708753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1224.07, Y:206.08, Z:-17.27 [[ 9.76497092e-01 2.15458411e-01 5.57690325e-03 1.22406918e+03] [-2.15454990e-01 9.76513017e-01 -1.21420661e-03 2.06079870e+02] [-5.70752964e-03 -1.59024114e-05 9.99983712e-01 -1.72706478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1224.13, Y:206.07, Z:-17.27 [[ 9.76680880e-01 2.14623755e-01 5.57696092e-03 1.22412646e+03] [-2.14620323e-01 9.76696802e-01 -1.21394166e-03 2.06071241e+02] [-5.70754061e-03 -1.12955456e-05 9.99983712e-01 -1.72700986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.0853361949999 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:1224.18, Y:206.06, Z:-17.26 [[ 9.77222935e-01 2.12142010e-01 5.57704698e-03 1.22418454e+03] [-2.12138539e-01 9.77238849e-01 -1.21354614e-03 2.06061921e+02] [-5.70755109e-03 2.79852444e-06 9.99983712e-01 -1.72628875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.1453361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1224.24, Y:206.05, Z:-17.27 [[ 9.77935484e-01 2.08832671e-01 5.57710560e-03 1.22424185e+03] [-2.08829147e-01 9.77951387e-01 -1.21327671e-03 2.06053100e+02] [-5.70750997e-03 2.18441359e-05 9.99983712e-01 -1.72730245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1224.30, Y:206.04, Z:-17.27 [[ 9.78678349e-01 2.05323121e-01 5.57717820e-03 1.22429970e+03] [-2.05319543e-01 9.78694239e-01 -1.21294287e-03 2.06041936e+02] [-5.70739739e-03 4.19772504e-05 9.99983712e-01 -1.72715017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1224.36, Y:206.03, Z:-17.27 [[ 9.79201907e-01 2.02811536e-01 5.57723539e-03 1.22435773e+03] [-2.02807918e-01 9.79217789e-01 -1.21267983e-03 2.06032459e+02] [-5.70727357e-03 5.63509092e-05 9.99983712e-01 -1.72688637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.3253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1224.41, Y:206.02, Z:-17.27 [[ 9.79671975e-01 2.00528588e-01 5.57729217e-03 1.22441423e+03] [-2.00524935e-01 9.79687849e-01 -1.21241866e-03 2.06021479e+02] [-5.70712997e-03 6.93864331e-05 9.99983712e-01 -1.72705091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.3853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1224.47, Y:206.01, Z:-17.27 [[ 9.80199540e-01 1.97933711e-01 5.57737615e-03 1.22447228e+03] [-1.97930018e-01 9.80215404e-01 -1.21203219e-03 2.06009380e+02] [-5.70693205e-03 8.41032362e-05 9.99983712e-01 -1.72735754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.445336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1224.53, Y:206.00, Z:-17.28 [[ 9.80371841e-01 1.97078527e-01 5.57746779e-03 1.22453017e+03] [-1.97074822e-01 9.80387702e-01 -1.21161034e-03 2.05996890e+02] [-5.70686321e-03 8.86501839e-05 9.99983712e-01 -1.72755209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1224.59, Y:205.98, Z:-17.28 [[ 9.80453062e-01 1.96674057e-01 5.57752438e-03 1.22458596e+03] [-1.96670347e-01 9.80468922e-01 -1.21134978e-03 2.05984632e+02] [-5.70683040e-03 9.07379405e-05 9.99983712e-01 -1.72766256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.5653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1224.64, Y:205.97, Z:-17.27 [[ 9.79995019e-01 1.98943843e-01 5.57762228e-03 1.22464401e+03] [-1.98940173e-01 9.80010888e-01 -1.21089886e-03 2.05973483e+02] [-5.70703144e-03 7.70617102e-05 9.99983712e-01 -1.72741008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.6253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1224.70, Y:205.96, Z:-17.27 [[ 9.79144448e-01 2.03088749e-01 5.57768159e-03 1.22470068e+03] [-2.03085147e-01 9.79160333e-01 -1.21062562e-03 2.05962510e+02] [-5.70730900e-03 5.26330633e-05 9.99983712e-01 -1.72748421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.6853361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1224.76, Y:205.95, Z:-17.27 [[ 9.78468335e-01 2.06321609e-01 5.57775468e-03 1.22475756e+03] [-2.06318061e-01 9.78484232e-01 -1.21028876e-03 2.05951217e+02] [-5.70745373e-03 3.34376986e-05 9.99983712e-01 -1.72690089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1224.81, Y:205.94, Z:-17.28 [[ 9.78244544e-01 2.07380084e-01 5.57784144e-03 1.22481402e+03] [-2.07376556e-01 9.78260446e-01 -1.20988875e-03 2.05939872e+02] [-5.70748849e-03 2.68535146e-05 9.99983712e-01 -1.72758988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.8053361949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1224.87, Y:205.93, Z:-17.28 [[ 9.78347425e-01 2.06894183e-01 5.57792867e-03 1.22487047e+03] [-2.06890650e-01 9.78363325e-01 -1.20948649e-03 2.05927443e+02] [-5.70747656e-03 2.92767051e-05 9.99983712e-01 -1.72769689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.8653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1224.93, Y:205.92, Z:-17.28 [[ 9.78365934e-01 2.06806638e-01 5.57801535e-03 1.22492770e+03] [-2.06803106e-01 9.78381834e-01 -1.20908657e-03 2.05915825e+02] [-5.70747602e-03 2.93782138e-05 9.99983712e-01 -1.72754859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.9253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1224.98, Y:205.91, Z:-17.28 [[ 9.78339870e-01 2.06929899e-01 5.57807450e-03 1.22498403e+03] [-2.06926370e-01 9.78355772e-01 -1.20881364e-03 2.05905525e+02] [-5.70748107e-03 2.83798755e-05 9.99983712e-01 -1.72759032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1225.04, Y:205.90, Z:-17.28 [[ 9.78432433e-01 2.06491789e-01 5.57817698e-03 1.22504108e+03] [-2.06488255e-01 9.78448333e-01 -1.20834056e-03 2.05896022e+02] [-5.70747037e-03 3.04515589e-05 9.99983712e-01 -1.72772220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1225.10, Y:205.89, Z:-17.28 [[ 9.78846937e-01 2.04517865e-01 5.57826406e-03 1.22509805e+03] [-2.04514302e-01 9.78862831e-01 -1.20793842e-03 2.05886195e+02] [-5.70740033e-03 4.15520392e-05 9.99983712e-01 -1.72770353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.1053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1225.16, Y:205.88, Z:-17.28 [[ 9.79802418e-01 1.99890228e-01 5.57835151e-03 1.22515503e+03] [-1.99886592e-01 9.79818295e-01 -1.20753442e-03 2.05875460e+02] [-5.70714520e-03 6.81074706e-05 9.99983712e-01 -1.72762659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.1653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1225.21, Y:205.86, Z:-17.27 [[ 9.80861173e-01 1.94628467e-01 5.57843544e-03 1.22521290e+03] [-1.94624748e-01 9.80877031e-01 -1.20714656e-03 2.05863764e+02] [-5.70670428e-03 9.83415954e-05 9.99983712e-01 -1.72749085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1225.27, Y:205.85, Z:-17.28 [[ 9.81435577e-01 1.91710952e-01 5.57849182e-03 1.22526932e+03] [-1.91707187e-01 9.81451424e-01 -1.20688595e-03 2.05852128e+02] [-5.70639200e-03 1.15043835e-04 9.99983712e-01 -1.72759505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1225.33, Y:205.84, Z:-17.28 [[ 9.81912830e-01 1.89251349e-01 5.57857533e-03 1.22532673e+03] [-1.89247547e-01 9.81928669e-01 -1.20649985e-03 2.05839013e+02] [-5.70609477e-03 1.28945985e-04 9.99983712e-01 -1.72782307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.3453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1225.38, Y:205.83, Z:-17.28 [[ 9.82183509e-01 1.87841509e-01 5.57863123e-03 1.22538438e+03] [-1.87837686e-01 9.82199343e-01 -1.20624131e-03 2.05826437e+02] [-5.70591012e-03 1.36873147e-04 9.99983712e-01 -1.72795596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.4053361949998 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1225.44, Y:205.81, Z:-17.27 [[ 9.82339915e-01 1.87021845e-01 5.57868729e-03 1.22544152e+03] [-1.87018010e-01 9.82355745e-01 -1.20598200e-03 2.05813010e+02] [-5.70580049e-03 1.41369259e-04 9.99983712e-01 -1.72708122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.465336195 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:1225.50, Y:205.80, Z:-17.28 [[ 9.81771544e-01 1.89982926e-01 5.57874384e-03 1.22549915e+03] [-1.89979141e-01 9.81787387e-01 -1.20572036e-03 2.05799686e+02] [-5.70620661e-03 1.23896979e-04 9.99983712e-01 -1.72780110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.525336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1225.56, Y:205.79, Z:-17.28 [[ 9.81188639e-01 1.92970803e-01 5.57879993e-03 1.22555702e+03] [-1.92967067e-01 9.81204493e-01 -1.20546074e-03 2.05787435e+02] [-5.70656229e-03 1.06259719e-04 9.99983712e-01 -1.72781647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.5853361949999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1225.61, Y:205.78, Z:-17.27 [[ 9.80295586e-01 1.97457442e-01 5.57885803e-03 1.22561370e+03] [-1.97453780e-01 9.80311457e-01 -1.20519181e-03 2.05775582e+02] [-5.70699254e-03 7.98776020e-05 9.99983712e-01 -1.72738138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.6453361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1225.67, Y:205.76, Z:-17.28 [[ 9.79788271e-01 1.99959543e-01 5.57894321e-03 1.22566883e+03] [-1.99955924e-01 9.79804152e-01 -1.20479736e-03 2.05763331e+02] [-5.70718246e-03 6.49035713e-05 9.99983712e-01 -1.72820586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.705336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1225.73, Y:205.75, Z:-17.28 [[ 9.79475434e-01 2.01486347e-01 5.57904251e-03 1.22572613e+03] [-2.01482756e-01 9.79491321e-01 -1.20433740e-03 2.05752212e+02] [-5.70728126e-03 5.55380359e-05 9.99983712e-01 -1.72809629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.765336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1225.78, Y:205.74, Z:-17.28 [[ 9.79030943e-01 2.03635179e-01 5.57910002e-03 1.22578294e+03] [-2.03631623e-01 9.79046839e-01 -1.20407091e-03 2.05740674e+02] [-5.70739143e-03 4.27414836e-05 9.99983712e-01 -1.72809178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.8253361949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1225.84, Y:205.73, Z:-17.28 [[ 9.78907932e-01 2.04225691e-01 5.57918582e-03 1.22583974e+03] [-2.04222147e-01 9.78923830e-01 -1.20367320e-03 2.05728295e+02] [-5.70741895e-03 3.88919320e-05 9.99983712e-01 -1.72805566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.8853361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1225.90, Y:205.72, Z:-17.28 [[ 9.79080074e-01 2.03398821e-01 5.57927073e-03 1.22589618e+03] [-2.03395267e-01 9.79095970e-01 -1.20327952e-03 2.05719428e+02] [-5.70738712e-03 4.33097458e-05 9.99983712e-01 -1.72814332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.945336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1225.95, Y:205.71, Z:-17.28 [[ 9.79312537e-01 2.02276604e-01 5.57939661e-03 1.22595326e+03] [-2.02273034e-01 9.79328430e-01 -1.20269554e-03 2.05709336e+02] [-5.70733889e-03 4.92533407e-05 9.99983712e-01 -1.72817076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.005336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1226.01, Y:205.70, Z:-17.28 [[ 9.79619557e-01 2.00784443e-01 5.57948323e-03 1.22600883e+03] [-2.00780852e-01 9.79635444e-01 -1.20229357e-03 2.05698298e+02] [-5.70726138e-03 5.75368974e-05 9.99983712e-01 -1.72812305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.0653361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1226.07, Y:205.69, Z:-17.28 [[ 9.80005305e-01 1.98893114e-01 5.57958303e-03 1.22606533e+03] [-1.98889495e-01 9.80021186e-01 -1.20183023e-03 2.05688113e+02] [-5.70714533e-03 6.80795514e-05 9.99983712e-01 -1.72810089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.1253361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1226.12, Y:205.68, Z:-17.28 [[ 9.81406215e-01 1.91861170e-01 5.57968105e-03 1.22612166e+03] [-1.91857439e-01 9.81422070e-01 -1.20137498e-03 2.05676402e+02] [-5.70651934e-03 1.08533549e-04 9.99983712e-01 -1.72815216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.1853361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1226.18, Y:205.66, Z:-17.28 [[ 9.82177523e-01 1.87872774e-01 5.57976432e-03 1.22617755e+03] [-1.87868981e-01 9.82193364e-01 -1.20098811e-03 2.05662694e+02] [-5.70604045e-03 1.31318889e-04 9.99983712e-01 -1.72830149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.245336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1226.23, Y:205.65, Z:-17.28 [[ 9.82895933e-01 1.84077296e-01 5.57984836e-03 1.22623413e+03] [-1.84073444e-01 9.82911759e-01 -1.20059755e-03 2.05650082e+02] [-5.70550131e-03 1.52960545e-04 9.99983712e-01 -1.72835077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.3053361949999 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:1226.29, Y:205.64, Z:-17.27 [[ 9.82944018e-01 1.83820354e-01 5.57991762e-03 1.22629138e+03] [-1.83816500e-01 9.82959843e-01 -1.20027554e-03 2.05636154e+02] [-5.70547003e-03 1.54122730e-04 9.99983712e-01 -1.72737840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.3653361949998 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1226.35, Y:205.62, Z:-17.28 [[ 9.82418685e-01 1.86607589e-01 5.57997533e-03 1.22634858e+03] [-1.86603781e-01 9.82434521e-01 -1.20000720e-03 2.05621973e+02] [-5.70589084e-03 1.37665003e-04 9.99983712e-01 -1.72837390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.4253361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1226.40, Y:205.61, Z:-17.29 [[ 9.81518659e-01 1.91285087e-01 5.58003300e-03 1.22640491e+03] [-1.91281357e-01 9.81534515e-01 -1.19973896e-03 2.05609521e+02] [-5.70648716e-03 1.10209888e-04 9.99983712e-01 -1.72852911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.485336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1226.46, Y:205.60, Z:-17.29 [[ 9.80825447e-01 1.94808380e-01 5.58010411e-03 1.22646176e+03] [-1.94804708e-01 9.80841316e-01 -1.19940816e-03 2.05597486e+02] [-5.70685142e-03 8.93794931e-05 9.99983712e-01 -1.72863516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.545336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1226.52, Y:205.58, Z:-17.29 [[ 9.79983887e-01 1.98998602e-01 5.58018883e-03 1.22651828e+03] [-1.98995000e-01 9.79999772e-01 -1.19901385e-03 2.05584991e+02] [-5.70718586e-03 6.45845735e-05 9.99983712e-01 -1.72868600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.6053361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1226.57, Y:205.57, Z:-17.29 [[ 9.79602105e-01 2.00869549e-01 5.58027632e-03 1.22657360e+03] [-2.00865980e-01 9.79617998e-01 -1.19860656e-03 2.05572818e+02] [-5.70730267e-03 5.32698431e-05 9.99983712e-01 -1.72884108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.6653361949998 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1226.63, Y:205.56, Z:-17.29 [[ 9.79536409e-01 2.01189667e-01 5.58040312e-03 1.22663066e+03] [-2.01186107e-01 9.79552303e-01 -1.19801589e-03 2.05559218e+02] [-5.70732515e-03 5.08006000e-05 9.99983712e-01 -1.72858910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.725336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1226.69, Y:205.55, Z:-17.29 [[ 9.79387472e-01 2.01913441e-01 5.58046140e-03 1.22668577e+03] [-2.01909894e-01 9.79403369e-01 -1.19774438e-03 2.05546038e+02] [-5.70736339e-03 4.63054704e-05 9.99983712e-01 -1.72856036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.785336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1226.74, Y:205.53, Z:-17.29 [[ 9.79269029e-01 2.02487101e-01 5.58056213e-03 1.22674332e+03] [-2.02483566e-01 9.79284929e-01 -1.19727484e-03 2.05533292e+02] [-5.70739310e-03 4.24820479e-05 9.99983712e-01 -1.72873529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.8453361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1226.80, Y:205.52, Z:-17.29 [[ 9.79416272e-01 2.01773690e-01 5.58062074e-03 1.22679896e+03] [-2.01770145e-01 9.79432170e-01 -1.19700161e-03 2.05520854e+02] [-5.70736291e-03 4.63601935e-05 9.99983712e-01 -1.72882469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.9053361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1226.86, Y:205.51, Z:-17.29 [[ 9.79815132e-01 1.99827831e-01 5.58074667e-03 1.22685596e+03] [-1.99824258e-01 9.79831023e-01 -1.19641420e-03 2.05508278e+02] [-5.70726558e-03 5.70961777e-05 9.99983712e-01 -1.72871992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.965336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1226.91, Y:205.50, Z:-17.29 [[ 9.80384089e-01 1.97017493e-01 5.58080485e-03 1.22691253e+03] [-1.97013876e-01 9.80399970e-01 -1.19614274e-03 2.05495174e+02] [-5.70708196e-03 7.31833135e-05 9.99983712e-01 -1.72869104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.025336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1226.97, Y:205.48, Z:-17.29 [[ 9.81041903e-01 1.93715353e-01 5.58087683e-03 1.22696920e+03] [-1.93711684e-01 9.81057773e-01 -1.19580684e-03 2.05480306e+02] [-5.70680873e-03 9.20555736e-05 9.99983712e-01 -1.72903069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.0853361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1227.03, Y:205.47, Z:-17.29 [[ 9.81333100e-01 1.92234752e-01 5.58093321e-03 1.22702511e+03] [-1.92231061e-01 9.81348964e-01 -1.19554363e-03 2.05466937e+02] [-5.70666806e-03 1.00397824e-04 9.99983712e-01 -1.72915364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.1453361949998 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:1227.08, Y:205.45, Z:-17.28 [[ 9.81155858e-01 1.93137347e-01 5.58100303e-03 1.22708261e+03] [-1.93133672e-01 9.81171726e-01 -1.19521762e-03 2.05454954e+02] [-5.70676353e-03 9.48151578e-05 9.99983712e-01 -1.72810037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.205336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1227.14, Y:205.44, Z:-17.29 [[ 9.80960094e-01 1.94129197e-01 5.58105954e-03 1.22713944e+03] [-1.94125540e-01 9.80975966e-01 -1.19495367e-03 2.05442025e+02] [-5.70686068e-03 8.87756654e-05 9.99983712e-01 -1.72875475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.265336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:1227.20, Y:205.43, Z:-17.28 [[ 9.80703677e-01 1.95420443e-01 5.58112960e-03 1.22719719e+03] [-1.95416808e-01 9.80719554e-01 -1.19462637e-03 2.05429155e+02] [-5.70697735e-03 8.09279398e-05 9.99983712e-01 -1.72847062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.3253361949999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1227.25, Y:205.42, Z:-17.29 [[ 9.80770914e-01 1.95082714e-01 5.58118907e-03 1.22725357e+03] [-1.95079076e-01 9.80786790e-01 -1.19434845e-03 2.05416314e+02] [-5.70695325e-03 8.26090168e-05 9.99983712e-01 -1.72867764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.3853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1227.31, Y:205.40, Z:-17.29 [[ 9.81173187e-01 1.93049285e-01 5.58126853e-03 1.22731016e+03] [-1.93045616e-01 9.81189057e-01 -1.19397701e-03 2.05401129e+02] [-5.70677602e-03 9.40588017e-05 9.99983712e-01 -1.72882349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.445336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:1227.37, Y:205.39, Z:-17.28 [[ 9.81665334e-01 1.90530892e-01 5.58132682e-03 1.22736574e+03] [-1.90527183e-01 9.81681194e-01 -1.19370450e-03 2.05386234e+02] [-5.70652116e-03 1.08423853e-04 9.99983712e-01 -1.72816021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.505336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1227.42, Y:205.37, Z:-17.29 [[ 9.81926864e-01 1.89178438e-01 5.58140392e-03 1.22742244e+03] [-1.89174710e-01 9.81942720e-01 -1.19334390e-03 2.05370650e+02] [-5.70637388e-03 1.15915963e-04 9.99983712e-01 -1.72901690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.5653361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1227.48, Y:205.36, Z:-17.29 [[ 9.81946982e-01 1.89073984e-01 5.58146127e-03 1.22747922e+03] [-1.89070256e-01 9.81962838e-01 -1.19307556e-03 2.05355448e+02] [-5.70636710e-03 1.16248640e-04 9.99983712e-01 -1.72911503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.6253361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1227.53, Y:205.34, Z:-17.29 [[ 9.81474735e-01 1.91510288e-01 5.58151832e-03 1.22753494e+03] [-1.91506600e-01 9.81490601e-01 -1.19280862e-03 2.05340115e+02] [-5.70664289e-03 1.01813930e-04 9.99983712e-01 -1.72912313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.6853361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1227.59, Y:205.33, Z:-17.29 [[ 9.80921965e-01 1.94321753e-01 5.58158854e-03 1.22759150e+03] [-1.94318112e-01 9.80937842e-01 -1.19247994e-03 2.05326003e+02] [-5.70691621e-03 8.51260161e-05 9.99983712e-01 -1.72919527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.745336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1227.65, Y:205.31, Z:-17.29 [[ 9.79733037e-01 2.00229919e-01 5.58166331e-03 1.22764855e+03] [-2.00226377e-01 9.79748936e-01 -1.19212986e-03 2.05309511e+02] [-5.70732876e-03 5.03727876e-05 9.99983712e-01 -1.72932084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.8053361949999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1227.71, Y:205.30, Z:-17.29 [[ 9.78889341e-01 2.04314714e-01 5.58171873e-03 1.22770583e+03] [-2.04311239e-01 9.78905254e-01 -1.19187033e-03 2.05297125e+02] [-5.70749044e-03 2.63012924e-05 9.99983712e-01 -1.72881437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.8653361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1227.76, Y:205.29, Z:-17.30 [[ 9.77502926e-01 2.10847985e-01 5.58177404e-03 1.22776283e+03] [-2.10844618e-01 9.77518863e-01 -1.19161126e-03 2.05285071e+02] [-5.70753824e-03 -1.20835182e-05 9.99983712e-01 -1.72951534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.9253361949998 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1227.82, Y:205.27, Z:-17.29 [[ 9.76406939e-01 2.15866468e-01 5.58185466e-03 1.22781935e+03] [-2.15863185e-01 9.76422893e-01 -1.19123350e-03 2.05274484e+02] [-5.70739804e-03 -4.17882644e-05 9.99983712e-01 -1.72903438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.985336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1227.88, Y:205.27, Z:-17.29 [[ 9.76311356e-01 2.16298354e-01 5.58192260e-03 1.22787644e+03] [-2.16295080e-01 9.76327312e-01 -1.19091503e-03 2.05265109e+02] [-5.70737645e-03 -4.46385313e-05 9.99983712e-01 -1.72948925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.045336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1227.93, Y:205.25, Z:-17.29 [[ 9.77063578e-01 2.12874627e-01 5.58198943e-03 1.22793435e+03] [-2.12871299e-01 9.77079522e-01 -1.19060174e-03 2.05253597e+02] [-5.70749646e-03 -2.49517452e-05 9.99983712e-01 -1.72936987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.1053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1227.99, Y:205.24, Z:-17.30 [[ 9.78276090e-01 2.07231107e-01 5.58204407e-03 1.22799103e+03] [-2.07227688e-01 9.78292016e-01 -1.19034547e-03 2.05242568e+02] [-5.70754576e-03 7.73242044e-06 9.99983712e-01 -1.72978715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.1653361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1228.05, Y:205.23, Z:-17.30 [[ 9.79545465e-01 2.01145524e-01 5.58211178e-03 1.22804838e+03] [-2.01142008e-01 9.79561369e-01 -1.19002790e-03 2.05230681e+02] [-5.70738984e-03 4.28892566e-05 9.99983712e-01 -1.72993418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.225336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1228.11, Y:205.22, Z:-17.30 [[ 9.80968694e-01 1.94085706e-01 5.58216759e-03 1.22810603e+03] [-1.94082077e-01 9.80984573e-01 -1.18976602e-03 2.05217597e+02] [-5.70693687e-03 8.37245392e-05 9.99983712e-01 -1.72982309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1228.16, Y:205.20, Z:-17.30 [[ 9.82413443e-01 1.86635113e-01 5.58222309e-03 1.22816261e+03] [-1.86631365e-01 9.82429294e-01 -1.18950556e-03 2.05201818e+02] [-5.70614300e-03 1.26768340e-04 9.99983712e-01 -1.72956738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.3453361949998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1228.22, Y:205.19, Z:-17.30 [[ 9.83366234e-01 1.81548035e-01 5.58226413e-03 1.22822002e+03] [-1.81544207e-01 9.83382065e-01 -1.18931296e-03 2.05185667e+02] [-5.70541586e-03 1.56102493e-04 9.99983712e-01 -1.72950874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.4053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1228.28, Y:205.17, Z:-17.30 [[ 9.83747885e-01 1.79468483e-01 5.58229095e-03 1.22827645e+03] [-1.79464622e-01 9.83763709e-01 -1.18918703e-03 2.05169315e+02] [-5.70507685e-03 1.68036493e-04 9.99983712e-01 -1.72961695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1228.33, Y:205.15, Z:-17.30 [[ 9.83700280e-01 1.79729232e-01 5.58233061e-03 1.22833448e+03] [-1.79725376e-01 9.83716105e-01 -1.18900085e-03 2.05153624e+02] [-5.70512673e-03 1.66334008e-04 9.99983712e-01 -1.72965460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1228.39, Y:205.14, Z:-17.30 [[ 9.83142129e-01 1.82757739e-01 5.58235748e-03 1.22839164e+03] [-1.82753932e-01 9.83157966e-01 -1.18887466e-03 2.05137657e+02] [-5.70561527e-03 1.48634989e-04 9.99983712e-01 -1.72975022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.5853361949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1228.45, Y:205.12, Z:-17.30 [[ 9.81939572e-01 1.89112435e-01 5.58238435e-03 1.22844948e+03] [-1.89108732e-01 9.81955434e-01 -1.18874851e-03 2.05121335e+02] [-5.70645977e-03 1.11601577e-04 9.99983712e-01 -1.72973114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.6453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1228.51, Y:205.11, Z:-17.30 [[ 9.80171791e-01 1.98070938e-01 5.58241194e-03 1.22850689e+03] [-1.98067381e-01 9.80187686e-01 -1.18861893e-03 2.05105956e+02] [-5.70724231e-03 5.93570328e-05 9.99983712e-01 -1.72965868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.705336195 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:1228.56, Y:205.09, Z:-17.29 [[ 9.78327033e-01 2.06990465e-01 5.58243999e-03 1.22856462e+03] [-2.06987053e-01 9.78342960e-01 -1.18848717e-03 2.05094054e+02] [-5.70754637e-03 7.23632555e-06 9.99983712e-01 -1.72913805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.765336195 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:1228.62, Y:205.08, Z:-17.29 [[ 9.77058576e-01 2.12897569e-01 5.58249613e-03 1.22862112e+03] [-2.12894255e-01 9.77074523e-01 -1.18822341e-03 2.05082684e+02] [-5.70748462e-03 -2.75174851e-05 9.99983712e-01 -1.72917478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.8253361949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1228.68, Y:205.07, Z:-17.30 [[ 9.76798805e-01 2.14086266e-01 5.58256556e-03 1.22867815e+03] [-2.14082973e-01 9.76814757e-01 -1.18789711e-03 2.05069972e+02] [-5.70744488e-03 -3.47957612e-05 9.99983712e-01 -1.73013968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.8853361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1228.73, Y:205.06, Z:-17.30 [[ 9.77209447e-01 2.12203985e-01 5.58262223e-03 1.22873498e+03] [-2.12200663e-01 9.77225393e-01 -1.18763075e-03 2.05056734e+02] [-5.70750017e-03 -2.40721513e-05 9.99983712e-01 -1.73016003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.945336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1228.79, Y:205.04, Z:-17.30 [[ 9.77852540e-01 2.09220564e-01 5.58266430e-03 1.22879341e+03] [-2.09217194e-01 9.77868476e-01 -1.18743292e-03 2.05043028e+02] [-5.70754682e-03 -6.85506954e-06 9.99983712e-01 -1.73013703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.005336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1228.85, Y:205.03, Z:-17.30 [[ 9.78186516e-01 2.07653493e-01 5.58269223e-03 1.22885080e+03] [-2.07650099e-01 9.78202447e-01 -1.18730163e-03 2.05031189e+02] [-5.70755053e-03 2.15585004e-06 9.99983712e-01 -1.73037789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.0653361949999 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:1228.91, Y:205.02, Z:-17.30 [[ 9.78687282e-01 2.05280389e-01 5.58272363e-03 1.22890942e+03] [-2.05276957e-01 9.78703204e-01 -1.18715395e-03 2.05018136e+02] [-5.70752893e-03 1.58479553e-05 9.99983712e-01 -1.72988440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.1253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1228.97, Y:205.00, Z:-17.30 [[ 9.79256392e-01 2.02548148e-01 5.58275107e-03 1.22896767e+03] [-2.02544673e-01 9.79272305e-01 -1.18702489e-03 2.05004212e+02] [-5.70746320e-03 3.16452228e-05 9.99983712e-01 -1.73048734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.1853361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1229.03, Y:204.99, Z:-17.31 [[ 9.79855259e-01 1.99630917e-01 5.58277908e-03 1.22902533e+03] [-1.99627395e-01 9.79871162e-01 -1.18689315e-03 2.04990191e+02] [-5.70734479e-03 4.85078544e-05 9.99983712e-01 -1.73051668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1229.08, Y:204.98, Z:-17.30 [[ 9.80034082e-01 1.98751177e-01 5.58280694e-03 1.22908301e+03] [-1.98747641e-01 9.80049982e-01 -1.18676209e-03 2.04976862e+02] [-5.70730020e-03 5.34975844e-05 9.99983712e-01 -1.73047014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.3053361949999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:1229.14, Y:204.97, Z:-17.31 [[ 9.79846611e-01 1.99673361e-01 5.58283455e-03 1.22914199e+03] [-1.99669841e-01 9.79862514e-01 -1.18663219e-03 2.04965259e+02] [-5.70734913e-03 4.79938462e-05 9.99983712e-01 -1.73068481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.3653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1229.20, Y:204.95, Z:-17.31 [[ 9.79406738e-01 2.01819903e-01 5.58283455e-03 1.22920086e+03] [-2.01816418e-01 9.79422649e-01 -1.18663219e-03 2.04954196e+02] [-5.70744060e-03 3.54878986e-05 9.99983712e-01 -1.73101319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.4253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1229.26, Y:204.94, Z:-17.31 [[ 9.79308767e-01 2.02294763e-01 5.58284902e-03 1.22926036e+03] [-2.02291286e-01 9.79324679e-01 -1.18656409e-03 2.04940830e+02] [-5.70745753e-03 3.26509098e-05 9.99983712e-01 -1.73098888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.485336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1229.32, Y:204.93, Z:-17.31 [[ 9.79273967e-01 2.02463153e-01 5.58284902e-03 1.22931796e+03] [-2.02459679e-01 9.79289881e-01 -1.18656409e-03 2.04928437e+02] [-5.70746306e-03 3.16695063e-05 9.99983712e-01 -1.73115286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.545336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1229.38, Y:204.92, Z:-17.31 [[ 9.79417376e-01 2.01768268e-01 5.58289208e-03 1.22937634e+03] [-2.01764784e-01 9.79433287e-01 -1.18636148e-03 2.04916657e+02] [-5.70744044e-03 3.55120383e-05 9.99983712e-01 -1.73149828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.6053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1229.43, Y:204.90, Z:-17.31 [[ 9.79270697e-01 2.02478969e-01 5.58292017e-03 1.22943356e+03] [-2.02475496e-01 9.79286611e-01 -1.18622927e-03 2.04903750e+02] [-5.70746545e-03 3.12350365e-05 9.99983712e-01 -1.73123135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.6653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1229.49, Y:204.89, Z:-17.31 [[ 9.78521322e-01 2.06070021e-01 5.58296182e-03 1.22949246e+03] [-2.06066608e-01 9.78537248e-01 -1.18603320e-03 2.04891504e+02] [-5.70754198e-03 1.00967697e-05 9.99983712e-01 -1.73087226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1229.55, Y:204.88, Z:-17.31 [[ 9.77658775e-01 2.10124128e-01 5.58298998e-03 1.22954928e+03] [-2.10120782e-01 9.77674716e-01 -1.18590062e-03 2.04883099e+02] [-5.70753448e-03 -1.36960707e-05 9.99983712e-01 -1.73109335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1229.61, Y:204.87, Z:-17.31 [[ 9.77202534e-01 2.12235803e-01 5.58305934e-03 1.22960754e+03] [-2.12232493e-01 9.77218483e-01 -1.18557400e-03 2.04871976e+02] [-5.70749003e-03 -2.63606893e-05 9.99983712e-01 -1.73130559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.8453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1229.67, Y:204.86, Z:-17.31 [[ 9.77575807e-01 2.10509787e-01 5.58311260e-03 1.22966532e+03] [-2.10506450e-01 9.77591750e-01 -1.18532316e-03 2.04862282e+02] [-5.70752694e-03 -1.65379663e-05 9.99983712e-01 -1.73123534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.9053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1229.72, Y:204.85, Z:-17.31 [[ 9.78071269e-01 2.08195631e-01 5.58316960e-03 1.22972348e+03] [-2.08192258e-01 9.78087204e-01 -1.18505460e-03 2.04852814e+02] [-5.70754993e-03 -3.30483301e-06 9.99983712e-01 -1.73147543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1229.78, Y:204.84, Z:-17.31 [[ 9.79248348e-01 2.02587022e-01 5.58321196e-03 1.22978243e+03] [-2.02583559e-01 9.79264263e-01 -1.18485500e-03 2.04842092e+02] [-5.70747619e-03 2.92003488e-05 9.99983712e-01 -1.73127462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1229.84, Y:204.83, Z:-17.31 [[ 9.79516449e-01 2.01286743e-01 5.58324057e-03 1.22983997e+03] [-2.01283260e-01 9.79532361e-01 -1.18472017e-03 2.04830865e+02] [-5.70743328e-03 3.66400348e-05 9.99983712e-01 -1.73129791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.0853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1229.90, Y:204.82, Z:-17.31 [[ 9.79497739e-01 2.01377771e-01 5.58328322e-03 1.22989854e+03] [-2.01374290e-01 9.79513651e-01 -1.18451911e-03 2.04821243e+02] [-5.70743795e-03 3.59040919e-05 9.99983712e-01 -1.73142308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.1453361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1229.96, Y:204.81, Z:-17.32 [[ 9.79607440e-01 2.00843445e-01 5.58333635e-03 1.22995683e+03] [-2.00839958e-01 9.79623351e-01 -1.18426864e-03 2.04810861e+02] [-5.70741926e-03 3.87613366e-05 9.99983712e-01 -1.73161315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1230.01, Y:204.80, Z:-17.32 [[ 9.79812303e-01 1.99841628e-01 5.58338921e-03 1.23001441e+03] [-1.99838125e-01 9.79828210e-01 -1.18401937e-03 2.04800182e+02] [-5.70737862e-03 4.43427181e-05 9.99983712e-01 -1.73152254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1230.07, Y:204.79, Z:-17.31 [[ 9.79994078e-01 1.98948316e-01 5.58344512e-03 1.23007177e+03] [-1.98944800e-01 9.80009982e-01 -1.18375564e-03 2.04789601e+02] [-5.70733815e-03 4.92761399e-05 9.99983712e-01 -1.73149367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.3253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1230.13, Y:204.78, Z:-17.31 [[ 9.80069149e-01 1.98578167e-01 5.58351411e-03 1.23012978e+03] [-1.98574647e-01 9.80085052e-01 -1.18343015e-03 2.04779512e+02] [-5.70732211e-03 5.10990362e-05 9.99983712e-01 -1.73122368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.3853361949998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1230.19, Y:204.77, Z:-17.31 [[ 9.80497523e-01 1.96452108e-01 5.58356896e-03 1.23018795e+03] [-1.96448555e-01 9.80513419e-01 -1.18317130e-03 2.04768100e+02] [-5.70720079e-03 6.32124747e-05 9.99983712e-01 -1.73096823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1230.25, Y:204.75, Z:-17.31 [[ 9.81103935e-01 1.93400857e-01 5.58362479e-03 1.23024534e+03] [-1.93397256e-01 9.81119820e-01 -1.18290778e-03 2.04753770e+02] [-5.70698033e-03 8.06977628e-05 9.99983712e-01 -1.73147866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.505336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1230.30, Y:204.74, Z:-17.31 [[ 9.81585006e-01 1.90944231e-01 5.58368097e-03 1.23030251e+03] [-1.90940592e-01 9.81600882e-01 -1.18264252e-03 2.04739172e+02] [-5.70676494e-03 9.47128175e-05 9.99983712e-01 -1.73147518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.5653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1230.36, Y:204.72, Z:-17.31 [[ 9.81779062e-01 1.89943929e-01 5.58372262e-03 1.23036012e+03] [-1.89940275e-01 9.81794935e-01 -1.18244588e-03 2.04724904e+02] [-5.70666900e-03 1.00326799e-04 9.99983712e-01 -1.73126669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.6253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1230.42, Y:204.71, Z:-17.31 [[ 9.81976483e-01 1.88920640e-01 5.58375097e-03 1.23041713e+03] [-1.88916971e-01 9.81992353e-01 -1.18231196e-03 2.04707992e+02] [-5.70656389e-03 1.06137220e-04 9.99983712e-01 -1.73139986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.6853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1230.48, Y:204.69, Z:-17.31 [[ 9.82219510e-01 1.87653021e-01 5.58377898e-03 1.23047528e+03] [-1.87649332e-01 9.82235374e-01 -1.18217968e-03 2.04690288e+02] [-5.70642482e-03 1.13367554e-04 9.99983712e-01 -1.73136642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.745336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1230.53, Y:204.67, Z:-17.32 [[ 9.81964309e-01 1.88983907e-01 5.58377898e-03 1.23053337e+03] [-1.88980239e-01 9.81980179e-01 -1.18217968e-03 2.04672238e+02] [-5.70657321e-03 1.05634367e-04 9.99983712e-01 -1.73193091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.8053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1230.59, Y:204.65, Z:-17.32 [[ 9.81383561e-01 1.91976896e-01 5.58370271e-03 1.23059093e+03] [-1.91973275e-01 9.81399441e-01 -1.18253982e-03 2.04654182e+02] [-5.70686304e-03 8.86034457e-05 9.99983712e-01 -1.73194248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.8653361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1230.65, Y:204.64, Z:-17.32 [[ 9.80503255e-01 1.96423495e-01 5.58370271e-03 1.23064851e+03] [-1.96419945e-01 9.80519152e-01 -1.18253982e-03 2.04636568e+02] [-5.70720604e-03 6.27335624e-05 9.99983712e-01 -1.73178930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.9253361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1230.71, Y:204.62, Z:-17.32 [[ 9.79890271e-01 1.99458965e-01 5.58371688e-03 1.23070797e+03] [-1.99455465e-01 9.79906179e-01 -1.18247290e-03 2.04621530e+02] [-5.70737349e-03 4.49908410e-05 9.99983712e-01 -1.73171530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.985336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1230.77, Y:204.60, Z:-17.32 [[ 9.78695628e-01 2.05240566e-01 5.58368789e-03 1.23076508e+03] [-2.05237160e-01 9.78711556e-01 -1.18260976e-03 2.04602364e+02] [-5.70753936e-03 1.14347546e-05 9.99983712e-01 -1.73165024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1230.82, Y:204.59, Z:-17.32 [[ 9.78183136e-01 2.07669388e-01 5.58368789e-03 1.23082422e+03] [-2.07666020e-01 9.78199072e-01 -1.18260976e-03 2.04586585e+02] [-5.70755016e-03 -2.73332396e-06 9.99983712e-01 -1.73164980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.1053361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1230.88, Y:204.57, Z:-17.32 [[ 9.77745878e-01 2.09718433e-01 5.58365918e-03 1.23088272e+03] [-2.09715099e-01 9.77761821e-01 -1.18274531e-03 2.04569670e+02] [-5.70753226e-03 -1.45532875e-05 9.99983712e-01 -1.73213496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.1653361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1230.94, Y:204.55, Z:-17.32 [[ 9.77632691e-01 2.10245444e-01 5.58347428e-03 1.23094281e+03] [-2.10242113e-01 9.77648635e-01 -1.18361755e-03 2.04553991e+02] [-5.70752620e-03 -1.67382181e-05 9.99983712e-01 -1.73177095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.225336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1231.00, Y:204.54, Z:-17.32 [[ 9.77745218e-01 2.09721521e-01 5.58327548e-03 1.23100265e+03] [-2.09718176e-01 9.77761159e-01 -1.18455454e-03 2.04536167e+02] [-5.70753649e-03 -1.27218158e-05 9.99983712e-01 -1.73174794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.285336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1231.06, Y:204.52, Z:-17.32 [[ 9.77996483e-01 2.08546660e-01 5.58306464e-03 1.23106268e+03] [-2.08543290e-01 9.78012418e-01 -1.18554747e-03 2.04517319e+02] [-5.70754851e-03 -4.84941082e-06 9.99983712e-01 -1.73196698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.3453361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1231.12, Y:204.50, Z:-17.32 [[ 9.77970847e-01 2.08666847e-01 5.58299530e-03 1.23112437e+03] [-2.08663477e-01 9.77986783e-01 -1.18587392e-03 2.04502785e+02] [-5.70754818e-03 -5.21709328e-06 9.99983712e-01 -1.73205132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.4053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1231.18, Y:204.49, Z:-17.32 [[ 9.77588492e-01 2.10450878e-01 5.58277375e-03 1.23118456e+03] [-2.10447531e-01 9.77604433e-01 -1.18691598e-03 2.04485797e+02] [-5.70753188e-03 -1.45655545e-05 9.99983712e-01 -1.73213582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1231.24, Y:204.47, Z:-17.32 [[ 9.77039818e-01 2.12983635e-01 5.58257652e-03 1.23124420e+03] [-2.12980324e-01 9.77055766e-01 -1.18784294e-03 2.04467756e+02] [-5.70747968e-03 -2.84091069e-05 9.99983712e-01 -1.73204767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1231.30, Y:204.45, Z:-17.32 [[ 9.76419021e-01 2.15811797e-01 5.58243758e-03 1.23130433e+03] [-2.15808529e-01 9.76434978e-01 -1.18849553e-03 2.04452105e+02] [-5.70737867e-03 -4.42680020e-05 9.99983712e-01 -1.73172320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.5853361949999 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:1231.36, Y:204.44, Z:-17.32 [[ 9.76053024e-01 2.17461109e-01 5.58224026e-03 1.23136455e+03] [-2.17457862e-01 9.76068985e-01 -1.18942160e-03 2.04436053e+02] [-5.70730452e-03 -5.29634882e-05 9.99983712e-01 -1.73179334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.6453361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1231.42, Y:204.42, Z:-17.32 [[ 9.76198095e-01 2.16808948e-01 5.58210039e-03 1.23142463e+03] [-2.16805687e-01 9.76214053e-01 -1.19007766e-03 2.04419437e+02] [-5.70734433e-03 -4.84795666e-05 9.99983712e-01 -1.73194134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.705336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1231.48, Y:204.40, Z:-17.32 [[ 9.76385663e-01 2.15962680e-01 5.58189950e-03 1.23148326e+03] [-2.15959400e-01 9.76401618e-01 -1.19101915e-03 2.04403005e+02] [-5.70739139e-03 -4.25696423e-05 9.99983712e-01 -1.73214859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.765336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1231.54, Y:204.39, Z:-17.32 [[ 9.76352993e-01 2.16110339e-01 5.58171500e-03 1.23154316e+03] [-2.16107056e-01 9.76368947e-01 -1.19188319e-03 2.04387830e+02] [-5.70739148e-03 -4.25492741e-05 9.99983712e-01 -1.73232324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.8253361949999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1231.60, Y:204.37, Z:-17.32 [[ 9.76157076e-01 2.16993570e-01 5.58150632e-03 1.23160434e+03] [-2.16990296e-01 9.76173032e-01 -1.19285962e-03 2.04371128e+02] [-5.70735882e-03 -4.67143515e-05 9.99983712e-01 -1.73212266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.8853361949998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1231.67, Y:204.36, Z:-17.32 [[ 9.76115156e-01 2.17182070e-01 5.58128700e-03 1.23166516e+03] [-2.17178793e-01 9.76131111e-01 -1.19388495e-03 2.04356685e+02] [-5.70735828e-03 -4.67679781e-05 9.99983712e-01 -1.73193619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.945336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1231.73, Y:204.34, Z:-17.32 [[ 9.76701229e-01 2.14531024e-01 5.58107583e-03 1.23172592e+03] [-2.14527699e-01 9.76717174e-01 -1.19487128e-03 2.04340259e+02] [-5.70746957e-03 -3.02631119e-05 9.99983712e-01 -1.73185464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.005336195 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:1231.79, Y:204.32, Z:-17.32 [[ 9.77171330e-01 2.12379485e-01 5.58085126e-03 1.23178610e+03] [-2.12376119e-01 9.77187267e-01 -1.19591927e-03 2.04324045e+02] [-5.70752550e-03 -1.66215094e-05 9.99983712e-01 -1.73187429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.0653361949999 meters Centerline goodness : 0.999401 with order 1 Centerline is valid? [True, True] Translation: X:1231.85, Y:204.31, Z:-17.31 [[ 9.78073203e-01 2.08186610e-01 5.58071200e-03 1.23184690e+03] [-2.08183172e-01 9.78089124e-01 -1.19656875e-03 2.04307484e+02] [-5.70754331e-03 8.52150656e-06 9.99983712e-01 -1.73087765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.1253361949998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1231.91, Y:204.29, Z:-17.32 [[ 9.78906546e-01 2.04232299e-01 5.58048954e-03 1.23190557e+03] [-2.04228790e-01 9.78922452e-01 -1.19760535e-03 2.04286529e+02] [-5.70745620e-03 3.26470932e-05 9.99983712e-01 -1.73172160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.1853361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1231.97, Y:204.27, Z:-17.32 [[ 9.79606847e-01 2.00846425e-01 5.58028302e-03 1.23196517e+03] [-2.00842856e-01 9.79622739e-01 -1.19856685e-03 2.04266349e+02] [-5.70730001e-03 5.33643122e-05 9.99983712e-01 -1.73185429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.245336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:1232.02, Y:204.25, Z:-17.31 [[ 9.79943023e-01 1.99199734e-01 5.58006529e-03 1.23202424e+03] [-1.99196133e-01 9.79958908e-01 -1.19957968e-03 2.04246577e+02] [-5.70719064e-03 6.39923134e-05 9.99983712e-01 -1.73140112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.3053361949999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1232.08, Y:204.23, Z:-17.32 [[ 9.79621218e-01 2.00776331e-01 5.57987558e-03 1.23208434e+03] [-2.00772749e-01 9.79637107e-01 -1.20046145e-03 2.04225544e+02] [-5.70727742e-03 5.57105486e-05 9.99983712e-01 -1.73180810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.3653361949998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:1232.14, Y:204.21, Z:-17.32 [[ 9.79089139e-01 2.03355171e-01 5.57964619e-03 1.23214448e+03] [-2.03351626e-01 9.79105037e-01 -1.20152671e-03 2.04207763e+02] [-5.70739636e-03 4.17716304e-05 9.99983712e-01 -1.73168822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.4253361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1232.20, Y:204.19, Z:-17.32 [[ 9.77163570e-01 2.12415225e-01 5.57941174e-03 1.23220361e+03] [-2.12411821e-01 9.77179498e-01 -1.20261442e-03 2.04186800e+02] [-5.70754038e-03 -9.98200690e-06 9.99983712e-01 -1.73188135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.485336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1232.26, Y:204.17, Z:-17.32 [[ 9.75900581e-01 2.18144285e-01 5.57919513e-03 1.23226397e+03] [-2.18140969e-01 9.75916528e-01 -1.20361849e-03 2.04171544e+02] [-5.70739123e-03 -4.24390470e-05 9.99983712e-01 -1.73185468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.545336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1232.33, Y:204.16, Z:-17.32 [[ 9.73979702e-01 2.26566576e-01 5.57905560e-03 1.23232538e+03] [-2.26563394e-01 9.73995677e-01 -1.20426491e-03 2.04157172e+02] [-5.70682221e-03 -9.10801968e-05 9.99983712e-01 -1.73173914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.6053361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1232.39, Y:204.14, Z:-17.32 [[ 9.72179512e-01 2.34170607e-01 5.57882503e-03 1.23238601e+03] [-2.34167544e-01 9.72195509e-01 -1.20533209e-03 2.04144712e+02] [-5.70596199e-03 -1.34580595e-04 9.99983712e-01 -1.73194763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.6653361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1232.45, Y:204.13, Z:-17.32 [[ 9.70690683e-01 2.40267511e-01 5.57868290e-03 1.23244759e+03] [-2.40264545e-01 9.70706698e-01 -1.20598952e-03 2.04133778e+02] [-5.70502496e-03 -1.69716920e-04 9.99983712e-01 -1.73190272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.725336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1232.51, Y:204.12, Z:-17.32 [[ 9.69783932e-01 2.43901632e-01 5.57845410e-03 1.23251002e+03] [-2.43898719e-01 9.69799958e-01 -1.20704697e-03 2.04124064e+02] [-5.70438527e-03 -1.90003053e-04 9.99983712e-01 -1.73182347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.785336195 meters Centerline goodness : 0.999637 with order 1 Centerline is valid? [True, True] Translation: X:1232.57, Y:204.11, Z:-17.32 [[ 9.69686982e-01 2.44286799e-01 5.57822744e-03 1.23257175e+03] [-2.44283887e-01 9.69703008e-01 -1.20809353e-03 2.04113197e+02] [-5.70434523e-03 -1.91198515e-04 9.99983712e-01 -1.73193684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.8453361949998 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:1232.63, Y:204.11, Z:-17.32 [[ 9.70814864e-01 2.39765270e-01 5.57799951e-03 1.23263371e+03] [-2.39762277e-01 9.70830875e-01 -1.20914501e-03 2.04105446e+02] [-5.70520513e-03 -1.63537920e-04 9.99983712e-01 -1.73222394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.9053361949998 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:1232.70, Y:204.09, Z:-17.32 [[ 9.71745005e-01 2.35967228e-01 5.57779967e-03 1.23269632e+03] [-2.35964167e-01 9.71761003e-01 -1.21006617e-03 2.04094720e+02] [-5.70582416e-03 -1.40285096e-04 9.99983712e-01 -1.73217533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.965336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:1232.76, Y:204.08, Z:-17.32 [[ 9.72980856e-01 2.30818425e-01 5.57756845e-03 1.23275744e+03] [-2.30815274e-01 9.72996836e-01 -1.21113098e-03 2.04084176e+02] [-5.70650780e-03 -1.08980729e-04 9.99983712e-01 -1.73228482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.025336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:1232.82, Y:204.07, Z:-17.32 [[ 9.74163032e-01 2.25777058e-01 5.57735314e-03 1.23281974e+03] [-2.25773818e-01 9.74178995e-01 -1.21212169e-03 2.04073335e+02] [-5.70700955e-03 -7.84161777e-05 9.99983712e-01 -1.73217037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.0853361949999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1232.88, Y:204.06, Z:-17.32 [[ 9.75344626e-01 2.20616763e-01 5.57711832e-03 1.23288158e+03] [-2.20613432e-01 9.75360570e-01 -1.21320118e-03 2.04060729e+02] [-5.70735382e-03 -4.70979684e-05 9.99983712e-01 -1.73211096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.1453361949998 meters Centerline goodness : 0.999438 with order 1 Centerline is valid? [True, True] Translation: X:1232.94, Y:204.05, Z:-17.32 [[ 9.76102000e-01 2.17241302e-01 5.57688339e-03 1.23294148e+03] [-2.17237910e-01 9.76117931e-01 -1.21428017e-03 2.04048262e+02] [-5.70748768e-03 -2.62491887e-05 9.99983712e-01 -1.73168276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.205336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1233.00, Y:204.03, Z:-17.33 [[ 9.76739226e-01 2.14358078e-01 5.57669411e-03 1.23300155e+03] [-2.14354634e-01 9.76755145e-01 -1.21514884e-03 2.04034841e+02] [-5.70754163e-03 -8.50668629e-06 9.99983712e-01 -1.73259659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.265336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:1233.06, Y:204.02, Z:-17.33 [[ 9.76882261e-01 2.13705286e-01 5.57658242e-03 1.23306336e+03] [-2.13701828e-01 9.76898178e-01 -1.21566117e-03 2.04020774e+02] [-5.70754643e-03 -4.16802219e-06 9.99983712e-01 -1.73255594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.3253361949999 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:1233.12, Y:204.01, Z:-17.33 [[ 9.77159197e-01 2.12435422e-01 5.57634967e-03 1.23312304e+03] [-2.12431938e-01 9.77175108e-01 -1.21672788e-03 2.04005104e+02] [-5.70754619e-03 4.34207021e-06 9.99983712e-01 -1.73255801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.3853361949998 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1233.18, Y:203.99, Z:-17.32 [[ 9.76907242e-01 2.13591071e-01 5.57620595e-03 1.23318471e+03] [-2.13587602e-01 9.76923157e-01 -1.21738621e-03 2.03990902e+02] [-5.70754754e-03 -1.73505380e-06 9.99983712e-01 -1.73239392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.445336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1233.25, Y:203.98, Z:-17.32 [[ 9.76526124e-01 2.15326816e-01 5.57597790e-03 1.23324645e+03] [-2.15323369e-01 9.76542043e-01 -1.21842982e-03 2.03977288e+02] [-5.70753747e-03 -1.08098003e-05 9.99983712e-01 -1.73235169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.505336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:1233.31, Y:203.96, Z:-17.32 [[ 9.75270886e-01 2.20942548e-01 5.57575129e-03 1.23330735e+03] [-2.20939186e-01 9.75286824e-01 -1.21946595e-03 2.03964266e+02] [-5.70738868e-03 -4.25923151e-05 9.99983712e-01 -1.73223954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.5653361949999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1233.37, Y:203.95, Z:-17.32 [[ 9.74499524e-01 2.24320288e-01 5.57554186e-03 1.23336843e+03] [-2.24316977e-01 9.74515472e-01 -1.22042273e-03 2.03951834e+02] [-5.70721739e-03 -6.13873311e-05 9.99983712e-01 -1.73232861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.6253361949998 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:1233.43, Y:203.94, Z:-17.32 [[ 9.73658965e-01 2.27941080e-01 5.57533537e-03 1.23342994e+03] [-2.27937822e-01 9.73674924e-01 -1.22136532e-03 2.03940330e+02] [-5.70696358e-03 -8.16365133e-05 9.99983712e-01 -1.73214323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.6853361949998 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:1233.49, Y:203.93, Z:-17.32 [[ 9.73419071e-01 2.28963382e-01 5.57511199e-03 1.23349163e+03] [-2.28960135e-01 9.73435032e-01 -1.22238415e-03 2.03928442e+02] [-5.70689053e-03 -8.65863465e-05 9.99983712e-01 -1.73185892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.745336195 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:1233.55, Y:203.92, Z:-17.32 [[ 9.73384483e-01 2.29110387e-01 5.57488382e-03 1.23355331e+03] [-2.29107136e-01 9.73400443e-01 -1.22342384e-03 2.03918437e+02] [-5.70689350e-03 -8.63838825e-05 9.99983712e-01 -1.73202212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.8053361949999 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1233.61, Y:203.91, Z:-17.32 [[ 9.73374625e-01 2.29152270e-01 5.57467242e-03 1.23361484e+03] [-2.29149015e-01 9.73390584e-01 -1.22438636e-03 2.03906501e+02] [-5.70690456e-03 -8.56440816e-05 9.99983712e-01 -1.73207505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.8653361949998 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:1233.68, Y:203.90, Z:-17.33 [[ 9.73505980e-01 2.28593592e-01 5.57460021e-03 1.23367586e+03] [-2.28590326e-01 9.73521938e-01 -1.22471507e-03 2.03901503e+02] [-5.70695761e-03 -8.20322374e-05 9.99983712e-01 -1.73254246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.9253361949998 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1233.74, Y:203.89, Z:-17.32 [[ 9.73572028e-01 2.28312136e-01 5.57441410e-03 1.23373842e+03] [-2.28308861e-01 9.73587984e-01 -1.22556157e-03 2.03891381e+02] [-5.70699316e-03 -7.95156718e-05 9.99983712e-01 -1.73246218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.985336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:1233.80, Y:203.88, Z:-17.32 [[ 9.73739301e-01 2.27597677e-01 5.57418746e-03 1.23380101e+03] [-2.27594384e-01 9.73755253e-01 -1.22659151e-03 2.03882340e+02] [-5.70706370e-03 -7.42733969e-05 9.99983712e-01 -1.73222109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.045336195 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:1233.86, Y:203.87, Z:-17.32 [[ 9.74201352e-01 2.25611739e-01 5.57395735e-03 1.23386222e+03] [-2.25608407e-01 9.74217296e-01 -1.22763634e-03 2.03873628e+02] [-5.70721482e-03 -6.15666571e-05 9.99983712e-01 -1.73246888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.1053361949998 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:1233.92, Y:203.86, Z:-17.32 [[ 9.74650732e-01 2.23662434e-01 5.57374359e-03 1.23392435e+03] [-2.23659065e-01 9.74666668e-01 -1.22860607e-03 2.03864434e+02] [-5.70733512e-03 -4.91564766e-05 9.99983712e-01 -1.73230506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.1653361949998 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1233.99, Y:203.86, Z:-17.32 [[ 9.74987676e-01 2.22189034e-01 5.57351046e-03 1.23398686e+03] [-2.22185635e-01 9.75003606e-01 -1.22966276e-03 2.03855162e+02] [-5.70741037e-03 -3.94479274e-05 9.99983712e-01 -1.73217765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.225336195 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:1234.05, Y:203.85, Z:-17.32 [[ 9.75064919e-01 2.21849818e-01 5.57327635e-03 1.23404967e+03] [-2.21846407e-01 9.75080846e-01 -1.23072289e-03 2.03845117e+02] [-5.70743067e-03 -3.63766236e-05 9.99983712e-01 -1.73227202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.285336195 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:1234.11, Y:203.84, Z:-17.33 [[ 9.74962335e-01 2.22300216e-01 5.57317073e-03 1.23411135e+03] [-2.22296810e-01 9.74978263e-01 -1.23120099e-03 2.03839200e+02] [-5.70741656e-03 -3.85234869e-05 9.99983712e-01 -1.73276652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.3453361949998 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:1234.17, Y:203.83, Z:-17.33 [[ 9.74841243e-01 2.22830635e-01 5.57305280e-03 1.23417168e+03] [-2.22827234e-01 9.74857172e-01 -1.23173458e-03 2.03830576e+02] [-5.70739869e-03 -4.10822710e-05 9.99983712e-01 -1.73280206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.4053361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1234.23, Y:203.82, Z:-17.33 [[ 9.75101993e-01 2.21686814e-01 5.57303899e-03 1.23423440e+03] [-2.21683395e-01 9.75117919e-01 -1.23179708e-03 2.03824119e+02] [-5.70744335e-03 -3.43224120e-05 9.99983712e-01 -1.73280773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.465336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1234.30, Y:203.82, Z:-17.33 [[ 9.76204545e-01 2.16780142e-01 5.57283668e-03 1.23429505e+03] [-2.16776637e-01 9.76220452e-01 -1.23271165e-03 2.03815264e+02] [-5.70754455e-03 -4.68207728e-06 9.99983712e-01 -1.73267950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.525336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1234.36, Y:203.80, Z:-17.32 [[ 9.77745634e-01 2.09719864e-01 5.57264903e-03 1.23435593e+03] [-2.09716240e-01 9.77761513e-01 -1.23355940e-03 2.03803209e+02] [-5.70742365e-03 3.74323165e-05 9.99983712e-01 -1.73243411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.5853361949999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1234.42, Y:203.79, Z:-17.33 [[ 9.79174565e-01 2.02943636e-01 5.57245032e-03 1.23441670e+03] [-2.02939897e-01 9.79190418e-01 -1.23445637e-03 2.03789411e+02] [-5.70701502e-03 7.78757829e-05 9.99983712e-01 -1.73260180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.6453361949998 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:1234.48, Y:203.77, Z:-17.33 [[ 9.80220137e-01 1.97831828e-01 5.57225015e-03 1.23447800e+03] [-1.97828001e-01 9.80235970e-01 -1.23535926e-03 2.03774707e+02] [-5.70651341e-03 1.08576911e-04 9.99983712e-01 -1.73276335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.705336195 meters Centerline goodness : 0.999485 with order 1 Centerline is valid? [True, True] Translation: X:1234.54, Y:203.76, Z:-17.33 [[ 9.80721704e-01 1.95330210e-01 5.57202187e-03 1.23453823e+03] [-1.95326337e-01 9.80737525e-01 -1.23638806e-03 2.03758369e+02] [-5.70619488e-03 1.24189988e-04 9.99983712e-01 -1.73273865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.765336195 meters Centerline goodness : 0.999371 with order 1 Centerline is valid? [True, True] Translation: X:1234.60, Y:203.74, Z:-17.33 [[ 9.80627320e-01 1.95803507e-01 5.57188029e-03 1.23459760e+03] [-1.95799638e-01 9.80643142e-01 -1.23702575e-03 2.03742126e+02] [-5.70624018e-03 1.22089098e-04 9.99983712e-01 -1.73276147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.8253361949999 meters Centerline goodness : 0.999182 with order 1 Centerline is valid? [True, True] Translation: X:1234.66, Y:203.73, Z:-17.33 [[ 9.80039616e-01 1.98724199e-01 5.57170000e-03 1.23465840e+03] [-1.98720372e-01 9.80055448e-01 -1.23783729e-03 2.03727706e+02] [-5.70656316e-03 1.05919288e-04 9.99983712e-01 -1.73281671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.8853361949998 meters Centerline goodness : 0.999019 with order 1 Centerline is valid? [True, True] Translation: X:1234.72, Y:203.71, Z:-17.33 [[ 9.78457233e-01 2.06374420e-01 5.57150746e-03 1.23471675e+03] [-2.06370711e-01 9.78473094e-01 -1.23870331e-03 2.03713842e+02] [-5.70720682e-03 6.22222517e-05 9.99983712e-01 -1.73312227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.945336195 meters Centerline goodness : 0.998925 with order 1 Centerline is valid? [True, True] Translation: X:1234.78, Y:203.70, Z:-17.33 [[ 9.76644644e-01 2.14788727e-01 5.57150746e-03 1.23477697e+03] [-2.14785155e-01 9.76660536e-01 -1.23870331e-03 2.03700516e+02] [-5.70753097e-03 1.30958540e-05 9.99983712e-01 -1.73291527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.005336195 meters Centerline goodness : 0.998998 with order 1 Centerline is valid? [True, True] Translation: X:1234.84, Y:203.69, Z:-17.33 [[ 9.75250656e-01 2.21031940e-01 5.57129805e-03 1.23483595e+03] [-2.21028465e-01 9.75266569e-01 -1.23964446e-03 2.03688078e+02] [-5.70750175e-03 -2.24513857e-05 9.99983712e-01 -1.73282830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.0653361949999 meters Centerline goodness : 0.998969 with order 1 Centerline is valid? [True, True] Translation: X:1234.90, Y:203.67, Z:-17.32 [[ 9.74271084e-01 2.25310489e-01 5.57128329e-03 1.23489784e+03] [-2.25307083e-01 9.74287012e-01 -1.23971076e-03 2.03674805e+02] [-5.70734879e-03 -4.74352392e-05 9.99983712e-01 -1.73240841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.1253361949998 meters Centerline goodness : 0.999051 with order 1 Centerline is valid? [True, True] Translation: X:1234.96, Y:203.66, Z:-17.32 [[ 9.73910299e-01 2.26864924e-01 5.57103814e-03 1.23495773e+03] [-2.26861538e-01 9.73926231e-01 -1.24081146e-03 2.03662420e+02] [-5.70727677e-03 -5.54152233e-05 9.99983712e-01 -1.73244074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.1853361949998 meters Centerline goodness : 0.998863 with order 1 Centerline is valid? [True, True] Translation: X:1235.02, Y:203.65, Z:-17.33 [[ 9.73918311e-01 2.26830532e-01 5.57084154e-03 1.23501725e+03] [-2.26827140e-01 9.73934242e-01 -1.24169350e-03 2.03649537e+02] [-5.70728733e-03 -5.43100182e-05 9.99983712e-01 -1.73254480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.245336195 meters Centerline goodness : 0.998902 with order 1 Centerline is valid? [True, True] Translation: X:1235.08, Y:203.64, Z:-17.33 [[ 9.74065992e-01 2.26195511e-01 5.57081227e-03 1.23507826e+03] [-2.26192107e-01 9.74081921e-01 -1.24182480e-03 2.03636808e+02] [-5.70732271e-03 -5.04544577e-05 9.99983712e-01 -1.73268187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.3053361949999 meters Centerline goodness : 0.998843 with order 1 Centerline is valid? [True, True] Translation: X:1235.14, Y:203.63, Z:-17.32 [[ 9.74582694e-01 2.23958792e-01 5.57060285e-03 1.23513879e+03] [-2.23955347e-01 9.74598614e-01 -1.24276353e-03 2.03625660e+02] [-5.70742963e-03 -3.63904626e-05 9.99983712e-01 -1.73240408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.3653361949998 meters Centerline goodness : 0.998983 with order 1 Centerline is valid? [True, True] Translation: X:1235.20, Y:203.61, Z:-17.33 [[ 9.75128241e-01 2.21571392e-01 5.57057312e-03 1.23519825e+03] [-2.21567907e-01 9.75144152e-01 -1.24289678e-03 2.03614440e+02] [-5.70750217e-03 -2.22764783e-05 9.99983712e-01 -1.73281303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.4253361949998 meters Centerline goodness : 0.998930 with order 1 Centerline is valid? [True, True] Translation: X:1235.26, Y:203.60, Z:-17.33 [[ 9.75952624e-01 2.17911553e-01 5.57055837e-03 1.23525734e+03] [-2.17908009e-01 9.75968521e-01 -1.24296287e-03 2.03600735e+02] [-5.70754559e-03 -7.96406389e-07 9.99983712e-01 -1.73308922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.485336195 meters Centerline goodness : 0.998946 with order 1 Centerline is valid? [True, True] Translation: X:1235.32, Y:203.59, Z:-17.33 [[ 9.76483437e-01 2.15520454e-01 5.57054381e-03 1.23531745e+03] [-2.15516870e-01 9.76499326e-01 -1.24302812e-03 2.03588192e+02] [-5.70753026e-03 1.32501994e-05 9.99983712e-01 -1.73311207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.545336195 meters Centerline goodness : 0.998936 with order 1 Centerline is valid? [True, True] Translation: X:1235.38, Y:203.58, Z:-17.33 [[ 9.76914702e-01 2.13557099e-01 5.57051472e-03 1.23537676e+03] [-2.13553482e-01 9.76930584e-01 -1.24315847e-03 2.03575691e+02] [-5.70749151e-03 2.48569701e-05 9.99983712e-01 -1.73321978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.6053361949998 meters Centerline goodness : 0.998709 with order 1 Centerline is valid? [True, True] Translation: X:1235.44, Y:203.56, Z:-17.33 [[ 9.76941250e-01 2.13435620e-01 5.57050032e-03 1.23543554e+03] [-2.13432001e-01 9.76957131e-01 -1.24322298e-03 2.03563943e+02] [-5.70748808e-03 2.56327856e-05 9.99983712e-01 -1.73322760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.6653361949998 meters Centerline goodness : 0.998886 with order 1 Centerline is valid? [True, True] Translation: X:1235.49, Y:203.55, Z:-17.33 [[ 9.76548659e-01 2.15224735e-01 5.57051450e-03 1.23549381e+03] [-2.15221145e-01 9.76564546e-01 -1.24315945e-03 2.03553118e+02] [-5.70752563e-03 1.51131874e-05 9.99983712e-01 -1.73307475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.725336195 meters Centerline goodness : 0.998691 with order 1 Centerline is valid? [True, True] Translation: X:1235.55, Y:203.54, Z:-17.33 [[ 9.76081283e-01 2.17334532e-01 5.57054264e-03 1.23555249e+03] [-2.17330977e-01 9.76097178e-01 -1.24303335e-03 2.03541170e+02] [-5.70754502e-03 2.65010928e-06 9.99983712e-01 -1.73326291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.785336195 meters Centerline goodness : 0.998791 with order 1 Centerline is valid? [True, True] Translation: X:1235.61, Y:203.53, Z:-17.34 [[ 9.76008701e-01 2.17660250e-01 5.57057050e-03 1.23561066e+03] [-2.17656702e-01 9.76024598e-01 -1.24290847e-03 2.03529686e+02] [-5.70754560e-03 6.17479435e-07 9.99983712e-01 -1.73352832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.8453361949998 meters Centerline goodness : 0.998845 with order 1 Centerline is valid? [True, True] Translation: X:1235.67, Y:203.52, Z:-17.33 [[ 9.76233957e-01 2.16647709e-01 5.57059813e-03 1.23566861e+03] [-2.16644145e-01 9.76249850e-01 -1.24278465e-03 2.03517217e+02] [-5.70754203e-03 6.41111247e-06 9.99983712e-01 -1.73309713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.9053361949998 meters Centerline goodness : 0.998558 with order 1 Centerline is valid? [True, True] Translation: X:1235.73, Y:203.50, Z:-17.32 [[ 9.76414732e-01 2.15831505e-01 5.57062630e-03 1.23572741e+03] [-2.15827928e-01 9.76430623e-01 -1.24265837e-03 2.03503494e+02] [-5.70753493e-03 1.10532087e-05 9.99983712e-01 -1.73233459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.965336195 meters Centerline goodness : 0.998690 with order 1 Centerline is valid? [True, True] Translation: X:1235.79, Y:203.49, Z:-17.33 [[ 9.76317487e-01 2.16270971e-01 5.57062630e-03 1.23578662e+03] [-2.16267401e-01 9.76333379e-01 -1.24265837e-03 2.03488975e+02] [-5.70753933e-03 8.48422565e-06 9.99983712e-01 -1.73308957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.025336195 meters Centerline goodness : 0.998901 with order 1 Centerline is valid? [True, True] Translation: X:1235.85, Y:203.48, Z:-17.33 [[ 9.76012723e-01 2.17642215e-01 5.57059656e-03 1.23584671e+03] [-2.17638666e-01 9.76028620e-01 -1.24279166e-03 2.03476168e+02] [-5.70754560e-03 6.03268794e-07 9.99983712e-01 -1.73325073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.0853361949999 meters Centerline goodness : 0.999024 with order 1 Centerline is valid? [True, True] Translation: X:1235.91, Y:203.46, Z:-17.34 [[ 9.75934101e-01 2.17994492e-01 5.57056692e-03 1.23590537e+03] [-2.17990949e-01 9.75949999e-01 -1.24292451e-03 2.03462589e+02] [-5.70754548e-03 -1.32075402e-06 9.99983712e-01 -1.73352321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.1453361949998 meters Centerline goodness : 0.998555 with order 1 Centerline is valid? [True, True] Translation: X:1235.96, Y:203.45, Z:-17.33 [[ 9.76255950e-01 2.16548585e-01 5.57049087e-03 1.23596489e+03] [-2.16545016e-01 9.76271842e-01 -1.24326526e-03 2.03446823e+02] [-5.70754071e-03 7.48307207e-06 9.99983712e-01 -1.73328150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.205336195 meters Centerline goodness : 0.998791 with order 1 Centerline is valid? [True, True] Translation: X:1236.02, Y:203.43, Z:-17.33 [[ 9.77057421e-01 2.12903187e-01 5.57046093e-03 1.23602332e+03] [-2.12899558e-01 9.77073299e-01 -1.24339936e-03 2.03429392e+02] [-5.70747233e-03 2.89239061e-05 9.99983712e-01 -1.73339617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.265336195 meters Centerline goodness : 0.998606 with order 1 Centerline is valid? [True, True] Translation: X:1236.08, Y:203.41, Z:-17.33 [[ 9.77565213e-01 2.10559320e-01 5.57026838e-03 1.23608338e+03] [-2.10555648e-01 9.77581082e-01 -1.24426139e-03 2.03411301e+02] [-5.70737982e-03 4.34951818e-05 9.99983712e-01 -1.73330246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.3253361949999 meters Centerline goodness : 0.998422 with order 1 Centerline is valid? [True, True] Translation: X:1236.14, Y:203.39, Z:-17.33 [[ 9.77899273e-01 2.09002360e-01 5.57006551e-03 1.23614260e+03] [-2.08998658e-01 9.77915135e-01 -1.24516887e-03 2.03391651e+02] [-5.70729460e-03 5.35135151e-05 9.99983712e-01 -1.73332441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.3853361949998 meters Centerline goodness : 0.998770 with order 1 Centerline is valid? [True, True] Translation: X:1236.20, Y:203.37, Z:-17.33 [[ 9.78050625e-01 2.08292947e-01 5.56986292e-03 1.23620346e+03] [-2.08289228e-01 9.78066483e-01 -1.24607444e-03 2.03373660e+02] [-5.70724475e-03 5.85814397e-05 9.99983712e-01 -1.73332385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.445336195 meters Centerline goodness : 0.998638 with order 1 Centerline is valid? [True, True] Translation: X:1236.26, Y:203.35, Z:-17.33 [[ 9.78005297e-01 2.08505680e-01 5.56963006e-03 1.23626243e+03] [-2.08501958e-01 9.78021154e-01 -1.24711439e-03 2.03351994e+02] [-5.70724646e-03 5.84057018e-05 9.99983712e-01 -1.73346454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.505336195 meters Centerline goodness : 0.998570 with order 1 Centerline is valid? [True, True] Translation: X:1236.32, Y:203.33, Z:-17.33 [[ 9.77280565e-01 2.11876567e-01 5.56941346e-03 1.23632239e+03] [-2.11872895e-01 9.77296433e-01 -1.24808095e-03 2.03332257e+02] [-5.70740702e-03 3.97174973e-05 9.99983712e-01 -1.73349933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.5653361949999 meters Centerline goodness : 0.998656 with order 1 Centerline is valid? [True, True] Translation: X:1236.38, Y:203.31, Z:-17.33 [[ 9.76097651e-01 2.17261039e-01 5.56918923e-03 1.23638219e+03] [-2.17257449e-01 9.76113539e-01 -1.24908070e-03 2.03312003e+02] [-5.70753758e-03 9.27689316e-06 9.99983712e-01 -1.73332070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.6253361949998 meters Centerline goodness : 0.998772 with order 1 Centerline is valid? [True, True] Translation: X:1236.44, Y:203.29, Z:-17.34 [[ 9.74568597e-01 2.24020171e-01 5.56895644e-03 1.23644162e+03] [-2.24016685e-01 9.74584507e-01 -1.25011775e-03 2.03294937e+02] [-5.70747026e-03 -2.92136581e-05 9.99983712e-01 -1.73355655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.6853361949998 meters Centerline goodness : 0.998468 with order 1 Centerline is valid? [True, True] Translation: X:1236.50, Y:203.28, Z:-17.33 [[ 9.73443322e-01 2.28860411e-01 5.56873985e-03 1.23650196e+03] [-2.28856998e-01 9.73459249e-01 -1.25108178e-03 2.03277224e+02] [-5.70726441e-03 -5.65878816e-05 9.99983712e-01 -1.73329568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.745336195 meters Centerline goodness : 0.998392 with order 1 Centerline is valid? [True, True] Translation: X:1236.56, Y:203.26, Z:-17.33 [[ 9.72938880e-01 2.30995516e-01 5.56849826e-03 1.23656128e+03] [-2.30992132e-01 9.72954812e-01 -1.25215618e-03 2.03259210e+02] [-5.70713964e-03 -6.80078573e-05 9.99983712e-01 -1.73322659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.8053361949999 meters Centerline goodness : 0.998504 with order 1 Centerline is valid? [True, True] Translation: X:1236.62, Y:203.24, Z:-17.33 [[ 9.72768268e-01 2.31712951e-01 5.56827449e-03 1.23662269e+03] [-2.31709573e-01 9.72784202e-01 -1.25315051e-03 2.03243087e+02] [-5.70710065e-03 -7.11974527e-05 9.99983712e-01 -1.73312113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.8653361949998 meters Centerline goodness : 0.998699 with order 1 Centerline is valid? [True, True] Translation: X:1236.68, Y:203.23, Z:-17.33 [[ 9.72600531e-01 2.32416014e-01 5.56804275e-03 1.23668379e+03] [-2.32412642e-01 9.72616467e-01 -1.25417932e-03 2.03227889e+02] [-5.70706142e-03 -7.42680515e-05 9.99983712e-01 -1.73318042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.9253361949998 meters Centerline goodness : 0.998662 with order 1 Centerline is valid? [True, True] Translation: X:1236.74, Y:203.21, Z:-17.33 [[ 9.72203202e-01 2.34072497e-01 5.56780434e-03 1.23674457e+03] [-2.34069146e-01 9.72219142e-01 -1.25523684e-03 2.03211679e+02] [-5.70694237e-03 -8.29059279e-05 9.99983712e-01 -1.73329293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.985336195 meters Centerline goodness : 0.998624 with order 1 Centerline is valid? [True, True] Translation: X:1236.80, Y:203.20, Z:-17.33 [[ 9.72010442e-01 2.34871673e-01 5.56756398e-03 1.23680454e+03] [-2.34868329e-01 9.72026383e-01 -1.25630204e-03 2.03197872e+02] [-5.70688884e-03 -8.65057437e-05 9.99983712e-01 -1.73342032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.045336195 meters Centerline goodness : 0.998470 with order 1 Centerline is valid? [True, True] Translation: X:1236.87, Y:203.18, Z:-17.34 [[ 9.71935338e-01 2.35182279e-01 5.56734162e-03 1.23686597e+03] [-2.35178934e-01 9.71951279e-01 -1.25728667e-03 2.03183488e+02] [-5.70687635e-03 -8.73201211e-05 9.99983712e-01 -1.73352302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.1053361949998 meters Centerline goodness : 0.998922 with order 1 Centerline is valid? [True, True] Translation: X:1236.93, Y:203.17, Z:-17.34 [[ 9.72061952e-01 2.34658409e-01 5.56711319e-03 1.23692684e+03] [-2.34655050e-01 9.72077890e-01 -1.25829732e-03 2.03168530e+02] [-5.70693769e-03 -8.32082792e-05 9.99983712e-01 -1.73357679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.1653361949998 meters Centerline goodness : 0.998225 with order 1 Centerline is valid? [True, True] Translation: X:1236.99, Y:203.15, Z:-17.33 [[ 9.72283669e-01 2.33738052e-01 5.56687665e-03 1.23698871e+03] [-2.33734672e-01 9.72299603e-01 -1.25934293e-03 2.03154909e+02] [-5.70702832e-03 -7.67335217e-05 9.99983712e-01 -1.73286110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.225336195 meters Centerline goodness : 0.998874 with order 1 Centerline is valid? [True, True] Translation: X:1237.05, Y:203.14, Z:-17.33 [[ 9.72589623e-01 2.32461690e-01 5.56663233e-03 1.23704928e+03] [-2.32458283e-01 9.72605551e-01 -1.26042194e-03 2.03139773e+02] [-5.70713732e-03 -6.81364961e-05 9.99983712e-01 -1.73332125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.285336195 meters Centerline goodness : 0.998910 with order 1 Centerline is valid? [True, True] Translation: X:1237.11, Y:203.13, Z:-17.33 [[ 9.72617263e-01 2.32346023e-01 5.56641747e-03 1.23710977e+03] [-2.32342608e-01 9.72633189e-01 -1.26137013e-03 2.03125881e+02] [-5.70715671e-03 -6.64855876e-05 9.99983712e-01 -1.73344296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.3453361949998 meters Centerline goodness : 0.998736 with order 1 Centerline is valid? [True, True] Translation: X:1237.17, Y:203.11, Z:-17.34 [[ 9.72774993e-01 2.31684767e-01 5.56618914e-03 1.23717170e+03] [-2.31681336e-01 9.72790915e-01 -1.26237691e-03 2.03113745e+02] [-5.70721173e-03 -6.15734457e-05 9.99983712e-01 -1.73353287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.4053361949998 meters Centerline goodness : 0.998712 with order 1 Centerline is valid? [True, True] Translation: X:1237.23, Y:203.10, Z:-17.34 [[ 9.73100944e-01 2.30311904e-01 5.56595689e-03 1.23723283e+03] [-2.30308445e-01 9.73116860e-01 -1.26340009e-03 2.03100080e+02] [-5.70730257e-03 -5.24710579e-05 9.99983712e-01 -1.73364373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.465336195 meters Centerline goodness : 0.998871 with order 1 Centerline is valid? [True, True] Translation: X:1237.29, Y:203.09, Z:-17.34 [[ 9.73612010e-01 2.28141790e-01 5.56571949e-03 1.23729384e+03] [-2.28138289e-01 9.73627918e-01 -1.26444507e-03 2.03088272e+02] [-5.70741264e-03 -3.86748184e-05 9.99983712e-01 -1.73403416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.525336195 meters Centerline goodness : 0.998676 with order 1 Centerline is valid? [True, True] Translation: X:1237.36, Y:203.08, Z:-17.34 [[ 9.74295569e-01 2.25204729e-01 5.56549835e-03 1.23735542e+03] [-2.25201174e-01 9.74311464e-01 -1.26541767e-03 2.03075460e+02] [-5.70750689e-03 -2.04659343e-05 9.99983712e-01 -1.73378133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.5853361949999 meters Centerline goodness : 0.998642 with order 1 Centerline is valid? [True, True] Translation: X:1237.42, Y:203.06, Z:-17.34 [[ 9.74811075e-01 2.22962766e-01 5.56525936e-03 1.23741727e+03] [-2.22959169e-01 9.74826961e-01 -1.26646787e-03 2.03061200e+02] [-5.70754005e-03 -6.25870218e-06 9.99983712e-01 -1.73385585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.6453361949998 meters Centerline goodness : 0.998810 with order 1 Centerline is valid? [True, True] Translation: X:1237.48, Y:203.05, Z:-17.34 [[ 9.75870595e-01 2.18278749e-01 5.56502121e-03 1.23747803e+03] [-2.18275070e-01 9.75886462e-01 -1.26751348e-03 2.03046227e+02] [-5.70750011e-03 2.22237414e-05 9.99983712e-01 -1.73390769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.705336195 meters Centerline goodness : 0.998437 with order 1 Centerline is valid? [True, True] Translation: X:1237.54, Y:203.03, Z:-17.33 [[ 9.76726639e-01 2.14415730e-01 5.56478494e-03 1.23753713e+03] [-2.14411982e-01 9.76742490e-01 -1.26854992e-03 2.03030403e+02] [-5.70735896e-03 4.58699284e-05 9.99983712e-01 -1.73326355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.765336195 meters Centerline goodness : 0.999034 with order 1 Centerline is valid? [True, True] Translation: X:1237.60, Y:203.01, Z:-17.34 [[ 9.76836872e-01 2.13912975e-01 5.56459383e-03 1.23759611e+03] [-2.13909215e-01 9.76852720e-01 -1.26938768e-03 2.03011646e+02] [-5.70732711e-03 4.96667955e-05 9.99983712e-01 -1.73417425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.8253361949999 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:1237.66, Y:202.99, Z:-17.34 [[ 9.76055874e-01 2.17448773e-01 5.56437564e-03 1.23765650e+03] [-2.17445064e-01 9.76071734e-01 -1.27034338e-03 2.02994984e+02] [-5.70746439e-03 2.99800925e-05 9.99983712e-01 -1.73395362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.8853361949998 meters Centerline goodness : 0.999048 with order 1 Centerline is valid? [True, True] Translation: X:1237.72, Y:202.98, Z:-17.34 [[ 9.75092621e-01 2.21728258e-01 5.56414557e-03 1.23771737e+03] [-2.21724614e-01 9.75108496e-01 -1.27135031e-03 2.02979787e+02] [-5.70753991e-03 5.97627781e-06 9.99983712e-01 -1.73365640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.945336195 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:1237.78, Y:202.97, Z:-17.33 [[ 9.72969223e-01 2.30867786e-01 5.56390981e-03 1.23777877e+03] [-2.30864285e-01 9.72985130e-01 -1.27238125e-03 2.02966490e+02] [-5.70735335e-03 -4.65202593e-05 9.99983712e-01 -1.73334651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1383.005336195 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:1237.84, Y:202.96, Z:-17.34 [[ 9.70652622e-01 2.40421572e-01 5.56367355e-03 1.23784080e+03] [-2.40418221e-01 9.70668562e-01 -1.27341348e-03 2.02955106e+02] [-5.70663908e-03 -1.01566364e-04 9.99983712e-01 -1.73351627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1383.0653361949999 meters Centerline goodness : 0.999100 with order 1 Centerline is valid? [True, True] Translation: X:1237.90, Y:202.95, Z:-17.34 [[ 9.68433308e-01 2.49210705e-01 5.56344082e-03 1.23790218e+03] [-2.49207492e-01 9.68449277e-01 -1.27442946e-03 2.02945970e+02] [-5.70551170e-03 -1.52251201e-04 9.99983712e-01 -1.73363847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1383.1253361949998 meters Centerline goodness : 0.999126 with order 1 Centerline is valid? [True, True] Translation: X:1237.96, Y:202.94, Z:-17.34 [[ 9.67132272e-01 2.54212941e-01 5.56322554e-03 1.23796193e+03] [-2.54209806e-01 9.67148255e-01 -1.27536853e-03 2.02937431e+02] [-5.70467906e-03 -1.80776426e-04 9.99983712e-01 -1.73376480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1383.1853361949998 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:1238.03, Y:202.93, Z:-17.34 [[ 9.66945175e-01 2.54923673e-01 5.56322554e-03 1.23802510e+03] [-2.54920550e-01 9.66961161e-01 -1.27536853e-03 2.02929194e+02] [-5.70454466e-03 -1.84969074e-04 9.99983712e-01 -1.73364077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1383.245336195 meters Centerline goodness : 0.999186 with order 1 Centerline is valid? [True, True] Translation: X:1238.09, Y:202.92, Z:-17.34 [[ 9.67361457e-01 2.53339425e-01 5.56299135e-03 1.23808595e+03] [-2.53336269e-01 9.67377437e-01 -1.27638920e-03 2.02918195e+02] [-5.70487202e-03 -1.74577759e-04 9.99983712e-01 -1.73387267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1383.3053361949999 meters Centerline goodness : 0.999161 with order 1 Centerline is valid? [True, True] Translation: X:1238.15, Y:202.91, Z:-17.34 [[ 9.68628842e-01 2.48449638e-01 5.56277353e-03 1.23814789e+03] [-2.48446396e-01 9.68644804e-01 -1.27733784e-03 2.02909126e+02] [-5.70570579e-03 -1.44784769e-04 9.99983712e-01 -1.73394094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1383.3653361949998 meters Centerline goodness : 0.999139 with order 1 Centerline is valid? [True, True] Translation: X:1238.21, Y:202.90, Z:-17.34 [[ 9.69794586e-01 2.43859631e-01 5.56257240e-03 1.23821007e+03] [-2.43856309e-01 9.69810531e-01 -1.27821310e-03 2.02899469e+02] [-5.70634587e-03 -1.16864230e-04 9.99983712e-01 -1.73397799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1383.4253361949998 meters Centerline goodness : 0.999179 with order 1 Centerline is valid? [True, True] Translation: X:1238.27, Y:202.89, Z:-17.34 [[ 9.70637182e-01 2.40483934e-01 5.56233096e-03 1.23827289e+03] [-2.40480550e-01 9.70653114e-01 -1.27926291e-03 2.02889536e+02] [-5.70673604e-03 -9.59322591e-05 9.99983712e-01 -1.73394302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1383.485336195 meters Centerline goodness : 0.999247 with order 1 Centerline is valid? [True, True] Translation: X:1238.33, Y:202.88, Z:-17.34 [[ 9.71399174e-01 2.37387253e-01 5.56208461e-03 1.23833497e+03] [-2.37383812e-01 9.71415095e-01 -1.28033311e-03 2.02881352e+02] [-5.70702771e-03 -7.66343189e-05 9.99983712e-01 -1.73399610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1383.545336195 meters Centerline goodness : 0.999293 with order 1 Centerline is valid? [True, True] Translation: X:1238.40, Y:202.87, Z:-17.34 [[ 9.72155604e-01 2.34270241e-01 5.56193172e-03 1.23839570e+03] [-2.34266746e-01 9.72171513e-01 -1.28099694e-03 2.02872686e+02] [-5.70725104e-03 -5.76472918e-05 9.99983712e-01 -1.73392055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1383.6053361949998 meters Centerline goodness : 0.999393 with order 1 Centerline is valid? [True, True] Translation: X:1238.45, Y:202.86, Z:-17.34 [[ 9.72450240e-01 2.33044192e-01 5.56190213e-03 1.23845476e+03] [-2.33040676e-01 9.72466145e-01 -1.28112540e-03 2.02861626e+02] [-5.70732035e-03 -5.03187238e-05 9.99983712e-01 -1.73401488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1383.6653361949998 meters Centerline goodness : 0.999244 with order 1 Centerline is valid? [True, True] Translation: X:1238.51, Y:202.85, Z:-17.34 [[ 9.72648919e-01 2.32213579e-01 5.56190213e-03 1.23851436e+03] [-2.32210049e-01 9.72664820e-01 -1.28112540e-03 2.02853422e+02] [-5.70736125e-03 -4.54443277e-05 9.99983712e-01 -1.73429169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1383.725336195 meters Centerline goodness : 0.999310 with order 1 Centerline is valid? [True, True] Translation: X:1238.57, Y:202.85, Z:-17.34 [[ 9.72570944e-01 2.32539939e-01 5.56193138e-03 1.23857262e+03] [-2.32536415e-01 9.72586847e-01 -1.28099840e-03 2.02846567e+02] [-5.70734459e-03 -4.74897603e-05 9.99983712e-01 -1.73444199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1383.785336195 meters Centerline goodness : 0.999277 with order 1 Centerline is valid? [True, True] Translation: X:1238.63, Y:202.84, Z:-17.34 [[ 9.72511844e-01 2.32786977e-01 5.56200382e-03 1.23863061e+03] [-2.32783459e-01 9.72527748e-01 -1.28068380e-03 2.02838332e+02] [-5.70732956e-03 -4.92623204e-05 9.99983712e-01 -1.73441641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1383.8453361949998 meters Centerline goodness : 0.999548 with order 1 Centerline is valid? [True, True] Translation: X:1238.69, Y:202.83, Z:-17.34 [[ 9.72914837e-01 2.31096912e-01 5.56206081e-03 1.23868883e+03] [-2.31093368e-01 9.72930735e-01 -1.28043625e-03 2.02832358e+02] [-5.70740477e-03 -3.95999363e-05 9.99983712e-01 -1.73420763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1383.9053361949998 meters Centerline goodness : 0.999572 with order 1 Centerline is valid? [True, True] Translation: X:1238.75, Y:202.82, Z:-17.34 [[ 9.73915093e-01 2.26844558e-01 5.56213129e-03 1.23874753e+03] [-2.26840947e-01 9.73930976e-01 -1.28013001e-03 2.02824504e+02] [-5.70752248e-03 -1.49811849e-05 9.99983712e-01 -1.73404541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1383.965336195 meters Centerline goodness : 0.999098 with order 1 Centerline is valid? [True, True] Translation: X:1238.81, Y:202.81, Z:-17.34 [[ 9.74810169e-01 2.22966804e-01 5.56219072e-03 1.23880577e+03] [-2.22963131e-01 9.74826038e-01 -1.27987171e-03 2.02814652e+02] [-5.70753725e-03 7.46850132e-06 9.99983712e-01 -1.73366486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1384.025336195 meters Centerline goodness : 0.999550 with order 1 Centerline is valid? [True, True] Translation: X:1238.86, Y:202.80, Z:-17.34 [[ 9.76485723e-01 2.15510312e-01 5.56225082e-03 1.23886410e+03] [-2.15506519e-01 9.76501563e-01 -1.27961047e-03 2.02804249e+02] [-5.70731587e-03 5.08200361e-05 9.99983712e-01 -1.73436663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1384.0853361949999 meters Centerline goodness : 0.999334 with order 1 Centerline is valid? [True, True] Translation: X:1238.92, Y:202.79, Z:-17.35 [[ 9.77668890e-01 2.10077611e-01 5.56228122e-03 1.23892094e+03] [-2.10073731e-01 9.77684709e-01 -1.27947831e-03 2.02791207e+02] [-5.70694705e-03 8.24169645e-05 9.99983712e-01 -1.73456240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1384.1453361949998 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:1238.98, Y:202.78, Z:-17.35 [[ 9.79055783e-01 2.03516178e-01 5.56232646e-03 1.23897973e+03] [-2.03512193e-01 9.79071576e-01 -1.27928160e-03 2.02777652e+02] [-5.70627024e-03 1.20486792e-04 9.99983712e-01 -1.73479566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1384.205336195 meters Centerline goodness : 0.999488 with order 1 Centerline is valid? [True, True] Translation: X:1239.04, Y:202.76, Z:-17.35 [[ 9.79847195e-01 1.99671065e-01 5.56232646e-03 1.23903734e+03] [-1.99667018e-01 9.79862973e-01 -1.27928160e-03 2.02762976e+02] [-5.70575326e-03 1.42887355e-04 9.99983712e-01 -1.73480830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1384.265336195 meters Centerline goodness : 0.999533 with order 1 Centerline is valid? [True, True] Translation: X:1239.09, Y:202.75, Z:-17.35 [[ 9.80155535e-01 1.98151929e-01 5.56234141e-03 1.23909479e+03] [-1.98147858e-01 9.80171306e-01 -1.27921662e-03 2.02747268e+02] [-5.70552669e-03 1.51665216e-04 9.99983712e-01 -1.73500004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1384.3253361949999 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:1239.15, Y:202.73, Z:-17.35 [[ 9.80222627e-01 1.97819773e-01 5.56235596e-03 1.23915449e+03] [-1.97815697e-01 9.80238396e-01 -1.27915335e-03 2.02729938e+02] [-5.70547671e-03 1.53533734e-04 9.99983712e-01 -1.73452980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1384.3853361949998 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:1239.21, Y:202.71, Z:-17.35 [[ 9.80133285e-01 1.98261964e-01 5.56213712e-03 1.23921310e+03] [-1.98257890e-01 9.80149055e-01 -1.28010420e-03 2.02711181e+02] [-5.70551942e-03 1.51935170e-04 9.99983712e-01 -1.73479874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1384.445336195 meters Centerline goodness : 0.999636 with order 1 Centerline is valid? [True, True] Translation: X:1239.27, Y:202.69, Z:-17.35 [[ 9.79773078e-01 2.00034450e-01 5.56193534e-03 1.23927139e+03] [-2.00030399e-01 9.79788854e-01 -1.28098032e-03 2.02692550e+02] [-5.70576245e-03 1.42513888e-04 9.99983712e-01 -1.73491997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1384.505336195 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:1239.33, Y:202.67, Z:-17.35 [[ 9.79423025e-01 2.01741427e-01 5.56190507e-03 1.23933033e+03] [-2.01737403e-01 9.79438808e-01 -1.28111173e-03 2.02674495e+02] [-5.70599899e-03 1.32706039e-04 9.99983712e-01 -1.73491902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1384.5653361949999 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:1239.39, Y:202.66, Z:-17.35 [[ 9.78833783e-01 2.04581256e-01 5.56187484e-03 1.23938823e+03] [-2.04577277e-01 9.78849578e-01 -1.28124298e-03 2.02655121e+02] [-5.70635714e-03 1.16290701e-04 9.99983712e-01 -1.73511376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1384.6253361949998 meters Centerline goodness : 0.999505 with order 1 Centerline is valid? [True, True] Translation: X:1239.45, Y:202.64, Z:-17.35 [[ 9.78247595e-01 2.07366125e-01 5.56175494e-03 1.23944656e+03] [-2.07362188e-01 9.78263400e-01 -1.28176325e-03 2.02635783e+02] [-5.70665557e-03 1.00584146e-04 9.99983712e-01 -1.73512756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1384.6853361949998 meters Centerline goodness : 0.999443 with order 1 Centerline is valid? [True, True] Translation: X:1239.51, Y:202.62, Z:-17.35 [[ 9.77443142e-01 2.11125486e-01 5.56172551e-03 1.23950507e+03] [-2.11121609e-01 9.77458962e-01 -1.28189093e-03 2.02615054e+02] [-5.70699829e-03 7.87750612e-05 9.99983712e-01 -1.73516786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1384.745336195 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:1239.56, Y:202.60, Z:-17.35 [[ 9.76603836e-01 2.14974456e-01 5.56151729e-03 1.23956376e+03] [-2.14970636e-01 9.76619670e-01 -1.28279368e-03 2.02597682e+02] [-5.70725505e-03 5.72183162e-05 9.99983712e-01 -1.73521979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1384.8053361949999 meters Centerline goodness : 0.999617 with order 1 Centerline is valid? [True, True] Translation: X:1239.62, Y:202.58, Z:-17.35 [[ 9.75969556e-01 2.17835942e-01 5.56132527e-03 1.23962409e+03] [-2.17832163e-01 9.75985400e-01 -1.28362557e-03 2.02577638e+02] [-5.70739206e-03 4.13439572e-05 9.99983712e-01 -1.73518199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1384.8653361949998 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:1239.68, Y:202.56, Z:-17.35 [[ 9.75846316e-01 2.18387365e-01 5.56108390e-03 1.23968371e+03] [-2.18383590e-01 9.75862161e-01 -1.28467044e-03 2.02558917e+02] [-5.70740714e-03 3.91914481e-05 9.99983712e-01 -1.73536906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1384.9253361949998 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:1239.74, Y:202.54, Z:-17.35 [[ 9.75870587e-01 2.18278890e-01 5.56086055e-03 1.23974435e+03] [-2.18275108e-01 9.75886430e-01 -1.28563652e-03 2.02541172e+02] [-5.70739566e-03 4.08174249e-05 9.99983712e-01 -1.73532434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1384.985336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1239.80, Y:202.52, Z:-17.35 [[ 9.75726402e-01 2.18922514e-01 5.56062327e-03 1.23980390e+03] [-2.18918736e-01 9.75742246e-01 -1.28666198e-03 2.02522227e+02] [-5.70741431e-03 3.81054471e-05 9.99983712e-01 -1.73535654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1385.045336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1239.86, Y:202.50, Z:-17.35 [[ 9.75418124e-01 2.20292000e-01 5.56040238e-03 1.23986454e+03] [-2.20288239e-01 9.75433972e-01 -1.28761587e-03 2.02503561e+02] [-5.70745685e-03 3.10726033e-05 9.99983712e-01 -1.73541000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1385.1053361949998 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:1239.92, Y:202.48, Z:-17.35 [[ 9.75091579e-01 2.21732939e-01 5.56016925e-03 1.23992396e+03] [-2.21729196e-01 9.75107432e-01 -1.28862176e-03 2.02484199e+02] [-5.70749225e-03 2.36723701e-05 9.99983712e-01 -1.73545349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1385.1653361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1239.98, Y:202.47, Z:-17.36 [[ 9.74935203e-01 2.22419507e-01 5.55995328e-03 1.23998476e+03] [-2.22415770e-01 9.74951056e-01 -1.28955293e-03 2.02465376e+02] [-5.70750405e-03 2.06092614e-05 9.99983712e-01 -1.73558626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1385.225336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1240.05, Y:202.45, Z:-17.36 [[ 9.74846850e-01 2.22806439e-01 5.55972635e-03 1.24004594e+03] [-2.22802703e-01 9.74862703e-01 -1.29053057e-03 2.02449105e+02] [-5.70750838e-03 1.93476020e-05 9.99983712e-01 -1.73570104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1385.285336195 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:1240.11, Y:202.43, Z:-17.35 [[ 9.74642698e-01 2.23697793e-01 5.55950032e-03 1.24010627e+03] [-2.23694065e-01 9.74658554e-01 -1.29150356e-03 2.02429659e+02] [-5.70752104e-03 1.51272907e-05 9.99983712e-01 -1.73545017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1385.3453361949998 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:1240.17, Y:202.41, Z:-17.36 [[ 9.74029606e-01 2.26352426e-01 5.55924305e-03 1.24016585e+03] [-2.26348735e-01 9.74045471e-01 -1.29261000e-03 2.02413417e+02] [-5.70754093e-03 7.12773928e-07 9.99983712e-01 -1.73552118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1385.4053361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1240.23, Y:202.40, Z:-17.35 [[ 9.73348118e-01 2.29265217e-01 5.55900343e-03 1.24022547e+03] [-2.29261567e-01 9.73363992e-01 -1.29363969e-03 2.02397567e+02] [-5.70752035e-03 -1.53040842e-05 9.99983712e-01 -1.73544905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1385.465336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1240.29, Y:202.38, Z:-17.36 [[ 9.72818304e-01 2.31503019e-01 5.55877736e-03 1.24028502e+03] [-2.31499400e-01 9.72834185e-01 -1.29461041e-03 2.02381580e+02] [-5.70747486e-03 -2.74329236e-05 9.99983712e-01 -1.73578373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1385.525336195 meters Centerline goodness : 0.999548 with order 1 Centerline is valid? [True, True] Translation: X:1240.35, Y:202.37, Z:-17.35 [[ 9.72553834e-01 2.32611570e-01 5.55855674e-03 1.24034556e+03] [-2.32607965e-01 9.72569718e-01 -1.29555697e-03 2.02367580e+02] [-5.70744550e-03 -3.29656734e-05 9.99983712e-01 -1.73495474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1385.5853361949999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1240.41, Y:202.35, Z:-17.36 [[ 9.72771707e-01 2.31698750e-01 5.55833876e-03 1.24040590e+03] [-2.31695124e-01 9.72787587e-01 -1.29649148e-03 2.02352714e+02] [-5.70747841e-03 -2.66497602e-05 9.99983712e-01 -1.73580956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1385.6453361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1240.47, Y:202.34, Z:-17.36 [[ 9.72711533e-01 2.31951245e-01 5.55810700e-03 1.24046623e+03] [-2.31947618e-01 9.72727413e-01 -1.29748431e-03 2.02339101e+02] [-5.70747614e-03 -2.71117218e-05 9.99983712e-01 -1.73555109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1385.705336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1240.53, Y:202.33, Z:-17.35 [[ 9.72666549e-01 2.32139816e-01 5.55789391e-03 1.24052557e+03] [-2.32136187e-01 9.72682428e-01 -1.29839643e-03 2.02325729e+02] [-5.70747525e-03 -2.72815214e-05 9.99983712e-01 -1.73541435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1385.765336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1240.59, Y:202.31, Z:-17.35 [[ 9.72963885e-01 2.30890431e-01 5.55769784e-03 1.24058678e+03] [-2.30886776e-01 9.72979758e-01 -1.29923515e-03 2.02312465e+02] [-5.70750846e-03 -1.90900542e-05 9.99983712e-01 -1.73540015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1385.8253361949999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1240.65, Y:202.30, Z:-17.35 [[ 9.73387837e-01 2.29096559e-01 5.55745897e-03 1.24064824e+03] [-2.29092869e-01 9.73403702e-01 -1.30025611e-03 2.02298090e+02] [-5.70753534e-03 -7.52073929e-06 9.99983712e-01 -1.73548954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1385.8853361949998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1240.71, Y:202.28, Z:-17.36 [[ 9.73979326e-01 2.26568731e-01 5.55722134e-03 1.24070739e+03] [-2.26564994e-01 9.73995180e-01 -1.30127095e-03 2.02283169e+02] [-5.70753411e-03 8.33918531e-06 9.99983712e-01 -1.73577781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1385.945336195 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:1240.77, Y:202.27, Z:-17.35 [[ 9.74859149e-01 2.22752686e-01 5.55702993e-03 1.24076721e+03] [-2.22748882e-01 9.74874987e-01 -1.30208784e-03 2.02267069e+02] [-5.70745305e-03 3.15300376e-05 9.99983712e-01 -1.73519493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1386.005336195 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:1240.83, Y:202.25, Z:-17.36 [[ 9.75724357e-01 2.18931725e-01 5.55682576e-03 1.24082745e+03] [-2.18927855e-01 9.75740179e-01 -1.30295859e-03 2.02250060e+02] [-5.70727713e-03 5.47844849e-05 9.99983712e-01 -1.73580296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1386.0653361949999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1240.89, Y:202.23, Z:-17.35 [[ 9.76029965e-01 2.17565234e-01 5.55662284e-03 1.24088818e+03] [-2.17561336e-01 9.76045780e-01 -1.30382338e-03 2.02234958e+02] [-5.70718492e-03 6.36644011e-05 9.99983712e-01 -1.73543405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1386.1253361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1240.95, Y:202.22, Z:-17.36 [[ 9.76523385e-01 2.15339742e-01 5.55639181e-03 1.24094722e+03] [-2.15335802e-01 9.76539190e-01 -1.30480719e-03 2.02217103e+02] [-5.70701120e-03 7.76846465e-05 9.99983712e-01 -1.73571530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1386.1853361949998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1241.01, Y:202.20, Z:-17.36 [[ 9.76571679e-01 2.15120628e-01 5.55617737e-03 1.24100743e+03] [-2.15116680e-01 9.76587482e-01 -1.30571969e-03 2.02198661e+02] [-5.70698051e-03 7.99024417e-05 9.99983712e-01 -1.73580543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1386.245336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1241.07, Y:202.18, Z:-17.36 [[ 9.76336888e-01 2.16183747e-01 5.55595043e-03 1.24106812e+03] [-2.16179811e-01 9.76352693e-01 -1.30668466e-03 2.02182070e+02] [-5.70705115e-03 7.46801205e-05 9.99983712e-01 -1.73564624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1386.3053361949999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1241.13, Y:202.16, Z:-17.36 [[ 9.75882910e-01 2.18223924e-01 5.55569698e-03 1.24112823e+03] [-2.18220015e-01 9.75898722e-01 -1.30776136e-03 2.02164284e+02] [-5.70718240e-03 6.38576880e-05 9.99983712e-01 -1.73573783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1386.3653361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1241.19, Y:202.15, Z:-17.36 [[ 9.75518753e-01 2.19846083e-01 5.55544411e-03 1.24118737e+03] [-2.19842194e-01 9.75534570e-01 -1.30883467e-03 2.02146779e+02] [-5.70726996e-03 5.54717443e-05 9.99983712e-01 -1.73614939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1386.4253361949998 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:1241.25, Y:202.13, Z:-17.36 [[ 9.75319088e-01 2.20730189e-01 5.55524109e-03 1.24124691e+03] [-2.20726310e-01 9.75334907e-01 -1.30969582e-03 2.02127897e+02] [-5.70730996e-03 5.11834632e-05 9.99983712e-01 -1.73572569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1386.485336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1241.31, Y:202.11, Z:-17.36 [[ 9.75316709e-01 2.20740706e-01 5.55501955e-03 1.24130630e+03] [-2.20736821e-01 9.75332527e-01 -1.31063480e-03 2.02110616e+02] [-5.70730171e-03 5.20866624e-05 9.99983712e-01 -1.73555270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1386.545336195 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:1241.37, Y:202.09, Z:-17.36 [[ 9.74888382e-01 2.22624769e-01 5.55480068e-03 1.24136537e+03] [-2.22620909e-01 9.74904206e-01 -1.31156177e-03 2.02091019e+02] [-5.70738468e-03 4.20115541e-05 9.99983712e-01 -1.73564328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1386.6053361949998 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:1241.42, Y:202.07, Z:-17.36 [[ 9.73706547e-01 2.27738242e-01 5.55456914e-03 1.24142480e+03] [-2.27734460e-01 9.73722390e-01 -1.31254165e-03 2.02073920e+02] [-5.70752426e-03 1.30635902e-05 9.99983712e-01 -1.73587529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1386.6653361949998 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:1241.49, Y:202.06, Z:-17.36 [[ 9.72270852e-01 2.33791659e-01 5.55435445e-03 1.24148520e+03] [-2.33787971e-01 9.72286717e-01 -1.31344953e-03 2.02057940e+02] [-5.70749859e-03 -2.15125610e-05 9.99983712e-01 -1.73593039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1386.725336195 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:1241.55, Y:202.04, Z:-17.36 [[ 9.71314113e-01 2.37735242e-01 5.55412667e-03 1.24154551e+03] [-2.37731613e-01 9.71329992e-01 -1.31441203e-03 2.02041734e+02] [-5.70737187e-03 -4.36845339e-05 9.99983712e-01 -1.73602410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1386.785336195 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:1241.61, Y:202.03, Z:-17.36 [[ 9.70220513e-01 2.42159678e-01 5.55397695e-03 1.24160653e+03] [-2.42156117e-01 9.70236407e-01 -1.31504435e-03 2.02026566e+02] [-5.70712136e-03 -6.90464910e-05 9.99983712e-01 -1.73573372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1386.8453361949998 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:1241.67, Y:202.01, Z:-17.36 [[ 9.69726073e-01 2.44132136e-01 5.55372475e-03 1.24166625e+03] [-2.44128601e-01 9.69741973e-01 -1.31610860e-03 2.02011255e+02] [-5.70698439e-03 -7.95582301e-05 9.99983712e-01 -1.73565719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1386.9053361949998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1241.73, Y:202.00, Z:-17.36 [[ 9.69639744e-01 2.44474794e-01 5.55356887e-03 1.24172635e+03] [-2.44471261e-01 9.69655644e-01 -1.31676603e-03 2.01996770e+02] [-5.70696550e-03 -8.08993076e-05 9.99983712e-01 -1.73577219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1386.965336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1241.79, Y:201.98, Z:-17.36 [[ 9.69685766e-01 2.44292194e-01 5.55334195e-03 1.24178755e+03] [-2.44288653e-01 9.69701664e-01 -1.31772234e-03 2.01982720e+02] [-5.70699421e-03 -7.88418280e-05 9.99983712e-01 -1.73555746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1387.025336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1241.85, Y:201.97, Z:-17.36 [[ 9.69814236e-01 2.43781688e-01 5.55309358e-03 1.24184894e+03] [-2.43778132e-01 9.69830131e-01 -1.31876818e-03 2.01969419e+02] [-5.70704901e-03 -7.47626225e-05 9.99983712e-01 -1.73551924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1387.0853361949999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1241.91, Y:201.96, Z:-17.36 [[ 9.69971112e-01 2.43156757e-01 5.55284107e-03 1.24190963e+03] [-2.43153185e-01 9.69987003e-01 -1.31983057e-03 2.01956859e+02] [-5.70710939e-03 -6.99934690e-05 9.99983712e-01 -1.73579550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1387.1453361949998 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:1241.97, Y:201.94, Z:-17.36 [[ 9.70510163e-01 2.40996250e-01 5.55262219e-03 1.24197087e+03] [-2.40992637e-01 9.70526045e-01 -1.32075075e-03 2.01942360e+02] [-5.70726043e-03 -5.63390369e-05 9.99983712e-01 -1.73590659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1387.205336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1242.03, Y:201.93, Z:-17.36 [[ 9.71100099e-01 2.38607980e-01 5.55237370e-03 1.24203139e+03] [-2.38604322e-01 9.71115972e-01 -1.32179458e-03 2.01928193e+02] [-5.70738951e-03 -4.12255139e-05 9.99983712e-01 -1.73594944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1387.265336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1242.09, Y:201.91, Z:-17.36 [[ 9.71342112e-01 2.37620865e-01 5.55214295e-03 1.24209247e+03] [-2.37617186e-01 9.71357979e-01 -1.32276313e-03 2.01914179e+02] [-5.70743447e-03 -3.44290515e-05 9.99983712e-01 -1.73597222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1387.3253361949999 meters Centerline goodness : 0.999696 with order 1 Centerline is valid? [True, True] Translation: X:1242.15, Y:201.90, Z:-17.36 [[ 9.71725696e-01 2.36047342e-01 5.55189890e-03 1.24215277e+03] [-2.36043631e-01 9.71741556e-01 -1.32378666e-03 2.01898599e+02] [-5.70748720e-03 -2.41328643e-05 9.99983712e-01 -1.73607200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1387.3853361949998 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:1242.21, Y:201.88, Z:-17.36 [[ 9.71722411e-01 2.36060872e-01 5.55167197e-03 1.24221322e+03] [-2.36057156e-01 9.71738269e-01 -1.32473767e-03 2.01883890e+02] [-5.70749084e-03 -2.32346086e-05 9.99983712e-01 -1.73625184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1387.445336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:1242.27, Y:201.87, Z:-17.36 [[ 9.71467940e-01 2.37105930e-01 5.55146275e-03 1.24227465e+03] [-2.37102226e-01 9.71483802e-01 -1.32561382e-03 2.01869644e+02] [-5.70746704e-03 -2.84728450e-05 9.99983712e-01 -1.73635538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1387.505336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:1242.33, Y:201.85, Z:-17.36 [[ 9.70895803e-01 2.39437934e-01 5.55122440e-03 1.24233454e+03] [-2.39434263e-01 9.70911672e-01 -1.32661121e-03 2.01854967e+02] [-5.70738961e-03 -4.11520690e-05 9.99983712e-01 -1.73631357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1387.5653361949999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1242.40, Y:201.84, Z:-17.36 [[ 9.70147596e-01 2.42451704e-01 5.55100226e-03 1.24239619e+03] [-2.42448076e-01 9.70163475e-01 -1.32754009e-03 2.01840379e+02] [-5.70724400e-03 -5.79199962e-05 9.99983712e-01 -1.73597872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1387.6253361949998 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:1242.46, Y:201.83, Z:-17.36 [[ 9.69537344e-01 2.44880641e-01 5.55074964e-03 1.24245592e+03] [-2.44877047e-01 9.69553231e-01 -1.32859550e-03 2.01827596e+02] [-5.70709456e-03 -7.11282280e-05 9.99983712e-01 -1.73591031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1387.6853361949998 meters Centerline goodness : 0.999526 with order 1 Centerline is valid? [True, True] Translation: X:1242.52, Y:201.81, Z:-17.35 [[ 9.69367453e-01 2.45552301e-01 5.55062936e-03 1.24251685e+03] [-2.45548715e-01 9.69383341e-01 -1.32909781e-03 2.01813024e+02] [-5.70705066e-03 -7.45657535e-05 9.99983712e-01 -1.73499802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1387.745336195 meters Centerline goodness : 0.999614 with order 1 Centerline is valid? [True, True] Translation: X:1242.58, Y:201.80, Z:-17.35 [[ 9.69084109e-01 2.46668163e-01 5.55038363e-03 1.24257842e+03] [-2.46664590e-01 9.69100001e-01 -1.33012319e-03 2.01798982e+02] [-5.70697583e-03 -8.00818560e-05 9.99983712e-01 -1.73512647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1387.8053361949999 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:1242.64, Y:201.78, Z:-17.36 [[ 9.68833984e-01 2.47648758e-01 5.55013728e-03 1.24263870e+03] [-2.47645195e-01 9.68849878e-01 -1.33115034e-03 2.01784740e+02] [-5.70690756e-03 -8.48011415e-05 9.99983712e-01 -1.73586363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1387.8653361949998 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:1242.70, Y:201.77, Z:-17.36 [[ 9.67759439e-01 2.51815143e-01 5.54990896e-03 1.24269982e+03] [-2.51811643e-01 9.67775347e-01 -1.33210159e-03 2.01774457e+02] [-5.70650842e-03 -1.08377802e-04 9.99983712e-01 -1.73602772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1387.9253361949998 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1242.76, Y:201.76, Z:-17.36 [[ 9.67510415e-01 2.52770248e-01 5.54969408e-03 1.24276162e+03] [-2.52766758e-01 9.67526325e-01 -1.33299621e-03 2.01762572e+02] [-5.70641690e-03 -1.13090463e-04 9.99983712e-01 -1.73595410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1387.985336195 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:1242.82, Y:201.75, Z:-17.36 [[ 9.67881629e-01 2.51345094e-01 5.54944244e-03 1.24282282e+03] [-2.51341575e-01 9.67897532e-01 -1.33404300e-03 2.01750701e+02] [-5.70659681e-03 -1.03609894e-04 9.99983712e-01 -1.73609546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1388.045336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:1242.88, Y:201.74, Z:-17.36 [[ 9.68724767e-01 2.48075656e-01 5.54920865e-03 1.24288471e+03] [-2.48072078e-01 9.68740658e-01 -1.33501479e-03 2.01737865e+02] [-5.70692871e-03 -8.33418296e-05 9.99983712e-01 -1.73596093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1388.1053361949998 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1242.95, Y:201.72, Z:-17.36 [[ 9.69071534e-01 2.46717593e-01 5.54896157e-03 1.24294597e+03] [-2.46713987e-01 9.69087418e-01 -1.33604098e-03 2.01724956e+02] [-5.70705366e-03 -7.42871487e-05 9.99983712e-01 -1.73598919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1388.1653361949998 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:1243.01, Y:201.71, Z:-17.36 [[ 9.69258952e-01 2.45980275e-01 5.54870752e-03 1.24300730e+03] [-2.45976651e-01 9.69274832e-01 -1.33709522e-03 2.01714661e+02] [-5.70712160e-03 -6.88609774e-05 9.99983712e-01 -1.73610100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1388.225336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1243.07, Y:201.70, Z:-17.36 [[ 9.69615373e-01 2.44571550e-01 5.54847240e-03 1.24306961e+03] [-2.44567897e-01 9.69631246e-01 -1.33807021e-03 2.01704100e+02] [-5.70722611e-03 -5.95647771e-05 9.99983712e-01 -1.73595486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1388.285336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1243.13, Y:201.69, Z:-17.36 [[ 9.70170241e-01 2.42361138e-01 5.54821928e-03 1.24313196e+03] [-2.42357443e-01 9.70186104e-01 -1.33911891e-03 2.01693158e+02] [-5.70735563e-03 -4.54789240e-05 9.99983712e-01 -1.73579310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1388.3453361949998 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1243.19, Y:201.68, Z:-17.36 [[ 9.70699992e-01 2.40230609e-01 5.54795979e-03 1.24319239e+03] [-2.40226873e-01 9.70715846e-01 -1.34019312e-03 2.01681424e+02] [-5.70744789e-03 -3.18435818e-05 9.99983712e-01 -1.73579840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1388.4053361949998 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1243.25, Y:201.67, Z:-17.36 [[ 9.71897026e-01 2.35341017e-01 5.54771850e-03 1.24325324e+03] [-2.35337196e-01 9.71912859e-01 -1.34119120e-03 2.01668508e+02] [-5.70753625e-03 -2.08477505e-06 9.99983712e-01 -1.73591142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1388.465336195 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:1243.31, Y:201.65, Z:-17.36 [[ 9.73250637e-01 2.29678955e-01 5.54755878e-03 1.24331294e+03] [-2.29675038e-01 9.73266447e-01 -1.34185151e-03 2.01653307e+02] [-5.70744788e-03 3.18220585e-05 9.99983712e-01 -1.73619973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1388.525336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1243.37, Y:201.64, Z:-17.36 [[ 9.74210075e-01 2.25574725e-01 5.54732771e-03 1.24337440e+03] [-2.25570735e-01 9.74225867e-01 -1.34280609e-03 2.01638776e+02] [-5.70725327e-03 5.68604288e-05 9.99983712e-01 -1.73621154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1388.5853361949999 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:1243.44, Y:201.62, Z:-17.36 [[ 9.74257269e-01 2.25370816e-01 5.54707462e-03 1.24343597e+03] [-2.25366817e-01 9.74273058e-01 -1.34385080e-03 2.01624649e+02] [-5.70723010e-03 5.91298569e-05 9.99983712e-01 -1.73622566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1388.6453361949998 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:1243.50, Y:201.61, Z:-17.36 [[ 9.73891671e-01 2.26945469e-01 5.54681198e-03 1.24349651e+03] [-2.26941489e-01 9.73907466e-01 -1.34493398e-03 2.01610239e+02] [-5.70730827e-03 5.10182295e-05 9.99983712e-01 -1.73623598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1388.705336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1243.56, Y:201.60, Z:-17.36 [[ 9.73209942e-01 2.29851353e-01 5.54656842e-03 1.24355788e+03] [-2.29847415e-01 9.73225747e-01 -1.34593770e-03 2.01595660e+02] [-5.70742879e-03 3.50155310e-05 9.99983712e-01 -1.73617581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1388.765336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1243.62, Y:201.58, Z:-17.36 [[ 9.72625758e-01 2.32310941e-01 5.54631164e-03 1.24361820e+03] [-2.32307037e-01 9.72641571e-01 -1.34699497e-03 2.01582934e+02] [-5.70749494e-03 2.16747758e-05 9.99983712e-01 -1.73634425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1388.8253361949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1243.68, Y:201.57, Z:-17.36 [[ 9.72175861e-01 2.34186540e-01 5.54607460e-03 1.24367952e+03] [-2.34182661e-01 9.72191681e-01 -1.34797026e-03 2.01568726e+02] [-5.70752408e-03 1.16696370e-05 9.99983712e-01 -1.73640476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1388.8853361949998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1243.74, Y:201.56, Z:-17.36 [[ 9.71098665e-01 2.38613968e-01 5.54582343e-03 1.24373994e+03] [-2.38610155e-01 9.71114501e-01 -1.34900283e-03 2.01555208e+02] [-5.70752047e-03 -1.32749437e-05 9.99983712e-01 -1.73647574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1388.945336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1243.80, Y:201.54, Z:-17.36 [[ 9.69692888e-01 2.44264097e-01 5.54559018e-03 1.24380256e+03] [-2.44260371e-01 9.69708744e-01 -1.34996102e-03 2.01544386e+02] [-5.70735430e-03 -4.55203181e-05 9.99983712e-01 -1.73648824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1389.005336195 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:1243.86, Y:201.53, Z:-17.36 [[ 9.68919369e-01 2.47314588e-01 5.54534543e-03 1.24386312e+03] [-2.47310906e-01 9.68935236e-01 -1.35096565e-03 2.01532082e+02] [-5.70719409e-03 -6.24476193e-05 9.99983712e-01 -1.73582964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1389.0653361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1243.92, Y:201.52, Z:-17.37 [[ 9.68237105e-01 2.49972317e-01 5.54513293e-03 1.24392478e+03] [-2.49968673e-01 9.68252981e-01 -1.35183729e-03 2.01521287e+02] [-5.70701339e-03 -7.72104933e-05 9.99983712e-01 -1.73659794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1389.1253361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1243.99, Y:201.51, Z:-17.37 [[ 9.67787326e-01 2.51708058e-01 5.54487358e-03 1.24398573e+03] [-2.51704437e-01 9.67803206e-01 -1.35290028e-03 2.01509750e+02] [-5.70688233e-03 -8.63495417e-05 9.99983712e-01 -1.73671329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1389.1853361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1244.05, Y:201.50, Z:-17.37 [[ 9.67478056e-01 2.52894182e-01 5.54463323e-03 1.24404504e+03] [-2.52890575e-01 9.67493940e-01 -1.35388459e-03 2.01501110e+02] [-5.70678858e-03 -9.23318537e-05 9.99983712e-01 -1.73670731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1389.245336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1244.11, Y:201.49, Z:-17.37 [[ 9.67746364e-01 2.51865503e-01 5.54466290e-03 1.24410732e+03] [-2.51861880e-01 9.67762244e-01 -1.35376307e-03 2.01490221e+02] [-5.70688162e-03 -8.63899319e-05 9.99983712e-01 -1.73673886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1389.3053361949999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1244.17, Y:201.48, Z:-17.37 [[ 9.68658370e-01 2.48334897e-01 5.54440669e-03 1.24417004e+03] [-2.48331210e-01 9.68674236e-01 -1.35481157e-03 2.01480247e+02] [-5.70717090e-03 -6.44996555e-05 9.99983712e-01 -1.73690491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1389.3653361949998 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:1244.23, Y:201.47, Z:-17.37 [[ 9.69866395e-01 2.43574296e-01 5.54414855e-03 1.24423205e+03] [-2.43570525e-01 9.69882241e-01 -1.35586711e-03 2.01469093e+02] [-5.70742559e-03 -3.53812201e-05 9.99983712e-01 -1.73665421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1389.4253361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1244.29, Y:201.46, Z:-17.37 [[ 9.70888038e-01 2.39469585e-01 5.54388755e-03 1.24429408e+03] [-2.39465741e-01 9.70903866e-01 -1.35693345e-03 2.01456747e+02] [-5.70752615e-03 -1.01406777e-05 9.99983712e-01 -1.73694893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1389.485336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1244.35, Y:201.44, Z:-17.37 [[ 9.72555627e-01 2.32604431e-01 5.54362812e-03 1.24435467e+03] [-2.32600469e-01 9.72571426e-01 -1.35799250e-03 2.01443168e+02] [-5.70744937e-03 3.12727447e-05 9.99983712e-01 -1.73694929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1389.545336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1244.42, Y:201.43, Z:-17.37 [[ 9.74179638e-01 2.25706231e-01 5.54346640e-03 1.24441593e+03] [-2.25702154e-01 9.74195407e-01 -1.35865231e-03 2.01429280e+02] [-5.70707581e-03 7.23991129e-05 9.99983712e-01 -1.73688504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1389.6053361949998 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:1244.48, Y:201.41, Z:-17.37 [[ 9.75108097e-01 2.21660715e-01 5.54320688e-03 1.24447666e+03] [-2.21656566e-01 9.75123847e-01 -1.35971031e-03 2.01413596e+02] [-5.70670758e-03 9.71763311e-05 9.99983712e-01 -1.73695755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1389.6653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1244.54, Y:201.40, Z:-17.37 [[ 9.75773076e-01 2.18714837e-01 5.54294734e-03 1.24453683e+03] [-2.18710634e-01 9.75788813e-01 -1.36076755e-03 2.01397248e+02] [-5.70636605e-03 1.15498814e-04 9.99983712e-01 -1.73702290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1389.725336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:1244.60, Y:201.38, Z:-17.37 [[ 9.76268035e-01 2.16494807e-01 5.54270559e-03 1.24459677e+03] [-2.16490563e-01 9.76283761e-01 -1.36175152e-03 2.01379515e+02] [-5.70606559e-03 1.29491029e-04 9.99983712e-01 -1.73712213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1389.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1244.66, Y:201.36, Z:-17.37 [[ 9.75943504e-01 2.17953109e-01 5.54246826e-03 1.24465667e+03] [-2.17948883e-01 9.75959234e-01 -1.36271682e-03 2.01362668e+02] [-5.70623144e-03 1.21959862e-04 9.99983712e-01 -1.73730881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1389.8453361949998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:1244.72, Y:201.35, Z:-17.38 [[ 9.75380244e-01 2.20460118e-01 5.54224799e-03 1.24471706e+03] [-2.20455927e-01 9.75395984e-01 -1.36361207e-03 2.01346459e+02] [-5.70650851e-03 1.08218858e-04 9.99983712e-01 -1.73761095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1389.9053361949998 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:1244.78, Y:201.33, Z:-17.37 [[ 9.73987580e-01 2.26533619e-01 5.54203001e-03 1.24477536e+03] [-2.26529522e-01 9.74003344e-01 -1.36449741e-03 2.01329721e+02] [-5.70706030e-03 7.35701220e-05 9.99983712e-01 -1.73683211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1389.965336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1244.83, Y:201.31, Z:-17.37 [[ 9.72925701e-01 2.31051655e-01 5.54201452e-03 1.24483353e+03] [-2.31047630e-01 9.72941484e-01 -1.36456033e-03 2.01314175e+02] [-5.70733975e-03 4.71464972e-05 9.99983712e-01 -1.73745977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1390.025336195 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:1244.89, Y:201.30, Z:-17.37 [[ 9.71573162e-01 2.36674623e-01 5.54201452e-03 1.24489014e+03] [-2.36670689e-01 9.71588968e-01 -1.36456033e-03 2.01300314e+02] [-5.70751697e-03 1.41378024e-05 9.99983712e-01 -1.73741397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1390.0853361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1244.95, Y:201.29, Z:-17.38 [[ 9.70965416e-01 2.39155695e-01 5.54205973e-03 1.24494782e+03] [-2.39151803e-01 9.70981232e-01 -1.36437669e-03 2.01285314e+02] [-5.70753444e-03 -6.31000410e-07 9.99983712e-01 -1.73761490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1390.1453361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1245.01, Y:201.27, Z:-17.38 [[ 9.70484679e-01 2.41099093e-01 5.54208958e-03 1.24500533e+03] [-2.41095234e-01 9.70500503e-01 -1.36425543e-03 2.01268124e+02] [-5.70752147e-03 -1.21823917e-05 9.99983712e-01 -1.73763958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1390.205336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1245.06, Y:201.25, Z:-17.38 [[ 9.69739621e-01 2.44078580e-01 5.54211925e-03 1.24506329e+03] [-2.44074770e-01 9.69755457e-01 -1.36413487e-03 2.01253067e+02] [-5.70745649e-03 -2.98358455e-05 9.99983712e-01 -1.73756217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1390.265336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:1245.12, Y:201.24, Z:-17.37 [[ 9.68678313e-01 2.48257148e-01 5.54214856e-03 1.24512436e+03] [-2.48253406e-01 9.68694165e-01 -1.36401579e-03 2.01237812e+02] [-5.70727364e-03 -5.45647403e-05 9.99983712e-01 -1.73749355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1390.3253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1245.18, Y:201.22, Z:-17.38 [[ 9.68327436e-01 2.49622243e-01 5.54188351e-03 1.24518392e+03] [-2.49618518e-01 9.68343292e-01 -1.36509181e-03 2.01220736e+02] [-5.70720301e-03 -6.15008974e-05 9.99983712e-01 -1.73782482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1390.3853361949998 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:1245.24, Y:201.20, Z:-17.37 [[ 9.68470526e-01 2.49066517e-01 5.54163687e-03 1.24524154e+03] [-2.49062777e-01 9.68486379e-01 -1.36609231e-03 2.01204714e+02] [-5.70724768e-03 -5.71953331e-05 9.99983712e-01 -1.73673724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1390.445336195 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:1245.30, Y:201.19, Z:-17.36 [[ 9.68647844e-01 2.48376015e-01 5.54166643e-03 1.24530212e+03] [-2.48372264e-01 9.68663694e-01 -1.36597239e-03 2.01188254e+02] [-5.70728586e-03 -5.32500289e-05 9.99983712e-01 -1.73643573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1390.505336195 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:1245.36, Y:201.17, Z:-17.38 [[ 9.68641862e-01 2.48399347e-01 5.54141367e-03 1.24536231e+03] [-2.48395591e-01 9.68657711e-01 -1.36699702e-03 2.01171168e+02] [-5.70729425e-03 -5.23321842e-05 9.99983712e-01 -1.73754605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1390.5653361949999 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:1245.42, Y:201.16, Z:-17.37 [[ 9.68263898e-01 2.49868604e-01 5.54115918e-03 1.24542300e+03] [-2.49864867e-01 9.68279751e-01 -1.36802781e-03 2.01155548e+02] [-5.70721944e-03 -5.99290648e-05 9.99983712e-01 -1.73705229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1390.6253361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1245.48, Y:201.14, Z:-17.38 [[ 9.67753373e-01 2.51838651e-01 5.54107986e-03 1.24548404e+03] [-2.51834943e-01 9.67769233e-01 -1.36834904e-03 2.01141735e+02] [-5.70708978e-03 -7.12131346e-05 9.99983712e-01 -1.73812047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1390.6853361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1245.54, Y:201.13, Z:-17.38 [[ 9.67528808e-01 2.52700029e-01 5.54085855e-03 1.24554340e+03] [-2.52696331e-01 9.67544671e-01 -1.36924460e-03 2.01128018e+02] [-5.70703631e-03 -7.53710305e-05 9.99983712e-01 -1.73811216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1390.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1245.60, Y:201.11, Z:-17.38 [[ 9.67588663e-01 2.52470753e-01 5.54065537e-03 1.24560410e+03] [-2.52467046e-01 9.67604523e-01 -1.37006628e-03 2.01113260e+02] [-5.70706486e-03 -7.31722917e-05 9.99983712e-01 -1.73788000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1390.8053361949999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1245.66, Y:201.10, Z:-17.38 [[ 9.67824139e-01 2.51566572e-01 5.54042840e-03 1.24566425e+03] [-2.51562845e-01 9.67839995e-01 -1.37098348e-03 2.01098163e+02] [-5.70714181e-03 -6.68950246e-05 9.99983712e-01 -1.73793405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1390.8653361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1245.73, Y:201.08, Z:-17.38 [[ 9.68385352e-01 2.49397506e-01 5.54018693e-03 1.24572619e+03] [-2.49393738e-01 9.68401198e-01 -1.37195861e-03 2.01084213e+02] [-5.70728671e-03 -5.31033088e-05 9.99983712e-01 -1.73790817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1390.9253361949998 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1245.79, Y:201.07, Z:-17.38 [[ 9.68936710e-01 2.47246763e-01 5.53992973e-03 1.24578753e+03] [-2.47242954e-01 9.68952546e-01 -1.37299637e-03 2.01069415e+02] [-5.70739793e-03 -3.93620086e-05 9.99983712e-01 -1.73810993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1390.985336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1245.85, Y:201.05, Z:-17.38 [[ 9.69179920e-01 2.46291687e-01 5.53967129e-03 1.24584856e+03] [-2.46287856e-01 9.69195751e-01 -1.37403832e-03 2.01053745e+02] [-5.70744009e-03 -3.26634132e-05 9.99983712e-01 -1.73818921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1391.045336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1245.91, Y:201.04, Z:-17.38 [[ 9.69244171e-01 2.46038719e-01 5.53940888e-03 1.24590854e+03] [-2.46034878e-01 9.69260000e-01 -1.37509542e-03 2.01038723e+02] [-5.70745416e-03 -3.00845652e-05 9.99983712e-01 -1.73809739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1391.1053361949998 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:1245.97, Y:201.02, Z:-17.38 [[ 9.69295647e-01 2.45835854e-01 5.53916551e-03 1.24596965e+03] [-2.45832004e-01 9.69311473e-01 -1.37607507e-03 2.01023794e+02] [-5.70746527e-03 -2.78805868e-05 9.99983712e-01 -1.73806448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1391.1653361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1246.03, Y:201.01, Z:-17.38 [[ 9.69166549e-01 2.46344314e-01 5.53889940e-03 1.24603030e+03] [-2.46340466e-01 9.69182376e-01 -1.37714536e-03 2.01010761e+02] [-5.70745561e-03 -2.97718450e-05 9.99983712e-01 -1.73836340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1391.225336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1246.09, Y:201.00, Z:-17.38 [[ 9.68881664e-01 2.47462411e-01 5.53865308e-03 1.24609053e+03] [-2.47458576e-01 9.68897494e-01 -1.37813530e-03 2.00997958e+02] [-5.70742377e-03 -3.53371796e-05 9.99983712e-01 -1.73840075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1391.285336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1246.15, Y:200.99, Z:-17.38 [[ 9.68171431e-01 2.50226706e-01 5.53862172e-03 1.24614866e+03] [-2.50222916e-01 9.68187272e-01 -1.37826131e-03 2.00986838e+02] [-5.70730084e-03 -5.14968509e-05 9.99983712e-01 -1.73832440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1391.3453361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1246.21, Y:200.98, Z:-17.38 [[ 9.67294178e-01 2.53596721e-01 5.53866836e-03 1.24620834e+03] [-2.53592987e-01 9.67310032e-01 -1.37807388e-03 2.00978294e+02] [-5.70708448e-03 -7.15646083e-05 9.99983712e-01 -1.73823750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1391.4053361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1246.27, Y:200.97, Z:-17.38 [[ 9.66903853e-01 2.55080894e-01 5.53870043e-03 1.24626724e+03] [-2.55077185e-01 9.66919713e-01 -1.37794497e-03 2.00967874e+02] [-5.70696606e-03 -8.04558102e-05 9.99983712e-01 -1.73825646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1391.465336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1246.32, Y:200.96, Z:-17.38 [[ 9.66637109e-01 2.56089869e-01 5.53873251e-03 1.24632454e+03] [-2.56086178e-01 9.66652974e-01 -1.37781599e-03 2.00960621e+02] [-5.70687697e-03 -8.65447694e-05 9.99983712e-01 -1.73841126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1391.525336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1246.38, Y:200.95, Z:-17.38 [[ 9.66639160e-01 2.56082129e-01 5.53881173e-03 1.24638310e+03] [-2.56078439e-01 9.66655024e-01 -1.37749748e-03 2.00950768e+02] [-5.70687267e-03 -8.68272551e-05 9.99983712e-01 -1.73836858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1391.5853361949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1246.44, Y:200.94, Z:-17.38 [[ 9.66662055e-01 2.55995687e-01 5.53887450e-03 1.24644105e+03] [-2.55991997e-01 9.66677920e-01 -1.37724503e-03 2.00940447e+02] [-5.70687647e-03 -8.65770337e-05 9.99983712e-01 -1.73825735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1391.6453361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1246.50, Y:200.93, Z:-17.38 [[ 9.66887499e-01 2.55142871e-01 5.53894005e-03 1.24649939e+03] [-2.55139169e-01 9.66903361e-01 -1.37698133e-03 2.00933483e+02] [-5.70694672e-03 -8.18145257e-05 9.99983712e-01 -1.73832763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1391.705336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1246.56, Y:200.92, Z:-17.38 [[ 9.67294014e-01 2.53597338e-01 5.53902114e-03 1.24655643e+03] [-2.53593612e-01 9.67309870e-01 -1.37665506e-03 2.00924742e+02] [-5.70706588e-03 -7.30301793e-05 9.99983712e-01 -1.73835119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1391.765336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1246.62, Y:200.92, Z:-17.38 [[ 9.68138895e-01 2.50352550e-01 5.53910109e-03 1.24661522e+03] [-2.50348772e-01 9.68154739e-01 -1.37633331e-03 2.00917638e+02] [-5.70727552e-03 -5.42253476e-05 9.99983712e-01 -1.73824592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1391.8253361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1246.67, Y:200.91, Z:-17.38 [[ 9.68960672e-01 2.47152855e-01 5.53916668e-03 1.24667294e+03] [-2.47149027e-01 9.68976504e-01 -1.37606929e-03 2.00911440e+02] [-5.70742182e-03 -3.56426360e-05 9.99983712e-01 -1.73847677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1391.8853361949998 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:1246.73, Y:200.91, Z:-17.39 [[ 9.69535339e-01 2.44888840e-01 5.53924767e-03 1.24673179e+03] [-2.44884976e-01 9.69551162e-01 -1.37574319e-03 2.00906945e+02] [-5.70748817e-03 -2.26468990e-05 9.99983712e-01 -1.73864586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1391.945336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1246.79, Y:200.90, Z:-17.39 [[ 9.69924317e-01 2.43343655e-01 5.53934154e-03 1.24678962e+03] [-2.43339768e-01 9.69940135e-01 -1.37536513e-03 2.00899866e+02] [-5.70751606e-03 -1.39420028e-05 9.99983712e-01 -1.73856835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1392.005336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1246.85, Y:200.89, Z:-17.39 [[ 9.71054371e-01 2.38794313e-01 5.53943908e-03 1.24684836e+03] [-2.38790355e-01 9.71070170e-01 -1.37497217e-03 2.00894923e+02] [-5.70751959e-03 1.24081153e-05 9.99983712e-01 -1.73875163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1392.0653361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1246.91, Y:200.89, Z:-17.39 [[ 9.72249465e-01 2.33880937e-01 5.53951967e-03 1.24690538e+03] [-2.33876900e-01 9.72265245e-01 -1.37464743e-03 2.00885905e+02] [-5.70738627e-03 4.09345355e-05 9.99983712e-01 -1.73872071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1392.1253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1246.96, Y:200.88, Z:-17.39 [[ 9.74482910e-01 2.24393337e-01 5.53961623e-03 1.24696344e+03] [-2.24389150e-01 9.74498651e-01 -1.37425819e-03 2.00875932e+02] [-5.70672292e-03 9.61613453e-05 9.99983712e-01 -1.73873209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1392.1853361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1247.02, Y:200.86, Z:-17.39 [[ 9.76489359e-01 2.15494418e-01 5.53968407e-03 1.24701974e+03] [-2.15490089e-01 9.76505061e-01 -1.37398466e-03 2.00864012e+02] [-5.70561555e-03 1.47934387e-04 9.99983712e-01 -1.73891770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1392.245336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1247.08, Y:200.85, Z:-17.39 [[ 9.77803520e-01 2.09450678e-01 5.53977152e-03 1.24707691e+03] [-2.09446253e-01 9.77819196e-01 -1.37363198e-03 2.00851514e+02] [-5.70460308e-03 1.82857797e-04 9.99983712e-01 -1.73907130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1392.3053361949999 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1247.13, Y:200.84, Z:-17.39 [[ 9.78143700e-01 2.07856231e-01 5.53983617e-03 1.24713344e+03] [-2.07851782e-01 9.78159369e-01 -1.37337117e-03 2.00836866e+02] [-5.70430641e-03 1.91889540e-04 9.99983712e-01 -1.73910667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1392.3653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1247.19, Y:200.82, Z:-17.39 [[ 9.77836929e-01 2.09294648e-01 5.53990086e-03 1.24719005e+03] [-2.09290223e-01 9.77852605e-01 -1.37311020e-03 2.00823465e+02] [-5.70459110e-03 1.83230776e-04 9.99983712e-01 -1.73912070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1392.4253361949998 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1247.25, Y:200.81, Z:-17.38 [[ 9.76804365e-01 2.14062004e-01 5.53998738e-03 1.24724698e+03] [-2.14057659e-01 9.76820062e-01 -1.37276101e-03 2.00810345e+02] [-5.70542680e-03 1.55042220e-04 9.99983712e-01 -1.73840738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1392.485336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1247.30, Y:200.80, Z:-17.39 [[ 9.75632725e-01 2.19340133e-01 5.54005129e-03 1.24730396e+03] [-2.19335874e-01 9.75648446e-01 -1.37250305e-03 2.00796370e+02] [-5.70618744e-03 1.23926903e-04 9.99983712e-01 -1.73905766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1392.545336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1247.36, Y:200.78, Z:-17.39 [[ 9.74829969e-01 2.22880773e-01 5.54011789e-03 1.24736003e+03] [-2.22876572e-01 9.74845706e-01 -1.37223416e-03 2.00783931e+02] [-5.70660475e-03 1.02932499e-04 9.99983712e-01 -1.73907379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1392.6053361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1247.42, Y:200.77, Z:-17.39 [[ 9.73362042e-01 2.29206547e-01 5.54023317e-03 1.24741651e+03] [-2.29202451e-01 9.73377807e-01 -1.37176861e-03 2.00773246e+02] [-5.70715835e-03 6.53924693e-05 9.99983712e-01 -1.73930594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1392.6653361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1247.47, Y:200.76, Z:-17.39 [[ 9.72470984e-01 2.32958128e-01 5.54031199e-03 1.24747360e+03] [-2.32954095e-01 9.72486765e-01 -1.37145018e-03 2.00760816e+02] [-5.70737055e-03 4.30571366e-05 9.99983712e-01 -1.73925633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1392.725336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1247.53, Y:200.75, Z:-17.39 [[ 9.71528428e-01 2.36858224e-01 5.54040750e-03 1.24753145e+03] [-2.36854256e-01 9.71544225e-01 -1.37106423e-03 2.00749732e+02] [-5.70749875e-03 1.97587757e-05 9.99983712e-01 -1.73920301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1392.785336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1247.59, Y:200.74, Z:-17.39 [[ 9.71238080e-01 2.38045995e-01 5.54047179e-03 1.24758817e+03] [-2.38042048e-01 9.71253883e-01 -1.37080440e-03 2.00738996e+02] [-5.70751923e-03 1.25121843e-05 9.99983712e-01 -1.73917471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1392.8453361949998 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1247.64, Y:200.73, Z:-17.39 [[ 9.71808852e-01 2.35705023e-01 5.54055116e-03 1.24764458e+03] [-2.35701040e-01 9.71824645e-01 -1.37048351e-03 2.00725595e+02] [-5.70747401e-03 2.59343349e-05 9.99983712e-01 -1.73928170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1392.9053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1247.70, Y:200.71, Z:-17.39 [[ 9.72451201e-01 2.33040690e-01 5.54064806e-03 1.24770154e+03] [-2.33036666e-01 9.72466984e-01 -1.37009164e-03 2.00712317e+02] [-5.70738441e-03 4.11731032e-05 9.99983712e-01 -1.73929895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1392.965336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1247.76, Y:200.70, Z:-17.39 [[ 9.73412041e-01 2.28994101e-01 5.54074450e-03 1.24775714e+03] [-2.28990014e-01 9.73427808e-01 -1.36970151e-03 2.00699489e+02] [-5.70716834e-03 6.45087866e-05 9.99983712e-01 -1.73926533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1393.025336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1247.81, Y:200.69, Z:-17.39 [[ 9.73970193e-01 2.26608388e-01 5.54089709e-03 1.24781395e+03] [-2.26604266e-01 9.73985951e-01 -1.36908396e-03 2.00685658e+02] [-5.70700183e-03 7.78560489e-05 9.99983712e-01 -1.73919409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1393.0853361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1247.87, Y:200.67, Z:-17.39 [[ 9.74284405e-01 2.25253624e-01 5.54099124e-03 1.24786887e+03] [-2.25249482e-01 9.74300158e-01 -1.36870281e-03 2.00671360e+02] [-5.70689391e-03 8.54003937e-05 9.99983712e-01 -1.73939954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1393.1453361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1247.93, Y:200.66, Z:-17.40 [[ 9.74132105e-01 2.25911349e-01 5.54109928e-03 1.24792585e+03] [-2.25907220e-01 9.74147861e-01 -1.36826527e-03 2.00657534e+02] [-5.70695667e-03 8.10967876e-05 9.99983712e-01 -1.73969103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1393.205336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1247.98, Y:200.64, Z:-17.40 [[ 9.73916020e-01 2.26841094e-01 5.54116062e-03 1.24798309e+03] [-2.26836981e-01 9.73931780e-01 -1.36801682e-03 2.00643307e+02] [-5.70703486e-03 7.53933521e-05 9.99983712e-01 -1.73984515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1393.265336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1248.04, Y:200.63, Z:-17.40 [[ 9.73730570e-01 2.27635831e-01 5.54122235e-03 1.24803932e+03] [-2.27631733e-01 9.73746334e-01 -1.36776673e-03 2.00629434e+02] [-5.70709767e-03 7.04782333e-05 9.99983712e-01 -1.73970940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1393.3253361949999 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:1248.10, Y:200.62, Z:-17.39 [[ 9.73466296e-01 2.28763338e-01 5.54132117e-03 1.24809625e+03] [-2.28759261e-01 9.73482065e-01 -1.36736627e-03 2.00615138e+02] [-5.70718005e-03 6.34564409e-05 9.99983712e-01 -1.73875324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1393.3853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1248.15, Y:200.60, Z:-17.39 [[ 9.72927513e-01 2.31044036e-01 5.54138640e-03 1.24815174e+03] [-2.31039997e-01 9.72943293e-01 -1.36710188e-03 2.00599727e+02] [-5.70731546e-03 4.98091341e-05 9.99983712e-01 -1.73943796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1393.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1248.21, Y:200.59, Z:-17.39 [[ 9.72454625e-01 2.33026382e-01 5.54146720e-03 1.24820817e+03] [-2.33022376e-01 9.72470413e-01 -1.36677427e-03 2.00586054e+02] [-5.70740736e-03 3.78400999e-05 9.99983712e-01 -1.73946357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1393.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1248.27, Y:200.57, Z:-17.39 [[ 9.71829932e-01 2.35618068e-01 5.54156333e-03 1.24826523e+03] [-2.35614107e-01 9.71845731e-01 -1.36638441e-03 2.00573121e+02] [-5.70748952e-03 2.22227695e-05 9.99983712e-01 -1.73943009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1393.5653361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1248.32, Y:200.56, Z:-17.39 [[ 9.70812138e-01 2.39777153e-01 5.54166154e-03 1.24832184e+03] [-2.39773262e-01 9.70827954e-01 -1.36598598e-03 2.00561935e+02] [-5.70753216e-03 -2.62649416e-06 9.99983712e-01 -1.73946392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1393.6253361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1248.38, Y:200.55, Z:-17.40 [[ 9.70008240e-01 2.43008852e-01 5.54175996e-03 1.24837749e+03] [-2.43005016e-01 9.70024070e-01 -1.36558659e-03 2.00551318e+02] [-5.70749018e-03 -2.20452270e-05 9.99983712e-01 -1.73953209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1393.6853361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1248.43, Y:200.54, Z:-17.40 [[ 9.69633912e-01 2.44498189e-01 5.54187339e-03 1.24843363e+03] [-2.44494380e-01 9.69649748e-01 -1.36512609e-03 2.00539871e+02] [-5.70744699e-03 -3.12843470e-05 9.99983712e-01 -1.73978073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1393.745336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1248.49, Y:200.53, Z:-17.40 [[ 9.69283345e-01 2.45884288e-01 5.54198483e-03 1.24849162e+03] [-2.45880504e-01 9.69299188e-01 -1.36467354e-03 2.00529854e+02] [-5.70739317e-03 -3.99106890e-05 9.99983712e-01 -1.73979323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1393.8053361949999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1248.55, Y:200.52, Z:-17.40 [[ 9.69281406e-01 2.45891932e-01 5.54204945e-03 1.24854848e+03] [-2.45888150e-01 9.69297249e-01 -1.36441105e-03 2.00520131e+02] [-5.70739095e-03 -4.02260244e-05 9.99983712e-01 -1.73985128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1393.8653361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1248.60, Y:200.51, Z:-17.40 [[ 9.69744375e-01 2.44059688e-01 5.54214541e-03 1.24860494e+03] [-2.44055878e-01 9.69760212e-01 -1.36402115e-03 2.00511081e+02] [-5.70745468e-03 -2.98413241e-05 9.99983712e-01 -1.74002677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1393.9253361949998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1248.66, Y:200.50, Z:-17.40 [[ 9.71087451e-01 2.38659687e-01 5.54225657e-03 1.24866226e+03] [-2.38655791e-01 9.71103266e-01 -1.36356935e-03 2.00500565e+02] [-5.70753249e-03 1.45346139e-06 9.99983712e-01 -1.73992782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1393.985336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1248.72, Y:200.49, Z:-17.40 [[ 9.73081865e-01 2.30393070e-01 5.54235554e-03 1.24871827e+03] [-2.30389043e-01 9.73097647e-01 -1.36316696e-03 2.00488756e+02] [-5.70731735e-03 4.95750655e-05 9.99983712e-01 -1.73969211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1394.045336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1248.77, Y:200.47, Z:-17.40 [[ 9.74325788e-01 2.25074520e-01 5.54252866e-03 1.24877412e+03] [-2.25070410e-01 9.74341549e-01 -1.36246271e-03 2.00473960e+02] [-5.70697160e-03 8.00233513e-05 9.99983712e-01 -1.74007300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1394.1053361949998 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1248.83, Y:200.46, Z:-17.40 [[ 9.75751445e-01 2.18811326e-01 5.54262473e-03 1.24883119e+03] [-2.18807118e-01 9.75767180e-01 -1.36207175e-03 2.00457871e+02] [-5.70634803e-03 1.16277740e-04 9.99983712e-01 -1.74001091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1394.1653361949998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:1248.89, Y:200.44, Z:-17.40 [[ 9.76700283e-01 2.14536328e-01 5.54268809e-03 1.24888762e+03] [-2.14532052e-01 9.76716000e-01 -1.36181388e-03 2.00441202e+02] [-5.70579069e-03 1.40999752e-04 9.99983712e-01 -1.74016387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1394.225336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1248.94, Y:200.42, Z:-17.40 [[ 9.77022798e-01 2.13062737e-01 5.54275064e-03 1.24894298e+03] [-2.13058439e-01 9.77038509e-01 -1.36155926e-03 2.00423620e+02] [-5.70557836e-03 1.49344643e-04 9.99983712e-01 -1.74015666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1394.285336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1249.00, Y:200.41, Z:-17.40 [[ 9.76900502e-01 2.13622764e-01 5.54284949e-03 1.24899862e+03] [-2.13618477e-01 9.76916216e-01 -1.36115669e-03 2.00407823e+02] [-5.70567361e-03 1.45659589e-04 9.99983712e-01 -1.74045405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1394.3453361949998 meters Centerline goodness : 0.999486 with order 1 Centerline is valid? [True, True] Translation: X:1249.05, Y:200.39, Z:-17.39 [[ 9.76235672e-01 2.16640690e-01 5.54293120e-03 1.24905499e+03] [-2.16636453e-01 9.76251400e-01 -1.36082388e-03 2.00391278e+02] [-5.70610417e-03 1.27683860e-04 9.99983712e-01 -1.73945255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1394.4053361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1249.11, Y:200.37, Z:-17.40 [[ 9.74684547e-01 2.23515790e-01 5.54299613e-03 1.24911031e+03] [-2.23511666e-01 9.74700305e-01 -1.36055934e-03 2.00374519e+02] [-5.70686652e-03 8.71918666e-05 9.99983712e-01 -1.74010280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1394.465336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1249.17, Y:200.36, Z:-17.40 [[ 9.73415409e-01 2.28979730e-01 5.54307667e-03 1.24916612e+03] [-2.28975696e-01 9.73431189e-01 -1.36023115e-03 2.00360213e+02] [-5.70726908e-03 5.48401239e-05 9.99983712e-01 -1.74011619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1394.525336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1249.22, Y:200.35, Z:-17.40 [[ 9.71690018e-01 2.36194373e-01 5.54317328e-03 1.24922172e+03] [-2.36190458e-01 9.71705829e-01 -1.35983733e-03 2.00346885e+02] [-5.70751971e-03 1.20957212e-05 9.99983712e-01 -1.73998376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1394.5853361949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1249.28, Y:200.33, Z:-17.41 [[ 9.70130427e-01 2.42520566e-01 5.54334471e-03 1.24927768e+03] [-2.42516759e-01 9.70146264e-01 -1.35913815e-03 2.00332580e+02] [-5.70747412e-03 -2.58127215e-05 9.99983712e-01 -1.74063212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1394.6453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1249.34, Y:200.32, Z:-17.40 [[ 9.69257208e-01 2.45987268e-01 5.54343310e-03 1.24933533e+03] [-2.45983520e-01 9.69273058e-01 -1.35877755e-03 2.00319902e+02] [-5.70734233e-03 -4.65882466e-05 9.99983712e-01 -1.74036211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1394.705336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1249.39, Y:200.31, Z:-17.40 [[ 9.69269753e-01 2.45937828e-01 5.54349996e-03 1.24939121e+03] [-2.45934080e-01 9.69285604e-01 -1.35850471e-03 2.00307012e+02] [-5.70734241e-03 -4.65780422e-05 9.99983712e-01 -1.74035220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1394.765336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1249.45, Y:200.30, Z:-17.40 [[ 9.69445146e-01 2.45245544e-01 5.54367638e-03 1.24944685e+03] [-2.45241789e-01 9.69460995e-01 -1.35778442e-03 2.00295168e+02] [-5.70736860e-03 -4.32435991e-05 9.99983712e-01 -1.74045800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1394.8253361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1249.50, Y:200.28, Z:-17.40 [[ 9.69862207e-01 2.43590980e-01 5.54378927e-03 1.24950355e+03] [-2.43587200e-01 9.69878051e-01 -1.35732335e-03 2.00284861e+02] [-5.70743125e-03 -3.39794915e-05 9.99983712e-01 -1.74035469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1394.8853361949998 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:1249.56, Y:200.27, Z:-17.39 [[ 9.70507416e-01 2.41007512e-01 5.54388559e-03 1.24956034e+03] [-2.41003693e-01 9.70523250e-01 -1.35692980e-03 2.00273725e+02] [-5.70750014e-03 -1.91864658e-05 9.99983712e-01 -1.73946265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1394.945336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1249.62, Y:200.26, Z:-17.40 [[ 9.71014051e-01 2.38958105e-01 5.54398381e-03 1.24961792e+03] [-2.38954255e-01 9.71029878e-01 -1.35652841e-03 2.00260830e+02] [-5.70752738e-03 -7.55037774e-06 9.99983712e-01 -1.74026222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1395.005336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1249.68, Y:200.25, Z:-17.40 [[ 9.72157438e-01 2.34263058e-01 5.54404992e-03 1.24967509e+03] [-2.34259133e-01 9.72173246e-01 -1.35625815e-03 2.00250249e+02] [-5.70749818e-03 1.97521222e-05 9.99983712e-01 -1.74022180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1395.0653361949999 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:1249.73, Y:200.24, Z:-17.40 [[ 9.73420096e-01 2.28959777e-01 5.54413098e-03 1.24973041e+03] [-2.28955768e-01 9.73435883e-01 -1.35592669e-03 2.00235592e+02] [-5.70730871e-03 5.05255263e-05 9.99983712e-01 -1.74044479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1395.1253361949998 meters Centerline goodness : 0.999615 with order 1 Centerline is valid? [True, True] Translation: X:1249.79, Y:200.22, Z:-17.40 [[ 9.74010999e-01 2.26432849e-01 5.54424109e-03 1.24978706e+03] [-2.26428802e-01 9.74026776e-01 -1.35547634e-03 2.00223576e+02] [-5.70716364e-03 6.48729943e-05 9.99983712e-01 -1.74043851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1395.1853361949998 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:1249.84, Y:200.21, Z:-17.41 [[ 9.73962872e-01 2.26639769e-01 5.54433512e-03 1.24984402e+03] [-2.26635726e-01 9.73978650e-01 -1.35509159e-03 2.00212195e+02] [-5.70718169e-03 6.32644742e-05 9.99983712e-01 -1.74054389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1395.245336195 meters Centerline goodness : 0.999190 with order 1 Centerline is valid? [True, True] Translation: X:1249.90, Y:200.20, Z:-17.41 [[ 9.73622625e-01 2.28097002e-01 5.54443213e-03 1.24989966e+03] [-2.28092986e-01 9.73638411e-01 -1.35469455e-03 2.00200160e+02] [-5.70727386e-03 5.43151834e-05 9.99983712e-01 -1.74070408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1395.3053361949999 meters Centerline goodness : 0.999088 with order 1 Centerline is valid? [True, True] Translation: X:1249.96, Y:200.19, Z:-17.41 [[ 9.73388221e-01 2.29095239e-01 5.54454429e-03 1.24995569e+03] [-2.29091242e-01 9.73404011e-01 -1.35423537e-03 2.00189329e+02] [-5.70733053e-03 4.79902199e-05 9.99983712e-01 -1.74069053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1395.3653361949998 meters Centerline goodness : 0.999011 with order 1 Centerline is valid? [True, True] Translation: X:1250.01, Y:200.18, Z:-17.41 [[ 9.73438352e-01 2.28882134e-01 5.54471454e-03 1.25001312e+03] [-2.28878137e-01 9.73454142e-01 -1.35353794e-03 2.00178028e+02] [-5.70732599e-03 4.85218107e-05 9.99983712e-01 -1.74054517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1395.4253361949998 meters Centerline goodness : 0.999182 with order 1 Centerline is valid? [True, True] Translation: X:1250.07, Y:200.16, Z:-17.41 [[ 9.73569100e-01 2.28325345e-01 5.54477783e-03 1.25006988e+03] [-2.28321340e-01 9.73584888e-01 -1.35327861e-03 2.00164625e+02] [-5.70729971e-03 5.15191325e-05 9.99983712e-01 -1.74057836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1395.485336195 meters Centerline goodness : 0.999176 with order 1 Centerline is valid? [True, True] Translation: X:1250.13, Y:200.15, Z:-17.41 [[ 9.74204770e-01 2.25597695e-01 5.54487352e-03 1.25012638e+03] [-2.25593649e-01 9.74220548e-01 -1.35288641e-03 2.00151317e+02] [-5.70713778e-03 6.71001481e-05 9.99983712e-01 -1.74071236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1395.545336195 meters Centerline goodness : 0.998882 with order 1 Centerline is valid? [True, True] Translation: X:1250.18, Y:200.14, Z:-17.41 [[ 9.74921139e-01 2.22481516e-01 5.54497002e-03 1.25018367e+03] [-2.22477421e-01 9.74936904e-01 -1.35249078e-03 2.00137355e+02] [-5.70690011e-03 8.49412220e-05 9.99983712e-01 -1.74058664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1395.6053361949998 meters Centerline goodness : 0.998992 with order 1 Centerline is valid? [True, True] Translation: X:1250.24, Y:200.12, Z:-17.40 [[ 9.75440193e-01 2.20194646e-01 5.54503355e-03 1.25023949e+03] [-2.20190515e-01 9.75455949e-01 -1.35223027e-03 2.00123045e+02] [-5.70668983e-03 9.80559635e-05 9.99983712e-01 -1.74049419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1395.6653361949998 meters Centerline goodness : 0.998776 with order 1 Centerline is valid? [True, True] Translation: X:1250.29, Y:200.11, Z:-17.41 [[ 9.75849115e-01 2.18375266e-01 5.54513234e-03 1.25029445e+03] [-2.18371109e-01 9.75864863e-01 -1.35182506e-03 2.00109058e+02] [-5.70650497e-03 1.08280589e-04 9.99983712e-01 -1.74056244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1395.725336195 meters Centerline goodness : 0.998694 with order 1 Centerline is valid? [True, True] Translation: X:1250.35, Y:200.09, Z:-17.41 [[ 9.75982430e-01 2.17778663e-01 5.54524614e-03 1.25034955e+03] [-2.17774498e-01 9.75998177e-01 -1.35135806e-03 2.00094520e+02] [-5.70644708e-03 1.11288527e-04 9.99983712e-01 -1.74065871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1395.785336195 meters Centerline goodness : 0.998902 with order 1 Centerline is valid? [True, True] Translation: X:1250.41, Y:200.08, Z:-17.41 [[ 9.75975329e-01 2.17810480e-01 5.54535846e-03 1.25040552e+03] [-2.17806319e-01 9.75991077e-01 -1.35089701e-03 2.00080327e+02] [-5.70645990e-03 1.10628045e-04 9.99983712e-01 -1.74070469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1395.8453361949998 meters Centerline goodness : 0.998781 with order 1 Centerline is valid? [True, True] Translation: X:1250.46, Y:200.06, Z:-17.41 [[ 9.75947304e-01 2.17936018e-01 5.54545406e-03 1.25046112e+03] [-2.17931861e-01 9.75963053e-01 -1.35050445e-03 2.00063499e+02] [-5.70648184e-03 1.09490051e-04 9.99983712e-01 -1.74101730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1395.9053361949998 meters Centerline goodness : 0.998758 with order 1 Centerline is valid? [True, True] Translation: X:1250.52, Y:200.05, Z:-17.41 [[ 9.75899500e-01 2.18149980e-01 5.54553291e-03 1.25051705e+03] [-2.18145828e-01 9.75915250e-01 -1.35018060e-03 2.00046825e+02] [-5.70651200e-03 1.07905702e-04 9.99983712e-01 -1.74102717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1395.965336195 meters Centerline goodness : 0.998884 with order 1 Centerline is valid? [True, True] Translation: X:1250.57, Y:200.03, Z:-17.41 [[ 9.75570349e-01 2.19617260e-01 5.54562787e-03 1.25057263e+03] [-2.19613134e-01 9.75586106e-01 -1.34979046e-03 2.00028167e+02] [-5.70667478e-03 9.89228307e-05 9.99983712e-01 -1.74104512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1396.025336195 meters Centerline goodness : 0.998697 with order 1 Centerline is valid? [True, True] Translation: X:1250.63, Y:200.01, Z:-17.41 [[ 9.74491762e-01 2.24354744e-01 5.54572173e-03 1.25062952e+03] [-2.24350697e-01 9.74507539e-01 -1.34940469e-03 2.00011838e+02] [-5.70709298e-03 7.07972217e-05 9.99983712e-01 -1.74100085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1396.0853361949999 meters Centerline goodness : 0.998516 with order 1 Centerline is valid? [True, True] Translation: X:1250.68, Y:200.00, Z:-17.41 [[ 9.72767573e-01 2.31716407e-01 5.54578393e-03 1.25068470e+03] [-2.31712481e-01 9.72783381e-01 -1.34914904e-03 1.99996355e+02] [-5.70746641e-03 2.73810814e-05 9.99983712e-01 -1.74092718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1396.1453361949998 meters Centerline goodness : 0.999002 with order 1 Centerline is valid? [True, True] Translation: X:1250.74, Y:199.98, Z:-17.41 [[ 9.71092796e-01 2.38637852e-01 5.54589186e-03 1.25074120e+03] [-2.38634041e-01 9.71108632e-01 -1.34870524e-03 1.99982778e+02] [-5.70751558e-03 -1.37206438e-05 9.99983712e-01 -1.74098269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1396.205336195 meters Centerline goodness : 0.998801 with order 1 Centerline is valid? [True, True] Translation: X:1250.80, Y:199.97, Z:-17.41 [[ 9.69960684e-01 2.43198506e-01 5.54599135e-03 1.25079722e+03] [-2.43194772e-01 9.69976538e-01 -1.34829601e-03 1.99970975e+02] [-5.70738506e-03 -4.09619819e-05 9.99983712e-01 -1.74101224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1396.265336195 meters Centerline goodness : 0.998676 with order 1 Centerline is valid? [True, True] Translation: X:1250.85, Y:199.96, Z:-17.41 [[ 9.68342981e-01 2.49561839e-01 5.54610683e-03 1.25085403e+03] [-2.49558212e-01 9.68358860e-01 -1.34782080e-03 1.99959308e+02] [-5.70698633e-03 -7.89236897e-05 9.99983712e-01 -1.74106244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1396.3253361949999 meters Centerline goodness : 0.998842 with order 1 Centerline is valid? [True, True] Translation: X:1250.91, Y:199.95, Z:-17.41 [[ 9.67410472e-01 2.53152561e-01 5.54620541e-03 1.25091086e+03] [-2.53148995e-01 9.67426365e-01 -1.34741502e-03 1.99949866e+02] [-5.70664690e-03 -1.00512928e-04 9.99983712e-01 -1.74117697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1396.3853361949998 meters Centerline goodness : 0.998744 with order 1 Centerline is valid? [True, True] Translation: X:1250.97, Y:199.94, Z:-17.41 [[ 9.67468366e-01 2.52931216e-01 5.54631850e-03 1.25096726e+03] [-2.52927649e-01 9.67484258e-01 -1.34694937e-03 1.99941296e+02] [-5.70666138e-03 -9.96863891e-05 9.99983712e-01 -1.74124563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1396.445336195 meters Centerline goodness : 0.998750 with order 1 Centerline is valid? [True, True] Translation: X:1251.02, Y:199.93, Z:-17.41 [[ 9.67847271e-01 2.51477430e-01 5.54642807e-03 1.25102439e+03] [-2.51473842e-01 9.67863159e-01 -1.34649804e-03 1.99930127e+02] [-5.70679725e-03 -9.15771234e-05 9.99983712e-01 -1.74134252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1396.505336195 meters Centerline goodness : 0.998741 with order 1 Centerline is valid? [True, True] Translation: X:1251.08, Y:199.92, Z:-17.41 [[ 9.68828482e-01 2.47670363e-01 5.54652036e-03 1.25108167e+03] [-2.47666715e-01 9.68844356e-01 -1.34611774e-03 1.99922344e+02] [-5.70710842e-03 -6.95312703e-05 9.99983712e-01 -1.74136012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1396.5653361949999 meters Centerline goodness : 0.998544 with order 1 Centerline is valid? [True, True] Translation: X:1251.14, Y:199.91, Z:-17.41 [[ 9.70349338e-01 2.41643120e-01 5.54661565e-03 1.25114014e+03] [-2.41639376e-01 9.70365190e-01 -1.34572498e-03 1.99912640e+02] [-5.70742794e-03 -3.44573994e-05 9.99983712e-01 -1.74120816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1396.6253361949998 meters Centerline goodness : 0.998770 with order 1 Centerline is valid? [True, True] Translation: X:1251.20, Y:199.90, Z:-17.41 [[ 9.72296655e-01 2.33684505e-01 5.54667881e-03 1.25119747e+03] [-2.33680632e-01 9.72312476e-01 -1.34546461e-03 1.99900203e+02] [-5.70751924e-03 1.20393286e-05 9.99983712e-01 -1.74138665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1396.6853361949998 meters Centerline goodness : 0.998395 with order 1 Centerline is valid? [True, True] Translation: X:1251.25, Y:199.89, Z:-17.41 [[ 9.73741939e-01 2.27587061e-01 5.54674441e-03 1.25125370e+03] [-2.27583090e-01 9.73757735e-01 -1.34519415e-03 1.99889857e+02] [-5.70733405e-03 4.75267227e-05 9.99983712e-01 -1.74078987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1396.745336195 meters Centerline goodness : 0.999033 with order 1 Centerline is valid? [True, True] Translation: X:1251.31, Y:199.88, Z:-17.42 [[ 9.75502223e-01 2.19919634e-01 5.54685758e-03 1.25131044e+03] [-2.19915542e-01 9.75517989e-01 -1.34472731e-03 1.99875696e+02] [-5.70679129e-03 9.19442882e-05 9.99983712e-01 -1.74163473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1396.8053361949999 meters Centerline goodness : 0.998679 with order 1 Centerline is valid? [True, True] Translation: X:1251.37, Y:199.86, Z:-17.42 [[ 9.76358606e-01 2.16085871e-01 5.54692228e-03 1.25136661e+03] [-2.16081718e-01 9.76374356e-01 -1.34446039e-03 1.99862038e+02] [-5.70639156e-03 1.14086976e-04 9.99983712e-01 -1.74189599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1396.8653361949998 meters Centerline goodness : 0.998962 with order 1 Centerline is valid? [True, True] Translation: X:1251.42, Y:199.85, Z:-17.42 [[ 9.76536596e-01 2.15280069e-01 5.54700229e-03 1.25142312e+03] [-2.15275906e-01 9.76552343e-01 -1.34413018e-03 1.99848446e+02] [-5.70630252e-03 1.18456365e-04 9.99983712e-01 -1.74204161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1396.9253361949998 meters Centerline goodness : 0.999109 with order 1 Centerline is valid? [True, True] Translation: X:1251.48, Y:199.84, Z:-17.42 [[ 9.76516048e-01 2.15373252e-01 5.54708081e-03 1.25147964e+03] [-2.15369092e-01 9.76531796e-01 -1.34380606e-03 1.99835184e+02] [-5.70632067e-03 1.17578426e-04 9.99983712e-01 -1.74210654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1396.985336195 meters Centerline goodness : 0.998839 with order 1 Centerline is valid? [True, True] Translation: X:1251.54, Y:199.82, Z:-17.42 [[ 9.75979445e-01 2.17791991e-01 5.54717296e-03 1.25153620e+03] [-2.17787872e-01 9.75995204e-01 -1.34342559e-03 1.99820877e+02] [-5.70660153e-03 1.03048764e-04 9.99983712e-01 -1.74184243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1397.045336195 meters Centerline goodness : 0.998812 with order 1 Centerline is valid? [True, True] Translation: X:1251.59, Y:199.81, Z:-17.42 [[ 9.75069760e-01 2.21829195e-01 5.54724972e-03 1.25159306e+03] [-2.21825143e-01 9.75085536e-01 -1.34310854e-03 1.99806782e+02] [-5.70698365e-03 7.91050556e-05 9.99983712e-01 -1.74164736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1397.1053361949998 meters Centerline goodness : 0.998993 with order 1 Centerline is valid? [True, True] Translation: X:1251.65, Y:199.79, Z:-17.42 [[ 9.73833625e-01 2.27194405e-01 5.54731580e-03 1.25164821e+03] [-2.27190441e-01 9.73849424e-01 -1.34283558e-03 1.99792968e+02] [-5.70733502e-03 4.74013173e-05 9.99983712e-01 -1.74155801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1397.1653361949998 meters Centerline goodness : 0.999188 with order 1 Centerline is valid? [True, True] Translation: X:1251.71, Y:199.78, Z:-17.41 [[ 9.72447878e-01 2.33054394e-01 5.54743006e-03 1.25170643e+03] [-2.33050528e-01 9.72463701e-01 -1.34236335e-03 1.99781325e+02] [-5.70751805e-03 1.25468889e-05 9.99983712e-01 -1.74134363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1397.225336195 meters Centerline goodness : 0.998947 with order 1 Centerline is valid? [True, True] Translation: X:1251.76, Y:199.77, Z:-17.41 [[ 9.71692649e-01 2.36183448e-01 5.54749352e-03 1.25176297e+03] [-2.36179635e-01 9.71708484e-01 -1.34210106e-03 1.99768420e+02] [-5.70752858e-03 -6.09525552e-06 9.99983712e-01 -1.74138426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1397.285336195 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:1251.82, Y:199.76, Z:-17.41 [[ 9.70912641e-01 2.39369732e-01 5.54758841e-03 1.25181989e+03] [-2.39365973e-01 9.70928489e-01 -1.34170870e-03 1.99756603e+02] [-5.70747609e-03 -2.52219586e-05 9.99983712e-01 -1.74148062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1397.3453361949998 meters Centerline goodness : 0.999133 with order 1 Centerline is valid? [True, True] Translation: X:1251.88, Y:199.75, Z:-17.41 [[ 9.70130062e-01 2.42521930e-01 5.54768553e-03 1.25187660e+03] [-2.42518225e-01 9.70145923e-01 -1.34130704e-03 1.99745172e+02] [-5.70736087e-03 -4.41725675e-05 9.99983712e-01 -1.74143826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1397.4053361949998 meters Centerline goodness : 0.999098 with order 1 Centerline is valid? [True, True] Translation: X:1251.93, Y:199.74, Z:-17.41 [[ 9.69340593e-01 2.45658372e-01 5.54795439e-03 1.25193322e+03] [-2.45654724e-01 9.69356467e-01 -1.34019404e-03 1.99735943e+02] [-5.70717535e-03 -6.37767156e-05 9.99983712e-01 -1.74147044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1397.465336195 meters Centerline goodness : 0.998969 with order 1 Centerline is valid? [True, True] Translation: X:1251.99, Y:199.72, Z:-17.42 [[ 9.69530258e-01 2.44908755e-01 5.54807085e-03 1.25199149e+03] [-2.44905098e-01 9.69546130e-01 -1.33971177e-03 1.99724905e+02] [-5.70721776e-03 -5.98597400e-05 9.99983712e-01 -1.74164687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1397.525336195 meters Centerline goodness : 0.999060 with order 1 Centerline is valid? [True, True] Translation: X:1252.05, Y:199.71, Z:-17.42 [[ 9.70719079e-01 2.40153466e-01 5.54813721e-03 1.25204815e+03] [-2.40149733e-01 9.70734934e-01 -1.33943688e-03 1.99714872e+02] [-5.70744102e-03 -3.21667328e-05 9.99983712e-01 -1.74169593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1397.5853361949999 meters Centerline goodness : 0.999076 with order 1 Centerline is valid? [True, True] Translation: X:1252.10, Y:199.70, Z:-17.42 [[ 9.72513858e-01 2.32778895e-01 5.54825215e-03 1.25210427e+03] [-2.32775044e-01 9.72529684e-01 -1.33896060e-03 1.99704520e+02] [-5.70752168e-03 1.06631041e-05 9.99983712e-01 -1.74162979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1397.6453361949998 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:1252.16, Y:199.69, Z:-17.42 [[ 9.73790730e-01 2.27378165e-01 5.54842890e-03 1.25216033e+03] [-2.27374231e-01 9.73806535e-01 -1.33822780e-03 1.99691539e+02] [-5.70738010e-03 4.15840685e-05 9.99983712e-01 -1.74163716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1397.705336195 meters Centerline goodness : 0.998068 with order 1 Centerline is valid? [True, True] Translation: X:1252.22, Y:199.68, Z:-17.41 [[ 9.75508336e-01 2.19892476e-01 5.54852426e-03 1.25221678e+03] [-2.19888422e-01 9.75524111e-01 -1.33783227e-03 1.99678767e+02] [-5.70689845e-03 8.50102851e-05 9.99983712e-01 -1.74078184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1397.765336195 meters Centerline goodness : 0.998861 with order 1 Centerline is valid? [True, True] Translation: X:1252.27, Y:199.66, Z:-17.42 [[ 9.76883730e-01 2.13699302e-01 5.54861966e-03 1.25227266e+03] [-2.13695151e-01 9.76899480e-01 -1.33743649e-03 1.99662815e+02] [-5.70625291e-03 1.20806830e-04 9.99983712e-01 -1.74161525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1397.8253361949999 meters Centerline goodness : 0.998921 with order 1 Centerline is valid? [True, True] Translation: X:1252.33, Y:199.65, Z:-17.42 [[ 9.77427581e-01 2.11197861e-01 5.54869803e-03 1.25232857e+03] [-2.11193671e-01 9.77443321e-01 -1.33711130e-03 1.99649297e+02] [-5.70593287e-03 1.35079554e-04 9.99983712e-01 -1.74169766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1397.8853361949998 meters Centerline goodness : 0.998245 with order 1 Centerline is valid? [True, True] Translation: X:1252.38, Y:199.64, Z:-17.41 [[ 9.77823721e-01 2.09356112e-01 5.54879090e-03 1.25238420e+03] [-2.09351895e-01 9.77839454e-01 -1.33672577e-03 1.99635035e+02] [-5.70567837e-03 1.45432270e-04 9.99983712e-01 -1.74104002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1397.945336195 meters Centerline goodness : 0.998952 with order 1 Centerline is valid? [True, True] Translation: X:1252.44, Y:199.62, Z:-17.42 [[ 9.77825097e-01 2.09349682e-01 5.54886773e-03 1.25244030e+03] [-2.09345467e-01 9.77840830e-01 -1.33640676e-03 1.99618219e+02] [-5.70568576e-03 1.45141761e-04 9.99983712e-01 -1.74182734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1398.005336195 meters Centerline goodness : 0.999035 with order 1 Centerline is valid? [True, True] Translation: X:1252.50, Y:199.60, Z:-17.42 [[ 9.77765986e-01 2.09625584e-01 5.54892893e-03 1.25249585e+03] [-2.09621374e-01 9.77781721e-01 -1.33615261e-03 1.99599160e+02] [-5.70573305e-03 1.43270466e-04 9.99983712e-01 -1.74202665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1398.0653361949999 meters Centerline goodness : 0.998166 with order 1 Centerline is valid? [True, True] Translation: X:1252.55, Y:199.58, Z:-17.41 [[ 9.77368209e-01 2.11472440e-01 5.54898959e-03 1.25255196e+03] [-2.11468262e-01 9.77383952e-01 -1.33590065e-03 1.99582776e+02] [-5.70599954e-03 1.32231638e-04 9.99983712e-01 -1.74128658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1398.1253361949998 meters Centerline goodness : 0.997841 with order 1 Centerline is valid? [True, True] Translation: X:1252.61, Y:199.56, Z:-17.41 [[ 9.76486092e-01 2.15508979e-01 5.54904929e-03 1.25260757e+03] [-2.15504867e-01 9.76501853e-01 -1.33565262e-03 1.99564473e+02] [-5.70650204e-03 1.08399076e-04 9.99983712e-01 -1.74132602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1398.1853361949998 meters Centerline goodness : 0.998949 with order 1 Centerline is valid? [True, True] Translation: X:1252.66, Y:199.54, Z:-17.42 [[ 9.75105498e-01 2.21671997e-01 5.54911372e-03 1.25266090e+03] [-2.21667987e-01 9.75121285e-01 -1.33538487e-03 1.99544408e+02] [-5.70707633e-03 7.20802678e-05 9.99983712e-01 -1.74246275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1398.245336195 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:1252.72, Y:199.53, Z:-17.42 [[ 9.73250085e-01 2.29681253e-01 5.54922566e-03 1.25271787e+03] [-2.29677375e-01 9.73265905e-01 -1.33491955e-03 1.99529478e+02] [-5.70747813e-03 2.46789778e-05 9.99983712e-01 -1.74208497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1398.3053361949999 meters Centerline goodness : 0.998732 with order 1 Centerline is valid? [True, True] Translation: X:1252.77, Y:199.52, Z:-17.42 [[ 9.71901289e-01 2.35323375e-01 5.54929056e-03 1.25277420e+03] [-2.35319590e-01 9.71917131e-01 -1.33464971e-03 1.99516775e+02] [-5.70752483e-03 -8.70900576e-06 9.99983712e-01 -1.74173433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1398.3653361949998 meters Centerline goodness : 0.999089 with order 1 Centerline is valid? [True, True] Translation: X:1252.83, Y:199.50, Z:-17.42 [[ 9.69869586e-01 2.43561472e-01 5.54937096e-03 1.25282938e+03] [-2.43557824e-01 9.69885460e-01 -1.33431531e-03 1.99502689e+02] [-5.70724201e-03 -5.74808817e-05 9.99983712e-01 -1.74209385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1398.4253361949998 meters Centerline goodness : 0.998884 with order 1 Centerline is valid? [True, True] Translation: X:1252.89, Y:199.49, Z:-17.42 [[ 9.68199003e-01 2.50119758e-01 5.54948103e-03 1.25288663e+03] [-2.50116220e-01 9.68214902e-01 -1.33385737e-03 1.99491311e+02] [-5.70671432e-03 -9.65758414e-05 9.99983712e-01 -1.74208847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1398.485336195 meters Centerline goodness : 0.998991 with order 1 Centerline is valid? [True, True] Translation: X:1252.94, Y:199.48, Z:-17.42 [[ 9.67144376e-01 2.54167185e-01 5.54957705e-03 1.25294485e+03] [-2.54163715e-01 9.67160291e-01 -1.33345778e-03 1.99481113e+02] [-5.70625176e-03 -1.20854924e-04 9.99983712e-01 -1.74193921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1398.545336195 meters Centerline goodness : 0.999184 with order 1 Centerline is valid? [True, True] Translation: X:1253.00, Y:199.47, Z:-17.42 [[ 9.65598465e-01 2.59978473e-01 5.54964029e-03 1.25300330e+03] [-2.59975101e-01 9.65614400e-01 -1.33319453e-03 1.99474561e+02] [-5.70541445e-03 -1.55437698e-04 9.99983712e-01 -1.74194984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1398.6053361949998 meters Centerline goodness : 0.999038 with order 1 Centerline is valid? [True, True] Translation: X:1253.06, Y:199.47, Z:-17.42 [[ 9.65370666e-01 2.60823073e-01 5.54990245e-03 1.25306079e+03] [-2.60819721e-01 9.65386606e-01 -1.33210227e-03 1.99465390e+02] [-5.70524450e-03 -1.61551559e-04 9.99983712e-01 -1.74223779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1398.6653361949998 meters Centerline goodness : 0.998956 with order 1 Centerline is valid? [True, True] Translation: X:1253.12, Y:199.46, Z:-17.42 [[ 9.66073638e-01 2.58207135e-01 5.54998283e-03 1.25311877e+03] [-2.58203742e-01 9.66089568e-01 -1.33176730e-03 1.99459765e+02] [-5.70565234e-03 -1.46441049e-04 9.99983712e-01 -1.74226208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1398.725336195 meters Centerline goodness : 0.998943 with order 1 Centerline is valid? [True, True] Translation: X:1253.18, Y:199.45, Z:-17.42 [[ 9.68122595e-01 2.50415327e-01 5.55023820e-03 1.25317630e+03] [-2.50411812e-01 9.68138499e-01 -1.33070218e-03 1.99451871e+02] [-5.70662750e-03 -1.01562356e-04 9.99983712e-01 -1.74243421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1398.785336195 meters Centerline goodness : 0.998785 with order 1 Centerline is valid? [True, True] Translation: X:1253.23, Y:199.44, Z:-17.42 [[ 9.70679785e-01 2.40312187e-01 5.55049313e-03 1.25323225e+03] [-2.40308512e-01 9.70695653e-01 -1.32963798e-03 1.99442776e+02] [-5.70736777e-03 -4.31780371e-05 9.99983712e-01 -1.74248297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1398.8453361949998 meters Centerline goodness : 0.998797 with order 1 Centerline is valid? [True, True] Translation: X:1253.29, Y:199.43, Z:-17.42 [[ 9.72358890e-01 2.33425319e-01 5.55060364e-03 1.25329033e+03] [-2.33421534e-01 9.72374733e-01 -1.32917650e-03 1.99431831e+02] [-5.70753018e-03 -3.19383094e-06 9.99983712e-01 -1.74230085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1398.9053361949998 meters Centerline goodness : 0.998928 with order 1 Centerline is valid? [True, True] Translation: X:1253.35, Y:199.42, Z:-17.42 [[ 9.74443186e-01 2.24565510e-01 5.55066882e-03 1.25334651e+03] [-2.24561583e-01 9.74458993e-01 -1.32890425e-03 1.99421838e+02] [-5.70732521e-03 4.84747079e-05 9.99983712e-01 -1.74232726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1398.965336195 meters Centerline goodness : 0.998908 with order 1 Centerline is valid? [True, True] Translation: X:1253.40, Y:199.41, Z:-17.42 [[ 9.76064582e-01 2.17410026e-01 5.55084468e-03 1.25340200e+03] [-2.17405988e-01 9.76080362e-01 -1.32816928e-03 1.99410310e+02] [-5.70682780e-03 8.95921188e-05 9.99983712e-01 -1.74240185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1399.025336195 meters Centerline goodness : 0.998910 with order 1 Centerline is valid? [True, True] Translation: X:1253.46, Y:199.40, Z:-17.42 [[ 9.77197424e-01 2.12260173e-01 5.55095368e-03 1.25345881e+03] [-2.12256054e-01 9.77213183e-01 -1.32771356e-03 1.99397421e+02] [-5.70628583e-03 1.19214741e-04 9.99983712e-01 -1.74237903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1399.0853361949999 meters Centerline goodness : 0.999084 with order 1 Centerline is valid? [True, True] Translation: X:1253.51, Y:199.38, Z:-17.42 [[ 9.77768047e-01 2.09615916e-01 5.55104853e-03 1.25351350e+03] [-2.09611757e-01 9.77783795e-01 -1.32731688e-03 1.99382813e+02] [-5.70595205e-03 1.34242999e-04 9.99983712e-01 -1.74243468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1399.1453361949998 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:1253.57, Y:199.37, Z:-17.42 [[ 9.78179111e-01 2.07689220e-01 5.55115776e-03 1.25356893e+03] [-2.07685032e-01 9.78194851e-01 -1.32685992e-03 1.99367029e+02] [-5.70568844e-03 1.45014276e-04 9.99983712e-01 -1.74232893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1399.205336195 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:1253.62, Y:199.35, Z:-17.42 [[ 9.78147081e-01 2.07840015e-01 5.55125380e-03 1.25362440e+03] [-2.07835832e-01 9.78162823e-01 -1.32645799e-03 1.99353100e+02] [-5.70572113e-03 1.43721564e-04 9.99983712e-01 -1.74232942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1399.265336195 meters Centerline goodness : 0.999340 with order 1 Centerline is valid? [True, True] Translation: X:1253.68, Y:199.34, Z:-17.42 [[ 9.77687489e-01 2.09991324e-01 5.55136424e-03 1.25367886e+03] [-2.09987178e-01 9.77703241e-01 -1.32599561e-03 1.99336882e+02] [-5.70603438e-03 1.30694006e-04 9.99983712e-01 -1.74240111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1399.3253361949999 meters Centerline goodness : 0.999150 with order 1 Centerline is valid? [True, True] Translation: X:1253.73, Y:199.32, Z:-17.42 [[ 9.77087739e-01 2.12764498e-01 5.55153501e-03 1.25373435e+03] [-2.12760401e-01 9.77103503e-01 -1.32528029e-03 1.99318485e+02] [-5.70639690e-03 1.13768304e-04 9.99983712e-01 -1.74236148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1399.3853361949998 meters Centerline goodness : 0.999126 with order 1 Centerline is valid? [True, True] Translation: X:1253.79, Y:199.30, Z:-17.42 [[ 9.76592676e-01 2.15025403e-01 5.55162695e-03 1.25379102e+03] [-2.15021344e-01 9.76608451e-01 -1.32489503e-03 1.99302026e+02] [-5.70665188e-03 1.00164493e-04 9.99983712e-01 -1.74231666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1399.445336195 meters Centerline goodness : 0.999441 with order 1 Centerline is valid? [True, True] Translation: X:1253.85, Y:199.28, Z:-17.43 [[ 9.75606936e-01 2.19454516e-01 5.55168854e-03 1.25384724e+03] [-2.19450530e-01 9.75622729e-01 -1.32463690e-03 1.99283913e+02] [-5.70705107e-03 7.40039530e-05 9.99983712e-01 -1.74271360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1399.505336195 meters Centerline goodness : 0.999443 with order 1 Centerline is valid? [True, True] Translation: X:1253.90, Y:199.27, Z:-17.43 [[ 9.74066228e-01 2.26194964e-01 5.55175116e-03 1.25390207e+03] [-2.26191089e-01 9.74082048e-01 -1.32437441e-03 1.99266509e+02] [-5.70742796e-03 3.42717416e-05 9.99983712e-01 -1.74284742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1399.5653361949999 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:1253.96, Y:199.25, Z:-17.43 [[ 9.72226407e-01 2.33976476e-01 5.55182873e-03 1.25395796e+03] [-2.33972730e-01 9.72242258e-01 -1.32404912e-03 1.99252325e+02] [-5.70751885e-03 -1.17010048e-05 9.99983712e-01 -1.74283717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1399.6253361949998 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:1254.01, Y:199.24, Z:-17.43 [[ 9.70992453e-01 2.39045669e-01 5.55192478e-03 1.25401329e+03] [-2.39042008e-01 9.71008325e-01 -1.32364627e-03 1.99238625e+02] [-5.70737708e-03 -4.18927130e-05 9.99983712e-01 -1.74297694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1399.6853361949998 meters Centerline goodness : 0.999231 with order 1 Centerline is valid? [True, True] Translation: X:1254.07, Y:199.22, Z:-17.43 [[ 9.69788258e-01 2.43885033e-01 5.55203638e-03 1.25406925e+03] [-2.43881454e-01 9.69804148e-01 -1.32317800e-03 1.99224054e+02] [-5.70709122e-03 -7.08362199e-05 9.99983712e-01 -1.74296585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1399.745336195 meters Centerline goodness : 0.999273 with order 1 Centerline is valid? [True, True] Translation: X:1254.12, Y:199.21, Z:-17.43 [[ 9.69295607e-01 2.45835713e-01 5.55229464e-03 1.25412461e+03] [-2.45832172e-01 9.69311506e-01 -1.32209341e-03 1.99209772e+02] [-5.70692085e-03 -8.34333134e-05 9.99983712e-01 -1.74303901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1399.8053361949999 meters Centerline goodness : 0.998600 with order 1 Centerline is valid? [True, True] Translation: X:1254.18, Y:199.20, Z:-17.42 [[ 9.69365162e-01 2.45561303e-01 5.55240624e-03 1.25418261e+03] [-2.45557760e-01 9.69381060e-01 -1.32162455e-03 1.99197445e+02] [-5.70693729e-03 -8.22996424e-05 9.99983712e-01 -1.74209014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1399.8653361949998 meters Centerline goodness : 0.999398 with order 1 Centerline is valid? [True, True] Translation: X:1254.24, Y:199.18, Z:-17.43 [[ 9.69611514e-01 2.44586758e-01 5.55246978e-03 1.25423886e+03] [-2.44583201e-01 9.69627409e-01 -1.32135754e-03 1.99181119e+02] [-5.70701344e-03 -7.68373529e-05 9.99983712e-01 -1.74280143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1399.9253361949998 meters Centerline goodness : 0.999358 with order 1 Centerline is valid? [True, True] Translation: X:1254.30, Y:199.17, Z:-17.43 [[ 9.70044756e-01 2.42862803e-01 5.55253345e-03 1.25429543e+03] [-2.42859219e-01 9.70060645e-01 -1.32108993e-03 1.99167434e+02] [-5.70713778e-03 -6.69675749e-05 9.99983712e-01 -1.74268762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1399.985336195 meters Centerline goodness : 0.999218 with order 1 Centerline is valid? [True, True] Translation: X:1254.35, Y:199.15, Z:-17.43 [[ 9.70599699e-01 2.40635393e-01 5.55261208e-03 1.25435237e+03] [-2.40631774e-01 9.70615580e-01 -1.32075939e-03 1.99154111e+02] [-5.70727325e-03 -5.42062312e-05 9.99983712e-01 -1.74268471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1400.045336195 meters Centerline goodness : 0.999239 with order 1 Centerline is valid? [True, True] Translation: X:1254.41, Y:199.14, Z:-17.43 [[ 9.70865552e-01 2.39560532e-01 5.55270835e-03 1.25440823e+03] [-2.39556898e-01 9.70881429e-01 -1.32035452e-03 1.99140784e+02] [-5.70732625e-03 -4.83028709e-05 9.99983712e-01 -1.74285409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1400.1053361949998 meters Centerline goodness : 0.999294 with order 1 Centerline is valid? [True, True] Translation: X:1254.47, Y:199.13, Z:-17.43 [[ 9.71334057e-01 2.37653772e-01 5.55281939e-03 1.25446547e+03] [-2.37650110e-01 9.71349928e-01 -1.31988734e-03 1.99129020e+02] [-5.70740693e-03 -3.75766148e-05 9.99983712e-01 -1.74261919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1400.1653361949998 meters Centerline goodness : 0.999212 with order 1 Centerline is valid? [True, True] Translation: X:1254.52, Y:199.12, Z:-17.43 [[ 9.71736702e-01 2.36002006e-01 5.55288342e-03 1.25452105e+03] [-2.35998318e-01 9.71752568e-01 -1.31961791e-03 1.99116452e+02] [-5.70746120e-03 -2.81499936e-05 9.99983712e-01 -1.74265168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1400.225336195 meters Centerline goodness : 0.999463 with order 1 Centerline is valid? [True, True] Translation: X:1254.58, Y:199.10, Z:-17.43 [[ 9.72127238e-01 2.34388135e-01 5.55299417e-03 1.25457773e+03] [-2.34384424e-01 9.72143097e-01 -1.31915171e-03 1.99104618e+02] [-5.70749846e-03 -1.91520376e-05 9.99983712e-01 -1.74272479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1400.285336195 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:1254.64, Y:199.09, Z:-17.43 [[ 9.72300955e-01 2.33666465e-01 5.55308762e-03 1.25463541e+03] [-2.33662744e-01 9.72316812e-01 -1.31875822e-03 1.99092134e+02] [-5.70751002e-03 -1.53198151e-05 9.99983712e-01 -1.74294803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1400.3453361949998 meters Centerline goodness : 0.999529 with order 1 Centerline is valid? [True, True] Translation: X:1254.69, Y:199.08, Z:-17.43 [[ 9.72950745e-01 2.30945903e-01 5.55314940e-03 1.25469321e+03] [-2.30942140e-01 9.72966592e-01 -1.31849801e-03 1.99079191e+02] [-5.70753056e-03 3.77418037e-07 9.99983712e-01 -1.74309786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1400.4053361949998 meters Centerline goodness : 0.999381 with order 1 Centerline is valid? [True, True] Translation: X:1254.75, Y:199.06, Z:-17.43 [[ 9.74031299e-01 2.26345292e-01 5.55321095e-03 1.25475038e+03] [-2.26341455e-01 9.74047128e-01 -1.31823875e-03 1.99064004e+02] [-5.70746631e-03 2.70839536e-05 9.99983712e-01 -1.74324893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1400.465336195 meters Centerline goodness : 0.999485 with order 1 Centerline is valid? [True, True] Translation: X:1254.81, Y:199.05, Z:-17.43 [[ 9.74952483e-01 2.22343915e-01 5.55327162e-03 1.25480591e+03] [-2.22340014e-01 9.74968298e-01 -1.31798311e-03 1.99048221e+02] [-5.70730930e-03 5.02564161e-05 9.99983712e-01 -1.74307530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1400.525336195 meters Centerline goodness : 0.999616 with order 1 Centerline is valid? [True, True] Translation: X:1254.86, Y:199.03, Z:-17.43 [[ 9.75226064e-01 2.21140870e-01 5.55334661e-03 1.25486209e+03] [-2.21136951e-01 9.75241874e-01 -1.31766707e-03 1.99032770e+02] [-5.70724619e-03 5.69731324e-05 9.99983712e-01 -1.74302704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1400.5853361949999 meters Centerline goodness : 0.999484 with order 1 Centerline is valid? [True, True] Translation: X:1254.92, Y:199.02, Z:-17.43 [[ 9.75234257e-01 2.21104733e-01 5.55342033e-03 1.25491779e+03] [-2.21100816e-01 9.75250067e-01 -1.31735626e-03 1.99015756e+02] [-5.70724726e-03 5.68651901e-05 9.99983712e-01 -1.74304062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1400.6453361949998 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:1254.97, Y:199.00, Z:-17.43 [[ 9.74899128e-01 2.22577734e-01 5.55350843e-03 1.25497299e+03] [-2.22573843e-01 9.74914945e-01 -1.31698479e-03 1.98998001e+02] [-5.70732985e-03 4.78616087e-05 9.99983712e-01 -1.74321540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1400.705336195 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:1255.03, Y:198.98, Z:-17.43 [[ 9.74504530e-01 2.24299083e-01 5.55358114e-03 1.25502930e+03] [-2.24295221e-01 9.74520354e-01 -1.31667809e-03 1.98982367e+02] [-5.70740755e-03 3.74670518e-05 9.99983712e-01 -1.74330398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1400.765336195 meters Centerline goodness : 0.999527 with order 1 Centerline is valid? [True, True] Translation: X:1255.08, Y:198.97, Z:-17.44 [[ 9.73167655e-01 2.30030156e-01 5.55366857e-03 1.25508478e+03] [-2.30026390e-01 9.73183501e-01 -1.31630922e-03 1.98966671e+02] [-5.70752944e-03 3.49921845e-06 9.99983712e-01 -1.74353950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1400.8253361949999 meters Centerline goodness : 0.999636 with order 1 Centerline is valid? [True, True] Translation: X:1255.14, Y:198.95, Z:-17.43 [[ 9.71216377e-01 2.38134214e-01 5.55377767e-03 1.25514088e+03] [-2.38130582e-01 9.71232256e-01 -1.31584873e-03 1.98953770e+02] [-5.70735662e-03 -4.45504694e-05 9.99983712e-01 -1.74341311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1400.8853361949998 meters Centerline goodness : 0.999556 with order 1 Centerline is valid? [True, True] Translation: X:1255.20, Y:198.94, Z:-17.43 [[ 9.69473479e-01 2.45133287e-01 5.55384855e-03 1.25519928e+03] [-2.45129772e-01 9.69489383e-01 -1.31554950e-03 1.98943067e+02] [-5.70688218e-03 -8.60232815e-05 9.99983712e-01 -1.74312199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1400.945336195 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:1255.26, Y:198.93, Z:-17.43 [[ 9.68765104e-01 2.47917981e-01 5.55404444e-03 1.25525597e+03] [-2.47914517e-01 9.68781020e-01 -1.31472195e-03 1.98932615e+02] [-5.70659605e-03 -1.03271494e-04 9.99983712e-01 -1.74321793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1401.005336195 meters Centerline goodness : 0.999596 with order 1 Centerline is valid? [True, True] Translation: X:1255.31, Y:198.92, Z:-17.43 [[ 9.68713543e-01 2.48119368e-01 5.55426787e-03 1.25531266e+03] [-2.48115912e-01 9.68729461e-01 -1.31377739e-03 1.98920800e+02] [-5.70655653e-03 -1.05428289e-04 9.99983712e-01 -1.74319104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1401.0653361949999 meters Centerline goodness : 0.999639 with order 1 Centerline is valid? [True, True] Translation: X:1255.37, Y:198.91, Z:-17.43 [[ 9.69340270e-01 2.45659495e-01 5.55450356e-03 1.25536959e+03] [-2.45656005e-01 9.69356180e-01 -1.31278015e-03 1.98909412e+02] [-5.70678926e-03 -9.19664896e-05 9.99983712e-01 -1.74325044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1401.1253361949998 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:1255.43, Y:198.90, Z:-17.43 [[ 9.70305562e-01 2.41818659e-01 5.55457653e-03 1.25542637e+03] [-2.41815107e-01 9.70321458e-01 -1.31247131e-03 1.98897534e+02] [-5.70710485e-03 -6.96823095e-05 9.99983712e-01 -1.74327132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1401.1853361949998 meters Centerline goodness : 0.999590 with order 1 Centerline is valid? [True, True] Translation: X:1255.48, Y:198.88, Z:-17.43 [[ 9.71656156e-01 2.36333362e-01 5.55479561e-03 1.25548283e+03] [-2.36329726e-01 9.71672033e-01 -1.31154343e-03 1.98883377e+02] [-5.70740102e-03 -3.83940755e-05 9.99983712e-01 -1.74315532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1401.245336195 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:1255.54, Y:198.87, Z:-17.43 [[ 9.73614733e-01 2.28130433e-01 5.55488868e-03 1.25553851e+03] [-2.28126665e-01 9.73630580e-01 -1.31114913e-03 1.98868176e+02] [-5.70752251e-03 9.33588084e-06 9.99983712e-01 -1.74325061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1401.3053361949999 meters Centerline goodness : 0.999530 with order 1 Centerline is valid? [True, True] Translation: X:1255.59, Y:198.85, Z:-17.43 [[ 9.74808688e-01 2.22973460e-01 5.55499795e-03 1.25559439e+03] [-2.22969612e-01 9.74824515e-01 -1.31068604e-03 1.98852493e+02] [-5.70739638e-03 3.90724043e-05 9.99983712e-01 -1.74322548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1401.3653361949998 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:1255.65, Y:198.84, Z:-17.43 [[ 9.75057650e-01 2.21882220e-01 5.55508756e-03 1.25564987e+03] [-2.21878356e-01 9.75073473e-01 -1.31030612e-03 1.98837513e+02] [-5.70735215e-03 4.50703149e-05 9.99983712e-01 -1.74341467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1401.4253361949998 meters Centerline goodness : 0.999571 with order 1 Centerline is valid? [True, True] Translation: X:1255.71, Y:198.82, Z:-17.43 [[ 9.74620421e-01 2.23794940e-01 5.55519120e-03 1.25570669e+03] [-2.23791109e-01 9.74636252e-01 -1.30986660e-03 1.98822345e+02] [-5.70743224e-03 3.34203325e-05 9.99983712e-01 -1.74337674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1401.485336195 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:1255.76, Y:198.81, Z:-17.44 [[ 9.73316128e-01 2.29401076e-01 5.55525236e-03 1.25576399e+03] [-2.29397338e-01 9.73331982e-01 -1.30960716e-03 1.98809760e+02] [-5.70753008e-03 3.01673667e-07 9.99983712e-01 -1.74354274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1401.545336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:1255.82, Y:198.80, Z:-17.43 [[ 9.72197119e-01 2.34098058e-01 5.55531314e-03 1.25582191e+03] [-2.34094398e-01 9.72212990e-01 -1.30934925e-03 1.98797746e+02] [-5.70746372e-03 -2.75221182e-05 9.99983712e-01 -1.74341453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1401.6053361949998 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:1255.88, Y:198.79, Z:-17.43 [[ 9.70406593e-01 2.41412888e-01 5.55537555e-03 1.25588007e+03] [-2.41409349e-01 9.70422492e-01 -1.30908444e-03 1.98787359e+02] [-5.70709124e-03 -7.07754245e-05 9.99983712e-01 -1.74335994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1401.6653361949998 meters Centerline goodness : 0.999616 with order 1 Centerline is valid? [True, True] Translation: X:1255.94, Y:198.78, Z:-17.43 [[ 9.68967249e-01 2.47126704e-01 5.55543937e-03 1.25593624e+03] [-2.47123260e-01 9.68983169e-01 -1.30881355e-03 1.98778902e+02] [-5.70657002e-03 -1.04680826e-04 9.99983712e-01 -1.74337835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1401.725336195 meters Centerline goodness : 0.999484 with order 1 Centerline is valid? [True, True] Translation: X:1255.99, Y:198.77, Z:-17.43 [[ 9.68331203e-01 2.49607326e-01 5.55561300e-03 1.25599302e+03] [-2.49603928e-01 9.68347132e-01 -1.30807610e-03 1.98769798e+02] [-5.70626729e-03 -1.20051923e-04 9.99983712e-01 -1.74336900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1401.785336195 meters Centerline goodness : 0.999549 with order 1 Centerline is valid? [True, True] Translation: X:1256.05, Y:198.76, Z:-17.43 [[ 9.68487192e-01 2.49001392e-01 5.55578187e-03 1.25604992e+03] [-2.48997987e-01 9.68503120e-01 -1.30735848e-03 1.98761036e+02] [-5.70632615e-03 -1.17218565e-04 9.99983712e-01 -1.74332540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1401.8453361949998 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:1256.11, Y:198.75, Z:-17.43 [[ 9.68835939e-01 2.47640978e-01 5.55594820e-03 1.25610815e+03] [-2.47637555e-01 9.68851864e-01 -1.30665121e-03 1.98751284e+02] [-5.70647115e-03 -1.09930772e-04 9.99983712e-01 -1.74339234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1401.9053361949998 meters Centerline goodness : 0.999314 with order 1 Centerline is valid? [True, True] Translation: X:1256.17, Y:198.74, Z:-17.44 [[ 9.69280355e-01 2.45895759e-01 5.55601037e-03 1.25616516e+03] [-2.45892309e-01 9.69296273e-01 -1.30638679e-03 1.98742978e+02] [-5.70665512e-03 -9.99251672e-05 9.99983712e-01 -1.74373750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1401.965336195 meters Centerline goodness : 0.999508 with order 1 Centerline is valid? [True, True] Translation: X:1256.22, Y:198.73, Z:-17.44 [[ 9.69953861e-01 2.43225486e-01 5.55608708e-03 1.25622305e+03] [-2.43221994e-01 9.69969771e-01 -1.30606049e-03 1.98733614e+02] [-5.70690371e-03 -8.45441607e-05 9.99983712e-01 -1.74398460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1402.025336195 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:1256.28, Y:198.72, Z:-17.44 [[ 9.70997168e-01 2.39026419e-01 5.55614915e-03 1.25628043e+03] [-2.39022860e-01 9.71013062e-01 -1.30579636e-03 1.98723150e+02] [-5.70721323e-03 -6.01220930e-05 9.99983712e-01 -1.74447281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1402.0853361949999 meters Centerline goodness : 0.999466 with order 1 Centerline is valid? [True, True] Translation: X:1256.34, Y:198.71, Z:-17.44 [[ 9.71943705e-01 2.35147961e-01 5.55622603e-03 1.25633732e+03] [-2.35144340e-01 9.71959585e-01 -1.30546917e-03 1.98712256e+02] [-5.70740556e-03 -3.76725615e-05 9.99983712e-01 -1.74437522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1402.1453361949998 meters Centerline goodness : 0.999421 with order 1 Centerline is valid? [True, True] Translation: X:1256.39, Y:198.70, Z:-17.44 [[ 9.73375601e-01 2.29148568e-01 5.55631892e-03 1.25639461e+03] [-2.29144852e-01 9.73391460e-01 -1.30507367e-03 1.98700319e+02] [-5.70752915e-03 -2.87500621e-06 9.99983712e-01 -1.74416687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1402.205336195 meters Centerline goodness : 0.998979 with order 1 Centerline is valid? [True, True] Translation: X:1256.45, Y:198.69, Z:-17.44 [[ 9.74104702e-01 2.26029103e-01 5.55638112e-03 1.25645130e+03] [-2.26025337e-01 9.74120549e-01 -1.30480883e-03 1.98688746e+02] [-5.70750979e-03 1.51374972e-05 9.99983712e-01 -1.74359986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1402.265336195 meters Centerline goodness : 0.999447 with order 1 Centerline is valid? [True, True] Translation: X:1256.51, Y:198.67, Z:-17.44 [[ 9.74310697e-01 2.25139491e-01 5.55645789e-03 1.25650832e+03] [-2.25135713e-01 9.74326541e-01 -1.30448182e-03 1.98674010e+02] [-5.70749477e-03 2.00134869e-05 9.99983712e-01 -1.74429202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1402.3253361949999 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:1256.56, Y:198.66, Z:-17.44 [[ 9.74344150e-01 2.24994671e-01 5.55651924e-03 1.25656497e+03] [-2.24990892e-01 9.74359994e-01 -1.30422045e-03 1.98661963e+02] [-5.70749270e-03 2.05933487e-05 9.99983712e-01 -1.74415409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1402.3853361949998 meters Centerline goodness : 0.999577 with order 1 Centerline is valid? [True, True] Translation: X:1256.62, Y:198.65, Z:-17.44 [[ 9.74574280e-01 2.23995746e-01 5.55677503e-03 1.25661978e+03] [-2.23991957e-01 9.74590122e-01 -1.30312972e-03 1.98647625e+02] [-5.70747356e-03 2.53237971e-05 9.99983712e-01 -1.74426673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1402.445336195 meters Centerline goodness : 0.999571 with order 1 Centerline is valid? [True, True] Translation: X:1256.68, Y:198.63, Z:-17.44 [[ 9.74912566e-01 2.22518786e-01 5.55688540e-03 1.25667631e+03] [-2.22514975e-01 9.74928402e-01 -1.30265887e-03 1.98632908e+02] [-5.70743148e-03 3.34882875e-05 9.99983712e-01 -1.74433604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1402.505336195 meters Centerline goodness : 0.999637 with order 1 Centerline is valid? [True, True] Translation: X:1256.73, Y:198.62, Z:-17.44 [[ 9.74905911e-01 2.22547937e-01 5.55694800e-03 1.25673351e+03] [-2.22544129e-01 9.74921748e-01 -1.30239180e-03 1.98617686e+02] [-5.70743406e-03 3.30433105e-05 9.99983712e-01 -1.74431839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1402.5653361949999 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:1256.79, Y:198.60, Z:-17.44 [[ 9.74769955e-01 2.23142678e-01 5.55701018e-03 1.25679060e+03] [-2.23138881e-01 9.74785794e-01 -1.30212642e-03 1.98604024e+02] [-5.70745456e-03 2.92886784e-05 9.99983712e-01 -1.74431897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1402.6253361949998 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:1256.85, Y:198.59, Z:-17.44 [[ 9.74397491e-01 2.24763539e-01 5.55707155e-03 1.25684706e+03] [-2.24759769e-01 9.74413337e-01 -1.30186448e-03 1.98588427e+02] [-5.70749630e-03 1.95273628e-05 9.99983712e-01 -1.74448241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1402.6853361949998 meters Centerline goodness : 0.999465 with order 1 Centerline is valid? [True, True] Translation: X:1256.90, Y:198.57, Z:-17.44 [[ 9.73936278e-01 2.26753709e-01 5.55713265e-03 1.25690295e+03] [-2.26749973e-01 9.73952132e-01 -1.30160362e-03 1.98574302e+02] [-5.70752464e-03 7.59930669e-06 9.99983712e-01 -1.74444422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1402.745336195 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:1256.96, Y:198.56, Z:-17.44 [[ 9.73439087e-01 2.28878705e-01 5.55722490e-03 1.25695996e+03] [-2.28875007e-01 9.73454949e-01 -1.30120962e-03 1.98560323e+02] [-5.70752726e-03 -5.26158163e-06 9.99983712e-01 -1.74444747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1402.8053361949999 meters Centerline goodness : 0.999549 with order 1 Centerline is valid? [True, True] Translation: X:1257.01, Y:198.55, Z:-17.44 [[ 9.73110017e-01 2.30273776e-01 5.55728613e-03 1.25701468e+03] [-2.30270102e-01 9.73125885e-01 -1.30094807e-03 1.98545972e+02] [-5.70751321e-03 -1.37112496e-05 9.99983712e-01 -1.74448302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1402.8653361949998 meters Centerline goodness : 0.999187 with order 1 Centerline is valid? [True, True] Translation: X:1257.07, Y:198.53, Z:-17.44 [[ 9.72807491e-01 2.31548482e-01 5.55745245e-03 1.25707275e+03] [-2.31544832e-01 9.72823365e-01 -1.30023718e-03 1.98533819e+02] [-5.70748754e-03 -2.19189226e-05 9.99983712e-01 -1.74411717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1402.9253361949998 meters Centerline goodness : 0.999591 with order 1 Centerline is valid? [True, True] Translation: X:1257.13, Y:198.52, Z:-17.45 [[ 9.72958399e-01 2.30913549e-01 5.55751284e-03 1.25712931e+03] [-2.30909890e-01 9.72974271e-01 -1.29997901e-03 1.98518021e+02] [-5.70749977e-03 -1.84591831e-05 9.99983712e-01 -1.74496552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1402.985336195 meters Centerline goodness : 0.999610 with order 1 Centerline is valid? [True, True] Translation: X:1257.19, Y:198.50, Z:-17.45 [[ 9.73243609e-01 2.29708491e-01 5.55757472e-03 1.25718660e+03] [-2.29704815e-01 9.73259477e-01 -1.29971442e-03 1.98504506e+02] [-5.70751770e-03 -1.16629133e-05 9.99983712e-01 -1.74480926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1403.045336195 meters Centerline goodness : 0.999591 with order 1 Centerline is valid? [True, True] Translation: X:1257.24, Y:198.49, Z:-17.45 [[ 9.73550680e-01 2.28403558e-01 5.55763889e-03 1.25724159e+03] [-2.28399862e-01 9.73566543e-01 -1.29943995e-03 1.98491202e+02] [-5.70752799e-03 -4.29331100e-06 9.99983712e-01 -1.74490223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1403.1053361949998 meters Centerline goodness : 0.999684 with order 1 Centerline is valid? [True, True] Translation: X:1257.30, Y:198.48, Z:-17.45 [[ 9.73950534e-01 2.26692454e-01 5.55774992e-03 1.25729778e+03] [-2.26688733e-01 9.73966391e-01 -1.29896491e-03 1.98476374e+02] [-5.70752717e-03 5.24827896e-06 9.99983712e-01 -1.74492487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1403.1653361949998 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:1257.36, Y:198.46, Z:-17.45 [[ 9.74203081e-01 2.25604673e-01 5.55782732e-03 1.25735501e+03] [-2.25600935e-01 9.74218934e-01 -1.29863363e-03 1.98463119e+02] [-5.70751843e-03 1.12818442e-05 9.99983712e-01 -1.74471855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1403.225336195 meters Centerline goodness : 0.999660 with order 1 Centerline is valid? [True, True] Translation: X:1257.41, Y:198.45, Z:-17.45 [[ 9.74702201e-01 2.23438423e-01 5.55788709e-03 1.25741100e+03] [-2.23434652e-01 9.74718047e-01 -1.29837780e-03 1.98447892e+02] [-5.70748034e-03 2.37071315e-05 9.99983712e-01 -1.74474158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1403.285336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:1257.47, Y:198.43, Z:-17.45 [[ 9.75305964e-01 2.20788100e-01 5.55797920e-03 1.25746657e+03] [-2.20784288e-01 9.75321800e-01 -1.29798339e-03 1.98432582e+02] [-5.70739756e-03 3.88164646e-05 9.99983712e-01 -1.74482894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1403.3453361949998 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:1257.52, Y:198.41, Z:-17.45 [[ 9.76556021e-01 2.15191650e-01 5.55807040e-03 1.25752261e+03] [-2.15187750e-01 9.76571835e-01 -1.29759275e-03 1.98413005e+02] [-5.70708613e-03 7.11433519e-05 9.99983712e-01 -1.74471919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1403.4053361949998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1257.58, Y:198.39, Z:-17.45 [[ 9.77390426e-01 2.11369495e-01 5.55813357e-03 1.25757716e+03] [-2.11365534e-01 9.77406225e-01 -1.29732208e-03 1.98393342e+02] [-5.70676867e-03 9.31923074e-05 9.99983712e-01 -1.74461983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1403.465336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:1257.63, Y:198.37, Z:-17.45 [[ 9.77825598e-01 2.09347093e-01 5.55821171e-03 1.25763077e+03] [-2.09343102e-01 9.77841390e-01 -1.29698724e-03 1.98372083e+02] [-5.70656997e-03 1.04654044e-04 9.99983712e-01 -1.74492399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1403.525336195 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:1257.69, Y:198.35, Z:-17.45 [[ 9.77706186e-01 2.09904072e-01 5.55831371e-03 1.25768581e+03] [-2.09900092e-01 9.77721980e-01 -1.29654996e-03 1.98353871e+02] [-5.70663660e-03 1.00954358e-04 9.99983712e-01 -1.74493458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1403.5853361949999 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:1257.74, Y:198.33, Z:-17.45 [[ 9.77269986e-01 2.11925643e-01 5.55840049e-03 1.25774089e+03] [-2.11921698e-01 9.77285789e-01 -1.29617782e-03 1.98332345e+02] [-5.70683913e-03 8.87700097e-05 9.99983712e-01 -1.74511552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1403.6453361949998 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1257.79, Y:198.31, Z:-17.45 [[ 9.76547595e-01 2.15229874e-01 5.55845798e-03 1.25779433e+03] [-2.15225984e-01 9.76563411e-01 -1.29593122e-03 1.98312063e+02] [-5.70710980e-03 6.92139252e-05 9.99983712e-01 -1.74524390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1403.705336195 meters Centerline goodness : 0.999725 with order 1 Centerline is valid? [True, True] Translation: X:1257.85, Y:198.29, Z:-17.45 [[ 9.75491760e-01 2.19965743e-01 5.55855768e-03 1.25784784e+03] [-2.19961931e-01 9.75507596e-01 -1.29550347e-03 1.98291715e+02] [-5.70738162e-03 4.10818778e-05 9.99983712e-01 -1.74519007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1403.765336195 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:1257.90, Y:198.27, Z:-17.45 [[ 9.73655729e-01 2.27955311e-01 5.55865640e-03 1.25790379e+03] [-2.27951632e-01 9.73671596e-01 -1.29507974e-03 1.98274021e+02] [-5.70752615e-03 -6.14298821e-06 9.99983712e-01 -1.74491574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1403.8253361949999 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:1257.96, Y:198.26, Z:-17.45 [[ 9.72293848e-01 2.33695902e-01 5.55871492e-03 1.25795994e+03] [-2.33692319e-01 9.72309736e-01 -1.29482849e-03 1.98257967e+02] [-5.70738876e-03 -4.00752035e-05 9.99983712e-01 -1.74506404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1403.8853361949998 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:1258.02, Y:198.24, Z:-17.45 [[ 9.70722412e-01 2.40139748e-01 5.55880261e-03 1.25801653e+03] [-2.40136272e-01 9.70738325e-01 -1.29445193e-03 1.98242472e+02] [-5.70699210e-03 -7.83166391e-05 9.99983712e-01 -1.74524480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1403.945336195 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:1258.07, Y:198.23, Z:-17.45 [[ 9.70363018e-01 2.41587896e-01 5.55886020e-03 1.25807346e+03] [-2.41584445e-01 9.70378937e-01 -1.29420460e-03 1.98225678e+02] [-5.70686501e-03 -8.70858771e-05 9.99983712e-01 -1.74546966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1404.005336195 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:1258.13, Y:198.21, Z:-17.45 [[ 9.71077095e-01 2.38701431e-01 5.55891779e-03 1.25812890e+03] [-2.38697934e-01 9.71093004e-01 -1.29395718e-03 1.98208650e+02] [-5.70709560e-03 -7.03700073e-05 9.99983712e-01 -1.74547997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1404.0653361949999 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:1258.19, Y:198.19, Z:-17.45 [[ 9.71759811e-01 2.35906692e-01 5.55900758e-03 1.25818531e+03] [-2.35903152e-01 9.71775710e-01 -1.29357131e-03 1.98191872e+02] [-5.70727066e-03 -5.43467964e-05 9.99983712e-01 -1.74535365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1404.1253361949998 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:1258.24, Y:198.17, Z:-17.45 [[ 9.72691248e-01 2.32036273e-01 5.55906974e-03 1.25824029e+03] [-2.32032671e-01 9.72707133e-01 -1.29330413e-03 1.98174897e+02] [-5.70744026e-03 -3.19001887e-05 9.99983712e-01 -1.74524395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1404.1853361949998 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:1258.30, Y:198.16, Z:-17.45 [[ 9.73232412e-01 2.29755888e-01 5.55915410e-03 1.25829683e+03] [-2.29752251e-01 9.73248289e-01 -1.29294140e-03 1.98158040e+02] [-5.70749811e-03 -1.88956951e-05 9.99983712e-01 -1.74522730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1404.245336195 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:1258.35, Y:198.14, Z:-17.45 [[ 9.73903933e-01 2.26892538e-01 5.55921492e-03 1.25835209e+03] [-2.26888855e-01 9.73919800e-01 -1.29267982e-03 1.98139981e+02] [-5.70752889e-03 -2.37794411e-06 9.99983712e-01 -1.74529377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1404.3053361949999 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:1258.41, Y:198.12, Z:-17.45 [[ 9.74485478e-01 2.24381701e-01 5.55929031e-03 1.25840816e+03] [-2.24377980e-01 9.74501335e-01 -1.29235555e-03 1.98120727e+02] [-5.70751676e-03 1.19993874e-05 9.99983712e-01 -1.74527836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1404.3653361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1258.47, Y:198.10, Z:-17.45 [[ 9.74763636e-01 2.23170222e-01 5.55934977e-03 1.25846522e+03] [-2.23166482e-01 9.74779489e-01 -1.29209972e-03 1.98100951e+02] [-5.70749831e-03 1.88312908e-05 9.99983712e-01 -1.74520522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1404.4253361949998 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:1258.52, Y:198.08, Z:-17.45 [[ 9.74690385e-01 2.23489925e-01 5.55938081e-03 1.25852239e+03] [-2.23486191e-01 9.74706239e-01 -1.29196613e-03 1.98084106e+02] [-5.70750458e-03 1.68221168e-05 9.99983712e-01 -1.74517930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1404.485336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1258.58, Y:198.07, Z:-17.45 [[ 9.74266445e-01 2.25330838e-01 5.55941189e-03 1.25857975e+03] [-2.25327135e-01 9.74282307e-01 -1.29183237e-03 1.98066572e+02] [-5.70752632e-03 5.90257793e-06 9.99983712e-01 -1.74536407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1404.545336195 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:1258.64, Y:198.05, Z:-17.46 [[ 9.73611915e-01 2.28142351e-01 5.55944286e-03 1.25863580e+03] [-2.28138694e-01 9.73627787e-01 -1.29169911e-03 1.98050134e+02] [-5.70751932e-03 -1.07103948e-05 9.99983712e-01 -1.74557095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1404.6053361949998 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:1258.69, Y:198.03, Z:-17.46 [[ 9.73001180e-01 2.30733170e-01 5.55947740e-03 1.25869282e+03] [-2.30729557e-01 9.73017062e-01 -1.29155041e-03 1.98034956e+02] [-5.70746989e-03 -2.60556876e-05 9.99983712e-01 -1.74557575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1404.6653361949998 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:1258.75, Y:198.02, Z:-17.45 [[ 9.71973658e-01 2.35024040e-01 5.55951179e-03 1.25875167e+03] [-2.35020498e-01 9.71989556e-01 -1.29140237e-03 1.98019588e+02] [-5.70729800e-03 -5.13901442e-05 9.99983712e-01 -1.74539828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1404.725336195 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:1258.81, Y:198.01, Z:-17.45 [[ 9.71006619e-01 2.38987944e-01 5.55951179e-03 1.25880858e+03] [-2.38984466e-01 9.71022532e-01 -1.29140237e-03 1.98006672e+02] [-5.70704081e-03 -7.46767075e-05 9.99983712e-01 -1.74533674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1404.785336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1258.87, Y:198.00, Z:-17.45 [[ 9.70045605e-01 2.42859252e-01 5.55955971e-03 1.25886593e+03] [-2.42855839e-01 9.70061531e-01 -1.29119605e-03 1.97995273e+02] [-5.70669391e-03 -9.76524909e-05 9.99983712e-01 -1.74521551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1404.8453361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1258.92, Y:197.98, Z:-17.45 [[ 9.69435125e-01 2.45284792e-01 5.55961772e-03 1.25892343e+03] [-2.45281421e-01 9.69451060e-01 -1.29094621e-03 1.97984733e+02] [-5.70642677e-03 -1.12182329e-04 9.99983712e-01 -1.74526106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1404.9053361949998 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:1258.98, Y:197.97, Z:-17.45 [[ 9.68994653e-01 2.47019135e-01 5.55967981e-03 1.25898011e+03] [-2.47015793e-01 9.69010594e-01 -1.29067876e-03 1.97974889e+02] [-5.70621099e-03 -1.22667900e-04 9.99983712e-01 -1.74543656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1404.965336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:1259.04, Y:197.97, Z:-17.46 [[ 9.68823989e-01 2.47687640e-01 5.55975655e-03 1.25903841e+03] [-2.47684312e-01 9.68839934e-01 -1.29034809e-03 1.97966387e+02] [-5.70611744e-03 -1.26944293e-04 9.99983712e-01 -1.74552554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1405.025336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1259.10, Y:197.96, Z:-17.46 [[ 9.68798367e-01 2.47787838e-01 5.55981829e-03 1.25909619e+03] [-2.47784513e-01 9.68814312e-01 -1.29008204e-03 1.97960643e+02] [-5.70609817e-03 -1.27807495e-04 9.99983712e-01 -1.74568485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1405.0853361949999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1259.15, Y:197.96, Z:-17.46 [[ 9.69171581e-01 2.46324042e-01 5.55989475e-03 1.25915497e+03] [-2.46320695e-01 9.69187522e-01 -1.28975244e-03 1.97955363e+02] [-5.70627764e-03 -1.19525724e-04 9.99983712e-01 -1.74570539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1405.1453361949998 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:1259.21, Y:197.95, Z:-17.45 [[ 9.69844512e-01 2.43661052e-01 5.55998540e-03 1.25921386e+03] [-2.43657663e-01 9.69860444e-01 -1.28936153e-03 1.97951131e+02] [-5.70657709e-03 -1.04252844e-04 9.99983712e-01 -1.74547451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1405.205336195 meters Centerline goodness : 0.999591 with order 1 Centerline is valid? [True, True] Translation: X:1259.27, Y:197.94, Z:-17.45 [[ 9.70436490e-01 2.41292570e-01 5.56005998e-03 1.25927179e+03] [-2.41289143e-01 9.70452414e-01 -1.28903981e-03 1.97944617e+02] [-5.70680936e-03 -9.06508395e-05 9.99983712e-01 -1.74476225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1405.265336195 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:1259.33, Y:197.94, Z:-17.46 [[ 9.71815369e-01 2.35677690e-01 5.56014894e-03 1.25932961e+03] [-2.35674174e-01 9.71831273e-01 -1.28865600e-03 1.97939853e+02] [-5.70723409e-03 -5.80478029e-05 9.99983712e-01 -1.74577855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1405.3253361949999 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:1259.39, Y:197.93, Z:-17.46 [[ 9.73575851e-01 2.28296178e-01 5.56025185e-03 1.25938741e+03] [-2.28292544e-01 9.73591729e-01 -1.28821182e-03 1.97933664e+02] [-5.70750905e-03 -1.51921175e-05 9.99983712e-01 -1.74574240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1405.3853361949998 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:1259.44, Y:197.93, Z:-17.46 [[ 9.75651699e-01 2.19255203e-01 5.56033864e-03 1.25944477e+03] [-2.19251424e-01 9.75667543e-01 -1.28783710e-03 1.97925712e+02] [-5.70740692e-03 3.73682868e-05 9.99983712e-01 -1.74573542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1405.445336195 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:1259.50, Y:197.92, Z:-17.46 [[ 9.77122736e-01 2.12603483e-01 5.56042645e-03 1.25950103e+03] [-2.12599599e-01 9.77138554e-01 -1.28745783e-03 1.97915177e+02] [-5.70702508e-03 7.58598844e-05 9.99983712e-01 -1.74580776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1405.505336195 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:1259.56, Y:197.90, Z:-17.45 [[ 9.78925393e-01 2.04142487e-01 5.56052803e-03 1.25955838e+03] [-2.04138468e-01 9.78941178e-01 -1.28701899e-03 1.97903747e+02] [-5.70616511e-03 1.24777895e-04 9.99983712e-01 -1.74527200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1405.5653361949999 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:1259.62, Y:197.89, Z:-17.46 [[ 9.79960009e-01 1.99116700e-01 5.56059080e-03 1.25961506e+03] [-1.99112602e-01 9.79975773e-01 -1.28674769e-03 1.97890859e+02] [-5.70545723e-03 1.53777575e-04 9.99983712e-01 -1.74588316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1405.6253361949998 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1259.67, Y:197.88, Z:-17.46 [[ 9.80794248e-01 1.94965953e-01 5.56066783e-03 1.25967248e+03] [-1.94961790e-01 9.80809995e-01 -1.28641475e-03 1.97876571e+02] [-5.70476566e-03 1.77590440e-04 9.99983712e-01 -1.74583571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1405.6853361949998 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:1259.73, Y:197.86, Z:-17.46 [[ 9.81117353e-01 1.93333435e-01 5.56072682e-03 1.25972919e+03] [-1.93329247e-01 9.81133094e-01 -1.28615969e-03 1.97860191e+02] [-5.70447078e-03 1.86822459e-04 9.99983712e-01 -1.74570465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1405.745336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1259.78, Y:197.84, Z:-17.46 [[ 9.81131620e-01 1.93261022e-01 5.56079056e-03 1.25978497e+03] [-1.93256835e-01 9.81147360e-01 -1.28588408e-03 1.97844921e+02] [-5.70446624e-03 1.86960744e-04 9.99983712e-01 -1.74576833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1405.8053361949999 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:1259.84, Y:197.83, Z:-17.46 [[ 9.81141257e-01 1.93212086e-01 5.56086923e-03 1.25984111e+03] [-1.93207900e-01 9.81156998e-01 -1.28554375e-03 1.97826106e+02] [-5.70446835e-03 1.86896145e-04 9.99983712e-01 -1.74589880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1405.8653361949998 meters Centerline goodness : 0.999591 with order 1 Centerline is valid? [True, True] Translation: X:1259.90, Y:197.81, Z:-17.45 [[ 9.80804794e-01 1.94912885e-01 5.56093078e-03 1.25989668e+03] [-1.94908728e-01 9.80820542e-01 -1.28527746e-03 1.97806524e+02] [-5.70479228e-03 1.76732350e-04 9.99983712e-01 -1.74543210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1405.9253361949998 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1259.95, Y:197.79, Z:-17.46 [[ 9.80337253e-01 1.97250972e-01 5.56099276e-03 1.25995318e+03] [-1.97246854e-01 9.80353012e-01 -1.28500922e-03 1.97790278e+02] [-5.70520532e-03 1.62854082e-04 9.99983712e-01 -1.74618923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1405.985336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1260.01, Y:197.77, Z:-17.46 [[ 9.78640993e-01 2.05501538e-01 5.56105430e-03 1.26000835e+03] [-2.05497554e-01 9.78656786e-01 -1.28474286e-03 1.97772460e+02] [-5.70638016e-03 1.14518977e-04 9.99983712e-01 -1.74603032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1406.045336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1260.06, Y:197.76, Z:-17.46 [[ 9.76577686e-01 2.15093227e-01 5.56113786e-03 1.26006494e+03] [-2.15089400e-01 9.76593518e-01 -1.28438103e-03 1.97755085e+02] [-5.70723285e-03 5.81560491e-05 9.99983712e-01 -1.74564022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1406.1053361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1260.12, Y:197.74, Z:-17.46 [[ 9.75289394e-01 2.20861205e-01 5.56119821e-03 1.26012194e+03] [-2.20857473e-01 9.75305248e-01 -1.28411967e-03 1.97738637e+02] [-5.70747802e-03 2.41561126e-05 9.99983712e-01 -1.74567331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1406.1653361949998 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:1260.18, Y:197.72, Z:-17.46 [[ 9.74864882e-01 2.22727489e-01 5.56126022e-03 1.26017779e+03] [-2.22723789e-01 9.74880744e-01 -1.28385108e-03 1.97722955e+02] [-5.70751443e-03 1.29563822e-05 9.99983712e-01 -1.74581347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1406.225336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1260.23, Y:197.71, Z:-17.46 [[ 9.74434859e-01 2.24601375e-01 5.56133705e-03 1.26023360e+03] [-2.24597707e-01 9.74450729e-01 -1.28351820e-03 1.97705516e+02] [-5.70752889e-03 1.64132256e-06 9.99983712e-01 -1.74616107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1406.285336195 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:1260.29, Y:197.69, Z:-17.46 [[ 9.73697792e-01 2.27775506e-01 5.56139707e-03 1.26029016e+03] [-2.27771891e-01 9.73713674e-01 -1.28325807e-03 1.97690611e+02] [-5.70750313e-03 -1.72243822e-05 9.99983712e-01 -1.74618924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1406.3453361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1260.35, Y:197.68, Z:-17.46 [[ 9.73162995e-01 2.30049682e-01 5.56145614e-03 1.26034753e+03] [-2.30046106e-01 9.73178885e-01 -1.28300200e-03 1.97676704e+02] [-5.70744589e-03 -3.08212618e-05 9.99983712e-01 -1.74601675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1406.4053361949998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1260.40, Y:197.66, Z:-17.46 [[ 9.72324706e-01 2.33567411e-01 5.56151728e-03 1.26040469e+03] [-2.33563894e-01 9.72340610e-01 -1.28273691e-03 1.97664110e+02] [-5.70729465e-03 -5.17328426e-05 9.99983712e-01 -1.74584814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1406.465336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1260.46, Y:197.65, Z:-17.46 [[ 9.71620283e-01 2.36480642e-01 5.56158023e-03 1.26046166e+03] [-2.36477175e-01 9.71636198e-01 -1.28246394e-03 1.97652942e+02] [-5.70711057e-03 -6.91187992e-05 9.99983712e-01 -1.74600746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1406.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1260.52, Y:197.64, Z:-17.46 [[ 9.71246043e-01 2.38013010e-01 5.56165773e-03 1.26052028e+03] [-2.38009570e-01 9.71261963e-01 -1.28212775e-03 1.97643930e+02] [-5.70698969e-03 -7.84662557e-05 9.99983712e-01 -1.74615740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1406.5853361949999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1260.58, Y:197.63, Z:-17.46 [[ 9.71247026e-01 2.38008996e-01 5.56171909e-03 1.26057821e+03] [-2.38005557e-01 9.71262947e-01 -1.28186152e-03 1.97633471e+02] [-5.70698625e-03 -7.87158620e-05 9.99983712e-01 -1.74604500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1406.6453361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1260.64, Y:197.62, Z:-17.46 [[ 9.71711167e-01 2.36106912e-01 5.56178095e-03 1.26063564e+03] [-2.36103444e-01 9.71727082e-01 -1.28159307e-03 1.97624417e+02] [-5.70712616e-03 -6.78173379e-05 9.99983712e-01 -1.74606437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1406.705336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1260.69, Y:197.61, Z:-17.46 [[ 9.72585133e-01 2.32480589e-01 5.56185753e-03 1.26069330e+03] [-2.32477063e-01 9.72601035e-01 -1.28126065e-03 1.97614827e+02] [-5.70733662e-03 -4.68692441e-05 9.99983712e-01 -1.74606877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1406.765336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1260.75, Y:197.60, Z:-17.46 [[ 9.73247170e-01 2.29693296e-01 5.56191866e-03 1.26075122e+03] [-2.29689726e-01 9.73263062e-01 -1.28099522e-03 1.97604562e+02] [-5.70744600e-03 -3.07905996e-05 9.99983712e-01 -1.74614671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1406.8253361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1260.81, Y:197.59, Z:-17.46 [[ 9.73612672e-01 2.28139055e-01 5.56198040e-03 1.26080768e+03] [-2.28135461e-01 9.73628559e-01 -1.28072709e-03 1.97592994e+02] [-5.70748683e-03 -2.19528432e-05 9.99983712e-01 -1.74623863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1406.8853361949998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1260.87, Y:197.58, Z:-17.46 [[ 9.74809419e-01 2.22970089e-01 5.56205679e-03 1.26086543e+03] [-2.22966413e-01 9.74825287e-01 -1.28039526e-03 1.97582405e+02] [-5.70752345e-03 7.98950662e-06 9.99983712e-01 -1.74641670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1406.945336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1260.92, Y:197.57, Z:-17.47 [[ 9.76178033e-01 2.16899769e-01 5.56211878e-03 1.26092309e+03] [-2.16895996e-01 9.76193878e-01 -1.28012590e-03 1.97571283e+02] [-5.70736532e-03 4.32294869e-05 9.99983712e-01 -1.74652648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1407.005336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1260.98, Y:197.56, Z:-17.46 [[ 9.76904493e-01 2.13604014e-01 5.56218065e-03 1.26097995e+03] [-2.13600188e-01 9.76920325e-01 -1.27985703e-03 1.97559760e+02] [-5.70718993e-03 6.22152457e-05 9.99983712e-01 -1.74649349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1407.0653361949999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1261.04, Y:197.55, Z:-17.46 [[ 9.77575922e-01 2.10509804e-01 5.56225734e-03 1.26103740e+03] [-2.10505931e-01 9.77591743e-01 -1.27952367e-03 1.97547322e+02] [-5.70696912e-03 7.99433718e-05 9.99983712e-01 -1.74629007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1407.1253361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1261.09, Y:197.53, Z:-17.46 [[ 9.77938869e-01 2.08817217e-01 5.56231760e-03 1.26109370e+03] [-2.08813318e-01 9.77954683e-01 -1.27926164e-03 1.97534355e+02] [-5.70682640e-03 8.95536911e-05 9.99983712e-01 -1.74640106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1407.1853361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1261.15, Y:197.52, Z:-17.47 [[ 9.78093328e-01 2.08092532e-01 5.56239191e-03 1.26115107e+03] [-2.08088622e-01 9.78109140e-01 -1.27893845e-03 1.97521242e+02] [-5.70676391e-03 9.34506949e-05 9.99983712e-01 -1.74658099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1407.245336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1261.21, Y:197.51, Z:-17.47 [[ 9.78148814e-01 2.07831558e-01 5.56244807e-03 1.26120832e+03] [-2.07827646e-01 9.78164626e-01 -1.27869415e-03 1.97508632e+02] [-5.70674293e-03 9.47226831e-05 9.99983712e-01 -1.74682797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1407.3053361949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1261.27, Y:197.49, Z:-17.47 [[ 9.77897021e-01 2.09013097e-01 5.56250389e-03 1.26126502e+03] [-2.09009205e-01 9.77912837e-01 -1.27845127e-03 1.97494449e+02] [-5.70685702e-03 8.75791655e-05 9.99983712e-01 -1.74672699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1407.3653361949998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:1261.32, Y:197.48, Z:-17.47 [[ 9.77629030e-01 2.10263021e-01 5.56255932e-03 1.26132073e+03] [-2.10259151e-01 9.77644851e-01 -1.27821006e-03 1.97480398e+02] [-5.70696779e-03 8.00362624e-05 9.99983712e-01 -1.74674572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1407.4253361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1261.38, Y:197.47, Z:-17.47 [[ 9.77535713e-01 2.10696432e-01 5.56265547e-03 1.26137763e+03] [-2.10692572e-01 9.77551537e-01 -1.27779149e-03 1.97467227e+02] [-5.70700851e-03 7.70766305e-05 9.99983712e-01 -1.74666942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1407.485336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1261.43, Y:197.45, Z:-17.47 [[ 9.77754380e-01 2.09679348e-01 5.56271513e-03 1.26143415e+03] [-2.09675472e-01 9.77770200e-01 -1.27753169e-03 1.97451872e+02] [-5.70692910e-03 8.27472878e-05 9.99983712e-01 -1.74674547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1407.545336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1261.49, Y:197.44, Z:-17.47 [[ 9.77869755e-01 2.09140619e-01 5.56277680e-03 1.26149085e+03] [-2.09136737e-01 9.77885573e-01 -1.27726310e-03 1.97435928e+02] [-5.70688678e-03 8.56159704e-05 9.99983712e-01 -1.74675969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1407.6053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1261.55, Y:197.42, Z:-17.47 [[ 9.77447521e-01 2.11105183e-01 5.56283930e-03 1.26154626e+03] [-2.11101333e-01 9.77463348e-01 -1.27699084e-03 1.97420626e+02] [-5.70705091e-03 7.38687353e-05 9.99983712e-01 -1.74665931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1407.6653361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1261.60, Y:197.41, Z:-17.47 [[ 9.76018016e-01 2.17618673e-01 5.56291645e-03 1.26160398e+03] [-2.17614931e-01 9.76033868e-01 -1.27665467e-03 1.97407196e+02] [-5.70741876e-03 3.54642763e-05 9.99983712e-01 -1.74675689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1407.725336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1261.66, Y:197.40, Z:-17.47 [[ 9.74225518e-01 2.25507633e-01 5.56297696e-03 1.26165959e+03] [-2.25504021e-01 9.74241401e-01 -1.27639095e-03 1.97396342e+02] [-5.70751837e-03 -1.09810373e-05 9.99983712e-01 -1.74704610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1407.785336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1261.72, Y:197.39, Z:-17.47 [[ 9.73271626e-01 2.29589621e-01 5.56308168e-03 1.26171679e+03] [-2.29586079e-01 9.73287524e-01 -1.27593436e-03 1.97385635e+02] [-5.70741928e-03 -3.53753999e-05 9.99983712e-01 -1.74704810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1407.8453361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1261.77, Y:197.38, Z:-17.47 [[ 9.72900506e-01 2.31157214e-01 5.56316871e-03 1.26177481e+03] [-2.31153699e-01 9.72916410e-01 -1.27555480e-03 1.97375972e+02] [-5.70735182e-03 -4.49591098e-05 9.99983712e-01 -1.74691868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1407.9053361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1261.83, Y:197.36, Z:-17.47 [[ 9.73402824e-01 2.29032732e-01 5.56322928e-03 1.26183255e+03] [-2.29029184e-01 9.73418721e-01 -1.27529058e-03 1.97363988e+02] [-5.70743482e-03 -3.27704131e-05 9.99983712e-01 -1.74700888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1407.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1261.89, Y:197.35, Z:-17.47 [[ 9.74044100e-01 2.26289951e-01 5.56329115e-03 1.26188954e+03] [-2.26286360e-01 9.74059987e-01 -1.27502064e-03 1.97353575e+02] [-5.70750366e-03 -1.69705700e-05 9.99983712e-01 -1.74719797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1408.025336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1261.95, Y:197.34, Z:-17.47 [[ 9.74615676e-01 2.23815399e-01 5.56336810e-03 1.26194669e+03] [-2.23811769e-01 9.74631555e-01 -1.27468475e-03 1.97343121e+02] [-5.70752818e-03 -2.81951355e-06 9.99983712e-01 -1.74726386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1408.0853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1262.00, Y:197.33, Z:-17.47 [[ 9.75692847e-01 2.19071943e-01 5.56345997e-03 1.26200317e+03] [-2.19068239e-01 9.75708708e-01 -1.27428368e-03 1.97331530e+02] [-5.70747614e-03 2.45320987e-05 9.99983712e-01 -1.74747308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1408.1453361949998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1262.06, Y:197.32, Z:-17.47 [[ 9.76425344e-01 2.15783678e-01 5.56353560e-03 1.26206066e+03] [-2.15779921e-01 9.76441193e-01 -1.27395339e-03 1.97319449e+02] [-5.70736368e-03 4.34210981e-05 9.99983712e-01 -1.74727312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1408.205336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1262.12, Y:197.31, Z:-17.47 [[ 9.77516651e-01 2.10784827e-01 5.56359661e-03 1.26211853e+03] [-2.10780991e-01 9.77532481e-01 -1.27368689e-03 1.97308540e+02] [-5.70707027e-03 7.23497392e-05 9.99983712e-01 -1.74700287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1408.265336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1262.18, Y:197.29, Z:-17.47 [[ 9.78556313e-01 2.05904317e-01 5.56365725e-03 1.26217594e+03] [-2.05900403e-01 9.78572124e-01 -1.27342194e-03 1.97294796e+02] [-5.70664297e-03 1.00555807e-04 9.99983712e-01 -1.74698596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1408.3253361949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1262.23, Y:197.28, Z:-17.47 [[ 9.79055301e-01 2.03518456e-01 5.56371884e-03 1.26223229e+03] [-2.03514506e-01 9.79071103e-01 -1.27315281e-03 1.97281599e+02] [-5.70638643e-03 1.14189516e-04 9.99983712e-01 -1.74712083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1408.3853361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1262.29, Y:197.27, Z:-17.47 [[ 9.79384702e-01 2.01927338e-01 5.56379484e-03 1.26228907e+03] [-2.01923364e-01 9.79400498e-01 -1.27282057e-03 1.97270029e+02] [-5.70620071e-03 1.23120828e-04 9.99983712e-01 -1.74726742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1408.445336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1262.35, Y:197.26, Z:-17.47 [[ 9.79396424e-01 2.01870473e-01 5.56386893e-03 1.26234654e+03] [-2.01866500e-01 9.79412220e-01 -1.27249663e-03 1.97256677e+02] [-5.70620072e-03 1.23119903e-04 9.99983712e-01 -1.74724940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1408.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1262.40, Y:197.24, Z:-17.47 [[ 9.79076196e-01 2.03417906e-01 5.56392812e-03 1.26240417e+03] [-2.03413959e-01 9.79091999e-01 -1.27223779e-03 1.97243001e+02] [-5.70639345e-03 1.13837088e-04 9.99983712e-01 -1.74732688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1408.5653361949999 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:1262.46, Y:197.23, Z:-17.47 [[ 9.78630131e-01 2.05553180e-01 5.56398706e-03 1.26246067e+03] [-2.05549269e-01 9.78645942e-01 -1.27197993e-03 1.97231113e+02] [-5.70663288e-03 1.01124413e-04 9.99983712e-01 -1.74680785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1408.6253361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1262.52, Y:197.22, Z:-17.47 [[ 9.78521016e-01 2.06071985e-01 5.56407523e-03 1.26251821e+03] [-2.06068085e-01 9.78536830e-01 -1.27159415e-03 1.97218504e+02] [-5.70669247e-03 9.77032774e-05 9.99983712e-01 -1.74745757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1408.6853361949998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1262.57, Y:197.21, Z:-17.48 [[ 9.78199722e-01 2.07591771e-01 5.56413563e-03 1.26257488e+03] [-2.07587897e-01 9.78215543e-01 -1.27132981e-03 1.97205542e+02] [-5.70684156e-03 8.85672529e-05 9.99983712e-01 -1.74758669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1408.745336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1262.63, Y:197.19, Z:-17.48 [[ 9.78036433e-01 2.08359728e-01 5.56421032e-03 1.26263194e+03] [-2.08355868e-01 9.78052257e-01 -1.27100283e-03 1.97192993e+02] [-5.70691426e-03 8.37512009e-05 9.99983712e-01 -1.74764208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1408.8053361949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1262.69, Y:197.18, Z:-17.48 [[ 9.77286633e-01 2.11848710e-01 5.56427184e-03 1.26268753e+03] [-2.11844908e-01 9.77302471e-01 -1.27073342e-03 1.97181730e+02] [-5.70717986e-03 6.31081269e-05 9.99983712e-01 -1.74775094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1408.8653361949998 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1262.74, Y:197.17, Z:-17.48 [[ 9.76758554e-01 2.14270308e-01 5.56437836e-03 1.26274467e+03] [-2.14266548e-01 9.76774402e-01 -1.27026682e-03 1.97169897e+02] [-5.70732281e-03 4.84838371e-05 9.99983712e-01 -1.74779637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1408.9253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1262.80, Y:197.16, Z:-17.48 [[ 9.76067868e-01 2.17394925e-01 5.56447105e-03 1.26280079e+03] [-2.17391218e-01 9.76083729e-01 -1.26986069e-03 1.97159936e+02] [-5.70745092e-03 2.98030737e-05 9.99983712e-01 -1.74784727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1408.985336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1262.86, Y:197.15, Z:-17.48 [[ 9.75794694e-01 2.18617821e-01 5.56457811e-03 1.26285843e+03] [-2.18614137e-01 9.75810559e-01 -1.26939136e-03 1.97149903e+02] [-5.70748565e-03 2.21699173e-05 9.99983712e-01 -1.74767326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1409.045336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1262.92, Y:197.14, Z:-17.48 [[ 9.75891283e-01 2.18186247e-01 5.56464011e-03 1.26291523e+03] [-2.18182557e-01 9.75907148e-01 -1.26911952e-03 1.97139047e+02] [-5.70747648e-03 2.44152689e-05 9.99983712e-01 -1.74763646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1409.1053361949998 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:1262.97, Y:197.13, Z:-17.47 [[ 9.76115703e-01 2.17180035e-01 5.56471663e-03 1.26297292e+03] [-2.17176331e-01 9.76131565e-01 -1.26878388e-03 1.97127222e+02] [-5.70745008e-03 2.99551290e-05 9.99983712e-01 -1.74746315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1409.1653361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1263.03, Y:197.12, Z:-17.48 [[ 9.76611665e-01 2.14938803e-01 5.56477801e-03 1.26302962e+03] [-2.14935064e-01 9.76627518e-01 -1.26851462e-03 1.97116994e+02] [-5.70736835e-03 4.27802590e-05 9.99983712e-01 -1.74787964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1409.225336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1263.09, Y:197.11, Z:-17.48 [[ 9.77134352e-01 2.12549972e-01 5.56485394e-03 1.26308592e+03] [-2.12546196e-01 9.77150196e-01 -1.26818143e-03 1.97105428e+02] [-5.70725005e-03 5.63951047e-05 9.99983712e-01 -1.74789266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1409.285336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1263.14, Y:197.09, Z:-17.48 [[ 9.78140121e-01 2.07872402e-01 5.56495710e-03 1.26314208e+03] [-2.07868553e-01 9.78155947e-01 -1.26772859e-03 1.97093062e+02] [-5.70692168e-03 8.32366160e-05 9.99983712e-01 -1.74794267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1409.3453361949998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1263.20, Y:197.08, Z:-17.48 [[ 9.79380826e-01 2.01946100e-01 5.56504563e-03 1.26319939e+03] [-2.01942158e-01 9.79396630e-01 -1.26733987e-03 1.97077843e+02] [-5.70632128e-03 1.17391045e-04 9.99983712e-01 -1.74810561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1409.4053361949998 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:1263.26, Y:197.06, Z:-17.48 [[ 9.80136488e-01 1.98246046e-01 5.56510435e-03 1.26325543e+03] [-1.98242045e-01 9.80152277e-01 -1.26708196e-03 1.97062478e+02] [-5.70584369e-03 1.38675595e-04 9.99983712e-01 -1.74814769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1409.465336195 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:1263.31, Y:197.05, Z:-17.48 [[ 9.80856022e-01 1.94654802e-01 5.56517701e-03 1.26331084e+03] [-1.94650746e-01 9.80871797e-01 -1.26676277e-03 1.97045856e+02] [-5.70530663e-03 1.59246037e-04 9.99983712e-01 -1.74802855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1409.525336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1263.37, Y:197.03, Z:-17.48 [[ 9.81143230e-01 1.93201944e-01 5.56524817e-03 1.26336590e+03] [-1.93197865e-01 9.81158999e-01 -1.26645005e-03 1.97027859e+02] [-5.70507393e-03 1.67374822e-04 9.99983712e-01 -1.74788174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1409.5853361949999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1263.42, Y:197.01, Z:-17.48 [[ 9.81148078e-01 1.93177318e-01 5.56532437e-03 1.26342294e+03] [-1.93173241e-01 9.81163848e-01 -1.26611511e-03 1.97011758e+02] [-5.70507979e-03 1.67174664e-04 9.99983712e-01 -1.74779034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1409.6453361949998 meters Centerline goodness : 0.999592 with order 1 Centerline is valid? [True, True] Translation: X:1263.48, Y:196.99, Z:-17.47 [[ 9.80805583e-01 1.94908785e-01 5.56538819e-03 1.26347899e+03] [-1.94904738e-01 9.80821360e-01 -1.26583449e-03 1.96993036e+02] [-5.70537388e-03 1.56817009e-04 9.99983712e-01 -1.74744688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1409.705336195 meters Centerline goodness : 0.999467 with order 1 Centerline is valid? [True, True] Translation: X:1263.53, Y:196.98, Z:-17.47 [[ 9.80021772e-01 1.98812356e-01 5.56543551e-03 1.26353498e+03] [-1.98808373e-01 9.80037565e-01 -1.26562644e-03 1.96975146e+02] [-5.70595804e-03 1.33886285e-04 9.99983712e-01 -1.74742664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1409.765336195 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:1263.59, Y:196.96, Z:-17.48 [[ 9.79145483e-01 2.03084091e-01 5.56549439e-03 1.26359222e+03] [-2.03080178e-01 9.79161294e-01 -1.26536745e-03 1.96960295e+02] [-5.70649269e-03 1.08737229e-04 9.99983712e-01 -1.74796176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1409.8253361949999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1263.65, Y:196.94, Z:-17.48 [[ 9.77674094e-01 2.10053305e-01 5.56555473e-03 1.26364939e+03] [-2.10049506e-01 9.77689933e-01 -1.26510200e-03 1.96944804e+02] [-5.70712569e-03 6.78154303e-05 9.99983712e-01 -1.74804495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1409.8853361949998 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1263.71, Y:196.93, Z:-17.48 [[ 9.76715205e-01 2.14467789e-01 5.56561489e-03 1.26370627e+03] [-2.14464063e-01 9.76731061e-01 -1.26483727e-03 1.96930178e+02] [-5.70737579e-03 4.17614135e-05 9.99983712e-01 -1.74799002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1409.945336195 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:1263.76, Y:196.91, Z:-17.48 [[ 9.75630799e-01 2.19348051e-01 5.56567452e-03 1.26376334e+03] [-2.19344407e-01 9.75646674e-01 -1.26457483e-03 1.96914840e+02] [-5.70751386e-03 1.29585812e-05 9.99983712e-01 -1.74798754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1410.005336195 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:1263.82, Y:196.90, Z:-17.48 [[ 9.74787781e-01 2.23064576e-01 5.56573433e-03 1.26381997e+03] [-2.23060993e-01 9.74803670e-01 -1.26431154e-03 1.96898980e+02] [-5.70752137e-03 -9.06278997e-06 9.99983712e-01 -1.74808763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1410.0653361949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1263.88, Y:196.89, Z:-17.48 [[ 9.73883750e-01 2.26978992e-01 5.56579601e-03 1.26387629e+03] [-2.26975475e-01 9.73899654e-01 -1.26403997e-03 1.96885090e+02] [-5.70743732e-03 -3.22712070e-05 9.99983712e-01 -1.74811444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1410.1253361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1263.93, Y:196.87, Z:-17.48 [[ 9.73208803e-01 2.29855707e-01 5.56587186e-03 1.26393241e+03] [-2.29852238e-01 9.73224718e-01 -1.26370590e-03 1.96873079e+02] [-5.70731408e-03 -4.94784010e-05 9.99983712e-01 -1.74818857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1410.1853361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1263.99, Y:196.86, Z:-17.48 [[ 9.72246566e-01 2.33892356e-01 5.56594505e-03 1.26398952e+03] [-2.33888955e-01 9.72262496e-01 -1.26338344e-03 1.96862249e+02] [-5.70705535e-03 -7.34928580e-05 9.99983712e-01 -1.74827940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1410.245336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1264.05, Y:196.85, Z:-17.48 [[ 9.71874333e-01 2.35434281e-01 5.56603220e-03 1.26404521e+03] [-2.35430908e-01 9.71890268e-01 -1.26299935e-03 1.96851515e+02] [-5.70692587e-03 -8.29393620e-05 9.99983712e-01 -1.74833287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1410.3053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1264.10, Y:196.84, Z:-17.48 [[ 9.71542951e-01 2.36798042e-01 5.56613274e-03 1.26410233e+03] [-2.36794694e-01 9.71558891e-01 -1.26255614e-03 1.96843238e+02] [-5.70679657e-03 -9.14031859e-05 9.99983712e-01 -1.74842751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1410.3653361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1264.16, Y:196.84, Z:-17.49 [[ 9.71490799e-01 2.37011907e-01 5.56622482e-03 1.26416013e+03] [-2.37008564e-01 9.71506741e-01 -1.26215002e-03 1.96835443e+02] [-5.70676952e-03 -9.30758219e-05 9.99983712e-01 -1.74866928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1410.4253361949998 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:1264.22, Y:196.83, Z:-17.49 [[ 9.71745746e-01 2.35964451e-01 5.56631378e-03 1.26421838e+03] [-2.35961093e-01 9.71761684e-01 -1.26175759e-03 1.96828311e+02] [-5.70686039e-03 -8.73259106e-05 9.99983712e-01 -1.74872199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1410.485336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1264.28, Y:196.82, Z:-17.49 [[ 9.72202673e-01 2.34074727e-01 5.56639969e-03 1.26427500e+03] [-2.34071341e-01 9.72218605e-01 -1.26137845e-03 1.96819556e+02] [-5.70701416e-03 -7.66191383e-05 9.99983712e-01 -1.74869695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1410.545336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1264.33, Y:196.81, Z:-17.49 [[ 9.73213337e-01 2.29836497e-01 5.56649909e-03 1.26433311e+03] [-2.29833044e-01 9.73229255e-01 -1.26093966e-03 1.96811930e+02] [-5.70728971e-03 -5.22021319e-05 9.99983712e-01 -1.74862272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1410.6053361949998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1264.39, Y:196.80, Z:-17.49 [[ 9.73975702e-01 2.26584080e-01 5.56658753e-03 1.26439047e+03] [-2.26580577e-01 9.73991608e-01 -1.26054912e-03 1.96803677e+02] [-5.70742990e-03 -3.35363971e-05 9.99983712e-01 -1.74878501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1410.6653361949998 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:1264.45, Y:196.80, Z:-17.49 [[ 9.74739308e-01 2.23276272e-01 5.56667821e-03 1.26444749e+03] [-2.23272717e-01 9.74755203e-01 -1.26014853e-03 1.96795565e+02] [-5.70750982e-03 -1.45710656e-05 9.99983712e-01 -1.74899957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1410.725336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1264.51, Y:196.79, Z:-17.49 [[ 9.75734994e-01 2.18884062e-01 5.56681189e-03 1.26450616e+03] [-2.18880438e-01 9.75750874e-01 -1.25955773e-03 1.96788060e+02] [-5.70751867e-03 1.05283266e-05 9.99983712e-01 -1.74919564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1410.785336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1264.56, Y:196.78, Z:-17.49 [[ 9.76436061e-01 2.15735090e-01 5.56687197e-03 1.26456425e+03] [-2.15731416e-01 9.76451929e-01 -1.25929214e-03 1.96779781e+02] [-5.70745637e-03 2.86690819e-05 9.99983712e-01 -1.74919931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1410.8453361949998 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:1264.62, Y:196.77, Z:-17.49 [[ 9.77477951e-01 2.10964128e-01 5.56696555e-03 1.26462131e+03] [-2.10960379e-01 9.77493802e-01 -1.25887828e-03 1.96772865e+02] [-5.70725248e-03 5.61165964e-05 9.99983712e-01 -1.74940156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1410.9053361949998 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:1264.68, Y:196.76, Z:-17.49 [[ 9.78509228e-01 2.06127867e-01 5.56707277e-03 1.26467845e+03] [-2.06124043e-01 9.78525061e-01 -1.25840394e-03 1.96764680e+02] [-5.70691235e-03 8.38523214e-05 9.99983712e-01 -1.74936758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1410.965336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1264.74, Y:196.76, Z:-17.49 [[ 9.79150486e-01 2.03059924e-01 5.56714789e-03 1.26473563e+03] [-2.03056052e-01 9.79166307e-01 -1.25807153e-03 1.96755576e+02] [-5.70662755e-03 1.01398273e-04 9.99983712e-01 -1.74926872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1411.025336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1264.79, Y:196.75, Z:-17.49 [[ 9.80023591e-01 1.98803335e-01 5.56723685e-03 1.26479324e+03] [-1.98799397e-01 9.80039396e-01 -1.25767775e-03 1.96746401e+02] [-5.70614197e-03 1.25790535e-04 9.99983712e-01 -1.74922322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1411.0853361949999 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:1264.85, Y:196.74, Z:-17.49 [[ 9.80520860e-01 1.96336060e-01 5.56732844e-03 1.26484962e+03] [-1.96332085e-01 9.80536655e-01 -1.25727219e-03 1.96735200e+02] [-5.70581747e-03 1.39736410e-04 9.99983712e-01 -1.74935027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1411.1453361949998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1264.91, Y:196.72, Z:-17.49 [[ 9.81196288e-01 1.92932239e-01 5.56743421e-03 1.26490641e+03] [-1.92928211e-01 9.81212070e-01 -1.25680362e-03 1.96724027e+02] [-5.70531159e-03 1.59055924e-04 9.99983712e-01 -1.74939947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1411.205336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1264.96, Y:196.71, Z:-17.50 [[ 9.81615534e-01 1.90787700e-01 5.56752438e-03 1.26496316e+03] [-1.90783640e-01 9.81631308e-01 -1.25640406e-03 1.96710773e+02] [-5.70496268e-03 1.71113179e-04 9.99983712e-01 -1.74977274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1411.265336195 meters Centerline goodness : 0.999674 with order 1 Centerline is valid? [True, True] Translation: X:1265.02, Y:196.70, Z:-17.49 [[ 9.81842747e-01 1.89614930e-01 5.56759868e-03 1.26501990e+03] [-1.89610853e-01 9.81858517e-01 -1.25607472e-03 1.96696423e+02] [-5.70476470e-03 1.77590719e-04 9.99983712e-01 -1.74893627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1411.3253361949999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1265.08, Y:196.68, Z:-17.50 [[ 9.81778146e-01 1.89949132e-01 5.56766053e-03 1.26507598e+03] [-1.89945062e-01 9.81793917e-01 -1.25580052e-03 1.96681532e+02] [-5.70483346e-03 1.75367886e-04 9.99983712e-01 -1.74963954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1411.3853361949998 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1265.13, Y:196.67, Z:-17.50 [[ 9.81389567e-01 1.91946656e-01 5.56773644e-03 1.26513185e+03] [-1.91942620e-01 9.81405347e-01 -1.25546387e-03 1.96666197e+02] [-5.70518840e-03 1.63413227e-04 9.99983712e-01 -1.74957169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1411.445336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:1265.19, Y:196.65, Z:-17.49 [[ 9.81024646e-01 1.93803107e-01 5.56782308e-03 1.26518803e+03] [-1.93799102e-01 9.81040434e-01 -1.25507953e-03 1.96650786e+02] [-5.70549788e-03 1.52224834e-04 9.99983712e-01 -1.74910188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1411.505336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1265.24, Y:196.64, Z:-17.50 [[ 9.80073248e-01 1.98558370e-01 5.56791043e-03 1.26524364e+03] [-1.98554445e-01 9.80089056e-01 -1.25469190e-03 1.96635112e+02] [-5.70617765e-03 1.24156605e-04 9.99983712e-01 -1.74965126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1411.5653361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1265.30, Y:196.62, Z:-17.50 [[ 9.78779255e-01 2.04841811e-01 5.56799744e-03 1.26529882e+03] [-2.04837990e-01 9.78795088e-01 -1.25430564e-03 1.96619836e+02] [-5.70686278e-03 8.71509405e-05 9.99983712e-01 -1.74958096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1411.6253361949998 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:1265.36, Y:196.61, Z:-17.49 [[ 9.77748415e-01 2.09707018e-01 5.56809827e-03 1.26535539e+03] [-2.09703278e-01 9.77764268e-01 -1.25385787e-03 1.96607069e+02] [-5.70723032e-03 5.83090837e-05 9.99983712e-01 -1.74871062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1411.6853361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1265.41, Y:196.59, Z:-17.50 [[ 9.76178564e-01 2.16897224e-01 5.56818546e-03 1.26541294e+03] [-2.16893603e-01 9.76194445e-01 -1.25347054e-03 1.96593830e+02] [-5.70750600e-03 1.59072648e-05 9.99983712e-01 -1.74957628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1411.745336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1265.47, Y:196.58, Z:-17.50 [[ 9.75087892e-01 2.21748953e-01 5.56824445e-03 1.26547039e+03] [-2.21745413e-01 9.75103790e-01 -1.25320845e-03 1.96582061e+02] [-5.70751393e-03 -1.27442747e-05 9.99983712e-01 -1.74980378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1411.8053361949999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1265.53, Y:196.57, Z:-17.50 [[ 9.74772106e-01 2.23133001e-01 5.56830459e-03 1.26552657e+03] [-2.23129485e-01 9.74788009e-01 -1.25294117e-03 1.96570645e+02] [-5.70748907e-03 -2.11208327e-05 9.99983712e-01 -1.75004603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1411.8653361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1265.58, Y:196.56, Z:-17.50 [[ 9.74499092e-01 2.24322338e-01 5.56846335e-03 1.26558389e+03] [-2.24318844e-01 9.74515001e-01 -1.25223522e-03 1.96559209e+02] [-5.70745540e-03 -2.88091766e-05 9.99983712e-01 -1.74997830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1411.9253361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1265.64, Y:196.55, Z:-17.50 [[ 9.74333832e-01 2.25039051e-01 5.56855128e-03 1.26564104e+03] [-2.25035572e-01 9.74349744e-01 -1.25184406e-03 1.96549081e+02] [-5.70743032e-03 -3.34081018e-05 9.99983712e-01 -1.74997742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1411.985336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1265.70, Y:196.54, Z:-17.50 [[ 9.74259047e-01 2.25362594e-01 5.56864001e-03 1.26569746e+03] [-2.25359122e-01 9.74274961e-01 -1.25144925e-03 1.96539214e+02] [-5.70741638e-03 -3.57080706e-05 9.99983712e-01 -1.74993103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1412.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1265.75, Y:196.53, Z:-17.50 [[ 9.74387672e-01 2.24805813e-01 5.56879686e-03 1.26575345e+03] [-2.24802336e-01 9.74403584e-01 -1.25075089e-03 1.96529296e+02] [-5.70743169e-03 -3.31622951e-05 9.99983712e-01 -1.74993127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1412.1053361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1265.81, Y:196.52, Z:-17.50 [[ 9.74811121e-01 2.22962475e-01 5.56895093e-03 1.26581158e+03] [-2.22958972e-01 9.74827028e-01 -1.25006452e-03 1.96521062e+02] [-5.70748136e-03 -2.30707750e-05 9.99983712e-01 -1.74986577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1412.1653361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1265.87, Y:196.51, Z:-17.50 [[ 9.75143156e-01 2.21505780e-01 5.56900789e-03 1.26586827e+03] [-2.21502255e-01 9.75159058e-01 -1.24981070e-03 1.96510934e+02] [-5.70750879e-03 -1.48034514e-05 9.99983712e-01 -1.74989957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1412.225336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1265.93, Y:196.50, Z:-17.50 [[ 9.75645460e-01 2.19282743e-01 5.56909304e-03 1.26592690e+03] [-2.19279183e-01 9.75661354e-01 -1.24943115e-03 1.96501873e+02] [-5.70752755e-03 -2.18434569e-06 9.99983712e-01 -1.75011581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1412.285336195 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:1265.98, Y:196.49, Z:-17.50 [[ 9.76186492e-01 2.16861517e-01 5.56914916e-03 1.26598448e+03] [-2.16857920e-01 9.76202378e-01 -1.24918096e-03 1.96493921e+02] [-5.70751593e-03 1.17194753e-05 9.99983712e-01 -1.75045702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1412.3453361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1266.04, Y:196.48, Z:-17.50 [[ 9.76705861e-01 2.14510246e-01 5.56921858e-03 1.26604216e+03] [-2.14506612e-01 9.76721738e-01 -1.24887139e-03 1.96483867e+02] [-5.70747256e-03 2.51457930e-05 9.99983712e-01 -1.75047526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1412.4053361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1266.10, Y:196.48, Z:-17.50 [[ 9.77568351e-01 2.10544776e-01 5.56930411e-03 1.26610037e+03] [-2.10541079e-01 9.77584214e-01 -1.24848986e-03 1.96475202e+02] [-5.70732680e-03 4.79168697e-05 9.99983712e-01 -1.75027936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1412.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1266.16, Y:196.47, Z:-17.50 [[ 9.78256287e-01 2.07324911e-01 5.56936536e-03 1.26615750e+03] [-2.07321164e-01 9.78272138e-01 -1.24821659e-03 1.96466132e+02] [-5.70714135e-03 6.64284118e-05 9.99983712e-01 -1.75012334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1412.525336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1266.21, Y:196.45, Z:-17.50 [[ 9.78508795e-01 2.06129860e-01 5.56944109e-03 1.26621408e+03] [-2.06126096e-01 9.78524642e-01 -1.24787858e-03 1.96454464e+02] [-5.70706039e-03 7.30530169e-05 9.99983712e-01 -1.75010699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1412.5853361949999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1266.27, Y:196.44, Z:-17.50 [[ 9.78974120e-01 2.03908444e-01 5.56953024e-03 1.26627183e+03] [-2.03904646e-01 9.78989959e-01 -1.24748058e-03 1.96443163e+02] [-5.70688600e-03 8.55981162e-05 9.99983712e-01 -1.75003594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1412.6453361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1266.33, Y:196.43, Z:-17.50 [[ 9.79686952e-01 2.00455619e-01 5.56959014e-03 1.26632828e+03] [-2.00451767e-01 9.79702778e-01 -1.24721309e-03 1.96430462e+02] [-5.70655380e-03 1.05444205e-04 9.99983712e-01 -1.75026360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1412.705336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1266.39, Y:196.42, Z:-17.50 [[ 9.80642464e-01 1.95727713e-01 5.56966405e-03 1.26638608e+03] [-1.95723786e-01 9.80658271e-01 -1.24688291e-03 1.96417263e+02] [-5.70598666e-03 1.32630594e-04 9.99983712e-01 -1.74976784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1412.765336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:1266.44, Y:196.40, Z:-17.50 [[ 9.81465748e-01 1.91556684e-01 5.56972169e-03 1.26644263e+03] [-1.91552692e-01 9.81481539e-01 -1.24662540e-03 1.96400262e+02] [-5.70537845e-03 1.56624952e-04 9.99983712e-01 -1.75038227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1412.8253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1266.50, Y:196.38, Z:-17.50 [[ 9.81903099e-01 1.89302090e-01 5.56978143e-03 1.26649781e+03] [-1.89298063e-01 9.81918882e-01 -1.24635844e-03 1.96384982e+02] [-5.70501181e-03 1.69454385e-04 9.99983712e-01 -1.75045359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1412.8853361949998 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:1266.55, Y:196.37, Z:-17.51 [[ 9.82163857e-01 1.87944497e-01 5.56988517e-03 1.26655188e+03] [-1.87940450e-01 9.82179635e-01 -1.24589465e-03 1.96367621e+02] [-5.70478683e-03 1.76865964e-04 9.99983712e-01 -1.75052993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1412.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1266.61, Y:196.35, Z:-17.50 [[ 9.82111460e-01 1.88218103e-01 5.57002093e-03 1.26660752e+03] [-1.88214064e-01 9.82127240e-01 -1.24528740e-03 1.96349733e+02] [-5.70485492e-03 1.74654745e-04 9.99983712e-01 -1.75048093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1413.005336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1266.66, Y:196.33, Z:-17.50 [[ 9.82002047e-01 1.88788118e-01 5.57010684e-03 1.26666230e+03] [-1.88784091e-01 9.82017829e-01 -1.24490303e-03 1.96332543e+02] [-5.70496713e-03 1.70949764e-04 9.99983712e-01 -1.75048349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1413.0653361949999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1266.72, Y:196.31, Z:-17.51 [[ 9.81928012e-01 1.89172807e-01 5.57022842e-03 1.26671741e+03] [-1.89168789e-01 9.81943797e-01 -1.24435879e-03 1.96311880e+02] [-5.70505009e-03 1.68157387e-04 9.99983712e-01 -1.75051290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1413.1253361949998 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1266.77, Y:196.29, Z:-17.51 [[ 9.81978523e-01 1.88910434e-01 5.57031434e-03 1.26677336e+03] [-1.88906414e-01 9.81994307e-01 -1.24397407e-03 1.96292696e+02] [-5.70501665e-03 1.69287709e-04 9.99983712e-01 -1.75056678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1413.1853361949998 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1266.83, Y:196.27, Z:-17.51 [[ 9.81718791e-01 1.90255584e-01 5.57037335e-03 1.26682802e+03] [-1.90251587e-01 9.81734581e-01 -1.24370974e-03 1.96271201e+02] [-5.70525087e-03 1.61200853e-04 9.99983712e-01 -1.75064255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1413.245336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1266.88, Y:196.25, Z:-17.51 [[ 9.80967905e-01 1.94090027e-01 5.57044603e-03 1.26688363e+03] [-1.94086094e-01 9.80983711e-01 -1.24338415e-03 1.96249337e+02] [-5.70584528e-03 1.38573829e-04 9.99983712e-01 -1.75050837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1413.3053361949999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1266.94, Y:196.23, Z:-17.50 [[ 9.79699161e-01 2.00395916e-01 5.57050172e-03 1.26693903e+03] [-2.00392086e-01 9.79714992e-01 -1.24313460e-03 1.96228925e+02] [-5.70662315e-03 1.01613465e-04 9.99983712e-01 -1.75049078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1413.3653361949998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1267.00, Y:196.21, Z:-17.51 [[ 9.78656898e-01 2.05425522e-01 5.57056131e-03 1.26699611e+03] [-2.05421775e-01 9.78672749e-01 -1.24286753e-03 1.96212357e+02] [-5.70707326e-03 7.20262887e-05 9.99983712e-01 -1.75063717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1413.4253361949998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1267.05, Y:196.19, Z:-17.51 [[ 9.77201711e-01 2.12239924e-01 5.57060570e-03 1.26705258e+03] [-2.12236288e-01 9.77217588e-01 -1.24266852e-03 1.96193289e+02] [-5.70743774e-03 3.20531231e-05 9.99983712e-01 -1.75068922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1413.485336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1267.11, Y:196.18, Z:-17.50 [[ 9.76535553e-01 2.15284189e-01 5.57066666e-03 1.26710836e+03] [-2.15280604e-01 9.76551442e-01 -1.24239518e-03 1.96176739e+02] [-5.70751060e-03 1.39865808e-05 9.99983712e-01 -1.75026976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1413.545336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1267.16, Y:196.16, Z:-17.50 [[ 9.75909261e-01 2.18105665e-01 5.57074225e-03 1.26716483e+03] [-2.18102128e-01 9.75925160e-01 -1.24205615e-03 1.96157897e+02] [-5.70752701e-03 -2.85663978e-06 9.99983712e-01 -1.75041989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1413.6053361949998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1267.22, Y:196.14, Z:-17.50 [[ 9.75721029e-01 2.18946204e-01 5.57080133e-03 1.26722127e+03] [-2.18942682e-01 9.75736932e-01 -1.24179110e-03 1.96141354e+02] [-5.70752205e-03 -8.04449304e-06 9.99983712e-01 -1.75044125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1413.6653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1267.28, Y:196.12, Z:-17.51 [[ 9.75816132e-01 2.18521950e-01 5.57086318e-03 1.26727676e+03] [-2.18518424e-01 9.75832033e-01 -1.24151360e-03 1.96123069e+02] [-5.70752472e-03 -5.84724295e-06 9.99983712e-01 -1.75069493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1413.725336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1267.33, Y:196.11, Z:-17.51 [[ 9.75973761e-01 2.17816855e-01 5.57093935e-03 1.26733219e+03] [-2.17813319e-01 9.75989661e-01 -1.24117170e-03 1.96105382e+02] [-5.70752732e-03 -2.07378191e-06 9.99983712e-01 -1.75077098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1413.785336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1267.39, Y:196.09, Z:-17.51 [[ 9.76075360e-01 2.17361116e-01 5.57101320e-03 1.26738869e+03] [-2.17357574e-01 9.76091259e-01 -1.24084015e-03 1.96090246e+02] [-5.70752768e-03 2.51579946e-07 9.99983712e-01 -1.75083643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1413.8453361949998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1267.44, Y:196.07, Z:-17.51 [[ 9.76367914e-01 2.16043187e-01 5.57107067e-03 1.26744491e+03] [-2.16039626e-01 9.76383808e-01 -1.24058205e-03 1.96073379e+02] [-5.70752250e-03 7.69248542e-06 9.99983712e-01 -1.75083357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1413.9053361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1267.50, Y:196.06, Z:-17.51 [[ 9.76821910e-01 2.13981116e-01 5.57112771e-03 1.26750282e+03] [-2.13977522e-01 9.76837797e-01 -1.24032583e-03 1.96056653e+02] [-5.70749443e-03 1.94813444e-05 9.99983712e-01 -1.75067274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1413.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1267.56, Y:196.04, Z:-17.51 [[ 9.77002806e-01 2.13153654e-01 5.57115727e-03 1.26756083e+03] [-2.13150047e-01 9.77018689e-01 -1.24019305e-03 1.96040747e+02] [-5.70747646e-03 2.41796541e-05 9.99983712e-01 -1.75068702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1414.025336195 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:1267.62, Y:196.03, Z:-17.50 [[ 9.76679036e-01 2.14632297e-01 5.57118688e-03 1.26761848e+03] [-2.14628716e-01 9.76694925e-01 -1.24006003e-03 1.96025707e+02] [-5.70750689e-03 1.54039493e-05 9.99983712e-01 -1.75030280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1414.0853361949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1267.68, Y:196.01, Z:-17.51 [[ 9.76039192e-01 2.17523461e-01 5.57121617e-03 1.26767631e+03] [-2.17519927e-01 9.76055093e-01 -1.23992845e-03 1.96009880e+02] [-5.70752744e-03 -1.63177674e-06 9.99983712e-01 -1.75118374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1414.1453361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1267.73, Y:196.00, Z:-17.51 [[ 9.75442919e-01 2.20181907e-01 5.57124532e-03 1.26773433e+03] [-2.20178417e-01 9.75458829e-01 -1.23979746e-03 1.95995959e+02] [-5.70750140e-03 -1.73163187e-05 9.99983712e-01 -1.75107945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1414.205336195 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:1267.79, Y:195.98, Z:-17.50 [[ 9.74742595e-01 2.23261806e-01 5.57127423e-03 1.26779115e+03] [-2.23258367e-01 9.74758516e-01 -1.23966752e-03 1.95982758e+02] [-5.70741741e-03 -3.54768507e-05 9.99983712e-01 -1.75041279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1414.265336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1267.85, Y:195.97, Z:-17.51 [[ 9.74301997e-01 2.25176771e-01 5.57131703e-03 1.26785038e+03] [-2.25173365e-01 9.74317925e-01 -1.23947512e-03 1.95969828e+02] [-5.70733506e-03 -4.68891149e-05 9.99983712e-01 -1.75107604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1414.3253361949999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1267.91, Y:195.96, Z:-17.51 [[ 9.73807399e-01 2.27306203e-01 5.57131703e-03 1.26790832e+03] [-2.27302831e-01 9.73823334e-01 -1.23947512e-03 1.95958171e+02] [-5.70721891e-03 -5.93660884e-05 9.99983712e-01 -1.75112010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1414.3853361949998 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:1267.97, Y:195.95, Z:-17.51 [[ 9.72988347e-01 2.30786993e-01 5.57136172e-03 1.26796642e+03] [-2.30783679e-01 9.73004295e-01 -1.23927423e-03 1.95946699e+02] [-5.70696725e-03 -7.99799690e-05 9.99983712e-01 -1.75108164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1414.445336195 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:1268.02, Y:195.94, Z:-17.51 [[ 9.72731392e-01 2.31867631e-01 5.57139115e-03 1.26802446e+03] [-2.31864336e-01 9.72747344e-01 -1.23914190e-03 1.95935234e+02] [-5.70687284e-03 -8.64546821e-05 9.99983712e-01 -1.75058270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1414.505336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1268.08, Y:195.93, Z:-17.51 [[ 9.72514892e-01 2.32774021e-01 5.57143453e-03 1.26808374e+03] [-2.32770742e-01 9.72530846e-01 -1.23894681e-03 1.95925518e+02] [-5.70678657e-03 -9.19727282e-05 9.99983712e-01 -1.75122255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1414.5653361949999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1268.14, Y:195.92, Z:-17.51 [[ 9.72756691e-01 2.31761470e-01 5.57146422e-03 1.26814167e+03] [-2.31758175e-01 9.72772642e-01 -1.23881330e-03 1.95916022e+02] [-5.70687716e-03 -8.61684537e-05 9.99983712e-01 -1.75131317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1414.6253361949998 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1268.20, Y:195.91, Z:-17.51 [[ 9.73291389e-01 2.29505622e-01 5.57150825e-03 1.26819953e+03] [-2.29502291e-01 9.73307333e-01 -1.23861526e-03 1.95905913e+02] [-5.70705900e-03 -7.31403408e-05 9.99983712e-01 -1.75127268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1414.6853361949998 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:1268.26, Y:195.90, Z:-17.51 [[ 9.74484265e-01 2.24386664e-01 5.57156728e-03 1.26825817e+03] [-2.24383251e-01 9.74500192e-01 -1.23834967e-03 1.95896377e+02] [-5.70736253e-03 -4.34141071e-05 9.99983712e-01 -1.75129430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1414.745336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1268.32, Y:195.89, Z:-17.51 [[ 9.75954672e-01 2.17902355e-01 5.57162567e-03 1.26831643e+03] [-2.17898837e-01 9.75970575e-01 -1.23808688e-03 1.95885861e+02] [-5.70752476e-03 -5.73408176e-06 9.99983712e-01 -1.75129308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1414.8053361949999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1268.37, Y:195.88, Z:-17.51 [[ 9.76826198e-01 2.13961529e-01 5.57166917e-03 1.26837398e+03] [-2.13957949e-01 9.76842087e-01 -1.23789108e-03 1.95875072e+02] [-5.70750201e-03 1.71015320e-05 9.99983712e-01 -1.75129799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1414.8653361949998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1268.43, Y:195.86, Z:-17.51 [[ 9.77946892e-01 2.08779387e-01 5.57172733e-03 1.26843242e+03] [-2.08775724e-01 9.77962763e-01 -1.23762925e-03 1.95864179e+02] [-5.70733333e-03 4.70942684e-05 9.99983712e-01 -1.75135731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1414.9253361949998 meters Centerline goodness : 0.999592 with order 1 Centerline is valid? [True, True] Translation: X:1268.49, Y:195.85, Z:-17.51 [[ 9.79003168e-01 2.03768872e-01 5.57175668e-03 1.26849100e+03] [-2.03765128e-01 9.79019020e-01 -1.23749710e-03 1.95852847e+02] [-5.70701916e-03 7.61838638e-05 9.99983712e-01 -1.75079604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1414.985336195 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:1268.55, Y:195.84, Z:-17.52 [[ 9.79803062e-01 1.99887254e-01 5.57178666e-03 1.26854842e+03] [-1.99883449e-01 9.79818900e-01 -1.23736214e-03 1.95840240e+02] [-5.70667479e-03 9.86632813e-05 9.99983712e-01 -1.75151255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1415.045336195 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:1268.61, Y:195.83, Z:-17.52 [[ 9.80802964e-01 1.94921783e-01 5.57183115e-03 1.26860746e+03] [-1.94917898e-01 9.80818782e-01 -1.23716173e-03 1.95825887e+02] [-5.70610641e-03 1.27362271e-04 9.99983712e-01 -1.75156380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1415.1053361949998 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:1268.67, Y:195.81, Z:-17.52 [[ 9.81412286e-01 1.91830342e-01 5.57183115e-03 1.26866543e+03] [-1.91826408e-01 9.81428091e-01 -1.23716173e-03 1.95811755e+02] [-5.70567677e-03 1.45341363e-04 9.99983712e-01 -1.75158757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1415.1653361949998 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:1268.73, Y:195.80, Z:-17.51 [[ 9.82043333e-01 1.88573184e-01 5.57184563e-03 1.26872550e+03] [-1.88569198e-01 9.82059126e-01 -1.23709654e-03 1.95795750e+02] [-5.70516508e-03 1.64203945e-04 9.99983712e-01 -1.75147877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1415.225336195 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:1268.79, Y:195.78, Z:-17.52 [[ 9.82172993e-01 1.87896698e-01 5.57162948e-03 1.26878533e+03] [-1.87892696e-01 9.82188781e-01 -1.23806928e-03 1.95779417e+02] [-5.70502110e-03 1.69129727e-04 9.99983712e-01 -1.75150968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1415.285336195 meters Centerline goodness : 0.999680 with order 1 Centerline is valid? [True, True] Translation: X:1268.84, Y:195.76, Z:-17.52 [[ 9.82059949e-01 1.88486645e-01 5.57141489e-03 1.26884351e+03] [-1.88482646e-01 9.82075739e-01 -1.23903417e-03 1.95761581e+02] [-5.70509279e-03 1.66690814e-04 9.99983712e-01 -1.75163148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1415.3453361949998 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:1268.90, Y:195.75, Z:-17.52 [[ 9.81768848e-01 1.89997078e-01 5.57129584e-03 1.26890213e+03] [-1.89993100e-01 9.81784643e-01 -1.23956924e-03 1.95746076e+02] [-5.70532723e-03 1.58462691e-04 9.99983712e-01 -1.75155008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1415.4053361949998 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:1268.96, Y:195.73, Z:-17.52 [[ 9.81172200e-01 1.93054589e-01 5.57129584e-03 1.26896164e+03] [-1.93050661e-01 9.81188007e-01 -1.23956924e-03 1.95729671e+02] [-5.70579320e-03 1.40688530e-04 9.99983712e-01 -1.75156538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1415.465336195 meters Centerline goodness : 0.999654 with order 1 Centerline is valid? [True, True] Translation: X:1269.02, Y:195.71, Z:-17.51 [[ 9.80585947e-01 1.96010618e-01 5.57126625e-03 1.26901910e+03] [-1.96006737e-01 9.80601765e-01 -1.23970222e-03 1.95711993e+02] [-5.70618832e-03 1.23628856e-04 9.99983712e-01 -1.75080125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1415.525336195 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:1269.08, Y:195.70, Z:-17.52 [[ 9.80278623e-01 1.97541849e-01 5.57125166e-03 1.26907815e+03] [-1.97537992e-01 9.80294448e-01 -1.23976781e-03 1.95695322e+02] [-5.70637309e-03 1.14784015e-04 9.99983712e-01 -1.75164319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1415.5853361949999 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:1269.14, Y:195.68, Z:-17.52 [[ 9.79698675e-01 2.00398271e-01 5.57122259e-03 1.26913749e+03] [-2.00394460e-01 9.79714511e-01 -1.23989841e-03 1.95677258e+02] [-5.70668112e-03 9.82846886e-05 9.99983712e-01 -1.75182107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1415.6453361949998 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1269.20, Y:195.66, Z:-17.52 [[ 9.79047992e-01 2.03553418e-01 5.57101740e-03 1.26919747e+03] [-2.03549652e-01 9.79063838e-01 -1.24081970e-03 1.95659510e+02] [-5.70695477e-03 8.08433799e-05 9.99983712e-01 -1.75179303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1415.705336195 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:1269.26, Y:195.64, Z:-17.52 [[ 9.78710656e-01 2.05169244e-01 5.57081062e-03 1.26925668e+03] [-2.05165499e-01 9.78726507e-01 -1.24174737e-03 1.95643488e+02] [-5.70706839e-03 7.23732438e-05 9.99983712e-01 -1.75179631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1415.765336195 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:1269.32, Y:195.63, Z:-17.52 [[ 9.78291851e-01 2.07157000e-01 5.57062051e-03 1.26931630e+03] [-2.07153282e-01 9.78307709e-01 -1.24259961e-03 1.95625196e+02] [-5.70719420e-03 6.16527513e-05 9.99983712e-01 -1.75164364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1415.8253361949999 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:1269.38, Y:195.61, Z:-17.52 [[ 9.77883624e-01 2.09075555e-01 5.57041634e-03 1.26937678e+03] [-2.09071863e-01 9.77899489e-01 -1.24351420e-03 1.95607684e+02] [-5.70729571e-03 5.13948517e-05 9.99983712e-01 -1.75174365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1415.8853361949998 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1269.44, Y:195.59, Z:-17.52 [[ 9.77592444e-01 2.10432857e-01 5.57017779e-03 1.26943816e+03] [-2.10429181e-01 9.77608312e-01 -1.24458185e-03 1.95591664e+02] [-5.70735302e-03 4.45658667e-05 9.99983712e-01 -1.75179575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1415.945336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1269.50, Y:195.58, Z:-17.52 [[ 9.77228009e-01 2.12118822e-01 5.56993903e-03 1.26949939e+03] [-2.12115167e-01 9.77243882e-01 -1.24564946e-03 1.95576092e+02] [-5.70741454e-03 3.58149942e-05 9.99983712e-01 -1.75173095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1416.005336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:1269.56, Y:195.56, Z:-17.52 [[ 9.76988035e-01 2.13221384e-01 5.56970090e-03 1.26955996e+03] [-2.13217741e-01 9.77003910e-01 -1.24671331e-03 1.95560252e+02] [-5.70744550e-03 3.04649395e-05 9.99983712e-01 -1.75180191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1416.0653361949999 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:1269.62, Y:195.54, Z:-17.52 [[ 9.76422188e-01 2.15797804e-01 5.56946116e-03 1.26962140e+03] [-2.15794197e-01 9.76438072e-01 -1.24778340e-03 1.95544392e+02] [-5.70750283e-03 1.65060029e-05 9.99983712e-01 -1.75189198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1416.1253361949998 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:1269.68, Y:195.53, Z:-17.52 [[ 9.75965324e-01 2.17854700e-01 5.56922065e-03 1.26968129e+03] [-2.17851120e-01 9.75981214e-01 -1.24885596e-03 1.95529925e+02] [-5.70752387e-03 5.57915676e-06 9.99983712e-01 -1.75158830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1416.1853361949998 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1269.74, Y:195.52, Z:-17.52 [[ 9.75419481e-01 2.20285775e-01 5.56899623e-03 1.26974303e+03] [-2.20282229e-01 9.75435378e-01 -1.24985588e-03 1.95515747e+02] [-5.70752142e-03 -7.61712979e-06 9.99983712e-01 -1.75214083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1416.245336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1269.80, Y:195.50, Z:-17.52 [[ 9.75187275e-01 2.21311473e-01 5.56875496e-03 1.26980401e+03] [-2.21307938e-01 9.75203175e-01 -1.25092996e-03 1.95502421e+02] [-5.70751267e-03 -1.25186974e-05 9.99983712e-01 -1.75222920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1416.3053361949999 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:1269.87, Y:195.49, Z:-17.52 [[ 9.75213095e-01 2.21197674e-01 5.56853099e-03 1.26986534e+03] [-2.21194131e-01 9.75228993e-01 -1.25192615e-03 1.95489170e+02] [-5.70751603e-03 -1.08315983e-05 9.99983712e-01 -1.75205022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1416.3653361949998 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:1269.93, Y:195.48, Z:-17.52 [[ 9.75351336e-01 2.20587318e-01 5.56828217e-03 1.26992649e+03] [-2.20583759e-01 9.75367231e-01 -1.25303190e-03 1.95475784e+02] [-5.70752290e-03 -6.12627783e-06 9.99983712e-01 -1.75203139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1416.4253361949998 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1269.99, Y:195.46, Z:-17.52 [[ 9.75528419e-01 2.19802870e-01 5.56803387e-03 1.26998702e+03] [-2.19799292e-01 9.75544309e-01 -1.25413427e-03 1.95463076e+02] [-5.70752607e-03 -4.06282339e-07 9.99983712e-01 -1.75207477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1416.485336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:1270.05, Y:195.45, Z:-17.52 [[ 9.75726543e-01 2.18921706e-01 5.56780276e-03 1.27004847e+03] [-2.18918108e-01 9.75742428e-01 -1.25515945e-03 1.95450137e+02] [-5.70752304e-03 5.79954257e-06 9.99983712e-01 -1.75209251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1416.545336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1270.11, Y:195.44, Z:-17.52 [[ 9.75892244e-01 2.18181873e-01 5.56755591e-03 1.27010948e+03] [-2.18178257e-01 9.75908126e-01 -1.25625345e-03 1.95438015e+02] [-5.70751479e-03 1.12483521e-05 9.99983712e-01 -1.75222663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1416.6053361949998 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:1270.17, Y:195.43, Z:-17.52 [[ 9.76237450e-01 2.16632051e-01 5.56732696e-03 1.27017094e+03] [-2.16628403e-01 9.76253325e-01 -1.25726730e-03 1.95425485e+02] [-5.70748585e-03 2.13502712e-05 9.99983712e-01 -1.75162893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1416.6653361949998 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1270.23, Y:195.41, Z:-17.52 [[ 9.76552232e-01 2.15208610e-01 5.56708020e-03 1.27023094e+03] [-2.15204933e-01 9.76568100e-01 -1.25835897e-03 1.95412105e+02] [-5.70744262e-03 3.07901351e-05 9.99983712e-01 -1.75219479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1416.725336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1270.29, Y:195.40, Z:-17.52 [[ 9.77088669e-01 2.12759823e-01 5.56685026e-03 1.27029297e+03] [-2.12756101e-01 9.77104526e-01 -1.25937539e-03 1.95399052e+02] [-5.70733907e-03 4.61400728e-05 9.99983712e-01 -1.75229788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1416.785336195 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:1270.35, Y:195.38, Z:-17.52 [[ 9.77375120e-01 2.11440032e-01 5.56660963e-03 1.27035378e+03] [-2.11436282e-01 9.77390971e-01 -1.26043812e-03 1.95384846e+02] [-5.70726106e-03 5.49376140e-05 9.99983712e-01 -1.75242932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1416.8453361949998 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:1270.42, Y:195.37, Z:-17.52 [[ 9.77771346e-01 2.09600118e-01 5.56638589e-03 1.27041537e+03] [-2.09596333e-01 9.77787188e-01 -1.26142540e-03 1.95370442e+02] [-5.70713573e-03 6.66915384e-05 9.99983712e-01 -1.75151246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1416.9053361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1270.48, Y:195.36, Z:-17.52 [[ 9.78125121e-01 2.07942937e-01 5.56614220e-03 1.27047626e+03] [-2.07939119e-01 9.78140956e-01 -1.26249978e-03 1.95357021e+02] [-5.70699957e-03 7.74640484e-05 9.99983712e-01 -1.75237256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1416.965336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1270.54, Y:195.34, Z:-17.52 [[ 9.78272618e-01 2.07247931e-01 5.56599117e-03 1.27053751e+03] [-2.07244098e-01 9.78288448e-01 -1.26316531e-03 1.95342539e+02] [-5.70693326e-03 8.22012167e-05 9.99983712e-01 -1.75249234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1417.025336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1270.60, Y:195.33, Z:-17.53 [[ 9.78401667e-01 2.06637850e-01 5.56575452e-03 1.27059823e+03] [-2.06634001e-01 9.78417493e-01 -1.26420715e-03 1.95327095e+02] [-5.70686464e-03 8.68282536e-05 9.99983712e-01 -1.75284117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1417.0853361949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1270.66, Y:195.31, Z:-17.53 [[ 9.78214548e-01 2.07521856e-01 5.56567960e-03 1.27065987e+03] [-2.07518019e-01 9.78230378e-01 -1.26453691e-03 1.95312500e+02] [-5.70693591e-03 8.20095940e-05 9.99983712e-01 -1.75283634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1417.1453361949998 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:1270.72, Y:195.30, Z:-17.52 [[ 9.77609397e-01 2.10354210e-01 5.56543455e-03 1.27072061e+03] [-2.10350413e-01 9.77625236e-01 -1.26561450e-03 1.95298025e+02] [-5.70713660e-03 6.65851736e-05 9.99983712e-01 -1.75201099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1417.205336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:1270.78, Y:195.28, Z:-17.53 [[ 9.77244014e-01 2.12045195e-01 5.56520671e-03 1.27078220e+03] [-2.12041420e-01 9.77259859e-01 -1.26661557e-03 1.95283802e+02] [-5.70723287e-03 5.77381476e-05 9.99983712e-01 -1.75271388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1417.265336195 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:1270.84, Y:195.27, Z:-17.53 [[ 9.76775773e-01 2.14191787e-01 5.56496103e-03 1.27084265e+03] [-2.14188040e-01 9.76791624e-01 -1.26769407e-03 1.95269737e+02] [-5.70733698e-03 4.63047558e-05 9.99983712e-01 -1.75255892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1417.3253361949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1270.90, Y:195.26, Z:-17.52 [[ 9.76473004e-01 2.15567869e-01 5.56473324e-03 1.27090416e+03] [-2.15564139e-01 9.76488859e-01 -1.26869322e-03 1.95255876e+02] [-5.70738950e-03 3.92877505e-05 9.99983712e-01 -1.75240746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1417.3853361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1270.96, Y:195.24, Z:-17.53 [[ 9.76085029e-01 2.17317863e-01 5.56448231e-03 1.27096443e+03] [-2.17314155e-01 9.76100889e-01 -1.26979281e-03 1.95242055e+02] [-5.70744479e-03 3.01849754e-05 9.99983712e-01 -1.75263857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1417.445336195 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:1271.02, Y:195.23, Z:-17.52 [[ 9.75806951e-01 2.18563109e-01 5.56432714e-03 1.27102464e+03] [-2.18559417e-01 9.75822815e-01 -1.27047241e-03 1.95228062e+02] [-5.70747578e-03 2.35997100e-05 9.99983712e-01 -1.75202986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1417.505336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1271.09, Y:195.21, Z:-17.52 [[ 9.75620595e-01 2.19393471e-01 5.56411410e-03 1.27108542e+03] [-2.19389788e-01 9.75636461e-01 -1.27140476e-03 1.95213790e+02] [-5.70749050e-03 1.96988543e-05 9.99983712e-01 -1.75228846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1417.5653361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1271.15, Y:195.20, Z:-17.53 [[ 9.75547713e-01 2.19717323e-01 5.56390229e-03 1.27114555e+03] [-2.19713640e-01 9.75563580e-01 -1.27233100e-03 1.95200436e+02] [-5.70749360e-03 1.87543715e-05 9.99983712e-01 -1.75291333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1417.6253361949998 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:1271.21, Y:195.19, Z:-17.53 [[ 9.75675792e-01 2.19147881e-01 5.56370742e-03 1.27120669e+03] [-2.19144184e-01 9.75691655e-01 -1.27318259e-03 1.95186935e+02] [-5.70747816e-03 2.29593122e-05 9.99983712e-01 -1.75278562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1417.6853361949998 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:1271.27, Y:195.17, Z:-17.52 [[ 9.76361083e-01 2.16074254e-01 5.56349486e-03 1.27126817e+03] [-2.16070502e-01 9.76376933e-01 -1.27411073e-03 1.95171426e+02] [-5.70737057e-03 4.18850075e-05 9.99983712e-01 -1.75212748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1417.745336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1271.33, Y:195.15, Z:-17.53 [[ 9.77213553e-01 2.12185583e-01 5.56323891e-03 1.27132794e+03] [-2.12181761e-01 9.77229387e-01 -1.27522732e-03 1.95154377e+02] [-5.70714540e-03 6.57515874e-05 9.99983712e-01 -1.75295288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1417.8053361949999 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:1271.39, Y:195.14, Z:-17.52 [[ 9.77789702e-01 2.09514564e-01 5.56300166e-03 1.27138790e+03] [-2.09510693e-01 9.77805523e-01 -1.27626148e-03 1.95138351e+02] [-5.70692911e-03 8.24070012e-05 9.99983712e-01 -1.75239542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1417.8653361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1271.45, Y:195.12, Z:-17.53 [[ 9.78517778e-01 2.06087394e-01 5.56276880e-03 1.27144800e+03] [-2.06083462e-01 9.78533584e-01 -1.27727561e-03 1.95120566e+02] [-5.70658649e-03 1.03442235e-04 9.99983712e-01 -1.75271380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1417.9253361949998 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:1271.51, Y:195.10, Z:-17.53 [[ 9.78957609e-01 2.03987889e-01 5.56252051e-03 1.27150772e+03] [-2.03983917e-01 9.78973405e-01 -1.27835600e-03 1.95102439e+02] [-5.70632878e-03 1.16791612e-04 9.99983712e-01 -1.75301145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1417.985336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1271.57, Y:195.08, Z:-17.53 [[ 9.79356552e-01 2.02063862e-01 5.56229006e-03 1.27156709e+03] [-2.02059854e-01 9.79372339e-01 -1.27935794e-03 1.95082074e+02] [-5.70606503e-03 1.29032067e-04 9.99983712e-01 -1.75303044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1418.045336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1271.63, Y:195.06, Z:-17.53 [[ 9.79249925e-01 2.02579976e-01 5.56213867e-03 1.27162725e+03] [-2.02575972e-01 9.79265713e-01 -1.28001579e-03 1.95064497e+02] [-5.70611726e-03 1.26699723e-04 9.99983712e-01 -1.75254389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1418.1053361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1271.69, Y:195.04, Z:-17.53 [[ 9.78500360e-01 2.06170100e-01 5.56188531e-03 1.27168685e+03] [-2.06166148e-01 9.78516161e-01 -1.28111571e-03 1.95044731e+02] [-5.70652242e-03 1.06899719e-04 9.99983712e-01 -1.75306411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1418.1653361949998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1271.75, Y:195.03, Z:-17.53 [[ 9.77609936e-01 2.10351804e-01 5.56163241e-03 1.27174716e+03] [-2.10347913e-01 9.77625752e-01 -1.28221267e-03 1.95027057e+02] [-5.70691082e-03 8.36260749e-05 9.99983712e-01 -1.75303733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1418.225336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1271.81, Y:195.01, Z:-17.53 [[ 9.76068609e-01 2.17391676e-01 5.56138166e-03 1.27180673e+03] [-2.17387893e-01 9.76084452e-01 -1.28329934e-03 1.95010392e+02] [-5.70735677e-03 4.36111629e-05 9.99983712e-01 -1.75307771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1418.285336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1271.87, Y:195.00, Z:-17.53 [[ 9.75583135e-01 2.19560063e-01 5.56114864e-03 1.27186776e+03] [-2.19556309e-01 9.75598984e-01 -1.28430832e-03 1.94995309e+02] [-5.70743378e-03 3.19642695e-05 9.99983712e-01 -1.75304028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1418.3453361949998 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1271.93, Y:194.98, Z:-17.53 [[ 9.74041740e-01 2.26300164e-01 5.56089688e-03 1.27192775e+03] [-2.26296514e-01 9.74057614e-01 -1.28539749e-03 1.94979162e+02] [-5.70751961e-03 -6.38077128e-06 9.99983712e-01 -1.75321410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1418.4053361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1271.99, Y:194.96, Z:-17.53 [[ 9.72841379e-01 2.31405986e-01 5.56066313e-03 1.27198902e+03] [-2.31402413e-01 9.72857270e-01 -1.28640792e-03 1.94964586e+02] [-5.70741405e-03 -3.52800112e-05 9.99983712e-01 -1.75310191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1418.465336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1272.05, Y:194.95, Z:-17.53 [[ 9.72205915e-01 2.34061402e-01 5.56042137e-03 1.27204977e+03] [-2.34057867e-01 9.72221815e-01 -1.28745208e-03 1.94951305e+02] [-5.70730579e-03 -4.97918394e-05 9.99983712e-01 -1.75307854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1418.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1272.11, Y:194.94, Z:-17.53 [[ 9.71639585e-01 2.36401354e-01 5.56019734e-03 1.27211144e+03] [-2.36397851e-01 9.71655492e-01 -1.28841889e-03 1.94938255e+02] [-5.70718025e-03 -6.25399039e-05 9.99983712e-01 -1.75296990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1418.5853361949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1272.17, Y:194.93, Z:-17.53 [[ 9.71469764e-01 2.37098261e-01 5.55995282e-03 1.27217339e+03] [-2.37094763e-01 9.71485672e-01 -1.28947318e-03 1.94925905e+02] [-5.70714635e-03 -6.55514896e-05 9.99983712e-01 -1.75301384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1418.6453361949998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:1272.23, Y:194.91, Z:-17.53 [[ 9.71483877e-01 2.37040432e-01 5.55970845e-03 1.27223362e+03] [-2.37036927e-01 9.71499784e-01 -1.29052595e-03 1.94914958e+02] [-5.70716239e-03 -6.41310530e-05 9.99983712e-01 -1.75328017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1418.705336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1272.30, Y:194.90, Z:-17.53 [[ 9.71868224e-01 2.35459652e-01 5.55951230e-03 1.27229601e+03] [-2.35456117e-01 9.71884123e-01 -1.29137042e-03 1.94903392e+02] [-5.70726737e-03 -5.39792999e-05 9.99983712e-01 -1.75320350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1418.765336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1272.36, Y:194.89, Z:-17.53 [[ 9.72186119e-01 2.34143640e-01 5.55926771e-03 1.27235709e+03] [-2.34140077e-01 9.72202013e-01 -1.29242250e-03 1.94892134e+02] [-5.70734377e-03 -4.51721519e-05 9.99983712e-01 -1.75323483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1418.8253361949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1272.42, Y:194.88, Z:-17.53 [[ 9.72756794e-01 2.31761334e-01 5.55904060e-03 1.27241999e+03] [-2.31757727e-01 9.72772678e-01 -1.29339863e-03 1.94882506e+02] [-5.70744260e-03 -3.01883082e-05 9.99983712e-01 -1.75303794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1418.8853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1272.48, Y:194.87, Z:-17.53 [[ 9.73172533e-01 2.30009392e-01 5.55878996e-03 1.27248120e+03] [-2.30005750e-01 9.73188409e-01 -1.29447494e-03 1.94871538e+02] [-5.70749135e-03 -1.88062031e-05 9.99983712e-01 -1.75321976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1418.945336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1272.54, Y:194.86, Z:-17.53 [[ 9.73768473e-01 2.27473213e-01 5.55863381e-03 1.27254396e+03] [-2.27469526e-01 9.73784338e-01 -1.29514509e-03 1.94862473e+02] [-5.70752137e-03 -3.24834115e-06 9.99983712e-01 -1.75309515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1419.005336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1272.61, Y:194.85, Z:-17.53 [[ 9.74214803e-01 2.25554033e-01 5.55838279e-03 1.27260622e+03] [-2.25550309e-01 9.74230660e-01 -1.29622150e-03 1.94854094e+02] [-5.70751492e-03 9.10321899e-06 9.99983712e-01 -1.75293329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1419.0653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1272.67, Y:194.84, Z:-17.53 [[ 9.74524368e-01 2.24212764e-01 5.55816420e-03 1.27266875e+03] [-2.24209013e-01 9.74540218e-01 -1.29715813e-03 1.94843098e+02] [-5.70749396e-03 1.79216991e-05 9.99983712e-01 -1.75290332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1419.1253361949998 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:1272.73, Y:194.84, Z:-17.52 [[ 9.74922454e-01 2.22475433e-01 5.55790934e-03 1.27273123e+03] [-2.22471647e-01 9.74938296e-01 -1.29824921e-03 1.94835473e+02] [-5.70744722e-03 2.92150647e-05 9.99983712e-01 -1.75231252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1419.1853361949998 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:1272.79, Y:194.83, Z:-17.52 [[ 9.75157236e-01 2.21444071e-01 5.55768721e-03 1.27279226e+03] [-2.21440263e-01 9.75173073e-01 -1.29919945e-03 1.94825145e+02] [-5.70740693e-03 3.62280308e-05 9.99983712e-01 -1.75235872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1419.245336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1272.85, Y:194.82, Z:-17.53 [[ 9.75595161e-01 2.19506711e-01 5.55746348e-03 1.27285292e+03] [-2.19502866e-01 9.75610989e-01 -1.30015575e-03 1.94815669e+02] [-5.70731536e-03 4.85464999e-05 9.99983712e-01 -1.75320035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1419.3053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1272.91, Y:194.81, Z:-17.53 [[ 9.75720860e-01 2.18947299e-01 5.55733636e-03 1.27291244e+03] [-2.18943442e-01 9.75736685e-01 -1.30069890e-03 1.94805197e+02] [-5.70728147e-03 5.23767046e-05 9.99983712e-01 -1.75335030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1419.3653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1272.97, Y:194.80, Z:-17.54 [[ 9.75757839e-01 2.18782440e-01 5.55726270e-03 1.27297161e+03] [-2.18778579e-01 9.75773663e-01 -1.30101354e-03 1.94796470e+02] [-5.70726950e-03 5.36641269e-05 9.99983712e-01 -1.75368923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1419.4253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1273.03, Y:194.79, Z:-17.54 [[ 9.75735606e-01 2.18881576e-01 5.55727803e-03 1.27303092e+03] [-2.18877716e-01 9.75751430e-01 -1.30094807e-03 1.94785041e+02] [-5.70727555e-03 5.30170300e-05 9.99983712e-01 -1.75358852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1419.485336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:1273.09, Y:194.78, Z:-17.53 [[ 9.75611419e-01 2.19434444e-01 5.55727803e-03 1.27309050e+03] [-2.19430594e-01 9.75627245e-01 -1.30094807e-03 1.94775933e+02] [-5.70730467e-03 4.97829755e-05 9.99983712e-01 -1.75313186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1419.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1273.15, Y:194.77, Z:-17.54 [[ 9.75144961e-01 2.21498129e-01 5.55731027e-03 1.27314789e+03] [-2.21494312e-01 9.75160796e-01 -1.30081031e-03 1.94765233e+02] [-5.70739816e-03 3.75660055e-05 9.99983712e-01 -1.75386696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1419.6053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1273.21, Y:194.76, Z:-17.54 [[ 9.74456564e-01 2.24507284e-01 5.55735795e-03 1.27320623e+03] [-2.24503517e-01 9.74472411e-01 -1.30060657e-03 1.94756414e+02] [-5.70748765e-03 1.97382051e-05 9.99983712e-01 -1.75416227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1419.6653361949998 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:1273.26, Y:194.75, Z:-17.54 [[ 9.73993351e-01 2.26508425e-01 5.55742209e-03 1.27326438e+03] [-2.26504692e-01 9.74009206e-01 -1.30033245e-03 1.94749673e+02] [-5.70751654e-03 7.73297480e-06 9.99983712e-01 -1.75378717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1419.725336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1273.32, Y:194.74, Z:-17.55 [[ 9.73871121e-01 2.27033375e-01 5.55750143e-03 1.27332179e+03] [-2.27029653e-01 9.73886978e-01 -1.29999328e-03 1.94739037e+02] [-5.70752014e-03 4.30828822e-06 9.99983712e-01 -1.75491051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1419.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1273.38, Y:194.73, Z:-17.55 [[ 9.74057151e-01 2.26233906e-01 5.55756428e-03 1.27337887e+03] [-2.26230172e-01 9.74073005e-01 -1.29972454e-03 1.94730975e+02] [-5.70751510e-03 8.71725590e-06 9.99983712e-01 -1.75516048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1419.8453361949998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1273.44, Y:194.72, Z:-17.55 [[ 9.74361994e-01 2.24917356e-01 5.55764194e-03 1.27343660e+03] [-2.24913604e-01 9.74377844e-01 -1.29939237e-03 1.94720476e+02] [-5.70749907e-03 1.60892603e-05 9.99983712e-01 -1.75517765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1419.9053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1273.49, Y:194.71, Z:-17.55 [[ 9.75132710e-01 2.21552048e-01 5.55770377e-03 1.27349432e+03] [-2.21548242e-01 9.75148547e-01 -1.29912787e-03 1.94710052e+02] [-5.70741120e-03 3.55225745e-05 9.99983712e-01 -1.75538795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1419.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1273.54, Y:194.67, Z:-17.54 [[ 9.64393680e-01 2.64412446e-01 5.55776660e-03 1.27354452e+03] [-2.64409345e-01 9.64409670e-01 -1.29885902e-03 1.94672933e+02] [-5.70339834e-03 -2.16913996e-04 9.99983712e-01 -1.75409652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1420.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1273.60, Y:194.67, Z:-17.54 [[ 9.65807516e-01 2.59200601e-01 5.55785990e-03 1.27360365e+03] [-2.59197416e-01 9.65823490e-01 -1.29845968e-03 1.94666013e+02] [-5.70447317e-03 -1.86520799e-04 9.99983712e-01 -1.75375217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1420.0853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1273.66, Y:194.66, Z:-17.54 [[ 9.67202018e-01 2.53947566e-01 5.55792138e-03 1.27366136e+03] [-2.53944296e-01 9.67217974e-01 -1.29819644e-03 1.94656739e+02] [-5.70539529e-03 -1.55784212e-04 9.99983712e-01 -1.75374321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1420.1453361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1273.72, Y:194.65, Z:-17.54 [[ 9.68057391e-01 2.50667102e-01 5.55799767e-03 1.27371792e+03] [-2.50663779e-01 9.68073337e-01 -1.29786974e-03 1.94645182e+02] [-5.70588260e-03 -1.36776310e-04 9.99983712e-01 -1.75389813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1420.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1273.78, Y:194.63, Z:-17.54 [[ 9.71057208e-01 2.38782343e-01 5.55807094e-03 1.27377560e+03] [-2.38778827e-01 9.71073112e-01 -1.29755588e-03 1.94634611e+02] [-5.70712668e-03 -6.71486691e-05 9.99983712e-01 -1.75393325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1420.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1273.83, Y:194.62, Z:-17.54 [[ 9.74006176e-01 2.26453255e-01 5.55813142e-03 1.27383235e+03] [-2.26449540e-01 9.74022034e-01 -1.29729676e-03 1.94621346e+02] [-5.70751955e-03 4.93875778e-06 9.99983712e-01 -1.75402130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1420.3253361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1273.89, Y:194.61, Z:-17.54 [[ 9.75644921e-01 2.19285418e-01 5.55820683e-03 1.27389047e+03] [-2.19281587e-01 9.75660752e-01 -1.29697362e-03 1.94608796e+02] [-5.70733166e-03 4.65733050e-05 9.99983712e-01 -1.75384562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1420.3853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1273.95, Y:194.60, Z:-17.54 [[ 9.77418087e-01 2.11241541e-01 5.55823891e-03 1.27394892e+03] [-2.11237581e-01 9.77433887e-01 -1.29683610e-03 1.94596076e+02] [-5.70675672e-03 9.34421144e-05 9.99983712e-01 -1.75400646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1420.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1274.01, Y:194.58, Z:-17.54 [[ 9.78474897e-01 2.06291013e-01 5.55827102e-03 1.27400588e+03] [-2.06286973e-01 9.78490676e-01 -1.29669849e-03 1.94582013e+02] [-5.70621361e-03 1.22188014e-04 9.99983712e-01 -1.75425439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1420.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1274.06, Y:194.57, Z:-17.54 [[ 9.78790135e-01 2.04790079e-01 5.55831864e-03 1.27406295e+03] [-2.04786016e-01 9.78805909e-01 -1.29649433e-03 1.94568493e+02] [-5.70602430e-03 1.30729932e-04 9.99983712e-01 -1.75429936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1420.5653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1274.12, Y:194.56, Z:-17.54 [[ 9.78729394e-01 2.05080176e-01 5.55835464e-03 1.27412094e+03] [-2.05076120e-01 9.78745168e-01 -1.29633995e-03 1.94555216e+02] [-5.70606638e-03 1.28880207e-04 9.99983712e-01 -1.75409474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1420.6253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1274.18, Y:194.54, Z:-17.54 [[ 9.78544170e-01 2.05962162e-01 5.55838554e-03 1.27417931e+03] [-2.05958120e-01 9.78559948e-01 -1.29620744e-03 1.94541652e+02] [-5.70618316e-03 1.23601598e-04 9.99983712e-01 -1.75400063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1420.6853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1274.24, Y:194.53, Z:-17.54 [[ 9.77998951e-01 2.08535741e-01 5.55841731e-03 1.27423684e+03] [-2.08531741e-01 9.78014741e-01 -1.29607122e-03 1.94528820e+02] [-5.70649123e-03 1.08449851e-04 9.99983712e-01 -1.75398343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1420.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1274.29, Y:194.52, Z:-17.54 [[ 9.77152038e-01 2.12468816e-01 5.55846433e-03 1.27429484e+03] [-2.12464881e-01 9.77167844e-01 -1.29586951e-03 1.94516347e+02] [-5.70688447e-03 8.52830661e-05 9.99983712e-01 -1.75414982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1420.8053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1274.35, Y:194.50, Z:-17.54 [[ 9.76423037e-01 2.15794242e-01 5.55851154e-03 1.27435159e+03] [-2.15790363e-01 9.76438857e-01 -1.29566700e-03 1.94503348e+02] [-5.70714413e-03 6.56458880e-05 9.99983712e-01 -1.75440073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1420.8653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1274.41, Y:194.49, Z:-17.55 [[ 9.75169681e-01 2.21389240e-01 5.55858988e-03 1.27440940e+03] [-2.21385453e-01 9.75185523e-01 -1.29533080e-03 1.94490957e+02] [-5.70742868e-03 3.25763889e-05 9.99983712e-01 -1.75466639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1420.9253361949998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1274.47, Y:194.48, Z:-17.54 [[ 9.74316413e-01 2.25114700e-01 5.55865100e-03 1.27446759e+03] [-2.25110975e-01 9.74332270e-01 -1.29506846e-03 1.94480231e+02] [-5.70751200e-03 1.04931140e-05 9.99983712e-01 -1.75415225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1420.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1274.52, Y:194.47, Z:-17.55 [[ 9.72850818e-01 2.31366346e-01 5.55871255e-03 1.27452412e+03] [-2.31362724e-01 9.72866699e-01 -1.29480423e-03 1.94469709e+02] [-5.70746045e-03 -2.64275278e-05 9.99983712e-01 -1.75484934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1421.045336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1274.58, Y:194.46, Z:-17.55 [[ 9.72083829e-01 2.34567962e-01 5.55878859e-03 1.27458126e+03] [-2.34564395e-01 9.72099722e-01 -1.29447768e-03 1.94459348e+02] [-5.70733984e-03 -4.55530659e-05 9.99983712e-01 -1.75468537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1421.1053361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1274.64, Y:194.45, Z:-17.54 [[ 9.70969816e-01 2.39137440e-01 5.55888281e-03 1.27463923e+03] [-2.39133950e-01 9.70985726e-01 -1.29407296e-03 1.94451507e+02] [-5.70705715e-03 -7.28118137e-05 9.99983712e-01 -1.75446785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1421.1653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1274.70, Y:194.45, Z:-17.54 [[ 9.70139330e-01 2.42484594e-01 5.55896035e-03 1.27469835e+03] [-2.42481161e-01 9.70155252e-01 -1.29373980e-03 1.94445301e+02] [-5.70676655e-03 -9.28352923e-05 9.99983712e-01 -1.75427235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1421.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1274.76, Y:194.44, Z:-17.55 [[ 9.69934644e-01 2.43302041e-01 5.55902344e-03 1.27475601e+03] [-2.43298622e-01 9.69950570e-01 -1.29346866e-03 1.94436591e+02] [-5.70668151e-03 -9.79226790e-05 9.99983712e-01 -1.75457374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1421.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1274.81, Y:194.43, Z:-17.55 [[ 9.70350435e-01 2.41638428e-01 5.55910129e-03 1.27481417e+03] [-2.41634984e-01 9.70366355e-01 -1.29313398e-03 1.94428353e+02] [-5.70683571e-03 -8.84802321e-05 9.99983712e-01 -1.75502702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1421.3453361949998 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:1274.87, Y:194.42, Z:-17.54 [[ 9.71583457e-01 2.36631954e-01 5.55915865e-03 1.27487249e+03] [-2.36628429e-01 9.71599359e-01 -1.29288734e-03 1.94421116e+02] [-5.70721344e-03 -5.93070213e-05 9.99983712e-01 -1.75433643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1421.4053361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1274.93, Y:194.41, Z:-17.55 [[ 9.72592106e-01 2.32451477e-01 5.55925429e-03 1.27492841e+03] [-2.32447887e-01 9.72607994e-01 -1.29247598e-03 1.94411352e+02] [-5.70741311e-03 -3.51849780e-05 9.99983712e-01 -1.75506038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1421.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1274.99, Y:194.40, Z:-17.55 [[ 9.74168436e-01 2.25754185e-01 5.55940784e-03 1.27498618e+03] [-2.25750489e-01 9.74184299e-01 -1.29181513e-03 1.94401000e+02] [-5.70752050e-03 3.40649081e-06 9.99983712e-01 -1.75491382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1421.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1275.04, Y:194.39, Z:-17.55 [[ 9.75070822e-01 2.21824219e-01 5.55947039e-03 1.27504329e+03] [-2.21820460e-01 9.75086671e-01 -1.29154590e-03 1.94389871e+02] [-5.70746163e-03 2.61444425e-05 9.99983712e-01 -1.75482498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1421.5853361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1275.10, Y:194.38, Z:-17.55 [[ 9.76269316e-01 2.16488602e-01 5.55954768e-03 1.27510081e+03] [-2.16484759e-01 9.76285144e-01 -1.29121312e-03 1.94379627e+02] [-5.70723673e-03 5.70144144e-05 9.99983712e-01 -1.75486050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1421.6453361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1275.16, Y:194.37, Z:-17.55 [[ 9.77300114e-01 2.11786631e-01 5.55964108e-03 1.27515694e+03] [-2.11782714e-01 9.77315924e-01 -1.29081082e-03 1.94366565e+02] [-5.70690224e-03 8.40736883e-05 9.99983712e-01 -1.75522839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1421.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1275.21, Y:194.35, Z:-17.55 [[ 9.77774796e-01 2.09584201e-01 5.55971800e-03 1.27521452e+03] [-2.09580250e-01 9.77790598e-01 -1.29047944e-03 1.94353316e+02] [-5.70670409e-03 9.65911817e-05 9.99983712e-01 -1.75524463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1421.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1275.27, Y:194.34, Z:-17.55 [[ 9.78215926e-01 2.07515521e-01 5.55978189e-03 1.27527167e+03] [-2.07511539e-01 9.78231719e-01 -1.29020414e-03 1.94341570e+02] [-5.70649238e-03 1.08379340e-04 9.99983712e-01 -1.75545929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1421.8253361949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1275.33, Y:194.33, Z:-17.56 [[ 9.78492966e-01 2.06205248e-01 5.55984494e-03 1.27532914e+03] [-2.06201245e-01 9.78508754e-01 -1.28993235e-03 1.94327815e+02] [-5.70634777e-03 1.15742780e-04 9.99983712e-01 -1.75567528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1421.8853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1275.39, Y:194.31, Z:-17.56 [[ 9.78880662e-01 2.04356888e-01 5.55990696e-03 1.27538622e+03] [-2.04352857e-01 9.78896443e-01 -1.28966498e-03 1.94312394e+02] [-5.70612507e-03 1.26245235e-04 9.99983712e-01 -1.75567044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1421.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1275.44, Y:194.30, Z:-17.56 [[ 9.79045121e-01 2.03567526e-01 5.55996912e-03 1.27544228e+03] [-2.03563484e-01 9.79060900e-01 -1.28939696e-03 1.94298889e+02] [-5.70602772e-03 1.30571116e-04 9.99983712e-01 -1.75569544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1422.005336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1275.50, Y:194.29, Z:-17.56 [[ 9.79051736e-01 2.03535707e-01 5.56006148e-03 1.27549770e+03] [-2.03531667e-01 9.79067515e-01 -1.28899855e-03 1.94285868e+02] [-5.70603281e-03 1.30347693e-04 9.99983712e-01 -1.75579256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1422.0653361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1275.55, Y:194.27, Z:-17.56 [[ 9.78936054e-01 2.04091366e-01 5.56016775e-03 1.27555421e+03] [-2.04087338e-01 9.78951837e-01 -1.28853999e-03 1.94272300e+02] [-5.70611632e-03 1.26638423e-04 9.99983712e-01 -1.75580271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1422.1253361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1275.61, Y:194.26, Z:-17.56 [[ 9.78877778e-01 2.04370693e-01 5.56025751e-03 1.27561007e+03] [-2.04366671e-01 9.78893561e-01 -1.28815256e-03 1.94258016e+02] [-5.70616091e-03 1.24612596e-04 9.99983712e-01 -1.75581553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1422.1853361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1275.67, Y:194.24, Z:-17.56 [[ 9.78832566e-01 2.04587123e-01 5.56034682e-03 1.27566632e+03] [-2.04583107e-01 9.78848351e-01 -1.28776693e-03 1.94242749e+02] [-5.70619685e-03 1.22955183e-04 9.99983712e-01 -1.75587736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1422.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1275.72, Y:194.23, Z:-17.56 [[ 9.78898714e-01 2.04270382e-01 5.56043605e-03 1.27572296e+03] [-2.04266363e-01 9.78914499e-01 -1.28738151e-03 1.94226150e+02] [-5.70616538e-03 1.24406057e-04 9.99983712e-01 -1.75589484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1422.3053361949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1275.78, Y:194.21, Z:-17.56 [[ 9.78943222e-01 2.04056977e-01 5.56049847e-03 1.27577931e+03] [-2.04052956e-01 9.78959006e-01 -1.28711188e-03 1.94210687e+02] [-5.70614421e-03 1.25373304e-04 9.99983712e-01 -1.75587467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1422.3653361949998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1275.83, Y:194.19, Z:-17.56 [[ 9.79048669e-01 2.03550445e-01 5.56056167e-03 1.27583487e+03] [-2.03546418e-01 9.79064451e-01 -1.28683879e-03 1.94194375e+02] [-5.70608486e-03 1.28045396e-04 9.99983712e-01 -1.75619725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1422.4253361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1275.89, Y:194.18, Z:-17.56 [[ 9.78910827e-01 2.04212320e-01 5.56063982e-03 1.27589191e+03] [-2.04208305e-01 9.78926613e-01 -1.28650100e-03 1.94179143e+02] [-5.70617765e-03 1.23840927e-04 9.99983712e-01 -1.75574662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1422.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1275.95, Y:194.16, Z:-17.56 [[ 9.78212098e-01 2.07533540e-01 5.56070259e-03 1.27594784e+03] [-2.07529581e-01 9.78227897e-01 -1.28622960e-03 1.94162109e+02] [-5.70657019e-03 1.04195082e-04 9.99983712e-01 -1.75614924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1422.545336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1276.00, Y:194.15, Z:-17.56 [[ 9.77128368e-01 2.12577588e-01 5.56076555e-03 1.27600375e+03] [-2.12573712e-01 9.77144188e-01 -1.28595734e-03 1.94145978e+02] [-5.70703545e-03 7.44728268e-05 9.99983712e-01 -1.75626167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1422.6053361949998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1276.06, Y:194.13, Z:-17.56 [[ 9.76282280e-01 2.16430095e-01 5.56084345e-03 1.27606017e+03] [-2.16426283e-01 9.76298116e-01 -1.28562039e-03 1.94131920e+02] [-5.70728793e-03 5.16157262e-05 9.99983712e-01 -1.75609666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1422.6653361949998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1276.12, Y:194.12, Z:-17.57 [[ 9.75343253e-01 2.20623244e-01 5.56093611e-03 1.27611688e+03] [-2.20619502e-01 9.75359105e-01 -1.28521950e-03 1.94116712e+02] [-5.70745896e-03 2.66792139e-05 9.99983712e-01 -1.75650968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1422.725336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1276.17, Y:194.10, Z:-17.56 [[ 9.74160004e-01 2.25790528e-01 5.56099788e-03 1.27617277e+03] [-2.25786871e-01 9.74175876e-01 -1.28495217e-03 1.94103439e+02] [-5.70752001e-03 -3.85130195e-06 9.99983712e-01 -1.75642245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1422.785336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1276.23, Y:194.09, Z:-17.57 [[ 9.72849226e-01 2.31372986e-01 5.56107437e-03 1.27622946e+03] [-2.31369423e-01 9.72865119e-01 -1.28462103e-03 1.94089463e+02] [-5.70740188e-03 -3.69199968e-05 9.99983712e-01 -1.75661988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1422.8453361949998 meters Centerline goodness : 0.999696 with order 1 Centerline is valid? [True, True] Translation: X:1276.29, Y:194.08, Z:-17.57 [[ 9.71968746e-01 2.35044318e-01 5.56116713e-03 1.27628579e+03] [-2.35040817e-01 9.71984653e-01 -1.28421936e-03 1.94076345e+02] [-5.70721756e-03 -5.88801860e-05 9.99983712e-01 -1.75653609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1422.9053361949998 meters Centerline goodness : 0.998253 with order 1 Centerline is valid? [True, True] Translation: X:1276.34, Y:194.06, Z:-17.57 [[ 9.70880443e-01 2.39499975e-01 5.56126206e-03 1.27634303e+03] [-2.39496549e-01 9.70896367e-01 -1.28380814e-03 1.94064294e+02] [-5.70688114e-03 -8.54788595e-05 9.99983712e-01 -1.75650753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1422.965336195 meters Centerline goodness : 0.996967 with order 1 Centerline is valid? [True, True] Translation: X:1276.40, Y:194.05, Z:-17.56 [[ 9.70548231e-01 2.40842693e-01 5.56132501e-03 1.27640084e+03] [-2.40839291e-01 9.70564160e-01 -1.28353536e-03 1.94052984e+02] [-5.70675285e-03 -9.36526042e-05 9.99983712e-01 -1.75615562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1423.025336195 meters Centerline goodness : 0.993677 with order 1 Centerline is valid? [True, True] Translation: X:1276.46, Y:194.04, Z:-17.57 [[ 9.70069805e-01 2.42762527e-01 5.56138814e-03 1.27645715e+03] [-2.42759159e-01 9.70085741e-01 -1.28326179e-03 1.94041612e+02] [-5.70655121e-03 -1.05224393e-04 9.99983712e-01 -1.75655654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1423.0853361949999 meters Centerline goodness : 0.988444 with order 1 Centerline is valid? [True, True] Translation: X:1276.51, Y:194.03, Z:-17.56 [[ 9.69973595e-01 2.43146654e-01 5.56148933e-03 1.27651444e+03] [-2.43143294e-01 9.69989532e-01 -1.28282308e-03 1.94031959e+02] [-5.70650058e-03 -1.07934325e-04 9.99983712e-01 -1.75648263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1423.1453361949998 meters Centerline goodness : 0.984100 with order 1 Centerline is valid? [True, True] Translation: X:1276.57, Y:194.02, Z:-17.56 [[ 9.70169730e-01 2.42362877e-01 5.56158187e-03 1.27657214e+03] [-2.42359506e-01 9.70185665e-01 -1.28242177e-03 1.94021310e+02] [-5.70657843e-03 -1.03735449e-04 9.99983712e-01 -1.75644866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1423.205336195 meters Centerline goodness : 0.976861 with order 1 Centerline is valid? [True, True] Translation: X:1276.63, Y:194.01, Z:-17.57 [[ 9.70527721e-01 2.40925322e-01 5.56164509e-03 1.27662830e+03] [-2.40921929e-01 9.70543652e-01 -1.28214752e-03 1.94011452e+02] [-5.70672114e-03 -9.55625587e-05 9.99983712e-01 -1.75654390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1423.265336195 meters Centerline goodness : 0.971377 with order 1 Centerline is valid? [True, True] Translation: X:1276.68, Y:194.00, Z:-17.57 [[ 9.70730175e-01 2.40108296e-01 5.56175457e-03 1.27668468e+03] [-2.40104892e-01 9.70746104e-01 -1.28167244e-03 1.94001514e+02] [-5.70679177e-03 -9.12463694e-05 9.99983712e-01 -1.75661896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1423.3253361949999 meters Centerline goodness : 0.967644 with order 1 Centerline is valid? [True, True] Translation: X:1276.74, Y:193.98, Z:-17.56 [[ 9.70020093e-01 2.42961075e-01 5.56186217e-03 1.27674070e+03] [-2.42957721e-01 9.70036032e-01 -1.28120536e-03 1.93977569e+02] [-5.70648974e-03 -1.08502414e-04 9.99983712e-01 -1.75573932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1423.3853361949998 meters Centerline goodness : 0.964868 with order 1 Centerline is valid? [True, True] Translation: X:1276.80, Y:193.97, Z:-17.56 [[ 9.70473233e-01 2.41144709e-01 5.56186217e-03 1.27679824e+03] [-2.41141325e-01 9.70489165e-01 -1.28120536e-03 1.93966053e+02] [-5.70668286e-03 -9.78193039e-05 9.99983712e-01 -1.75586604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1423.445336195 meters Centerline goodness : 0.959541 with order 1 Centerline is valid? [True, True] Translation: X:1276.86, Y:193.95, Z:-17.56 [[ 9.72072011e-01 2.34616857e-01 5.56192771e-03 1.27685517e+03] [-2.34613368e-01 9.72087921e-01 -1.28092074e-03 1.93954713e+02] [-5.70720835e-03 -5.97553940e-05 9.99983712e-01 -1.75601004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1423.505336195 meters Centerline goodness : 0.952697 with order 1 Centerline is valid? [True, True] Translation: X:1276.91, Y:193.94, Z:-17.56 [[ 9.73584256e-01 2.28260290e-01 5.56200895e-03 1.27691156e+03] [-2.28256699e-01 9.73600143e-01 -1.28056791e-03 1.93942229e+02] [-5.70747551e-03 -2.28250507e-05 9.99983712e-01 -1.75623153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1423.5653361949999 meters Centerline goodness : 0.957536 with order 2 Centerline is valid? [True, True] Translation: X:1276.98, Y:193.93, Z:-17.57 [[ 9.74508141e-01 2.24283181e-01 5.56210235e-03 1.27698459e+03] [-2.24279528e-01 9.74524014e-01 -1.28016209e-03 1.93926500e+02] [-5.70752114e-03 6.26942048e-08 9.99983712e-01 -1.75746961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1423.6253361949998 meters Centerline goodness : 0.948951 with order 2 Centerline is valid? [True, False] Translation: X:1276.98, Y:193.92, Z:-17.57 [[ 9.75277286e-01 2.20774301e-01 9.63969516e-03 1.27698311e+03] [-2.20912326e-01 9.75145998e-01 1.69713327e-02 1.93916758e+02] [-5.65327606e-03 -1.86812827e-02 9.99809507e-01 -1.75728174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1423.6853361949998 meters Centerline goodness : 0.938048 with order 3 Centerline is valid? [False, False] Translation: X:1276.98, Y:193.91, Z:-17.57 [[ 9.75947150e-01 2.17646462e-01 1.25370834e-02 1.27698008e+03] [-2.17956805e-01 9.75343620e-01 3.46360200e-02 1.93908968e+02] [-4.68955711e-03 -3.65354677e-02 9.99321354e-01 -1.75688472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1423.745336195 meters Centerline goodness : 0.911876 with order 3 Centerline is valid? [False, False] Translation: X:1276.98, Y:193.91, Z:-17.57 [[ 9.76870148e-01 2.13560397e-01 1.08014370e-02 1.27698425e+03] [-2.13791366e-01 9.76432655e-01 2.95384660e-02 1.93914142e+02] [-4.23862932e-03 -3.11644996e-02 9.99505282e-01 -1.75689321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1423.8053361949999 meters Centerline goodness : 0.897325 with order 3 Centerline is valid? [False, False] Translation: X:1276.98, Y:193.91, Z:-17.57 [[ 9.76279187e-01 2.16024372e-01 1.45746390e-02 1.27697686e+03] [-2.16404550e-01 9.75720204e-01 3.37513453e-02 1.93913859e+02] [-6.92965658e-03 -3.61047541e-02 9.99323985e-01 -1.75714851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1423.8653361949998 meters Centerline goodness : 0.894542 with order 3 Centerline is valid? [False, False] Translation: X:1277.00, Y:193.91, Z:-17.58 [[ 9.75893147e-01 2.17726608e-01 1.50894262e-02 1.27700343e+03] [-2.18038127e-01 9.75655407e-01 2.35775882e-02 1.93914328e+02] [-9.58861194e-03 -2.62992769e-02 9.99608126e-01 -1.75761118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1423.9253361949998 meters Centerline goodness : 0.883815 with order 3 Centerline is valid? [False, False] Translation: X:1276.99, Y:193.92, Z:-17.58 [[ 9.75567444e-01 2.19346208e-01 1.24660884e-02 1.27699083e+03] [-2.19505373e-01 9.75520996e-01 1.32731785e-02 1.93924582e+02] [-9.24950963e-03 -1.56852542e-02 9.99834196e-01 -1.75800324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1423.985336195 meters Centerline goodness : 0.910029 with order 3 Centerline is valid? [False, False] Translation: X:1276.98, Y:193.94, Z:-17.58 [[ 9.75134478e-01 2.21362346e-01 1.05575425e-02 1.27697788e+03] [-2.21410538e-01 9.75173956e-01 3.62351007e-03 1.93935153e+02] [-9.49333183e-03 -5.87096078e-03 9.99937702e-01 -1.75843077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1424.045336195 meters Centerline goodness : 0.900090 with order 1 Centerline is valid? [False, False] Translation: X:1276.98, Y:193.94, Z:-17.58 [[ 9.75147545e-01 2.21336562e-01 9.86873307e-03 1.27698118e+03] [-2.21372702e-01 9.75185483e-01 2.72022283e-03 1.93939772e+02] [-9.02176047e-03 -4.83728672e-03 9.99947603e-01 -1.75838066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1424.1053361949998 meters Centerline goodness : 0.893328 with order 3 Centerline is valid? [False, False] Translation: X:1276.99, Y:193.95, Z:-17.58 [[ 9.75154482e-01 2.21355205e-01 8.69540389e-03 1.27698730e+03] [-2.21376931e-01 9.75186990e-01 1.60891267e-03 1.93946931e+02] [-8.12350356e-03 -3.49390022e-03 9.99960900e-01 -1.75840949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1424.1653361949998 meters Centerline goodness : 0.879877 with order 3 Centerline is valid? [False, False] Translation: X:1276.98, Y:193.96, Z:-17.59 [[ 9.74561585e-01 2.23936319e-01 9.06875904e-03 1.27697952e+03] [-2.23896497e-01 9.74599033e-01 -5.20417728e-03 1.93958537e+02] [-1.00038081e-02 3.04132787e-03 9.99945336e-01 -1.75913962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1424.225336195 meters Centerline goodness : 0.857525 with order 1 Centerline is valid? [False, False] Translation: X:1276.98, Y:193.96, Z:-17.59 [[ 9.74656288e-01 2.23548126e-01 8.44726618e-03 1.27698261e+03] [-2.23502230e-01 9.74684663e-01 -6.04647548e-03 1.93962813e+02] [-9.58509906e-03 4.00525252e-03 9.99946040e-01 -1.75910173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1424.285336195 meters Centerline goodness : 0.847766 with order 1 Centerline is valid? [False, False] Translation: X:1276.99, Y:193.97, Z:-17.59 [[ 9.74794081e-01 2.22980215e-01 7.50483655e-03 1.27698774e+03] [-2.22930255e-01 9.74809616e-01 -6.95081436e-03 1.93967000e+02] [-8.86568092e-03 5.10255757e-03 9.99947680e-01 -1.75905988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1424.3453361949998 meters Centerline goodness : 0.862604 with order 2 Centerline is valid? [False, False] Translation: X:1276.99, Y:193.97, Z:-17.59 [[ 9.75774096e-01 2.18704213e-01 5.77754488e-03 1.27699213e+03] [-2.18623823e-01 9.75734473e-01 -1.20773526e-02 1.93972924e+02] [-8.27871761e-03 1.05216589e-02 9.99910375e-01 -1.75909330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1424.4053361949998 meters Centerline goodness : 0.901035 with order 1 Centerline is valid? [False, False] Translation: X:1277.02, Y:193.97, Z:-17.59 [[ 9.77093607e-01 2.12809271e-01 5.45550572e-04 1.27701579e+03] [-2.12790014e-01 9.77033878e-01 -1.11897448e-02 1.93972948e+02] [-2.91430283e-03 1.08173404e-02 9.99937244e-01 -1.75859765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 17127.89 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%| | 0/47482 [00:00